equipment
Electronic Load Molecule
Public Made by Adomby adom
Siglent SDL1020X-E electronic load equipment prototype: reconstructed carrier STEP/GLB, constant-current dashboard, serial-pinned SCPI driver, control-panel integration guide and purchase budget.
← Commit history
Add electronic load equipment prototype, carrier reconstruction and control dashboard
25 files changed
+19682−39
diff truncated
3d-boards/electronic-load-carrier.glb3d-boards/electronic-load-carrier.step+128593d-boards/preview.json+13d-boards/provenance.json+51LICENSE+9README.md+45−1THIRD-PARTY.md+1cad/build.py+56cost/README.md+21docs/hero.pngdocs/integration.md+46docs/mechanical.md+18docs/selection.md+17driver.py+69package.json+46page.json+7−38requirements.txt+4server.py+83skills/electronic-load/SKILL.md+40tests/__pycache__/test_driver.cpython-312.pyctests/test_driver.py+22ui/THREE-LICENSE.txt+21ui/favicon.svg+1ui/index.html+15ui/three.js+62503d-boards/electronic-load-carrier.glbadded⋯ 1 unchanged line ⋯
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3d-boards/provenance.jsonadded+51@@ -0,0 +1,51 @@+{+ "status": "planning reconstruction; not fit-verified",+ "manufacturer": "Siglent",+ "model": "SDL1020X-E",+ "documented_envelope_mm": {+ "width": 256,+ "depth": 410,+ "height": 115+ },+ "mass_kg": 5.8,+ "carrier_mm": [+ 288,+ 448,+ 4+ ],+ "datum_mm": [+ [+ 16,+ 16+ ],+ [+ 272,+ 16+ ],+ [+ 16,+ 432+ ],+ [+ 272,+ 432+ ]+ ],+ "datum_pitch_mm": [+ 256,+ 416+ ],+ "units_step": "mm",+ "units_glb": "m",+ "up_axis": "Z (Adom native)",+ "unverified": [+ "connector centers",+ "feet positions",+ "vent keepouts",+ "pin retention design",+ "support-to-alignment-sheet interface",+ "robot gripper and payload",+ "thermal clearances"+ ],+ "source": "https://siglentna.com/download/8733/"+}
LICENSEadded+9@@ -0,0 +1,9 @@+MIT License++Copyright (c) 2026 Adom contributors++Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:++The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.++THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
README.md+45−1@@ -1,3 +1,47 @@ # Electronic Load Molecule -Siglent SDL1020X-E workcell load prototype with carrier CAD, dashboard, SCPI driver, skills and purchase plan; physical qualification pending.+A reusable probing-workcell equipment package built around the **Siglent SDL1020X-E**: a reconstructed carrier model, a constant-current dashboard, a SCPI driver and a test procedure for the [12 V to 5 V / 1 A buck molecule](https://wiki.adom.inc/john/buck-12v5v-molecule).++**Status: software prototype and mechanical planning reconstruction.** No instrument has been bought or physically tested. The CAD is not manufacturer CAD and is not a fully verified digital twin. The carrier is not released for fabrication or robotic handling.++## What is included++- Named-body STEP and GLB, parametric CadQuery source, documented envelope and uncertainty metadata.+- Dashboard: rotate/explode model, 0–1 A CC demand, ON/OFF, V/I/P readback, trend and CSV export.+- Model/serial-pinned PyVISA adapter; disconnected by default, explicit simulation for development.+- Companion integration with the current control-panel dashboard's read-only state API.+- An installed-use skill, engineering notes, purchase budget, qualification checklist and milestone video material.++## Why this load++The [manufacturer lists the SDL1020X-E at $574](https://siglentna.com/dc-electronic-load/sdl1000x/). It provides programmable CC/CV/CR/CP loading, remote communication and sensing; the initial software exposes static CC only. The buck's 5 W requirement is modest, but a commercial instrument provides a reusable platform for later workcell tests. See the [candidate and CAD comparison](docs/selection.md).++The model uses the published 256 × 410 × 115 mm envelope and 5.8 kg mass. Connector locations, feet and cosmetics are approximate. The proposed 288 × 448 mm supported carrier uses a 32 mm-grid datum; the actual pin retention and alignment-sheet support attachment remain engineering work. The native Adom GLB is Z-up and meters; STEP is millimeters. See [mechanical qualification](docs/mechanical.md).++## Run the dashboard++```sh+adom-wiki pkg install adom/electronic-load-molecule+cd adom_modules/adom/electronic-load-molecule+python3 server.py+```++Open port 8864 through your current Hydrogen proxy. The default shows disconnected. For a clearly labelled demonstration, use `python3 server.py --simulate`. If the proxy rewrites Host, set `--origin` to the exact browser origin. For hardware connection, use the [integration guide](docs/integration.md); do not use the simulation as a hardware acceptance result.++The load connects to buck J4 VOUT and J5 GND. The control panel supplies the buck input and hosts the instrument connection; the load uses its own mains power. No installed control-panel firmware or configuration has been changed.++## Purchase budget++**$574 instrument; $744–$914 prototype equipment subtotal**, before tax, shipping, engineering and qualification. The subtotal combines current listings and planning allowances, not a supplier quote. [Complete cost breakdown and exclusions](cost/README.md).++## Reproduce and qualify++```sh+python3 -m unittest discover -s tests -v+# CAD build, in a separate environment with cadquery and trimesh:+python3 cad/build.py+```++Hardware acceptance requires received-unit dimensions, fit/airflow checks, structural and robot payload approval, confirmed SCPI behavior, independent shutdown, calibration checks and measured buck tests. Software watchdog OFF cannot be guaranteed after transport loss or controller failure.++[Control panel](https://wiki.adom.inc/adom/control-panel-dashboard) · [Base scaffold](https://wiki.adom.inc/adom/base-scaffold-system) · [Operation skill](skills/electronic-load/SKILL.md) · [Build video notes](videos/README.md)
THIRD-PARTY.mdadded+1@@ -0,0 +1 @@+Three.js r160 (MIT) is vendored in ui/three.js; its license is ui/THREE-LICENSE.txt. Siglent product names belong to Siglent. The reconstructed CAD is independently authored and is not manufacturer-endorsed. Upstream reference checkouts and manufacturer PDFs are excluded from distribution.
cad/build.pyadded+56@@ -0,0 +1,56 @@+"""Parametric planning reconstruction, not manufacturer CAD or fabrication approval.+Coordinates mm: X width, Y rearward, Z up. GLB meters, native Z-up for Adom.+"""+from pathlib import Path+import json+import cadquery as cq+import trimesh+import numpy as np+ROOT=Path(__file__).resolve().parents[1]+OUT=ROOT/'3d-boards'; OUT.mkdir(exist_ok=True)+parts=[]+def box(name,size,center,color):+ s=cq.Workplane('XY').box(*size).translate(center).val();parts.append((name,s,color));return s+def cyl(name,r,h,center,color,axis='z'):+ s=cq.Workplane('XY').circle(r).extrude(h).val()+ if axis=='y':s=s.rotate((0,0,0),(1,0,0),90)+ s=s.translate(center);parts.append((name,s,color));return s+# Instrument envelope includes feet/projections: keep reconstructed features inside documented limits.+box('instrument_housing_estimated',(246,392,101),(144,220,82.5),(0.77,0.79,0.80))+box('front_bezel_estimated',(256,12,108),(144,20,82),(0.91,0.92,0.91))+box('rear_bezel_estimated',(250,6,103),(144,421,82),(0.3,0.32,0.34))+box('display_estimated',(96,1,59),(85,13.5,88),(0.015,0.04,0.065))+for i in range(3):+ for j in range(4):box(f'key_{i}_{j}',(11,2,7),(168+j*17,13,103-i*12),(0.22,0.25,0.28))+cyl('encoder_estimated',12,5,(222,17,61),(0.4,0.43,0.45),'y')+for name,x,color in [('positive',87,(0.85,0.1,0.08)),('negative',118,(0.08,0.09,0.1))]:cyl('terminal_'+name+'_estimated',6,10,(x,24,45),color,'y')+for x in [45,243]:+ for y in [49,389]:box('foot_estimated_'+str(x)+'_'+str(y),(18,22,7),(x,y,28.5),(0.08,0.09,0.1))+# Independent support plate avoids treating scaffold PCB sockets as weight-rated fasteners.+plate=cq.Workplane('XY').box(288,448,4).translate((144,224,12))+for x in [16,272]:+ for y in [16,432]:plate=plate.cut(cq.Workplane('XY').center(x,y).circle(2).extrude(20))+parts.append(('carrier_plate_concept',plate.val(),(0.2,0.55,0.56)))+for x in [7,281]:box('retaining_rail_concept_'+str(x),(4,400,14),(x,224,21),(0.2,0.55,0.56))+for x in [28,260]:+ for y in [60,388]:box('support_pad_concept_'+str(x)+'_'+str(y),(28,28,10),(x,y,5),(0.16,0.18,0.20))+# Pin datum markers only: real pin STEP retained separately; no invented pin mating geometry.+for x in [16,272]:+ for y in [16,432]:cyl('datum_marker_nonphysical_'+str(x)+'_'+str(y),2,2,(x,y,14),(1,0.65,0.1))+a=cq.Assembly(name='SDL1020X-E_carrier_PLANNING')+scene=trimesh.Scene()+for name,s,col in parts:+ a.add(s,name=name,color=cq.Color(*col))+ v,f=s.tessellate(0.3)+ m=trimesh.Trimesh(vertices=np.array([p.toTuple() for p in v])*0.001,faces=np.array(f),process=False)+ m.visual.vertex_colors=np.tile(np.array([*col,1])*255,(len(v),1)).astype('uint8')+ scene.add_geometry(m,node_name=name,geom_name=name)+a.export(str(OUT/'electronic-load-carrier.step'))+scene.export(str(OUT/'electronic-load-carrier.glb'))+# Portable mesh geometry lets the dashboard display the same actual generated model.+meshes=[]+for n,g in scene.geometry.items():meshes.append({'name':n,'positions':g.vertices.flatten().tolist(),'indices':g.faces.flatten().tolist(),'color':g.visual.vertex_colors[0,:3].astype(float).tolist()})+(OUT/'preview.json').write_text(json.dumps(meshes,separators=(',',':')))+meta={'status':'planning reconstruction; not fit-verified','manufacturer':'Siglent','model':'SDL1020X-E','documented_envelope_mm':{'width':256,'depth':410,'height':115},'mass_kg':5.8,'carrier_mm':[288,448,4],'datum_mm':[[16,16],[272,16],[16,432],[272,432]],'datum_pitch_mm':[256,416],'units_step':'mm','units_glb':'m','up_axis':'Z (Adom native)','unverified':['connector centers','feet positions','vent keepouts','pin retention design','support-to-alignment-sheet interface','robot gripper and payload','thermal clearances'],'source':'https://siglentna.com/download/8733/'}+(OUT/'provenance.json').write_text(json.dumps(meta,indent=2))+print('Generated',len(parts),'named bodies. Planning assets only.')
cost/README.mdadded+21@@ -0,0 +1,21 @@+# Purchase and integration cost++US planning budget checked 2026-10-07. No order, supplier quote, tax calculation, or payment has been made.++| Item | Qty | USD | Basis |+|---|---:|---:|---|+| Siglent SDL1020X-E | 1 | 574 | [Manufacturer US listing](https://siglentna.com/dc-electronic-load/sdl1000x/) |+| Siglent 30 A force-lead set | 1 | 35 | [Manufacturer accessory listing](https://siglentna.com/product-category/dc-electronic-load/) ; confirm SKU/termination at checkout |+| Sense pair, connectors, strain relief | 1 lot | 25–50 | Planning allowance |+| USB host adapter/cable or Ethernet patch lead | 1 lot | 10–25 | Planning allowance; avoid duplicating included USB cable |+| Carrier plate, supports, retaining hardware | 1 | 80–180 | Planning allowance; fabrication quote unavailable |+| Molecule pins/contacts and fixture interface | 1 lot | 20–50 | Planning allowance; final BOM not released |+| **Instrument alone** | | **574** | Listed price |+| **Prototype equipment subtotal** | | **744–914** | Mix of listing and allowances |+| **With 15% planning contingency** | | **856–1,052** | Before tax/shipping |++A practical initial allowance is $1,050 per station before tax/shipping and engineering. It is not a purchase authorization or a finished production BOM.++Excluded: existing scaffold/control panel/CM5, DUT input supply, scope and probes, robot tooling, independent interlock, engineering labor, load-bearing fixture qualification, certified calibration, USB isolation if required, shipping and tax. Calibration intervals/costs and recurring maintenance are unknown. The listed instrument specification alone does not establish calibrated accuracy at receipt.++Alternative listings: Rigol DL3021 $549; B&K 8542B $1,055; B&K 8600 $1,610. See [selection rationale](../docs/selection.md). Recheck stock, included leads, local mains configuration, warranty and delivered total immediately before ordering.
docs/hero.pngadded⋯ 1 unchanged line ⋯
docs/integration.mdadded+46@@ -0,0 +1,46 @@+# Workcell integration++## Electrical path++The load consumes power from the DUT; it does not supply 5 V. Feed the buck input from the controlled 12 V source through the control panel's PS1 rail. Connect buck J4 (VOUT) to load + and J5 (GND) to load −. The buck's mounting pins are also ground; check the complete return path. Do not connect the load across PS1 when intending to test the buck output. Never use J6 VMON as a load terminal; it is a divided voltage monitor.++Start with short paired force leads and local sensing. For Kelvin operation connect both rear sense terminals directly at J4/J5, then enable remote sense explicitly after confirming polarity. The current driver leaves remote sense OFF. Do not hot-undock an energized scaffold. Load OFF/readback first, DUT supply off and discharge verified, then disconnect force/sense and mains/USB harnesses as appropriate.++The instrument needs its own mains supply and protective earth; USB is communication, not instrument power. Confirm instrument input isolation, USB ground and oscilloscope ground before connecting. A USB isolator must support the actual instrument protocol/speed and is not assumed included.++## Control panel++[Current Control Panel Dashboard](https://wiki.adom.inc/adom/control-panel-dashboard) uses a CM5 resident agent and HTTP/SSE service at port 8852. Its current contact-map fixture maps USER_IO to MC29–MC54; the older base-scaffold overview gives different numbering. Use the V2.1.0 fixture and actual board revision, never the old overview for wiring.++Preferred: connect the load USB device port to the CM5 host. Linux USBTMC/PyVISA-py enumerates it; bind by exact SDL1020X-E model and serial. Alternative: LAN/VXI-11 with an explicitly configured VISA resource. USB-A's USB2 path shares a mux with Bluetooth; validate the route before deployment. No undocumented UART-to-SCPI or direct MCU analog interface is assumed.++Run this package's agent on the CM5 and forward its loopback HTTP port through the existing SSH access path. It is a companion dashboard with a read-only `/api/state` connection to the control-panel dashboard; it does not patch or replace the shared agent. `--control-panel URL` shows connectivity and raw panel state, but cannot establish rail calibration or compute reliable efficiency by itself. Timestamp alignment, path losses and calibration must be validated first.++## Run++```sh+python3 -m venv .runtime+.runtime/bin/pip install -r requirements.txt+.runtime/bin/python -m pyvisa info+# Enumerate resources without changing an instrument:+.runtime/bin/python -c 'import pyvisa; print(pyvisa.ResourceManager("@py").list_resources())'+# On the workcell, substitute the discovered VISA resource and actual serial:+.runtime/bin/python server.py --resource 'USB0::VENDOR::PRODUCT::SERIAL::INSTR' --serial ACTUAL_SERIAL --control-panel http://127.0.0.1:8852+```++Access through an SSH tunnel / the authenticated workcell proxy; the server binds loopback. Do not expose its control endpoint unauthenticated to a network. A developer preview is `python3 server.py --simulate`; simulated readbacks are explicitly tagged in UI and CSV. Without flags it is disconnected and refuses commands.++## Test sequence for the 1 A buck++1. Verify wiring, serial, mains selector, local OFF, supply current limit and rail mapping.+2. Apply 12 V to VIN with load OFF; measure output using a calibrated DMM and scope.+3. Apply 0.1, 0.25, 0.5, 0.75 and 1.0 A; record settled V/I/P, input V/I and temperature at each step.+4. Evaluate regulation against the DUT's agreed acceptance limits (no fabricated tolerance). Check heating over an agreed soak period.+5. Configure an instrument-native transient sequence separately and use a scope at TP3/TP5. Browser commands and 2 Hz telemetry do not generate or capture fast load steps. The buck wiki's ~185 mV simulated step and 3.2 mV simulated ripple are comparison targets, not measurements or guaranteed limits.+6. Load OFF and confirm input status; remove DUT power; preserve CSV, scope captures, serial/firmware, calibration and wiring revision.++## Fault behavior and limits++The DUT profile caps requested current at 1 A. Startup identifies the instrument, confirms OFF, clears short/external input control, selects static CC and 5 A range, sets zero demand and enables 1.1 A / 6 W protection. Driver commands follow Siglent Programming Guide E02B; no actual instrument has acknowledged them yet. Firmware-specific errors and protection delays need bench qualification.++The browser renews a 10 s lease. The polling worker sends OFF on lease expiry, bad measurements or read errors. If the transport is lost, software cannot guarantee OFF: display input state unknown, isolate DUT supply locally. A crashed process or powered-off CM5 also defeats the software watchdog. Production requires an independent interlock/supply shutdown, validated dock-presence behavior and instrument protection testing. No unattended hardware-ready claim is made.
docs/mechanical.mdadded+18@@ -0,0 +1,18 @@+# Mechanical model and qualification++The SDL1020X-E published envelope is 256 x 115 x 410 mm (W/H/D), mass 5.8 kg. The reconstruction uses these overall dimensions; it does not contain internal electronics or manufacturer-dimensioned connectors. This is an envelope/cosmetic planning model, not a full correct measured twin.++The proposed carrier is 288 x 448 x 4 mm, with datum centers (16,16), (272,16), (16,432), (272,432) mm. Spans 256 and 416 mm are multiples of the scaffold's 32 mm grid. Datum markers are explicitly nonphysical; they are not fabricated pins. Four support pads show the intended load path to a rigid support structure. They are not a released interface to the alignment sheet: its existing panel and fastener locations must be included before machining.++The current base-scaffold page documents a 576 x 576 mm workspace, 200 mm height and 20 kg project mass. Instrument plus nominal carrier fits the gross envelope, but that alone does not establish vent space, dock clearance, lead bend radius, robot reach, payload or impact load. Budget the instrument's 200 W heat rejection for future profiles, even though the present DUT only supplies 5 W. Mount clear of intake/exhaust; no vendor minimum clearance has yet been verified. Do not drill the instrument chassis.++Before a full twin is accepted:++1. Obtain manufacturer CAD or measure the purchased unit's feet, connectors, controls, handle travel and vents. Reconcile the stated envelope with protrusions.+2. Replace all `_estimated` bodies and datum markers with measured/vendor geometry. Record source and tolerance for every mating face.+3. Design pin retention and rigid support attachment against the current base-scaffold assembly. Confirm current vs legacy alignment-sheet/control-panel revisions.+4. Validate retention, center of mass, transport shocks, plate deflection and robot grip/payload. A 20 kg scaffold rating is not a 20 kg gripper rating.+5. Add force/sense/USB/mains harness models, connector mating envelopes and cooling keepouts. Test cable strain relief and emergency disconnection.+6. Verify coordinate origins, scale and model import on a disposable workcell layout before registering this as production equipment.++The original Adom MachinePinLargeShort STEP was inspected as reference but is not embedded in this concept: a verified retention arrangement must precede pin placement. No unverified pin geometry is disguised as the real part.
docs/selection.mdadded+17@@ -0,0 +1,17 @@+# Commercial load selection++Checked 2026-10-07. US dollars unless stated. Listings are not binding quotes.++| Instrument | Listed price | Integration | Decision |+|---|---:|---|---|+| [Siglent SDL1020X-E](https://siglentna.com/dc-electronic-load/sdl1000x/) | $574 | 200 W, 150 V, 30 A; USB/LAN/RS232, SCPI, remote sense | Preferred price/function balance; use 5 A range for this DUT |+| [Rigol DL3021](https://www.rigolna.com/products/dc-power-loads/dl3000/dl3021/) | $549 | 200 W, 150 V, 40 A; programmable bench load | Credible lower-cost alternative; no downloadable manufacturer CAD located |+| [B&K 8600](https://www.bkprecision.com/products/electronic-loads/8600) | $1,610 | 150 W; USBTMC/RS232 and remote control | More expensive; no CAD advantage verified |+| [B&K 8542B](https://www.bkprecision.com/products/dc-electronic-loads/8542b?region_code=na) | $1,055 | 150 W; included TTL-to-USB adapter | Costs more; less convenient interface |+| [Zahner EL1002](https://zahner.de/products-details/electronic-loads/el1002) | Quote required | Manufacturer STEP explicitly available; 1 kW electrochemical instrument, 21.5 kg | Verified CAD availability, but exceeds scaffold's documented 20 kg project mass before a carrier; no affordable quote verified |++CAD search also checked SDL1000X downloads, Rigol DL3021 CAD search, Aim-TTi LD400P, and KWK KELB15. Distributor generic CAD links are not evidence of a usable model. No Siglent manufacturer STEP was located; this is not a claim none exists. The shipped reconstruction must distinguish documented envelope dimensions from estimated cosmetic geometry and unverified connector locations.++The Siglent's manufacturer datasheet gives 256 W x 115 H x 410 D mm, 5.8 kg, minimum operating voltage 0.15 V at 5 A on the low range. The 5 V / 1 A DUT is within that envelope. CC setting resolution is 1 mA; resolution is not accuracy. At 1 A on the 5 A range, the E model's CC accuracy expression gives ±6 mA under the datasheet's conditions.++The final standardization decision requires instrument receipt, calibration check, fit/airflow verification, and a measured DUT run. Bench thermal/protection ratings do not qualify a custom carrier.
driver.pyadded+69@@ -0,0 +1,69 @@+"""SDL1000X SCPI adapter. Hardware qualification pending; simulation is explicit."""+import math,time,threading++class Load:+ def __init__(self,resource=None,serial=None,simulate=False):+ self.lock=threading.RLock();self.simulate=simulate;self.io=None;self.connected=False+ self.serial=serial;self.idn=None;self.current=0.;self.enabled=False;self.error=None;self.samples=[];self.deadline=0+ if simulate:self.connected=True;self.idn='SIMULATION,SDL1020X-E,DEMO,0'+ elif resource:+ if not serial:raise ValueError('Pin the instrument serial with --serial before connecting')+ import pyvisa+ self.rm=pyvisa.ResourceManager('@py');self.io=self.rm.open_resource(resource)+ self.io.timeout=2000;self.io.write_termination='\n';self.io.read_termination='\n'+ try:+ self.idn=self.io.query('*IDN?').strip();p=[s.strip() for s in self.idn.split(',')]+ if len(p)<3 or 'SIGLENT' not in p[0].upper() or p[1]!='SDL1020X-E' or p[2]!=serial:raise ValueError('Instrument model/serial mismatch: refusing control')+ self.connected=True;self.off();self.configure()+ except Exception:+ self.io.close();self.io=None;raise+ def write(self,c):+ if not self.connected:raise RuntimeError('No instrument connected. Configure a VISA resource and serial.')+ if self.io:self.io.write(c)+ def query(self,c):return self.io.query(c).strip()+ def configure(self):+ for c in [':SOURCE:SHORT:STATE OFF',':SOURCE:EXT:INPUT:STATE OFF',':SOURCE:FUNCTION CURRENT',':SOURCE:CURRENT:IRANGE 5',':SOURCE:CURRENT:LEVEL:IMMEDIATE 0','SYSTEM:SENSE:STATE OFF',':SOURCE:CURRENT:PROTECTION:LEVEL 1.1',':SOURCE:CURRENT:PROTECTION:STATE ON',':SOURCE:POWER:PROTECTION:LEVEL 6',':SOURCE:POWER:PROTECTION:STATE ON']:self.write(c)+ if self.io:+ if self.query(':SOURCE:FUNCTION?').upper() not in ['CURRENT','CURR']:raise RuntimeError('CC mode readback failed')+ if abs(float(self.query(':SOURCE:CURRENT:LEVEL:IMMEDIATE?')))>0.002:raise RuntimeError('Zero-current readback failed')+ def set_current(self,value):+ with self.lock:+ if isinstance(value,bool) or not isinstance(value,(float,int)) or not math.isfinite(value) or not 0<=value<=1:raise ValueError('Buck profile permits 0 to 1.000 A only')+ self.write(f':SOURCE:CURRENT:LEVEL:IMMEDIATE {value:.6f}')+ if self.io and abs(float(self.query(':SOURCE:CURRENT:LEVEL:IMMEDIATE?'))-value)>0.002:raise RuntimeError('Current setpoint readback mismatch')+ self.current=value+ def on(self):+ with self.lock:+ if self.error:raise RuntimeError('Reconnect after resolving the fault: '+self.error)+ self.write(':SOURCE:INPUT:STATE ON')+ if self.io and self.query(':SOURCE:INPUT:STATE?')!='1':raise RuntimeError('Input ON readback failed')+ self.enabled=True;self.deadline=time.monotonic()+10+ def heartbeat(self):+ with self.lock:+ if self.enabled:self.deadline=time.monotonic()+10+ def off(self):+ with self.lock:+ self.write(':SOURCE:INPUT:STATE OFF')+ if self.io and self.query(':SOURCE:INPUT:STATE?')!='0':raise RuntimeError('Input OFF not confirmed')+ self.enabled=False;self.deadline=0+ def sample(self):+ with self.lock:+ if not self.connected:return None+ try:+ if self.enabled and time.monotonic()>self.deadline:self.off();self.error='Control lease expired; input disabled'+ if self.simulate:+ i=self.current if self.enabled else 0.;v=4.98-0.025*i;p=v*i+ else:+ v=float(self.query('MEASURE:VOLTAGE:DC?'));i=float(self.query('MEASURE:CURRENT:DC?'));p=float(self.query('MEASURE:POWER:DC?'))+ self.enabled=self.query(':SOURCE:INPUT:STATE?')=='1'+ if not all(math.isfinite(x) for x in [v,i,p]):raise RuntimeError('Invalid instrument measurement')+ if self.enabled and (v>5.5 or i>1.1 or p>6):self.off();self.error='Buck measurement limit exceeded; input disabled'+ row={'time':time.time(),'voltage_v':v,'current_a':i,'power_w':p,'setpoint_a':self.current,'input_on':self.enabled,'simulated':self.simulate}+ self.samples.append(row);self.samples=self.samples[-3600:];return row+ except Exception as e:+ self.error=str(e)+ try:self.off()+ except Exception:self.error+='; INPUT STATE UNKNOWN: disconnect DUT power locally'+ self.connected=False;return None+ def state(self):+ with self.lock:return {'connected':self.connected,'simulated':self.simulate,'identity':self.idn,'current_a':self.current,'input_on':self.enabled,'error':self.error,'measurement':self.samples[-1] if self.samples and self.connected else None,'limits':{'current_a':1,'voltage_v':5.5,'power_w':6},'cad_status':'Planning reconstruction; fit unverified'}
package.jsonadded+46@@ -0,0 +1,46 @@+{+ "slug": "electronic-load-molecule",+ "title": "Electronic Load Molecule",+ "type": "hardware",+ "kind": "equipment",+ "version": "0.1.0",+ "description": "Siglent SDL1020X-E electronic load equipment prototype: reconstructed carrier STEP/GLB, constant-current dashboard, serial-pinned SCPI driver, control-panel integration guide and purchase budget.",+ "tags": [+ "electronic-load",+ "probing",+ "molecule",+ "siglent",+ "scpi",+ "control-panel"+ ],+ "dependencies": {},+ "hero": {+ "path": "docs/hero.png"+ },+ "license": "MIT",+ "files": [+ "README.md",+ "package.json",+ "page.json",+ "server.py",+ "driver.py",+ "requirements.txt",+ "ui/**",+ "3d-boards/**",+ "cad/**",+ "docs/**",+ "cost/**",+ "skills/**",+ "tests/**",+ "videos/README.md",+ "videos/storyboard.json",+ "LICENSE",+ "THIRD-PARTY.md"+ ],+ "discovery_triggers": [+ "electronic load molecule",+ "constant current load for buck",+ "Siglent workcell load",+ "probing workcell load dashboard"+ ]+}
page.json+7−38@@ -1,45 +1,14 @@ {- "schema_version": 1,- "slug": "electronic-load-molecule",- "type": "component",- "title": "Electronic Load Molecule",- "brief": "Siglent SDL1020X-E workcell load prototype with carrier CAD, dashboard, SCPI driver, skills and purchase plan; physical qualification pending.",- "version": "0.1.0",+ "type": "hardware", "kind": "equipment",+ "title": "Electronic Load Molecule", "source": { "tool": "cadquery", "version": "2.8.0" },- "hero": {- "type": "billboard",- "headline": "Electronic Load Molecule",- "subhead": "Commercial load, reusable workcell controls, and a documented carrier concept"- },- "author": {- "name": "John Lauer",- "email": "[email protected]"- },- "tags": [],- "license": "proprietary",- "visibility": {- "public": true- },- "sample_prompts": [],- "discovery_triggers": [],- "discovery_pitch": null,- "metadata": {},- "created_at": "2026-10-07T15:31:34.898Z",- "updated_at": "2026-10-07T15:31:34.898Z",- "component": {- "mpn": "ELECTRONIC-LOAD-MOLECULE",- "manufacturer": "",- "package": "",- "pin_count": null,- "category": "",- "subcategory": "",- "body_size": null,- "parts": {},- "distributor_links": {}- },- "org": "adom"+ "sections": [+ "hero",+ "readme",+ "info"+ ] }
requirements.txtadded+4@@ -0,0 +1,4 @@+pyvisa>=1.14,<2+pyvisa-py>=0.7,<1+pyusb>=1.2,<2+python-vxi11>=0.9,<1
server.pyadded+83@@ -0,0 +1,83 @@+#!/usr/bin/env python3+"""Local workcell agent/dashboard. Bind loopback; use SSH tunnel for remote use."""+import argparse,csv,io,json,threading,time,urllib.request,urllib.parse+from pathlib import Path+from http.server import ThreadingHTTPServer,BaseHTTPRequestHandler+from driver import Load+ROOT=Path(__file__).resolve().parent++def main():+ p=argparse.ArgumentParser();p.add_argument('--port',type=int,default=8864);p.add_argument('--resource');p.add_argument('--serial');p.add_argument('--simulate',action='store_true');p.add_argument('--control-panel',help='Existing local control-panel dashboard URL; read-only telemetry')+ p.add_argument('--origin',help='Exact allowed browser origin when a trusted proxy rewrites Host')+ a=p.parse_args()+ if a.simulate and a.resource:p.error('Simulation and hardware resource are mutually exclusive')+ load=Load(a.resource,a.serial,a.simulate);console=[];cp={'connected':False,'state':None};stop=threading.Event()+ def poll():+ while not stop.wait(.5):load.sample()+ def panel():+ while not stop.is_set():+ if a.control_panel:+ try:+ with urllib.request.urlopen(a.control_panel.rstrip('/')+'/api/state',timeout=2) as r:data=json.load(r)+ cp.update(connected=True,state=data,error=None,time=time.time())+ except Exception as e:cp.update(connected=False,state=None,error=str(e))+ stop.wait(2)+ threading.Thread(target=poll,daemon=True).start();threading.Thread(target=panel,daemon=True).start()+ class H(BaseHTTPRequestHandler):+ def log_message(self,*args):pass+ def send(self,data,status=200,typ='application/json'):+ b=json.dumps(data,allow_nan=False).encode() if typ=='application/json' else data+ self.send_response(status);self.send_header('Content-Type',typ);self.send_header('Content-Length',str(len(b)));self.send_header('Cache-Control','no-store');self.end_headers();self.wfile.write(b)+ def do_GET(self):+ path=urllib.parse.urlparse(self.path).path+ if path in ['/api/state','/state']:return self.send({**load.state(),'control_panel':cp,'history':load.samples[-240:]})+ if path=='/console':return self.send(console[-100:])+ if path=='/api/export.csv':+ rows=list(load.samples);s=io.StringIO()+ if rows:w=csv.DictWriter(s,fieldnames=list(rows[0]));w.writeheader();w.writerows(rows)+ return self.send(s.getvalue().encode(),typ='text/csv')+ if path=='/api/stream':+ self.send_response(200);self.send_header('Content-Type','text/event-stream');self.send_header('Cache-Control','no-cache');self.end_headers()+ try:+ for _ in range(600):+ self.wfile.write(('data: '+json.dumps({**load.state(),'control_panel':cp})+'\n\n').encode());self.wfile.flush();time.sleep(.5)+ except (BrokenPipeError,ConnectionResetError):pass+ return+ routes={'/':'ui/index.html','/index.html':'ui/index.html','/model.json':'3d-boards/preview.json','/provenance.json':'3d-boards/provenance.json','/three.js':'ui/three.js','/favicon.svg':'ui/favicon.svg','/model.step':'3d-boards/electronic-load-carrier.step','/model.glb':'3d-boards/electronic-load-carrier.glb'}+ if path not in routes:return self.send({'error':'Not found'},404)+ f=ROOT/routes[path];typ={'.html':'text/html','.json':'application/json','.svg':'image/svg+xml','.js':'text/javascript'}.get(f.suffix,'application/octet-stream')+ self.send(f.read_bytes(),typ=typ if typ!='application/json' else 'application/json; charset=utf-8')+ def do_POST(self):+ # JSON plus same-origin enforcement prevents a foreign website toggling localhost hardware.+ origin=self.headers.get('Origin')+ if origin and origin!=a.origin and urllib.parse.urlparse(origin).netloc!=self.headers.get('Host'):return self.send({'error':'Cross-origin control refused'},403)+ if self.headers.get('Content-Type','').split(';')[0]!='application/json':return self.send({'error':'JSON required'},415)+ try:+ n=int(self.headers.get('Content-Length','0'))+ if not 0<n<=8192:raise ValueError('Invalid request size')+ data=json.loads(self.rfile.read(n))+ if self.path=='/console':console.append(data);return self.send({'ok':True})+ if self.path!='/api/cmd':return self.send({'error':'Not found'},404)+ cmd=data.get('cmd')+ if cmd=='current':load.set_current(data.get('amps'))+ elif cmd=='on':load.on()+ elif cmd=='off':load.off()+ elif cmd=='heartbeat':load.heartbeat()+ else:raise ValueError('Unknown command')+ console.append({'time':time.time(),'cmd':cmd});self.send({'ok':True,'state':load.state()})+ except Exception as e:+ # Any failed hardware control attempts a confirmed OFF, never automatic retry of ON.+ if load.connected and not isinstance(e,ValueError):+ try:load.off()+ except Exception:load.error='Input state unknown; disconnect DUT power locally'+ self.send({'error':str(e)},400)+ server=ThreadingHTTPServer(('127.0.0.1',a.port),H)+ print(f'Electronic load: http://127.0.0.1:{a.port}/ | '+('SIMULATION' if a.simulate else 'HARDWARE / DISCONNECTED'),flush=True)+ try:server.serve_forever()+ finally:+ stop.set()+ if load.connected:+ try:load.off()+ except Exception:pass+ server.server_close()+if __name__=='__main__':main()
skills/electronic-load/SKILL.mdadded+40@@ -0,0 +1,40 @@+---+name: electronic-load+user-invocable: true+description: >-+ Open the electronic load molecule dashboard, connect a Siglent SDL1020X-E to a+ probing workcell control panel, set a constant-current load on the 12 V to 5 V+ buck molecule, read volts amps watts, export load CSV, or inspect its carrier twin.+---+# Electronic load molecule++This package is a planning carrier reconstruction and a hardware-unqualified SCPI adapter.+Read docs/integration.md and 3d-boards/provenance.json before physical use. The 1 A profile+is for john/buck-12v5v-molecule, not the instrument's full 30 A capability.++Run `python3 server.py` from the package directory for the disconnected dashboard.+For a explicitly labelled software demonstration use `python3 server.py --simulate`.+Open port 8864 using the current Hydrogen proxy URL. Never silently substitute simulation+for a disconnected instrument.++For hardware use, install requirements.txt in a venv on the workcell CM5. Discover the+VISA resource and bind `server.py --resource RESOURCE --serial SERIAL` to the exact+SDL1020X-E. Startup confirms OFF and configures zero-demand CC. Do not change the control+panel's firmware, calibration, bindings or USB mux incidentally. `--control-panel URL`+adds read-only telemetry from the existing dashboard; it does not deploy integration into+its shared agent.++Drive `/api/cmd` using JSON: `{"cmd":"current","amps":0.1}`, `{"cmd":"on"}`,+`{"cmd":"heartbeat"}`, `{"cmd":"off"}`. Read `/api/state`; export `/api/export.csv`.+Heartbeat at least every 2 seconds while intentionally loading. Validate ON/OFF readback,+check for faults and always finish OFF. Do not replay ON after a timeout.++Force leads go to buck J4 VOUT and J5 GND, never J6 VMON. The instrument is mains-powered.+No hot undocking. Check current board/contact map, return/earth paths and independent+shutdown before physical testing. A failed connection cannot guarantee OFF. Disconnect+DUT power locally if input status is unknown. Hardware fast transients need instrument-native+sequencing and a scope, not browser timing.++Carrier STEP/GLB are in 3d-boards. Overall instrument dimensions come from the datasheet;+cosmetic details, connectors, pin retention and support fit are unverified. Never treat this+as a production-qualified digital twin or robot-pickable molecule.
tests/__pycache__/test_driver.cpython-312.pycadded⋯ 1 unchanged line ⋯
tests/test_driver.pyadded+22@@ -0,0 +1,22 @@+import unittest,time,sys+from pathlib import Path+sys.path.insert(0,str(Path(__file__).resolve().parents[1]))+from driver import Load+class Tests(unittest.TestCase):+ def test_disconnected_refuses_on(self):+ with self.assertRaises(RuntimeError):Load().on()+ def test_invalid_setpoints_never_enable(self):+ l=Load(simulate=True)+ for v in [-1,1.001,float('nan'),float('inf'),True,None,'1']:+ with self.assertRaises(ValueError):l.set_current(v)+ self.assertFalse(l.enabled)+ def test_lease_expiry_disables(self):+ l=Load(simulate=True);l.set_current(1);l.on();l.deadline=time.monotonic()-1;l.sample();self.assertFalse(l.enabled);self.assertIn('expired',l.error)+ def test_simulated_measurements_are_labelled(self):+ l=Load(simulate=True);l.set_current(.5);l.on();r=l.sample();self.assertTrue(r['simulated']);self.assertEqual(r['current_a'],.5);l.off();self.assertEqual(l.sample()['current_a'],0)+ def test_instrument_timeout_clears_measurements(self):+ class Bad:+ def query(self,c):raise TimeoutError('link lost')+ def write(self,c):raise TimeoutError('link lost')+ l=Load(simulate=True);l.sample();l.simulate=False;l.io=Bad();l.sample();self.assertFalse(l.connected);self.assertIsNone(l.state()['measurement']);self.assertIn('UNKNOWN',l.error)+if __name__=='__main__':unittest.main()
ui/THREE-LICENSE.txtadded+21@@ -0,0 +1,21 @@+The MIT License++Copyright © 2010-2023 three.js authors++Permission is hereby granted, free of charge, to any person obtaining a copy+of this software and associated documentation files (the "Software"), to deal+in the Software without restriction, including without limitation the rights+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell+copies of the Software, and to permit persons to whom the Software is+furnished to do so, subject to the following conditions:++The above copyright notice and this permission notice shall be included in+all copies or substantial portions of the Software.++THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN+THE SOFTWARE.
ui/favicon.svgadded+1@@ -0,0 +1 @@+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 64 64"><rect width="64" height="64" rx="12" fill="#161b22"/><path d="M8 32h10l6-15 12 30 6-15h14" fill="none" stroke="#00b8b1" stroke-width="5"/></svg>
ui/index.htmladded+15@@ -0,0 +1,15 @@+<!doctype html><html lang="en"><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>Electronic Load Molecule</title><link rel="icon" href="favicon.svg"><style>+:root{color-scheme:dark;--bg:#0d1117;--panel:#161b22;--line:#303b46;--text:#e6edf3;--muted:#96a5b4;--teal:#00b8b1}*{box-sizing:border-box}body{margin:0;background:var(--bg);color:var(--text);font:15px system-ui,sans-serif}header{height:44px;border-bottom:1px solid var(--line);display:flex;align-items:center;justify-content:space-between;padding:0 22px;background:var(--panel)}header b{letter-spacing:.06em}main{max-width:1440px;margin:auto;padding:28px}.eyebrow{color:var(--teal);font-size:12px;letter-spacing:.15em;text-transform:uppercase}h1{font-size:34px;margin:8px 0}p{color:var(--muted);line-height:1.6}h2{font-size:17px;margin:0 0 16px}.grid{display:grid;grid-template-columns:1.35fr 1fr;gap:20px}.card{border:1px solid var(--line);background:var(--panel);border-radius:12px;padding:22px}.badge{font:12px ui-monospace,monospace;padding:6px 10px;border:1px solid #75672a;color:#efd376;border-radius:20px}.values{display:grid;grid-template-columns:repeat(3,1fr);gap:12px;margin:20px 0}.values b{display:block;font:30px ui-monospace,monospace;margin-top:7px}.values span{font-size:12px;color:var(--muted)}button,input{font:inherit;border:1px solid #435360;border-radius:6px;padding:10px 14px;background:#202a35;color:var(--text)}button{cursor:pointer}button:hover{border-color:var(--teal)}button:disabled{opacity:.35;cursor:not-allowed}button.primary{background:var(--teal);color:#071414;font-weight:650}button.stop{background:#762d30;border-color:#d86464}input{width:110px}.controls{display:flex;align-items:center;gap:10px;flex-wrap:wrap}.presets{display:flex;gap:8px;margin:14px 0}small,.muted{color:var(--muted)}a{color:#4bd0c8}canvas{width:100%;display:block}#model{height:370px;touch-action:none;background:radial-gradient(ellipse at center,#253442,#0d1117);border-radius:8px}#chart{height:150px}.row{display:flex;justify-content:space-between;gap:14px;margin:14px 0;font-size:13px}.flow{display:grid;grid-template-columns:repeat(4,1fr);gap:12px;margin-top:20px}.flow div{border:1px solid var(--line);padding:16px;border-radius:8px}.flow b{display:block;margin-bottom:8px}.flow small{line-height:1.6;display:block}#toast{position:fixed;bottom:22px;left:50%;transform:translateX(-50%);padding:12px 22px;background:#164945;border:1px solid var(--teal);border-radius:8px;max-width:90vw;display:none}#fault{color:#ff9999;min-height:22px}#identity{overflow-wrap:anywhere}footer{margin-top:20px;color:var(--muted);font-size:12px}@media(max-width:850px){.grid{grid-template-columns:1fr}.flow{grid-template-columns:1fr 1fr}main{padding:16px}h1{font-size:26px}.values b{font-size:24px}}+</style><header><b>ADOM / ELECTRONIC LOAD</b><span id="mode" class="badge">CONNECTING</span><a href="https://wiki.adom.inc/john/buck-12v5v-molecule" target="_blank">Buck molecule</a></header><main><div class="eyebrow">Probing workcell equipment</div><h1>A programmable load for the buck molecule</h1><p>Siglent SDL1020X-E · Constant current · 5 V / 1 A DUT profile</p><div class="grid"><section class="card"><div class="row"><h2>Instrument + molecule carrier</h2><span class="badge">FIT UNVERIFIED</span></div><canvas id="model" aria-label="Interactive reconstructed electronic load and carrier"></canvas><div class="controls" style="margin-top:12px"><button id="orbit" title="Rotate the generated model continuously">Orbit</button><button id="explode" title="Separate instrument from carrier for inspection">Explode</button><button id="home" title="Return to the initial isometric view">Reset view</button><a href="model.step">STEP</a><a href="model.glb">GLB</a></div><div class="row"><span>256 × 410 × 115 mm instrument</span><span>5.8 kg</span></div><small>Drag to rotate. Manufacturer dimensions; reconstructed details. Carrier and support interfaces require fit and load verification.</small></section><section class="card"><h2>Load control</h2><small id="identity">No instrument connected</small><div class="values"><div><span>DUT VOLTAGE</span><b id="volts">—</b></div><div><span>LOAD CURRENT</span><b id="amps">—</b></div><div><span>ABSORBED POWER</span><b id="watts">—</b></div></div><div class="row"><b id="inputState">INPUT OFF</b><span>Profile ceiling: 1.000 A</span></div><label for="setpoint">Constant current (A)</label><div class="controls" style="margin-top:10px"><input id="setpoint" type="number" min="0" max="1" step="0.001" value="0.1"><button id="apply" title="Set and verify the constant-current demand">Apply</button><button id="on" class="primary" title="Enable the load at the current setpoint">Load ON</button><button id="off" class="stop" title="Disable the instrument input and confirm readback">Load OFF</button></div><div class="presets"><button data-a="0.1" title="Set a 100 mA load">0.10 A</button><button data-a="0.5" title="Set a 500 mA load">0.50 A</button><button data-a="1" title="Set the buck's 1 A rated load">1.00 A</button></div><div id="fault" role="alert"></div><canvas id="chart" aria-label="Recent voltage and current trend"></canvas><div class="row"><span>Teal: volts / 6 · Amber: amps / 1.2</span><a href="api/export.csv" download="load-measurements.csv">Export CSV</a></div><small>Readback trend, not oscilloscope acquisition. Closing this page expires its 10 s control lease. A broken hardware link can leave the input state unknown.</small></section></div><div class="flow"><div><b>01 / Power the DUT</b><small>12 V source → control-panel PS1 → buck VIN/GND. Confirm rail and return wiring.</small></div><div><b>02 / Apply the load</b><small>Buck J4 VOUT → load +. Buck J5 GND → load −. Keep force leads short and paired.</small></div><div><b>03 / Control & read</b><small>Workcell CM5 → USBTMC or LAN SCPI. The load has its own mains supply.</small></div><div><b>04 / Correlate</b><small id="cp">Control-panel telemetry: disconnected. Scope required for ripple and transient response.</small></div></div><footer>Planning reconstruction and software prototype. No physical load, carrier, calibration or buck test has been qualified. <a href="provenance.json">Model provenance</a></footer></main><div id="toast" role="status"></div><script type="module">+import * as THREE from "./three.js";+const $=s=>document.querySelector(s);let state={},history=[];let timer;function toast(t,bad=false){$('#toast').textContent=t;$('#toast').style.display='block';$('#toast').style.background=bad?'#642c30':'#164945';clearTimeout(timer);timer=setTimeout(()=>$('#toast').style.display='none',5000)}async function command(cmd,extra={}){try{let r=await fetch('api/cmd',{method:'POST',headers:{'Content-Type':'application/json'},body:JSON.stringify({cmd,...extra})});let j=await r.json();if(!r.ok)throw Error(j.error);if(cmd!='heartbeat')toast(cmd==='current'?`Current set to ${extra.amps.toFixed(3)} A`:`Load ${cmd.toUpperCase()}`);render(j.state)}catch(e){toast(e.message,true)}}+$('#apply').onclick=()=>command('current',{amps:Number($('#setpoint').value)});$('#on').onclick=()=>command('on');$('#off').onclick=()=>command('off');document.querySelectorAll('[data-a]').forEach(b=>b.onclick=()=>{$('#setpoint').value=b.dataset.a;command('current',{amps:Number(b.dataset.a)})});function render(s){state=s;$('#mode').textContent=s.simulated?'SIMULATION / NO HARDWARE':s.connected?'LIVE INSTRUMENT':'DISCONNECTED';$('#identity').textContent=s.identity||'Configure an instrument resource and serial to connect';$('#inputState').textContent=s.input_on?'INPUT ON':'INPUT OFF';$('#inputState').style.color=s.input_on?'#00b8b1':'#96a5b4';$('#fault').textContent=s.error||'';for(let [k,id,u] of [['voltage_v','volts','V'],['current_a','amps','A'],['power_w','watts','W']])$('#'+id).textContent=s.measurement?s.measurement[k].toFixed(3)+' '+u:'—';for(let id of ['apply','on','off'])$('#'+id).disabled=!s.connected;document.querySelectorAll('[data-a]').forEach(b=>b.disabled=!s.connected);if(s.control_panel)$('#cp').textContent=s.control_panel.connected?'Control-panel API reachable. Verify attached board identity and rail mapping before testing.':'Control-panel telemetry: disconnected. Scope required for ripple and transient response.';if(s.measurement){history.push(s.measurement);history=history.slice(-180);chart()}}+let events=new EventSource('api/stream');events.onmessage=e=>render(JSON.parse(e.data));events.onerror=()=>{$('#mode').textContent='CONNECTION LOST';for(let id of ['apply','on','off'])$('#'+id).disabled=true;$('#volts').textContent=$('#amps').textContent=$('#watts').textContent='—'};setInterval(()=>{if(state.input_on)command('heartbeat')},2000);window.addEventListener('error',e=>fetch('console',{method:'POST',headers:{'Content-Type':'application/json'},body:JSON.stringify({error:e.message})}));+function chart(){let c=$('#chart'),d=devicePixelRatio;c.width=c.clientWidth*d;c.height=c.clientHeight*d;let x=c.getContext('2d'),w=c.width,h=c.height;x.strokeStyle='#303b46';for(let i=1;i<5;i++){x.beginPath();x.moveTo(0,h*i/5);x.lineTo(w,h*i/5);x.stroke()}for(let [k,max,col] of [['voltage_v',6,'#00b8b1'],['current_a',1.2,'#efc26b']]){x.strokeStyle=col;x.lineWidth=2*d;x.beginPath();history.forEach((p,i)=>{let a=i/179*w,b=h-10-p[k]/max*(h-20);i?x.lineTo(a,b):x.moveTo(a,b)});x.stroke()}}+// Render the exact tessellated CAD solids with depth testing and consistent lighting.+const canvas=$('#model'),renderer=new THREE.WebGLRenderer({canvas,antialias:true,alpha:true});renderer.setPixelRatio(devicePixelRatio);const scene=new THREE.Scene(),camera=new THREE.PerspectiveCamera(38,1,.001,10);camera.up.set(0,0,1);scene.add(new THREE.HemisphereLight(0xddeeff,0x444444,2.2));const light=new THREE.DirectionalLight(0xffffff,3);light.position.set(-.5,-.6,1);scene.add(light);let meshes=[],az=-.8,el=.55,spin=false,explode=false,drag=null;+fetch('model.json').then(r=>r.json()).then(data=>{for(const m of data){const g=new THREE.BufferGeometry();g.setAttribute('position',new THREE.Float32BufferAttribute(m.positions,3));g.setIndex(m.indices);g.computeVertexNormals();const color=new THREE.Color(...m.color.map(n=>n/255));const mesh=new THREE.Mesh(g,new THREE.MeshStandardMaterial({color,roughness:.65,metalness:.12,side:THREE.DoubleSide}));mesh.name=m.name;scene.add(mesh);meshes.push(mesh)}draw()});+function draw(){const w=canvas.clientWidth,h=canvas.clientHeight;renderer.setSize(w,h,false);camera.aspect=w/h;camera.updateProjectionMatrix();let radius=.82;camera.position.set(.144+radius*Math.cos(el)*Math.sin(az),.224-radius*Math.cos(el)*Math.cos(az),.06+radius*Math.sin(el));camera.lookAt(.144,.224,.065);for(let m of meshes)m.position.z=explode&&!/carrier|support|retaining|datum/.test(m.name)?.11:0;renderer.render(scene,camera)}+canvas.onpointerdown=e=>{drag=[e.clientX,e.clientY];canvas.setPointerCapture(e.pointerId)};canvas.onpointermove=e=>{if(drag){az-=(e.clientX-drag[0])*.008;el=Math.max(.1,Math.min(1.4,el+(e.clientY-drag[1])*.006));drag=[e.clientX,e.clientY];draw()}};canvas.onpointerup=()=>drag=null;+$('#orbit').onclick=()=>{spin=!spin;$('#orbit').setAttribute('aria-pressed',spin);toast(spin?'Orbit started':'Orbit stopped')};$('#explode').onclick=()=>{explode=!explode;$('#explode').setAttribute('aria-pressed',explode);draw()};$('#home').onclick=()=>{az=-.8;el=.55;explode=false;spin=false;draw()};setInterval(()=>{if(spin){az+=.018;draw()}},50);addEventListener('resize',()=>{draw();chart()});window.eloadView={orbit:()=>$('#orbit').click(),explode:()=>$('#explode').click(),reset:()=>$('#home').click()};+</script></html>
ui/three.jsadded+6250@@ -0,0 +1,53044 @@+/**+ * @license+ * Copyright 2010-2023 Three.js Authors+ * SPDX-License-Identifier: MIT+ */+const REVISION = '160';++const MOUSE = { LEFT: 0, MIDDLE: 1, RIGHT: 2, ROTATE: 0, DOLLY: 1, PAN: 2 };+const TOUCH = { ROTATE: 0, PAN: 1, DOLLY_PAN: 2, DOLLY_ROTATE: 3 };+const CullFaceNone = 0;+const CullFaceBack = 1;+const CullFaceFront = 2;+const CullFaceFrontBack = 3;+const BasicShadowMap = 0;+const PCFShadowMap = 1;+const PCFSoftShadowMap = 2;+const VSMShadowMap = 3;+const FrontSide = 0;+const BackSide = 1;+const DoubleSide = 2;+const TwoPassDoubleSide = 2; // r149+const NoBlending = 0;+const NormalBlending = 1;+const AdditiveBlending = 2;+const SubtractiveBlending = 3;+const MultiplyBlending = 4;+const CustomBlending = 5;+const AddEquation = 100;+const SubtractEquation = 101;+const ReverseSubtractEquation = 102;+const MinEquation = 103;+const MaxEquation = 104;+const ZeroFactor = 200;+const OneFactor = 201;+const SrcColorFactor = 202;+const OneMinusSrcColorFactor = 203;+const SrcAlphaFactor = 204;+const OneMinusSrcAlphaFactor = 205;+const DstAlphaFactor = 206;+const OneMinusDstAlphaFactor = 207;+const DstColorFactor = 208;+const OneMinusDstColorFactor = 209;+const SrcAlphaSaturateFactor = 210;+const ConstantColorFactor = 211;+const OneMinusConstantColorFactor = 212;+const ConstantAlphaFactor = 213;+const OneMinusConstantAlphaFactor = 214;+const NeverDepth = 0;+const AlwaysDepth = 1;+const LessDepth = 2;+const LessEqualDepth = 3;+const EqualDepth = 4;+const GreaterEqualDepth = 5;+const GreaterDepth = 6;+const NotEqualDepth = 7;+const MultiplyOperation = 0;+const MixOperation = 1;+const AddOperation = 2;+const NoToneMapping = 0;+const LinearToneMapping = 1;+const ReinhardToneMapping = 2;+const CineonToneMapping = 3;+const ACESFilmicToneMapping = 4;+const CustomToneMapping = 5;+const AgXToneMapping = 6;+const AttachedBindMode = 'attached';+const DetachedBindMode = 'detached';++const UVMapping = 300;+const CubeReflectionMapping = 301;+const CubeRefractionMapping = 302;+const EquirectangularReflectionMapping = 303;+const EquirectangularRefractionMapping = 304;+const CubeUVReflectionMapping = 306;+const RepeatWrapping = 1000;+const ClampToEdgeWrapping = 1001;+const MirroredRepeatWrapping = 1002;+const NearestFilter = 1003;+const NearestMipmapNearestFilter = 1004;+const NearestMipMapNearestFilter = 1004;+const NearestMipmapLinearFilter = 1005;+const NearestMipMapLinearFilter = 1005;+const LinearFilter = 1006;+const LinearMipmapNearestFilter = 1007;+const LinearMipMapNearestFilter = 1007;+const LinearMipmapLinearFilter = 1008;+const LinearMipMapLinearFilter = 1008;+const UnsignedByteType = 1009;+const ByteType = 1010;+const ShortType = 1011;+const UnsignedShortType = 1012;+const IntType = 1013;+const UnsignedIntType = 1014;+const FloatType = 1015;+const HalfFloatType = 1016;+const UnsignedShort4444Type = 1017;+const UnsignedShort5551Type = 1018;+const UnsignedInt248Type = 1020;+const AlphaFormat = 1021;+const RGBAFormat = 1023;+const LuminanceFormat = 1024;+const LuminanceAlphaFormat = 1025;+const DepthFormat = 1026;+const DepthStencilFormat = 1027;+const RedFormat = 1028;+const RedIntegerFormat = 1029;+const RGFormat = 1030;+const RGIntegerFormat = 1031;+const RGBAIntegerFormat = 1033;++const RGB_S3TC_DXT1_Format = 33776;+const RGBA_S3TC_DXT1_Format = 33777;+const RGBA_S3TC_DXT3_Format = 33778;+const RGBA_S3TC_DXT5_Format = 33779;+const RGB_PVRTC_4BPPV1_Format = 35840;+const RGB_PVRTC_2BPPV1_Format = 35841;+const RGBA_PVRTC_4BPPV1_Format = 35842;+const RGBA_PVRTC_2BPPV1_Format = 35843;+const RGB_ETC1_Format = 36196;+const RGB_ETC2_Format = 37492;+const RGBA_ETC2_EAC_Format = 37496;+const RGBA_ASTC_4x4_Format = 37808;+const RGBA_ASTC_5x4_Format = 37809;+const RGBA_ASTC_5x5_Format = 37810;+const RGBA_ASTC_6x5_Format = 37811;+const RGBA_ASTC_6x6_Format = 37812;+const RGBA_ASTC_8x5_Format = 37813;+const RGBA_ASTC_8x6_Format = 37814;+const RGBA_ASTC_8x8_Format = 37815;+const RGBA_ASTC_10x5_Format = 37816;+const RGBA_ASTC_10x6_Format = 37817;+const RGBA_ASTC_10x8_Format = 37818;+const RGBA_ASTC_10x10_Format = 37819;+const RGBA_ASTC_12x10_Format = 37820;+const RGBA_ASTC_12x12_Format = 37821;+const RGBA_BPTC_Format = 36492;+const RGB_BPTC_SIGNED_Format = 36494;+const RGB_BPTC_UNSIGNED_Format = 36495;+const RED_RGTC1_Format = 36283;+const SIGNED_RED_RGTC1_Format = 36284;+const RED_GREEN_RGTC2_Format = 36285;+const SIGNED_RED_GREEN_RGTC2_Format = 36286;+const LoopOnce = 2200;+const LoopRepeat = 2201;+const LoopPingPong = 2202;+const InterpolateDiscrete = 2300;+const InterpolateLinear = 2301;+const InterpolateSmooth = 2302;+const ZeroCurvatureEnding = 2400;+const ZeroSlopeEnding = 2401;+const WrapAroundEnding = 2402;+const NormalAnimationBlendMode = 2500;+const AdditiveAnimationBlendMode = 2501;+const TrianglesDrawMode = 0;+const TriangleStripDrawMode = 1;+const TriangleFanDrawMode = 2;+/** @deprecated Use LinearSRGBColorSpace or NoColorSpace in three.js r152+. */+const LinearEncoding = 3000;+/** @deprecated Use SRGBColorSpace in three.js r152+. */+const sRGBEncoding = 3001;+const BasicDepthPacking = 3200;+const RGBADepthPacking = 3201;+const TangentSpaceNormalMap = 0;+const ObjectSpaceNormalMap = 1;++// Color space string identifiers, matching CSS Color Module Level 4 and WebGPU names where available.+const NoColorSpace = '';+const SRGBColorSpace = 'srgb';+const LinearSRGBColorSpace = 'srgb-linear';+const DisplayP3ColorSpace = 'display-p3';+const LinearDisplayP3ColorSpace = 'display-p3-linear';++const LinearTransfer = 'linear';+const SRGBTransfer = 'srgb';++const Rec709Primaries = 'rec709';+const P3Primaries = 'p3';++const ZeroStencilOp = 0;+const KeepStencilOp = 7680;+const ReplaceStencilOp = 7681;+const IncrementStencilOp = 7682;+const DecrementStencilOp = 7683;+const IncrementWrapStencilOp = 34055;+const DecrementWrapStencilOp = 34056;+const InvertStencilOp = 5386;++const NeverStencilFunc = 512;+const LessStencilFunc = 513;+const EqualStencilFunc = 514;+const LessEqualStencilFunc = 515;+const GreaterStencilFunc = 516;+const NotEqualStencilFunc = 517;+const GreaterEqualStencilFunc = 518;+const AlwaysStencilFunc = 519;++const NeverCompare = 512;+const LessCompare = 513;+const EqualCompare = 514;+const LessEqualCompare = 515;+const GreaterCompare = 516;+const NotEqualCompare = 517;+const GreaterEqualCompare = 518;+const AlwaysCompare = 519;++const StaticDrawUsage = 35044;+const DynamicDrawUsage = 35048;+const StreamDrawUsage = 35040;+const StaticReadUsage = 35045;+const DynamicReadUsage = 35049;+const StreamReadUsage = 35041;+const StaticCopyUsage = 35046;+const DynamicCopyUsage = 35050;+const StreamCopyUsage = 35042;++const GLSL1 = '100';+const GLSL3 = '300 es';++const _SRGBAFormat = 1035; // fallback for WebGL 1++const WebGLCoordinateSystem = 2000;+const WebGPUCoordinateSystem = 2001;++/**+ * https://github.com/mrdoob/eventdispatcher.js/+ */++class EventDispatcher {++ addEventListener( type, listener ) {++ if ( this._listeners === undefined ) this._listeners = {};++ const listeners = this._listeners;++ if ( listeners[ type ] === undefined ) {++ listeners[ type ] = [];++ }++ if ( listeners[ type ].indexOf( listener ) === - 1 ) {++ listeners[ type ].push( listener );++ }++ }++ hasEventListener( type, listener ) {++ if ( this._listeners === undefined ) return false;++ const listeners = this._listeners;++ return listeners[ type ] !== undefined && listeners[ type ].indexOf( listener ) !== - 1;++ }++ removeEventListener( type, listener ) {++ if ( this._listeners === undefined ) return;++ const listeners = this._listeners;+ const listenerArray = listeners[ type ];++ if ( listenerArray !== undefined ) {++ const index = listenerArray.indexOf( listener );++ if ( index !== - 1 ) {++ listenerArray.splice( index, 1 );++ }++ }++ }++ dispatchEvent( event ) {++ if ( this._listeners === undefined ) return;++ const listeners = this._listeners;+ const listenerArray = listeners[ event.type ];++ if ( listenerArray !== undefined ) {++ event.target = this;++ // Make a copy, in case listeners are removed while iterating.+ const array = listenerArray.slice( 0 );++ for ( let i = 0, l = array.length; i < l; i ++ ) {++ array[ i ].call( this, event );++ }++ event.target = null;++ }++ }++}++const _lut = [ '00', '01', '02', '03', '04', '05', '06', '07', '08', '09', '0a', '0b', '0c', '0d', '0e', '0f', '10', '11', '12', '13', '14', '15', '16', '17', '18', '19', '1a', '1b', '1c', '1d', '1e', '1f', '20', '21', '22', '23', '24', '25', '26', '27', '28', '29', '2a', '2b', '2c', '2d', '2e', '2f', '30', '31', '32', '33', '34', '35', '36', '37', '38', '39', '3a', '3b', '3c', '3d', '3e', '3f', '40', '41', '42', '43', '44', '45', '46', '47', '48', '49', '4a', '4b', '4c', '4d', '4e', '4f', '50', '51', '52', '53', '54', '55', '56', '57', '58', '59', '5a', '5b', '5c', '5d', '5e', '5f', '60', '61', '62', '63', '64', '65', '66', '67', '68', '69', '6a', '6b', '6c', '6d', '6e', '6f', '70', '71', '72', '73', '74', '75', '76', '77', '78', '79', '7a', '7b', '7c', '7d', '7e', '7f', '80', '81', '82', '83', '84', '85', '86', '87', '88', '89', '8a', '8b', '8c', '8d', '8e', '8f', '90', '91', '92', '93', '94', '95', '96', '97', '98', '99', '9a', '9b', '9c', '9d', '9e', '9f', 'a0', 'a1', 'a2', 'a3', 'a4', 'a5', 'a6', 'a7', 'a8', 'a9', 'aa', 'ab', 'ac', 'ad', 'ae', 'af', 'b0', 'b1', 'b2', 'b3', 'b4', 'b5', 'b6', 'b7', 'b8', 'b9', 'ba', 'bb', 'bc', 'bd', 'be', 'bf', 'c0', 'c1', 'c2', 'c3', 'c4', 'c5', 'c6', 'c7', 'c8', 'c9', 'ca', 'cb', 'cc', 'cd', 'ce', 'cf', 'd0', 'd1', 'd2', 'd3', 'd4', 'd5', 'd6', 'd7', 'd8', 'd9', 'da', 'db', 'dc', 'dd', 'de', 'df', 'e0', 'e1', 'e2', 'e3', 'e4', 'e5', 'e6', 'e7', 'e8', 'e9', 'ea', 'eb', 'ec', 'ed', 'ee', 'ef', 'f0', 'f1', 'f2', 'f3', 'f4', 'f5', 'f6', 'f7', 'f8', 'f9', 'fa', 'fb', 'fc', 'fd', 'fe', 'ff' ];++let _seed = 1234567;+++const DEG2RAD = Math.PI / 180;+const RAD2DEG = 180 / Math.PI;++// http://stackoverflow.com/questions/105034/how-to-create-a-guid-uuid-in-javascript/21963136#21963136+function generateUUID() {++ const d0 = Math.random() * 0xffffffff | 0;+ const d1 = Math.random() * 0xffffffff | 0;+ const d2 = Math.random() * 0xffffffff | 0;+ const d3 = Math.random() * 0xffffffff | 0;+ const uuid = _lut[ d0 & 0xff ] + _lut[ d0 >> 8 & 0xff ] + _lut[ d0 >> 16 & 0xff ] + _lut[ d0 >> 24 & 0xff ] + '-' ++ _lut[ d1 & 0xff ] + _lut[ d1 >> 8 & 0xff ] + '-' + _lut[ d1 >> 16 & 0x0f | 0x40 ] + _lut[ d1 >> 24 & 0xff ] + '-' ++ _lut[ d2 & 0x3f | 0x80 ] + _lut[ d2 >> 8 & 0xff ] + '-' + _lut[ d2 >> 16 & 0xff ] + _lut[ d2 >> 24 & 0xff ] ++ _lut[ d3 & 0xff ] + _lut[ d3 >> 8 & 0xff ] + _lut[ d3 >> 16 & 0xff ] + _lut[ d3 >> 24 & 0xff ];++ // .toLowerCase() here flattens concatenated strings to save heap memory space.+ return uuid.toLowerCase();++}++function clamp( value, min, max ) {++ return Math.max( min, Math.min( max, value ) );++}++// compute euclidean modulo of m % n+// https://en.wikipedia.org/wiki/Modulo_operation+function euclideanModulo( n, m ) {++ return ( ( n % m ) + m ) % m;++}++// Linear mapping from range <a1, a2> to range <b1, b2>+function mapLinear( x, a1, a2, b1, b2 ) {++ return b1 + ( x - a1 ) * ( b2 - b1 ) / ( a2 - a1 );++}++// https://www.gamedev.net/tutorials/programming/general-and-gameplay-programming/inverse-lerp-a-super-useful-yet-often-overlooked-function-r5230/+function inverseLerp( x, y, value ) {++ if ( x !== y ) {++ return ( value - x ) / ( y - x );++ } else {++ return 0;++ }++}++// https://en.wikipedia.org/wiki/Linear_interpolation+function lerp( x, y, t ) {++ return ( 1 - t ) * x + t * y;++}++// http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/+function damp( x, y, lambda, dt ) {++ return lerp( x, y, 1 - Math.exp( - lambda * dt ) );++}++// https://www.desmos.com/calculator/vcsjnyz7x4+function pingpong( x, length = 1 ) {++ return length - Math.abs( euclideanModulo( x, length * 2 ) - length );++}++// http://en.wikipedia.org/wiki/Smoothstep+function smoothstep( x, min, max ) {++ if ( x <= min ) return 0;+ if ( x >= max ) return 1;++ x = ( x - min ) / ( max - min );++ return x * x * ( 3 - 2 * x );++}++function smootherstep( x, min, max ) {++ if ( x <= min ) return 0;+ if ( x >= max ) return 1;++ x = ( x - min ) / ( max - min );++ return x * x * x * ( x * ( x * 6 - 15 ) + 10 );++}++// Random integer from <low, high> interval+function randInt( low, high ) {++ return low + Math.floor( Math.random() * ( high - low + 1 ) );++}++// Random float from <low, high> interval+function randFloat( low, high ) {++ return low + Math.random() * ( high - low );++}++// Random float from <-range/2, range/2> interval+function randFloatSpread( range ) {++ return range * ( 0.5 - Math.random() );++}++// Deterministic pseudo-random float in the interval [ 0, 1 ]+function seededRandom( s ) {++ if ( s !== undefined ) _seed = s;++ // Mulberry32 generator++ let t = _seed += 0x6D2B79F5;++ t = Math.imul( t ^ t >>> 15, t | 1 );++ t ^= t + Math.imul( t ^ t >>> 7, t | 61 );++ return ( ( t ^ t >>> 14 ) >>> 0 ) / 4294967296;++}++function degToRad( degrees ) {++ return degrees * DEG2RAD;++}++function radToDeg( radians ) {++ return radians * RAD2DEG;++}++function isPowerOfTwo( value ) {++ return ( value & ( value - 1 ) ) === 0 && value !== 0;++}++function ceilPowerOfTwo( value ) {++ return Math.pow( 2, Math.ceil( Math.log( value ) / Math.LN2 ) );++}++function floorPowerOfTwo( value ) {++ return Math.pow( 2, Math.floor( Math.log( value ) / Math.LN2 ) );++}++function setQuaternionFromProperEuler( q, a, b, c, order ) {++ // Intrinsic Proper Euler Angles - see https://en.wikipedia.org/wiki/Euler_angles++ // rotations are applied to the axes in the order specified by 'order'+ // rotation by angle 'a' is applied first, then by angle 'b', then by angle 'c'+ // angles are in radians++ const cos = Math.cos;+ const sin = Math.sin;++ const c2 = cos( b / 2 );+ const s2 = sin( b / 2 );++ const c13 = cos( ( a + c ) / 2 );+ const s13 = sin( ( a + c ) / 2 );++ const c1_3 = cos( ( a - c ) / 2 );+ const s1_3 = sin( ( a - c ) / 2 );++ const c3_1 = cos( ( c - a ) / 2 );+ const s3_1 = sin( ( c - a ) / 2 );++ switch ( order ) {++ case 'XYX':+ q.set( c2 * s13, s2 * c1_3, s2 * s1_3, c2 * c13 );+ break;++ case 'YZY':+ q.set( s2 * s1_3, c2 * s13, s2 * c1_3, c2 * c13 );+ break;++ case 'ZXZ':+ q.set( s2 * c1_3, s2 * s1_3, c2 * s13, c2 * c13 );+ break;++ case 'XZX':+ q.set( c2 * s13, s2 * s3_1, s2 * c3_1, c2 * c13 );+ break;++ case 'YXY':+ q.set( s2 * c3_1, c2 * s13, s2 * s3_1, c2 * c13 );+ break;++ case 'ZYZ':+ q.set( s2 * s3_1, s2 * c3_1, c2 * s13, c2 * c13 );+ break;++ default:+ console.warn( 'THREE.MathUtils: .setQuaternionFromProperEuler() encountered an unknown order: ' + order );++ }++}++function denormalize( value, array ) {++ switch ( array.constructor ) {++ case Float32Array:++ return value;++ case Uint32Array:++ return value / 4294967295.0;++ case Uint16Array:++ return value / 65535.0;++ case Uint8Array:++ return value / 255.0;++ case Int32Array:++ return Math.max( value / 2147483647.0, - 1.0 );++ case Int16Array:++ return Math.max( value / 32767.0, - 1.0 );++ case Int8Array:++ return Math.max( value / 127.0, - 1.0 );++ default:++ throw new Error( 'Invalid component type.' );++ }++}++function normalize( value, array ) {++ switch ( array.constructor ) {++ case Float32Array:++ return value;++ case Uint32Array:++ return Math.round( value * 4294967295.0 );++ case Uint16Array:++ return Math.round( value * 65535.0 );++ case Uint8Array:++ return Math.round( value * 255.0 );++ case Int32Array:++ return Math.round( value * 2147483647.0 );++ case Int16Array:++ return Math.round( value * 32767.0 );++ case Int8Array:++ return Math.round( value * 127.0 );++ default:++ throw new Error( 'Invalid component type.' );++ }++}++const MathUtils = {+ DEG2RAD: DEG2RAD,+ RAD2DEG: RAD2DEG,+ generateUUID: generateUUID,+ clamp: clamp,+ euclideanModulo: euclideanModulo,+ mapLinear: mapLinear,+ inverseLerp: inverseLerp,+ lerp: lerp,+ damp: damp,+ pingpong: pingpong,+ smoothstep: smoothstep,+ smootherstep: smootherstep,+ randInt: randInt,+ randFloat: randFloat,+ randFloatSpread: randFloatSpread,+ seededRandom: seededRandom,+ degToRad: degToRad,+ radToDeg: radToDeg,+ isPowerOfTwo: isPowerOfTwo,+ ceilPowerOfTwo: ceilPowerOfTwo,+ floorPowerOfTwo: floorPowerOfTwo,+ setQuaternionFromProperEuler: setQuaternionFromProperEuler,+ normalize: normalize,+ denormalize: denormalize+};++class Vector2 {++ constructor( x = 0, y = 0 ) {++ Vector2.prototype.isVector2 = true;++ this.x = x;+ this.y = y;++ }++ get width() {++ return this.x;++ }++ set width( value ) {++ this.x = value;++ }++ get height() {++ return this.y;++ }++ set height( value ) {++ this.y = value;++ }++ set( x, y ) {++ this.x = x;+ this.y = y;++ return this;++ }++ setScalar( scalar ) {++ this.x = scalar;+ this.y = scalar;++ return this;++ }++ setX( x ) {++ this.x = x;++ return this;++ }++ setY( y ) {++ this.y = y;++ return this;++ }++ setComponent( index, value ) {++ switch ( index ) {++ case 0: this.x = value; break;+ case 1: this.y = value; break;+ default: throw new Error( 'index is out of range: ' + index );++ }++ return this;++ }++ getComponent( index ) {++ switch ( index ) {++ case 0: return this.x;+ case 1: return this.y;+ default: throw new Error( 'index is out of range: ' + index );++ }++ }++ clone() {++ return new this.constructor( this.x, this.y );++ }++ copy( v ) {++ this.x = v.x;+ this.y = v.y;++ return this;++ }++ add( v ) {++ this.x += v.x;+ this.y += v.y;++ return this;++ }++ addScalar( s ) {++ this.x += s;+ this.y += s;++ return this;++ }++ addVectors( a, b ) {++ this.x = a.x + b.x;+ this.y = a.y + b.y;++ return this;++ }++ addScaledVector( v, s ) {++ this.x += v.x * s;+ this.y += v.y * s;++ return this;++ }++ sub( v ) {++ this.x -= v.x;+ this.y -= v.y;++ return this;++ }++ subScalar( s ) {++ this.x -= s;+ this.y -= s;++ return this;++ }++ subVectors( a, b ) {++ this.x = a.x - b.x;+ this.y = a.y - b.y;++ return this;++ }++ multiply( v ) {++ this.x *= v.x;+ this.y *= v.y;++ return this;++ }++ multiplyScalar( scalar ) {++ this.x *= scalar;+ this.y *= scalar;++ return this;++ }++ divide( v ) {++ this.x /= v.x;+ this.y /= v.y;++ return this;++ }++ divideScalar( scalar ) {++ return this.multiplyScalar( 1 / scalar );++ }++ applyMatrix3( m ) {++ const x = this.x, y = this.y;+ const e = m.elements;++ this.x = e[ 0 ] * x + e[ 3 ] * y + e[ 6 ];+ this.y = e[ 1 ] * x + e[ 4 ] * y + e[ 7 ];++ return this;++ }++ min( v ) {++ this.x = Math.min( this.x, v.x );+ this.y = Math.min( this.y, v.y );++ return this;++ }++ max( v ) {++ this.x = Math.max( this.x, v.x );+ this.y = Math.max( this.y, v.y );++ return this;++ }++ clamp( min, max ) {++ // assumes min < max, componentwise++ this.x = Math.max( min.x, Math.min( max.x, this.x ) );+ this.y = Math.max( min.y, Math.min( max.y, this.y ) );++ return this;++ }++ clampScalar( minVal, maxVal ) {++ this.x = Math.max( minVal, Math.min( maxVal, this.x ) );+ this.y = Math.max( minVal, Math.min( maxVal, this.y ) );++ return this;++ }++ clampLength( min, max ) {++ const length = this.length();++ return this.divideScalar( length || 1 ).multiplyScalar( Math.max( min, Math.min( max, length ) ) );++ }++ floor() {++ this.x = Math.floor( this.x );+ this.y = Math.floor( this.y );++ return this;++ }++ ceil() {++ this.x = Math.ceil( this.x );+ this.y = Math.ceil( this.y );++ return this;++ }++ round() {++ this.x = Math.round( this.x );+ this.y = Math.round( this.y );++ return this;++ }++ roundToZero() {++ this.x = Math.trunc( this.x );+ this.y = Math.trunc( this.y );++ return this;++ }++ negate() {++ this.x = - this.x;+ this.y = - this.y;++ return this;++ }++ dot( v ) {++ return this.x * v.x + this.y * v.y;++ }++ cross( v ) {++ return this.x * v.y - this.y * v.x;++ }++ lengthSq() {++ return this.x * this.x + this.y * this.y;++ }++ length() {++ return Math.sqrt( this.x * this.x + this.y * this.y );++ }++ manhattanLength() {++ return Math.abs( this.x ) + Math.abs( this.y );++ }++ normalize() {++ return this.divideScalar( this.length() || 1 );++ }++ angle() {++ // computes the angle in radians with respect to the positive x-axis++ const angle = Math.atan2( - this.y, - this.x ) + Math.PI;++ return angle;++ }++ angleTo( v ) {++ const denominator = Math.sqrt( this.lengthSq() * v.lengthSq() );++ if ( denominator === 0 ) return Math.PI / 2;++ const theta = this.dot( v ) / denominator;++ // clamp, to handle numerical problems++ return Math.acos( clamp( theta, - 1, 1 ) );++ }++ distanceTo( v ) {++ return Math.sqrt( this.distanceToSquared( v ) );++ }++ distanceToSquared( v ) {++ const dx = this.x - v.x, dy = this.y - v.y;+ return dx * dx + dy * dy;++ }++ manhattanDistanceTo( v ) {++ return Math.abs( this.x - v.x ) + Math.abs( this.y - v.y );++ }++ setLength( length ) {++ return this.normalize().multiplyScalar( length );++ }++ lerp( v, alpha ) {++ this.x += ( v.x - this.x ) * alpha;+ this.y += ( v.y - this.y ) * alpha;++ return this;++ }++ lerpVectors( v1, v2, alpha ) {++ this.x = v1.x + ( v2.x - v1.x ) * alpha;+ this.y = v1.y + ( v2.y - v1.y ) * alpha;++ return this;++ }++ equals( v ) {++ return ( ( v.x === this.x ) && ( v.y === this.y ) );++ }++ fromArray( array, offset = 0 ) {++ this.x = array[ offset ];+ this.y = array[ offset + 1 ];++ return this;++ }++ toArray( array = [], offset = 0 ) {++ array[ offset ] = this.x;+ array[ offset + 1 ] = this.y;++ return array;++ }++ fromBufferAttribute( attribute, index ) {++ this.x = attribute.getX( index );+ this.y = attribute.getY( index );++ return this;++ }++ rotateAround( center, angle ) {++ const c = Math.cos( angle ), s = Math.sin( angle );++ const x = this.x - center.x;+ const y = this.y - center.y;++ this.x = x * c - y * s + center.x;+ this.y = x * s + y * c + center.y;++ return this;++ }++ random() {++ this.x = Math.random();+ this.y = Math.random();++ return this;++ }++ *[ Symbol.iterator ]() {++ yield this.x;+ yield this.y;++ }++}++class Matrix3 {++ constructor( n11, n12, n13, n21, n22, n23, n31, n32, n33 ) {++ Matrix3.prototype.isMatrix3 = true;++ this.elements = [++ 1, 0, 0,+ 0, 1, 0,+ 0, 0, 1++ ];++ if ( n11 !== undefined ) {++ this.set( n11, n12, n13, n21, n22, n23, n31, n32, n33 );++ }++ }++ set( n11, n12, n13, n21, n22, n23, n31, n32, n33 ) {++ const te = this.elements;++ te[ 0 ] = n11; te[ 1 ] = n21; te[ 2 ] = n31;+ te[ 3 ] = n12; te[ 4 ] = n22; te[ 5 ] = n32;+ te[ 6 ] = n13; te[ 7 ] = n23; te[ 8 ] = n33;++ return this;++ }++ identity() {++ this.set(++ 1, 0, 0,+ 0, 1, 0,+ 0, 0, 1++ );++ return this;++ }++ copy( m ) {++ const te = this.elements;+ const me = m.elements;++ te[ 0 ] = me[ 0 ]; te[ 1 ] = me[ 1 ]; te[ 2 ] = me[ 2 ];+ te[ 3 ] = me[ 3 ]; te[ 4 ] = me[ 4 ]; te[ 5 ] = me[ 5 ];+ te[ 6 ] = me[ 6 ]; te[ 7 ] = me[ 7 ]; te[ 8 ] = me[ 8 ];++ return this;++ }++ extractBasis( xAxis, yAxis, zAxis ) {++ xAxis.setFromMatrix3Column( this, 0 );+ yAxis.setFromMatrix3Column( this, 1 );+ zAxis.setFromMatrix3Column( this, 2 );++ return this;++ }++ setFromMatrix4( m ) {++ const me = m.elements;++ this.set(++ me[ 0 ], me[ 4 ], me[ 8 ],+ me[ 1 ], me[ 5 ], me[ 9 ],+ me[ 2 ], me[ 6 ], me[ 10 ]++ );++ return this;++ }++ multiply( m ) {++ return this.multiplyMatrices( this, m );++ }++ premultiply( m ) {++ return this.multiplyMatrices( m, this );++ }++ multiplyMatrices( a, b ) {++ const ae = a.elements;+ const be = b.elements;+ const te = this.elements;++ const a11 = ae[ 0 ], a12 = ae[ 3 ], a13 = ae[ 6 ];+ const a21 = ae[ 1 ], a22 = ae[ 4 ], a23 = ae[ 7 ];+ const a31 = ae[ 2 ], a32 = ae[ 5 ], a33 = ae[ 8 ];++ const b11 = be[ 0 ], b12 = be[ 3 ], b13 = be[ 6 ];+ const b21 = be[ 1 ], b22 = be[ 4 ], b23 = be[ 7 ];+ const b31 = be[ 2 ], b32 = be[ 5 ], b33 = be[ 8 ];++ te[ 0 ] = a11 * b11 + a12 * b21 + a13 * b31;+ te[ 3 ] = a11 * b12 + a12 * b22 + a13 * b32;+ te[ 6 ] = a11 * b13 + a12 * b23 + a13 * b33;++ te[ 1 ] = a21 * b11 + a22 * b21 + a23 * b31;+ te[ 4 ] = a21 * b12 + a22 * b22 + a23 * b32;+ te[ 7 ] = a21 * b13 + a22 * b23 + a23 * b33;++ te[ 2 ] = a31 * b11 + a32 * b21 + a33 * b31;+ te[ 5 ] = a31 * b12 + a32 * b22 + a33 * b32;+ te[ 8 ] = a31 * b13 + a32 * b23 + a33 * b33;++ return this;++ }++ multiplyScalar( s ) {++ const te = this.elements;++ te[ 0 ] *= s; te[ 3 ] *= s; te[ 6 ] *= s;+ te[ 1 ] *= s; te[ 4 ] *= s; te[ 7 ] *= s;+ te[ 2 ] *= s; te[ 5 ] *= s; te[ 8 ] *= s;++ return this;++ }++ determinant() {++ const te = this.elements;++ const a = te[ 0 ], b = te[ 1 ], c = te[ 2 ],+ d = te[ 3 ], e = te[ 4 ], f = te[ 5 ],+ g = te[ 6 ], h = te[ 7 ], i = te[ 8 ];++ return a * e * i - a * f * h - b * d * i + b * f * g + c * d * h - c * e * g;++ }++ invert() {++ const te = this.elements,++ n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ],+ n12 = te[ 3 ], n22 = te[ 4 ], n32 = te[ 5 ],+ n13 = te[ 6 ], n23 = te[ 7 ], n33 = te[ 8 ],++ t11 = n33 * n22 - n32 * n23,+ t12 = n32 * n13 - n33 * n12,+ t13 = n23 * n12 - n22 * n13,++ det = n11 * t11 + n21 * t12 + n31 * t13;++ if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0 );++ const detInv = 1 / det;++ te[ 0 ] = t11 * detInv;+ te[ 1 ] = ( n31 * n23 - n33 * n21 ) * detInv;+ te[ 2 ] = ( n32 * n21 - n31 * n22 ) * detInv;++ te[ 3 ] = t12 * detInv;+ te[ 4 ] = ( n33 * n11 - n31 * n13 ) * detInv;+ te[ 5 ] = ( n31 * n12 - n32 * n11 ) * detInv;++ te[ 6 ] = t13 * detInv;+ te[ 7 ] = ( n21 * n13 - n23 * n11 ) * detInv;+ te[ 8 ] = ( n22 * n11 - n21 * n12 ) * detInv;++ return this;++ }++ transpose() {++ let tmp;+ const m = this.elements;++ tmp = m[ 1 ]; m[ 1 ] = m[ 3 ]; m[ 3 ] = tmp;+ tmp = m[ 2 ]; m[ 2 ] = m[ 6 ]; m[ 6 ] = tmp;+ tmp = m[ 5 ]; m[ 5 ] = m[ 7 ]; m[ 7 ] = tmp;++ return this;++ }++ getNormalMatrix( matrix4 ) {++ return this.setFromMatrix4( matrix4 ).invert().transpose();++ }++ transposeIntoArray( r ) {++ const m = this.elements;++ r[ 0 ] = m[ 0 ];+ r[ 1 ] = m[ 3 ];+ r[ 2 ] = m[ 6 ];+ r[ 3 ] = m[ 1 ];+ r[ 4 ] = m[ 4 ];+ r[ 5 ] = m[ 7 ];+ r[ 6 ] = m[ 2 ];+ r[ 7 ] = m[ 5 ];+ r[ 8 ] = m[ 8 ];++ return this;++ }++ setUvTransform( tx, ty, sx, sy, rotation, cx, cy ) {++ const c = Math.cos( rotation );+ const s = Math.sin( rotation );++ this.set(+ sx * c, sx * s, - sx * ( c * cx + s * cy ) + cx + tx,+ - sy * s, sy * c, - sy * ( - s * cx + c * cy ) + cy + ty,+ 0, 0, 1+ );++ return this;++ }++ //++ scale( sx, sy ) {++ this.premultiply( _m3.makeScale( sx, sy ) );++ return this;++ }++ rotate( theta ) {++ this.premultiply( _m3.makeRotation( - theta ) );++ return this;++ }++ translate( tx, ty ) {++ this.premultiply( _m3.makeTranslation( tx, ty ) );++ return this;++ }++ // for 2D Transforms++ makeTranslation( x, y ) {++ if ( x.isVector2 ) {++ this.set(++ 1, 0, x.x,+ 0, 1, x.y,+ 0, 0, 1++ );++ } else {++ this.set(++ 1, 0, x,+ 0, 1, y,+ 0, 0, 1++ );++ }++ return this;++ }++ makeRotation( theta ) {++ // counterclockwise++ const c = Math.cos( theta );+ const s = Math.sin( theta );++ this.set(++ c, - s, 0,+ s, c, 0,+ 0, 0, 1++ );++ return this;++ }++ makeScale( x, y ) {++ this.set(++ x, 0, 0,+ 0, y, 0,+ 0, 0, 1++ );++ return this;++ }++ //++ equals( matrix ) {++ const te = this.elements;+ const me = matrix.elements;++ for ( let i = 0; i < 9; i ++ ) {++ if ( te[ i ] !== me[ i ] ) return false;++ }++ return true;++ }++ fromArray( array, offset = 0 ) {++ for ( let i = 0; i < 9; i ++ ) {++ this.elements[ i ] = array[ i + offset ];++ }++ return this;++ }++ toArray( array = [], offset = 0 ) {++ const te = this.elements;++ array[ offset ] = te[ 0 ];+ array[ offset + 1 ] = te[ 1 ];+ array[ offset + 2 ] = te[ 2 ];++ array[ offset + 3 ] = te[ 3 ];+ array[ offset + 4 ] = te[ 4 ];+ array[ offset + 5 ] = te[ 5 ];++ array[ offset + 6 ] = te[ 6 ];+ array[ offset + 7 ] = te[ 7 ];+ array[ offset + 8 ] = te[ 8 ];++ return array;++ }++ clone() {++ return new this.constructor().fromArray( this.elements );++ }++}++const _m3 = /*@__PURE__*/ new Matrix3();++function arrayNeedsUint32( array ) {++ // assumes larger values usually on last++ for ( let i = array.length - 1; i >= 0; -- i ) {++ if ( array[ i ] >= 65535 ) return true; // account for PRIMITIVE_RESTART_FIXED_INDEX, #24565++ }++ return false;++}++const TYPED_ARRAYS = {+ Int8Array: Int8Array,+ Uint8Array: Uint8Array,+ Uint8ClampedArray: Uint8ClampedArray,+ Int16Array: Int16Array,+ Uint16Array: Uint16Array,+ Int32Array: Int32Array,+ Uint32Array: Uint32Array,+ Float32Array: Float32Array,+ Float64Array: Float64Array+};++function getTypedArray( type, buffer ) {++ return new TYPED_ARRAYS[ type ]( buffer );++}++function createElementNS( name ) {++ return document.createElementNS( 'http://www.w3.org/1999/xhtml', name );++}++function createCanvasElement() {++ const canvas = createElementNS( 'canvas' );+ canvas.style.display = 'block';+ return canvas;++}++const _cache = {};++function warnOnce( message ) {++ if ( message in _cache ) return;++ _cache[ message ] = true;++ console.warn( message );++}++/**+ * Matrices converting P3 <-> Rec. 709 primaries, without gamut mapping+ * or clipping. Based on W3C specifications for sRGB and Display P3,+ * and ICC specifications for the D50 connection space. Values in/out+ * are _linear_ sRGB and _linear_ Display P3.+ *+ * Note that both sRGB and Display P3 use the sRGB transfer functions.+ *+ * Reference:+ * - http://www.russellcottrell.com/photo/matrixCalculator.htm+ */++const LINEAR_SRGB_TO_LINEAR_DISPLAY_P3 = /*@__PURE__*/ new Matrix3().set(+ 0.8224621, 0.177538, 0.0,+ 0.0331941, 0.9668058, 0.0,+ 0.0170827, 0.0723974, 0.9105199,+);++const LINEAR_DISPLAY_P3_TO_LINEAR_SRGB = /*@__PURE__*/ new Matrix3().set(+ 1.2249401, - 0.2249404, 0.0,+ - 0.0420569, 1.0420571, 0.0,+ - 0.0196376, - 0.0786361, 1.0982735+);++/**+ * Defines supported color spaces by transfer function and primaries,+ * and provides conversions to/from the Linear-sRGB reference space.+ */+const COLOR_SPACES = {+ [ LinearSRGBColorSpace ]: {+ transfer: LinearTransfer,+ primaries: Rec709Primaries,+ toReference: ( color ) => color,+ fromReference: ( color ) => color,+ },+ [ SRGBColorSpace ]: {+ transfer: SRGBTransfer,+ primaries: Rec709Primaries,+ toReference: ( color ) => color.convertSRGBToLinear(),+ fromReference: ( color ) => color.convertLinearToSRGB(),+ },+ [ LinearDisplayP3ColorSpace ]: {+ transfer: LinearTransfer,+ primaries: P3Primaries,+ toReference: ( color ) => color.applyMatrix3( LINEAR_DISPLAY_P3_TO_LINEAR_SRGB ),+ fromReference: ( color ) => color.applyMatrix3( LINEAR_SRGB_TO_LINEAR_DISPLAY_P3 ),+ },+ [ DisplayP3ColorSpace ]: {+ transfer: SRGBTransfer,+ primaries: P3Primaries,+ toReference: ( color ) => color.convertSRGBToLinear().applyMatrix3( LINEAR_DISPLAY_P3_TO_LINEAR_SRGB ),+ fromReference: ( color ) => color.applyMatrix3( LINEAR_SRGB_TO_LINEAR_DISPLAY_P3 ).convertLinearToSRGB(),+ },+};++const SUPPORTED_WORKING_COLOR_SPACES = new Set( [ LinearSRGBColorSpace, LinearDisplayP3ColorSpace ] );++const ColorManagement = {++ enabled: true,++ _workingColorSpace: LinearSRGBColorSpace,++ get workingColorSpace() {++ return this._workingColorSpace;++ },++ set workingColorSpace( colorSpace ) {++ if ( ! SUPPORTED_WORKING_COLOR_SPACES.has( colorSpace ) ) {++ throw new Error( `Unsupported working color space, "${ colorSpace }".` );++ }++ this._workingColorSpace = colorSpace;++ },++ convert: function ( color, sourceColorSpace, targetColorSpace ) {++ if ( this.enabled === false || sourceColorSpace === targetColorSpace || ! sourceColorSpace || ! targetColorSpace ) {++ return color;++ }++ const sourceToReference = COLOR_SPACES[ sourceColorSpace ].toReference;+ const targetFromReference = COLOR_SPACES[ targetColorSpace ].fromReference;++ return targetFromReference( sourceToReference( color ) );++ },++ fromWorkingColorSpace: function ( color, targetColorSpace ) {++ return this.convert( color, this._workingColorSpace, targetColorSpace );++ },++ toWorkingColorSpace: function ( color, sourceColorSpace ) {++ return this.convert( color, sourceColorSpace, this._workingColorSpace );++ },++ getPrimaries: function ( colorSpace ) {++ return COLOR_SPACES[ colorSpace ].primaries;++ },++ getTransfer: function ( colorSpace ) {++ if ( colorSpace === NoColorSpace ) return LinearTransfer;++ return COLOR_SPACES[ colorSpace ].transfer;++ },++};+++function SRGBToLinear( c ) {++ return ( c < 0.04045 ) ? c * 0.0773993808 : Math.pow( c * 0.9478672986 + 0.0521327014, 2.4 );++}++function LinearToSRGB( c ) {++ return ( c < 0.0031308 ) ? c * 12.92 : 1.055 * ( Math.pow( c, 0.41666 ) ) - 0.055;++}++let _canvas;++class ImageUtils {++ static getDataURL( image ) {++ if ( /^data:/i.test( image.src ) ) {++ return image.src;++ }++ if ( typeof HTMLCanvasElement === 'undefined' ) {++ return image.src;++ }++ let canvas;++ if ( image instanceof HTMLCanvasElement ) {++ canvas = image;++ } else {++ if ( _canvas === undefined ) _canvas = createElementNS( 'canvas' );++ _canvas.width = image.width;+ _canvas.height = image.height;++ const context = _canvas.getContext( '2d' );++ if ( image instanceof ImageData ) {++ context.putImageData( image, 0, 0 );++ } else {++ context.drawImage( image, 0, 0, image.width, image.height );++ }++ canvas = _canvas;++ }++ if ( canvas.width > 2048 || canvas.height > 2048 ) {++ console.warn( 'THREE.ImageUtils.getDataURL: Image converted to jpg for performance reasons', image );++ return canvas.toDataURL( 'image/jpeg', 0.6 );++ } else {++ return canvas.toDataURL( 'image/png' );++ }++ }++ static sRGBToLinear( image ) {++ if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) ||+ ( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) ||+ ( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) ) {++ const canvas = createElementNS( 'canvas' );++ canvas.width = image.width;+ canvas.height = image.height;++ const context = canvas.getContext( '2d' );+ context.drawImage( image, 0, 0, image.width, image.height );++ const imageData = context.getImageData( 0, 0, image.width, image.height );+ const data = imageData.data;++ for ( let i = 0; i < data.length; i ++ ) {++ data[ i ] = SRGBToLinear( data[ i ] / 255 ) * 255;++ }++ context.putImageData( imageData, 0, 0 );++ return canvas;++ } else if ( image.data ) {++ const data = image.data.slice( 0 );++ for ( let i = 0; i < data.length; i ++ ) {++ if ( data instanceof Uint8Array || data instanceof Uint8ClampedArray ) {++ data[ i ] = Math.floor( SRGBToLinear( data[ i ] / 255 ) * 255 );++ } else {++ // assuming float++ data[ i ] = SRGBToLinear( data[ i ] );++ }++ }++ return {+ data: data,+ width: image.width,+ height: image.height+ };++ } else {++ console.warn( 'THREE.ImageUtils.sRGBToLinear(): Unsupported image type. No color space conversion applied.' );+ return image;++ }++ }++}++let _sourceId = 0;++class Source {++ constructor( data = null ) {++ this.isSource = true;++ Object.defineProperty( this, 'id', { value: _sourceId ++ } );++ this.uuid = generateUUID();++ this.data = data;++ this.version = 0;++ }++ set needsUpdate( value ) {++ if ( value === true ) this.version ++;++ }++ toJSON( meta ) {++ const isRootObject = ( meta === undefined || typeof meta === 'string' );++ if ( ! isRootObject && meta.images[ this.uuid ] !== undefined ) {++ return meta.images[ this.uuid ];++ }++ const output = {+ uuid: this.uuid,+ url: ''+ };++ const data = this.data;++ if ( data !== null ) {++ let url;++ if ( Array.isArray( data ) ) {++ // cube texture++ url = [];++ for ( let i = 0, l = data.length; i < l; i ++ ) {++ if ( data[ i ].isDataTexture ) {++ url.push( serializeImage( data[ i ].image ) );++ } else {++ url.push( serializeImage( data[ i ] ) );++ }++ }++ } else {++ // texture++ url = serializeImage( data );++ }++ output.url = url;++ }++ if ( ! isRootObject ) {++ meta.images[ this.uuid ] = output;++ }++ return output;++ }++}++function serializeImage( image ) {++ if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) ||+ ( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) ||+ ( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) ) {++ // default images++ return ImageUtils.getDataURL( image );++ } else {++ if ( image.data ) {++ // images of DataTexture++ return {+ data: Array.from( image.data ),+ width: image.width,+ height: image.height,+ type: image.data.constructor.name+ };++ } else {++ console.warn( 'THREE.Texture: Unable to serialize Texture.' );+ return {};++ }++ }++}++let _textureId = 0;++class Texture extends EventDispatcher {++ constructor( image = Texture.DEFAULT_IMAGE, mapping = Texture.DEFAULT_MAPPING, wrapS = ClampToEdgeWrapping, wrapT = ClampToEdgeWrapping, magFilter = LinearFilter, minFilter = LinearMipmapLinearFilter, format = RGBAFormat, type = UnsignedByteType, anisotropy = Texture.DEFAULT_ANISOTROPY, colorSpace = NoColorSpace ) {++ super();++ this.isTexture = true;++ Object.defineProperty( this, 'id', { value: _textureId ++ } );++ this.uuid = generateUUID();++ this.name = '';++ this.source = new Source( image );+ this.mipmaps = [];++ this.mapping = mapping;+ this.channel = 0;++ this.wrapS = wrapS;+ this.wrapT = wrapT;++ this.magFilter = magFilter;+ this.minFilter = minFilter;++ this.anisotropy = anisotropy;++ this.format = format;+ this.internalFormat = null;+ this.type = type;++ this.offset = new Vector2( 0, 0 );+ this.repeat = new Vector2( 1, 1 );+ this.center = new Vector2( 0, 0 );+ this.rotation = 0;++ this.matrixAutoUpdate = true;+ this.matrix = new Matrix3();++ this.generateMipmaps = true;+ this.premultiplyAlpha = false;+ this.flipY = true;+ this.unpackAlignment = 4; // valid values: 1, 2, 4, 8 (see http://www.khronos.org/opengles/sdk/docs/man/xhtml/glPixelStorei.xml)++ if ( typeof colorSpace === 'string' ) {++ this.colorSpace = colorSpace;++ } else { // @deprecated, r152++ warnOnce( 'THREE.Texture: Property .encoding has been replaced by .colorSpace.' );+ this.colorSpace = colorSpace === sRGBEncoding ? SRGBColorSpace : NoColorSpace;++ }+++ this.userData = {};++ this.version = 0;+ this.onUpdate = null;++ this.isRenderTargetTexture = false; // indicates whether a texture belongs to a render target or not+ this.needsPMREMUpdate = false; // indicates whether this texture should be processed by PMREMGenerator or not (only relevant for render target textures)++ }++ get image() {++ return this.source.data;++ }++ set image( value = null ) {++ this.source.data = value;++ }++ updateMatrix() {++ this.matrix.setUvTransform( this.offset.x, this.offset.y, this.repeat.x, this.repeat.y, this.rotation, this.center.x, this.center.y );++ }++ clone() {++ return new this.constructor().copy( this );++ }++ copy( source ) {++ this.name = source.name;++ this.source = source.source;+ this.mipmaps = source.mipmaps.slice( 0 );++ this.mapping = source.mapping;+ this.channel = source.channel;++ this.wrapS = source.wrapS;+ this.wrapT = source.wrapT;++ this.magFilter = source.magFilter;+ this.minFilter = source.minFilter;++ this.anisotropy = source.anisotropy;++ this.format = source.format;+ this.internalFormat = source.internalFormat;+ this.type = source.type;++ this.offset.copy( source.offset );+ this.repeat.copy( source.repeat );+ this.center.copy( source.center );+ this.rotation = source.rotation;++ this.matrixAutoUpdate = source.matrixAutoUpdate;+ this.matrix.copy( source.matrix );++ this.generateMipmaps = source.generateMipmaps;+ this.premultiplyAlpha = source.premultiplyAlpha;+ this.flipY = source.flipY;+ this.unpackAlignment = source.unpackAlignment;+ this.colorSpace = source.colorSpace;++ this.userData = JSON.parse( JSON.stringify( source.userData ) );++ this.needsUpdate = true;++ return this;++ }++ toJSON( meta ) {++ const isRootObject = ( meta === undefined || typeof meta === 'string' );++ if ( ! isRootObject && meta.textures[ this.uuid ] !== undefined ) {++ return meta.textures[ this.uuid ];++ }++ const output = {++ metadata: {+ version: 4.6,+ type: 'Texture',+ generator: 'Texture.toJSON'+ },++ uuid: this.uuid,+ name: this.name,++ image: this.source.toJSON( meta ).uuid,++ mapping: this.mapping,+ channel: this.channel,++ repeat: [ this.repeat.x, this.repeat.y ],+ offset: [ this.offset.x, this.offset.y ],+ center: [ this.center.x, this.center.y ],+ rotation: this.rotation,++ wrap: [ this.wrapS, this.wrapT ],++ format: this.format,+ internalFormat: this.internalFormat,+ type: this.type,+ colorSpace: this.colorSpace,++ minFilter: this.minFilter,+ magFilter: this.magFilter,+ anisotropy: this.anisotropy,++ flipY: this.flipY,++ generateMipmaps: this.generateMipmaps,+ premultiplyAlpha: this.premultiplyAlpha,+ unpackAlignment: this.unpackAlignment++ };++ if ( Object.keys( this.userData ).length > 0 ) output.userData = this.userData;++ if ( ! isRootObject ) {++ meta.textures[ this.uuid ] = output;++ }++ return output;++ }++ dispose() {++ this.dispatchEvent( { type: 'dispose' } );++ }++ transformUv( uv ) {++ if ( this.mapping !== UVMapping ) return uv;++ uv.applyMatrix3( this.matrix );++ if ( uv.x < 0 || uv.x > 1 ) {++ switch ( this.wrapS ) {++ case RepeatWrapping:++ uv.x = uv.x - Math.floor( uv.x );+ break;++ case ClampToEdgeWrapping:++ uv.x = uv.x < 0 ? 0 : 1;+ break;++ case MirroredRepeatWrapping:++ if ( Math.abs( Math.floor( uv.x ) % 2 ) === 1 ) {++ uv.x = Math.ceil( uv.x ) - uv.x;++ } else {++ uv.x = uv.x - Math.floor( uv.x );++ }++ break;++ }++ }++ if ( uv.y < 0 || uv.y > 1 ) {++ switch ( this.wrapT ) {++ case RepeatWrapping:++ uv.y = uv.y - Math.floor( uv.y );+ break;++ case ClampToEdgeWrapping:++ uv.y = uv.y < 0 ? 0 : 1;+ break;++ case MirroredRepeatWrapping:++ if ( Math.abs( Math.floor( uv.y ) % 2 ) === 1 ) {++ uv.y = Math.ceil( uv.y ) - uv.y;++ } else {++ uv.y = uv.y - Math.floor( uv.y );++ }++ break;++ }++ }++ if ( this.flipY ) {++ uv.y = 1 - uv.y;++ }++ return uv;++ }++ set needsUpdate( value ) {++ if ( value === true ) {++ this.version ++;+ this.source.needsUpdate = true;++ }++ }++ get encoding() { // @deprecated, r152++ warnOnce( 'THREE.Texture: Property .encoding has been replaced by .colorSpace.' );+ return this.colorSpace === SRGBColorSpace ? sRGBEncoding : LinearEncoding;++ }++ set encoding( encoding ) { // @deprecated, r152++ warnOnce( 'THREE.Texture: Property .encoding has been replaced by .colorSpace.' );+ this.colorSpace = encoding === sRGBEncoding ? SRGBColorSpace : NoColorSpace;++ }++}++Texture.DEFAULT_IMAGE = null;+Texture.DEFAULT_MAPPING = UVMapping;+Texture.DEFAULT_ANISOTROPY = 1;++class Vector4 {++ constructor( x = 0, y = 0, z = 0, w = 1 ) {++ Vector4.prototype.isVector4 = true;++ this.x = x;+ this.y = y;+ this.z = z;+ this.w = w;++ }++ get width() {++ return this.z;++ }++ set width( value ) {++ this.z = value;++ }++ get height() {++ return this.w;++ }++ set height( value ) {++ this.w = value;++ }++ set( x, y, z, w ) {++ this.x = x;+ this.y = y;+ this.z = z;+ this.w = w;++ return this;++ }++ setScalar( scalar ) {++ this.x = scalar;+ this.y = scalar;+ this.z = scalar;+ this.w = scalar;++ return this;++ }++ setX( x ) {++ this.x = x;++ return this;++ }++ setY( y ) {++ this.y = y;++ return this;++ }++ setZ( z ) {++ this.z = z;++ return this;++ }++ setW( w ) {++ this.w = w;++ return this;++ }++ setComponent( index, value ) {++ switch ( index ) {++ case 0: this.x = value; break;+ case 1: this.y = value; break;+ case 2: this.z = value; break;+ case 3: this.w = value; break;+ default: throw new Error( 'index is out of range: ' + index );++ }++ return this;++ }++ getComponent( index ) {++ switch ( index ) {++ case 0: return this.x;+ case 1: return this.y;+ case 2: return this.z;+ case 3: return this.w;+ default: throw new Error( 'index is out of range: ' + index );++ }++ }++ clone() {++ return new this.constructor( this.x, this.y, this.z, this.w );++ }++ copy( v ) {++ this.x = v.x;+ this.y = v.y;+ this.z = v.z;+ this.w = ( v.w !== undefined ) ? v.w : 1;++ return this;++ }++ add( v ) {++ this.x += v.x;+ this.y += v.y;+ this.z += v.z;+ this.w += v.w;++ return this;++ }++ addScalar( s ) {++ this.x += s;+ this.y += s;+ this.z += s;+ this.w += s;++ return this;++ }++ addVectors( a, b ) {++ this.x = a.x + b.x;+ this.y = a.y + b.y;+ this.z = a.z + b.z;+ this.w = a.w + b.w;++ return this;++ }++ addScaledVector( v, s ) {++ this.x += v.x * s;+ this.y += v.y * s;+ this.z += v.z * s;+ this.w += v.w * s;++ return this;++ }++ sub( v ) {++ this.x -= v.x;+ this.y -= v.y;+ this.z -= v.z;+ this.w -= v.w;++ return this;++ }++ subScalar( s ) {++ this.x -= s;+ this.y -= s;+ this.z -= s;+ this.w -= s;++ return this;++ }++ subVectors( a, b ) {++ this.x = a.x - b.x;+ this.y = a.y - b.y;+ this.z = a.z - b.z;+ this.w = a.w - b.w;++ return this;++ }++ multiply( v ) {++ this.x *= v.x;+ this.y *= v.y;+ this.z *= v.z;+ this.w *= v.w;++ return this;++ }++ multiplyScalar( scalar ) {++ this.x *= scalar;+ this.y *= scalar;+ this.z *= scalar;+ this.w *= scalar;++ return this;++ }++ applyMatrix4( m ) {++ const x = this.x, y = this.y, z = this.z, w = this.w;+ const e = m.elements;++ this.x = e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z + e[ 12 ] * w;+ this.y = e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z + e[ 13 ] * w;+ this.z = e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z + e[ 14 ] * w;+ this.w = e[ 3 ] * x + e[ 7 ] * y + e[ 11 ] * z + e[ 15 ] * w;++ return this;++ }++ divideScalar( scalar ) {++ return this.multiplyScalar( 1 / scalar );++ }++ setAxisAngleFromQuaternion( q ) {++ // http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/index.htm++ // q is assumed to be normalized++ this.w = 2 * Math.acos( q.w );++ const s = Math.sqrt( 1 - q.w * q.w );++ if ( s < 0.0001 ) {++ this.x = 1;+ this.y = 0;+ this.z = 0;++ } else {++ this.x = q.x / s;+ this.y = q.y / s;+ this.z = q.z / s;++ }++ return this;++ }++ setAxisAngleFromRotationMatrix( m ) {++ // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/index.htm++ // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)++ let angle, x, y, z; // variables for result+ const epsilon = 0.01, // margin to allow for rounding errors+ epsilon2 = 0.1, // margin to distinguish between 0 and 180 degrees++ te = m.elements,++ m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],+ m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],+ m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ];++ if ( ( Math.abs( m12 - m21 ) < epsilon ) &&+ ( Math.abs( m13 - m31 ) < epsilon ) &&+ ( Math.abs( m23 - m32 ) < epsilon ) ) {++ // singularity found+ // first check for identity matrix which must have +1 for all terms+ // in leading diagonal and zero in other terms++ if ( ( Math.abs( m12 + m21 ) < epsilon2 ) &&+ ( Math.abs( m13 + m31 ) < epsilon2 ) &&+ ( Math.abs( m23 + m32 ) < epsilon2 ) &&+ ( Math.abs( m11 + m22 + m33 - 3 ) < epsilon2 ) ) {++ // this singularity is identity matrix so angle = 0++ this.set( 1, 0, 0, 0 );++ return this; // zero angle, arbitrary axis++ }++ // otherwise this singularity is angle = 180++ angle = Math.PI;++ const xx = ( m11 + 1 ) / 2;+ const yy = ( m22 + 1 ) / 2;+ const zz = ( m33 + 1 ) / 2;+ const xy = ( m12 + m21 ) / 4;+ const xz = ( m13 + m31 ) / 4;+ const yz = ( m23 + m32 ) / 4;++ if ( ( xx > yy ) && ( xx > zz ) ) {++ // m11 is the largest diagonal term++ if ( xx < epsilon ) {++ x = 0;+ y = 0.707106781;+ z = 0.707106781;++ } else {++ x = Math.sqrt( xx );+ y = xy / x;+ z = xz / x;++ }++ } else if ( yy > zz ) {++ // m22 is the largest diagonal term++ if ( yy < epsilon ) {++ x = 0.707106781;+ y = 0;+ z = 0.707106781;++ } else {++ y = Math.sqrt( yy );+ x = xy / y;+ z = yz / y;++ }++ } else {++ // m33 is the largest diagonal term so base result on this++ if ( zz < epsilon ) {++ x = 0.707106781;+ y = 0.707106781;+ z = 0;++ } else {++ z = Math.sqrt( zz );+ x = xz / z;+ y = yz / z;++ }++ }++ this.set( x, y, z, angle );++ return this; // return 180 deg rotation++ }++ // as we have reached here there are no singularities so we can handle normally++ let s = Math.sqrt( ( m32 - m23 ) * ( m32 - m23 ) ++ ( m13 - m31 ) * ( m13 - m31 ) ++ ( m21 - m12 ) * ( m21 - m12 ) ); // used to normalize++ if ( Math.abs( s ) < 0.001 ) s = 1;++ // prevent divide by zero, should not happen if matrix is orthogonal and should be+ // caught by singularity test above, but I've left it in just in case++ this.x = ( m32 - m23 ) / s;+ this.y = ( m13 - m31 ) / s;+ this.z = ( m21 - m12 ) / s;+ this.w = Math.acos( ( m11 + m22 + m33 - 1 ) / 2 );++ return this;++ }++ min( v ) {++ this.x = Math.min( this.x, v.x );+ this.y = Math.min( this.y, v.y );+ this.z = Math.min( this.z, v.z );+ this.w = Math.min( this.w, v.w );++ return this;++ }++ max( v ) {++ this.x = Math.max( this.x, v.x );+ this.y = Math.max( this.y, v.y );+ this.z = Math.max( this.z, v.z );+ this.w = Math.max( this.w, v.w );++ return this;++ }++ clamp( min, max ) {++ // assumes min < max, componentwise++ this.x = Math.max( min.x, Math.min( max.x, this.x ) );+ this.y = Math.max( min.y, Math.min( max.y, this.y ) );+ this.z = Math.max( min.z, Math.min( max.z, this.z ) );+ this.w = Math.max( min.w, Math.min( max.w, this.w ) );++ return this;++ }++ clampScalar( minVal, maxVal ) {++ this.x = Math.max( minVal, Math.min( maxVal, this.x ) );+ this.y = Math.max( minVal, Math.min( maxVal, this.y ) );+ this.z = Math.max( minVal, Math.min( maxVal, this.z ) );+ this.w = Math.max( minVal, Math.min( maxVal, this.w ) );++ return this;++ }++ clampLength( min, max ) {++ const length = this.length();++ return this.divideScalar( length || 1 ).multiplyScalar( Math.max( min, Math.min( max, length ) ) );++ }++ floor() {++ this.x = Math.floor( this.x );+ this.y = Math.floor( this.y );+ this.z = Math.floor( this.z );+ this.w = Math.floor( this.w );++ return this;++ }++ ceil() {++ this.x = Math.ceil( this.x );+ this.y = Math.ceil( this.y );+ this.z = Math.ceil( this.z );+ this.w = Math.ceil( this.w );++ return this;++ }++ round() {++ this.x = Math.round( this.x );+ this.y = Math.round( this.y );+ this.z = Math.round( this.z );+ this.w = Math.round( this.w );++ return this;++ }++ roundToZero() {++ this.x = Math.trunc( this.x );+ this.y = Math.trunc( this.y );+ this.z = Math.trunc( this.z );+ this.w = Math.trunc( this.w );++ return this;++ }++ negate() {++ this.x = - this.x;+ this.y = - this.y;+ this.z = - this.z;+ this.w = - this.w;++ return this;++ }++ dot( v ) {++ return this.x * v.x + this.y * v.y + this.z * v.z + this.w * v.w;++ }++ lengthSq() {++ return this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w;++ }++ length() {++ return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w );++ }++ manhattanLength() {++ return Math.abs( this.x ) + Math.abs( this.y ) + Math.abs( this.z ) + Math.abs( this.w );++ }++ normalize() {++ return this.divideScalar( this.length() || 1 );++ }++ setLength( length ) {++ return this.normalize().multiplyScalar( length );++ }++ lerp( v, alpha ) {++ this.x += ( v.x - this.x ) * alpha;+ this.y += ( v.y - this.y ) * alpha;+ this.z += ( v.z - this.z ) * alpha;+ this.w += ( v.w - this.w ) * alpha;++ return this;++ }++ lerpVectors( v1, v2, alpha ) {++ this.x = v1.x + ( v2.x - v1.x ) * alpha;+ this.y = v1.y + ( v2.y - v1.y ) * alpha;+ this.z = v1.z + ( v2.z - v1.z ) * alpha;+ this.w = v1.w + ( v2.w - v1.w ) * alpha;++ return this;++ }++ equals( v ) {++ return ( ( v.x === this.x ) && ( v.y === this.y ) && ( v.z === this.z ) && ( v.w === this.w ) );++ }++ fromArray( array, offset = 0 ) {++ this.x = array[ offset ];+ this.y = array[ offset + 1 ];+ this.z = array[ offset + 2 ];+ this.w = array[ offset + 3 ];++ return this;++ }++ toArray( array = [], offset = 0 ) {++ array[ offset ] = this.x;+ array[ offset + 1 ] = this.y;+ array[ offset + 2 ] = this.z;+ array[ offset + 3 ] = this.w;++ return array;++ }++ fromBufferAttribute( attribute, index ) {++ this.x = attribute.getX( index );+ this.y = attribute.getY( index );+ this.z = attribute.getZ( index );+ this.w = attribute.getW( index );++ return this;++ }++ random() {++ this.x = Math.random();+ this.y = Math.random();+ this.z = Math.random();+ this.w = Math.random();++ return this;++ }++ *[ Symbol.iterator ]() {++ yield this.x;+ yield this.y;+ yield this.z;+ yield this.w;++ }++}++/*+ In options, we can specify:+ * Texture parameters for an auto-generated target texture+ * depthBuffer/stencilBuffer: Booleans to indicate if we should generate these buffers+*/+class RenderTarget extends EventDispatcher {++ constructor( width = 1, height = 1, options = {} ) {++ super();++ this.isRenderTarget = true;++ this.width = width;+ this.height = height;+ this.depth = 1;++ this.scissor = new Vector4( 0, 0, width, height );+ this.scissorTest = false;++ this.viewport = new Vector4( 0, 0, width, height );++ const image = { width: width, height: height, depth: 1 };++ if ( options.encoding !== undefined ) {++ // @deprecated, r152+ warnOnce( 'THREE.WebGLRenderTarget: option.encoding has been replaced by option.colorSpace.' );+ options.colorSpace = options.encoding === sRGBEncoding ? SRGBColorSpace : NoColorSpace;++ }++ options = Object.assign( {+ generateMipmaps: false,+ internalFormat: null,+ minFilter: LinearFilter,+ depthBuffer: true,+ stencilBuffer: false,+ depthTexture: null,+ samples: 0+ }, options );++ this.texture = new Texture( image, options.mapping, options.wrapS, options.wrapT, options.magFilter, options.minFilter, options.format, options.type, options.anisotropy, options.colorSpace );+ this.texture.isRenderTargetTexture = true;++ this.texture.flipY = false;+ this.texture.generateMipmaps = options.generateMipmaps;+ this.texture.internalFormat = options.internalFormat;++ this.depthBuffer = options.depthBuffer;+ this.stencilBuffer = options.stencilBuffer;++ this.depthTexture = options.depthTexture;++ this.samples = options.samples;++ }++ setSize( width, height, depth = 1 ) {++ if ( this.width !== width || this.height !== height || this.depth !== depth ) {++ this.width = width;+ this.height = height;+ this.depth = depth;++ this.texture.image.width = width;+ this.texture.image.height = height;+ this.texture.image.depth = depth;++ this.dispose();++ }++ this.viewport.set( 0, 0, width, height );+ this.scissor.set( 0, 0, width, height );++ }++ clone() {++ return new this.constructor().copy( this );++ }++ copy( source ) {++ this.width = source.width;+ this.height = source.height;+ this.depth = source.depth;++ this.scissor.copy( source.scissor );+ this.scissorTest = source.scissorTest;++ this.viewport.copy( source.viewport );++ this.texture = source.texture.clone();+ this.texture.isRenderTargetTexture = true;++ // ensure image object is not shared, see #20328++ const image = Object.assign( {}, source.texture.image );+ this.texture.source = new Source( image );++ this.depthBuffer = source.depthBuffer;+ this.stencilBuffer = source.stencilBuffer;++ if ( source.depthTexture !== null ) this.depthTexture = source.depthTexture.clone();++ this.samples = source.samples;++ return this;++ }++ dispose() {++ this.dispatchEvent( { type: 'dispose' } );++ }++}++class WebGLRenderTarget extends RenderTarget {++ constructor( width = 1, height = 1, options = {} ) {++ super( width, height, options );++ this.isWebGLRenderTarget = true;++ }++}++class DataArrayTexture extends Texture {++ constructor( data = null, width = 1, height = 1, depth = 1 ) {++ super( null );++ this.isDataArrayTexture = true;++ this.image = { data, width, height, depth };++ this.magFilter = NearestFilter;+ this.minFilter = NearestFilter;++ this.wrapR = ClampToEdgeWrapping;++ this.generateMipmaps = false;+ this.flipY = false;+ this.unpackAlignment = 1;++ }++}++class WebGLArrayRenderTarget extends WebGLRenderTarget {++ constructor( width = 1, height = 1, depth = 1, options = {} ) {++ super( width, height, options );++ this.isWebGLArrayRenderTarget = true;++ this.depth = depth;++ this.texture = new DataArrayTexture( null, width, height, depth );++ this.texture.isRenderTargetTexture = true;++ }++}++class Data3DTexture extends Texture {++ constructor( data = null, width = 1, height = 1, depth = 1 ) {++ // We're going to add .setXXX() methods for setting properties later.+ // Users can still set in DataTexture3D directly.+ //+ // const texture = new THREE.DataTexture3D( data, width, height, depth );+ // texture.anisotropy = 16;+ //+ // See #14839++ super( null );++ this.isData3DTexture = true;++ this.image = { data, width, height, depth };++ this.magFilter = NearestFilter;+ this.minFilter = NearestFilter;++ this.wrapR = ClampToEdgeWrapping;++ this.generateMipmaps = false;+ this.flipY = false;+ this.unpackAlignment = 1;++ }++}++class WebGL3DRenderTarget extends WebGLRenderTarget {++ constructor( width = 1, height = 1, depth = 1, options = {} ) {++ super( width, height, options );++ this.isWebGL3DRenderTarget = true;++ this.depth = depth;++ this.texture = new Data3DTexture( null, width, height, depth );++ this.texture.isRenderTargetTexture = true;++ }++}++class WebGLMultipleRenderTargets extends WebGLRenderTarget {++ constructor( width = 1, height = 1, count = 1, options = {} ) {++ super( width, height, options );++ this.isWebGLMultipleRenderTargets = true;++ const texture = this.texture;++ this.texture = [];++ for ( let i = 0; i < count; i ++ ) {++ this.texture[ i ] = texture.clone();+ this.texture[ i ].isRenderTargetTexture = true;++ }++ }++ setSize( width, height, depth = 1 ) {++ if ( this.width !== width || this.height !== height || this.depth !== depth ) {++ this.width = width;+ this.height = height;+ this.depth = depth;++ for ( let i = 0, il = this.texture.length; i < il; i ++ ) {++ this.texture[ i ].image.width = width;+ this.texture[ i ].image.height = height;+ this.texture[ i ].image.depth = depth;++ }++ this.dispose();++ }++ this.viewport.set( 0, 0, width, height );+ this.scissor.set( 0, 0, width, height );++ }++ copy( source ) {++ this.dispose();++ this.width = source.width;+ this.height = source.height;+ this.depth = source.depth;++ this.scissor.copy( source.scissor );+ this.scissorTest = source.scissorTest;++ this.viewport.copy( source.viewport );++ this.depthBuffer = source.depthBuffer;+ this.stencilBuffer = source.stencilBuffer;++ if ( source.depthTexture !== null ) this.depthTexture = source.depthTexture.clone();++ this.texture.length = 0;++ for ( let i = 0, il = source.texture.length; i < il; i ++ ) {++ this.texture[ i ] = source.texture[ i ].clone();+ this.texture[ i ].isRenderTargetTexture = true;++ }++ return this;++ }++}++class Quaternion {++ constructor( x = 0, y = 0, z = 0, w = 1 ) {++ this.isQuaternion = true;++ this._x = x;+ this._y = y;+ this._z = z;+ this._w = w;++ }++ static slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {++ // fuzz-free, array-based Quaternion SLERP operation++ let x0 = src0[ srcOffset0 + 0 ],+ y0 = src0[ srcOffset0 + 1 ],+ z0 = src0[ srcOffset0 + 2 ],+ w0 = src0[ srcOffset0 + 3 ];++ const x1 = src1[ srcOffset1 + 0 ],+ y1 = src1[ srcOffset1 + 1 ],+ z1 = src1[ srcOffset1 + 2 ],+ w1 = src1[ srcOffset1 + 3 ];++ if ( t === 0 ) {++ dst[ dstOffset + 0 ] = x0;+ dst[ dstOffset + 1 ] = y0;+ dst[ dstOffset + 2 ] = z0;+ dst[ dstOffset + 3 ] = w0;+ return;++ }++ if ( t === 1 ) {++ dst[ dstOffset + 0 ] = x1;+ dst[ dstOffset + 1 ] = y1;+ dst[ dstOffset + 2 ] = z1;+ dst[ dstOffset + 3 ] = w1;+ return;++ }++ if ( w0 !== w1 || x0 !== x1 || y0 !== y1 || z0 !== z1 ) {++ let s = 1 - t;+ const cos = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1,+ dir = ( cos >= 0 ? 1 : - 1 ),+ sqrSin = 1 - cos * cos;++ // Skip the Slerp for tiny steps to avoid numeric problems:+ if ( sqrSin > Number.EPSILON ) {++ const sin = Math.sqrt( sqrSin ),+ len = Math.atan2( sin, cos * dir );++ s = Math.sin( s * len ) / sin;+ t = Math.sin( t * len ) / sin;++ }++ const tDir = t * dir;++ x0 = x0 * s + x1 * tDir;+ y0 = y0 * s + y1 * tDir;+ z0 = z0 * s + z1 * tDir;+ w0 = w0 * s + w1 * tDir;++ // Normalize in case we just did a lerp:+ if ( s === 1 - t ) {++ const f = 1 / Math.sqrt( x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0 );++ x0 *= f;+ y0 *= f;+ z0 *= f;+ w0 *= f;++ }++ }++ dst[ dstOffset ] = x0;+ dst[ dstOffset + 1 ] = y0;+ dst[ dstOffset + 2 ] = z0;+ dst[ dstOffset + 3 ] = w0;++ }++ static multiplyQuaternionsFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) {++ const x0 = src0[ srcOffset0 ];+ const y0 = src0[ srcOffset0 + 1 ];+ const z0 = src0[ srcOffset0 + 2 ];+ const w0 = src0[ srcOffset0 + 3 ];++ const x1 = src1[ srcOffset1 ];+ const y1 = src1[ srcOffset1 + 1 ];+ const z1 = src1[ srcOffset1 + 2 ];+ const w1 = src1[ srcOffset1 + 3 ];++ dst[ dstOffset ] = x0 * w1 + w0 * x1 + y0 * z1 - z0 * y1;+ dst[ dstOffset + 1 ] = y0 * w1 + w0 * y1 + z0 * x1 - x0 * z1;+ dst[ dstOffset + 2 ] = z0 * w1 + w0 * z1 + x0 * y1 - y0 * x1;+ dst[ dstOffset + 3 ] = w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1;++ return dst;++ }++ get x() {++ return this._x;++ }++ set x( value ) {++ this._x = value;+ this._onChangeCallback();++ }++ get y() {++ return this._y;++ }++ set y( value ) {++ this._y = value;+ this._onChangeCallback();++ }++ get z() {++ return this._z;++ }++ set z( value ) {++ this._z = value;+ this._onChangeCallback();++ }++ get w() {++ return this._w;++ }++ set w( value ) {++ this._w = value;+ this._onChangeCallback();++ }++ set( x, y, z, w ) {++ this._x = x;+ this._y = y;+ this._z = z;+ this._w = w;++ this._onChangeCallback();++ return this;++ }++ clone() {++ return new this.constructor( this._x, this._y, this._z, this._w );++ }++ copy( quaternion ) {++ this._x = quaternion.x;+ this._y = quaternion.y;+ this._z = quaternion.z;+ this._w = quaternion.w;++ this._onChangeCallback();++ return this;++ }++ setFromEuler( euler, update = true ) {++ const x = euler._x, y = euler._y, z = euler._z, order = euler._order;++ // http://www.mathworks.com/matlabcentral/fileexchange/+ // 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/+ // content/SpinCalc.m++ const cos = Math.cos;+ const sin = Math.sin;++ const c1 = cos( x / 2 );+ const c2 = cos( y / 2 );+ const c3 = cos( z / 2 );++ const s1 = sin( x / 2 );+ const s2 = sin( y / 2 );+ const s3 = sin( z / 2 );++ switch ( order ) {++ case 'XYZ':+ this._x = s1 * c2 * c3 + c1 * s2 * s3;+ this._y = c1 * s2 * c3 - s1 * c2 * s3;+ this._z = c1 * c2 * s3 + s1 * s2 * c3;+ this._w = c1 * c2 * c3 - s1 * s2 * s3;+ break;++ case 'YXZ':+ this._x = s1 * c2 * c3 + c1 * s2 * s3;+ this._y = c1 * s2 * c3 - s1 * c2 * s3;+ this._z = c1 * c2 * s3 - s1 * s2 * c3;+ this._w = c1 * c2 * c3 + s1 * s2 * s3;+ break;++ case 'ZXY':+ this._x = s1 * c2 * c3 - c1 * s2 * s3;+ this._y = c1 * s2 * c3 + s1 * c2 * s3;+ this._z = c1 * c2 * s3 + s1 * s2 * c3;+ this._w = c1 * c2 * c3 - s1 * s2 * s3;+ break;++ case 'ZYX':+ this._x = s1 * c2 * c3 - c1 * s2 * s3;+ this._y = c1 * s2 * c3 + s1 * c2 * s3;+ this._z = c1 * c2 * s3 - s1 * s2 * c3;+ this._w = c1 * c2 * c3 + s1 * s2 * s3;+ break;++ case 'YZX':+ this._x = s1 * c2 * c3 + c1 * s2 * s3;+ this._y = c1 * s2 * c3 + s1 * c2 * s3;+ this._z = c1 * c2 * s3 - s1 * s2 * c3;+ this._w = c1 * c2 * c3 - s1 * s2 * s3;+ break;++ case 'XZY':+ this._x = s1 * c2 * c3 - c1 * s2 * s3;+ this._y = c1 * s2 * c3 - s1 * c2 * s3;+ this._z = c1 * c2 * s3 + s1 * s2 * c3;+ this._w = c1 * c2 * c3 + s1 * s2 * s3;+ break;++ default:+ console.warn( 'THREE.Quaternion: .setFromEuler() encountered an unknown order: ' + order );++ }++ if ( update === true ) this._onChangeCallback();++ return this;++ }++ setFromAxisAngle( axis, angle ) {++ // http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm++ // assumes axis is normalized++ const halfAngle = angle / 2, s = Math.sin( halfAngle );++ this._x = axis.x * s;+ this._y = axis.y * s;+ this._z = axis.z * s;+ this._w = Math.cos( halfAngle );++ this._onChangeCallback();++ return this;++ }++ setFromRotationMatrix( m ) {++ // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm++ // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)++ const te = m.elements,++ m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],+ m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],+ m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ],++ trace = m11 + m22 + m33;++ if ( trace > 0 ) {++ const s = 0.5 / Math.sqrt( trace + 1.0 );++ this._w = 0.25 / s;+ this._x = ( m32 - m23 ) * s;+ this._y = ( m13 - m31 ) * s;+ this._z = ( m21 - m12 ) * s;++ } else if ( m11 > m22 && m11 > m33 ) {++ const s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 );++ this._w = ( m32 - m23 ) / s;+ this._x = 0.25 * s;+ this._y = ( m12 + m21 ) / s;+ this._z = ( m13 + m31 ) / s;++ } else if ( m22 > m33 ) {++ const s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 );++ this._w = ( m13 - m31 ) / s;+ this._x = ( m12 + m21 ) / s;+ this._y = 0.25 * s;+ this._z = ( m23 + m32 ) / s;++ } else {++ const s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 );++ this._w = ( m21 - m12 ) / s;+ this._x = ( m13 + m31 ) / s;+ this._y = ( m23 + m32 ) / s;+ this._z = 0.25 * s;++ }++ this._onChangeCallback();++ return this;++ }++ setFromUnitVectors( vFrom, vTo ) {++ // assumes direction vectors vFrom and vTo are normalized++ let r = vFrom.dot( vTo ) + 1;++ if ( r < Number.EPSILON ) {++ // vFrom and vTo point in opposite directions++ r = 0;++ if ( Math.abs( vFrom.x ) > Math.abs( vFrom.z ) ) {++ this._x = - vFrom.y;+ this._y = vFrom.x;+ this._z = 0;+ this._w = r;++ } else {++ this._x = 0;+ this._y = - vFrom.z;+ this._z = vFrom.y;+ this._w = r;++ }++ } else {++ // crossVectors( vFrom, vTo ); // inlined to avoid cyclic dependency on Vector3++ this._x = vFrom.y * vTo.z - vFrom.z * vTo.y;+ this._y = vFrom.z * vTo.x - vFrom.x * vTo.z;+ this._z = vFrom.x * vTo.y - vFrom.y * vTo.x;+ this._w = r;++ }++ return this.normalize();++ }++ angleTo( q ) {++ return 2 * Math.acos( Math.abs( clamp( this.dot( q ), - 1, 1 ) ) );++ }++ rotateTowards( q, step ) {++ const angle = this.angleTo( q );++ if ( angle === 0 ) return this;++ const t = Math.min( 1, step / angle );++ this.slerp( q, t );++ return this;++ }++ identity() {++ return this.set( 0, 0, 0, 1 );++ }++ invert() {++ // quaternion is assumed to have unit length++ return this.conjugate();++ }++ conjugate() {++ this._x *= - 1;+ this._y *= - 1;+ this._z *= - 1;++ this._onChangeCallback();++ return this;++ }++ dot( v ) {++ return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;++ }++ lengthSq() {++ return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;++ }++ length() {++ return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );++ }++ normalize() {++ let l = this.length();++ if ( l === 0 ) {++ this._x = 0;+ this._y = 0;+ this._z = 0;+ this._w = 1;++ } else {++ l = 1 / l;++ this._x = this._x * l;+ this._y = this._y * l;+ this._z = this._z * l;+ this._w = this._w * l;++ }++ this._onChangeCallback();++ return this;++ }++ multiply( q ) {++ return this.multiplyQuaternions( this, q );++ }++ premultiply( q ) {++ return this.multiplyQuaternions( q, this );++ }++ multiplyQuaternions( a, b ) {++ // from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm++ const qax = a._x, qay = a._y, qaz = a._z, qaw = a._w;+ const qbx = b._x, qby = b._y, qbz = b._z, qbw = b._w;++ this._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;+ this._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;+ this._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;+ this._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;++ this._onChangeCallback();++ return this;++ }++ slerp( qb, t ) {++ if ( t === 0 ) return this;+ if ( t === 1 ) return this.copy( qb );++ const x = this._x, y = this._y, z = this._z, w = this._w;++ // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/++ let cosHalfTheta = w * qb._w + x * qb._x + y * qb._y + z * qb._z;++ if ( cosHalfTheta < 0 ) {++ this._w = - qb._w;+ this._x = - qb._x;+ this._y = - qb._y;+ this._z = - qb._z;++ cosHalfTheta = - cosHalfTheta;++ } else {++ this.copy( qb );++ }++ if ( cosHalfTheta >= 1.0 ) {++ this._w = w;+ this._x = x;+ this._y = y;+ this._z = z;++ return this;++ }++ const sqrSinHalfTheta = 1.0 - cosHalfTheta * cosHalfTheta;++ if ( sqrSinHalfTheta <= Number.EPSILON ) {++ const s = 1 - t;+ this._w = s * w + t * this._w;+ this._x = s * x + t * this._x;+ this._y = s * y + t * this._y;+ this._z = s * z + t * this._z;++ this.normalize(); // normalize calls _onChangeCallback()++ return this;++ }++ const sinHalfTheta = Math.sqrt( sqrSinHalfTheta );+ const halfTheta = Math.atan2( sinHalfTheta, cosHalfTheta );+ const ratioA = Math.sin( ( 1 - t ) * halfTheta ) / sinHalfTheta,+ ratioB = Math.sin( t * halfTheta ) / sinHalfTheta;++ this._w = ( w * ratioA + this._w * ratioB );+ this._x = ( x * ratioA + this._x * ratioB );+ this._y = ( y * ratioA + this._y * ratioB );+ this._z = ( z * ratioA + this._z * ratioB );++ this._onChangeCallback();++ return this;++ }++ slerpQuaternions( qa, qb, t ) {++ return this.copy( qa ).slerp( qb, t );++ }++ random() {++ // Derived from http://planning.cs.uiuc.edu/node198.html+ // Note, this source uses w, x, y, z ordering,+ // so we swap the order below.++ const u1 = Math.random();+ const sqrt1u1 = Math.sqrt( 1 - u1 );+ const sqrtu1 = Math.sqrt( u1 );++ const u2 = 2 * Math.PI * Math.random();++ const u3 = 2 * Math.PI * Math.random();++ return this.set(+ sqrt1u1 * Math.cos( u2 ),+ sqrtu1 * Math.sin( u3 ),+ sqrtu1 * Math.cos( u3 ),+ sqrt1u1 * Math.sin( u2 ),+ );++ }++ equals( quaternion ) {++ return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );++ }++ fromArray( array, offset = 0 ) {++ this._x = array[ offset ];+ this._y = array[ offset + 1 ];+ this._z = array[ offset + 2 ];+ this._w = array[ offset + 3 ];++ this._onChangeCallback();++ return this;++ }++ toArray( array = [], offset = 0 ) {++ array[ offset ] = this._x;+ array[ offset + 1 ] = this._y;+ array[ offset + 2 ] = this._z;+ array[ offset + 3 ] = this._w;++ return array;++ }++ fromBufferAttribute( attribute, index ) {++ this._x = attribute.getX( index );+ this._y = attribute.getY( index );+ this._z = attribute.getZ( index );+ this._w = attribute.getW( index );++ this._onChangeCallback();++ return this;++ }++ toJSON() {++ return this.toArray();++ }++ _onChange( callback ) {++ this._onChangeCallback = callback;++ return this;++ }++ _onChangeCallback() {}++ *[ Symbol.iterator ]() {++ yield this._x;+ yield this._y;+ yield this._z;+ yield this._w;++ }++}++class Vector3 {++ constructor( x = 0, y = 0, z = 0 ) {++ Vector3.prototype.isVector3 = true;++ this.x = x;+ this.y = y;+ this.z = z;++ }++ set( x, y, z ) {++ if ( z === undefined ) z = this.z; // sprite.scale.set(x,y)++ this.x = x;+ this.y = y;+ this.z = z;++ return this;++ }++ setScalar( scalar ) {++ this.x = scalar;+ this.y = scalar;+ this.z = scalar;++ return this;++ }++ setX( x ) {++ this.x = x;++ return this;++ }++ setY( y ) {++ this.y = y;++ return this;++ }++ setZ( z ) {++ this.z = z;++ return this;++ }++ setComponent( index, value ) {++ switch ( index ) {++ case 0: this.x = value; break;+ case 1: this.y = value; break;+ case 2: this.z = value; break;+ default: throw new Error( 'index is out of range: ' + index );++ }++ return this;++ }++ getComponent( index ) {++ switch ( index ) {++ case 0: return this.x;+ case 1: return this.y;+ case 2: return this.z;+ default: throw new Error( 'index is out of range: ' + index );++ }++ }++ clone() {++ return new this.constructor( this.x, this.y, this.z );++ }++ copy( v ) {++ this.x = v.x;+ this.y = v.y;+ this.z = v.z;++ return this;++ }++ add( v ) {++ this.x += v.x;+ this.y += v.y;+ this.z += v.z;++ return this;++ }++ addScalar( s ) {++ this.x += s;+ this.y += s;+ this.z += s;++ return this;++ }++ addVectors( a, b ) {++ this.x = a.x + b.x;+ this.y = a.y + b.y;+ this.z = a.z + b.z;++ return this;++ }++ addScaledVector( v, s ) {++ this.x += v.x * s;+ this.y += v.y * s;+ this.z += v.z * s;++ return this;++ }++ sub( v ) {++ this.x -= v.x;+ this.y -= v.y;+ this.z -= v.z;++ return this;++ }++ subScalar( s ) {++ this.x -= s;+ this.y -= s;+ this.z -= s;++ return this;++ }++ subVectors( a, b ) {++ this.x = a.x - b.x;+ this.y = a.y - b.y;+ this.z = a.z - b.z;++ return this;++ }++ multiply( v ) {++ this.x *= v.x;+ this.y *= v.y;+ this.z *= v.z;++ return this;++ }++ multiplyScalar( scalar ) {++ this.x *= scalar;+ this.y *= scalar;+ this.z *= scalar;++ return this;++ }++ multiplyVectors( a, b ) {++ this.x = a.x * b.x;+ this.y = a.y * b.y;+ this.z = a.z * b.z;++ return this;++ }++ applyEuler( euler ) {++ return this.applyQuaternion( _quaternion$4.setFromEuler( euler ) );++ }++ applyAxisAngle( axis, angle ) {++ return this.applyQuaternion( _quaternion$4.setFromAxisAngle( axis, angle ) );++ }++ applyMatrix3( m ) {++ const x = this.x, y = this.y, z = this.z;+ const e = m.elements;++ this.x = e[ 0 ] * x + e[ 3 ] * y + e[ 6 ] * z;+ this.y = e[ 1 ] * x + e[ 4 ] * y + e[ 7 ] * z;+ this.z = e[ 2 ] * x + e[ 5 ] * y + e[ 8 ] * z;++ return this;++ }++ applyNormalMatrix( m ) {++ return this.applyMatrix3( m ).normalize();++ }++ applyMatrix4( m ) {++ const x = this.x, y = this.y, z = this.z;+ const e = m.elements;++ const w = 1 / ( e[ 3 ] * x + e[ 7 ] * y + e[ 11 ] * z + e[ 15 ] );++ this.x = ( e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z + e[ 12 ] ) * w;+ this.y = ( e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z + e[ 13 ] ) * w;+ this.z = ( e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z + e[ 14 ] ) * w;++ return this;++ }++ applyQuaternion( q ) {++ // quaternion q is assumed to have unit length++ const vx = this.x, vy = this.y, vz = this.z;+ const qx = q.x, qy = q.y, qz = q.z, qw = q.w;++ // t = 2 * cross( q.xyz, v );+ const tx = 2 * ( qy * vz - qz * vy );+ const ty = 2 * ( qz * vx - qx * vz );+ const tz = 2 * ( qx * vy - qy * vx );++ // v + q.w * t + cross( q.xyz, t );+ this.x = vx + qw * tx + qy * tz - qz * ty;+ this.y = vy + qw * ty + qz * tx - qx * tz;+ this.z = vz + qw * tz + qx * ty - qy * tx;++ return this;++ }++ project( camera ) {++ return this.applyMatrix4( camera.matrixWorldInverse ).applyMatrix4( camera.projectionMatrix );++ }++ unproject( camera ) {++ return this.applyMatrix4( camera.projectionMatrixInverse ).applyMatrix4( camera.matrixWorld );++ }++ transformDirection( m ) {++ // input: THREE.Matrix4 affine matrix+ // vector interpreted as a direction++ const x = this.x, y = this.y, z = this.z;+ const e = m.elements;++ this.x = e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z;+ this.y = e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z;+ this.z = e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z;++ return this.normalize();++ }++ divide( v ) {++ this.x /= v.x;+ this.y /= v.y;+ this.z /= v.z;++ return this;++ }++ divideScalar( scalar ) {++ return this.multiplyScalar( 1 / scalar );++ }++ min( v ) {++ this.x = Math.min( this.x, v.x );+ this.y = Math.min( this.y, v.y );+ this.z = Math.min( this.z, v.z );++ return this;++ }++ max( v ) {++ this.x = Math.max( this.x, v.x );+ this.y = Math.max( this.y, v.y );+ this.z = Math.max( this.z, v.z );++ return this;++ }++ clamp( min, max ) {++ // assumes min < max, componentwise++ this.x = Math.max( min.x, Math.min( max.x, this.x ) );+ this.y = Math.max( min.y, Math.min( max.y, this.y ) );+ this.z = Math.max( min.z, Math.min( max.z, this.z ) );++ return this;++ }++ clampScalar( minVal, maxVal ) {++ this.x = Math.max( minVal, Math.min( maxVal, this.x ) );+ this.y = Math.max( minVal, Math.min( maxVal, this.y ) );+ this.z = Math.max( minVal, Math.min( maxVal, this.z ) );++ return this;++ }++ clampLength( min, max ) {++ const length = this.length();++ return this.divideScalar( length || 1 ).multiplyScalar( Math.max( min, Math.min( max, length ) ) );++ }++ floor() {++ this.x = Math.floor( this.x );+ this.y = Math.floor( this.y );+ this.z = Math.floor( this.z );++ return this;++ }++ ceil() {++ this.x = Math.ceil( this.x );+ this.y = Math.ceil( this.y );+ this.z = Math.ceil( this.z );++ return this;++ }++ round() {++ this.x = Math.round( this.x );+ this.y = Math.round( this.y );+ this.z = Math.round( this.z );++ return this;++ }++ roundToZero() {++ this.x = Math.trunc( this.x );+ this.y = Math.trunc( this.y );+ this.z = Math.trunc( this.z );++ return this;++ }++ negate() {++ this.x = - this.x;+ this.y = - this.y;+ this.z = - this.z;++ return this;++ }++ dot( v ) {++ return this.x * v.x + this.y * v.y + this.z * v.z;++ }++ // TODO lengthSquared?++ lengthSq() {++ return this.x * this.x + this.y * this.y + this.z * this.z;++ }++ length() {++ return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z );++ }++ manhattanLength() {++ return Math.abs( this.x ) + Math.abs( this.y ) + Math.abs( this.z );++ }++ normalize() {++ return this.divideScalar( this.length() || 1 );++ }++ setLength( length ) {++ return this.normalize().multiplyScalar( length );++ }++ lerp( v, alpha ) {++ this.x += ( v.x - this.x ) * alpha;+ this.y += ( v.y - this.y ) * alpha;+ this.z += ( v.z - this.z ) * alpha;++ return this;++ }++ lerpVectors( v1, v2, alpha ) {++ this.x = v1.x + ( v2.x - v1.x ) * alpha;+ this.y = v1.y + ( v2.y - v1.y ) * alpha;+ this.z = v1.z + ( v2.z - v1.z ) * alpha;++ return this;++ }++ cross( v ) {++ return this.crossVectors( this, v );++ }++ crossVectors( a, b ) {++ const ax = a.x, ay = a.y, az = a.z;+ const bx = b.x, by = b.y, bz = b.z;++ this.x = ay * bz - az * by;+ this.y = az * bx - ax * bz;+ this.z = ax * by - ay * bx;++ return this;++ }++ projectOnVector( v ) {++ const denominator = v.lengthSq();++ if ( denominator === 0 ) return this.set( 0, 0, 0 );++ const scalar = v.dot( this ) / denominator;++ return this.copy( v ).multiplyScalar( scalar );++ }++ projectOnPlane( planeNormal ) {++ _vector$c.copy( this ).projectOnVector( planeNormal );++ return this.sub( _vector$c );++ }++ reflect( normal ) {++ // reflect incident vector off plane orthogonal to normal+ // normal is assumed to have unit length++ return this.sub( _vector$c.copy( normal ).multiplyScalar( 2 * this.dot( normal ) ) );++ }++ angleTo( v ) {++ const denominator = Math.sqrt( this.lengthSq() * v.lengthSq() );++ if ( denominator === 0 ) return Math.PI / 2;++ const theta = this.dot( v ) / denominator;++ // clamp, to handle numerical problems++ return Math.acos( clamp( theta, - 1, 1 ) );++ }++ distanceTo( v ) {++ return Math.sqrt( this.distanceToSquared( v ) );++ }++ distanceToSquared( v ) {++ const dx = this.x - v.x, dy = this.y - v.y, dz = this.z - v.z;++ return dx * dx + dy * dy + dz * dz;++ }++ manhattanDistanceTo( v ) {++ return Math.abs( this.x - v.x ) + Math.abs( this.y - v.y ) + Math.abs( this.z - v.z );++ }++ setFromSpherical( s ) {++ return this.setFromSphericalCoords( s.radius, s.phi, s.theta );++ }++ setFromSphericalCoords( radius, phi, theta ) {++ const sinPhiRadius = Math.sin( phi ) * radius;++ this.x = sinPhiRadius * Math.sin( theta );+ this.y = Math.cos( phi ) * radius;+ this.z = sinPhiRadius * Math.cos( theta );++ return this;++ }++ setFromCylindrical( c ) {++ return this.setFromCylindricalCoords( c.radius, c.theta, c.y );++ }++ setFromCylindricalCoords( radius, theta, y ) {++ this.x = radius * Math.sin( theta );+ this.y = y;+ this.z = radius * Math.cos( theta );++ return this;++ }++ setFromMatrixPosition( m ) {++ const e = m.elements;++ this.x = e[ 12 ];+ this.y = e[ 13 ];+ this.z = e[ 14 ];++ return this;++ }++ setFromMatrixScale( m ) {++ const sx = this.setFromMatrixColumn( m, 0 ).length();+ const sy = this.setFromMatrixColumn( m, 1 ).length();+ const sz = this.setFromMatrixColumn( m, 2 ).length();++ this.x = sx;+ this.y = sy;+ this.z = sz;++ return this;++ }++ setFromMatrixColumn( m, index ) {++ return this.fromArray( m.elements, index * 4 );++ }++ setFromMatrix3Column( m, index ) {++ return this.fromArray( m.elements, index * 3 );++ }++ setFromEuler( e ) {++ this.x = e._x;+ this.y = e._y;+ this.z = e._z;++ return this;++ }++ setFromColor( c ) {++ this.x = c.r;+ this.y = c.g;+ this.z = c.b;++ return this;++ }++ equals( v ) {++ return ( ( v.x === this.x ) && ( v.y === this.y ) && ( v.z === this.z ) );++ }++ fromArray( array, offset = 0 ) {++ this.x = array[ offset ];+ this.y = array[ offset + 1 ];+ this.z = array[ offset + 2 ];++ return this;++ }++ toArray( array = [], offset = 0 ) {++ array[ offset ] = this.x;+ array[ offset + 1 ] = this.y;+ array[ offset + 2 ] = this.z;++ return array;++ }++ fromBufferAttribute( attribute, index ) {++ this.x = attribute.getX( index );+ this.y = attribute.getY( index );+ this.z = attribute.getZ( index );++ return this;++ }++ random() {++ this.x = Math.random();+ this.y = Math.random();+ this.z = Math.random();++ return this;++ }++ randomDirection() {++ // Derived from https://mathworld.wolfram.com/SpherePointPicking.html++ const u = ( Math.random() - 0.5 ) * 2;+ const t = Math.random() * Math.PI * 2;+ const f = Math.sqrt( 1 - u ** 2 );++ this.x = f * Math.cos( t );+ this.y = f * Math.sin( t );+ this.z = u;++ return this;++ }++ *[ Symbol.iterator ]() {++ yield this.x;+ yield this.y;+ yield this.z;++ }++}++const _vector$c = /*@__PURE__*/ new Vector3();+const _quaternion$4 = /*@__PURE__*/ new Quaternion();++class Box3 {++ constructor( min = new Vector3( + Infinity, + Infinity, + Infinity ), max = new Vector3( - Infinity, - Infinity, - Infinity ) ) {++ this.isBox3 = true;++ this.min = min;+ this.max = max;++ }++ set( min, max ) {++ this.min.copy( min );+ this.max.copy( max );++ return this;++ }++ setFromArray( array ) {++ this.makeEmpty();++ for ( let i = 0, il = array.length; i < il; i += 3 ) {++ this.expandByPoint( _vector$b.fromArray( array, i ) );++ }++ return this;++ }++ setFromBufferAttribute( attribute ) {++ this.makeEmpty();++ for ( let i = 0, il = attribute.count; i < il; i ++ ) {++ this.expandByPoint( _vector$b.fromBufferAttribute( attribute, i ) );++ }++ return this;++ }++ setFromPoints( points ) {++ this.makeEmpty();++ for ( let i = 0, il = points.length; i < il; i ++ ) {++ this.expandByPoint( points[ i ] );++ }++ return this;++ }++ setFromCenterAndSize( center, size ) {++ const halfSize = _vector$b.copy( size ).multiplyScalar( 0.5 );++ this.min.copy( center ).sub( halfSize );+ this.max.copy( center ).add( halfSize );++ return this;++ }++ setFromObject( object, precise = false ) {++ this.makeEmpty();++ return this.expandByObject( object, precise );++ }++ clone() {++ return new this.constructor().copy( this );++ }++ copy( box ) {++ this.min.copy( box.min );+ this.max.copy( box.max );++ return this;++ }++ makeEmpty() {++ this.min.x = this.min.y = this.min.z = + Infinity;+ this.max.x = this.max.y = this.max.z = - Infinity;++ return this;++ }++ isEmpty() {++ // this is a more robust check for empty than ( volume <= 0 ) because volume can get positive with two negative axes++ return ( this.max.x < this.min.x ) || ( this.max.y < this.min.y ) || ( this.max.z < this.min.z );++ }++ getCenter( target ) {++ return this.isEmpty() ? target.set( 0, 0, 0 ) : target.addVectors( this.min, this.max ).multiplyScalar( 0.5 );++ }++ getSize( target ) {++ return this.isEmpty() ? target.set( 0, 0, 0 ) : target.subVectors( this.max, this.min );++ }++ expandByPoint( point ) {++ this.min.min( point );+ this.max.max( point );++ return this;++ }++ expandByVector( vector ) {++ this.min.sub( vector );+ this.max.add( vector );++ return this;++ }++ expandByScalar( scalar ) {++ this.min.addScalar( - scalar );+ this.max.addScalar( scalar );++ return this;++ }++ expandByObject( object, precise = false ) {++ // Computes the world-axis-aligned bounding box of an object (including its children),+ // accounting for both the object's, and children's, world transforms++ object.updateWorldMatrix( false, false );++ const geometry = object.geometry;++ if ( geometry !== undefined ) {++ const positionAttribute = geometry.getAttribute( 'position' );++ // precise AABB computation based on vertex data requires at least a position attribute.+ // instancing isn't supported so far and uses the normal (conservative) code path.++ if ( precise === true && positionAttribute !== undefined && object.isInstancedMesh !== true ) {++ for ( let i = 0, l = positionAttribute.count; i < l; i ++ ) {++ if ( object.isMesh === true ) {++ object.getVertexPosition( i, _vector$b );++ } else {++ _vector$b.fromBufferAttribute( positionAttribute, i );++ }++ _vector$b.applyMatrix4( object.matrixWorld );+ this.expandByPoint( _vector$b );++ }++ } else {++ if ( object.boundingBox !== undefined ) {++ // object-level bounding box++ if ( object.boundingBox === null ) {++ object.computeBoundingBox();++ }++ _box$4.copy( object.boundingBox );+++ } else {++ // geometry-level bounding box++ if ( geometry.boundingBox === null ) {++ geometry.computeBoundingBox();++ }++ _box$4.copy( geometry.boundingBox );++ }++ _box$4.applyMatrix4( object.matrixWorld );++ this.union( _box$4 );++ }++ }++ const children = object.children;++ for ( let i = 0, l = children.length; i < l; i ++ ) {++ this.expandByObject( children[ i ], precise );++ }++ return this;++ }++ containsPoint( point ) {++ return point.x < this.min.x || point.x > this.max.x ||+ point.y < this.min.y || point.y > this.max.y ||+ point.z < this.min.z || point.z > this.max.z ? false : true;++ }++ containsBox( box ) {++ return this.min.x <= box.min.x && box.max.x <= this.max.x &&+ this.min.y <= box.min.y && box.max.y <= this.max.y &&+ this.min.z <= box.min.z && box.max.z <= this.max.z;++ }++ getParameter( point, target ) {++ // This can potentially have a divide by zero if the box+ // has a size dimension of 0.++ return target.set(+ ( point.x - this.min.x ) / ( this.max.x - this.min.x ),+ ( point.y - this.min.y ) / ( this.max.y - this.min.y ),+ ( point.z - this.min.z ) / ( this.max.z - this.min.z )+ );++ }++ intersectsBox( box ) {++ // using 6 splitting planes to rule out intersections.+ return box.max.x < this.min.x || box.min.x > this.max.x ||+ box.max.y < this.min.y || box.min.y > this.max.y ||+ box.max.z < this.min.z || box.min.z > this.max.z ? false : true;++ }++ intersectsSphere( sphere ) {++ // Find the point on the AABB closest to the sphere center.+ this.clampPoint( sphere.center, _vector$b );++ // If that point is inside the sphere, the AABB and sphere intersect.+ return _vector$b.distanceToSquared( sphere.center ) <= ( sphere.radius * sphere.radius );++ }++ intersectsPlane( plane ) {++ // We compute the minimum and maximum dot product values. If those values+ // are on the same side (back or front) of the plane, then there is no intersection.++ let min, max;++ if ( plane.normal.x > 0 ) {++ min = plane.normal.x * this.min.x;+ max = plane.normal.x * this.max.x;++ } else {++ min = plane.normal.x * this.max.x;+ max = plane.normal.x * this.min.x;++ }++ if ( plane.normal.y > 0 ) {++ min += plane.normal.y * this.min.y;+ max += plane.normal.y * this.max.y;++ } else {++ min += plane.normal.y * this.max.y;+ max += plane.normal.y * this.min.y;++ }++ if ( plane.normal.z > 0 ) {++ min += plane.normal.z * this.min.z;+ max += plane.normal.z * this.max.z;++ } else {++ min += plane.normal.z * this.max.z;+ max += plane.normal.z * this.min.z;++ }++ return ( min <= - plane.constant && max >= - plane.constant );++ }++ intersectsTriangle( triangle ) {++ if ( this.isEmpty() ) {++ return false;++ }++ // compute box center and extents+ this.getCenter( _center );+ _extents.subVectors( this.max, _center );++ // translate triangle to aabb origin+ _v0$2.subVectors( triangle.a, _center );+ _v1$7.subVectors( triangle.b, _center );+ _v2$4.subVectors( triangle.c, _center );++ // compute edge vectors for triangle+ _f0.subVectors( _v1$7, _v0$2 );+ _f1.subVectors( _v2$4, _v1$7 );+ _f2.subVectors( _v0$2, _v2$4 );++ // test against axes that are given by cross product combinations of the edges of the triangle and the edges of the aabb+ // make an axis testing of each of the 3 sides of the aabb against each of the 3 sides of the triangle = 9 axis of separation+ // axis_ij = u_i x f_j (u0, u1, u2 = face normals of aabb = x,y,z axes vectors since aabb is axis aligned)+ let axes = [+ 0, - _f0.z, _f0.y, 0, - _f1.z, _f1.y, 0, - _f2.z, _f2.y,+ _f0.z, 0, - _f0.x, _f1.z, 0, - _f1.x, _f2.z, 0, - _f2.x,+ - _f0.y, _f0.x, 0, - _f1.y, _f1.x, 0, - _f2.y, _f2.x, 0+ ];+ if ( ! satForAxes( axes, _v0$2, _v1$7, _v2$4, _extents ) ) {++ return false;++ }++ // test 3 face normals from the aabb+ axes = [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ];+ if ( ! satForAxes( axes, _v0$2, _v1$7, _v2$4, _extents ) ) {++ return false;++ }++ // finally testing the face normal of the triangle+ // use already existing triangle edge vectors here+ _triangleNormal.crossVectors( _f0, _f1 );+ axes = [ _triangleNormal.x, _triangleNormal.y, _triangleNormal.z ];++ return satForAxes( axes, _v0$2, _v1$7, _v2$4, _extents );++ }++ clampPoint( point, target ) {++ return target.copy( point ).clamp( this.min, this.max );++ }++ distanceToPoint( point ) {++ return this.clampPoint( point, _vector$b ).distanceTo( point );++ }++ getBoundingSphere( target ) {++ if ( this.isEmpty() ) {++ target.makeEmpty();++ } else {++ this.getCenter( target.center );++ target.radius = this.getSize( _vector$b ).length() * 0.5;++ }++ return target;++ }++ intersect( box ) {++ this.min.max( box.min );+ this.max.min( box.max );++ // ensure that if there is no overlap, the result is fully empty, not slightly empty with non-inf/+inf values that will cause subsequence intersects to erroneously return valid values.+ if ( this.isEmpty() ) this.makeEmpty();++ return this;++ }++ union( box ) {++ this.min.min( box.min );+ this.max.max( box.max );++ return this;++ }++ applyMatrix4( matrix ) {++ // transform of empty box is an empty box.+ if ( this.isEmpty() ) return this;++ // NOTE: I am using a binary pattern to specify all 2^3 combinations below+ _points[ 0 ].set( this.min.x, this.min.y, this.min.z ).applyMatrix4( matrix ); // 000+ _points[ 1 ].set( this.min.x, this.min.y, this.max.z ).applyMatrix4( matrix ); // 001+ _points[ 2 ].set( this.min.x, this.max.y, this.min.z ).applyMatrix4( matrix ); // 010+ _points[ 3 ].set( this.min.x, this.max.y, this.max.z ).applyMatrix4( matrix ); // 011+ _points[ 4 ].set( this.max.x, this.min.y, this.min.z ).applyMatrix4( matrix ); // 100+ _points[ 5 ].set( this.max.x, this.min.y, this.max.z ).applyMatrix4( matrix ); // 101+ _points[ 6 ].set( this.max.x, this.max.y, this.min.z ).applyMatrix4( matrix ); // 110+ _points[ 7 ].set( this.max.x, this.max.y, this.max.z ).applyMatrix4( matrix ); // 111++ this.setFromPoints( _points );++ return this;++ }++ translate( offset ) {++ this.min.add( offset );+ this.max.add( offset );++ return this;++ }++ equals( box ) {++ return box.min.equals( this.min ) && box.max.equals( this.max );++ }++}++const _points = [+ /*@__PURE__*/ new Vector3(),+ /*@__PURE__*/ new Vector3(),+ /*@__PURE__*/ new Vector3(),+ /*@__PURE__*/ new Vector3(),+ /*@__PURE__*/ new Vector3(),+ /*@__PURE__*/ new Vector3(),+ /*@__PURE__*/ new Vector3(),+ /*@__PURE__*/ new Vector3()+];++const _vector$b = /*@__PURE__*/ new Vector3();++const _box$4 = /*@__PURE__*/ new Box3();++// triangle centered vertices++const _v0$2 = /*@__PURE__*/ new Vector3();+const _v1$7 = /*@__PURE__*/ new Vector3();+const _v2$4 = /*@__PURE__*/ new Vector3();++// triangle edge vectors++const _f0 = /*@__PURE__*/ new Vector3();+const _f1 = /*@__PURE__*/ new Vector3();+const _f2 = /*@__PURE__*/ new Vector3();++const _center = /*@__PURE__*/ new Vector3();+const _extents = /*@__PURE__*/ new Vector3();+const _triangleNormal = /*@__PURE__*/ new Vector3();+const _testAxis = /*@__PURE__*/ new Vector3();++function satForAxes( axes, v0, v1, v2, extents ) {++ for ( let i = 0, j = axes.length - 3; i <= j; i += 3 ) {++ _testAxis.fromArray( axes, i );+ // project the aabb onto the separating axis+ const r = extents.x * Math.abs( _testAxis.x ) + extents.y * Math.abs( _testAxis.y ) + extents.z * Math.abs( _testAxis.z );+ // project all 3 vertices of the triangle onto the separating axis+ const p0 = v0.dot( _testAxis );+ const p1 = v1.dot( _testAxis );+ const p2 = v2.dot( _testAxis );+ // actual test, basically see if either of the most extreme of the triangle points intersects r+ if ( Math.max( - Math.max( p0, p1, p2 ), Math.min( p0, p1, p2 ) ) > r ) {++ // points of the projected triangle are outside the projected half-length of the aabb+ // the axis is separating and we can exit+ return false;++ }++ }++ return true;++}++const _box$3 = /*@__PURE__*/ new Box3();+const _v1$6 = /*@__PURE__*/ new Vector3();+const _v2$3 = /*@__PURE__*/ new Vector3();++class Sphere {++ constructor( center = new Vector3(), radius = - 1 ) {++ this.isSphere = true;++ this.center = center;+ this.radius = radius;++ }++ set( center, radius ) {++ this.center.copy( center );+ this.radius = radius;++ return this;++ }++ setFromPoints( points, optionalCenter ) {++ const center = this.center;++ if ( optionalCenter !== undefined ) {++ center.copy( optionalCenter );++ } else {++ _box$3.setFromPoints( points ).getCenter( center );++ }++ let maxRadiusSq = 0;++ for ( let i = 0, il = points.length; i < il; i ++ ) {++ maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( points[ i ] ) );++ }++ this.radius = Math.sqrt( maxRadiusSq );++ return this;++ }++ copy( sphere ) {++ this.center.copy( sphere.center );+ this.radius = sphere.radius;++ return this;++ }++ isEmpty() {++ return ( this.radius < 0 );++ }++ makeEmpty() {++ this.center.set( 0, 0, 0 );+ this.radius = - 1;++ return this;++ }++ containsPoint( point ) {++ return ( point.distanceToSquared( this.center ) <= ( this.radius * this.radius ) );++ }++ distanceToPoint( point ) {++ return ( point.distanceTo( this.center ) - this.radius );++ }++ intersectsSphere( sphere ) {++ const radiusSum = this.radius + sphere.radius;++ return sphere.center.distanceToSquared( this.center ) <= ( radiusSum * radiusSum );++ }++ intersectsBox( box ) {++ return box.intersectsSphere( this );++ }++ intersectsPlane( plane ) {++ return Math.abs( plane.distanceToPoint( this.center ) ) <= this.radius;++ }++ clampPoint( point, target ) {++ const deltaLengthSq = this.center.distanceToSquared( point );++ target.copy( point );++ if ( deltaLengthSq > ( this.radius * this.radius ) ) {++ target.sub( this.center ).normalize();+ target.multiplyScalar( this.radius ).add( this.center );++ }++ return target;++ }++ getBoundingBox( target ) {++ if ( this.isEmpty() ) {++ // Empty sphere produces empty bounding box+ target.makeEmpty();+ return target;++ }++ target.set( this.center, this.center );+ target.expandByScalar( this.radius );++ return target;++ }++ applyMatrix4( matrix ) {++ this.center.applyMatrix4( matrix );+ this.radius = this.radius * matrix.getMaxScaleOnAxis();++ return this;++ }++ translate( offset ) {++ this.center.add( offset );++ return this;++ }++ expandByPoint( point ) {++ if ( this.isEmpty() ) {++ this.center.copy( point );++ this.radius = 0;++ return this;++ }++ _v1$6.subVectors( point, this.center );++ const lengthSq = _v1$6.lengthSq();++ if ( lengthSq > ( this.radius * this.radius ) ) {++ // calculate the minimal sphere++ const length = Math.sqrt( lengthSq );++ const delta = ( length - this.radius ) * 0.5;++ this.center.addScaledVector( _v1$6, delta / length );++ this.radius += delta;++ }++ return this;++ }++ union( sphere ) {++ if ( sphere.isEmpty() ) {++ return this;++ }++ if ( this.isEmpty() ) {++ this.copy( sphere );++ return this;++ }++ if ( this.center.equals( sphere.center ) === true ) {++ this.radius = Math.max( this.radius, sphere.radius );++ } else {++ _v2$3.subVectors( sphere.center, this.center ).setLength( sphere.radius );++ this.expandByPoint( _v1$6.copy( sphere.center ).add( _v2$3 ) );++ this.expandByPoint( _v1$6.copy( sphere.center ).sub( _v2$3 ) );++ }++ return this;++ }++ equals( sphere ) {++ return sphere.center.equals( this.center ) && ( sphere.radius === this.radius );++ }++ clone() {++ return new this.constructor().copy( this );++ }++}++const _vector$a = /*@__PURE__*/ new Vector3();+const _segCenter = /*@__PURE__*/ new Vector3();+const _segDir = /*@__PURE__*/ new Vector3();+const _diff = /*@__PURE__*/ new Vector3();++const _edge1 = /*@__PURE__*/ new Vector3();+const _edge2 = /*@__PURE__*/ new Vector3();+const _normal$1 = /*@__PURE__*/ new Vector3();++class Ray {++ constructor( origin = new Vector3(), direction = new Vector3( 0, 0, - 1 ) ) {++ this.origin = origin;+ this.direction = direction;++ }++ set( origin, direction ) {++ this.origin.copy( origin );+ this.direction.copy( direction );++ return this;++ }++ copy( ray ) {++ this.origin.copy( ray.origin );+ this.direction.copy( ray.direction );++ return this;++ }++ at( t, target ) {++ return target.copy( this.origin ).addScaledVector( this.direction, t );++ }++ lookAt( v ) {++ this.direction.copy( v ).sub( this.origin ).normalize();++ return this;++ }++ recast( t ) {++ this.origin.copy( this.at( t, _vector$a ) );++ return this;++ }++ closestPointToPoint( point, target ) {++ target.subVectors( point, this.origin );++ const directionDistance = target.dot( this.direction );++ if ( directionDistance < 0 ) {++ return target.copy( this.origin );++ }++ return target.copy( this.origin ).addScaledVector( this.direction, directionDistance );++ }++ distanceToPoint( point ) {++ return Math.sqrt( this.distanceSqToPoint( point ) );++ }++ distanceSqToPoint( point ) {++ const directionDistance = _vector$a.subVectors( point, this.origin ).dot( this.direction );++ // point behind the ray++ if ( directionDistance < 0 ) {++ return this.origin.distanceToSquared( point );++ }++ _vector$a.copy( this.origin ).addScaledVector( this.direction, directionDistance );++ return _vector$a.distanceToSquared( point );++ }++ distanceSqToSegment( v0, v1, optionalPointOnRay, optionalPointOnSegment ) {++ // from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteDistRaySegment.h+ // It returns the min distance between the ray and the segment+ // defined by v0 and v1+ // It can also set two optional targets :+ // - The closest point on the ray+ // - The closest point on the segment++ _segCenter.copy( v0 ).add( v1 ).multiplyScalar( 0.5 );+ _segDir.copy( v1 ).sub( v0 ).normalize();+ _diff.copy( this.origin ).sub( _segCenter );++ const segExtent = v0.distanceTo( v1 ) * 0.5;+ const a01 = - this.direction.dot( _segDir );+ const b0 = _diff.dot( this.direction );+ const b1 = - _diff.dot( _segDir );+ const c = _diff.lengthSq();+ const det = Math.abs( 1 - a01 * a01 );+ let s0, s1, sqrDist, extDet;++ if ( det > 0 ) {++ // The ray and segment are not parallel.++ s0 = a01 * b1 - b0;+ s1 = a01 * b0 - b1;+ extDet = segExtent * det;++ if ( s0 >= 0 ) {++ if ( s1 >= - extDet ) {++ if ( s1 <= extDet ) {++ // region 0+ // Minimum at interior points of ray and segment.++ const invDet = 1 / det;+ s0 *= invDet;+ s1 *= invDet;+ sqrDist = s0 * ( s0 + a01 * s1 + 2 * b0 ) + s1 * ( a01 * s0 + s1 + 2 * b1 ) + c;++ } else {++ // region 1++ s1 = segExtent;+ s0 = Math.max( 0, - ( a01 * s1 + b0 ) );+ sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;++ }++ } else {++ // region 5++ s1 = - segExtent;+ s0 = Math.max( 0, - ( a01 * s1 + b0 ) );+ sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;++ }++ } else {++ if ( s1 <= - extDet ) {++ // region 4++ s0 = Math.max( 0, - ( - a01 * segExtent + b0 ) );+ s1 = ( s0 > 0 ) ? - segExtent : Math.min( Math.max( - segExtent, - b1 ), segExtent );+ sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;++ } else if ( s1 <= extDet ) {++ // region 3++ s0 = 0;+ s1 = Math.min( Math.max( - segExtent, - b1 ), segExtent );+ sqrDist = s1 * ( s1 + 2 * b1 ) + c;++ } else {++ // region 2++ s0 = Math.max( 0, - ( a01 * segExtent + b0 ) );+ s1 = ( s0 > 0 ) ? segExtent : Math.min( Math.max( - segExtent, - b1 ), segExtent );+ sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;++ }++ }++ } else {++ // Ray and segment are parallel.++ s1 = ( a01 > 0 ) ? - segExtent : segExtent;+ s0 = Math.max( 0, - ( a01 * s1 + b0 ) );+ sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c;++ }++ if ( optionalPointOnRay ) {++ optionalPointOnRay.copy( this.origin ).addScaledVector( this.direction, s0 );++ }++ if ( optionalPointOnSegment ) {++ optionalPointOnSegment.copy( _segCenter ).addScaledVector( _segDir, s1 );++ }++ return sqrDist;++ }++ intersectSphere( sphere, target ) {++ _vector$a.subVectors( sphere.center, this.origin );+ const tca = _vector$a.dot( this.direction );+ const d2 = _vector$a.dot( _vector$a ) - tca * tca;+ const radius2 = sphere.radius * sphere.radius;++ if ( d2 > radius2 ) return null;++ const thc = Math.sqrt( radius2 - d2 );++ // t0 = first intersect point - entrance on front of sphere+ const t0 = tca - thc;++ // t1 = second intersect point - exit point on back of sphere+ const t1 = tca + thc;++ // test to see if t1 is behind the ray - if so, return null+ if ( t1 < 0 ) return null;++ // test to see if t0 is behind the ray:+ // if it is, the ray is inside the sphere, so return the second exit point scaled by t1,+ // in order to always return an intersect point that is in front of the ray.+ if ( t0 < 0 ) return this.at( t1, target );++ // else t0 is in front of the ray, so return the first collision point scaled by t0+ return this.at( t0, target );++ }++ intersectsSphere( sphere ) {++ return this.distanceSqToPoint( sphere.center ) <= ( sphere.radius * sphere.radius );++ }++ distanceToPlane( plane ) {++ const denominator = plane.normal.dot( this.direction );++ if ( denominator === 0 ) {++ // line is coplanar, return origin+ if ( plane.distanceToPoint( this.origin ) === 0 ) {++ return 0;++ }++ // Null is preferable to undefined since undefined means.... it is undefined++ return null;++ }++ const t = - ( this.origin.dot( plane.normal ) + plane.constant ) / denominator;++ // Return if the ray never intersects the plane++ return t >= 0 ? t : null;++ }++ intersectPlane( plane, target ) {++ const t = this.distanceToPlane( plane );++ if ( t === null ) {++ return null;++ }++ return this.at( t, target );++ }++ intersectsPlane( plane ) {++ // check if the ray lies on the plane first++ const distToPoint = plane.distanceToPoint( this.origin );++ if ( distToPoint === 0 ) {++ return true;++ }++ const denominator = plane.normal.dot( this.direction );++ if ( denominator * distToPoint < 0 ) {++ return true;++ }++ // ray origin is behind the plane (and is pointing behind it)++ return false;++ }++ intersectBox( box, target ) {++ let tmin, tmax, tymin, tymax, tzmin, tzmax;++ const invdirx = 1 / this.direction.x,+ invdiry = 1 / this.direction.y,+ invdirz = 1 / this.direction.z;++ const origin = this.origin;++ if ( invdirx >= 0 ) {++ tmin = ( box.min.x - origin.x ) * invdirx;+ tmax = ( box.max.x - origin.x ) * invdirx;++ } else {++ tmin = ( box.max.x - origin.x ) * invdirx;+ tmax = ( box.min.x - origin.x ) * invdirx;++ }++ if ( invdiry >= 0 ) {++ tymin = ( box.min.y - origin.y ) * invdiry;+ tymax = ( box.max.y - origin.y ) * invdiry;++ } else {++ tymin = ( box.max.y - origin.y ) * invdiry;+ tymax = ( box.min.y - origin.y ) * invdiry;++ }++ if ( ( tmin > tymax ) || ( tymin > tmax ) ) return null;++ if ( tymin > tmin || isNaN( tmin ) ) tmin = tymin;++ if ( tymax < tmax || isNaN( tmax ) ) tmax = tymax;++ if ( invdirz >= 0 ) {++ tzmin = ( box.min.z - origin.z ) * invdirz;+ tzmax = ( box.max.z - origin.z ) * invdirz;++ } else {++ tzmin = ( box.max.z - origin.z ) * invdirz;+ tzmax = ( box.min.z - origin.z ) * invdirz;++ }++ if ( ( tmin > tzmax ) || ( tzmin > tmax ) ) return null;++ if ( tzmin > tmin || tmin !== tmin ) tmin = tzmin;++ if ( tzmax < tmax || tmax !== tmax ) tmax = tzmax;++ //return point closest to the ray (positive side)++ if ( tmax < 0 ) return null;++ return this.at( tmin >= 0 ? tmin : tmax, target );++ }++ intersectsBox( box ) {++ return this.intersectBox( box, _vector$a ) !== null;++ }++ intersectTriangle( a, b, c, backfaceCulling, target ) {++ // Compute the offset origin, edges, and normal.++ // from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteIntrRay3Triangle3.h++ _edge1.subVectors( b, a );+ _edge2.subVectors( c, a );+ _normal$1.crossVectors( _edge1, _edge2 );++ // Solve Q + t*D = b1*E1 + b2*E2 (Q = kDiff, D = ray direction,+ // E1 = kEdge1, E2 = kEdge2, N = Cross(E1,E2)) by+ // |Dot(D,N)|*b1 = sign(Dot(D,N))*Dot(D,Cross(Q,E2))+ // |Dot(D,N)|*b2 = sign(Dot(D,N))*Dot(D,Cross(E1,Q))+ // |Dot(D,N)|*t = -sign(Dot(D,N))*Dot(Q,N)+ let DdN = this.direction.dot( _normal$1 );+ let sign;++ if ( DdN > 0 ) {++ if ( backfaceCulling ) return null;+ sign = 1;++ } else if ( DdN < 0 ) {++ sign = - 1;+ DdN = - DdN;++ } else {++ return null;++ }++ _diff.subVectors( this.origin, a );+ const DdQxE2 = sign * this.direction.dot( _edge2.crossVectors( _diff, _edge2 ) );++ // b1 < 0, no intersection+ if ( DdQxE2 < 0 ) {++ return null;++ }++ const DdE1xQ = sign * this.direction.dot( _edge1.cross( _diff ) );++ // b2 < 0, no intersection+ if ( DdE1xQ < 0 ) {++ return null;++ }++ // b1+b2 > 1, no intersection+ if ( DdQxE2 + DdE1xQ > DdN ) {++ return null;++ }++ // Line intersects triangle, check if ray does.+ const QdN = - sign * _diff.dot( _normal$1 );++ // t < 0, no intersection+ if ( QdN < 0 ) {++ return null;++ }++ // Ray intersects triangle.+ return this.at( QdN / DdN, target );++ }++ applyMatrix4( matrix4 ) {++ this.origin.applyMatrix4( matrix4 );+ this.direction.transformDirection( matrix4 );++ return this;++ }++ equals( ray ) {++ return ray.origin.equals( this.origin ) && ray.direction.equals( this.direction );++ }++ clone() {++ return new this.constructor().copy( this );++ }++}++class Matrix4 {++ constructor( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 ) {++ Matrix4.prototype.isMatrix4 = true;++ this.elements = [++ 1, 0, 0, 0,+ 0, 1, 0, 0,+ 0, 0, 1, 0,+ 0, 0, 0, 1++ ];++ if ( n11 !== undefined ) {++ this.set( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 );++ }++ }++ set( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 ) {++ const te = this.elements;++ te[ 0 ] = n11; te[ 4 ] = n12; te[ 8 ] = n13; te[ 12 ] = n14;+ te[ 1 ] = n21; te[ 5 ] = n22; te[ 9 ] = n23; te[ 13 ] = n24;+ te[ 2 ] = n31; te[ 6 ] = n32; te[ 10 ] = n33; te[ 14 ] = n34;+ te[ 3 ] = n41; te[ 7 ] = n42; te[ 11 ] = n43; te[ 15 ] = n44;++ return this;++ }++ identity() {++ this.set(++ 1, 0, 0, 0,+ 0, 1, 0, 0,+ 0, 0, 1, 0,+ 0, 0, 0, 1++ );++ return this;++ }++ clone() {++ return new Matrix4().fromArray( this.elements );++ }++ copy( m ) {++ const te = this.elements;+ const me = m.elements;++ te[ 0 ] = me[ 0 ]; te[ 1 ] = me[ 1 ]; te[ 2 ] = me[ 2 ]; te[ 3 ] = me[ 3 ];+ te[ 4 ] = me[ 4 ]; te[ 5 ] = me[ 5 ]; te[ 6 ] = me[ 6 ]; te[ 7 ] = me[ 7 ];+ te[ 8 ] = me[ 8 ]; te[ 9 ] = me[ 9 ]; te[ 10 ] = me[ 10 ]; te[ 11 ] = me[ 11 ];+ te[ 12 ] = me[ 12 ]; te[ 13 ] = me[ 13 ]; te[ 14 ] = me[ 14 ]; te[ 15 ] = me[ 15 ];++ return this;++ }++ copyPosition( m ) {++ const te = this.elements, me = m.elements;++ te[ 12 ] = me[ 12 ];+ te[ 13 ] = me[ 13 ];+ te[ 14 ] = me[ 14 ];++ return this;++ }++ setFromMatrix3( m ) {++ const me = m.elements;++ this.set(++ me[ 0 ], me[ 3 ], me[ 6 ], 0,+ me[ 1 ], me[ 4 ], me[ 7 ], 0,+ me[ 2 ], me[ 5 ], me[ 8 ], 0,+ 0, 0, 0, 1++ );++ return this;++ }++ extractBasis( xAxis, yAxis, zAxis ) {++ xAxis.setFromMatrixColumn( this, 0 );+ yAxis.setFromMatrixColumn( this, 1 );+ zAxis.setFromMatrixColumn( this, 2 );++ return this;++ }++ makeBasis( xAxis, yAxis, zAxis ) {++ this.set(+ xAxis.x, yAxis.x, zAxis.x, 0,+ xAxis.y, yAxis.y, zAxis.y, 0,+ xAxis.z, yAxis.z, zAxis.z, 0,+ 0, 0, 0, 1+ );++ return this;++ }++ extractRotation( m ) {++ // this method does not support reflection matrices++ const te = this.elements;+ const me = m.elements;++ const scaleX = 1 / _v1$5.setFromMatrixColumn( m, 0 ).length();+ const scaleY = 1 / _v1$5.setFromMatrixColumn( m, 1 ).length();+ const scaleZ = 1 / _v1$5.setFromMatrixColumn( m, 2 ).length();++ te[ 0 ] = me[ 0 ] * scaleX;+ te[ 1 ] = me[ 1 ] * scaleX;+ te[ 2 ] = me[ 2 ] * scaleX;+ te[ 3 ] = 0;++ te[ 4 ] = me[ 4 ] * scaleY;+ te[ 5 ] = me[ 5 ] * scaleY;+ te[ 6 ] = me[ 6 ] * scaleY;+ te[ 7 ] = 0;++ te[ 8 ] = me[ 8 ] * scaleZ;+ te[ 9 ] = me[ 9 ] * scaleZ;+ te[ 10 ] = me[ 10 ] * scaleZ;+ te[ 11 ] = 0;++ te[ 12 ] = 0;+ te[ 13 ] = 0;+ te[ 14 ] = 0;+ te[ 15 ] = 1;++ return this;++ }++ makeRotationFromEuler( euler ) {++ const te = this.elements;++ const x = euler.x, y = euler.y, z = euler.z;+ const a = Math.cos( x ), b = Math.sin( x );+ const c = Math.cos( y ), d = Math.sin( y );+ const e = Math.cos( z ), f = Math.sin( z );++ if ( euler.order === 'XYZ' ) {++ const ae = a * e, af = a * f, be = b * e, bf = b * f;++ te[ 0 ] = c * e;+ te[ 4 ] = - c * f;+ te[ 8 ] = d;++ te[ 1 ] = af + be * d;+ te[ 5 ] = ae - bf * d;+ te[ 9 ] = - b * c;++ te[ 2 ] = bf - ae * d;+ te[ 6 ] = be + af * d;+ te[ 10 ] = a * c;++ } else if ( euler.order === 'YXZ' ) {++ const ce = c * e, cf = c * f, de = d * e, df = d * f;++ te[ 0 ] = ce + df * b;+ te[ 4 ] = de * b - cf;+ te[ 8 ] = a * d;++ te[ 1 ] = a * f;+ te[ 5 ] = a * e;+ te[ 9 ] = - b;++ te[ 2 ] = cf * b - de;+ te[ 6 ] = df + ce * b;+ te[ 10 ] = a * c;++ } else if ( euler.order === 'ZXY' ) {++ const ce = c * e, cf = c * f, de = d * e, df = d * f;++ te[ 0 ] = ce - df * b;+ te[ 4 ] = - a * f;+ te[ 8 ] = de + cf * b;++ te[ 1 ] = cf + de * b;+ te[ 5 ] = a * e;+ te[ 9 ] = df - ce * b;++ te[ 2 ] = - a * d;+ te[ 6 ] = b;+ te[ 10 ] = a * c;++ } else if ( euler.order === 'ZYX' ) {++ const ae = a * e, af = a * f, be = b * e, bf = b * f;++ te[ 0 ] = c * e;+ te[ 4 ] = be * d - af;+ te[ 8 ] = ae * d + bf;++ te[ 1 ] = c * f;+ te[ 5 ] = bf * d + ae;+ te[ 9 ] = af * d - be;++ te[ 2 ] = - d;+ te[ 6 ] = b * c;+ te[ 10 ] = a * c;++ } else if ( euler.order === 'YZX' ) {++ const ac = a * c, ad = a * d, bc = b * c, bd = b * d;++ te[ 0 ] = c * e;+ te[ 4 ] = bd - ac * f;+ te[ 8 ] = bc * f + ad;++ te[ 1 ] = f;+ te[ 5 ] = a * e;+ te[ 9 ] = - b * e;++ te[ 2 ] = - d * e;+ te[ 6 ] = ad * f + bc;+ te[ 10 ] = ac - bd * f;++ } else if ( euler.order === 'XZY' ) {++ const ac = a * c, ad = a * d, bc = b * c, bd = b * d;++ te[ 0 ] = c * e;+ te[ 4 ] = - f;+ te[ 8 ] = d * e;++ te[ 1 ] = ac * f + bd;+ te[ 5 ] = a * e;+ te[ 9 ] = ad * f - bc;++ te[ 2 ] = bc * f - ad;+ te[ 6 ] = b * e;+ te[ 10 ] = bd * f + ac;++ }++ // bottom row+ te[ 3 ] = 0;+ te[ 7 ] = 0;+ te[ 11 ] = 0;++ // last column+ te[ 12 ] = 0;+ te[ 13 ] = 0;+ te[ 14 ] = 0;+ te[ 15 ] = 1;++ return this;++ }++ makeRotationFromQuaternion( q ) {++ return this.compose( _zero, q, _one );++ }++ lookAt( eye, target, up ) {++ const te = this.elements;++ _z.subVectors( eye, target );++ if ( _z.lengthSq() === 0 ) {++ // eye and target are in the same position++ _z.z = 1;++ }++ _z.normalize();+ _x.crossVectors( up, _z );++ if ( _x.lengthSq() === 0 ) {++ // up and z are parallel++ if ( Math.abs( up.z ) === 1 ) {++ _z.x += 0.0001;++ } else {++ _z.z += 0.0001;++ }++ _z.normalize();+ _x.crossVectors( up, _z );++ }++ _x.normalize();+ _y.crossVectors( _z, _x );++ te[ 0 ] = _x.x; te[ 4 ] = _y.x; te[ 8 ] = _z.x;+ te[ 1 ] = _x.y; te[ 5 ] = _y.y; te[ 9 ] = _z.y;+ te[ 2 ] = _x.z; te[ 6 ] = _y.z; te[ 10 ] = _z.z;++ return this;++ }++ multiply( m ) {++ return this.multiplyMatrices( this, m );++ }++ premultiply( m ) {++ return this.multiplyMatrices( m, this );++ }++ multiplyMatrices( a, b ) {++ const ae = a.elements;+ const be = b.elements;+ const te = this.elements;++ const a11 = ae[ 0 ], a12 = ae[ 4 ], a13 = ae[ 8 ], a14 = ae[ 12 ];+ const a21 = ae[ 1 ], a22 = ae[ 5 ], a23 = ae[ 9 ], a24 = ae[ 13 ];+ const a31 = ae[ 2 ], a32 = ae[ 6 ], a33 = ae[ 10 ], a34 = ae[ 14 ];+ const a41 = ae[ 3 ], a42 = ae[ 7 ], a43 = ae[ 11 ], a44 = ae[ 15 ];++ const b11 = be[ 0 ], b12 = be[ 4 ], b13 = be[ 8 ], b14 = be[ 12 ];+ const b21 = be[ 1 ], b22 = be[ 5 ], b23 = be[ 9 ], b24 = be[ 13 ];+ const b31 = be[ 2 ], b32 = be[ 6 ], b33 = be[ 10 ], b34 = be[ 14 ];+ const b41 = be[ 3 ], b42 = be[ 7 ], b43 = be[ 11 ], b44 = be[ 15 ];++ te[ 0 ] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;+ te[ 4 ] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;+ te[ 8 ] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;+ te[ 12 ] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;++ te[ 1 ] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;+ te[ 5 ] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;+ te[ 9 ] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;+ te[ 13 ] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;++ te[ 2 ] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;