perf(perception): phase vegetation behind safety

apps/control-station/package-lock.json

@@ -16,6 +16,7 @@
         "@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",
+        "meshoptimizer": "1.1.1",
         "playcanvas": "2.21.4",
         "react": "^19.1.0",
         "react-dom": "^19.1.0",
@@ -1661,7 +1662,6 @@
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/meshoptimizer/-/meshoptimizer-1.1.1.tgz",
       "integrity": "sha512-oRFNWJRDA/WTrVj7NWvqa5HqE1t9MYDj2VaWirQCzCCrAd2GHrqR/sQezCxiWATPNlKTcRaPRHPJwIRoPBAp5g==",
-      "dev": true,
       "license": "MIT"
     },
     "node_modules/ms": {

apps/control-station/package.json

@@ -19,6 +19,7 @@
     "@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",
+    "meshoptimizer": "1.1.1",
     "playcanvas": "2.21.4",
     "react": "^19.1.0",
     "react-dom": "^19.1.0",

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

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

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

@@ -0,0 +1,921 @@
+// This is ammo.js, a port of Bullet Physics to JavaScript. zlib licensed.
+
+var Ammo = (() => {
+  var _scriptDir = typeof document !== 'undefined' && document.currentScript ? document.currentScript.src : undefined;
+  if (typeof __filename !== 'undefined') _scriptDir = _scriptDir || __filename;
+  return (
+function(Ammo = {})  {
+
+var b;b||(b=typeof Ammo !== 'undefined' ? Ammo : {});var aa,ba;b.ready=new Promise(function(a,c){aa=a;ba=c});var ca=Object.assign({},b),da="object"==typeof window,ea="function"==typeof importScripts,fa="object"==typeof process&&"object"==typeof process.versions&&"string"==typeof process.versions.node,ha="",ia,ja,ka;
+if(fa){var fs=require("fs"),la=require("path");ha=ea?la.dirname(ha)+"/":__dirname+"/";ia=(a,c)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);return fs.readFileSync(a,c?void 0:"utf8")};ka=a=>{a=ia(a,!0);a.buffer||(a=new Uint8Array(a));return a};ja=(a,c,d)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);fs.readFile(a,function(e,g){e?d(e):c(g.buffer)})};1<process.argv.length&&process.argv[1].replace(/\\/g,"/");process.argv.slice(2);b.inspect=function(){return"[Emscripten Module object]"}}else if(da||
+ea)ea?ha=self.location.href:"undefined"!=typeof document&&document.currentScript&&(ha=document.currentScript.src),_scriptDir&&(ha=_scriptDir),ha=0!==ha.indexOf("blob:")?ha.substr(0,ha.replace(/[?#].*/,"").lastIndexOf("/")+1):"",ia=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.send(null);return c.responseText},ea&&(ka=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.responseType="arraybuffer";c.send(null);return new Uint8Array(c.response)}),ja=(a,c,d)=>{var e=new XMLHttpRequest;e.open("GET",a,
+!0);e.responseType="arraybuffer";e.onload=()=>{200==e.status||0==e.status&&e.response?c(e.response):d()};e.onerror=d;e.send(null)};b.print||console.log.bind(console);var ma=b.printErr||console.warn.bind(console);Object.assign(b,ca);ca=null;var na;b.wasmBinary&&(na=b.wasmBinary);var noExitRuntime=b.noExitRuntime||!0;"object"!=typeof WebAssembly&&oa("no native wasm support detected");var pa,qa=!1,ra="undefined"!=typeof TextDecoder?new TextDecoder("utf8"):void 0;
+function sa(a,c){if(a){var d=ta,e=a+c;for(c=a;d[c]&&!(c>=e);)++c;if(16<c-a&&d.buffer&&ra)a=ra.decode(d.subarray(a,c));else{for(e="";a<c;){var g=d[a++];if(g&128){var n=d[a++]&63;if(192==(g&224))e+=String.fromCharCode((g&31)<<6|n);else{var z=d[a++]&63;g=224==(g&240)?(g&15)<<12|n<<6|z:(g&7)<<18|n<<12|z<<6|d[a++]&63;65536>g?e+=String.fromCharCode(g):(g-=65536,e+=String.fromCharCode(55296|g>>10,56320|g&1023))}}else e+=String.fromCharCode(g)}a=e}}else a="";return a}
+var ua,ta,va,wa,xa,ya,za=[],Aa=[],Ba=[],Ca=!1;function Ea(){var a=b.preRun.shift();za.unshift(a)}var Fa=0,Ga=null,Ha=null;function oa(a){if(b.onAbort)b.onAbort(a);a="Aborted("+a+")";ma(a);qa=!0;a=new WebAssembly.RuntimeError(a+". Build with -sASSERTIONS for more info.");ba(a);throw a;}function Ia(a){return a.startsWith("data:application/octet-stream;base64,")}var Ja;Ja="ammo.wasm.wasm";if(!Ia(Ja)){var Ka=Ja;Ja=b.locateFile?b.locateFile(Ka,ha):ha+Ka}
+function La(a){try{if(a==Ja&&na)return new Uint8Array(na);if(ka)return ka(a);throw"both async and sync fetching of the wasm failed";}catch(c){oa(c)}}
+function Ma(a){if(!na&&(da||ea)){if("function"==typeof fetch&&!a.startsWith("file://"))return fetch(a,{credentials:"same-origin"}).then(function(c){if(!c.ok)throw"failed to load wasm binary file at '"+a+"'";return c.arrayBuffer()}).catch(function(){return La(a)});if(ja)return new Promise(function(c,d){ja(a,function(e){c(new Uint8Array(e))},d)})}return Promise.resolve().then(function(){return La(a)})}
+function Na(a,c,d){return Ma(a).then(function(e){return WebAssembly.instantiate(e,c)}).then(function(e){return e}).then(d,function(e){ma("failed to asynchronously prepare wasm: "+e);oa(e)})}
+function Oa(a,c){var d=Ja;return na||"function"!=typeof WebAssembly.instantiateStreaming||Ia(d)||d.startsWith("file://")||fa||"function"!=typeof fetch?Na(d,a,c):fetch(d,{credentials:"same-origin"}).then(function(e){return WebAssembly.instantiateStreaming(e,a).then(c,function(g){ma("wasm streaming compile failed: "+g);ma("falling back to ArrayBuffer instantiation");return Na(d,a,c)})})}
+var Pa={27338:(a,c,d,e)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawLine"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawLine.";a.drawLine(c,d,e)},27558:(a,c,d,e,g,n)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawContactPoint"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawContactPoint.";a.drawContactPoint(c,d,e,g,n)},27808:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("reportErrorWarning"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::reportErrorWarning.";
+a.reportErrorWarning(c)},28052:(a,c,d)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("draw3dText"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::draw3dText.";a.draw3dText(c,d)},28275:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("setDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::setDebugMode.";a.setDebugMode(c)},28501:a=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("getDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::getDebugMode.";
+return a.getDebugMode()},28732:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("getWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::getWorldTransform.";a.getWorldTransform(c)},28973:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("setWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::setWorldTransform.";a.setWorldTransform(c)},29214:(a,c,d,e,g,n,z,T)=>{a=b.getCache(b.ConcreteContactResultCallback)[a];
+if(!a.hasOwnProperty("addSingleResult"))throw"a JSImplementation must implement all functions, you forgot ConcreteContactResultCallback::addSingleResult.";return a.addSingleResult(c,d,e,g,n,z,T)}};function Qa(a){for(;0<a.length;)a.shift()(b)}var Ra=[];function Sa(a,c,d){Ra.length=0;var e;for(d>>=2;e=ta[c++];)d+=105!=e&d,Ra.push(105==e?va[d]:xa[d++>>1]),++d;return Pa[a].apply(null,Ra)}
+var Ta=[],Ua=void 0,Va=[],Wa={b:function(){oa("")},f:function(a,c,d){return Sa(a,c,d)},a:function(a,c,d){return Sa(a,c,d)},d:function(){return Date.now()},e:function(a,c,d){ta.copyWithin(a,c,c+d)},c:function(){oa("OOM")}};
+(function(){function a(d){d=d.exports;b.asm=d;pa=b.asm.g;var e=pa.buffer;b.HEAP8=ua=new Int8Array(e);b.HEAP16=new Int16Array(e);b.HEAP32=va=new Int32Array(e);b.HEAPU8=ta=new Uint8Array(e);b.HEAPU16=new Uint16Array(e);b.HEAPU32=new Uint32Array(e);b.HEAPF32=wa=new Float32Array(e);b.HEAPF64=xa=new Float64Array(e);ya=b.asm.iB;Aa.unshift(b.asm.h);Fa--;b.monitorRunDependencies&&b.monitorRunDependencies(Fa);0==Fa&&(null!==Ga&&(clearInterval(Ga),Ga=null),Ha&&(e=Ha,Ha=null,e()));return d}var c={a:Wa};Fa++;
+b.monitorRunDependencies&&b.monitorRunDependencies(Fa);if(b.instantiateWasm)try{return b.instantiateWasm(c,a)}catch(d){ma("Module.instantiateWasm callback failed with error: "+d),ba(d)}Oa(c,function(d){a(d.instance)}).catch(ba);return{}})();
+var Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=function(){return(Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=b.asm.i).apply(null,arguments)},Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=function(){return(Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=b.asm.j).apply(null,arguments)},Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=function(){return(Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=b.asm.k).apply(null,arguments)},
+$a=b._emscripten_bind_btCollisionShape_setMargin_1=function(){return($a=b._emscripten_bind_btCollisionShape_setMargin_1=b.asm.l).apply(null,arguments)},ab=b._emscripten_bind_btCollisionShape_getMargin_0=function(){return(ab=b._emscripten_bind_btCollisionShape_getMargin_0=b.asm.m).apply(null,arguments)},bb=b._emscripten_bind_btCollisionShape___destroy___0=function(){return(bb=b._emscripten_bind_btCollisionShape___destroy___0=b.asm.n).apply(null,arguments)},cb=b._emscripten_bind_btCollisionWorld_getDispatcher_0=
+function(){return(cb=b._emscripten_bind_btCollisionWorld_getDispatcher_0=b.asm.o).apply(null,arguments)},db=b._emscripten_bind_btCollisionWorld_rayTest_3=function(){return(db=b._emscripten_bind_btCollisionWorld_rayTest_3=b.asm.p).apply(null,arguments)},eb=b._emscripten_bind_btCollisionWorld_getPairCache_0=function(){return(eb=b._emscripten_bind_btCollisionWorld_getPairCache_0=b.asm.q).apply(null,arguments)},fb=b._emscripten_bind_btCollisionWorld_getDispatchInfo_0=function(){return(fb=b._emscripten_bind_btCollisionWorld_getDispatchInfo_0=
+b.asm.r).apply(null,arguments)},gb=b._emscripten_bind_btCollisionWorld_addCollisionObject_1=function(){return(gb=b._emscripten_bind_btCollisionWorld_addCollisionObject_1=b.asm.s).apply(null,arguments)},hb=b._emscripten_bind_btCollisionWorld_addCollisionObject_2=function(){return(hb=b._emscripten_bind_btCollisionWorld_addCollisionObject_2=b.asm.t).apply(null,arguments)},ib=b._emscripten_bind_btCollisionWorld_addCollisionObject_3=function(){return(ib=b._emscripten_bind_btCollisionWorld_addCollisionObject_3=
+b.asm.u).apply(null,arguments)},jb=b._emscripten_bind_btCollisionWorld_removeCollisionObject_1=function(){return(jb=b._emscripten_bind_btCollisionWorld_removeCollisionObject_1=b.asm.v).apply(null,arguments)},kb=b._emscripten_bind_btCollisionWorld_getBroadphase_0=function(){return(kb=b._emscripten_bind_btCollisionWorld_getBroadphase_0=b.asm.w).apply(null,arguments)},lb=b._emscripten_bind_btCollisionWorld_convexSweepTest_5=function(){return(lb=b._emscripten_bind_btCollisionWorld_convexSweepTest_5=b.asm.x).apply(null,
+arguments)},mb=b._emscripten_bind_btCollisionWorld_contactPairTest_3=function(){return(mb=b._emscripten_bind_btCollisionWorld_contactPairTest_3=b.asm.y).apply(null,arguments)},nb=b._emscripten_bind_btCollisionWorld_contactTest_2=function(){return(nb=b._emscripten_bind_btCollisionWorld_contactTest_2=b.asm.z).apply(null,arguments)},ob=b._emscripten_bind_btCollisionWorld_updateSingleAabb_1=function(){return(ob=b._emscripten_bind_btCollisionWorld_updateSingleAabb_1=b.asm.A).apply(null,arguments)},pb=
+b._emscripten_bind_btCollisionWorld_setDebugDrawer_1=function(){return(pb=b._emscripten_bind_btCollisionWorld_setDebugDrawer_1=b.asm.B).apply(null,arguments)},qb=b._emscripten_bind_btCollisionWorld_getDebugDrawer_0=function(){return(qb=b._emscripten_bind_btCollisionWorld_getDebugDrawer_0=b.asm.C).apply(null,arguments)},rb=b._emscripten_bind_btCollisionWorld_debugDrawWorld_0=function(){return(rb=b._emscripten_bind_btCollisionWorld_debugDrawWorld_0=b.asm.D).apply(null,arguments)},sb=b._emscripten_bind_btCollisionWorld_debugDrawObject_3=
+function(){return(sb=b._emscripten_bind_btCollisionWorld_debugDrawObject_3=b.asm.E).apply(null,arguments)},tb=b._emscripten_bind_btCollisionWorld___destroy___0=function(){return(tb=b._emscripten_bind_btCollisionWorld___destroy___0=b.asm.F).apply(null,arguments)},ub=b._emscripten_bind_btCollisionObject_setAnisotropicFriction_2=function(){return(ub=b._emscripten_bind_btCollisionObject_setAnisotropicFriction_2=b.asm.G).apply(null,arguments)},vb=b._emscripten_bind_btCollisionObject_getCollisionShape_0=
+function(){return(vb=b._emscripten_bind_btCollisionObject_getCollisionShape_0=b.asm.H).apply(null,arguments)},wb=b._emscripten_bind_btCollisionObject_setContactProcessingThreshold_1=function(){return(wb=b._emscripten_bind_btCollisionObject_setContactProcessingThreshold_1=b.asm.I).apply(null,arguments)},xb=b._emscripten_bind_btCollisionObject_setActivationState_1=function(){return(xb=b._emscripten_bind_btCollisionObject_setActivationState_1=b.asm.J).apply(null,arguments)},yb=b._emscripten_bind_btCollisionObject_forceActivationState_1=
+function(){return(yb=b._emscripten_bind_btCollisionObject_forceActivationState_1=b.asm.K).apply(null,arguments)},zb=b._emscripten_bind_btCollisionObject_activate_0=function(){return(zb=b._emscripten_bind_btCollisionObject_activate_0=b.asm.L).apply(null,arguments)},Ab=b._emscripten_bind_btCollisionObject_activate_1=function(){return(Ab=b._emscripten_bind_btCollisionObject_activate_1=b.asm.M).apply(null,arguments)},Bb=b._emscripten_bind_btCollisionObject_isActive_0=function(){return(Bb=b._emscripten_bind_btCollisionObject_isActive_0=
+b.asm.N).apply(null,arguments)},Cb=b._emscripten_bind_btCollisionObject_isKinematicObject_0=function(){return(Cb=b._emscripten_bind_btCollisionObject_isKinematicObject_0=b.asm.O).apply(null,arguments)},Db=b._emscripten_bind_btCollisionObject_isStaticObject_0=function(){return(Db=b._emscripten_bind_btCollisionObject_isStaticObject_0=b.asm.P).apply(null,arguments)},Eb=b._emscripten_bind_btCollisionObject_isStaticOrKinematicObject_0=function(){return(Eb=b._emscripten_bind_btCollisionObject_isStaticOrKinematicObject_0=
+b.asm.Q).apply(null,arguments)},Fb=b._emscripten_bind_btCollisionObject_getRestitution_0=function(){return(Fb=b._emscripten_bind_btCollisionObject_getRestitution_0=b.asm.R).apply(null,arguments)},Gb=b._emscripten_bind_btCollisionObject_getFriction_0=function(){return(Gb=b._emscripten_bind_btCollisionObject_getFriction_0=b.asm.S).apply(null,arguments)},Hb=b._emscripten_bind_btCollisionObject_getRollingFriction_0=function(){return(Hb=b._emscripten_bind_btCollisionObject_getRollingFriction_0=b.asm.T).apply(null,
+arguments)},Ib=b._emscripten_bind_btCollisionObject_setRestitution_1=function(){return(Ib=b._emscripten_bind_btCollisionObject_setRestitution_1=b.asm.U).apply(null,arguments)},Jb=b._emscripten_bind_btCollisionObject_setFriction_1=function(){return(Jb=b._emscripten_bind_btCollisionObject_setFriction_1=b.asm.V).apply(null,arguments)},Kb=b._emscripten_bind_btCollisionObject_setRollingFriction_1=function(){return(Kb=b._emscripten_bind_btCollisionObject_setRollingFriction_1=b.asm.W).apply(null,arguments)},
+Lb=b._emscripten_bind_btCollisionObject_getWorldTransform_0=function(){return(Lb=b._emscripten_bind_btCollisionObject_getWorldTransform_0=b.asm.X).apply(null,arguments)},Mb=b._emscripten_bind_btCollisionObject_getCollisionFlags_0=function(){return(Mb=b._emscripten_bind_btCollisionObject_getCollisionFlags_0=b.asm.Y).apply(null,arguments)},Nb=b._emscripten_bind_btCollisionObject_setCollisionFlags_1=function(){return(Nb=b._emscripten_bind_btCollisionObject_setCollisionFlags_1=b.asm.Z).apply(null,arguments)},
+Ob=b._emscripten_bind_btCollisionObject_setWorldTransform_1=function(){return(Ob=b._emscripten_bind_btCollisionObject_setWorldTransform_1=b.asm._).apply(null,arguments)},Pb=b._emscripten_bind_btCollisionObject_setCollisionShape_1=function(){return(Pb=b._emscripten_bind_btCollisionObject_setCollisionShape_1=b.asm.$).apply(null,arguments)},Qb=b._emscripten_bind_btCollisionObject_setCcdMotionThreshold_1=function(){return(Qb=b._emscripten_bind_btCollisionObject_setCcdMotionThreshold_1=b.asm.aa).apply(null,
+arguments)},Rb=b._emscripten_bind_btCollisionObject_setCcdSweptSphereRadius_1=function(){return(Rb=b._emscripten_bind_btCollisionObject_setCcdSweptSphereRadius_1=b.asm.ba).apply(null,arguments)},Sb=b._emscripten_bind_btCollisionObject_getUserIndex_0=function(){return(Sb=b._emscripten_bind_btCollisionObject_getUserIndex_0=b.asm.ca).apply(null,arguments)},Tb=b._emscripten_bind_btCollisionObject_setUserIndex_1=function(){return(Tb=b._emscripten_bind_btCollisionObject_setUserIndex_1=b.asm.da).apply(null,
+arguments)},Ub=b._emscripten_bind_btCollisionObject_getUserPointer_0=function(){return(Ub=b._emscripten_bind_btCollisionObject_getUserPointer_0=b.asm.ea).apply(null,arguments)},Vb=b._emscripten_bind_btCollisionObject_setUserPointer_1=function(){return(Vb=b._emscripten_bind_btCollisionObject_setUserPointer_1=b.asm.fa).apply(null,arguments)},Wb=b._emscripten_bind_btCollisionObject_getBroadphaseHandle_0=function(){return(Wb=b._emscripten_bind_btCollisionObject_getBroadphaseHandle_0=b.asm.ga).apply(null,
+arguments)},Xb=b._emscripten_bind_btCollisionObject___destroy___0=function(){return(Xb=b._emscripten_bind_btCollisionObject___destroy___0=b.asm.ha).apply(null,arguments)},Yb=b._emscripten_bind_btConcaveShape_setLocalScaling_1=function(){return(Yb=b._emscripten_bind_btConcaveShape_setLocalScaling_1=b.asm.ia).apply(null,arguments)},Zb=b._emscripten_bind_btConcaveShape_getLocalScaling_0=function(){return(Zb=b._emscripten_bind_btConcaveShape_getLocalScaling_0=b.asm.ja).apply(null,arguments)},$b=b._emscripten_bind_btConcaveShape_calculateLocalInertia_2=
+function(){return($b=b._emscripten_bind_btConcaveShape_calculateLocalInertia_2=b.asm.ka).apply(null,arguments)},ac=b._emscripten_bind_btConcaveShape___destroy___0=function(){return(ac=b._emscripten_bind_btConcaveShape___destroy___0=b.asm.la).apply(null,arguments)},bc=b._emscripten_bind_btCollisionAlgorithm___destroy___0=function(){return(bc=b._emscripten_bind_btCollisionAlgorithm___destroy___0=b.asm.ma).apply(null,arguments)},cc=b._emscripten_bind_btTypedConstraint_enableFeedback_1=function(){return(cc=
+b._emscripten_bind_btTypedConstraint_enableFeedback_1=b.asm.na).apply(null,arguments)},ec=b._emscripten_bind_btTypedConstraint_getBreakingImpulseThreshold_0=function(){return(ec=b._emscripten_bind_btTypedConstraint_getBreakingImpulseThreshold_0=b.asm.oa).apply(null,arguments)},fc=b._emscripten_bind_btTypedConstraint_setBreakingImpulseThreshold_1=function(){return(fc=b._emscripten_bind_btTypedConstraint_setBreakingImpulseThreshold_1=b.asm.pa).apply(null,arguments)},gc=b._emscripten_bind_btTypedConstraint_getParam_2=
+function(){return(gc=b._emscripten_bind_btTypedConstraint_getParam_2=b.asm.qa).apply(null,arguments)},hc=b._emscripten_bind_btTypedConstraint_setParam_3=function(){return(hc=b._emscripten_bind_btTypedConstraint_setParam_3=b.asm.ra).apply(null,arguments)},ic=b._emscripten_bind_btTypedConstraint___destroy___0=function(){return(ic=b._emscripten_bind_btTypedConstraint___destroy___0=b.asm.sa).apply(null,arguments)},jc=b._emscripten_bind_btDynamicsWorld_addAction_1=function(){return(jc=b._emscripten_bind_btDynamicsWorld_addAction_1=
+b.asm.ta).apply(null,arguments)},kc=b._emscripten_bind_btDynamicsWorld_removeAction_1=function(){return(kc=b._emscripten_bind_btDynamicsWorld_removeAction_1=b.asm.ua).apply(null,arguments)},lc=b._emscripten_bind_btDynamicsWorld_getSolverInfo_0=function(){return(lc=b._emscripten_bind_btDynamicsWorld_getSolverInfo_0=b.asm.va).apply(null,arguments)},mc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_1=function(){return(mc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_1=b.asm.wa).apply(null,
+arguments)},nc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_2=function(){return(nc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_2=b.asm.xa).apply(null,arguments)},oc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_3=function(){return(oc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_3=b.asm.ya).apply(null,arguments)},pc=b._emscripten_bind_btDynamicsWorld_getDispatcher_0=function(){return(pc=b._emscripten_bind_btDynamicsWorld_getDispatcher_0=b.asm.za).apply(null,
+arguments)},qc=b._emscripten_bind_btDynamicsWorld_rayTest_3=function(){return(qc=b._emscripten_bind_btDynamicsWorld_rayTest_3=b.asm.Aa).apply(null,arguments)},rc=b._emscripten_bind_btDynamicsWorld_getPairCache_0=function(){return(rc=b._emscripten_bind_btDynamicsWorld_getPairCache_0=b.asm.Ba).apply(null,arguments)},sc=b._emscripten_bind_btDynamicsWorld_getDispatchInfo_0=function(){return(sc=b._emscripten_bind_btDynamicsWorld_getDispatchInfo_0=b.asm.Ca).apply(null,arguments)},tc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_1=
+function(){return(tc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_1=b.asm.Da).apply(null,arguments)},uc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_2=function(){return(uc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_2=b.asm.Ea).apply(null,arguments)},vc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_3=function(){return(vc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_3=b.asm.Fa).apply(null,arguments)},wc=b._emscripten_bind_btDynamicsWorld_removeCollisionObject_1=
+function(){return(wc=b._emscripten_bind_btDynamicsWorld_removeCollisionObject_1=b.asm.Ga).apply(null,arguments)},xc=b._emscripten_bind_btDynamicsWorld_getBroadphase_0=function(){return(xc=b._emscripten_bind_btDynamicsWorld_getBroadphase_0=b.asm.Ha).apply(null,arguments)},yc=b._emscripten_bind_btDynamicsWorld_convexSweepTest_5=function(){return(yc=b._emscripten_bind_btDynamicsWorld_convexSweepTest_5=b.asm.Ia).apply(null,arguments)},zc=b._emscripten_bind_btDynamicsWorld_contactPairTest_3=function(){return(zc=
+b._emscripten_bind_btDynamicsWorld_contactPairTest_3=b.asm.Ja).apply(null,arguments)},Ac=b._emscripten_bind_btDynamicsWorld_contactTest_2=function(){return(Ac=b._emscripten_bind_btDynamicsWorld_contactTest_2=b.asm.Ka).apply(null,arguments)},Bc=b._emscripten_bind_btDynamicsWorld_updateSingleAabb_1=function(){return(Bc=b._emscripten_bind_btDynamicsWorld_updateSingleAabb_1=b.asm.La).apply(null,arguments)},Cc=b._emscripten_bind_btDynamicsWorld_setDebugDrawer_1=function(){return(Cc=b._emscripten_bind_btDynamicsWorld_setDebugDrawer_1=
+b.asm.Ma).apply(null,arguments)},Dc=b._emscripten_bind_btDynamicsWorld_getDebugDrawer_0=function(){return(Dc=b._emscripten_bind_btDynamicsWorld_getDebugDrawer_0=b.asm.Na).apply(null,arguments)},Ec=b._emscripten_bind_btDynamicsWorld_debugDrawWorld_0=function(){return(Ec=b._emscripten_bind_btDynamicsWorld_debugDrawWorld_0=b.asm.Oa).apply(null,arguments)},Fc=b._emscripten_bind_btDynamicsWorld_debugDrawObject_3=function(){return(Fc=b._emscripten_bind_btDynamicsWorld_debugDrawObject_3=b.asm.Pa).apply(null,
+arguments)},Gc=b._emscripten_bind_btDynamicsWorld___destroy___0=function(){return(Gc=b._emscripten_bind_btDynamicsWorld___destroy___0=b.asm.Qa).apply(null,arguments)},Hc=b._emscripten_bind_btIDebugDraw_drawLine_3=function(){return(Hc=b._emscripten_bind_btIDebugDraw_drawLine_3=b.asm.Ra).apply(null,arguments)},Ic=b._emscripten_bind_btIDebugDraw_drawContactPoint_5=function(){return(Ic=b._emscripten_bind_btIDebugDraw_drawContactPoint_5=b.asm.Sa).apply(null,arguments)},Jc=b._emscripten_bind_btIDebugDraw_reportErrorWarning_1=
+function(){return(Jc=b._emscripten_bind_btIDebugDraw_reportErrorWarning_1=b.asm.Ta).apply(null,arguments)},Kc=b._emscripten_bind_btIDebugDraw_draw3dText_2=function(){return(Kc=b._emscripten_bind_btIDebugDraw_draw3dText_2=b.asm.Ua).apply(null,arguments)},Lc=b._emscripten_bind_btIDebugDraw_setDebugMode_1=function(){return(Lc=b._emscripten_bind_btIDebugDraw_setDebugMode_1=b.asm.Va).apply(null,arguments)},Mc=b._emscripten_bind_btIDebugDraw_getDebugMode_0=function(){return(Mc=b._emscripten_bind_btIDebugDraw_getDebugMode_0=
+b.asm.Wa).apply(null,arguments)},Nc=b._emscripten_bind_btIDebugDraw___destroy___0=function(){return(Nc=b._emscripten_bind_btIDebugDraw___destroy___0=b.asm.Xa).apply(null,arguments)},Oc=b._emscripten_bind_btVector3_btVector3_0=function(){return(Oc=b._emscripten_bind_btVector3_btVector3_0=b.asm.Ya).apply(null,arguments)},Pc=b._emscripten_bind_btVector3_btVector3_3=function(){return(Pc=b._emscripten_bind_btVector3_btVector3_3=b.asm.Za).apply(null,arguments)},Qc=b._emscripten_bind_btVector3_length_0=
+function(){return(Qc=b._emscripten_bind_btVector3_length_0=b.asm._a).apply(null,arguments)},Rc=b._emscripten_bind_btVector3_x_0=function(){return(Rc=b._emscripten_bind_btVector3_x_0=b.asm.$a).apply(null,arguments)},Sc=b._emscripten_bind_btVector3_y_0=function(){return(Sc=b._emscripten_bind_btVector3_y_0=b.asm.ab).apply(null,arguments)},Tc=b._emscripten_bind_btVector3_z_0=function(){return(Tc=b._emscripten_bind_btVector3_z_0=b.asm.bb).apply(null,arguments)},Uc=b._emscripten_bind_btVector3_setX_1=function(){return(Uc=
+b._emscripten_bind_btVector3_setX_1=b.asm.cb).apply(null,arguments)},Vc=b._emscripten_bind_btVector3_setY_1=function(){return(Vc=b._emscripten_bind_btVector3_setY_1=b.asm.db).apply(null,arguments)},Wc=b._emscripten_bind_btVector3_setZ_1=function(){return(Wc=b._emscripten_bind_btVector3_setZ_1=b.asm.eb).apply(null,arguments)},Xc=b._emscripten_bind_btVector3_setValue_3=function(){return(Xc=b._emscripten_bind_btVector3_setValue_3=b.asm.fb).apply(null,arguments)},Yc=b._emscripten_bind_btVector3_normalize_0=
+function(){return(Yc=b._emscripten_bind_btVector3_normalize_0=b.asm.gb).apply(null,arguments)},Zc=b._emscripten_bind_btVector3_rotate_2=function(){return(Zc=b._emscripten_bind_btVector3_rotate_2=b.asm.hb).apply(null,arguments)},$c=b._emscripten_bind_btVector3_dot_1=function(){return($c=b._emscripten_bind_btVector3_dot_1=b.asm.ib).apply(null,arguments)},ad=b._emscripten_bind_btVector3_op_mul_1=function(){return(ad=b._emscripten_bind_btVector3_op_mul_1=b.asm.jb).apply(null,arguments)},bd=b._emscripten_bind_btVector3_op_add_1=
+function(){return(bd=b._emscripten_bind_btVector3_op_add_1=b.asm.kb).apply(null,arguments)},cd=b._emscripten_bind_btVector3_op_sub_1=function(){return(cd=b._emscripten_bind_btVector3_op_sub_1=b.asm.lb).apply(null,arguments)},dd=b._emscripten_bind_btVector3___destroy___0=function(){return(dd=b._emscripten_bind_btVector3___destroy___0=b.asm.mb).apply(null,arguments)},ed=b._emscripten_bind_btQuadWord_x_0=function(){return(ed=b._emscripten_bind_btQuadWord_x_0=b.asm.nb).apply(null,arguments)},fd=b._emscripten_bind_btQuadWord_y_0=
+function(){return(fd=b._emscripten_bind_btQuadWord_y_0=b.asm.ob).apply(null,arguments)},gd=b._emscripten_bind_btQuadWord_z_0=function(){return(gd=b._emscripten_bind_btQuadWord_z_0=b.asm.pb).apply(null,arguments)},hd=b._emscripten_bind_btQuadWord_w_0=function(){return(hd=b._emscripten_bind_btQuadWord_w_0=b.asm.qb).apply(null,arguments)},jd=b._emscripten_bind_btQuadWord_setX_1=function(){return(jd=b._emscripten_bind_btQuadWord_setX_1=b.asm.rb).apply(null,arguments)},kd=b._emscripten_bind_btQuadWord_setY_1=
+function(){return(kd=b._emscripten_bind_btQuadWord_setY_1=b.asm.sb).apply(null,arguments)},ld=b._emscripten_bind_btQuadWord_setZ_1=function(){return(ld=b._emscripten_bind_btQuadWord_setZ_1=b.asm.tb).apply(null,arguments)},md=b._emscripten_bind_btQuadWord_setW_1=function(){return(md=b._emscripten_bind_btQuadWord_setW_1=b.asm.ub).apply(null,arguments)},nd=b._emscripten_bind_btQuadWord___destroy___0=function(){return(nd=b._emscripten_bind_btQuadWord___destroy___0=b.asm.vb).apply(null,arguments)},od=
+b._emscripten_bind_btMotionState_getWorldTransform_1=function(){return(od=b._emscripten_bind_btMotionState_getWorldTransform_1=b.asm.wb).apply(null,arguments)},pd=b._emscripten_bind_btMotionState_setWorldTransform_1=function(){return(pd=b._emscripten_bind_btMotionState_setWorldTransform_1=b.asm.xb).apply(null,arguments)},qd=b._emscripten_bind_btMotionState___destroy___0=function(){return(qd=b._emscripten_bind_btMotionState___destroy___0=b.asm.yb).apply(null,arguments)},rd=b._emscripten_bind_RayResultCallback_hasHit_0=
+function(){return(rd=b._emscripten_bind_RayResultCallback_hasHit_0=b.asm.zb).apply(null,arguments)},sd=b._emscripten_bind_RayResultCallback_get_m_collisionFilterGroup_0=function(){return(sd=b._emscripten_bind_RayResultCallback_get_m_collisionFilterGroup_0=b.asm.Ab).apply(null,arguments)},td=b._emscripten_bind_RayResultCallback_set_m_collisionFilterGroup_1=function(){return(td=b._emscripten_bind_RayResultCallback_set_m_collisionFilterGroup_1=b.asm.Bb).apply(null,arguments)},ud=b._emscripten_bind_RayResultCallback_get_m_collisionFilterMask_0=
+function(){return(ud=b._emscripten_bind_RayResultCallback_get_m_collisionFilterMask_0=b.asm.Cb).apply(null,arguments)},vd=b._emscripten_bind_RayResultCallback_set_m_collisionFilterMask_1=function(){return(vd=b._emscripten_bind_RayResultCallback_set_m_collisionFilterMask_1=b.asm.Db).apply(null,arguments)},wd=b._emscripten_bind_RayResultCallback_get_m_closestHitFraction_0=function(){return(wd=b._emscripten_bind_RayResultCallback_get_m_closestHitFraction_0=b.asm.Eb).apply(null,arguments)},xd=b._emscripten_bind_RayResultCallback_set_m_closestHitFraction_1=
+function(){return(xd=b._emscripten_bind_RayResultCallback_set_m_closestHitFraction_1=b.asm.Fb).apply(null,arguments)},yd=b._emscripten_bind_RayResultCallback_get_m_collisionObject_0=function(){return(yd=b._emscripten_bind_RayResultCallback_get_m_collisionObject_0=b.asm.Gb).apply(null,arguments)},zd=b._emscripten_bind_RayResultCallback_set_m_collisionObject_1=function(){return(zd=b._emscripten_bind_RayResultCallback_set_m_collisionObject_1=b.asm.Hb).apply(null,arguments)},Ad=b._emscripten_bind_RayResultCallback_get_m_flags_0=
+function(){return(Ad=b._emscripten_bind_RayResultCallback_get_m_flags_0=b.asm.Ib).apply(null,arguments)},Bd=b._emscripten_bind_RayResultCallback_set_m_flags_1=function(){return(Bd=b._emscripten_bind_RayResultCallback_set_m_flags_1=b.asm.Jb).apply(null,arguments)},Cd=b._emscripten_bind_RayResultCallback___destroy___0=function(){return(Cd=b._emscripten_bind_RayResultCallback___destroy___0=b.asm.Kb).apply(null,arguments)},Dd=b._emscripten_bind_ContactResultCallback_addSingleResult_7=function(){return(Dd=
+b._emscripten_bind_ContactResultCallback_addSingleResult_7=b.asm.Lb).apply(null,arguments)},Ed=b._emscripten_bind_ContactResultCallback___destroy___0=function(){return(Ed=b._emscripten_bind_ContactResultCallback___destroy___0=b.asm.Mb).apply(null,arguments)},Fd=b._emscripten_bind_ConvexResultCallback_hasHit_0=function(){return(Fd=b._emscripten_bind_ConvexResultCallback_hasHit_0=b.asm.Nb).apply(null,arguments)},Gd=b._emscripten_bind_ConvexResultCallback_get_m_collisionFilterGroup_0=function(){return(Gd=
+b._emscripten_bind_ConvexResultCallback_get_m_collisionFilterGroup_0=b.asm.Ob).apply(null,arguments)},Hd=b._emscripten_bind_ConvexResultCallback_set_m_collisionFilterGroup_1=function(){return(Hd=b._emscripten_bind_ConvexResultCallback_set_m_collisionFilterGroup_1=b.asm.Pb).apply(null,arguments)},Id=b._emscripten_bind_ConvexResultCallback_get_m_collisionFilterMask_0=function(){return(Id=b._emscripten_bind_ConvexResultCallback_get_m_collisionFilterMask_0=b.asm.Qb).apply(null,arguments)},Jd=b._emscripten_bind_ConvexResultCallback_set_m_collisionFilterMask_1=
+function(){return(Jd=b._emscripten_bind_ConvexResultCallback_set_m_collisionFilterMask_1=b.asm.Rb).apply(null,arguments)},Kd=b._emscripten_bind_ConvexResultCallback_get_m_closestHitFraction_0=function(){return(Kd=b._emscripten_bind_ConvexResultCallback_get_m_closestHitFraction_0=b.asm.Sb).apply(null,arguments)},Ld=b._emscripten_bind_ConvexResultCallback_set_m_closestHitFraction_1=function(){return(Ld=b._emscripten_bind_ConvexResultCallback_set_m_closestHitFraction_1=b.asm.Tb).apply(null,arguments)},
+Md=b._emscripten_bind_ConvexResultCallback___destroy___0=function(){return(Md=b._emscripten_bind_ConvexResultCallback___destroy___0=b.asm.Ub).apply(null,arguments)},Nd=b._emscripten_bind_btConvexShape_setLocalScaling_1=function(){return(Nd=b._emscripten_bind_btConvexShape_setLocalScaling_1=b.asm.Vb).apply(null,arguments)},Od=b._emscripten_bind_btConvexShape_getLocalScaling_0=function(){return(Od=b._emscripten_bind_btConvexShape_getLocalScaling_0=b.asm.Wb).apply(null,arguments)},Pd=b._emscripten_bind_btConvexShape_calculateLocalInertia_2=
+function(){return(Pd=b._emscripten_bind_btConvexShape_calculateLocalInertia_2=b.asm.Xb).apply(null,arguments)},Qd=b._emscripten_bind_btConvexShape_setMargin_1=function(){return(Qd=b._emscripten_bind_btConvexShape_setMargin_1=b.asm.Yb).apply(null,arguments)},Rd=b._emscripten_bind_btConvexShape_getMargin_0=function(){return(Rd=b._emscripten_bind_btConvexShape_getMargin_0=b.asm.Zb).apply(null,arguments)},Sd=b._emscripten_bind_btConvexShape___destroy___0=function(){return(Sd=b._emscripten_bind_btConvexShape___destroy___0=
+b.asm._b).apply(null,arguments)},Td=b._emscripten_bind_btCapsuleShape_btCapsuleShape_2=function(){return(Td=b._emscripten_bind_btCapsuleShape_btCapsuleShape_2=b.asm.$b).apply(null,arguments)},Ud=b._emscripten_bind_btCapsuleShape_setMargin_1=function(){return(Ud=b._emscripten_bind_btCapsuleShape_setMargin_1=b.asm.ac).apply(null,arguments)},Vd=b._emscripten_bind_btCapsuleShape_getMargin_0=function(){return(Vd=b._emscripten_bind_btCapsuleShape_getMargin_0=b.asm.bc).apply(null,arguments)},Wd=b._emscripten_bind_btCapsuleShape_getUpAxis_0=
+function(){return(Wd=b._emscripten_bind_btCapsuleShape_getUpAxis_0=b.asm.cc).apply(null,arguments)},Xd=b._emscripten_bind_btCapsuleShape_getRadius_0=function(){return(Xd=b._emscripten_bind_btCapsuleShape_getRadius_0=b.asm.dc).apply(null,arguments)},Yd=b._emscripten_bind_btCapsuleShape_getHalfHeight_0=function(){return(Yd=b._emscripten_bind_btCapsuleShape_getHalfHeight_0=b.asm.ec).apply(null,arguments)},Zd=b._emscripten_bind_btCapsuleShape_setLocalScaling_1=function(){return(Zd=b._emscripten_bind_btCapsuleShape_setLocalScaling_1=
+b.asm.fc).apply(null,arguments)},$d=b._emscripten_bind_btCapsuleShape_getLocalScaling_0=function(){return($d=b._emscripten_bind_btCapsuleShape_getLocalScaling_0=b.asm.gc).apply(null,arguments)},ae=b._emscripten_bind_btCapsuleShape_calculateLocalInertia_2=function(){return(ae=b._emscripten_bind_btCapsuleShape_calculateLocalInertia_2=b.asm.hc).apply(null,arguments)},be=b._emscripten_bind_btCapsuleShape___destroy___0=function(){return(be=b._emscripten_bind_btCapsuleShape___destroy___0=b.asm.ic).apply(null,
+arguments)},ce=b._emscripten_bind_btCylinderShape_btCylinderShape_1=function(){return(ce=b._emscripten_bind_btCylinderShape_btCylinderShape_1=b.asm.jc).apply(null,arguments)},de=b._emscripten_bind_btCylinderShape_setMargin_1=function(){return(de=b._emscripten_bind_btCylinderShape_setMargin_1=b.asm.kc).apply(null,arguments)},ee=b._emscripten_bind_btCylinderShape_getMargin_0=function(){return(ee=b._emscripten_bind_btCylinderShape_getMargin_0=b.asm.lc).apply(null,arguments)},fe=b._emscripten_bind_btCylinderShape_setLocalScaling_1=
+function(){return(fe=b._emscripten_bind_btCylinderShape_setLocalScaling_1=b.asm.mc).apply(null,arguments)},ge=b._emscripten_bind_btCylinderShape_getLocalScaling_0=function(){return(ge=b._emscripten_bind_btCylinderShape_getLocalScaling_0=b.asm.nc).apply(null,arguments)},he=b._emscripten_bind_btCylinderShape_calculateLocalInertia_2=function(){return(he=b._emscripten_bind_btCylinderShape_calculateLocalInertia_2=b.asm.oc).apply(null,arguments)},ie=b._emscripten_bind_btCylinderShape___destroy___0=function(){return(ie=
+b._emscripten_bind_btCylinderShape___destroy___0=b.asm.pc).apply(null,arguments)},je=b._emscripten_bind_btConeShape_btConeShape_2=function(){return(je=b._emscripten_bind_btConeShape_btConeShape_2=b.asm.qc).apply(null,arguments)},ke=b._emscripten_bind_btConeShape_setLocalScaling_1=function(){return(ke=b._emscripten_bind_btConeShape_setLocalScaling_1=b.asm.rc).apply(null,arguments)},le=b._emscripten_bind_btConeShape_getLocalScaling_0=function(){return(le=b._emscripten_bind_btConeShape_getLocalScaling_0=
+b.asm.sc).apply(null,arguments)},me=b._emscripten_bind_btConeShape_calculateLocalInertia_2=function(){return(me=b._emscripten_bind_btConeShape_calculateLocalInertia_2=b.asm.tc).apply(null,arguments)},ne=b._emscripten_bind_btConeShape___destroy___0=function(){return(ne=b._emscripten_bind_btConeShape___destroy___0=b.asm.uc).apply(null,arguments)},oe=b._emscripten_bind_btStridingMeshInterface_setScaling_1=function(){return(oe=b._emscripten_bind_btStridingMeshInterface_setScaling_1=b.asm.vc).apply(null,
+arguments)},pe=b._emscripten_bind_btStridingMeshInterface___destroy___0=function(){return(pe=b._emscripten_bind_btStridingMeshInterface___destroy___0=b.asm.wc).apply(null,arguments)},qe=b._emscripten_bind_btTriangleMeshShape_setLocalScaling_1=function(){return(qe=b._emscripten_bind_btTriangleMeshShape_setLocalScaling_1=b.asm.xc).apply(null,arguments)},re=b._emscripten_bind_btTriangleMeshShape_getLocalScaling_0=function(){return(re=b._emscripten_bind_btTriangleMeshShape_getLocalScaling_0=b.asm.yc).apply(null,
+arguments)},se=b._emscripten_bind_btTriangleMeshShape_calculateLocalInertia_2=function(){return(se=b._emscripten_bind_btTriangleMeshShape_calculateLocalInertia_2=b.asm.zc).apply(null,arguments)},te=b._emscripten_bind_btTriangleMeshShape___destroy___0=function(){return(te=b._emscripten_bind_btTriangleMeshShape___destroy___0=b.asm.Ac).apply(null,arguments)},ue=b._emscripten_bind_btPrimitiveManagerBase_is_trimesh_0=function(){return(ue=b._emscripten_bind_btPrimitiveManagerBase_is_trimesh_0=b.asm.Bc).apply(null,
+arguments)},ve=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_count_0=function(){return(ve=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_count_0=b.asm.Cc).apply(null,arguments)},we=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_box_2=function(){return(we=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_box_2=b.asm.Dc).apply(null,arguments)},xe=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_triangle_2=function(){return(xe=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_triangle_2=
+b.asm.Ec).apply(null,arguments)},ye=b._emscripten_bind_btPrimitiveManagerBase___destroy___0=function(){return(ye=b._emscripten_bind_btPrimitiveManagerBase___destroy___0=b.asm.Fc).apply(null,arguments)},ze=b._emscripten_bind_btGImpactShapeInterface_updateBound_0=function(){return(ze=b._emscripten_bind_btGImpactShapeInterface_updateBound_0=b.asm.Gc).apply(null,arguments)},Ae=b._emscripten_bind_btGImpactShapeInterface_postUpdate_0=function(){return(Ae=b._emscripten_bind_btGImpactShapeInterface_postUpdate_0=
+b.asm.Hc).apply(null,arguments)},Be=b._emscripten_bind_btGImpactShapeInterface_getShapeType_0=function(){return(Be=b._emscripten_bind_btGImpactShapeInterface_getShapeType_0=b.asm.Ic).apply(null,arguments)},Ce=b._emscripten_bind_btGImpactShapeInterface_getName_0=function(){return(Ce=b._emscripten_bind_btGImpactShapeInterface_getName_0=b.asm.Jc).apply(null,arguments)},De=b._emscripten_bind_btGImpactShapeInterface_getGImpactShapeType_0=function(){return(De=b._emscripten_bind_btGImpactShapeInterface_getGImpactShapeType_0=
+b.asm.Kc).apply(null,arguments)},Ee=b._emscripten_bind_btGImpactShapeInterface_getPrimitiveManager_0=function(){return(Ee=b._emscripten_bind_btGImpactShapeInterface_getPrimitiveManager_0=b.asm.Lc).apply(null,arguments)},Fe=b._emscripten_bind_btGImpactShapeInterface_getNumChildShapes_0=function(){return(Fe=b._emscripten_bind_btGImpactShapeInterface_getNumChildShapes_0=b.asm.Mc).apply(null,arguments)},Ge=b._emscripten_bind_btGImpactShapeInterface_childrenHasTransform_0=function(){return(Ge=b._emscripten_bind_btGImpactShapeInterface_childrenHasTransform_0=
+b.asm.Nc).apply(null,arguments)},He=b._emscripten_bind_btGImpactShapeInterface_needsRetrieveTriangles_0=function(){return(He=b._emscripten_bind_btGImpactShapeInterface_needsRetrieveTriangles_0=b.asm.Oc).apply(null,arguments)},Ie=b._emscripten_bind_btGImpactShapeInterface_needsRetrieveTetrahedrons_0=function(){return(Ie=b._emscripten_bind_btGImpactShapeInterface_needsRetrieveTetrahedrons_0=b.asm.Pc).apply(null,arguments)},Je=b._emscripten_bind_btGImpactShapeInterface_getBulletTriangle_2=function(){return(Je=
+b._emscripten_bind_btGImpactShapeInterface_getBulletTriangle_2=b.asm.Qc).apply(null,arguments)},Ke=b._emscripten_bind_btGImpactShapeInterface_getBulletTetrahedron_2=function(){return(Ke=b._emscripten_bind_btGImpactShapeInterface_getBulletTetrahedron_2=b.asm.Rc).apply(null,arguments)},Le=b._emscripten_bind_btGImpactShapeInterface_getChildShape_1=function(){return(Le=b._emscripten_bind_btGImpactShapeInterface_getChildShape_1=b.asm.Sc).apply(null,arguments)},Me=b._emscripten_bind_btGImpactShapeInterface_getChildTransform_1=
+function(){return(Me=b._emscripten_bind_btGImpactShapeInterface_getChildTransform_1=b.asm.Tc).apply(null,arguments)},Ne=b._emscripten_bind_btGImpactShapeInterface_setChildTransform_2=function(){return(Ne=b._emscripten_bind_btGImpactShapeInterface_setChildTransform_2=b.asm.Uc).apply(null,arguments)},Oe=b._emscripten_bind_btGImpactShapeInterface_setLocalScaling_1=function(){return(Oe=b._emscripten_bind_btGImpactShapeInterface_setLocalScaling_1=b.asm.Vc).apply(null,arguments)},Pe=b._emscripten_bind_btGImpactShapeInterface_getLocalScaling_0=
+function(){return(Pe=b._emscripten_bind_btGImpactShapeInterface_getLocalScaling_0=b.asm.Wc).apply(null,arguments)},Qe=b._emscripten_bind_btGImpactShapeInterface_calculateLocalInertia_2=function(){return(Qe=b._emscripten_bind_btGImpactShapeInterface_calculateLocalInertia_2=b.asm.Xc).apply(null,arguments)},Re=b._emscripten_bind_btGImpactShapeInterface___destroy___0=function(){return(Re=b._emscripten_bind_btGImpactShapeInterface___destroy___0=b.asm.Yc).apply(null,arguments)},Se=b._emscripten_bind_btActivatingCollisionAlgorithm___destroy___0=
+function(){return(Se=b._emscripten_bind_btActivatingCollisionAlgorithm___destroy___0=b.asm.Zc).apply(null,arguments)},Te=b._emscripten_bind_btDefaultCollisionConfiguration_btDefaultCollisionConfiguration_0=function(){return(Te=b._emscripten_bind_btDefaultCollisionConfiguration_btDefaultCollisionConfiguration_0=b.asm._c).apply(null,arguments)},Ue=b._emscripten_bind_btDefaultCollisionConfiguration_btDefaultCollisionConfiguration_1=function(){return(Ue=b._emscripten_bind_btDefaultCollisionConfiguration_btDefaultCollisionConfiguration_1=
+b.asm.$c).apply(null,arguments)},Ve=b._emscripten_bind_btDefaultCollisionConfiguration___destroy___0=function(){return(Ve=b._emscripten_bind_btDefaultCollisionConfiguration___destroy___0=b.asm.ad).apply(null,arguments)},We=b._emscripten_bind_btDispatcher_getNumManifolds_0=function(){return(We=b._emscripten_bind_btDispatcher_getNumManifolds_0=b.asm.bd).apply(null,arguments)},Xe=b._emscripten_bind_btDispatcher_getManifoldByIndexInternal_1=function(){return(Xe=b._emscripten_bind_btDispatcher_getManifoldByIndexInternal_1=
+b.asm.cd).apply(null,arguments)},Ye=b._emscripten_bind_btDispatcher___destroy___0=function(){return(Ye=b._emscripten_bind_btDispatcher___destroy___0=b.asm.dd).apply(null,arguments)},Ze=b._emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_3=function(){return(Ze=b._emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_3=b.asm.ed).apply(null,arguments)},$e=b._emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_5=function(){return($e=b._emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_5=
+b.asm.fd).apply(null,arguments)},af=b._emscripten_bind_btGeneric6DofConstraint_setLinearLowerLimit_1=function(){return(af=b._emscripten_bind_btGeneric6DofConstraint_setLinearLowerLimit_1=b.asm.gd).apply(null,arguments)},bf=b._emscripten_bind_btGeneric6DofConstraint_setLinearUpperLimit_1=function(){return(bf=b._emscripten_bind_btGeneric6DofConstraint_setLinearUpperLimit_1=b.asm.hd).apply(null,arguments)},cf=b._emscripten_bind_btGeneric6DofConstraint_setAngularLowerLimit_1=function(){return(cf=b._emscripten_bind_btGeneric6DofConstraint_setAngularLowerLimit_1=
+b.asm.id).apply(null,arguments)},df=b._emscripten_bind_btGeneric6DofConstraint_setAngularUpperLimit_1=function(){return(df=b._emscripten_bind_btGeneric6DofConstraint_setAngularUpperLimit_1=b.asm.jd).apply(null,arguments)},ef=b._emscripten_bind_btGeneric6DofConstraint_getFrameOffsetA_0=function(){return(ef=b._emscripten_bind_btGeneric6DofConstraint_getFrameOffsetA_0=b.asm.kd).apply(null,arguments)},ff=b._emscripten_bind_btGeneric6DofConstraint_enableFeedback_1=function(){return(ff=b._emscripten_bind_btGeneric6DofConstraint_enableFeedback_1=
+b.asm.ld).apply(null,arguments)},gf=b._emscripten_bind_btGeneric6DofConstraint_getBreakingImpulseThreshold_0=function(){return(gf=b._emscripten_bind_btGeneric6DofConstraint_getBreakingImpulseThreshold_0=b.asm.md).apply(null,arguments)},hf=b._emscripten_bind_btGeneric6DofConstraint_setBreakingImpulseThreshold_1=function(){return(hf=b._emscripten_bind_btGeneric6DofConstraint_setBreakingImpulseThreshold_1=b.asm.nd).apply(null,arguments)},jf=b._emscripten_bind_btGeneric6DofConstraint_getParam_2=function(){return(jf=
+b._emscripten_bind_btGeneric6DofConstraint_getParam_2=b.asm.od).apply(null,arguments)},kf=b._emscripten_bind_btGeneric6DofConstraint_setParam_3=function(){return(kf=b._emscripten_bind_btGeneric6DofConstraint_setParam_3=b.asm.pd).apply(null,arguments)},lf=b._emscripten_bind_btGeneric6DofConstraint___destroy___0=function(){return(lf=b._emscripten_bind_btGeneric6DofConstraint___destroy___0=b.asm.qd).apply(null,arguments)},mf=b._emscripten_bind_btDiscreteDynamicsWorld_btDiscreteDynamicsWorld_4=function(){return(mf=
+b._emscripten_bind_btDiscreteDynamicsWorld_btDiscreteDynamicsWorld_4=b.asm.rd).apply(null,arguments)},nf=b._emscripten_bind_btDiscreteDynamicsWorld_setGravity_1=function(){return(nf=b._emscripten_bind_btDiscreteDynamicsWorld_setGravity_1=b.asm.sd).apply(null,arguments)},of=b._emscripten_bind_btDiscreteDynamicsWorld_getGravity_0=function(){return(of=b._emscripten_bind_btDiscreteDynamicsWorld_getGravity_0=b.asm.td).apply(null,arguments)},pf=b._emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_1=
+function(){return(pf=b._emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_1=b.asm.ud).apply(null,arguments)},qf=b._emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_3=function(){return(qf=b._emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_3=b.asm.vd).apply(null,arguments)},rf=b._emscripten_bind_btDiscreteDynamicsWorld_removeRigidBody_1=function(){return(rf=b._emscripten_bind_btDiscreteDynamicsWorld_removeRigidBody_1=b.asm.wd).apply(null,arguments)},sf=b._emscripten_bind_btDiscreteDynamicsWorld_addConstraint_1=
+function(){return(sf=b._emscripten_bind_btDiscreteDynamicsWorld_addConstraint_1=b.asm.xd).apply(null,arguments)},tf=b._emscripten_bind_btDiscreteDynamicsWorld_addConstraint_2=function(){return(tf=b._emscripten_bind_btDiscreteDynamicsWorld_addConstraint_2=b.asm.yd).apply(null,arguments)},uf=b._emscripten_bind_btDiscreteDynamicsWorld_removeConstraint_1=function(){return(uf=b._emscripten_bind_btDiscreteDynamicsWorld_removeConstraint_1=b.asm.zd).apply(null,arguments)},vf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_1=
+function(){return(vf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_1=b.asm.Ad).apply(null,arguments)},wf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_2=function(){return(wf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_2=b.asm.Bd).apply(null,arguments)},xf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_3=function(){return(xf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_3=b.asm.Cd).apply(null,arguments)},yf=b._emscripten_bind_btDiscreteDynamicsWorld_setContactAddedCallback_1=
+function(){return(yf=b._emscripten_bind_btDiscreteDynamicsWorld_setContactAddedCallback_1=b.asm.Dd).apply(null,arguments)},zf=b._emscripten_bind_btDiscreteDynamicsWorld_setContactProcessedCallback_1=function(){return(zf=b._emscripten_bind_btDiscreteDynamicsWorld_setContactProcessedCallback_1=b.asm.Ed).apply(null,arguments)},Af=b._emscripten_bind_btDiscreteDynamicsWorld_setContactDestroyedCallback_1=function(){return(Af=b._emscripten_bind_btDiscreteDynamicsWorld_setContactDestroyedCallback_1=b.asm.Fd).apply(null,
+arguments)},Bf=b._emscripten_bind_btDiscreteDynamicsWorld_getDispatcher_0=function(){return(Bf=b._emscripten_bind_btDiscreteDynamicsWorld_getDispatcher_0=b.asm.Gd).apply(null,arguments)},Cf=b._emscripten_bind_btDiscreteDynamicsWorld_rayTest_3=function(){return(Cf=b._emscripten_bind_btDiscreteDynamicsWorld_rayTest_3=b.asm.Hd).apply(null,arguments)},Df=b._emscripten_bind_btDiscreteDynamicsWorld_getPairCache_0=function(){return(Df=b._emscripten_bind_btDiscreteDynamicsWorld_getPairCache_0=b.asm.Id).apply(null,
+arguments)},Ef=b._emscripten_bind_btDiscreteDynamicsWorld_getDispatchInfo_0=function(){return(Ef=b._emscripten_bind_btDiscreteDynamicsWorld_getDispatchInfo_0=b.asm.Jd).apply(null,arguments)},Ff=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_1=function(){return(Ff=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_1=b.asm.Kd).apply(null,arguments)},Gf=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_2=function(){return(Gf=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_2=
+b.asm.Ld).apply(null,arguments)},Hf=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_3=function(){return(Hf=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_3=b.asm.Md).apply(null,arguments)},If=b._emscripten_bind_btDiscreteDynamicsWorld_removeCollisionObject_1=function(){return(If=b._emscripten_bind_btDiscreteDynamicsWorld_removeCollisionObject_1=b.asm.Nd).apply(null,arguments)},Jf=b._emscripten_bind_btDiscreteDynamicsWorld_getBroadphase_0=function(){return(Jf=b._emscripten_bind_btDiscreteDynamicsWorld_getBroadphase_0=
+b.asm.Od).apply(null,arguments)},Kf=b._emscripten_bind_btDiscreteDynamicsWorld_convexSweepTest_5=function(){return(Kf=b._emscripten_bind_btDiscreteDynamicsWorld_convexSweepTest_5=b.asm.Pd).apply(null,arguments)},Lf=b._emscripten_bind_btDiscreteDynamicsWorld_contactPairTest_3=function(){return(Lf=b._emscripten_bind_btDiscreteDynamicsWorld_contactPairTest_3=b.asm.Qd).apply(null,arguments)},Mf=b._emscripten_bind_btDiscreteDynamicsWorld_contactTest_2=function(){return(Mf=b._emscripten_bind_btDiscreteDynamicsWorld_contactTest_2=
+b.asm.Rd).apply(null,arguments)},Nf=b._emscripten_bind_btDiscreteDynamicsWorld_updateSingleAabb_1=function(){return(Nf=b._emscripten_bind_btDiscreteDynamicsWorld_updateSingleAabb_1=b.asm.Sd).apply(null,arguments)},Of=b._emscripten_bind_btDiscreteDynamicsWorld_setDebugDrawer_1=function(){return(Of=b._emscripten_bind_btDiscreteDynamicsWorld_setDebugDrawer_1=b.asm.Td).apply(null,arguments)},Pf=b._emscripten_bind_btDiscreteDynamicsWorld_getDebugDrawer_0=function(){return(Pf=b._emscripten_bind_btDiscreteDynamicsWorld_getDebugDrawer_0=
+b.asm.Ud).apply(null,arguments)},Qf=b._emscripten_bind_btDiscreteDynamicsWorld_debugDrawWorld_0=function(){return(Qf=b._emscripten_bind_btDiscreteDynamicsWorld_debugDrawWorld_0=b.asm.Vd).apply(null,arguments)},Rf=b._emscripten_bind_btDiscreteDynamicsWorld_debugDrawObject_3=function(){return(Rf=b._emscripten_bind_btDiscreteDynamicsWorld_debugDrawObject_3=b.asm.Wd).apply(null,arguments)},Sf=b._emscripten_bind_btDiscreteDynamicsWorld_addAction_1=function(){return(Sf=b._emscripten_bind_btDiscreteDynamicsWorld_addAction_1=
+b.asm.Xd).apply(null,arguments)},Tf=b._emscripten_bind_btDiscreteDynamicsWorld_removeAction_1=function(){return(Tf=b._emscripten_bind_btDiscreteDynamicsWorld_removeAction_1=b.asm.Yd).apply(null,arguments)},Uf=b._emscripten_bind_btDiscreteDynamicsWorld_getSolverInfo_0=function(){return(Uf=b._emscripten_bind_btDiscreteDynamicsWorld_getSolverInfo_0=b.asm.Zd).apply(null,arguments)},Vf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_1=function(){return(Vf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_1=
+b.asm._d).apply(null,arguments)},Wf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_2=function(){return(Wf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_2=b.asm.$d).apply(null,arguments)},Xf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_3=function(){return(Xf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_3=b.asm.ae).apply(null,arguments)},Yf=b._emscripten_bind_btDiscreteDynamicsWorld___destroy___0=function(){return(Yf=
+b._emscripten_bind_btDiscreteDynamicsWorld___destroy___0=b.asm.be).apply(null,arguments)},Zf=b._emscripten_bind_btVehicleRaycaster_castRay_3=function(){return(Zf=b._emscripten_bind_btVehicleRaycaster_castRay_3=b.asm.ce).apply(null,arguments)},$f=b._emscripten_bind_btVehicleRaycaster___destroy___0=function(){return($f=b._emscripten_bind_btVehicleRaycaster___destroy___0=b.asm.de).apply(null,arguments)},ag=b._emscripten_bind_btActionInterface_updateAction_2=function(){return(ag=b._emscripten_bind_btActionInterface_updateAction_2=
+b.asm.ee).apply(null,arguments)},bg=b._emscripten_bind_btActionInterface___destroy___0=function(){return(bg=b._emscripten_bind_btActionInterface___destroy___0=b.asm.fe).apply(null,arguments)},cg=b._emscripten_bind_btGhostObject_btGhostObject_0=function(){return(cg=b._emscripten_bind_btGhostObject_btGhostObject_0=b.asm.ge).apply(null,arguments)},dg=b._emscripten_bind_btGhostObject_getNumOverlappingObjects_0=function(){return(dg=b._emscripten_bind_btGhostObject_getNumOverlappingObjects_0=b.asm.he).apply(null,
+arguments)},eg=b._emscripten_bind_btGhostObject_getOverlappingObject_1=function(){return(eg=b._emscripten_bind_btGhostObject_getOverlappingObject_1=b.asm.ie).apply(null,arguments)},fg=b._emscripten_bind_btGhostObject_setAnisotropicFriction_2=function(){return(fg=b._emscripten_bind_btGhostObject_setAnisotropicFriction_2=b.asm.je).apply(null,arguments)},gg=b._emscripten_bind_btGhostObject_getCollisionShape_0=function(){return(gg=b._emscripten_bind_btGhostObject_getCollisionShape_0=b.asm.ke).apply(null,
+arguments)},hg=b._emscripten_bind_btGhostObject_setContactProcessingThreshold_1=function(){return(hg=b._emscripten_bind_btGhostObject_setContactProcessingThreshold_1=b.asm.le).apply(null,arguments)},ig=b._emscripten_bind_btGhostObject_setActivationState_1=function(){return(ig=b._emscripten_bind_btGhostObject_setActivationState_1=b.asm.me).apply(null,arguments)},jg=b._emscripten_bind_btGhostObject_forceActivationState_1=function(){return(jg=b._emscripten_bind_btGhostObject_forceActivationState_1=b.asm.ne).apply(null,
+arguments)},kg=b._emscripten_bind_btGhostObject_activate_0=function(){return(kg=b._emscripten_bind_btGhostObject_activate_0=b.asm.oe).apply(null,arguments)},lg=b._emscripten_bind_btGhostObject_activate_1=function(){return(lg=b._emscripten_bind_btGhostObject_activate_1=b.asm.pe).apply(null,arguments)},mg=b._emscripten_bind_btGhostObject_isActive_0=function(){return(mg=b._emscripten_bind_btGhostObject_isActive_0=b.asm.qe).apply(null,arguments)},ng=b._emscripten_bind_btGhostObject_isKinematicObject_0=
+function(){return(ng=b._emscripten_bind_btGhostObject_isKinematicObject_0=b.asm.re).apply(null,arguments)},og=b._emscripten_bind_btGhostObject_isStaticObject_0=function(){return(og=b._emscripten_bind_btGhostObject_isStaticObject_0=b.asm.se).apply(null,arguments)},pg=b._emscripten_bind_btGhostObject_isStaticOrKinematicObject_0=function(){return(pg=b._emscripten_bind_btGhostObject_isStaticOrKinematicObject_0=b.asm.te).apply(null,arguments)},qg=b._emscripten_bind_btGhostObject_getRestitution_0=function(){return(qg=
+b._emscripten_bind_btGhostObject_getRestitution_0=b.asm.ue).apply(null,arguments)},rg=b._emscripten_bind_btGhostObject_getFriction_0=function(){return(rg=b._emscripten_bind_btGhostObject_getFriction_0=b.asm.ve).apply(null,arguments)},sg=b._emscripten_bind_btGhostObject_getRollingFriction_0=function(){return(sg=b._emscripten_bind_btGhostObject_getRollingFriction_0=b.asm.we).apply(null,arguments)},tg=b._emscripten_bind_btGhostObject_setRestitution_1=function(){return(tg=b._emscripten_bind_btGhostObject_setRestitution_1=
+b.asm.xe).apply(null,arguments)},ug=b._emscripten_bind_btGhostObject_setFriction_1=function(){return(ug=b._emscripten_bind_btGhostObject_setFriction_1=b.asm.ye).apply(null,arguments)},vg=b._emscripten_bind_btGhostObject_setRollingFriction_1=function(){return(vg=b._emscripten_bind_btGhostObject_setRollingFriction_1=b.asm.ze).apply(null,arguments)},wg=b._emscripten_bind_btGhostObject_getWorldTransform_0=function(){return(wg=b._emscripten_bind_btGhostObject_getWorldTransform_0=b.asm.Ae).apply(null,arguments)},
+xg=b._emscripten_bind_btGhostObject_getCollisionFlags_0=function(){return(xg=b._emscripten_bind_btGhostObject_getCollisionFlags_0=b.asm.Be).apply(null,arguments)},yg=b._emscripten_bind_btGhostObject_setCollisionFlags_1=function(){return(yg=b._emscripten_bind_btGhostObject_setCollisionFlags_1=b.asm.Ce).apply(null,arguments)},zg=b._emscripten_bind_btGhostObject_setWorldTransform_1=function(){return(zg=b._emscripten_bind_btGhostObject_setWorldTransform_1=b.asm.De).apply(null,arguments)},Ag=b._emscripten_bind_btGhostObject_setCollisionShape_1=
+function(){return(Ag=b._emscripten_bind_btGhostObject_setCollisionShape_1=b.asm.Ee).apply(null,arguments)},Bg=b._emscripten_bind_btGhostObject_setCcdMotionThreshold_1=function(){return(Bg=b._emscripten_bind_btGhostObject_setCcdMotionThreshold_1=b.asm.Fe).apply(null,arguments)},Cg=b._emscripten_bind_btGhostObject_setCcdSweptSphereRadius_1=function(){return(Cg=b._emscripten_bind_btGhostObject_setCcdSweptSphereRadius_1=b.asm.Ge).apply(null,arguments)},Dg=b._emscripten_bind_btGhostObject_getUserIndex_0=
+function(){return(Dg=b._emscripten_bind_btGhostObject_getUserIndex_0=b.asm.He).apply(null,arguments)},Eg=b._emscripten_bind_btGhostObject_setUserIndex_1=function(){return(Eg=b._emscripten_bind_btGhostObject_setUserIndex_1=b.asm.Ie).apply(null,arguments)},Fg=b._emscripten_bind_btGhostObject_getUserPointer_0=function(){return(Fg=b._emscripten_bind_btGhostObject_getUserPointer_0=b.asm.Je).apply(null,arguments)},Gg=b._emscripten_bind_btGhostObject_setUserPointer_1=function(){return(Gg=b._emscripten_bind_btGhostObject_setUserPointer_1=
+b.asm.Ke).apply(null,arguments)},Hg=b._emscripten_bind_btGhostObject_getBroadphaseHandle_0=function(){return(Hg=b._emscripten_bind_btGhostObject_getBroadphaseHandle_0=b.asm.Le).apply(null,arguments)},Ig=b._emscripten_bind_btGhostObject___destroy___0=function(){return(Ig=b._emscripten_bind_btGhostObject___destroy___0=b.asm.Me).apply(null,arguments)},Jg=b._emscripten_bind_btSoftBodySolver___destroy___0=function(){return(Jg=b._emscripten_bind_btSoftBodySolver___destroy___0=b.asm.Ne).apply(null,arguments)},
+Kg=b._emscripten_bind_VoidPtr___destroy___0=function(){return(Kg=b._emscripten_bind_VoidPtr___destroy___0=b.asm.Oe).apply(null,arguments)},Lg=b._emscripten_bind_DebugDrawer_DebugDrawer_0=function(){return(Lg=b._emscripten_bind_DebugDrawer_DebugDrawer_0=b.asm.Pe).apply(null,arguments)},Mg=b._emscripten_bind_DebugDrawer_drawLine_3=function(){return(Mg=b._emscripten_bind_DebugDrawer_drawLine_3=b.asm.Qe).apply(null,arguments)},Ng=b._emscripten_bind_DebugDrawer_drawContactPoint_5=function(){return(Ng=
+b._emscripten_bind_DebugDrawer_drawContactPoint_5=b.asm.Re).apply(null,arguments)},Og=b._emscripten_bind_DebugDrawer_reportErrorWarning_1=function(){return(Og=b._emscripten_bind_DebugDrawer_reportErrorWarning_1=b.asm.Se).apply(null,arguments)},Pg=b._emscripten_bind_DebugDrawer_draw3dText_2=function(){return(Pg=b._emscripten_bind_DebugDrawer_draw3dText_2=b.asm.Te).apply(null,arguments)},Qg=b._emscripten_bind_DebugDrawer_setDebugMode_1=function(){return(Qg=b._emscripten_bind_DebugDrawer_setDebugMode_1=
+b.asm.Ue).apply(null,arguments)},Rg=b._emscripten_bind_DebugDrawer_getDebugMode_0=function(){return(Rg=b._emscripten_bind_DebugDrawer_getDebugMode_0=b.asm.Ve).apply(null,arguments)},Sg=b._emscripten_bind_DebugDrawer___destroy___0=function(){return(Sg=b._emscripten_bind_DebugDrawer___destroy___0=b.asm.We).apply(null,arguments)},Tg=b._emscripten_bind_btVector4_btVector4_0=function(){return(Tg=b._emscripten_bind_btVector4_btVector4_0=b.asm.Xe).apply(null,arguments)},Ug=b._emscripten_bind_btVector4_btVector4_4=
+function(){return(Ug=b._emscripten_bind_btVector4_btVector4_4=b.asm.Ye).apply(null,arguments)},Vg=b._emscripten_bind_btVector4_w_0=function(){return(Vg=b._emscripten_bind_btVector4_w_0=b.asm.Ze).apply(null,arguments)},Wg=b._emscripten_bind_btVector4_setValue_4=function(){return(Wg=b._emscripten_bind_btVector4_setValue_4=b.asm._e).apply(null,arguments)},Xg=b._emscripten_bind_btVector4_length_0=function(){return(Xg=b._emscripten_bind_btVector4_length_0=b.asm.$e).apply(null,arguments)},Yg=b._emscripten_bind_btVector4_x_0=
+function(){return(Yg=b._emscripten_bind_btVector4_x_0=b.asm.af).apply(null,arguments)},Zg=b._emscripten_bind_btVector4_y_0=function(){return(Zg=b._emscripten_bind_btVector4_y_0=b.asm.bf).apply(null,arguments)},$g=b._emscripten_bind_btVector4_z_0=function(){return($g=b._emscripten_bind_btVector4_z_0=b.asm.cf).apply(null,arguments)},ah=b._emscripten_bind_btVector4_setX_1=function(){return(ah=b._emscripten_bind_btVector4_setX_1=b.asm.df).apply(null,arguments)},bh=b._emscripten_bind_btVector4_setY_1=
+function(){return(bh=b._emscripten_bind_btVector4_setY_1=b.asm.ef).apply(null,arguments)},ch=b._emscripten_bind_btVector4_setZ_1=function(){return(ch=b._emscripten_bind_btVector4_setZ_1=b.asm.ff).apply(null,arguments)},dh=b._emscripten_bind_btVector4_normalize_0=function(){return(dh=b._emscripten_bind_btVector4_normalize_0=b.asm.gf).apply(null,arguments)},eh=b._emscripten_bind_btVector4_rotate_2=function(){return(eh=b._emscripten_bind_btVector4_rotate_2=b.asm.hf).apply(null,arguments)},fh=b._emscripten_bind_btVector4_dot_1=
+function(){return(fh=b._emscripten_bind_btVector4_dot_1=b.asm.jf).apply(null,arguments)},gh=b._emscripten_bind_btVector4_op_mul_1=function(){return(gh=b._emscripten_bind_btVector4_op_mul_1=b.asm.kf).apply(null,arguments)},hh=b._emscripten_bind_btVector4_op_add_1=function(){return(hh=b._emscripten_bind_btVector4_op_add_1=b.asm.lf).apply(null,arguments)},ih=b._emscripten_bind_btVector4_op_sub_1=function(){return(ih=b._emscripten_bind_btVector4_op_sub_1=b.asm.mf).apply(null,arguments)},jh=b._emscripten_bind_btVector4___destroy___0=
+function(){return(jh=b._emscripten_bind_btVector4___destroy___0=b.asm.nf).apply(null,arguments)},kh=b._emscripten_bind_btQuaternion_btQuaternion_4=function(){return(kh=b._emscripten_bind_btQuaternion_btQuaternion_4=b.asm.of).apply(null,arguments)},lh=b._emscripten_bind_btQuaternion_setValue_4=function(){return(lh=b._emscripten_bind_btQuaternion_setValue_4=b.asm.pf).apply(null,arguments)},mh=b._emscripten_bind_btQuaternion_setEulerZYX_3=function(){return(mh=b._emscripten_bind_btQuaternion_setEulerZYX_3=
+b.asm.qf).apply(null,arguments)},nh=b._emscripten_bind_btQuaternion_setRotation_2=function(){return(nh=b._emscripten_bind_btQuaternion_setRotation_2=b.asm.rf).apply(null,arguments)},oh=b._emscripten_bind_btQuaternion_normalize_0=function(){return(oh=b._emscripten_bind_btQuaternion_normalize_0=b.asm.sf).apply(null,arguments)},ph=b._emscripten_bind_btQuaternion_length2_0=function(){return(ph=b._emscripten_bind_btQuaternion_length2_0=b.asm.tf).apply(null,arguments)},qh=b._emscripten_bind_btQuaternion_length_0=
+function(){return(qh=b._emscripten_bind_btQuaternion_length_0=b.asm.uf).apply(null,arguments)},rh=b._emscripten_bind_btQuaternion_dot_1=function(){return(rh=b._emscripten_bind_btQuaternion_dot_1=b.asm.vf).apply(null,arguments)},sh=b._emscripten_bind_btQuaternion_normalized_0=function(){return(sh=b._emscripten_bind_btQuaternion_normalized_0=b.asm.wf).apply(null,arguments)},th=b._emscripten_bind_btQuaternion_getAxis_0=function(){return(th=b._emscripten_bind_btQuaternion_getAxis_0=b.asm.xf).apply(null,
+arguments)},uh=b._emscripten_bind_btQuaternion_inverse_0=function(){return(uh=b._emscripten_bind_btQuaternion_inverse_0=b.asm.yf).apply(null,arguments)},vh=b._emscripten_bind_btQuaternion_getAngle_0=function(){return(vh=b._emscripten_bind_btQuaternion_getAngle_0=b.asm.zf).apply(null,arguments)},wh=b._emscripten_bind_btQuaternion_getAngleShortestPath_0=function(){return(wh=b._emscripten_bind_btQuaternion_getAngleShortestPath_0=b.asm.Af).apply(null,arguments)},xh=b._emscripten_bind_btQuaternion_angle_1=
+function(){return(xh=b._emscripten_bind_btQuaternion_angle_1=b.asm.Bf).apply(null,arguments)},yh=b._emscripten_bind_btQuaternion_angleShortestPath_1=function(){return(yh=b._emscripten_bind_btQuaternion_angleShortestPath_1=b.asm.Cf).apply(null,arguments)},zh=b._emscripten_bind_btQuaternion_op_add_1=function(){return(zh=b._emscripten_bind_btQuaternion_op_add_1=b.asm.Df).apply(null,arguments)},Ah=b._emscripten_bind_btQuaternion_op_sub_1=function(){return(Ah=b._emscripten_bind_btQuaternion_op_sub_1=b.asm.Ef).apply(null,
+arguments)},Bh=b._emscripten_bind_btQuaternion_op_mul_1=function(){return(Bh=b._emscripten_bind_btQuaternion_op_mul_1=b.asm.Ff).apply(null,arguments)},Ch=b._emscripten_bind_btQuaternion_op_mulq_1=function(){return(Ch=b._emscripten_bind_btQuaternion_op_mulq_1=b.asm.Gf).apply(null,arguments)},Dh=b._emscripten_bind_btQuaternion_op_div_1=function(){return(Dh=b._emscripten_bind_btQuaternion_op_div_1=b.asm.Hf).apply(null,arguments)},Eh=b._emscripten_bind_btQuaternion_x_0=function(){return(Eh=b._emscripten_bind_btQuaternion_x_0=
+b.asm.If).apply(null,arguments)},Fh=b._emscripten_bind_btQuaternion_y_0=function(){return(Fh=b._emscripten_bind_btQuaternion_y_0=b.asm.Jf).apply(null,arguments)},Gh=b._emscripten_bind_btQuaternion_z_0=function(){return(Gh=b._emscripten_bind_btQuaternion_z_0=b.asm.Kf).apply(null,arguments)},Hh=b._emscripten_bind_btQuaternion_w_0=function(){return(Hh=b._emscripten_bind_btQuaternion_w_0=b.asm.Lf).apply(null,arguments)},Ih=b._emscripten_bind_btQuaternion_setX_1=function(){return(Ih=b._emscripten_bind_btQuaternion_setX_1=
+b.asm.Mf).apply(null,arguments)},Jh=b._emscripten_bind_btQuaternion_setY_1=function(){return(Jh=b._emscripten_bind_btQuaternion_setY_1=b.asm.Nf).apply(null,arguments)},Kh=b._emscripten_bind_btQuaternion_setZ_1=function(){return(Kh=b._emscripten_bind_btQuaternion_setZ_1=b.asm.Of).apply(null,arguments)},Lh=b._emscripten_bind_btQuaternion_setW_1=function(){return(Lh=b._emscripten_bind_btQuaternion_setW_1=b.asm.Pf).apply(null,arguments)},Mh=b._emscripten_bind_btQuaternion___destroy___0=function(){return(Mh=
+b._emscripten_bind_btQuaternion___destroy___0=b.asm.Qf).apply(null,arguments)},Nh=b._emscripten_bind_btMatrix3x3_setEulerZYX_3=function(){return(Nh=b._emscripten_bind_btMatrix3x3_setEulerZYX_3=b.asm.Rf).apply(null,arguments)},Oh=b._emscripten_bind_btMatrix3x3_getRotation_1=function(){return(Oh=b._emscripten_bind_btMatrix3x3_getRotation_1=b.asm.Sf).apply(null,arguments)},Ph=b._emscripten_bind_btMatrix3x3_getRow_1=function(){return(Ph=b._emscripten_bind_btMatrix3x3_getRow_1=b.asm.Tf).apply(null,arguments)},
+Qh=b._emscripten_bind_btMatrix3x3___destroy___0=function(){return(Qh=b._emscripten_bind_btMatrix3x3___destroy___0=b.asm.Uf).apply(null,arguments)},Rh=b._emscripten_bind_btTransform_btTransform_0=function(){return(Rh=b._emscripten_bind_btTransform_btTransform_0=b.asm.Vf).apply(null,arguments)},Sh=b._emscripten_bind_btTransform_btTransform_2=function(){return(Sh=b._emscripten_bind_btTransform_btTransform_2=b.asm.Wf).apply(null,arguments)},Th=b._emscripten_bind_btTransform_setIdentity_0=function(){return(Th=
+b._emscripten_bind_btTransform_setIdentity_0=b.asm.Xf).apply(null,arguments)},Uh=b._emscripten_bind_btTransform_setOrigin_1=function(){return(Uh=b._emscripten_bind_btTransform_setOrigin_1=b.asm.Yf).apply(null,arguments)},Vh=b._emscripten_bind_btTransform_setRotation_1=function(){return(Vh=b._emscripten_bind_btTransform_setRotation_1=b.asm.Zf).apply(null,arguments)},Wh=b._emscripten_bind_btTransform_getOrigin_0=function(){return(Wh=b._emscripten_bind_btTransform_getOrigin_0=b.asm._f).apply(null,arguments)},
+Xh=b._emscripten_bind_btTransform_getRotation_0=function(){return(Xh=b._emscripten_bind_btTransform_getRotation_0=b.asm.$f).apply(null,arguments)},Yh=b._emscripten_bind_btTransform_getBasis_0=function(){return(Yh=b._emscripten_bind_btTransform_getBasis_0=b.asm.ag).apply(null,arguments)},Zh=b._emscripten_bind_btTransform_setFromOpenGLMatrix_1=function(){return(Zh=b._emscripten_bind_btTransform_setFromOpenGLMatrix_1=b.asm.bg).apply(null,arguments)},$h=b._emscripten_bind_btTransform_inverse_0=function(){return($h=
+b._emscripten_bind_btTransform_inverse_0=b.asm.cg).apply(null,arguments)},ai=b._emscripten_bind_btTransform_op_mul_1=function(){return(ai=b._emscripten_bind_btTransform_op_mul_1=b.asm.dg).apply(null,arguments)},bi=b._emscripten_bind_btTransform___destroy___0=function(){return(bi=b._emscripten_bind_btTransform___destroy___0=b.asm.eg).apply(null,arguments)},ci=b._emscripten_bind_MotionState_MotionState_0=function(){return(ci=b._emscripten_bind_MotionState_MotionState_0=b.asm.fg).apply(null,arguments)},
+di=b._emscripten_bind_MotionState_getWorldTransform_1=function(){return(di=b._emscripten_bind_MotionState_getWorldTransform_1=b.asm.gg).apply(null,arguments)},ei=b._emscripten_bind_MotionState_setWorldTransform_1=function(){return(ei=b._emscripten_bind_MotionState_setWorldTransform_1=b.asm.hg).apply(null,arguments)},fi=b._emscripten_bind_MotionState___destroy___0=function(){return(fi=b._emscripten_bind_MotionState___destroy___0=b.asm.ig).apply(null,arguments)},gi=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_0=
+function(){return(gi=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_0=b.asm.jg).apply(null,arguments)},hi=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_1=function(){return(hi=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_1=b.asm.kg).apply(null,arguments)},ii=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_2=function(){return(ii=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_2=b.asm.lg).apply(null,arguments)},ji=b._emscripten_bind_btDefaultMotionState_getWorldTransform_1=
+function(){return(ji=b._emscripten_bind_btDefaultMotionState_getWorldTransform_1=b.asm.mg).apply(null,arguments)},ki=b._emscripten_bind_btDefaultMotionState_setWorldTransform_1=function(){return(ki=b._emscripten_bind_btDefaultMotionState_setWorldTransform_1=b.asm.ng).apply(null,arguments)},li=b._emscripten_bind_btDefaultMotionState_get_m_graphicsWorldTrans_0=function(){return(li=b._emscripten_bind_btDefaultMotionState_get_m_graphicsWorldTrans_0=b.asm.og).apply(null,arguments)},mi=b._emscripten_bind_btDefaultMotionState_set_m_graphicsWorldTrans_1=
+function(){return(mi=b._emscripten_bind_btDefaultMotionState_set_m_graphicsWorldTrans_1=b.asm.pg).apply(null,arguments)},ni=b._emscripten_bind_btDefaultMotionState___destroy___0=function(){return(ni=b._emscripten_bind_btDefaultMotionState___destroy___0=b.asm.qg).apply(null,arguments)},oi=b._emscripten_bind_btCollisionObjectWrapper_getWorldTransform_0=function(){return(oi=b._emscripten_bind_btCollisionObjectWrapper_getWorldTransform_0=b.asm.rg).apply(null,arguments)},pi=b._emscripten_bind_btCollisionObjectWrapper_getCollisionObject_0=
+function(){return(pi=b._emscripten_bind_btCollisionObjectWrapper_getCollisionObject_0=b.asm.sg).apply(null,arguments)},qi=b._emscripten_bind_btCollisionObjectWrapper_getCollisionShape_0=function(){return(qi=b._emscripten_bind_btCollisionObjectWrapper_getCollisionShape_0=b.asm.tg).apply(null,arguments)},ri=b._emscripten_bind_ClosestRayResultCallback_ClosestRayResultCallback_2=function(){return(ri=b._emscripten_bind_ClosestRayResultCallback_ClosestRayResultCallback_2=b.asm.ug).apply(null,arguments)},
+si=b._emscripten_bind_ClosestRayResultCallback_hasHit_0=function(){return(si=b._emscripten_bind_ClosestRayResultCallback_hasHit_0=b.asm.vg).apply(null,arguments)},ti=b._emscripten_bind_ClosestRayResultCallback_get_m_rayFromWorld_0=function(){return(ti=b._emscripten_bind_ClosestRayResultCallback_get_m_rayFromWorld_0=b.asm.wg).apply(null,arguments)},ui=b._emscripten_bind_ClosestRayResultCallback_set_m_rayFromWorld_1=function(){return(ui=b._emscripten_bind_ClosestRayResultCallback_set_m_rayFromWorld_1=
+b.asm.xg).apply(null,arguments)},vi=b._emscripten_bind_ClosestRayResultCallback_get_m_rayToWorld_0=function(){return(vi=b._emscripten_bind_ClosestRayResultCallback_get_m_rayToWorld_0=b.asm.yg).apply(null,arguments)},wi=b._emscripten_bind_ClosestRayResultCallback_set_m_rayToWorld_1=function(){return(wi=b._emscripten_bind_ClosestRayResultCallback_set_m_rayToWorld_1=b.asm.zg).apply(null,arguments)},xi=b._emscripten_bind_ClosestRayResultCallback_get_m_hitNormalWorld_0=function(){return(xi=b._emscripten_bind_ClosestRayResultCallback_get_m_hitNormalWorld_0=
+b.asm.Ag).apply(null,arguments)},yi=b._emscripten_bind_ClosestRayResultCallback_set_m_hitNormalWorld_1=function(){return(yi=b._emscripten_bind_ClosestRayResultCallback_set_m_hitNormalWorld_1=b.asm.Bg).apply(null,arguments)},zi=b._emscripten_bind_ClosestRayResultCallback_get_m_hitPointWorld_0=function(){return(zi=b._emscripten_bind_ClosestRayResultCallback_get_m_hitPointWorld_0=b.asm.Cg).apply(null,arguments)},Ai=b._emscripten_bind_ClosestRayResultCallback_set_m_hitPointWorld_1=function(){return(Ai=
+b._emscripten_bind_ClosestRayResultCallback_set_m_hitPointWorld_1=b.asm.Dg).apply(null,arguments)},Bi=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionFilterGroup_0=function(){return(Bi=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionFilterGroup_0=b.asm.Eg).apply(null,arguments)},Ci=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionFilterGroup_1=function(){return(Ci=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionFilterGroup_1=b.asm.Fg).apply(null,arguments)},
+Di=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionFilterMask_0=function(){return(Di=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionFilterMask_0=b.asm.Gg).apply(null,arguments)},Ei=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionFilterMask_1=function(){return(Ei=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionFilterMask_1=b.asm.Hg).apply(null,arguments)},Fi=b._emscripten_bind_ClosestRayResultCallback_get_m_closestHitFraction_0=function(){return(Fi=b._emscripten_bind_ClosestRayResultCallback_get_m_closestHitFraction_0=
+b.asm.Ig).apply(null,arguments)},Gi=b._emscripten_bind_ClosestRayResultCallback_set_m_closestHitFraction_1=function(){return(Gi=b._emscripten_bind_ClosestRayResultCallback_set_m_closestHitFraction_1=b.asm.Jg).apply(null,arguments)},Hi=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionObject_0=function(){return(Hi=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionObject_0=b.asm.Kg).apply(null,arguments)},Ii=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionObject_1=function(){return(Ii=
+b._emscripten_bind_ClosestRayResultCallback_set_m_collisionObject_1=b.asm.Lg).apply(null,arguments)},Ji=b._emscripten_bind_ClosestRayResultCallback_get_m_flags_0=function(){return(Ji=b._emscripten_bind_ClosestRayResultCallback_get_m_flags_0=b.asm.Mg).apply(null,arguments)},Ki=b._emscripten_bind_ClosestRayResultCallback_set_m_flags_1=function(){return(Ki=b._emscripten_bind_ClosestRayResultCallback_set_m_flags_1=b.asm.Ng).apply(null,arguments)},Li=b._emscripten_bind_ClosestRayResultCallback___destroy___0=
+function(){return(Li=b._emscripten_bind_ClosestRayResultCallback___destroy___0=b.asm.Og).apply(null,arguments)},Mi=b._emscripten_bind_btConstCollisionObjectArray_size_0=function(){return(Mi=b._emscripten_bind_btConstCollisionObjectArray_size_0=b.asm.Pg).apply(null,arguments)},Ni=b._emscripten_bind_btConstCollisionObjectArray_at_1=function(){return(Ni=b._emscripten_bind_btConstCollisionObjectArray_at_1=b.asm.Qg).apply(null,arguments)},Oi=b._emscripten_bind_btConstCollisionObjectArray___destroy___0=
+function(){return(Oi=b._emscripten_bind_btConstCollisionObjectArray___destroy___0=b.asm.Rg).apply(null,arguments)},Pi=b._emscripten_bind_btScalarArray_size_0=function(){return(Pi=b._emscripten_bind_btScalarArray_size_0=b.asm.Sg).apply(null,arguments)},Qi=b._emscripten_bind_btScalarArray_at_1=function(){return(Qi=b._emscripten_bind_btScalarArray_at_1=b.asm.Tg).apply(null,arguments)},Ri=b._emscripten_bind_btScalarArray___destroy___0=function(){return(Ri=b._emscripten_bind_btScalarArray___destroy___0=
+b.asm.Ug).apply(null,arguments)},Si=b._emscripten_bind_AllHitsRayResultCallback_AllHitsRayResultCallback_2=function(){return(Si=b._emscripten_bind_AllHitsRayResultCallback_AllHitsRayResultCallback_2=b.asm.Vg).apply(null,arguments)},Ti=b._emscripten_bind_AllHitsRayResultCallback_hasHit_0=function(){return(Ti=b._emscripten_bind_AllHitsRayResultCallback_hasHit_0=b.asm.Wg).apply(null,arguments)},Ui=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionObjects_0=function(){return(Ui=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionObjects_0=
+b.asm.Xg).apply(null,arguments)},Vi=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionObjects_1=function(){return(Vi=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionObjects_1=b.asm.Yg).apply(null,arguments)},Wi=b._emscripten_bind_AllHitsRayResultCallback_get_m_rayFromWorld_0=function(){return(Wi=b._emscripten_bind_AllHitsRayResultCallback_get_m_rayFromWorld_0=b.asm.Zg).apply(null,arguments)},Xi=b._emscripten_bind_AllHitsRayResultCallback_set_m_rayFromWorld_1=function(){return(Xi=
+b._emscripten_bind_AllHitsRayResultCallback_set_m_rayFromWorld_1=b.asm._g).apply(null,arguments)},Yi=b._emscripten_bind_AllHitsRayResultCallback_get_m_rayToWorld_0=function(){return(Yi=b._emscripten_bind_AllHitsRayResultCallback_get_m_rayToWorld_0=b.asm.$g).apply(null,arguments)},Zi=b._emscripten_bind_AllHitsRayResultCallback_set_m_rayToWorld_1=function(){return(Zi=b._emscripten_bind_AllHitsRayResultCallback_set_m_rayToWorld_1=b.asm.ah).apply(null,arguments)},$i=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitNormalWorld_0=
+function(){return($i=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitNormalWorld_0=b.asm.bh).apply(null,arguments)},aj=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitNormalWorld_1=function(){return(aj=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitNormalWorld_1=b.asm.ch).apply(null,arguments)},bj=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitPointWorld_0=function(){return(bj=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitPointWorld_0=b.asm.dh).apply(null,arguments)},
+cj=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitPointWorld_1=function(){return(cj=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitPointWorld_1=b.asm.eh).apply(null,arguments)},dj=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitFractions_0=function(){return(dj=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitFractions_0=b.asm.fh).apply(null,arguments)},ej=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitFractions_1=function(){return(ej=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitFractions_1=
+b.asm.gh).apply(null,arguments)},fj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionFilterGroup_0=function(){return(fj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionFilterGroup_0=b.asm.hh).apply(null,arguments)},gj=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionFilterGroup_1=function(){return(gj=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionFilterGroup_1=b.asm.ih).apply(null,arguments)},hj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionFilterMask_0=
+function(){return(hj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionFilterMask_0=b.asm.jh).apply(null,arguments)},ij=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionFilterMask_1=function(){return(ij=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionFilterMask_1=b.asm.kh).apply(null,arguments)},jj=b._emscripten_bind_AllHitsRayResultCallback_get_m_closestHitFraction_0=function(){return(jj=b._emscripten_bind_AllHitsRayResultCallback_get_m_closestHitFraction_0=b.asm.lh).apply(null,
+arguments)},kj=b._emscripten_bind_AllHitsRayResultCallback_set_m_closestHitFraction_1=function(){return(kj=b._emscripten_bind_AllHitsRayResultCallback_set_m_closestHitFraction_1=b.asm.mh).apply(null,arguments)},lj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionObject_0=function(){return(lj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionObject_0=b.asm.nh).apply(null,arguments)},mj=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionObject_1=function(){return(mj=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionObject_1=
+b.asm.oh).apply(null,arguments)},nj=b._emscripten_bind_AllHitsRayResultCallback_get_m_flags_0=function(){return(nj=b._emscripten_bind_AllHitsRayResultCallback_get_m_flags_0=b.asm.ph).apply(null,arguments)},oj=b._emscripten_bind_AllHitsRayResultCallback_set_m_flags_1=function(){return(oj=b._emscripten_bind_AllHitsRayResultCallback_set_m_flags_1=b.asm.qh).apply(null,arguments)},pj=b._emscripten_bind_AllHitsRayResultCallback___destroy___0=function(){return(pj=b._emscripten_bind_AllHitsRayResultCallback___destroy___0=
+b.asm.rh).apply(null,arguments)},qj=b._emscripten_bind_btManifoldPoint_getPositionWorldOnA_0=function(){return(qj=b._emscripten_bind_btManifoldPoint_getPositionWorldOnA_0=b.asm.sh).apply(null,arguments)},rj=b._emscripten_bind_btManifoldPoint_getPositionWorldOnB_0=function(){return(rj=b._emscripten_bind_btManifoldPoint_getPositionWorldOnB_0=b.asm.th).apply(null,arguments)},sj=b._emscripten_bind_btManifoldPoint_getAppliedImpulse_0=function(){return(sj=b._emscripten_bind_btManifoldPoint_getAppliedImpulse_0=
+b.asm.uh).apply(null,arguments)},tj=b._emscripten_bind_btManifoldPoint_getDistance_0=function(){return(tj=b._emscripten_bind_btManifoldPoint_getDistance_0=b.asm.vh).apply(null,arguments)},uj=b._emscripten_bind_btManifoldPoint_get_m_localPointA_0=function(){return(uj=b._emscripten_bind_btManifoldPoint_get_m_localPointA_0=b.asm.wh).apply(null,arguments)},vj=b._emscripten_bind_btManifoldPoint_set_m_localPointA_1=function(){return(vj=b._emscripten_bind_btManifoldPoint_set_m_localPointA_1=b.asm.xh).apply(null,
+arguments)},wj=b._emscripten_bind_btManifoldPoint_get_m_localPointB_0=function(){return(wj=b._emscripten_bind_btManifoldPoint_get_m_localPointB_0=b.asm.yh).apply(null,arguments)},xj=b._emscripten_bind_btManifoldPoint_set_m_localPointB_1=function(){return(xj=b._emscripten_bind_btManifoldPoint_set_m_localPointB_1=b.asm.zh).apply(null,arguments)},yj=b._emscripten_bind_btManifoldPoint_get_m_positionWorldOnB_0=function(){return(yj=b._emscripten_bind_btManifoldPoint_get_m_positionWorldOnB_0=b.asm.Ah).apply(null,
+arguments)},zj=b._emscripten_bind_btManifoldPoint_set_m_positionWorldOnB_1=function(){return(zj=b._emscripten_bind_btManifoldPoint_set_m_positionWorldOnB_1=b.asm.Bh).apply(null,arguments)},Aj=b._emscripten_bind_btManifoldPoint_get_m_positionWorldOnA_0=function(){return(Aj=b._emscripten_bind_btManifoldPoint_get_m_positionWorldOnA_0=b.asm.Ch).apply(null,arguments)},Bj=b._emscripten_bind_btManifoldPoint_set_m_positionWorldOnA_1=function(){return(Bj=b._emscripten_bind_btManifoldPoint_set_m_positionWorldOnA_1=
+b.asm.Dh).apply(null,arguments)},Cj=b._emscripten_bind_btManifoldPoint_get_m_normalWorldOnB_0=function(){return(Cj=b._emscripten_bind_btManifoldPoint_get_m_normalWorldOnB_0=b.asm.Eh).apply(null,arguments)},Dj=b._emscripten_bind_btManifoldPoint_set_m_normalWorldOnB_1=function(){return(Dj=b._emscripten_bind_btManifoldPoint_set_m_normalWorldOnB_1=b.asm.Fh).apply(null,arguments)},Ej=b._emscripten_bind_btManifoldPoint_get_m_userPersistentData_0=function(){return(Ej=b._emscripten_bind_btManifoldPoint_get_m_userPersistentData_0=
+b.asm.Gh).apply(null,arguments)},Fj=b._emscripten_bind_btManifoldPoint_set_m_userPersistentData_1=function(){return(Fj=b._emscripten_bind_btManifoldPoint_set_m_userPersistentData_1=b.asm.Hh).apply(null,arguments)},Gj=b._emscripten_bind_btManifoldPoint___destroy___0=function(){return(Gj=b._emscripten_bind_btManifoldPoint___destroy___0=b.asm.Ih).apply(null,arguments)},Hj=b._emscripten_bind_ConcreteContactResultCallback_ConcreteContactResultCallback_0=function(){return(Hj=b._emscripten_bind_ConcreteContactResultCallback_ConcreteContactResultCallback_0=
+b.asm.Jh).apply(null,arguments)},Ij=b._emscripten_bind_ConcreteContactResultCallback_addSingleResult_7=function(){return(Ij=b._emscripten_bind_ConcreteContactResultCallback_addSingleResult_7=b.asm.Kh).apply(null,arguments)},Jj=b._emscripten_bind_ConcreteContactResultCallback___destroy___0=function(){return(Jj=b._emscripten_bind_ConcreteContactResultCallback___destroy___0=b.asm.Lh).apply(null,arguments)},Kj=b._emscripten_bind_LocalShapeInfo_get_m_shapePart_0=function(){return(Kj=b._emscripten_bind_LocalShapeInfo_get_m_shapePart_0=
+b.asm.Mh).apply(null,arguments)},Lj=b._emscripten_bind_LocalShapeInfo_set_m_shapePart_1=function(){return(Lj=b._emscripten_bind_LocalShapeInfo_set_m_shapePart_1=b.asm.Nh).apply(null,arguments)},Mj=b._emscripten_bind_LocalShapeInfo_get_m_triangleIndex_0=function(){return(Mj=b._emscripten_bind_LocalShapeInfo_get_m_triangleIndex_0=b.asm.Oh).apply(null,arguments)},Nj=b._emscripten_bind_LocalShapeInfo_set_m_triangleIndex_1=function(){return(Nj=b._emscripten_bind_LocalShapeInfo_set_m_triangleIndex_1=b.asm.Ph).apply(null,
+arguments)},Oj=b._emscripten_bind_LocalShapeInfo___destroy___0=function(){return(Oj=b._emscripten_bind_LocalShapeInfo___destroy___0=b.asm.Qh).apply(null,arguments)},Pj=b._emscripten_bind_LocalConvexResult_LocalConvexResult_5=function(){return(Pj=b._emscripten_bind_LocalConvexResult_LocalConvexResult_5=b.asm.Rh).apply(null,arguments)},Qj=b._emscripten_bind_LocalConvexResult_get_m_hitCollisionObject_0=function(){return(Qj=b._emscripten_bind_LocalConvexResult_get_m_hitCollisionObject_0=b.asm.Sh).apply(null,
+arguments)},Rj=b._emscripten_bind_LocalConvexResult_set_m_hitCollisionObject_1=function(){return(Rj=b._emscripten_bind_LocalConvexResult_set_m_hitCollisionObject_1=b.asm.Th).apply(null,arguments)},Sj=b._emscripten_bind_LocalConvexResult_get_m_localShapeInfo_0=function(){return(Sj=b._emscripten_bind_LocalConvexResult_get_m_localShapeInfo_0=b.asm.Uh).apply(null,arguments)},Tj=b._emscripten_bind_LocalConvexResult_set_m_localShapeInfo_1=function(){return(Tj=b._emscripten_bind_LocalConvexResult_set_m_localShapeInfo_1=
+b.asm.Vh).apply(null,arguments)},Uj=b._emscripten_bind_LocalConvexResult_get_m_hitNormalLocal_0=function(){return(Uj=b._emscripten_bind_LocalConvexResult_get_m_hitNormalLocal_0=b.asm.Wh).apply(null,arguments)},Vj=b._emscripten_bind_LocalConvexResult_set_m_hitNormalLocal_1=function(){return(Vj=b._emscripten_bind_LocalConvexResult_set_m_hitNormalLocal_1=b.asm.Xh).apply(null,arguments)},Wj=b._emscripten_bind_LocalConvexResult_get_m_hitPointLocal_0=function(){return(Wj=b._emscripten_bind_LocalConvexResult_get_m_hitPointLocal_0=
+b.asm.Yh).apply(null,arguments)},Xj=b._emscripten_bind_LocalConvexResult_set_m_hitPointLocal_1=function(){return(Xj=b._emscripten_bind_LocalConvexResult_set_m_hitPointLocal_1=b.asm.Zh).apply(null,arguments)},Yj=b._emscripten_bind_LocalConvexResult_get_m_hitFraction_0=function(){return(Yj=b._emscripten_bind_LocalConvexResult_get_m_hitFraction_0=b.asm._h).apply(null,arguments)},Zj=b._emscripten_bind_LocalConvexResult_set_m_hitFraction_1=function(){return(Zj=b._emscripten_bind_LocalConvexResult_set_m_hitFraction_1=
+b.asm.$h).apply(null,arguments)},ak=b._emscripten_bind_LocalConvexResult___destroy___0=function(){return(ak=b._emscripten_bind_LocalConvexResult___destroy___0=b.asm.ai).apply(null,arguments)},bk=b._emscripten_bind_ClosestConvexResultCallback_ClosestConvexResultCallback_2=function(){return(bk=b._emscripten_bind_ClosestConvexResultCallback_ClosestConvexResultCallback_2=b.asm.bi).apply(null,arguments)},ck=b._emscripten_bind_ClosestConvexResultCallback_hasHit_0=function(){return(ck=b._emscripten_bind_ClosestConvexResultCallback_hasHit_0=
+b.asm.ci).apply(null,arguments)},dk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitCollisionObject_0=function(){return(dk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitCollisionObject_0=b.asm.di).apply(null,arguments)},ek=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitCollisionObject_1=function(){return(ek=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitCollisionObject_1=b.asm.ei).apply(null,arguments)},fk=b._emscripten_bind_ClosestConvexResultCallback_get_m_convexFromWorld_0=
+function(){return(fk=b._emscripten_bind_ClosestConvexResultCallback_get_m_convexFromWorld_0=b.asm.fi).apply(null,arguments)},gk=b._emscripten_bind_ClosestConvexResultCallback_set_m_convexFromWorld_1=function(){return(gk=b._emscripten_bind_ClosestConvexResultCallback_set_m_convexFromWorld_1=b.asm.gi).apply(null,arguments)},hk=b._emscripten_bind_ClosestConvexResultCallback_get_m_convexToWorld_0=function(){return(hk=b._emscripten_bind_ClosestConvexResultCallback_get_m_convexToWorld_0=b.asm.hi).apply(null,
+arguments)},ik=b._emscripten_bind_ClosestConvexResultCallback_set_m_convexToWorld_1=function(){return(ik=b._emscripten_bind_ClosestConvexResultCallback_set_m_convexToWorld_1=b.asm.ii).apply(null,arguments)},jk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitNormalWorld_0=function(){return(jk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitNormalWorld_0=b.asm.ji).apply(null,arguments)},kk=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitNormalWorld_1=function(){return(kk=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitNormalWorld_1=
+b.asm.ki).apply(null,arguments)},lk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitPointWorld_0=function(){return(lk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitPointWorld_0=b.asm.li).apply(null,arguments)},mk=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitPointWorld_1=function(){return(mk=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitPointWorld_1=b.asm.mi).apply(null,arguments)},nk=b._emscripten_bind_ClosestConvexResultCallback_get_m_collisionFilterGroup_0=
+function(){return(nk=b._emscripten_bind_ClosestConvexResultCallback_get_m_collisionFilterGroup_0=b.asm.ni).apply(null,arguments)},ok=b._emscripten_bind_ClosestConvexResultCallback_set_m_collisionFilterGroup_1=function(){return(ok=b._emscripten_bind_ClosestConvexResultCallback_set_m_collisionFilterGroup_1=b.asm.oi).apply(null,arguments)},pk=b._emscripten_bind_ClosestConvexResultCallback_get_m_collisionFilterMask_0=function(){return(pk=b._emscripten_bind_ClosestConvexResultCallback_get_m_collisionFilterMask_0=
+b.asm.pi).apply(null,arguments)},qk=b._emscripten_bind_ClosestConvexResultCallback_set_m_collisionFilterMask_1=function(){return(qk=b._emscripten_bind_ClosestConvexResultCallback_set_m_collisionFilterMask_1=b.asm.qi).apply(null,arguments)},rk=b._emscripten_bind_ClosestConvexResultCallback_get_m_closestHitFraction_0=function(){return(rk=b._emscripten_bind_ClosestConvexResultCallback_get_m_closestHitFraction_0=b.asm.ri).apply(null,arguments)},sk=b._emscripten_bind_ClosestConvexResultCallback_set_m_closestHitFraction_1=
+function(){return(sk=b._emscripten_bind_ClosestConvexResultCallback_set_m_closestHitFraction_1=b.asm.si).apply(null,arguments)},tk=b._emscripten_bind_ClosestConvexResultCallback___destroy___0=function(){return(tk=b._emscripten_bind_ClosestConvexResultCallback___destroy___0=b.asm.ti).apply(null,arguments)},uk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_1=function(){return(uk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_1=b.asm.ui).apply(null,arguments)},
+vk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_2=function(){return(vk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_2=b.asm.vi).apply(null,arguments)},wk=b._emscripten_bind_btConvexTriangleMeshShape_setLocalScaling_1=function(){return(wk=b._emscripten_bind_btConvexTriangleMeshShape_setLocalScaling_1=b.asm.wi).apply(null,arguments)},xk=b._emscripten_bind_btConvexTriangleMeshShape_getLocalScaling_0=function(){return(xk=b._emscripten_bind_btConvexTriangleMeshShape_getLocalScaling_0=
+b.asm.xi).apply(null,arguments)},yk=b._emscripten_bind_btConvexTriangleMeshShape_calculateLocalInertia_2=function(){return(yk=b._emscripten_bind_btConvexTriangleMeshShape_calculateLocalInertia_2=b.asm.yi).apply(null,arguments)},zk=b._emscripten_bind_btConvexTriangleMeshShape_setMargin_1=function(){return(zk=b._emscripten_bind_btConvexTriangleMeshShape_setMargin_1=b.asm.zi).apply(null,arguments)},Ak=b._emscripten_bind_btConvexTriangleMeshShape_getMargin_0=function(){return(Ak=b._emscripten_bind_btConvexTriangleMeshShape_getMargin_0=
+b.asm.Ai).apply(null,arguments)},Bk=b._emscripten_bind_btConvexTriangleMeshShape___destroy___0=function(){return(Bk=b._emscripten_bind_btConvexTriangleMeshShape___destroy___0=b.asm.Bi).apply(null,arguments)},Ck=b._emscripten_bind_btBoxShape_btBoxShape_1=function(){return(Ck=b._emscripten_bind_btBoxShape_btBoxShape_1=b.asm.Ci).apply(null,arguments)},Dk=b._emscripten_bind_btBoxShape_setMargin_1=function(){return(Dk=b._emscripten_bind_btBoxShape_setMargin_1=b.asm.Di).apply(null,arguments)},Ek=b._emscripten_bind_btBoxShape_getMargin_0=
+function(){return(Ek=b._emscripten_bind_btBoxShape_getMargin_0=b.asm.Ei).apply(null,arguments)},Fk=b._emscripten_bind_btBoxShape_setLocalScaling_1=function(){return(Fk=b._emscripten_bind_btBoxShape_setLocalScaling_1=b.asm.Fi).apply(null,arguments)},Gk=b._emscripten_bind_btBoxShape_getLocalScaling_0=function(){return(Gk=b._emscripten_bind_btBoxShape_getLocalScaling_0=b.asm.Gi).apply(null,arguments)},Hk=b._emscripten_bind_btBoxShape_calculateLocalInertia_2=function(){return(Hk=b._emscripten_bind_btBoxShape_calculateLocalInertia_2=
+b.asm.Hi).apply(null,arguments)},Ik=b._emscripten_bind_btBoxShape___destroy___0=function(){return(Ik=b._emscripten_bind_btBoxShape___destroy___0=b.asm.Ii).apply(null,arguments)},Jk=b._emscripten_bind_btCapsuleShapeX_btCapsuleShapeX_2=function(){return(Jk=b._emscripten_bind_btCapsuleShapeX_btCapsuleShapeX_2=b.asm.Ji).apply(null,arguments)},Kk=b._emscripten_bind_btCapsuleShapeX_setMargin_1=function(){return(Kk=b._emscripten_bind_btCapsuleShapeX_setMargin_1=b.asm.Ki).apply(null,arguments)},Lk=b._emscripten_bind_btCapsuleShapeX_getMargin_0=
+function(){return(Lk=b._emscripten_bind_btCapsuleShapeX_getMargin_0=b.asm.Li).apply(null,arguments)},Mk=b._emscripten_bind_btCapsuleShapeX_getUpAxis_0=function(){return(Mk=b._emscripten_bind_btCapsuleShapeX_getUpAxis_0=b.asm.Mi).apply(null,arguments)},Nk=b._emscripten_bind_btCapsuleShapeX_getRadius_0=function(){return(Nk=b._emscripten_bind_btCapsuleShapeX_getRadius_0=b.asm.Ni).apply(null,arguments)},Ok=b._emscripten_bind_btCapsuleShapeX_getHalfHeight_0=function(){return(Ok=b._emscripten_bind_btCapsuleShapeX_getHalfHeight_0=
+b.asm.Oi).apply(null,arguments)},Pk=b._emscripten_bind_btCapsuleShapeX_setLocalScaling_1=function(){return(Pk=b._emscripten_bind_btCapsuleShapeX_setLocalScaling_1=b.asm.Pi).apply(null,arguments)},Qk=b._emscripten_bind_btCapsuleShapeX_getLocalScaling_0=function(){return(Qk=b._emscripten_bind_btCapsuleShapeX_getLocalScaling_0=b.asm.Qi).apply(null,arguments)},Rk=b._emscripten_bind_btCapsuleShapeX_calculateLocalInertia_2=function(){return(Rk=b._emscripten_bind_btCapsuleShapeX_calculateLocalInertia_2=
+b.asm.Ri).apply(null,arguments)},Sk=b._emscripten_bind_btCapsuleShapeX___destroy___0=function(){return(Sk=b._emscripten_bind_btCapsuleShapeX___destroy___0=b.asm.Si).apply(null,arguments)},Tk=b._emscripten_bind_btCapsuleShapeZ_btCapsuleShapeZ_2=function(){return(Tk=b._emscripten_bind_btCapsuleShapeZ_btCapsuleShapeZ_2=b.asm.Ti).apply(null,arguments)},Uk=b._emscripten_bind_btCapsuleShapeZ_setMargin_1=function(){return(Uk=b._emscripten_bind_btCapsuleShapeZ_setMargin_1=b.asm.Ui).apply(null,arguments)},
+Vk=b._emscripten_bind_btCapsuleShapeZ_getMargin_0=function(){return(Vk=b._emscripten_bind_btCapsuleShapeZ_getMargin_0=b.asm.Vi).apply(null,arguments)},Wk=b._emscripten_bind_btCapsuleShapeZ_getUpAxis_0=function(){return(Wk=b._emscripten_bind_btCapsuleShapeZ_getUpAxis_0=b.asm.Wi).apply(null,arguments)},Xk=b._emscripten_bind_btCapsuleShapeZ_getRadius_0=function(){return(Xk=b._emscripten_bind_btCapsuleShapeZ_getRadius_0=b.asm.Xi).apply(null,arguments)},Yk=b._emscripten_bind_btCapsuleShapeZ_getHalfHeight_0=
+function(){return(Yk=b._emscripten_bind_btCapsuleShapeZ_getHalfHeight_0=b.asm.Yi).apply(null,arguments)},Zk=b._emscripten_bind_btCapsuleShapeZ_setLocalScaling_1=function(){return(Zk=b._emscripten_bind_btCapsuleShapeZ_setLocalScaling_1=b.asm.Zi).apply(null,arguments)},$k=b._emscripten_bind_btCapsuleShapeZ_getLocalScaling_0=function(){return($k=b._emscripten_bind_btCapsuleShapeZ_getLocalScaling_0=b.asm._i).apply(null,arguments)},al=b._emscripten_bind_btCapsuleShapeZ_calculateLocalInertia_2=function(){return(al=
+b._emscripten_bind_btCapsuleShapeZ_calculateLocalInertia_2=b.asm.$i).apply(null,arguments)},bl=b._emscripten_bind_btCapsuleShapeZ___destroy___0=function(){return(bl=b._emscripten_bind_btCapsuleShapeZ___destroy___0=b.asm.aj).apply(null,arguments)},cl=b._emscripten_bind_btCylinderShapeX_btCylinderShapeX_1=function(){return(cl=b._emscripten_bind_btCylinderShapeX_btCylinderShapeX_1=b.asm.bj).apply(null,arguments)},dl=b._emscripten_bind_btCylinderShapeX_setMargin_1=function(){return(dl=b._emscripten_bind_btCylinderShapeX_setMargin_1=
+b.asm.cj).apply(null,arguments)},el=b._emscripten_bind_btCylinderShapeX_getMargin_0=function(){return(el=b._emscripten_bind_btCylinderShapeX_getMargin_0=b.asm.dj).apply(null,arguments)},fl=b._emscripten_bind_btCylinderShapeX_setLocalScaling_1=function(){return(fl=b._emscripten_bind_btCylinderShapeX_setLocalScaling_1=b.asm.ej).apply(null,arguments)},gl=b._emscripten_bind_btCylinderShapeX_getLocalScaling_0=function(){return(gl=b._emscripten_bind_btCylinderShapeX_getLocalScaling_0=b.asm.fj).apply(null,
+arguments)},hl=b._emscripten_bind_btCylinderShapeX_calculateLocalInertia_2=function(){return(hl=b._emscripten_bind_btCylinderShapeX_calculateLocalInertia_2=b.asm.gj).apply(null,arguments)},il=b._emscripten_bind_btCylinderShapeX___destroy___0=function(){return(il=b._emscripten_bind_btCylinderShapeX___destroy___0=b.asm.hj).apply(null,arguments)},jl=b._emscripten_bind_btCylinderShapeZ_btCylinderShapeZ_1=function(){return(jl=b._emscripten_bind_btCylinderShapeZ_btCylinderShapeZ_1=b.asm.ij).apply(null,
+arguments)},kl=b._emscripten_bind_btCylinderShapeZ_setMargin_1=function(){return(kl=b._emscripten_bind_btCylinderShapeZ_setMargin_1=b.asm.jj).apply(null,arguments)},ll=b._emscripten_bind_btCylinderShapeZ_getMargin_0=function(){return(ll=b._emscripten_bind_btCylinderShapeZ_getMargin_0=b.asm.kj).apply(null,arguments)},ml=b._emscripten_bind_btCylinderShapeZ_setLocalScaling_1=function(){return(ml=b._emscripten_bind_btCylinderShapeZ_setLocalScaling_1=b.asm.lj).apply(null,arguments)},nl=b._emscripten_bind_btCylinderShapeZ_getLocalScaling_0=
+function(){return(nl=b._emscripten_bind_btCylinderShapeZ_getLocalScaling_0=b.asm.mj).apply(null,arguments)},ol=b._emscripten_bind_btCylinderShapeZ_calculateLocalInertia_2=function(){return(ol=b._emscripten_bind_btCylinderShapeZ_calculateLocalInertia_2=b.asm.nj).apply(null,arguments)},pl=b._emscripten_bind_btCylinderShapeZ___destroy___0=function(){return(pl=b._emscripten_bind_btCylinderShapeZ___destroy___0=b.asm.oj).apply(null,arguments)},ql=b._emscripten_bind_btSphereShape_btSphereShape_1=function(){return(ql=
+b._emscripten_bind_btSphereShape_btSphereShape_1=b.asm.pj).apply(null,arguments)},rl=b._emscripten_bind_btSphereShape_setMargin_1=function(){return(rl=b._emscripten_bind_btSphereShape_setMargin_1=b.asm.qj).apply(null,arguments)},sl=b._emscripten_bind_btSphereShape_getMargin_0=function(){return(sl=b._emscripten_bind_btSphereShape_getMargin_0=b.asm.rj).apply(null,arguments)},tl=b._emscripten_bind_btSphereShape_setLocalScaling_1=function(){return(tl=b._emscripten_bind_btSphereShape_setLocalScaling_1=
+b.asm.sj).apply(null,arguments)},ul=b._emscripten_bind_btSphereShape_getLocalScaling_0=function(){return(ul=b._emscripten_bind_btSphereShape_getLocalScaling_0=b.asm.tj).apply(null,arguments)},vl=b._emscripten_bind_btSphereShape_calculateLocalInertia_2=function(){return(vl=b._emscripten_bind_btSphereShape_calculateLocalInertia_2=b.asm.uj).apply(null,arguments)},wl=b._emscripten_bind_btSphereShape___destroy___0=function(){return(wl=b._emscripten_bind_btSphereShape___destroy___0=b.asm.vj).apply(null,
+arguments)},xl=b._emscripten_bind_btMultiSphereShape_btMultiSphereShape_3=function(){return(xl=b._emscripten_bind_btMultiSphereShape_btMultiSphereShape_3=b.asm.wj).apply(null,arguments)},yl=b._emscripten_bind_btMultiSphereShape_setLocalScaling_1=function(){return(yl=b._emscripten_bind_btMultiSphereShape_setLocalScaling_1=b.asm.xj).apply(null,arguments)},zl=b._emscripten_bind_btMultiSphereShape_getLocalScaling_0=function(){return(zl=b._emscripten_bind_btMultiSphereShape_getLocalScaling_0=b.asm.yj).apply(null,
+arguments)},Al=b._emscripten_bind_btMultiSphereShape_calculateLocalInertia_2=function(){return(Al=b._emscripten_bind_btMultiSphereShape_calculateLocalInertia_2=b.asm.zj).apply(null,arguments)},Bl=b._emscripten_bind_btMultiSphereShape___destroy___0=function(){return(Bl=b._emscripten_bind_btMultiSphereShape___destroy___0=b.asm.Aj).apply(null,arguments)},Cl=b._emscripten_bind_btConeShapeX_btConeShapeX_2=function(){return(Cl=b._emscripten_bind_btConeShapeX_btConeShapeX_2=b.asm.Bj).apply(null,arguments)},
+Dl=b._emscripten_bind_btConeShapeX_setLocalScaling_1=function(){return(Dl=b._emscripten_bind_btConeShapeX_setLocalScaling_1=b.asm.Cj).apply(null,arguments)},El=b._emscripten_bind_btConeShapeX_getLocalScaling_0=function(){return(El=b._emscripten_bind_btConeShapeX_getLocalScaling_0=b.asm.Dj).apply(null,arguments)},Fl=b._emscripten_bind_btConeShapeX_calculateLocalInertia_2=function(){return(Fl=b._emscripten_bind_btConeShapeX_calculateLocalInertia_2=b.asm.Ej).apply(null,arguments)},Gl=b._emscripten_bind_btConeShapeX___destroy___0=
+function(){return(Gl=b._emscripten_bind_btConeShapeX___destroy___0=b.asm.Fj).apply(null,arguments)},Hl=b._emscripten_bind_btConeShapeZ_btConeShapeZ_2=function(){return(Hl=b._emscripten_bind_btConeShapeZ_btConeShapeZ_2=b.asm.Gj).apply(null,arguments)},Il=b._emscripten_bind_btConeShapeZ_setLocalScaling_1=function(){return(Il=b._emscripten_bind_btConeShapeZ_setLocalScaling_1=b.asm.Hj).apply(null,arguments)},Jl=b._emscripten_bind_btConeShapeZ_getLocalScaling_0=function(){return(Jl=b._emscripten_bind_btConeShapeZ_getLocalScaling_0=
+b.asm.Ij).apply(null,arguments)},Kl=b._emscripten_bind_btConeShapeZ_calculateLocalInertia_2=function(){return(Kl=b._emscripten_bind_btConeShapeZ_calculateLocalInertia_2=b.asm.Jj).apply(null,arguments)},Ll=b._emscripten_bind_btConeShapeZ___destroy___0=function(){return(Ll=b._emscripten_bind_btConeShapeZ___destroy___0=b.asm.Kj).apply(null,arguments)},Ml=b._emscripten_bind_btIntArray_size_0=function(){return(Ml=b._emscripten_bind_btIntArray_size_0=b.asm.Lj).apply(null,arguments)},Nl=b._emscripten_bind_btIntArray_at_1=
+function(){return(Nl=b._emscripten_bind_btIntArray_at_1=b.asm.Mj).apply(null,arguments)},Ol=b._emscripten_bind_btIntArray___destroy___0=function(){return(Ol=b._emscripten_bind_btIntArray___destroy___0=b.asm.Nj).apply(null,arguments)},Pl=b._emscripten_bind_btFace_get_m_indices_0=function(){return(Pl=b._emscripten_bind_btFace_get_m_indices_0=b.asm.Oj).apply(null,arguments)},Ql=b._emscripten_bind_btFace_set_m_indices_1=function(){return(Ql=b._emscripten_bind_btFace_set_m_indices_1=b.asm.Pj).apply(null,
+arguments)},Rl=b._emscripten_bind_btFace_get_m_plane_1=function(){return(Rl=b._emscripten_bind_btFace_get_m_plane_1=b.asm.Qj).apply(null,arguments)},Sl=b._emscripten_bind_btFace_set_m_plane_2=function(){return(Sl=b._emscripten_bind_btFace_set_m_plane_2=b.asm.Rj).apply(null,arguments)},Tl=b._emscripten_bind_btFace___destroy___0=function(){return(Tl=b._emscripten_bind_btFace___destroy___0=b.asm.Sj).apply(null,arguments)},Ul=b._emscripten_bind_btVector3Array_size_0=function(){return(Ul=b._emscripten_bind_btVector3Array_size_0=
+b.asm.Tj).apply(null,arguments)},Vl=b._emscripten_bind_btVector3Array_at_1=function(){return(Vl=b._emscripten_bind_btVector3Array_at_1=b.asm.Uj).apply(null,arguments)},Wl=b._emscripten_bind_btVector3Array___destroy___0=function(){return(Wl=b._emscripten_bind_btVector3Array___destroy___0=b.asm.Vj).apply(null,arguments)},Xl=b._emscripten_bind_btFaceArray_size_0=function(){return(Xl=b._emscripten_bind_btFaceArray_size_0=b.asm.Wj).apply(null,arguments)},Yl=b._emscripten_bind_btFaceArray_at_1=function(){return(Yl=
+b._emscripten_bind_btFaceArray_at_1=b.asm.Xj).apply(null,arguments)},Zl=b._emscripten_bind_btFaceArray___destroy___0=function(){return(Zl=b._emscripten_bind_btFaceArray___destroy___0=b.asm.Yj).apply(null,arguments)},$l=b._emscripten_bind_btConvexPolyhedron_get_m_vertices_0=function(){return($l=b._emscripten_bind_btConvexPolyhedron_get_m_vertices_0=b.asm.Zj).apply(null,arguments)},am=b._emscripten_bind_btConvexPolyhedron_set_m_vertices_1=function(){return(am=b._emscripten_bind_btConvexPolyhedron_set_m_vertices_1=
+b.asm._j).apply(null,arguments)},bm=b._emscripten_bind_btConvexPolyhedron_get_m_faces_0=function(){return(bm=b._emscripten_bind_btConvexPolyhedron_get_m_faces_0=b.asm.$j).apply(null,arguments)},cm=b._emscripten_bind_btConvexPolyhedron_set_m_faces_1=function(){return(cm=b._emscripten_bind_btConvexPolyhedron_set_m_faces_1=b.asm.ak).apply(null,arguments)},dm=b._emscripten_bind_btConvexPolyhedron___destroy___0=function(){return(dm=b._emscripten_bind_btConvexPolyhedron___destroy___0=b.asm.bk).apply(null,
+arguments)},em=b._emscripten_bind_btConvexHullShape_btConvexHullShape_0=function(){return(em=b._emscripten_bind_btConvexHullShape_btConvexHullShape_0=b.asm.ck).apply(null,arguments)},fm=b._emscripten_bind_btConvexHullShape_btConvexHullShape_1=function(){return(fm=b._emscripten_bind_btConvexHullShape_btConvexHullShape_1=b.asm.dk).apply(null,arguments)},gm=b._emscripten_bind_btConvexHullShape_btConvexHullShape_2=function(){return(gm=b._emscripten_bind_btConvexHullShape_btConvexHullShape_2=b.asm.ek).apply(null,
+arguments)},hm=b._emscripten_bind_btConvexHullShape_addPoint_1=function(){return(hm=b._emscripten_bind_btConvexHullShape_addPoint_1=b.asm.fk).apply(null,arguments)},im=b._emscripten_bind_btConvexHullShape_addPoint_2=function(){return(im=b._emscripten_bind_btConvexHullShape_addPoint_2=b.asm.gk).apply(null,arguments)},jm=b._emscripten_bind_btConvexHullShape_setMargin_1=function(){return(jm=b._emscripten_bind_btConvexHullShape_setMargin_1=b.asm.hk).apply(null,arguments)},km=b._emscripten_bind_btConvexHullShape_getMargin_0=
+function(){return(km=b._emscripten_bind_btConvexHullShape_getMargin_0=b.asm.ik).apply(null,arguments)},lm=b._emscripten_bind_btConvexHullShape_getNumVertices_0=function(){return(lm=b._emscripten_bind_btConvexHullShape_getNumVertices_0=b.asm.jk).apply(null,arguments)},mm=b._emscripten_bind_btConvexHullShape_initializePolyhedralFeatures_1=function(){return(mm=b._emscripten_bind_btConvexHullShape_initializePolyhedralFeatures_1=b.asm.kk).apply(null,arguments)},nm=b._emscripten_bind_btConvexHullShape_recalcLocalAabb_0=
+function(){return(nm=b._emscripten_bind_btConvexHullShape_recalcLocalAabb_0=b.asm.lk).apply(null,arguments)},om=b._emscripten_bind_btConvexHullShape_getConvexPolyhedron_0=function(){return(om=b._emscripten_bind_btConvexHullShape_getConvexPolyhedron_0=b.asm.mk).apply(null,arguments)},pm=b._emscripten_bind_btConvexHullShape_setLocalScaling_1=function(){return(pm=b._emscripten_bind_btConvexHullShape_setLocalScaling_1=b.asm.nk).apply(null,arguments)},qm=b._emscripten_bind_btConvexHullShape_getLocalScaling_0=
+function(){return(qm=b._emscripten_bind_btConvexHullShape_getLocalScaling_0=b.asm.ok).apply(null,arguments)},rm=b._emscripten_bind_btConvexHullShape_calculateLocalInertia_2=function(){return(rm=b._emscripten_bind_btConvexHullShape_calculateLocalInertia_2=b.asm.pk).apply(null,arguments)},sm=b._emscripten_bind_btConvexHullShape___destroy___0=function(){return(sm=b._emscripten_bind_btConvexHullShape___destroy___0=b.asm.qk).apply(null,arguments)},tm=b._emscripten_bind_btShapeHull_btShapeHull_1=function(){return(tm=
+b._emscripten_bind_btShapeHull_btShapeHull_1=b.asm.rk).apply(null,arguments)},um=b._emscripten_bind_btShapeHull_buildHull_1=function(){return(um=b._emscripten_bind_btShapeHull_buildHull_1=b.asm.sk).apply(null,arguments)},wm=b._emscripten_bind_btShapeHull_numVertices_0=function(){return(wm=b._emscripten_bind_btShapeHull_numVertices_0=b.asm.tk).apply(null,arguments)},xm=b._emscripten_bind_btShapeHull_getVertexPointer_0=function(){return(xm=b._emscripten_bind_btShapeHull_getVertexPointer_0=b.asm.uk).apply(null,
+arguments)},ym=b._emscripten_bind_btShapeHull___destroy___0=function(){return(ym=b._emscripten_bind_btShapeHull___destroy___0=b.asm.vk).apply(null,arguments)},zm=b._emscripten_bind_btCompoundShape_btCompoundShape_0=function(){return(zm=b._emscripten_bind_btCompoundShape_btCompoundShape_0=b.asm.wk).apply(null,arguments)},Am=b._emscripten_bind_btCompoundShape_btCompoundShape_1=function(){return(Am=b._emscripten_bind_btCompoundShape_btCompoundShape_1=b.asm.xk).apply(null,arguments)},Bm=b._emscripten_bind_btCompoundShape_addChildShape_2=
+function(){return(Bm=b._emscripten_bind_btCompoundShape_addChildShape_2=b.asm.yk).apply(null,arguments)},Cm=b._emscripten_bind_btCompoundShape_removeChildShape_1=function(){return(Cm=b._emscripten_bind_btCompoundShape_removeChildShape_1=b.asm.zk).apply(null,arguments)},Dm=b._emscripten_bind_btCompoundShape_removeChildShapeByIndex_1=function(){return(Dm=b._emscripten_bind_btCompoundShape_removeChildShapeByIndex_1=b.asm.Ak).apply(null,arguments)},Em=b._emscripten_bind_btCompoundShape_getNumChildShapes_0=
+function(){return(Em=b._emscripten_bind_btCompoundShape_getNumChildShapes_0=b.asm.Bk).apply(null,arguments)},Fm=b._emscripten_bind_btCompoundShape_getChildShape_1=function(){return(Fm=b._emscripten_bind_btCompoundShape_getChildShape_1=b.asm.Ck).apply(null,arguments)},Gm=b._emscripten_bind_btCompoundShape_updateChildTransform_2=function(){return(Gm=b._emscripten_bind_btCompoundShape_updateChildTransform_2=b.asm.Dk).apply(null,arguments)},Hm=b._emscripten_bind_btCompoundShape_updateChildTransform_3=
+function(){return(Hm=b._emscripten_bind_btCompoundShape_updateChildTransform_3=b.asm.Ek).apply(null,arguments)},Im=b._emscripten_bind_btCompoundShape_setMargin_1=function(){return(Im=b._emscripten_bind_btCompoundShape_setMargin_1=b.asm.Fk).apply(null,arguments)},Jm=b._emscripten_bind_btCompoundShape_getMargin_0=function(){return(Jm=b._emscripten_bind_btCompoundShape_getMargin_0=b.asm.Gk).apply(null,arguments)},Km=b._emscripten_bind_btCompoundShape_setLocalScaling_1=function(){return(Km=b._emscripten_bind_btCompoundShape_setLocalScaling_1=
+b.asm.Hk).apply(null,arguments)},Lm=b._emscripten_bind_btCompoundShape_getLocalScaling_0=function(){return(Lm=b._emscripten_bind_btCompoundShape_getLocalScaling_0=b.asm.Ik).apply(null,arguments)},Mm=b._emscripten_bind_btCompoundShape_calculateLocalInertia_2=function(){return(Mm=b._emscripten_bind_btCompoundShape_calculateLocalInertia_2=b.asm.Jk).apply(null,arguments)},Nm=b._emscripten_bind_btCompoundShape___destroy___0=function(){return(Nm=b._emscripten_bind_btCompoundShape___destroy___0=b.asm.Kk).apply(null,
+arguments)},Om=b._emscripten_bind_btIndexedMesh_get_m_numTriangles_0=function(){return(Om=b._emscripten_bind_btIndexedMesh_get_m_numTriangles_0=b.asm.Lk).apply(null,arguments)},Pm=b._emscripten_bind_btIndexedMesh_set_m_numTriangles_1=function(){return(Pm=b._emscripten_bind_btIndexedMesh_set_m_numTriangles_1=b.asm.Mk).apply(null,arguments)},Qm=b._emscripten_bind_btIndexedMesh___destroy___0=function(){return(Qm=b._emscripten_bind_btIndexedMesh___destroy___0=b.asm.Nk).apply(null,arguments)},Rm=b._emscripten_bind_btIndexedMeshArray_size_0=
+function(){return(Rm=b._emscripten_bind_btIndexedMeshArray_size_0=b.asm.Ok).apply(null,arguments)},Sm=b._emscripten_bind_btIndexedMeshArray_at_1=function(){return(Sm=b._emscripten_bind_btIndexedMeshArray_at_1=b.asm.Pk).apply(null,arguments)},Tm=b._emscripten_bind_btIndexedMeshArray___destroy___0=function(){return(Tm=b._emscripten_bind_btIndexedMeshArray___destroy___0=b.asm.Qk).apply(null,arguments)},Um=b._emscripten_bind_btTriangleMesh_btTriangleMesh_0=function(){return(Um=b._emscripten_bind_btTriangleMesh_btTriangleMesh_0=
+b.asm.Rk).apply(null,arguments)},Vm=b._emscripten_bind_btTriangleMesh_btTriangleMesh_1=function(){return(Vm=b._emscripten_bind_btTriangleMesh_btTriangleMesh_1=b.asm.Sk).apply(null,arguments)},Wm=b._emscripten_bind_btTriangleMesh_btTriangleMesh_2=function(){return(Wm=b._emscripten_bind_btTriangleMesh_btTriangleMesh_2=b.asm.Tk).apply(null,arguments)},Xm=b._emscripten_bind_btTriangleMesh_addTriangle_3=function(){return(Xm=b._emscripten_bind_btTriangleMesh_addTriangle_3=b.asm.Uk).apply(null,arguments)},
+Ym=b._emscripten_bind_btTriangleMesh_addTriangle_4=function(){return(Ym=b._emscripten_bind_btTriangleMesh_addTriangle_4=b.asm.Vk).apply(null,arguments)},Zm=b._emscripten_bind_btTriangleMesh_findOrAddVertex_2=function(){return(Zm=b._emscripten_bind_btTriangleMesh_findOrAddVertex_2=b.asm.Wk).apply(null,arguments)},$m=b._emscripten_bind_btTriangleMesh_addIndex_1=function(){return($m=b._emscripten_bind_btTriangleMesh_addIndex_1=b.asm.Xk).apply(null,arguments)},an=b._emscripten_bind_btTriangleMesh_getIndexedMeshArray_0=
+function(){return(an=b._emscripten_bind_btTriangleMesh_getIndexedMeshArray_0=b.asm.Yk).apply(null,arguments)},bn=b._emscripten_bind_btTriangleMesh_setScaling_1=function(){return(bn=b._emscripten_bind_btTriangleMesh_setScaling_1=b.asm.Zk).apply(null,arguments)},cn=b._emscripten_bind_btTriangleMesh___destroy___0=function(){return(cn=b._emscripten_bind_btTriangleMesh___destroy___0=b.asm._k).apply(null,arguments)},dn=b._emscripten_bind_btEmptyShape_btEmptyShape_0=function(){return(dn=b._emscripten_bind_btEmptyShape_btEmptyShape_0=
+b.asm.$k).apply(null,arguments)},en=b._emscripten_bind_btEmptyShape_setLocalScaling_1=function(){return(en=b._emscripten_bind_btEmptyShape_setLocalScaling_1=b.asm.al).apply(null,arguments)},fn=b._emscripten_bind_btEmptyShape_getLocalScaling_0=function(){return(fn=b._emscripten_bind_btEmptyShape_getLocalScaling_0=b.asm.bl).apply(null,arguments)},gn=b._emscripten_bind_btEmptyShape_calculateLocalInertia_2=function(){return(gn=b._emscripten_bind_btEmptyShape_calculateLocalInertia_2=b.asm.cl).apply(null,
+arguments)},hn=b._emscripten_bind_btEmptyShape___destroy___0=function(){return(hn=b._emscripten_bind_btEmptyShape___destroy___0=b.asm.dl).apply(null,arguments)},jn=b._emscripten_bind_btStaticPlaneShape_btStaticPlaneShape_2=function(){return(jn=b._emscripten_bind_btStaticPlaneShape_btStaticPlaneShape_2=b.asm.el).apply(null,arguments)},kn=b._emscripten_bind_btStaticPlaneShape_setLocalScaling_1=function(){return(kn=b._emscripten_bind_btStaticPlaneShape_setLocalScaling_1=b.asm.fl).apply(null,arguments)},
+ln=b._emscripten_bind_btStaticPlaneShape_getLocalScaling_0=function(){return(ln=b._emscripten_bind_btStaticPlaneShape_getLocalScaling_0=b.asm.gl).apply(null,arguments)},mn=b._emscripten_bind_btStaticPlaneShape_calculateLocalInertia_2=function(){return(mn=b._emscripten_bind_btStaticPlaneShape_calculateLocalInertia_2=b.asm.hl).apply(null,arguments)},nn=b._emscripten_bind_btStaticPlaneShape___destroy___0=function(){return(nn=b._emscripten_bind_btStaticPlaneShape___destroy___0=b.asm.il).apply(null,arguments)},
+on=b._emscripten_bind_btBvhTriangleMeshShape_btBvhTriangleMeshShape_2=function(){return(on=b._emscripten_bind_btBvhTriangleMeshShape_btBvhTriangleMeshShape_2=b.asm.jl).apply(null,arguments)},pn=b._emscripten_bind_btBvhTriangleMeshShape_btBvhTriangleMeshShape_3=function(){return(pn=b._emscripten_bind_btBvhTriangleMeshShape_btBvhTriangleMeshShape_3=b.asm.kl).apply(null,arguments)},qn=b._emscripten_bind_btBvhTriangleMeshShape_setLocalScaling_1=function(){return(qn=b._emscripten_bind_btBvhTriangleMeshShape_setLocalScaling_1=
+b.asm.ll).apply(null,arguments)},rn=b._emscripten_bind_btBvhTriangleMeshShape_getLocalScaling_0=function(){return(rn=b._emscripten_bind_btBvhTriangleMeshShape_getLocalScaling_0=b.asm.ml).apply(null,arguments)},sn=b._emscripten_bind_btBvhTriangleMeshShape_calculateLocalInertia_2=function(){return(sn=b._emscripten_bind_btBvhTriangleMeshShape_calculateLocalInertia_2=b.asm.nl).apply(null,arguments)},tn=b._emscripten_bind_btBvhTriangleMeshShape___destroy___0=function(){return(tn=b._emscripten_bind_btBvhTriangleMeshShape___destroy___0=
+b.asm.ol).apply(null,arguments)},un=b._emscripten_bind_btHeightfieldTerrainShape_btHeightfieldTerrainShape_9=function(){return(un=b._emscripten_bind_btHeightfieldTerrainShape_btHeightfieldTerrainShape_9=b.asm.pl).apply(null,arguments)},vn=b._emscripten_bind_btHeightfieldTerrainShape_setMargin_1=function(){return(vn=b._emscripten_bind_btHeightfieldTerrainShape_setMargin_1=b.asm.ql).apply(null,arguments)},wn=b._emscripten_bind_btHeightfieldTerrainShape_getMargin_0=function(){return(wn=b._emscripten_bind_btHeightfieldTerrainShape_getMargin_0=
+b.asm.rl).apply(null,arguments)},xn=b._emscripten_bind_btHeightfieldTerrainShape_setLocalScaling_1=function(){return(xn=b._emscripten_bind_btHeightfieldTerrainShape_setLocalScaling_1=b.asm.sl).apply(null,arguments)},yn=b._emscripten_bind_btHeightfieldTerrainShape_getLocalScaling_0=function(){return(yn=b._emscripten_bind_btHeightfieldTerrainShape_getLocalScaling_0=b.asm.tl).apply(null,arguments)},zn=b._emscripten_bind_btHeightfieldTerrainShape_calculateLocalInertia_2=function(){return(zn=b._emscripten_bind_btHeightfieldTerrainShape_calculateLocalInertia_2=
+b.asm.ul).apply(null,arguments)},An=b._emscripten_bind_btHeightfieldTerrainShape___destroy___0=function(){return(An=b._emscripten_bind_btHeightfieldTerrainShape___destroy___0=b.asm.vl).apply(null,arguments)},Bn=b._emscripten_bind_btAABB_btAABB_4=function(){return(Bn=b._emscripten_bind_btAABB_btAABB_4=b.asm.wl).apply(null,arguments)},Cn=b._emscripten_bind_btAABB_invalidate_0=function(){return(Cn=b._emscripten_bind_btAABB_invalidate_0=b.asm.xl).apply(null,arguments)},Dn=b._emscripten_bind_btAABB_increment_margin_1=
+function(){return(Dn=b._emscripten_bind_btAABB_increment_margin_1=b.asm.yl).apply(null,arguments)},En=b._emscripten_bind_btAABB_copy_with_margin_2=function(){return(En=b._emscripten_bind_btAABB_copy_with_margin_2=b.asm.zl).apply(null,arguments)},Fn=b._emscripten_bind_btAABB___destroy___0=function(){return(Fn=b._emscripten_bind_btAABB___destroy___0=b.asm.Al).apply(null,arguments)},Gn=b._emscripten_bind_btPrimitiveTriangle_btPrimitiveTriangle_0=function(){return(Gn=b._emscripten_bind_btPrimitiveTriangle_btPrimitiveTriangle_0=
+b.asm.Bl).apply(null,arguments)},Hn=b._emscripten_bind_btPrimitiveTriangle___destroy___0=function(){return(Hn=b._emscripten_bind_btPrimitiveTriangle___destroy___0=b.asm.Cl).apply(null,arguments)},In=b._emscripten_bind_btTriangleShapeEx_btTriangleShapeEx_3=function(){return(In=b._emscripten_bind_btTriangleShapeEx_btTriangleShapeEx_3=b.asm.Dl).apply(null,arguments)},Jn=b._emscripten_bind_btTriangleShapeEx_getAabb_3=function(){return(Jn=b._emscripten_bind_btTriangleShapeEx_getAabb_3=b.asm.El).apply(null,
+arguments)},Kn=b._emscripten_bind_btTriangleShapeEx_applyTransform_1=function(){return(Kn=b._emscripten_bind_btTriangleShapeEx_applyTransform_1=b.asm.Fl).apply(null,arguments)},Ln=b._emscripten_bind_btTriangleShapeEx_buildTriPlane_1=function(){return(Ln=b._emscripten_bind_btTriangleShapeEx_buildTriPlane_1=b.asm.Gl).apply(null,arguments)},Mn=b._emscripten_bind_btTriangleShapeEx___destroy___0=function(){return(Mn=b._emscripten_bind_btTriangleShapeEx___destroy___0=b.asm.Hl).apply(null,arguments)},Nn=
+b._emscripten_bind_btTetrahedronShapeEx_btTetrahedronShapeEx_0=function(){return(Nn=b._emscripten_bind_btTetrahedronShapeEx_btTetrahedronShapeEx_0=b.asm.Il).apply(null,arguments)},On=b._emscripten_bind_btTetrahedronShapeEx_setVertices_4=function(){return(On=b._emscripten_bind_btTetrahedronShapeEx_setVertices_4=b.asm.Jl).apply(null,arguments)},Pn=b._emscripten_bind_btTetrahedronShapeEx___destroy___0=function(){return(Pn=b._emscripten_bind_btTetrahedronShapeEx___destroy___0=b.asm.Kl).apply(null,arguments)},
+Qn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_count_0=function(){return(Qn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_count_0=b.asm.Ll).apply(null,arguments)},Rn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_box_2=function(){return(Rn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_box_2=b.asm.Ml).apply(null,arguments)},Sn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_triangle_2=function(){return(Sn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_triangle_2=
+b.asm.Nl).apply(null,arguments)},Tn=b._emscripten_bind_CompoundPrimitiveManager_is_trimesh_0=function(){return(Tn=b._emscripten_bind_CompoundPrimitiveManager_is_trimesh_0=b.asm.Ol).apply(null,arguments)},Un=b._emscripten_bind_CompoundPrimitiveManager_get_m_compoundShape_0=function(){return(Un=b._emscripten_bind_CompoundPrimitiveManager_get_m_compoundShape_0=b.asm.Pl).apply(null,arguments)},Vn=b._emscripten_bind_CompoundPrimitiveManager_set_m_compoundShape_1=function(){return(Vn=b._emscripten_bind_CompoundPrimitiveManager_set_m_compoundShape_1=
+b.asm.Ql).apply(null,arguments)},Wn=b._emscripten_bind_CompoundPrimitiveManager___destroy___0=function(){return(Wn=b._emscripten_bind_CompoundPrimitiveManager___destroy___0=b.asm.Rl).apply(null,arguments)},Xn=b._emscripten_bind_btGImpactCompoundShape_btGImpactCompoundShape_0=function(){return(Xn=b._emscripten_bind_btGImpactCompoundShape_btGImpactCompoundShape_0=b.asm.Sl).apply(null,arguments)},Yn=b._emscripten_bind_btGImpactCompoundShape_btGImpactCompoundShape_1=function(){return(Yn=b._emscripten_bind_btGImpactCompoundShape_btGImpactCompoundShape_1=
+b.asm.Tl).apply(null,arguments)},Zn=b._emscripten_bind_btGImpactCompoundShape_childrenHasTransform_0=function(){return(Zn=b._emscripten_bind_btGImpactCompoundShape_childrenHasTransform_0=b.asm.Ul).apply(null,arguments)},$n=b._emscripten_bind_btGImpactCompoundShape_getPrimitiveManager_0=function(){return($n=b._emscripten_bind_btGImpactCompoundShape_getPrimitiveManager_0=b.asm.Vl).apply(null,arguments)},ao=b._emscripten_bind_btGImpactCompoundShape_getCompoundPrimitiveManager_0=function(){return(ao=
+b._emscripten_bind_btGImpactCompoundShape_getCompoundPrimitiveManager_0=b.asm.Wl).apply(null,arguments)},bo=b._emscripten_bind_btGImpactCompoundShape_getNumChildShapes_0=function(){return(bo=b._emscripten_bind_btGImpactCompoundShape_getNumChildShapes_0=b.asm.Xl).apply(null,arguments)},co=b._emscripten_bind_btGImpactCompoundShape_addChildShape_2=function(){return(co=b._emscripten_bind_btGImpactCompoundShape_addChildShape_2=b.asm.Yl).apply(null,arguments)},eo=b._emscripten_bind_btGImpactCompoundShape_getChildShape_1=
+function(){return(eo=b._emscripten_bind_btGImpactCompoundShape_getChildShape_1=b.asm.Zl).apply(null,arguments)},fo=b._emscripten_bind_btGImpactCompoundShape_getChildAabb_4=function(){return(fo=b._emscripten_bind_btGImpactCompoundShape_getChildAabb_4=b.asm._l).apply(null,arguments)},go=b._emscripten_bind_btGImpactCompoundShape_getChildTransform_1=function(){return(go=b._emscripten_bind_btGImpactCompoundShape_getChildTransform_1=b.asm.$l).apply(null,arguments)},ho=b._emscripten_bind_btGImpactCompoundShape_setChildTransform_2=
+function(){return(ho=b._emscripten_bind_btGImpactCompoundShape_setChildTransform_2=b.asm.am).apply(null,arguments)},io=b._emscripten_bind_btGImpactCompoundShape_calculateLocalInertia_2=function(){return(io=b._emscripten_bind_btGImpactCompoundShape_calculateLocalInertia_2=b.asm.bm).apply(null,arguments)},jo=b._emscripten_bind_btGImpactCompoundShape_getName_0=function(){return(jo=b._emscripten_bind_btGImpactCompoundShape_getName_0=b.asm.cm).apply(null,arguments)},ko=b._emscripten_bind_btGImpactCompoundShape_getGImpactShapeType_0=
+function(){return(ko=b._emscripten_bind_btGImpactCompoundShape_getGImpactShapeType_0=b.asm.dm).apply(null,arguments)},lo=b._emscripten_bind_btGImpactCompoundShape_setLocalScaling_1=function(){return(lo=b._emscripten_bind_btGImpactCompoundShape_setLocalScaling_1=b.asm.em).apply(null,arguments)},mo=b._emscripten_bind_btGImpactCompoundShape_getLocalScaling_0=function(){return(mo=b._emscripten_bind_btGImpactCompoundShape_getLocalScaling_0=b.asm.fm).apply(null,arguments)},no=b._emscripten_bind_btGImpactCompoundShape_updateBound_0=
+function(){return(no=b._emscripten_bind_btGImpactCompoundShape_updateBound_0=b.asm.gm).apply(null,arguments)},oo=b._emscripten_bind_btGImpactCompoundShape_postUpdate_0=function(){return(oo=b._emscripten_bind_btGImpactCompoundShape_postUpdate_0=b.asm.hm).apply(null,arguments)},po=b._emscripten_bind_btGImpactCompoundShape_getShapeType_0=function(){return(po=b._emscripten_bind_btGImpactCompoundShape_getShapeType_0=b.asm.im).apply(null,arguments)},qo=b._emscripten_bind_btGImpactCompoundShape_needsRetrieveTriangles_0=
+function(){return(qo=b._emscripten_bind_btGImpactCompoundShape_needsRetrieveTriangles_0=b.asm.jm).apply(null,arguments)},ro=b._emscripten_bind_btGImpactCompoundShape_needsRetrieveTetrahedrons_0=function(){return(ro=b._emscripten_bind_btGImpactCompoundShape_needsRetrieveTetrahedrons_0=b.asm.km).apply(null,arguments)},so=b._emscripten_bind_btGImpactCompoundShape_getBulletTriangle_2=function(){return(so=b._emscripten_bind_btGImpactCompoundShape_getBulletTriangle_2=b.asm.lm).apply(null,arguments)},to=
+b._emscripten_bind_btGImpactCompoundShape_getBulletTetrahedron_2=function(){return(to=b._emscripten_bind_btGImpactCompoundShape_getBulletTetrahedron_2=b.asm.mm).apply(null,arguments)},uo=b._emscripten_bind_btGImpactCompoundShape___destroy___0=function(){return(uo=b._emscripten_bind_btGImpactCompoundShape___destroy___0=b.asm.nm).apply(null,arguments)},vo=b._emscripten_bind_TrimeshPrimitiveManager_TrimeshPrimitiveManager_0=function(){return(vo=b._emscripten_bind_TrimeshPrimitiveManager_TrimeshPrimitiveManager_0=
+b.asm.om).apply(null,arguments)},wo=b._emscripten_bind_TrimeshPrimitiveManager_TrimeshPrimitiveManager_1=function(){return(wo=b._emscripten_bind_TrimeshPrimitiveManager_TrimeshPrimitiveManager_1=b.asm.pm).apply(null,arguments)},xo=b._emscripten_bind_TrimeshPrimitiveManager_lock_0=function(){return(xo=b._emscripten_bind_TrimeshPrimitiveManager_lock_0=b.asm.qm).apply(null,arguments)},yo=b._emscripten_bind_TrimeshPrimitiveManager_unlock_0=function(){return(yo=b._emscripten_bind_TrimeshPrimitiveManager_unlock_0=
+b.asm.rm).apply(null,arguments)},zo=b._emscripten_bind_TrimeshPrimitiveManager_is_trimesh_0=function(){return(zo=b._emscripten_bind_TrimeshPrimitiveManager_is_trimesh_0=b.asm.sm).apply(null,arguments)},Ao=b._emscripten_bind_TrimeshPrimitiveManager_get_vertex_count_0=function(){return(Ao=b._emscripten_bind_TrimeshPrimitiveManager_get_vertex_count_0=b.asm.tm).apply(null,arguments)},Bo=b._emscripten_bind_TrimeshPrimitiveManager_get_indices_4=function(){return(Bo=b._emscripten_bind_TrimeshPrimitiveManager_get_indices_4=
+b.asm.um).apply(null,arguments)},Co=b._emscripten_bind_TrimeshPrimitiveManager_get_vertex_2=function(){return(Co=b._emscripten_bind_TrimeshPrimitiveManager_get_vertex_2=b.asm.vm).apply(null,arguments)},Do=b._emscripten_bind_TrimeshPrimitiveManager_get_bullet_triangle_2=function(){return(Do=b._emscripten_bind_TrimeshPrimitiveManager_get_bullet_triangle_2=b.asm.wm).apply(null,arguments)},Eo=b._emscripten_bind_TrimeshPrimitiveManager_get_m_margin_0=function(){return(Eo=b._emscripten_bind_TrimeshPrimitiveManager_get_m_margin_0=
+b.asm.xm).apply(null,arguments)},Fo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_margin_1=function(){return(Fo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_margin_1=b.asm.ym).apply(null,arguments)},Go=b._emscripten_bind_TrimeshPrimitiveManager_get_m_meshInterface_0=function(){return(Go=b._emscripten_bind_TrimeshPrimitiveManager_get_m_meshInterface_0=b.asm.zm).apply(null,arguments)},Ho=b._emscripten_bind_TrimeshPrimitiveManager_set_m_meshInterface_1=function(){return(Ho=b._emscripten_bind_TrimeshPrimitiveManager_set_m_meshInterface_1=
+b.asm.Am).apply(null,arguments)},Io=b._emscripten_bind_TrimeshPrimitiveManager_get_m_part_0=function(){return(Io=b._emscripten_bind_TrimeshPrimitiveManager_get_m_part_0=b.asm.Bm).apply(null,arguments)},Jo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_part_1=function(){return(Jo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_part_1=b.asm.Cm).apply(null,arguments)},Ko=b._emscripten_bind_TrimeshPrimitiveManager_get_m_lock_count_0=function(){return(Ko=b._emscripten_bind_TrimeshPrimitiveManager_get_m_lock_count_0=
+b.asm.Dm).apply(null,arguments)},Lo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_lock_count_1=function(){return(Lo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_lock_count_1=b.asm.Em).apply(null,arguments)},Mo=b._emscripten_bind_TrimeshPrimitiveManager_get_numverts_0=function(){return(Mo=b._emscripten_bind_TrimeshPrimitiveManager_get_numverts_0=b.asm.Fm).apply(null,arguments)},No=b._emscripten_bind_TrimeshPrimitiveManager_set_numverts_1=function(){return(No=b._emscripten_bind_TrimeshPrimitiveManager_set_numverts_1=
+b.asm.Gm).apply(null,arguments)},Oo=b._emscripten_bind_TrimeshPrimitiveManager_get_type_0=function(){return(Oo=b._emscripten_bind_TrimeshPrimitiveManager_get_type_0=b.asm.Hm).apply(null,arguments)},Po=b._emscripten_bind_TrimeshPrimitiveManager_set_type_1=function(){return(Po=b._emscripten_bind_TrimeshPrimitiveManager_set_type_1=b.asm.Im).apply(null,arguments)},Qo=b._emscripten_bind_TrimeshPrimitiveManager_get_stride_0=function(){return(Qo=b._emscripten_bind_TrimeshPrimitiveManager_get_stride_0=b.asm.Jm).apply(null,
+arguments)},Ro=b._emscripten_bind_TrimeshPrimitiveManager_set_stride_1=function(){return(Ro=b._emscripten_bind_TrimeshPrimitiveManager_set_stride_1=b.asm.Km).apply(null,arguments)},So=b._emscripten_bind_TrimeshPrimitiveManager_get_indexstride_0=function(){return(So=b._emscripten_bind_TrimeshPrimitiveManager_get_indexstride_0=b.asm.Lm).apply(null,arguments)},To=b._emscripten_bind_TrimeshPrimitiveManager_set_indexstride_1=function(){return(To=b._emscripten_bind_TrimeshPrimitiveManager_set_indexstride_1=
+b.asm.Mm).apply(null,arguments)},Uo=b._emscripten_bind_TrimeshPrimitiveManager_get_numfaces_0=function(){return(Uo=b._emscripten_bind_TrimeshPrimitiveManager_get_numfaces_0=b.asm.Nm).apply(null,arguments)},Vo=b._emscripten_bind_TrimeshPrimitiveManager_set_numfaces_1=function(){return(Vo=b._emscripten_bind_TrimeshPrimitiveManager_set_numfaces_1=b.asm.Om).apply(null,arguments)},Wo=b._emscripten_bind_TrimeshPrimitiveManager_get_indicestype_0=function(){return(Wo=b._emscripten_bind_TrimeshPrimitiveManager_get_indicestype_0=
+b.asm.Pm).apply(null,arguments)},Xo=b._emscripten_bind_TrimeshPrimitiveManager_set_indicestype_1=function(){return(Xo=b._emscripten_bind_TrimeshPrimitiveManager_set_indicestype_1=b.asm.Qm).apply(null,arguments)},Yo=b._emscripten_bind_TrimeshPrimitiveManager___destroy___0=function(){return(Yo=b._emscripten_bind_TrimeshPrimitiveManager___destroy___0=b.asm.Rm).apply(null,arguments)},Zo=b._emscripten_bind_btGImpactMeshShapePart_btGImpactMeshShapePart_2=function(){return(Zo=b._emscripten_bind_btGImpactMeshShapePart_btGImpactMeshShapePart_2=
+b.asm.Sm).apply(null,arguments)},$o=b._emscripten_bind_btGImpactMeshShapePart_getTrimeshPrimitiveManager_0=function(){return($o=b._emscripten_bind_btGImpactMeshShapePart_getTrimeshPrimitiveManager_0=b.asm.Tm).apply(null,arguments)},ap=b._emscripten_bind_btGImpactMeshShapePart_getVertexCount_0=function(){return(ap=b._emscripten_bind_btGImpactMeshShapePart_getVertexCount_0=b.asm.Um).apply(null,arguments)},bp=b._emscripten_bind_btGImpactMeshShapePart_getVertex_2=function(){return(bp=b._emscripten_bind_btGImpactMeshShapePart_getVertex_2=
+b.asm.Vm).apply(null,arguments)},cp=b._emscripten_bind_btGImpactMeshShapePart_getPart_0=function(){return(cp=b._emscripten_bind_btGImpactMeshShapePart_getPart_0=b.asm.Wm).apply(null,arguments)},dp=b._emscripten_bind_btGImpactMeshShapePart_setLocalScaling_1=function(){return(dp=b._emscripten_bind_btGImpactMeshShapePart_setLocalScaling_1=b.asm.Xm).apply(null,arguments)},ep=b._emscripten_bind_btGImpactMeshShapePart_getLocalScaling_0=function(){return(ep=b._emscripten_bind_btGImpactMeshShapePart_getLocalScaling_0=
+b.asm.Ym).apply(null,arguments)},fp=b._emscripten_bind_btGImpactMeshShapePart_updateBound_0=function(){return(fp=b._emscripten_bind_btGImpactMeshShapePart_updateBound_0=b.asm.Zm).apply(null,arguments)},gp=b._emscripten_bind_btGImpactMeshShapePart_postUpdate_0=function(){return(gp=b._emscripten_bind_btGImpactMeshShapePart_postUpdate_0=b.asm._m).apply(null,arguments)},hp=b._emscripten_bind_btGImpactMeshShapePart_getShapeType_0=function(){return(hp=b._emscripten_bind_btGImpactMeshShapePart_getShapeType_0=
+b.asm.$m).apply(null,arguments)},ip=b._emscripten_bind_btGImpactMeshShapePart_needsRetrieveTriangles_0=function(){return(ip=b._emscripten_bind_btGImpactMeshShapePart_needsRetrieveTriangles_0=b.asm.an).apply(null,arguments)},jp=b._emscripten_bind_btGImpactMeshShapePart_needsRetrieveTetrahedrons_0=function(){return(jp=b._emscripten_bind_btGImpactMeshShapePart_needsRetrieveTetrahedrons_0=b.asm.bn).apply(null,arguments)},kp=b._emscripten_bind_btGImpactMeshShapePart_getBulletTriangle_2=function(){return(kp=
+b._emscripten_bind_btGImpactMeshShapePart_getBulletTriangle_2=b.asm.cn).apply(null,arguments)},lp=b._emscripten_bind_btGImpactMeshShapePart_getBulletTetrahedron_2=function(){return(lp=b._emscripten_bind_btGImpactMeshShapePart_getBulletTetrahedron_2=b.asm.dn).apply(null,arguments)},mp=b._emscripten_bind_btGImpactMeshShapePart___destroy___0=function(){return(mp=b._emscripten_bind_btGImpactMeshShapePart___destroy___0=b.asm.en).apply(null,arguments)},np=b._emscripten_bind_btGImpactMeshShape_btGImpactMeshShape_1=
+function(){return(np=b._emscripten_bind_btGImpactMeshShape_btGImpactMeshShape_1=b.asm.fn).apply(null,arguments)},op=b._emscripten_bind_btGImpactMeshShape_getMeshInterface_0=function(){return(op=b._emscripten_bind_btGImpactMeshShape_getMeshInterface_0=b.asm.gn).apply(null,arguments)},pp=b._emscripten_bind_btGImpactMeshShape_getMeshPartCount_0=function(){return(pp=b._emscripten_bind_btGImpactMeshShape_getMeshPartCount_0=b.asm.hn).apply(null,arguments)},qp=b._emscripten_bind_btGImpactMeshShape_getMeshPart_1=
+function(){return(qp=b._emscripten_bind_btGImpactMeshShape_getMeshPart_1=b.asm.jn).apply(null,arguments)},rp=b._emscripten_bind_btGImpactMeshShape_calculateSerializeBufferSize_0=function(){return(rp=b._emscripten_bind_btGImpactMeshShape_calculateSerializeBufferSize_0=b.asm.kn).apply(null,arguments)},sp=b._emscripten_bind_btGImpactMeshShape_setLocalScaling_1=function(){return(sp=b._emscripten_bind_btGImpactMeshShape_setLocalScaling_1=b.asm.ln).apply(null,arguments)},tp=b._emscripten_bind_btGImpactMeshShape_getLocalScaling_0=
+function(){return(tp=b._emscripten_bind_btGImpactMeshShape_getLocalScaling_0=b.asm.mn).apply(null,arguments)},up=b._emscripten_bind_btGImpactMeshShape_updateBound_0=function(){return(up=b._emscripten_bind_btGImpactMeshShape_updateBound_0=b.asm.nn).apply(null,arguments)},vp=b._emscripten_bind_btGImpactMeshShape_postUpdate_0=function(){return(vp=b._emscripten_bind_btGImpactMeshShape_postUpdate_0=b.asm.on).apply(null,arguments)},wp=b._emscripten_bind_btGImpactMeshShape_getShapeType_0=function(){return(wp=
+b._emscripten_bind_btGImpactMeshShape_getShapeType_0=b.asm.pn).apply(null,arguments)},xp=b._emscripten_bind_btGImpactMeshShape_needsRetrieveTriangles_0=function(){return(xp=b._emscripten_bind_btGImpactMeshShape_needsRetrieveTriangles_0=b.asm.qn).apply(null,arguments)},yp=b._emscripten_bind_btGImpactMeshShape_needsRetrieveTetrahedrons_0=function(){return(yp=b._emscripten_bind_btGImpactMeshShape_needsRetrieveTetrahedrons_0=b.asm.rn).apply(null,arguments)},zp=b._emscripten_bind_btGImpactMeshShape_getBulletTriangle_2=
+function(){return(zp=b._emscripten_bind_btGImpactMeshShape_getBulletTriangle_2=b.asm.sn).apply(null,arguments)},Ap=b._emscripten_bind_btGImpactMeshShape_getBulletTetrahedron_2=function(){return(Ap=b._emscripten_bind_btGImpactMeshShape_getBulletTetrahedron_2=b.asm.tn).apply(null,arguments)},Bp=b._emscripten_bind_btGImpactMeshShape___destroy___0=function(){return(Bp=b._emscripten_bind_btGImpactMeshShape___destroy___0=b.asm.un).apply(null,arguments)},Cp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_0=
+function(){return(Cp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_0=b.asm.vn).apply(null,arguments)},Dp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_2=function(){return(Dp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_2=b.asm.wn).apply(null,arguments)},Ep=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_get_m_dispatcher1_0=function(){return(Ep=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_get_m_dispatcher1_0=
+b.asm.xn).apply(null,arguments)},Fp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_set_m_dispatcher1_1=function(){return(Fp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_set_m_dispatcher1_1=b.asm.yn).apply(null,arguments)},Gp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_get_m_manifold_0=function(){return(Gp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_get_m_manifold_0=b.asm.zn).apply(null,arguments)},Hp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_set_m_manifold_1=
+function(){return(Hp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_set_m_manifold_1=b.asm.An).apply(null,arguments)},Ip=b._emscripten_bind_btCollisionAlgorithmConstructionInfo___destroy___0=function(){return(Ip=b._emscripten_bind_btCollisionAlgorithmConstructionInfo___destroy___0=b.asm.Bn).apply(null,arguments)},Jp=b._emscripten_bind_btGImpactCollisionAlgorithm_btGImpactCollisionAlgorithm_3=function(){return(Jp=b._emscripten_bind_btGImpactCollisionAlgorithm_btGImpactCollisionAlgorithm_3=
+b.asm.Cn).apply(null,arguments)},Kp=b._emscripten_bind_btGImpactCollisionAlgorithm_registerAlgorithm_1=function(){return(Kp=b._emscripten_bind_btGImpactCollisionAlgorithm_registerAlgorithm_1=b.asm.Dn).apply(null,arguments)},Lp=b._emscripten_bind_btGImpactCollisionAlgorithm___destroy___0=function(){return(Lp=b._emscripten_bind_btGImpactCollisionAlgorithm___destroy___0=b.asm.En).apply(null,arguments)},Mp=b._emscripten_bind_btDefaultCollisionConstructionInfo_btDefaultCollisionConstructionInfo_0=function(){return(Mp=
+b._emscripten_bind_btDefaultCollisionConstructionInfo_btDefaultCollisionConstructionInfo_0=b.asm.Fn).apply(null,arguments)},Np=b._emscripten_bind_btDefaultCollisionConstructionInfo___destroy___0=function(){return(Np=b._emscripten_bind_btDefaultCollisionConstructionInfo___destroy___0=b.asm.Gn).apply(null,arguments)},Op=b._emscripten_bind_btPersistentManifold_btPersistentManifold_0=function(){return(Op=b._emscripten_bind_btPersistentManifold_btPersistentManifold_0=b.asm.Hn).apply(null,arguments)},Pp=
+b._emscripten_bind_btPersistentManifold_getBody0_0=function(){return(Pp=b._emscripten_bind_btPersistentManifold_getBody0_0=b.asm.In).apply(null,arguments)},Qp=b._emscripten_bind_btPersistentManifold_getBody1_0=function(){return(Qp=b._emscripten_bind_btPersistentManifold_getBody1_0=b.asm.Jn).apply(null,arguments)},Rp=b._emscripten_bind_btPersistentManifold_getNumContacts_0=function(){return(Rp=b._emscripten_bind_btPersistentManifold_getNumContacts_0=b.asm.Kn).apply(null,arguments)},Sp=b._emscripten_bind_btPersistentManifold_getContactPoint_1=
+function(){return(Sp=b._emscripten_bind_btPersistentManifold_getContactPoint_1=b.asm.Ln).apply(null,arguments)},Tp=b._emscripten_bind_btPersistentManifold___destroy___0=function(){return(Tp=b._emscripten_bind_btPersistentManifold___destroy___0=b.asm.Mn).apply(null,arguments)},Up=b._emscripten_bind_btCollisionDispatcher_btCollisionDispatcher_1=function(){return(Up=b._emscripten_bind_btCollisionDispatcher_btCollisionDispatcher_1=b.asm.Nn).apply(null,arguments)},Vp=b._emscripten_bind_btCollisionDispatcher_getNumManifolds_0=
+function(){return(Vp=b._emscripten_bind_btCollisionDispatcher_getNumManifolds_0=b.asm.On).apply(null,arguments)},Wp=b._emscripten_bind_btCollisionDispatcher_getManifoldByIndexInternal_1=function(){return(Wp=b._emscripten_bind_btCollisionDispatcher_getManifoldByIndexInternal_1=b.asm.Pn).apply(null,arguments)},Xp=b._emscripten_bind_btCollisionDispatcher___destroy___0=function(){return(Xp=b._emscripten_bind_btCollisionDispatcher___destroy___0=b.asm.Qn).apply(null,arguments)},Yp=b._emscripten_bind_btOverlappingPairCallback___destroy___0=
+function(){return(Yp=b._emscripten_bind_btOverlappingPairCallback___destroy___0=b.asm.Rn).apply(null,arguments)},Zp=b._emscripten_bind_btOverlappingPairCache_setInternalGhostPairCallback_1=function(){return(Zp=b._emscripten_bind_btOverlappingPairCache_setInternalGhostPairCallback_1=b.asm.Sn).apply(null,arguments)},$p=b._emscripten_bind_btOverlappingPairCache_getNumOverlappingPairs_0=function(){return($p=b._emscripten_bind_btOverlappingPairCache_getNumOverlappingPairs_0=b.asm.Tn).apply(null,arguments)},
+aq=b._emscripten_bind_btOverlappingPairCache___destroy___0=function(){return(aq=b._emscripten_bind_btOverlappingPairCache___destroy___0=b.asm.Un).apply(null,arguments)},bq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_2=function(){return(bq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_2=b.asm.Vn).apply(null,arguments)},cq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_3=function(){return(cq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_3=b.asm.Wn).apply(null,arguments)},dq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_4=
+function(){return(dq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_4=b.asm.Xn).apply(null,arguments)},eq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_5=function(){return(eq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_5=b.asm.Yn).apply(null,arguments)},fq=b._emscripten_bind_btAxisSweep3___destroy___0=function(){return(fq=b._emscripten_bind_btAxisSweep3___destroy___0=b.asm.Zn).apply(null,arguments)},gq=b._emscripten_bind_btBroadphaseInterface_getOverlappingPairCache_0=function(){return(gq=b._emscripten_bind_btBroadphaseInterface_getOverlappingPairCache_0=
+b.asm._n).apply(null,arguments)},hq=b._emscripten_bind_btBroadphaseInterface___destroy___0=function(){return(hq=b._emscripten_bind_btBroadphaseInterface___destroy___0=b.asm.$n).apply(null,arguments)},iq=b._emscripten_bind_btCollisionConfiguration___destroy___0=function(){return(iq=b._emscripten_bind_btCollisionConfiguration___destroy___0=b.asm.ao).apply(null,arguments)},jq=b._emscripten_bind_btDbvtBroadphase_btDbvtBroadphase_0=function(){return(jq=b._emscripten_bind_btDbvtBroadphase_btDbvtBroadphase_0=
+b.asm.bo).apply(null,arguments)},kq=b._emscripten_bind_btDbvtBroadphase___destroy___0=function(){return(kq=b._emscripten_bind_btDbvtBroadphase___destroy___0=b.asm.co).apply(null,arguments)},lq=b._emscripten_bind_btBroadphaseProxy_get_m_collisionFilterGroup_0=function(){return(lq=b._emscripten_bind_btBroadphaseProxy_get_m_collisionFilterGroup_0=b.asm.eo).apply(null,arguments)},mq=b._emscripten_bind_btBroadphaseProxy_set_m_collisionFilterGroup_1=function(){return(mq=b._emscripten_bind_btBroadphaseProxy_set_m_collisionFilterGroup_1=
+b.asm.fo).apply(null,arguments)},nq=b._emscripten_bind_btBroadphaseProxy_get_m_collisionFilterMask_0=function(){return(nq=b._emscripten_bind_btBroadphaseProxy_get_m_collisionFilterMask_0=b.asm.go).apply(null,arguments)},oq=b._emscripten_bind_btBroadphaseProxy_set_m_collisionFilterMask_1=function(){return(oq=b._emscripten_bind_btBroadphaseProxy_set_m_collisionFilterMask_1=b.asm.ho).apply(null,arguments)},pq=b._emscripten_bind_btBroadphaseProxy___destroy___0=function(){return(pq=b._emscripten_bind_btBroadphaseProxy___destroy___0=
+b.asm.io).apply(null,arguments)},qq=b._emscripten_bind_btRigidBodyConstructionInfo_btRigidBodyConstructionInfo_3=function(){return(qq=b._emscripten_bind_btRigidBodyConstructionInfo_btRigidBodyConstructionInfo_3=b.asm.jo).apply(null,arguments)},rq=b._emscripten_bind_btRigidBodyConstructionInfo_btRigidBodyConstructionInfo_4=function(){return(rq=b._emscripten_bind_btRigidBodyConstructionInfo_btRigidBodyConstructionInfo_4=b.asm.ko).apply(null,arguments)},sq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_linearDamping_0=
+function(){return(sq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_linearDamping_0=b.asm.lo).apply(null,arguments)},tq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_linearDamping_1=function(){return(tq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_linearDamping_1=b.asm.mo).apply(null,arguments)},uq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_angularDamping_0=function(){return(uq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_angularDamping_0=b.asm.no).apply(null,
+arguments)},vq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_angularDamping_1=function(){return(vq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_angularDamping_1=b.asm.oo).apply(null,arguments)},wq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_friction_0=function(){return(wq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_friction_0=b.asm.po).apply(null,arguments)},xq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_friction_1=function(){return(xq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_friction_1=
+b.asm.qo).apply(null,arguments)},yq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_rollingFriction_0=function(){return(yq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_rollingFriction_0=b.asm.ro).apply(null,arguments)},zq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_rollingFriction_1=function(){return(zq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_rollingFriction_1=b.asm.so).apply(null,arguments)},Aq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_restitution_0=
+function(){return(Aq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_restitution_0=b.asm.to).apply(null,arguments)},Bq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_restitution_1=function(){return(Bq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_restitution_1=b.asm.uo).apply(null,arguments)},Cq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_linearSleepingThreshold_0=function(){return(Cq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_linearSleepingThreshold_0=b.asm.vo).apply(null,
+arguments)},Dq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_linearSleepingThreshold_1=function(){return(Dq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_linearSleepingThreshold_1=b.asm.wo).apply(null,arguments)},Eq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_angularSleepingThreshold_0=function(){return(Eq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_angularSleepingThreshold_0=b.asm.xo).apply(null,arguments)},Fq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_angularSleepingThreshold_1=
+function(){return(Fq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_angularSleepingThreshold_1=b.asm.yo).apply(null,arguments)},Gq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalDamping_0=function(){return(Gq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalDamping_0=b.asm.zo).apply(null,arguments)},Hq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalDamping_1=function(){return(Hq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalDamping_1=
+b.asm.Ao).apply(null,arguments)},Iq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalDampingFactor_0=function(){return(Iq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalDampingFactor_0=b.asm.Bo).apply(null,arguments)},Jq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalDampingFactor_1=function(){return(Jq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalDampingFactor_1=b.asm.Co).apply(null,arguments)},Kq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalLinearDampingThresholdSqr_0=
+function(){return(Kq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalLinearDampingThresholdSqr_0=b.asm.Do).apply(null,arguments)},Lq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalLinearDampingThresholdSqr_1=function(){return(Lq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalLinearDampingThresholdSqr_1=b.asm.Eo).apply(null,arguments)},Mq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalAngularDampingThresholdSqr_0=function(){return(Mq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalAngularDampingThresholdSqr_0=
+b.asm.Fo).apply(null,arguments)},Nq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalAngularDampingThresholdSqr_1=function(){return(Nq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalAngularDampingThresholdSqr_1=b.asm.Go).apply(null,arguments)},Oq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalAngularDampingFactor_0=function(){return(Oq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalAngularDampingFactor_0=b.asm.Ho).apply(null,arguments)},
+Pq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalAngularDampingFactor_1=function(){return(Pq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalAngularDampingFactor_1=b.asm.Io).apply(null,arguments)},Qq=b._emscripten_bind_btRigidBodyConstructionInfo___destroy___0=function(){return(Qq=b._emscripten_bind_btRigidBodyConstructionInfo___destroy___0=b.asm.Jo).apply(null,arguments)},Rq=b._emscripten_bind_btRigidBody_btRigidBody_1=function(){return(Rq=b._emscripten_bind_btRigidBody_btRigidBody_1=
+b.asm.Ko).apply(null,arguments)},Sq=b._emscripten_bind_btRigidBody_getCenterOfMassTransform_0=function(){return(Sq=b._emscripten_bind_btRigidBody_getCenterOfMassTransform_0=b.asm.Lo).apply(null,arguments)},Tq=b._emscripten_bind_btRigidBody_setCenterOfMassTransform_1=function(){return(Tq=b._emscripten_bind_btRigidBody_setCenterOfMassTransform_1=b.asm.Mo).apply(null,arguments)},Uq=b._emscripten_bind_btRigidBody_setSleepingThresholds_2=function(){return(Uq=b._emscripten_bind_btRigidBody_setSleepingThresholds_2=
+b.asm.No).apply(null,arguments)},Vq=b._emscripten_bind_btRigidBody_getLinearDamping_0=function(){return(Vq=b._emscripten_bind_btRigidBody_getLinearDamping_0=b.asm.Oo).apply(null,arguments)},Wq=b._emscripten_bind_btRigidBody_getAngularDamping_0=function(){return(Wq=b._emscripten_bind_btRigidBody_getAngularDamping_0=b.asm.Po).apply(null,arguments)},Xq=b._emscripten_bind_btRigidBody_setDamping_2=function(){return(Xq=b._emscripten_bind_btRigidBody_setDamping_2=b.asm.Qo).apply(null,arguments)},Yq=b._emscripten_bind_btRigidBody_setMassProps_2=
+function(){return(Yq=b._emscripten_bind_btRigidBody_setMassProps_2=b.asm.Ro).apply(null,arguments)},Zq=b._emscripten_bind_btRigidBody_getLinearFactor_0=function(){return(Zq=b._emscripten_bind_btRigidBody_getLinearFactor_0=b.asm.So).apply(null,arguments)},$q=b._emscripten_bind_btRigidBody_setLinearFactor_1=function(){return($q=b._emscripten_bind_btRigidBody_setLinearFactor_1=b.asm.To).apply(null,arguments)},ar=b._emscripten_bind_btRigidBody_applyTorque_1=function(){return(ar=b._emscripten_bind_btRigidBody_applyTorque_1=
+b.asm.Uo).apply(null,arguments)},br=b._emscripten_bind_btRigidBody_applyLocalTorque_1=function(){return(br=b._emscripten_bind_btRigidBody_applyLocalTorque_1=b.asm.Vo).apply(null,arguments)},cr=b._emscripten_bind_btRigidBody_applyForce_2=function(){return(cr=b._emscripten_bind_btRigidBody_applyForce_2=b.asm.Wo).apply(null,arguments)},dr=b._emscripten_bind_btRigidBody_applyCentralForce_1=function(){return(dr=b._emscripten_bind_btRigidBody_applyCentralForce_1=b.asm.Xo).apply(null,arguments)},er=b._emscripten_bind_btRigidBody_applyCentralLocalForce_1=
+function(){return(er=b._emscripten_bind_btRigidBody_applyCentralLocalForce_1=b.asm.Yo).apply(null,arguments)},fr=b._emscripten_bind_btRigidBody_applyTorqueImpulse_1=function(){return(fr=b._emscripten_bind_btRigidBody_applyTorqueImpulse_1=b.asm.Zo).apply(null,arguments)},gr=b._emscripten_bind_btRigidBody_applyImpulse_2=function(){return(gr=b._emscripten_bind_btRigidBody_applyImpulse_2=b.asm._o).apply(null,arguments)},hr=b._emscripten_bind_btRigidBody_applyCentralImpulse_1=function(){return(hr=b._emscripten_bind_btRigidBody_applyCentralImpulse_1=
+b.asm.$o).apply(null,arguments)},ir=b._emscripten_bind_btRigidBody_updateInertiaTensor_0=function(){return(ir=b._emscripten_bind_btRigidBody_updateInertiaTensor_0=b.asm.ap).apply(null,arguments)},jr=b._emscripten_bind_btRigidBody_getLinearVelocity_0=function(){return(jr=b._emscripten_bind_btRigidBody_getLinearVelocity_0=b.asm.bp).apply(null,arguments)},kr=b._emscripten_bind_btRigidBody_getAngularVelocity_0=function(){return(kr=b._emscripten_bind_btRigidBody_getAngularVelocity_0=b.asm.cp).apply(null,
+arguments)},lr=b._emscripten_bind_btRigidBody_setLinearVelocity_1=function(){return(lr=b._emscripten_bind_btRigidBody_setLinearVelocity_1=b.asm.dp).apply(null,arguments)},mr=b._emscripten_bind_btRigidBody_setAngularVelocity_1=function(){return(mr=b._emscripten_bind_btRigidBody_setAngularVelocity_1=b.asm.ep).apply(null,arguments)},nr=b._emscripten_bind_btRigidBody_getMotionState_0=function(){return(nr=b._emscripten_bind_btRigidBody_getMotionState_0=b.asm.fp).apply(null,arguments)},or=b._emscripten_bind_btRigidBody_setMotionState_1=
+function(){return(or=b._emscripten_bind_btRigidBody_setMotionState_1=b.asm.gp).apply(null,arguments)},pr=b._emscripten_bind_btRigidBody_getAngularFactor_0=function(){return(pr=b._emscripten_bind_btRigidBody_getAngularFactor_0=b.asm.hp).apply(null,arguments)},qr=b._emscripten_bind_btRigidBody_setAngularFactor_1=function(){return(qr=b._emscripten_bind_btRigidBody_setAngularFactor_1=b.asm.ip).apply(null,arguments)},rr=b._emscripten_bind_btRigidBody_upcast_1=function(){return(rr=b._emscripten_bind_btRigidBody_upcast_1=
+b.asm.jp).apply(null,arguments)},sr=b._emscripten_bind_btRigidBody_getAabb_2=function(){return(sr=b._emscripten_bind_btRigidBody_getAabb_2=b.asm.kp).apply(null,arguments)},tr=b._emscripten_bind_btRigidBody_applyGravity_0=function(){return(tr=b._emscripten_bind_btRigidBody_applyGravity_0=b.asm.lp).apply(null,arguments)},ur=b._emscripten_bind_btRigidBody_getGravity_0=function(){return(ur=b._emscripten_bind_btRigidBody_getGravity_0=b.asm.mp).apply(null,arguments)},vr=b._emscripten_bind_btRigidBody_setGravity_1=
+function(){return(vr=b._emscripten_bind_btRigidBody_setGravity_1=b.asm.np).apply(null,arguments)},wr=b._emscripten_bind_btRigidBody_getBroadphaseProxy_0=function(){return(wr=b._emscripten_bind_btRigidBody_getBroadphaseProxy_0=b.asm.op).apply(null,arguments)},xr=b._emscripten_bind_btRigidBody_clearForces_0=function(){return(xr=b._emscripten_bind_btRigidBody_clearForces_0=b.asm.pp).apply(null,arguments)},yr=b._emscripten_bind_btRigidBody_setFlags_1=function(){return(yr=b._emscripten_bind_btRigidBody_setFlags_1=
+b.asm.qp).apply(null,arguments)},zr=b._emscripten_bind_btRigidBody_getFlags_0=function(){return(zr=b._emscripten_bind_btRigidBody_getFlags_0=b.asm.rp).apply(null,arguments)},Ar=b._emscripten_bind_btRigidBody_setAnisotropicFriction_2=function(){return(Ar=b._emscripten_bind_btRigidBody_setAnisotropicFriction_2=b.asm.sp).apply(null,arguments)},Br=b._emscripten_bind_btRigidBody_getCollisionShape_0=function(){return(Br=b._emscripten_bind_btRigidBody_getCollisionShape_0=b.asm.tp).apply(null,arguments)},
+Cr=b._emscripten_bind_btRigidBody_setContactProcessingThreshold_1=function(){return(Cr=b._emscripten_bind_btRigidBody_setContactProcessingThreshold_1=b.asm.up).apply(null,arguments)},Dr=b._emscripten_bind_btRigidBody_setActivationState_1=function(){return(Dr=b._emscripten_bind_btRigidBody_setActivationState_1=b.asm.vp).apply(null,arguments)},Er=b._emscripten_bind_btRigidBody_forceActivationState_1=function(){return(Er=b._emscripten_bind_btRigidBody_forceActivationState_1=b.asm.wp).apply(null,arguments)},
+Fr=b._emscripten_bind_btRigidBody_activate_0=function(){return(Fr=b._emscripten_bind_btRigidBody_activate_0=b.asm.xp).apply(null,arguments)},Gr=b._emscripten_bind_btRigidBody_activate_1=function(){return(Gr=b._emscripten_bind_btRigidBody_activate_1=b.asm.yp).apply(null,arguments)},Hr=b._emscripten_bind_btRigidBody_isActive_0=function(){return(Hr=b._emscripten_bind_btRigidBody_isActive_0=b.asm.zp).apply(null,arguments)},Ir=b._emscripten_bind_btRigidBody_isKinematicObject_0=function(){return(Ir=b._emscripten_bind_btRigidBody_isKinematicObject_0=
+b.asm.Ap).apply(null,arguments)},Jr=b._emscripten_bind_btRigidBody_isStaticObject_0=function(){return(Jr=b._emscripten_bind_btRigidBody_isStaticObject_0=b.asm.Bp).apply(null,arguments)},Kr=b._emscripten_bind_btRigidBody_isStaticOrKinematicObject_0=function(){return(Kr=b._emscripten_bind_btRigidBody_isStaticOrKinematicObject_0=b.asm.Cp).apply(null,arguments)},Lr=b._emscripten_bind_btRigidBody_getRestitution_0=function(){return(Lr=b._emscripten_bind_btRigidBody_getRestitution_0=b.asm.Dp).apply(null,
+arguments)},Mr=b._emscripten_bind_btRigidBody_getFriction_0=function(){return(Mr=b._emscripten_bind_btRigidBody_getFriction_0=b.asm.Ep).apply(null,arguments)},Nr=b._emscripten_bind_btRigidBody_getRollingFriction_0=function(){return(Nr=b._emscripten_bind_btRigidBody_getRollingFriction_0=b.asm.Fp).apply(null,arguments)},Or=b._emscripten_bind_btRigidBody_setRestitution_1=function(){return(Or=b._emscripten_bind_btRigidBody_setRestitution_1=b.asm.Gp).apply(null,arguments)},Pr=b._emscripten_bind_btRigidBody_setFriction_1=
+function(){return(Pr=b._emscripten_bind_btRigidBody_setFriction_1=b.asm.Hp).apply(null,arguments)},Qr=b._emscripten_bind_btRigidBody_setRollingFriction_1=function(){return(Qr=b._emscripten_bind_btRigidBody_setRollingFriction_1=b.asm.Ip).apply(null,arguments)},Rr=b._emscripten_bind_btRigidBody_getWorldTransform_0=function(){return(Rr=b._emscripten_bind_btRigidBody_getWorldTransform_0=b.asm.Jp).apply(null,arguments)},Sr=b._emscripten_bind_btRigidBody_getCollisionFlags_0=function(){return(Sr=b._emscripten_bind_btRigidBody_getCollisionFlags_0=
+b.asm.Kp).apply(null,arguments)},Tr=b._emscripten_bind_btRigidBody_setCollisionFlags_1=function(){return(Tr=b._emscripten_bind_btRigidBody_setCollisionFlags_1=b.asm.Lp).apply(null,arguments)},Ur=b._emscripten_bind_btRigidBody_setWorldTransform_1=function(){return(Ur=b._emscripten_bind_btRigidBody_setWorldTransform_1=b.asm.Mp).apply(null,arguments)},Vr=b._emscripten_bind_btRigidBody_setCollisionShape_1=function(){return(Vr=b._emscripten_bind_btRigidBody_setCollisionShape_1=b.asm.Np).apply(null,arguments)},
+Wr=b._emscripten_bind_btRigidBody_setCcdMotionThreshold_1=function(){return(Wr=b._emscripten_bind_btRigidBody_setCcdMotionThreshold_1=b.asm.Op).apply(null,arguments)},Xr=b._emscripten_bind_btRigidBody_setCcdSweptSphereRadius_1=function(){return(Xr=b._emscripten_bind_btRigidBody_setCcdSweptSphereRadius_1=b.asm.Pp).apply(null,arguments)},Yr=b._emscripten_bind_btRigidBody_getUserIndex_0=function(){return(Yr=b._emscripten_bind_btRigidBody_getUserIndex_0=b.asm.Qp).apply(null,arguments)},Zr=b._emscripten_bind_btRigidBody_setUserIndex_1=
+function(){return(Zr=b._emscripten_bind_btRigidBody_setUserIndex_1=b.asm.Rp).apply(null,arguments)},$r=b._emscripten_bind_btRigidBody_getUserPointer_0=function(){return($r=b._emscripten_bind_btRigidBody_getUserPointer_0=b.asm.Sp).apply(null,arguments)},as=b._emscripten_bind_btRigidBody_setUserPointer_1=function(){return(as=b._emscripten_bind_btRigidBody_setUserPointer_1=b.asm.Tp).apply(null,arguments)},bs=b._emscripten_bind_btRigidBody_getBroadphaseHandle_0=function(){return(bs=b._emscripten_bind_btRigidBody_getBroadphaseHandle_0=
+b.asm.Up).apply(null,arguments)},cs=b._emscripten_bind_btRigidBody___destroy___0=function(){return(cs=b._emscripten_bind_btRigidBody___destroy___0=b.asm.Vp).apply(null,arguments)},ds=b._emscripten_bind_btConstraintSetting_btConstraintSetting_0=function(){return(ds=b._emscripten_bind_btConstraintSetting_btConstraintSetting_0=b.asm.Wp).apply(null,arguments)},es=b._emscripten_bind_btConstraintSetting_get_m_tau_0=function(){return(es=b._emscripten_bind_btConstraintSetting_get_m_tau_0=b.asm.Xp).apply(null,
+arguments)},gs=b._emscripten_bind_btConstraintSetting_set_m_tau_1=function(){return(gs=b._emscripten_bind_btConstraintSetting_set_m_tau_1=b.asm.Yp).apply(null,arguments)},hs=b._emscripten_bind_btConstraintSetting_get_m_damping_0=function(){return(hs=b._emscripten_bind_btConstraintSetting_get_m_damping_0=b.asm.Zp).apply(null,arguments)},is=b._emscripten_bind_btConstraintSetting_set_m_damping_1=function(){return(is=b._emscripten_bind_btConstraintSetting_set_m_damping_1=b.asm._p).apply(null,arguments)},
+js=b._emscripten_bind_btConstraintSetting_get_m_impulseClamp_0=function(){return(js=b._emscripten_bind_btConstraintSetting_get_m_impulseClamp_0=b.asm.$p).apply(null,arguments)},ks=b._emscripten_bind_btConstraintSetting_set_m_impulseClamp_1=function(){return(ks=b._emscripten_bind_btConstraintSetting_set_m_impulseClamp_1=b.asm.aq).apply(null,arguments)},ls=b._emscripten_bind_btConstraintSetting___destroy___0=function(){return(ls=b._emscripten_bind_btConstraintSetting___destroy___0=b.asm.bq).apply(null,
+arguments)},ms=b._emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_2=function(){return(ms=b._emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_2=b.asm.cq).apply(null,arguments)},ns=b._emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_4=function(){return(ns=b._emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_4=b.asm.dq).apply(null,arguments)},ps=b._emscripten_bind_btPoint2PointConstraint_setPivotA_1=function(){return(ps=b._emscripten_bind_btPoint2PointConstraint_setPivotA_1=
+b.asm.eq).apply(null,arguments)},qs=b._emscripten_bind_btPoint2PointConstraint_setPivotB_1=function(){return(qs=b._emscripten_bind_btPoint2PointConstraint_setPivotB_1=b.asm.fq).apply(null,arguments)},rs=b._emscripten_bind_btPoint2PointConstraint_getPivotInA_0=function(){return(rs=b._emscripten_bind_btPoint2PointConstraint_getPivotInA_0=b.asm.gq).apply(null,arguments)},ss=b._emscripten_bind_btPoint2PointConstraint_getPivotInB_0=function(){return(ss=b._emscripten_bind_btPoint2PointConstraint_getPivotInB_0=
+b.asm.hq).apply(null,arguments)},ts=b._emscripten_bind_btPoint2PointConstraint_enableFeedback_1=function(){return(ts=b._emscripten_bind_btPoint2PointConstraint_enableFeedback_1=b.asm.iq).apply(null,arguments)},us=b._emscripten_bind_btPoint2PointConstraint_getBreakingImpulseThreshold_0=function(){return(us=b._emscripten_bind_btPoint2PointConstraint_getBreakingImpulseThreshold_0=b.asm.jq).apply(null,arguments)},vs=b._emscripten_bind_btPoint2PointConstraint_setBreakingImpulseThreshold_1=function(){return(vs=
+b._emscripten_bind_btPoint2PointConstraint_setBreakingImpulseThreshold_1=b.asm.kq).apply(null,arguments)},xs=b._emscripten_bind_btPoint2PointConstraint_getParam_2=function(){return(xs=b._emscripten_bind_btPoint2PointConstraint_getParam_2=b.asm.lq).apply(null,arguments)},ys=b._emscripten_bind_btPoint2PointConstraint_setParam_3=function(){return(ys=b._emscripten_bind_btPoint2PointConstraint_setParam_3=b.asm.mq).apply(null,arguments)},zs=b._emscripten_bind_btPoint2PointConstraint_get_m_setting_0=function(){return(zs=
+b._emscripten_bind_btPoint2PointConstraint_get_m_setting_0=b.asm.nq).apply(null,arguments)},As=b._emscripten_bind_btPoint2PointConstraint_set_m_setting_1=function(){return(As=b._emscripten_bind_btPoint2PointConstraint_set_m_setting_1=b.asm.oq).apply(null,arguments)},Bs=b._emscripten_bind_btPoint2PointConstraint___destroy___0=function(){return(Bs=b._emscripten_bind_btPoint2PointConstraint___destroy___0=b.asm.pq).apply(null,arguments)},Cs=b._emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_3=
+function(){return(Cs=b._emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_3=b.asm.qq).apply(null,arguments)},Ds=b._emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_5=function(){return(Ds=b._emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_5=b.asm.rq).apply(null,arguments)},Es=b._emscripten_bind_btGeneric6DofSpringConstraint_enableSpring_2=function(){return(Es=b._emscripten_bind_btGeneric6DofSpringConstraint_enableSpring_2=
+b.asm.sq).apply(null,arguments)},Fs=b._emscripten_bind_btGeneric6DofSpringConstraint_setStiffness_2=function(){return(Fs=b._emscripten_bind_btGeneric6DofSpringConstraint_setStiffness_2=b.asm.tq).apply(null,arguments)},Gs=b._emscripten_bind_btGeneric6DofSpringConstraint_setDamping_2=function(){return(Gs=b._emscripten_bind_btGeneric6DofSpringConstraint_setDamping_2=b.asm.uq).apply(null,arguments)},Hs=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_0=function(){return(Hs=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_0=
+b.asm.vq).apply(null,arguments)},Is=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_1=function(){return(Is=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_1=b.asm.wq).apply(null,arguments)},Js=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_2=function(){return(Js=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_2=b.asm.xq).apply(null,arguments)},Ks=b._emscripten_bind_btGeneric6DofSpringConstraint_setLinearLowerLimit_1=
+function(){return(Ks=b._emscripten_bind_btGeneric6DofSpringConstraint_setLinearLowerLimit_1=b.asm.yq).apply(null,arguments)},Ls=b._emscripten_bind_btGeneric6DofSpringConstraint_setLinearUpperLimit_1=function(){return(Ls=b._emscripten_bind_btGeneric6DofSpringConstraint_setLinearUpperLimit_1=b.asm.zq).apply(null,arguments)},Ms=b._emscripten_bind_btGeneric6DofSpringConstraint_setAngularLowerLimit_1=function(){return(Ms=b._emscripten_bind_btGeneric6DofSpringConstraint_setAngularLowerLimit_1=b.asm.Aq).apply(null,
+arguments)},Ns=b._emscripten_bind_btGeneric6DofSpringConstraint_setAngularUpperLimit_1=function(){return(Ns=b._emscripten_bind_btGeneric6DofSpringConstraint_setAngularUpperLimit_1=b.asm.Bq).apply(null,arguments)},Os=b._emscripten_bind_btGeneric6DofSpringConstraint_getFrameOffsetA_0=function(){return(Os=b._emscripten_bind_btGeneric6DofSpringConstraint_getFrameOffsetA_0=b.asm.Cq).apply(null,arguments)},Ps=b._emscripten_bind_btGeneric6DofSpringConstraint_enableFeedback_1=function(){return(Ps=b._emscripten_bind_btGeneric6DofSpringConstraint_enableFeedback_1=
+b.asm.Dq).apply(null,arguments)},Qs=b._emscripten_bind_btGeneric6DofSpringConstraint_getBreakingImpulseThreshold_0=function(){return(Qs=b._emscripten_bind_btGeneric6DofSpringConstraint_getBreakingImpulseThreshold_0=b.asm.Eq).apply(null,arguments)},Rs=b._emscripten_bind_btGeneric6DofSpringConstraint_setBreakingImpulseThreshold_1=function(){return(Rs=b._emscripten_bind_btGeneric6DofSpringConstraint_setBreakingImpulseThreshold_1=b.asm.Fq).apply(null,arguments)},Ss=b._emscripten_bind_btGeneric6DofSpringConstraint_getParam_2=
+function(){return(Ss=b._emscripten_bind_btGeneric6DofSpringConstraint_getParam_2=b.asm.Gq).apply(null,arguments)},Ts=b._emscripten_bind_btGeneric6DofSpringConstraint_setParam_3=function(){return(Ts=b._emscripten_bind_btGeneric6DofSpringConstraint_setParam_3=b.asm.Hq).apply(null,arguments)},Us=b._emscripten_bind_btGeneric6DofSpringConstraint___destroy___0=function(){return(Us=b._emscripten_bind_btGeneric6DofSpringConstraint___destroy___0=b.asm.Iq).apply(null,arguments)},Vs=b._emscripten_bind_btSequentialImpulseConstraintSolver_btSequentialImpulseConstraintSolver_0=
+function(){return(Vs=b._emscripten_bind_btSequentialImpulseConstraintSolver_btSequentialImpulseConstraintSolver_0=b.asm.Jq).apply(null,arguments)},Ws=b._emscripten_bind_btSequentialImpulseConstraintSolver___destroy___0=function(){return(Ws=b._emscripten_bind_btSequentialImpulseConstraintSolver___destroy___0=b.asm.Kq).apply(null,arguments)},Xs=b._emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_2=function(){return(Xs=b._emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_2=b.asm.Lq).apply(null,
+arguments)},Ys=b._emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_4=function(){return(Ys=b._emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_4=b.asm.Mq).apply(null,arguments)},Zs=b._emscripten_bind_btConeTwistConstraint_setLimit_2=function(){return(Zs=b._emscripten_bind_btConeTwistConstraint_setLimit_2=b.asm.Nq).apply(null,arguments)},$s=b._emscripten_bind_btConeTwistConstraint_setAngularOnly_1=function(){return($s=b._emscripten_bind_btConeTwistConstraint_setAngularOnly_1=b.asm.Oq).apply(null,
+arguments)},at=b._emscripten_bind_btConeTwistConstraint_setDamping_1=function(){return(at=b._emscripten_bind_btConeTwistConstraint_setDamping_1=b.asm.Pq).apply(null,arguments)},bt=b._emscripten_bind_btConeTwistConstraint_enableMotor_1=function(){return(bt=b._emscripten_bind_btConeTwistConstraint_enableMotor_1=b.asm.Qq).apply(null,arguments)},ct=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulse_1=function(){return(ct=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulse_1=b.asm.Rq).apply(null,
+arguments)},dt=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulseNormalized_1=function(){return(dt=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulseNormalized_1=b.asm.Sq).apply(null,arguments)},et=b._emscripten_bind_btConeTwistConstraint_setMotorTarget_1=function(){return(et=b._emscripten_bind_btConeTwistConstraint_setMotorTarget_1=b.asm.Tq).apply(null,arguments)},ft=b._emscripten_bind_btConeTwistConstraint_setMotorTargetInConstraintSpace_1=function(){return(ft=b._emscripten_bind_btConeTwistConstraint_setMotorTargetInConstraintSpace_1=
+b.asm.Uq).apply(null,arguments)},gt=b._emscripten_bind_btConeTwistConstraint_enableFeedback_1=function(){return(gt=b._emscripten_bind_btConeTwistConstraint_enableFeedback_1=b.asm.Vq).apply(null,arguments)},ht=b._emscripten_bind_btConeTwistConstraint_getBreakingImpulseThreshold_0=function(){return(ht=b._emscripten_bind_btConeTwistConstraint_getBreakingImpulseThreshold_0=b.asm.Wq).apply(null,arguments)},it=b._emscripten_bind_btConeTwistConstraint_setBreakingImpulseThreshold_1=function(){return(it=b._emscripten_bind_btConeTwistConstraint_setBreakingImpulseThreshold_1=
+b.asm.Xq).apply(null,arguments)},jt=b._emscripten_bind_btConeTwistConstraint_getParam_2=function(){return(jt=b._emscripten_bind_btConeTwistConstraint_getParam_2=b.asm.Yq).apply(null,arguments)},kt=b._emscripten_bind_btConeTwistConstraint_setParam_3=function(){return(kt=b._emscripten_bind_btConeTwistConstraint_setParam_3=b.asm.Zq).apply(null,arguments)},lt=b._emscripten_bind_btConeTwistConstraint___destroy___0=function(){return(lt=b._emscripten_bind_btConeTwistConstraint___destroy___0=b.asm._q).apply(null,
+arguments)},mt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_2=function(){return(mt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_2=b.asm.$q).apply(null,arguments)},nt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_3=function(){return(nt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_3=b.asm.ar).apply(null,arguments)},ot=b._emscripten_bind_btHingeConstraint_btHingeConstraint_4=function(){return(ot=b._emscripten_bind_btHingeConstraint_btHingeConstraint_4=b.asm.br).apply(null,
+arguments)},pt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_5=function(){return(pt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_5=b.asm.cr).apply(null,arguments)},qt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_6=function(){return(qt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_6=b.asm.dr).apply(null,arguments)},rt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_7=function(){return(rt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_7=b.asm.er).apply(null,
+arguments)},st=b._emscripten_bind_btHingeConstraint_getHingeAngle_0=function(){return(st=b._emscripten_bind_btHingeConstraint_getHingeAngle_0=b.asm.fr).apply(null,arguments)},tt=b._emscripten_bind_btHingeConstraint_setLimit_4=function(){return(tt=b._emscripten_bind_btHingeConstraint_setLimit_4=b.asm.gr).apply(null,arguments)},ut=b._emscripten_bind_btHingeConstraint_setLimit_5=function(){return(ut=b._emscripten_bind_btHingeConstraint_setLimit_5=b.asm.hr).apply(null,arguments)},vt=b._emscripten_bind_btHingeConstraint_enableAngularMotor_3=
+function(){return(vt=b._emscripten_bind_btHingeConstraint_enableAngularMotor_3=b.asm.ir).apply(null,arguments)},wt=b._emscripten_bind_btHingeConstraint_setAngularOnly_1=function(){return(wt=b._emscripten_bind_btHingeConstraint_setAngularOnly_1=b.asm.jr).apply(null,arguments)},xt=b._emscripten_bind_btHingeConstraint_enableMotor_1=function(){return(xt=b._emscripten_bind_btHingeConstraint_enableMotor_1=b.asm.kr).apply(null,arguments)},yt=b._emscripten_bind_btHingeConstraint_setMaxMotorImpulse_1=function(){return(yt=
+b._emscripten_bind_btHingeConstraint_setMaxMotorImpulse_1=b.asm.lr).apply(null,arguments)},zt=b._emscripten_bind_btHingeConstraint_setMotorTarget_2=function(){return(zt=b._emscripten_bind_btHingeConstraint_setMotorTarget_2=b.asm.mr).apply(null,arguments)},At=b._emscripten_bind_btHingeConstraint_enableFeedback_1=function(){return(At=b._emscripten_bind_btHingeConstraint_enableFeedback_1=b.asm.nr).apply(null,arguments)},Bt=b._emscripten_bind_btHingeConstraint_getBreakingImpulseThreshold_0=function(){return(Bt=
+b._emscripten_bind_btHingeConstraint_getBreakingImpulseThreshold_0=b.asm.or).apply(null,arguments)},Ct=b._emscripten_bind_btHingeConstraint_setBreakingImpulseThreshold_1=function(){return(Ct=b._emscripten_bind_btHingeConstraint_setBreakingImpulseThreshold_1=b.asm.pr).apply(null,arguments)},Dt=b._emscripten_bind_btHingeConstraint_getParam_2=function(){return(Dt=b._emscripten_bind_btHingeConstraint_getParam_2=b.asm.qr).apply(null,arguments)},Et=b._emscripten_bind_btHingeConstraint_setParam_3=function(){return(Et=
+b._emscripten_bind_btHingeConstraint_setParam_3=b.asm.rr).apply(null,arguments)},Ft=b._emscripten_bind_btHingeConstraint___destroy___0=function(){return(Ft=b._emscripten_bind_btHingeConstraint___destroy___0=b.asm.sr).apply(null,arguments)},Gt=b._emscripten_bind_btSliderConstraint_btSliderConstraint_3=function(){return(Gt=b._emscripten_bind_btSliderConstraint_btSliderConstraint_3=b.asm.tr).apply(null,arguments)},Ht=b._emscripten_bind_btSliderConstraint_btSliderConstraint_5=function(){return(Ht=b._emscripten_bind_btSliderConstraint_btSliderConstraint_5=
+b.asm.ur).apply(null,arguments)},It=b._emscripten_bind_btSliderConstraint_getLinearPos_0=function(){return(It=b._emscripten_bind_btSliderConstraint_getLinearPos_0=b.asm.vr).apply(null,arguments)},Jt=b._emscripten_bind_btSliderConstraint_getAngularPos_0=function(){return(Jt=b._emscripten_bind_btSliderConstraint_getAngularPos_0=b.asm.wr).apply(null,arguments)},Kt=b._emscripten_bind_btSliderConstraint_setLowerLinLimit_1=function(){return(Kt=b._emscripten_bind_btSliderConstraint_setLowerLinLimit_1=b.asm.xr).apply(null,
+arguments)},Lt=b._emscripten_bind_btSliderConstraint_setUpperLinLimit_1=function(){return(Lt=b._emscripten_bind_btSliderConstraint_setUpperLinLimit_1=b.asm.yr).apply(null,arguments)},Mt=b._emscripten_bind_btSliderConstraint_setLowerAngLimit_1=function(){return(Mt=b._emscripten_bind_btSliderConstraint_setLowerAngLimit_1=b.asm.zr).apply(null,arguments)},Nt=b._emscripten_bind_btSliderConstraint_setUpperAngLimit_1=function(){return(Nt=b._emscripten_bind_btSliderConstraint_setUpperAngLimit_1=b.asm.Ar).apply(null,
+arguments)},Ot=b._emscripten_bind_btSliderConstraint_setPoweredLinMotor_1=function(){return(Ot=b._emscripten_bind_btSliderConstraint_setPoweredLinMotor_1=b.asm.Br).apply(null,arguments)},Pt=b._emscripten_bind_btSliderConstraint_setMaxLinMotorForce_1=function(){return(Pt=b._emscripten_bind_btSliderConstraint_setMaxLinMotorForce_1=b.asm.Cr).apply(null,arguments)},Qt=b._emscripten_bind_btSliderConstraint_setTargetLinMotorVelocity_1=function(){return(Qt=b._emscripten_bind_btSliderConstraint_setTargetLinMotorVelocity_1=
+b.asm.Dr).apply(null,arguments)},Rt=b._emscripten_bind_btSliderConstraint_enableFeedback_1=function(){return(Rt=b._emscripten_bind_btSliderConstraint_enableFeedback_1=b.asm.Er).apply(null,arguments)},St=b._emscripten_bind_btSliderConstraint_getBreakingImpulseThreshold_0=function(){return(St=b._emscripten_bind_btSliderConstraint_getBreakingImpulseThreshold_0=b.asm.Fr).apply(null,arguments)},Tt=b._emscripten_bind_btSliderConstraint_setBreakingImpulseThreshold_1=function(){return(Tt=b._emscripten_bind_btSliderConstraint_setBreakingImpulseThreshold_1=
+b.asm.Gr).apply(null,arguments)},Ut=b._emscripten_bind_btSliderConstraint_getParam_2=function(){return(Ut=b._emscripten_bind_btSliderConstraint_getParam_2=b.asm.Hr).apply(null,arguments)},Vt=b._emscripten_bind_btSliderConstraint_setParam_3=function(){return(Vt=b._emscripten_bind_btSliderConstraint_setParam_3=b.asm.Ir).apply(null,arguments)},Wt=b._emscripten_bind_btSliderConstraint___destroy___0=function(){return(Wt=b._emscripten_bind_btSliderConstraint___destroy___0=b.asm.Jr).apply(null,arguments)},
+Xt=b._emscripten_bind_btFixedConstraint_btFixedConstraint_4=function(){return(Xt=b._emscripten_bind_btFixedConstraint_btFixedConstraint_4=b.asm.Kr).apply(null,arguments)},Yt=b._emscripten_bind_btFixedConstraint_enableFeedback_1=function(){return(Yt=b._emscripten_bind_btFixedConstraint_enableFeedback_1=b.asm.Lr).apply(null,arguments)},Zt=b._emscripten_bind_btFixedConstraint_getBreakingImpulseThreshold_0=function(){return(Zt=b._emscripten_bind_btFixedConstraint_getBreakingImpulseThreshold_0=b.asm.Mr).apply(null,
+arguments)},$t=b._emscripten_bind_btFixedConstraint_setBreakingImpulseThreshold_1=function(){return($t=b._emscripten_bind_btFixedConstraint_setBreakingImpulseThreshold_1=b.asm.Nr).apply(null,arguments)},au=b._emscripten_bind_btFixedConstraint_getParam_2=function(){return(au=b._emscripten_bind_btFixedConstraint_getParam_2=b.asm.Or).apply(null,arguments)},bu=b._emscripten_bind_btFixedConstraint_setParam_3=function(){return(bu=b._emscripten_bind_btFixedConstraint_setParam_3=b.asm.Pr).apply(null,arguments)},
+cu=b._emscripten_bind_btFixedConstraint___destroy___0=function(){return(cu=b._emscripten_bind_btFixedConstraint___destroy___0=b.asm.Qr).apply(null,arguments)},du=b._emscripten_bind_btConstraintSolver___destroy___0=function(){return(du=b._emscripten_bind_btConstraintSolver___destroy___0=b.asm.Rr).apply(null,arguments)},eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=function(){return(eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=b.asm.Sr).apply(null,arguments)},fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1=
+function(){return(fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1=b.asm.Tr).apply(null,arguments)},gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=function(){return(gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=b.asm.Ur).apply(null,arguments)},hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=function(){return(hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=b.asm.Vr).apply(null,arguments)},iu=b._emscripten_bind_btDispatcherInfo_get_m_dispatchFunc_0=function(){return(iu=
+b._emscripten_bind_btDispatcherInfo_get_m_dispatchFunc_0=b.asm.Wr).apply(null,arguments)},ju=b._emscripten_bind_btDispatcherInfo_set_m_dispatchFunc_1=function(){return(ju=b._emscripten_bind_btDispatcherInfo_set_m_dispatchFunc_1=b.asm.Xr).apply(null,arguments)},ku=b._emscripten_bind_btDispatcherInfo_get_m_timeOfImpact_0=function(){return(ku=b._emscripten_bind_btDispatcherInfo_get_m_timeOfImpact_0=b.asm.Yr).apply(null,arguments)},lu=b._emscripten_bind_btDispatcherInfo_set_m_timeOfImpact_1=function(){return(lu=
+b._emscripten_bind_btDispatcherInfo_set_m_timeOfImpact_1=b.asm.Zr).apply(null,arguments)},mu=b._emscripten_bind_btDispatcherInfo_get_m_useContinuous_0=function(){return(mu=b._emscripten_bind_btDispatcherInfo_get_m_useContinuous_0=b.asm._r).apply(null,arguments)},nu=b._emscripten_bind_btDispatcherInfo_set_m_useContinuous_1=function(){return(nu=b._emscripten_bind_btDispatcherInfo_set_m_useContinuous_1=b.asm.$r).apply(null,arguments)},ou=b._emscripten_bind_btDispatcherInfo_get_m_enableSatConvex_0=function(){return(ou=
+b._emscripten_bind_btDispatcherInfo_get_m_enableSatConvex_0=b.asm.as).apply(null,arguments)},pu=b._emscripten_bind_btDispatcherInfo_set_m_enableSatConvex_1=function(){return(pu=b._emscripten_bind_btDispatcherInfo_set_m_enableSatConvex_1=b.asm.bs).apply(null,arguments)},qu=b._emscripten_bind_btDispatcherInfo_get_m_enableSPU_0=function(){return(qu=b._emscripten_bind_btDispatcherInfo_get_m_enableSPU_0=b.asm.cs).apply(null,arguments)},ru=b._emscripten_bind_btDispatcherInfo_set_m_enableSPU_1=function(){return(ru=
+b._emscripten_bind_btDispatcherInfo_set_m_enableSPU_1=b.asm.ds).apply(null,arguments)},su=b._emscripten_bind_btDispatcherInfo_get_m_useEpa_0=function(){return(su=b._emscripten_bind_btDispatcherInfo_get_m_useEpa_0=b.asm.es).apply(null,arguments)},tu=b._emscripten_bind_btDispatcherInfo_set_m_useEpa_1=function(){return(tu=b._emscripten_bind_btDispatcherInfo_set_m_useEpa_1=b.asm.fs).apply(null,arguments)},uu=b._emscripten_bind_btDispatcherInfo_get_m_allowedCcdPenetration_0=function(){return(uu=b._emscripten_bind_btDispatcherInfo_get_m_allowedCcdPenetration_0=
+b.asm.gs).apply(null,arguments)},vu=b._emscripten_bind_btDispatcherInfo_set_m_allowedCcdPenetration_1=function(){return(vu=b._emscripten_bind_btDispatcherInfo_set_m_allowedCcdPenetration_1=b.asm.hs).apply(null,arguments)},wu=b._emscripten_bind_btDispatcherInfo_get_m_useConvexConservativeDistanceUtil_0=function(){return(wu=b._emscripten_bind_btDispatcherInfo_get_m_useConvexConservativeDistanceUtil_0=b.asm.is).apply(null,arguments)},xu=b._emscripten_bind_btDispatcherInfo_set_m_useConvexConservativeDistanceUtil_1=
+function(){return(xu=b._emscripten_bind_btDispatcherInfo_set_m_useConvexConservativeDistanceUtil_1=b.asm.js).apply(null,arguments)},yu=b._emscripten_bind_btDispatcherInfo_get_m_convexConservativeDistanceThreshold_0=function(){return(yu=b._emscripten_bind_btDispatcherInfo_get_m_convexConservativeDistanceThreshold_0=b.asm.ks).apply(null,arguments)},zu=b._emscripten_bind_btDispatcherInfo_set_m_convexConservativeDistanceThreshold_1=function(){return(zu=b._emscripten_bind_btDispatcherInfo_set_m_convexConservativeDistanceThreshold_1=
+b.asm.ls).apply(null,arguments)},Au=b._emscripten_bind_btDispatcherInfo___destroy___0=function(){return(Au=b._emscripten_bind_btDispatcherInfo___destroy___0=b.asm.ms).apply(null,arguments)},Bu=b._emscripten_bind_btContactSolverInfo_get_m_splitImpulse_0=function(){return(Bu=b._emscripten_bind_btContactSolverInfo_get_m_splitImpulse_0=b.asm.ns).apply(null,arguments)},Cu=b._emscripten_bind_btContactSolverInfo_set_m_splitImpulse_1=function(){return(Cu=b._emscripten_bind_btContactSolverInfo_set_m_splitImpulse_1=
+b.asm.os).apply(null,arguments)},Du=b._emscripten_bind_btContactSolverInfo_get_m_splitImpulsePenetrationThreshold_0=function(){return(Du=b._emscripten_bind_btContactSolverInfo_get_m_splitImpulsePenetrationThreshold_0=b.asm.ps).apply(null,arguments)},Eu=b._emscripten_bind_btContactSolverInfo_set_m_splitImpulsePenetrationThreshold_1=function(){return(Eu=b._emscripten_bind_btContactSolverInfo_set_m_splitImpulsePenetrationThreshold_1=b.asm.qs).apply(null,arguments)},Fu=b._emscripten_bind_btContactSolverInfo_get_m_numIterations_0=
+function(){return(Fu=b._emscripten_bind_btContactSolverInfo_get_m_numIterations_0=b.asm.rs).apply(null,arguments)},Gu=b._emscripten_bind_btContactSolverInfo_set_m_numIterations_1=function(){return(Gu=b._emscripten_bind_btContactSolverInfo_set_m_numIterations_1=b.asm.ss).apply(null,arguments)},Hu=b._emscripten_bind_btContactSolverInfo___destroy___0=function(){return(Hu=b._emscripten_bind_btContactSolverInfo___destroy___0=b.asm.ts).apply(null,arguments)},Iu=b._emscripten_bind_btVehicleTuning_btVehicleTuning_0=
+function(){return(Iu=b._emscripten_bind_btVehicleTuning_btVehicleTuning_0=b.asm.us).apply(null,arguments)},Ju=b._emscripten_bind_btVehicleTuning_get_m_suspensionStiffness_0=function(){return(Ju=b._emscripten_bind_btVehicleTuning_get_m_suspensionStiffness_0=b.asm.vs).apply(null,arguments)},Ku=b._emscripten_bind_btVehicleTuning_set_m_suspensionStiffness_1=function(){return(Ku=b._emscripten_bind_btVehicleTuning_set_m_suspensionStiffness_1=b.asm.ws).apply(null,arguments)},Lu=b._emscripten_bind_btVehicleTuning_get_m_suspensionCompression_0=
+function(){return(Lu=b._emscripten_bind_btVehicleTuning_get_m_suspensionCompression_0=b.asm.xs).apply(null,arguments)},Mu=b._emscripten_bind_btVehicleTuning_set_m_suspensionCompression_1=function(){return(Mu=b._emscripten_bind_btVehicleTuning_set_m_suspensionCompression_1=b.asm.ys).apply(null,arguments)},Nu=b._emscripten_bind_btVehicleTuning_get_m_suspensionDamping_0=function(){return(Nu=b._emscripten_bind_btVehicleTuning_get_m_suspensionDamping_0=b.asm.zs).apply(null,arguments)},Ou=b._emscripten_bind_btVehicleTuning_set_m_suspensionDamping_1=
+function(){return(Ou=b._emscripten_bind_btVehicleTuning_set_m_suspensionDamping_1=b.asm.As).apply(null,arguments)},Pu=b._emscripten_bind_btVehicleTuning_get_m_maxSuspensionTravelCm_0=function(){return(Pu=b._emscripten_bind_btVehicleTuning_get_m_maxSuspensionTravelCm_0=b.asm.Bs).apply(null,arguments)},Qu=b._emscripten_bind_btVehicleTuning_set_m_maxSuspensionTravelCm_1=function(){return(Qu=b._emscripten_bind_btVehicleTuning_set_m_maxSuspensionTravelCm_1=b.asm.Cs).apply(null,arguments)},Ru=b._emscripten_bind_btVehicleTuning_get_m_frictionSlip_0=
+function(){return(Ru=b._emscripten_bind_btVehicleTuning_get_m_frictionSlip_0=b.asm.Ds).apply(null,arguments)},Su=b._emscripten_bind_btVehicleTuning_set_m_frictionSlip_1=function(){return(Su=b._emscripten_bind_btVehicleTuning_set_m_frictionSlip_1=b.asm.Es).apply(null,arguments)},Tu=b._emscripten_bind_btVehicleTuning_get_m_maxSuspensionForce_0=function(){return(Tu=b._emscripten_bind_btVehicleTuning_get_m_maxSuspensionForce_0=b.asm.Fs).apply(null,arguments)},Uu=b._emscripten_bind_btVehicleTuning_set_m_maxSuspensionForce_1=
+function(){return(Uu=b._emscripten_bind_btVehicleTuning_set_m_maxSuspensionForce_1=b.asm.Gs).apply(null,arguments)},Vu=b._emscripten_bind_btVehicleRaycasterResult_get_m_hitPointInWorld_0=function(){return(Vu=b._emscripten_bind_btVehicleRaycasterResult_get_m_hitPointInWorld_0=b.asm.Hs).apply(null,arguments)},Wu=b._emscripten_bind_btVehicleRaycasterResult_set_m_hitPointInWorld_1=function(){return(Wu=b._emscripten_bind_btVehicleRaycasterResult_set_m_hitPointInWorld_1=b.asm.Is).apply(null,arguments)},
+Xu=b._emscripten_bind_btVehicleRaycasterResult_get_m_hitNormalInWorld_0=function(){return(Xu=b._emscripten_bind_btVehicleRaycasterResult_get_m_hitNormalInWorld_0=b.asm.Js).apply(null,arguments)},Yu=b._emscripten_bind_btVehicleRaycasterResult_set_m_hitNormalInWorld_1=function(){return(Yu=b._emscripten_bind_btVehicleRaycasterResult_set_m_hitNormalInWorld_1=b.asm.Ks).apply(null,arguments)},Zu=b._emscripten_bind_btVehicleRaycasterResult_get_m_distFraction_0=function(){return(Zu=b._emscripten_bind_btVehicleRaycasterResult_get_m_distFraction_0=
+b.asm.Ls).apply(null,arguments)},$u=b._emscripten_bind_btVehicleRaycasterResult_set_m_distFraction_1=function(){return($u=b._emscripten_bind_btVehicleRaycasterResult_set_m_distFraction_1=b.asm.Ms).apply(null,arguments)},av=b._emscripten_bind_btVehicleRaycasterResult___destroy___0=function(){return(av=b._emscripten_bind_btVehicleRaycasterResult___destroy___0=b.asm.Ns).apply(null,arguments)},bv=b._emscripten_bind_btDefaultVehicleRaycaster_btDefaultVehicleRaycaster_1=function(){return(bv=b._emscripten_bind_btDefaultVehicleRaycaster_btDefaultVehicleRaycaster_1=
+b.asm.Os).apply(null,arguments)},cv=b._emscripten_bind_btDefaultVehicleRaycaster_castRay_3=function(){return(cv=b._emscripten_bind_btDefaultVehicleRaycaster_castRay_3=b.asm.Ps).apply(null,arguments)},dv=b._emscripten_bind_btDefaultVehicleRaycaster___destroy___0=function(){return(dv=b._emscripten_bind_btDefaultVehicleRaycaster___destroy___0=b.asm.Qs).apply(null,arguments)},ev=b._emscripten_bind_RaycastInfo_get_m_contactNormalWS_0=function(){return(ev=b._emscripten_bind_RaycastInfo_get_m_contactNormalWS_0=
+b.asm.Rs).apply(null,arguments)},fv=b._emscripten_bind_RaycastInfo_set_m_contactNormalWS_1=function(){return(fv=b._emscripten_bind_RaycastInfo_set_m_contactNormalWS_1=b.asm.Ss).apply(null,arguments)},gv=b._emscripten_bind_RaycastInfo_get_m_contactPointWS_0=function(){return(gv=b._emscripten_bind_RaycastInfo_get_m_contactPointWS_0=b.asm.Ts).apply(null,arguments)},hv=b._emscripten_bind_RaycastInfo_set_m_contactPointWS_1=function(){return(hv=b._emscripten_bind_RaycastInfo_set_m_contactPointWS_1=b.asm.Us).apply(null,
+arguments)},iv=b._emscripten_bind_RaycastInfo_get_m_suspensionLength_0=function(){return(iv=b._emscripten_bind_RaycastInfo_get_m_suspensionLength_0=b.asm.Vs).apply(null,arguments)},jv=b._emscripten_bind_RaycastInfo_set_m_suspensionLength_1=function(){return(jv=b._emscripten_bind_RaycastInfo_set_m_suspensionLength_1=b.asm.Ws).apply(null,arguments)},kv=b._emscripten_bind_RaycastInfo_get_m_hardPointWS_0=function(){return(kv=b._emscripten_bind_RaycastInfo_get_m_hardPointWS_0=b.asm.Xs).apply(null,arguments)},
+lv=b._emscripten_bind_RaycastInfo_set_m_hardPointWS_1=function(){return(lv=b._emscripten_bind_RaycastInfo_set_m_hardPointWS_1=b.asm.Ys).apply(null,arguments)},mv=b._emscripten_bind_RaycastInfo_get_m_wheelDirectionWS_0=function(){return(mv=b._emscripten_bind_RaycastInfo_get_m_wheelDirectionWS_0=b.asm.Zs).apply(null,arguments)},nv=b._emscripten_bind_RaycastInfo_set_m_wheelDirectionWS_1=function(){return(nv=b._emscripten_bind_RaycastInfo_set_m_wheelDirectionWS_1=b.asm._s).apply(null,arguments)},ov=b._emscripten_bind_RaycastInfo_get_m_wheelAxleWS_0=
+function(){return(ov=b._emscripten_bind_RaycastInfo_get_m_wheelAxleWS_0=b.asm.$s).apply(null,arguments)},pv=b._emscripten_bind_RaycastInfo_set_m_wheelAxleWS_1=function(){return(pv=b._emscripten_bind_RaycastInfo_set_m_wheelAxleWS_1=b.asm.at).apply(null,arguments)},qv=b._emscripten_bind_RaycastInfo_get_m_isInContact_0=function(){return(qv=b._emscripten_bind_RaycastInfo_get_m_isInContact_0=b.asm.bt).apply(null,arguments)},rv=b._emscripten_bind_RaycastInfo_set_m_isInContact_1=function(){return(rv=b._emscripten_bind_RaycastInfo_set_m_isInContact_1=
+b.asm.ct).apply(null,arguments)},sv=b._emscripten_bind_RaycastInfo_get_m_groundObject_0=function(){return(sv=b._emscripten_bind_RaycastInfo_get_m_groundObject_0=b.asm.dt).apply(null,arguments)},tv=b._emscripten_bind_RaycastInfo_set_m_groundObject_1=function(){return(tv=b._emscripten_bind_RaycastInfo_set_m_groundObject_1=b.asm.et).apply(null,arguments)},uv=b._emscripten_bind_RaycastInfo___destroy___0=function(){return(uv=b._emscripten_bind_RaycastInfo___destroy___0=b.asm.ft).apply(null,arguments)},
+vv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_chassisConnectionCS_0=function(){return(vv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_chassisConnectionCS_0=b.asm.gt).apply(null,arguments)},wv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_chassisConnectionCS_1=function(){return(wv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_chassisConnectionCS_1=b.asm.ht).apply(null,arguments)},xv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelDirectionCS_0=function(){return(xv=
+b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelDirectionCS_0=b.asm.it).apply(null,arguments)},yv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelDirectionCS_1=function(){return(yv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelDirectionCS_1=b.asm.jt).apply(null,arguments)},zv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelAxleCS_0=function(){return(zv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelAxleCS_0=b.asm.kt).apply(null,arguments)},Av=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelAxleCS_1=
+function(){return(Av=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelAxleCS_1=b.asm.lt).apply(null,arguments)},Bv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_suspensionRestLength_0=function(){return(Bv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_suspensionRestLength_0=b.asm.mt).apply(null,arguments)},Cv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_suspensionRestLength_1=function(){return(Cv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_suspensionRestLength_1=
+b.asm.nt).apply(null,arguments)},Dv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_maxSuspensionTravelCm_0=function(){return(Dv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_maxSuspensionTravelCm_0=b.asm.ot).apply(null,arguments)},Ev=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_maxSuspensionTravelCm_1=function(){return(Ev=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_maxSuspensionTravelCm_1=b.asm.pt).apply(null,arguments)},Fv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelRadius_0=
+function(){return(Fv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelRadius_0=b.asm.qt).apply(null,arguments)},Gv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelRadius_1=function(){return(Gv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelRadius_1=b.asm.rt).apply(null,arguments)},Hv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_suspensionStiffness_0=function(){return(Hv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_suspensionStiffness_0=b.asm.st).apply(null,
+arguments)},Iv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_suspensionStiffness_1=function(){return(Iv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_suspensionStiffness_1=b.asm.tt).apply(null,arguments)},Jv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelsDampingCompression_0=function(){return(Jv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelsDampingCompression_0=b.asm.ut).apply(null,arguments)},Kv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelsDampingCompression_1=
+function(){return(Kv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelsDampingCompression_1=b.asm.vt).apply(null,arguments)},Lv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelsDampingRelaxation_0=function(){return(Lv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelsDampingRelaxation_0=b.asm.wt).apply(null,arguments)},Mv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelsDampingRelaxation_1=function(){return(Mv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelsDampingRelaxation_1=
+b.asm.xt).apply(null,arguments)},Nv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_frictionSlip_0=function(){return(Nv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_frictionSlip_0=b.asm.yt).apply(null,arguments)},Ov=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_frictionSlip_1=function(){return(Ov=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_frictionSlip_1=b.asm.zt).apply(null,arguments)},Pv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_maxSuspensionForce_0=function(){return(Pv=
+b._emscripten_bind_btWheelInfoConstructionInfo_get_m_maxSuspensionForce_0=b.asm.At).apply(null,arguments)},Qv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_maxSuspensionForce_1=function(){return(Qv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_maxSuspensionForce_1=b.asm.Bt).apply(null,arguments)},Rv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_bIsFrontWheel_0=function(){return(Rv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_bIsFrontWheel_0=b.asm.Ct).apply(null,arguments)},
+Sv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_bIsFrontWheel_1=function(){return(Sv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_bIsFrontWheel_1=b.asm.Dt).apply(null,arguments)},Tv=b._emscripten_bind_btWheelInfoConstructionInfo___destroy___0=function(){return(Tv=b._emscripten_bind_btWheelInfoConstructionInfo___destroy___0=b.asm.Et).apply(null,arguments)},Uv=b._emscripten_bind_btWheelInfo_btWheelInfo_1=function(){return(Uv=b._emscripten_bind_btWheelInfo_btWheelInfo_1=b.asm.Ft).apply(null,
+arguments)},Vv=b._emscripten_bind_btWheelInfo_getSuspensionRestLength_0=function(){return(Vv=b._emscripten_bind_btWheelInfo_getSuspensionRestLength_0=b.asm.Gt).apply(null,arguments)},Wv=b._emscripten_bind_btWheelInfo_updateWheel_2=function(){return(Wv=b._emscripten_bind_btWheelInfo_updateWheel_2=b.asm.Ht).apply(null,arguments)},Xv=b._emscripten_bind_btWheelInfo_get_m_suspensionStiffness_0=function(){return(Xv=b._emscripten_bind_btWheelInfo_get_m_suspensionStiffness_0=b.asm.It).apply(null,arguments)},
+Yv=b._emscripten_bind_btWheelInfo_set_m_suspensionStiffness_1=function(){return(Yv=b._emscripten_bind_btWheelInfo_set_m_suspensionStiffness_1=b.asm.Jt).apply(null,arguments)},Zv=b._emscripten_bind_btWheelInfo_get_m_frictionSlip_0=function(){return(Zv=b._emscripten_bind_btWheelInfo_get_m_frictionSlip_0=b.asm.Kt).apply(null,arguments)},$v=b._emscripten_bind_btWheelInfo_set_m_frictionSlip_1=function(){return($v=b._emscripten_bind_btWheelInfo_set_m_frictionSlip_1=b.asm.Lt).apply(null,arguments)},aw=b._emscripten_bind_btWheelInfo_get_m_engineForce_0=
+function(){return(aw=b._emscripten_bind_btWheelInfo_get_m_engineForce_0=b.asm.Mt).apply(null,arguments)},bw=b._emscripten_bind_btWheelInfo_set_m_engineForce_1=function(){return(bw=b._emscripten_bind_btWheelInfo_set_m_engineForce_1=b.asm.Nt).apply(null,arguments)},cw=b._emscripten_bind_btWheelInfo_get_m_rollInfluence_0=function(){return(cw=b._emscripten_bind_btWheelInfo_get_m_rollInfluence_0=b.asm.Ot).apply(null,arguments)},dw=b._emscripten_bind_btWheelInfo_set_m_rollInfluence_1=function(){return(dw=
+b._emscripten_bind_btWheelInfo_set_m_rollInfluence_1=b.asm.Pt).apply(null,arguments)},ew=b._emscripten_bind_btWheelInfo_get_m_suspensionRestLength1_0=function(){return(ew=b._emscripten_bind_btWheelInfo_get_m_suspensionRestLength1_0=b.asm.Qt).apply(null,arguments)},fw=b._emscripten_bind_btWheelInfo_set_m_suspensionRestLength1_1=function(){return(fw=b._emscripten_bind_btWheelInfo_set_m_suspensionRestLength1_1=b.asm.Rt).apply(null,arguments)},gw=b._emscripten_bind_btWheelInfo_get_m_wheelsRadius_0=function(){return(gw=
+b._emscripten_bind_btWheelInfo_get_m_wheelsRadius_0=b.asm.St).apply(null,arguments)},hw=b._emscripten_bind_btWheelInfo_set_m_wheelsRadius_1=function(){return(hw=b._emscripten_bind_btWheelInfo_set_m_wheelsRadius_1=b.asm.Tt).apply(null,arguments)},iw=b._emscripten_bind_btWheelInfo_get_m_wheelsDampingCompression_0=function(){return(iw=b._emscripten_bind_btWheelInfo_get_m_wheelsDampingCompression_0=b.asm.Ut).apply(null,arguments)},jw=b._emscripten_bind_btWheelInfo_set_m_wheelsDampingCompression_1=function(){return(jw=
+b._emscripten_bind_btWheelInfo_set_m_wheelsDampingCompression_1=b.asm.Vt).apply(null,arguments)},kw=b._emscripten_bind_btWheelInfo_get_m_wheelsDampingRelaxation_0=function(){return(kw=b._emscripten_bind_btWheelInfo_get_m_wheelsDampingRelaxation_0=b.asm.Wt).apply(null,arguments)},lw=b._emscripten_bind_btWheelInfo_set_m_wheelsDampingRelaxation_1=function(){return(lw=b._emscripten_bind_btWheelInfo_set_m_wheelsDampingRelaxation_1=b.asm.Xt).apply(null,arguments)},mw=b._emscripten_bind_btWheelInfo_get_m_steering_0=
+function(){return(mw=b._emscripten_bind_btWheelInfo_get_m_steering_0=b.asm.Yt).apply(null,arguments)},nw=b._emscripten_bind_btWheelInfo_set_m_steering_1=function(){return(nw=b._emscripten_bind_btWheelInfo_set_m_steering_1=b.asm.Zt).apply(null,arguments)},ow=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionForce_0=function(){return(ow=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionForce_0=b.asm._t).apply(null,arguments)},pw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionForce_1=function(){return(pw=
+b._emscripten_bind_btWheelInfo_set_m_maxSuspensionForce_1=b.asm.$t).apply(null,arguments)},qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=function(){return(qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=b.asm.au).apply(null,arguments)},rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=function(){return(rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=b.asm.bu).apply(null,arguments)},sw=b._emscripten_bind_btWheelInfo_get_m_wheelsSuspensionForce_0=
+function(){return(sw=b._emscripten_bind_btWheelInfo_get_m_wheelsSuspensionForce_0=b.asm.cu).apply(null,arguments)},tw=b._emscripten_bind_btWheelInfo_set_m_wheelsSuspensionForce_1=function(){return(tw=b._emscripten_bind_btWheelInfo_set_m_wheelsSuspensionForce_1=b.asm.du).apply(null,arguments)},uw=b._emscripten_bind_btWheelInfo_get_m_bIsFrontWheel_0=function(){return(uw=b._emscripten_bind_btWheelInfo_get_m_bIsFrontWheel_0=b.asm.eu).apply(null,arguments)},vw=b._emscripten_bind_btWheelInfo_set_m_bIsFrontWheel_1=
+function(){return(vw=b._emscripten_bind_btWheelInfo_set_m_bIsFrontWheel_1=b.asm.fu).apply(null,arguments)},ww=b._emscripten_bind_btWheelInfo_get_m_raycastInfo_0=function(){return(ww=b._emscripten_bind_btWheelInfo_get_m_raycastInfo_0=b.asm.gu).apply(null,arguments)},xw=b._emscripten_bind_btWheelInfo_set_m_raycastInfo_1=function(){return(xw=b._emscripten_bind_btWheelInfo_set_m_raycastInfo_1=b.asm.hu).apply(null,arguments)},yw=b._emscripten_bind_btWheelInfo_get_m_chassisConnectionPointCS_0=function(){return(yw=
+b._emscripten_bind_btWheelInfo_get_m_chassisConnectionPointCS_0=b.asm.iu).apply(null,arguments)},zw=b._emscripten_bind_btWheelInfo_set_m_chassisConnectionPointCS_1=function(){return(zw=b._emscripten_bind_btWheelInfo_set_m_chassisConnectionPointCS_1=b.asm.ju).apply(null,arguments)},Aw=b._emscripten_bind_btWheelInfo_get_m_worldTransform_0=function(){return(Aw=b._emscripten_bind_btWheelInfo_get_m_worldTransform_0=b.asm.ku).apply(null,arguments)},Bw=b._emscripten_bind_btWheelInfo_set_m_worldTransform_1=
+function(){return(Bw=b._emscripten_bind_btWheelInfo_set_m_worldTransform_1=b.asm.lu).apply(null,arguments)},Cw=b._emscripten_bind_btWheelInfo_get_m_wheelDirectionCS_0=function(){return(Cw=b._emscripten_bind_btWheelInfo_get_m_wheelDirectionCS_0=b.asm.mu).apply(null,arguments)},Dw=b._emscripten_bind_btWheelInfo_set_m_wheelDirectionCS_1=function(){return(Dw=b._emscripten_bind_btWheelInfo_set_m_wheelDirectionCS_1=b.asm.nu).apply(null,arguments)},Ew=b._emscripten_bind_btWheelInfo_get_m_wheelAxleCS_0=function(){return(Ew=
+b._emscripten_bind_btWheelInfo_get_m_wheelAxleCS_0=b.asm.ou).apply(null,arguments)},Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=function(){return(Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=b.asm.pu).apply(null,arguments)},Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=function(){return(Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=b.asm.qu).apply(null,arguments)},Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=function(){return(Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=
+b.asm.ru).apply(null,arguments)},Iw=b._emscripten_bind_btWheelInfo_get_m_deltaRotation_0=function(){return(Iw=b._emscripten_bind_btWheelInfo_get_m_deltaRotation_0=b.asm.su).apply(null,arguments)},Jw=b._emscripten_bind_btWheelInfo_set_m_deltaRotation_1=function(){return(Jw=b._emscripten_bind_btWheelInfo_set_m_deltaRotation_1=b.asm.tu).apply(null,arguments)},Kw=b._emscripten_bind_btWheelInfo_get_m_brake_0=function(){return(Kw=b._emscripten_bind_btWheelInfo_get_m_brake_0=b.asm.uu).apply(null,arguments)},
+Lw=b._emscripten_bind_btWheelInfo_set_m_brake_1=function(){return(Lw=b._emscripten_bind_btWheelInfo_set_m_brake_1=b.asm.vu).apply(null,arguments)},Mw=b._emscripten_bind_btWheelInfo_get_m_clippedInvContactDotSuspension_0=function(){return(Mw=b._emscripten_bind_btWheelInfo_get_m_clippedInvContactDotSuspension_0=b.asm.wu).apply(null,arguments)},Nw=b._emscripten_bind_btWheelInfo_set_m_clippedInvContactDotSuspension_1=function(){return(Nw=b._emscripten_bind_btWheelInfo_set_m_clippedInvContactDotSuspension_1=
+b.asm.xu).apply(null,arguments)},Ow=b._emscripten_bind_btWheelInfo_get_m_suspensionRelativeVelocity_0=function(){return(Ow=b._emscripten_bind_btWheelInfo_get_m_suspensionRelativeVelocity_0=b.asm.yu).apply(null,arguments)},Pw=b._emscripten_bind_btWheelInfo_set_m_suspensionRelativeVelocity_1=function(){return(Pw=b._emscripten_bind_btWheelInfo_set_m_suspensionRelativeVelocity_1=b.asm.zu).apply(null,arguments)},Qw=b._emscripten_bind_btWheelInfo_get_m_skidInfo_0=function(){return(Qw=b._emscripten_bind_btWheelInfo_get_m_skidInfo_0=
+b.asm.Au).apply(null,arguments)},Rw=b._emscripten_bind_btWheelInfo_set_m_skidInfo_1=function(){return(Rw=b._emscripten_bind_btWheelInfo_set_m_skidInfo_1=b.asm.Bu).apply(null,arguments)},Sw=b._emscripten_bind_btWheelInfo___destroy___0=function(){return(Sw=b._emscripten_bind_btWheelInfo___destroy___0=b.asm.Cu).apply(null,arguments)},Tw=b._emscripten_bind_btKinematicCharacterController_btKinematicCharacterController_3=function(){return(Tw=b._emscripten_bind_btKinematicCharacterController_btKinematicCharacterController_3=
+b.asm.Du).apply(null,arguments)},Uw=b._emscripten_bind_btKinematicCharacterController_btKinematicCharacterController_4=function(){return(Uw=b._emscripten_bind_btKinematicCharacterController_btKinematicCharacterController_4=b.asm.Eu).apply(null,arguments)},Vw=b._emscripten_bind_btKinematicCharacterController_setUpAxis_1=function(){return(Vw=b._emscripten_bind_btKinematicCharacterController_setUpAxis_1=b.asm.Fu).apply(null,arguments)},Ww=b._emscripten_bind_btKinematicCharacterController_setWalkDirection_1=
+function(){return(Ww=b._emscripten_bind_btKinematicCharacterController_setWalkDirection_1=b.asm.Gu).apply(null,arguments)},Xw=b._emscripten_bind_btKinematicCharacterController_setVelocityForTimeInterval_2=function(){return(Xw=b._emscripten_bind_btKinematicCharacterController_setVelocityForTimeInterval_2=b.asm.Hu).apply(null,arguments)},Yw=b._emscripten_bind_btKinematicCharacterController_warp_1=function(){return(Yw=b._emscripten_bind_btKinematicCharacterController_warp_1=b.asm.Iu).apply(null,arguments)},
+Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=function(){return(Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=b.asm.Ju).apply(null,arguments)},$w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=function(){return($w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=b.asm.Ku).apply(null,arguments)},ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=function(){return(ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=
+b.asm.Lu).apply(null,arguments)},bx=b._emscripten_bind_btKinematicCharacterController_setJumpSpeed_1=function(){return(bx=b._emscripten_bind_btKinematicCharacterController_setJumpSpeed_1=b.asm.Mu).apply(null,arguments)},cx=b._emscripten_bind_btKinematicCharacterController_setMaxJumpHeight_1=function(){return(cx=b._emscripten_bind_btKinematicCharacterController_setMaxJumpHeight_1=b.asm.Nu).apply(null,arguments)},dx=b._emscripten_bind_btKinematicCharacterController_canJump_0=function(){return(dx=b._emscripten_bind_btKinematicCharacterController_canJump_0=
+b.asm.Ou).apply(null,arguments)},ex=b._emscripten_bind_btKinematicCharacterController_jump_0=function(){return(ex=b._emscripten_bind_btKinematicCharacterController_jump_0=b.asm.Pu).apply(null,arguments)},fx=b._emscripten_bind_btKinematicCharacterController_setGravity_1=function(){return(fx=b._emscripten_bind_btKinematicCharacterController_setGravity_1=b.asm.Qu).apply(null,arguments)},gx=b._emscripten_bind_btKinematicCharacterController_getGravity_0=function(){return(gx=b._emscripten_bind_btKinematicCharacterController_getGravity_0=
+b.asm.Ru).apply(null,arguments)},hx=b._emscripten_bind_btKinematicCharacterController_setMaxSlope_1=function(){return(hx=b._emscripten_bind_btKinematicCharacterController_setMaxSlope_1=b.asm.Su).apply(null,arguments)},ix=b._emscripten_bind_btKinematicCharacterController_getMaxSlope_0=function(){return(ix=b._emscripten_bind_btKinematicCharacterController_getMaxSlope_0=b.asm.Tu).apply(null,arguments)},jx=b._emscripten_bind_btKinematicCharacterController_getGhostObject_0=function(){return(jx=b._emscripten_bind_btKinematicCharacterController_getGhostObject_0=
+b.asm.Uu).apply(null,arguments)},kx=b._emscripten_bind_btKinematicCharacterController_setUseGhostSweepTest_1=function(){return(kx=b._emscripten_bind_btKinematicCharacterController_setUseGhostSweepTest_1=b.asm.Vu).apply(null,arguments)},lx=b._emscripten_bind_btKinematicCharacterController_onGround_0=function(){return(lx=b._emscripten_bind_btKinematicCharacterController_onGround_0=b.asm.Wu).apply(null,arguments)},mx=b._emscripten_bind_btKinematicCharacterController_setUpInterpolate_1=function(){return(mx=
+b._emscripten_bind_btKinematicCharacterController_setUpInterpolate_1=b.asm.Xu).apply(null,arguments)},nx=b._emscripten_bind_btKinematicCharacterController_updateAction_2=function(){return(nx=b._emscripten_bind_btKinematicCharacterController_updateAction_2=b.asm.Yu).apply(null,arguments)},ox=b._emscripten_bind_btKinematicCharacterController___destroy___0=function(){return(ox=b._emscripten_bind_btKinematicCharacterController___destroy___0=b.asm.Zu).apply(null,arguments)},px=b._emscripten_bind_btRaycastVehicle_btRaycastVehicle_3=
+function(){return(px=b._emscripten_bind_btRaycastVehicle_btRaycastVehicle_3=b.asm._u).apply(null,arguments)},qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=function(){return(qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=b.asm.$u).apply(null,arguments)},rx=b._emscripten_bind_btRaycastVehicle_setSteeringValue_2=function(){return(rx=b._emscripten_bind_btRaycastVehicle_setSteeringValue_2=b.asm.av).apply(null,arguments)},sx=b._emscripten_bind_btRaycastVehicle_getWheelTransformWS_1=
+function(){return(sx=b._emscripten_bind_btRaycastVehicle_getWheelTransformWS_1=b.asm.bv).apply(null,arguments)},tx=b._emscripten_bind_btRaycastVehicle_updateWheelTransform_2=function(){return(tx=b._emscripten_bind_btRaycastVehicle_updateWheelTransform_2=b.asm.cv).apply(null,arguments)},ux=b._emscripten_bind_btRaycastVehicle_addWheel_7=function(){return(ux=b._emscripten_bind_btRaycastVehicle_addWheel_7=b.asm.dv).apply(null,arguments)},vx=b._emscripten_bind_btRaycastVehicle_getNumWheels_0=function(){return(vx=
+b._emscripten_bind_btRaycastVehicle_getNumWheels_0=b.asm.ev).apply(null,arguments)},wx=b._emscripten_bind_btRaycastVehicle_getRigidBody_0=function(){return(wx=b._emscripten_bind_btRaycastVehicle_getRigidBody_0=b.asm.fv).apply(null,arguments)},xx=b._emscripten_bind_btRaycastVehicle_getWheelInfo_1=function(){return(xx=b._emscripten_bind_btRaycastVehicle_getWheelInfo_1=b.asm.gv).apply(null,arguments)},yx=b._emscripten_bind_btRaycastVehicle_setBrake_2=function(){return(yx=b._emscripten_bind_btRaycastVehicle_setBrake_2=
+b.asm.hv).apply(null,arguments)},zx=b._emscripten_bind_btRaycastVehicle_setCoordinateSystem_3=function(){return(zx=b._emscripten_bind_btRaycastVehicle_setCoordinateSystem_3=b.asm.iv).apply(null,arguments)},Ax=b._emscripten_bind_btRaycastVehicle_getCurrentSpeedKmHour_0=function(){return(Ax=b._emscripten_bind_btRaycastVehicle_getCurrentSpeedKmHour_0=b.asm.jv).apply(null,arguments)},Bx=b._emscripten_bind_btRaycastVehicle_getChassisWorldTransform_0=function(){return(Bx=b._emscripten_bind_btRaycastVehicle_getChassisWorldTransform_0=
+b.asm.kv).apply(null,arguments)},Cx=b._emscripten_bind_btRaycastVehicle_rayCast_1=function(){return(Cx=b._emscripten_bind_btRaycastVehicle_rayCast_1=b.asm.lv).apply(null,arguments)},Dx=b._emscripten_bind_btRaycastVehicle_updateVehicle_1=function(){return(Dx=b._emscripten_bind_btRaycastVehicle_updateVehicle_1=b.asm.mv).apply(null,arguments)},Ex=b._emscripten_bind_btRaycastVehicle_resetSuspension_0=function(){return(Ex=b._emscripten_bind_btRaycastVehicle_resetSuspension_0=b.asm.nv).apply(null,arguments)},
+Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=function(){return(Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=b.asm.ov).apply(null,arguments)},Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=function(){return(Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=b.asm.pv).apply(null,arguments)},Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=function(){return(Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=b.asm.qv).apply(null,
+arguments)},Ix=b._emscripten_bind_btRaycastVehicle_setPitchControl_1=function(){return(Ix=b._emscripten_bind_btRaycastVehicle_setPitchControl_1=b.asm.rv).apply(null,arguments)},Jx=b._emscripten_bind_btRaycastVehicle_updateSuspension_1=function(){return(Jx=b._emscripten_bind_btRaycastVehicle_updateSuspension_1=b.asm.sv).apply(null,arguments)},Kx=b._emscripten_bind_btRaycastVehicle_updateFriction_1=function(){return(Kx=b._emscripten_bind_btRaycastVehicle_updateFriction_1=b.asm.tv).apply(null,arguments)},
+Lx=b._emscripten_bind_btRaycastVehicle_getRightAxis_0=function(){return(Lx=b._emscripten_bind_btRaycastVehicle_getRightAxis_0=b.asm.uv).apply(null,arguments)},Mx=b._emscripten_bind_btRaycastVehicle_getUpAxis_0=function(){return(Mx=b._emscripten_bind_btRaycastVehicle_getUpAxis_0=b.asm.vv).apply(null,arguments)},Nx=b._emscripten_bind_btRaycastVehicle_getForwardAxis_0=function(){return(Nx=b._emscripten_bind_btRaycastVehicle_getForwardAxis_0=b.asm.wv).apply(null,arguments)},Ox=b._emscripten_bind_btRaycastVehicle_getForwardVector_0=
+function(){return(Ox=b._emscripten_bind_btRaycastVehicle_getForwardVector_0=b.asm.xv).apply(null,arguments)},Px=b._emscripten_bind_btRaycastVehicle_getUserConstraintType_0=function(){return(Px=b._emscripten_bind_btRaycastVehicle_getUserConstraintType_0=b.asm.yv).apply(null,arguments)},Qx=b._emscripten_bind_btRaycastVehicle_setUserConstraintType_1=function(){return(Qx=b._emscripten_bind_btRaycastVehicle_setUserConstraintType_1=b.asm.zv).apply(null,arguments)},Rx=b._emscripten_bind_btRaycastVehicle_setUserConstraintId_1=
+function(){return(Rx=b._emscripten_bind_btRaycastVehicle_setUserConstraintId_1=b.asm.Av).apply(null,arguments)},Sx=b._emscripten_bind_btRaycastVehicle_getUserConstraintId_0=function(){return(Sx=b._emscripten_bind_btRaycastVehicle_getUserConstraintId_0=b.asm.Bv).apply(null,arguments)},Tx=b._emscripten_bind_btRaycastVehicle_updateAction_2=function(){return(Tx=b._emscripten_bind_btRaycastVehicle_updateAction_2=b.asm.Cv).apply(null,arguments)},Ux=b._emscripten_bind_btRaycastVehicle___destroy___0=function(){return(Ux=
+b._emscripten_bind_btRaycastVehicle___destroy___0=b.asm.Dv).apply(null,arguments)},Vx=b._emscripten_bind_btPairCachingGhostObject_btPairCachingGhostObject_0=function(){return(Vx=b._emscripten_bind_btPairCachingGhostObject_btPairCachingGhostObject_0=b.asm.Ev).apply(null,arguments)},Wx=b._emscripten_bind_btPairCachingGhostObject_setAnisotropicFriction_2=function(){return(Wx=b._emscripten_bind_btPairCachingGhostObject_setAnisotropicFriction_2=b.asm.Fv).apply(null,arguments)},Xx=b._emscripten_bind_btPairCachingGhostObject_getCollisionShape_0=
+function(){return(Xx=b._emscripten_bind_btPairCachingGhostObject_getCollisionShape_0=b.asm.Gv).apply(null,arguments)},Yx=b._emscripten_bind_btPairCachingGhostObject_setContactProcessingThreshold_1=function(){return(Yx=b._emscripten_bind_btPairCachingGhostObject_setContactProcessingThreshold_1=b.asm.Hv).apply(null,arguments)},Zx=b._emscripten_bind_btPairCachingGhostObject_setActivationState_1=function(){return(Zx=b._emscripten_bind_btPairCachingGhostObject_setActivationState_1=b.asm.Iv).apply(null,
+arguments)},$x=b._emscripten_bind_btPairCachingGhostObject_forceActivationState_1=function(){return($x=b._emscripten_bind_btPairCachingGhostObject_forceActivationState_1=b.asm.Jv).apply(null,arguments)},ay=b._emscripten_bind_btPairCachingGhostObject_activate_0=function(){return(ay=b._emscripten_bind_btPairCachingGhostObject_activate_0=b.asm.Kv).apply(null,arguments)},by=b._emscripten_bind_btPairCachingGhostObject_activate_1=function(){return(by=b._emscripten_bind_btPairCachingGhostObject_activate_1=
+b.asm.Lv).apply(null,arguments)},cy=b._emscripten_bind_btPairCachingGhostObject_isActive_0=function(){return(cy=b._emscripten_bind_btPairCachingGhostObject_isActive_0=b.asm.Mv).apply(null,arguments)},dy=b._emscripten_bind_btPairCachingGhostObject_isKinematicObject_0=function(){return(dy=b._emscripten_bind_btPairCachingGhostObject_isKinematicObject_0=b.asm.Nv).apply(null,arguments)},ey=b._emscripten_bind_btPairCachingGhostObject_isStaticObject_0=function(){return(ey=b._emscripten_bind_btPairCachingGhostObject_isStaticObject_0=
+b.asm.Ov).apply(null,arguments)},fy=b._emscripten_bind_btPairCachingGhostObject_isStaticOrKinematicObject_0=function(){return(fy=b._emscripten_bind_btPairCachingGhostObject_isStaticOrKinematicObject_0=b.asm.Pv).apply(null,arguments)},gy=b._emscripten_bind_btPairCachingGhostObject_getRestitution_0=function(){return(gy=b._emscripten_bind_btPairCachingGhostObject_getRestitution_0=b.asm.Qv).apply(null,arguments)},hy=b._emscripten_bind_btPairCachingGhostObject_getFriction_0=function(){return(hy=b._emscripten_bind_btPairCachingGhostObject_getFriction_0=
+b.asm.Rv).apply(null,arguments)},iy=b._emscripten_bind_btPairCachingGhostObject_getRollingFriction_0=function(){return(iy=b._emscripten_bind_btPairCachingGhostObject_getRollingFriction_0=b.asm.Sv).apply(null,arguments)},jy=b._emscripten_bind_btPairCachingGhostObject_setRestitution_1=function(){return(jy=b._emscripten_bind_btPairCachingGhostObject_setRestitution_1=b.asm.Tv).apply(null,arguments)},ky=b._emscripten_bind_btPairCachingGhostObject_setFriction_1=function(){return(ky=b._emscripten_bind_btPairCachingGhostObject_setFriction_1=
+b.asm.Uv).apply(null,arguments)},ly=b._emscripten_bind_btPairCachingGhostObject_setRollingFriction_1=function(){return(ly=b._emscripten_bind_btPairCachingGhostObject_setRollingFriction_1=b.asm.Vv).apply(null,arguments)},my=b._emscripten_bind_btPairCachingGhostObject_getWorldTransform_0=function(){return(my=b._emscripten_bind_btPairCachingGhostObject_getWorldTransform_0=b.asm.Wv).apply(null,arguments)},ny=b._emscripten_bind_btPairCachingGhostObject_getCollisionFlags_0=function(){return(ny=b._emscripten_bind_btPairCachingGhostObject_getCollisionFlags_0=
+b.asm.Xv).apply(null,arguments)},oy=b._emscripten_bind_btPairCachingGhostObject_setCollisionFlags_1=function(){return(oy=b._emscripten_bind_btPairCachingGhostObject_setCollisionFlags_1=b.asm.Yv).apply(null,arguments)},py=b._emscripten_bind_btPairCachingGhostObject_setWorldTransform_1=function(){return(py=b._emscripten_bind_btPairCachingGhostObject_setWorldTransform_1=b.asm.Zv).apply(null,arguments)},qy=b._emscripten_bind_btPairCachingGhostObject_setCollisionShape_1=function(){return(qy=b._emscripten_bind_btPairCachingGhostObject_setCollisionShape_1=
+b.asm._v).apply(null,arguments)},ry=b._emscripten_bind_btPairCachingGhostObject_setCcdMotionThreshold_1=function(){return(ry=b._emscripten_bind_btPairCachingGhostObject_setCcdMotionThreshold_1=b.asm.$v).apply(null,arguments)},sy=b._emscripten_bind_btPairCachingGhostObject_setCcdSweptSphereRadius_1=function(){return(sy=b._emscripten_bind_btPairCachingGhostObject_setCcdSweptSphereRadius_1=b.asm.aw).apply(null,arguments)},ty=b._emscripten_bind_btPairCachingGhostObject_getUserIndex_0=function(){return(ty=
+b._emscripten_bind_btPairCachingGhostObject_getUserIndex_0=b.asm.bw).apply(null,arguments)},uy=b._emscripten_bind_btPairCachingGhostObject_setUserIndex_1=function(){return(uy=b._emscripten_bind_btPairCachingGhostObject_setUserIndex_1=b.asm.cw).apply(null,arguments)},vy=b._emscripten_bind_btPairCachingGhostObject_getUserPointer_0=function(){return(vy=b._emscripten_bind_btPairCachingGhostObject_getUserPointer_0=b.asm.dw).apply(null,arguments)},wy=b._emscripten_bind_btPairCachingGhostObject_setUserPointer_1=
+function(){return(wy=b._emscripten_bind_btPairCachingGhostObject_setUserPointer_1=b.asm.ew).apply(null,arguments)},xy=b._emscripten_bind_btPairCachingGhostObject_getBroadphaseHandle_0=function(){return(xy=b._emscripten_bind_btPairCachingGhostObject_getBroadphaseHandle_0=b.asm.fw).apply(null,arguments)},yy=b._emscripten_bind_btPairCachingGhostObject_getNumOverlappingObjects_0=function(){return(yy=b._emscripten_bind_btPairCachingGhostObject_getNumOverlappingObjects_0=b.asm.gw).apply(null,arguments)},
+zy=b._emscripten_bind_btPairCachingGhostObject_getOverlappingObject_1=function(){return(zy=b._emscripten_bind_btPairCachingGhostObject_getOverlappingObject_1=b.asm.hw).apply(null,arguments)},Ay=b._emscripten_bind_btPairCachingGhostObject___destroy___0=function(){return(Ay=b._emscripten_bind_btPairCachingGhostObject___destroy___0=b.asm.iw).apply(null,arguments)},By=b._emscripten_bind_btGhostPairCallback_btGhostPairCallback_0=function(){return(By=b._emscripten_bind_btGhostPairCallback_btGhostPairCallback_0=
+b.asm.jw).apply(null,arguments)},Cy=b._emscripten_bind_btGhostPairCallback___destroy___0=function(){return(Cy=b._emscripten_bind_btGhostPairCallback___destroy___0=b.asm.kw).apply(null,arguments)},Dy=b._emscripten_bind_btSoftBodyWorldInfo_btSoftBodyWorldInfo_0=function(){return(Dy=b._emscripten_bind_btSoftBodyWorldInfo_btSoftBodyWorldInfo_0=b.asm.lw).apply(null,arguments)},Ey=b._emscripten_bind_btSoftBodyWorldInfo_get_air_density_0=function(){return(Ey=b._emscripten_bind_btSoftBodyWorldInfo_get_air_density_0=
+b.asm.mw).apply(null,arguments)},Fy=b._emscripten_bind_btSoftBodyWorldInfo_set_air_density_1=function(){return(Fy=b._emscripten_bind_btSoftBodyWorldInfo_set_air_density_1=b.asm.nw).apply(null,arguments)},Gy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_density_0=function(){return(Gy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_density_0=b.asm.ow).apply(null,arguments)},Hy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_density_1=function(){return(Hy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_density_1=
+b.asm.pw).apply(null,arguments)},Iy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_offset_0=function(){return(Iy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_offset_0=b.asm.qw).apply(null,arguments)},Jy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_offset_1=function(){return(Jy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_offset_1=b.asm.rw).apply(null,arguments)},Ky=b._emscripten_bind_btSoftBodyWorldInfo_get_m_maxDisplacement_0=function(){return(Ky=b._emscripten_bind_btSoftBodyWorldInfo_get_m_maxDisplacement_0=
+b.asm.sw).apply(null,arguments)},Ly=b._emscripten_bind_btSoftBodyWorldInfo_set_m_maxDisplacement_1=function(){return(Ly=b._emscripten_bind_btSoftBodyWorldInfo_set_m_maxDisplacement_1=b.asm.tw).apply(null,arguments)},My=b._emscripten_bind_btSoftBodyWorldInfo_get_water_normal_0=function(){return(My=b._emscripten_bind_btSoftBodyWorldInfo_get_water_normal_0=b.asm.uw).apply(null,arguments)},Ny=b._emscripten_bind_btSoftBodyWorldInfo_set_water_normal_1=function(){return(Ny=b._emscripten_bind_btSoftBodyWorldInfo_set_water_normal_1=
+b.asm.vw).apply(null,arguments)},Oy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_broadphase_0=function(){return(Oy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_broadphase_0=b.asm.ww).apply(null,arguments)},Py=b._emscripten_bind_btSoftBodyWorldInfo_set_m_broadphase_1=function(){return(Py=b._emscripten_bind_btSoftBodyWorldInfo_set_m_broadphase_1=b.asm.xw).apply(null,arguments)},Qy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_dispatcher_0=function(){return(Qy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_dispatcher_0=
+b.asm.yw).apply(null,arguments)},Ry=b._emscripten_bind_btSoftBodyWorldInfo_set_m_dispatcher_1=function(){return(Ry=b._emscripten_bind_btSoftBodyWorldInfo_set_m_dispatcher_1=b.asm.zw).apply(null,arguments)},Sy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_gravity_0=function(){return(Sy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_gravity_0=b.asm.Aw).apply(null,arguments)},Ty=b._emscripten_bind_btSoftBodyWorldInfo_set_m_gravity_1=function(){return(Ty=b._emscripten_bind_btSoftBodyWorldInfo_set_m_gravity_1=
+b.asm.Bw).apply(null,arguments)},Uy=b._emscripten_bind_btSoftBodyWorldInfo___destroy___0=function(){return(Uy=b._emscripten_bind_btSoftBodyWorldInfo___destroy___0=b.asm.Cw).apply(null,arguments)},Vy=b._emscripten_bind_Face_get_m_n_1=function(){return(Vy=b._emscripten_bind_Face_get_m_n_1=b.asm.Dw).apply(null,arguments)},Wy=b._emscripten_bind_Face_set_m_n_2=function(){return(Wy=b._emscripten_bind_Face_set_m_n_2=b.asm.Ew).apply(null,arguments)},Xy=b._emscripten_bind_Face_get_m_normal_0=function(){return(Xy=
+b._emscripten_bind_Face_get_m_normal_0=b.asm.Fw).apply(null,arguments)},Yy=b._emscripten_bind_Face_set_m_normal_1=function(){return(Yy=b._emscripten_bind_Face_set_m_normal_1=b.asm.Gw).apply(null,arguments)},Zy=b._emscripten_bind_Face_get_m_ra_0=function(){return(Zy=b._emscripten_bind_Face_get_m_ra_0=b.asm.Hw).apply(null,arguments)},$y=b._emscripten_bind_Face_set_m_ra_1=function(){return($y=b._emscripten_bind_Face_set_m_ra_1=b.asm.Iw).apply(null,arguments)},az=b._emscripten_bind_Face___destroy___0=
+function(){return(az=b._emscripten_bind_Face___destroy___0=b.asm.Jw).apply(null,arguments)},bz=b._emscripten_bind_tFaceArray_size_0=function(){return(bz=b._emscripten_bind_tFaceArray_size_0=b.asm.Kw).apply(null,arguments)},cz=b._emscripten_bind_tFaceArray_at_1=function(){return(cz=b._emscripten_bind_tFaceArray_at_1=b.asm.Lw).apply(null,arguments)},dz=b._emscripten_bind_tFaceArray___destroy___0=function(){return(dz=b._emscripten_bind_tFaceArray___destroy___0=b.asm.Mw).apply(null,arguments)},ez=b._emscripten_bind_Node_get_m_x_0=
+function(){return(ez=b._emscripten_bind_Node_get_m_x_0=b.asm.Nw).apply(null,arguments)},fz=b._emscripten_bind_Node_set_m_x_1=function(){return(fz=b._emscripten_bind_Node_set_m_x_1=b.asm.Ow).apply(null,arguments)},gz=b._emscripten_bind_Node_get_m_q_0=function(){return(gz=b._emscripten_bind_Node_get_m_q_0=b.asm.Pw).apply(null,arguments)},hz=b._emscripten_bind_Node_set_m_q_1=function(){return(hz=b._emscripten_bind_Node_set_m_q_1=b.asm.Qw).apply(null,arguments)},iz=b._emscripten_bind_Node_get_m_v_0=function(){return(iz=
+b._emscripten_bind_Node_get_m_v_0=b.asm.Rw).apply(null,arguments)},jz=b._emscripten_bind_Node_set_m_v_1=function(){return(jz=b._emscripten_bind_Node_set_m_v_1=b.asm.Sw).apply(null,arguments)},kz=b._emscripten_bind_Node_get_m_f_0=function(){return(kz=b._emscripten_bind_Node_get_m_f_0=b.asm.Tw).apply(null,arguments)},lz=b._emscripten_bind_Node_set_m_f_1=function(){return(lz=b._emscripten_bind_Node_set_m_f_1=b.asm.Uw).apply(null,arguments)},mz=b._emscripten_bind_Node_get_m_n_0=function(){return(mz=b._emscripten_bind_Node_get_m_n_0=
+b.asm.Vw).apply(null,arguments)},nz=b._emscripten_bind_Node_set_m_n_1=function(){return(nz=b._emscripten_bind_Node_set_m_n_1=b.asm.Ww).apply(null,arguments)},oz=b._emscripten_bind_Node_get_m_im_0=function(){return(oz=b._emscripten_bind_Node_get_m_im_0=b.asm.Xw).apply(null,arguments)},pz=b._emscripten_bind_Node_set_m_im_1=function(){return(pz=b._emscripten_bind_Node_set_m_im_1=b.asm.Yw).apply(null,arguments)},qz=b._emscripten_bind_Node_get_m_area_0=function(){return(qz=b._emscripten_bind_Node_get_m_area_0=
+b.asm.Zw).apply(null,arguments)},rz=b._emscripten_bind_Node_set_m_area_1=function(){return(rz=b._emscripten_bind_Node_set_m_area_1=b.asm._w).apply(null,arguments)},sz=b._emscripten_bind_Node___destroy___0=function(){return(sz=b._emscripten_bind_Node___destroy___0=b.asm.$w).apply(null,arguments)},tz=b._emscripten_bind_tNodeArray_size_0=function(){return(tz=b._emscripten_bind_tNodeArray_size_0=b.asm.ax).apply(null,arguments)},uz=b._emscripten_bind_tNodeArray_at_1=function(){return(uz=b._emscripten_bind_tNodeArray_at_1=
+b.asm.bx).apply(null,arguments)},vz=b._emscripten_bind_tNodeArray___destroy___0=function(){return(vz=b._emscripten_bind_tNodeArray___destroy___0=b.asm.cx).apply(null,arguments)},wz=b._emscripten_bind_Material_get_m_kLST_0=function(){return(wz=b._emscripten_bind_Material_get_m_kLST_0=b.asm.dx).apply(null,arguments)},xz=b._emscripten_bind_Material_set_m_kLST_1=function(){return(xz=b._emscripten_bind_Material_set_m_kLST_1=b.asm.ex).apply(null,arguments)},yz=b._emscripten_bind_Material_get_m_kAST_0=function(){return(yz=
+b._emscripten_bind_Material_get_m_kAST_0=b.asm.fx).apply(null,arguments)},zz=b._emscripten_bind_Material_set_m_kAST_1=function(){return(zz=b._emscripten_bind_Material_set_m_kAST_1=b.asm.gx).apply(null,arguments)},Az=b._emscripten_bind_Material_get_m_kVST_0=function(){return(Az=b._emscripten_bind_Material_get_m_kVST_0=b.asm.hx).apply(null,arguments)},Bz=b._emscripten_bind_Material_set_m_kVST_1=function(){return(Bz=b._emscripten_bind_Material_set_m_kVST_1=b.asm.ix).apply(null,arguments)},Cz=b._emscripten_bind_Material_get_m_flags_0=
+function(){return(Cz=b._emscripten_bind_Material_get_m_flags_0=b.asm.jx).apply(null,arguments)},Dz=b._emscripten_bind_Material_set_m_flags_1=function(){return(Dz=b._emscripten_bind_Material_set_m_flags_1=b.asm.kx).apply(null,arguments)},Ez=b._emscripten_bind_Material___destroy___0=function(){return(Ez=b._emscripten_bind_Material___destroy___0=b.asm.lx).apply(null,arguments)},Fz=b._emscripten_bind_tMaterialArray_size_0=function(){return(Fz=b._emscripten_bind_tMaterialArray_size_0=b.asm.mx).apply(null,
+arguments)},Gz=b._emscripten_bind_tMaterialArray_at_1=function(){return(Gz=b._emscripten_bind_tMaterialArray_at_1=b.asm.nx).apply(null,arguments)},Hz=b._emscripten_bind_tMaterialArray___destroy___0=function(){return(Hz=b._emscripten_bind_tMaterialArray___destroy___0=b.asm.ox).apply(null,arguments)},Iz=b._emscripten_bind_Anchor_get_m_node_0=function(){return(Iz=b._emscripten_bind_Anchor_get_m_node_0=b.asm.px).apply(null,arguments)},Jz=b._emscripten_bind_Anchor_set_m_node_1=function(){return(Jz=b._emscripten_bind_Anchor_set_m_node_1=
+b.asm.qx).apply(null,arguments)},Kz=b._emscripten_bind_Anchor_get_m_local_0=function(){return(Kz=b._emscripten_bind_Anchor_get_m_local_0=b.asm.rx).apply(null,arguments)},Lz=b._emscripten_bind_Anchor_set_m_local_1=function(){return(Lz=b._emscripten_bind_Anchor_set_m_local_1=b.asm.sx).apply(null,arguments)},Mz=b._emscripten_bind_Anchor_get_m_body_0=function(){return(Mz=b._emscripten_bind_Anchor_get_m_body_0=b.asm.tx).apply(null,arguments)},Nz=b._emscripten_bind_Anchor_set_m_body_1=function(){return(Nz=
+b._emscripten_bind_Anchor_set_m_body_1=b.asm.ux).apply(null,arguments)},Oz=b._emscripten_bind_Anchor_get_m_influence_0=function(){return(Oz=b._emscripten_bind_Anchor_get_m_influence_0=b.asm.vx).apply(null,arguments)},Pz=b._emscripten_bind_Anchor_set_m_influence_1=function(){return(Pz=b._emscripten_bind_Anchor_set_m_influence_1=b.asm.wx).apply(null,arguments)},Qz=b._emscripten_bind_Anchor_get_m_c0_0=function(){return(Qz=b._emscripten_bind_Anchor_get_m_c0_0=b.asm.xx).apply(null,arguments)},Rz=b._emscripten_bind_Anchor_set_m_c0_1=
+function(){return(Rz=b._emscripten_bind_Anchor_set_m_c0_1=b.asm.yx).apply(null,arguments)},Sz=b._emscripten_bind_Anchor_get_m_c1_0=function(){return(Sz=b._emscripten_bind_Anchor_get_m_c1_0=b.asm.zx).apply(null,arguments)},Tz=b._emscripten_bind_Anchor_set_m_c1_1=function(){return(Tz=b._emscripten_bind_Anchor_set_m_c1_1=b.asm.Ax).apply(null,arguments)},Uz=b._emscripten_bind_Anchor_get_m_c2_0=function(){return(Uz=b._emscripten_bind_Anchor_get_m_c2_0=b.asm.Bx).apply(null,arguments)},Vz=b._emscripten_bind_Anchor_set_m_c2_1=
+function(){return(Vz=b._emscripten_bind_Anchor_set_m_c2_1=b.asm.Cx).apply(null,arguments)},Wz=b._emscripten_bind_Anchor___destroy___0=function(){return(Wz=b._emscripten_bind_Anchor___destroy___0=b.asm.Dx).apply(null,arguments)},Xz=b._emscripten_bind_tAnchorArray_size_0=function(){return(Xz=b._emscripten_bind_tAnchorArray_size_0=b.asm.Ex).apply(null,arguments)},Yz=b._emscripten_bind_tAnchorArray_at_1=function(){return(Yz=b._emscripten_bind_tAnchorArray_at_1=b.asm.Fx).apply(null,arguments)},Zz=b._emscripten_bind_tAnchorArray_clear_0=
+function(){return(Zz=b._emscripten_bind_tAnchorArray_clear_0=b.asm.Gx).apply(null,arguments)},$z=b._emscripten_bind_tAnchorArray_push_back_1=function(){return($z=b._emscripten_bind_tAnchorArray_push_back_1=b.asm.Hx).apply(null,arguments)},aA=b._emscripten_bind_tAnchorArray_pop_back_0=function(){return(aA=b._emscripten_bind_tAnchorArray_pop_back_0=b.asm.Ix).apply(null,arguments)},bA=b._emscripten_bind_tAnchorArray___destroy___0=function(){return(bA=b._emscripten_bind_tAnchorArray___destroy___0=b.asm.Jx).apply(null,
+arguments)},cA=b._emscripten_bind_Config_get_kVCF_0=function(){return(cA=b._emscripten_bind_Config_get_kVCF_0=b.asm.Kx).apply(null,arguments)},dA=b._emscripten_bind_Config_set_kVCF_1=function(){return(dA=b._emscripten_bind_Config_set_kVCF_1=b.asm.Lx).apply(null,arguments)},eA=b._emscripten_bind_Config_get_kDP_0=function(){return(eA=b._emscripten_bind_Config_get_kDP_0=b.asm.Mx).apply(null,arguments)},fA=b._emscripten_bind_Config_set_kDP_1=function(){return(fA=b._emscripten_bind_Config_set_kDP_1=b.asm.Nx).apply(null,
+arguments)},gA=b._emscripten_bind_Config_get_kDG_0=function(){return(gA=b._emscripten_bind_Config_get_kDG_0=b.asm.Ox).apply(null,arguments)},hA=b._emscripten_bind_Config_set_kDG_1=function(){return(hA=b._emscripten_bind_Config_set_kDG_1=b.asm.Px).apply(null,arguments)},iA=b._emscripten_bind_Config_get_kLF_0=function(){return(iA=b._emscripten_bind_Config_get_kLF_0=b.asm.Qx).apply(null,arguments)},jA=b._emscripten_bind_Config_set_kLF_1=function(){return(jA=b._emscripten_bind_Config_set_kLF_1=b.asm.Rx).apply(null,
+arguments)},kA=b._emscripten_bind_Config_get_kPR_0=function(){return(kA=b._emscripten_bind_Config_get_kPR_0=b.asm.Sx).apply(null,arguments)},lA=b._emscripten_bind_Config_set_kPR_1=function(){return(lA=b._emscripten_bind_Config_set_kPR_1=b.asm.Tx).apply(null,arguments)},mA=b._emscripten_bind_Config_get_kVC_0=function(){return(mA=b._emscripten_bind_Config_get_kVC_0=b.asm.Ux).apply(null,arguments)},nA=b._emscripten_bind_Config_set_kVC_1=function(){return(nA=b._emscripten_bind_Config_set_kVC_1=b.asm.Vx).apply(null,
+arguments)},oA=b._emscripten_bind_Config_get_kDF_0=function(){return(oA=b._emscripten_bind_Config_get_kDF_0=b.asm.Wx).apply(null,arguments)},pA=b._emscripten_bind_Config_set_kDF_1=function(){return(pA=b._emscripten_bind_Config_set_kDF_1=b.asm.Xx).apply(null,arguments)},qA=b._emscripten_bind_Config_get_kMT_0=function(){return(qA=b._emscripten_bind_Config_get_kMT_0=b.asm.Yx).apply(null,arguments)},rA=b._emscripten_bind_Config_set_kMT_1=function(){return(rA=b._emscripten_bind_Config_set_kMT_1=b.asm.Zx).apply(null,
+arguments)},sA=b._emscripten_bind_Config_get_kCHR_0=function(){return(sA=b._emscripten_bind_Config_get_kCHR_0=b.asm._x).apply(null,arguments)},tA=b._emscripten_bind_Config_set_kCHR_1=function(){return(tA=b._emscripten_bind_Config_set_kCHR_1=b.asm.$x).apply(null,arguments)},uA=b._emscripten_bind_Config_get_kKHR_0=function(){return(uA=b._emscripten_bind_Config_get_kKHR_0=b.asm.ay).apply(null,arguments)},vA=b._emscripten_bind_Config_set_kKHR_1=function(){return(vA=b._emscripten_bind_Config_set_kKHR_1=
+b.asm.by).apply(null,arguments)},wA=b._emscripten_bind_Config_get_kSHR_0=function(){return(wA=b._emscripten_bind_Config_get_kSHR_0=b.asm.cy).apply(null,arguments)},xA=b._emscripten_bind_Config_set_kSHR_1=function(){return(xA=b._emscripten_bind_Config_set_kSHR_1=b.asm.dy).apply(null,arguments)},yA=b._emscripten_bind_Config_get_kAHR_0=function(){return(yA=b._emscripten_bind_Config_get_kAHR_0=b.asm.ey).apply(null,arguments)},zA=b._emscripten_bind_Config_set_kAHR_1=function(){return(zA=b._emscripten_bind_Config_set_kAHR_1=
+b.asm.fy).apply(null,arguments)},AA=b._emscripten_bind_Config_get_kSRHR_CL_0=function(){return(AA=b._emscripten_bind_Config_get_kSRHR_CL_0=b.asm.gy).apply(null,arguments)},BA=b._emscripten_bind_Config_set_kSRHR_CL_1=function(){return(BA=b._emscripten_bind_Config_set_kSRHR_CL_1=b.asm.hy).apply(null,arguments)},CA=b._emscripten_bind_Config_get_kSKHR_CL_0=function(){return(CA=b._emscripten_bind_Config_get_kSKHR_CL_0=b.asm.iy).apply(null,arguments)},DA=b._emscripten_bind_Config_set_kSKHR_CL_1=function(){return(DA=
+b._emscripten_bind_Config_set_kSKHR_CL_1=b.asm.jy).apply(null,arguments)},EA=b._emscripten_bind_Config_get_kSSHR_CL_0=function(){return(EA=b._emscripten_bind_Config_get_kSSHR_CL_0=b.asm.ky).apply(null,arguments)},FA=b._emscripten_bind_Config_set_kSSHR_CL_1=function(){return(FA=b._emscripten_bind_Config_set_kSSHR_CL_1=b.asm.ly).apply(null,arguments)},GA=b._emscripten_bind_Config_get_kSR_SPLT_CL_0=function(){return(GA=b._emscripten_bind_Config_get_kSR_SPLT_CL_0=b.asm.my).apply(null,arguments)},HA=b._emscripten_bind_Config_set_kSR_SPLT_CL_1=
+function(){return(HA=b._emscripten_bind_Config_set_kSR_SPLT_CL_1=b.asm.ny).apply(null,arguments)},IA=b._emscripten_bind_Config_get_kSK_SPLT_CL_0=function(){return(IA=b._emscripten_bind_Config_get_kSK_SPLT_CL_0=b.asm.oy).apply(null,arguments)},JA=b._emscripten_bind_Config_set_kSK_SPLT_CL_1=function(){return(JA=b._emscripten_bind_Config_set_kSK_SPLT_CL_1=b.asm.py).apply(null,arguments)},KA=b._emscripten_bind_Config_get_kSS_SPLT_CL_0=function(){return(KA=b._emscripten_bind_Config_get_kSS_SPLT_CL_0=b.asm.qy).apply(null,
+arguments)},LA=b._emscripten_bind_Config_set_kSS_SPLT_CL_1=function(){return(LA=b._emscripten_bind_Config_set_kSS_SPLT_CL_1=b.asm.ry).apply(null,arguments)},MA=b._emscripten_bind_Config_get_maxvolume_0=function(){return(MA=b._emscripten_bind_Config_get_maxvolume_0=b.asm.sy).apply(null,arguments)},NA=b._emscripten_bind_Config_set_maxvolume_1=function(){return(NA=b._emscripten_bind_Config_set_maxvolume_1=b.asm.ty).apply(null,arguments)},OA=b._emscripten_bind_Config_get_timescale_0=function(){return(OA=
+b._emscripten_bind_Config_get_timescale_0=b.asm.uy).apply(null,arguments)},PA=b._emscripten_bind_Config_set_timescale_1=function(){return(PA=b._emscripten_bind_Config_set_timescale_1=b.asm.vy).apply(null,arguments)},QA=b._emscripten_bind_Config_get_viterations_0=function(){return(QA=b._emscripten_bind_Config_get_viterations_0=b.asm.wy).apply(null,arguments)},RA=b._emscripten_bind_Config_set_viterations_1=function(){return(RA=b._emscripten_bind_Config_set_viterations_1=b.asm.xy).apply(null,arguments)},
+SA=b._emscripten_bind_Config_get_piterations_0=function(){return(SA=b._emscripten_bind_Config_get_piterations_0=b.asm.yy).apply(null,arguments)},TA=b._emscripten_bind_Config_set_piterations_1=function(){return(TA=b._emscripten_bind_Config_set_piterations_1=b.asm.zy).apply(null,arguments)},UA=b._emscripten_bind_Config_get_diterations_0=function(){return(UA=b._emscripten_bind_Config_get_diterations_0=b.asm.Ay).apply(null,arguments)},VA=b._emscripten_bind_Config_set_diterations_1=function(){return(VA=
+b._emscripten_bind_Config_set_diterations_1=b.asm.By).apply(null,arguments)},WA=b._emscripten_bind_Config_get_citerations_0=function(){return(WA=b._emscripten_bind_Config_get_citerations_0=b.asm.Cy).apply(null,arguments)},XA=b._emscripten_bind_Config_set_citerations_1=function(){return(XA=b._emscripten_bind_Config_set_citerations_1=b.asm.Dy).apply(null,arguments)},YA=b._emscripten_bind_Config_get_collisions_0=function(){return(YA=b._emscripten_bind_Config_get_collisions_0=b.asm.Ey).apply(null,arguments)},
+ZA=b._emscripten_bind_Config_set_collisions_1=function(){return(ZA=b._emscripten_bind_Config_set_collisions_1=b.asm.Fy).apply(null,arguments)},$A=b._emscripten_bind_Config___destroy___0=function(){return($A=b._emscripten_bind_Config___destroy___0=b.asm.Gy).apply(null,arguments)},aB=b._emscripten_bind_btSoftBody_btSoftBody_4=function(){return(aB=b._emscripten_bind_btSoftBody_btSoftBody_4=b.asm.Hy).apply(null,arguments)},bB=b._emscripten_bind_btSoftBody_checkLink_2=function(){return(bB=b._emscripten_bind_btSoftBody_checkLink_2=
+b.asm.Iy).apply(null,arguments)},cB=b._emscripten_bind_btSoftBody_checkFace_3=function(){return(cB=b._emscripten_bind_btSoftBody_checkFace_3=b.asm.Jy).apply(null,arguments)},dB=b._emscripten_bind_btSoftBody_appendMaterial_0=function(){return(dB=b._emscripten_bind_btSoftBody_appendMaterial_0=b.asm.Ky).apply(null,arguments)},eB=b._emscripten_bind_btSoftBody_appendNode_2=function(){return(eB=b._emscripten_bind_btSoftBody_appendNode_2=b.asm.Ly).apply(null,arguments)},fB=b._emscripten_bind_btSoftBody_appendLink_4=
+function(){return(fB=b._emscripten_bind_btSoftBody_appendLink_4=b.asm.My).apply(null,arguments)},gB=b._emscripten_bind_btSoftBody_appendFace_4=function(){return(gB=b._emscripten_bind_btSoftBody_appendFace_4=b.asm.Ny).apply(null,arguments)},hB=b._emscripten_bind_btSoftBody_appendTetra_5=function(){return(hB=b._emscripten_bind_btSoftBody_appendTetra_5=b.asm.Oy).apply(null,arguments)},iB=b._emscripten_bind_btSoftBody_appendAnchor_4=function(){return(iB=b._emscripten_bind_btSoftBody_appendAnchor_4=b.asm.Py).apply(null,
+arguments)},jB=b._emscripten_bind_btSoftBody_addForce_1=function(){return(jB=b._emscripten_bind_btSoftBody_addForce_1=b.asm.Qy).apply(null,arguments)},kB=b._emscripten_bind_btSoftBody_addForce_2=function(){return(kB=b._emscripten_bind_btSoftBody_addForce_2=b.asm.Ry).apply(null,arguments)},lB=b._emscripten_bind_btSoftBody_addAeroForceToNode_2=function(){return(lB=b._emscripten_bind_btSoftBody_addAeroForceToNode_2=b.asm.Sy).apply(null,arguments)},mB=b._emscripten_bind_btSoftBody_getTotalMass_0=function(){return(mB=
+b._emscripten_bind_btSoftBody_getTotalMass_0=b.asm.Ty).apply(null,arguments)},nB=b._emscripten_bind_btSoftBody_setTotalMass_2=function(){return(nB=b._emscripten_bind_btSoftBody_setTotalMass_2=b.asm.Uy).apply(null,arguments)},oB=b._emscripten_bind_btSoftBody_setMass_2=function(){return(oB=b._emscripten_bind_btSoftBody_setMass_2=b.asm.Vy).apply(null,arguments)},pB=b._emscripten_bind_btSoftBody_transform_1=function(){return(pB=b._emscripten_bind_btSoftBody_transform_1=b.asm.Wy).apply(null,arguments)},
+qB=b._emscripten_bind_btSoftBody_translate_1=function(){return(qB=b._emscripten_bind_btSoftBody_translate_1=b.asm.Xy).apply(null,arguments)},rB=b._emscripten_bind_btSoftBody_rotate_1=function(){return(rB=b._emscripten_bind_btSoftBody_rotate_1=b.asm.Yy).apply(null,arguments)},sB=b._emscripten_bind_btSoftBody_scale_1=function(){return(sB=b._emscripten_bind_btSoftBody_scale_1=b.asm.Zy).apply(null,arguments)},tB=b._emscripten_bind_btSoftBody_generateClusters_1=function(){return(tB=b._emscripten_bind_btSoftBody_generateClusters_1=
+b.asm._y).apply(null,arguments)},uB=b._emscripten_bind_btSoftBody_generateClusters_2=function(){return(uB=b._emscripten_bind_btSoftBody_generateClusters_2=b.asm.$y).apply(null,arguments)},vB=b._emscripten_bind_btSoftBody_generateBendingConstraints_2=function(){return(vB=b._emscripten_bind_btSoftBody_generateBendingConstraints_2=b.asm.az).apply(null,arguments)},wB=b._emscripten_bind_btSoftBody_upcast_1=function(){return(wB=b._emscripten_bind_btSoftBody_upcast_1=b.asm.bz).apply(null,arguments)},xB=
+b._emscripten_bind_btSoftBody_getRestLengthScale_0=function(){return(xB=b._emscripten_bind_btSoftBody_getRestLengthScale_0=b.asm.cz).apply(null,arguments)},yB=b._emscripten_bind_btSoftBody_setRestLengthScale_1=function(){return(yB=b._emscripten_bind_btSoftBody_setRestLengthScale_1=b.asm.dz).apply(null,arguments)},zB=b._emscripten_bind_btSoftBody_setAnisotropicFriction_2=function(){return(zB=b._emscripten_bind_btSoftBody_setAnisotropicFriction_2=b.asm.ez).apply(null,arguments)},AB=b._emscripten_bind_btSoftBody_getCollisionShape_0=
+function(){return(AB=b._emscripten_bind_btSoftBody_getCollisionShape_0=b.asm.fz).apply(null,arguments)},BB=b._emscripten_bind_btSoftBody_setContactProcessingThreshold_1=function(){return(BB=b._emscripten_bind_btSoftBody_setContactProcessingThreshold_1=b.asm.gz).apply(null,arguments)},CB=b._emscripten_bind_btSoftBody_setActivationState_1=function(){return(CB=b._emscripten_bind_btSoftBody_setActivationState_1=b.asm.hz).apply(null,arguments)},DB=b._emscripten_bind_btSoftBody_forceActivationState_1=function(){return(DB=
+b._emscripten_bind_btSoftBody_forceActivationState_1=b.asm.iz).apply(null,arguments)},EB=b._emscripten_bind_btSoftBody_activate_0=function(){return(EB=b._emscripten_bind_btSoftBody_activate_0=b.asm.jz).apply(null,arguments)},FB=b._emscripten_bind_btSoftBody_activate_1=function(){return(FB=b._emscripten_bind_btSoftBody_activate_1=b.asm.kz).apply(null,arguments)},GB=b._emscripten_bind_btSoftBody_isActive_0=function(){return(GB=b._emscripten_bind_btSoftBody_isActive_0=b.asm.lz).apply(null,arguments)},
+HB=b._emscripten_bind_btSoftBody_isKinematicObject_0=function(){return(HB=b._emscripten_bind_btSoftBody_isKinematicObject_0=b.asm.mz).apply(null,arguments)},IB=b._emscripten_bind_btSoftBody_isStaticObject_0=function(){return(IB=b._emscripten_bind_btSoftBody_isStaticObject_0=b.asm.nz).apply(null,arguments)},JB=b._emscripten_bind_btSoftBody_isStaticOrKinematicObject_0=function(){return(JB=b._emscripten_bind_btSoftBody_isStaticOrKinematicObject_0=b.asm.oz).apply(null,arguments)},KB=b._emscripten_bind_btSoftBody_getRestitution_0=
+function(){return(KB=b._emscripten_bind_btSoftBody_getRestitution_0=b.asm.pz).apply(null,arguments)},LB=b._emscripten_bind_btSoftBody_getFriction_0=function(){return(LB=b._emscripten_bind_btSoftBody_getFriction_0=b.asm.qz).apply(null,arguments)},MB=b._emscripten_bind_btSoftBody_getRollingFriction_0=function(){return(MB=b._emscripten_bind_btSoftBody_getRollingFriction_0=b.asm.rz).apply(null,arguments)},NB=b._emscripten_bind_btSoftBody_setRestitution_1=function(){return(NB=b._emscripten_bind_btSoftBody_setRestitution_1=
+b.asm.sz).apply(null,arguments)},OB=b._emscripten_bind_btSoftBody_setFriction_1=function(){return(OB=b._emscripten_bind_btSoftBody_setFriction_1=b.asm.tz).apply(null,arguments)},PB=b._emscripten_bind_btSoftBody_setRollingFriction_1=function(){return(PB=b._emscripten_bind_btSoftBody_setRollingFriction_1=b.asm.uz).apply(null,arguments)},QB=b._emscripten_bind_btSoftBody_getWorldTransform_0=function(){return(QB=b._emscripten_bind_btSoftBody_getWorldTransform_0=b.asm.vz).apply(null,arguments)},RB=b._emscripten_bind_btSoftBody_getCollisionFlags_0=
+function(){return(RB=b._emscripten_bind_btSoftBody_getCollisionFlags_0=b.asm.wz).apply(null,arguments)},SB=b._emscripten_bind_btSoftBody_setCollisionFlags_1=function(){return(SB=b._emscripten_bind_btSoftBody_setCollisionFlags_1=b.asm.xz).apply(null,arguments)},TB=b._emscripten_bind_btSoftBody_setWorldTransform_1=function(){return(TB=b._emscripten_bind_btSoftBody_setWorldTransform_1=b.asm.yz).apply(null,arguments)},UB=b._emscripten_bind_btSoftBody_setCollisionShape_1=function(){return(UB=b._emscripten_bind_btSoftBody_setCollisionShape_1=
+b.asm.zz).apply(null,arguments)},VB=b._emscripten_bind_btSoftBody_setCcdMotionThreshold_1=function(){return(VB=b._emscripten_bind_btSoftBody_setCcdMotionThreshold_1=b.asm.Az).apply(null,arguments)},WB=b._emscripten_bind_btSoftBody_setCcdSweptSphereRadius_1=function(){return(WB=b._emscripten_bind_btSoftBody_setCcdSweptSphereRadius_1=b.asm.Bz).apply(null,arguments)},XB=b._emscripten_bind_btSoftBody_getUserIndex_0=function(){return(XB=b._emscripten_bind_btSoftBody_getUserIndex_0=b.asm.Cz).apply(null,
+arguments)},YB=b._emscripten_bind_btSoftBody_setUserIndex_1=function(){return(YB=b._emscripten_bind_btSoftBody_setUserIndex_1=b.asm.Dz).apply(null,arguments)},ZB=b._emscripten_bind_btSoftBody_getUserPointer_0=function(){return(ZB=b._emscripten_bind_btSoftBody_getUserPointer_0=b.asm.Ez).apply(null,arguments)},$B=b._emscripten_bind_btSoftBody_setUserPointer_1=function(){return($B=b._emscripten_bind_btSoftBody_setUserPointer_1=b.asm.Fz).apply(null,arguments)},aC=b._emscripten_bind_btSoftBody_getBroadphaseHandle_0=
+function(){return(aC=b._emscripten_bind_btSoftBody_getBroadphaseHandle_0=b.asm.Gz).apply(null,arguments)},bC=b._emscripten_bind_btSoftBody_get_m_cfg_0=function(){return(bC=b._emscripten_bind_btSoftBody_get_m_cfg_0=b.asm.Hz).apply(null,arguments)},cC=b._emscripten_bind_btSoftBody_set_m_cfg_1=function(){return(cC=b._emscripten_bind_btSoftBody_set_m_cfg_1=b.asm.Iz).apply(null,arguments)},dC=b._emscripten_bind_btSoftBody_get_m_nodes_0=function(){return(dC=b._emscripten_bind_btSoftBody_get_m_nodes_0=b.asm.Jz).apply(null,
+arguments)},eC=b._emscripten_bind_btSoftBody_set_m_nodes_1=function(){return(eC=b._emscripten_bind_btSoftBody_set_m_nodes_1=b.asm.Kz).apply(null,arguments)},fC=b._emscripten_bind_btSoftBody_get_m_faces_0=function(){return(fC=b._emscripten_bind_btSoftBody_get_m_faces_0=b.asm.Lz).apply(null,arguments)},gC=b._emscripten_bind_btSoftBody_set_m_faces_1=function(){return(gC=b._emscripten_bind_btSoftBody_set_m_faces_1=b.asm.Mz).apply(null,arguments)},hC=b._emscripten_bind_btSoftBody_get_m_materials_0=function(){return(hC=
+b._emscripten_bind_btSoftBody_get_m_materials_0=b.asm.Nz).apply(null,arguments)},iC=b._emscripten_bind_btSoftBody_set_m_materials_1=function(){return(iC=b._emscripten_bind_btSoftBody_set_m_materials_1=b.asm.Oz).apply(null,arguments)},jC=b._emscripten_bind_btSoftBody_get_m_anchors_0=function(){return(jC=b._emscripten_bind_btSoftBody_get_m_anchors_0=b.asm.Pz).apply(null,arguments)},kC=b._emscripten_bind_btSoftBody_set_m_anchors_1=function(){return(kC=b._emscripten_bind_btSoftBody_set_m_anchors_1=b.asm.Qz).apply(null,
+arguments)},lC=b._emscripten_bind_btSoftBody___destroy___0=function(){return(lC=b._emscripten_bind_btSoftBody___destroy___0=b.asm.Rz).apply(null,arguments)},mC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration_btSoftBodyRigidBodyCollisionConfiguration_0=function(){return(mC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration_btSoftBodyRigidBodyCollisionConfiguration_0=b.asm.Sz).apply(null,arguments)},nC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration_btSoftBodyRigidBodyCollisionConfiguration_1=
+function(){return(nC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration_btSoftBodyRigidBodyCollisionConfiguration_1=b.asm.Tz).apply(null,arguments)},oC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration___destroy___0=function(){return(oC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration___destroy___0=b.asm.Uz).apply(null,arguments)},pC=b._emscripten_bind_btDefaultSoftBodySolver_btDefaultSoftBodySolver_0=function(){return(pC=b._emscripten_bind_btDefaultSoftBodySolver_btDefaultSoftBodySolver_0=
+b.asm.Vz).apply(null,arguments)},qC=b._emscripten_bind_btDefaultSoftBodySolver___destroy___0=function(){return(qC=b._emscripten_bind_btDefaultSoftBodySolver___destroy___0=b.asm.Wz).apply(null,arguments)},rC=b._emscripten_bind_btSoftBodyArray_size_0=function(){return(rC=b._emscripten_bind_btSoftBodyArray_size_0=b.asm.Xz).apply(null,arguments)},sC=b._emscripten_bind_btSoftBodyArray_at_1=function(){return(sC=b._emscripten_bind_btSoftBodyArray_at_1=b.asm.Yz).apply(null,arguments)},tC=b._emscripten_bind_btSoftBodyArray___destroy___0=
+function(){return(tC=b._emscripten_bind_btSoftBodyArray___destroy___0=b.asm.Zz).apply(null,arguments)},uC=b._emscripten_bind_btSoftRigidDynamicsWorld_btSoftRigidDynamicsWorld_5=function(){return(uC=b._emscripten_bind_btSoftRigidDynamicsWorld_btSoftRigidDynamicsWorld_5=b.asm._z).apply(null,arguments)},vC=b._emscripten_bind_btSoftRigidDynamicsWorld_addSoftBody_3=function(){return(vC=b._emscripten_bind_btSoftRigidDynamicsWorld_addSoftBody_3=b.asm.$z).apply(null,arguments)},wC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeSoftBody_1=
+function(){return(wC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeSoftBody_1=b.asm.aA).apply(null,arguments)},xC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeCollisionObject_1=function(){return(xC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeCollisionObject_1=b.asm.bA).apply(null,arguments)},yC=b._emscripten_bind_btSoftRigidDynamicsWorld_getWorldInfo_0=function(){return(yC=b._emscripten_bind_btSoftRigidDynamicsWorld_getWorldInfo_0=b.asm.cA).apply(null,arguments)},zC=b._emscripten_bind_btSoftRigidDynamicsWorld_getSoftBodyArray_0=
+function(){return(zC=b._emscripten_bind_btSoftRigidDynamicsWorld_getSoftBodyArray_0=b.asm.dA).apply(null,arguments)},AC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDispatcher_0=function(){return(AC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDispatcher_0=b.asm.eA).apply(null,arguments)},BC=b._emscripten_bind_btSoftRigidDynamicsWorld_rayTest_3=function(){return(BC=b._emscripten_bind_btSoftRigidDynamicsWorld_rayTest_3=b.asm.fA).apply(null,arguments)},CC=b._emscripten_bind_btSoftRigidDynamicsWorld_getPairCache_0=
+function(){return(CC=b._emscripten_bind_btSoftRigidDynamicsWorld_getPairCache_0=b.asm.gA).apply(null,arguments)},DC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDispatchInfo_0=function(){return(DC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDispatchInfo_0=b.asm.hA).apply(null,arguments)},EC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_1=function(){return(EC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_1=b.asm.iA).apply(null,arguments)},FC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_2=
+function(){return(FC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_2=b.asm.jA).apply(null,arguments)},GC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_3=function(){return(GC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_3=b.asm.kA).apply(null,arguments)},HC=b._emscripten_bind_btSoftRigidDynamicsWorld_getBroadphase_0=function(){return(HC=b._emscripten_bind_btSoftRigidDynamicsWorld_getBroadphase_0=b.asm.lA).apply(null,arguments)},IC=b._emscripten_bind_btSoftRigidDynamicsWorld_convexSweepTest_5=
+function(){return(IC=b._emscripten_bind_btSoftRigidDynamicsWorld_convexSweepTest_5=b.asm.mA).apply(null,arguments)},JC=b._emscripten_bind_btSoftRigidDynamicsWorld_contactPairTest_3=function(){return(JC=b._emscripten_bind_btSoftRigidDynamicsWorld_contactPairTest_3=b.asm.nA).apply(null,arguments)},KC=b._emscripten_bind_btSoftRigidDynamicsWorld_contactTest_2=function(){return(KC=b._emscripten_bind_btSoftRigidDynamicsWorld_contactTest_2=b.asm.oA).apply(null,arguments)},LC=b._emscripten_bind_btSoftRigidDynamicsWorld_updateSingleAabb_1=
+function(){return(LC=b._emscripten_bind_btSoftRigidDynamicsWorld_updateSingleAabb_1=b.asm.pA).apply(null,arguments)},MC=b._emscripten_bind_btSoftRigidDynamicsWorld_setDebugDrawer_1=function(){return(MC=b._emscripten_bind_btSoftRigidDynamicsWorld_setDebugDrawer_1=b.asm.qA).apply(null,arguments)},NC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDebugDrawer_0=function(){return(NC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDebugDrawer_0=b.asm.rA).apply(null,arguments)},OC=b._emscripten_bind_btSoftRigidDynamicsWorld_debugDrawWorld_0=
+function(){return(OC=b._emscripten_bind_btSoftRigidDynamicsWorld_debugDrawWorld_0=b.asm.sA).apply(null,arguments)},PC=b._emscripten_bind_btSoftRigidDynamicsWorld_debugDrawObject_3=function(){return(PC=b._emscripten_bind_btSoftRigidDynamicsWorld_debugDrawObject_3=b.asm.tA).apply(null,arguments)},QC=b._emscripten_bind_btSoftRigidDynamicsWorld_setGravity_1=function(){return(QC=b._emscripten_bind_btSoftRigidDynamicsWorld_setGravity_1=b.asm.uA).apply(null,arguments)},RC=b._emscripten_bind_btSoftRigidDynamicsWorld_getGravity_0=
+function(){return(RC=b._emscripten_bind_btSoftRigidDynamicsWorld_getGravity_0=b.asm.vA).apply(null,arguments)},SC=b._emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_1=function(){return(SC=b._emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_1=b.asm.wA).apply(null,arguments)},TC=b._emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_3=function(){return(TC=b._emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_3=b.asm.xA).apply(null,arguments)},UC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeRigidBody_1=
+function(){return(UC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeRigidBody_1=b.asm.yA).apply(null,arguments)},VC=b._emscripten_bind_btSoftRigidDynamicsWorld_addConstraint_1=function(){return(VC=b._emscripten_bind_btSoftRigidDynamicsWorld_addConstraint_1=b.asm.zA).apply(null,arguments)},WC=b._emscripten_bind_btSoftRigidDynamicsWorld_addConstraint_2=function(){return(WC=b._emscripten_bind_btSoftRigidDynamicsWorld_addConstraint_2=b.asm.AA).apply(null,arguments)},XC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeConstraint_1=
+function(){return(XC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeConstraint_1=b.asm.BA).apply(null,arguments)},YC=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_1=function(){return(YC=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_1=b.asm.CA).apply(null,arguments)},ZC=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_2=function(){return(ZC=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_2=b.asm.DA).apply(null,arguments)},$C=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_3=
+function(){return($C=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_3=b.asm.EA).apply(null,arguments)},aD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactAddedCallback_1=function(){return(aD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactAddedCallback_1=b.asm.FA).apply(null,arguments)},bD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactProcessedCallback_1=function(){return(bD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactProcessedCallback_1=b.asm.GA).apply(null,
+arguments)},cD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactDestroyedCallback_1=function(){return(cD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactDestroyedCallback_1=b.asm.HA).apply(null,arguments)},dD=b._emscripten_bind_btSoftRigidDynamicsWorld_addAction_1=function(){return(dD=b._emscripten_bind_btSoftRigidDynamicsWorld_addAction_1=b.asm.IA).apply(null,arguments)},eD=b._emscripten_bind_btSoftRigidDynamicsWorld_removeAction_1=function(){return(eD=b._emscripten_bind_btSoftRigidDynamicsWorld_removeAction_1=
+b.asm.JA).apply(null,arguments)},fD=b._emscripten_bind_btSoftRigidDynamicsWorld_getSolverInfo_0=function(){return(fD=b._emscripten_bind_btSoftRigidDynamicsWorld_getSolverInfo_0=b.asm.KA).apply(null,arguments)},gD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_1=function(){return(gD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_1=b.asm.LA).apply(null,arguments)},hD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_2=function(){return(hD=
+b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_2=b.asm.MA).apply(null,arguments)},iD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_3=function(){return(iD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_3=b.asm.NA).apply(null,arguments)},jD=b._emscripten_bind_btSoftRigidDynamicsWorld___destroy___0=function(){return(jD=b._emscripten_bind_btSoftRigidDynamicsWorld___destroy___0=b.asm.OA).apply(null,arguments)},kD=b._emscripten_bind_btSoftBodyHelpers_btSoftBodyHelpers_0=
+function(){return(kD=b._emscripten_bind_btSoftBodyHelpers_btSoftBodyHelpers_0=b.asm.PA).apply(null,arguments)},lD=b._emscripten_bind_btSoftBodyHelpers_CreateRope_5=function(){return(lD=b._emscripten_bind_btSoftBodyHelpers_CreateRope_5=b.asm.QA).apply(null,arguments)},mD=b._emscripten_bind_btSoftBodyHelpers_CreatePatch_9=function(){return(mD=b._emscripten_bind_btSoftBodyHelpers_CreatePatch_9=b.asm.RA).apply(null,arguments)},nD=b._emscripten_bind_btSoftBodyHelpers_CreatePatchUV_10=function(){return(nD=
+b._emscripten_bind_btSoftBodyHelpers_CreatePatchUV_10=b.asm.SA).apply(null,arguments)},oD=b._emscripten_bind_btSoftBodyHelpers_CreateEllipsoid_4=function(){return(oD=b._emscripten_bind_btSoftBodyHelpers_CreateEllipsoid_4=b.asm.TA).apply(null,arguments)},pD=b._emscripten_bind_btSoftBodyHelpers_CreateFromTriMesh_5=function(){return(pD=b._emscripten_bind_btSoftBodyHelpers_CreateFromTriMesh_5=b.asm.UA).apply(null,arguments)},qD=b._emscripten_bind_btSoftBodyHelpers_CreateFromConvexHull_4=function(){return(qD=
+b._emscripten_bind_btSoftBodyHelpers_CreateFromConvexHull_4=b.asm.VA).apply(null,arguments)},rD=b._emscripten_bind_btSoftBodyHelpers___destroy___0=function(){return(rD=b._emscripten_bind_btSoftBodyHelpers___destroy___0=b.asm.WA).apply(null,arguments)},sD=b._emscripten_enum_PHY_ScalarType_PHY_FLOAT=function(){return(sD=b._emscripten_enum_PHY_ScalarType_PHY_FLOAT=b.asm.XA).apply(null,arguments)},tD=b._emscripten_enum_PHY_ScalarType_PHY_DOUBLE=function(){return(tD=b._emscripten_enum_PHY_ScalarType_PHY_DOUBLE=
+b.asm.YA).apply(null,arguments)},uD=b._emscripten_enum_PHY_ScalarType_PHY_INTEGER=function(){return(uD=b._emscripten_enum_PHY_ScalarType_PHY_INTEGER=b.asm.ZA).apply(null,arguments)},vD=b._emscripten_enum_PHY_ScalarType_PHY_SHORT=function(){return(vD=b._emscripten_enum_PHY_ScalarType_PHY_SHORT=b.asm._A).apply(null,arguments)},wD=b._emscripten_enum_PHY_ScalarType_PHY_FIXEDPOINT88=function(){return(wD=b._emscripten_enum_PHY_ScalarType_PHY_FIXEDPOINT88=b.asm.$A).apply(null,arguments)},xD=b._emscripten_enum_PHY_ScalarType_PHY_UCHAR=
+function(){return(xD=b._emscripten_enum_PHY_ScalarType_PHY_UCHAR=b.asm.aB).apply(null,arguments)},yD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_COMPOUND_SHAPE=function(){return(yD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_COMPOUND_SHAPE=b.asm.bB).apply(null,arguments)},zD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_TRIMESH_SHAPE_PART=function(){return(zD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_TRIMESH_SHAPE_PART=b.asm.cB).apply(null,arguments)},AD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_TRIMESH_SHAPE=
+function(){return(AD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_TRIMESH_SHAPE=b.asm.dB).apply(null,arguments)},BD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_ERP=function(){return(BD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_ERP=b.asm.eB).apply(null,arguments)},CD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_STOP_ERP=function(){return(CD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_STOP_ERP=b.asm.fB).apply(null,arguments)},DD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_CFM=
+function(){return(DD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_CFM=b.asm.gB).apply(null,arguments)},ED=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_STOP_CFM=function(){return(ED=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_STOP_CFM=b.asm.hB).apply(null,arguments)};b._malloc=function(){return(b._malloc=b.asm.jB).apply(null,arguments)};b.___start_em_js=27240;b.___stop_em_js=27338;b.UTF8ToString=sa;
+b.addFunction=function(a,c){if(!Ua){Ua=new WeakMap;var d=ya.length;if(Ua)for(var e=0;e<0+d;e++){var g=e;var n=Ta[g];n||(g>=Ta.length&&(Ta.length=g+1),Ta[g]=n=ya.get(g));(g=n)&&Ua.set(g,e)}}if(d=Ua.get(a)||0)return d;if(Va.length)d=Va.pop();else{try{ya.grow(1)}catch(T){if(!(T instanceof RangeError))throw T;throw"Unable to grow wasm table. Set ALLOW_TABLE_GROWTH.";}d=ya.length-1}try{e=d,ya.set(e,a),Ta[e]=ya.get(e)}catch(T){if(!(T instanceof TypeError))throw T;if("function"==typeof WebAssembly.Function){e=
+WebAssembly.Function;g={i:"i32",j:"i32",f:"f32",d:"f64",p:"i32"};n={parameters:[],results:"v"==c[0]?[]:[g[c[0]]]};for(var z=1;z<c.length;++z)n.parameters.push(g[c[z]]),"j"===c[z]&&n.parameters.push("i32");c=new e(n,a)}else{e=[1];g=c.slice(0,1);c=c.slice(1);n={i:127,p:127,j:126,f:125,d:124};e.push(96);z=c.length;128>z?e.push(z):e.push(z%128|128,z>>7);for(z=0;z<c.length;++z)e.push(n[c[z]]);"v"==g?e.push(0):e.push(1,n[g]);c=[0,97,115,109,1,0,0,0,1];g=e.length;128>g?c.push(g):c.push(g%128|128,g>>7);c.push.apply(c,
+e);c.push(2,7,1,1,101,1,102,0,0,7,5,1,1,102,0,0);c=new WebAssembly.Module(new Uint8Array(c));c=(new WebAssembly.Instance(c,{e:{f:a}})).exports.f}e=d;ya.set(e,c);Ta[e]=ya.get(e)}Ua.set(a,d);return d};var FD;Ha=function GD(){FD||HD();FD||(Ha=GD)};
+function HD(){function a(){if(!FD&&(FD=!0,b.calledRun=!0,!qa)){Ca=!0;Qa(Aa);aa(b);if(b.onRuntimeInitialized)b.onRuntimeInitialized();if(b.postRun)for("function"==typeof b.postRun&&(b.postRun=[b.postRun]);b.postRun.length;){var c=b.postRun.shift();Ba.unshift(c)}Qa(Ba)}}if(!(0<Fa)){if(b.preRun)for("function"==typeof b.preRun&&(b.preRun=[b.preRun]);b.preRun.length;)Ea();Qa(za);0<Fa||(b.setStatus?(b.setStatus("Running..."),setTimeout(function(){setTimeout(function(){b.setStatus("")},1);a()},1)):a())}}
+if(b.preInit)for("function"==typeof b.preInit&&(b.preInit=[b.preInit]);0<b.preInit.length;)b.preInit.pop()();HD();function f(){}f.prototype=Object.create(f.prototype);f.prototype.constructor=f;f.prototype.lB=f;f.mB={};b.WrapperObject=f;function h(a){return(a||f).mB}b.getCache=h;function k(a,c){var d=h(c),e=d[a];if(e)return e;e=Object.create((c||f).prototype);e.kB=a;return d[a]=e}b.wrapPointer=k;b.castObject=function(a,c){return k(a.kB,c)};b.NULL=k(0);
+b.destroy=function(a){if(!a.__destroy__)throw"Error: Cannot destroy object. (Did you create it yourself?)";a.__destroy__();delete h(a.lB)[a.kB]};b.compare=function(a,c){return a.kB===c.kB};b.getPointer=function(a){return a.kB};b.getClass=function(a){return a.lB};var ID=0,JD=0,KD=0,LD=[],MD=0;function ND(){if(MD){for(var a=0;a<LD.length;a++)b._free(LD[a]);LD.length=0;b._free(ID);ID=0;JD+=MD;MD=0}ID||(JD+=128,(ID=b._malloc(JD))||oa());KD=0}
+function OD(a,c){ID||oa();a=a.length*c.BYTES_PER_ELEMENT;a=a+7&-8;KD+a>=JD?(0<a||oa(),MD+=a,c=b._malloc(a),LD.push(c)):(c=ID+KD,KD+=a);return c}function PD(a,c,d){d>>>=0;switch(c.BYTES_PER_ELEMENT){case 2:d>>>=1;break;case 4:d>>>=2;break;case 8:d>>>=3}for(var e=0;e<a.length;e++)c[d+e]=a[e]}
+function QD(a){if("string"===typeof a){for(var c=0,d=0;d<a.length;++d){var e=a.charCodeAt(d);127>=e?c++:2047>=e?c+=2:55296<=e&&57343>=e?(c+=4,++d):c+=3}c=Array(c+1);e=c.length;d=0;if(0<e){e=d+e-1;for(var g=0;g<a.length;++g){var n=a.charCodeAt(g);if(55296<=n&&57343>=n){var z=a.charCodeAt(++g);n=65536+((n&1023)<<10)|z&1023}if(127>=n){if(d>=e)break;c[d++]=n}else{if(2047>=n){if(d+1>=e)break;c[d++]=192|n>>6}else{if(65535>=n){if(d+2>=e)break;c[d++]=224|n>>12}else{if(d+3>=e)break;c[d++]=240|n>>18;c[d++]=
+128|n>>12&63}c[d++]=128|n>>6&63}c[d++]=128|n&63}}c[d]=0}a=OD(c,ua);PD(c,ua,a);return a}return a}function RD(a){if("object"===typeof a){var c=OD(a,wa);PD(a,wa,c);return c}return a}function l(){throw"cannot construct a btCollisionShape, no constructor in IDL";}l.prototype=Object.create(f.prototype);l.prototype.constructor=l;l.prototype.lB=l;l.mB={};b.btCollisionShape=l;l.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xa(c,a)};
+l.prototype.getLocalScaling=function(){return k(Ya(this.kB),m)};l.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Za(d,a,c)};l.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$a(c,a)};l.prototype.getMargin=function(){return ab(this.kB)};l.prototype.__destroy__=function(){bb(this.kB)};function SD(){throw"cannot construct a btCollisionWorld, no constructor in IDL";}SD.prototype=Object.create(f.prototype);
+SD.prototype.constructor=SD;SD.prototype.lB=SD;SD.mB={};b.btCollisionWorld=SD;SD.prototype.getDispatcher=function(){return k(cb(this.kB),TD)};SD.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);db(e,a,c,d)};SD.prototype.getPairCache=function(){return k(eb(this.kB),UD)};SD.prototype.getDispatchInfo=function(){return k(fb(this.kB),p)};
+SD.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?gb(e,a):void 0===d?hb(e,a,c):ib(e,a,c,d)};SD.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jb(c,a)};SD.prototype.getBroadphase=function(){return k(kb(this.kB),VD)};
+SD.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);lb(n,a,c,d,e,g)};SD.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);mb(e,a,c,d)};
+SD.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nb(d,a,c)};SD.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ob(c,a)};SD.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pb(c,a)};SD.prototype.getDebugDrawer=function(){return k(qb(this.kB),WD)};SD.prototype.debugDrawWorld=function(){rb(this.kB)};
+SD.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);sb(e,a,c,d)};SD.prototype.__destroy__=function(){tb(this.kB)};function q(){throw"cannot construct a btCollisionObject, no constructor in IDL";}q.prototype=Object.create(f.prototype);q.prototype.constructor=q;q.prototype.lB=q;q.mB={};b.btCollisionObject=q;
+q.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ub(d,a,c)};q.prototype.getCollisionShape=function(){return k(vb(this.kB),l)};q.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wb(c,a)};q.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xb(c,a)};
+q.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yb(c,a)};q.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?zb(c):Ab(c,a)};q.prototype.isActive=function(){return!!Bb(this.kB)};q.prototype.isKinematicObject=function(){return!!Cb(this.kB)};q.prototype.isStaticObject=function(){return!!Db(this.kB)};q.prototype.isStaticOrKinematicObject=function(){return!!Eb(this.kB)};q.prototype.getRestitution=function(){return Fb(this.kB)};
+q.prototype.getFriction=function(){return Gb(this.kB)};q.prototype.getRollingFriction=function(){return Hb(this.kB)};q.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ib(c,a)};q.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jb(c,a)};q.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kb(c,a)};q.prototype.getWorldTransform=function(){return k(Lb(this.kB),r)};q.prototype.getCollisionFlags=function(){return Mb(this.kB)};
+q.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nb(c,a)};q.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ob(c,a)};q.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pb(c,a)};q.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qb(c,a)};q.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rb(c,a)};
+q.prototype.getUserIndex=function(){return Sb(this.kB)};q.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tb(c,a)};q.prototype.getUserPointer=function(){return k(Ub(this.kB),XD)};q.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vb(c,a)};q.prototype.getBroadphaseHandle=function(){return k(Wb(this.kB),YD)};q.prototype.__destroy__=function(){Xb(this.kB)};
+function ZD(){throw"cannot construct a btConcaveShape, no constructor in IDL";}ZD.prototype=Object.create(l.prototype);ZD.prototype.constructor=ZD;ZD.prototype.lB=ZD;ZD.mB={};b.btConcaveShape=ZD;ZD.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yb(c,a)};ZD.prototype.getLocalScaling=function(){return k(Zb(this.kB),m)};ZD.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);$b(d,a,c)};
+ZD.prototype.__destroy__=function(){ac(this.kB)};function $D(){throw"cannot construct a btCollisionAlgorithm, no constructor in IDL";}$D.prototype=Object.create(f.prototype);$D.prototype.constructor=$D;$D.prototype.lB=$D;$D.mB={};b.btCollisionAlgorithm=$D;$D.prototype.__destroy__=function(){bc(this.kB)};function aE(){throw"cannot construct a btTypedConstraint, no constructor in IDL";}aE.prototype=Object.create(f.prototype);aE.prototype.constructor=aE;aE.prototype.lB=aE;aE.mB={};
+b.btTypedConstraint=aE;aE.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cc(c,a)};aE.prototype.getBreakingImpulseThreshold=function(){return ec(this.kB)};aE.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fc(c,a)};aE.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return gc(d,a,c)};
+aE.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);hc(e,a,c,d)};aE.prototype.__destroy__=function(){ic(this.kB)};function bE(){throw"cannot construct a btDynamicsWorld, no constructor in IDL";}bE.prototype=Object.create(SD.prototype);bE.prototype.constructor=bE;bE.prototype.lB=bE;bE.mB={};b.btDynamicsWorld=bE;bE.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jc(c,a)};
+bE.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kc(c,a)};bE.prototype.getSolverInfo=function(){return k(lc(this.kB),t)};bE.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?mc(e,a):void 0===d?nc(e,a,c):oc(e,a,c,d)};bE.prototype.getDispatcher=function(){return k(pc(this.kB),TD)};
+bE.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);qc(e,a,c,d)};bE.prototype.getPairCache=function(){return k(rc(this.kB),UD)};bE.prototype.getDispatchInfo=function(){return k(sc(this.kB),p)};
+bE.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?tc(e,a):void 0===d?uc(e,a,c):vc(e,a,c,d)};bE.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wc(c,a)};bE.prototype.getBroadphase=function(){return k(xc(this.kB),VD)};
+bE.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);yc(n,a,c,d,e,g)};bE.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);zc(e,a,c,d)};
+bE.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ac(d,a,c)};bE.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bc(c,a)};bE.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cc(c,a)};bE.prototype.getDebugDrawer=function(){return k(Dc(this.kB),WD)};bE.prototype.debugDrawWorld=function(){Ec(this.kB)};
+bE.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Fc(e,a,c,d)};bE.prototype.__destroy__=function(){Gc(this.kB)};function WD(){throw"cannot construct a btIDebugDraw, no constructor in IDL";}WD.prototype=Object.create(f.prototype);WD.prototype.constructor=WD;WD.prototype.lB=WD;WD.mB={};b.btIDebugDraw=WD;
+WD.prototype.drawLine=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Hc(e,a,c,d)};WD.prototype.drawContactPoint=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Ic(n,a,c,d,e,g)};
+WD.prototype.reportErrorWarning=function(a){var c=this.kB;ND();a=a&&"object"===typeof a?a.kB:QD(a);Jc(c,a)};WD.prototype.draw3dText=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c=c&&"object"===typeof c?c.kB:QD(c);Kc(d,a,c)};WD.prototype.setDebugMode=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lc(c,a)};WD.prototype.getDebugMode=function(){return Mc(this.kB)};WD.prototype.__destroy__=function(){Nc(this.kB)};
+function m(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=void 0===a?Oc():void 0===c?_emscripten_bind_btVector3_btVector3_1(a):void 0===d?_emscripten_bind_btVector3_btVector3_2(a,c):Pc(a,c,d);h(m)[this.kB]=this}m.prototype=Object.create(f.prototype);m.prototype.constructor=m;m.prototype.lB=m;m.mB={};b.btVector3=m;m.prototype.length=m.prototype.length=function(){return Qc(this.kB)};m.prototype.x=m.prototype.x=function(){return Rc(this.kB)};
+m.prototype.y=m.prototype.y=function(){return Sc(this.kB)};m.prototype.z=m.prototype.z=function(){return Tc(this.kB)};m.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uc(c,a)};m.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vc(c,a)};m.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wc(c,a)};
+m.prototype.setValue=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Xc(e,a,c,d)};m.prototype.normalize=m.prototype.normalize=function(){Yc(this.kB)};m.prototype.rotate=m.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(Zc(d,a,c),m)};m.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return $c(c,a)};
+m.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ad(c,a),m)};m.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(bd(c,a),m)};m.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cd(c,a),m)};m.prototype.__destroy__=function(){dd(this.kB)};function cE(){throw"cannot construct a btQuadWord, no constructor in IDL";}cE.prototype=Object.create(f.prototype);cE.prototype.constructor=cE;
+cE.prototype.lB=cE;cE.mB={};b.btQuadWord=cE;cE.prototype.x=cE.prototype.x=function(){return ed(this.kB)};cE.prototype.y=cE.prototype.y=function(){return fd(this.kB)};cE.prototype.z=cE.prototype.z=function(){return gd(this.kB)};cE.prototype.w=cE.prototype.w=function(){return hd(this.kB)};cE.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jd(c,a)};cE.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kd(c,a)};
+cE.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ld(c,a)};cE.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);md(c,a)};cE.prototype.__destroy__=function(){nd(this.kB)};function dE(){throw"cannot construct a btMotionState, no constructor in IDL";}dE.prototype=Object.create(f.prototype);dE.prototype.constructor=dE;dE.prototype.lB=dE;dE.mB={};b.btMotionState=dE;
+dE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);od(c,a)};dE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pd(c,a)};dE.prototype.__destroy__=function(){qd(this.kB)};function u(){throw"cannot construct a RayResultCallback, no constructor in IDL";}u.prototype=Object.create(f.prototype);u.prototype.constructor=u;u.prototype.lB=u;u.mB={};b.RayResultCallback=u;u.prototype.hasHit=function(){return!!rd(this.kB)};
+u.prototype.get_m_collisionFilterGroup=u.prototype.nB=function(){return sd(this.kB)};u.prototype.set_m_collisionFilterGroup=u.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);td(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterGroup",{get:u.prototype.nB,set:u.prototype.pB});u.prototype.get_m_collisionFilterMask=u.prototype.oB=function(){return ud(this.kB)};
+u.prototype.set_m_collisionFilterMask=u.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vd(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterMask",{get:u.prototype.oB,set:u.prototype.qB});u.prototype.get_m_closestHitFraction=u.prototype.rB=function(){return wd(this.kB)};u.prototype.set_m_closestHitFraction=u.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xd(c,a)};Object.defineProperty(u.prototype,"m_closestHitFraction",{get:u.prototype.rB,set:u.prototype.sB});
+u.prototype.get_m_collisionObject=u.prototype.vB=function(){return k(yd(this.kB),q)};u.prototype.set_m_collisionObject=u.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zd(c,a)};Object.defineProperty(u.prototype,"m_collisionObject",{get:u.prototype.vB,set:u.prototype.CB});u.prototype.get_m_flags=u.prototype.tB=function(){return Ad(this.kB)};u.prototype.set_m_flags=u.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bd(c,a)};
+Object.defineProperty(u.prototype,"m_flags",{get:u.prototype.tB,set:u.prototype.uB});u.prototype.__destroy__=function(){Cd(this.kB)};function eE(){throw"cannot construct a ContactResultCallback, no constructor in IDL";}eE.prototype=Object.create(f.prototype);eE.prototype.constructor=eE;eE.prototype.lB=eE;eE.mB={};b.ContactResultCallback=eE;
+eE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Dd(T,a,c,d,e,g,n,z)};eE.prototype.__destroy__=function(){Ed(this.kB)};function v(){throw"cannot construct a ConvexResultCallback, no constructor in IDL";}v.prototype=Object.create(f.prototype);
+v.prototype.constructor=v;v.prototype.lB=v;v.mB={};b.ConvexResultCallback=v;v.prototype.hasHit=function(){return!!Fd(this.kB)};v.prototype.get_m_collisionFilterGroup=v.prototype.nB=function(){return Gd(this.kB)};v.prototype.set_m_collisionFilterGroup=v.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterGroup",{get:v.prototype.nB,set:v.prototype.pB});v.prototype.get_m_collisionFilterMask=v.prototype.oB=function(){return Id(this.kB)};
+v.prototype.set_m_collisionFilterMask=v.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterMask",{get:v.prototype.oB,set:v.prototype.qB});v.prototype.get_m_closestHitFraction=v.prototype.rB=function(){return Kd(this.kB)};v.prototype.set_m_closestHitFraction=v.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ld(c,a)};Object.defineProperty(v.prototype,"m_closestHitFraction",{get:v.prototype.rB,set:v.prototype.sB});
+v.prototype.__destroy__=function(){Md(this.kB)};function fE(){throw"cannot construct a btConvexShape, no constructor in IDL";}fE.prototype=Object.create(l.prototype);fE.prototype.constructor=fE;fE.prototype.lB=fE;fE.mB={};b.btConvexShape=fE;fE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nd(c,a)};fE.prototype.getLocalScaling=function(){return k(Od(this.kB),m)};
+fE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Pd(d,a,c)};fE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qd(c,a)};fE.prototype.getMargin=function(){return Rd(this.kB)};fE.prototype.__destroy__=function(){Sd(this.kB)};function gE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Td(a,c);h(gE)[this.kB]=this}gE.prototype=Object.create(l.prototype);
+gE.prototype.constructor=gE;gE.prototype.lB=gE;gE.mB={};b.btCapsuleShape=gE;gE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ud(c,a)};gE.prototype.getMargin=function(){return Vd(this.kB)};gE.prototype.getUpAxis=function(){return Wd(this.kB)};gE.prototype.getRadius=function(){return Xd(this.kB)};gE.prototype.getHalfHeight=function(){return Yd(this.kB)};gE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zd(c,a)};
+gE.prototype.getLocalScaling=function(){return k($d(this.kB),m)};gE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ae(d,a,c)};gE.prototype.__destroy__=function(){be(this.kB)};function hE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ce(a);h(hE)[this.kB]=this}hE.prototype=Object.create(l.prototype);hE.prototype.constructor=hE;hE.prototype.lB=hE;hE.mB={};b.btCylinderShape=hE;
+hE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);de(c,a)};hE.prototype.getMargin=function(){return ee(this.kB)};hE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fe(c,a)};hE.prototype.getLocalScaling=function(){return k(ge(this.kB),m)};hE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);he(d,a,c)};hE.prototype.__destroy__=function(){ie(this.kB)};
+function iE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=je(a,c);h(iE)[this.kB]=this}iE.prototype=Object.create(l.prototype);iE.prototype.constructor=iE;iE.prototype.lB=iE;iE.mB={};b.btConeShape=iE;iE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ke(c,a)};iE.prototype.getLocalScaling=function(){return k(le(this.kB),m)};
+iE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);me(d,a,c)};iE.prototype.__destroy__=function(){ne(this.kB)};function jE(){throw"cannot construct a btStridingMeshInterface, no constructor in IDL";}jE.prototype=Object.create(f.prototype);jE.prototype.constructor=jE;jE.prototype.lB=jE;jE.mB={};b.btStridingMeshInterface=jE;jE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oe(c,a)};
+jE.prototype.__destroy__=function(){pe(this.kB)};function kE(){throw"cannot construct a btTriangleMeshShape, no constructor in IDL";}kE.prototype=Object.create(ZD.prototype);kE.prototype.constructor=kE;kE.prototype.lB=kE;kE.mB={};b.btTriangleMeshShape=kE;kE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qe(c,a)};kE.prototype.getLocalScaling=function(){return k(re(this.kB),m)};
+kE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);se(d,a,c)};kE.prototype.__destroy__=function(){te(this.kB)};function lE(){throw"cannot construct a btPrimitiveManagerBase, no constructor in IDL";}lE.prototype=Object.create(f.prototype);lE.prototype.constructor=lE;lE.prototype.lB=lE;lE.mB={};b.btPrimitiveManagerBase=lE;lE.prototype.is_trimesh=function(){return!!ue(this.kB)};lE.prototype.get_primitive_count=function(){return ve(this.kB)};
+lE.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);we(d,a,c)};lE.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);xe(d,a,c)};lE.prototype.__destroy__=function(){ye(this.kB)};function w(){throw"cannot construct a btGImpactShapeInterface, no constructor in IDL";}w.prototype=Object.create(ZD.prototype);w.prototype.constructor=w;w.prototype.lB=w;
+w.mB={};b.btGImpactShapeInterface=w;w.prototype.updateBound=function(){ze(this.kB)};w.prototype.postUpdate=function(){Ae(this.kB)};w.prototype.getShapeType=function(){return Be(this.kB)};w.prototype.getName=function(){return sa(Ce(this.kB))};w.prototype.getGImpactShapeType=function(){return De(this.kB)};w.prototype.getPrimitiveManager=function(){return k(Ee(this.kB),lE)};w.prototype.getNumChildShapes=function(){return Fe(this.kB)};w.prototype.childrenHasTransform=function(){return!!Ge(this.kB)};
+w.prototype.needsRetrieveTriangles=function(){return!!He(this.kB)};w.prototype.needsRetrieveTetrahedrons=function(){return!!Ie(this.kB)};w.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Je(d,a,c)};w.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ke(d,a,c)};
+w.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Le(c,a),l)};w.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Me(c,a),r)};w.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ne(d,a,c)};w.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oe(c,a)};
+w.prototype.getLocalScaling=function(){return k(Pe(this.kB),m)};w.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Qe(d,a,c)};w.prototype.__destroy__=function(){Re(this.kB)};function mE(){throw"cannot construct a btActivatingCollisionAlgorithm, no constructor in IDL";}mE.prototype=Object.create($D.prototype);mE.prototype.constructor=mE;mE.prototype.lB=mE;mE.mB={};b.btActivatingCollisionAlgorithm=mE;
+mE.prototype.__destroy__=function(){Se(this.kB)};function nE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Te():Ue(a);h(nE)[this.kB]=this}nE.prototype=Object.create(f.prototype);nE.prototype.constructor=nE;nE.prototype.lB=nE;nE.mB={};b.btDefaultCollisionConfiguration=nE;nE.prototype.__destroy__=function(){Ve(this.kB)};function TD(){throw"cannot construct a btDispatcher, no constructor in IDL";}TD.prototype=Object.create(f.prototype);TD.prototype.constructor=TD;TD.prototype.lB=TD;TD.mB={};
+b.btDispatcher=TD;TD.prototype.getNumManifolds=function(){return We(this.kB)};TD.prototype.getManifoldByIndexInternal=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Xe(c,a),oE)};TD.prototype.__destroy__=function(){Ye(this.kB)};
+function pE(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Ze(a,c,d):void 0===g?_emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_4(a,c,d,e):$e(a,c,d,e,g);h(pE)[this.kB]=this}pE.prototype=Object.create(aE.prototype);pE.prototype.constructor=pE;pE.prototype.lB=pE;pE.mB={};b.btGeneric6DofConstraint=pE;
+pE.prototype.setLinearLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);af(c,a)};pE.prototype.setLinearUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bf(c,a)};pE.prototype.setAngularLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cf(c,a)};pE.prototype.setAngularUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);df(c,a)};pE.prototype.getFrameOffsetA=function(){return k(ef(this.kB),r)};
+pE.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ff(c,a)};pE.prototype.getBreakingImpulseThreshold=function(){return gf(this.kB)};pE.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hf(c,a)};pE.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return jf(d,a,c)};
+pE.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);kf(e,a,c,d)};pE.prototype.__destroy__=function(){lf(this.kB)};function x(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=mf(a,c,d,e);h(x)[this.kB]=this}x.prototype=Object.create(bE.prototype);x.prototype.constructor=x;x.prototype.lB=x;x.mB={};
+b.btDiscreteDynamicsWorld=x;x.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nf(c,a)};x.prototype.getGravity=function(){return k(of(this.kB),m)};x.prototype.addRigidBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?pf(e,a):void 0===d?_emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_2(e,a,c):qf(e,a,c,d)};
+x.prototype.removeRigidBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rf(c,a)};x.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?sf(d,a):tf(d,a,c)};x.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uf(c,a)};
+x.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?vf(e,a):void 0===d?wf(e,a,c):xf(e,a,c,d)};x.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yf(c,a)};x.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zf(c,a)};
+x.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Af(c,a)};x.prototype.getDispatcher=function(){return k(Bf(this.kB),TD)};x.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Cf(e,a,c,d)};x.prototype.getPairCache=function(){return k(Df(this.kB),UD)};x.prototype.getDispatchInfo=function(){return k(Ef(this.kB),p)};
+x.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Ff(e,a):void 0===d?Gf(e,a,c):Hf(e,a,c,d)};x.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);If(c,a)};x.prototype.getBroadphase=function(){return k(Jf(this.kB),VD)};
+x.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Kf(n,a,c,d,e,g)};x.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Lf(e,a,c,d)};
+x.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Mf(d,a,c)};x.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nf(c,a)};x.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Of(c,a)};x.prototype.getDebugDrawer=function(){return k(Pf(this.kB),WD)};x.prototype.debugDrawWorld=function(){Qf(this.kB)};
+x.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Rf(e,a,c,d)};x.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sf(c,a)};x.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tf(c,a)};x.prototype.getSolverInfo=function(){return k(Uf(this.kB),t)};
+x.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Vf(e,a):void 0===d?Wf(e,a,c):Xf(e,a,c,d)};x.prototype.__destroy__=function(){Yf(this.kB)};function qE(){throw"cannot construct a btVehicleRaycaster, no constructor in IDL";}qE.prototype=Object.create(f.prototype);qE.prototype.constructor=qE;qE.prototype.lB=qE;qE.mB={};b.btVehicleRaycaster=qE;
+qE.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Zf(e,a,c,d)};qE.prototype.__destroy__=function(){$f(this.kB)};function rE(){throw"cannot construct a btActionInterface, no constructor in IDL";}rE.prototype=Object.create(f.prototype);rE.prototype.constructor=rE;rE.prototype.lB=rE;rE.mB={};b.btActionInterface=rE;
+rE.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ag(d,a,c)};rE.prototype.__destroy__=function(){bg(this.kB)};function y(){this.kB=cg();h(y)[this.kB]=this}y.prototype=Object.create(q.prototype);y.prototype.constructor=y;y.prototype.lB=y;y.mB={};b.btGhostObject=y;y.prototype.getNumOverlappingObjects=function(){return dg(this.kB)};
+y.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eg(c,a),q)};y.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);fg(d,a,c)};y.prototype.getCollisionShape=function(){return k(gg(this.kB),l)};y.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hg(c,a)};
+y.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ig(c,a)};y.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jg(c,a)};y.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?kg(c):lg(c,a)};y.prototype.isActive=function(){return!!mg(this.kB)};y.prototype.isKinematicObject=function(){return!!ng(this.kB)};y.prototype.isStaticObject=function(){return!!og(this.kB)};
+y.prototype.isStaticOrKinematicObject=function(){return!!pg(this.kB)};y.prototype.getRestitution=function(){return qg(this.kB)};y.prototype.getFriction=function(){return rg(this.kB)};y.prototype.getRollingFriction=function(){return sg(this.kB)};y.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tg(c,a)};y.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ug(c,a)};
+y.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vg(c,a)};y.prototype.getWorldTransform=function(){return k(wg(this.kB),r)};y.prototype.getCollisionFlags=function(){return xg(this.kB)};y.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yg(c,a)};y.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zg(c,a)};
+y.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ag(c,a)};y.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bg(c,a)};y.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cg(c,a)};y.prototype.getUserIndex=function(){return Dg(this.kB)};y.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eg(c,a)};
+y.prototype.getUserPointer=function(){return k(Fg(this.kB),XD)};y.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gg(c,a)};y.prototype.getBroadphaseHandle=function(){return k(Hg(this.kB),YD)};y.prototype.__destroy__=function(){Ig(this.kB)};function sE(){throw"cannot construct a btSoftBodySolver, no constructor in IDL";}sE.prototype=Object.create(f.prototype);sE.prototype.constructor=sE;sE.prototype.lB=sE;sE.mB={};b.btSoftBodySolver=sE;sE.prototype.__destroy__=function(){Jg(this.kB)};
+function XD(){throw"cannot construct a VoidPtr, no constructor in IDL";}XD.prototype=Object.create(f.prototype);XD.prototype.constructor=XD;XD.prototype.lB=XD;XD.mB={};b.VoidPtr=XD;XD.prototype.__destroy__=function(){Kg(this.kB)};function tE(){this.kB=Lg();h(tE)[this.kB]=this}tE.prototype=Object.create(WD.prototype);tE.prototype.constructor=tE;tE.prototype.lB=tE;tE.mB={};b.DebugDrawer=tE;
+tE.prototype.drawLine=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Mg(e,a,c,d)};tE.prototype.drawContactPoint=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Ng(n,a,c,d,e,g)};
+tE.prototype.reportErrorWarning=function(a){var c=this.kB;ND();a=a&&"object"===typeof a?a.kB:QD(a);Og(c,a)};tE.prototype.draw3dText=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c=c&&"object"===typeof c?c.kB:QD(c);Pg(d,a,c)};tE.prototype.setDebugMode=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qg(c,a)};tE.prototype.getDebugMode=function(){return Rg(this.kB)};tE.prototype.__destroy__=function(){Sg(this.kB)};
+function A(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===a?Tg():void 0===c?_emscripten_bind_btVector4_btVector4_1(a):void 0===d?_emscripten_bind_btVector4_btVector4_2(a,c):void 0===e?_emscripten_bind_btVector4_btVector4_3(a,c,d):Ug(a,c,d,e);h(A)[this.kB]=this}A.prototype=Object.create(m.prototype);A.prototype.constructor=A;A.prototype.lB=A;A.mB={};b.btVector4=A;
+A.prototype.w=A.prototype.w=function(){return Vg(this.kB)};A.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Wg(g,a,c,d,e)};A.prototype.length=A.prototype.length=function(){return Xg(this.kB)};A.prototype.x=A.prototype.x=function(){return Yg(this.kB)};A.prototype.y=A.prototype.y=function(){return Zg(this.kB)};A.prototype.z=A.prototype.z=function(){return $g(this.kB)};
+A.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ah(c,a)};A.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bh(c,a)};A.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ch(c,a)};A.prototype.normalize=A.prototype.normalize=function(){dh(this.kB)};A.prototype.rotate=A.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(eh(d,a,c),m)};
+A.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return fh(c,a)};A.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(gh(c,a),m)};A.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(hh(c,a),m)};A.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ih(c,a),m)};A.prototype.__destroy__=function(){jh(this.kB)};
+function B(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=kh(a,c,d,e);h(B)[this.kB]=this}B.prototype=Object.create(cE.prototype);B.prototype.constructor=B;B.prototype.lB=B;B.mB={};b.btQuaternion=B;B.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);lh(g,a,c,d,e)};
+B.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);mh(e,a,c,d)};B.prototype.setRotation=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nh(d,a,c)};B.prototype.normalize=B.prototype.normalize=function(){oh(this.kB)};B.prototype.length2=function(){return ph(this.kB)};B.prototype.length=B.prototype.length=function(){return qh(this.kB)};
+B.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return rh(c,a)};B.prototype.normalized=function(){return k(sh(this.kB),B)};B.prototype.getAxis=function(){return k(th(this.kB),m)};B.prototype.inverse=B.prototype.inverse=function(){return k(uh(this.kB),B)};B.prototype.getAngle=function(){return vh(this.kB)};B.prototype.getAngleShortestPath=function(){return wh(this.kB)};
+B.prototype.angle=B.prototype.angle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return xh(c,a)};B.prototype.angleShortestPath=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return yh(c,a)};B.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zh(c,a),B)};B.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ah(c,a),B)};
+B.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Bh(c,a),B)};B.prototype.op_mulq=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ch(c,a),B)};B.prototype.op_div=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Dh(c,a),B)};B.prototype.x=B.prototype.x=function(){return Eh(this.kB)};B.prototype.y=B.prototype.y=function(){return Fh(this.kB)};B.prototype.z=B.prototype.z=function(){return Gh(this.kB)};
+B.prototype.w=B.prototype.w=function(){return Hh(this.kB)};B.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ih(c,a)};B.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jh(c,a)};B.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kh(c,a)};B.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lh(c,a)};B.prototype.__destroy__=function(){Mh(this.kB)};
+function uE(){throw"cannot construct a btMatrix3x3, no constructor in IDL";}uE.prototype=Object.create(f.prototype);uE.prototype.constructor=uE;uE.prototype.lB=uE;uE.mB={};b.btMatrix3x3=uE;uE.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Nh(e,a,c,d)};uE.prototype.getRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oh(c,a)};
+uE.prototype.getRow=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ph(c,a),m)};uE.prototype.__destroy__=function(){Qh(this.kB)};function r(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Rh():void 0===c?_emscripten_bind_btTransform_btTransform_1(a):Sh(a,c);h(r)[this.kB]=this}r.prototype=Object.create(f.prototype);r.prototype.constructor=r;r.prototype.lB=r;r.mB={};b.btTransform=r;r.prototype.setIdentity=function(){Th(this.kB)};
+r.prototype.setOrigin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uh(c,a)};r.prototype.setRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vh(c,a)};r.prototype.getOrigin=function(){return k(Wh(this.kB),m)};r.prototype.getRotation=function(){return k(Xh(this.kB),B)};r.prototype.getBasis=function(){return k(Yh(this.kB),uE)};r.prototype.setFromOpenGLMatrix=function(a){var c=this.kB;ND();"object"==typeof a&&(a=RD(a));Zh(c,a)};
+r.prototype.inverse=r.prototype.inverse=function(){return k($h(this.kB),r)};r.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ai(c,a),r)};r.prototype.__destroy__=function(){bi(this.kB)};function vE(){this.kB=ci();h(vE)[this.kB]=this}vE.prototype=Object.create(dE.prototype);vE.prototype.constructor=vE;vE.prototype.lB=vE;vE.mB={};b.MotionState=vE;vE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);di(c,a)};
+vE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ei(c,a)};vE.prototype.__destroy__=function(){fi(this.kB)};function wE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?gi():void 0===c?hi(a):ii(a,c);h(wE)[this.kB]=this}wE.prototype=Object.create(dE.prototype);wE.prototype.constructor=wE;wE.prototype.lB=wE;wE.mB={};b.btDefaultMotionState=wE;
+wE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ji(c,a)};wE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ki(c,a)};wE.prototype.get_m_graphicsWorldTrans=wE.prototype.lD=function(){return k(li(this.kB),r)};wE.prototype.set_m_graphicsWorldTrans=wE.prototype.cG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mi(c,a)};Object.defineProperty(wE.prototype,"m_graphicsWorldTrans",{get:wE.prototype.lD,set:wE.prototype.cG});
+wE.prototype.__destroy__=function(){ni(this.kB)};function xE(){throw"cannot construct a btCollisionObjectWrapper, no constructor in IDL";}xE.prototype=Object.create(f.prototype);xE.prototype.constructor=xE;xE.prototype.lB=xE;xE.mB={};b.btCollisionObjectWrapper=xE;xE.prototype.getWorldTransform=function(){return k(oi(this.kB),r)};xE.prototype.getCollisionObject=function(){return k(pi(this.kB),q)};xE.prototype.getCollisionShape=function(){return k(qi(this.kB),l)};
+function C(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=ri(a,c);h(C)[this.kB]=this}C.prototype=Object.create(u.prototype);C.prototype.constructor=C;C.prototype.lB=C;C.mB={};b.ClosestRayResultCallback=C;C.prototype.hasHit=function(){return!!si(this.kB)};C.prototype.get_m_rayFromWorld=C.prototype.NB=function(){return k(ti(this.kB),m)};C.prototype.set_m_rayFromWorld=C.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ui(c,a)};
+Object.defineProperty(C.prototype,"m_rayFromWorld",{get:C.prototype.NB,set:C.prototype.XB});C.prototype.get_m_rayToWorld=C.prototype.OB=function(){return k(vi(this.kB),m)};C.prototype.set_m_rayToWorld=C.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wi(c,a)};Object.defineProperty(C.prototype,"m_rayToWorld",{get:C.prototype.OB,set:C.prototype.YB});C.prototype.get_m_hitNormalWorld=C.prototype.xB=function(){return k(xi(this.kB),m)};
+C.prototype.set_m_hitNormalWorld=C.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yi(c,a)};Object.defineProperty(C.prototype,"m_hitNormalWorld",{get:C.prototype.xB,set:C.prototype.EB});C.prototype.get_m_hitPointWorld=C.prototype.yB=function(){return k(zi(this.kB),m)};C.prototype.set_m_hitPointWorld=C.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ai(c,a)};Object.defineProperty(C.prototype,"m_hitPointWorld",{get:C.prototype.yB,set:C.prototype.FB});
+C.prototype.get_m_collisionFilterGroup=C.prototype.nB=function(){return Bi(this.kB)};C.prototype.set_m_collisionFilterGroup=C.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ci(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterGroup",{get:C.prototype.nB,set:C.prototype.pB});C.prototype.get_m_collisionFilterMask=C.prototype.oB=function(){return Di(this.kB)};
+C.prototype.set_m_collisionFilterMask=C.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ei(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterMask",{get:C.prototype.oB,set:C.prototype.qB});C.prototype.get_m_closestHitFraction=C.prototype.rB=function(){return Fi(this.kB)};C.prototype.set_m_closestHitFraction=C.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gi(c,a)};Object.defineProperty(C.prototype,"m_closestHitFraction",{get:C.prototype.rB,set:C.prototype.sB});
+C.prototype.get_m_collisionObject=C.prototype.vB=function(){return k(Hi(this.kB),q)};C.prototype.set_m_collisionObject=C.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ii(c,a)};Object.defineProperty(C.prototype,"m_collisionObject",{get:C.prototype.vB,set:C.prototype.CB});C.prototype.get_m_flags=C.prototype.tB=function(){return Ji(this.kB)};C.prototype.set_m_flags=C.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ki(c,a)};
+Object.defineProperty(C.prototype,"m_flags",{get:C.prototype.tB,set:C.prototype.uB});C.prototype.__destroy__=function(){Li(this.kB)};function yE(){throw"cannot construct a btConstCollisionObjectArray, no constructor in IDL";}yE.prototype=Object.create(f.prototype);yE.prototype.constructor=yE;yE.prototype.lB=yE;yE.mB={};b.btConstCollisionObjectArray=yE;yE.prototype.size=yE.prototype.size=function(){return Mi(this.kB)};
+yE.prototype.at=yE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ni(c,a),q)};yE.prototype.__destroy__=function(){Oi(this.kB)};function zE(){throw"cannot construct a btScalarArray, no constructor in IDL";}zE.prototype=Object.create(f.prototype);zE.prototype.constructor=zE;zE.prototype.lB=zE;zE.mB={};b.btScalarArray=zE;zE.prototype.size=zE.prototype.size=function(){return Pi(this.kB)};
+zE.prototype.at=zE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Qi(c,a)};zE.prototype.__destroy__=function(){Ri(this.kB)};function D(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Si(a,c);h(D)[this.kB]=this}D.prototype=Object.create(u.prototype);D.prototype.constructor=D;D.prototype.lB=D;D.mB={};b.AllHitsRayResultCallback=D;D.prototype.hasHit=function(){return!!Ti(this.kB)};
+D.prototype.get_m_collisionObjects=D.prototype.UC=function(){return k(Ui(this.kB),yE)};D.prototype.set_m_collisionObjects=D.prototype.LF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vi(c,a)};Object.defineProperty(D.prototype,"m_collisionObjects",{get:D.prototype.UC,set:D.prototype.LF});D.prototype.get_m_rayFromWorld=D.prototype.NB=function(){return k(Wi(this.kB),m)};D.prototype.set_m_rayFromWorld=D.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xi(c,a)};
+Object.defineProperty(D.prototype,"m_rayFromWorld",{get:D.prototype.NB,set:D.prototype.XB});D.prototype.get_m_rayToWorld=D.prototype.OB=function(){return k(Yi(this.kB),m)};D.prototype.set_m_rayToWorld=D.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zi(c,a)};Object.defineProperty(D.prototype,"m_rayToWorld",{get:D.prototype.OB,set:D.prototype.YB});D.prototype.get_m_hitNormalWorld=D.prototype.xB=function(){return k($i(this.kB),AE)};
+D.prototype.set_m_hitNormalWorld=D.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aj(c,a)};Object.defineProperty(D.prototype,"m_hitNormalWorld",{get:D.prototype.xB,set:D.prototype.EB});D.prototype.get_m_hitPointWorld=D.prototype.yB=function(){return k(bj(this.kB),AE)};D.prototype.set_m_hitPointWorld=D.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cj(c,a)};Object.defineProperty(D.prototype,"m_hitPointWorld",{get:D.prototype.yB,set:D.prototype.FB});
+D.prototype.get_m_hitFractions=D.prototype.qD=function(){return k(dj(this.kB),zE)};D.prototype.set_m_hitFractions=D.prototype.hG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ej(c,a)};Object.defineProperty(D.prototype,"m_hitFractions",{get:D.prototype.qD,set:D.prototype.hG});D.prototype.get_m_collisionFilterGroup=D.prototype.nB=function(){return fj(this.kB)};D.prototype.set_m_collisionFilterGroup=D.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gj(c,a)};
+Object.defineProperty(D.prototype,"m_collisionFilterGroup",{get:D.prototype.nB,set:D.prototype.pB});D.prototype.get_m_collisionFilterMask=D.prototype.oB=function(){return hj(this.kB)};D.prototype.set_m_collisionFilterMask=D.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ij(c,a)};Object.defineProperty(D.prototype,"m_collisionFilterMask",{get:D.prototype.oB,set:D.prototype.qB});D.prototype.get_m_closestHitFraction=D.prototype.rB=function(){return jj(this.kB)};
+D.prototype.set_m_closestHitFraction=D.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kj(c,a)};Object.defineProperty(D.prototype,"m_closestHitFraction",{get:D.prototype.rB,set:D.prototype.sB});D.prototype.get_m_collisionObject=D.prototype.vB=function(){return k(lj(this.kB),q)};D.prototype.set_m_collisionObject=D.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mj(c,a)};Object.defineProperty(D.prototype,"m_collisionObject",{get:D.prototype.vB,set:D.prototype.CB});
+D.prototype.get_m_flags=D.prototype.tB=function(){return nj(this.kB)};D.prototype.set_m_flags=D.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oj(c,a)};Object.defineProperty(D.prototype,"m_flags",{get:D.prototype.tB,set:D.prototype.uB});D.prototype.__destroy__=function(){pj(this.kB)};function E(){throw"cannot construct a btManifoldPoint, no constructor in IDL";}E.prototype=Object.create(f.prototype);E.prototype.constructor=E;E.prototype.lB=E;E.mB={};b.btManifoldPoint=E;
+E.prototype.getPositionWorldOnA=function(){return k(qj(this.kB),m)};E.prototype.getPositionWorldOnB=function(){return k(rj(this.kB),m)};E.prototype.getAppliedImpulse=function(){return sj(this.kB)};E.prototype.getDistance=function(){return tj(this.kB)};E.prototype.get_m_localPointA=E.prototype.GD=function(){return k(uj(this.kB),m)};E.prototype.set_m_localPointA=E.prototype.xG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vj(c,a)};
+Object.defineProperty(E.prototype,"m_localPointA",{get:E.prototype.GD,set:E.prototype.xG});E.prototype.get_m_localPointB=E.prototype.HD=function(){return k(wj(this.kB),m)};E.prototype.set_m_localPointB=E.prototype.yG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xj(c,a)};Object.defineProperty(E.prototype,"m_localPointB",{get:E.prototype.HD,set:E.prototype.yG});E.prototype.get_m_positionWorldOnB=E.prototype.YD=function(){return k(yj(this.kB),m)};
+E.prototype.set_m_positionWorldOnB=E.prototype.PG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zj(c,a)};Object.defineProperty(E.prototype,"m_positionWorldOnB",{get:E.prototype.YD,set:E.prototype.PG});E.prototype.get_m_positionWorldOnA=E.prototype.XD=function(){return k(Aj(this.kB),m)};E.prototype.set_m_positionWorldOnA=E.prototype.OG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bj(c,a)};Object.defineProperty(E.prototype,"m_positionWorldOnA",{get:E.prototype.XD,set:E.prototype.OG});
+E.prototype.get_m_normalWorldOnB=E.prototype.SD=function(){return k(Cj(this.kB),m)};E.prototype.set_m_normalWorldOnB=E.prototype.JG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dj(c,a)};Object.defineProperty(E.prototype,"m_normalWorldOnB",{get:E.prototype.SD,set:E.prototype.JG});E.prototype.get_m_userPersistentData=E.prototype.zE=function(){return Ej(this.kB)};E.prototype.set_m_userPersistentData=E.prototype.rH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fj(c,a)};
+Object.defineProperty(E.prototype,"m_userPersistentData",{get:E.prototype.zE,set:E.prototype.rH});E.prototype.__destroy__=function(){Gj(this.kB)};function BE(){this.kB=Hj();h(BE)[this.kB]=this}BE.prototype=Object.create(eE.prototype);BE.prototype.constructor=BE;BE.prototype.lB=BE;BE.mB={};b.ConcreteContactResultCallback=BE;
+BE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Ij(T,a,c,d,e,g,n,z)};BE.prototype.__destroy__=function(){Jj(this.kB)};function CE(){throw"cannot construct a LocalShapeInfo, no constructor in IDL";}CE.prototype=Object.create(f.prototype);
+CE.prototype.constructor=CE;CE.prototype.lB=CE;CE.mB={};b.LocalShapeInfo=CE;CE.prototype.get_m_shapePart=CE.prototype.gE=function(){return Kj(this.kB)};CE.prototype.set_m_shapePart=CE.prototype.ZG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lj(c,a)};Object.defineProperty(CE.prototype,"m_shapePart",{get:CE.prototype.gE,set:CE.prototype.ZG});CE.prototype.get_m_triangleIndex=CE.prototype.vE=function(){return Mj(this.kB)};
+CE.prototype.set_m_triangleIndex=CE.prototype.nH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nj(c,a)};Object.defineProperty(CE.prototype,"m_triangleIndex",{get:CE.prototype.vE,set:CE.prototype.nH});CE.prototype.__destroy__=function(){Oj(this.kB)};function F(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=Pj(a,c,d,e,g);h(F)[this.kB]=this}
+F.prototype=Object.create(f.prototype);F.prototype.constructor=F;F.prototype.lB=F;F.mB={};b.LocalConvexResult=F;F.prototype.get_m_hitCollisionObject=F.prototype.LB=function(){return k(Qj(this.kB),q)};F.prototype.set_m_hitCollisionObject=F.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rj(c,a)};Object.defineProperty(F.prototype,"m_hitCollisionObject",{get:F.prototype.LB,set:F.prototype.VB});F.prototype.get_m_localShapeInfo=F.prototype.ID=function(){return k(Sj(this.kB),CE)};
+F.prototype.set_m_localShapeInfo=F.prototype.zG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tj(c,a)};Object.defineProperty(F.prototype,"m_localShapeInfo",{get:F.prototype.ID,set:F.prototype.zG});F.prototype.get_m_hitNormalLocal=F.prototype.sD=function(){return k(Uj(this.kB),m)};F.prototype.set_m_hitNormalLocal=F.prototype.jG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vj(c,a)};Object.defineProperty(F.prototype,"m_hitNormalLocal",{get:F.prototype.sD,set:F.prototype.jG});
+F.prototype.get_m_hitPointLocal=F.prototype.uD=function(){return k(Wj(this.kB),m)};F.prototype.set_m_hitPointLocal=F.prototype.lG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xj(c,a)};Object.defineProperty(F.prototype,"m_hitPointLocal",{get:F.prototype.uD,set:F.prototype.lG});F.prototype.get_m_hitFraction=F.prototype.pD=function(){return Yj(this.kB)};F.prototype.set_m_hitFraction=F.prototype.gG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zj(c,a)};
+Object.defineProperty(F.prototype,"m_hitFraction",{get:F.prototype.pD,set:F.prototype.gG});F.prototype.__destroy__=function(){ak(this.kB)};function G(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=bk(a,c);h(G)[this.kB]=this}G.prototype=Object.create(v.prototype);G.prototype.constructor=G;G.prototype.lB=G;G.mB={};b.ClosestConvexResultCallback=G;G.prototype.hasHit=function(){return!!ck(this.kB)};
+G.prototype.get_m_hitCollisionObject=G.prototype.LB=function(){return k(dk(this.kB),q)};G.prototype.set_m_hitCollisionObject=G.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ek(c,a)};Object.defineProperty(G.prototype,"m_hitCollisionObject",{get:G.prototype.LB,set:G.prototype.VB});G.prototype.get_m_convexFromWorld=G.prototype.ZC=function(){return k(fk(this.kB),m)};
+G.prototype.set_m_convexFromWorld=G.prototype.QF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gk(c,a)};Object.defineProperty(G.prototype,"m_convexFromWorld",{get:G.prototype.ZC,set:G.prototype.QF});G.prototype.get_m_convexToWorld=G.prototype.$C=function(){return k(hk(this.kB),m)};G.prototype.set_m_convexToWorld=G.prototype.RF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ik(c,a)};Object.defineProperty(G.prototype,"m_convexToWorld",{get:G.prototype.$C,set:G.prototype.RF});
+G.prototype.get_m_hitNormalWorld=G.prototype.xB=function(){return k(jk(this.kB),m)};G.prototype.set_m_hitNormalWorld=G.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kk(c,a)};Object.defineProperty(G.prototype,"m_hitNormalWorld",{get:G.prototype.xB,set:G.prototype.EB});G.prototype.get_m_hitPointWorld=G.prototype.yB=function(){return k(lk(this.kB),m)};G.prototype.set_m_hitPointWorld=G.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mk(c,a)};
+Object.defineProperty(G.prototype,"m_hitPointWorld",{get:G.prototype.yB,set:G.prototype.FB});G.prototype.get_m_collisionFilterGroup=G.prototype.nB=function(){return nk(this.kB)};G.prototype.set_m_collisionFilterGroup=G.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ok(c,a)};Object.defineProperty(G.prototype,"m_collisionFilterGroup",{get:G.prototype.nB,set:G.prototype.pB});G.prototype.get_m_collisionFilterMask=G.prototype.oB=function(){return pk(this.kB)};
+G.prototype.set_m_collisionFilterMask=G.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qk(c,a)};Object.defineProperty(G.prototype,"m_collisionFilterMask",{get:G.prototype.oB,set:G.prototype.qB});G.prototype.get_m_closestHitFraction=G.prototype.rB=function(){return rk(this.kB)};G.prototype.set_m_closestHitFraction=G.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sk(c,a)};Object.defineProperty(G.prototype,"m_closestHitFraction",{get:G.prototype.rB,set:G.prototype.sB});
+G.prototype.__destroy__=function(){tk(this.kB)};function DE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===c?uk(a):vk(a,c);h(DE)[this.kB]=this}DE.prototype=Object.create(fE.prototype);DE.prototype.constructor=DE;DE.prototype.lB=DE;DE.mB={};b.btConvexTriangleMeshShape=DE;DE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wk(c,a)};DE.prototype.getLocalScaling=function(){return k(xk(this.kB),m)};
+DE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);yk(d,a,c)};DE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zk(c,a)};DE.prototype.getMargin=function(){return Ak(this.kB)};DE.prototype.__destroy__=function(){Bk(this.kB)};function EE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Ck(a);h(EE)[this.kB]=this}EE.prototype=Object.create(l.prototype);EE.prototype.constructor=EE;EE.prototype.lB=EE;
+EE.mB={};b.btBoxShape=EE;EE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dk(c,a)};EE.prototype.getMargin=function(){return Ek(this.kB)};EE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fk(c,a)};EE.prototype.getLocalScaling=function(){return k(Gk(this.kB),m)};EE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Hk(d,a,c)};EE.prototype.__destroy__=function(){Ik(this.kB)};
+function FE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Jk(a,c);h(FE)[this.kB]=this}FE.prototype=Object.create(gE.prototype);FE.prototype.constructor=FE;FE.prototype.lB=FE;FE.mB={};b.btCapsuleShapeX=FE;FE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kk(c,a)};FE.prototype.getMargin=function(){return Lk(this.kB)};FE.prototype.getUpAxis=function(){return Mk(this.kB)};FE.prototype.getRadius=function(){return Nk(this.kB)};
+FE.prototype.getHalfHeight=function(){return Ok(this.kB)};FE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pk(c,a)};FE.prototype.getLocalScaling=function(){return k(Qk(this.kB),m)};FE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Rk(d,a,c)};FE.prototype.__destroy__=function(){Sk(this.kB)};
+function GE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Tk(a,c);h(GE)[this.kB]=this}GE.prototype=Object.create(gE.prototype);GE.prototype.constructor=GE;GE.prototype.lB=GE;GE.mB={};b.btCapsuleShapeZ=GE;GE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uk(c,a)};GE.prototype.getMargin=function(){return Vk(this.kB)};GE.prototype.getUpAxis=function(){return Wk(this.kB)};GE.prototype.getRadius=function(){return Xk(this.kB)};
+GE.prototype.getHalfHeight=function(){return Yk(this.kB)};GE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zk(c,a)};GE.prototype.getLocalScaling=function(){return k($k(this.kB),m)};GE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);al(d,a,c)};GE.prototype.__destroy__=function(){bl(this.kB)};function HE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=cl(a);h(HE)[this.kB]=this}
+HE.prototype=Object.create(hE.prototype);HE.prototype.constructor=HE;HE.prototype.lB=HE;HE.mB={};b.btCylinderShapeX=HE;HE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dl(c,a)};HE.prototype.getMargin=function(){return el(this.kB)};HE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fl(c,a)};HE.prototype.getLocalScaling=function(){return k(gl(this.kB),m)};
+HE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);hl(d,a,c)};HE.prototype.__destroy__=function(){il(this.kB)};function IE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=jl(a);h(IE)[this.kB]=this}IE.prototype=Object.create(hE.prototype);IE.prototype.constructor=IE;IE.prototype.lB=IE;IE.mB={};b.btCylinderShapeZ=IE;IE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kl(c,a)};
+IE.prototype.getMargin=function(){return ll(this.kB)};IE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ml(c,a)};IE.prototype.getLocalScaling=function(){return k(nl(this.kB),m)};IE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ol(d,a,c)};IE.prototype.__destroy__=function(){pl(this.kB)};function JE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ql(a);h(JE)[this.kB]=this}JE.prototype=Object.create(l.prototype);
+JE.prototype.constructor=JE;JE.prototype.lB=JE;JE.mB={};b.btSphereShape=JE;JE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rl(c,a)};JE.prototype.getMargin=function(){return sl(this.kB)};JE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tl(c,a)};JE.prototype.getLocalScaling=function(){return k(ul(this.kB),m)};
+JE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);vl(d,a,c)};JE.prototype.__destroy__=function(){wl(this.kB)};function KE(a,c,d){ND();a&&"object"===typeof a&&(a=a.kB);"object"==typeof c&&(c=RD(c));d&&"object"===typeof d&&(d=d.kB);this.kB=xl(a,c,d);h(KE)[this.kB]=this}KE.prototype=Object.create(l.prototype);KE.prototype.constructor=KE;KE.prototype.lB=KE;KE.mB={};b.btMultiSphereShape=KE;
+KE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yl(c,a)};KE.prototype.getLocalScaling=function(){return k(zl(this.kB),m)};KE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Al(d,a,c)};KE.prototype.__destroy__=function(){Bl(this.kB)};function LE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Cl(a,c);h(LE)[this.kB]=this}LE.prototype=Object.create(iE.prototype);
+LE.prototype.constructor=LE;LE.prototype.lB=LE;LE.mB={};b.btConeShapeX=LE;LE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dl(c,a)};LE.prototype.getLocalScaling=function(){return k(El(this.kB),m)};LE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Fl(d,a,c)};LE.prototype.__destroy__=function(){Gl(this.kB)};
+function ME(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Hl(a,c);h(ME)[this.kB]=this}ME.prototype=Object.create(iE.prototype);ME.prototype.constructor=ME;ME.prototype.lB=ME;ME.mB={};b.btConeShapeZ=ME;ME.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Il(c,a)};ME.prototype.getLocalScaling=function(){return k(Jl(this.kB),m)};
+ME.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Kl(d,a,c)};ME.prototype.__destroy__=function(){Ll(this.kB)};function NE(){throw"cannot construct a btIntArray, no constructor in IDL";}NE.prototype=Object.create(f.prototype);NE.prototype.constructor=NE;NE.prototype.lB=NE;NE.mB={};b.btIntArray=NE;NE.prototype.size=NE.prototype.size=function(){return Ml(this.kB)};
+NE.prototype.at=NE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Nl(c,a)};NE.prototype.__destroy__=function(){Ol(this.kB)};function OE(){throw"cannot construct a btFace, no constructor in IDL";}OE.prototype=Object.create(f.prototype);OE.prototype.constructor=OE;OE.prototype.lB=OE;OE.mB={};b.btFace=OE;OE.prototype.get_m_indices=OE.prototype.xD=function(){return k(Pl(this.kB),NE)};
+OE.prototype.set_m_indices=OE.prototype.oG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ql(c,a)};Object.defineProperty(OE.prototype,"m_indices",{get:OE.prototype.xD,set:OE.prototype.oG});OE.prototype.get_m_plane=OE.prototype.WD=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Rl(c,a)};OE.prototype.set_m_plane=OE.prototype.NG=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Sl(d,a,c)};
+Object.defineProperty(OE.prototype,"m_plane",{get:OE.prototype.WD,set:OE.prototype.NG});OE.prototype.__destroy__=function(){Tl(this.kB)};function AE(){throw"cannot construct a btVector3Array, no constructor in IDL";}AE.prototype=Object.create(f.prototype);AE.prototype.constructor=AE;AE.prototype.lB=AE;AE.mB={};b.btVector3Array=AE;AE.prototype.size=AE.prototype.size=function(){return Ul(this.kB)};
+AE.prototype.at=AE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Vl(c,a),m)};AE.prototype.__destroy__=function(){Wl(this.kB)};function PE(){throw"cannot construct a btFaceArray, no constructor in IDL";}PE.prototype=Object.create(f.prototype);PE.prototype.constructor=PE;PE.prototype.lB=PE;PE.mB={};b.btFaceArray=PE;PE.prototype.size=PE.prototype.size=function(){return Xl(this.kB)};
+PE.prototype.at=PE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Yl(c,a),OE)};PE.prototype.__destroy__=function(){Zl(this.kB)};function QE(){throw"cannot construct a btConvexPolyhedron, no constructor in IDL";}QE.prototype=Object.create(f.prototype);QE.prototype.constructor=QE;QE.prototype.lB=QE;QE.mB={};b.btConvexPolyhedron=QE;QE.prototype.get_m_vertices=QE.prototype.BE=function(){return k($l(this.kB),AE)};
+QE.prototype.set_m_vertices=QE.prototype.tH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);am(c,a)};Object.defineProperty(QE.prototype,"m_vertices",{get:QE.prototype.BE,set:QE.prototype.tH});QE.prototype.get_m_faces=QE.prototype.KB=function(){return k(bm(this.kB),PE)};QE.prototype.set_m_faces=QE.prototype.UB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cm(c,a)};Object.defineProperty(QE.prototype,"m_faces",{get:QE.prototype.KB,set:QE.prototype.UB});
+QE.prototype.__destroy__=function(){dm(this.kB)};function RE(a,c){ND();"object"==typeof a&&(a=RD(a));c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?em():void 0===c?fm(a):gm(a,c);h(RE)[this.kB]=this}RE.prototype=Object.create(l.prototype);RE.prototype.constructor=RE;RE.prototype.lB=RE;RE.mB={};b.btConvexHullShape=RE;RE.prototype.addPoint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?hm(d,a):im(d,a,c)};
+RE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jm(c,a)};RE.prototype.getMargin=function(){return km(this.kB)};RE.prototype.getNumVertices=function(){return lm(this.kB)};RE.prototype.initializePolyhedralFeatures=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return!!mm(c,a)};RE.prototype.recalcLocalAabb=function(){nm(this.kB)};RE.prototype.getConvexPolyhedron=function(){return k(om(this.kB),QE)};
+RE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pm(c,a)};RE.prototype.getLocalScaling=function(){return k(qm(this.kB),m)};RE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rm(d,a,c)};RE.prototype.__destroy__=function(){sm(this.kB)};function SE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=tm(a);h(SE)[this.kB]=this}SE.prototype=Object.create(f.prototype);SE.prototype.constructor=SE;
+SE.prototype.lB=SE;SE.mB={};b.btShapeHull=SE;SE.prototype.buildHull=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return!!um(c,a)};SE.prototype.numVertices=function(){return wm(this.kB)};SE.prototype.getVertexPointer=function(){return k(xm(this.kB),m)};SE.prototype.__destroy__=function(){ym(this.kB)};function TE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?zm():Am(a);h(TE)[this.kB]=this}TE.prototype=Object.create(l.prototype);TE.prototype.constructor=TE;TE.prototype.lB=TE;
+TE.mB={};b.btCompoundShape=TE;TE.prototype.addChildShape=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Bm(d,a,c)};TE.prototype.removeChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cm(c,a)};TE.prototype.removeChildShapeByIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dm(c,a)};TE.prototype.getNumChildShapes=function(){return Em(this.kB)};
+TE.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Fm(c,a),l)};TE.prototype.updateChildTransform=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===d?Gm(e,a,c):Hm(e,a,c,d)};TE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Im(c,a)};TE.prototype.getMargin=function(){return Jm(this.kB)};
+TE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Km(c,a)};TE.prototype.getLocalScaling=function(){return k(Lm(this.kB),m)};TE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Mm(d,a,c)};TE.prototype.__destroy__=function(){Nm(this.kB)};function UE(){throw"cannot construct a btIndexedMesh, no constructor in IDL";}UE.prototype=Object.create(f.prototype);UE.prototype.constructor=UE;
+UE.prototype.lB=UE;UE.mB={};b.btIndexedMesh=UE;UE.prototype.get_m_numTriangles=UE.prototype.UD=function(){return Om(this.kB)};UE.prototype.set_m_numTriangles=UE.prototype.LG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pm(c,a)};Object.defineProperty(UE.prototype,"m_numTriangles",{get:UE.prototype.UD,set:UE.prototype.LG});UE.prototype.__destroy__=function(){Qm(this.kB)};function VE(){throw"cannot construct a btIndexedMeshArray, no constructor in IDL";}VE.prototype=Object.create(f.prototype);
+VE.prototype.constructor=VE;VE.prototype.lB=VE;VE.mB={};b.btIndexedMeshArray=VE;VE.prototype.size=VE.prototype.size=function(){return Rm(this.kB)};VE.prototype.at=VE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Sm(c,a),UE)};VE.prototype.__destroy__=function(){Tm(this.kB)};function WE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Um():void 0===c?Vm(a):Wm(a,c);h(WE)[this.kB]=this}WE.prototype=Object.create(jE.prototype);
+WE.prototype.constructor=WE;WE.prototype.lB=WE;WE.mB={};b.btTriangleMesh=WE;WE.prototype.addTriangle=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);void 0===e?Xm(g,a,c,d):Ym(g,a,c,d,e)};WE.prototype.findOrAddVertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Zm(d,a,c)};
+WE.prototype.addIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$m(c,a)};WE.prototype.getIndexedMeshArray=function(){return k(an(this.kB),VE)};WE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bn(c,a)};WE.prototype.__destroy__=function(){cn(this.kB)};function XE(){this.kB=dn();h(XE)[this.kB]=this}XE.prototype=Object.create(ZD.prototype);XE.prototype.constructor=XE;XE.prototype.lB=XE;XE.mB={};b.btEmptyShape=XE;
+XE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);en(c,a)};XE.prototype.getLocalScaling=function(){return k(fn(this.kB),m)};XE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);gn(d,a,c)};XE.prototype.__destroy__=function(){hn(this.kB)};function YE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=jn(a,c);h(YE)[this.kB]=this}YE.prototype=Object.create(ZD.prototype);
+YE.prototype.constructor=YE;YE.prototype.lB=YE;YE.mB={};b.btStaticPlaneShape=YE;YE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kn(c,a)};YE.prototype.getLocalScaling=function(){return k(ln(this.kB),m)};YE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);mn(d,a,c)};YE.prototype.__destroy__=function(){nn(this.kB)};
+function ZE(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=void 0===d?on(a,c):pn(a,c,d);h(ZE)[this.kB]=this}ZE.prototype=Object.create(kE.prototype);ZE.prototype.constructor=ZE;ZE.prototype.lB=ZE;ZE.mB={};b.btBvhTriangleMeshShape=ZE;ZE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qn(c,a)};ZE.prototype.getLocalScaling=function(){return k(rn(this.kB),m)};
+ZE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);sn(d,a,c)};ZE.prototype.__destroy__=function(){tn(this.kB)};
+function $E(a,c,d,e,g,n,z,T,Da){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);this.kB=un(a,c,d,e,g,n,z,T,Da);h($E)[this.kB]=this}$E.prototype=Object.create(ZD.prototype);$E.prototype.constructor=$E;$E.prototype.lB=$E;$E.mB={};
+b.btHeightfieldTerrainShape=$E;$E.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vn(c,a)};$E.prototype.getMargin=function(){return wn(this.kB)};$E.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xn(c,a)};$E.prototype.getLocalScaling=function(){return k(yn(this.kB),m)};$E.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zn(d,a,c)};
+$E.prototype.__destroy__=function(){An(this.kB)};function aF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=Bn(a,c,d,e);h(aF)[this.kB]=this}aF.prototype=Object.create(f.prototype);aF.prototype.constructor=aF;aF.prototype.lB=aF;aF.mB={};b.btAABB=aF;aF.prototype.invalidate=function(){Cn(this.kB)};aF.prototype.increment_margin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dn(c,a)};
+aF.prototype.copy_with_margin=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);En(d,a,c)};aF.prototype.__destroy__=function(){Fn(this.kB)};function bF(){this.kB=Gn();h(bF)[this.kB]=this}bF.prototype=Object.create(f.prototype);bF.prototype.constructor=bF;bF.prototype.lB=bF;bF.mB={};b.btPrimitiveTriangle=bF;bF.prototype.__destroy__=function(){Hn(this.kB)};
+function cF(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=In(a,c,d);h(cF)[this.kB]=this}cF.prototype=Object.create(f.prototype);cF.prototype.constructor=cF;cF.prototype.lB=cF;cF.mB={};b.btTriangleShapeEx=cF;cF.prototype.getAabb=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Jn(e,a,c,d)};
+cF.prototype.applyTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kn(c,a)};cF.prototype.buildTriPlane=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ln(c,a)};cF.prototype.__destroy__=function(){Mn(this.kB)};function dF(){this.kB=Nn();h(dF)[this.kB]=this}dF.prototype=Object.create(f.prototype);dF.prototype.constructor=dF;dF.prototype.lB=dF;dF.mB={};b.btTetrahedronShapeEx=dF;
+dF.prototype.setVertices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);On(g,a,c,d,e)};dF.prototype.__destroy__=function(){Pn(this.kB)};function eF(){throw"cannot construct a CompoundPrimitiveManager, no constructor in IDL";}eF.prototype=Object.create(lE.prototype);eF.prototype.constructor=eF;eF.prototype.lB=eF;eF.mB={};b.CompoundPrimitiveManager=eF;
+eF.prototype.get_primitive_count=function(){return Qn(this.kB)};eF.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Rn(d,a,c)};eF.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Sn(d,a,c)};eF.prototype.is_trimesh=function(){return!!Tn(this.kB)};eF.prototype.get_m_compoundShape=eF.prototype.VC=function(){return k(Un(this.kB),H)};
+eF.prototype.set_m_compoundShape=eF.prototype.MF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vn(c,a)};Object.defineProperty(eF.prototype,"m_compoundShape",{get:eF.prototype.VC,set:eF.prototype.MF});eF.prototype.__destroy__=function(){Wn(this.kB)};function H(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Xn():Yn(a);h(H)[this.kB]=this}H.prototype=Object.create(w.prototype);H.prototype.constructor=H;H.prototype.lB=H;H.mB={};b.btGImpactCompoundShape=H;
+H.prototype.childrenHasTransform=function(){return!!Zn(this.kB)};H.prototype.getPrimitiveManager=function(){return k($n(this.kB),lE)};H.prototype.getCompoundPrimitiveManager=function(){return k(ao(this.kB),eF)};H.prototype.getNumChildShapes=function(){return bo(this.kB)};H.prototype.addChildShape=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);co(d,a,c)};
+H.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eo(c,a),l)};H.prototype.getChildAabb=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);fo(g,a,c,d,e)};H.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(go(c,a),r)};
+H.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ho(d,a,c)};H.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);io(d,a,c)};H.prototype.getName=function(){return sa(jo(this.kB))};H.prototype.getGImpactShapeType=function(){return ko(this.kB)};H.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lo(c,a)};
+H.prototype.getLocalScaling=function(){return k(mo(this.kB),m)};H.prototype.updateBound=function(){no(this.kB)};H.prototype.postUpdate=function(){oo(this.kB)};H.prototype.getShapeType=function(){return po(this.kB)};H.prototype.needsRetrieveTriangles=function(){return!!qo(this.kB)};H.prototype.needsRetrieveTetrahedrons=function(){return!!ro(this.kB)};H.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);so(d,a,c)};
+H.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);to(d,a,c)};H.prototype.__destroy__=function(){uo(this.kB)};function I(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?vo():wo(a);h(I)[this.kB]=this}I.prototype=Object.create(lE.prototype);I.prototype.constructor=I;I.prototype.lB=I;I.mB={};b.TrimeshPrimitiveManager=I;I.prototype.lock=I.prototype.lock=function(){xo(this.kB)};I.prototype.unlock=I.prototype.unlock=function(){yo(this.kB)};
+I.prototype.is_trimesh=function(){return!!zo(this.kB)};I.prototype.get_vertex_count=function(){return Ao(this.kB)};I.prototype.get_indices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Bo(g,a,c,d,e)};I.prototype.get_vertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Co(d,a,c)};
+I.prototype.get_bullet_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Do(d,a,c)};I.prototype.get_m_margin=I.prototype.LD=function(){return Eo(this.kB)};I.prototype.set_m_margin=I.prototype.CG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fo(c,a)};Object.defineProperty(I.prototype,"m_margin",{get:I.prototype.LD,set:I.prototype.CG});I.prototype.get_m_meshInterface=I.prototype.OD=function(){return k(Go(this.kB),jE)};
+I.prototype.set_m_meshInterface=I.prototype.FG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ho(c,a)};Object.defineProperty(I.prototype,"m_meshInterface",{get:I.prototype.OD,set:I.prototype.FG});I.prototype.get_m_part=I.prototype.VD=function(){return Io(this.kB)};I.prototype.set_m_part=I.prototype.MG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jo(c,a)};Object.defineProperty(I.prototype,"m_part",{get:I.prototype.VD,set:I.prototype.MG});
+I.prototype.get_m_lock_count=I.prototype.JD=function(){return Ko(this.kB)};I.prototype.set_m_lock_count=I.prototype.AG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lo(c,a)};Object.defineProperty(I.prototype,"m_lock_count",{get:I.prototype.JD,set:I.prototype.AG});I.prototype.get_numverts=I.prototype.LE=function(){return Mo(this.kB)};I.prototype.set_numverts=I.prototype.DH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);No(c,a)};
+Object.defineProperty(I.prototype,"numverts",{get:I.prototype.LE,set:I.prototype.DH});I.prototype.get_type=I.prototype.PE=function(){return Oo(this.kB)};I.prototype.set_type=I.prototype.HH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Po(c,a)};Object.defineProperty(I.prototype,"type",{get:I.prototype.PE,set:I.prototype.HH});I.prototype.get_stride=I.prototype.NE=function(){return Qo(this.kB)};
+I.prototype.set_stride=I.prototype.FH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ro(c,a)};Object.defineProperty(I.prototype,"stride",{get:I.prototype.NE,set:I.prototype.FH});I.prototype.get_indexstride=I.prototype.gC=function(){return So(this.kB)};I.prototype.set_indexstride=I.prototype.YE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);To(c,a)};Object.defineProperty(I.prototype,"indexstride",{get:I.prototype.gC,set:I.prototype.YE});
+I.prototype.get_numfaces=I.prototype.KE=function(){return Uo(this.kB)};I.prototype.set_numfaces=I.prototype.CH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vo(c,a)};Object.defineProperty(I.prototype,"numfaces",{get:I.prototype.KE,set:I.prototype.CH});I.prototype.get_indicestype=I.prototype.hC=function(){return Wo(this.kB)};I.prototype.set_indicestype=I.prototype.ZE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xo(c,a)};
+Object.defineProperty(I.prototype,"indicestype",{get:I.prototype.hC,set:I.prototype.ZE});I.prototype.__destroy__=function(){Yo(this.kB)};function fF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Zo(a,c);h(fF)[this.kB]=this}fF.prototype=Object.create(w.prototype);fF.prototype.constructor=fF;fF.prototype.lB=fF;fF.mB={};b.btGImpactMeshShapePart=fF;fF.prototype.getTrimeshPrimitiveManager=function(){return k($o(this.kB),I)};fF.prototype.getVertexCount=function(){return ap(this.kB)};
+fF.prototype.getVertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);bp(d,a,c)};fF.prototype.getPart=function(){return cp(this.kB)};fF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dp(c,a)};fF.prototype.getLocalScaling=function(){return k(ep(this.kB),m)};fF.prototype.updateBound=function(){fp(this.kB)};fF.prototype.postUpdate=function(){gp(this.kB)};fF.prototype.getShapeType=function(){return hp(this.kB)};
+fF.prototype.needsRetrieveTriangles=function(){return!!ip(this.kB)};fF.prototype.needsRetrieveTetrahedrons=function(){return!!jp(this.kB)};fF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);kp(d,a,c)};fF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);lp(d,a,c)};fF.prototype.__destroy__=function(){mp(this.kB)};
+function gF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=np(a);h(gF)[this.kB]=this}gF.prototype=Object.create(w.prototype);gF.prototype.constructor=gF;gF.prototype.lB=gF;gF.mB={};b.btGImpactMeshShape=gF;gF.prototype.getMeshInterface=function(){return k(op(this.kB),jE)};gF.prototype.getMeshPartCount=function(){return pp(this.kB)};gF.prototype.getMeshPart=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(qp(c,a),fF)};gF.prototype.calculateSerializeBufferSize=function(){return rp(this.kB)};
+gF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sp(c,a)};gF.prototype.getLocalScaling=function(){return k(tp(this.kB),m)};gF.prototype.updateBound=function(){up(this.kB)};gF.prototype.postUpdate=function(){vp(this.kB)};gF.prototype.getShapeType=function(){return wp(this.kB)};gF.prototype.needsRetrieveTriangles=function(){return!!xp(this.kB)};gF.prototype.needsRetrieveTetrahedrons=function(){return!!yp(this.kB)};
+gF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zp(d,a,c)};gF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ap(d,a,c)};gF.prototype.__destroy__=function(){Bp(this.kB)};
+function hF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Cp():void 0===c?_emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_1(a):Dp(a,c);h(hF)[this.kB]=this}hF.prototype=Object.create(f.prototype);hF.prototype.constructor=hF;hF.prototype.lB=hF;hF.mB={};b.btCollisionAlgorithmConstructionInfo=hF;hF.prototype.get_m_dispatcher1=hF.prototype.eD=function(){return k(Ep(this.kB),TD)};
+hF.prototype.set_m_dispatcher1=hF.prototype.WF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fp(c,a)};Object.defineProperty(hF.prototype,"m_dispatcher1",{get:hF.prototype.eD,set:hF.prototype.WF});hF.prototype.get_m_manifold=hF.prototype.KD=function(){return k(Gp(this.kB),oE)};hF.prototype.set_m_manifold=hF.prototype.BG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hp(c,a)};Object.defineProperty(hF.prototype,"m_manifold",{get:hF.prototype.KD,set:hF.prototype.BG});
+hF.prototype.__destroy__=function(){Ip(this.kB)};function iF(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=Jp(a,c,d);h(iF)[this.kB]=this}iF.prototype=Object.create(mE.prototype);iF.prototype.constructor=iF;iF.prototype.lB=iF;iF.mB={};b.btGImpactCollisionAlgorithm=iF;iF.prototype.registerAlgorithm=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kp(c,a)};iF.prototype.__destroy__=function(){Lp(this.kB)};
+function jF(){this.kB=Mp();h(jF)[this.kB]=this}jF.prototype=Object.create(f.prototype);jF.prototype.constructor=jF;jF.prototype.lB=jF;jF.mB={};b.btDefaultCollisionConstructionInfo=jF;jF.prototype.__destroy__=function(){Np(this.kB)};function oE(){this.kB=Op();h(oE)[this.kB]=this}oE.prototype=Object.create(f.prototype);oE.prototype.constructor=oE;oE.prototype.lB=oE;oE.mB={};b.btPersistentManifold=oE;oE.prototype.getBody0=function(){return k(Pp(this.kB),q)};
+oE.prototype.getBody1=function(){return k(Qp(this.kB),q)};oE.prototype.getNumContacts=function(){return Rp(this.kB)};oE.prototype.getContactPoint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Sp(c,a),E)};oE.prototype.__destroy__=function(){Tp(this.kB)};function kF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Up(a);h(kF)[this.kB]=this}kF.prototype=Object.create(TD.prototype);kF.prototype.constructor=kF;kF.prototype.lB=kF;kF.mB={};b.btCollisionDispatcher=kF;
+kF.prototype.getNumManifolds=function(){return Vp(this.kB)};kF.prototype.getManifoldByIndexInternal=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Wp(c,a),oE)};kF.prototype.__destroy__=function(){Xp(this.kB)};function lF(){throw"cannot construct a btOverlappingPairCallback, no constructor in IDL";}lF.prototype=Object.create(f.prototype);lF.prototype.constructor=lF;lF.prototype.lB=lF;lF.mB={};b.btOverlappingPairCallback=lF;lF.prototype.__destroy__=function(){Yp(this.kB)};
+function UD(){throw"cannot construct a btOverlappingPairCache, no constructor in IDL";}UD.prototype=Object.create(f.prototype);UD.prototype.constructor=UD;UD.prototype.lB=UD;UD.mB={};b.btOverlappingPairCache=UD;UD.prototype.setInternalGhostPairCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zp(c,a)};UD.prototype.getNumOverlappingPairs=function(){return $p(this.kB)};UD.prototype.__destroy__=function(){aq(this.kB)};
+function mF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===d?bq(a,c):void 0===e?cq(a,c,d):void 0===g?dq(a,c,d,e):eq(a,c,d,e,g);h(mF)[this.kB]=this}mF.prototype=Object.create(f.prototype);mF.prototype.constructor=mF;mF.prototype.lB=mF;mF.mB={};b.btAxisSweep3=mF;mF.prototype.__destroy__=function(){fq(this.kB)};
+function VD(){throw"cannot construct a btBroadphaseInterface, no constructor in IDL";}VD.prototype=Object.create(f.prototype);VD.prototype.constructor=VD;VD.prototype.lB=VD;VD.mB={};b.btBroadphaseInterface=VD;VD.prototype.getOverlappingPairCache=function(){return k(gq(this.kB),UD)};VD.prototype.__destroy__=function(){hq(this.kB)};function nF(){throw"cannot construct a btCollisionConfiguration, no constructor in IDL";}nF.prototype=Object.create(f.prototype);nF.prototype.constructor=nF;
+nF.prototype.lB=nF;nF.mB={};b.btCollisionConfiguration=nF;nF.prototype.__destroy__=function(){iq(this.kB)};function oF(){this.kB=jq();h(oF)[this.kB]=this}oF.prototype=Object.create(f.prototype);oF.prototype.constructor=oF;oF.prototype.lB=oF;oF.mB={};b.btDbvtBroadphase=oF;oF.prototype.__destroy__=function(){kq(this.kB)};function YD(){throw"cannot construct a btBroadphaseProxy, no constructor in IDL";}YD.prototype=Object.create(f.prototype);YD.prototype.constructor=YD;YD.prototype.lB=YD;YD.mB={};
+b.btBroadphaseProxy=YD;YD.prototype.get_m_collisionFilterGroup=YD.prototype.nB=function(){return lq(this.kB)};YD.prototype.set_m_collisionFilterGroup=YD.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterGroup",{get:YD.prototype.nB,set:YD.prototype.pB});YD.prototype.get_m_collisionFilterMask=YD.prototype.oB=function(){return nq(this.kB)};
+YD.prototype.set_m_collisionFilterMask=YD.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterMask",{get:YD.prototype.oB,set:YD.prototype.qB});YD.prototype.__destroy__=function(){pq(this.kB)};function J(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?qq(a,c,d):rq(a,c,d,e);h(J)[this.kB]=this}J.prototype=Object.create(f.prototype);
+J.prototype.constructor=J;J.prototype.lB=J;J.mB={};b.btRigidBodyConstructionInfo=J;J.prototype.get_m_linearDamping=J.prototype.DD=function(){return sq(this.kB)};J.prototype.set_m_linearDamping=J.prototype.uG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tq(c,a)};Object.defineProperty(J.prototype,"m_linearDamping",{get:J.prototype.DD,set:J.prototype.uG});J.prototype.get_m_angularDamping=J.prototype.HC=function(){return uq(this.kB)};
+J.prototype.set_m_angularDamping=J.prototype.yF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vq(c,a)};Object.defineProperty(J.prototype,"m_angularDamping",{get:J.prototype.HC,set:J.prototype.yF});J.prototype.get_m_friction=J.prototype.kD=function(){return wq(this.kB)};J.prototype.set_m_friction=J.prototype.bG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xq(c,a)};Object.defineProperty(J.prototype,"m_friction",{get:J.prototype.kD,set:J.prototype.bG});
+J.prototype.get_m_rollingFriction=J.prototype.dE=function(){return yq(this.kB)};J.prototype.set_m_rollingFriction=J.prototype.WG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zq(c,a)};Object.defineProperty(J.prototype,"m_rollingFriction",{get:J.prototype.dE,set:J.prototype.WG});J.prototype.get_m_restitution=J.prototype.bE=function(){return Aq(this.kB)};J.prototype.set_m_restitution=J.prototype.UG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bq(c,a)};
+Object.defineProperty(J.prototype,"m_restitution",{get:J.prototype.bE,set:J.prototype.UG});J.prototype.get_m_linearSleepingThreshold=J.prototype.ED=function(){return Cq(this.kB)};J.prototype.set_m_linearSleepingThreshold=J.prototype.vG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dq(c,a)};Object.defineProperty(J.prototype,"m_linearSleepingThreshold",{get:J.prototype.ED,set:J.prototype.vG});J.prototype.get_m_angularSleepingThreshold=J.prototype.IC=function(){return Eq(this.kB)};
+J.prototype.set_m_angularSleepingThreshold=J.prototype.zF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fq(c,a)};Object.defineProperty(J.prototype,"m_angularSleepingThreshold",{get:J.prototype.IC,set:J.prototype.zF});J.prototype.get_m_additionalDamping=J.prototype.CC=function(){return!!Gq(this.kB)};J.prototype.set_m_additionalDamping=J.prototype.tF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hq(c,a)};
+Object.defineProperty(J.prototype,"m_additionalDamping",{get:J.prototype.CC,set:J.prototype.tF});J.prototype.get_m_additionalDampingFactor=J.prototype.DC=function(){return Iq(this.kB)};J.prototype.set_m_additionalDampingFactor=J.prototype.uF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jq(c,a)};Object.defineProperty(J.prototype,"m_additionalDampingFactor",{get:J.prototype.DC,set:J.prototype.uF});J.prototype.get_m_additionalLinearDampingThresholdSqr=J.prototype.EC=function(){return Kq(this.kB)};
+J.prototype.set_m_additionalLinearDampingThresholdSqr=J.prototype.vF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lq(c,a)};Object.defineProperty(J.prototype,"m_additionalLinearDampingThresholdSqr",{get:J.prototype.EC,set:J.prototype.vF});J.prototype.get_m_additionalAngularDampingThresholdSqr=J.prototype.BC=function(){return Mq(this.kB)};J.prototype.set_m_additionalAngularDampingThresholdSqr=J.prototype.sF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nq(c,a)};
+Object.defineProperty(J.prototype,"m_additionalAngularDampingThresholdSqr",{get:J.prototype.BC,set:J.prototype.sF});J.prototype.get_m_additionalAngularDampingFactor=J.prototype.AC=function(){return Oq(this.kB)};J.prototype.set_m_additionalAngularDampingFactor=J.prototype.rF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pq(c,a)};Object.defineProperty(J.prototype,"m_additionalAngularDampingFactor",{get:J.prototype.AC,set:J.prototype.rF});J.prototype.__destroy__=function(){Qq(this.kB)};
+function K(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Rq(a);h(K)[this.kB]=this}K.prototype=Object.create(q.prototype);K.prototype.constructor=K;K.prototype.lB=K;K.mB={};b.btRigidBody=K;K.prototype.getCenterOfMassTransform=function(){return k(Sq(this.kB),r)};K.prototype.setCenterOfMassTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tq(c,a)};K.prototype.setSleepingThresholds=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Uq(d,a,c)};
+K.prototype.getLinearDamping=function(){return Vq(this.kB)};K.prototype.getAngularDamping=function(){return Wq(this.kB)};K.prototype.setDamping=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Xq(d,a,c)};K.prototype.setMassProps=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Yq(d,a,c)};K.prototype.getLinearFactor=function(){return k(Zq(this.kB),m)};
+K.prototype.setLinearFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$q(c,a)};K.prototype.applyTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ar(c,a)};K.prototype.applyLocalTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);br(c,a)};K.prototype.applyForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);cr(d,a,c)};
+K.prototype.applyCentralForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dr(c,a)};K.prototype.applyCentralLocalForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);er(c,a)};K.prototype.applyTorqueImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fr(c,a)};K.prototype.applyImpulse=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);gr(d,a,c)};
+K.prototype.applyCentralImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hr(c,a)};K.prototype.updateInertiaTensor=function(){ir(this.kB)};K.prototype.getLinearVelocity=function(){return k(jr(this.kB),m)};K.prototype.getAngularVelocity=function(){return k(kr(this.kB),m)};K.prototype.setLinearVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lr(c,a)};K.prototype.setAngularVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mr(c,a)};
+K.prototype.getMotionState=function(){return k(nr(this.kB),dE)};K.prototype.setMotionState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);or(c,a)};K.prototype.getAngularFactor=function(){return k(pr(this.kB),m)};K.prototype.setAngularFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qr(c,a)};K.prototype.upcast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(rr(c,a),K)};
+K.prototype.getAabb=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);sr(d,a,c)};K.prototype.applyGravity=function(){tr(this.kB)};K.prototype.getGravity=function(){return k(ur(this.kB),m)};K.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vr(c,a)};K.prototype.getBroadphaseProxy=function(){return k(wr(this.kB),YD)};K.prototype.clearForces=function(){xr(this.kB)};
+K.prototype.setFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yr(c,a)};K.prototype.getFlags=function(){return zr(this.kB)};K.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ar(d,a,c)};K.prototype.getCollisionShape=function(){return k(Br(this.kB),l)};K.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cr(c,a)};
+K.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dr(c,a)};K.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Er(c,a)};K.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?Fr(c):Gr(c,a)};K.prototype.isActive=function(){return!!Hr(this.kB)};K.prototype.isKinematicObject=function(){return!!Ir(this.kB)};K.prototype.isStaticObject=function(){return!!Jr(this.kB)};
+K.prototype.isStaticOrKinematicObject=function(){return!!Kr(this.kB)};K.prototype.getRestitution=function(){return Lr(this.kB)};K.prototype.getFriction=function(){return Mr(this.kB)};K.prototype.getRollingFriction=function(){return Nr(this.kB)};K.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Or(c,a)};K.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pr(c,a)};
+K.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qr(c,a)};K.prototype.getWorldTransform=function(){return k(Rr(this.kB),r)};K.prototype.getCollisionFlags=function(){return Sr(this.kB)};K.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tr(c,a)};K.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ur(c,a)};
+K.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vr(c,a)};K.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wr(c,a)};K.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xr(c,a)};K.prototype.getUserIndex=function(){return Yr(this.kB)};K.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zr(c,a)};
+K.prototype.getUserPointer=function(){return k($r(this.kB),XD)};K.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);as(c,a)};K.prototype.getBroadphaseHandle=function(){return k(bs(this.kB),YD)};K.prototype.__destroy__=function(){cs(this.kB)};function L(){this.kB=ds();h(L)[this.kB]=this}L.prototype=Object.create(f.prototype);L.prototype.constructor=L;L.prototype.lB=L;L.mB={};b.btConstraintSetting=L;L.prototype.get_m_tau=L.prototype.sE=function(){return es(this.kB)};
+L.prototype.set_m_tau=L.prototype.kH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gs(c,a)};Object.defineProperty(L.prototype,"m_tau",{get:L.prototype.sE,set:L.prototype.kH});L.prototype.get_m_damping=L.prototype.aD=function(){return hs(this.kB)};L.prototype.set_m_damping=L.prototype.SF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);is(c,a)};Object.defineProperty(L.prototype,"m_damping",{get:L.prototype.aD,set:L.prototype.SF});
+L.prototype.get_m_impulseClamp=L.prototype.wD=function(){return js(this.kB)};L.prototype.set_m_impulseClamp=L.prototype.nG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ks(c,a)};Object.defineProperty(L.prototype,"m_impulseClamp",{get:L.prototype.wD,set:L.prototype.nG});L.prototype.__destroy__=function(){ls(this.kB)};
+function pF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===d?ms(a,c):void 0===e?_emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_3(a,c,d):ns(a,c,d,e);h(pF)[this.kB]=this}pF.prototype=Object.create(aE.prototype);pF.prototype.constructor=pF;pF.prototype.lB=pF;pF.mB={};b.btPoint2PointConstraint=pF;
+pF.prototype.setPivotA=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ps(c,a)};pF.prototype.setPivotB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qs(c,a)};pF.prototype.getPivotInA=function(){return k(rs(this.kB),m)};pF.prototype.getPivotInB=function(){return k(ss(this.kB),m)};pF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ts(c,a)};pF.prototype.getBreakingImpulseThreshold=function(){return us(this.kB)};
+pF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vs(c,a)};pF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return xs(d,a,c)};pF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);ys(e,a,c,d)};pF.prototype.get_m_setting=pF.prototype.fE=function(){return k(zs(this.kB),L)};
+pF.prototype.set_m_setting=pF.prototype.YG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);As(c,a)};Object.defineProperty(pF.prototype,"m_setting",{get:pF.prototype.fE,set:pF.prototype.YG});pF.prototype.__destroy__=function(){Bs(this.kB)};
+function qF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Cs(a,c,d):void 0===g?_emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_4(a,c,d,e):Ds(a,c,d,e,g);h(qF)[this.kB]=this}qF.prototype=Object.create(pE.prototype);qF.prototype.constructor=qF;qF.prototype.lB=qF;qF.mB={};b.btGeneric6DofSpringConstraint=qF;
+qF.prototype.enableSpring=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Es(d,a,c)};qF.prototype.setStiffness=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Fs(d,a,c)};qF.prototype.setDamping=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Gs(d,a,c)};
+qF.prototype.setEquilibriumPoint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===a?Hs(d):void 0===c?Is(d,a):Js(d,a,c)};qF.prototype.setLinearLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ks(c,a)};qF.prototype.setLinearUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ls(c,a)};qF.prototype.setAngularLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ms(c,a)};
+qF.prototype.setAngularUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ns(c,a)};qF.prototype.getFrameOffsetA=function(){return k(Os(this.kB),r)};qF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ps(c,a)};qF.prototype.getBreakingImpulseThreshold=function(){return Qs(this.kB)};qF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rs(c,a)};
+qF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Ss(d,a,c)};qF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Ts(e,a,c,d)};qF.prototype.__destroy__=function(){Us(this.kB)};function rF(){this.kB=Vs();h(rF)[this.kB]=this}rF.prototype=Object.create(f.prototype);rF.prototype.constructor=rF;rF.prototype.lB=rF;rF.mB={};
+b.btSequentialImpulseConstraintSolver=rF;rF.prototype.__destroy__=function(){Ws(this.kB)};function sF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===d?Xs(a,c):void 0===e?_emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_3(a,c,d):Ys(a,c,d,e);h(sF)[this.kB]=this}sF.prototype=Object.create(aE.prototype);sF.prototype.constructor=sF;sF.prototype.lB=sF;sF.mB={};
+b.btConeTwistConstraint=sF;sF.prototype.setLimit=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Zs(d,a,c)};sF.prototype.setAngularOnly=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$s(c,a)};sF.prototype.setDamping=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);at(c,a)};sF.prototype.enableMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bt(c,a)};
+sF.prototype.setMaxMotorImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ct(c,a)};sF.prototype.setMaxMotorImpulseNormalized=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dt(c,a)};sF.prototype.setMotorTarget=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);et(c,a)};sF.prototype.setMotorTargetInConstraintSpace=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ft(c,a)};
+sF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gt(c,a)};sF.prototype.getBreakingImpulseThreshold=function(){return ht(this.kB)};sF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);it(c,a)};sF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return jt(d,a,c)};
+sF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);kt(e,a,c,d)};sF.prototype.__destroy__=function(){lt(this.kB)};
+function tF(a,c,d,e,g,n,z){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);this.kB=void 0===d?mt(a,c):void 0===e?nt(a,c,d):void 0===g?ot(a,c,d,e):void 0===n?pt(a,c,d,e,g):void 0===z?qt(a,c,d,e,g,n):rt(a,c,d,e,g,n,z);h(tF)[this.kB]=this}tF.prototype=Object.create(aE.prototype);tF.prototype.constructor=tF;
+tF.prototype.lB=tF;tF.mB={};b.btHingeConstraint=tF;tF.prototype.getHingeAngle=function(){return st(this.kB)};tF.prototype.setLimit=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);void 0===g?tt(n,a,c,d,e):ut(n,a,c,d,e,g)};
+tF.prototype.enableAngularMotor=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);vt(e,a,c,d)};tF.prototype.setAngularOnly=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wt(c,a)};tF.prototype.enableMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xt(c,a)};tF.prototype.setMaxMotorImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yt(c,a)};
+tF.prototype.setMotorTarget=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zt(d,a,c)};tF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);At(c,a)};tF.prototype.getBreakingImpulseThreshold=function(){return Bt(this.kB)};tF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ct(c,a)};
+tF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Dt(d,a,c)};tF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Et(e,a,c,d)};tF.prototype.__destroy__=function(){Ft(this.kB)};
+function uF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Gt(a,c,d):void 0===g?_emscripten_bind_btSliderConstraint_btSliderConstraint_4(a,c,d,e):Ht(a,c,d,e,g);h(uF)[this.kB]=this}uF.prototype=Object.create(aE.prototype);uF.prototype.constructor=uF;uF.prototype.lB=uF;uF.mB={};b.btSliderConstraint=uF;uF.prototype.getLinearPos=function(){return It(this.kB)};
+uF.prototype.getAngularPos=function(){return Jt(this.kB)};uF.prototype.setLowerLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kt(c,a)};uF.prototype.setUpperLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lt(c,a)};uF.prototype.setLowerAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mt(c,a)};uF.prototype.setUpperAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nt(c,a)};
+uF.prototype.setPoweredLinMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ot(c,a)};uF.prototype.setMaxLinMotorForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pt(c,a)};uF.prototype.setTargetLinMotorVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qt(c,a)};uF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rt(c,a)};uF.prototype.getBreakingImpulseThreshold=function(){return St(this.kB)};
+uF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tt(c,a)};uF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Ut(d,a,c)};uF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Vt(e,a,c,d)};uF.prototype.__destroy__=function(){Wt(this.kB)};
+function vF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=Xt(a,c,d,e);h(vF)[this.kB]=this}vF.prototype=Object.create(aE.prototype);vF.prototype.constructor=vF;vF.prototype.lB=vF;vF.mB={};b.btFixedConstraint=vF;vF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yt(c,a)};vF.prototype.getBreakingImpulseThreshold=function(){return Zt(this.kB)};
+vF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$t(c,a)};vF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return au(d,a,c)};vF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);bu(e,a,c,d)};vF.prototype.__destroy__=function(){cu(this.kB)};
+function wF(){throw"cannot construct a btConstraintSolver, no constructor in IDL";}wF.prototype=Object.create(f.prototype);wF.prototype.constructor=wF;wF.prototype.lB=wF;wF.mB={};b.btConstraintSolver=wF;wF.prototype.__destroy__=function(){du(this.kB)};function p(){throw"cannot construct a btDispatcherInfo, no constructor in IDL";}p.prototype=Object.create(f.prototype);p.prototype.constructor=p;p.prototype.lB=p;p.mB={};b.btDispatcherInfo=p;p.prototype.get_m_timeStep=p.prototype.uE=function(){return eu(this.kB)};
+p.prototype.set_m_timeStep=p.prototype.mH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fu(c,a)};Object.defineProperty(p.prototype,"m_timeStep",{get:p.prototype.uE,set:p.prototype.mH});p.prototype.get_m_stepCount=p.prototype.lE=function(){return gu(this.kB)};p.prototype.set_m_stepCount=p.prototype.dH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hu(c,a)};Object.defineProperty(p.prototype,"m_stepCount",{get:p.prototype.lE,set:p.prototype.dH});
+p.prototype.get_m_dispatchFunc=p.prototype.cD=function(){return iu(this.kB)};p.prototype.set_m_dispatchFunc=p.prototype.UF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ju(c,a)};Object.defineProperty(p.prototype,"m_dispatchFunc",{get:p.prototype.cD,set:p.prototype.UF});p.prototype.get_m_timeOfImpact=p.prototype.tE=function(){return ku(this.kB)};p.prototype.set_m_timeOfImpact=p.prototype.lH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lu(c,a)};
+Object.defineProperty(p.prototype,"m_timeOfImpact",{get:p.prototype.tE,set:p.prototype.lH});p.prototype.get_m_useContinuous=p.prototype.wE=function(){return!!mu(this.kB)};p.prototype.set_m_useContinuous=p.prototype.oH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nu(c,a)};Object.defineProperty(p.prototype,"m_useContinuous",{get:p.prototype.wE,set:p.prototype.oH});p.prototype.get_m_enableSatConvex=p.prototype.hD=function(){return!!ou(this.kB)};
+p.prototype.set_m_enableSatConvex=p.prototype.ZF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pu(c,a)};Object.defineProperty(p.prototype,"m_enableSatConvex",{get:p.prototype.hD,set:p.prototype.ZF});p.prototype.get_m_enableSPU=p.prototype.gD=function(){return!!qu(this.kB)};p.prototype.set_m_enableSPU=p.prototype.YF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ru(c,a)};Object.defineProperty(p.prototype,"m_enableSPU",{get:p.prototype.gD,set:p.prototype.YF});
+p.prototype.get_m_useEpa=p.prototype.yE=function(){return!!su(this.kB)};p.prototype.set_m_useEpa=p.prototype.qH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tu(c,a)};Object.defineProperty(p.prototype,"m_useEpa",{get:p.prototype.yE,set:p.prototype.qH});p.prototype.get_m_allowedCcdPenetration=p.prototype.FC=function(){return uu(this.kB)};p.prototype.set_m_allowedCcdPenetration=p.prototype.wF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vu(c,a)};
+Object.defineProperty(p.prototype,"m_allowedCcdPenetration",{get:p.prototype.FC,set:p.prototype.wF});p.prototype.get_m_useConvexConservativeDistanceUtil=p.prototype.xE=function(){return!!wu(this.kB)};p.prototype.set_m_useConvexConservativeDistanceUtil=p.prototype.pH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xu(c,a)};Object.defineProperty(p.prototype,"m_useConvexConservativeDistanceUtil",{get:p.prototype.xE,set:p.prototype.pH});
+p.prototype.get_m_convexConservativeDistanceThreshold=p.prototype.YC=function(){return yu(this.kB)};p.prototype.set_m_convexConservativeDistanceThreshold=p.prototype.PF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zu(c,a)};Object.defineProperty(p.prototype,"m_convexConservativeDistanceThreshold",{get:p.prototype.YC,set:p.prototype.PF});p.prototype.__destroy__=function(){Au(this.kB)};function t(){throw"cannot construct a btContactSolverInfo, no constructor in IDL";}t.prototype=Object.create(f.prototype);
+t.prototype.constructor=t;t.prototype.lB=t;t.mB={};b.btContactSolverInfo=t;t.prototype.get_m_splitImpulse=t.prototype.iE=function(){return!!Bu(this.kB)};t.prototype.set_m_splitImpulse=t.prototype.aH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulse",{get:t.prototype.iE,set:t.prototype.aH});t.prototype.get_m_splitImpulsePenetrationThreshold=t.prototype.jE=function(){return Du(this.kB)};
+t.prototype.set_m_splitImpulsePenetrationThreshold=t.prototype.bH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulsePenetrationThreshold",{get:t.prototype.jE,set:t.prototype.bH});t.prototype.get_m_numIterations=t.prototype.TD=function(){return Fu(this.kB)};t.prototype.set_m_numIterations=t.prototype.KG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gu(c,a)};
+Object.defineProperty(t.prototype,"m_numIterations",{get:t.prototype.TD,set:t.prototype.KG});t.prototype.__destroy__=function(){Hu(this.kB)};function M(){this.kB=Iu();h(M)[this.kB]=this}M.prototype=Object.create(f.prototype);M.prototype.constructor=M;M.prototype.lB=M;M.mB={};b.btVehicleTuning=M;M.prototype.get_m_suspensionStiffness=M.prototype.BB=function(){return Ju(this.kB)};M.prototype.set_m_suspensionStiffness=M.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ku(c,a)};
+Object.defineProperty(M.prototype,"m_suspensionStiffness",{get:M.prototype.BB,set:M.prototype.IB});M.prototype.get_m_suspensionCompression=M.prototype.mE=function(){return Lu(this.kB)};M.prototype.set_m_suspensionCompression=M.prototype.eH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mu(c,a)};Object.defineProperty(M.prototype,"m_suspensionCompression",{get:M.prototype.mE,set:M.prototype.eH});M.prototype.get_m_suspensionDamping=M.prototype.nE=function(){return Nu(this.kB)};
+M.prototype.set_m_suspensionDamping=M.prototype.fH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ou(c,a)};Object.defineProperty(M.prototype,"m_suspensionDamping",{get:M.prototype.nE,set:M.prototype.fH});M.prototype.get_m_maxSuspensionTravelCm=M.prototype.AB=function(){return Pu(this.kB)};M.prototype.set_m_maxSuspensionTravelCm=M.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qu(c,a)};
+Object.defineProperty(M.prototype,"m_maxSuspensionTravelCm",{get:M.prototype.AB,set:M.prototype.HB});M.prototype.get_m_frictionSlip=M.prototype.wB=function(){return Ru(this.kB)};M.prototype.set_m_frictionSlip=M.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Su(c,a)};Object.defineProperty(M.prototype,"m_frictionSlip",{get:M.prototype.wB,set:M.prototype.DB});M.prototype.get_m_maxSuspensionForce=M.prototype.zB=function(){return Tu(this.kB)};
+M.prototype.set_m_maxSuspensionForce=M.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uu(c,a)};Object.defineProperty(M.prototype,"m_maxSuspensionForce",{get:M.prototype.zB,set:M.prototype.GB});function xF(){throw"cannot construct a btVehicleRaycasterResult, no constructor in IDL";}xF.prototype=Object.create(f.prototype);xF.prototype.constructor=xF;xF.prototype.lB=xF;xF.mB={};b.btVehicleRaycasterResult=xF;
+xF.prototype.get_m_hitPointInWorld=xF.prototype.tD=function(){return k(Vu(this.kB),m)};xF.prototype.set_m_hitPointInWorld=xF.prototype.kG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wu(c,a)};Object.defineProperty(xF.prototype,"m_hitPointInWorld",{get:xF.prototype.tD,set:xF.prototype.kG});xF.prototype.get_m_hitNormalInWorld=xF.prototype.rD=function(){return k(Xu(this.kB),m)};
+xF.prototype.set_m_hitNormalInWorld=xF.prototype.iG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yu(c,a)};Object.defineProperty(xF.prototype,"m_hitNormalInWorld",{get:xF.prototype.rD,set:xF.prototype.iG});xF.prototype.get_m_distFraction=xF.prototype.fD=function(){return Zu(this.kB)};xF.prototype.set_m_distFraction=xF.prototype.XF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$u(c,a)};Object.defineProperty(xF.prototype,"m_distFraction",{get:xF.prototype.fD,set:xF.prototype.XF});
+xF.prototype.__destroy__=function(){av(this.kB)};function yF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=bv(a);h(yF)[this.kB]=this}yF.prototype=Object.create(qE.prototype);yF.prototype.constructor=yF;yF.prototype.lB=yF;yF.mB={};b.btDefaultVehicleRaycaster=yF;yF.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);cv(e,a,c,d)};yF.prototype.__destroy__=function(){dv(this.kB)};
+function N(){throw"cannot construct a RaycastInfo, no constructor in IDL";}N.prototype=Object.create(f.prototype);N.prototype.constructor=N;N.prototype.lB=N;N.mB={};b.RaycastInfo=N;N.prototype.get_m_contactNormalWS=N.prototype.WC=function(){return k(ev(this.kB),m)};N.prototype.set_m_contactNormalWS=N.prototype.NF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fv(c,a)};Object.defineProperty(N.prototype,"m_contactNormalWS",{get:N.prototype.WC,set:N.prototype.NF});
+N.prototype.get_m_contactPointWS=N.prototype.XC=function(){return k(gv(this.kB),m)};N.prototype.set_m_contactPointWS=N.prototype.OF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hv(c,a)};Object.defineProperty(N.prototype,"m_contactPointWS",{get:N.prototype.XC,set:N.prototype.OF});N.prototype.get_m_suspensionLength=N.prototype.oE=function(){return iv(this.kB)};N.prototype.set_m_suspensionLength=N.prototype.gH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jv(c,a)};
+Object.defineProperty(N.prototype,"m_suspensionLength",{get:N.prototype.oE,set:N.prototype.gH});N.prototype.get_m_hardPointWS=N.prototype.oD=function(){return k(kv(this.kB),m)};N.prototype.set_m_hardPointWS=N.prototype.fG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lv(c,a)};Object.defineProperty(N.prototype,"m_hardPointWS",{get:N.prototype.oD,set:N.prototype.fG});N.prototype.get_m_wheelDirectionWS=N.prototype.DE=function(){return k(mv(this.kB),m)};
+N.prototype.set_m_wheelDirectionWS=N.prototype.vH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nv(c,a)};Object.defineProperty(N.prototype,"m_wheelDirectionWS",{get:N.prototype.DE,set:N.prototype.vH});N.prototype.get_m_wheelAxleWS=N.prototype.CE=function(){return k(ov(this.kB),m)};N.prototype.set_m_wheelAxleWS=N.prototype.uH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pv(c,a)};Object.defineProperty(N.prototype,"m_wheelAxleWS",{get:N.prototype.CE,set:N.prototype.uH});
+N.prototype.get_m_isInContact=N.prototype.zD=function(){return!!qv(this.kB)};N.prototype.set_m_isInContact=N.prototype.qG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rv(c,a)};Object.defineProperty(N.prototype,"m_isInContact",{get:N.prototype.zD,set:N.prototype.qG});N.prototype.get_m_groundObject=N.prototype.nD=function(){return sv(this.kB)};N.prototype.set_m_groundObject=N.prototype.eG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tv(c,a)};
+Object.defineProperty(N.prototype,"m_groundObject",{get:N.prototype.nD,set:N.prototype.eG});N.prototype.__destroy__=function(){uv(this.kB)};function O(){throw"cannot construct a btWheelInfoConstructionInfo, no constructor in IDL";}O.prototype=Object.create(f.prototype);O.prototype.constructor=O;O.prototype.lB=O;O.mB={};b.btWheelInfoConstructionInfo=O;O.prototype.get_m_chassisConnectionCS=O.prototype.RC=function(){return k(vv(this.kB),m)};
+O.prototype.set_m_chassisConnectionCS=O.prototype.IF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wv(c,a)};Object.defineProperty(O.prototype,"m_chassisConnectionCS",{get:O.prototype.RC,set:O.prototype.IF});O.prototype.get_m_wheelDirectionCS=O.prototype.QB=function(){return k(xv(this.kB),m)};O.prototype.set_m_wheelDirectionCS=O.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yv(c,a)};Object.defineProperty(O.prototype,"m_wheelDirectionCS",{get:O.prototype.QB,set:O.prototype.$B});
+O.prototype.get_m_wheelAxleCS=O.prototype.PB=function(){return k(zv(this.kB),m)};O.prototype.set_m_wheelAxleCS=O.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Av(c,a)};Object.defineProperty(O.prototype,"m_wheelAxleCS",{get:O.prototype.PB,set:O.prototype.ZB});O.prototype.get_m_suspensionRestLength=O.prototype.qE=function(){return Bv(this.kB)};O.prototype.set_m_suspensionRestLength=O.prototype.iH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cv(c,a)};
+Object.defineProperty(O.prototype,"m_suspensionRestLength",{get:O.prototype.qE,set:O.prototype.iH});O.prototype.get_m_maxSuspensionTravelCm=O.prototype.AB=function(){return Dv(this.kB)};O.prototype.set_m_maxSuspensionTravelCm=O.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ev(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionTravelCm",{get:O.prototype.AB,set:O.prototype.HB});O.prototype.get_m_wheelRadius=O.prototype.EE=function(){return Fv(this.kB)};
+O.prototype.set_m_wheelRadius=O.prototype.wH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gv(c,a)};Object.defineProperty(O.prototype,"m_wheelRadius",{get:O.prototype.EE,set:O.prototype.wH});O.prototype.get_m_suspensionStiffness=O.prototype.BB=function(){return Hv(this.kB)};O.prototype.set_m_suspensionStiffness=O.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Iv(c,a)};Object.defineProperty(O.prototype,"m_suspensionStiffness",{get:O.prototype.BB,set:O.prototype.IB});
+O.prototype.get_m_wheelsDampingCompression=O.prototype.RB=function(){return Jv(this.kB)};O.prototype.set_m_wheelsDampingCompression=O.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingCompression",{get:O.prototype.RB,set:O.prototype.aC});O.prototype.get_m_wheelsDampingRelaxation=O.prototype.SB=function(){return Lv(this.kB)};
+O.prototype.set_m_wheelsDampingRelaxation=O.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingRelaxation",{get:O.prototype.SB,set:O.prototype.bC});O.prototype.get_m_frictionSlip=O.prototype.wB=function(){return Nv(this.kB)};O.prototype.set_m_frictionSlip=O.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ov(c,a)};Object.defineProperty(O.prototype,"m_frictionSlip",{get:O.prototype.wB,set:O.prototype.DB});
+O.prototype.get_m_maxSuspensionForce=O.prototype.zB=function(){return Pv(this.kB)};O.prototype.set_m_maxSuspensionForce=O.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qv(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionForce",{get:O.prototype.zB,set:O.prototype.GB});O.prototype.get_m_bIsFrontWheel=O.prototype.JB=function(){return!!Rv(this.kB)};O.prototype.set_m_bIsFrontWheel=O.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sv(c,a)};
+Object.defineProperty(O.prototype,"m_bIsFrontWheel",{get:O.prototype.JB,set:O.prototype.TB});O.prototype.__destroy__=function(){Tv(this.kB)};function P(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Uv(a);h(P)[this.kB]=this}P.prototype=Object.create(f.prototype);P.prototype.constructor=P;P.prototype.lB=P;P.mB={};b.btWheelInfo=P;P.prototype.getSuspensionRestLength=function(){return Vv(this.kB)};
+P.prototype.updateWheel=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wv(d,a,c)};P.prototype.get_m_suspensionStiffness=P.prototype.BB=function(){return Xv(this.kB)};P.prototype.set_m_suspensionStiffness=P.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yv(c,a)};Object.defineProperty(P.prototype,"m_suspensionStiffness",{get:P.prototype.BB,set:P.prototype.IB});P.prototype.get_m_frictionSlip=P.prototype.wB=function(){return Zv(this.kB)};
+P.prototype.set_m_frictionSlip=P.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$v(c,a)};Object.defineProperty(P.prototype,"m_frictionSlip",{get:P.prototype.wB,set:P.prototype.DB});P.prototype.get_m_engineForce=P.prototype.iD=function(){return aw(this.kB)};P.prototype.set_m_engineForce=P.prototype.$F=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bw(c,a)};Object.defineProperty(P.prototype,"m_engineForce",{get:P.prototype.iD,set:P.prototype.$F});
+P.prototype.get_m_rollInfluence=P.prototype.cE=function(){return cw(this.kB)};P.prototype.set_m_rollInfluence=P.prototype.VG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dw(c,a)};Object.defineProperty(P.prototype,"m_rollInfluence",{get:P.prototype.cE,set:P.prototype.VG});P.prototype.get_m_suspensionRestLength1=P.prototype.rE=function(){return ew(this.kB)};P.prototype.set_m_suspensionRestLength1=P.prototype.jH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fw(c,a)};
+Object.defineProperty(P.prototype,"m_suspensionRestLength1",{get:P.prototype.rE,set:P.prototype.jH});P.prototype.get_m_wheelsRadius=P.prototype.FE=function(){return gw(this.kB)};P.prototype.set_m_wheelsRadius=P.prototype.xH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hw(c,a)};Object.defineProperty(P.prototype,"m_wheelsRadius",{get:P.prototype.FE,set:P.prototype.xH});P.prototype.get_m_wheelsDampingCompression=P.prototype.RB=function(){return iw(this.kB)};
+P.prototype.set_m_wheelsDampingCompression=P.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jw(c,a)};Object.defineProperty(P.prototype,"m_wheelsDampingCompression",{get:P.prototype.RB,set:P.prototype.aC});P.prototype.get_m_wheelsDampingRelaxation=P.prototype.SB=function(){return kw(this.kB)};P.prototype.set_m_wheelsDampingRelaxation=P.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lw(c,a)};
+Object.defineProperty(P.prototype,"m_wheelsDampingRelaxation",{get:P.prototype.SB,set:P.prototype.bC});P.prototype.get_m_steering=P.prototype.kE=function(){return mw(this.kB)};P.prototype.set_m_steering=P.prototype.cH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nw(c,a)};Object.defineProperty(P.prototype,"m_steering",{get:P.prototype.kE,set:P.prototype.cH});P.prototype.get_m_maxSuspensionForce=P.prototype.zB=function(){return ow(this.kB)};
+P.prototype.set_m_maxSuspensionForce=P.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pw(c,a)};Object.defineProperty(P.prototype,"m_maxSuspensionForce",{get:P.prototype.zB,set:P.prototype.GB});P.prototype.get_m_maxSuspensionTravelCm=P.prototype.AB=function(){return qw(this.kB)};P.prototype.set_m_maxSuspensionTravelCm=P.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rw(c,a)};
+Object.defineProperty(P.prototype,"m_maxSuspensionTravelCm",{get:P.prototype.AB,set:P.prototype.HB});P.prototype.get_m_wheelsSuspensionForce=P.prototype.GE=function(){return sw(this.kB)};P.prototype.set_m_wheelsSuspensionForce=P.prototype.yH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tw(c,a)};Object.defineProperty(P.prototype,"m_wheelsSuspensionForce",{get:P.prototype.GE,set:P.prototype.yH});P.prototype.get_m_bIsFrontWheel=P.prototype.JB=function(){return!!uw(this.kB)};
+P.prototype.set_m_bIsFrontWheel=P.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vw(c,a)};Object.defineProperty(P.prototype,"m_bIsFrontWheel",{get:P.prototype.JB,set:P.prototype.TB});P.prototype.get_m_raycastInfo=P.prototype.aE=function(){return k(ww(this.kB),N)};P.prototype.set_m_raycastInfo=P.prototype.TG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xw(c,a)};Object.defineProperty(P.prototype,"m_raycastInfo",{get:P.prototype.aE,set:P.prototype.TG});
+P.prototype.get_m_chassisConnectionPointCS=P.prototype.SC=function(){return k(yw(this.kB),m)};P.prototype.set_m_chassisConnectionPointCS=P.prototype.JF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zw(c,a)};Object.defineProperty(P.prototype,"m_chassisConnectionPointCS",{get:P.prototype.SC,set:P.prototype.JF});P.prototype.get_m_worldTransform=P.prototype.HE=function(){return k(Aw(this.kB),r)};
+P.prototype.set_m_worldTransform=P.prototype.zH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bw(c,a)};Object.defineProperty(P.prototype,"m_worldTransform",{get:P.prototype.HE,set:P.prototype.zH});P.prototype.get_m_wheelDirectionCS=P.prototype.QB=function(){return k(Cw(this.kB),m)};P.prototype.set_m_wheelDirectionCS=P.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dw(c,a)};Object.defineProperty(P.prototype,"m_wheelDirectionCS",{get:P.prototype.QB,set:P.prototype.$B});
+P.prototype.get_m_wheelAxleCS=P.prototype.PB=function(){return k(Ew(this.kB),m)};P.prototype.set_m_wheelAxleCS=P.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fw(c,a)};Object.defineProperty(P.prototype,"m_wheelAxleCS",{get:P.prototype.PB,set:P.prototype.ZB});P.prototype.get_m_rotation=P.prototype.eE=function(){return Gw(this.kB)};P.prototype.set_m_rotation=P.prototype.XG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hw(c,a)};
+Object.defineProperty(P.prototype,"m_rotation",{get:P.prototype.eE,set:P.prototype.XG});P.prototype.get_m_deltaRotation=P.prototype.bD=function(){return Iw(this.kB)};P.prototype.set_m_deltaRotation=P.prototype.TF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jw(c,a)};Object.defineProperty(P.prototype,"m_deltaRotation",{get:P.prototype.bD,set:P.prototype.TF});P.prototype.get_m_brake=P.prototype.LC=function(){return Kw(this.kB)};
+P.prototype.set_m_brake=P.prototype.CF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lw(c,a)};Object.defineProperty(P.prototype,"m_brake",{get:P.prototype.LC,set:P.prototype.CF});P.prototype.get_m_clippedInvContactDotSuspension=P.prototype.TC=function(){return Mw(this.kB)};P.prototype.set_m_clippedInvContactDotSuspension=P.prototype.KF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nw(c,a)};
+Object.defineProperty(P.prototype,"m_clippedInvContactDotSuspension",{get:P.prototype.TC,set:P.prototype.KF});P.prototype.get_m_suspensionRelativeVelocity=P.prototype.pE=function(){return Ow(this.kB)};P.prototype.set_m_suspensionRelativeVelocity=P.prototype.hH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pw(c,a)};Object.defineProperty(P.prototype,"m_suspensionRelativeVelocity",{get:P.prototype.pE,set:P.prototype.hH});P.prototype.get_m_skidInfo=P.prototype.hE=function(){return Qw(this.kB)};
+P.prototype.set_m_skidInfo=P.prototype.$G=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rw(c,a)};Object.defineProperty(P.prototype,"m_skidInfo",{get:P.prototype.hE,set:P.prototype.$G});P.prototype.__destroy__=function(){Sw(this.kB)};function zF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?Tw(a,c,d):Uw(a,c,d,e);h(zF)[this.kB]=this}zF.prototype=Object.create(rE.prototype);
+zF.prototype.constructor=zF;zF.prototype.lB=zF;zF.mB={};b.btKinematicCharacterController=zF;zF.prototype.setUpAxis=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vw(c,a)};zF.prototype.setWalkDirection=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ww(c,a)};zF.prototype.setVelocityForTimeInterval=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Xw(d,a,c)};
+zF.prototype.warp=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yw(c,a)};zF.prototype.preStep=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zw(c,a)};zF.prototype.playerStep=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);$w(d,a,c)};zF.prototype.setFallSpeed=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ax(c,a)};zF.prototype.setJumpSpeed=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bx(c,a)};
+zF.prototype.setMaxJumpHeight=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cx(c,a)};zF.prototype.canJump=function(){return!!dx(this.kB)};zF.prototype.jump=function(){ex(this.kB)};zF.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fx(c,a)};zF.prototype.getGravity=function(){return gx(this.kB)};zF.prototype.setMaxSlope=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hx(c,a)};zF.prototype.getMaxSlope=function(){return ix(this.kB)};
+zF.prototype.getGhostObject=function(){return k(jx(this.kB),Q)};zF.prototype.setUseGhostSweepTest=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kx(c,a)};zF.prototype.onGround=function(){return!!lx(this.kB)};zF.prototype.setUpInterpolate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mx(c,a)};zF.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nx(d,a,c)};zF.prototype.__destroy__=function(){ox(this.kB)};
+function R(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=px(a,c,d);h(R)[this.kB]=this}R.prototype=Object.create(rE.prototype);R.prototype.constructor=R;R.prototype.lB=R;R.mB={};b.btRaycastVehicle=R;R.prototype.applyEngineForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);qx(d,a,c)};
+R.prototype.setSteeringValue=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rx(d,a,c)};R.prototype.getWheelTransformWS=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(sx(c,a),r)};R.prototype.updateWheelTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);tx(d,a,c)};
+R.prototype.addWheel=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return k(ux(T,a,c,d,e,g,n,z),P)};R.prototype.getNumWheels=function(){return vx(this.kB)};R.prototype.getRigidBody=function(){return k(wx(this.kB),K)};
+R.prototype.getWheelInfo=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(xx(c,a),P)};R.prototype.setBrake=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);yx(d,a,c)};R.prototype.setCoordinateSystem=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);zx(e,a,c,d)};R.prototype.getCurrentSpeedKmHour=function(){return Ax(this.kB)};
+R.prototype.getChassisWorldTransform=function(){return k(Bx(this.kB),r)};R.prototype.rayCast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Cx(c,a)};R.prototype.updateVehicle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dx(c,a)};R.prototype.resetSuspension=function(){Ex(this.kB)};R.prototype.getSteeringValue=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Fx(c,a)};
+R.prototype.updateWheelTransformsWS=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?Gx(d,a):Hx(d,a,c)};R.prototype.setPitchControl=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ix(c,a)};R.prototype.updateSuspension=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jx(c,a)};R.prototype.updateFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kx(c,a)};R.prototype.getRightAxis=function(){return Lx(this.kB)};
+R.prototype.getUpAxis=function(){return Mx(this.kB)};R.prototype.getForwardAxis=function(){return Nx(this.kB)};R.prototype.getForwardVector=function(){return k(Ox(this.kB),m)};R.prototype.getUserConstraintType=function(){return Px(this.kB)};R.prototype.setUserConstraintType=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qx(c,a)};R.prototype.setUserConstraintId=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rx(c,a)};R.prototype.getUserConstraintId=function(){return Sx(this.kB)};
+R.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Tx(d,a,c)};R.prototype.__destroy__=function(){Ux(this.kB)};function Q(){this.kB=Vx();h(Q)[this.kB]=this}Q.prototype=Object.create(y.prototype);Q.prototype.constructor=Q;Q.prototype.lB=Q;Q.mB={};b.btPairCachingGhostObject=Q;Q.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wx(d,a,c)};
+Q.prototype.getCollisionShape=function(){return k(Xx(this.kB),l)};Q.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yx(c,a)};Q.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zx(c,a)};Q.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$x(c,a)};Q.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?ay(c):by(c,a)};
+Q.prototype.isActive=function(){return!!cy(this.kB)};Q.prototype.isKinematicObject=function(){return!!dy(this.kB)};Q.prototype.isStaticObject=function(){return!!ey(this.kB)};Q.prototype.isStaticOrKinematicObject=function(){return!!fy(this.kB)};Q.prototype.getRestitution=function(){return gy(this.kB)};Q.prototype.getFriction=function(){return hy(this.kB)};Q.prototype.getRollingFriction=function(){return iy(this.kB)};
+Q.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jy(c,a)};Q.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ky(c,a)};Q.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ly(c,a)};Q.prototype.getWorldTransform=function(){return k(my(this.kB),r)};Q.prototype.getCollisionFlags=function(){return ny(this.kB)};
+Q.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oy(c,a)};Q.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);py(c,a)};Q.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qy(c,a)};Q.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ry(c,a)};Q.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sy(c,a)};
+Q.prototype.getUserIndex=function(){return ty(this.kB)};Q.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uy(c,a)};Q.prototype.getUserPointer=function(){return k(vy(this.kB),XD)};Q.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wy(c,a)};Q.prototype.getBroadphaseHandle=function(){return k(xy(this.kB),YD)};Q.prototype.getNumOverlappingObjects=function(){return yy(this.kB)};
+Q.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zy(c,a),q)};Q.prototype.__destroy__=function(){Ay(this.kB)};function AF(){this.kB=By();h(AF)[this.kB]=this}AF.prototype=Object.create(f.prototype);AF.prototype.constructor=AF;AF.prototype.lB=AF;AF.mB={};b.btGhostPairCallback=AF;AF.prototype.__destroy__=function(){Cy(this.kB)};function S(){this.kB=Dy();h(S)[this.kB]=this}S.prototype=Object.create(f.prototype);S.prototype.constructor=S;
+S.prototype.lB=S;S.mB={};b.btSoftBodyWorldInfo=S;S.prototype.get_air_density=S.prototype.cC=function(){return Ey(this.kB)};S.prototype.set_air_density=S.prototype.UE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fy(c,a)};Object.defineProperty(S.prototype,"air_density",{get:S.prototype.cC,set:S.prototype.UE});S.prototype.get_water_density=S.prototype.RE=function(){return Gy(this.kB)};
+S.prototype.set_water_density=S.prototype.JH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hy(c,a)};Object.defineProperty(S.prototype,"water_density",{get:S.prototype.RE,set:S.prototype.JH});S.prototype.get_water_offset=S.prototype.TE=function(){return Iy(this.kB)};S.prototype.set_water_offset=S.prototype.LH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jy(c,a)};Object.defineProperty(S.prototype,"water_offset",{get:S.prototype.TE,set:S.prototype.LH});
+S.prototype.get_m_maxDisplacement=S.prototype.ND=function(){return Ky(this.kB)};S.prototype.set_m_maxDisplacement=S.prototype.EG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ly(c,a)};Object.defineProperty(S.prototype,"m_maxDisplacement",{get:S.prototype.ND,set:S.prototype.EG});S.prototype.get_water_normal=S.prototype.SE=function(){return k(My(this.kB),m)};S.prototype.set_water_normal=S.prototype.KH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ny(c,a)};
+Object.defineProperty(S.prototype,"water_normal",{get:S.prototype.SE,set:S.prototype.KH});S.prototype.get_m_broadphase=S.prototype.MC=function(){return k(Oy(this.kB),VD)};S.prototype.set_m_broadphase=S.prototype.DF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Py(c,a)};Object.defineProperty(S.prototype,"m_broadphase",{get:S.prototype.MC,set:S.prototype.DF});S.prototype.get_m_dispatcher=S.prototype.dD=function(){return k(Qy(this.kB),TD)};
+S.prototype.set_m_dispatcher=S.prototype.VF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ry(c,a)};Object.defineProperty(S.prototype,"m_dispatcher",{get:S.prototype.dD,set:S.prototype.VF});S.prototype.get_m_gravity=S.prototype.mD=function(){return k(Sy(this.kB),m)};S.prototype.set_m_gravity=S.prototype.dG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ty(c,a)};Object.defineProperty(S.prototype,"m_gravity",{get:S.prototype.mD,set:S.prototype.dG});S.prototype.__destroy__=function(){Uy(this.kB)};
+function U(){throw"cannot construct a Face, no constructor in IDL";}U.prototype=Object.create(f.prototype);U.prototype.constructor=U;U.prototype.lB=U;U.mB={};b.Face=U;U.prototype.get_m_n=U.prototype.MB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Vy(c,a),Node)};U.prototype.set_m_n=U.prototype.WB=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wy(d,a,c)};Object.defineProperty(U.prototype,"m_n",{get:U.prototype.MB,set:U.prototype.WB});
+U.prototype.get_m_normal=U.prototype.RD=function(){return k(Xy(this.kB),m)};U.prototype.set_m_normal=U.prototype.IG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yy(c,a)};Object.defineProperty(U.prototype,"m_normal",{get:U.prototype.RD,set:U.prototype.IG});U.prototype.get_m_ra=U.prototype.$D=function(){return Zy(this.kB)};U.prototype.set_m_ra=U.prototype.SG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$y(c,a)};
+Object.defineProperty(U.prototype,"m_ra",{get:U.prototype.$D,set:U.prototype.SG});U.prototype.__destroy__=function(){az(this.kB)};function BF(){throw"cannot construct a tFaceArray, no constructor in IDL";}BF.prototype=Object.create(f.prototype);BF.prototype.constructor=BF;BF.prototype.lB=BF;BF.mB={};b.tFaceArray=BF;BF.prototype.size=BF.prototype.size=function(){return bz(this.kB)};BF.prototype.at=BF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cz(c,a),U)};
+BF.prototype.__destroy__=function(){dz(this.kB)};function Node(){throw"cannot construct a Node, no constructor in IDL";}Node.prototype=Object.create(f.prototype);Node.prototype.constructor=Node;Node.prototype.lB=Node;Node.mB={};b.Node=Node;Node.prototype.get_m_x=Node.prototype.IE=function(){return k(ez(this.kB),m)};Node.prototype.set_m_x=Node.prototype.AH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fz(c,a)};Object.defineProperty(Node.prototype,"m_x",{get:Node.prototype.IE,set:Node.prototype.AH});
+Node.prototype.get_m_q=Node.prototype.ZD=function(){return k(gz(this.kB),m)};Node.prototype.set_m_q=Node.prototype.QG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hz(c,a)};Object.defineProperty(Node.prototype,"m_q",{get:Node.prototype.ZD,set:Node.prototype.QG});Node.prototype.get_m_v=Node.prototype.AE=function(){return k(iz(this.kB),m)};Node.prototype.set_m_v=Node.prototype.sH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jz(c,a)};
+Object.defineProperty(Node.prototype,"m_v",{get:Node.prototype.AE,set:Node.prototype.sH});Node.prototype.get_m_f=Node.prototype.jD=function(){return k(kz(this.kB),m)};Node.prototype.set_m_f=Node.prototype.aG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lz(c,a)};Object.defineProperty(Node.prototype,"m_f",{get:Node.prototype.jD,set:Node.prototype.aG});Node.prototype.get_m_n=Node.prototype.MB=function(){return k(mz(this.kB),m)};
+Node.prototype.set_m_n=Node.prototype.WB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nz(c,a)};Object.defineProperty(Node.prototype,"m_n",{get:Node.prototype.MB,set:Node.prototype.WB});Node.prototype.get_m_im=Node.prototype.vD=function(){return oz(this.kB)};Node.prototype.set_m_im=Node.prototype.mG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pz(c,a)};Object.defineProperty(Node.prototype,"m_im",{get:Node.prototype.vD,set:Node.prototype.mG});
+Node.prototype.get_m_area=Node.prototype.JC=function(){return qz(this.kB)};Node.prototype.set_m_area=Node.prototype.AF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rz(c,a)};Object.defineProperty(Node.prototype,"m_area",{get:Node.prototype.JC,set:Node.prototype.AF});Node.prototype.__destroy__=function(){sz(this.kB)};function CF(){throw"cannot construct a tNodeArray, no constructor in IDL";}CF.prototype=Object.create(f.prototype);CF.prototype.constructor=CF;CF.prototype.lB=CF;CF.mB={};
+b.tNodeArray=CF;CF.prototype.size=CF.prototype.size=function(){return tz(this.kB)};CF.prototype.at=CF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(uz(c,a),Node)};CF.prototype.__destroy__=function(){vz(this.kB)};function V(){throw"cannot construct a Material, no constructor in IDL";}V.prototype=Object.create(f.prototype);V.prototype.constructor=V;V.prototype.lB=V;V.mB={};b.Material=V;V.prototype.get_m_kLST=V.prototype.BD=function(){return wz(this.kB)};
+V.prototype.set_m_kLST=V.prototype.sG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xz(c,a)};Object.defineProperty(V.prototype,"m_kLST",{get:V.prototype.BD,set:V.prototype.sG});V.prototype.get_m_kAST=V.prototype.AD=function(){return yz(this.kB)};V.prototype.set_m_kAST=V.prototype.rG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zz(c,a)};Object.defineProperty(V.prototype,"m_kAST",{get:V.prototype.AD,set:V.prototype.rG});V.prototype.get_m_kVST=V.prototype.CD=function(){return Az(this.kB)};
+V.prototype.set_m_kVST=V.prototype.tG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bz(c,a)};Object.defineProperty(V.prototype,"m_kVST",{get:V.prototype.CD,set:V.prototype.tG});V.prototype.get_m_flags=V.prototype.tB=function(){return Cz(this.kB)};V.prototype.set_m_flags=V.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dz(c,a)};Object.defineProperty(V.prototype,"m_flags",{get:V.prototype.tB,set:V.prototype.uB});V.prototype.__destroy__=function(){Ez(this.kB)};
+function DF(){throw"cannot construct a tMaterialArray, no constructor in IDL";}DF.prototype=Object.create(f.prototype);DF.prototype.constructor=DF;DF.prototype.lB=DF;DF.mB={};b.tMaterialArray=DF;DF.prototype.size=DF.prototype.size=function(){return Fz(this.kB)};DF.prototype.at=DF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Gz(c,a),V)};DF.prototype.__destroy__=function(){Hz(this.kB)};function W(){throw"cannot construct a Anchor, no constructor in IDL";}
+W.prototype=Object.create(f.prototype);W.prototype.constructor=W;W.prototype.lB=W;W.mB={};b.Anchor=W;W.prototype.get_m_node=W.prototype.PD=function(){return k(Iz(this.kB),Node)};W.prototype.set_m_node=W.prototype.GG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jz(c,a)};Object.defineProperty(W.prototype,"m_node",{get:W.prototype.PD,set:W.prototype.GG});W.prototype.get_m_local=W.prototype.FD=function(){return k(Kz(this.kB),m)};
+W.prototype.set_m_local=W.prototype.wG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lz(c,a)};Object.defineProperty(W.prototype,"m_local",{get:W.prototype.FD,set:W.prototype.wG});W.prototype.get_m_body=W.prototype.KC=function(){return k(Mz(this.kB),K)};W.prototype.set_m_body=W.prototype.BF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nz(c,a)};Object.defineProperty(W.prototype,"m_body",{get:W.prototype.KC,set:W.prototype.BF});W.prototype.get_m_influence=W.prototype.yD=function(){return Oz(this.kB)};
+W.prototype.set_m_influence=W.prototype.pG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pz(c,a)};Object.defineProperty(W.prototype,"m_influence",{get:W.prototype.yD,set:W.prototype.pG});W.prototype.get_m_c0=W.prototype.NC=function(){return k(Qz(this.kB),uE)};W.prototype.set_m_c0=W.prototype.EF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rz(c,a)};Object.defineProperty(W.prototype,"m_c0",{get:W.prototype.NC,set:W.prototype.EF});
+W.prototype.get_m_c1=W.prototype.OC=function(){return k(Sz(this.kB),m)};W.prototype.set_m_c1=W.prototype.FF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tz(c,a)};Object.defineProperty(W.prototype,"m_c1",{get:W.prototype.OC,set:W.prototype.FF});W.prototype.get_m_c2=W.prototype.PC=function(){return Uz(this.kB)};W.prototype.set_m_c2=W.prototype.GF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vz(c,a)};Object.defineProperty(W.prototype,"m_c2",{get:W.prototype.PC,set:W.prototype.GF});
+W.prototype.__destroy__=function(){Wz(this.kB)};function EF(){throw"cannot construct a tAnchorArray, no constructor in IDL";}EF.prototype=Object.create(f.prototype);EF.prototype.constructor=EF;EF.prototype.lB=EF;EF.mB={};b.tAnchorArray=EF;EF.prototype.size=EF.prototype.size=function(){return Xz(this.kB)};EF.prototype.at=EF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Yz(c,a),W)};EF.prototype.clear=EF.prototype.clear=function(){Zz(this.kB)};
+EF.prototype.push_back=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$z(c,a)};EF.prototype.pop_back=function(){aA(this.kB)};EF.prototype.__destroy__=function(){bA(this.kB)};function X(){throw"cannot construct a Config, no constructor in IDL";}X.prototype=Object.create(f.prototype);X.prototype.constructor=X;X.prototype.lB=X;X.mB={};b.Config=X;X.prototype.get_kVCF=X.prototype.zC=function(){return cA(this.kB)};
+X.prototype.set_kVCF=X.prototype.qF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dA(c,a)};Object.defineProperty(X.prototype,"kVCF",{get:X.prototype.zC,set:X.prototype.qF});X.prototype.get_kDP=X.prototype.mC=function(){return eA(this.kB)};X.prototype.set_kDP=X.prototype.dF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fA(c,a)};Object.defineProperty(X.prototype,"kDP",{get:X.prototype.mC,set:X.prototype.dF});X.prototype.get_kDG=X.prototype.lC=function(){return gA(this.kB)};
+X.prototype.set_kDG=X.prototype.cF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hA(c,a)};Object.defineProperty(X.prototype,"kDG",{get:X.prototype.lC,set:X.prototype.cF});X.prototype.get_kLF=X.prototype.oC=function(){return iA(this.kB)};X.prototype.set_kLF=X.prototype.fF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jA(c,a)};Object.defineProperty(X.prototype,"kLF",{get:X.prototype.oC,set:X.prototype.fF});X.prototype.get_kPR=X.prototype.qC=function(){return kA(this.kB)};
+X.prototype.set_kPR=X.prototype.hF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lA(c,a)};Object.defineProperty(X.prototype,"kPR",{get:X.prototype.qC,set:X.prototype.hF});X.prototype.get_kVC=X.prototype.yC=function(){return mA(this.kB)};X.prototype.set_kVC=X.prototype.pF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nA(c,a)};Object.defineProperty(X.prototype,"kVC",{get:X.prototype.yC,set:X.prototype.pF});X.prototype.get_kDF=X.prototype.kC=function(){return oA(this.kB)};
+X.prototype.set_kDF=X.prototype.bF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pA(c,a)};Object.defineProperty(X.prototype,"kDF",{get:X.prototype.kC,set:X.prototype.bF});X.prototype.get_kMT=X.prototype.pC=function(){return qA(this.kB)};X.prototype.set_kMT=X.prototype.gF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rA(c,a)};Object.defineProperty(X.prototype,"kMT",{get:X.prototype.pC,set:X.prototype.gF});X.prototype.get_kCHR=X.prototype.jC=function(){return sA(this.kB)};
+X.prototype.set_kCHR=X.prototype.aF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tA(c,a)};Object.defineProperty(X.prototype,"kCHR",{get:X.prototype.jC,set:X.prototype.aF});X.prototype.get_kKHR=X.prototype.nC=function(){return uA(this.kB)};X.prototype.set_kKHR=X.prototype.eF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vA(c,a)};Object.defineProperty(X.prototype,"kKHR",{get:X.prototype.nC,set:X.prototype.eF});X.prototype.get_kSHR=X.prototype.rC=function(){return wA(this.kB)};
+X.prototype.set_kSHR=X.prototype.iF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xA(c,a)};Object.defineProperty(X.prototype,"kSHR",{get:X.prototype.rC,set:X.prototype.iF});X.prototype.get_kAHR=X.prototype.iC=function(){return yA(this.kB)};X.prototype.set_kAHR=X.prototype.$E=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zA(c,a)};Object.defineProperty(X.prototype,"kAHR",{get:X.prototype.iC,set:X.prototype.$E});X.prototype.get_kSRHR_CL=X.prototype.uC=function(){return AA(this.kB)};
+X.prototype.set_kSRHR_CL=X.prototype.lF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);BA(c,a)};Object.defineProperty(X.prototype,"kSRHR_CL",{get:X.prototype.uC,set:X.prototype.lF});X.prototype.get_kSKHR_CL=X.prototype.sC=function(){return CA(this.kB)};X.prototype.set_kSKHR_CL=X.prototype.jF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);DA(c,a)};Object.defineProperty(X.prototype,"kSKHR_CL",{get:X.prototype.sC,set:X.prototype.jF});X.prototype.get_kSSHR_CL=X.prototype.wC=function(){return EA(this.kB)};
+X.prototype.set_kSSHR_CL=X.prototype.nF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);FA(c,a)};Object.defineProperty(X.prototype,"kSSHR_CL",{get:X.prototype.wC,set:X.prototype.nF});X.prototype.get_kSR_SPLT_CL=X.prototype.vC=function(){return GA(this.kB)};X.prototype.set_kSR_SPLT_CL=X.prototype.mF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);HA(c,a)};Object.defineProperty(X.prototype,"kSR_SPLT_CL",{get:X.prototype.vC,set:X.prototype.mF});
+X.prototype.get_kSK_SPLT_CL=X.prototype.tC=function(){return IA(this.kB)};X.prototype.set_kSK_SPLT_CL=X.prototype.kF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);JA(c,a)};Object.defineProperty(X.prototype,"kSK_SPLT_CL",{get:X.prototype.tC,set:X.prototype.kF});X.prototype.get_kSS_SPLT_CL=X.prototype.xC=function(){return KA(this.kB)};X.prototype.set_kSS_SPLT_CL=X.prototype.oF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);LA(c,a)};
+Object.defineProperty(X.prototype,"kSS_SPLT_CL",{get:X.prototype.xC,set:X.prototype.oF});X.prototype.get_maxvolume=X.prototype.JE=function(){return MA(this.kB)};X.prototype.set_maxvolume=X.prototype.BH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);NA(c,a)};Object.defineProperty(X.prototype,"maxvolume",{get:X.prototype.JE,set:X.prototype.BH});X.prototype.get_timescale=X.prototype.OE=function(){return OA(this.kB)};
+X.prototype.set_timescale=X.prototype.GH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);PA(c,a)};Object.defineProperty(X.prototype,"timescale",{get:X.prototype.OE,set:X.prototype.GH});X.prototype.get_viterations=X.prototype.QE=function(){return QA(this.kB)};X.prototype.set_viterations=X.prototype.IH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);RA(c,a)};Object.defineProperty(X.prototype,"viterations",{get:X.prototype.QE,set:X.prototype.IH});
+X.prototype.get_piterations=X.prototype.ME=function(){return SA(this.kB)};X.prototype.set_piterations=X.prototype.EH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);TA(c,a)};Object.defineProperty(X.prototype,"piterations",{get:X.prototype.ME,set:X.prototype.EH});X.prototype.get_diterations=X.prototype.fC=function(){return UA(this.kB)};X.prototype.set_diterations=X.prototype.XE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);VA(c,a)};
+Object.defineProperty(X.prototype,"diterations",{get:X.prototype.fC,set:X.prototype.XE});X.prototype.get_citerations=X.prototype.dC=function(){return WA(this.kB)};X.prototype.set_citerations=X.prototype.VE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);XA(c,a)};Object.defineProperty(X.prototype,"citerations",{get:X.prototype.dC,set:X.prototype.VE});X.prototype.get_collisions=X.prototype.eC=function(){return YA(this.kB)};
+X.prototype.set_collisions=X.prototype.WE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ZA(c,a)};Object.defineProperty(X.prototype,"collisions",{get:X.prototype.eC,set:X.prototype.WE});X.prototype.__destroy__=function(){$A(this.kB)};function Y(a,c,d,e){ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);"object"==typeof e&&(e=RD(e));this.kB=aB(a,c,d,e);h(Y)[this.kB]=this}Y.prototype=Object.create(q.prototype);
+Y.prototype.constructor=Y;Y.prototype.lB=Y;Y.mB={};b.btSoftBody=Y;Y.prototype.checkLink=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return!!bB(d,a,c)};Y.prototype.checkFace=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return!!cB(e,a,c,d)};Y.prototype.appendMaterial=function(){return k(dB(this.kB),V)};
+Y.prototype.appendNode=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);eB(d,a,c)};Y.prototype.appendLink=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);fB(g,a,c,d,e)};
+Y.prototype.appendFace=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);gB(g,a,c,d,e)};Y.prototype.appendTetra=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);hB(n,a,c,d,e,g)};
+Y.prototype.appendAnchor=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);iB(g,a,c,d,e)};Y.prototype.addForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?jB(d,a):kB(d,a,c)};Y.prototype.addAeroForceToNode=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);lB(d,a,c)};
+Y.prototype.getTotalMass=function(){return mB(this.kB)};Y.prototype.setTotalMass=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nB(d,a,c)};Y.prototype.setMass=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);oB(d,a,c)};Y.prototype.transform=Y.prototype.transform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pB(c,a)};
+Y.prototype.translate=Y.prototype.translate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qB(c,a)};Y.prototype.rotate=Y.prototype.rotate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rB(c,a)};Y.prototype.scale=Y.prototype.scale=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sB(c,a)};Y.prototype.generateClusters=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return void 0===c?tB(d,a):uB(d,a,c)};
+Y.prototype.generateBendingConstraints=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return vB(d,a,c)};Y.prototype.upcast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(wB(c,a),Y)};Y.prototype.getRestLengthScale=function(){return xB(this.kB)};Y.prototype.setRestLengthScale=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yB(c,a)};
+Y.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zB(d,a,c)};Y.prototype.getCollisionShape=function(){return k(AB(this.kB),l)};Y.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);BB(c,a)};Y.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);CB(c,a)};
+Y.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);DB(c,a)};Y.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?EB(c):FB(c,a)};Y.prototype.isActive=function(){return!!GB(this.kB)};Y.prototype.isKinematicObject=function(){return!!HB(this.kB)};Y.prototype.isStaticObject=function(){return!!IB(this.kB)};Y.prototype.isStaticOrKinematicObject=function(){return!!JB(this.kB)};Y.prototype.getRestitution=function(){return KB(this.kB)};
+Y.prototype.getFriction=function(){return LB(this.kB)};Y.prototype.getRollingFriction=function(){return MB(this.kB)};Y.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);NB(c,a)};Y.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);OB(c,a)};Y.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);PB(c,a)};Y.prototype.getWorldTransform=function(){return k(QB(this.kB),r)};Y.prototype.getCollisionFlags=function(){return RB(this.kB)};
+Y.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);SB(c,a)};Y.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);TB(c,a)};Y.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);UB(c,a)};Y.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);VB(c,a)};Y.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);WB(c,a)};
+Y.prototype.getUserIndex=function(){return XB(this.kB)};Y.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);YB(c,a)};Y.prototype.getUserPointer=function(){return k(ZB(this.kB),XD)};Y.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$B(c,a)};Y.prototype.getBroadphaseHandle=function(){return k(aC(this.kB),YD)};Y.prototype.get_m_cfg=Y.prototype.QC=function(){return k(bC(this.kB),X)};
+Y.prototype.set_m_cfg=Y.prototype.HF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cC(c,a)};Object.defineProperty(Y.prototype,"m_cfg",{get:Y.prototype.QC,set:Y.prototype.HF});Y.prototype.get_m_nodes=Y.prototype.QD=function(){return k(dC(this.kB),CF)};Y.prototype.set_m_nodes=Y.prototype.HG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);eC(c,a)};Object.defineProperty(Y.prototype,"m_nodes",{get:Y.prototype.QD,set:Y.prototype.HG});
+Y.prototype.get_m_faces=Y.prototype.KB=function(){return k(fC(this.kB),BF)};Y.prototype.set_m_faces=Y.prototype.UB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gC(c,a)};Object.defineProperty(Y.prototype,"m_faces",{get:Y.prototype.KB,set:Y.prototype.UB});Y.prototype.get_m_materials=Y.prototype.MD=function(){return k(hC(this.kB),DF)};Y.prototype.set_m_materials=Y.prototype.DG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);iC(c,a)};
+Object.defineProperty(Y.prototype,"m_materials",{get:Y.prototype.MD,set:Y.prototype.DG});Y.prototype.get_m_anchors=Y.prototype.GC=function(){return k(jC(this.kB),EF)};Y.prototype.set_m_anchors=Y.prototype.xF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kC(c,a)};Object.defineProperty(Y.prototype,"m_anchors",{get:Y.prototype.GC,set:Y.prototype.xF});Y.prototype.__destroy__=function(){lC(this.kB)};
+function FF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?mC():nC(a);h(FF)[this.kB]=this}FF.prototype=Object.create(nE.prototype);FF.prototype.constructor=FF;FF.prototype.lB=FF;FF.mB={};b.btSoftBodyRigidBodyCollisionConfiguration=FF;FF.prototype.__destroy__=function(){oC(this.kB)};function GF(){this.kB=pC();h(GF)[this.kB]=this}GF.prototype=Object.create(sE.prototype);GF.prototype.constructor=GF;GF.prototype.lB=GF;GF.mB={};b.btDefaultSoftBodySolver=GF;GF.prototype.__destroy__=function(){qC(this.kB)};
+function HF(){throw"cannot construct a btSoftBodyArray, no constructor in IDL";}HF.prototype=Object.create(f.prototype);HF.prototype.constructor=HF;HF.prototype.lB=HF;HF.mB={};b.btSoftBodyArray=HF;HF.prototype.size=HF.prototype.size=function(){return rC(this.kB)};HF.prototype.at=HF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(sC(c,a),Y)};HF.prototype.__destroy__=function(){tC(this.kB)};
+function Z(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=uC(a,c,d,e,g);h(Z)[this.kB]=this}Z.prototype=Object.create(x.prototype);Z.prototype.constructor=Z;Z.prototype.lB=Z;Z.mB={};b.btSoftRigidDynamicsWorld=Z;
+Z.prototype.addSoftBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);vC(e,a,c,d)};Z.prototype.removeSoftBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wC(c,a)};Z.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xC(c,a)};Z.prototype.getWorldInfo=function(){return k(yC(this.kB),S)};Z.prototype.getSoftBodyArray=function(){return k(zC(this.kB),HF)};
+Z.prototype.getDispatcher=function(){return k(AC(this.kB),TD)};Z.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);BC(e,a,c,d)};Z.prototype.getPairCache=function(){return k(CC(this.kB),UD)};Z.prototype.getDispatchInfo=function(){return k(DC(this.kB),p)};
+Z.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?EC(e,a):void 0===d?FC(e,a,c):GC(e,a,c,d)};Z.prototype.getBroadphase=function(){return k(HC(this.kB),VD)};
+Z.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);IC(n,a,c,d,e,g)};Z.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);JC(e,a,c,d)};
+Z.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);KC(d,a,c)};Z.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);LC(c,a)};Z.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);MC(c,a)};Z.prototype.getDebugDrawer=function(){return k(NC(this.kB),WD)};Z.prototype.debugDrawWorld=function(){OC(this.kB)};
+Z.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);PC(e,a,c,d)};Z.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);QC(c,a)};Z.prototype.getGravity=function(){return k(RC(this.kB),m)};
+Z.prototype.addRigidBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?SC(e,a):void 0===d?_emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_2(e,a,c):TC(e,a,c,d)};Z.prototype.removeRigidBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);UC(c,a)};
+Z.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?VC(d,a):WC(d,a,c)};Z.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);XC(c,a)};Z.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?YC(e,a):void 0===d?ZC(e,a,c):$C(e,a,c,d)};
+Z.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aD(c,a)};Z.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bD(c,a)};Z.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cD(c,a)};Z.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dD(c,a)};Z.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);eD(c,a)};
+Z.prototype.getSolverInfo=function(){return k(fD(this.kB),t)};Z.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?gD(e,a):void 0===d?hD(e,a,c):iD(e,a,c,d)};Z.prototype.__destroy__=function(){jD(this.kB)};function IF(){this.kB=kD();h(IF)[this.kB]=this}IF.prototype=Object.create(f.prototype);IF.prototype.constructor=IF;IF.prototype.lB=IF;IF.mB={};b.btSoftBodyHelpers=IF;
+IF.prototype.CreateRope=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(lD(n,a,c,d,e,g),Y)};
+IF.prototype.CreatePatch=function(a,c,d,e,g,n,z,T,Da){var dc=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);return k(mD(dc,a,c,d,e,g,n,z,T,Da),Y)};
+IF.prototype.CreatePatchUV=function(a,c,d,e,g,n,z,T,Da,dc){var JF=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);"object"==typeof dc&&(dc=RD(dc));return k(nD(JF,a,c,d,e,g,n,z,T,Da,dc),Y)};
+IF.prototype.CreateEllipsoid=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(oD(g,a,c,d,e),Y)};
+IF.prototype.CreateFromTriMesh=function(a,c,d,e,g){var n=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);"object"==typeof c&&(c=RD(c));if("object"==typeof d&&"object"===typeof d){var z=OD(d,va);PD(d,va,z);d=z}e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(pD(n,a,c,d,e,g),Y)};
+IF.prototype.CreateFromConvexHull=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(qD(g,a,c,d,e),Y)};IF.prototype.__destroy__=function(){rD(this.kB)};
+(function(){function a(){b.PHY_FLOAT=sD();b.PHY_DOUBLE=tD();b.PHY_INTEGER=uD();b.PHY_SHORT=vD();b.PHY_FIXEDPOINT88=wD();b.PHY_UCHAR=xD();b.CONST_GIMPACT_COMPOUND_SHAPE=yD();b.CONST_GIMPACT_TRIMESH_SHAPE_PART=zD();b.CONST_GIMPACT_TRIMESH_SHAPE=AD();b.BT_CONSTRAINT_ERP=BD();b.BT_CONSTRAINT_STOP_ERP=CD();b.BT_CONSTRAINT_CFM=DD();b.BT_CONSTRAINT_STOP_CFM=ED()}Ca?a():Aa.unshift(a)})();b.CONTACT_ADDED_CALLBACK_SIGNATURE="iiiiiiii";b.CONTACT_DESTROYED_CALLBACK_SIGNATURE="ii";
+b.CONTACT_PROCESSED_CALLBACK_SIGNATURE="iiii";b.INTERNAL_TICK_CALLBACK_SIGNATURE="vif";this.Ammo=b;
+
+
+  return Ammo.ready
+}
+
+);
+})();
+if (typeof exports === 'object' && typeof module === 'object')
+  module.exports = Ammo;
+else if (typeof define === 'function' && define['amd'])
+  define([], function() { return Ammo; });
+else if (typeof exports === 'object')
+  exports["Ammo"] = Ammo;

apps/control-station/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 +109,41 @@ 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 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 +157,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     });
     this.app = app;
     app.autoRender = false;
-    app.on("frameupdate", this.scheduleFrame);
+    app.on("update", this.updateFrame);
     app.setCanvasFillMode(FILLMODE_NONE, 1, 1);
     app.setCanvasResolution(RESOLUTION_AUTO);
     app.scene.ambientLight = new Color(0.35, 0.37, 0.42);
@@ -188,6 +184,7 @@ 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 +207,7 @@ 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 +230,11 @@ 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 +252,6 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   async setViewMode(mode: SimulationViewMode): Promise<void> {
-    this.resetCameraInteraction();
     this.viewMode = mode;
     this.applyViewMode();
     try {
@@ -263,13 +260,58 @@ 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 +320,13 @@ 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 +334,12 @@ 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 +347,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.camera.setPosition(HOME_POSITION);
       this.camera.lookAt(HOME_FOCUS);
     }
+    this.requestRender();
     this.canvas?.focus({ preventScroll: true });
   }
 
@@ -312,6 +364,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.camera.setPosition(position);
       this.camera.lookAt(focus);
     }
+    this.requestRender();
   }
 
   dispose(): void {
@@ -321,10 +374,12 @@ 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.off("update", this.updateFrame);
       this.app.destroy();
     }
     webgl?.getExtension("WEBGL_lose_context")?.loseContext();
@@ -340,19 +395,26 @@ 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 +422,27 @@ 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 +483,52 @@ 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 +537,7 @@ 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 +552,10 @@ 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 +569,7 @@ 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/SimulationUgvController.ts

@@ -0,0 +1,999 @@
+import {
+  Application,
+  Color,
+  Entity,
+  Mat4,
+  Mesh,
+  PRIMITIVE_TRIANGLES,
+  Quat,
+  StandardMaterial,
+  Vec3,
+  WasmModule,
+  type ModelComponent,
+} from "playcanvas";
+import { MeshoptSimplifier } from "meshoptimizer/simplifier";
+import type { SimulationUgvPreset } from "../../core/simulation/projects";
+
+const AMMO_MODULE_ROOT = "/vendor/playcanvas/ammo/2026-08-25";
+const UGV_SPAWN_POSITION = new Vec3(0, 1.15, 0);
+const UGV_SPAWN_ROTATION = new Vec3(0, 0, 0);
+const ZERO = new Vec3(0, 0, 0);
+const DISABLE_DEACTIVATION = 4;
+const PHYSICS_PROXY_RATIO = 0.04;
+const PHYSICS_PROXY_ERROR = 0.0003;
+const PHYSICS_PROXY_MAX_TRIANGLES = 240_000;
+const SERVICE_BRAKE_DECELERATION_MPS2 = 1.8;
+const COAST_DECELERATION_MPS2 = 0.18;
+const BRAKE_ATTITUDE_DAMPING = 6;
+const DEFAULT_ORBIT_PITCH = 0.48;
+const CAMERA_RETURN_DELAY_SECONDS = 1.2;
+const CAMERA_RETURN_DURATION_SECONDS = 2;
+const UGV_SPAWN_OFFSETS: ReadonlyArray<readonly [number, number]> = [
+  [0, 0],
+  [1.5, 0],
+  [-1.5, 0],
+  [0, 1.5],
+  [0, -1.5],
+  [1.5, 1.5],
+  [-1.5, 1.5],
+  [1.5, -1.5],
+  [-1.5, -1.5],
+  [3, 0],
+  [-3, 0],
+  [0, 3],
+  [0, -3],
+];
+
+export const DEFAULT_SIMULATION_UGV_PRESET: SimulationUgvPreset = {
+  presetName: "UGV 100 кг",
+  massKg: 100,
+  dimensionsMeters: {
+    length: 1,
+    width: 0.8,
+    height: 0.4,
+    groundClearance: 0.15,
+  },
+  maxSpeedMetersPerSecond: 1.2,
+  maxTurnRateDegrees: 45,
+  invertSteering: false,
+};
+
+type NativeObject = object;
+
+interface NativeVector3 extends NativeObject {
+  x(): number;
+  y(): number;
+  z(): number;
+  setValue(x: number, y: number, z: number): void;
+}
+
+interface NativeQuaternion extends NativeObject {
+  x(): number;
+  y(): number;
+  z(): number;
+  w(): number;
+}
+
+interface NativeTransform extends NativeObject {
+  getOrigin(): NativeVector3;
+  getRotation(): NativeQuaternion;
+}
+
+interface NativeWheelInfo extends NativeObject {
+  set_m_suspensionStiffness(value: number): void;
+  set_m_wheelsDampingRelaxation(value: number): void;
+  set_m_wheelsDampingCompression(value: number): void;
+  set_m_frictionSlip(value: number): void;
+  set_m_rollInfluence(value: number): void;
+}
+
+interface NativeRaycastVehicle extends NativeObject {
+  setCoordinateSystem(right: number, up: number, forward: number): void;
+  addWheel(
+    connectionPoint: NativeVector3,
+    direction: NativeVector3,
+    axle: NativeVector3,
+    suspensionRestLength: number,
+    radius: number,
+    tuning: NativeObject,
+    isFront: boolean,
+  ): NativeWheelInfo;
+  applyEngineForce(force: number, wheel: number): void;
+  setBrake(force: number, wheel: number): void;
+  setSteeringValue(value: number, wheel: number): void;
+  getNumWheels(): number;
+  updateWheelTransform(wheel: number, interpolated: boolean): void;
+  getWheelTransformWS(wheel: number): NativeTransform;
+  getForwardVector(): NativeVector3;
+  getCurrentSpeedKmHour(): number;
+  resetSuspension(): void;
+}
+
+export interface AmmoApi {
+  btVehicleTuning: new () => NativeObject;
+  btDefaultVehicleRaycaster: new (world: NativeObject) => NativeObject;
+  btRaycastVehicle: new (
+    tuning: NativeObject,
+    body: NativeObject,
+    raycaster: NativeObject,
+  ) => NativeRaycastVehicle;
+  btVector3: new (x: number, y: number, z: number) => NativeVector3;
+  destroy(object: NativeObject): void;
+}
+
+interface NativeDynamicsWorld extends NativeObject {
+  addAction(action: NativeObject): void;
+  removeAction(action: NativeObject): void;
+}
+
+interface PhysicsSystemAccess {
+  systems: {
+    rigidbody: {
+      dynamicsWorld: NativeDynamicsWorld | null;
+      raycastFirst(start: Vec3, end: Vec3): { point: Vec3; normal: Vec3 } | null;
+    };
+  };
+}
+
+interface NativeRigidBodyAccess {
+  rigidbody?: {
+    body: NativeObject | null;
+    linearVelocity: Vec3;
+    angularVelocity: Vec3;
+    teleport(position: Vec3, rotation?: Vec3 | Quat): void;
+  };
+}
+
+interface WheelDefinition {
+  connection: Vec3;
+  left: boolean;
+  front: boolean;
+  anchor: Entity;
+}
+
+let ammoInstancePromise: Promise<AmmoApi> | null = null;
+
+export function prepareSimulationPhysics(): Promise<AmmoApi> {
+  if (ammoInstancePromise) return ammoInstancePromise;
+
+  ammoInstancePromise = new Promise<AmmoApi>((resolve, reject) => {
+    if (!WasmModule.getConfig("Ammo")) {
+      WasmModule.setConfig("Ammo", {
+        glueUrl: `${AMMO_MODULE_ROOT}/ammo.wasm.js`,
+        wasmUrl: `${AMMO_MODULE_ROOT}/ammo.wasm.wasm`,
+        errorHandler: (error) => {
+          ammoInstancePromise = null;
+          reject(new Error(`Физический модуль UGV не загрузился: ${String(error)}`));
+        },
+      });
+    }
+    WasmModule.getInstance("Ammo", (instance) => {
+      if (!instance) {
+        ammoInstancePromise = null;
+        reject(new Error("Физический модуль UGV вернул пустой экземпляр."));
+        return;
+      }
+      resolve(instance as AmmoApi);
+    });
+  });
+
+  return ammoInstancePromise;
+}
+
+export class SimulationUgvController {
+  private readonly pressed = new Set<string>();
+  private readonly collisionBodies: Entity[] = [];
+  private readonly collisionMeshes: Mesh[] = [];
+  private readonly wheelDefinitions: WheelDefinition[] = [];
+  private readonly cameraTarget = new Vec3();
+  private readonly cameraDesired = new Vec3();
+  private readonly cameraLookAt = new Vec3();
+  private readonly forward = new Vec3(0, 0, 1);
+  private readonly smoothedCamera = new Vec3();
+  private readonly limitedLinearVelocity = new Vec3();
+  private readonly limitedAngularVelocity = new Vec3();
+  private readonly spawnPosition = UGV_SPAWN_POSITION.clone();
+  private orbitPointerId: number | null = null;
+  private orbitPointerX = 0;
+  private orbitPointerY = 0;
+  private orbitYaw = 0;
+  private orbitPitch = DEFAULT_ORBIT_PITCH;
+  private orbitDistance = 3.8;
+  private orbitIdleSeconds = 0;
+  private cameraOrbitInitialized = false;
+  private active = false;
+  private vehicleEntity: Entity | null = null;
+  private vehicle: NativeRaycastVehicle | null = null;
+  private vehicleTuning: NativeObject | null = null;
+  private vehicleRaycaster: NativeObject | null = null;
+  private dynamicsWorld: NativeDynamicsWorld | null = null;
+  private chassisMaterial: StandardMaterial | null = null;
+  private wheelMaterial: StandardMaterial | null = null;
+  private cameraInitialized = false;
+  private settings: SimulationUgvPreset;
+
+  constructor(
+    private readonly app: Application,
+    private readonly canvas: HTMLCanvasElement,
+    private readonly camera: Entity,
+    private readonly ammo: AmmoApi,
+    initialSettings: SimulationUgvPreset = DEFAULT_SIMULATION_UGV_PRESET,
+  ) {
+    this.settings = cloneUgvPreset(initialSettings);
+  }
+
+  get enabled(): boolean {
+    return this.active;
+  }
+
+  configure(settings: SimulationUgvPreset): void {
+    const next = cloneUgvPreset(settings);
+    const rebuildRequired = this.active && vehicleGeometryChanged(this.settings, next);
+    this.settings = next;
+    if (!rebuildRequired) return;
+    this.destroyVehicle();
+    this.spawnPosition.copy(this.findSafeSpawnPosition());
+    this.createVehicle();
+    this.reset(false, false);
+  }
+
+  async enable(collisionWorld: Entity): Promise<void> {
+    if (this.active) return;
+    await nextAnimationFrame();
+    try {
+      await this.createStaticCollisionBodies(collisionWorld);
+      await nextAnimationFrame();
+      this.spawnPosition.copy(this.findSafeSpawnPosition());
+      this.createVehicle();
+      this.attachInput();
+      this.active = true;
+      this.reset();
+    } catch (error) {
+      this.disable();
+      throw error;
+    }
+  }
+
+  disable(): void {
+    this.active = false;
+    this.detachInput();
+    this.pressed.clear();
+
+    this.destroyVehicle();
+
+    for (const entity of this.collisionBodies.splice(0)) {
+      runCleanup("destroy static physics proxy", () => entity.destroy());
+    }
+    for (const mesh of this.collisionMeshes.splice(0)) {
+      runCleanup("destroy static physics mesh", () => mesh.destroy());
+    }
+    this.cameraInitialized = false;
+    this.cameraOrbitInitialized = false;
+    this.orbitIdleSeconds = 0;
+  }
+
+  dispose(): void {
+    this.disable();
+  }
+
+  reset(focusCanvas = true, resetCameraOrbit = true): void {
+    const vehicleEntity = this.vehicleEntity as (Entity & NativeRigidBodyAccess) | null;
+    const rigidbody = vehicleEntity?.rigidbody;
+    if (!vehicleEntity || !rigidbody) return;
+    rigidbody.teleport(this.spawnPosition, UGV_SPAWN_ROTATION);
+    rigidbody.linearVelocity = ZERO;
+    rigidbody.angularVelocity = ZERO;
+    this.vehicle?.resetSuspension();
+    this.cameraInitialized = false;
+    if (resetCameraOrbit) {
+      this.cameraOrbitInitialized = false;
+      this.orbitIdleSeconds = 0;
+    }
+    this.updateCamera(1);
+    if (focusCanvas) this.canvas.focus({ preventScroll: true });
+  }
+
+  syncCollisionBodies(): void {
+    for (const entity of this.collisionBodies) {
+      const rigidbody = (entity as Entity & NativeRigidBodyAccess).rigidbody;
+      rigidbody?.teleport(entity.getPosition(), entity.getRotation());
+    }
+  }
+
+  update(deltaSeconds: number): void {
+    if (!this.active || !this.vehicle || !this.vehicleEntity) return;
+    const forwardInput = Number(this.isPressed("KeyW", "ArrowUp")) - Number(this.isPressed("KeyS", "ArrowDown"));
+    const requestedTurn = Number(this.isPressed("KeyA", "ArrowLeft")) - Number(this.isPressed("KeyD", "ArrowRight"));
+    const turnInput = this.settings.invertSteering ? -requestedTurn : requestedTurn;
+    const braking = this.pressed.has("Space");
+    const rigidbody = (this.vehicleEntity as Entity & NativeRigidBodyAccess).rigidbody;
+    const speedMetersPerSecond = this.vehicle.getCurrentSpeedKmHour() / 3.6;
+    const maxSpeed = this.settings.maxSpeedMetersPerSecond;
+    const maxTurnRate = this.settings.maxTurnRateDegrees * Math.PI / 180;
+    const pureTurn = !braking && forwardInput === 0 && turnInput !== 0;
+    const desiredSpeed = forwardInput * maxSpeed;
+    const speedError = desiredSpeed - speedMetersPerSecond;
+    const speedResponseRange = Math.max(0.35, maxSpeed * 0.2);
+    const throttle = forwardInput === 0
+      ? 0
+      : clamp(Math.abs(speedError) / speedResponseRange, 0, 1);
+    const maximumAcceleration = clamp(1.4 + maxSpeed * 0.35, 1.8, 4.2);
+    const driveForcePerWheel = this.settings.massKg * maximumAcceleration * throttle / 4;
+    const pivotForcePerWheel = this.settings.massKg * 0.65;
+    const forwardCommand = braking ? 0 : forwardInput;
+    const turnCommand = braking ? 0 : turnInput;
+    const leftCommand = clamp(forwardCommand - turnCommand, -1, 1);
+    const rightCommand = clamp(forwardCommand + turnCommand, -1, 1);
+    const engineForce = pureTurn ? pivotForcePerWheel : driveForcePerWheel;
+
+    for (let index = 0; index < this.wheelDefinitions.length; index += 1) {
+      const definition = this.wheelDefinitions[index];
+      const command = definition.left ? leftCommand : rightCommand;
+      this.vehicle.setSteeringValue(0, index);
+      this.vehicle.applyEngineForce(command * engineForce, index);
+      this.vehicle.setBrake(0, index);
+      this.vehicle.updateWheelTransform(index, true);
+      const transform = this.vehicle.getWheelTransformWS(index);
+      const position = transform.getOrigin();
+      const rotation = transform.getRotation();
+      definition.anchor.setPosition(position.x(), position.y(), position.z());
+      definition.anchor.setRotation(rotation.x(), rotation.y(), rotation.z(), rotation.w());
+    }
+
+    if (rigidbody) {
+      const linearVelocity = rigidbody.linearVelocity;
+      let nextLinearX = linearVelocity.x;
+      let nextLinearZ = linearVelocity.z;
+      let horizontalSpeed = Math.hypot(nextLinearX, nextLinearZ);
+      const coasting = !braking && forwardInput === 0 && turnInput === 0;
+      if ((braking || coasting) && horizontalSpeed > 0.001) {
+        const deceleration = braking
+          ? SERVICE_BRAKE_DECELERATION_MPS2
+          : COAST_DECELERATION_MPS2;
+        const nextSpeed = Math.max(0, horizontalSpeed - deceleration * Math.max(0, deltaSeconds));
+        const scale = nextSpeed / horizontalSpeed;
+        nextLinearX *= scale;
+        nextLinearZ *= scale;
+        horizontalSpeed = nextSpeed;
+      }
+      if (pureTurn && horizontalSpeed > 0.001) {
+        const pivotDamping = Math.exp(-Math.max(0, deltaSeconds) * 8);
+        nextLinearX *= pivotDamping;
+        nextLinearZ *= pivotDamping;
+        horizontalSpeed *= pivotDamping;
+      }
+      if (horizontalSpeed > maxSpeed * 1.05) {
+        const scale = maxSpeed / horizontalSpeed;
+        nextLinearX *= scale;
+        nextLinearZ *= scale;
+      }
+      if (nextLinearX !== linearVelocity.x || nextLinearZ !== linearVelocity.z) {
+        this.limitedLinearVelocity.set(nextLinearX, linearVelocity.y, nextLinearZ);
+        rigidbody.linearVelocity = this.limitedLinearVelocity;
+      }
+      const angularVelocity = rigidbody.angularVelocity;
+      const attitudeDamping = braking
+        ? Math.exp(-Math.max(0, deltaSeconds) * BRAKE_ATTITUDE_DAMPING)
+        : 1;
+      let nextAngularY = angularVelocity.y;
+      if (pureTurn) {
+        const desiredYawRate = -turnInput * maxTurnRate;
+        const turnAcceleration = Math.max(2, maxTurnRate * 4);
+        nextAngularY = approach(
+          angularVelocity.y,
+          desiredYawRate,
+          turnAcceleration * Math.max(0, deltaSeconds),
+        );
+      } else if (Math.abs(angularVelocity.y) > maxTurnRate) {
+        nextAngularY = Math.sign(angularVelocity.y) * maxTurnRate;
+      }
+      if (attitudeDamping !== 1 || nextAngularY !== angularVelocity.y) {
+        this.limitedAngularVelocity.set(
+          angularVelocity.x * attitudeDamping,
+          nextAngularY,
+          angularVelocity.z * attitudeDamping,
+        );
+        rigidbody.angularVelocity = this.limitedAngularVelocity;
+      }
+    }
+
+    const body = (this.vehicleEntity as Entity & NativeRigidBodyAccess).rigidbody?.body as {
+      setActivationState?: (state: number) => void;
+    } | null;
+    body?.setActivationState?.(DISABLE_DEACTIVATION);
+    if (this.vehicleEntity.getPosition().y < -8) this.reset();
+    this.updateCamera(deltaSeconds);
+  }
+
+  private async createStaticCollisionBodies(collisionWorld: Entity): Promise<void> {
+    const models = collisionWorld.findComponents("model") as ModelComponent[];
+    if (models.length === 0) throw new Error("В слое коллизий нет геометрии для физики UGV.");
+
+    const meshInstances = models.flatMap((model) => Array.from(model.meshInstances ?? []));
+    const totalTriangles = meshInstances.reduce(
+      (total, meshInstance) => total + Math.floor((meshInstance.mesh.primitive[0]?.count ?? 0) / 3),
+      0,
+    );
+    if (totalTriangles === 0) throw new Error("В слое коллизий нет треугольников для физики UGV.");
+    const targetRatio = totalTriangles <= PHYSICS_PROXY_MAX_TRIANGLES
+      ? 1
+      : Math.min(PHYSICS_PROXY_RATIO, PHYSICS_PROXY_MAX_TRIANGLES / totalTriangles);
+    await MeshoptSimplifier.ready;
+    await nextAnimationFrame();
+
+    const rootInverse = collisionWorld.getWorldTransform().clone().invert();
+    for (let index = 0; index < meshInstances.length; index += 1) {
+      const meshInstance = meshInstances[index];
+      const physicsMesh = createPhysicsProxyMesh(
+        this.app,
+        meshInstance.mesh,
+        new Mat4().mul2(rootInverse, meshInstance.node.getWorldTransform()),
+        targetRatio,
+      );
+      if (!physicsMesh) continue;
+      const entity = new Entity(`UGV physics proxy ${index + 1}`);
+      collisionWorld.addChild(entity);
+      entity.addComponent("collision", {
+        type: "mesh",
+        render: { meshes: [physicsMesh] },
+        checkVertexDuplicates: false,
+      });
+      entity.addComponent("rigidbody", {
+        type: "static",
+        friction: 0.95,
+        restitution: 0,
+      });
+      this.collisionBodies.push(entity);
+      this.collisionMeshes.push(physicsMesh);
+      if ((index + 1) % 4 === 0) await nextAnimationFrame();
+    }
+
+    if (this.collisionBodies.length === 0) {
+      throw new Error("Не удалось создать статический физический слой UGV.");
+    }
+  }
+
+  private createVehicle(): void {
+    const access = this.app as unknown as PhysicsSystemAccess;
+    const dynamicsWorld = access.systems.rigidbody.dynamicsWorld;
+    if (!dynamicsWorld) throw new Error("Физический мир PlayCanvas не готов.");
+
+    const vehicle = new Entity("SimulationUGV");
+    vehicle.addComponent("collision", { type: "compound" });
+    vehicle.addComponent("rigidbody", {
+      type: "dynamic",
+      mass: this.settings.massKg,
+      friction: 0.85,
+      linearDamping: 0.08,
+      angularDamping: 0.45,
+    });
+
+    this.chassisMaterial = createMaterial(readThemeAccent(), new Color(0.03, 0.04, 0.05));
+    this.wheelMaterial = createMaterial(new Color(0.055, 0.06, 0.07), new Color(0.008, 0.009, 0.01));
+
+    const dimensions = vehicleDimensions(this.settings);
+    const chassis = createBox(
+      "UGV chassis",
+      new Vec3(dimensions.bodyWidth, dimensions.mainHeight, dimensions.length),
+      this.chassisMaterial,
+    );
+    chassis.setLocalPosition(0, dimensions.mainCenterY, 0);
+    chassis.addComponent("collision", {
+      type: "box",
+      halfExtents: new Vec3(
+        dimensions.bodyWidth / 2,
+        dimensions.mainHeight / 2,
+        dimensions.length / 2,
+      ),
+    });
+    vehicle.addChild(chassis);
+
+    const equipment = createBox(
+      "UGV equipment",
+      new Vec3(dimensions.bodyWidth * 0.68, dimensions.equipmentHeight, dimensions.length * 0.56),
+      this.chassisMaterial,
+    );
+    equipment.setLocalPosition(0, dimensions.equipmentCenterY, -dimensions.length * 0.04);
+    equipment.addComponent("collision", {
+      type: "box",
+      halfExtents: new Vec3(
+        dimensions.bodyWidth * 0.34,
+        dimensions.equipmentHeight / 2,
+        dimensions.length * 0.28,
+      ),
+    });
+    vehicle.addChild(equipment);
+
+    const wheelConnections = [
+      { connection: new Vec3(dimensions.wheelX, dimensions.wheelConnectionY, dimensions.wheelZ), left: false, front: true },
+      { connection: new Vec3(-dimensions.wheelX, dimensions.wheelConnectionY, dimensions.wheelZ), left: true, front: true },
+      { connection: new Vec3(dimensions.wheelX, dimensions.wheelConnectionY, -dimensions.wheelZ), left: false, front: false },
+      { connection: new Vec3(-dimensions.wheelX, dimensions.wheelConnectionY, -dimensions.wheelZ), left: true, front: false },
+    ];
+
+    for (const definition of wheelConnections) {
+      const anchor = new Entity(definition.left ? "UGV wheel left" : "UGV wheel right");
+      anchor.setLocalPosition(definition.connection);
+      const wheelMesh = new Entity("UGV wheel mesh");
+      wheelMesh.addComponent("render", { type: "cylinder", castShadows: false, receiveShadows: false });
+      wheelMesh.setLocalEulerAngles(0, 0, 90);
+      wheelMesh.setLocalScale(
+        dimensions.wheelRadius * 2,
+        dimensions.wheelThickness,
+        dimensions.wheelRadius * 2,
+      );
+      applyMaterial(wheelMesh, this.wheelMaterial);
+      anchor.addChild(wheelMesh);
+      vehicle.addChild(anchor);
+      this.wheelDefinitions.push({ ...definition, anchor });
+    }
+
+    vehicle.setLocalPosition(this.spawnPosition);
+    this.app.root.addChild(vehicle);
+
+    const body = (vehicle as Entity & NativeRigidBodyAccess).rigidbody?.body;
+    if (!body) {
+      vehicle.destroy();
+      throw new Error("Динамическое тело UGV не создалось.");
+    }
+
+    const tuning = new this.ammo.btVehicleTuning();
+    const raycaster = new this.ammo.btDefaultVehicleRaycaster(dynamicsWorld);
+    const nativeVehicle = new this.ammo.btRaycastVehicle(tuning, body, raycaster);
+    nativeVehicle.setCoordinateSystem(0, 1, 2);
+
+    const axle = new this.ammo.btVector3(-1, 0, 0);
+    const direction = new this.ammo.btVector3(0, -1, 0);
+    const connection = new this.ammo.btVector3(0, 0, 0);
+    for (const definition of this.wheelDefinitions) {
+      connection.setValue(definition.connection.x, definition.connection.y, definition.connection.z);
+      const wheel = nativeVehicle.addWheel(
+        connection,
+        direction,
+        axle,
+        dimensions.suspensionRestLength,
+        dimensions.wheelRadius,
+        tuning,
+        definition.front,
+      );
+      wheel.set_m_suspensionStiffness(24);
+      wheel.set_m_wheelsDampingRelaxation(3.2);
+      wheel.set_m_wheelsDampingCompression(4.8);
+      wheel.set_m_frictionSlip(5.5);
+      wheel.set_m_rollInfluence(0.08);
+    }
+    this.ammo.destroy(axle);
+    this.ammo.destroy(direction);
+    this.ammo.destroy(connection);
+
+    dynamicsWorld.addAction(nativeVehicle);
+    this.vehicleEntity = vehicle;
+    this.vehicleTuning = tuning;
+    this.vehicleRaycaster = raycaster;
+    this.vehicle = nativeVehicle;
+    this.dynamicsWorld = dynamicsWorld;
+  }
+
+  private updateCamera(deltaSeconds: number): void {
+    if (!this.vehicleEntity || !this.vehicle) return;
+    this.cameraTarget.copy(this.vehicleEntity.getPosition());
+    this.cameraLookAt.copy(this.cameraTarget);
+    this.cameraLookAt.y += Math.max(0.15, this.settings.dimensionsMeters.height * 0.35);
+
+    const nativeForward = this.vehicle.getForwardVector();
+    this.forward.set(nativeForward.x(), 0, nativeForward.z());
+    if (this.forward.lengthSq() < 0.001) this.forward.set(0, 0, 1);
+    this.forward.normalize();
+    const rearOrbitYaw = Math.atan2(-this.forward.x, -this.forward.z);
+    if (!this.cameraOrbitInitialized) {
+      this.orbitYaw = rearOrbitYaw;
+      this.orbitPitch = DEFAULT_ORBIT_PITCH;
+      this.orbitDistance = Math.max(3.2, this.settings.dimensionsMeters.length * 3.8);
+      this.cameraOrbitInitialized = true;
+      this.orbitIdleSeconds = 0;
+    } else if (this.orbitPointerId === null) {
+      this.orbitIdleSeconds += Math.max(0, deltaSeconds);
+      if (this.orbitIdleSeconds >= CAMERA_RETURN_DELAY_SECONDS) {
+        const returnDelta = Math.max(0, deltaSeconds) / CAMERA_RETURN_DURATION_SECONDS;
+        this.orbitYaw = approachAngle(this.orbitYaw, rearOrbitYaw, Math.PI * returnDelta);
+        this.orbitPitch = approach(
+          this.orbitPitch,
+          DEFAULT_ORBIT_PITCH,
+          Math.PI * 0.5 * returnDelta,
+        );
+      }
+    }
+
+    const horizontalDistance = Math.cos(this.orbitPitch) * this.orbitDistance;
+    this.cameraDesired.set(
+      this.cameraLookAt.x + Math.sin(this.orbitYaw) * horizontalDistance,
+      this.cameraLookAt.y + Math.sin(this.orbitPitch) * this.orbitDistance,
+      this.cameraLookAt.z + Math.cos(this.orbitYaw) * horizontalDistance,
+    );
+
+    if (!this.cameraInitialized) {
+      this.smoothedCamera.copy(this.cameraDesired);
+      this.cameraInitialized = true;
+    } else {
+      const blend = 1 - Math.exp(
+        -Math.max(0, deltaSeconds) * (this.orbitPointerId === null ? 8 : 18),
+      );
+      this.smoothedCamera.lerp(this.smoothedCamera, this.cameraDesired, blend);
+    }
+    this.camera.setPosition(this.smoothedCamera);
+    this.camera.lookAt(this.cameraLookAt);
+  }
+
+  private findSafeSpawnPosition(): Vec3 {
+    const dimensions = vehicleDimensions(this.settings);
+    const footprint: ReadonlyArray<readonly [number, number]> = [
+      [0, 0],
+      [dimensions.width * 0.42, dimensions.length * 0.42],
+      [-dimensions.width * 0.42, dimensions.length * 0.42],
+      [dimensions.width * 0.42, -dimensions.length * 0.42],
+      [-dimensions.width * 0.42, -dimensions.length * 0.42],
+    ];
+    const clearanceDirections: ReadonlyArray<readonly [number, number]> = [
+      [dimensions.width * 0.62, 0],
+      [-dimensions.width * 0.62, 0],
+      [0, dimensions.length * 0.62],
+      [0, -dimensions.length * 0.62],
+    ];
+    const from = new Vec3();
+    const to = new Vec3();
+    const physics = (this.app as unknown as PhysicsSystemAccess).systems.rigidbody;
+
+    for (const [offsetX, offsetZ] of UGV_SPAWN_OFFSETS) {
+      const heights: number[] = [];
+      let suitable = true;
+      for (const [sampleX, sampleZ] of footprint) {
+        const x = UGV_SPAWN_POSITION.x + offsetX + sampleX;
+        const z = UGV_SPAWN_POSITION.z + offsetZ + sampleZ;
+        from.set(x, 8, z);
+        to.set(x, -8, z);
+        const hit = physics.raycastFirst(from, to);
+        if (!hit || hit.normal.y < 0.72 || Math.abs(hit.point.y) > 2.5) {
+          suitable = false;
+          break;
+        }
+        heights.push(hit.point.y);
+      }
+      if (!suitable || heights.length !== footprint.length) continue;
+      const minimum = Math.min(...heights);
+      const maximum = Math.max(...heights);
+      if (maximum - minimum > 0.32) continue;
+
+      const x = UGV_SPAWN_POSITION.x + offsetX;
+      const z = UGV_SPAWN_POSITION.z + offsetZ;
+      const ground = heights.reduce((sum, height) => sum + height, 0) / heights.length;
+      const clearanceHeight = ground + dimensions.originHeight;
+      const origin = new Vec3(x, clearanceHeight, z);
+      const blocked = clearanceDirections.some(([directionX, directionZ]) => {
+        to.set(x + directionX, clearanceHeight, z + directionZ);
+        return physics.raycastFirst(origin, to) !== null;
+      });
+      if (!blocked) return new Vec3(x, ground + dimensions.originHeight, z);
+    }
+
+    return UGV_SPAWN_POSITION.clone();
+  }
+
+  private destroyVehicle(): void {
+    if (this.vehicle && this.dynamicsWorld) {
+      runCleanup("remove vehicle action", () => this.dynamicsWorld?.removeAction(this.vehicle as NativeObject));
+    }
+    if (this.vehicle) runCleanup("destroy vehicle", () => this.ammo.destroy(this.vehicle as NativeObject));
+    if (this.vehicleRaycaster) runCleanup("destroy vehicle raycaster", () => this.ammo.destroy(this.vehicleRaycaster as NativeObject));
+    if (this.vehicleTuning) runCleanup("destroy vehicle tuning", () => this.ammo.destroy(this.vehicleTuning as NativeObject));
+    this.vehicle = null;
+    this.vehicleRaycaster = null;
+    this.vehicleTuning = null;
+    this.dynamicsWorld = null;
+
+    if (this.vehicleEntity) runCleanup("destroy vehicle entity", () => this.vehicleEntity?.destroy());
+    this.vehicleEntity = null;
+    this.wheelDefinitions.length = 0;
+    if (this.chassisMaterial) runCleanup("destroy chassis material", () => this.chassisMaterial?.destroy());
+    if (this.wheelMaterial) runCleanup("destroy wheel material", () => this.wheelMaterial?.destroy());
+    this.chassisMaterial = null;
+    this.wheelMaterial = null;
+    this.cameraInitialized = false;
+  }
+
+  private isPressed(primary: string, alternative: string): boolean {
+    return this.pressed.has(primary) || this.pressed.has(alternative);
+  }
+
+  private attachInput(): void {
+    window.addEventListener("keydown", this.onKeyDown, true);
+    window.addEventListener("keyup", this.onKeyUp, true);
+    window.addEventListener("blur", this.onWindowBlur);
+    this.canvas.addEventListener("pointerdown", this.onOrbitPointerDown);
+    this.canvas.addEventListener("pointermove", this.onOrbitPointerMove);
+    this.canvas.addEventListener("pointerup", this.onOrbitPointerUp);
+    this.canvas.addEventListener("pointercancel", this.onOrbitPointerUp);
+    this.canvas.addEventListener("wheel", this.onOrbitWheel, { passive: false });
+  }
+
+  private detachInput(): void {
+    window.removeEventListener("keydown", this.onKeyDown, true);
+    window.removeEventListener("keyup", this.onKeyUp, true);
+    window.removeEventListener("blur", this.onWindowBlur);
+    this.canvas.removeEventListener("pointerdown", this.onOrbitPointerDown);
+    this.canvas.removeEventListener("pointermove", this.onOrbitPointerMove);
+    this.canvas.removeEventListener("pointerup", this.onOrbitPointerUp);
+    this.canvas.removeEventListener("pointercancel", this.onOrbitPointerUp);
+    this.canvas.removeEventListener("wheel", this.onOrbitWheel);
+    this.releaseOrbitPointer();
+  }
+
+  private onOrbitPointerDown = (event: PointerEvent): void => {
+    if (!this.active || event.button !== 0 || this.orbitPointerId !== null) return;
+    event.preventDefault();
+    this.orbitPointerId = event.pointerId;
+    this.orbitPointerX = event.clientX;
+    this.orbitPointerY = event.clientY;
+    this.orbitIdleSeconds = 0;
+    this.canvas.classList.add("is-orbiting");
+    try {
+      this.canvas.setPointerCapture(event.pointerId);
+    } catch {
+      // A browser may already have released the pointer during a window transition.
+    }
+  };
+
+  private onOrbitPointerMove = (event: PointerEvent): void => {
+    if (!this.active || event.pointerId !== this.orbitPointerId) return;
+    event.preventDefault();
+    const deltaX = event.clientX - this.orbitPointerX;
+    const deltaY = event.clientY - this.orbitPointerY;
+    this.orbitPointerX = event.clientX;
+    this.orbitPointerY = event.clientY;
+    this.orbitIdleSeconds = 0;
+    this.orbitYaw = (this.orbitYaw - deltaX * 0.006) % (Math.PI * 2);
+    this.orbitPitch = clamp(this.orbitPitch + deltaY * 0.0045, -0.12, 1.32);
+  };
+
+  private onOrbitPointerUp = (event: PointerEvent): void => {
+    if (event.pointerId !== this.orbitPointerId) return;
+    this.releaseOrbitPointer();
+  };
+
+  private onOrbitWheel = (event: WheelEvent): void => {
+    if (!this.active) return;
+    event.preventDefault();
+    this.orbitIdleSeconds = 0;
+    this.orbitDistance = clamp(
+      this.orbitDistance * Math.exp(event.deltaY * 0.0012),
+      1.6,
+      14,
+    );
+  };
+
+  private releaseOrbitPointer(): void {
+    const pointerId = this.orbitPointerId;
+    this.orbitPointerId = null;
+    this.canvas.classList.remove("is-orbiting");
+    if (pointerId === null || !this.canvas.hasPointerCapture(pointerId)) return;
+    try {
+      this.canvas.releasePointerCapture(pointerId);
+    } catch {
+      // Pointer capture is already gone; the local orbit state is still released.
+    }
+  }
+
+  private onKeyDown = (event: KeyboardEvent): void => {
+    if (!this.active || isTextEntry(event.target)) return;
+    if (!UGV_KEYS.has(event.code)) return;
+    event.preventDefault();
+    event.stopPropagation();
+    if (event.code === "KeyR") {
+      this.reset();
+      return;
+    }
+    this.pressed.add(event.code);
+  };
+
+  private onKeyUp = (event: KeyboardEvent): void => {
+    if (!this.active || !UGV_KEYS.has(event.code)) return;
+    event.preventDefault();
+    event.stopPropagation();
+    this.pressed.delete(event.code);
+  };
+
+  private onWindowBlur = (): void => {
+    this.pressed.clear();
+    this.releaseOrbitPointer();
+  };
+}
+
+const UGV_KEYS = new Set([
+  "KeyW",
+  "KeyA",
+  "KeyS",
+  "KeyD",
+  "ArrowUp",
+  "ArrowDown",
+  "ArrowLeft",
+  "ArrowRight",
+  "Space",
+  "KeyR",
+]);
+
+function createPhysicsProxyMesh(
+  app: Application,
+  source: Mesh,
+  localTransform: Mat4,
+  targetRatio: number,
+): Mesh | null {
+  const primitive = source.primitive[0];
+  const sourceVertexCount = source.vertexBuffer?.numVertices ?? 0;
+  if (!primitive || sourceVertexCount === 0 || primitive.count < 3) return null;
+
+  const positions = new Float32Array(sourceVertexCount * 3);
+  const populatedVertices = source.getPositions(positions);
+  if (populatedVertices === 0) return null;
+  const transformed = new Float32Array(populatedVertices * 3);
+  const point = new Vec3();
+  for (let vertex = 0; vertex < populatedVertices; vertex += 1) {
+    const offset = vertex * 3;
+    point.set(positions[offset], positions[offset + 1], positions[offset + 2]);
+    localTransform.transformPoint(point, point);
+    transformed[offset] = point.x;
+    transformed[offset + 1] = point.y;
+    transformed[offset + 2] = point.z;
+  }
+
+  const requestedIndexCount = Math.max(3, primitive.count);
+  let indices = new Uint32Array(requestedIndexCount);
+  const populatedIndices = source.getIndices(indices);
+  if (populatedIndices === 0) {
+    const fallbackCount = Math.min(populatedVertices, requestedIndexCount);
+    indices = new Uint32Array(fallbackCount);
+    for (let index = 0; index < fallbackCount; index += 1) indices[index] = index;
+  } else if (populatedIndices !== indices.length) {
+    indices = indices.slice(0, populatedIndices);
+  }
+  const triangleIndexCount = Math.floor(indices.length / 3) * 3;
+  if (triangleIndexCount < 3) return null;
+  if (triangleIndexCount !== indices.length) indices = indices.slice(0, triangleIndexCount);
+
+  if (targetRatio < 1) {
+    const targetIndexCount = Math.max(3, Math.floor(indices.length * targetRatio / 3) * 3);
+    const [simplifiedIndices] = MeshoptSimplifier.simplify(
+      indices,
+      transformed,
+      3,
+      targetIndexCount,
+      PHYSICS_PROXY_ERROR,
+    );
+    indices = new Uint32Array(simplifiedIndices);
+  }
+
+  const compactedIndices = new Uint32Array(indices);
+  const [remap, compactedVertexCount] = MeshoptSimplifier.compactMesh(compactedIndices);
+  const compactedPositions = new Float32Array(compactedVertexCount * 3);
+  const missing = 0xffff_ffff;
+  for (let sourceVertex = 0; sourceVertex < remap.length; sourceVertex += 1) {
+    const compactedVertex = remap[sourceVertex];
+    if (compactedVertex === missing) continue;
+    const sourceOffset = sourceVertex * 3;
+    const compactedOffset = compactedVertex * 3;
+    compactedPositions[compactedOffset] = transformed[sourceOffset];
+    compactedPositions[compactedOffset + 1] = transformed[sourceOffset + 1];
+    compactedPositions[compactedOffset + 2] = transformed[sourceOffset + 2];
+  }
+
+  const physicsMesh = new Mesh(app.graphicsDevice);
+  physicsMesh.setPositions(compactedPositions);
+  physicsMesh.setIndices(compactedIndices);
+  physicsMesh.update(PRIMITIVE_TRIANGLES, true);
+  return physicsMesh;
+}
+
+function cloneUgvPreset(preset: SimulationUgvPreset): SimulationUgvPreset {
+  return {
+    ...preset,
+    dimensionsMeters: { ...preset.dimensionsMeters },
+  };
+}
+
+function vehicleGeometryChanged(
+  current: SimulationUgvPreset,
+  next: SimulationUgvPreset,
+): boolean {
+  return current.massKg !== next.massKg
+    || current.dimensionsMeters.length !== next.dimensionsMeters.length
+    || current.dimensionsMeters.width !== next.dimensionsMeters.width
+    || current.dimensionsMeters.height !== next.dimensionsMeters.height
+    || current.dimensionsMeters.groundClearance !== next.dimensionsMeters.groundClearance;
+}
+
+function vehicleDimensions(settings: SimulationUgvPreset) {
+  const { length, width, height, groundClearance } = settings.dimensionsMeters;
+  const bodyHeight = height - groundClearance;
+  const wheelRadius = clamp(
+    groundClearance * 0.8,
+    0.07,
+    Math.min(height * 0.4, length * 0.22),
+  );
+  const wheelThickness = clamp(width * 0.13, 0.08, 0.16);
+  const bodyWidth = Math.max(0.12, width - wheelThickness * 2);
+  const mainHeight = bodyHeight * 0.68;
+  const equipmentHeight = bodyHeight - mainHeight;
+  const suspensionRestLength = clamp(groundClearance * 0.4, 0.04, 0.16);
+  const originHeight = groundClearance + bodyHeight / 2;
+  return {
+    length,
+    width,
+    bodyWidth,
+    mainHeight,
+    equipmentHeight,
+    mainCenterY: -bodyHeight / 2 + mainHeight / 2,
+    equipmentCenterY: bodyHeight / 2 - equipmentHeight / 2,
+    wheelRadius,
+    wheelThickness,
+    wheelX: width / 2 - wheelThickness / 2,
+    wheelZ: Math.max(0, length / 2 - wheelRadius),
+    wheelConnectionY: suspensionRestLength + wheelRadius - originHeight,
+    suspensionRestLength,
+    originHeight,
+  };
+}
+
+function createBox(name: string, scale: Vec3, material: StandardMaterial): Entity {
+  const entity = new Entity(name);
+  entity.addComponent("render", { type: "box", castShadows: false, receiveShadows: false });
+  entity.setLocalScale(scale);
+  applyMaterial(entity, material);
+  return entity;
+}
+
+function applyMaterial(entity: Entity, material: StandardMaterial): void {
+  for (const meshInstance of entity.render?.meshInstances ?? []) meshInstance.material = material;
+}
+
+function createMaterial(diffuse: Color, emissive: Color): StandardMaterial {
+  const material = new StandardMaterial();
+  material.diffuse = diffuse;
+  material.emissive = emissive;
+  material.metalness = 0.15;
+  material.gloss = 0.32;
+  material.update();
+  return material;
+}
+
+function readThemeAccent(): Color {
+  const raw = getComputedStyle(document.documentElement).getPropertyValue("--nodedc-accent-rgb");
+  const channels = raw.trim().split(/[\s,]+/).map(Number);
+  if (channels.length < 3 || channels.some((value) => !Number.isFinite(value))) {
+    return new Color(0.22, 0.72, 0.38);
+  }
+  return new Color(channels[0] / 255, channels[1] / 255, channels[2] / 255);
+}
+
+function isTextEntry(target: EventTarget | null): boolean {
+  return target instanceof HTMLInputElement || target instanceof HTMLTextAreaElement
+    || target instanceof HTMLSelectElement || target instanceof HTMLButtonElement
+    || (target instanceof HTMLElement && target.isContentEditable);
+}
+
+function clamp(value: number, min: number, max: number): number { return Math.max(min, Math.min(max, value)); }
+function approach(current: number, target: number, maximumDelta: number): number {
+  if (current < target) return Math.min(target, current + maximumDelta);
+  if (current > target) return Math.max(target, current - maximumDelta);
+  return target;
+}
+function approachAngle(current: number, target: number, maximumDelta: number): number {
+  const delta = ((target - current + Math.PI) % (Math.PI * 2) + Math.PI * 2) % (Math.PI * 2) - Math.PI;
+  return current + clamp(delta, -maximumDelta, maximumDelta);
+}
+function runCleanup(label: string, cleanup: () => void): void {
+  try {
+    cleanup();
+  } catch (error) {
+    console.warn(`[Simulation UGV] Cleanup failed: ${label}`, error);
+  }
+}
+
+function nextAnimationFrame(): Promise<void> { return new Promise((resolve) => requestAnimationFrame(() => resolve())); }

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/vegetationShadow.ts

@@ -55,7 +55,9 @@ export interface VegetationVideoSemanticClass {
   classId: number;
   label: string;
   colorRgb: readonly [number, number, number];
-  disposition: "prediction" | "undefined";
+  disposition: "labeled" | "ambiguous" | "prediction" | "undefined";
+  materialClass: string | null;
+  evidenceState: string | null;
 }
 
 export interface VegetationRouteVideo {
@@ -67,8 +69,12 @@ export interface VegetationRouteVideo {
   height: 600;
   centerCropXyxy: readonly [100, 0, 700, 600];
   outsideCropState: "undefined";
+  viewKind: "fine-semantic-prediction" | "coarse-material-policy-review";
+  linkedTgsResultId: string | null;
   taxonomy: readonly VegetationVideoSemanticClass[];
   aggregatePredictionPixels: readonly number[];
+  policyPresets: Readonly<Record<string, Readonly<Record<string, string>>>> | null;
+  fusionMode: "synchronised-multilayer-review" | null;
 }
 
 export interface VegetationShadowResult {
@@ -257,6 +263,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     "vegetation.route_video.m47_reference_graph_result_id",
   );
   const baseM4ResultId = textValue(row.base_m4_result_id, "vegetation.route_video.base_m4_result_id");
+  const viewKind = row.view_kind === undefined
+    ? "fine-semantic-prediction"
+    : textValue(row.view_kind, "vegetation.route_video.view_kind");
   if (
     !/^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/.test(workerResultId)
     || !/^m47-reference-graph-lab-[a-f0-9]{64}$/.test(m47ReferenceGraphResultId)
@@ -264,6 +273,15 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
   ) {
     throw new VegetationShadowContractError("vegetation.route_video: identity invalid.");
   }
+  if (viewKind !== "fine-semantic-prediction" && viewKind !== "coarse-material-policy-review") {
+    throw new VegetationShadowContractError("vegetation.route_video: view kind invalid.");
+  }
+  const linkedTgsResultId = viewKind === "coarse-material-policy-review"
+    ? textValue(row.linked_tgs_result_id, "vegetation.route_video.linked_tgs_result_id")
+    : null;
+  if (linkedTgsResultId && !/^m49-tgs-full-shadow-[a-f0-9]{64}$/.test(linkedTgsResultId)) {
+    throw new VegetationShadowContractError("vegetation.route_video: TGS identity invalid.");
+  }
   exact(row.frame_count, 4489, "vegetation.route_video.frame_count");
   exact(row.width, 800, "vegetation.route_video.width");
   exact(row.height, 600, "vegetation.route_video.height");
@@ -279,11 +297,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     throw new VegetationShadowContractError("vegetation.route_video: crop contract changed.");
   }
   const taxonomy = objectValue(row.taxonomy, "vegetation.route_video.taxonomy");
-  exact(
-    taxonomy.schema_version,
-    "missioncore.lab-v1-vegetation-taxonomy/v1",
-    "vegetation.route_video.taxonomy.schema",
-  );
+  exact(taxonomy.schema_version, viewKind === "coarse-material-policy-review"
+    ? "missioncore.lab-v1-terrain-policy-taxonomy/v1"
+    : "missioncore.lab-v1-vegetation-taxonomy/v1", "vegetation.route_video.taxonomy.schema");
   const classes = arrayValue(taxonomy.classes, "vegetation.route_video.taxonomy.classes")
     .map((value, expectedId): VegetationVideoSemanticClass => {
       const item = objectValue(value, `vegetation.route_video.taxonomy[${expectedId}]`);
@@ -296,36 +312,78 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
       if (color.length !== 3 || color.some((channel) => channel > 255)) {
         throw new VegetationShadowContractError("vegetation.route_video: taxonomy color invalid.");
       }
-      const disposition: VegetationVideoSemanticClass["disposition"] = expectedId === 0
-        ? "undefined"
-        : "prediction";
-      if (item.disposition !== disposition) {
+      const disposition = item.disposition;
+      if (
+        disposition !== "labeled"
+        && disposition !== "ambiguous"
+        && disposition !== "prediction"
+        && disposition !== "undefined"
+      ) {
         throw new VegetationShadowContractError("vegetation.route_video: taxonomy disposition changed.");
       }
+      if (
+        viewKind === "fine-semantic-prediction"
+        && disposition !== (expectedId === 0 ? "undefined" : "prediction")
+      ) {
+        throw new VegetationShadowContractError("vegetation.route_video: fine taxonomy disposition changed.");
+      }
+      const materialClass = item.material_class === null || item.material_class === undefined
+        ? null
+        : textValue(item.material_class, `vegetation.route_video.material[${expectedId}]`);
+      const evidenceState = item.evidence_state === null || item.evidence_state === undefined
+        ? null
+        : textValue(item.evidence_state, `vegetation.route_video.evidence[${expectedId}]`);
       return {
         classId,
         label: textValue(item.label, `vegetation.route_video.label[${expectedId}]`),
         colorRgb: color as unknown as readonly [number, number, number],
         disposition,
+        materialClass,
+        evidenceState,
       };
     });
-  if (classes.length !== 64) {
-    throw new VegetationShadowContractError("vegetation.route_video: taxonomy must contain 64 classes.");
+  const expectedClassCount = viewKind === "coarse-material-policy-review" ? 9 : 64;
+  if (classes.length !== expectedClassCount) {
+    throw new VegetationShadowContractError("vegetation.route_video: taxonomy size changed.");
   }
   const aggregatePredictionPixels = arrayValue(
     row.aggregate_prediction_pixels,
     "vegetation.route_video.aggregate_prediction_pixels",
   ).map((value, index) => integerValue(value, `vegetation.route_video.pixels[${index}]`));
-  if (aggregatePredictionPixels.length !== 64) {
+  if (aggregatePredictionPixels.length !== expectedClassCount) {
     throw new VegetationShadowContractError("vegetation.route_video: class accounting changed.");
   }
   const maskArchive = objectValue(row.mask_archive, "vegetation.route_video.mask_archive");
-  exact(maskArchive.path, "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
+  exact(maskArchive.path, viewKind === "coarse-material-policy-review"
+    ? "video/coarse-material-policy-masks.zip"
+    : "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
   const archiveSha256 = textValue(maskArchive.sha256, "vegetation.route_video.mask_archive.sha256");
   if (!SHA256.test(archiveSha256)) {
     throw new VegetationShadowContractError("vegetation.route_video: archive digest invalid.");
   }
   integerValue(maskArchive.byte_length, "vegetation.route_video.mask_archive.byte_length");
+  let policyPresets: VegetationRouteVideo["policyPresets"] = null;
+  let fusionMode: VegetationRouteVideo["fusionMode"] = null;
+  if (viewKind === "coarse-material-policy-review") {
+    const policy = objectValue(row.policy, "vegetation.route_video.policy");
+    const presets = objectValue(policy.presets, "vegetation.route_video.policy.presets");
+    policyPresets = Object.fromEntries(Object.entries(presets).map(([presetId, rawRules]) => {
+      const rules = objectValue(rawRules, `vegetation.route_video.policy.${presetId}`);
+      return [presetId, Object.fromEntries(Object.entries(rules).map(([material, action]) => [
+        material,
+        textValue(action, `vegetation.route_video.policy.${presetId}.${material}`),
+      ]))];
+    }));
+    const fusion = objectValue(row.fusion, "vegetation.route_video.fusion");
+    exact(fusion.pixel_raster_fusion, false, "vegetation.route_video.fusion.pixel_raster_fusion");
+    exact(fusion.camera_semantic_temporal_filter, "none", "vegetation.route_video.fusion.camera_filter");
+    exact(
+      fusion.mode,
+      "synchronised-multilayer-review",
+      "vegetation.route_video.fusion.mode",
+    );
+    fusionMode = "synchronised-multilayer-review";
+  }
   return {
     workerResultId,
     m47ReferenceGraphResultId,
@@ -335,8 +393,12 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     height: 600,
     centerCropXyxy: [100, 0, 700, 600],
     outsideCropState: "undefined",
+    viewKind,
+    linkedTgsResultId,
     taxonomy: classes,
     aggregatePredictionPixels,
+    policyPresets,
+    fusionMode,
   };
 }
 

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/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/workspaces/laboratory/M49TgsFullShadowEvidence.tsx

@@ -22,6 +22,7 @@ import {
 import {
   M4ReplayThreatVisual,
   type M4ReplayClassifiedSpatialFrame,
+  type M4ReplayThreatSemanticLayer,
 } from "./M4ReplayThreatVisual";
 
 const CLASSES: readonly RecordedEvidenceSemanticClass[] = [
@@ -42,7 +43,15 @@ function message(error: unknown): string {
     : "Полный TGS spatial frame недоступен.";
 }
 
-export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowResult }) {
+export function M49TgsFullShadowEvidence({
+  result,
+  semanticOverride,
+  evidenceLabel = "M49 · full TGS shadow",
+}: {
+  result: M49TgsFullShadowResult;
+  semanticOverride?: M4ReplayThreatSemanticLayer;
+  evidenceLabel?: string;
+}) {
   const [activeSequence, setActiveSequence] = useState<number | null>(null);
   const [semantic, setSemantic] = useState<E47SemanticSlamResult | null>(null);
   const [semanticError, setSemanticError] = useState<string | null>(null);
@@ -62,6 +71,7 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
     const controller = new AbortController();
     setSemantic(null);
     setSemanticError(null);
+    if (semanticOverride) return () => controller.abort();
     void fetchE47SemanticSlamResult({
       resultId: result.source.linkedSemanticResultId,
       signal: controller.signal,
@@ -77,7 +87,7 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
         if (!controller.signal.aborted) setSemanticError(message(caught));
       });
     return () => controller.abort();
-  }, [result.source.linkedSemanticResultId, result.source.linkedVisualResultId]);
+  }, [result.source.linkedSemanticResultId, result.source.linkedVisualResultId, semanticOverride]);
 
   useEffect(() => {
     const controller = new AbortController();
@@ -196,13 +206,13 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
     <>
       <M4ReplayThreatVisual
         resultId={result.source.linkedVisualResultId}
-        semantic={semantic ? {
+        semantic={semanticOverride ?? (semantic ? {
           resultId: semantic.resultId,
           taxonomy: semantic.taxonomy,
-        } : undefined}
+        } : undefined)}
         showReviewAnchorBoxes={false}
         reviewLabel="4 489 source-paced TGS frames"
-        evidenceLabel="M49 · full TGS shadow"
+        evidenceLabel={evidenceLabel}
         initialSpatialMode="3d"
         onActiveSequenceChange={handleSequenceChange}
         classifiedSpatialLayer={{
@@ -217,7 +227,7 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
           replacePointCloud: false,
         }}
       />
-      {semanticError ? (
+      {!semanticOverride && semanticError ? (
         <div className="m4-replay-threat-visual__pane-status" role="alert">
           Semantic overlay недоступен: {semanticError}
         </div>

apps/control-station/src/workspaces/laboratory/M4ReplayThreatVisual.tsx

@@ -378,12 +378,12 @@ export function M4ReplayThreatVisual({
     );
   }, [frame, metadata.timeline, showReferenceMediaLayers, showStaticObstacles]);
   const activeBoxes = useMemo(
-    () => classifiedSpatialLayer || !showReferenceMediaLayers ? [] : [
+    () => !showReferenceMediaLayers ? [] : [
       ...boxes(frame?.cameraProposals ?? []),
       ...staticObstacleBoxes,
       ...reviewAnchorBoxes,
     ],
-    [classifiedSpatialLayer, frame, reviewAnchorBoxes, showReferenceMediaLayers, staticObstacleBoxes],
+    [frame, reviewAnchorBoxes, showReferenceMediaLayers, staticObstacleBoxes],
   );
   const semanticClasses = useMemo<readonly RecordedEvidenceSemanticClass[]>(
     () => semantic?.taxonomy.map((item) => ({

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

@@ -1,3 +1,5 @@
+import { useEffect, useState } from "react";
+
 import {
   LaboratoryEvidence,
   LaboratoryResultSummary,
@@ -8,11 +10,16 @@ import {
   vegetationVideoMaskUrl,
   type VegetationShadowResult,
 } from "../../core/laboratory/vegetationShadow";
+import {
+  fetchM49TgsFullShadowResult,
+  type M49TgsFullShadowResult,
+} from "../../core/laboratory/m49TgsFullShadow";
 import {
   M48MaskComparisonVisual,
   type M48MaskComparisonCase,
 } from "./M48FailureAtlasVisual";
 import { M4ReplayThreatVisual } from "./M4ReplayThreatVisual";
+import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
 
 function decimal(value: number, digits = 1): string {
   return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
@@ -49,6 +56,75 @@ function comparisonCases(result: VegetationShadowResult): readonly M48MaskCompar
   });
 }
 
+function VegetationRouteEvidence({ result }: { result: VegetationShadowResult }) {
+  const route = result.routeVideo!;
+  const [tgs, setTgs] = useState<M49TgsFullShadowResult | null>(null);
+  const [tgsError, setTgsError] = useState<string | null>(null);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setTgs(null);
+    setTgsError(null);
+    if (!route.linkedTgsResultId) return () => controller.abort();
+    void fetchM49TgsFullShadowResult(route.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();
+  }, [route.baseM4ResultId, route.linkedTgsResultId]);
+
+  const semantic = {
+    resultId: route.workerResultId,
+    spatialResultId: null,
+    taxonomy: route.taxonomy,
+    maskUrl: (sequence: number) => vegetationVideoMaskUrl(result.resultId, sequence),
+    label: route.viewKind === "coarse-material-policy-review"
+      ? "Coarse material evidence · recorded video"
+      : "DDRNet vegetation prediction · recorded video",
+    maskAriaLabel: route.viewKind === "coarse-material-policy-review"
+      ? "Coarse material policy evidence"
+      : "DDRNet vegetation prediction",
+  } as const;
+
+  if (route.linkedTgsResultId && tgs) {
+    return (
+      <M49TgsFullShadowEvidence
+        result={tgs}
+        semanticOverride={semantic}
+        evidenceLabel="LAB V1 · MATERIAL + YOLOX + TGS"
+      />
+    );
+  }
+  if (route.linkedTgsResultId && !tgsError) {
+    return <div className="m4-replay-threat-visual__pane-status" role="status">Открываем sealed TGS и coarse material timeline…</div>;
+  }
+  return (
+    <>
+      <M4ReplayThreatVisual
+        resultId={route.baseM4ResultId}
+        evidenceLabel="LAB V1 · DDRNet"
+        showReferenceMediaLayers={route.viewKind === "coarse-material-policy-review"}
+        showSpatialOverlaySummary={false}
+        semantic={semantic}
+      />
+      {tgsError ? (
+        <div className="m4-replay-threat-visual__pane-status" role="alert">
+          TGS слой недоступен: {tgsError}
+        </div>
+      ) : null}
+    </>
+  );
+}
+
 export function VegetationShadowResultView({
   rigLabel,
   result,
@@ -68,10 +144,14 @@ export function VegetationShadowResultView({
         <LaboratorySummary
           title="LAB V1 · готовые модели растительности"
           description={result.routeVideo
-            ? "M4.8 сохраняет truth-backed сравнение моделей, а штатный M4.7 viewer показывает фактический DDRNet prediction на всей записи RAVNOVES00. Все 4489 масок запечатаны локально и открываются без Worker 006."
+            ? result.routeVideo.viewKind === "coarse-material-policy-review"
+              ? "M4.8 сохраняет truth-backed сравнение моделей, а штатный M4.7 синхронно показывает coarse material evidence, frozen YOLOX vetoes и causal TGS на всей записи RAVNOVES00. Все слои запечатаны локально и открываются без Worker 006."
+              : "M4.8 сохраняет truth-backed сравнение моделей, а штатный M4.7 viewer показывает фактический DDRNet prediction на всей записи RAVNOVES00. Все 4489 масок запечатаны локально и открываются без Worker 006."
             : "Штатный M4.8-инструмент сравнивает две готовые fine-64 модели на полном GOOSE validation split и на 12 truth-backed hard cases, выбранных только по наличию нужной растительности. Sealed evidence открывается локально без Worker 006."}
           status={result.routeVideo
-            ? "DDRNet full-video prediction ready · route truth отсутствует"
+            ? result.routeVideo.viewKind === "coarse-material-policy-review"
+              ? "MULTILAYER POLICY REVIEW · commands OFF · route truth отсутствует"
+              : "DDRNet full-video prediction ready · route truth отсутствует"
             : "Truth-backed model comparison · route transfer не принят"}
           statusTone="warning"
           facts={[
@@ -80,15 +160,17 @@ export function VegetationShadowResultView({
             { label: "Кейсы", value: "трава · куст · ствол · крона · изгородь · лес · посевы" },
             ...(result.routeVideo ? [{
               label: "Видео",
-              value: "RAVNOVES00 · 4489/4489 DDRNet masks · exact recorded sequence",
+              value: result.routeVideo.viewKind === "coarse-material-policy-review"
+                ? "RAVNOVES00 · 4489/4489 coarse masks + YOLOX + TGS · exact sequence"
+                : "RAVNOVES00 · 4489/4489 DDRNet masks · exact recorded sequence",
             }] : []),
             { label: "Authority", value: `${rigLabel} · MODEL QUALIFICATION ONLY · commands OFF` },
           ]}
           brief={{
             question: "Какие готовые веса лучше различают проезжаемую траву, кусты и стволы на размеченных off-road кадрах?",
             approach: "Обе модели последовательно прогнаны в одном изолированном CUDA-runtime на 962 кадрах. 12 визуальных кейсов выбраны детерминированно по truth-поддержке восьми растительных классов; один M4.8 viewer показывает source, truth, prediction и material-error для выбранной модели.",
-            principalResult: `${selected.loadedModelName} лидирует по vegetation IoU: ${decimal(selected.vegetationMeanIouPercent, 2)}% против ${decimal(alternative.vegetationMeanIouPercent, 2)}%. ${result.routeVideo ? "Его фактическая temporal stability теперь видна на всех 4489 кадрах штатного recorded viewer." : "Ошибки по каждому типу проверяются в одном штатном инструменте."}`,
-            limitation: "GOOSE — внешний размеченный домен; RAVNOVES00 — наш fisheye, но без ручной truth-разметки. Full-video слой показывает prediction, а не доказывает правильность. Папоротник отдельным классом отсутствует.",
+            principalResult: `${selected.loadedModelName} лидирует по vegetation IoU: ${decimal(selected.vegetationMeanIouPercent, 2)}% против ${decimal(alternative.vegetationMeanIouPercent, 2)}%. ${result.routeVideo?.viewKind === "coarse-material-policy-review" ? "Fine-64 prediction сведён к mission-neutral материалам; YOLOX и TGS сохраняют независимое veto." : result.routeVideo ? "Его фактическая temporal stability теперь видна на всех 4489 кадрах штатного recorded viewer." : "Ошибки по каждому типу проверяются в одном штатном инструменте."}`,
+            limitation: "GOOSE — внешний размеченный домен; RAVNOVES00 — наш fisheye, но без ручной truth-разметки. Материалы — prediction, а не доказательство проходимости. TGS не проецируется в пиксели без отдельной принятой калибровки.",
           }}
           method={{
             completeness: "complete",
@@ -120,32 +202,25 @@ export function VegetationShadowResultView({
           {result.routeVideo ? (
             <LaboratoryEvidence
               eyebrow="M4.7 · RAVNOVES00 FULL VIDEO"
-              title="DDRNet PREDICTION · 4489/4489 кадров · TRUTH для этой записи отсутствует"
+              title={result.routeVideo.viewKind === "coarse-material-policy-review"
+                ? "COARSE MATERIAL + YOLOX VETO + CAUSAL TGS · 4489/4489 · TRUTH отсутствует"
+                : "DDRNet PREDICTION · 4489/4489 кадров · TRUTH для этой записи отсутствует"}
               kind="diagnostic-model"
               resizable
             >
-              <M4ReplayThreatVisual
-                resultId={result.routeVideo.baseM4ResultId}
-                evidenceLabel="LAB V1 · DDRNet"
-                showReferenceMediaLayers={false}
-                showSpatialOverlaySummary={false}
-                semantic={{
-                  resultId: result.routeVideo.workerResultId,
-                  spatialResultId: null,
-                  taxonomy: result.routeVideo.taxonomy,
-                  maskUrl: (sequence) => vegetationVideoMaskUrl(result.resultId, sequence),
-                  label: "DDRNet vegetation prediction · recorded video",
-                  maskAriaLabel: "DDRNet vegetation prediction",
-                }}
-              />
+              <VegetationRouteEvidence result={result} />
             </LaboratoryEvidence>
           ) : null}
         </>
       )}
       result={(
         <LaboratoryResultSummary
-          title="DDRNet — стартовые веса; перенос на ровер ещё не доказан"
-          status={`${selected.loadedModelName} выбран только как vegetation candidate`}
+          title={result.routeVideo?.viewKind === "coarse-material-policy-review"
+            ? "Слои собраны для визуального policy review; управление не авторизовано"
+            : "DDRNet — стартовые веса; перенос на ровер ещё не доказан"}
+          status={result.routeVideo?.viewKind === "coarse-material-policy-review"
+            ? "Materials are advisory · YOLOX/TGS veto cannot be cleared"
+            : `${selected.loadedModelName} выбран только как vegetation candidate`}
           statusTone="warning"
           metrics={[
             {
@@ -186,13 +261,17 @@ export function VegetationShadowResultView({
             ...(result.routeVideo ? [{
               label: "Route video",
               value: "4489/4489 masks",
-              hint: "DDRNet prediction · exact sequence · Worker-independent playback",
+              hint: result.routeVideo.viewKind === "coarse-material-policy-review"
+                ? "9 coarse states · YOLOX + causal TGS · Worker-independent playback"
+                : "DDRNet prediction · exact sequence · Worker-independent playback",
             }] : []),
           ]}
           conclusion={{
             proved: "Обе официальные fine-64 модели воспроизводимо запускаются на Worker 006; DDRNet лучше по aggregate vegetation IoU. Truth-backed hard cases прямо показывают траву, кусты и стволы, а не случайные автомобили и здания.",
             notProved: "Не доказаны accuracy на нашем fisheye-домене, папоротник как отдельный материал, collision safety и physical-live поведение ровера. Видео позволяет увидеть temporal stability, но без truth не превращает её в метрику качества.",
-            decision: "Смотреть полный prediction на видео и собирать конкретные temporal/domain failure cases. DDRNet остаётся diagnostic candidate; LiDAR/TGS fail-closed геометрию не ослаблять.",
+            decision: result.routeVideo?.viewKind === "coarse-material-policy-review"
+              ? "На одном M4.7 проверить ложные LOW GRASS/HIGH GRASS кандидаты против YOLOX и TGS. До truth-кейсов и integrated load этот слой не подключать к planner/actuation."
+              : "Смотреть полный prediction на видео и собирать конкретные temporal/domain failure cases. DDRNet остаётся diagnostic candidate; LiDAR/TGS fail-closed геометрию не ослаблять.",
           }}
         />
       )}

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/m49TgsFullShadow.test.mjs

@@ -108,7 +108,9 @@ test("M4.9T5 viewer prefers autonomous chunks and keeps a sealed legacy fallback
   assert.doesNotMatch(source, /centersXyM\.map\(/);
   assert.match(source, /fetchE47SemanticSlamResult/);
   assert.match(source, /next\.baseM4ResultId !== result\.source\.linkedVisualResultId/);
-  assert.match(source, /semantic=\{semantic \? \{/);
+  assert.match(source, /semantic=\{semanticOverride \?\? \(semantic \? \{/);
+  assert.match(source, /semanticOverride/);
+  assert.doesNotMatch(visual, /classifiedSpatialLayer \|\| !showReferenceMediaLayers \? \[\]/);
   assert.match(
     visual,
     /classifiedSpatialFrame\s*&&\s*classifiedSpatialFrame\.sampleAvailable !== false/,

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 +100,118 @@ 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\.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, /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, /horizontalSpeed - deceleration \* Math\.max\(0, deltaSeconds\)/);
+  assert.match(ugv, /this\.vehicle\.setBrake\(0, index\)/);
+  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

@@ -104,45 +104,89 @@ function routeVideo() {
   };
 }
 
+function coarseRouteVideo() {
+  return {
+    ...routeVideo(),
+    view_kind: "coarse-material-policy-review",
+    linked_tgs_result_id: `m49-tgs-full-shadow-${"2".repeat(64)}`,
+    taxonomy: {
+      schema_version: "missioncore.lab-v1-terrain-policy-taxonomy/v1",
+      classes: Array.from({ length: 9 }, (_, classId) => ({
+        class_id: classId,
+        label: `policy-${classId}`,
+        color_rgb: [classId, classId, classId],
+        disposition: classId === 0 ? "ambiguous" : "prediction",
+        material_class: classId === 0 ? null : "grass",
+        evidence_state: classId === 0 ? "UNOBSERVED" : "SUPPORTED_GROUND",
+      })),
+    },
+    aggregate_prediction_pixels: Array(9).fill(0),
+    mask_archive: {
+      path: "video/coarse-material-policy-masks.zip",
+      sha256: "8".repeat(64),
+      byte_length: 2048,
+    },
+    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 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({
-        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: routeVideo(),
-        access: "read-only",
-      }), { status: 200, headers: { "Content-Type": "application/json" } });
+      return new Response(JSON.stringify(labPayload()), {
+        status: 200,
+        headers: { "Content-Type": "application/json" },
+      });
     },
   });
   assert.equal(
@@ -154,6 +198,8 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
   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\//);
@@ -165,6 +211,21 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
   });
 });
 
+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, 9);
+  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 reuses the admitted M4.8 and M4.7 instruments", async () => {
   const resultSource = await readFile(
     new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
@@ -172,8 +233,10 @@ test("vegetation LAB reuses the admitted M4.8 and M4.7 instruments", async () =>
   );
   assert.match(resultSource, /M48MaskComparisonVisual/);
   assert.match(resultSource, /M4ReplayThreatVisual/);
+  assert.match(resultSource, /M49TgsFullShadowEvidence/);
+  assert.match(resultSource, /semanticOverride/);
   assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
-  assert.match(resultSource, /showReferenceMediaLayers=\{false\}/);
+  assert.match(resultSource, /linkedTgsResultId/);
   assert.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
   await assert.rejects(
     access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),

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
+  }
+}

docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md

@@ -1,6 +1,7 @@
 # Simulation Worlds — product-surface brief
 
-Status: accepted for the first working vertical slice on 2026-08-26.
+Status: accepted for the first working vertical slice on 2026-08-26; visual/physical stage boundary
+revised on 2026-08-27.
 
 ## Job story
 
@@ -57,8 +58,12 @@ Mission Core backend
 DC Gaussian Pipeline
   ├─ TUS bundle or archive admission
   ├─ secure ZIP/RAR/7z normalization
-  ├─ native Vulkan SplatTransform build on Worker 006
-  └─ bounded collision simplification + mandatory Draco publication
+  └─ native Vulkan SplatTransform visual build on Worker 006
+
+Optional physical-mesh pipeline (separate job; experimental)
+  ├─ source-mesh discovery or explicit mesh generation
+  ├─ physics-oriented cleanup and geometry budget
+  └─ compressed, digest-bound publication
 ```
 
 The browser never receives the Worker token. Mission Core does not embed archive-format behavior
@@ -76,13 +81,18 @@ SplatTransform GPU command through a confined filesystem spool to the pinned nat
 on the RTX 4090. It does not install into or share the Python, CUDA, Triton or computer-vision
 environments on the host.
 
-Collision publication is deliberately two-stage. SplatTransform generates smooth collision and
-SVO query data at a scene-type voxel size (`0.2 m` outdoors, `0.1 m` indoors/objects). The isolated
-pipeline container then bounds the debug/physics mesh to a default 250,000-triangle target and
-always writes `KHR_draco_mesh_compression` before the artifact digest is sealed. Simplification
-controls decoded geometry cost; Draco controls transfer and stored bytes and is never treated as a
-replacement for a physics mesh budget. The browser loads the result through a pinned local Draco
-WASM decoder with no external decoder request.
+Project processing is split at a durable product boundary. The mandatory first job builds only the
+preview and streamed Gaussian assets required for visual inspection. It never generates collision
+geometry, so a location can reach `ready` without paying the time, GPU-memory and storage cost of a
+physical mesh.
+
+Physical geometry is an optional second job started only after the visual world is ready. Its first
+candidate source is a mesh already present in the uploaded export (for example a PLY in
+`Mesh_Files`); generation from the Gaussian cloud is a fallback experiment, not the default path.
+The second-stage contract, cleanup method and acceptance gates are intentionally separate from the
+visual build. When that stage publishes a GLB, simplification still controls decoded physics cost
+and Draco controls transfer/storage bytes; compression is not treated as a replacement for a
+physics mesh budget.
 
 Visual and collision layers retain independent X/Y/Z correction settings, while PlayCanvas world,
 camera, navigation and future physics stay in the canonical Y-up coordinate system. Quality, both
@@ -105,7 +115,9 @@ Primary implementation references:
 - encrypted, linked, traversing, duplicate and over-limit archive entries fail closed;
 - project status is durable and reflects provider state without fabricated percentages;
 - ready artifacts are imported digest-bound and served from Mission Core same-origin URLs;
-- every published collision GLB is simplified to the configured budget and requires Draco;
+- the mandatory build requests preview and streamed Gaussian outputs with collision disabled;
+- a visual project reaches ready state without a collision artifact;
+- physical mesh preparation is a separate explicit job and never blocks visual inspection;
 - edit changes project metadata; delete removes both the Mission Core project and terminal provider
   job;
 - a ready project mounts direct PlayCanvas Engine and loads Streamed SOG with preview fallback;

experiments/perception/worker/Invoke-M49TgsIntegratedGraphShadow.ps1

@@ -12,6 +12,10 @@ param(
     [string]$RunId,
     [ValidateRange(1.0, 120.0)]
     [double]$SourceRateHz = 12.0,
+    [switch]$VegetationLoadGate,
+    [string]$VegetationAssetRoot = (
+        "D:\NDC_MISSIONCORE\datasets\vegetation-v1\observed-2026-08-27"
+    ),
     [string]$OutputRoot = (
         "D:\NDC_MISSIONCORE\runtime\results\m49-tgs-integrated-graph-shadow"
     )
@@ -23,6 +27,8 @@ $TravelImageTag = "ndc/mission-core-m49-t3-travel:20260826"
 $TravelImageId = "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f"
 $ParityImageTag = "ndc-mission-core-m48t-upstream-parity:1.9.4-cu130"
 $ParityImageId = "sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0"
+$VegetationImageTag = "ndc/mission-core-lab-v1-goose:sg3.2.0-cu117-v1"
+$VegetationImageId = "sha256:591cb382c099eeb05e7ec16e2371e0b2da54d2bb5c49ec0f4ac88dbf72b0f0cd"
 $RuntimeImage = (
     "nvcr.io/nvidia/tritonserver:26.06-py3@" +
     "sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794"
@@ -98,12 +104,20 @@ function Wait-Healthy([string]$Name) {
 function Wait-SharedReady(
     [string]$GraphReady,
     [string]$TgsReady,
+    [string]$VegetationReady,
     [string]$GraphName,
-    [string]$TgsName
+    [string]$TgsName,
+    [string]$VegetationName
 ) {
     $deadline = [DateTimeOffset]::UtcNow.AddMinutes(10)
-    while (-not ((Test-Path -LiteralPath $GraphReady) -and (Test-Path -LiteralPath $TgsReady))) {
-        foreach ($name in @($GraphName, $TgsName)) {
+    $requiredFiles = @($GraphReady, $TgsReady)
+    $requiredContainers = @($GraphName, $TgsName)
+    if (-not [string]::IsNullOrWhiteSpace($VegetationReady)) {
+        $requiredFiles += $VegetationReady
+        $requiredContainers += $VegetationName
+    }
+    while ($requiredFiles.Where({ -not (Test-Path -LiteralPath $_) }).Count -gt 0) {
+        foreach ($name in $requiredContainers) {
             $container = Get-Container $name
             if (-not $container.State.Running) {
                 & docker logs $name
@@ -128,15 +142,25 @@ $runCandidate = Join-Path $output $RunId
 if (Test-Path -LiteralPath $runCandidate) { throw "M49 integrated output already exists" }
 $null = New-Item -ItemType Directory -Path $runCandidate
 $runOutput = Resolve-DDirectory $runCandidate "M49 integrated run output" $false
-foreach ($directory in @("bin", "control", "graph", "tgs")) {
+foreach ($directory in @("bin", "control", "graph", "tgs", "vegetation")) {
     $null = New-Item -ItemType Directory -Path (Join-Path $runOutput $directory)
 }
 
 $releaseDocument = Get-Content -LiteralPath (Join-Path $payload "release.json") -Raw | ConvertFrom-Json
+$expectedReleaseSchema = if ($VegetationLoadGate) {
+    "missioncore.lab-v1-vegetation-integrated-worker-release/v3"
+} else {
+    "missioncore.m49-tgs-integrated-graph-worker-release/v1"
+}
+$expectedTransition = if ($VegetationLoadGate) {
+    "lab-v1-vegetation-m49-integrated-multirate-phased-shadow/v3"
+} else {
+    "m49-tgs-native-risk-integrated-shadow/v1"
+}
 if (
-    $releaseDocument.schema_version -cne "missioncore.m49-tgs-integrated-graph-worker-release/v1" -or
+    $releaseDocument.schema_version -cne $expectedReleaseSchema -or
     $releaseDocument.worker_id -cne "worker-006" -or
-    $releaseDocument.transition -cne "m49-tgs-native-risk-integrated-shadow/v1"
+    $releaseDocument.transition -cne $expectedTransition
 ) { throw "M49 integrated release contract changed" }
 foreach ($property in $releaseDocument.files.PSObject.Properties) {
     $path = Join-Path $payload $property.Name
@@ -146,6 +170,9 @@ foreach ($property in $releaseDocument.files.PSObject.Properties) {
 }
 $wheelSha256 = [string]$releaseDocument.files."nodedc_mission_core-0.1.0-py3-none-any.whl".sha256
 $runnerSha256 = [string]$releaseDocument.files."run_m48s_reference_graph_shadow_worker.py".sha256
+$vegetationRunnerSha256 = if ($VegetationLoadGate) {
+    [string]$releaseDocument.files."run_vegetation_integrated_load.py".sha256
+} else { "" }
 
 $source = [ordered]@{
     CameraIndex = (
@@ -178,6 +205,27 @@ foreach ($entry in $source.GetEnumerator()) {
 if ((Get-Sha256 $source.SourcePack) -cne [string]$releaseDocument.source_pack_sha256) {
     throw "RAVNOVES00 source pack digest changed"
 }
+$videoSha256 = [string]$releaseDocument.video_sha256
+if ((Get-Sha256 $source.Video) -cne $videoSha256) {
+    throw "RAVNOVES00 video digest changed"
+}
+
+$vegetation = $null
+if ($VegetationLoadGate) {
+    $vegetationRoot = Resolve-DDirectory $VegetationAssetRoot "vegetation asset root" $false
+    $vegetation = [ordered]@{
+        Dataset = Resolve-DDirectory (
+            (Join-Path $vegetationRoot "goose-2d\validation")
+        ) "GOOSE validation root" $false
+        Checkpoint = Resolve-DFile (
+            (Join-Path $vegetationRoot "models\goose\ddrnet_class_512.pth")
+        ) "DDRNet checkpoint"
+    }
+    if (
+        (Get-Sha256 $vegetation.Checkpoint) -cne
+        "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6"
+    ) { throw "DDRNet checkpoint SHA-256 changed" }
+}
 
 $nativeConfig = Resolve-DFile (
     (Join-Path $payload "rf_detr_large_native_kb4_config.pbtxt")
@@ -207,12 +255,17 @@ $pillow = Resolve-DDirectory (
 
 Assert-Image $TravelImageTag $TravelImageId
 Assert-Image $ParityImageTag $ParityImageId
+if ($VegetationLoadGate) { Assert-Image $VegetationImageTag $VegetationImageId }
 & docker image inspect $RuntimeImage *> $null
 Assert-LastExitCode "pinned runtime image inspection"
 $os = Get-CimInstance Win32_OperatingSystem
 $freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
-if ($freeMemoryGiB -lt 24.0) {
-    throw ("M49 integrated shadow requires 24 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
+$requiredMemoryGiB = if ($VegetationLoadGate) { 32.0 } else { 24.0 }
+if ($freeMemoryGiB -lt $requiredMemoryGiB) {
+    throw (
+        "M49 integrated shadow requires {0:N0} GiB free memory; observed {1:N2} GiB" -f
+        $requiredMemoryGiB, $freeMemoryGiB
+    )
 }
 $canonicalBefore = Get-Container "ndc-mission-core-triton"
 if (-not $canonicalBefore.State.Running -or $canonicalBefore.State.Health.Status -cne "healthy") {
@@ -225,9 +278,12 @@ $compileName = "ndc-mission-core-m49-integrated-compile-$RunId"
 $tritonName = "ndc-mission-core-m49-integrated-triton-$RunId"
 $graphName = "ndc-mission-core-m49-integrated-graph-$RunId"
 $tgsName = "ndc-mission-core-m49-integrated-tgs-$RunId"
+$vegetationName = "ndc-mission-core-m49-integrated-vegetation-$RunId"
 $analyzeName = "ndc-mission-core-m49-integrated-analyze-$RunId"
 $evidenceName = "ndc-mission-core-m49-integrated-evidence-$RunId"
+$vegetationEvidenceName = "ndc-mission-core-m49-integrated-vegetation-evidence-$RunId"
 $containers = @($prepareName, $compileName, $tritonName, $graphName, $tgsName, $analyzeName, $evidenceName)
+if ($VegetationLoadGate) { $containers += @($vegetationName, $vegetationEvidenceName) }
 foreach ($name in $containers) {
     if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
         throw "M49 integrated container name already exists: $name"
@@ -324,7 +380,7 @@ try {
 
     & docker create --name $tgsName --network none --cpus 16 --memory 24g `
         --read-only --security-opt "no-new-privileges:true" --cap-drop ALL `
-        --pids-limit 256 --tmpfs "/tmp:rw,noexec,nosuid,size=1g" `
+        --pids-limit 256 --tmpfs "/tmp:rw,noexec,nosuid,size=2g" `
         -e ("M49_SOURCE_RATE_HZ={0}" -f $rate) `
         --entrypoint /bin/bash `
         --volume ($dockerRelease + ":/release:ro") `
@@ -332,24 +388,78 @@ try {
         $TravelImageTag /release/run_tgs_integrated_shadow.sh *> $null
     Assert-LastExitCode "M49 integrated TGS creation"
 
+    if ($VegetationLoadGate) {
+        $dockerVegetationDataset = Convert-ToDockerPath $vegetation.Dataset
+        $dockerVegetationCheckpoint = Convert-ToDockerPath $vegetation.Checkpoint
+        & docker create --name $vegetationName --network none --cpus 8 --memory 10g `
+            --gpus all --read-only --security-opt "no-new-privileges:true" --cap-drop ALL `
+            --pids-limit 512 --tmpfs "/tmp:rw,noexec,nosuid,size=2g" `
+            -e "HOME=/tmp" `
+            --entrypoint conda `
+            --volume ($dockerRelease + ":/release:ro") `
+            --volume ($dockerRun + ":/shared:rw") `
+            --volume ($dockerVegetationDataset + ":/data/goose:ro") `
+            --volume ($dockerVegetationCheckpoint + ":/models/candidate.pth:ro") `
+            --volume ((Convert-ToDockerPath $source.Video) + ":/source/right.mp4:ro") `
+            $VegetationImageTag run --no-capture-output --name goose python `
+            /release/run_vegetation_integrated_load.py `
+            --config /release/lab-v1-goose-vegetation-benchmark-v1.json `
+            --policy /release/lab-v1-vegetation-mission-policy-v1.json `
+            --provider-map /release/lab-v1-vegetation-provider-label-map-v1.json `
+            --checkpoint /models/candidate.pth `
+            --dataset-root /data/goose `
+            --video /source/right.mp4 `
+            --video-sha256 $videoSha256 `
+            --runtime-video-cache /tmp/vegetation-right.mp4 `
+            --source-rate-hz $rate `
+            --inference-stride 2 `
+            --inference-phase-offset-ms 40.0 `
+            --minimum-effective-timeline-fps 11.209069 `
+            --minimum-effective-inference-fps 5.604534 `
+            --maximum-inference-completion-p95-ms 125.0 `
+            --maximum-evidence-source-age-ms 125.0 `
+            --shared-start-ready-file /shared/control/vegetation.ready `
+            --shared-start-file /shared/control/start.signal `
+            --frame-ledger /shared/vegetation/frames.jsonl `
+            --output /shared/vegetation/result.json `
+            --release-sha256 $ExpectedArtifactSha256 *> $null
+        Assert-LastExitCode "M49 integrated vegetation creation"
+    }
+
     & docker start $graphName *> $null
     Assert-LastExitCode "M49 integrated graph start"
     & docker start $tgsName *> $null
     Assert-LastExitCode "M49 integrated TGS start"
+    if ($VegetationLoadGate) {
+        & docker start $vegetationName *> $null
+        Assert-LastExitCode "M49 integrated vegetation start"
+    }
     $graphReady = Join-Path $runOutput "control\graph.ready"
     $tgsReady = Join-Path $runOutput "control\tgs.ready"
-    Wait-SharedReady $graphReady $tgsReady $graphName $tgsName
+    $vegetationReady = if ($VegetationLoadGate) {
+        Join-Path $runOutput "control\vegetation.ready"
+    } else { "" }
+    Wait-SharedReady $graphReady $tgsReady $vegetationReady $graphName $tgsName $vegetationName
     [DateTimeOffset]::UtcNow.ToString("o") | Set-Content -LiteralPath (
         Join-Path $runOutput "control\start.signal"
     ) -Encoding utf8
 
     $telemetryPath = Join-Path $runOutput "container-telemetry.jsonl"
+    $m49TelemetryPath = if ($VegetationLoadGate) {
+        Join-Path $runOutput "m49-container-telemetry.jsonl"
+    } else { $telemetryPath }
     while ($true) {
         $graphState = Get-Container $graphName
         $tgsState = Get-Container $tgsName
+        $vegetationState = if ($VegetationLoadGate) {
+            Get-Container $vegetationName
+        } else { $null }
         $running = @()
         if ($graphState.State.Running) { $running += $graphName }
         if ($tgsState.State.Running) { $running += $tgsName }
+        if ($VegetationLoadGate -and $vegetationState.State.Running) {
+            $running += $vegetationName
+        }
         if ((Get-Container $tritonName).State.Running) { $running += $tritonName }
         if ($running.Count -gt 0) {
             $stats = @((& docker stats --no-stream --format "{{json .}}" @running))
@@ -362,10 +472,12 @@ try {
                     "tgs"
                 } elseif ($value.Name -ceq $tritonName) {
                     "triton"
+                } elseif ($VegetationLoadGate -and $value.Name -ceq $vegetationName) {
+                    "vegetation"
                 } else {
                     throw "Unknown M49 telemetry container"
                 }
-                [ordered]@{
+                $telemetryRow = [ordered]@{
                     observed_utc = [DateTimeOffset]::UtcNow.ToString("o")
                     role = $role
                     name = [string]$value.Name
@@ -373,23 +485,46 @@ try {
                     memory_usage = [string]$value.MemUsage
                     memory_percent = [string]$value.MemPerc
                     pids = [string]$value.PIDs
-                } | ConvertTo-Json -Compress | Out-File -LiteralPath $telemetryPath -Encoding utf8 -Append
+                } | ConvertTo-Json -Compress
+                $telemetryRow | Out-File -LiteralPath $telemetryPath -Encoding utf8 -Append
+                if ($VegetationLoadGate -and $role -cne "vegetation") {
+                    $telemetryRow | Out-File -LiteralPath $m49TelemetryPath -Encoding utf8 -Append
+                }
             }
         }
-        if (-not $graphState.State.Running -and -not $tgsState.State.Running) { break }
+        $vegetationStopped = -not $VegetationLoadGate -or -not $vegetationState.State.Running
+        if (
+            -not $graphState.State.Running -and
+            -not $tgsState.State.Running -and
+            $vegetationStopped
+        ) { break }
         Start-Sleep -Seconds 1
     }
     $graphExit = [int](Get-Container $graphName).State.ExitCode
     $tgsExit = [int](Get-Container $tgsName).State.ExitCode
+    $vegetationExit = if ($VegetationLoadGate) {
+        [int](Get-Container $vegetationName).State.ExitCode
+    } else { 0 }
     $previousErrorAction = $ErrorActionPreference
     $ErrorActionPreference = "Continue"
     $graphLogs = & docker logs $graphName 2>&1
     $tgsLogs = & docker logs $tgsName 2>&1
+    $vegetationLogs = if ($VegetationLoadGate) {
+        & docker logs $vegetationName 2>&1
+    } else { @() }
     $ErrorActionPreference = $previousErrorAction
     $graphLogs | Set-Content -LiteralPath (Join-Path $runOutput "graph.log") -Encoding utf8
     $tgsLogs | Set-Content -LiteralPath (Join-Path $runOutput "tgs.log") -Encoding utf8
+    if ($VegetationLoadGate) {
+        $vegetationLogs | Set-Content -LiteralPath (
+            Join-Path $runOutput "vegetation.log"
+        ) -Encoding utf8
+    }
     if ($graphExit -ne 0) { throw "M49 integrated graph failed with exit code $graphExit" }
     if ($tgsExit -ne 0) { throw "M49 integrated TGS failed with exit code $tgsExit" }
+    if ($vegetationExit -ne 0) {
+        throw "M49 integrated vegetation failed with exit code $vegetationExit"
+    }
 
     & docker run --rm --name $analyzeName --network none --cpus 8 --memory 16g `
         --entrypoint python3 `
@@ -401,6 +536,12 @@ try {
         --output-root /shared/tgs/evidence
     Assert-LastExitCode "M49 integrated TGS evidence analysis"
 
+    $m49ResultPath = if ($VegetationLoadGate) {
+        "/shared/m49-result.json"
+    } else { "/shared/result.json" }
+    $dockerM49TelemetryPath = if ($VegetationLoadGate) {
+        "/shared/m49-container-telemetry.jsonl"
+    } else { "/shared/container-telemetry.jsonl" }
     & docker run --rm --name $evidenceName --network none --cpus 4 --memory 8g `
         --entrypoint python3 `
         --volume ($dockerRelease + ":/release:ro") `
@@ -411,10 +552,28 @@ try {
         --graph-frames /shared/graph/frames.jsonl `
         --tgs-result /shared/tgs/evidence/result.json `
         --tgs-timing /shared/tgs/tgs-full-timing.tsv `
-        --telemetry /shared/container-telemetry.jsonl `
-        --output /shared/result.json `
+        --telemetry $dockerM49TelemetryPath `
+        --output $m49ResultPath `
         --release-sha256 $ExpectedArtifactSha256
     Assert-LastExitCode "M49 integrated evidence gate"
+
+    if ($VegetationLoadGate) {
+        & docker run --rm --name $vegetationEvidenceName --network none --cpus 4 --memory 8g `
+            --entrypoint python3 `
+            --volume ($dockerRelease + ":/release:ro") `
+            --volume ($dockerRun + ":/shared:rw") `
+            $ParityImageTag /release/build_vegetation_integrated_graph_evidence.py `
+            --profile /release/lab-v1-vegetation-integrated-multirate-phased-shadow-v3.json `
+            --m49-result /shared/m49-result.json `
+            --graph-frames /shared/graph/frames.jsonl `
+            --tgs-timing /shared/tgs/tgs-full-timing.tsv `
+            --vegetation-result /shared/vegetation/result.json `
+            --vegetation-frames /shared/vegetation/frames.jsonl `
+            --telemetry /shared/container-telemetry.jsonl `
+            --output /shared/result.json `
+            --release-sha256 $ExpectedArtifactSha256
+        Assert-LastExitCode "M49 integrated vegetation evidence gate"
+    }
 } finally {
     foreach ($name in $containers) { Remove-ExactContainer $name }
     $canonicalAfter = Get-Container "ndc-mission-core-triton"
@@ -432,7 +591,11 @@ if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
 }
 $result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
 $summary = [ordered]@{
-    schema_version = "missioncore.m49-tgs-integrated-graph-worker-summary/v1"
+    schema_version = if ($VegetationLoadGate) {
+        "missioncore.lab-v1-vegetation-integrated-worker-summary/v3"
+    } else {
+        "missioncore.m49-tgs-integrated-graph-worker-summary/v1"
+    }
     worker_id = "worker-006"
     run_id = $RunId
     code_revision = [string]$releaseDocument.code_revision
@@ -443,6 +606,7 @@ $summary = [ordered]@{
     free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
     result_id = [string]$result.result_id
     result_status = [string]$result.status
+    vegetation_load_gate = [bool]$VegetationLoadGate
     canonical_triton_id = $canonicalId
     canonical_triton_health = "healthy"
     gauss_or_playcanvas_action = "none"

experiments/perception/worker/lab_v1_vegetation_goose/run_vegetation_integrated_load.py

@@ -0,0 +1,398 @@
+#!/usr/bin/env python3
+"""Run source-paced DDRNet beside the frozen M4 graph and TGS shadow."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import math
+import platform
+import shutil
+import statistics
+import time
+from pathlib import Path
+from typing import Any
+
+import cv2
+import torch
+from PIL import Image
+from run_goose_vegetation_benchmark import (
+    infer,
+    load_mapping,
+    load_model,
+    percentile,
+    preprocess,
+    read_json,
+    sha256,
+    stable_digest,
+    validate_contracts,
+)
+
+SCHEMA = "missioncore.lab-v1-vegetation-integrated-load/v3"
+FRAME_SCHEMA = "missioncore.lab-v1-vegetation-integrated-frame/v2"
+FRAME_COUNT = 4_489
+AUTHORITY = {
+    "ground_truth": False,
+    "candidate_accepted": False,
+    "camera_semantics_can_clear_rigid_geometry": False,
+    "commands_enabled": False,
+    "actuation_allowed": False,
+    "navigation_or_safety_accepted": False,
+    "production_accepted": False,
+}
+
+
+class IntegratedLoadError(RuntimeError):
+    """The bounded integrated-load contract is incomplete or changed."""
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--config", type=Path, required=True)
+    parser.add_argument("--policy", type=Path, required=True)
+    parser.add_argument("--provider-map", type=Path, required=True)
+    parser.add_argument("--checkpoint", type=Path, required=True)
+    parser.add_argument("--dataset-root", type=Path, required=True)
+    parser.add_argument("--video", type=Path, required=True)
+    parser.add_argument("--video-sha256", required=True)
+    parser.add_argument("--runtime-video-cache", type=Path, required=True)
+    parser.add_argument("--source-rate-hz", type=float, required=True)
+    parser.add_argument("--inference-stride", type=int, required=True)
+    parser.add_argument("--inference-phase-offset-ms", type=float, required=True)
+    parser.add_argument("--minimum-effective-timeline-fps", type=float, required=True)
+    parser.add_argument("--minimum-effective-inference-fps", type=float, required=True)
+    parser.add_argument("--maximum-inference-completion-p95-ms", type=float, required=True)
+    parser.add_argument("--maximum-evidence-source-age-ms", type=float, required=True)
+    parser.add_argument("--shared-start-ready-file", type=Path, required=True)
+    parser.add_argument("--shared-start-file", type=Path, required=True)
+    parser.add_argument("--shared-start-timeout-seconds", type=float, default=600.0)
+    parser.add_argument("--frame-ledger", type=Path, required=True)
+    parser.add_argument("--output", type=Path, required=True)
+    parser.add_argument("--release-sha256", required=True)
+    return parser.parse_args()
+
+
+def wait_for_shared_start(ready_file: Path, start_file: Path, timeout_seconds: float) -> None:
+    if ready_file.exists():
+        raise IntegratedLoadError("shared-start ready file already exists")
+    ready_file.parent.mkdir(mode=0o700, parents=True, exist_ok=True)
+    ready_file.write_text("ready\n", encoding="utf-8")
+    deadline = time.monotonic() + timeout_seconds
+    while not start_file.is_file():
+        if time.monotonic() >= deadline:
+            raise IntegratedLoadError("shared-start barrier timed out")
+        time.sleep(0.01)
+
+
+def distribution(values: list[float]) -> dict[str, float]:
+    return {
+        "mean": round(statistics.fmean(values), 6),
+        "p50": round(percentile(values, 0.50), 6),
+        "p95": round(percentile(values, 0.95), 6),
+        "p99": round(percentile(values, 0.99), 6),
+        "maximum": round(max(values), 6),
+    }
+
+
+def open_video(path: Path) -> cv2.VideoCapture:
+    if path.is_symlink() or not path.is_file():
+        raise IntegratedLoadError("RAVNOVES video is unavailable")
+    capture = cv2.VideoCapture(str(path))
+    if not capture.isOpened():
+        raise IntegratedLoadError("RAVNOVES video decoder did not open")
+    return capture
+
+
+def decode_source(capture: cv2.VideoCapture, expected_size: tuple[int, int]) -> Image.Image:
+    available, bgr = capture.read()
+    if not available or bgr is None:
+        raise IntegratedLoadError("RAVNOVES video ended before the frozen frame count")
+    if (bgr.shape[1], bgr.shape[0]) != expected_size:
+        raise IntegratedLoadError("RAVNOVES decoded frame dimensions changed")
+    return Image.fromarray(cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB), mode="RGB")
+
+
+def validate_sha256(value: str, label: str) -> None:
+    if len(value) != 64 or any(character not in "0123456789abcdef" for character in value):
+        raise IntegratedLoadError(f"{label} SHA-256 is invalid")
+
+
+def buffer_compressed_video(source: Path, target: Path, expected_sha256: str) -> dict[str, Any]:
+    if source.is_symlink() or not source.is_file():
+        raise IntegratedLoadError("RAVNOVES video is unavailable")
+    if target.exists() or target.is_symlink():
+        raise IntegratedLoadError("RAVNOVES runtime video cache already exists")
+    if not target.parent.is_dir():
+        raise IntegratedLoadError("RAVNOVES runtime video cache parent is unavailable")
+    started = time.monotonic_ns()
+    shutil.copyfile(source, target)
+    copied_bytes = target.stat().st_size
+    if copied_bytes != source.stat().st_size:
+        raise IntegratedLoadError("RAVNOVES runtime video cache size changed")
+    copied_sha256 = sha256(target)
+    if copied_sha256 != expected_sha256:
+        raise IntegratedLoadError("RAVNOVES runtime video cache digest changed")
+    return {
+        "bytes": copied_bytes,
+        "sha256": copied_sha256,
+        "seconds": round((time.monotonic_ns() - started) / 1_000_000_000.0, 6),
+    }
+
+
+def run() -> int:
+    args = parse_args()
+    if not torch.cuda.is_available():
+        raise IntegratedLoadError("CUDA is required for Worker 006 qualification")
+    positive_finite_values = (
+        args.source_rate_hz,
+        args.minimum_effective_timeline_fps,
+        args.minimum_effective_inference_fps,
+        args.maximum_inference_completion_p95_ms,
+        args.maximum_evidence_source_age_ms,
+        args.shared_start_timeout_seconds,
+    )
+    if args.inference_stride <= 0 or any(
+        not math.isfinite(value) or value <= 0 for value in positive_finite_values
+    ):
+        raise IntegratedLoadError("integrated-load thresholds must be positive and finite")
+    if (
+        not math.isfinite(args.inference_phase_offset_ms)
+        or args.inference_phase_offset_ms < 0
+        or args.inference_phase_offset_ms >= 1000.0 / args.source_rate_hz
+    ):
+        raise IntegratedLoadError("inference phase offset must fit inside one source interval")
+    validate_sha256(args.release_sha256, "release")
+    validate_sha256(args.video_sha256, "video")
+    if args.output.exists() or args.frame_ledger.exists():
+        raise IntegratedLoadError("integrated-load output already exists")
+
+    config = read_json(args.config, "benchmark config")
+    policy = read_json(args.policy, "mission policy")
+    provider_map = read_json(args.provider_map, "provider map")
+    candidate = validate_contracts(config, policy, provider_map, "ddrnet")
+    if args.checkpoint.is_symlink() or not args.checkpoint.is_file():
+        raise IntegratedLoadError("DDRNet checkpoint is unavailable")
+    if args.checkpoint.stat().st_size != candidate["checkpoint_size_bytes"]:
+        raise IntegratedLoadError("DDRNet checkpoint size changed")
+    checkpoint_sha256 = sha256(args.checkpoint)
+    if checkpoint_sha256 != candidate["checkpoint_sha256"]:
+        raise IntegratedLoadError("DDRNet checkpoint digest changed")
+    mapping_path = args.dataset_root / config["dataset"]["mapping_relative_path"]
+    load_mapping(mapping_path, config["dataset"]["mapping_sha256"])
+    expected_size = (
+        config["ravnoves"]["expected_width"],
+        config["ravnoves"]["expected_height"],
+    )
+    compressed_video_buffer = buffer_compressed_video(
+        args.video, args.runtime_video_cache, args.video_sha256
+    )
+    warmup_capture = open_video(args.runtime_video_cache)
+    warmup_source = decode_source(warmup_capture, expected_size)
+    warmup_capture.release()
+
+    torch.cuda.empty_cache()
+    model, model_name, architecture_failures = load_model("ddrnet", args.checkpoint)
+    warmup_tensor, _ = preprocess(warmup_source)
+    warmup_latencies_ms = [infer(model, warmup_tensor)[1] for _ in range(3)]
+    torch.cuda.reset_peak_memory_stats()
+    source_capture = open_video(args.runtime_video_cache)
+    wait_for_shared_start(
+        args.shared_start_ready_file,
+        args.shared_start_file,
+        args.shared_start_timeout_seconds,
+    )
+
+    interval_ns = 1_000_000_000.0 / args.source_rate_hz
+    start_ns = time.monotonic_ns()
+    started_utc_ns = time.time_ns()
+    completion_ages_ms: list[float] = []
+    inference_completion_ages_ms: list[float] = []
+    evidence_source_ages_ms: list[float] = []
+    stage_latencies_ms: list[float] = []
+    inference_latencies_ms: list[float] = []
+    late_deadline_count = 0
+    inference_frame_count = 0
+    last_inference_sequence = -1
+    args.frame_ledger.parent.mkdir(parents=True, exist_ok=True)
+    with args.frame_ledger.open("x", encoding="utf-8") as ledger:
+        for sequence in range(FRAME_COUNT):
+            scheduled_ns = start_ns + round(sequence * interval_ns)
+            inference_executed = sequence % args.inference_stride == 0
+            execution_target_ns = scheduled_ns
+            if inference_executed:
+                execution_target_ns += round(args.inference_phase_offset_ms * 1_000_000.0)
+            remaining_ns = execution_target_ns - time.monotonic_ns()
+            if remaining_ns > 0:
+                time.sleep(remaining_ns / 1_000_000_000.0)
+            admitted_ns = time.monotonic_ns()
+            source = decode_source(source_capture, expected_size)
+            inference_ms: float | None = None
+            if inference_executed:
+                tensor, _ = preprocess(source)
+                _, inference_ms = infer(model, tensor)
+                last_inference_sequence = sequence
+                inference_frame_count += 1
+            if last_inference_sequence < 0:
+                raise IntegratedLoadError("semantic evidence is unavailable for the timeline")
+            completed_ns = time.monotonic_ns()
+            completion_age_ms = (completed_ns - scheduled_ns) / 1_000_000.0
+            stage_ms = (completed_ns - admitted_ns) / 1_000_000.0
+            semantic_source_scheduled_ns = start_ns + round(
+                last_inference_sequence * interval_ns
+            )
+            evidence_source_age_ms = (
+                completed_ns - semantic_source_scheduled_ns
+            ) / 1_000_000.0
+            completion_ages_ms.append(completion_age_ms)
+            evidence_source_ages_ms.append(evidence_source_age_ms)
+            stage_latencies_ms.append(stage_ms)
+            if inference_ms is not None:
+                inference_latencies_ms.append(inference_ms)
+                inference_completion_ages_ms.append(completion_age_ms)
+            if sequence + 1 < FRAME_COUNT and completed_ns > start_ns + round(
+                (sequence + 1) * interval_ns
+            ):
+                late_deadline_count += 1
+            row = {
+                "schema_version": FRAME_SCHEMA,
+                "sequence": sequence,
+                "frame_name": f"frame-{sequence + 1:06d}",
+                "scheduled_monotonic_ns": scheduled_ns,
+                "admitted_monotonic_ns": admitted_ns,
+                "completed_monotonic_ns": completed_ns,
+                "completion_age_ms": round(completion_age_ms, 6),
+                "stage_ms": round(stage_ms, 6),
+                "inference_executed": inference_executed,
+                "inference_phase_offset_ms": args.inference_phase_offset_ms
+                if inference_executed
+                else 0.0,
+                "inference_ms": round(inference_ms, 6) if inference_ms is not None else None,
+                "semantic_source_sequence": last_inference_sequence,
+                "semantic_evidence_source_age_ms": round(evidence_source_age_ms, 6),
+            }
+            ledger.write(json.dumps(row, sort_keys=True, separators=(",", ":")) + "\n")
+            if sequence % 64 == 0:
+                ledger.flush()
+    extra_available, _ = source_capture.read()
+    source_capture.release()
+    if extra_available:
+        raise IntegratedLoadError("RAVNOVES video contains frames beyond the frozen timeline")
+
+    completed_ns = time.monotonic_ns()
+    wall_seconds = (completed_ns - start_ns) / 1_000_000_000.0
+    effective_timeline_fps = FRAME_COUNT / wall_seconds
+    effective_inference_fps = inference_frame_count / wall_seconds
+    completion = distribution(completion_ages_ms)
+    inference_completion = distribution(inference_completion_ages_ms)
+    evidence_source_age = distribution(evidence_source_ages_ms)
+    expected_inference_frames = (FRAME_COUNT + args.inference_stride - 1) // args.inference_stride
+    checks = {
+        "all_frames_accounted": len(completion_ages_ms) == FRAME_COUNT,
+        "exact_multirate_schedule": inference_frame_count == expected_inference_frames,
+        "inference_phase_offset_preserved": args.inference_phase_offset_ms
+        < 1000.0 / args.source_rate_hz,
+        "minimum_effective_timeline_fps": effective_timeline_fps
+        >= args.minimum_effective_timeline_fps,
+        "minimum_effective_inference_fps": effective_inference_fps
+        >= args.minimum_effective_inference_fps,
+        "maximum_inference_completion_p95_ms": inference_completion["p95"]
+        <= args.maximum_inference_completion_p95_ms,
+        "maximum_evidence_source_age_ms": evidence_source_age["maximum"]
+        <= args.maximum_evidence_source_age_ms,
+        "zero_capacity_drops": len(completion_ages_ms) == FRAME_COUNT,
+        "authority_remains_false": all(value is False for value in AUTHORITY.values()),
+    }
+    result: dict[str, Any] = {
+        "schema_version": SCHEMA,
+        "worker_id": "worker-006",
+        "source": {
+            "source_id": config["ravnoves"]["source_id"],
+            "frame_count": FRAME_COUNT,
+            "requested_source_rate_hz": args.source_rate_hz,
+            "raw_fisheye_immutable": True,
+            "ground_truth_available": False,
+        },
+        "candidate": {
+            "candidate_id": candidate["candidate_id"],
+            "candidate_key": "ddrnet",
+            "loaded_model_name": model_name,
+            "architecture_probe_failures": architecture_failures,
+            "checkpoint_size_bytes": args.checkpoint.stat().st_size,
+            "checkpoint_sha256": checkpoint_sha256,
+        },
+        "execution": {
+            "run_mode": "source-paced-multirate-integrated-shadow/v2",
+            "started_utc_ns": started_utc_ns,
+            "wall_seconds": round(wall_seconds, 6),
+            "effective_fps": round(effective_timeline_fps, 6),
+            "effective_timeline_fps": round(effective_timeline_fps, 6),
+            "effective_inference_fps": round(effective_inference_fps, 6),
+            "inference_stride": args.inference_stride,
+            "inference_phase_offset_ms": args.inference_phase_offset_ms,
+            "inference_frame_count": inference_frame_count,
+            "held_evidence_frame_count": FRAME_COUNT - inference_frame_count,
+            "frame_count": FRAME_COUNT,
+            "capacity_drop_count": 0,
+            "deadline_miss_count": late_deadline_count,
+            "source_decode": {
+                "mode": "bounded-compressed-scene-buffer/v1",
+                "compressed_scene_prefetch": True,
+                "compressed_scene_buffer": compressed_video_buffer,
+                "full_route_rgb_prefetch": False,
+                "candidate_local_decoder": True,
+                "runtime_target": "shared-source-frame",
+            },
+            "frame_ledger": {
+                "path": args.frame_ledger.name,
+                "rows": FRAME_COUNT,
+                "sha256": sha256(args.frame_ledger),
+            },
+        },
+        "timing": {
+            "prewarm_inference_count": len(warmup_latencies_ms),
+            "prewarm_latency_ms_first": round(warmup_latencies_ms[0], 6),
+            "prewarm_latency_ms_last": round(warmup_latencies_ms[-1], 6),
+            "completion_age_ms": completion,
+            "inference_completion_age_ms": inference_completion,
+            "semantic_evidence_source_age_ms": evidence_source_age,
+            "stage_ms": distribution(stage_latencies_ms),
+            "inference_ms": distribution(inference_latencies_ms),
+        },
+        "resource": {
+            "gpu_name": torch.cuda.get_device_name(0),
+            "peak_allocated_vram_bytes": int(torch.cuda.max_memory_allocated()),
+            "peak_reserved_vram_bytes": int(torch.cuda.max_memory_reserved()),
+            "torch_version": torch.__version__,
+            "cuda_runtime_version": torch.version.cuda,
+            "python_version": platform.python_version(),
+        },
+        "identity": {
+            "release_sha256": args.release_sha256,
+            "config_sha256": sha256(args.config),
+            "policy_sha256": sha256(args.policy),
+            "provider_map_sha256": sha256(args.provider_map),
+            "runner_sha256": sha256(Path(__file__)),
+        },
+        "predeclared_thresholds": {
+            "minimum_effective_timeline_fps": args.minimum_effective_timeline_fps,
+            "minimum_effective_inference_fps": args.minimum_effective_inference_fps,
+            "inference_phase_offset_ms": args.inference_phase_offset_ms,
+            "maximum_inference_completion_p95_ms": (
+                args.maximum_inference_completion_p95_ms
+            ),
+            "maximum_evidence_source_age_ms": args.maximum_evidence_source_age_ms,
+            "capacity_drop_count_max": 0,
+        },
+        "checks": checks,
+        "integrated_load_gate_passed": all(checks.values()),
+        "authority": AUTHORITY,
+    }
+    result["result_id"] = f"lab-v1-vegetation-integrated-{stable_digest(result)}"
+    args.output.parent.mkdir(parents=True, exist_ok=True)
+    args.output.write_text(json.dumps(result, indent=2, sort_keys=True) + "\n", encoding="utf-8")
+    print(json.dumps({"result_id": result["result_id"], "passed": all(checks.values())}))
+    return 0 if all(checks.values()) else 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(run())

experiments/perception/worker/m49_t3_travel/build_vegetation_integrated_graph_evidence.py

@@ -0,0 +1,461 @@
+#!/usr/bin/env python3
+"""Seal the synchronized RF-DETR, TGS and DDRNet Worker 006 load gate."""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import hashlib
+import json
+import math
+import re
+from collections import defaultdict
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+
+PROFILE_SCHEMA = "missioncore.lab-v1-vegetation-integrated-shadow-profile/v3"
+M49_SCHEMA = "missioncore.m49-tgs-integrated-graph-shadow-result/v1"
+VEGETATION_SCHEMA = "missioncore.lab-v1-vegetation-integrated-load/v3"
+RESULT_SCHEMA = "missioncore.lab-v1-vegetation-integrated-shadow-result/v3"
+FRAME_COUNT = 4_489
+
+
+class VegetationIntegratedError(RuntimeError):
+    """The synchronized three-layer load evidence is incomplete."""
+
+
+def canonical_json(value: object) -> bytes:
+    return json.dumps(value, sort_keys=True, separators=(",", ":")).encode("utf-8")
+
+
+def sha256_file(path: Path) -> str:
+    digest = hashlib.sha256()
+    with path.open("rb") as stream:
+        for chunk in iter(lambda: stream.read(1024 * 1024), b""):
+            digest.update(chunk)
+    return digest.hexdigest()
+
+
+def load_json(path: Path, label: str) -> dict[str, Any]:
+    try:
+        value = json.loads(path.read_text(encoding="utf-8-sig"))
+    except (OSError, json.JSONDecodeError) as exc:
+        raise VegetationIntegratedError(f"{label} is unreadable") from exc
+    if not isinstance(value, dict):
+        raise VegetationIntegratedError(f"{label} is not an object")
+    return value
+
+
+def distribution(values: list[float]) -> dict[str, float]:
+    if not values:
+        raise VegetationIntegratedError("timing distribution is empty")
+    array = np.asarray(values, dtype=np.float64)
+    return {
+        "mean": round(float(array.mean()), 6),
+        "p50": round(float(np.percentile(array, 50)), 6),
+        "p95": round(float(np.percentile(array, 95)), 6),
+        "p99": round(float(np.percentile(array, 99)), 6),
+        "maximum": round(float(array.max()), 6),
+    }
+
+
+def graph_completion_ages(path: Path) -> list[float]:
+    values: list[float] = []
+    with path.open("r", encoding="utf-8") as stream:
+        for expected, line in enumerate(stream):
+            row = json.loads(line)
+            if row.get("source_envelope", {}).get("sequence") != expected:
+                raise VegetationIntegratedError("graph frame sequence changed")
+            age = row.get("completion_age_ns")
+            if not isinstance(age, int) or age < 0:
+                raise VegetationIntegratedError("graph completion age is invalid")
+            values.append(age / 1_000_000.0)
+    if len(values) != FRAME_COUNT:
+        raise VegetationIntegratedError("graph frame ledger is incomplete")
+    return values
+
+
+def tgs_completion_ages(path: Path) -> list[float]:
+    values: list[float] = []
+    with path.open("r", encoding="utf-8", newline="") as stream:
+        for expected, row in enumerate(csv.DictReader(stream, delimiter="\t")):
+            if int(row["timeline_frame_index"]) != expected:
+                raise VegetationIntegratedError("TGS timing sequence changed")
+            age = float(row["completion_age_ms"])
+            if not math.isfinite(age) or age < 0:
+                raise VegetationIntegratedError("TGS completion age is invalid")
+            values.append(age)
+    if len(values) != FRAME_COUNT:
+        raise VegetationIntegratedError("TGS timing ledger is incomplete")
+    return values
+
+
+def vegetation_frame_metrics(
+    path: Path,
+    *,
+    inference_stride: int,
+    inference_phase_offset_ms: float,
+    source_rate_hz: float,
+) -> dict[str, object]:
+    completion_ages: list[float] = []
+    evidence_source_ages: list[float] = []
+    inference_count = 0
+    with path.open("r", encoding="utf-8") as stream:
+        for expected, line in enumerate(stream):
+            row = json.loads(line)
+            if row.get("schema_version") != "missioncore.lab-v1-vegetation-integrated-frame/v2":
+                raise VegetationIntegratedError("vegetation frame schema changed")
+            if row.get("sequence") != expected:
+                raise VegetationIntegratedError("vegetation frame sequence changed")
+            age = row.get("completion_age_ms")
+            if not isinstance(age, (int, float)) or not math.isfinite(age) or age < 0:
+                raise VegetationIntegratedError("vegetation completion age is invalid")
+            inference_executed = row.get("inference_executed")
+            expected_inference = expected % inference_stride == 0
+            if inference_executed is not expected_inference:
+                raise VegetationIntegratedError("vegetation inference schedule changed")
+            expected_phase = inference_phase_offset_ms if expected_inference else 0.0
+            phase = row.get("inference_phase_offset_ms")
+            if not isinstance(phase, (int, float)) or float(phase) != expected_phase:
+                raise VegetationIntegratedError("vegetation inference phase changed")
+            if expected_inference and float(age) + 0.001 < expected_phase:
+                raise VegetationIntegratedError("vegetation inference phase attribution changed")
+            expected_source = expected - (expected % inference_stride)
+            if row.get("semantic_source_sequence") != expected_source:
+                raise VegetationIntegratedError("vegetation evidence source changed")
+            evidence_age = row.get("semantic_evidence_source_age_ms")
+            expected_evidence_age = float(age) + (
+                (expected - expected_source) * 1000.0 / source_rate_hz
+            )
+            if (
+                not isinstance(evidence_age, (int, float))
+                or not math.isfinite(evidence_age)
+                or evidence_age < 0
+                or abs(float(evidence_age) - expected_evidence_age) > 0.001
+            ):
+                raise VegetationIntegratedError("vegetation evidence source age changed")
+            completion_ages.append(float(age))
+            evidence_source_ages.append(float(evidence_age))
+            inference_count += int(expected_inference)
+    if len(completion_ages) != FRAME_COUNT:
+        raise VegetationIntegratedError("vegetation frame ledger is incomplete")
+    return {
+        "completion_ages": completion_ages,
+        "evidence_source_ages": evidence_source_ages,
+        "inference_count": inference_count,
+        "held_count": FRAME_COUNT - inference_count,
+    }
+
+
+_SIZE = re.compile(r"^\s*([0-9.]+)\s*([kmgt]?i?b)\s*$", re.IGNORECASE)
+
+
+def size_mib(value: str) -> float:
+    match = _SIZE.fullmatch(value)
+    if match is None:
+        raise VegetationIntegratedError("container memory telemetry is invalid")
+    number = float(match.group(1))
+    scale = {
+        "b": 1.0 / (1024.0 * 1024.0),
+        "kb": 1.0 / 1024.0,
+        "kib": 1.0 / 1024.0,
+        "mb": 1.0,
+        "mib": 1.0,
+        "gb": 1024.0,
+        "gib": 1024.0,
+        "tb": 1024.0 * 1024.0,
+        "tib": 1024.0 * 1024.0,
+    }[match.group(2).lower()]
+    return number * scale
+
+
+def host_telemetry(path: Path) -> dict[str, object]:
+    roles = ("graph", "tgs", "triton", "vegetation")
+    samples: dict[str, list[dict[str, float]]] = defaultdict(list)
+    with path.open("r", encoding="utf-8-sig") as stream:
+        for line in stream:
+            row = json.loads(line)
+            role = row.get("role")
+            if role not in roles:
+                raise VegetationIntegratedError("container telemetry role changed")
+            cpu = row.get("cpu_percent")
+            memory = row.get("memory_usage")
+            memory_percent = row.get("memory_percent")
+            if not all(isinstance(value, str) for value in (cpu, memory, memory_percent)):
+                raise VegetationIntegratedError("container telemetry row is incomplete")
+            assert isinstance(cpu, str) and isinstance(memory, str)
+            assert isinstance(memory_percent, str)
+            samples[role].append(
+                {
+                    "cpu_percent": float(cpu.rstrip("%")),
+                    "memory_used_mib": size_mib(memory.split("/", 1)[0].strip()),
+                    "memory_percent": float(memory_percent.rstrip("%")),
+                }
+            )
+    if any(not samples[role] for role in roles):
+        raise VegetationIntegratedError("container telemetry does not cover every runtime role")
+    return {
+        role: {
+            "sample_count": len(samples[role]),
+            "cpu_percent": distribution([row["cpu_percent"] for row in samples[role]]),
+            "memory_used_mib": distribution(
+                [row["memory_used_mib"] for row in samples[role]]
+            ),
+            "memory_percent": distribution(
+                [row["memory_percent"] for row in samples[role]]
+            ),
+        }
+        for role in roles
+    }
+
+
+def build(
+    *,
+    profile_path: Path,
+    m49_result_path: Path,
+    graph_frames_path: Path,
+    tgs_timing_path: Path,
+    vegetation_result_path: Path,
+    vegetation_frames_path: Path,
+    telemetry_path: Path,
+    output_path: Path,
+    release_sha256: str,
+) -> dict[str, object]:
+    if output_path.exists():
+        raise VegetationIntegratedError("integrated vegetation result already exists")
+    if len(release_sha256) != 64 or any(
+        character not in "0123456789abcdef" for character in release_sha256
+    ):
+        raise VegetationIntegratedError("release SHA-256 is invalid")
+    profile = load_json(profile_path, "integrated vegetation profile")
+    m49 = load_json(m49_result_path, "M49 integrated result")
+    vegetation = load_json(vegetation_result_path, "vegetation load result")
+    if profile.get("schema_version") != PROFILE_SCHEMA:
+        raise VegetationIntegratedError("integrated vegetation profile schema changed")
+    if m49.get("schema_version") != M49_SCHEMA:
+        raise VegetationIntegratedError("M49 integrated result schema changed")
+    if vegetation.get("schema_version") != VEGETATION_SCHEMA:
+        raise VegetationIntegratedError("vegetation load result schema changed")
+
+    source_rate_hz = float(profile["source"]["requested_source_rate_hz"])
+    inference_stride = int(profile["stages"]["vegetation"]["inference_stride"])
+    inference_phase_offset_ms = float(
+        profile["stages"]["vegetation"]["inference_phase_offset_ms"]
+    )
+    if (
+        not math.isfinite(source_rate_hz)
+        or source_rate_hz <= 0
+        or inference_stride <= 0
+        or not math.isfinite(inference_phase_offset_ms)
+        or inference_phase_offset_ms < 0
+        or inference_phase_offset_ms >= 1000.0 / source_rate_hz
+    ):
+        raise VegetationIntegratedError("vegetation multirate schedule is invalid")
+    graph_ages = graph_completion_ages(graph_frames_path)
+    tgs_ages = tgs_completion_ages(tgs_timing_path)
+    vegetation_frames = vegetation_frame_metrics(
+        vegetation_frames_path,
+        inference_stride=inference_stride,
+        inference_phase_offset_ms=inference_phase_offset_ms,
+        source_rate_hz=source_rate_hz,
+    )
+    vegetation_ages = vegetation_frames["completion_ages"]
+    assert isinstance(vegetation_ages, list)
+    combined_ages = [
+        max(graph, tgs, semantic)
+        for graph, tgs, semantic in zip(
+            graph_ages, tgs_ages, vegetation_ages, strict=True
+        )
+    ]
+    combined = distribution(combined_ages)
+    telemetry = host_telemetry(telemetry_path)
+    acceptance = profile["acceptance"]
+    vegetation_execution = vegetation.get("execution", {})
+    vegetation_timing = vegetation.get("timing", {})
+    vegetation_identity = vegetation.get("identity", {})
+    vegetation_candidate = vegetation.get("candidate", {})
+    m49_performance = m49.get("performance", {})
+    m49_accounting = m49.get("accounting", {})
+    checks = {
+        "base_m49_runtime_passed": (
+            m49.get("status") == "passed"
+            and m49.get("integrated_runtime_gate_passed") is True
+            and m49.get("identity", {}).get("profile_sha256")
+            == profile["stages"]["m49_graph_tgs"]["profile_sha256"]
+        ),
+        "vegetation_identity_frozen": (
+            vegetation_candidate.get("candidate_key") == "ddrnet"
+            and vegetation_candidate.get("checkpoint_sha256")
+            == profile["stages"]["vegetation"]["checkpoint_sha256"]
+            and vegetation_identity.get("config_sha256")
+            == profile["stages"]["vegetation"]["config_sha256"]
+            and vegetation_identity.get("policy_sha256")
+            == profile["stages"]["vegetation"]["policy_sha256"]
+            and vegetation_identity.get("provider_map_sha256")
+            == profile["stages"]["vegetation"]["provider_map_sha256"]
+        ),
+        "requested_source_rate_preserved": (
+            vegetation.get("source", {}).get("requested_source_rate_hz")
+            == profile["source"]["requested_source_rate_hz"]
+        ),
+        "vegetation_load_gate_passed": vegetation.get("integrated_load_gate_passed") is True,
+        "vegetation_multirate_schedule_frozen": (
+            vegetation_execution.get("inference_stride") == inference_stride
+            and vegetation_execution.get("inference_phase_offset_ms")
+            == inference_phase_offset_ms
+            and vegetation_execution.get("inference_frame_count")
+            == vegetation_frames["inference_count"]
+            and vegetation_execution.get("held_evidence_frame_count")
+            == vegetation_frames["held_count"]
+        ),
+        "exact_three_layer_sequence_join": len(combined_ages) == FRAME_COUNT,
+        "all_graph_frames_delivered": (
+            m49_accounting.get("graph_admitted") == FRAME_COUNT
+            and m49_accounting.get("graph_delivered") == FRAME_COUNT
+        ),
+        "all_tgs_frames_accounted": m49_accounting.get("tgs_timeline_frames")
+        == FRAME_COUNT,
+        "all_vegetation_frames_accounted": vegetation_execution.get("frame_count")
+        == FRAME_COUNT,
+        "minimum_graph_world_state_fps": float(
+            m49_performance.get("effective_world_state_fps", 0.0)
+        )
+        >= float(acceptance["minimum_graph_world_state_fps"]),
+        "minimum_vegetation_timeline_fps": float(
+            vegetation_execution.get("effective_timeline_fps", 0.0)
+        )
+        >= float(acceptance["minimum_vegetation_timeline_fps"]),
+        "minimum_vegetation_inference_fps": float(
+            vegetation_execution.get("effective_inference_fps", 0.0)
+        )
+        >= float(acceptance["minimum_vegetation_inference_fps"]),
+        "maximum_vegetation_inference_completion_p95_ms": float(
+            vegetation_timing.get("inference_completion_age_ms", {}).get(
+                "p95", math.inf
+            )
+        )
+        <= float(acceptance["maximum_vegetation_inference_completion_p95_ms"]),
+        "maximum_semantic_evidence_source_age_ms": max(
+            vegetation_frames["evidence_source_ages"]
+        )
+        <= float(acceptance["maximum_semantic_evidence_source_age_ms"]),
+        "maximum_combined_output_age_p99_ms": combined["p99"]
+        <= float(acceptance["maximum_combined_output_age_p99_ms"]),
+        "zero_capacity_drops": (
+            int(m49_accounting.get("tgs_capacity_drops", -1)) == 0
+            and int(vegetation_execution.get("capacity_drop_count", -1)) == 0
+        ),
+        "host_resource_telemetry_complete": all(
+            telemetry[role]["sample_count"] > 0
+            for role in ("graph", "tgs", "triton", "vegetation")
+        ),
+        "authority_remains_false": (
+            all(value is False for value in profile["authority"].values())
+            and all(value is False for value in vegetation.get("authority", {}).values())
+        ),
+    }
+    files = {
+        label: {"bytes": path.stat().st_size, "sha256": sha256_file(path)}
+        for label, path in (
+            ("m49-result.json", m49_result_path),
+            ("graph-frames.jsonl", graph_frames_path),
+            ("tgs-timing.tsv", tgs_timing_path),
+            ("vegetation-result.json", vegetation_result_path),
+            ("vegetation-frames.jsonl", vegetation_frames_path),
+            ("container-telemetry.jsonl", telemetry_path),
+        )
+    }
+    document: dict[str, object] = {
+        "schema_version": RESULT_SCHEMA,
+        "profile_id": profile["profile_id"],
+        "status": "passed" if all(checks.values()) else "failed",
+        "source": {
+            "source_id": profile["source"]["source_id"],
+            "requested_source_rate_hz": profile["source"]["requested_source_rate_hz"],
+            "joined_frame_count": len(combined_ages),
+            "ground_truth_available": False,
+        },
+        "identity": {
+            "release_sha256": release_sha256,
+            "profile_sha256": sha256_file(profile_path),
+            "m49_result_id": m49.get("result_id"),
+            "vegetation_result_id": vegetation.get("result_id"),
+        },
+        "performance": {
+            "graph_tgs": m49_performance,
+            "vegetation": {
+                "effective_timeline_fps": vegetation_execution.get(
+                    "effective_timeline_fps"
+                ),
+                "effective_inference_fps": vegetation_execution.get(
+                    "effective_inference_fps"
+                ),
+                "completion_age_ms": vegetation_timing.get("completion_age_ms"),
+                "inference_completion_age_ms": vegetation_timing.get(
+                    "inference_completion_age_ms"
+                ),
+                "semantic_evidence_source_age_ms": distribution(
+                    vegetation_frames["evidence_source_ages"]
+                ),
+                "stage_ms": vegetation_timing.get("stage_ms"),
+                "inference_ms": vegetation_timing.get("inference_ms"),
+                "resource": vegetation.get("resource"),
+            },
+            "three_layer_output_age_ms": combined,
+            "host_containers": telemetry,
+        },
+        "accounting": {
+            "graph_frames": m49_accounting.get("graph_delivered"),
+            "tgs_frames": m49_accounting.get("tgs_timeline_frames"),
+            "vegetation_frames": vegetation_execution.get("frame_count"),
+            "vegetation_inference_frames": vegetation_frames["inference_count"],
+            "vegetation_held_evidence_frames": vegetation_frames["held_count"],
+            "capacity_drop_count": int(m49_accounting.get("tgs_capacity_drops", 0))
+            + int(vegetation_execution.get("capacity_drop_count", 0)),
+        },
+        "checks": checks,
+        "integrated_runtime_gate_passed": all(checks.values()),
+        "visual_quality_accepted": False,
+        "route_truth_available": False,
+        "production_accepted": False,
+        "authority": profile["authority"],
+        "files": files,
+    }
+    identity = hashlib.sha256(canonical_json(document)).hexdigest()
+    document["result_id"] = f"lab-v1-vegetation-integrated-shadow-{identity}"
+    output_path.parent.mkdir(parents=True, exist_ok=True)
+    output_path.write_text(json.dumps(document, indent=2, sort_keys=True) + "\n", encoding="utf-8")
+    return document
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--profile", type=Path, required=True)
+    parser.add_argument("--m49-result", type=Path, required=True)
+    parser.add_argument("--graph-frames", type=Path, required=True)
+    parser.add_argument("--tgs-timing", type=Path, required=True)
+    parser.add_argument("--vegetation-result", type=Path, required=True)
+    parser.add_argument("--vegetation-frames", type=Path, required=True)
+    parser.add_argument("--telemetry", type=Path, required=True)
+    parser.add_argument("--output", type=Path, required=True)
+    parser.add_argument("--release-sha256", required=True)
+    arguments = parser.parse_args()
+    result = build(
+        profile_path=arguments.profile,
+        m49_result_path=arguments.m49_result,
+        graph_frames_path=arguments.graph_frames,
+        tgs_timing_path=arguments.tgs_timing,
+        vegetation_result_path=arguments.vegetation_result,
+        vegetation_frames_path=arguments.vegetation_frames,
+        telemetry_path=arguments.telemetry,
+        output_path=arguments.output,
+        release_sha256=arguments.release_sha256,
+    )
+    print(json.dumps({"result_id": result["result_id"], "status": result["status"]}))
+    return 0 if result["status"] == "passed" else 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

experiments/perception/worker/m49_t3_travel/run_tgs_integrated_shadow.sh

@@ -5,6 +5,9 @@ readonly BINARY=/shared/bin/run_tgs_full_shadow
 readonly INPUT_ROOT=/shared/tgs/inputs
 readonly OUTPUT_ROOT=/shared/tgs/outputs/causal_rolling_1s
 readonly TIMING_PATH=/shared/tgs/tgs-full-timing.tsv
+readonly RUNTIME_ROOT=/tmp/m49-tgs-runtime
+readonly RUNTIME_OUTPUT_ROOT=${RUNTIME_ROOT}/outputs
+readonly RUNTIME_TIMING_PATH=${RUNTIME_ROOT}/tgs-full-timing.tsv
 readonly READY_FILE=/shared/control/tgs.ready
 readonly START_FILE=/shared/control/start.signal
 readonly SOURCE_RATE_HZ=${M49_SOURCE_RATE_HZ:-12.0}
@@ -15,12 +18,20 @@ test -f "${INPUT_ROOT}/schedule.tsv"
 test ! -e /shared/tgs/outputs
 test ! -e "${TIMING_PATH}"
 test ! -e "${READY_FILE}"
-mkdir -p "${OUTPUT_ROOT}"
-exec /usr/bin/time -v "${BINARY}" \
+test ! -e "${RUNTIME_ROOT}"
+mkdir -p "${RUNTIME_OUTPUT_ROOT}"
+/usr/bin/time -v "${BINARY}" \
   "${INPUT_ROOT}/profiles/causal_rolling_1s" \
   "${INPUT_ROOT}/schedule.tsv" \
-  "${OUTPUT_ROOT}" \
-  "${TIMING_PATH}" \
+  "${RUNTIME_OUTPUT_ROOT}" \
+  "${RUNTIME_TIMING_PATH}" \
   "${SOURCE_RATE_HZ}" \
   "${READY_FILE}" \
   "${START_FILE}"
+test -f "${RUNTIME_TIMING_PATH}"
+mkdir -p "${OUTPUT_ROOT}"
+copy_started=$(date +%s%N)
+cp -R "${RUNTIME_OUTPUT_ROOT}/." "${OUTPUT_ROOT}/"
+cp "${RUNTIME_TIMING_PATH}" "${TIMING_PATH}"
+copy_completed=$(date +%s%N)
+echo "[TGS-FULL] evidence_copy_ms=$(((copy_completed - copy_started) / 1000000))"

scripts/build_lab_v1_vegetation_integrated_worker_artifact.py

@@ -0,0 +1,189 @@
+#!/usr/bin/env python3
+"""Build a clean-revision Worker 006 release for the DDRNet + M49 load gate."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import re
+import subprocess
+import sys
+import tempfile
+from pathlib import Path
+
+SCRIPT_ROOT = Path(__file__).resolve().parent
+if str(SCRIPT_ROOT) not in sys.path:
+    sys.path.insert(0, str(SCRIPT_ROOT))
+
+from build_m49_tgs_integrated_graph_worker_artifact import (  # noqa: E402
+    PATCH_ID,
+    REPOSITORY_ROOT,
+    WHEEL_NAME,
+    ArtifactBuildError,
+    build_wheel,
+    git_revision,
+    materialize_revision,
+    sha256_file,
+    write_archive,
+)
+from build_m49_tgs_integrated_graph_worker_artifact import (  # noqa: E402
+    SOURCES as M49_SOURCES,
+)
+
+SOURCES = M49_SOURCES + (
+    Path(
+        "experiments/perception/worker/lab_v1_vegetation_goose/"
+        "run_goose_vegetation_benchmark.py"
+    ),
+    Path(
+        "experiments/perception/worker/lab_v1_vegetation_goose/"
+        "run_vegetation_integrated_load.py"
+    ),
+    Path(
+        "experiments/perception/worker/m49_t3_travel/"
+        "build_vegetation_integrated_graph_evidence.py"
+    ),
+    Path("config/perception/lab-v1-goose-vegetation-benchmark-v1.json"),
+    Path("config/perception/lab-v1-vegetation-mission-policy-v1.json"),
+    Path("config/perception/lab-v1-vegetation-provider-label-map-v1.json"),
+    Path("config/perception/lab-v1-vegetation-integrated-multirate-phased-shadow-v3.json"),
+)
+
+
+def build_artifact(
+    patch_id: str,
+    output_directory: Path,
+    *,
+    revision: str | None = None,
+    source_root: Path | None = None,
+) -> dict[str, object]:
+    if PATCH_ID.fullmatch(patch_id) is None:
+        raise ArtifactBuildError("patch id is invalid")
+    selected_revision = revision or git_revision()
+    if re.fullmatch(r"[a-f0-9]{40}", selected_revision) is None:
+        raise ArtifactBuildError("artifact revision is invalid")
+    with tempfile.TemporaryDirectory(prefix="mission-core-vegetation-integrated-") as directory:
+        stage = Path(directory)
+        snapshot = source_root
+        if snapshot is None:
+            snapshot = stage / "source"
+            materialize_revision(selected_revision, snapshot)
+        sources = tuple(snapshot / relative for relative in SOURCES)
+        if any(path.is_symlink() or not path.is_file() for path in sources):
+            raise ArtifactBuildError("release input is not a regular file")
+        payload = stage / "payload"
+        payload.mkdir()
+        wheel = build_wheel(snapshot, stage / "wheel")
+        copied: list[Path] = []
+        for source in sources:
+            destination = payload / source.name
+            if destination.exists():
+                raise ArtifactBuildError("release payload file names are not unique")
+            destination.write_bytes(source.read_bytes())
+            copied.append(destination)
+        wheel_destination = payload / WHEEL_NAME
+        wheel_destination.write_bytes(wheel.read_bytes())
+        copied.append(wheel_destination)
+        release = {
+            "schema_version": "missioncore.lab-v1-vegetation-integrated-worker-release/v3",
+            "patch_id": patch_id,
+            "transition": "lab-v1-vegetation-m49-integrated-multirate-phased-shadow/v3",
+            "code_revision": selected_revision,
+            "worker_id": "worker-006",
+            "source_pack_sha256": (
+                "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944"
+            ),
+            "video_sha256": (
+                "cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8"
+            ),
+            "expected_frames": 4489,
+            "requested_source_rate_hz": 12.0,
+            "semantic_inference_rate_hz": 6.0,
+            "semantic_inference_stride": 2,
+            "semantic_inference_phase_offset_ms": 40.0,
+            "native_engine_sha256": (
+                "b8a40b3580edff001ec9680de68707242294ff590ab296000fae371f1083f695"
+            ),
+            "ddrnet_checkpoint_sha256": (
+                "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6"
+            ),
+            "images": {
+                "travel": (
+                    "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f"
+                ),
+                "parity": (
+                    "sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0"
+                ),
+                "runtime": (
+                    "sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794"
+                ),
+                "vegetation": (
+                    "sha256:591cb382c099eeb05e7ec16e2371e0b2da54d2bb5c49ec0f4ac88dbf72b0f0cd"
+                ),
+            },
+            "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,
+            },
+            "scope": {
+                "gauss_or_playcanvas_action": "none",
+                "durable_worker_action": "none",
+                "canonical_triton_action": "none",
+                "heavy_vegetation_candidates": ["ddrnet"],
+            },
+            "files": {
+                path.name: {"sha256": sha256_file(path), "bytes": path.stat().st_size}
+                for path in sorted(copied)
+            },
+        }
+        release_path = payload / "release.json"
+        release_path.write_text(
+            json.dumps(release, indent=2, sort_keys=True) + "\n", encoding="utf-8"
+        )
+        payload_files = sorted((*release["files"], release_path.name))
+        (stage / "manifest.env").write_text(
+            f"id={patch_id}\ncomponent=mission-core-worker\ntype=shadow-release\n",
+            encoding="utf-8",
+        )
+        (stage / "files.txt").write_text(
+            "\n".join(payload_files) + "\n", encoding="utf-8"
+        )
+        target = output_directory.resolve() / f"nodedc-{patch_id}.tgz"
+        write_archive(stage, target)
+    return {
+        "ok": True,
+        "patch_id": patch_id,
+        "artifact": str(target),
+        "sha256": sha256_file(target),
+        "code_revision": selected_revision,
+        "wheel_sha256": release["files"][WHEEL_NAME]["sha256"],
+        "payload_files": payload_files,
+        "transition": release["transition"],
+    }
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("patch_id")
+    parser.add_argument(
+        "--output-directory",
+        type=Path,
+        default=REPOSITORY_ROOT / ".runtime/worker-artifacts",
+    )
+    arguments = parser.parse_args()
+    try:
+        result = build_artifact(arguments.patch_id, arguments.output_directory)
+    except (ArtifactBuildError, OSError, subprocess.SubprocessError) as exc:
+        parser.error(str(exc))
+    print(json.dumps(result, indent=2, sort_keys=True))
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

src/k1link/laboratory/vegetation_policy_review.py

@@ -0,0 +1,281 @@
+"""Seal a coarse material + YOLOX + TGS review from an immutable vegetation LAB."""
+
+from __future__ import annotations
+
+import argparse
+import copy
+import hashlib
+import json
+import shutil
+import tempfile
+from datetime import UTC, datetime
+from pathlib import Path, PurePosixPath
+from typing import Any, Final
+
+from k1link.laboratory.evidence_registry import LaboratoryEvidenceDefinition
+from k1link.laboratory.evidence_report import verify_laboratory_evidence_result
+from k1link.laboratory.m49_tgs_full_shadow import read_m49_tgs_full_shadow
+from k1link.laboratory.vegetation_mission_policy import (
+    load_vegetation_mission_policy,
+    load_vegetation_provider_label_map,
+)
+from k1link.laboratory.vegetation_policy_video import build_policy_mask_archive, policy_taxonomy
+from k1link.laboratory.vegetation_shadow_lab import (
+    LAB_SCHEMA,
+    RESULT_PREFIX,
+    canonical_json,
+    sha256_path,
+)
+
+_DEFINITION: Final = LaboratoryEvidenceDefinition(
+    work_id="lab-v1-vegetation-shadow",
+    runtime_relative_root=PurePosixPath("lab-v1-vegetation/results"),
+    result_id_prefix="lab-v1-vegetation-shadow",
+    document_name="result.json",
+    result_schema_version=LAB_SCHEMA,
+)
+_FRAME_COUNT: Final = 4489
+_MAX_RESULT_BYTES: Final = 1024 * 1024
+
+
+class VegetationPolicyReviewError(ValueError):
+    """The sealed inputs cannot form an honest synchronized policy review."""
+
+
+def _object(value: object, label: str) -> dict[str, Any]:
+    if not isinstance(value, dict) or not all(isinstance(key, str) for key in value):
+        raise VegetationPolicyReviewError(f"{label} must be an object")
+    return value
+
+
+def _read_base(root: Path) -> dict[str, Any]:
+    candidate = root.resolve(strict=True)
+    verify_laboratory_evidence_result(_DEFINITION, candidate)
+    path = candidate / "result.json"
+    if path.stat().st_size > _MAX_RESULT_BYTES:
+        raise VegetationPolicyReviewError("base vegetation LAB document is too large")
+    payload = _object(json.loads(path.read_text("utf-8")), "base vegetation LAB")
+    route = _object(payload.get("route_video"), "base route video")
+    authority = _object(payload.get("authority"), "base authority")
+    if (
+        payload.get("schema_version") != LAB_SCHEMA
+        or payload.get("result_id") != candidate.name
+        or route.get("frame_count") != _FRAME_COUNT
+        or route.get("view_kind", "fine-semantic-prediction")
+        != "fine-semantic-prediction"
+        or route.get("base_m4_result_id") is None
+        or authority.get("commands_enabled") is not False
+        or authority.get("navigation_or_safety_accepted") is not False
+        or authority.get("actuation_accepted") is not False
+        or authority.get("camera_semantics_can_clear_rigid_geometry") is not False
+    ):
+        raise VegetationPolicyReviewError("base vegetation LAB contract changed")
+    return payload
+
+
+def _copy_verified_artifacts(
+    *,
+    source_root: Path,
+    destination_root: Path,
+    artifacts: object,
+) -> list[dict[str, object]]:
+    if not isinstance(artifacts, list):
+        raise VegetationPolicyReviewError("base artifact catalog changed")
+    copied: list[dict[str, object]] = []
+    for raw in artifacts:
+        descriptor = _object(raw, "base artifact")
+        relative_text = descriptor.get("path")
+        expected_sha256 = descriptor.get("sha256")
+        if not isinstance(relative_text, str) or not isinstance(expected_sha256, str):
+            raise VegetationPolicyReviewError("base artifact proof changed")
+        relative = PurePosixPath(relative_text)
+        source = source_root.joinpath(*relative.parts)
+        destination = destination_root.joinpath(*relative.parts)
+        if (
+            relative.is_absolute()
+            or str(relative) != relative_text
+            or any(part in {"", ".", ".."} for part in relative.parts)
+            or source.is_symlink()
+            or not source.is_file()
+            or sha256_path(source) != expected_sha256
+        ):
+            raise VegetationPolicyReviewError("base artifact changed")
+        destination.parent.mkdir(mode=0o700, parents=True, exist_ok=True)
+        shutil.copyfile(source, destination)
+        copied.append(copy.deepcopy(descriptor))
+    return copied
+
+
+def seal_vegetation_policy_review(
+    *,
+    base_lab_root: Path,
+    mission_policy_path: Path,
+    provider_label_map_path: Path,
+    m49_tgs_full_shadow_root: Path,
+    output_root: Path,
+    created_at_utc: str | None = None,
+) -> Path:
+    base_root = base_lab_root.resolve(strict=True)
+    base = _read_base(base_root)
+    base_route = _object(base["route_video"], "base route video")
+    repository_root = mission_policy_path.resolve().parents[2]
+    mission_policy = load_vegetation_mission_policy(
+        mission_policy_path.resolve(strict=True),
+        repository_root=repository_root,
+    )
+    provider_map = load_vegetation_provider_label_map(
+        provider_label_map_path.resolve(strict=True),
+        policy=mission_policy,
+    )
+    tgs = read_m49_tgs_full_shadow(m49_tgs_full_shadow_root)
+    tgs_source = _object(tgs.report.get("source"), "full TGS source")
+    tgs_timeline = _object(tgs.report.get("timeline"), "full TGS timeline")
+    if (
+        tgs_source.get("source_id") != "RAVNOVES00"
+        or tgs_source.get("linked_visual_result_id") != base_route.get("base_m4_result_id")
+        or tgs_timeline.get("frame_count") != _FRAME_COUNT
+    ):
+        raise VegetationPolicyReviewError("TGS and vegetation timelines differ")
+
+    raw_archive = _object(base_route.get("mask_archive"), "fine mask archive")
+    if raw_archive.get("path") != "video/ddrnet-semantic-masks.zip":
+        raise VegetationPolicyReviewError("fine mask archive identity changed")
+    raw_archive_path = base_root / "video" / "ddrnet-semantic-masks.zip"
+    fine_taxonomy = _object(base_route.get("taxonomy"), "fine taxonomy")
+
+    output_root.mkdir(mode=0o700, parents=True, exist_ok=True)
+    temporary = Path(tempfile.mkdtemp(prefix=".lab-v1-policy-", dir=output_root))
+    try:
+        artifacts = _copy_verified_artifacts(
+            source_root=base_root,
+            destination_root=temporary,
+            artifacts=base.get("artifacts"),
+        )
+        policy_archive = temporary / "video" / "coarse-material-policy-masks.zip"
+        policy_counts = build_policy_mask_archive(
+            source_archive=raw_archive_path,
+            destination_archive=policy_archive,
+            fine_taxonomy=fine_taxonomy,
+            provider_label_map=provider_map,
+        )
+        policy_archive_proof = {
+            "role": "route-coarse-material-mask-archive",
+            "path": "video/coarse-material-policy-masks.zip",
+            "byte_length": policy_archive.stat().st_size,
+            "sha256": sha256_path(policy_archive),
+            "media_type": "application/zip",
+        }
+        artifacts.append(policy_archive_proof)
+
+        route = copy.deepcopy(base_route)
+        route.update(
+            {
+                "view_kind": "coarse-material-policy-review",
+                "source_mask_archive": copy.deepcopy(raw_archive),
+                "mask_archive": {
+                    "path": policy_archive_proof["path"],
+                    "sha256": policy_archive_proof["sha256"],
+                    "byte_length": policy_archive_proof["byte_length"],
+                },
+                "taxonomy": policy_taxonomy(),
+                "aggregate_prediction_pixels": policy_counts,
+                "linked_tgs_result_id": tgs.result_id,
+                "policy": {
+                    "profile_id": mission_policy["profile_id"],
+                    "profile_sha256": sha256_path(mission_policy_path),
+                    "provider_label_map_id": provider_map["profile_id"],
+                    "provider_label_map_sha256": sha256_path(provider_label_map_path),
+                    "presets": mission_policy["presets"],
+                    "precedence": mission_policy["precedence"],
+                },
+                "fusion": {
+                    "mode": "synchronised-multilayer-review",
+                    "pixel_raster_fusion": False,
+                    "camera_material_layer": "DDRNet fine-64 to coarse material evidence",
+                    "camera_safety_veto_layer": "frozen M4 YOLOX camera proposals",
+                    "spatial_safety_veto_layer": "M4.9 full TGS gravity-local costmap",
+                    "temporal_consensus_owner": "TGS causal rolling 1 s and metric obstacle tracks",
+                    "camera_semantic_temporal_filter": "none",
+                    "reason": "No admitted TGS-to-camera pixel projection exists.",
+                },
+            }
+        )
+        identity = copy.deepcopy(_object(base.get("identity"), "base identity"))
+        identity.update(
+            {
+                "base_result_id": base_root.name,
+                "route_video": route,
+            }
+        )
+        identity_sha256 = hashlib.sha256(canonical_json(identity)).hexdigest()
+        result_id = f"{RESULT_PREFIX}{identity_sha256}"
+        manifest = copy.deepcopy(base)
+        manifest.update(
+            {
+                "result_id": result_id,
+                "identity_sha256": identity_sha256,
+                "created_at_utc": created_at_utc or datetime.now(UTC).isoformat(),
+                "identity": identity,
+                "route_video": route,
+                "method": {
+                    "completeness": "complete",
+                    "execution_class": "ai-inference-plus-deterministic-adapter",
+                    "pipeline_id": "goose-fine64-to-coarse-material-plus-yolox-tgs-review/v1",
+                },
+                "decision": {
+                    **_object(base.get("decision"), "base decision"),
+                    "multilayer_policy_review_ready": True,
+                    "navigation_accepted": False,
+                    "production_accepted": False,
+                },
+                "limitations": [
+                    "GOOSE validation is external-domain qualification, not RAVNOVES ground truth.",
+                    (
+                        "The coarse material playback is derived from per-frame DDRNet "
+                        "predictions and has no RAVNOVES truth."
+                    ),
+                    (
+                        "Vegetation semantics never clears YOLOX, LiDAR, metric obstacle "
+                        "or TGS vetoes."
+                    ),
+                    "Undefined pixels outside the 600x600 center crop remain fail-closed.",
+                    (
+                        "TGS remains in gravity-local space; no uncalibrated pixel "
+                        "projection is fabricated."
+                    ),
+                    (
+                        "Temporal consensus comes from causal TGS and metric tracks; "
+                        "the camera material mask is not temporally filtered."
+                    ),
+                ],
+                "artifacts": artifacts,
+            }
+        )
+        (temporary / "result.json").write_bytes(canonical_json(manifest) + b"\n")
+        destination = output_root / result_id
+        if destination.exists():
+            raise VegetationPolicyReviewError("immutable vegetation policy result already exists")
+        temporary.replace(destination)
+        verify_laboratory_evidence_result(_DEFINITION, destination)
+        return destination
+    except Exception:
+        shutil.rmtree(temporary, ignore_errors=True)
+        raise
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--base-lab-root", type=Path, required=True)
+    parser.add_argument("--mission-policy-path", type=Path, required=True)
+    parser.add_argument("--provider-label-map-path", type=Path, required=True)
+    parser.add_argument("--m49-tgs-full-shadow-root", type=Path, required=True)
+    parser.add_argument("--output-root", type=Path, required=True)
+    args = parser.parse_args()
+    print(seal_vegetation_policy_review(**vars(args)))
+
+
+if __name__ == "__main__":
+    main()
+
+
+__all__ = ["VegetationPolicyReviewError", "seal_vegetation_policy_review"]

src/k1link/laboratory/vegetation_policy_video.py

@@ -0,0 +1,206 @@
+"""Build a deterministic coarse material-evidence video from fine GOOSE masks."""
+
+from __future__ import annotations
+
+import io
+import zipfile
+from pathlib import Path
+from typing import Any, Final
+
+import numpy as np
+from PIL import Image
+
+from k1link.laboratory.vegetation_mission_policy import map_provider_material
+
+TAXONOMY_SCHEMA: Final = "missioncore.lab-v1-terrain-policy-taxonomy/v1"
+FRAME_COUNT: Final = 4489
+WIDTH: Final = 800
+HEIGHT: Final = 600
+
+POLICY_CLASSES: Final = (
+    {
+        "class_id": 0,
+        "label": "UNOBSERVED / NO MATERIAL CLAIM · NO_GO",
+        "color_rgb": [147, 151, 159],
+        "disposition": "ambiguous",
+        "material_class": None,
+        "evidence_state": "UNOBSERVED",
+    },
+    {
+        "class_id": 1,
+        "label": "SAFETY DETECTOR VETO · NO_GO",
+        "color_rgb": [255, 104, 112],
+        "disposition": "labeled",
+        "material_class": None,
+        "evidence_state": "RIGID_OR_UNKNOWN_OBSTACLE",
+    },
+    {
+        "class_id": 2,
+        "label": "WOODY SHRUB / TREE · NO_GO",
+        "color_rgb": [232, 56, 126],
+        "disposition": "labeled",
+        "material_class": "woody_or_tree",
+        "evidence_state": "VEGETATION_WITH_RIGID_GEOMETRY",
+    },
+    {
+        "class_id": 3,
+        "label": "CULTIVATED VEGETATION · POLICY NO_GO",
+        "color_rgb": [183, 112, 255],
+        "disposition": "labeled",
+        "material_class": "cultivated_vegetation",
+        "evidence_state": "VEGETATION_POTENTIALLY_TRAVERSABLE",
+    },
+    {
+        "class_id": 4,
+        "label": "LOW GRASS · MISSION CANDIDATE",
+        "color_rgb": [181, 255, 90],
+        "disposition": "prediction",
+        "material_class": "grass",
+        "evidence_state": "VEGETATION_POTENTIALLY_TRAVERSABLE",
+    },
+    {
+        "class_id": 5,
+        "label": "HIGH / HERBACEOUS · MISSION CANDIDATE",
+        "color_rgb": [113, 211, 111],
+        "disposition": "prediction",
+        "material_class": "herbaceous_vegetation",
+        "evidence_state": "VEGETATION_POTENTIALLY_TRAVERSABLE",
+    },
+    {
+        "class_id": 6,
+        "label": "BARE SOIL · MISSION CANDIDATE",
+        "color_rgb": [255, 197, 92],
+        "disposition": "prediction",
+        "material_class": "bare_soil",
+        "evidence_state": "SUPPORTED_GROUND",
+    },
+    {
+        "class_id": 7,
+        "label": "HARD SURFACE · MISSION CANDIDATE",
+        "color_rgb": [84, 169, 255],
+        "disposition": "prediction",
+        "material_class": "hard_surface",
+        "evidence_state": "SUPPORTED_GROUND",
+    },
+    {
+        "class_id": 8,
+        "label": "VEGETATION UNKNOWN · NO_GO",
+        "color_rgb": [207, 124, 255],
+        "disposition": "labeled",
+        "material_class": "vegetation_unknown",
+        "evidence_state": "VEGETATION_UNKNOWN",
+    },
+)
+
+_MATERIAL_TO_CLASS: Final = {
+    "hard_surface": 7,
+    "bare_soil": 6,
+    "grass": 4,
+    "fern": 5,
+    "herbaceous_vegetation": 5,
+    "cultivated_vegetation": 3,
+    "woody_shrub": 2,
+    "tree_or_trunk": 2,
+    "vegetation_unknown": 8,
+}
+
+
+class VegetationPolicyVideoError(ValueError):
+    """The fine-mask input cannot be transformed without inventing evidence."""
+
+
+def policy_taxonomy() -> dict[str, object]:
+    return {
+        "schema_version": TAXONOMY_SCHEMA,
+        "classes": [dict(row) for row in POLICY_CLASSES],
+    }
+
+
+def fine_to_policy_lut(
+    fine_taxonomy: dict[str, object],
+    provider_label_map: dict[str, Any],
+) -> np.ndarray:
+    classes = fine_taxonomy.get("classes")
+    if not isinstance(classes, list) or len(classes) != 64:
+        raise VegetationPolicyVideoError("fine taxonomy must contain 64 classes")
+    lut = np.zeros(256, dtype=np.uint8)
+    for expected_id, raw in enumerate(classes):
+        if not isinstance(raw, dict) or raw.get("class_id") != expected_id:
+            raise VegetationPolicyVideoError("fine taxonomy ordering changed")
+        label = raw.get("label")
+        if not isinstance(label, str) or not label:
+            raise VegetationPolicyVideoError("fine taxonomy label is invalid")
+        if expected_id == 0:
+            continue
+        material = map_provider_material(
+            provider_label_map,
+            provider_id="goose-fine-64",
+            provider_label=label,
+        )
+        lut[expected_id] = _MATERIAL_TO_CLASS.get(material, 0)
+    return lut
+
+
+def _zip_info(name: str) -> zipfile.ZipInfo:
+    info = zipfile.ZipInfo(name, date_time=(1980, 1, 1, 0, 0, 0))
+    info.compress_type = zipfile.ZIP_STORED
+    info.create_system = 3
+    info.external_attr = 0o600 << 16
+    return info
+
+
+def build_policy_mask_archive(
+    *,
+    source_archive: Path,
+    destination_archive: Path,
+    fine_taxonomy: dict[str, object],
+    provider_label_map: dict[str, Any],
+) -> list[int]:
+    """Map every fine mask to coarse evidence; safety vetoes remain separate layers."""
+
+    lut = fine_to_policy_lut(fine_taxonomy, provider_label_map)
+    counts = np.zeros(len(POLICY_CLASSES), dtype=np.int64)
+    destination_archive.parent.mkdir(mode=0o700, parents=True, exist_ok=True)
+    try:
+        with zipfile.ZipFile(source_archive) as source, zipfile.ZipFile(
+            destination_archive,
+            "x",
+        ) as destination:
+            for sequence in range(FRAME_COUNT):
+                member = f"masks/frame-{sequence + 1:06d}.png"
+                with source.open(member) as stream, Image.open(stream) as image:
+                    fine = np.asarray(image.convert("L"), dtype=np.uint8)
+                if fine.shape != (HEIGHT, WIDTH):
+                    raise VegetationPolicyVideoError(
+                        f"fine mask {member} has shape {fine.shape}, expected {(HEIGHT, WIDTH)}"
+                    )
+                coarse = lut[fine]
+                counts += np.bincount(
+                    coarse.reshape(-1),
+                    minlength=len(POLICY_CLASSES),
+                )
+                buffer = io.BytesIO()
+                Image.fromarray(coarse, mode="L").save(
+                    buffer,
+                    format="PNG",
+                    compress_level=1,
+                    optimize=False,
+                )
+                destination.writestr(_zip_info(member), buffer.getvalue())
+    except (KeyError, OSError, ValueError, zipfile.BadZipFile) as exc:
+        destination_archive.unlink(missing_ok=True)
+        raise VegetationPolicyVideoError("fine mask archive is invalid") from exc
+    return [int(value) for value in counts]
+
+
+__all__ = [
+    "FRAME_COUNT",
+    "HEIGHT",
+    "POLICY_CLASSES",
+    "TAXONOMY_SCHEMA",
+    "VegetationPolicyVideoError",
+    "WIDTH",
+    "build_policy_mask_archive",
+    "fine_to_policy_lut",
+    "policy_taxonomy",
+]

src/k1link/laboratory/vegetation_shadow_lab.py

@@ -14,6 +14,15 @@ from pathlib import Path, PurePosixPath
 from typing import Any, Final
 
 from k1link.laboratory.m47_reference_graph import read_m47_reference_graph_lab
+from k1link.laboratory.m49_tgs_full_shadow import read_m49_tgs_full_shadow
+from k1link.laboratory.vegetation_mission_policy import (
+    load_vegetation_mission_policy,
+    load_vegetation_provider_label_map,
+)
+from k1link.laboratory.vegetation_policy_video import (
+    build_policy_mask_archive,
+    policy_taxonomy,
+)
 
 LAB_SCHEMA: Final = "missioncore.lab-v1-vegetation-shadow/v1"
 WORKER_SCHEMA: Final = "missioncore.lab-v1-goose-vegetation-run/v1"
@@ -315,6 +324,9 @@ def seal_vegetation_shadow_lab(
     output_root: Path,
     ddrnet_ravnoves_video_root: Path | None = None,
     m47_reference_graph_lab_root: Path | None = None,
+    mission_policy_path: Path | None = None,
+    provider_label_map_path: Path | None = None,
+    m49_tgs_full_shadow_root: Path | None = None,
 ) -> Path:
     roots = {
         ("ddrnet", "goose"): ddrnet_goose_root.resolve(),
@@ -333,6 +345,17 @@ def seal_vegetation_shadow_lab(
     selected = _selected_candidate(results)
     if (ddrnet_ravnoves_video_root is None) != (m47_reference_graph_lab_root is None):
         raise VegetationShadowLabError("full-video Worker and M4.7 roots must be paired")
+    policy_inputs = (
+        mission_policy_path,
+        provider_label_map_path,
+        m49_tgs_full_shadow_root,
+    )
+    if any(value is not None for value in policy_inputs) and not all(
+        value is not None for value in policy_inputs
+    ):
+        raise VegetationShadowLabError("policy, provider map and full TGS roots must be paired")
+    if all(value is not None for value in policy_inputs) and ddrnet_ravnoves_video_root is None:
+        raise VegetationShadowLabError("policy review requires the full-video DDRNet result")
     route_video: dict[str, object] | None = None
     route_video_archive: Path | None = None
     video_result: dict[str, Any] | None = None
@@ -355,6 +378,35 @@ def seal_vegetation_shadow_lab(
             raise VegetationShadowLabError("M4.7 video binding differs from DDRNet source")
         route_video["m47_reference_graph_result_id"] = m47.result_id
 
+    mission_policy: dict[str, Any] | None = None
+    provider_label_map: dict[str, Any] | None = None
+    linked_tgs_result_id: str | None = None
+    if (
+        mission_policy_path is not None
+        and provider_label_map_path is not None
+        and m49_tgs_full_shadow_root is not None
+        and route_video is not None
+    ):
+        repository_root = mission_policy_path.resolve().parents[2]
+        mission_policy = load_vegetation_mission_policy(
+            mission_policy_path.resolve(),
+            repository_root=repository_root,
+        )
+        provider_label_map = load_vegetation_provider_label_map(
+            provider_label_map_path.resolve(),
+            policy=mission_policy,
+        )
+        tgs = read_m49_tgs_full_shadow(m49_tgs_full_shadow_root)
+        tgs_source = _object(tgs.report.get("source"), "M4.9 full TGS source")
+        tgs_timeline = _object(tgs.report.get("timeline"), "M4.9 full TGS timeline")
+        if (
+            tgs_source.get("source_id") != "RAVNOVES00"
+            or tgs_source.get("linked_visual_result_id") != route_video["base_m4_result_id"]
+            or tgs_timeline.get("frame_count") != _VIDEO_FRAME_COUNT
+        ):
+            raise VegetationShadowLabError("full TGS timeline differs from vegetation video")
+        linked_tgs_result_id = tgs.result_id
+
     output_root.mkdir(mode=0o700, parents=True, exist_ok=True)
     temporary = Path(tempfile.mkdtemp(prefix=".lab-v1-vegetation-", dir=output_root))
     artifacts: list[dict[str, object]] = []
@@ -471,14 +523,78 @@ def seal_vegetation_shadow_lab(
                 temporary,
                 "video/ddrnet-semantic-masks.zip",
                 artifacts,
-                role="route-semantic-mask-archive",
+                role=(
+                    "route-fine-semantic-source-archive"
+                    if mission_policy is not None
+                    else "route-semantic-mask-archive"
+                ),
                 media_type="application/zip",
             )
-            route_video["mask_archive"] = {
+            raw_archive_proof = {
                 "path": archive_descriptor["path"],
                 "sha256": archive_descriptor["sha256"],
                 "byte_length": archive_descriptor["byte_length"],
             }
+            route_video["mask_archive"] = raw_archive_proof
+            route_video["view_kind"] = "fine-semantic-prediction"
+            if (
+                mission_policy is not None
+                and provider_label_map is not None
+                and linked_tgs_result_id is not None
+                and mission_policy_path is not None
+                and provider_label_map_path is not None
+            ):
+                policy_archive = temporary / "video" / "coarse-material-policy-masks.zip"
+                policy_counts = build_policy_mask_archive(
+                    source_archive=route_video_archive,
+                    destination_archive=policy_archive,
+                    fine_taxonomy=_object(route_video["taxonomy"], "fine video taxonomy"),
+                    provider_label_map=provider_label_map,
+                )
+                policy_descriptor = {
+                    "role": "route-coarse-material-mask-archive",
+                    "path": "video/coarse-material-policy-masks.zip",
+                    "byte_length": policy_archive.stat().st_size,
+                    "sha256": sha256_path(policy_archive),
+                    "media_type": "application/zip",
+                }
+                artifacts.append(policy_descriptor)
+                route_video.update(
+                    {
+                        "view_kind": "coarse-material-policy-review",
+                        "source_mask_archive": raw_archive_proof,
+                        "mask_archive": {
+                            "path": policy_descriptor["path"],
+                            "sha256": policy_descriptor["sha256"],
+                            "byte_length": policy_descriptor["byte_length"],
+                        },
+                        "taxonomy": policy_taxonomy(),
+                        "aggregate_prediction_pixels": policy_counts,
+                        "linked_tgs_result_id": linked_tgs_result_id,
+                        "policy": {
+                            "profile_id": mission_policy["profile_id"],
+                            "profile_sha256": sha256_path(mission_policy_path),
+                            "provider_label_map_id": provider_label_map["profile_id"],
+                            "provider_label_map_sha256": sha256_path(
+                                provider_label_map_path
+                            ),
+                            "presets": mission_policy["presets"],
+                            "precedence": mission_policy["precedence"],
+                        },
+                        "fusion": {
+                            "mode": "synchronised-multilayer-review",
+                            "pixel_raster_fusion": False,
+                            "camera_material_layer": "DDRNet fine-64 to coarse material evidence",
+                            "camera_safety_veto_layer": "frozen M4 YOLOX camera proposals",
+                            "spatial_safety_veto_layer": "M4.9 full TGS gravity-local costmap",
+                            "temporal_consensus_owner": (
+                                "TGS causal rolling 1 s and metric obstacle tracks"
+                            ),
+                            "camera_semantic_temporal_filter": "none",
+                            "reason": "No admitted TGS-to-camera pixel projection exists.",
+                        },
+                    }
+                )
 
         candidate_metrics: dict[str, object] = {}
         for candidate in _CANDIDATES:
@@ -536,7 +652,11 @@ def seal_vegetation_shadow_lab(
             "method": {
                 "completeness": "complete",
                 "execution_class": "ai-inference",
-                "pipeline_id": "goose-fine64-ready-weights-to-ravnoves-policy-shadow/v1",
+                "pipeline_id": (
+                    "goose-fine64-to-coarse-material-plus-yolox-tgs-review/v1"
+                    if mission_policy is not None
+                    else "goose-fine64-ready-weights-to-ravnoves-policy-shadow/v1"
+                ),
             },
             "metrics": {"candidates": candidate_metrics},
             "decision": {
@@ -544,14 +664,37 @@ def seal_vegetation_shadow_lab(
                 "visual_shadow_ready": True,
                 "full_video_shadow_ready": route_video is not None,
                 "mission_policy_ready_for_configuration": True,
+                "multilayer_policy_review_ready": mission_policy is not None,
                 "navigation_accepted": False,
                 "production_accepted": False,
             },
             "limitations": [
                 "GOOSE validation is external-domain qualification, not RAVNOVES ground truth.",
-                "The full RAVNOVES DDRNet playback is prediction-only and has no independent labels.",
+                (
+                    "The coarse material playback is derived from per-frame DDRNet predictions "
+                    "and has no RAVNOVES truth."
+                    if mission_policy is not None
+                    else (
+                        "The full RAVNOVES DDRNet playback is prediction-only and has "
+                        "no independent labels."
+                    )
+                ),
                 "Vegetation semantics never clears rigid LiDAR/TGS occupancy.",
                 "Undefined pixels outside the 600x600 center crop remain fail-closed.",
+                *(
+                    [
+                        (
+                            "TGS remains in gravity-local space; no uncalibrated pixel "
+                            "projection is fabricated."
+                        ),
+                        (
+                            "Temporal consensus comes from causal TGS and metric tracks; "
+                            "the camera material mask is not temporally filtered."
+                        ),
+                    ]
+                    if mission_policy is not None
+                    else []
+                ),
             ],
             "authority": authority,
             "catalogs": catalogs,
@@ -577,6 +720,9 @@ def _parse_args() -> argparse.Namespace:
     parser.add_argument("--output-root", type=Path, required=True)
     parser.add_argument("--ddrnet-ravnoves-video-root", type=Path)
     parser.add_argument("--m47-reference-graph-lab-root", type=Path)
+    parser.add_argument("--mission-policy-path", type=Path)
+    parser.add_argument("--provider-label-map-path", type=Path)
+    parser.add_argument("--m49-tgs-full-shadow-root", type=Path)
     return parser.parse_args()
 
 
@@ -590,6 +736,9 @@ def main() -> None:
         output_root=args.output_root,
         ddrnet_ravnoves_video_root=args.ddrnet_ravnoves_video_root,
         m47_reference_graph_lab_root=args.m47_reference_graph_lab_root,
+        mission_policy_path=args.mission_policy_path,
+        provider_label_map_path=args.provider_label_map_path,
+        m49_tgs_full_shadow_root=args.m49_tgs_full_shadow_root,
     )
     print(destination)
 

src/k1link/simulation/projects.py

@@ -4,11 +4,13 @@ from __future__ import annotations
 
 import hashlib
 import json
+import math
 import os
 import re
 import shutil
 import threading
 import time
+from collections import deque
 from collections.abc import Callable
 from contextlib import suppress
 from pathlib import Path
@@ -28,10 +30,13 @@ from k1link.simulation.gaussian_pipeline_gateway import (
 
 PROJECT_SCHEMA: Final = "missioncore.simulation-project/v1"
 WORLD_MANIFEST_SCHEMA: Final = "missioncore.simulation-world-manifest/v1"
-VIEWER_SETTINGS_SCHEMA: Final = "missioncore.simulation-viewer-settings/v1"
+VIEWER_SETTINGS_SCHEMA: Final = "missioncore.simulation-viewer-settings/v3"
 PROJECT_ID_PATTERN: Final = re.compile(r"^sim-[a-f0-9]{32}$")
 SOURCE_FILE_ID_PATTERN: Final = re.compile(r"^src-[0-9]{5}-[a-f0-9]{8}$")
 PROVIDER_JOB_ID_PATTERN: Final = re.compile(r"^gsp-[0-9]{14}-[a-f0-9]{8}$")
+PROVIDER_TIMESTAMP_PATTERN: Final = re.compile(
+    r"^\d{4}-\d{2}-\d{2}T\d{2}:\d{2}:\d{2}(?:\.\d{1,6})?Z$"
+)
 MAX_SOURCE_FILES: Final = 10_000
 MAX_SOURCE_BYTES: Final = 16 * 1024 * 1024 * 1024
 MAX_UPLOAD_CHUNK_BYTES: Final = 16 * 1024 * 1024
@@ -64,6 +69,10 @@ class SimulationProjectConflictError(SimulationProjectError):
     """The requested transition conflicts with current project state."""
 
 
+class _SimulationProcessingCancelled(RuntimeError):
+    """Internal cooperative stop after an operator deletes an active project."""
+
+
 class SimulationProjectStore:
     def __init__(self, data_dir: Path) -> None:
         self.root = data_dir.expanduser().resolve() / "simulation-worlds"
@@ -105,13 +114,15 @@ class SimulationProjectStore:
                 raise SimulationProjectError("simulation source paths must be unique")
             logical_paths.add(logical_path)
             total_bytes += byte_length
-            normalized.append({
-                "file_id": f"src-{index:05d}-{uuid4().hex[:8]}",
-                "logical_path": logical_path,
-                "byte_length": byte_length,
-                "uploaded_bytes": 0,
-                "sha256": None,
-            })
+            normalized.append(
+                {
+                    "file_id": f"src-{index:05d}-{uuid4().hex[:8]}",
+                    "logical_path": logical_path,
+                    "byte_length": byte_length,
+                    "uploaded_bytes": 0,
+                    "sha256": None,
+                }
+            )
         if total_bytes > MAX_SOURCE_BYTES:
             raise SimulationProjectError("simulation source exceeds byte admission")
         if source_kind == "archive":
@@ -141,7 +152,9 @@ class SimulationProjectStore:
             "provider": {
                 "provider_id": "gaussian-pipeline",
                 "job_id": None,
+                "job_created_at_utc": None,
                 "state": None,
+                "state_started_at_utc": None,
                 "progress": None,
                 "runtime": None,
             },
@@ -269,7 +282,9 @@ class SimulationProjectStore:
             document["provider"] = {
                 "provider_id": "gaussian-pipeline",
                 "job_id": None,
+                "job_created_at_utc": None,
                 "state": None,
+                "state_started_at_utc": None,
                 "progress": None,
                 "runtime": None,
             }
@@ -286,7 +301,9 @@ class SimulationProjectStore:
         *,
         status: str,
         provider_job_id: str | None = None,
+        provider_job_created_at_utc: str | None = None,
         provider_state: str | None = None,
+        provider_state_started_at_utc: str | None = None,
         progress: object = None,
         bundle_sha256: str | None = None,
     ) -> dict[str, Any]:
@@ -299,8 +316,26 @@ class SimulationProjectStore:
                 if PROVIDER_JOB_ID_PATTERN.fullmatch(provider_job_id) is None:
                     raise SimulationProjectError("simulation provider job id is invalid")
                 document["provider"]["job_id"] = provider_job_id
+            if provider_job_created_at_utc is not None:
+                document["provider"]["job_created_at_utc"] = _provider_timestamp(
+                    provider_job_created_at_utc,
+                    "job creation",
+                )
             if provider_state is not None:
+                previous_state = document["provider"].get("state")
                 document["provider"]["state"] = provider_state
+                if (
+                    previous_state != provider_state
+                    or document["provider"].get("state_started_at_utc") is None
+                ):
+                    document["provider"]["state_started_at_utc"] = (
+                        _provider_timestamp(
+                            provider_state_started_at_utc,
+                            "state start",
+                        )
+                        if provider_state_started_at_utc is not None
+                        else utc_now_iso()
+                    )
             if progress is not None:
                 document["provider"]["progress"] = progress
             if bundle_sha256 is not None:
@@ -362,13 +397,15 @@ class SimulationProjectStore:
                 raise SimulationProjectNotFoundError("simulation artifact is unavailable")
             return target, descriptor
 
-    def delete(self, project_id: str) -> None:
+    def delete(self, project_id: str, *, allow_active: bool = False) -> None:
         with self._lock:
             document = self._read(project_id)
-            if document["status"] not in TERMINAL_STATES and document["status"] != "uploading":
-                raise SimulationProjectConflictError(
-                    "active simulation project cannot be deleted"
-                )
+            if (
+                not allow_active
+                and document["status"] not in TERMINAL_STATES
+                and document["status"] != "uploading"
+            ):
+                raise SimulationProjectConflictError("active simulation project cannot be deleted")
             shutil.rmtree(self._project_root(project_id))
 
     def source_root(self, project_id: str) -> Path:
@@ -391,7 +428,11 @@ class SimulationProjectStore:
             or document.get("project_id") != project_id
         ):
             raise SimulationProjectError("persisted simulation project identity is invalid")
-        document.setdefault("viewer_settings", _default_viewer_settings())
+        document["viewer_settings"] = _migrate_viewer_settings(document.get("viewer_settings"))
+        provider = document.get("provider")
+        if isinstance(provider, dict):
+            provider.setdefault("job_created_at_utc", None)
+            provider.setdefault("state_started_at_utc", None)
         return document
 
     def _write(self, document: dict[str, Any]) -> None:
@@ -425,21 +466,67 @@ class SimulationProjectService:
     ) -> None:
         self.store = store
         self.provider_factory = provider_factory
+        self._condition = threading.Condition()
+        self._queue: deque[str] = deque()
+        self._queued_ids: set[str] = set()
+        self._active_project_id: str | None = None
+        self._worker: threading.Thread | None = None
+        self._cancel_events: dict[str, threading.Event] = {}
+        self._inflight_jobs: dict[str, str] = {}
 
     def recover_pending(self) -> int:
-        pending = [
-            project for project in self.store.list()
-            if project.get("status") in ACTIVE_STATES
-        ]
+        pending = sorted(
+            [project for project in self.store.list() if project.get("status") in ACTIVE_STATES],
+            key=lambda project: (
+                str(project.get("created_at_utc")),
+                str(project.get("project_id")),
+            ),
+        )
         for project in pending:
-            threading.Thread(
-                target=self.process,
-                args=(str(project["project_id"]),),
-                name=f"simulation-recovery-{str(project['project_id'])[-8:]}",
-                daemon=True,
-            ).start()
+            self.enqueue(str(project["project_id"]))
         return len(pending)
 
+    def enqueue(self, project_id: str) -> None:
+        project = self.store.get(project_id)
+        if project.get("status") not in ACTIVE_STATES:
+            raise SimulationProjectConflictError(
+                "simulation project is not ready for queued processing"
+            )
+        with self._condition:
+            if project_id in self._queued_ids or project_id == self._active_project_id:
+                return
+            event = self._cancel_events.setdefault(project_id, threading.Event())
+            event.clear()
+            self._queue.append(project_id)
+            self._queued_ids.add(project_id)
+            if self._worker is None or not self._worker.is_alive():
+                self._worker = threading.Thread(
+                    target=self._run_queue,
+                    name="simulation-build-queue",
+                    daemon=True,
+                )
+                self._worker.start()
+            self._condition.notify_all()
+
+    def _run_queue(self) -> None:
+        while True:
+            with self._condition:
+                if not self._queue:
+                    self._worker = None
+                    self._condition.notify_all()
+                    return
+                project_id = self._queue.popleft()
+                self._queued_ids.discard(project_id)
+                self._active_project_id = project_id
+            try:
+                self.process(project_id)
+            finally:
+                with self._condition:
+                    self._active_project_id = None
+                    self._inflight_jobs.pop(project_id, None)
+                    self._cancel_events.pop(project_id, None)
+                    self._condition.notify_all()
+
     def begin_build(self, project_id: str) -> dict[str, Any]:
         project = self.store.get(project_id)
         if project.get("status") == "failed":
@@ -460,15 +547,20 @@ class SimulationProjectService:
                 finally:
                     provider.close()
                 current_state = job.get("state")
-                if (
-                    isinstance(current_state, str)
-                    and current_state in PROVIDER_JOB_STATES - {"failed"}
-                ):
+                if isinstance(current_state, str) and current_state in PROVIDER_JOB_STATES - {
+                    "failed"
+                }:
                     return self.store.update_processing(
                         project_id,
                         status="processing",
                         provider_job_id=job_id,
+                        provider_job_created_at_utc=_optional_provider_timestamp(
+                            job.get("created_at_utc")
+                        ),
                         provider_state=current_state,
+                        provider_state_started_at_utc=_optional_provider_timestamp(
+                            job.get("updated_at_utc")
+                        ),
                         progress=job.get("progress"),
                     )
         if project.get("status") in {"failed", "ready"}:
@@ -488,14 +580,17 @@ class SimulationProjectService:
     def process(self, project_id: str) -> None:
         provider: GaussianPipelineGateway | None = None
         try:
+            self._raise_if_cancelled(project_id)
             project = self.store.get(project_id)
             provider = self.provider_factory()
             if provider is None:
                 raise SimulationProjectError("Gaussian Pipeline не настроен.")
             _retry_provider_unavailable(provider.capabilities)
+            self._raise_if_cancelled(project_id)
             existing_job_id = project["provider"].get("job_id")
             if isinstance(existing_job_id, str):
                 job_id = existing_job_id
+                self._register_inflight_job(project_id, job_id, provider)
             else:
                 if project["status"] != "queued":
                     raise SimulationProjectError(
@@ -522,25 +617,33 @@ class SimulationProjectService:
                     "outputs": {
                         "preview_sog": True,
                         "streamed_sog": True,
-                        "collision": True,
+                        "collision": False,
                     },
                     "preview_lod": "coarsest",
-                    "collision_profile": _collision_profile(str(project["scene_type"])),
+                    "collision_profile": None,
                 }
                 submitted = provider.submit_build(request)
                 job_id = submitted.get("job_id")
                 if not isinstance(job_id, str):
                     raise SimulationProjectError("Gaussian Pipeline не вернул job id.")
+                self._register_inflight_job(project_id, job_id, provider)
                 self.store.update_processing(
                     project_id,
                     status="processing",
                     provider_job_id=job_id,
+                    provider_job_created_at_utc=_optional_provider_timestamp(
+                        submitted.get("created_at_utc")
+                    ),
                     provider_state=str(submitted.get("state") or "queued"),
+                    provider_state_started_at_utc=_optional_provider_timestamp(
+                        submitted.get("updated_at_utc")
+                    ),
                     progress=submitted.get("progress"),
                     bundle_sha256=source.bundle_sha256,
                 )
             deadline = time.monotonic() + PROVIDER_POLL_TIMEOUT_SECONDS
             while True:
+                self._raise_if_cancelled(project_id)
                 if time.monotonic() >= deadline:
                     raise SimulationProjectError(
                         "Gaussian Pipeline превысил лимит ожидания сборки."
@@ -554,7 +657,13 @@ class SimulationProjectService:
                 self.store.update_processing(
                     project_id,
                     status="processing",
+                    provider_job_created_at_utc=_optional_provider_timestamp(
+                        job.get("created_at_utc")
+                    ),
                     provider_state=str(state or "unknown"),
+                    provider_state_started_at_utc=_optional_provider_timestamp(
+                        job.get("updated_at_utc")
+                    ),
                     progress=job.get("progress"),
                 )
                 if state == "failed":
@@ -572,9 +681,11 @@ class SimulationProjectService:
                 provider_state="ready",
             )
             result = _retry_provider_unavailable(lambda: provider.get_result(job_id))
+            self._raise_if_cancelled(project_id)
             artifacts = _artifact_descriptors(result.get("artifacts"))
             artifacts_root = self.store.artifacts_root(project_id)
             for descriptor in artifacts:
+                self._raise_if_cancelled(project_id)
                 _retry_provider_unavailable(
                     lambda descriptor=descriptor: provider.download_artifact(
                         job_id,
@@ -592,27 +703,78 @@ class SimulationProjectService:
                 artifacts=artifacts,
                 world_manifest=world_manifest,
             )
+        except _SimulationProcessingCancelled:
+            pass
         except (GaussianPipelineGatewayError, SimulationProjectError, OSError) as exc:
             with suppress(SimulationProjectError):
                 self.store.fail(project_id, str(exc))
         finally:
+            with self._condition:
+                self._inflight_jobs.pop(project_id, None)
             if provider is not None:
                 provider.close()
 
     def delete(self, project_id: str) -> None:
         project = self.store.get(project_id)
-        job_id = project["provider"].get("job_id")
+        with self._condition:
+            cancel = self._cancel_events.setdefault(project_id, threading.Event())
+            cancel.set()
+            if project_id in self._queued_ids:
+                self._queue = deque(item for item in self._queue if item != project_id)
+                self._queued_ids.discard(project_id)
+            job_id = self._inflight_jobs.pop(
+                project_id,
+                project["provider"].get("job_id"),
+            )
+            self._condition.notify_all()
         if isinstance(job_id, str):
             provider = self.provider_factory()
             if provider is None:
+                with suppress(SimulationProjectError):
+                    self.store.fail(
+                        project_id,
+                        "Gaussian Pipeline недоступен для удаления серверных артефактов.",
+                    )
                 raise SimulationProjectConflictError(
                     "Gaussian Pipeline недоступен для удаления серверных артефактов."
                 )
             try:
                 provider.delete_job(job_id)
+            except GaussianPipelineGatewayError:
+                with suppress(SimulationProjectError):
+                    self.store.fail(
+                        project_id,
+                        "Не удалось удалить активную сборку на Worker 006.",
+                    )
+                raise
             finally:
                 provider.close()
-        self.store.delete(project_id)
+        self.store.delete(project_id, allow_active=True)
+        with self._condition:
+            self._cancel_events.pop(project_id, None)
+            self._condition.notify_all()
+
+    def _raise_if_cancelled(self, project_id: str) -> None:
+        with self._condition:
+            event = self._cancel_events.get(project_id)
+            if event is not None and event.is_set():
+                raise _SimulationProcessingCancelled(project_id)
+
+    def _register_inflight_job(
+        self,
+        project_id: str,
+        job_id: str,
+        provider: GaussianPipelineGateway,
+    ) -> None:
+        with self._condition:
+            event = self._cancel_events.get(project_id)
+            cancelled = event is not None and event.is_set()
+            if not cancelled:
+                self._inflight_jobs[project_id] = job_id
+        if cancelled:
+            with suppress(GaussianPipelineGatewayError):
+                provider.delete_job(job_id)
+            raise _SimulationProcessingCancelled(project_id)
 
 
 def _retry_provider_unavailable(operation: Callable[[], _T]) -> _T:
@@ -650,13 +812,15 @@ def _artifact_descriptors(value: object) -> list[dict[str, Any]]:
             or not isinstance(role, str)
         ):
             raise SimulationProjectError("Gaussian artifact fields are invalid")
-        descriptors.append({
-            "role": role,
-            "logical_path": logical_path,
-            "media_type": media_type,
-            "sha256": sha256,
-            "byte_length": byte_length,
-        })
+        descriptors.append(
+            {
+                "role": role,
+                "logical_path": logical_path,
+                "media_type": media_type,
+                "sha256": sha256,
+                "byte_length": byte_length,
+            }
+        )
     return descriptors
 
 
@@ -666,16 +830,12 @@ def _world_manifest(project_id: str, artifacts: list[dict[str, Any]]) -> dict[st
         if descriptor is None:
             return None
         encoded = "/".join(
-            quote(part, safe="")
-            for part in str(descriptor["logical_path"]).split("/")
+            quote(part, safe="") for part in str(descriptor["logical_path"]).split("/")
         )
         return f"/api/v1/simulation-worlds/projects/{project_id}/artifacts/{encoded}"
 
-    collision_mesh_url = (
-        url_for("rover-collision-mesh")
-        or url_for("rover-terrain-mesh")
-        or url_for("collision-mesh")
-    )
+    rover_collision_mesh_url = url_for("rover-collision-mesh") or url_for("rover-terrain-mesh")
+    collision_mesh_url = rover_collision_mesh_url or url_for("collision-mesh")
     return {
         "schema_version": WORLD_MANIFEST_SCHEMA,
         "project_id": project_id,
@@ -689,39 +849,53 @@ def _world_manifest(project_id: str, artifacts: list[dict[str, Any]]) -> dict[st
         },
         "transforms": {
             "world_from_visual": [1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1],
-            "world_from_collision": [-1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1],
+            "world_from_collision": (
+                [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
+                if rover_collision_mesh_url is not None
+                else [-1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1]
+            ),
         },
     }
 
 
-def _collision_profile(scene_type: str) -> dict[str, Any]:
-    """Build the portable walkable-volume contract around the scanner origin."""
-    return {
-        "scene_type": scene_type,
-        "seed_position": [0, 1, 0],
-        "capsule_height": 1.6,
-        "capsule_radius": 0.2,
-        "voxel_size": 0.2 if scene_type == "outdoor" else 0.1,
-        "mesh_shape": "smooth",
-    }
-
-
 def _default_viewer_settings() -> dict[str, Any]:
     return {
         "schema_version": VIEWER_SETTINGS_SCHEMA,
         "quality": "high",
-        "visual": {"inverted": True, "axis": "x"},
-        "collision": {"inverted": True, "axis": "y"},
+        "visual": {"rotation_degrees": {"x": 180.0, "y": 0.0, "z": 0.0}},
+        "collision": {"rotation_degrees": {"x": 0.0, "y": 0.0, "z": 0.0}},
         "camera": {
             "invert_horizontal": True,
             "invert_vertical": False,
         },
+        "ugv": _default_ugv_settings(),
+    }
+
+
+def _default_ugv_settings() -> dict[str, Any]:
+    return {
+        "preset_name": "UGV 100 кг",
+        "mass_kg": 100.0,
+        "dimensions_m": {
+            "length": 1.0,
+            "width": 0.8,
+            "height": 0.4,
+            "ground_clearance": 0.15,
+        },
+        "max_speed_mps": 1.2,
+        "max_turn_rate_degrees": 45.0,
+        "invert_steering": False,
     }
 
 
 def _viewer_settings(value: object) -> dict[str, Any]:
     if not isinstance(value, dict) or set(value) != {
-        "schema_version", "quality", "visual", "collision", "camera"
+        "schema_version",
+        "quality",
+        "visual",
+        "collision",
+        "camera",
+        "ugv",
     }:
         raise SimulationProjectError("simulation viewer settings contract is invalid")
     if value.get("schema_version") != VIEWER_SETTINGS_SCHEMA:
@@ -732,23 +906,104 @@ def _viewer_settings(value: object) -> dict[str, Any]:
 
     def layer(name: str) -> dict[str, Any]:
         raw = value.get(name)
-        if not isinstance(raw, dict) or set(raw) != {"inverted", "axis"}:
+        if not isinstance(raw, dict) or set(raw) != {"rotation_degrees"}:
             raise SimulationProjectError(f"simulation {name} transform is invalid")
-        inverted = raw.get("inverted")
-        axis = raw.get("axis")
-        if not isinstance(inverted, bool) or axis not in {"x", "y", "z"}:
+        raw_rotation = raw.get("rotation_degrees")
+        if not isinstance(raw_rotation, dict) or set(raw_rotation) != {"x", "y", "z"}:
             raise SimulationProjectError(f"simulation {name} transform is invalid")
-        return {"inverted": inverted, "axis": axis}
+        rotation: dict[str, float] = {}
+        for axis in ("x", "y", "z"):
+            angle = raw_rotation.get(axis)
+            if (
+                not isinstance(angle, (int, float))
+                or isinstance(angle, bool)
+                or not math.isfinite(angle)
+                or angle < -360.0
+                or angle > 360.0
+            ):
+                raise SimulationProjectError(f"simulation {name} transform is invalid")
+            rotation[axis] = float(angle)
+        return {"rotation_degrees": rotation}
 
     camera = value.get("camera")
-    if not isinstance(camera, dict) or set(camera) != {
-        "invert_horizontal", "invert_vertical"
-    }:
+    if not isinstance(camera, dict) or set(camera) != {"invert_horizontal", "invert_vertical"}:
         raise SimulationProjectError("simulation camera settings are invalid")
     horizontal = camera.get("invert_horizontal")
     vertical = camera.get("invert_vertical")
     if not isinstance(horizontal, bool) or not isinstance(vertical, bool):
         raise SimulationProjectError("simulation camera settings are invalid")
+
+    ugv = value.get("ugv")
+    if not isinstance(ugv, dict) or set(ugv) != {
+        "preset_name",
+        "mass_kg",
+        "dimensions_m",
+        "max_speed_mps",
+        "max_turn_rate_degrees",
+        "invert_steering",
+    }:
+        raise SimulationProjectError("simulation UGV settings are invalid")
+    preset_name = " ".join(str(ugv.get("preset_name", "")).split())
+    if not 1 <= len(preset_name) <= 80:
+        raise SimulationProjectError("simulation UGV preset name is invalid")
+    dimensions = ugv.get("dimensions_m")
+    if not isinstance(dimensions, dict) or set(dimensions) != {
+        "length",
+        "width",
+        "height",
+        "ground_clearance",
+    }:
+        raise SimulationProjectError("simulation UGV dimensions are invalid")
+
+    def bounded_number(
+        raw: object,
+        *,
+        minimum: float,
+        maximum: float,
+        label: str,
+    ) -> float:
+        if (
+            not isinstance(raw, (int, float))
+            or isinstance(raw, bool)
+            or not math.isfinite(raw)
+            or raw < minimum
+            or raw > maximum
+        ):
+            raise SimulationProjectError(f"simulation UGV {label} is invalid")
+        return float(raw)
+
+    mass_kg = bounded_number(
+        ugv.get("mass_kg"), minimum=0.01, maximum=1_000_000_000, label="mass"
+    )
+    length = bounded_number(
+        dimensions.get("length"), minimum=0.01, maximum=1_000_000_000, label="length"
+    )
+    width = bounded_number(
+        dimensions.get("width"), minimum=0.01, maximum=1_000_000_000, label="width"
+    )
+    height = bounded_number(
+        dimensions.get("height"), minimum=0.07, maximum=1_000_000_000, label="height"
+    )
+    ground_clearance = bounded_number(
+        dimensions.get("ground_clearance"),
+        minimum=0.01,
+        maximum=1_000_000_000,
+        label="ground clearance",
+    )
+    if ground_clearance >= height - 0.05:
+        raise SimulationProjectError("simulation UGV ground clearance exceeds its height")
+    max_speed_mps = bounded_number(
+        ugv.get("max_speed_mps"), minimum=0, maximum=1_000_000_000, label="maximum speed"
+    )
+    max_turn_rate_degrees = bounded_number(
+        ugv.get("max_turn_rate_degrees"),
+        minimum=0,
+        maximum=1_000_000_000,
+        label="maximum turn rate",
+    )
+    invert_steering = ugv.get("invert_steering")
+    if not isinstance(invert_steering, bool):
+        raise SimulationProjectError("simulation UGV steering inversion is invalid")
     return {
         "schema_version": VIEWER_SETTINGS_SCHEMA,
         "quality": quality,
@@ -758,9 +1013,69 @@ def _viewer_settings(value: object) -> dict[str, Any]:
             "invert_horizontal": horizontal,
             "invert_vertical": vertical,
         },
+        "ugv": {
+            "preset_name": preset_name,
+            "mass_kg": mass_kg,
+            "dimensions_m": {
+                "length": length,
+                "width": width,
+                "height": height,
+                "ground_clearance": ground_clearance,
+            },
+            "max_speed_mps": max_speed_mps,
+            "max_turn_rate_degrees": max_turn_rate_degrees,
+            "invert_steering": invert_steering,
+        },
     }
 
 
+def _migrate_viewer_settings(value: object) -> dict[str, Any]:
+    if not isinstance(value, dict):
+        return _default_viewer_settings()
+    if value.get("schema_version") == VIEWER_SETTINGS_SCHEMA:
+        return _viewer_settings(value)
+    if value.get("schema_version") == "missioncore.simulation-viewer-settings/v2":
+        migrated_v2 = {
+            **value,
+            "schema_version": VIEWER_SETTINGS_SCHEMA,
+            "ugv": _default_ugv_settings(),
+        }
+        try:
+            return _viewer_settings(migrated_v2)
+        except SimulationProjectError:
+            return _default_viewer_settings()
+    if value.get("schema_version") != "missioncore.simulation-viewer-settings/v1":
+        return _default_viewer_settings()
+
+    def legacy_layer(name: str) -> dict[str, Any]:
+        raw = value.get(name)
+        rotation = {"x": 0.0, "y": 0.0, "z": 0.0}
+        if isinstance(raw, dict) and raw.get("inverted") is True:
+            axis = raw.get("axis")
+            if axis in rotation:
+                rotation[axis] = 180.0
+        return {"rotation_degrees": rotation}
+
+    camera = value.get("camera")
+    if not isinstance(camera, dict):
+        camera = {}
+    migrated = {
+        "schema_version": VIEWER_SETTINGS_SCHEMA,
+        "quality": value.get("quality", "high"),
+        "visual": legacy_layer("visual"),
+        "collision": legacy_layer("collision"),
+        "camera": {
+            "invert_horizontal": camera.get("invert_horizontal", True),
+            "invert_vertical": camera.get("invert_vertical", False),
+        },
+        "ugv": _default_ugv_settings(),
+    }
+    try:
+        return _viewer_settings(migrated)
+    except SimulationProjectError:
+        return _default_viewer_settings()
+
+
 def _project_name(value: str) -> str:
     normalized = " ".join(value.split())
     if not 1 <= len(normalized) <= 120:
@@ -768,6 +1083,18 @@ def _project_name(value: str) -> str:
     return normalized
 
 
+def _provider_timestamp(value: str, label: str) -> str:
+    if PROVIDER_TIMESTAMP_PATTERN.fullmatch(value) is None:
+        raise SimulationProjectError(f"simulation provider {label} timestamp is invalid")
+    return value
+
+
+def _optional_provider_timestamp(value: object) -> str | None:
+    if isinstance(value, str) and PROVIDER_TIMESTAMP_PATTERN.fullmatch(value) is not None:
+        return value
+    return None
+
+
 def _logical_path(value: object) -> str:
     if not isinstance(value, str) or not value or len(value) > 1024:
         raise SimulationProjectError("simulation logical path is invalid")

src/k1link/web/simulation_projects_api.py

@@ -4,7 +4,7 @@ from __future__ import annotations
 
 from typing import Any, Literal
 
-from fastapi import APIRouter, BackgroundTasks, Header, HTTPException, Request, Response
+from fastapi import APIRouter, Header, HTTPException, Request, Response
 from fastapi.responses import FileResponse
 from pydantic import BaseModel, ConfigDict, Field
 
@@ -46,11 +46,18 @@ class SimulationProjectUpdate(BaseModel):
     scene_type: Literal["interior", "outdoor", "object"]
 
 
+class SimulationEulerRotation(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    x: float = Field(ge=-360, le=360)
+    y: float = Field(ge=-360, le=360)
+    z: float = Field(ge=-360, le=360)
+
+
 class SimulationLayerViewerSettings(BaseModel):
     model_config = ConfigDict(extra="forbid", frozen=True)
 
-    inverted: bool
-    axis: Literal["x", "y", "z"]
+    rotation_degrees: SimulationEulerRotation
 
 
 class SimulationCameraViewerSettings(BaseModel):
@@ -60,14 +67,35 @@ class SimulationCameraViewerSettings(BaseModel):
     invert_vertical: bool
 
 
+class SimulationUgvDimensions(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    length: float = Field(ge=0.01, le=1_000_000_000)
+    width: float = Field(ge=0.01, le=1_000_000_000)
+    height: float = Field(ge=0.07, le=1_000_000_000)
+    ground_clearance: float = Field(ge=0.01, le=1_000_000_000)
+
+
+class SimulationUgvViewerSettings(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    preset_name: str = Field(min_length=1, max_length=80)
+    mass_kg: float = Field(ge=0.01, le=1_000_000_000)
+    dimensions_m: SimulationUgvDimensions
+    max_speed_mps: float = Field(ge=0, le=1_000_000_000)
+    max_turn_rate_degrees: float = Field(ge=0, le=1_000_000_000)
+    invert_steering: bool
+
+
 class SimulationViewerSettings(BaseModel):
     model_config = ConfigDict(extra="forbid", frozen=True)
 
-    schema_version: Literal["missioncore.simulation-viewer-settings/v1"] = VIEWER_SETTINGS_SCHEMA
+    schema_version: Literal["missioncore.simulation-viewer-settings/v3"] = VIEWER_SETTINGS_SCHEMA
     quality: Literal["low", "medium", "high", "ultra", "maximum"]
     visual: SimulationLayerViewerSettings
     collision: SimulationLayerViewerSettings
     camera: SimulationCameraViewerSettings
+    ugv: SimulationUgvViewerSettings
 
 
 class SimulationProjectDocument(BaseModel):
@@ -162,11 +190,14 @@ def build_simulation_projects_router(
     def source_upload_state(project_id: str, file_id: str) -> Response:
         try:
             offset, byte_length = store.upload_state(project_id, file_id)
-            return Response(status_code=204, headers={
-                "Upload-Offset": str(offset),
-                "Upload-Length": str(byte_length),
-                "Cache-Control": "no-store",
-            })
+            return Response(
+                status_code=204,
+                headers={
+                    "Upload-Offset": str(offset),
+                    "Upload-Length": str(byte_length),
+                    "Cache-Control": "no-store",
+                },
+            )
         except SimulationProjectNotFoundError as exc:
             raise HTTPException(status_code=404, detail="Исходный файл не найден.") from exc
 
@@ -199,11 +230,14 @@ def build_simulation_projects_router(
             source_file = next(
                 item for item in project["source"]["files"] if item["file_id"] == file_id
             )
-            return Response(status_code=204, headers={
-                "Upload-Offset": str(source_file["uploaded_bytes"]),
-                "Upload-Length": str(source_file["byte_length"]),
-                "Cache-Control": "no-store",
-            })
+            return Response(
+                status_code=204,
+                headers={
+                    "Upload-Offset": str(source_file["uploaded_bytes"]),
+                    "Upload-Length": str(source_file["byte_length"]),
+                    "Cache-Control": "no-store",
+                },
+            )
         except SimulationProjectNotFoundError as exc:
             raise HTTPException(status_code=404, detail="Исходный файл не найден.") from exc
         except SimulationProjectConflictError as exc:
@@ -212,13 +246,10 @@ def build_simulation_projects_router(
             raise HTTPException(status_code=400, detail=str(exc)) from exc
 
     @router.post("/projects/{project_id}/build", response_model=SimulationProjectDocument)
-    def build_project(
-        project_id: str,
-        background_tasks: BackgroundTasks,
-    ) -> dict[str, Any]:
+    def build_project(project_id: str) -> dict[str, Any]:
         try:
             project = service.begin_build(project_id)
-            background_tasks.add_task(service.process, project_id)
+            service.enqueue(project_id)
             return project
         except SimulationProjectNotFoundError as exc:
             raise HTTPException(status_code=404, detail="Проект симуляции не найден.") from exc

src/k1link/web/vegetation_shadow_lab_api.py

@@ -93,12 +93,33 @@ def build_vegetation_shadow_lab_router(
         candidate = _resolve_candidate(root_provider, result_id)
         manifest = _read_verified(candidate)
         route_video = manifest.get("route_video")
-        if not isinstance(route_video, dict) or not 0 <= sequence < 4489:
+        if (
+            not isinstance(route_video, dict)
+            or route_video.get("frame_count") != 4489
+            or not 0 <= sequence < 4489
+        ):
             raise HTTPException(status_code=404, detail="Vegetation video mask not found")
         archive = route_video.get("mask_archive")
-        if not isinstance(archive, dict) or archive.get("path") != "video/ddrnet-semantic-masks.zip":
+        archive_relative = archive.get("path") if isinstance(archive, dict) else None
+        if not isinstance(archive_relative, str):
             raise HTTPException(status_code=404, detail="Vegetation video mask not found")
-        archive_path = candidate / "video" / "ddrnet-semantic-masks.zip"
+        relative = PurePosixPath(archive_relative)
+        if (
+            relative.is_absolute()
+            or str(relative) != archive_relative
+            or any(part in {"", ".", ".."} for part in relative.parts)
+            or relative.suffix != ".zip"
+        ):
+            raise HTTPException(status_code=404, detail="Vegetation video mask not found")
+        artifacts = manifest.get("artifacts")
+        if not isinstance(artifacts, list) or not any(
+            isinstance(item, dict)
+            and item.get("path") == archive_relative
+            and item.get("media_type") == "application/zip"
+            for item in artifacts
+        ):
+            raise HTTPException(status_code=404, detail="Vegetation video mask not found")
+        archive_path = candidate.joinpath(*relative.parts)
         member = f"masks/frame-{sequence + 1:06d}.png"
         try:
             before = archive_path.stat()

tests/test_lab_v1_vegetation_integrated_shadow.py

@@ -0,0 +1,276 @@
+from __future__ import annotations
+
+import importlib.util
+import json
+import tarfile
+from pathlib import Path
+
+REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
+EVIDENCE_PATH = (
+    REPOSITORY_ROOT
+    / "experiments/perception/worker/m49_t3_travel/"
+    "build_vegetation_integrated_graph_evidence.py"
+)
+ARTIFACT_PATH = (
+    REPOSITORY_ROOT / "scripts/build_lab_v1_vegetation_integrated_worker_artifact.py"
+)
+RUNNER_PATH = (
+    REPOSITORY_ROOT
+    / "experiments/perception/worker/lab_v1_vegetation_goose/"
+    "run_vegetation_integrated_load.py"
+)
+POWERSHELL_PATH = (
+    REPOSITORY_ROOT
+    / "experiments/perception/worker/Invoke-M49TgsIntegratedGraphShadow.ps1"
+)
+
+
+def load_module(name: str, path: Path):
+    spec = importlib.util.spec_from_file_location(name, path)
+    assert spec is not None and spec.loader is not None
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+EVIDENCE = load_module("vegetation_integrated_evidence", EVIDENCE_PATH)
+ARTIFACT = load_module("vegetation_integrated_artifact", ARTIFACT_PATH)
+
+
+def test_three_layer_gate_joins_exact_frames_and_preserves_false_authority(
+    tmp_path: Path,
+) -> None:
+    profile = tmp_path / "profile.json"
+    profile.write_text(
+        json.dumps(
+            {
+                "schema_version": EVIDENCE.PROFILE_SCHEMA,
+                "profile_id": "test",
+                "source": {"source_id": "RAVNOVES00", "requested_source_rate_hz": 12.0},
+                "stages": {
+                    "m49_graph_tgs": {"profile_sha256": "a" * 64},
+                    "vegetation": {
+                        "checkpoint_sha256": "b" * 64,
+                        "config_sha256": "c" * 64,
+                        "policy_sha256": "d" * 64,
+                        "provider_map_sha256": "e" * 64,
+                        "inference_stride": 2,
+                        "inference_phase_offset_ms": 40.0,
+                    },
+                },
+                "acceptance": {
+                    "minimum_graph_world_state_fps": 11.2,
+                    "minimum_vegetation_timeline_fps": 11.2,
+                    "minimum_vegetation_inference_fps": 5.6,
+                    "maximum_vegetation_inference_completion_p95_ms": 125.0,
+                    "maximum_semantic_evidence_source_age_ms": 125.0,
+                    "maximum_combined_output_age_p99_ms": 125.0,
+                },
+                "authority": {
+                    "commands_enabled": False,
+                    "actuation_allowed": False,
+                    "navigation_or_safety_accepted": False,
+                    "production_accepted": False,
+                },
+            }
+        ),
+        encoding="utf-8",
+    )
+    m49 = tmp_path / "m49.json"
+    m49.write_text(
+        json.dumps(
+            {
+                "schema_version": EVIDENCE.M49_SCHEMA,
+                "status": "passed",
+                "integrated_runtime_gate_passed": True,
+                "result_id": "m49-test",
+                "identity": {"profile_sha256": "a" * 64},
+                "performance": {"effective_world_state_fps": 11.8},
+                "accounting": {
+                    "graph_admitted": EVIDENCE.FRAME_COUNT,
+                    "graph_delivered": EVIDENCE.FRAME_COUNT,
+                    "tgs_timeline_frames": EVIDENCE.FRAME_COUNT,
+                    "tgs_capacity_drops": 0,
+                },
+            }
+        ),
+        encoding="utf-8",
+    )
+    vegetation = tmp_path / "vegetation.json"
+    vegetation.write_text(
+        json.dumps(
+            {
+                "schema_version": EVIDENCE.VEGETATION_SCHEMA,
+                "result_id": "vegetation-test",
+                "integrated_load_gate_passed": True,
+                "source": {"requested_source_rate_hz": 12.0},
+                "candidate": {"candidate_key": "ddrnet", "checkpoint_sha256": "b" * 64},
+                "identity": {
+                    "config_sha256": "c" * 64,
+                    "policy_sha256": "d" * 64,
+                    "provider_map_sha256": "e" * 64,
+                },
+                "execution": {
+                    "frame_count": EVIDENCE.FRAME_COUNT,
+                    "effective_fps": 11.75,
+                    "effective_timeline_fps": 11.75,
+                    "effective_inference_fps": 5.875,
+                    "inference_stride": 2,
+                    "inference_phase_offset_ms": 40.0,
+                    "inference_frame_count": 2245,
+                    "held_evidence_frame_count": 2244,
+                    "capacity_drop_count": 0,
+                },
+                "timing": {
+                    "completion_age_ms": {"p95": 25.0},
+                    "inference_completion_age_ms": {"p95": 25.0},
+                    "stage_ms": {"p95": 20.0},
+                    "inference_ms": {"p95": 18.0},
+                },
+                "resource": {"gpu_name": "test"},
+                "authority": {
+                    "commands_enabled": False,
+                    "actuation_allowed": False,
+                    "navigation_or_safety_accepted": False,
+                    "production_accepted": False,
+                },
+            }
+        ),
+        encoding="utf-8",
+    )
+    graph_frames = tmp_path / "graph.jsonl"
+    graph_frames.write_text(
+        "".join(
+            json.dumps(
+                {"source_envelope": {"sequence": index}, "completion_age_ns": 40_000_000}
+            )
+            + "\n"
+            for index in range(EVIDENCE.FRAME_COUNT)
+        ),
+        encoding="utf-8",
+    )
+    tgs_frames = tmp_path / "tgs.tsv"
+    tgs_frames.write_text(
+        "timeline_frame_index\tcompletion_age_ms\n"
+        + "".join(f"{index}\t5.0\n" for index in range(EVIDENCE.FRAME_COUNT)),
+        encoding="utf-8",
+    )
+    vegetation_frames = tmp_path / "vegetation.jsonl"
+    vegetation_frames.write_text(
+        "".join(
+            json.dumps(
+                {
+                    "schema_version": "missioncore.lab-v1-vegetation-integrated-frame/v2",
+                    "sequence": index,
+                    "completion_age_ms": 60.0 if index % 2 == 0 else 20.0,
+                    "inference_executed": index % 2 == 0,
+                    "inference_phase_offset_ms": 40.0 if index % 2 == 0 else 0.0,
+                    "semantic_source_sequence": index - (index % 2),
+                    "semantic_evidence_source_age_ms": 60.0
+                    if index % 2 == 0
+                    else 103.333333,
+                }
+            )
+            + "\n"
+            for index in range(EVIDENCE.FRAME_COUNT)
+        ),
+        encoding="utf-8",
+    )
+    telemetry = tmp_path / "telemetry.jsonl"
+    telemetry.write_text(
+        "".join(
+            json.dumps(
+                {
+                    "role": role,
+                    "cpu_percent": "10.0%",
+                    "memory_usage": "1GiB / 64GiB",
+                    "memory_percent": "1.56%",
+                }
+            )
+            + "\n"
+            for role in ("graph", "tgs", "triton", "vegetation")
+        ),
+        encoding="utf-8",
+    )
+    output = tmp_path / "result.json"
+
+    result = EVIDENCE.build(
+        profile_path=profile,
+        m49_result_path=m49,
+        graph_frames_path=graph_frames,
+        tgs_timing_path=tgs_frames,
+        vegetation_result_path=vegetation,
+        vegetation_frames_path=vegetation_frames,
+        telemetry_path=telemetry,
+        output_path=output,
+        release_sha256="f" * 64,
+    )
+
+    assert result["status"] == "passed"
+    assert result["source"]["joined_frame_count"] == EVIDENCE.FRAME_COUNT
+    assert result["performance"]["three_layer_output_age_ms"]["p99"] == 60.0
+    assert result["checks"]["authority_remains_false"] is True
+    assert result["production_accepted"] is False
+
+
+def test_integrated_release_is_deterministic_and_contains_one_vegetation_candidate(
+    monkeypatch, tmp_path: Path
+) -> None:
+    def fake_wheel(_source_root: Path, output: Path) -> Path:
+        output.mkdir(parents=True, exist_ok=True)
+        wheel = output / ARTIFACT.WHEEL_NAME
+        wheel.write_bytes(b"clean committed wheel\n")
+        return wheel
+
+    monkeypatch.setattr(ARTIFACT, "build_wheel", fake_wheel)
+    revision = "f" * 40
+    first = ARTIFACT.build_artifact(
+        "mission-core-vegetation-integrated-unit-001",
+        tmp_path / "first",
+        revision=revision,
+        source_root=REPOSITORY_ROOT,
+    )
+    second = ARTIFACT.build_artifact(
+        "mission-core-vegetation-integrated-unit-001",
+        tmp_path / "second",
+        revision=revision,
+        source_root=REPOSITORY_ROOT,
+    )
+
+    assert Path(first["artifact"]).read_bytes() == Path(second["artifact"]).read_bytes()
+    with tarfile.open(first["artifact"], "r:gz") as archive:
+        names = set(archive.getnames())
+        release_stream = archive.extractfile("payload/release.json")
+        assert release_stream is not None
+        release = json.loads(release_stream.read())
+    assert "payload/run_vegetation_integrated_load.py" in names
+    assert "payload/build_vegetation_integrated_graph_evidence.py" in names
+    assert (
+        "payload/lab-v1-vegetation-integrated-multirate-phased-shadow-v3.json"
+        in names
+    )
+    assert release["semantic_inference_rate_hz"] == 6.0
+    assert release["semantic_inference_phase_offset_ms"] == 40.0
+    assert release["scope"]["heavy_vegetation_candidates"] == ["ddrnet"]
+    assert all(value is False for value in release["authority"].values())
+
+
+def test_worker_gate_reuses_shared_barrier_and_keeps_canonical_triton_unchanged() -> None:
+    runner = RUNNER_PATH.read_text(encoding="utf-8")
+    wrapper = POWERSHELL_PATH.read_text(encoding="utf-8")
+    assert '"source-paced-multirate-integrated-shadow/v2"' in runner
+    assert "wait_for_shared_start(" in runner
+    assert '"bounded-compressed-scene-buffer/v1"' in runner
+    assert "buffer_compressed_video(" in runner
+    assert '"compressed_scene_prefetch": True' in runner
+    assert '"full_route_rgb_prefetch": False' in runner
+    assert "decode_source(source_capture, expected_size)" in runner
+    assert '"camera_semantics_can_clear_rigid_geometry": False' in runner
+    assert "--runtime-video-cache /tmp/vegetation-right.mp4" in wrapper
+    assert "--inference-stride 2" in wrapper
+    assert "--inference-phase-offset-ms 40.0" in wrapper
+    assert '--tmpfs "/tmp:rw,noexec,nosuid,size=2g"' in wrapper
+    assert "$VegetationLoadGate" in wrapper
+    assert '"vegetation"' in wrapper
+    assert "if ($canonicalAfter.Id -cne $canonicalId" not in wrapper
+    assert "$canonicalAfter.Id -cne $canonicalId" in wrapper

tests/test_simulation_projects.py

@@ -1,6 +1,8 @@
 from __future__ import annotations
 
+import json
 from pathlib import Path
+from threading import Event
 from typing import Any
 
 import pytest
@@ -14,6 +16,7 @@ from k1link.simulation.gaussian_pipeline_gateway import (
 )
 from k1link.simulation.projects import (
     SimulationProjectConflictError,
+    SimulationProjectNotFoundError,
     SimulationProjectService,
     SimulationProjectStore,
     _world_manifest,
@@ -29,6 +32,22 @@ def _folder_files() -> list[dict[str, object]]:
     ]
 
 
+def _default_ugv_settings() -> dict[str, object]:
+    return {
+        "preset_name": "UGV 100 кг",
+        "mass_kg": 100.0,
+        "dimensions_m": {
+            "length": 1.0,
+            "width": 0.8,
+            "height": 0.4,
+            "ground_clearance": 0.15,
+        },
+        "max_speed_mps": 1.2,
+        "max_turn_rate_degrees": 45.0,
+        "invert_steering": False,
+    }
+
+
 def _upload_all(store: SimulationProjectStore, project: dict[str, Any]) -> None:
     payloads = {
         "export/scene.lcc": b'{"fileType":"Portable"}',
@@ -44,6 +63,19 @@ def _upload_all(store: SimulationProjectStore, project: dict[str, Any]) -> None:
         )
 
 
+def test_store_accepts_four_gib_archive_without_allocating_payload(tmp_path: Path) -> None:
+    store = SimulationProjectStore(tmp_path)
+    project = store.create(
+        name="Four GiB archive",
+        scene_type="outdoor",
+        source_kind="archive",
+        files=[{"logical_path": "four-gib.7z", "byte_length": 4 * 1024**3}],
+    )
+
+    assert project["status"] == "uploading"
+    assert project["source"]["total_byte_length"] == 4 * 1024**3
+
+
 def test_store_persists_resumable_folder_upload_and_state_transitions(tmp_path: Path) -> None:
     store = SimulationProjectStore(tmp_path)
     project = store.create(
@@ -86,10 +118,43 @@ def test_store_persists_resumable_folder_upload_and_state_transitions(tmp_path:
         )
     queued = store.begin_build(project["project_id"])
     assert queued["status"] == "queued"
+    assert queued["provider"]["job_created_at_utc"] is None
+    assert queued["provider"]["state_started_at_utc"] is None
     with pytest.raises(SimulationProjectConflictError, match="active"):
         store.delete(project["project_id"])
 
 
+def test_store_preserves_provider_job_and_stage_timing(tmp_path: Path) -> None:
+    store = SimulationProjectStore(tmp_path)
+    project = store.create(
+        name="Timed scene",
+        scene_type="outdoor",
+        source_kind="folder",
+        files=_folder_files(),
+    )
+    _upload_all(store, project)
+    store.begin_build(project["project_id"])
+
+    first = store.update_processing(
+        project["project_id"],
+        status="processing",
+        provider_job_id="gsp-20260826000000-deadbeef",
+        provider_job_created_at_utc="2026-08-26T09:45:14.000Z",
+        provider_state="building_streamed_sog",
+        provider_state_started_at_utc="2026-08-26T09:48:20.000Z",
+    )
+    repeated = store.update_processing(
+        project["project_id"],
+        status="processing",
+        provider_state="building_streamed_sog",
+        provider_state_started_at_utc="2026-08-26T09:55:00.000Z",
+    )
+
+    assert first["provider"]["job_created_at_utc"] == "2026-08-26T09:45:14.000Z"
+    assert first["provider"]["state_started_at_utc"] == "2026-08-26T09:48:20.000Z"
+    assert repeated["provider"]["state_started_at_utc"] == "2026-08-26T09:48:20.000Z"
+
+
 class _ReadyProvider:
     def __init__(self) -> None:
         self.deleted: list[str] = []
@@ -128,6 +193,8 @@ class _ReadyProvider:
             "schema_version": "gaussian-pipeline.job/v1",
             "job_id": "gsp-20260826000000-deadbeef",
             "state": "queued",
+            "created_at_utc": "2026-08-26T09:45:14.000Z",
+            "updated_at_utc": "2026-08-26T09:45:14.000Z",
         }
 
     def get_job(self, _job_id: str) -> dict[str, object]:
@@ -135,6 +202,8 @@ class _ReadyProvider:
             "schema_version": "gaussian-pipeline.job/v1",
             "job_id": "gsp-20260826000000-deadbeef",
             "state": "ready",
+            "created_at_utc": "2026-08-26T09:45:14.000Z",
+            "updated_at_utc": "2026-08-26T10:26:57.000Z",
             "progress": {"completed_steps": 4, "total_steps": 4},
         }
 
@@ -181,7 +250,7 @@ class _ReadyProvider:
         return None
 
 
-def test_service_materializes_world_manifest_and_deletes_both_copies(tmp_path: Path) -> None:
+def test_service_builds_visual_world_without_automatic_collision(tmp_path: Path) -> None:
     store = SimulationProjectStore(tmp_path)
     project = store.create(
         name="MOJJOKER",
@@ -197,13 +266,44 @@ def test_service_materializes_world_manifest_and_deletes_both_copies(tmp_path: P
 
     ready = store.get(project["project_id"])
     assert ready["status"] == "ready"
+    assert ready["provider"]["job_created_at_utc"] == "2026-08-26T09:45:14.000Z"
     assert ready["world_manifest"]["visual"]["preview_sog_url"].endswith("/preview.sog")
     assert ready["world_manifest"]["collision"]["available"] is False
     assert ready["world_manifest"]["transforms"]["world_from_visual"] == [
-        1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1,
+        1,
+        0,
+        0,
+        0,
+        0,
+        -1,
+        0,
+        0,
+        0,
+        0,
+        -1,
+        0,
+        0,
+        0,
+        0,
+        1,
     ]
     assert ready["world_manifest"]["transforms"]["world_from_collision"] == [
-        -1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1,
+        -1,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        -1,
+        0,
+        0,
+        0,
+        0,
+        1,
     ]
     assert provider.upload_calls == 1
     assert provider.submit_calls == 1
@@ -211,20 +311,70 @@ def test_service_materializes_world_manifest_and_deletes_both_copies(tmp_path: P
     assert provider.submitted_document["outputs"] == {
         "preview_sog": True,
         "streamed_sog": True,
-        "collision": True,
-    }
-    assert provider.submitted_document["collision_profile"] == {
-        "scene_type": "interior",
-        "seed_position": [0, 1, 0],
-        "capsule_height": 1.6,
-        "capsule_radius": 0.2,
-        "voxel_size": 0.1,
-        "mesh_shape": "smooth",
+        "collision": False,
     }
+    assert provider.submitted_document["collision_profile"] is None
     service.delete(project["project_id"])
     assert provider.deleted == ["gsp-20260826000000-deadbeef"]
 
 
+def test_service_queue_processes_projects_strictly_one_at_a_time(tmp_path: Path) -> None:
+    store = SimulationProjectStore(tmp_path)
+    projects: list[dict[str, Any]] = []
+    for name in ("First scene", "Second scene"):
+        project = store.create(
+            name=name,
+            scene_type="outdoor",
+            source_kind="folder",
+            files=_folder_files(),
+        )
+        _upload_all(store, project)
+        projects.append(store.begin_build(project["project_id"]))
+
+    service = SimulationProjectService(store, provider_factory=lambda: None)
+    first_started = Event()
+    release_first = Event()
+    second_started = Event()
+    completed = Event()
+    order: list[str] = []
+
+    def process(project_id: str) -> None:
+        order.append(project_id)
+        if project_id == projects[0]["project_id"]:
+            first_started.set()
+            assert release_first.wait(1.0)
+        else:
+            second_started.set()
+            completed.set()
+
+    service.process = process  # type: ignore[method-assign]
+    service.enqueue(projects[0]["project_id"])
+    assert first_started.wait(1.0)
+    service.enqueue(projects[1]["project_id"])
+    assert not second_started.wait(0.05)
+    release_first.set()
+    assert completed.wait(1.0)
+    assert order == [projects[0]["project_id"], projects[1]["project_id"]]
+
+
+def test_service_deletes_a_queued_project_before_worker_submission(tmp_path: Path) -> None:
+    store = SimulationProjectStore(tmp_path)
+    project = store.create(
+        name="Queued scene",
+        scene_type="outdoor",
+        source_kind="folder",
+        files=_folder_files(),
+    )
+    _upload_all(store, project)
+    store.begin_build(project["project_id"])
+    service = SimulationProjectService(store, provider_factory=lambda: None)
+
+    service.delete(project["project_id"])
+
+    with pytest.raises(SimulationProjectNotFoundError, match="unavailable"):
+        store.get(project["project_id"])
+
+
 def test_world_manifest_prefers_combined_rover_collision_world() -> None:
     manifest = _world_manifest(
         "sim-" + "a" * 32,
@@ -245,9 +395,25 @@ def test_world_manifest_prefers_combined_rover_collision_world() -> None:
     )
 
     assert manifest["collision"]["available"] is True
-    assert manifest["collision"]["mesh_url"].endswith(
-        "/artifacts/rover/scene.collision.glb"
-    )
+    assert manifest["collision"]["mesh_url"].endswith("/artifacts/rover/scene.collision.glb")
+    assert manifest["transforms"]["world_from_collision"] == [
+        1,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        1,
+    ]
 
 
 def test_service_resumes_a_persisted_provider_job_without_reupload(tmp_path: Path) -> None:
@@ -412,11 +578,12 @@ def test_ready_project_rebuilds_from_retained_source_and_preserves_viewer_settin
     )  # type: ignore[arg-type]
     service.process(project["project_id"])
     settings = {
-        "schema_version": "missioncore.simulation-viewer-settings/v1",
+        "schema_version": "missioncore.simulation-viewer-settings/v3",
         "quality": "medium",
-        "visual": {"inverted": True, "axis": "z"},
-        "collision": {"inverted": True, "axis": "y"},
+        "visual": {"rotation_degrees": {"x": 0, "y": 0, "z": 90}},
+        "collision": {"rotation_degrees": {"x": 0, "y": -90, "z": 0}},
         "camera": {"invert_horizontal": False, "invert_vertical": True},
+        "ugv": _default_ugv_settings(),
     }
     store.update_viewer_settings(project["project_id"], settings)
 
@@ -434,21 +601,25 @@ def test_api_exposes_same_origin_resumable_upload_contract(tmp_path: Path) -> No
     app = FastAPI()
     app.include_router(build_simulation_projects_router(store=store, service=service))
     client = TestClient(app)
-    created = client.post("/api/v1/simulation-worlds/projects", json={
-        "schema_version": "missioncore.simulation-project-create/v1",
-        "name": "Archive scene",
-        "scene_type": "outdoor",
-        "source_kind": "archive",
-        "files": [{"logical_path": "scan.rar", "byte_length": 6}],
-    })
+    created = client.post(
+        "/api/v1/simulation-worlds/projects",
+        json={
+            "schema_version": "missioncore.simulation-project-create/v1",
+            "name": "Archive scene",
+            "scene_type": "outdoor",
+            "source_kind": "archive",
+            "files": [{"logical_path": "scan.rar", "byte_length": 6}],
+        },
+    )
     assert created.status_code == 201
     project = created.json()
     assert project["viewer_settings"] == {
-        "schema_version": "missioncore.simulation-viewer-settings/v1",
+        "schema_version": "missioncore.simulation-viewer-settings/v3",
         "quality": "high",
-        "visual": {"inverted": True, "axis": "x"},
-        "collision": {"inverted": True, "axis": "y"},
+        "visual": {"rotation_degrees": {"x": 180.0, "y": 0.0, "z": 0.0}},
+        "collision": {"rotation_degrees": {"x": 0.0, "y": 0.0, "z": 0.0}},
         "camera": {"invert_horizontal": True, "invert_vertical": False},
+        "ugv": _default_ugv_settings(),
     }
     source_file = project["source"]["files"][0]
     upload_url = (
@@ -467,11 +638,18 @@ def test_api_exposes_same_origin_resumable_upload_contract(tmp_path: Path) -> No
     assert catalog["projects"][0]["project_id"] == project["project_id"]
 
     settings = {
-        "schema_version": "missioncore.simulation-viewer-settings/v1",
+        "schema_version": "missioncore.simulation-viewer-settings/v3",
         "quality": "medium",
-        "visual": {"inverted": True, "axis": "z"},
-        "collision": {"inverted": False, "axis": "x"},
+        "visual": {"rotation_degrees": {"x": 0, "y": 0, "z": 90}},
+        "collision": {"rotation_degrees": {"x": -90, "y": 0, "z": 0}},
         "camera": {"invert_horizontal": False, "invert_vertical": True},
+        "ugv": {
+            **_default_ugv_settings(),
+            "mass_kg": 1_000_000_000,
+            "max_speed_mps": 250.0,
+            "max_turn_rate_degrees": 720.0,
+            "invert_steering": True,
+        },
     }
     saved = client.put(
         f"/api/v1/simulation-worlds/projects/{project['project_id']}/viewer-settings",
@@ -479,7 +657,71 @@ def test_api_exposes_same_origin_resumable_upload_contract(tmp_path: Path) -> No
     )
     assert saved.status_code == 200
     assert saved.json()["viewer_settings"] == settings
-    persisted = client.get(
-        f"/api/v1/simulation-worlds/projects/{project['project_id']}"
-    ).json()
+    persisted = client.get(f"/api/v1/simulation-worlds/projects/{project['project_id']}").json()
     assert persisted["viewer_settings"] == settings
+
+
+def test_catalog_migrates_legacy_layer_inversions_to_euler_rotations(tmp_path: Path) -> None:
+    store = SimulationProjectStore(tmp_path)
+    project = store.create(
+        name="Legacy scene",
+        scene_type="outdoor",
+        source_kind="folder",
+        files=_folder_files(),
+    )
+    project_path = (
+        tmp_path / "simulation-worlds" / "projects" / project["project_id"] / "project.json"
+    )
+    document = json.loads(project_path.read_text(encoding="utf-8"))
+    document["viewer_settings"] = {
+        "schema_version": "missioncore.simulation-viewer-settings/v1",
+        "quality": "ultra",
+        "visual": {"inverted": True, "axis": "z"},
+        "collision": {"inverted": False, "axis": "y"},
+        "camera": {"invert_horizontal": False, "invert_vertical": True},
+    }
+    project_path.write_text(json.dumps(document), encoding="utf-8")
+
+    migrated = store.get(project["project_id"])["viewer_settings"]
+
+    assert migrated == {
+        "schema_version": "missioncore.simulation-viewer-settings/v3",
+        "quality": "ultra",
+        "visual": {"rotation_degrees": {"x": 0.0, "y": 0.0, "z": 180.0}},
+        "collision": {"rotation_degrees": {"x": 0.0, "y": 0.0, "z": 0.0}},
+        "camera": {"invert_horizontal": False, "invert_vertical": True},
+        "ugv": _default_ugv_settings(),
+    }
+
+
+def test_catalog_adds_default_ugv_preset_to_v2_viewer_settings(tmp_path: Path) -> None:
+    store = SimulationProjectStore(tmp_path)
+    project = store.create(
+        name="Current scene",
+        scene_type="outdoor",
+        source_kind="folder",
+        files=_folder_files(),
+    )
+    project_path = (
+        tmp_path / "simulation-worlds" / "projects" / project["project_id"] / "project.json"
+    )
+    document = json.loads(project_path.read_text(encoding="utf-8"))
+    document["viewer_settings"] = {
+        "schema_version": "missioncore.simulation-viewer-settings/v2",
+        "quality": "medium",
+        "visual": {"rotation_degrees": {"x": -180.0, "y": 0.0, "z": 0.0}},
+        "collision": {"rotation_degrees": {"x": -90.0, "y": 0.0, "z": 0.0}},
+        "camera": {"invert_horizontal": False, "invert_vertical": True},
+    }
+    project_path.write_text(json.dumps(document), encoding="utf-8")
+
+    migrated = store.get(project["project_id"])["viewer_settings"]
+
+    assert migrated == {
+        "schema_version": "missioncore.simulation-viewer-settings/v3",
+        "quality": "medium",
+        "visual": {"rotation_degrees": {"x": -180.0, "y": 0.0, "z": 0.0}},
+        "collision": {"rotation_degrees": {"x": -90.0, "y": 0.0, "z": 0.0}},
+        "camera": {"invert_horizontal": False, "invert_vertical": True},
+        "ugv": _default_ugv_settings(),
+    }

tests/test_vegetation_shadow_lab.py

@@ -2,6 +2,7 @@ from __future__ import annotations
 
 import hashlib
 import json
+import shutil
 import zipfile
 from pathlib import Path
 from types import SimpleNamespace
@@ -9,9 +10,11 @@ from types import SimpleNamespace
 from fastapi import FastAPI
 from fastapi.testclient import TestClient
 
-from k1link.laboratory import LaboratoryEvidenceRegistry
+import k1link.laboratory.vegetation_policy_review as policy_review_module
 import k1link.laboratory.vegetation_shadow_lab as vegetation_lab_module
+from k1link.laboratory import LaboratoryEvidenceRegistry
 from k1link.laboratory.evidence_report import verify_laboratory_evidence_result
+from k1link.laboratory.vegetation_policy_review import seal_vegetation_policy_review
 from k1link.laboratory.vegetation_shadow_lab import seal_vegetation_shadow_lab
 from k1link.web.vegetation_shadow_lab_api import build_vegetation_shadow_lab_router
 
@@ -229,3 +232,95 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence(
         client.get(f"/api/v1/laboratory/vegetation-shadow/{result_root.name}").status_code
         == 503
     )
+
+
+def test_policy_review_reuses_sealed_video_and_links_yolox_tgs(
+    tmp_path: Path,
+    monkeypatch,
+) -> None:
+    roots = {}
+    for candidate, vegetation_iou in (("ddrnet", 0.64), ("ppliteseg", 0.61)):
+        for mode in ("goose", "ravnoves"):
+            root = tmp_path / "worker" / f"{candidate}-{mode}"
+            _worker_result(root, candidate=candidate, mode=mode, vegetation_iou=vegetation_iou)
+            roots[(candidate, mode)] = root
+    video_root = tmp_path / "worker" / "ddrnet-ravnoves-video"
+    _video_worker_result(video_root)
+    m47_root = tmp_path / f"m47-reference-graph-lab-{'a' * 64}"
+    m47_root.mkdir()
+    base_m4_result_id = f"m4-threat-replay-{'f' * 64}"
+    monkeypatch.setattr(
+        vegetation_lab_module,
+        "read_m47_reference_graph_lab",
+        lambda _root: SimpleNamespace(
+            result_id=m47_root.name,
+            report={
+                "source": {"source_id": "RAVNOVES00"},
+                "visual_evidence": {
+                    "linked_result_id": base_m4_result_id,
+                    "timeline_frames": 4489,
+                },
+            },
+        ),
+    )
+    base_root = seal_vegetation_shadow_lab(
+        ddrnet_goose_root=roots[("ddrnet", "goose")],
+        ppliteseg_goose_root=roots[("ppliteseg", "goose")],
+        ddrnet_ravnoves_root=roots[("ddrnet", "ravnoves")],
+        ppliteseg_ravnoves_root=roots[("ppliteseg", "ravnoves")],
+        output_root=tmp_path / "results",
+        ddrnet_ravnoves_video_root=video_root,
+        m47_reference_graph_lab_root=m47_root,
+    )
+    tgs_result_id = f"m49-tgs-full-shadow-{'9' * 64}"
+    monkeypatch.setattr(
+        policy_review_module,
+        "read_m49_tgs_full_shadow",
+        lambda _root: SimpleNamespace(
+            result_id=tgs_result_id,
+            report={
+                "source": {
+                    "source_id": "RAVNOVES00",
+                    "linked_visual_result_id": base_m4_result_id,
+                },
+                "timeline": {"frame_count": 4489},
+            },
+        ),
+    )
+
+    def fake_policy_archive(**kwargs) -> list[int]:
+        shutil.copyfile(kwargs["source_archive"], kwargs["destination_archive"])
+        return [4489 * 800 * 600, *([0] * 8)]
+
+    monkeypatch.setattr(policy_review_module, "build_policy_mask_archive", fake_policy_archive)
+    result_root = seal_vegetation_policy_review(
+        base_lab_root=base_root,
+        mission_policy_path=REPOSITORY_ROOT
+        / "config/perception/lab-v1-vegetation-mission-policy-v1.json",
+        provider_label_map_path=REPOSITORY_ROOT
+        / "config/perception/lab-v1-vegetation-provider-label-map-v1.json",
+        m49_tgs_full_shadow_root=tmp_path / "sealed-tgs",
+        output_root=tmp_path / "results",
+        created_at_utc="2026-08-28T08:00:00+00:00",
+    )
+    manifest = json.loads((result_root / "result.json").read_text("utf-8"))
+    route = manifest["route_video"]
+    assert route["view_kind"] == "coarse-material-policy-review"
+    assert route["linked_tgs_result_id"] == tgs_result_id
+    assert route["fusion"]["pixel_raster_fusion"] is False
+    assert route["fusion"]["camera_semantic_temporal_filter"] == "none"
+    assert route["taxonomy"]["schema_version"] == (
+        "missioncore.lab-v1-terrain-policy-taxonomy/v1"
+    )
+    assert len(route["taxonomy"]["classes"]) == 9
+    assert len(manifest["artifacts"]) == 79
+    assert manifest["authority"]["commands_enabled"] is False
+    assert manifest["decision"]["multilayer_policy_review_ready"] is True
+
+    app = FastAPI()
+    app.include_router(build_vegetation_shadow_lab_router(root_provider=lambda: result_root.parent))
+    response = TestClient(app).get(
+        f"/api/v1/laboratory/vegetation-shadow/{result_root.name}/masks/0"
+    )
+    assert response.status_code == 200
+    assert response.content == b"\x89PNG\r\n\x1a\n"