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,
@@ -41,11 +42,41 @@ export interface LaboratoryMetricCorridorVisual {
   halfWidthM: number;
 }
 
+export type LaboratoryMetricCellState =
+  | "unobserved"
+  | "ground-support"
+  | "nonground-occupied"
+  | "unknown-rejected";
+
+export interface LaboratoryMetricCellEvidence {
+  centerBodyXyM: readonly [number, number];
+  zBoundsM: readonly [number | null, number | null];
+  state: LaboratoryMetricCellState;
+}
+
+export interface LaboratoryMetricPackedCellEvidence {
+  centersBodyXyM: Float32Array;
+  zBoundsM: Float32Array;
+  stateCodes: Uint8Array;
+}
+
 export interface LaboratoryMetricLegendEntry {
-  id: LaboratoryMetricDecision | "context" | "local-surface" | "rolling" | "low-step";
+  id: LaboratoryMetricDecision
+    | LaboratoryMetricCellState
+    | "context"
+    | "local-surface"
+    | "rolling"
+    | "low-step";
   label: string;
 }
 
+interface LaboratoryMetricRenderStats {
+  frameMs: number;
+  drawCalls: number;
+  triangles: number;
+  pixelRatio: number;
+}
+
 export function laboratoryMetricLegendEntries({
   pointCloudCount,
   localSurfaceCount,
@@ -152,6 +183,47 @@ function positions(points: readonly LaboratoryMetricPoint3[]): Float32Array {
   return result;
 }
 
+function updatePointPositions(
+  geometry: THREE.BufferGeometry,
+  points: readonly LaboratoryMetricPoint3[],
+): void {
+  const requiredValues = points.length * 3;
+  let attribute = geometry.getAttribute("position") as THREE.BufferAttribute | undefined;
+  if (!attribute || attribute.array.length < requiredValues) {
+    let capacity = 3;
+    while (capacity < requiredValues) capacity *= 2;
+    attribute = new THREE.BufferAttribute(new Float32Array(capacity), 3);
+    attribute.setUsage(THREE.DynamicDrawUsage);
+    geometry.setAttribute("position", attribute);
+  }
+  const values = attribute.array as Float32Array;
+  points.forEach((point, index) => {
+    const [x, y, z] = scenePoint(point);
+    const offset = index * 3;
+    values[offset] = x;
+    values[offset + 1] = y;
+    values[offset + 2] = z;
+  });
+  attribute.needsUpdate = true;
+  geometry.setDrawRange(0, points.length);
+}
+
+function ensurePointColors(
+  geometry: THREE.BufferGeometry,
+  pointCount: number,
+): THREE.BufferAttribute {
+  const requiredValues = pointCount * 3;
+  let attribute = geometry.getAttribute("color") as THREE.BufferAttribute | undefined;
+  if (!attribute || attribute.array.length < requiredValues) {
+    let capacity = 3;
+    while (capacity < requiredValues) capacity *= 2;
+    attribute = new THREE.BufferAttribute(new Float32Array(capacity), 3);
+    attribute.setUsage(THREE.DynamicDrawUsage);
+    geometry.setAttribute("color", attribute);
+  }
+  return attribute;
+}
+
 function decisionColor(
   host: HTMLElement,
   decision: LaboratoryMetricDecision,
@@ -197,6 +269,10 @@ LaboratoryMetricEvidenceSceneHandle,
   pointSemanticClassIds?: readonly (number | null)[];
   semanticClasses?: readonly RecordedEvidenceSemanticClass[];
   semanticPalette?: readonly RecordedEvidenceSemanticPaletteEntry[];
+  classifiedCells?: readonly LaboratoryMetricCellEvidence[];
+  classifiedPackedCells?: LaboratoryMetricPackedCellEvidence;
+  classifiedCellSizeM?: number;
+  showClassifiedCells?: boolean;
 }
 >(function LaboratoryMetricEvidenceScene({
   pointCloudBodyXyzM,
@@ -214,6 +290,10 @@ LaboratoryMetricEvidenceSceneHandle,
   pointSemanticClassIds,
   semanticClasses,
   semanticPalette,
+  classifiedCells = [],
+  classifiedPackedCells,
+  classifiedCellSizeM = 0.45,
+  showClassifiedCells = true,
 }, ref) {
   const hostRef = useRef<HTMLDivElement | null>(null);
   const sceneRef = useRef<THREE.Scene | null>(null);
@@ -221,7 +301,19 @@ LaboratoryMetricEvidenceSceneHandle,
   const controlsRef = useRef<OrbitControls | null>(null);
   const staticContentRef = useRef<THREE.Group | null>(null);
   const dynamicContentRef = useRef<THREE.Group | null>(null);
+  const classifiedContentRef = useRef<THREE.Group | null>(null);
+  const localSurfacePointsRef = useRef<THREE.Points | null>(null);
+  const currentIncrementPointsRef = useRef<THREE.Points | null>(null);
+  const requestRenderRef = useRef<() => void>(() => undefined);
+  const corridorForwardLengthRef = useRef(corridor.forwardLengthM);
+  const modeRef = useRef(mode);
+  const classifiedMeshesRef = useRef<ReadonlyMap<LaboratoryMetricCellState, THREE.InstancedMesh>>(
+    new Map(),
+  );
   const [renderError, setRenderError] = useState<string | null>(null);
+  const [renderStats, setRenderStats] = useState<LaboratoryMetricRenderStats | null>(null);
+  corridorForwardLengthRef.current = corridor.forwardLengthM;
+  modeRef.current = mode;
 
   useEffect(() => {
     const host = hostRef.current;
@@ -255,12 +347,76 @@ LaboratoryMetricEvidenceSceneHandle,
     controls.maxDistance = 80;
     const staticContent = new THREE.Group();
     const dynamicContent = new THREE.Group();
-    scene.add(staticContent, dynamicContent);
+    const classifiedContent = new THREE.Group();
+    const localSurfacePoints = new THREE.Points(
+      new THREE.BufferGeometry(),
+      new THREE.PointsMaterial({
+        color: tokenColor(host, "--nodedc-accent-rgb", [247, 248, 244]),
+        size: 1.3,
+        sizeAttenuation: false,
+        transparent: true,
+        opacity: 0.42,
+        depthWrite: false,
+      }),
+    );
+    const currentIncrementPoints = new THREE.Points(
+      new THREE.BufferGeometry(),
+      new THREE.PointsMaterial({
+        color: tokenColor(host, "--nodedc-text-muted", [147, 151, 159]),
+        size: 1.55,
+        sizeAttenuation: false,
+        transparent: true,
+        opacity: 0.58,
+        depthWrite: false,
+      }),
+    );
+    localSurfacePoints.visible = false;
+    localSurfacePoints.frustumCulled = false;
+    currentIncrementPoints.visible = false;
+    currentIncrementPoints.frustumCulled = false;
+    scene.add(
+      staticContent,
+      localSurfacePoints,
+      currentIncrementPoints,
+      dynamicContent,
+      classifiedContent,
+    );
     sceneRef.current = scene;
     cameraRef.current = camera;
     controlsRef.current = controls;
     staticContentRef.current = staticContent;
     dynamicContentRef.current = dynamicContent;
+    classifiedContentRef.current = classifiedContent;
+    localSurfacePointsRef.current = localSurfacePoints;
+    currentIncrementPointsRef.current = currentIncrementPoints;
+
+    let animationFrame: number | null = null;
+    let lastStatsAt = Number.NEGATIVE_INFINITY;
+    const render = () => {
+      animationFrame = null;
+      // OrbitControls emits another change while damping is still settling, so
+      // this remains smooth during interaction without rendering forever while
+      // the evidence scene is idle.
+      controls.update();
+      const startedAt = performance.now();
+      renderer.render(scene, camera);
+      const completedAt = performance.now();
+      if (completedAt - lastStatsAt >= 1_000) {
+        lastStatsAt = completedAt;
+        setRenderStats({
+          frameMs: completedAt - startedAt,
+          drawCalls: renderer.info.render.calls,
+          triangles: renderer.info.render.triangles,
+          pixelRatio: renderer.getPixelRatio(),
+        });
+      }
+    };
+    const requestRender = () => {
+      if (animationFrame !== null) return;
+      animationFrame = window.requestAnimationFrame(render);
+    };
+    requestRenderRef.current = requestRender;
+    controls.addEventListener("change", requestRender);
 
     const resize = () => {
       const width = Math.max(host.clientWidth, 1);
@@ -268,21 +424,17 @@ LaboratoryMetricEvidenceSceneHandle,
       camera.aspect = width / height;
       camera.updateProjectionMatrix();
       renderer.setSize(width, height, false);
+      requestRender();
     };
     const observer = new ResizeObserver(resize);
     observer.observe(host);
     resize();
 
-    let animationFrame = 0;
-    const render = () => {
-      animationFrame = window.requestAnimationFrame(render);
-      controls.update();
-      renderer.render(scene, camera);
-    };
-    render();
+    requestRender();
     return () => {
-      window.cancelAnimationFrame(animationFrame);
+      if (animationFrame !== null) window.cancelAnimationFrame(animationFrame);
       observer.disconnect();
+      controls.removeEventListener("change", requestRender);
       controls.dispose();
       scene.traverse(disposeRenderable);
       renderer.dispose();
@@ -292,6 +444,11 @@ LaboratoryMetricEvidenceSceneHandle,
       controlsRef.current = null;
       staticContentRef.current = null;
       dynamicContentRef.current = null;
+      classifiedContentRef.current = null;
+      localSurfacePointsRef.current = null;
+      currentIncrementPointsRef.current = null;
+      requestRenderRef.current = () => undefined;
+      classifiedMeshesRef.current = new Map();
     };
   }, []);
 
@@ -300,80 +457,77 @@ LaboratoryMetricEvidenceSceneHandle,
     if (canvas) canvas.setAttribute("aria-label", label);
   }, [label]);
 
+  useEffect(() => {
+    const points = localSurfacePointsRef.current;
+    if (!points) return;
+    points.visible = showLocalSurface && localSurfaceBodyXyzM.length > 0;
+    if (points.visible) updatePointPositions(points.geometry, localSurfaceBodyXyzM);
+    requestRenderRef.current();
+  }, [localSurfaceBodyXyzM, showLocalSurface]);
+
+  useEffect(() => {
+    const host = hostRef.current;
+    const points = currentIncrementPointsRef.current;
+    if (!host || !points) return;
+    points.visible = showCurrentIncrement && pointCloudBodyXyzM.length > 0;
+    if (!points.visible) {
+      requestRenderRef.current();
+      return;
+    }
+    updatePointPositions(points.geometry, pointCloudBodyXyzM);
+    const material = points.material as THREE.PointsMaterial;
+    const hasAlignedSemanticClasses =
+      pointSemanticClassIds !== undefined
+      && pointSemanticClassIds.length === pointCloudBodyXyzM.length
+      && semanticClasses !== undefined
+      && semanticPalette !== undefined;
+    if (!hasAlignedSemanticClasses) {
+      if (material.vertexColors) {
+        material.vertexColors = false;
+        material.needsUpdate = true;
+      }
+      material.color.copy(tokenColor(host, "--nodedc-text-muted", [147, 151, 159]));
+      requestRenderRef.current();
+      return;
+    }
+    const declaredIds = new Set(semanticClasses.map((item) => item.id));
+    const colorsByClassId = new Map<number, readonly [number, number, number]>();
+    for (const entry of semanticPalette) {
+      if (!declaredIds.has(entry.classId)) continue;
+      const rgb = resolveRecordedEvidenceSemanticRgb(host, entry.color);
+      if (rgb) colorsByClassId.set(entry.classId, rgb);
+    }
+    const context = tokenColor(host, "--nodedc-text-muted", [147, 151, 159]);
+    const colorAttribute = ensurePointColors(points.geometry, pointCloudBodyXyzM.length);
+    const pointColors = colorAttribute.array as Float32Array;
+    pointSemanticClassIds.forEach((classId, index) => {
+      const rgb = classId === null ? undefined : colorsByClassId.get(classId);
+      const offset = index * 3;
+      pointColors[offset] = rgb ? rgb[0] / 255 : context.r;
+      pointColors[offset + 1] = rgb ? rgb[1] / 255 : context.g;
+      pointColors[offset + 2] = rgb ? rgb[2] / 255 : context.b;
+    });
+    colorAttribute.needsUpdate = true;
+    if (!material.vertexColors) {
+      material.vertexColors = true;
+      material.needsUpdate = true;
+    }
+    material.color.setRGB(1, 1, 1);
+    requestRenderRef.current();
+  }, [
+    pointCloudBodyXyzM,
+    pointSemanticClassIds,
+    semanticClasses,
+    semanticPalette,
+    showCurrentIncrement,
+  ]);
+
   useEffect(() => {
     const host = hostRef.current;
     const content = dynamicContentRef.current;
     if (!host || !content) return;
     clearGroup(content);
 
-    if (showLocalSurface) {
-      const localSurfaceGeometry = new THREE.BufferGeometry();
-      localSurfaceGeometry.setAttribute(
-        "position",
-        new THREE.BufferAttribute(positions(localSurfaceBodyXyzM), 3),
-      );
-      content.add(new THREE.Points(
-        localSurfaceGeometry,
-        new THREE.PointsMaterial({
-          color: tokenColor(host, "--nodedc-accent-rgb", [247, 248, 244]),
-          size: 1.3,
-          sizeAttenuation: false,
-          transparent: true,
-          opacity: 0.42,
-          depthWrite: false,
-        }),
-      ));
-    }
-
-    if (showCurrentIncrement) {
-      const contextGeometry = new THREE.BufferGeometry();
-      contextGeometry.setAttribute(
-        "position",
-        new THREE.BufferAttribute(positions(pointCloudBodyXyzM), 3),
-      );
-      const hasAlignedSemanticClasses =
-        pointSemanticClassIds !== undefined
-        && pointSemanticClassIds.length === pointCloudBodyXyzM.length
-        && semanticClasses !== undefined
-        && semanticPalette !== undefined;
-      if (hasAlignedSemanticClasses) {
-        const declaredIds = new Set(semanticClasses.map((item) => item.id));
-        const colorsByClassId = new Map<number, readonly [number, number, number]>();
-        for (const entry of semanticPalette) {
-          if (!declaredIds.has(entry.classId)) continue;
-          const rgb = resolveRecordedEvidenceSemanticRgb(host, entry.color);
-          if (rgb) colorsByClassId.set(entry.classId, rgb);
-        }
-        const context = tokenColor(host, "--nodedc-text-muted", [147, 151, 159]);
-        const pointColors = new Float32Array(pointCloudBodyXyzM.length * 3);
-        pointSemanticClassIds.forEach((classId, index) => {
-          const rgb = classId === null ? undefined : colorsByClassId.get(classId);
-          const offset = index * 3;
-          pointColors[offset] = rgb ? rgb[0] / 255 : context.r;
-          pointColors[offset + 1] = rgb ? rgb[1] / 255 : context.g;
-          pointColors[offset + 2] = rgb ? rgb[2] / 255 : context.b;
-        });
-        contextGeometry.setAttribute(
-          "color",
-          new THREE.BufferAttribute(pointColors, 3),
-        );
-      }
-      content.add(new THREE.Points(
-        contextGeometry,
-        new THREE.PointsMaterial({
-          color: hasAlignedSemanticClasses
-            ? new THREE.Color(1, 1, 1)
-            : tokenColor(host, "--nodedc-text-muted", [147, 151, 159]),
-          vertexColors: hasAlignedSemanticClasses,
-          size: 1.55,
-          sizeAttenuation: false,
-          transparent: true,
-          opacity: 0.58,
-          depthWrite: false,
-        }),
-      ));
-    }
-
     for (const obstacle of obstacles) {
       if (
         (
@@ -442,21 +596,150 @@ LaboratoryMetricEvidenceSceneHandle,
         content.add(centroid);
       }
     }
-
+    requestRenderRef.current();
   }, [
     obstacles,
     occupiedVoxelSizeM,
-    localSurfaceBodyXyzM,
-    pointCloudBodyXyzM,
-    pointSemanticClassIds,
-    semanticClasses,
-    semanticPalette,
     showCurrentIncrement,
-    showLocalSurface,
     showRollingMap,
     showLowStep,
   ]);
 
+  useEffect(() => {
+    const host = hostRef.current;
+    const content = classifiedContentRef.current;
+    if (!host || !content) return;
+    const packedCellCount = classifiedPackedCells?.stateCodes.length ?? 0;
+    const packedCellsValid = !classifiedPackedCells || (
+      classifiedPackedCells.centersBodyXyM.length === packedCellCount * 2
+      && classifiedPackedCells.zBoundsM.length === packedCellCount * 2
+    );
+    const cellCount = packedCellsValid && classifiedPackedCells
+      ? packedCellCount
+      : classifiedCells.length;
+    content.visible = showClassifiedCells && cellCount > 0;
+    if (!content.visible) {
+      requestRenderRef.current();
+      return;
+    }
+
+    const requiredCapacity = cellCount;
+    const currentMeshes = classifiedMeshesRef.current;
+    const firstMesh = currentMeshes.values().next().value as THREE.InstancedMesh | undefined;
+    const needsAllocation = !firstMesh
+      || Number(firstMesh.userData.capacity ?? 0) < requiredCapacity
+      || Number(firstMesh.userData.cellSizeM ?? 0) !== classifiedCellSizeM;
+    if (needsAllocation) {
+      clearGroup(content);
+      const meshes = new Map<LaboratoryMetricCellState, THREE.InstancedMesh>();
+      const states: readonly LaboratoryMetricCellState[] = [
+        "unobserved",
+        "ground-support",
+        "nonground-occupied",
+        "unknown-rejected",
+      ];
+      for (const state of states) {
+        const color = state === "ground-support"
+          ? tokenColor(host, "--nodedc-success-rgb", [181, 255, 90])
+          : state === "nonground-occupied"
+            ? tokenColor(host, "--nodedc-danger-rgb", [255, 104, 112])
+            : state === "unknown-rejected"
+              ? tokenColor(host, "--nodedc-warning-rgb", [255, 197, 92])
+              : tokenColor(host, "--nodedc-text-muted", [96, 99, 106]);
+        const mesh = new THREE.InstancedMesh(
+          new THREE.BoxGeometry(classifiedCellSizeM * 0.92, 1, classifiedCellSizeM * 0.92),
+          new THREE.MeshBasicMaterial({
+            color,
+            transparent: true,
+            opacity: state === "unobserved" ? 0.035 : state === "ground-support" ? 0.12 : 0.24,
+            depthWrite: false,
+          }),
+          requiredCapacity,
+        );
+        mesh.count = 0;
+        mesh.instanceMatrix.setUsage(THREE.DynamicDrawUsage);
+        mesh.frustumCulled = false;
+        mesh.userData.capacity = requiredCapacity;
+        mesh.userData.cellSizeM = classifiedCellSizeM;
+        meshes.set(state, mesh);
+        content.add(mesh);
+      }
+      classifiedMeshesRef.current = meshes;
+    }
+
+    const meshes = classifiedMeshesRef.current;
+    const counts = new Map<LaboratoryMetricCellState, number>();
+    const matrix = new THREE.Matrix4();
+    const position = new THREE.Vector3();
+    const scale = new THREE.Vector3(1, 1, 1);
+    const rotation = new THREE.Quaternion();
+    const setCell = (
+      state: LaboratoryMetricCellState,
+      centerX: number,
+      centerY: number,
+      minimum: number | null,
+      maximum: number | null,
+    ) => {
+      const mesh = meshes.get(state);
+      if (!mesh) return;
+      const index = counts.get(state) ?? 0;
+      const height = minimum === null || maximum === null
+        ? 0.018
+        : Math.max(0.018, maximum - minimum);
+      const centerZ = minimum === null || maximum === null
+        ? -0.012
+        : (minimum + maximum) / 2;
+      const [sceneX, sceneY, sceneZ] = scenePoint([
+        centerX,
+        centerY,
+        centerZ,
+      ]);
+      position.set(sceneX, sceneY, sceneZ);
+      scale.set(1, height, 1);
+      matrix.compose(position, rotation, scale);
+      mesh.setMatrixAt(index, matrix);
+      counts.set(state, index + 1);
+    };
+    if (packedCellsValid && classifiedPackedCells) {
+      for (let cellIndex = 0; cellIndex < packedCellCount; cellIndex += 1) {
+        const code = classifiedPackedCells.stateCodes[cellIndex];
+        const state: LaboratoryMetricCellState = code === 1
+          ? "ground-support"
+          : code === 2
+            ? "nonground-occupied"
+            : code === 3
+              ? "unknown-rejected"
+              : code === 0
+                ? "unobserved"
+                : "unknown-rejected";
+        const minimum = classifiedPackedCells.zBoundsM[cellIndex * 2]!;
+        const maximum = classifiedPackedCells.zBoundsM[cellIndex * 2 + 1]!;
+        setCell(
+          state,
+          classifiedPackedCells.centersBodyXyM[cellIndex * 2]!,
+          classifiedPackedCells.centersBodyXyM[cellIndex * 2 + 1]!,
+          Number.isFinite(minimum) ? minimum : null,
+          Number.isFinite(maximum) ? maximum : null,
+        );
+      }
+    } else {
+      for (const cell of classifiedCells) {
+        setCell(
+          cell.state,
+          cell.centerBodyXyM[0],
+          cell.centerBodyXyM[1],
+          cell.zBoundsM[0],
+          cell.zBoundsM[1],
+        );
+      }
+    }
+    for (const [state, mesh] of meshes) {
+      mesh.count = counts.get(state) ?? 0;
+      mesh.instanceMatrix.needsUpdate = true;
+    }
+    requestRenderRef.current();
+  }, [classifiedCellSizeM, classifiedCells, classifiedPackedCells, showClassifiedCells]);
+
   useEffect(() => {
     const host = hostRef.current;
     const content = staticContentRef.current;
@@ -521,15 +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);
@@ -537,10 +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 (
@@ -563,7 +858,9 @@ LaboratoryMetricEvidenceSceneHandle,
     });
   })();
   const metricLegendEntries = laboratoryMetricLegendEntries({
-    pointCloudCount: pointCloudBodyXyzM.length,
+    pointCloudCount: pointSemanticClassIds?.every((item) => item !== null)
+      ? 0
+      : pointCloudBodyXyzM.length,
     localSurfaceCount: localSurfaceBodyXyzM.length,
     obstacles,
     showCurrentIncrement,
@@ -571,6 +868,43 @@ LaboratoryMetricEvidenceSceneHandle,
     showRollingMap,
     showLowStep,
   });
+  const classifiedLegendEntries = (() => {
+    const states = new Set<LaboratoryMetricCellState>();
+    if (classifiedPackedCells) {
+      for (const code of classifiedPackedCells.stateCodes) {
+        states.add(code === 1
+          ? "ground-support"
+          : code === 2
+            ? "nonground-occupied"
+            : code === 3
+              ? "unknown-rejected"
+              : code === 0
+                ? "unobserved"
+                : "unknown-rejected");
+      }
+    } else {
+      classifiedCells.forEach((cell) => states.add(cell.state));
+    }
+    if (!showClassifiedCells || !states.size) return [];
+    return [
+      states.has("ground-support")
+        ? { id: "ground-support" as const, label: "Ground support" }
+        : null,
+      states.has("nonground-occupied")
+        ? { id: "nonground-occupied" as const, label: "Non-ground occupied" }
+        : null,
+      states.has("unknown-rejected")
+        ? { id: "unknown-rejected" as const, label: "Unknown / rejected" }
+        : null,
+      states.has("unobserved")
+        ? { id: "unobserved" as const, label: "Unobserved" }
+        : null,
+    ]
+      .filter((entry): entry is NonNullable<typeof entry> => entry !== null)
+      .filter((entry) => !semanticLegendEntries.some(
+        (semanticEntry) => semanticEntry.label === entry.label,
+      ));
+  })();
 
   return (
     <div className="laboratory-metric-evidence-scene">
@@ -578,9 +912,22 @@ 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>
         ))}
+        {classifiedLegendEntries.map((entry) => (
+          <span key={entry.id} data-decision={entry.id}>{entry.label}</span>
+        ))}
         {semanticLegendEntries.map((entry) => (
           <span
             key={entry.id}

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

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

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

@@ -1,8 +1,11 @@
+import { useEffect, useState } from "react";
+
 import {
   RecordedFmp4Player,
   type RecordedObservationPlayback,
 } from "../RecordedFmp4Player";
 import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
+import type { RecordedCameraAdmissionState } from "../../core/observation/recordedSessionAdmission";
 import {
   RecordedEvidenceBoxOverlay,
   type RecordedEvidenceBox,
@@ -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

@@ -46,14 +46,24 @@ import { fetchM48StaticOccupancyQualification } from "./m48StaticOccupancyQualif
 import { fetchM48R3StaticOccupancyShadow } from "./m48r3StaticOccupancyShadow";
 import { fetchM48SFixedClassDetectorResult } from "./m48sFixedClassDetector";
 import { fetchM48TRiskQualityResult } from "./m48tRiskQuality";
+import { fetchM49TgsFailClosedResult } from "./m49TgsFailClosed";
+import { fetchM49TgsFullShadowResult } from "./m49TgsFullShadow";
+import {
+  fetchVegetationBenchmarkResult,
+  fetchVegetationShadowResult,
+} from "./vegetationShadow";
 
 export type AdvancedLaboratoryWorkId =
+  | "lab-v1-vegetation-benchmark"
+  | "lab-v1-vegetation-shadow"
   | "m48-object-centric-quality"
   | "m48-small-static-passage-regression"
   | "m48-static-occupancy-qualification"
   | "m48r3-static-occupancy-shadow"
   | "m48s-fixed-class-detector"
   | "m48t-risk-quality-temporal"
+  | "m49-tgs-fail-closed-evidence"
+  | "m49-tgs-full-shadow"
   | "m47-reference-graph-shadow"
   | "m4-replay-threat"
   | "l3-pointpillars-visual-audit"
@@ -96,12 +106,16 @@ export interface AdvancedLaboratoryIndexItem {
 }
 
 const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
+  "lab-v1-vegetation-benchmark",
+  "lab-v1-vegetation-shadow",
   "m48-object-centric-quality",
   "m48-small-static-passage-regression",
   "m48-static-occupancy-qualification",
   "m48r3-static-occupancy-shadow",
   "m48s-fixed-class-detector",
   "m48t-risk-quality-temporal",
+  "m49-tgs-fail-closed-evidence",
+  "m49-tgs-full-shadow",
   "m47-reference-graph-shadow",
   "m4-replay-threat",
   "l3-pointpillars-visual-audit",
@@ -139,12 +153,16 @@ const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
 ];
 
 const RESULT_PREFIX: Readonly<Record<AdvancedLaboratoryWorkId, string>> = {
+  "lab-v1-vegetation-benchmark": "lab-v1-vegetation-benchmark",
+  "lab-v1-vegetation-shadow": "lab-v1-vegetation-shadow",
   "m48-object-centric-quality": "m48-object-quality-(?:pack|result)",
   "m48-small-static-passage-regression": "m48-small-static-passage-regression",
   "m48-static-occupancy-qualification": "m48-static-occupancy-qualification",
   "m48r3-static-occupancy-shadow": "m48r3-static-occupancy-shadow",
   "m48s-fixed-class-detector": "m48s-fixed-class-detector-lab",
   "m48t-risk-quality-temporal": "(?:m48t-risk-quality-temporal-lab|m48q-native-risk-quality-lab)",
+  "m49-tgs-fail-closed-evidence": "m49-tgs-fail-closed",
+  "m49-tgs-full-shadow": "m49-tgs-full-shadow",
   "m47-reference-graph-shadow": "m47-reference-graph-lab",
   "m4-replay-threat": "m4-threat-replay",
   "l3-pointpillars-visual-audit": "l3-pointpillars-visual-audit",
@@ -189,6 +207,8 @@ export function isAdvancedLaboratoryWorkId(
 
 export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
   return {
+    vegetationBenchmark: null,
+    vegetationShadow: null,
     m47Graph: null,
     m48: null,
     m48SmallStatic: null,
@@ -196,6 +216,8 @@ export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
     m48r3StaticOccupancy: null,
     m48s: null,
     m48t: null,
+    m49Tgs: null,
+    m49TgsFull: null,
     m4Threat: null,
     l3: null,
     l31: null,
@@ -320,12 +342,16 @@ 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
     : workId === "m48s-fixed-class-detector" ? results.m48s !== null
     : workId === "m48t-risk-quality-temporal" ? results.m48t !== null
+    : workId === "m49-tgs-fail-closed-evidence" ? results.m49Tgs !== null
+    : workId === "m49-tgs-full-shadow" ? results.m49TgsFull !== null
     : workId === "m47-reference-graph-shadow" ? results.m47Graph !== null
     : workId === "m4-replay-threat" ? results.m4Threat !== null
     : workId === "l3-pointpillars-visual-audit" ? results.l3 !== null
@@ -375,7 +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") {
@@ -393,6 +425,12 @@ export async function fetchAdvancedLaboratoryResult(
   } else if (workId === "m48t-risk-quality-temporal") {
     if (!resultId) throw new AdvancedLaboratoryContractError("M4.8T LAB identity не выбрана.");
     results.m48t = await fetchM48TRiskQualityResult(resultId, { fetcher, signal });
+  } else if (workId === "m49-tgs-fail-closed-evidence") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.9 TGS LAB identity не выбрана.");
+    results.m49Tgs = await fetchM49TgsFailClosedResult(resultId, { fetcher, signal });
+  } else if (workId === "m49-tgs-full-shadow") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.9 full TGS shadow identity не выбрана.");
+    results.m49TgsFull = await fetchM49TgsFullShadowResult(resultId, { fetcher, signal });
   } else if (workId === "m47-reference-graph-shadow") {
     if (!resultId) {
       throw new AdvancedLaboratoryContractError("M4.7 LAB identity не выбрана.");

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

@@ -40,8 +40,13 @@ import type { M48StaticOccupancyQualificationResult } from "./m48StaticOccupancy
 import type { M48R3StaticOccupancyShadowResult } from "./m48r3StaticOccupancyShadow";
 import type { M48SFixedClassDetectorResult } from "./m48sFixedClassDetector";
 import type { M48TRiskQualityResult } from "./m48tRiskQuality";
+import type { M49TgsFailClosedResult } from "./m49TgsFailClosed";
+import type { M49TgsFullShadowResult } from "./m49TgsFullShadow";
+import type { VegetationShadowResult } from "./vegetationShadow";
 
 export interface AdvancedLaboratoryResults {
+  vegetationBenchmark: VegetationShadowResult | null;
+  vegetationShadow: VegetationShadowResult | null;
   m47Graph: M47ReferenceGraphLabResult | null;
   m48: M48AdvancedResult | null;
   m48SmallStatic: M48SmallStaticRegressionResult | null;
@@ -49,6 +54,8 @@ export interface AdvancedLaboratoryResults {
   m48r3StaticOccupancy: M48R3StaticOccupancyShadowResult | null;
   m48s: M48SFixedClassDetectorResult | null;
   m48t: M48TRiskQualityResult | null;
+  m49Tgs: M49TgsFailClosedResult | null;
+  m49TgsFull: M49TgsFullShadowResult | null;
   m4Threat: M4ThreatReplayResult | null;
   l3: L3PointPillarsVisualAuditResult | null;
   l31: L31PointPillarsRavnovesResult | null;

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

@@ -29,7 +29,6 @@ export interface E31LaboratoryResult {
   limitations: readonly string[];
   access: "read-only";
 }
-
 export interface E32LaboratoryResult {
   resultId: string;
   createdAtUtc: string | null;
@@ -53,7 +52,6 @@ export interface E32LaboratoryResult {
   };
   access: "read-only";
 }
-
 export interface E33LaboratoryResult {
   resultId: string;
   createdAtUtc: string | null;
@@ -967,9 +965,11 @@ 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, m4Threat: null,
+    m48s: null, m48t: null, m49Tgs: null, m49TgsFull: null, m4Threat: null,
     l3: null, l31: null, l32: null, l33: null,
     e31,
     e32,

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/m49TgsFailClosed.ts

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

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

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

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

@@ -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;
@@ -226,6 +230,51 @@ export interface M4ThreatTimelineChunk {
   frames: readonly M4ThreatTimelineFrame[];
 }
 
+export interface M4ThreatPlaybackProgress {
+  phase: "manifest" | "download" | "verify" | "ready";
+  loadedBytes: number;
+  totalBytes: number;
+}
+
+export interface M4ThreatPlaybackPointPack {
+  resultId: string;
+  frameCount: number;
+  pointCount: number;
+  pointOffsets: Uint32Array;
+  pointsMapXyzM: Float32Array;
+  pointStart?: number;
+  startSequence?: number;
+  sequenceCount?: number;
+}
+
+export interface M4ThreatPlaybackChunkDescriptor {
+  index: number;
+  start: number;
+  count: number;
+  pointStart: number;
+  pointCount: number;
+  url: string;
+  mediaType: "application/octet-stream";
+  byteLength: number;
+  sha256: string;
+}
+
+export interface M4ThreatPlaybackManifest {
+  resultId: string;
+  frameCount: number;
+  pointCount: number;
+  pointOffsets: Uint32Array;
+  chunkFrameCount: 24;
+  residentChunkCountMax: 4;
+  forwardPrefetchChunkCount: 1;
+  chunks: readonly M4ThreatPlaybackChunkDescriptor[];
+  track: {
+    url: string;
+    byteLength: number;
+    sha256: string;
+  };
+}
+
 type LaboratoryFetch = (input: RequestInfo | URL, init?: RequestInit) => Promise<Response>;
 export const M4_THREAT_TIMELINE_ENDPOINT_ROOT = "/api/v1/laboratory/m4-threat/results";
 class M4ThreatContractError extends Error {}
@@ -292,7 +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;
@@ -659,12 +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",
@@ -675,7 +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"),
   );
@@ -693,7 +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,
@@ -803,11 +852,15 @@ export async function fetchM4ThreatTimelineChunk(
     signal,
     endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
     cameraObstacleProjectionDelivery = null,
+    playbackPointPack,
+    includePoints = true,
   }: {
     fetcher?: LaboratoryFetch;
     signal?: AbortSignal;
     endpointRoot?: string;
     cameraObstacleProjectionDelivery?: M4ThreatTimeline["cameraObstacleProjectionDelivery"];
+    playbackPointPack?: M4ThreatPlaybackPointPack;
+    includePoints?: boolean;
   } = {},
 ): Promise<M4ThreatTimelineChunk> {
   const params = new URLSearchParams({
@@ -817,6 +870,7 @@ export async function fetchM4ThreatTimelineChunk(
   if (cameraObstacleProjectionDelivery !== null) {
     params.set("obstacle_projection", cameraObstacleProjectionDelivery);
   }
+  if (playbackPointPack || !includePoints) params.set("include_points", "false");
   const response = await fetcher(
     `${endpointRoot}/${result}/timeline/chunk?${params}`,
     { headers: { Accept: "application/json" }, signal },
@@ -834,8 +888,12 @@ export async function fetchM4ThreatTimelineChunk(
   if (parsedStart !== startSequence) {
     throw new M4ThreatContractError("M4.6 timeline chunk start: нарушен контракт.");
   }
-  const frames = array(payload.frames, "M4.6 timeline frames").map((raw, offset) =>
-    parseTimelineFrame(raw, result, parsedStart + offset, endpointRoot));
+  const frames = array(payload.frames, "M4.6 timeline frames").map((raw, offset) => {
+    const parsed = parseTimelineFrame(raw, result, parsedStart + offset, endpointRoot);
+    return playbackPointPack
+      ? hydrateM4ThreatTimelineFrame(parsed, playbackPointPack)
+      : parsed;
+  });
   const parsedCount = integer(payload.frame_count, "M4.6 timeline chunk count");
   if (parsedCount !== frames.length || parsedCount > frameCount) {
     throw new M4ThreatContractError("M4.6 timeline chunk count: нарушен контракт.");
@@ -851,6 +909,308 @@ export async function fetchM4ThreatTimelineChunk(
   };
 }
 
+function playbackSha256Hex(buffer: ArrayBuffer): Promise<string> {
+  if (!globalThis.crypto?.subtle) {
+    throw new M4ThreatContractError("Браузер не поддерживает проверку playback SHA-256.");
+  }
+  return globalThis.crypto.subtle.digest("SHA-256", buffer).then((digest) => (
+    [...new Uint8Array(digest)].map((value) => value.toString(16).padStart(2, "0")).join("")
+  ));
+}
+
+function roundedBodyCoordinate(value: number): number {
+  return Math.round(value * 1_000_000) / 1_000_000;
+}
+
+export function hydrateM4ThreatTimelineFrame(
+  frame: M4ThreatTimelineFrame,
+  pack: M4ThreatPlaybackPointPack,
+): M4ThreatTimelineFrame {
+  if (
+    frame.sequence >= pack.frameCount
+    || pack.resultId === ""
+    || (pack.startSequence !== undefined && (
+      frame.sequence < pack.startSequence
+      || frame.sequence >= pack.startSequence + (pack.sequenceCount ?? 0)
+    ))
+  ) {
+    throw new M4ThreatContractError("M4.6 binary playback frame: нарушена идентичность.");
+  }
+  if (!frame.sourceAvailable || !frame.spatialAvailable || !frame.bodyFrame) {
+    if (frame.pointCloudSourceCount !== 0) {
+      throw new M4ThreatContractError("M4.6 binary playback unavailable frame содержит точки.");
+    }
+    return { ...frame, pointCloudBodyXyzM: [], pointCloudSampleCount: 0 };
+  }
+  const start = pack.pointOffsets[frame.sequence];
+  const stop = pack.pointOffsets[frame.sequence + 1];
+  const pointStart = pack.pointStart ?? 0;
+  const pointStop = pointStart + pack.pointCount;
+  if (
+    start === undefined
+    || stop === undefined
+    || stop < start
+    || start < pointStart
+    || stop > pointStop
+  ) {
+    throw new M4ThreatContractError("M4.6 binary playback offsets: нарушена размерность.");
+  }
+  const count = stop - start;
+  if (frame.pointCloudSourceCount !== count || frame.pointCloudSampleCount !== count) {
+    throw new M4ThreatContractError("M4.6 binary playback point accounting: нарушен контракт.");
+  }
+  const origin = frame.bodyFrame.originMapXyzM;
+  const basis = frame.bodyFrame.basisMapFromBody;
+  const points = new Array<M4Point3>(count);
+  for (let index = 0; index < count; index += 1) {
+    const sourceOffset = (start - pointStart + index) * 3;
+    const dx = pack.pointsMapXyzM[sourceOffset]! - origin[0];
+    const dy = pack.pointsMapXyzM[sourceOffset + 1]! - origin[1];
+    const dz = pack.pointsMapXyzM[sourceOffset + 2]! - origin[2];
+    points[index] = [
+      roundedBodyCoordinate(dx * basis[0][0] + dy * basis[1][0] + dz * basis[2][0]),
+      roundedBodyCoordinate(dx * basis[0][1] + dy * basis[1][1] + dz * basis[2][1]),
+      roundedBodyCoordinate(dx * basis[0][2] + dy * basis[1][2] + dz * basis[2][2]),
+    ];
+  }
+  return { ...frame, pointCloudBodyXyzM: points, pointCloudSampleCount: count };
+}
+
+export async function fetchM4ThreatPlaybackManifest(
+  result: string,
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+  } = {},
+): Promise<M4ThreatPlaybackManifest> {
+  resultId(result);
+  const manifestResponse = await fetcher(`${endpointRoot}/${result}/timeline/playback`, {
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!manifestResponse.ok) {
+    throw new M4ThreatContractError(`M4.6 playback manifest: HTTP ${manifestResponse.status}.`);
+  }
+  const manifest = object(await manifestResponse.json(), "M4.6 playback manifest");
+  exact(manifest.schema_version, "missioncore.recorded-spatial-playback/v1", "M4.6 playback schema");
+  exact(manifest.result_id, result, "M4.6 playback result");
+  exact(manifest.coordinate_frame, "map", "M4.6 playback coordinate frame");
+  exact(manifest.access, "read-only-sealed-binary-playback", "M4.6 playback access");
+  const frameCount = integer(manifest.frame_count, "M4.6 playback frames");
+  if (frameCount < 1) {
+    throw new M4ThreatContractError("M4.6 playback frames: пустой playback недопустим.");
+  }
+  const pointCount = integer(manifest.point_count, "M4.6 playback points");
+  const offsetsRaw = array(manifest.point_offsets, "M4.6 playback offsets");
+  if (offsetsRaw.length !== frameCount + 1) {
+    throw new M4ThreatContractError("M4.6 playback offsets: неверная размерность.");
+  }
+  const pointOffsets = Uint32Array.from(offsetsRaw, (value) => integer(value, "M4.6 playback offset"));
+  if (pointOffsets[0] !== 0 || pointOffsets[pointOffsets.length - 1] !== pointCount) {
+    throw new M4ThreatContractError("M4.6 playback offsets: нарушено замыкание.");
+  }
+  for (let index = 1; index < pointOffsets.length; index += 1) {
+    if (pointOffsets[index]! < pointOffsets[index - 1]!) {
+      throw new M4ThreatContractError("M4.6 playback offsets: нарушена монотонность.");
+    }
+  }
+  const track = object(manifest.track, "M4.6 playback track");
+  exact(track.id, "points-map-f32", "M4.6 playback track id");
+  exact(track.dtype, "<f4", "M4.6 playback dtype");
+  const shape = array(track.shape, "M4.6 playback shape").map((value) => integer(value, "M4.6 playback shape"));
+  if (shape.length !== 2 || shape[0] !== pointCount || shape[1] !== 3) {
+    throw new M4ThreatContractError("M4.6 playback shape: нарушена размерность.");
+  }
+  const byteLength = integer(track.bytes, "M4.6 playback bytes");
+  if (byteLength !== pointCount * 3 * Float32Array.BYTES_PER_ELEMENT) {
+    throw new M4ThreatContractError("M4.6 playback bytes: нарушен accounting.");
+  }
+  const sha256 = text(track.sha256, "M4.6 playback SHA-256");
+  if (!/^[a-f0-9]{64}$/.test(sha256)) {
+    throw new M4ThreatContractError("M4.6 playback SHA-256: нарушен контракт.");
+  }
+  const trackUrl = text(track.url, "M4.6 playback URL");
+  const chunkFrameCount = exact(
+    integer(manifest.chunk_frame_count, "M4.6 playback chunk frames"),
+    24,
+    "M4.6 playback chunk frames",
+  );
+  const residentChunkCountMax = exact(
+    integer(manifest.resident_chunk_count_max, "M4.6 playback resident chunks"),
+    4,
+    "M4.6 playback resident chunks",
+  );
+  const forwardPrefetchChunkCount = exact(
+    integer(manifest.forward_prefetch_chunk_count, "M4.6 playback prefetch chunks"),
+    1,
+    "M4.6 playback prefetch chunks",
+  );
+  const chunkRows = array(manifest.chunks, "M4.6 playback chunks");
+  const expectedChunkCount = Math.ceil(frameCount / chunkFrameCount);
+  if (chunkRows.length !== expectedChunkCount) {
+    throw new M4ThreatContractError("M4.6 playback chunk catalog: неверный размер.");
+  }
+  const chunks = chunkRows.map((value, index): M4ThreatPlaybackChunkDescriptor => {
+    const row = object(value, `M4.6 playback chunk ${index}`);
+    const start = index * chunkFrameCount;
+    const count = Math.min(chunkFrameCount, frameCount - start);
+    const pointStart = pointOffsets[start]!;
+    const pointStop = pointOffsets[start + count]!;
+    const pointChunkCount = pointStop - pointStart;
+    exact(integer(row.index, `M4.6 playback chunk ${index}.index`), index, `M4.6 playback chunk ${index}.index`);
+    exact(integer(row.start, `M4.6 playback chunk ${index}.start`), start, `M4.6 playback chunk ${index}.start`);
+    exact(integer(row.count, `M4.6 playback chunk ${index}.count`), count, `M4.6 playback chunk ${index}.count`);
+    exact(integer(row.point_start, `M4.6 playback chunk ${index}.point start`), pointStart, `M4.6 playback chunk ${index}.point start`);
+    exact(integer(row.point_count, `M4.6 playback chunk ${index}.point count`), pointChunkCount, `M4.6 playback chunk ${index}.point count`);
+    exact(row.media_type, "application/octet-stream", `M4.6 playback chunk ${index}.media type`);
+    exact(row.dtype, "<f4", `M4.6 playback chunk ${index}.dtype`);
+    const shapeValue = array(row.shape, `M4.6 playback chunk ${index}.shape`)
+      .map((item) => integer(item, `M4.6 playback chunk ${index}.shape`));
+    const chunkBytes = integer(row.bytes, `M4.6 playback chunk ${index}.bytes`);
+    if (
+      shapeValue.length !== 2
+      || shapeValue[0] !== pointChunkCount
+      || shapeValue[1] !== 3
+      || chunkBytes !== pointChunkCount * 3 * Float32Array.BYTES_PER_ELEMENT
+    ) {
+      throw new M4ThreatContractError(`M4.6 playback chunk ${index}: нарушена размерность.`);
+    }
+    const chunkSha256 = text(row.sha256, `M4.6 playback chunk ${index}.SHA-256`);
+    if (!/^[a-f0-9]{64}$/.test(chunkSha256)) {
+      throw new M4ThreatContractError(`M4.6 playback chunk ${index}: SHA-256 недопустим.`);
+    }
+    const expectedUrl = `${endpointRoot}/${result}/timeline/playback/chunks/${index}`;
+    const url = text(row.url, `M4.6 playback chunk ${index}.URL`);
+    if (url !== expectedUrl || url.includes("worker")) {
+      throw new M4ThreatContractError(`M4.6 playback chunk ${index}: разрешён только sealed local API.`);
+    }
+    return {
+      index,
+      start,
+      count,
+      pointStart,
+      pointCount: pointChunkCount,
+      url,
+      mediaType: "application/octet-stream",
+      byteLength: chunkBytes,
+      sha256: chunkSha256,
+    };
+  });
+  return {
+    resultId: result,
+    frameCount,
+    pointCount,
+    pointOffsets,
+    chunkFrameCount,
+    residentChunkCountMax,
+    forwardPrefetchChunkCount,
+    chunks,
+    track: { url: trackUrl, byteLength, sha256 },
+  };
+}
+
+export async function fetchM4ThreatPlaybackPointChunk(
+  manifest: M4ThreatPlaybackManifest,
+  chunkIndex: number,
+  {
+    fetcher = fetch,
+    signal,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    onProgress?: (progress: M4ThreatPlaybackProgress) => void;
+  } = {},
+): Promise<M4ThreatPlaybackPointPack> {
+  const descriptor = manifest.chunks[chunkIndex];
+  if (!descriptor || descriptor.index !== chunkIndex) {
+    throw new M4ThreatContractError("M4.6 playback chunk отсутствует.");
+  }
+  onProgress?.({ phase: "download", loadedBytes: 0, totalBytes: descriptor.byteLength });
+  const response = await fetcher(descriptor.url, {
+    headers: { Accept: "application/octet-stream" },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M4ThreatContractError(`M4.6 playback chunk: HTTP ${response.status}.`);
+  }
+  const buffer = await response.arrayBuffer();
+  if (buffer.byteLength !== descriptor.byteLength) {
+    throw new M4ThreatContractError("M4.6 playback chunk: неверный размер.");
+  }
+  onProgress?.({
+    phase: "verify",
+    loadedBytes: descriptor.byteLength,
+    totalBytes: descriptor.byteLength,
+  });
+  if (await playbackSha256Hex(buffer) !== descriptor.sha256) {
+    throw new M4ThreatContractError("M4.6 playback chunk: SHA-256 не совпал.");
+  }
+  onProgress?.({
+    phase: "ready",
+    loadedBytes: descriptor.byteLength,
+    totalBytes: descriptor.byteLength,
+  });
+  return {
+    resultId: manifest.resultId,
+    frameCount: manifest.frameCount,
+    pointCount: descriptor.pointCount,
+    pointOffsets: manifest.pointOffsets,
+    pointsMapXyzM: new Float32Array(buffer),
+    pointStart: descriptor.pointStart,
+    startSequence: descriptor.start,
+    sequenceCount: descriptor.count,
+  };
+}
+
+export async function fetchM4ThreatPlaybackPointPack(
+  result: string,
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+    onProgress?: (progress: M4ThreatPlaybackProgress) => void;
+  } = {},
+): Promise<M4ThreatPlaybackPointPack> {
+  onProgress?.({ phase: "manifest", loadedBytes: 0, totalBytes: 0 });
+  const manifest = await fetchM4ThreatPlaybackManifest(result, {
+    fetcher,
+    signal,
+    endpointRoot,
+  });
+  const response = await fetcher(manifest.track.url, {
+    headers: { Accept: "application/octet-stream" },
+    signal,
+  });
+  if (!response.ok) throw new M4ThreatContractError(`M4.6 playback points: HTTP ${response.status}.`);
+  const buffer = await response.arrayBuffer();
+  if (buffer.byteLength !== manifest.track.byteLength) {
+    throw new M4ThreatContractError("M4.6 playback points: неверный размер.");
+  }
+  onProgress?.({ phase: "verify", loadedBytes: buffer.byteLength, totalBytes: buffer.byteLength });
+  if (await playbackSha256Hex(buffer) !== manifest.track.sha256) {
+    throw new M4ThreatContractError("M4.6 playback points: SHA-256 не совпал.");
+  }
+  onProgress?.({ phase: "ready", loadedBytes: buffer.byteLength, totalBytes: buffer.byteLength });
+  return {
+    resultId: manifest.resultId,
+    frameCount: manifest.frameCount,
+    pointCount: manifest.pointCount,
+    pointOffsets: manifest.pointOffsets,
+    pointsMapXyzM: new Float32Array(buffer),
+  };
+}
+
 export async function fetchM4ThreatCameraPointOverlay(
   result: string,
   sequence: number,
@@ -981,6 +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"] {
@@ -91,6 +141,11 @@
   justify-content: space-between;
 }
 
+.m4-replay-threat-evidence-viewer[data-mode-controls="content"]
+  .m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="spatial"] {
+  right: 3.8rem;
+}
+
 .m4-replay-threat-visual__pane-toolbar > *,
 .m4-replay-threat-visual__spatial-toolbar-end > * {
   pointer-events: auto;
@@ -231,9 +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;
@@ -242,6 +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;
@@ -249,15 +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);
   }
 }
@@ -350,3 +418,30 @@
   background: rgb(var(--nodedc-accent-rgb));
   opacity: 0.72;
 }
+
+.laboratory-metric-evidence-scene__legend span[data-decision="ground-support"]::before {
+  background: rgb(var(--nodedc-success-rgb));
+}
+
+.laboratory-metric-evidence-scene__legend span[data-decision="nonground-occupied"]::before {
+  background: rgb(var(--nodedc-danger-rgb));
+}
+
+.laboratory-metric-evidence-scene__legend span[data-decision="unknown-rejected"]::before {
+  background: rgb(var(--nodedc-warning-rgb));
+}
+
+.laboratory-metric-evidence-scene__legend span[data-decision="unobserved"]::before {
+  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

@@ -48,6 +48,10 @@ import { M48StaticOccupancyQualificationResultView } from "./M48StaticOccupancyQ
 import { M48R3StaticOccupancyShadowResultView } from "./M48R3StaticOccupancyShadowResult";
 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 };
@@ -90,6 +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} />;
   }
@@ -108,6 +118,12 @@ export function AdvancedLaboratoryResult({
   if (workId === "m48t-risk-quality-temporal" && results.m48t) {
     return <M48TRiskQualityResultView rigLabel={rigLabel} result={results.m48t} />;
   }
+  if (workId === "m49-tgs-fail-closed-evidence" && results.m49Tgs) {
+    return <M49TgsFailClosedResultView rigLabel={rigLabel} result={results.m49Tgs} />;
+  }
+  if (workId === "m49-tgs-full-shadow" && results.m49TgsFull) {
+    return <M49TgsFullShadowResultView rigLabel={rigLabel} result={results.m49TgsFull} />;
+  }
   if (workId === "m47-reference-graph-shadow" && results.m47Graph) {
     return <M47ReferenceGraphResultView rigLabel={rigLabel} result={results.m47Graph} />;
   }

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/M49TgsFailClosedEvidence.tsx

@@ -0,0 +1,152 @@
+import { useCallback, useEffect, useMemo, useRef, useState } from "react";
+
+import type {
+  RecordedEvidenceSemanticClass,
+  RecordedEvidenceSemanticPaletteEntry,
+} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
+import {
+  fetchM49TgsAnchorSpatial,
+  type M49TgsAnchorSpatial,
+  type M49TgsFailClosedResult,
+  type M49TgsStateCode,
+} from "../../core/laboratory/m49TgsFailClosed";
+import {
+  M4ReplayThreatVisual,
+  type M4ReplayClassifiedSpatialFrame,
+  type M4ReplayThreatReviewAnchor,
+} from "./M4ReplayThreatVisual";
+
+const CLASSES: readonly RecordedEvidenceSemanticClass[] = [
+  { id: 1, label: "Ground support" },
+  { id: 2, label: "Non-ground occupied" },
+  { id: 3, label: "Unknown / rejected" },
+];
+
+const PALETTE: readonly RecordedEvidenceSemanticPaletteEntry[] = [
+  { classId: 1, color: { kind: "token", token: "--nodedc-success-rgb" } },
+  { classId: 2, color: { kind: "token", token: "--nodedc-danger-rgb" } },
+  { classId: 3, color: { kind: "token", token: "--nodedc-warning-rgb" } },
+];
+
+function cellState(code: M49TgsStateCode): 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
+    : "M49 TGS spatial evidence недоступно.";
+}
+
+export function M49TgsFailClosedEvidence({
+  result,
+}: {
+  result: M49TgsFailClosedResult;
+}) {
+  const [activeSequence, setActiveSequence] = useState<number | null>(null);
+  const [spatial, setSpatial] = useState<M49TgsAnchorSpatial | null>(null);
+  const [loading, setLoading] = useState(false);
+  const [error, setError] = useState<string | null>(null);
+  const spatialCacheRef = useRef(new Map<string, M49TgsAnchorSpatial>());
+  const anchorSequences = useMemo(
+    () => new Set(result.metrics.primary.map((item) => item.anchorFrameIndex)),
+    [result.metrics.primary],
+  );
+  const expectedAtSequence = activeSequence !== null && anchorSequences.has(activeSequence);
+
+  useEffect(() => {
+    if (activeSequence === null || !anchorSequences.has(activeSequence)) {
+      setSpatial(null);
+      setLoading(false);
+      setError(null);
+      return;
+    }
+    const cacheKey = `${result.resultId}:${activeSequence}`;
+    const cached = spatialCacheRef.current.get(cacheKey);
+    if (cached) {
+      setSpatial(cached);
+      setLoading(false);
+      setError(null);
+      return;
+    }
+    const controller = new AbortController();
+    setSpatial(null);
+    setLoading(true);
+    setError(null);
+    void fetchM49TgsAnchorSpatial(
+      result.resultId,
+      activeSequence,
+      "causal_rolling_1s",
+      { signal: controller.signal },
+    )
+      .then((next) => {
+        if (!controller.signal.aborted) {
+          spatialCacheRef.current.set(cacheKey, next);
+          setSpatial(next);
+        }
+      })
+      .catch((caught: unknown) => {
+        if (!controller.signal.aborted) setError(message(caught));
+      })
+      .finally(() => {
+        if (!controller.signal.aborted) setLoading(false);
+      });
+    return () => controller.abort();
+  }, [activeSequence, anchorSequences, result.resultId]);
+
+  const reviewAnchors = useMemo<readonly M4ReplayThreatReviewAnchor[]>(
+    () => result.metrics.primary.map((item) => ({
+      id: `m49-tgs-${item.anchorFrameIndex}`,
+      sourceSequence: item.anchorFrameIndex,
+      extentXyxyNormalized: [0, 0, 0, 0],
+      matchedAtThreshold: false,
+      statusLabel: "визуальная проверка",
+    })),
+    [result.metrics.primary],
+  );
+
+  const classifiedFrame = useMemo<M4ReplayClassifiedSpatialFrame | null>(() => {
+    if (!spatial) return null;
+    return {
+      sourceSequence: spatial.sourceSequence,
+      pointsMapGravityLocalXyzM: spatial.pointsXyzM,
+      pointClassIds: spatial.pointStates,
+      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);
+  }, []);
+
+  return (
+    <M4ReplayThreatVisual
+      resultId={result.source.linkedVisualResultId}
+      reviewAnchors={reviewAnchors}
+      showReviewAnchorBoxes={false}
+      reviewLabel="10 gravity-aligned TGS anchors"
+      evidenceLabel="M49 · TGS fail-closed"
+      initialSpatialMode="3d"
+      onActiveSequenceChange={handleSequenceChange}
+      classifiedSpatialLayer={{
+        label: "TGS fail-closed · causal rolling 1 s",
+        pointLayerLabel: "TGS POINTS",
+        cellLayerLabel: "COSTMAP",
+        expectedAtSequence,
+        frame: classifiedFrame,
+        loading,
+        error,
+      }}
+    />
+  );
+}

apps/control-station/src/workspaces/laboratory/M49TgsFailClosedResult.tsx

@@ -0,0 +1,92 @@
+import {
+  LaboratoryEvidence,
+  LaboratoryResultSummary,
+  LaboratorySummary,
+  LaboratoryWorkTemplate,
+} from "../../components/laboratory/LaboratoryPresentation";
+import type { M49TgsFailClosedResult } from "../../core/laboratory/m49TgsFailClosed";
+import { M49TgsFailClosedEvidence } from "./M49TgsFailClosedEvidence";
+
+function number(value: number, digits = 1): string {
+  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
+}
+
+export function M49TgsFailClosedResultView({
+  rigLabel,
+  result,
+}: {
+  rigLabel: string;
+  result: M49TgsFailClosedResult;
+}) {
+  const worst = [...result.metrics.primary].sort(
+    (left, right) => (
+      right.nongroundPointCount / Math.max(right.pointCount, 1)
+      - left.nongroundPointCount / Math.max(left.pointCount, 1)
+    ),
+  )[0]!;
+  const status = "Representation complete; визуальное качество ещё не принято";
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="M4.9T4 · TRAVEL TGS fail-closed evidence"
+          description="TRAVEL GroundSeg запущен без AOS на десяти immutable RAVNOVES00 anchors. Вход сохранён в gravity-aligned map frame; каждый eligible point получил состояние, а каждая costmap-ячейка остаётся ground, occupied, rejected или unobserved."
+          status={status}
+          statusTone="warning"
+          facts={[
+            { label: "Конфигурация", value: `${rigLabel} RIGHT · Camera + gravity-aligned LiDAR · 10 anchors` },
+            { label: "Метод", value: "TRAVEL TGS only · AOS OFF · causal rolling 1 s" },
+            { label: "Evidence", value: `${result.metrics.anchorCount} anchors · ${result.metrics.costmapCellCount.toLocaleString("ru-RU")} cells/anchor · all points accounted` },
+            { label: "Нагрузка", value: `Worker 006 CPU-only · GPU 0 · wrapper ${number(result.execution.wrapperElapsedSeconds, 2)} с` },
+            { label: "Authority", value: "REPLAY-SIMULATED · visual/traversability/navigation/actuation OFF" },
+          ]}
+          brief={{
+            question: "Отделяет ли готовый TRAVEL TGS опорную поверхность от неизвестной занятой геометрии достаточно чисто, чтобы заменить самодельный static-obstacle threshold pipeline?",
+            approach: "На десяти сложных кадрах проверяется полный gravity-aligned point set и fail-closed costmap. Зелёное — опора, красное — non-ground occupied, жёлтое — rejected/unknown, тёмное — unobserved; камера остаётся синхронным первичным контекстом.",
+            principalResult: `Контракт представления закрыт: ${result.metrics.anchorProfileCount}/20 профилей, ни одной потерянной eligible point, AOS и GPU отсутствуют. Process wall rolling p50/max: ${number(result.metrics.processWallRollingP50Ms, 0)}/${number(result.metrics.processWallRollingMaxMs, 0)} мс.`,
+            limitation: `Качество не принято: особенно проверить кадр ${worst.anchorFrameIndex + 1}, где ${number(worst.nongroundPointCount / Math.max(worst.pointCount, 1) * 100)}% rolling points помечены non-ground. Это может быть реальная боковая геометрия либо ложная блокировка поверхности.`,
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "deterministic",
+            pipelineId: "travel-tgs-gravity-aligned-fail-closed/v1",
+            components: [
+              { kind: "source", name: "RAVNOVES00", version: "10 immutable anchors", role: "camera + registered map increments", identitySha256: result.source.sourcePackSha256 },
+              { kind: "algorithm", name: "TRAVEL GroundSeg", version: "95dc2fbd66a343efd9060c45a5711b6307a950a4", role: "ground/nonground separation; AOS excluded", identitySha256: result.configuration.configSha256 },
+              { kind: "algorithm", name: "fail-closed complement adapter", version: "v1", role: "explicit rejected points and unobserved cells", identitySha256: result.resultId.split("-").at(-1) ?? null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="M4.9T4 VISUAL EVIDENCE · CAMERA + GRAVITY-ALIGNED TGS"
+          title="10 anchors: полный TGS point set и четырёхсостояний costmap на том же recorded timeline"
+          kind="recorded-replay"
+          resizable
+        >
+          <M49TgsFailClosedEvidence result={result} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="Что уже доказано и что проверяем глазами"
+          status={status}
+          statusTone="warning"
+          metrics={[
+            { label: "Point accounting", value: "100%", hint: "ground + non-ground + rejected = exact eligible input" },
+            { label: "Anchors", value: `${result.metrics.anchorCount}/10`, hint: "current + causal rolling 1 s" },
+            { label: "Costmap", value: `${result.metrics.costmapCellCount.toLocaleString("ru-RU")} cells`, hint: `${number(result.configuration.cellSizeM, 2)} м · radius ${number(result.configuration.radiusM, 0)} м` },
+            { label: "Process wall rolling", value: `${number(result.metrics.processWallRollingP50Ms, 0)} / ${number(result.metrics.processWallRollingMaxMs, 0)} мс`, hint: "p50 / max · CPU process envelope, не realtime integration" },
+            { label: "GPU / AOS", value: "0 / OFF", hint: "Worker 006; Frigate budget не затронут" },
+          ]}
+          conclusion={{
+            proved: "Готовый TGS можно встроить fail-closed: исходные точки не теряются, unknown не становится free, AOS не нужен, а вычисление укладывается в лёгкий CPU-контур на этих anchors.",
+            notProved: "Не доказано, что красный non-ground слой не режет дорогу, траву или допустимые просветы. Нет независимой terrain truth, полного replay, realtime graph integration и модели корпуса.",
+            decision: "Открыть десять anchors по очереди. Если красное остаётся на реальных препятствиях и не перекрывает видимую опорную поверхность, TGS идёт в полный shadow; иначе кандидат отклоняется без ручной подгонки порогов под эти кадры.",
+          }}
+        />
+      )}
+    />
+  );
+}

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

@@ -0,0 +1,261 @@
+import { useCallback, useEffect, useMemo, useState } from "react";
+
+import type {
+  RecordedEvidenceSemanticClass,
+  RecordedEvidenceSemanticPaletteEntry,
+} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
+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,
+} from "../../core/laboratory/m49TgsFullShadow";
+import {
+  M4ReplayThreatVisual,
+  type M4ReplayClassifiedSpatialFrame,
+  type M4ReplayThreatSemanticLayer,
+} from "./M4ReplayThreatVisual";
+
+const CLASSES: readonly RecordedEvidenceSemanticClass[] = [
+  { id: 1, label: "Ground support" },
+  { id: 2, label: "Non-ground occupied" },
+  { id: 3, label: "Unknown / rejected" },
+];
+
+const PALETTE: readonly RecordedEvidenceSemanticPaletteEntry[] = [
+  { classId: 1, color: { kind: "token", token: "--nodedc-success-rgb" } },
+  { classId: 2, color: { kind: "token", token: "--nodedc-danger-rgb" } },
+  { classId: 3, color: { kind: "token", token: "--nodedc-warning-rgb" } },
+];
+
+function message(error: unknown): string {
+  return error instanceof Error && error.message.trim()
+    ? error.message
+    : "Полный TGS spatial frame недоступен.";
+}
+
+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,
+    loadedBytes: 0,
+    totalBytes: 0,
+  });
+  const [error, setError] = useState<string | null>(null);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setSemantic(null);
+    setSemanticError(null);
+    void fetchE47SemanticSlamResult({
+      resultId: result.source.linkedSemanticResultId,
+      signal: controller.signal,
+    })
+      .then((next) => {
+        if (controller.signal.aborted) return;
+        if (!next || next.baseM4ResultId !== result.source.linkedVisualResultId) {
+          throw new Error("Semantic archive не совпал с исходным M4 timeline.");
+        }
+        setSemantic(next);
+      })
+      .catch((caught: unknown) => {
+        if (!controller.signal.aborted) setSemanticError(message(caught));
+      });
+    return () => controller.abort();
+  }, [result.source.linkedSemanticResultId, result.source.linkedVisualResultId]);
+
+  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 fetchM49PhysicalSafetyPlaybackIdForSource(result.resultId, {
+      signal: controller.signal,
+    }).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));
+    });
+    return () => controller.abort();
+  }, [result.resultId]);
+
+  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;
+    return {
+      sourceSequence: activeSequence,
+      sampleAvailable: frame.sampleAvailable,
+      sourcePointCount: frame.metrics.eligiblePointCount,
+      pointsMapGravityLocalXyzM: [],
+      pointClassIds: [],
+      cellsMapGravityLocal: [],
+      packedCellsMapGravityLocal: {
+        centersXyM: playbackPack.centersXyM,
+        stateCodes: playbackPack.states.subarray(
+          cellOffset,
+          cellOffset + playbackPack.cellCount,
+        ),
+        zBoundsM: playbackPack.zBoundsM.subarray(
+          zOffset,
+          zOffset + playbackPack.cellCount * 2,
+        ),
+      },
+      cellSizeM: result.configuration.cellSizeM,
+      classes: CLASSES,
+      palette: PALETTE,
+    };
+  }, [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 = 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 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}
+        semanticLayers={semanticLayers}
+        spatialSemantic={spatialSemantic}
+        initialSemanticLayerId={semanticOverride ? "vegetation" : "urban"}
+        showReviewAnchorBoxes={false}
+        reviewLabel="4 489 source-paced TGS frames"
+        evidenceLabel={evidenceLabel}
+        initialSpatialMode="3d"
+        onActiveSequenceChange={handleSequenceChange}
+        classifiedSpatialLayer={{
+          label: "TGS full shadow · causal rolling 1 s",
+          pointLayerLabel: "SOURCE POINTS",
+          cellLayerLabel: "TGS COSTMAP",
+          expectedAtSequence: true,
+          frame: classifiedFrame,
+          loading,
+          loadingLabel,
+          error,
+          replacePointCloud: false,
+        }}
+      />
+      {semanticError ? (
+        <div className="m4-replay-threat-visual__pane-status" role="alert">
+          Semantic overlay недоступен: {semanticError}
+        </div>
+      ) : null}
+    </>
+  );
+}

apps/control-station/src/workspaces/laboratory/M49TgsFullShadowResult.tsx

@@ -0,0 +1,90 @@
+import {
+  LaboratoryEvidence,
+  LaboratoryResultSummary,
+  LaboratorySummary,
+  LaboratoryWorkTemplate,
+} from "../../components/laboratory/LaboratoryPresentation";
+import type { M49TgsFullShadowResult } from "../../core/laboratory/m49TgsFullShadow";
+import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
+
+function number(value: number, digits = 1): string {
+  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
+}
+
+export function M49TgsFullShadowResultView({
+  rigLabel,
+  result,
+}: {
+  rigLabel: string;
+  result: M49TgsFullShadowResult;
+}) {
+  const accepted = result.decision.candidateRetained;
+  const status = accepted
+    ? "Source-paced CPU shadow принят; визуальное и integrated-graph качество ещё проверяются"
+    : "Source-paced CPU shadow не прошёл performance gate";
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="M4.9T5 · полный source-paced TRAVEL TGS shadow"
+          description="Один CPU-only процесс прошёл весь recorded timeline RAVNOVES00 в исходном темпе. Камера остаётся владельцем времени; dense source cloud сохраняется, поверх него показывается четырёхсостояний TGS costmap."
+          status={status}
+          statusTone={accepted ? "success" : "danger"}
+          facts={[
+            { label: "Конфигурация", value: `${rigLabel} RIGHT · gravity-aligned LiDAR · causal ${number(result.configuration.historySeconds)} с` },
+            { label: "Timeline", value: `${result.timeline.frameCount.toLocaleString("ru-RU")} кадров · ${result.timeline.availableLidarFrameCount.toLocaleString("ru-RU")} LiDAR · ${result.timeline.missingLidarFrameCount} UNOBSERVED` },
+            { label: "Нагрузка", value: `Worker 006 CPU-only · GPU 0 · ${number(result.timeline.effectiveFps, 3)} source FPS` },
+            { label: "Authority", value: "REPLAY-SIMULATED · navigation/actuation OFF · integrated graph отдельно" },
+          ]}
+          brief={{
+            question: "Удерживает ли готовый TRAVEL TGS полный десятигерцовый replay без очереди и потери кадров?",
+            approach: "Все 4 489 camera frames планируются по исходным timestamps. Для 3 928 доступных LiDAR frames выполняется causal rolling 1 s; 561 пропуск остаётся полностью UNOBSERVED.",
+            principalResult: `${result.timeline.frameCount}/4 489 frames и ${result.pointAccounting.eligible.toLocaleString("ru-RU")} eligible points учтены; TGS p95/p99 ${number(result.performance.candidateTgsMs.p95, 2)}/${number(result.performance.candidateTgsMs.p99, 2)} мс, completion age p99 ${number(result.performance.completionAgeMs.p99, 2)} мс, capacity drops ${result.performance.capacityDropCount}.`,
+            limitation: "Это isolated CPU shadow. Он ещё не доказывает качество красных occupied-ячеек, проходимость для конкретного корпуса или регрессию FPS полного world-state graph.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "deterministic",
+            pipelineId: "travel-tgs-full-source-paced-shadow/v1",
+            components: [
+              { kind: "source", name: "RAVNOVES00", version: "4 489-frame recorded timeline", role: "camera-owned source clock + registered LiDAR", identitySha256: result.source.sourcePackSha256 },
+              { kind: "algorithm", name: "TRAVEL GroundSeg", version: "95dc2fbd66a343efd9060c45a5711b6307a950a4", role: "gravity-aligned ground/non-ground separation; AOS OFF", identitySha256: result.configuration.configSha256 },
+              { kind: "algorithm", name: "fail-closed costmap adapter", version: "v1", role: "occupied > rejected > ground > unobserved; no free inference", identitySha256: result.resultId.split("-").at(-1) ?? null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="M4.9T5 VISUAL EVIDENCE · FULL CAMERA TIMELINE + SOURCE CLOUD + TGS COSTMAP"
+          title="Полный timeline: dense исходные точки сохранены, TGS-ячейки синхронны каждому кадру"
+          kind="recorded-replay"
+          resizable
+        >
+          <M49TgsFullShadowEvidence result={result} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="Что доказал полный прогон"
+          status={status}
+          statusTone={accepted ? "success" : "danger"}
+          metrics={[
+            { label: "Timeline", value: `${result.timeline.frameCount}/4 489`, hint: `${result.timeline.availableLidarFrameCount} LiDAR + ${result.timeline.missingLidarFrameCount} explicit UNOBSERVED` },
+            { label: "TGS p95 / p99", value: `${number(result.performance.candidateTgsMs.p95, 2)} / ${number(result.performance.candidateTgsMs.p99, 2)} мс`, hint: "чистый candidate stage на CPU" },
+            { label: "Completion age p99", value: `${number(result.performance.completionAgeMs.p99, 2)} мс`, hint: "от source timestamp до готового frame result" },
+            { label: "Capacity drops", value: String(result.performance.capacityDropCount), hint: "кадры не отбрасывались ради темпа" },
+            { label: "Point accounting", value: "100%", hint: `${result.pointAccounting.eligible.toLocaleString("ru-RU")} eligible points` },
+          ]}
+          conclusion={{
+            proved: "Полный CPU-only TGS shadow воспроизводимо проходит recorded source clock, сохраняет fail-closed представление и не использует AOS/GPU.",
+            notProved: "Не приняты visual traversability, модель корпуса, камера-проекция TGS и нагрузка после встраивания в полный realtime world-state graph.",
+            decision: accepted
+              ? "Кандидат остаётся. Просмотреть полный timeline, затем подключить shadow к realtime graph и измерить общий FPS/latency regression."
+              : "Кандидат не встраивать; сначала локализовать performance gate, который не прошёл полный replay.",
+          }}
+        />
+      )}
+    />
+  );
+}

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`,
@@ -105,6 +120,20 @@ const KNOWN_WORKS: Readonly<Record<Exclude<LaboratoryWorkId, `session:${string}`
     experimentName: "RF-DETR native risk review and temporal identity",
     variantName: "M4.8Q · native raw KB4 review · quality not adjudicated",
   },
+  "m49-tgs-fail-closed-evidence": {
+    profileId: "rig-dual-evidence-virtual-corridor-v1",
+    profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Camera + gravity-aligned LiDAR`,
+    experimentId: "m49-tgs-fail-closed-evidence",
+    experimentName: "TRAVEL TGS fail-closed traversability evidence",
+    variantName: "M4.9T4 · 10 anchors · causal rolling 1 s · AOS OFF",
+  },
+  "m49-tgs-full-shadow": {
+    profileId: "rig-dual-evidence-virtual-corridor-v1",
+    profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Camera + gravity-aligned LiDAR`,
+    experimentId: "m49-tgs-full-shadow",
+    experimentName: "TRAVEL TGS complete source-paced shadow",
+    variantName: "M4.9T5 · 4 489 frames · causal rolling 1 s · CPU-only",
+  },
   "m47-reference-graph-shadow": {
     profileId: "rig-dual-evidence-virtual-corridor-v1",
     profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Camera + LiDAR dual 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,
@@ -25,6 +27,8 @@ function mergeResults(
     m48r3StaticOccupancy: next.m48r3StaticOccupancy ?? current.m48r3StaticOccupancy,
     m48s: next.m48s ?? current.m48s,
     m48t: next.m48t ?? current.m48t,
+    m49Tgs: next.m49Tgs ?? current.m49Tgs,
+    m49TgsFull: next.m49TgsFull ?? current.m49TgsFull,
     m4Threat: next.m4Threat ?? current.m4Threat,
     l3: next.l3 ?? current.l3,
     l31: next.l31 ?? current.l31,
@@ -119,11 +123,15 @@ 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",
         "m48-static-occupancy-qualification",
         "m48r3-static-occupancy-shadow",
+        "m49-tgs-fail-closed-evidence",
+        "m49-tgs-full-shadow",
       ].includes(selectedWorkId)
       && !indexedResultId
     ) return;

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

@@ -2,10 +2,15 @@ import { useEffect, useMemo, useRef, useState } from "react";
 
 import {
   fetchM4ThreatCameraPointOverlay,
+  fetchM4ThreatPlaybackManifest,
+  fetchM4ThreatPlaybackPointChunk,
   fetchM4ThreatTimeline,
   fetchM4ThreatTimelineChunk,
+  M4_THREAT_TIMELINE_ENDPOINT_ROOT,
   selectM4ThreatTimelineSequence,
   type M4ThreatCameraPointOverlay,
+  type M4ThreatPlaybackManifest,
+  type M4ThreatPlaybackProgress,
   type M4ThreatTimeline,
   type M4ThreatTimelineChunk,
   type M4ThreatTimelineFrame,
@@ -13,6 +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;
 
@@ -26,10 +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 }>(
@@ -71,22 +84,65 @@ 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 [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 = 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);
   chunksRef.current = chunks;
 
+  useEffect(() => {
+    const controller = new AbortController();
+    setPlaybackManifest(null);
+    setPlaybackError(null);
+    setPlaybackProgress({ phase: "manifest", loadedBytes: 0, totalBytes: 0 });
+    if (!timeline) return () => controller.abort();
+    if (!binaryPlayback || !includeSpatialPoints) {
+      setPlaybackProgress({ phase: "ready", loadedBytes: 0, totalBytes: 0 });
+      return () => controller.abort();
+    }
+    void fetchM4ThreatPlaybackManifest(resultId, {
+      signal: controller.signal,
+      endpointRoot,
+    })
+      .then((manifest) => {
+        if (!controller.signal.aborted) {
+          setPlaybackManifest(manifest);
+          setPlaybackProgress({ phase: "ready", loadedBytes: 0, totalBytes: 0 });
+        }
+      })
+      .catch((caught: unknown) => {
+        if (!controller.signal.aborted) {
+          setPlaybackError(errorMessage(caught, "Бинарный spatial playback M4.6 недоступен."));
+        }
+      });
+    return () => controller.abort();
+  }, [binaryPlayback, endpointRoot, includeSpatialPoints, resultId, timeline]);
+
   useEffect(() => {
     for (const controller of inFlight.current.values()) controller.abort();
     inFlight.current.clear();
@@ -98,7 +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
@@ -116,7 +172,11 @@ export function useM4ThreatTimelineFrame({
   activeChunkStartRef.current = activeChunkStart;
 
   useEffect(() => {
-    if (!timeline || activeChunkStart === null) return;
+    if (
+      !timeline
+      || activeChunkStart === null
+      || (binaryPlayback && includeSpatialPoints && !playbackManifest)
+    ) return;
     const starts = m4ThreatChunkWindowStarts(
       activeChunkStart,
       chunkSize,
@@ -127,11 +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,
-      })
+      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) => {
@@ -161,7 +239,7 @@ export function useM4ThreatTimelineFrame({
       // loaded first, then the next chunk is prefetched on the following render.
       break;
     }
-  }, [activeChunkStart, chunkSize, chunks, endpointRoot, resultId, timeline]);
+  }, [activeChunkStart, binaryPlayback, chunkSize, chunks, endpointRoot, includeSpatialPoints, playbackManifest, resultId, timeline]);
 
   const activeFrame: M4ThreatTimelineFrame | null = useMemo(() => {
     if (activeSequence === null || activeChunkStart === null) return null;
@@ -181,8 +259,17 @@ export function useM4ThreatTimelineFrame({
     activeSequence,
     activeFrame,
     availableFrames,
-    loading: error === null && Boolean(timeline) && !activeFrame,
-    error,
+    loading: error === null && playbackError === null && Boolean(timeline) && !activeFrame,
+    loadingLabel: !binaryPlayback
+      ? "Догружаем следующий spatial-буфер без сброса сцены"
+      : playbackProgress.phase === "manifest"
+      ? "Проверяем M4 playback manifest"
+      : playbackProgress.phase === "ready"
+        ? "Подготавливаем текущий spatial-кадр"
+        : `${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/advancedLaboratoryResults.test.mjs

@@ -7,6 +7,7 @@ let server;
 let fetchAdvancedLaboratoryResults;
 let fetchAdvancedLaboratoryIndex;
 let fetchAdvancedLaboratoryResult;
+let fetchM49TgsAnchorSpatial;
 let AdvancedLaboratoryContractError;
 let buildLaboratoryCatalog;
 let buildLaboratoryProfiles;
@@ -836,6 +837,77 @@ function e40() {
   };
 }
 
+function m49View() {
+  const anchors = [171, 306, 368, 402, 450, 509, 525, 744, 1122, 1856];
+  return {
+    schema_version: "missioncore.m49-tgs-fail-closed-view/v1",
+    result_id: `m49-tgs-fail-closed-${"2".repeat(64)}`,
+    created_at_utc: "2026-08-26T17:09:43Z",
+    source: {
+      source_id: "RAVNOVES00",
+      source_session_id: "20260720T065719Z_viewer_live",
+      source_pack_sha256: "3".repeat(64),
+      linked_visual_result_id: `m4-threat-replay-${"4".repeat(64)}`,
+      anchor_frame_indices: anchors,
+    },
+    configuration: {
+      profile_id: "m49-ravnoves00-tgs-fail-closed-evidence/v1",
+      config_sha256: "5".repeat(64),
+      coordinate_frame: "map-gravity-local",
+      primary_profile: "causal_rolling_1s",
+      cell_size_m: 0.45,
+      radius_m: 12,
+    },
+    execution: {
+      worker: "Worker 006",
+      device: "cpu",
+      gpu_used: false,
+      wrapper_elapsed_seconds: 12.1,
+    },
+    metrics: {
+      anchor_count: 10,
+      anchor_profile_count: 20,
+      all_eligible_points_accounted: true,
+      costmap_cell_count: 2244,
+      process_wall_current_p50_ms: 20,
+      process_wall_current_max_ms: 30,
+      process_wall_rolling_p50_ms: 30,
+      process_wall_rolling_max_ms: 40,
+      process_max_rss_kib: 9292,
+      primary: anchors.map((anchor, slot) => ({
+        anchor_frame_index: anchor,
+        slot,
+        profile_id: "causal_rolling_1s",
+        point_count: 3,
+        ground_point_count: 1,
+        nonground_point_count: 1,
+        rejected_point_count: 1,
+        ground_cell_count: 1,
+        nonground_cell_count: 1,
+        rejected_cell_count: 1,
+        unobserved_cell_count: 2241,
+        all_points_accounted: true,
+      })),
+    },
+    acceptance: {
+      representation_complete: true,
+      all_points_accounted: true,
+      aos_absent: true,
+      gpu_absent: true,
+      visual_quality_accepted: false,
+      traversability_accepted: false,
+    },
+    decision: {
+      state: "visual-review-required",
+      candidate_retained: true,
+      next_action: "Review the ten anchors.",
+    },
+    limitations: ["bounded diagnostic evidence"],
+    ground_truth: false,
+    access: "read-only",
+  };
+}
+
 before(async () => {
   server = await createServer({
     appType: "custom",
@@ -850,6 +922,9 @@ before(async () => {
     fetchAdvancedLaboratoryIndex,
     fetchAdvancedLaboratoryResult,
   } = await server.ssrLoadModule("/src/core/laboratory/advancedIndex.ts"));
+  ({ fetchM49TgsAnchorSpatial } = await server.ssrLoadModule(
+    "/src/core/laboratory/m49TgsFailClosed.ts",
+  ));
   ({
     buildLaboratoryCatalog,
     buildLaboratoryProfiles,
@@ -1596,6 +1671,62 @@ test("selected advanced LAB fetches only its own strict catalog", async () => {
   ]);
 });
 
+test("selected M49 LAB preserves the sealed fail-closed contract", async () => {
+  const payload = m49View();
+  const requests = [];
+  const decoded = await fetchAdvancedLaboratoryResult(
+    "m49-tgs-fail-closed-evidence",
+    {
+      resultId: payload.result_id,
+      fetcher: async (input, init) => {
+        requests.push({ input: String(input), method: init?.method });
+        return new Response(JSON.stringify(payload), { status: 200 });
+      },
+    },
+  );
+
+  assert.equal(decoded.m49Tgs.metrics.anchorCount, 10);
+  assert.equal(decoded.m49Tgs.metrics.costmapCellCount, 2244);
+  assert.equal(decoded.m49Tgs.acceptance.visualQualityAccepted, false);
+  assert.deepEqual(requests, [{
+    input: `/api/v1/laboratory/m49/tgs-fail-closed/${payload.result_id}`,
+    method: "GET",
+  }]);
+});
+
+test("M49 anchor fetch keeps every point and all four costmap states", async () => {
+  const resultId = m49View().result_id;
+  const centers = Array.from({ length: 2244 }, (_, index) => [index * 0.45, 0]);
+  const states = Array.from({ length: 2244 }, (_, index) => index % 4);
+  const zBounds = states.map((state) => state === 0 ? [null, null] : [0, 0.2]);
+  const decoded = await fetchM49TgsAnchorSpatial(resultId, 171, "causal_rolling_1s", {
+    fetcher: async () => new Response(JSON.stringify({
+      schema_version: "missioncore.m49-tgs-anchor-spatial/v1",
+      result_id: resultId,
+      anchor_frame_index: 171,
+      source_sequence: 171,
+      profile: "causal_rolling_1s",
+      coordinate_frame: "map-gravity-local",
+      points_xyz_m: [[1, 2, 3], [4, 5, 6], [7, 8, 9]],
+      point_states: [1, 2, 3],
+      costmap: {
+        cell_size_m: 0.45,
+        radius_m: 12,
+        centers_xy_m: centers,
+        states,
+        z_bounds_m: zBounds,
+      },
+      all_points_accounted: true,
+      aos_used: false,
+      access: "read-only",
+    }), { status: 200 }),
+  });
+
+  assert.deepEqual(decoded.pointStates, [1, 2, 3]);
+  assert.equal(decoded.costmap.states.length, 2244);
+  assert.deepEqual(new Set(decoded.costmap.states), new Set([0, 1, 2, 3]));
+});
+
 test("keeps valid LAB catalogs available when one transport endpoint fails", async () => {
   const decoded = await fetchAdvancedLaboratoryResults({
     fetcher: async (input) => {

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

@@ -0,0 +1,157 @@
+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 fetchM49TgsFullShadowSpatialChunk;
+let parseM49TgsNpyTrack;
+
+const resultId = `m49-tgs-full-shadow-${"a".repeat(64)}`;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({ fetchM49TgsFullShadowSpatialChunk, parseM49TgsNpyTrack } = await server.ssrLoadModule(
+    "/src/core/laboratory/m49TgsFullShadow.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+test("M4.9T5 chunk keeps every missing-LiDAR cell explicitly UNOBSERVED", async () => {
+  let requestedUrl = "";
+  const centers = Array.from({ length: 2244 }, (_, index) => [index * 0.45, 0]);
+  const unobserved = Array.from({ length: 2244 }, () => 0);
+  const zBounds = Array.from({ length: 2244 }, () => [null, null]);
+  const metrics = {
+    eligible_point_count: 0,
+    ground_point_count: 0,
+    nonground_point_count: 0,
+    rejected_point_count: 0,
+    occupied_cell_count: 0,
+  };
+  const chunk = await fetchM49TgsFullShadowSpatialChunk(resultId, 7, 1, {
+    fetcher: async (url) => {
+      requestedUrl = String(url);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.m49-tgs-full-shadow-spatial-chunk/v1",
+        result_id: resultId,
+        start: 7,
+        count: 1,
+        coordinate_frame: "map-gravity-local",
+        costmap: {
+          cell_size_m: 0.45,
+          radius_m: 12,
+          centers_xy_m: centers,
+        },
+        frames: [{
+          source_sequence: 7,
+          source_frame_index: 7,
+          session_seconds: 36.119857292,
+          sample_available: false,
+          states: unobserved,
+          z_bounds_m: zBounds,
+          metrics,
+        }],
+      }), { status: 200, headers: { "Content-Type": "application/json" } });
+    },
+  });
+
+  assert.equal(
+    requestedUrl,
+    `/api/v1/laboratory/m49/tgs-full-shadow/${resultId}/spatial/chunk?start=7&count=1`,
+  );
+  assert.equal(chunk.count, 1);
+  assert.equal(chunk.frames[0].sampleAvailable, false);
+  assert.equal(chunk.frames[0].costmap.states.length, 2244);
+  assert.deepEqual(new Set(chunk.frames[0].costmap.states), new Set([0]));
+});
+
+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: 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, /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/);
+});
+
+function npyFloat32(values, shape) {
+  const shapeText = shape.length === 1 ? `${shape[0]},` : shape.join(", ");
+  const prefixLength = 10;
+  let header = `{'descr': '<f4', 'fortran_order': False, 'shape': (${shapeText}), }`;
+  const padding = (16 - ((prefixLength + header.length + 1) % 16)) % 16;
+  header += " ".repeat(padding) + "\n";
+  const buffer = new ArrayBuffer(prefixLength + header.length + values.length * 4);
+  const bytes = new Uint8Array(buffer);
+  bytes.set([0x93, 0x4e, 0x55, 0x4d, 0x50, 0x59, 1, 0]);
+  new DataView(buffer).setUint16(8, header.length, true);
+  bytes.set(new TextEncoder().encode(header), prefixLength);
+  new Float32Array(buffer, prefixLength + header.length, values.length).set(values);
+  return buffer;
+}
+
+test("M4.9T5 parses sealed NPY tracks without JSON point arrays", () => {
+  const parsed = parseM49TgsNpyTrack(
+    npyFloat32([1.25, -2.5, 3.75, 4.5], [2, 2]),
+    "<f4",
+    [2, 2],
+  );
+  assert.deepEqual([...parsed], [1.25, -2.5, 3.75, 4.5]);
+});

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";
 
@@ -9,7 +10,10 @@ let fetchM4ThreatReplayResult;
 let fetchM4ThreatVisual;
 let fetchM4ThreatTimeline;
 let fetchM4ThreatTimelineChunk;
+let fetchM4ThreatPlaybackManifest;
+let fetchM4ThreatPlaybackPointChunk;
 let fetchM4ThreatCameraPointOverlay;
+let hydrateM4ThreatTimelineFrame;
 let selectM4ThreatTimelineFrame;
 let selectM4ThreatTimelineSequence;
 let advanceRecordedEvidencePlayback;
@@ -32,7 +36,10 @@ before(async () => {
     fetchM4ThreatVisual,
     fetchM4ThreatTimeline,
     fetchM4ThreatTimelineChunk,
+    fetchM4ThreatPlaybackManifest,
+    fetchM4ThreatPlaybackPointChunk,
     fetchM4ThreatCameraPointOverlay,
+    hydrateM4ThreatTimelineFrame,
     selectM4ThreatTimelineFrame,
     selectM4ThreatTimelineSequence,
   } = await server.ssrLoadModule("/src/core/laboratory/m4ReplayThreat.ts"));
@@ -332,6 +339,117 @@ test("M4.6 timeline keeps only a compact index and decodes bounded spatial chunk
   assert.equal(selectM4ThreatTimelineFrame(chunk.frames, 35.50).sequence, 1);
 });
 
+test("M4.6 hydrates a lightweight timeline frame from one retained binary point track", async () => {
+  const raw = timelineFrame(0, 35.421857292, {
+    body_frame: {
+      origin_map_xyz_m: [10, 20, 30],
+      basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
+    },
+    point_cloud_body_xyz_m: [],
+    point_cloud_source_count: 2,
+    point_cloud_sample_count: 2,
+  });
+  const parsed = await fetchM4ThreatTimelineChunk(resultId, 0, 1, {
+    playbackPointPack: {
+      resultId,
+      frameCount: 4489,
+      pointCount: 2,
+      pointOffsets: new Uint32Array([0, 2, ...Array(4488).fill(2)]),
+      pointsMapXyzM: new Float32Array([11, 20, 30.25, 12, 19.5, 30]),
+    },
+    fetcher: async (input) => {
+      assert.match(String(input), /include_points=false/);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.recorded-spatial-evidence-chunk/v1",
+        result_id: resultId,
+        start_sequence: 0,
+        frame_count: 1,
+        next_sequence: 1,
+        frames: [raw],
+        authority: "replay-simulated",
+      }), { status: 200 });
+    },
+  });
+  assert.deepEqual(parsed.frames[0].pointCloudBodyXyzM, [
+    [1, 0, 0.25],
+    [2, -0.5, 0],
+  ]);
+  assert.equal(parsed.frames[0].pointCloudSampleCount, 2);
+  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";
@@ -653,7 +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]);
 });
 
@@ -670,8 +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", () => {
@@ -731,8 +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"),
@@ -742,10 +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/);
@@ -760,19 +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\[data-pane-toolbar="media"\]/);
@@ -784,13 +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/);
@@ -799,7 +939,30 @@ 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, /pointCloudBodyXyzM=\{spatialFrame\.pointCloudBodyXyzM\}/);
+  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]*: classifiedContextSpatialFrame\?\.pointCloudBodyXyzM[\s\S]*\?\? activeSpatialFrame\?\.pointCloudBodyXyzM[\s\S]*\?\? \[\]\}/,
+  );
+  assert.match(
+    visual,
+    /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, /\{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/,
+  );
+  assert.match(
+    visual,
+    /zBoundsM: \[[\s\S]*minimumSensorRelativeZ \+ nominalSensorHeightM[\s\S]*maximumSensorRelativeZ \+ nominalSensorHeightM/,
+  );
+  assert.match(visual, /classifiedCells=\{classifiedCellsBody\}/);
   assert.match(metricScene, /Локальная SLAM-поверхность/);
   assert.match(visual, /showJumpToEnd=\{false\}/);
   assert.doesNotMatch(visual, /Назад на 5 секунд/);
@@ -808,12 +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

@@ -28,6 +28,8 @@ test("semantic evidence mask is GPU-colored, bounded, cancelled and object-conta
   assert.match(source, /Math\.min\(width \/ mask\.width, height \/ mask\.height\)/);
   assert.match(source, /decoded\.key !== expectedKey/);
   assert.match(source, /mask\?\.key === expectedKey/);
+  assert.match(source, /lastReadyMaskRef/);
+  assert.match(source, /data-state=\{failure \? "error" : exactMask \? "ready" : renderMask \? "stale" : "loading"\}/);
   assert.match(source, /recorded-evidence-semantic-mask-overlay__error/);
   assert.match(source, /role="alert"/);
 });
@@ -53,6 +55,12 @@ test("metric evidence keeps missing semantic assignments as context and exposes
   assert.match(source, /classId === null \? undefined : colorsByClassId\.get\(classId\)/);
   assert.match(source, /data-decision="semantic"/);
   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 () => {
@@ -67,20 +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/laboratories/m49-tgs-fail-closed-evidence.json

@@ -0,0 +1,10 @@
+{
+  "schema_version": "missioncore.laboratory-evidence-definition/v1",
+  "work_id": "m49-tgs-fail-closed-evidence",
+  "evidence": {
+    "runtime_relative_root": "m49/tgs-fail-closed-results",
+    "result_id_prefix": "m49-tgs-fail-closed",
+    "document_name": "manifest.json",
+    "schema_version": "missioncore.m49-tgs-fail-closed-result/v1"
+  }
+}

config/laboratories/m49-tgs-full-shadow.json

@@ -0,0 +1,10 @@
+{
+  "schema_version": "missioncore.laboratory-evidence-definition/v1",
+  "work_id": "m49-tgs-full-shadow",
+  "evidence": {
+    "runtime_relative_root": "m49/tgs-full-shadow-results",
+    "result_id_prefix": "m49-tgs-full-shadow",
+    "document_name": "manifest.json",
+    "schema_version": "missioncore.m49-tgs-full-shadow-lab/v1"
+  }
+}

config/laboratory-execution.json

@@ -162,9 +162,57 @@
         "run": "missioncore.laboratory-run/v1",
         "evidence": "missioncore.m48t-risk-quality-temporal-lab/v1"
       }
+    },
+    {
+      "work_id": "m49-tgs-fail-closed-evidence",
+      "lifecycle": "experimental",
+      "isolation": "bounded-adapter",
+      "adapter_id": "experimental.m49-tgs-fail-closed-evidence/v1",
+      "input_roles": ["repository_root"],
+      "contracts": {
+        "source": "missioncore.m49-tgs-worker-evidence/v1",
+        "provider": "missioncore.travel-tgs-ground-segmentation/v1",
+        "graph": "missioncore.m49-fail-closed-costmap-evidence/v1",
+        "run": "missioncore.laboratory-run/v1",
+        "evidence": "missioncore.m49-tgs-fail-closed-result/v1"
+      }
+    },
+    {
+      "work_id": "m49-tgs-full-shadow",
+      "lifecycle": "experimental",
+      "isolation": "bounded-adapter",
+      "adapter_id": "experimental.m49-tgs-full-shadow/v1",
+      "input_roles": ["repository_root"],
+      "contracts": {
+        "source": "missioncore.m49-tgs-full-shadow-result/v1",
+        "provider": "missioncore.travel-tgs-ground-segmentation/v1",
+        "graph": "missioncore.m49-tgs-full-source-paced-shadow/v1",
+        "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",
@@ -267,6 +267,34 @@
       "signal": "progress",
       "lifecycle": "current",
       "visual_evidence": "available"
+    },
+    {
+      "catalog_id": "m49-tgs-fail-closed-evidence",
+      "evidence_id": "m49-tgs-fail-closed-9d5cb089bb5cc23f829acb47eda52eaa886db3b60f8fa7d57e02e27f642e837b",
+      "signal": "progress",
+      "lifecycle": "current",
+      "visual_evidence": "available"
+    },
+    {
+      "catalog_id": "m49-tgs-full-shadow",
+      "evidence_id": "m49-tgs-full-shadow-0faeaaf3aba8dccae974eab51ff9cccf264a13ec285abb1920c1e5a09a7e87bc",
+      "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/m49-tgs-fail-closed-evidence-v1.json

@@ -0,0 +1,69 @@
+{
+  "schema_version": "missioncore.m49-tgs-fail-closed-evidence-profile/v1",
+  "profile_id": "m49-ravnoves00-tgs-fail-closed-evidence/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "travel_revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
+    "compatibility_decision_sha256": "ff0b27f469cccad258c53ae07cb04ad00e696d82b32021c4f1f38ba7fa39d66a",
+    "input_coordinate_frame": "map-gravity-local-translation-only"
+  },
+  "anchors": [171, 306, 368, 402, 450, 509, 525, 744, 1122, 1856],
+  "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,
+    "gpu_allowed": false,
+    "navigation_or_actuation_allowed": false
+  }
+}

config/perception/m49-tgs-full-shadow-v1.json

@@ -0,0 +1,77 @@
+{
+  "schema_version": "missioncore.m49-tgs-full-shadow-profile/v1",
+  "profile_id": "m49-ravnoves00-tgs-full-shadow/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "travel_revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
+    "input_coordinate_frame": "map-gravity-local-translation-only",
+    "expected_timeline_frames": 4489,
+    "expected_available_lidar_frames": 3928
+  },
+  "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
+  },
+  "profile": {
+    "id": "causal_rolling_1s",
+    "history_seconds": 1.0,
+    "local_radius_m": 12.0,
+    "missing_lidar_policy": "all-cells-unobserved"
+  },
+  "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
+  },
+  "acceptance": {
+    "recorded_source_rate_hz": 10.0,
+    "minimum_effective_timeline_fps": 10.0,
+    "candidate_stage_p95_ms_max": 25.0,
+    "candidate_stage_p99_ms_max": 50.0,
+    "completion_age_p99_ms_max": 100.0,
+    "capacity_drop_count_max": 0,
+    "unaccounted_available_frame_count_max": 0,
+    "unaccounted_eligible_point_count_max": 0
+  },
+  "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,
+    "missing_lidar_means_unobserved": true,
+    "unobserved_cells_are_emitted": true,
+    "future_frames_used": false,
+    "camera_projection_is_authoritative": false,
+    "gpu_allowed": false,
+    "navigation_or_actuation_allowed": false
+  }
+}

config/perception/m49-tgs-integrated-graph-shadow-v1.json

@@ -0,0 +1,73 @@
+{
+  "schema_version": "missioncore.m49-tgs-integrated-graph-shadow-profile/v1",
+  "profile_id": "m49-ravnoves00-tgs-native-risk-integrated-shadow/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "expected_timeline_frames": 4489,
+    "expected_available_lidar_frames": 3928,
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "requested_source_rate_hz": 12.0,
+    "shared_start_barrier": true
+  },
+  "stages": {
+    "reference_graph": {
+      "graph_config": "m48n-rf-detr-native-reference-graph-shadow-v0.json",
+      "graph_config_sha256": "1db6f6fa0561d819505a5e4f62fe256dab6fe4d9da6b4f1a9a5073bfcf772c90",
+      "detector_profile": "rf-detr-large-native-kb4-risk-shadow-v0.json",
+      "detector_profile_sha256": "dbf4da5dbad6c3c22b1280b46ffcad81719bd183c81c263a4859847d829019b6",
+      "detector_provider_id": "triton-rf-detr-large-coco-native-kb4-risk-fp16-shadow/v0",
+      "single_inference_pass": true
+    },
+    "tgs": {
+      "profile": "m49-tgs-full-shadow-v1.json",
+      "profile_sha256": "c2e07010aaee78259d36c057962d6bfb885349251ff7356d867e5813e632881c",
+      "candidate_id": "travel-tgs-only-gravity-aligned",
+      "linked_accepted_result_id": "m49-tgs-full-shadow-ef98de7db7596d48e8c8c0549ce68e6704ee03e87c8c4bcf1e3e748b7ccb032e",
+      "aos_allowed": false,
+      "gpu_allowed": false,
+      "states_remain_separate": true
+    }
+  },
+  "acceptance": {
+    "minimum_delivery_ratio": 1.0,
+    "reference_world_state_fps": 11.79902,
+    "maximum_world_state_fps_regression_fraction": 0.05,
+    "minimum_effective_world_state_fps": 11.209069,
+    "maximum_world_state_completion_p95_ms": 125.0,
+    "candidate_stage_p95_ms_max": 25.0,
+    "candidate_stage_p99_ms_max": 50.0,
+    "combined_output_age_p99_ms_max": 125.0,
+    "capacity_drop_count_max": 0,
+    "unaccounted_frame_count_max": 0
+  },
+  "telemetry": {
+    "sample_interval_seconds": 1.0,
+    "required_products": [
+      "graph_pipeline_timing",
+      "graph_queue_high_watermarks",
+      "tgs_stage_timing",
+      "host_container_cpu_memory",
+      "gpu_utilization_memory_power_temperature"
+    ]
+  },
+  "invariants": {
+    "native_fisheye_raster_unchanged": true,
+    "camera_rectification_allowed": false,
+    "camera_resize_allowed": false,
+    "tgs_candidate_parameters_unchanged": true,
+    "tgs_modifies_reference_graph_state": false,
+    "missing_lidar_means_unobserved": true,
+    "future_frames_used": false,
+    "low_step_used": false,
+    "gauss_or_playcanvas_in_scope": false
+  },
+  "authority": {
+    "visual_quality_accepted": 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/m49-travel-ravnoves-compatibility-v1.json

@@ -0,0 +1,56 @@
+{
+  "schema_version": "missioncore.m49-travel-ravnoves-compatibility/v1",
+  "profile_id": "m49-travel-ravnoves-compatibility/v1",
+  "candidate": {
+    "id": "travel",
+    "revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
+    "worker_image_id": "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f",
+    "upstream_profile": "kitti-64x4500"
+  },
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "representation": "registered-map-increment-v1",
+    "source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "intensity_available": false,
+    "ring_available": false,
+    "per_point_time_available": false,
+    "native_ray_model_available": false
+  },
+  "anchors": [171, 306, 368, 402, 450, 509, 525, 744, 1122, 1856],
+  "input_profiles": [
+    {
+      "id": "current_increment",
+      "description": "Exact current registered map increment transformed into the current lidar frame.",
+      "history_seconds": 0.0,
+      "local_radius_m": null,
+      "travel_min_range_m": 1.0,
+      "travel_max_range_m": 80.0
+    },
+    {
+      "id": "causal_rolling_1s",
+      "description": "Current and past registered increments from one second, bounded by the accepted local-map radius.",
+      "history_seconds": 1.0,
+      "local_radius_m": 12.0,
+      "travel_min_range_m": 1.0,
+      "travel_max_range_m": 80.0
+    }
+  ],
+  "order_variants": ["source", "reversed"],
+  "compatibility_acceptance": {
+    "ground_and_nonground_account_for_all_in_range_input_points": true,
+    "minimum_partition_multiset_jaccard": 0.99,
+    "minimum_labeled_multiset_jaccard": 0.99,
+    "all_outputs_must_be_finite": true
+  },
+  "invariants": {
+    "future_frames_allowed": false,
+    "missing_support_means_free": false,
+    "rolling_support_can_clear_space": false,
+    "zero_filled_intensity_has_semantic_authority": false,
+    "camera_resize_or_rectification_allowed": false,
+    "gpu_allowed": false,
+    "navigation_or_actuation_allowed": 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
+  }
+}