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Error('Could\x20not\x20parse\x20line:\x20\x27'+_0x9a4987+'\x27');if(_0x35446e['length']>0x1)throw new Error('Ambiguous\x20line:\x20\x27'+_0x9a4987+'\x27');const _0x4720ff=_0x35446e[0x0];null!=_0x4720ff&&(_0x4720ff['type']=_0x2d721f(_0x4720ff['type']),_0x357a5e['push'](_0x4720ff));}),{'name':_0x5c9b7c,'definitions':_0x357a5e};}function _0x2d721f(_0x4dee11){return'char'===_0x4dee11?'uint8':'byte'===_0x4dee11?'int8':_0x4dee11;}_0x21737a['parse']=function(_0x2c3f5b,_0x2acdf7={}){const _0x4f29ba=_0x2c3f5b['split']('\x0a')['map'](_0x4179c2=>_0x4179c2['trim']())['filter'](_0x253296=>_0x253296);let _0x265277=[];const 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String['fromCharCode']['apply'](null,_0x3e5108);}function Wi(_0x41d580,_0x1624c4){return(_0x33103e,_0x21a9fe,_0x4429c2)=>{if(null==_0x41d580)throw new Error('bigint\x20arrays\x20are\x20not\x20supported\x20in\x20this\x20environment');let _0x2c8535=_0x21a9fe;const _0x14dcdd=_0x33103e['byteOffset']+_0x2c8535,_0x3a44e7=_0x41d580['BYTES_PER_ELEMENT']*_0x4429c2,_0x3d054a=_0x33103e['byteLength']-_0x21a9fe;if(_0x3a44e7<0x0||_0x3a44e7>_0x3d054a)throw new RangeError('Array('+_0x1624c4+')\x20deserialization\x20error:\x20size\x20'+_0x3a44e7+',\x20maxSize\x20'+_0x3d054a);if(_0x14dcdd%_0x41d580['BYTES_PER_ELEMENT']==0x0)return new _0x41d580(_0x33103e['buffer'],_0x14dcdd,_0x4429c2);if(_0x4429c2<0xa){const _0x147096=new _0x41d580(_0x4429c2);for(let _0x26b04d=0x0;_0x26b04d<_0x4429c2;++_0x26b04d)_0x147096[_0x26b04d]=_0x33103e[_0x1624c4](_0x2c8535,!0x0),_0x2c8535+=_0x41d580['BYTES_PER_ELEMENT'];return _0x147096;}const _0xe0eda8=new Uint8Array(_0x3a44e7);return _0xe0eda8['set'](new Uint8Array(_0x33103e['buffer'],_0x14dcdd,_0x3a44e7)),new _0x41d580(_0xe0eda8['buffer'],_0xe0eda8['byteOffset'],_0x4429c2);};}const Gi={'bool':(_0x981bc1,_0xa7dec1)=>0x0!==_0x981bc1['getUint8'](_0xa7dec1),'int8':(_0x250bf2,_0x1f4d8c)=>_0x250bf2['getInt8'](_0x1f4d8c),'uint8':(_0x58f6c3,_0x26b90c)=>_0x58f6c3['getUint8'](_0x26b90c),'int16':(_0xe1d2d,_0x599d4a)=>_0xe1d2d['getInt16'](_0x599d4a,!0x0),'uint16':(_0x33d147,_0x512330)=>_0x33d147['getUint16'](_0x512330,!0x0),'int32':(_0x3eb447,_0x2b5a3b)=>_0x3eb447['getInt32'](_0x2b5a3b,!0x0),'uint32':(_0x2e2710,_0x3d6635)=>_0x2e2710['getUint32'](_0x3d6635,!0x0),'int64':(_0xc64ef1,_0x33e127)=>_0xc64ef1['getBigInt64'](_0x33e127,!0x0),'uint64':(_0x4a7d23,_0x2b10ea)=>_0x4a7d23['getBigUint64'](_0x2b10ea,!0x0),'float32':(_0x34ccd2,_0x212e01)=>_0x34ccd2['getFloat32'](_0x212e01,!0x0),'float64':(_0x2522ba,_0x3058d8)=>_0x2522ba['getFloat64'](_0x3058d8,!0x0),'time':(_0x3c7283,_0x571dbb)=>({'sec':_0x3c7283['getUint32'](_0x571dbb,!0x0),'nsec':_0x3c7283['getUint32'](_0x571dbb+0x4,!0x0)}),'duration':(_0x19d310,_0x2e15fb)=>({'sec':_0x19d310['getInt32'](_0x2e15fb,!0x0),'nsec':_0x19d310['getInt32'](_0x2e15fb+0x4,!0x0)}),'string':(_0x293d45,_0x4c5984)=>{const 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_0x39d6b7=this['uint32'](),_0xba4ac8=this['view']['byteOffset']+this['offset'],_0x238e14=this['view']['byteLength']-this['offset'];if(_0x39d6b7<0x0||_0x39d6b7>_0x238e14)throw new RangeError('String\x20deserialization\x20error:\x20length\x20'+_0x39d6b7+',\x20maxLength\x20'+_0x238e14);const _0x1f67f0=new Uint8Array(this['view']['buffer'],_0xba4ac8,_0x39d6b7);return this['offset']+=_0x39d6b7,Ui(_0x1f67f0);}['bool'](){return 0x0!==this['uint8']();}['int8'](){return this['view']['getInt8'](this['offset']++);}['uint8'](){return this['view']['getUint8'](this['offset']++);}['typedArray'](_0x44b4a3,_0x333cbf){const _0x3bb4c8=null==_0x44b4a3?this['uint32']():_0x44b4a3,_0x391074=this['view'],_0x13ba99=this['offset']+_0x391074['byteOffset'];if(this['offset']+=_0x3bb4c8*_0x333cbf['BYTES_PER_ELEMENT'],_0x13ba99%_0x333cbf['BYTES_PER_ELEMENT']==0x0)return new _0x333cbf(_0x391074['buffer'],_0x13ba99,_0x3bb4c8);const _0x15002c=_0x333cbf['BYTES_PER_ELEMENT']*_0x3bb4c8,_0xc016d4=new Uint8Array(_0x15002c);return _0xc016d4['set'](new Uint8Array(_0x391074['buffer'],_0x13ba99,_0x15002c)),new _0x333cbf(_0xc016d4['buffer'],_0xc016d4['byteOffset'],_0x3bb4c8);}['int16'](){const _0x166a6b=this['view']['getInt16'](this['offset'],!0x0);return this['offset']+=0x2,_0x166a6b;}['uint16'](){const _0x3b8352=this['view']['getUint16'](this['offset'],!0x0);return this['offset']+=0x2,_0x3b8352;}['int32'](){const _0x5170c7=this['view']['getInt32'](this['offset'],!0x0);return this['offset']+=0x4,_0x5170c7;}['uint32'](){const _0x3b149c=this['view']['getUint32'](this['offset'],!0x0);return this['offset']+=0x4,_0x3b149c;}['float32'](){const _0x848c85=this['view']['getFloat32'](this['offset'],!0x0);return this['offset']+=0x4,_0x848c85;}['float64'](){const _0xdabb4f=this['view']['getFloat64'](this['offset'],!0x0);return this['offset']+=0x8,_0xdabb4f;}['int64'](){const _0x54cbdf=this['offset'];return this['offset']+=0x8,this['view']['getBigInt64'](_0x54cbdf,!0x0);}['uint64'](){const _0x24511e=this['offset'];return this['offset']+=0x8,this['view']['getBigUint64'](_0x24511e,!0x0);}['time'](){const _0x58fadf=this['offset'];return this['offset']+=0x8,{'sec':this['view']['getUint32'](_0x58fadf,!0x0),'nsec':this['view']['getUint32'](_0x58fadf+0x4,!0x0)};}['duration'](){const _0x18d4b6=this['offset'];return this['offset']+=0x8,{'sec':this['view']['getInt32'](_0x18d4b6,!0x0),'nsec':this['view']['getInt32'](_0x18d4b6+0x4,!0x0)};}}const Hi=(_0x2ab803,_0x5b85ce='')=>{let _0x1d6047='';const _0x126468=_0x2ab803['filter'](_0x118983=>{const _0x32ae5e=_0x118983['name']??'';if(!_0x5b85ce)return!_0x32ae5e;const _0x54f394=_0x5b85ce['includes']('/')?_0x5b85ce:'/'+_0x5b85ce;return!!_0x32ae5e['endsWith'](_0x54f394)&&(_0x1d6047=_0x32ae5e,!0x0);});if(0x1!==_0x126468['length'])throw new Error('Expected\x201\x20top\x20level\x20type\x20definition\x20for\x20\x27'+_0x5b85ce+'\x27\x20but\x20found\x20'+_0x126468['length']+'.');return{..._0x126468[0x0],'name':_0x1d6047};},Vi=_0x198827=>_0x198827['replace'](/\//g,'_');class Yi{constructor(_0x1cdc82,_0x5ddb01={}){this['reader']=(({definitions:_0x283bc2,options:_0x25ad55={},topLevelReaderKey:_0x28e584})=>{if(0x0===_0x283bc2['length'])throw new Error('no\x20types\x20given');const _0x1fcb92=_0x283bc2['filter'](_0x11244c=>!_0x11244c['name']);if(_0x1fcb92['length']>0x1)throw new Error('multiple\x20unnamed\x20types');const _0x2f0965=_0x1fcb92['length']>0x0?_0x1fcb92[0x0]:_0x283bc2[0x0],_0x2704b9=_0x283bc2['filter'](_0x55a811=>!!_0x55a811['name']),_0x39db45=_0x1c0f9b=>{const _0x50cbb6=[];return _0x1c0f9b['definitions']['forEach'](_0x219b4a=>{if(!0x0!==_0x219b4a['isConstant']){if(!0x0===_0x219b4a['isArray']){const _0x3445e3=function(_0x26a81a){switch(_0x26a81a){case'int8':return'Int8Array';case'uint8':return'Uint8Array';case'int16':return'Int16Array';case'uint16':return'Uint16Array';case'int32':return'Int32Array';case'uint32':return'Uint32Array';case'int64':return'BigInt64Array';case'uint64':return'BigUint64Array';case'float32':return'Float32Array';case'float64':return'Float64Array';default:return;}}(_0x219b4a['type']);if(null!=_0x3445e3)return void _0x50cbb6['push']('this.'+_0x219b4a['name']+'\x20=\x20reader.typedArray('+String(_0x219b4a['arrayLength'])+',\x20'+_0x3445e3+');');const _0x5d5ed7='length_'+_0x219b4a['name'];_0x50cbb6['push']('var\x20'+_0x5d5ed7+'\x20=\x20'+(null!=_0x219b4a['arrayLength']?_0x219b4a['arrayLength']:'reader.uint32();'));const _0x2b7315='this.'+_0x219b4a['name'];if(_0x50cbb6['push'](_0x2b7315+'\x20=\x20new\x20Array('+_0x5d5ed7+')'),_0x50cbb6['push']('for\x20(var\x20i\x20=\x200;\x20i\x20<\x20'+_0x5d5ed7+';\x20i++)\x20{'),!0x0===_0x219b4a['isComplex']){const _0x3164c2=Hi(_0x283bc2,_0x219b4a['type']);_0x50cbb6['push']('\x20\x20'+_0x2b7315+'[i]\x20=\x20new\x20Record.'+Vi(_0x3164c2['name'])+'(reader);');}else _0x50cbb6['push']('\x20\x20'+_0x2b7315+'[i]\x20=\x20reader.'+_0x219b4a['type']+'();');_0x50cbb6['push']('}');}else{if(!0x0===_0x219b4a['isComplex']){const _0x3b6af8=Hi(_0x283bc2,_0x219b4a['type']);_0x50cbb6['push']('this.'+_0x219b4a['name']+'\x20=\x20new\x20Record.'+Vi(_0x3b6af8['name'])+'(reader);');}else _0x50cbb6['push']('this.'+_0x219b4a['name']+'\x20=\x20reader.'+_0x219b4a['type']+'();');}}}),!0x0===_0x25ad55['freeze']&&_0x50cbb6['push']('Object.freeze(this);'),_0x50cbb6['join']('\x0a\x20\x20\x20\x20');};let _0x3564cb='\x0a\x20\x20const\x20builtReaders\x20=\x20new\x20Map();\x0a\x20\x20var\x20Record\x20=\x20function\x20(reader)\x20{\x0a\x20\x20\x20\x20'+_0x39db45(_0x2f0965)+'\x0a\x20\x20};\x0a\x20\x20builtReaders.set(topLevelReaderKey,\x20Record);\x0a\x20\x20';for(const _0x38a002 of _0x2704b9)_0x3564cb+='\x0a\x20\x20Record.'+Vi(_0x38a002['name'])+'\x20=\x20function(reader)\x20{\x0a\x20\x20\x20\x20'+_0x39db45(_0x38a002)+'\x0a\x20\x20};\x0a\x20\x20builtReaders.set('+JSON['stringify'](_0x38a002['name'])+',\x20Record.'+Vi(_0x38a002['name'])+');\x0a\x20\x20';return _0x3564cb+='return\x20builtReaders;',new Function('topLevelReaderKey',_0x3564cb)(_0x28e584);})({'definitions':_0x1cdc82,'options':_0x5ddb01,'topLevelReaderKey':'<toplevel>'})['get']('<toplevel>');}['readMessage'](_0x3cfc7a){const _0xd1fcc6=new qi(_0x3cfc7a);return new this['reader'](_0xd1fcc6);}}var Zi,Xi,Ji={},Ki={},Qi={},ts={},es={},is={};Zi=is,Object['defineProperty'](Zi,'__esModule',{'value':!0x0}),Zi['EncapsulationKind']=void 0x0,(Xi=Zi['EncapsulationKind']||(Zi['EncapsulationKind']={}))[Xi['CDR_BE']=0x0]='CDR_BE',Xi[Xi['CDR_LE']=0x1]='CDR_LE',Xi[Xi['PL_CDR_BE']=0x2]='PL_CDR_BE',Xi[Xi['PL_CDR_LE']=0x3]='PL_CDR_LE',Xi[Xi['CDR2_BE']=0x10]='CDR2_BE',Xi[Xi['CDR2_LE']=0x11]='CDR2_LE',Xi[Xi['PL_CDR2_BE']=0x12]='PL_CDR2_BE',Xi[Xi['PL_CDR2_LE']=0x13]='PL_CDR2_LE',Xi[Xi['DELIMITED_CDR2_BE']=0x14]='DELIMITED_CDR2_BE',Xi[Xi['DELIMITED_CDR2_LE']=0x15]='DELIMITED_CDR2_LE',Xi[Xi['RTPS_CDR2_BE']=0x6]='RTPS_CDR2_BE',Xi[Xi['RTPS_CDR2_LE']=0x7]='RTPS_CDR2_LE',Xi[Xi['RTPS_DELIMITED_CDR2_BE']=0x8]='RTPS_DELIMITED_CDR2_BE',Xi[Xi['RTPS_DELIMITED_CDR2_LE']=0x9]='RTPS_DELIMITED_CDR2_LE',Xi[Xi['RTPS_PL_CDR2_BE']=0xa]='RTPS_PL_CDR2_BE',Xi[Xi['RTPS_PL_CDR2_LE']=0xb]='RTPS_PL_CDR2_LE',Object['defineProperty'](es,'__esModule',{'value':!0x0}),es['getEncapsulationKindInfo']=void 0x0;const ss=is;es['getEncapsulationKindInfo']=_0x189277=>{const _0x1fd7a3=_0x189277>ss['EncapsulationKind']['PL_CDR_LE'],_0x151b91=_0x189277===ss['EncapsulationKind']['CDR_LE']||_0x189277===ss['EncapsulationKind']['PL_CDR_LE']||_0x189277===ss['EncapsulationKind']['CDR2_LE']||_0x189277===ss['EncapsulationKind']['PL_CDR2_LE']||_0x189277===ss['EncapsulationKind']['DELIMITED_CDR2_LE']||_0x189277===ss['EncapsulationKind']['RTPS_CDR2_LE']||_0x189277===ss['EncapsulationKind']['RTPS_PL_CDR2_LE']||_0x189277===ss['EncapsulationKind']['RTPS_DELIMITED_CDR2_LE'],_0x3dcc47=_0x189277===ss['EncapsulationKind']['DELIMITED_CDR2_BE']||_0x189277===ss['EncapsulationKind']['DELIMITED_CDR2_LE']||_0x189277===ss['EncapsulationKind']['RTPS_DELIMITED_CDR2_BE']||_0x189277===ss['EncapsulationKind']['RTPS_DELIMITED_CDR2_LE'],_0x383b82=_0x189277===ss['EncapsulationKind']['PL_CDR2_BE']||_0x189277===ss['EncapsulationKind']['PL_CDR2_LE']||_0x189277===ss['EncapsulationKind']['RTPS_PL_CDR2_BE']||_0x189277===ss['EncapsulationKind']['RTPS_PL_CDR2_LE'],_0xec0af=_0x189277===ss['EncapsulationKind']['PL_CDR_BE']||_0x189277===ss['EncapsulationKind']['PL_CDR_LE'];return{'isCDR2':_0x1fd7a3,'littleEndian':_0x151b91,'usesDelimiterHeader':_0x3dcc47||_0x383b82,'usesMemberHeader':_0x383b82||_0xec0af};};var ns={};Object['defineProperty'](ns,'__esModule',{'value':!0x0}),ns['isBigEndian']=void 0x0;const rs=new Uint8Array(0x4);new Uint32Array(rs['buffer'])[0x0]=0x1,ns['isBigEndian']=function(){return 0x1===rs[0x3];};var os={};Object['defineProperty'](os,'__esModule',{'value':!0x0}),os['lengthCodeToObjectSizes']=os['getLengthCodeForObjectSize']=void 0x0,os['getLengthCodeForObjectSize']=function(_0x3f83cf){let _0x45e28f;switch(_0x3f83cf){case 0x1:_0x45e28f=0x0;break;case 0x2:_0x45e28f=0x1;break;case 0x4:_0x45e28f=0x2;break;case 0x8:_0x45e28f=0x3;}if(null==_0x45e28f){if(_0x3f83cf>0xffffffff)throw Error('Object\x20size\x20'+_0x3f83cf+'\x20for\x20EMHEADER\x20too\x20large\x20without\x20specifying\x20length\x20code.\x20Max\x20size\x20is\x204294967295');_0x45e28f=0x4;}return _0x45e28f;},os['lengthCodeToObjectSizes']={0x0:0x1,0x1:0x2,0x2:0x4,0x3:0x8};var as={};Object['defineProperty'](as,'__esModule',{'value':!0x0}),as['SENTINEL_PID']=as['EXTENDED_PID']=void 0x0,as['EXTENDED_PID']=0x3f01,as['SENTINEL_PID']=0x3f02,Object['defineProperty'](ts,'__esModule',{'value':!0x0}),ts['CdrReader']=void 0x0;const hs=es,cs=ns,ls=os,us=as,fs=new TextDecoder('utf8');ts['CdrReader']=class{constructor(_0x59d44b){if(this['origin']=0x0,_0x59d44b['byteLength']<0x4)throw new Error('Invalid\x20CDR\x20data\x20size\x20'+_0x59d44b['byteLength']+',\x20must\x20contain\x20at\x20least\x20a\x204-byte\x20header');this['view']=new DataView(_0x59d44b['buffer'],_0x59d44b['byteOffset'],_0x59d44b['byteLength']);const _0x2289a0=this['kind'],{isCDR2:_0x28bfa5,littleEndian:_0x3c870f,usesDelimiterHeader:_0x2bb039,usesMemberHeader:_0x3e4d5c}=(0x0,hs['getEncapsulationKindInfo'])(_0x2289a0);this['usesDelimiterHeader']=_0x2bb039,this['usesMemberHeader']=_0x3e4d5c,this['littleEndian']=_0x3c870f,this['hostLittleEndian']=!(0x0,cs['isBigEndian'])(),this['isCDR2']=_0x28bfa5,this['eightByteAlignment']=_0x28bfa5?0x4:0x8,this['origin']=0x4,this['offset']=0x4;}get['kind'](){return this['view']['getUint8'](0x1);}get['decodedBytes'](){return this['offset'];}get['byteLength'](){return this['view']['byteLength'];}['int8'](){const _0x1ed333=this['view']['getInt8'](this['offset']);return this['offset']+=0x1,_0x1ed333;}['uint8'](){const _0x5f4df8=this['view']['getUint8'](this['offset']);return this['offset']+=0x1,_0x5f4df8;}['int16'](){this['align'](0x2);const _0x516b34=this['view']['getInt16'](this['offset'],this['littleEndian']);return this['offset']+=0x2,_0x516b34;}['uint16'](){this['align'](0x2);const _0x57e4b1=this['view']['getUint16'](this['offset'],this['littleEndian']);return this['offset']+=0x2,_0x57e4b1;}['int32'](){this['align'](0x4);const _0x556b7e=this['view']['getInt32'](this['offset'],this['littleEndian']);return this['offset']+=0x4,_0x556b7e;}['uint32'](){this['align'](0x4);const _0x573e62=this['view']['getUint32'](this['offset'],this['littleEndian']);return this['offset']+=0x4,_0x573e62;}['int64'](){this['align'](this['eightByteAlignment']);const _0x1c9eb6=this['view']['getBigInt64'](this['offset'],this['littleEndian']);return this['offset']+=0x8,_0x1c9eb6;}['uint64'](){this['align'](this['eightByteAlignment']);const _0x35fb4c=this['view']['getBigUint64'](this['offset'],this['littleEndian']);return this['offset']+=0x8,_0x35fb4c;}['uint16BE'](){this['align'](0x2);const _0x4b18c3=this['view']['getUint16'](this['offset'],!0x1);return this['offset']+=0x2,_0x4b18c3;}['uint32BE'](){this['align'](0x4);const _0x32805e=this['view']['getUint32'](this['offset'],!0x1);return this['offset']+=0x4,_0x32805e;}['uint64BE'](){this['align'](this['eightByteAlignment']);const _0x4ed722=this['view']['getBigUint64'](this['offset'],!0x1);return this['offset']+=0x8,_0x4ed722;}['float32'](){this['align'](0x4);const _0x1e271b=this['view']['getFloat32'](this['offset'],this['littleEndian']);return this['offset']+=0x4,_0x1e271b;}['float64'](){this['align'](this['eightByteAlignment']);const _0x51edee=this['view']['getFloat64'](this['offset'],this['littleEndian']);return this['offset']+=0x8,_0x51edee;}['string'](_0xb33a12){const _0x277187=_0xb33a12??this['uint32']();if(_0x277187<=0x1)return this['offset']+=_0x277187,'';const _0x3b75f5=new Uint8Array(this['view']['buffer'],this['view']['byteOffset']+this['offset'],_0x277187-0x1),_0x199200=fs['decode'](_0x3b75f5);return this['offset']+=_0x277187,_0x199200;}['dHeader'](){return this['uint32']();}['emHeader'](){return this['isCDR2']?this['memberHeaderV2']():this['memberHeaderV1']();}['memberHeaderV1'](){this['align'](0x4);const _0x3daa3c=this['uint16'](),_0x136ce7=(0x4000&_0x3daa3c)>>0xe==0x1,_0x20cb85=(0x8000&_0x3daa3c)>>0xf==0x1,_0x2f49ce=(0x3fff&_0x3daa3c)===us['EXTENDED_PID'];if((0x3fff&_0x3daa3c)===us['SENTINEL_PID'])return{'id':us['SENTINEL_PID'],'objectSize':0x0,'mustUnderstand':!0x1,'readSentinelHeader':!0x0};if((0x3fff&_0x3daa3c)>us['SENTINEL_PID']||_0x20cb85)throw new Error('Unsupported\x20parameter\x20ID\x20header\x20'+_0x3daa3c['toString'](0x10));_0x2f49ce&&this['uint16']();const _0x2e6805=_0x2f49ce?this['uint32']():0x3fff&_0x3daa3c,_0xb50766=_0x2f49ce?this['uint32']():this['uint16']();return this['resetOrigin'](),{'id':_0x2e6805,'objectSize':_0xb50766,'mustUnderstand':_0x136ce7};}['resetOrigin'](){this['origin']=this['offset'];}['sentinelHeader'](){if(!this['isCDR2']){this['align'](0x4);const _0x1931e8=this['uint16']();if(!((0x3fff&_0x1931e8)===us['SENTINEL_PID']))throw Error('Expected\x20SENTINEL_PID\x20('+us['SENTINEL_PID']['toString'](0x10)+')\x20flag,\x20but\x20got\x20'+_0x1931e8['toString'](0x10));this['uint16']();}}['memberHeaderV2'](){const _0x516548=this['uint32'](),_0x11c5ff=(0x70000000&_0x516548)>>0x1c;return{'mustUnderstand':0x1===Math['abs']((0x80000000&_0x516548)>>0x1f),'id':0xfffffff&_0x516548,'objectSize':this['emHeaderObjectSize'](_0x11c5ff),'lengthCode':_0x11c5ff};}['emHeaderObjectSize'](_0x1e36ad){switch(_0x1e36ad){case 0x0:case 0x1:case 0x2:case 0x3:return ls['lengthCodeToObjectSizes'][_0x1e36ad];case 0x4:case 0x5:return this['uint32']();case 0x6:return 0x4*this['uint32']();case 0x7:return 0x8*this['uint32']();default:throw new Error('Invalid\x20length\x20code\x20'+_0x1e36ad+'\x20in\x20EMHEADER\x20at\x20offset\x20'+(this['offset']-0x4));}}['sequenceLength'](){return this['uint32']();}['int8Array'](_0x598292=this['sequenceLength']()){const _0x11bc1e=new Int8Array(this['view']['buffer'],this['view']['byteOffset']+this['offset'],_0x598292);return this['offset']+=_0x598292,_0x11bc1e;}['uint8Array'](_0x364f33=this['sequenceLength']()){const _0x309699=new Uint8Array(this['view']['buffer'],this['view']['byteOffset']+this['offset'],_0x364f33);return this['offset']+=_0x364f33,_0x309699;}['int16Array'](_0x50c40d=this['sequenceLength']()){return this['typedArray'](Int16Array,'getInt16',_0x50c40d);}['uint16Array'](_0x3497aa=this['sequenceLength']()){return this['typedArray'](Uint16Array,'getUint16',_0x3497aa);}['int32Array'](_0x39b39d=this['sequenceLength']()){return this['typedArray'](Int32Array,'getInt32',_0x39b39d);}['uint32Array'](_0x36f231=this['sequenceLength']()){return this['typedArray'](Uint32Array,'getUint32',_0x36f231);}['int64Array'](_0x126836=this['sequenceLength']()){return this['typedArray'](BigInt64Array,'getBigInt64',_0x126836,this['eightByteAlignment']);}['uint64Array'](_0x2b53f3=this['sequenceLength']()){return this['typedArray'](BigUint64Array,'getBigUint64',_0x2b53f3,this['eightByteAlignment']);}['float32Array'](_0x25aa8b=this['sequenceLength']()){return this['typedArray'](Float32Array,'getFloat32',_0x25aa8b);}['float64Array'](_0x187cb3=this['sequenceLength']()){return this['typedArray'](Float64Array,'getFloat64',_0x187cb3,this['eightByteAlignment']);}['stringArray'](_0x3a3f72=this['sequenceLength']()){const _0xba8ac2=[];for(let _0x3cf03b=0x0;_0x3cf03b<_0x3a3f72;_0x3cf03b++)_0xba8ac2['push'](this['string']());return _0xba8ac2;}['seek'](_0x461df7){const _0x1dc020=this['offset']+_0x461df7;if(_0x1dc020<0x4||_0x1dc020>=this['view']['byteLength'])throw new Error('seek('+_0x461df7+')\x20failed,\x20'+_0x1dc020+'\x20is\x20outside\x20the\x20data\x20range');this['offset']=_0x1dc020;}['seekTo'](_0x28da93){if(_0x28da93<0x4||_0x28da93>=this['view']['byteLength'])throw new Error('seekTo('+_0x28da93+')\x20failed,\x20value\x20is\x20outside\x20the\x20data\x20range');this['offset']=_0x28da93;}['align'](_0x4bf27d){const _0x5cb208=(this['offset']-this['origin'])%_0x4bf27d;_0x5cb208>0x0&&(this['offset']+=_0x4bf27d-_0x5cb208);}['typedArray'](_0x5050ed,_0x1f393e,_0x406a78,_0x588548=_0x5050ed['BYTES_PER_ELEMENT']){if(0x0===_0x406a78)return new _0x5050ed();this['align'](_0x588548);const _0x231ace=this['view']['byteOffset']+this['offset'];if(this['littleEndian']!==this['hostLittleEndian'])return this['typedArraySlow'](_0x5050ed,_0x1f393e,_0x406a78);if(_0x231ace%_0x5050ed['BYTES_PER_ELEMENT']==0x0){const _0x3f1210=new 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ps={};Object['defineProperty'](ps,'__esModule',{'value':!0x0}),ps['CdrSizeCalculator']=void 0x0,ps['CdrSizeCalculator']=class{constructor(){this['offset']=0x4;}get['size'](){return this['offset'];}['int8'](){return this['incrementAndReturn'](0x1);}['uint8'](){return this['incrementAndReturn'](0x1);}['int16'](){return this['incrementAndReturn'](0x2);}['uint16'](){return this['incrementAndReturn'](0x2);}['int32'](){return this['incrementAndReturn'](0x4);}['uint32'](){return this['incrementAndReturn'](0x4);}['int64'](){return this['incrementAndReturn'](0x8);}['uint64'](){return this['incrementAndReturn'](0x8);}['float32'](){return this['incrementAndReturn'](0x4);}['float64'](){return this['incrementAndReturn'](0x8);}['string'](_0x1f3c30){return this['uint32'](),this['offset']+=_0x1f3c30+0x1,this['offset'];}['sequenceLength'](){return this['uint32']();}['incrementAndReturn'](_0xc94a60){const _0x492ee0=(this['offset']-0x4)%_0xc94a60;return 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Error('Unexpected\x20length\x20code\x20'+_0x51c1c4);}return this;}['sequenceLength'](_0x5d5fc1){return this['uint32'](_0x5d5fc1);}['int8Array'](_0x149bbb,_0x3035e8){return!0x0===_0x3035e8&&this['sequenceLength'](_0x149bbb['length']),this['resizeIfNeeded'](_0x149bbb['length']),this['array']['set'](_0x149bbb,this['offset']),this['offset']+=_0x149bbb['length'],this;}['uint8Array'](_0x525f23,_0x1ceeee){return!0x0===_0x1ceeee&&this['sequenceLength'](_0x525f23['length']),this['resizeIfNeeded'](_0x525f23['length']),this['array']['set'](_0x525f23,this['offset']),this['offset']+=_0x525f23['length'],this;}['int16Array'](_0x1ba5be,_0x2649ff){if(!0x0===_0x2649ff&&this['sequenceLength'](_0x1ba5be['length']),_0x1ba5be instanceof Int16Array&&this['littleEndian']===this['hostLittleEndian']&&_0x1ba5be['length']>=xs['BUFFER_COPY_THRESHOLD'])this['align'](_0x1ba5be['BYTES_PER_ELEMENT'],_0x1ba5be['byteLength']),this['array']['set'](new 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this['readComplexType'](this['rootDefinition'],_0x30b3b6);}['readComplexType'](_0x35a429,_0x500e50){const _0x496a6e={};if(0x0===_0x35a429['length'])return _0x500e50['uint8'](),_0x496a6e;for(const _0x2d4316 of _0x35a429)if(!0x0!==_0x2d4316['isConstant']){if(!0x0===_0x2d4316['isComplex']){const _0x2e6122=this['definitions']['get'](_0x2d4316['type']);if(null==_0x2e6122)throw new Error('Unrecognized\x20complex\x20type\x20'+_0x2d4316['type']);if(!0x0===_0x2d4316['isArray']){const _0x4e6e8a=_0x2d4316['arrayLength']??_0x500e50['sequenceLength'](),_0x5b2813=[];for(let _0x31c57c=0x0;_0x31c57c<_0x4e6e8a;_0x31c57c++)_0x5b2813['push'](this['readComplexType'](_0x2e6122,_0x500e50));_0x496a6e[_0x2d4316['name']]=_0x5b2813;}else _0x496a6e[_0x2d4316['name']]=this['readComplexType'](_0x2e6122,_0x500e50);}else{if(!0x0===_0x2d4316['isArray']){const _0x881946=Ss['get'](_0x2d4316['type']);if(null==_0x881946)throw new Error('Unrecognized\x20primitive\x20array\x20type\x20'+_0x2d4316['type']+'[]');const 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Array(_0xca4cab);for(let _0x202670=0x0;_0x202670<_0xca4cab;_0x202670++){const _0x4f428e=_0x2a5b49['int32'](),_0x3623cc=_0x2a5b49['uint32']();_0x845b2e[_0x202670]={'sec':_0x4f428e,'nsec':_0x3623cc};}return _0x845b2e;}function Ms(){throw new Error('wstring\x20is\x20implementation-defined\x20and\x20therefore\x20not\x20supported');}var $s={};Object['defineProperty']($s,'__esModule',{'value':!0x0}),$s['MessageWriter']=void 0x0;const As=Qi,Es=new Map([['bool',0x1],['int8',0x1],['uint8',0x1],['int16',0x2],['uint16',0x2],['int32',0x4],['uint32',0x4],['int64',0x8],['uint64',0x8],['float32',0x4],['float64',0x8],['time',0x8],['duration',0x8]]),Is=new Map([['bool',function(_0x47e9f1,_0x2b46c8,_0x1c8bee){const _0x1242f6='boolean'==typeof _0x47e9f1?_0x47e9f1:_0x2b46c8??!0x1;_0x1c8bee['int8'](_0x1242f6?0x1:0x0);}],['int8',function(_0x45c76c,_0x2fd2f3,_0x506821){_0x506821['int8']('number'==typeof 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Error('MessageReader\x20initialized\x20with\x20no\x20root\x20MessageDefinition');this['rootDefinition']=_0x4b075f['definitions'],this['definitions']=new Map(_0x4efee7['map'](_0x204fc5=>[_0x204fc5['name']??'',_0x204fc5['definitions']]));}['calculateByteSize'](_0x112faa){return this['byteSize'](this['rootDefinition'],_0x112faa,0x4);}['writeMessage'](_0x1030d1,_0x3dc1c2){const _0x5d2b9d=new As['CdrWriter']({'buffer':_0x3dc1c2,'size':_0x3dc1c2?void 0x0:this['calculateByteSize'](_0x1030d1)});return this['write'](this['rootDefinition'],_0x1030d1,_0x5d2b9d),_0x5d2b9d['data'];}['byteSize'](_0x2b2d34,_0x5883f9,_0x5e6134){const _0x2b9800=_0x5883f9;let _0x5c05bb=_0x5e6134;if(0x0===_0x2b2d34['length'])return _0x5e6134+this['getPrimitiveSize']('uint8');for(const _0x22f84e of _0x2b2d34){if(!0x0===_0x22f84e['isConstant'])continue;const _0x18c0db=_0x2b9800?.[_0x22f84e['name']];if(!0x0===_0x22f84e['isArray']){const 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 * SPDX-License-Identifier: MIT
 */
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this['x']=Math['random'](),this['y']=Math['random'](),this;}*[Symbol['iterator']](){yield this['x'],yield this['y'];}}class cn{constructor(_0x8e5454,_0x2a491f,_0xc69577,_0x13ade8,_0x21c63a,_0x22bc24,_0x1fce9e,_0x205ad6,_0x4e3cdf){cn['prototype']['isMatrix3']=!0x0,this['elements']=[0x1,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x1],void 0x0!==_0x8e5454&&this['set'](_0x8e5454,_0x2a491f,_0xc69577,_0x13ade8,_0x21c63a,_0x22bc24,_0x1fce9e,_0x205ad6,_0x4e3cdf);}['set'](_0x2c99ae,_0x7b1498,_0x104ed0,_0x5dc005,_0x33f550,_0x426f76,_0x268acb,_0xdb476a,_0x3cb1c7){const _0x1432c5=this['elements'];return _0x1432c5[0x0]=_0x2c99ae,_0x1432c5[0x1]=_0x5dc005,_0x1432c5[0x2]=_0x268acb,_0x1432c5[0x3]=_0x7b1498,_0x1432c5[0x4]=_0x33f550,_0x1432c5[0x5]=_0xdb476a,_0x1432c5[0x6]=_0x104ed0,_0x1432c5[0x7]=_0x426f76,_0x1432c5[0x8]=_0x3cb1c7,this;}['identity'](){return this['set'](0x1,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x1),this;}['copy'](_0x28c521){const _0x46dd19=this['elements'],_0x2bf2ab=_0x28c521['elements'];return 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_0x43d810=this['elements'];return _0xc8a9ce[0x0]=_0x43d810[0x0],_0xc8a9ce[0x1]=_0x43d810[0x3],_0xc8a9ce[0x2]=_0x43d810[0x6],_0xc8a9ce[0x3]=_0x43d810[0x1],_0xc8a9ce[0x4]=_0x43d810[0x4],_0xc8a9ce[0x5]=_0x43d810[0x7],_0xc8a9ce[0x6]=_0x43d810[0x2],_0xc8a9ce[0x7]=_0x43d810[0x5],_0xc8a9ce[0x8]=_0x43d810[0x8],this;}['setUvTransform'](_0x1433bc,_0x4713a4,_0x19e262,_0x34b580,_0x3d44d5,_0x53dbbd,_0x58e3b1){const _0xafe057=Math['cos'](_0x3d44d5),_0x4fee4f=Math['sin'](_0x3d44d5);return this['set'](_0x19e262*_0xafe057,_0x19e262*_0x4fee4f,-_0x19e262*(_0xafe057*_0x53dbbd+_0x4fee4f*_0x58e3b1)+_0x53dbbd+_0x1433bc,-_0x34b580*_0x4fee4f,_0x34b580*_0xafe057,-_0x34b580*(-_0x4fee4f*_0x53dbbd+_0xafe057*_0x58e3b1)+_0x58e3b1+_0x4713a4,0x0,0x0,0x1),this;}['scale'](_0x4ab22b,_0x1df67f){return this['premultiply'](ln['makeScale'](_0x4ab22b,_0x1df67f)),this;}['rotate'](_0x4899ab){return this['premultiply'](ln['makeRotation'](-_0x4899ab)),this;}['translate'](_0x3bd01f,_0x14802e){return this['premultiply'](ln['makeTranslation'](_0x3bd01f,_0x14802e)),this;}['makeTranslation'](_0x2e0ffd,_0x4c4cb4){return _0x2e0ffd['isVector2']?this['set'](0x1,0x0,_0x2e0ffd['x'],0x0,0x1,_0x2e0ffd['y'],0x0,0x0,0x1):this['set'](0x1,0x0,_0x2e0ffd,0x0,0x1,_0x4c4cb4,0x0,0x0,0x1),this;}['makeRotation'](_0x463dd8){const _0x41de34=Math['cos'](_0x463dd8),_0x290639=Math['sin'](_0x463dd8);return this['set'](_0x41de34,-_0x290639,0x0,_0x290639,_0x41de34,0x0,0x0,0x0,0x1),this;}['makeScale'](_0x57143c,_0x3b60ea){return this['set'](_0x57143c,0x0,0x0,0x0,_0x3b60ea,0x0,0x0,0x0,0x1),this;}['equals'](_0x23fa4b){const _0x2eb5e5=this['elements'],_0x23d2d8=_0x23fa4b['elements'];for(let _0x3252cd=0x0;_0x3252cd<0x9;_0x3252cd++)if(_0x2eb5e5[_0x3252cd]!==_0x23d2d8[_0x3252cd])return!0x1;return!0x0;}['fromArray'](_0xc97336,_0xa8ff50=0x0){for(let _0x5266cd=0x0;_0x5266cd<0x9;_0x5266cd++)this['elements'][_0x5266cd]=_0xc97336[_0x5266cd+_0xa8ff50];return this;}['toArray'](_0x5a0bbe=[],_0x5cf8ac=0x0){const 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_0x3390bf<0.0001?(this['x']=0x1,this['y']=0x0,this['z']=0x0):(this['x']=_0x16eb56['x']/_0x3390bf,this['y']=_0x16eb56['y']/_0x3390bf,this['z']=_0x16eb56['z']/_0x3390bf),this;}['setAxisAngleFromRotationMatrix'](_0x28a780){let _0x384cd6,_0x4372d2,_0x3a29f7,_0x2378ba;const _0x42cbea=0.01,_0x1e67e2=0.1,_0x54d0a7=_0x28a780['elements'],_0xf66d9c=_0x54d0a7[0x0],_0x20321f=_0x54d0a7[0x4],_0x29f8f8=_0x54d0a7[0x8],_0x5a8c19=_0x54d0a7[0x1],_0x9c5fe6=_0x54d0a7[0x5],_0x401816=_0x54d0a7[0x9],_0x5d4574=_0x54d0a7[0x2],_0x164aeb=_0x54d0a7[0x6],_0x5d847b=_0x54d0a7[0xa];if(Math['abs'](_0x20321f-_0x5a8c19)<_0x42cbea&&Math['abs'](_0x29f8f8-_0x5d4574)<_0x42cbea&&Math['abs'](_0x401816-_0x164aeb)<_0x42cbea){if(Math['abs'](_0x20321f+_0x5a8c19)<_0x1e67e2&&Math['abs'](_0x29f8f8+_0x5d4574)<_0x1e67e2&&Math['abs'](_0x401816+_0x164aeb)<_0x1e67e2&&Math['abs'](_0xf66d9c+_0x9c5fe6+_0x5d847b-0x3)<_0x1e67e2)return this['set'](0x1,0x0,0x0,0x0),this;_0x384cd6=Math['PI'];const 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_0x20a784=Math['sqrt']((_0x164aeb-_0x401816)*(_0x164aeb-_0x401816)+(_0x29f8f8-_0x5d4574)*(_0x29f8f8-_0x5d4574)+(_0x5a8c19-_0x20321f)*(_0x5a8c19-_0x20321f));return Math['abs'](_0x20a784)<0.001&&(_0x20a784=0x1),this['x']=(_0x164aeb-_0x401816)/_0x20a784,this['y']=(_0x29f8f8-_0x5d4574)/_0x20a784,this['z']=(_0x5a8c19-_0x20321f)/_0x20a784,this['w']=Math['acos']((_0xf66d9c+_0x9c5fe6+_0x5d847b-0x1)/0x2),this;}['min'](_0x553409){return this['x']=Math['min'](this['x'],_0x553409['x']),this['y']=Math['min'](this['y'],_0x553409['y']),this['z']=Math['min'](this['z'],_0x553409['z']),this['w']=Math['min'](this['w'],_0x553409['w']),this;}['max'](_0x2283c1){return this['x']=Math['max'](this['x'],_0x2283c1['x']),this['y']=Math['max'](this['y'],_0x2283c1['y']),this['z']=Math['max'](this['z'],_0x2283c1['z']),this['w']=Math['max'](this['w'],_0x2283c1['w']),this;}['clamp'](_0x5c5a2f,_0x431f62){return this['x']=Math['max'](_0x5c5a2f['x'],Math['min'](_0x431f62['x'],this['x'])),this['y']=Math['max'](_0x5c5a2f['y'],Math['min'](_0x431f62['y'],this['y'])),this['z']=Math['max'](_0x5c5a2f['z'],Math['min'](_0x431f62['z'],this['z'])),this['w']=Math['max'](_0x5c5a2f['w'],Math['min'](_0x431f62['w'],this['w'])),this;}['clampScalar'](_0x479b60,_0x22a554){return this['x']=Math['max'](_0x479b60,Math['min'](_0x22a554,this['x'])),this['y']=Math['max'](_0x479b60,Math['min'](_0x22a554,this['y'])),this['z']=Math['max'](_0x479b60,Math['min'](_0x22a554,this['z'])),this['w']=Math['max'](_0x479b60,Math['min'](_0x22a554,this['w'])),this;}['clampLength'](_0x3488ee,_0xa6a540){const _0x444137=this['length']();return this['divideScalar'](_0x444137||0x1)['multiplyScalar'](Math['max'](_0x3488ee,Math['min'](_0xa6a540,_0x444137)));}['floor'](){return this['x']=Math['floor'](this['x']),this['y']=Math['floor'](this['y']),this['z']=Math['floor'](this['z']),this['w']=Math['floor'](this['w']),this;}['ceil'](){return this['x']=Math['ceil'](this['x']),this['y']=Math['ceil'](this['y']),this['z']=Math['ceil'](this['z']),this['w']=Math['ceil'](this['w']),this;}['round'](){return this['x']=Math['round'](this['x']),this['y']=Math['round'](this['y']),this['z']=Math['round'](this['z']),this['w']=Math['round'](this['w']),this;}['roundToZero'](){return this['x']=Math['trunc'](this['x']),this['y']=Math['trunc'](this['y']),this['z']=Math['trunc'](this['z']),this['w']=Math['trunc'](this['w']),this;}['negate'](){return this['x']=-this['x'],this['y']=-this['y'],this['z']=-this['z'],this['w']=-this['w'],this;}['dot'](_0xfa3eac){return this['x']*_0xfa3eac['x']+this['y']*_0xfa3eac['y']+this['z']*_0xfa3eac['z']+this['w']*_0xfa3eac['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']()||0x1);}['setLength'](_0x437541){return this['normalize']()['multiplyScalar'](_0x437541);}['lerp'](_0x12f732,_0x51aeaa){return this['x']+=(_0x12f732['x']-this['x'])*_0x51aeaa,this['y']+=(_0x12f732['y']-this['y'])*_0x51aeaa,this['z']+=(_0x12f732['z']-this['z'])*_0x51aeaa,this['w']+=(_0x12f732['w']-this['w'])*_0x51aeaa,this;}['lerpVectors'](_0x24645a,_0x2ea634,_0x1e41ae){return this['x']=_0x24645a['x']+(_0x2ea634['x']-_0x24645a['x'])*_0x1e41ae,this['y']=_0x24645a['y']+(_0x2ea634['y']-_0x24645a['y'])*_0x1e41ae,this['z']=_0x24645a['z']+(_0x2ea634['z']-_0x24645a['z'])*_0x1e41ae,this['w']=_0x24645a['w']+(_0x2ea634['w']-_0x24645a['w'])*_0x1e41ae,this;}['equals'](_0x336733){return _0x336733['x']===this['x']&&_0x336733['y']===this['y']&&_0x336733['z']===this['z']&&_0x336733['w']===this['w'];}['fromArray'](_0x422d5a,_0x4987d4=0x0){return this['x']=_0x422d5a[_0x4987d4],this['y']=_0x422d5a[_0x4987d4+0x1],this['z']=_0x422d5a[_0x4987d4+0x2],this['w']=_0x422d5a[_0x4987d4+0x3],this;}['toArray'](_0x4083d4=[],_0x2923e4=0x0){return _0x4083d4[_0x2923e4]=this['x'],_0x4083d4[_0x2923e4+0x1]=this['y'],_0x4083d4[_0x2923e4+0x2]=this['z'],_0x4083d4[_0x2923e4+0x3]=this['w'],_0x4083d4;}['fromBufferAttribute'](_0x8efdc,_0x370095){return this['x']=_0x8efdc['getX'](_0x370095),this['y']=_0x8efdc['getY'](_0x370095),this['z']=_0x8efdc['getZ'](_0x370095),this['w']=_0x8efdc['getW'](_0x370095),this;}['random'](){return this['x']=Math['random'](),this['y']=Math['random'](),this['z']=Math['random'](),this['w']=Math['random'](),this;}*[Symbol['iterator']](){yield this['x'],yield this['y'],yield this['z'],yield this['w'];}}class En{constructor(_0x42cba3=0x0,_0x4af19d=0x0,_0xad5e71=0x0,_0x9a8dc8=0x1){this['isQuaternion']=!0x0,this['_x']=_0x42cba3,this['_y']=_0x4af19d,this['_z']=_0xad5e71,this['_w']=_0x9a8dc8;}static['slerpFlat'](_0x240278,_0x5f2864,_0xaab6a8,_0x3052f8,_0x47d6b3,_0x5e2799,_0x274121){let _0xc8b7b3=_0xaab6a8[_0x3052f8+0x0],_0x57db5b=_0xaab6a8[_0x3052f8+0x1],_0x576315=_0xaab6a8[_0x3052f8+0x2],_0x38c4c0=_0xaab6a8[_0x3052f8+0x3];const _0x25eabe=_0x47d6b3[_0x5e2799+0x0],_0x24b487=_0x47d6b3[_0x5e2799+0x1],_0x4c0c5e=_0x47d6b3[_0x5e2799+0x2],_0x388e16=_0x47d6b3[_0x5e2799+0x3];if(0x0===_0x274121)return _0x240278[_0x5f2864+0x0]=_0xc8b7b3,_0x240278[_0x5f2864+0x1]=_0x57db5b,_0x240278[_0x5f2864+0x2]=_0x576315,void(_0x240278[_0x5f2864+0x3]=_0x38c4c0);if(0x1===_0x274121)return _0x240278[_0x5f2864+0x0]=_0x25eabe,_0x240278[_0x5f2864+0x1]=_0x24b487,_0x240278[_0x5f2864+0x2]=_0x4c0c5e,void(_0x240278[_0x5f2864+0x3]=_0x388e16);if(_0x38c4c0!==_0x388e16||_0xc8b7b3!==_0x25eabe||_0x57db5b!==_0x24b487||_0x576315!==_0x4c0c5e){let _0x1e0816=0x1-_0x274121;const _0x39076e=_0xc8b7b3*_0x25eabe+_0x57db5b*_0x24b487+_0x576315*_0x4c0c5e+_0x38c4c0*_0x388e16,_0x3fbbbc=_0x39076e>=0x0?0x1:-0x1,_0x3a2c15=0x1-_0x39076e*_0x39076e;if(_0x3a2c15>Number['EPSILON']){const _0x9dc80e=Math['sqrt'](_0x3a2c15),_0xa4d98a=Math['atan2'](_0x9dc80e,_0x39076e*_0x3fbbbc);_0x1e0816=Math['sin'](_0x1e0816*_0xa4d98a)/_0x9dc80e,_0x274121=Math['sin'](_0x274121*_0xa4d98a)/_0x9dc80e;}const _0x2155cc=_0x274121*_0x3fbbbc;if(_0xc8b7b3=_0xc8b7b3*_0x1e0816+_0x25eabe*_0x2155cc,_0x57db5b=_0x57db5b*_0x1e0816+_0x24b487*_0x2155cc,_0x576315=_0x576315*_0x1e0816+_0x4c0c5e*_0x2155cc,_0x38c4c0=_0x38c4c0*_0x1e0816+_0x388e16*_0x2155cc,_0x1e0816===0x1-_0x274121){const _0x2efebb=0x1/Math['sqrt'](_0xc8b7b3*_0xc8b7b3+_0x57db5b*_0x57db5b+_0x576315*_0x576315+_0x38c4c0*_0x38c4c0);_0xc8b7b3*=_0x2efebb,_0x57db5b*=_0x2efebb,_0x576315*=_0x2efebb,_0x38c4c0*=_0x2efebb;}}_0x240278[_0x5f2864]=_0xc8b7b3,_0x240278[_0x5f2864+0x1]=_0x57db5b,_0x240278[_0x5f2864+0x2]=_0x576315,_0x240278[_0x5f2864+0x3]=_0x38c4c0;}static['multiplyQuaternionsFlat'](_0x1b18db,_0x5ab3ba,_0x395a6b,_0xb47285,_0x585377,_0x33b16e){const _0x1b8e93=_0x395a6b[_0xb47285],_0x14ddd7=_0x395a6b[_0xb47285+0x1],_0x4a2091=_0x395a6b[_0xb47285+0x2],_0x371b87=_0x395a6b[_0xb47285+0x3],_0x329bce=_0x585377[_0x33b16e],_0x4c087a=_0x585377[_0x33b16e+0x1],_0x156f0e=_0x585377[_0x33b16e+0x2],_0x36eb76=_0x585377[_0x33b16e+0x3];return _0x1b18db[_0x5ab3ba]=_0x1b8e93*_0x36eb76+_0x371b87*_0x329bce+_0x14ddd7*_0x156f0e-_0x4a2091*_0x4c087a,_0x1b18db[_0x5ab3ba+0x1]=_0x14ddd7*_0x36eb76+_0x371b87*_0x4c087a+_0x4a2091*_0x329bce-_0x1b8e93*_0x156f0e,_0x1b18db[_0x5ab3ba+0x2]=_0x4a2091*_0x36eb76+_0x371b87*_0x156f0e+_0x1b8e93*_0x4c087a-_0x14ddd7*_0x329bce,_0x1b18db[_0x5ab3ba+0x3]=_0x371b87*_0x36eb76-_0x1b8e93*_0x329bce-_0x14ddd7*_0x4c087a-_0x4a2091*_0x156f0e,_0x1b18db;}get['x'](){return this['_x'];}set['x'](_0x23a338){this['_x']=_0x23a338,this['_onChangeCallback']();}get['y'](){return this['_y'];}set['y'](_0x36c306){this['_y']=_0x36c306,this['_onChangeCallback']();}get['z'](){return this['_z'];}set['z'](_0x33ef78){this['_z']=_0x33ef78,this['_onChangeCallback']();}get['w'](){return this['_w'];}set['w'](_0x45b76e){this['_w']=_0x45b76e,this['_onChangeCallback']();}['set'](_0x77a24d,_0x3098df,_0xc40d13,_0x380ad3){return this['_x']=_0x77a24d,this['_y']=_0x3098df,this['_z']=_0xc40d13,this['_w']=_0x380ad3,this['_onChangeCallback'](),this;}['clone'](){return new this['constructor'](this['_x'],this['_y'],this['_z'],this['_w']);}['copy'](_0x59b5f8){return this['_x']=_0x59b5f8['x'],this['_y']=_0x59b5f8['y'],this['_z']=_0x59b5f8['z'],this['_w']=_0x59b5f8['w'],this['_onChangeCallback'](),this;}['setFromEuler'](_0x190f30,_0x486ae6=!0x0){const _0x4746e4=_0x190f30['_x'],_0x5a9e92=_0x190f30['_y'],_0x3e68fa=_0x190f30['_z'],_0x50c78d=_0x190f30['_order'],_0x3f5567=Math['cos'],_0x4260d1=Math['sin'],_0x44c2d1=_0x3f5567(_0x4746e4/0x2),_0x2de811=_0x3f5567(_0x5a9e92/0x2),_0x25ade7=_0x3f5567(_0x3e68fa/0x2),_0x5d5bd5=_0x4260d1(_0x4746e4/0x2),_0x366686=_0x4260d1(_0x5a9e92/0x2),_0x386efa=_0x4260d1(_0x3e68fa/0x2);switch(_0x50c78d){case'XYZ':this['_x']=_0x5d5bd5*_0x2de811*_0x25ade7+_0x44c2d1*_0x366686*_0x386efa,this['_y']=_0x44c2d1*_0x366686*_0x25ade7-_0x5d5bd5*_0x2de811*_0x386efa,this['_z']=_0x44c2d1*_0x2de811*_0x386efa+_0x5d5bd5*_0x366686*_0x25ade7,this['_w']=_0x44c2d1*_0x2de811*_0x25ade7-_0x5d5bd5*_0x366686*_0x386efa;break;case'YXZ':this['_x']=_0x5d5bd5*_0x2de811*_0x25ade7+_0x44c2d1*_0x366686*_0x386efa,this['_y']=_0x44c2d1*_0x366686*_0x25ade7-_0x5d5bd5*_0x2de811*_0x386efa,this['_z']=_0x44c2d1*_0x2de811*_0x386efa-_0x5d5bd5*_0x366686*_0x25ade7,this['_w']=_0x44c2d1*_0x2de811*_0x25ade7+_0x5d5bd5*_0x366686*_0x386efa;break;case'ZXY':this['_x']=_0x5d5bd5*_0x2de811*_0x25ade7-_0x44c2d1*_0x366686*_0x386efa,this['_y']=_0x44c2d1*_0x366686*_0x25ade7+_0x5d5bd5*_0x2de811*_0x386efa,this['_z']=_0x44c2d1*_0x2de811*_0x386efa+_0x5d5bd5*_0x366686*_0x25ade7,this['_w']=_0x44c2d1*_0x2de811*_0x25ade7-_0x5d5bd5*_0x366686*_0x386efa;break;case'ZYX':this['_x']=_0x5d5bd5*_0x2de811*_0x25ade7-_0x44c2d1*_0x366686*_0x386efa,this['_y']=_0x44c2d1*_0x366686*_0x25ade7+_0x5d5bd5*_0x2de811*_0x386efa,this['_z']=_0x44c2d1*_0x2de811*_0x386efa-_0x5d5bd5*_0x366686*_0x25ade7,this['_w']=_0x44c2d1*_0x2de811*_0x25ade7+_0x5d5bd5*_0x366686*_0x386efa;break;case'YZX':this['_x']=_0x5d5bd5*_0x2de811*_0x25ade7+_0x44c2d1*_0x366686*_0x386efa,this['_y']=_0x44c2d1*_0x366686*_0x25ade7+_0x5d5bd5*_0x2de811*_0x386efa,this['_z']=_0x44c2d1*_0x2de811*_0x386efa-_0x5d5bd5*_0x366686*_0x25ade7,this['_w']=_0x44c2d1*_0x2de811*_0x25ade7-_0x5d5bd5*_0x366686*_0x386efa;break;case'XZY':this['_x']=_0x5d5bd5*_0x2de811*_0x25ade7-_0x44c2d1*_0x366686*_0x386efa,this['_y']=_0x44c2d1*_0x366686*_0x25ade7-_0x5d5bd5*_0x2de811*_0x386efa,this['_z']=_0x44c2d1*_0x2de811*_0x386efa+_0x5d5bd5*_0x366686*_0x25ade7,this['_w']=_0x44c2d1*_0x2de811*_0x25ade7+_0x5d5bd5*_0x366686*_0x386efa;}return!0x0===_0x486ae6&&this['_onChangeCallback'](),this;}['setFromAxisAngle'](_0x346305,_0x14256e){const _0x1f7017=_0x14256e/0x2,_0x395b37=Math['sin'](_0x1f7017);return this['_x']=_0x346305['x']*_0x395b37,this['_y']=_0x346305['y']*_0x395b37,this['_z']=_0x346305['z']*_0x395b37,this['_w']=Math['cos'](_0x1f7017),this['_onChangeCallback'](),this;}['setFromRotationMatrix'](_0x2c45e9){const _0x46a344=_0x2c45e9['elements'],_0x29de09=_0x46a344[0x0],_0x519839=_0x46a344[0x4],_0x5f4245=_0x46a344[0x8],_0xc4b343=_0x46a344[0x1],_0x4a5d76=_0x46a344[0x5],_0x23bdfb=_0x46a344[0x9],_0x4d0a2c=_0x46a344[0x2],_0x1bb532=_0x46a344[0x6],_0xa4cb84=_0x46a344[0xa],_0x18885c=_0x29de09+_0x4a5d76+_0xa4cb84;if(_0x18885c>0x0){const _0x391105=0.5/Math['sqrt'](_0x18885c+0x1);this['_w']=0.25/_0x391105,this['_x']=(_0x1bb532-_0x23bdfb)*_0x391105,this['_y']=(_0x5f4245-_0x4d0a2c)*_0x391105,this['_z']=(_0xc4b343-_0x519839)*_0x391105;}else{if(_0x29de09>_0x4a5d76&&_0x29de09>_0xa4cb84){const _0x33500a=0x2*Math['sqrt'](0x1+_0x29de09-_0x4a5d76-_0xa4cb84);this['_w']=(_0x1bb532-_0x23bdfb)/_0x33500a,this['_x']=0.25*_0x33500a,this['_y']=(_0x519839+_0xc4b343)/_0x33500a,this['_z']=(_0x5f4245+_0x4d0a2c)/_0x33500a;}else{if(_0x4a5d76>_0xa4cb84){const _0x564a91=0x2*Math['sqrt'](0x1+_0x4a5d76-_0x29de09-_0xa4cb84);this['_w']=(_0x5f4245-_0x4d0a2c)/_0x564a91,this['_x']=(_0x519839+_0xc4b343)/_0x564a91,this['_y']=0.25*_0x564a91,this['_z']=(_0x23bdfb+_0x1bb532)/_0x564a91;}else{const _0x2a9c82=0x2*Math['sqrt'](0x1+_0xa4cb84-_0x29de09-_0x4a5d76);this['_w']=(_0xc4b343-_0x519839)/_0x2a9c82,this['_x']=(_0x5f4245+_0x4d0a2c)/_0x2a9c82,this['_y']=(_0x23bdfb+_0x1bb532)/_0x2a9c82,this['_z']=0.25*_0x2a9c82;}}}return this['_onChangeCallback'](),this;}['setFromUnitVectors'](_0x4591db,_0x3673a5){let _0x565822=_0x4591db['dot'](_0x3673a5)+0x1;return _0x565822<Number['EPSILON']?(_0x565822=0x0,Math['abs'](_0x4591db['x'])>Math['abs'](_0x4591db['z'])?(this['_x']=-_0x4591db['y'],this['_y']=_0x4591db['x'],this['_z']=0x0,this['_w']=_0x565822):(this['_x']=0x0,this['_y']=-_0x4591db['z'],this['_z']=_0x4591db['y'],this['_w']=_0x565822)):(this['_x']=_0x4591db['y']*_0x3673a5['z']-_0x4591db['z']*_0x3673a5['y'],this['_y']=_0x4591db['z']*_0x3673a5['x']-_0x4591db['x']*_0x3673a5['z'],this['_z']=_0x4591db['x']*_0x3673a5['y']-_0x4591db['y']*_0x3673a5['x'],this['_w']=_0x565822),this['normalize']();}['angleTo'](_0x26a278){return 0x2*Math['acos'](Math['abs'](on(this['dot'](_0x26a278),-0x1,0x1)));}['rotateTowards'](_0x20d0aa,_0x45a3c0){const _0x575999=this['angleTo'](_0x20d0aa);if(0x0===_0x575999)return this;const _0x3adacd=Math['min'](0x1,_0x45a3c0/_0x575999);return this['slerp'](_0x20d0aa,_0x3adacd),this;}['identity'](){return this['set'](0x0,0x0,0x0,0x1);}['invert'](){return this['conjugate']();}['conjugate'](){return this['_x']*=-0x1,this['_y']*=-0x1,this['_z']*=-0x1,this['_onChangeCallback'](),this;}['dot'](_0x332892){return this['_x']*_0x332892['_x']+this['_y']*_0x332892['_y']+this['_z']*_0x332892['_z']+this['_w']*_0x332892['_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 _0x40711e=this['length']();return 0x0===_0x40711e?(this['_x']=0x0,this['_y']=0x0,this['_z']=0x0,this['_w']=0x1):(_0x40711e=0x1/_0x40711e,this['_x']=this['_x']*_0x40711e,this['_y']=this['_y']*_0x40711e,this['_z']=this['_z']*_0x40711e,this['_w']=this['_w']*_0x40711e),this['_onChangeCallback'](),this;}['multiply'](_0x4a0ad8){return this['multiplyQuaternions'](this,_0x4a0ad8);}['premultiply'](_0xab92bd){return this['multiplyQuaternions'](_0xab92bd,this);}['multiplyQuaternions'](_0x5269e1,_0x3a10f6){const _0x4d6de3=_0x5269e1['_x'],_0x332964=_0x5269e1['_y'],_0x174351=_0x5269e1['_z'],_0x14e9d5=_0x5269e1['_w'],_0x483c7f=_0x3a10f6['_x'],_0x1b22d3=_0x3a10f6['_y'],_0x21c023=_0x3a10f6['_z'],_0x2daf0a=_0x3a10f6['_w'];return this['_x']=_0x4d6de3*_0x2daf0a+_0x14e9d5*_0x483c7f+_0x332964*_0x21c023-_0x174351*_0x1b22d3,this['_y']=_0x332964*_0x2daf0a+_0x14e9d5*_0x1b22d3+_0x174351*_0x483c7f-_0x4d6de3*_0x21c023,this['_z']=_0x174351*_0x2daf0a+_0x14e9d5*_0x21c023+_0x4d6de3*_0x1b22d3-_0x332964*_0x483c7f,this['_w']=_0x14e9d5*_0x2daf0a-_0x4d6de3*_0x483c7f-_0x332964*_0x1b22d3-_0x174351*_0x21c023,this['_onChangeCallback'](),this;}['slerp'](_0xdd3c67,_0x5a170e){if(0x0===_0x5a170e)return this;if(0x1===_0x5a170e)return this['copy'](_0xdd3c67);const _0xdacc41=this['_x'],_0x1a9fda=this['_y'],_0x5344cf=this['_z'],_0x332252=this['_w'];let _0x21bffe=_0x332252*_0xdd3c67['_w']+_0xdacc41*_0xdd3c67['_x']+_0x1a9fda*_0xdd3c67['_y']+_0x5344cf*_0xdd3c67['_z'];if(_0x21bffe<0x0?(this['_w']=-_0xdd3c67['_w'],this['_x']=-_0xdd3c67['_x'],this['_y']=-_0xdd3c67['_y'],this['_z']=-_0xdd3c67['_z'],_0x21bffe=-_0x21bffe):this['copy'](_0xdd3c67),_0x21bffe>=0x1)return this['_w']=_0x332252,this['_x']=_0xdacc41,this['_y']=_0x1a9fda,this['_z']=_0x5344cf,this;const _0x3f7757=0x1-_0x21bffe*_0x21bffe;if(_0x3f7757<=Number['EPSILON']){const _0x236428=0x1-_0x5a170e;return this['_w']=_0x236428*_0x332252+_0x5a170e*this['_w'],this['_x']=_0x236428*_0xdacc41+_0x5a170e*this['_x'],this['_y']=_0x236428*_0x1a9fda+_0x5a170e*this['_y'],this['_z']=_0x236428*_0x5344cf+_0x5a170e*this['_z'],this['normalize'](),this;}const _0x1eca52=Math['sqrt'](_0x3f7757),_0x200c85=Math['atan2'](_0x1eca52,_0x21bffe),_0x46078a=Math['sin']((0x1-_0x5a170e)*_0x200c85)/_0x1eca52,_0x227050=Math['sin'](_0x5a170e*_0x200c85)/_0x1eca52;return this['_w']=_0x332252*_0x46078a+this['_w']*_0x227050,this['_x']=_0xdacc41*_0x46078a+this['_x']*_0x227050,this['_y']=_0x1a9fda*_0x46078a+this['_y']*_0x227050,this['_z']=_0x5344cf*_0x46078a+this['_z']*_0x227050,this['_onChangeCallback'](),this;}['slerpQuaternions'](_0x20d258,_0x5a7361,_0x18fe42){return this['copy'](_0x20d258)['slerp'](_0x5a7361,_0x18fe42);}['random'](){const _0x26185a=Math['random'](),_0x5ef74f=Math['sqrt'](0x1-_0x26185a),_0x32c295=Math['sqrt'](_0x26185a),_0x4aabab=0x2*Math['PI']*Math['random'](),_0x2c6341=0x2*Math['PI']*Math['random']();return this['set'](_0x5ef74f*Math['cos'](_0x4aabab),_0x32c295*Math['sin'](_0x2c6341),_0x32c295*Math['cos'](_0x2c6341),_0x5ef74f*Math['sin'](_0x4aabab));}['equals'](_0x3b97f7){return _0x3b97f7['_x']===this['_x']&&_0x3b97f7['_y']===this['_y']&&_0x3b97f7['_z']===this['_z']&&_0x3b97f7['_w']===this['_w'];}['fromArray'](_0xb58d29,_0x322e50=0x0){return this['_x']=_0xb58d29[_0x322e50],this['_y']=_0xb58d29[_0x322e50+0x1],this['_z']=_0xb58d29[_0x322e50+0x2],this['_w']=_0xb58d29[_0x322e50+0x3],this['_onChangeCallback'](),this;}['toArray'](_0x42d12f=[],_0x5c5990=0x0){return _0x42d12f[_0x5c5990]=this['_x'],_0x42d12f[_0x5c5990+0x1]=this['_y'],_0x42d12f[_0x5c5990+0x2]=this['_z'],_0x42d12f[_0x5c5990+0x3]=this['_w'],_0x42d12f;}['fromBufferAttribute'](_0x220b7c,_0x5947d3){return this['_x']=_0x220b7c['getX'](_0x5947d3),this['_y']=_0x220b7c['getY'](_0x5947d3),this['_z']=_0x220b7c['getZ'](_0x5947d3),this['_w']=_0x220b7c['getW'](_0x5947d3),this['_onChangeCallback'](),this;}['toJSON'](){return this['toArray']();}['_onChange'](_0x561192){return this['_onChangeCallback']=_0x561192,this;}['_onChangeCallback'](){}*[Symbol['iterator']](){yield this['_x'],yield this['_y'],yield this['_z'],yield this['_w'];}}class In{constructor(_0x488747=0x0,_0x1a87c3=0x0,_0x27e039=0x0){In['prototype']['isVector3']=!0x0,this['x']=_0x488747,this['y']=_0x1a87c3,this['z']=_0x27e039;}['set'](_0xb1d9b7,_0x2dfd66,_0x2f0ff6){return void 0x0===_0x2f0ff6&&(_0x2f0ff6=this['z']),this['x']=_0xb1d9b7,this['y']=_0x2dfd66,this['z']=_0x2f0ff6,this;}['setScalar'](_0x377f8e){return this['x']=_0x377f8e,this['y']=_0x377f8e,this['z']=_0x377f8e,this;}['setX'](_0x4ab699){return this['x']=_0x4ab699,this;}['setY'](_0x2a1597){return this['y']=_0x2a1597,this;}['setZ'](_0x457b80){return this['z']=_0x457b80,this;}['setComponent'](_0x475f9f,_0x14890b){switch(_0x475f9f){case 0x0:this['x']=_0x14890b;break;case 0x1:this['y']=_0x14890b;break;case 0x2:this['z']=_0x14890b;break;default:throw new Error('index\x20is\x20out\x20of\x20range:\x20'+_0x475f9f);}return this;}['getComponent'](_0x21e2cc){switch(_0x21e2cc){case 0x0:return this['x'];case 0x1:return this['y'];case 0x2:return this['z'];default:throw new Error('index\x20is\x20out\x20of\x20range:\x20'+_0x21e2cc);}}['clone'](){return new this['constructor'](this['x'],this['y'],this['z']);}['copy'](_0x46569e){return this['x']=_0x46569e['x'],this['y']=_0x46569e['y'],this['z']=_0x46569e['z'],this;}['add'](_0x45c073){return this['x']+=_0x45c073['x'],this['y']+=_0x45c073['y'],this['z']+=_0x45c073['z'],this;}['addScalar'](_0x106afc){return this['x']+=_0x106afc,this['y']+=_0x106afc,this['z']+=_0x106afc,this;}['addVectors'](_0x5d40b7,_0x36a9be){return this['x']=_0x5d40b7['x']+_0x36a9be['x'],this['y']=_0x5d40b7['y']+_0x36a9be['y'],this['z']=_0x5d40b7['z']+_0x36a9be['z'],this;}['addScaledVector'](_0x4e1f6c,_0x355d96){return this['x']+=_0x4e1f6c['x']*_0x355d96,this['y']+=_0x4e1f6c['y']*_0x355d96,this['z']+=_0x4e1f6c['z']*_0x355d96,this;}['sub'](_0x1c0b7b){return this['x']-=_0x1c0b7b['x'],this['y']-=_0x1c0b7b['y'],this['z']-=_0x1c0b7b['z'],this;}['subScalar'](_0x560d03){return this['x']-=_0x560d03,this['y']-=_0x560d03,this['z']-=_0x560d03,this;}['subVectors'](_0x51d89b,_0x4bf912){return this['x']=_0x51d89b['x']-_0x4bf912['x'],this['y']=_0x51d89b['y']-_0x4bf912['y'],this['z']=_0x51d89b['z']-_0x4bf912['z'],this;}['multiply'](_0x22acd2){return this['x']*=_0x22acd2['x'],this['y']*=_0x22acd2['y'],this['z']*=_0x22acd2['z'],this;}['multiplyScalar'](_0x175ded){return this['x']*=_0x175ded,this['y']*=_0x175ded,this['z']*=_0x175ded,this;}['multiplyVectors'](_0x32f88,_0xab1345){return this['x']=_0x32f88['x']*_0xab1345['x'],this['y']=_0x32f88['y']*_0xab1345['y'],this['z']=_0x32f88['z']*_0xab1345['z'],this;}['applyEuler'](_0x560769){return this['applyQuaternion'](On['setFromEuler'](_0x560769));}['applyAxisAngle'](_0x133c10,_0x2201df){return this['applyQuaternion'](On['setFromAxisAngle'](_0x133c10,_0x2201df));}['applyMatrix3'](_0x1a250e){const _0x57f5a4=this['x'],_0xf35d4e=this['y'],_0x314c99=this['z'],_0x52771d=_0x1a250e['elements'];return this['x']=_0x52771d[0x0]*_0x57f5a4+_0x52771d[0x3]*_0xf35d4e+_0x52771d[0x6]*_0x314c99,this['y']=_0x52771d[0x1]*_0x57f5a4+_0x52771d[0x4]*_0xf35d4e+_0x52771d[0x7]*_0x314c99,this['z']=_0x52771d[0x2]*_0x57f5a4+_0x52771d[0x5]*_0xf35d4e+_0x52771d[0x8]*_0x314c99,this;}['applyNormalMatrix'](_0x2eadcd){return this['applyMatrix3'](_0x2eadcd)['normalize']();}['applyMatrix4'](_0x4615de){const _0x50d2f5=this['x'],_0x2bcba4=this['y'],_0x12dbdb=this['z'],_0x1330a5=_0x4615de['elements'],_0x197442=0x1/(_0x1330a5[0x3]*_0x50d2f5+_0x1330a5[0x7]*_0x2bcba4+_0x1330a5[0xb]*_0x12dbdb+_0x1330a5[0xf]);return this['x']=(_0x1330a5[0x0]*_0x50d2f5+_0x1330a5[0x4]*_0x2bcba4+_0x1330a5[0x8]*_0x12dbdb+_0x1330a5[0xc])*_0x197442,this['y']=(_0x1330a5[0x1]*_0x50d2f5+_0x1330a5[0x5]*_0x2bcba4+_0x1330a5[0x9]*_0x12dbdb+_0x1330a5[0xd])*_0x197442,this['z']=(_0x1330a5[0x2]*_0x50d2f5+_0x1330a5[0x6]*_0x2bcba4+_0x1330a5[0xa]*_0x12dbdb+_0x1330a5[0xe])*_0x197442,this;}['applyQuaternion'](_0x2939ce){const _0x10b606=this['x'],_0x2ea9bc=this['y'],_0x2791c3=this['z'],_0x5d8f38=_0x2939ce['x'],_0x569297=_0x2939ce['y'],_0x45f0d5=_0x2939ce['z'],_0x23a64f=_0x2939ce['w'],_0xd4573d=0x2*(_0x569297*_0x2791c3-_0x45f0d5*_0x2ea9bc),_0x1274e1=0x2*(_0x45f0d5*_0x10b606-_0x5d8f38*_0x2791c3),_0x57e4ae=0x2*(_0x5d8f38*_0x2ea9bc-_0x569297*_0x10b606);return this['x']=_0x10b606+_0x23a64f*_0xd4573d+_0x569297*_0x57e4ae-_0x45f0d5*_0x1274e1,this['y']=_0x2ea9bc+_0x23a64f*_0x1274e1+_0x45f0d5*_0xd4573d-_0x5d8f38*_0x57e4ae,this['z']=_0x2791c3+_0x23a64f*_0x57e4ae+_0x5d8f38*_0x1274e1-_0x569297*_0xd4573d,this;}['project'](_0x1993ff){return this['applyMatrix4'](_0x1993ff['matrixWorldInverse'])['applyMatrix4'](_0x1993ff['projectionMatrix']);}['unproject'](_0x45680a){return this['applyMatrix4'](_0x45680a['projectionMatrixInverse'])['applyMatrix4'](_0x45680a['matrixWorld']);}['transformDirection'](_0xa2e5eb){const _0x49d084=this['x'],_0x62d09=this['y'],_0x33781a=this['z'],_0x80390c=_0xa2e5eb['elements'];return this['x']=_0x80390c[0x0]*_0x49d084+_0x80390c[0x4]*_0x62d09+_0x80390c[0x8]*_0x33781a,this['y']=_0x80390c[0x1]*_0x49d084+_0x80390c[0x5]*_0x62d09+_0x80390c[0x9]*_0x33781a,this['z']=_0x80390c[0x2]*_0x49d084+_0x80390c[0x6]*_0x62d09+_0x80390c[0xa]*_0x33781a,this['normalize']();}['divide'](_0x146595){return this['x']/=_0x146595['x'],this['y']/=_0x146595['y'],this['z']/=_0x146595['z'],this;}['divideScalar'](_0x2842f9){return this['multiplyScalar'](0x1/_0x2842f9);}['min'](_0x42d618){return this['x']=Math['min'](this['x'],_0x42d618['x']),this['y']=Math['min'](this['y'],_0x42d618['y']),this['z']=Math['min'](this['z'],_0x42d618['z']),this;}['max'](_0x5719a2){return this['x']=Math['max'](this['x'],_0x5719a2['x']),this['y']=Math['max'](this['y'],_0x5719a2['y']),this['z']=Math['max'](this['z'],_0x5719a2['z']),this;}['clamp'](_0x89e983,_0x413de2){return this['x']=Math['max'](_0x89e983['x'],Math['min'](_0x413de2['x'],this['x'])),this['y']=Math['max'](_0x89e983['y'],Math['min'](_0x413de2['y'],this['y'])),this['z']=Math['max'](_0x89e983['z'],Math['min'](_0x413de2['z'],this['z'])),this;}['clampScalar'](_0x48b95e,_0x821a52){return this['x']=Math['max'](_0x48b95e,Math['min'](_0x821a52,this['x'])),this['y']=Math['max'](_0x48b95e,Math['min'](_0x821a52,this['y'])),this['z']=Math['max'](_0x48b95e,Math['min'](_0x821a52,this['z'])),this;}['clampLength'](_0x102a37,_0x5cd518){const _0x43e778=this['length']();return this['divideScalar'](_0x43e778||0x1)['multiplyScalar'](Math['max'](_0x102a37,Math['min'](_0x5cd518,_0x43e778)));}['floor'](){return this['x']=Math['floor'](this['x']),this['y']=Math['floor'](this['y']),this['z']=Math['floor'](this['z']),this;}['ceil'](){return this['x']=Math['ceil'](this['x']),this['y']=Math['ceil'](this['y']),this['z']=Math['ceil'](this['z']),this;}['round'](){return this['x']=Math['round'](this['x']),this['y']=Math['round'](this['y']),this['z']=Math['round'](this['z']),this;}['roundToZero'](){return this['x']=Math['trunc'](this['x']),this['y']=Math['trunc'](this['y']),this['z']=Math['trunc'](this['z']),this;}['negate'](){return this['x']=-this['x'],this['y']=-this['y'],this['z']=-this['z'],this;}['dot'](_0x44629a){return this['x']*_0x44629a['x']+this['y']*_0x44629a['y']+this['z']*_0x44629a['z'];}['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']()||0x1);}['setLength'](_0x49ba0f){return this['normalize']()['multiplyScalar'](_0x49ba0f);}['lerp'](_0x4be96c,_0x2f3ffb){return this['x']+=(_0x4be96c['x']-this['x'])*_0x2f3ffb,this['y']+=(_0x4be96c['y']-this['y'])*_0x2f3ffb,this['z']+=(_0x4be96c['z']-this['z'])*_0x2f3ffb,this;}['lerpVectors'](_0x5193d9,_0x31d1d2,_0x1e5c40){return this['x']=_0x5193d9['x']+(_0x31d1d2['x']-_0x5193d9['x'])*_0x1e5c40,this['y']=_0x5193d9['y']+(_0x31d1d2['y']-_0x5193d9['y'])*_0x1e5c40,this['z']=_0x5193d9['z']+(_0x31d1d2['z']-_0x5193d9['z'])*_0x1e5c40,this;}['cross'](_0x1defde){return this['crossVectors'](this,_0x1defde);}['crossVectors'](_0x83034d,_0x263af5){const _0x225632=_0x83034d['x'],_0x51dd9c=_0x83034d['y'],_0x43c0ca=_0x83034d['z'],_0x3a47be=_0x263af5['x'],_0x52fe64=_0x263af5['y'],_0x2279ed=_0x263af5['z'];return this['x']=_0x51dd9c*_0x2279ed-_0x43c0ca*_0x52fe64,this['y']=_0x43c0ca*_0x3a47be-_0x225632*_0x2279ed,this['z']=_0x225632*_0x52fe64-_0x51dd9c*_0x3a47be,this;}['projectOnVector'](_0x3ab82e){const _0x496424=_0x3ab82e['lengthSq']();if(0x0===_0x496424)return this['set'](0x0,0x0,0x0);const _0x3c807f=_0x3ab82e['dot'](this)/_0x496424;return this['copy'](_0x3ab82e)['multiplyScalar'](_0x3c807f);}['projectOnPlane'](_0x500d4f){return Cn['copy'](this)['projectOnVector'](_0x500d4f),this['sub'](Cn);}['reflect'](_0x152ca2){return this['sub'](Cn['copy'](_0x152ca2)['multiplyScalar'](0x2*this['dot'](_0x152ca2)));}['angleTo'](_0x5d14ef){const _0x850c86=Math['sqrt'](this['lengthSq']()*_0x5d14ef['lengthSq']());if(0x0===_0x850c86)return Math['PI']/0x2;const _0x440f30=this['dot'](_0x5d14ef)/_0x850c86;return Math['acos'](on(_0x440f30,-0x1,0x1));}['distanceTo'](_0x37ae5a){return Math['sqrt'](this['distanceToSquared'](_0x37ae5a));}['distanceToSquared'](_0x221d90){const _0x5b08fb=this['x']-_0x221d90['x'],_0x5decef=this['y']-_0x221d90['y'],_0x392220=this['z']-_0x221d90['z'];return _0x5b08fb*_0x5b08fb+_0x5decef*_0x5decef+_0x392220*_0x392220;}['manhattanDistanceTo'](_0x5a3a13){return Math['abs'](this['x']-_0x5a3a13['x'])+Math['abs'](this['y']-_0x5a3a13['y'])+Math['abs'](this['z']-_0x5a3a13['z']);}['setFromSpherical'](_0x54864b){return this['setFromSphericalCoords'](_0x54864b['radius'],_0x54864b['phi'],_0x54864b['theta']);}['setFromSphericalCoords'](_0x5765b7,_0x3d1e7c,_0x37ae53){const _0x7ea36c=Math['sin'](_0x3d1e7c)*_0x5765b7;return this['x']=_0x7ea36c*Math['sin'](_0x37ae53),this['y']=Math['cos'](_0x3d1e7c)*_0x5765b7,this['z']=_0x7ea36c*Math['cos'](_0x37ae53),this;}['setFromCylindrical'](_0x180fdf){return this['setFromCylindricalCoords'](_0x180fdf['radius'],_0x180fdf['theta'],_0x180fdf['y']);}['setFromCylindricalCoords'](_0x223c14,_0x591079,_0x31ce7d){return this['x']=_0x223c14*Math['sin'](_0x591079),this['y']=_0x31ce7d,this['z']=_0x223c14*Math['cos'](_0x591079),this;}['setFromMatrixPosition'](_0x38d8f4){const _0x304128=_0x38d8f4['elements'];return this['x']=_0x304128[0xc],this['y']=_0x304128[0xd],this['z']=_0x304128[0xe],this;}['setFromMatrixScale'](_0x210124){const _0x547078=this['setFromMatrixColumn'](_0x210124,0x0)['length'](),_0x31be0f=this['setFromMatrixColumn'](_0x210124,0x1)['length'](),_0x4101eb=this['setFromMatrixColumn'](_0x210124,0x2)['length']();return this['x']=_0x547078,this['y']=_0x31be0f,this['z']=_0x4101eb,this;}['setFromMatrixColumn'](_0x505471,_0x9d79ef){return this['fromArray'](_0x505471['elements'],0x4*_0x9d79ef);}['setFromMatrix3Column'](_0x450efc,_0xa3f31b){return this['fromArray'](_0x450efc['elements'],0x3*_0xa3f31b);}['setFromEuler'](_0xaa6ce1){return this['x']=_0xaa6ce1['_x'],this['y']=_0xaa6ce1['_y'],this['z']=_0xaa6ce1['_z'],this;}['setFromColor'](_0x1dc780){return this['x']=_0x1dc780['r'],this['y']=_0x1dc780['g'],this['z']=_0x1dc780['b'],this;}['equals'](_0x464ff2){return _0x464ff2['x']===this['x']&&_0x464ff2['y']===this['y']&&_0x464ff2['z']===this['z'];}['fromArray'](_0x4609d2,_0x474f9a=0x0){return this['x']=_0x4609d2[_0x474f9a],this['y']=_0x4609d2[_0x474f9a+0x1],this['z']=_0x4609d2[_0x474f9a+0x2],this;}['toArray'](_0x37b305=[],_0x176055=0x0){return _0x37b305[_0x176055]=this['x'],_0x37b305[_0x176055+0x1]=this['y'],_0x37b305[_0x176055+0x2]=this['z'],_0x37b305;}['fromBufferAttribute'](_0x499bef,_0x219b8f){return this['x']=_0x499bef['getX'](_0x219b8f),this['y']=_0x499bef['getY'](_0x219b8f),this['z']=_0x499bef['getZ'](_0x219b8f),this;}['random'](){return this['x']=Math['random'](),this['y']=Math['random'](),this['z']=Math['random'](),this;}['randomDirection'](){const _0x26fc42=0x2*(Math['random']()-0.5),_0x3c96f6=Math['random']()*Math['PI']*0x2,_0x19356c=Math['sqrt'](0x1-_0x26fc42**0x2);return this['x']=_0x19356c*Math['cos'](_0x3c96f6),this['y']=_0x19356c*Math['sin'](_0x3c96f6),this['z']=_0x26fc42,this;}*[Symbol['iterator']](){yield this['x'],yield this['y'],yield this['z'];}}const Cn=new In(),On=new En();class Rn{constructor(_0x506ada,_0x2d17ce,_0x3b8a16,_0x1dedf2,_0xa32830,_0x26d1e5,_0x2a9f7f,_0x4af648,_0x54fde0,_0x501e59,_0x53539d,_0x32737c,_0x48e39c,_0xd48f69,_0x270e82,_0xfd51a1){Rn['prototype']['isMatrix4']=!0x0,this['elements']=[0x1,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x1],void 0x0!==_0x506ada&&this['set'](_0x506ada,_0x2d17ce,_0x3b8a16,_0x1dedf2,_0xa32830,_0x26d1e5,_0x2a9f7f,_0x4af648,_0x54fde0,_0x501e59,_0x53539d,_0x32737c,_0x48e39c,_0xd48f69,_0x270e82,_0xfd51a1);}['set'](_0xb1ae91,_0x2570c3,_0x22ae41,_0x333253,_0x4a846a,_0x295e9b,_0x31eb41,_0x7ba69,_0x2b365c,_0x2300e4,_0xf175fd,_0x2aa3f2,_0x3a2c76,_0x48cabb,_0x3042e1,_0x119dbe){const _0x4211c1=this['elements'];return _0x4211c1[0x0]=_0xb1ae91,_0x4211c1[0x4]=_0x2570c3,_0x4211c1[0x8]=_0x22ae41,_0x4211c1[0xc]=_0x333253,_0x4211c1[0x1]=_0x4a846a,_0x4211c1[0x5]=_0x295e9b,_0x4211c1[0x9]=_0x31eb41,_0x4211c1[0xd]=_0x7ba69,_0x4211c1[0x2]=_0x2b365c,_0x4211c1[0x6]=_0x2300e4,_0x4211c1[0xa]=_0xf175fd,_0x4211c1[0xe]=_0x2aa3f2,_0x4211c1[0x3]=_0x3a2c76,_0x4211c1[0x7]=_0x48cabb,_0x4211c1[0xb]=_0x3042e1,_0x4211c1[0xf]=_0x119dbe,this;}['identity'](){return this['set'](0x1,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x1),this;}['clone'](){return new Rn()['fromArray'](this['elements']);}['copy'](_0x9a1d5c){const _0x2f7e32=this['elements'],_0x3ba1cd=_0x9a1d5c['elements'];return _0x2f7e32[0x0]=_0x3ba1cd[0x0],_0x2f7e32[0x1]=_0x3ba1cd[0x1],_0x2f7e32[0x2]=_0x3ba1cd[0x2],_0x2f7e32[0x3]=_0x3ba1cd[0x3],_0x2f7e32[0x4]=_0x3ba1cd[0x4],_0x2f7e32[0x5]=_0x3ba1cd[0x5],_0x2f7e32[0x6]=_0x3ba1cd[0x6],_0x2f7e32[0x7]=_0x3ba1cd[0x7],_0x2f7e32[0x8]=_0x3ba1cd[0x8],_0x2f7e32[0x9]=_0x3ba1cd[0x9],_0x2f7e32[0xa]=_0x3ba1cd[0xa],_0x2f7e32[0xb]=_0x3ba1cd[0xb],_0x2f7e32[0xc]=_0x3ba1cd[0xc],_0x2f7e32[0xd]=_0x3ba1cd[0xd],_0x2f7e32[0xe]=_0x3ba1cd[0xe],_0x2f7e32[0xf]=_0x3ba1cd[0xf],this;}['copyPosition'](_0x98cf7){const _0x1520e7=this['elements'],_0x5a0879=_0x98cf7['elements'];return _0x1520e7[0xc]=_0x5a0879[0xc],_0x1520e7[0xd]=_0x5a0879[0xd],_0x1520e7[0xe]=_0x5a0879[0xe],this;}['setFromMatrix3'](_0x78937){const _0xde18b0=_0x78937['elements'];return this['set'](_0xde18b0[0x0],_0xde18b0[0x3],_0xde18b0[0x6],0x0,_0xde18b0[0x1],_0xde18b0[0x4],_0xde18b0[0x7],0x0,_0xde18b0[0x2],_0xde18b0[0x5],_0xde18b0[0x8],0x0,0x0,0x0,0x0,0x1),this;}['extractBasis'](_0x847b09,_0x3a6b72,_0x8d3465){return _0x847b09['setFromMatrixColumn'](this,0x0),_0x3a6b72['setFromMatrixColumn'](this,0x1),_0x8d3465['setFromMatrixColumn'](this,0x2),this;}['makeBasis'](_0x2e852f,_0x28a6c9,_0x101423){return this['set'](_0x2e852f['x'],_0x28a6c9['x'],_0x101423['x'],0x0,_0x2e852f['y'],_0x28a6c9['y'],_0x101423['y'],0x0,_0x2e852f['z'],_0x28a6c9['z'],_0x101423['z'],0x0,0x0,0x0,0x0,0x1),this;}['extractRotation'](_0x171342){const _0x578303=this['elements'],_0x36e5c9=_0x171342['elements'],_0x3b24a1=0x1/Ln['setFromMatrixColumn'](_0x171342,0x0)['length'](),_0x4bf71c=0x1/Ln['setFromMatrixColumn'](_0x171342,0x1)['length'](),_0x51d0b0=0x1/Ln['setFromMatrixColumn'](_0x171342,0x2)['length']();return _0x578303[0x0]=_0x36e5c9[0x0]*_0x3b24a1,_0x578303[0x1]=_0x36e5c9[0x1]*_0x3b24a1,_0x578303[0x2]=_0x36e5c9[0x2]*_0x3b24a1,_0x578303[0x3]=0x0,_0x578303[0x4]=_0x36e5c9[0x4]*_0x4bf71c,_0x578303[0x5]=_0x36e5c9[0x5]*_0x4bf71c,_0x578303[0x6]=_0x36e5c9[0x6]*_0x4bf71c,_0x578303[0x7]=0x0,_0x578303[0x8]=_0x36e5c9[0x8]*_0x51d0b0,_0x578303[0x9]=_0x36e5c9[0x9]*_0x51d0b0,_0x578303[0xa]=_0x36e5c9[0xa]*_0x51d0b0,_0x578303[0xb]=0x0,_0x578303[0xc]=0x0,_0x578303[0xd]=0x0,_0x578303[0xe]=0x0,_0x578303[0xf]=0x1,this;}['makeRotationFromEuler'](_0x2f3232){const _0x231a49=this['elements'],_0x5aad77=_0x2f3232['x'],_0x318d44=_0x2f3232['y'],_0x3ce546=_0x2f3232['z'],_0x3b3161=Math['cos'](_0x5aad77),_0x4959ae=Math['sin'](_0x5aad77),_0x5d2af7=Math['cos'](_0x318d44),_0x3ae8e9=Math['sin'](_0x318d44),_0x5ae155=Math['cos'](_0x3ce546),_0x142aa0=Math['sin'](_0x3ce546);if('XYZ'===_0x2f3232['order']){const _0x847320=_0x3b3161*_0x5ae155,_0x16305e=_0x3b3161*_0x142aa0,_0x33a8cd=_0x4959ae*_0x5ae155,_0x4a916d=_0x4959ae*_0x142aa0;_0x231a49[0x0]=_0x5d2af7*_0x5ae155,_0x231a49[0x4]=-_0x5d2af7*_0x142aa0,_0x231a49[0x8]=_0x3ae8e9,_0x231a49[0x1]=_0x16305e+_0x33a8cd*_0x3ae8e9,_0x231a49[0x5]=_0x847320-_0x4a916d*_0x3ae8e9,_0x231a49[0x9]=-_0x4959ae*_0x5d2af7,_0x231a49[0x2]=_0x4a916d-_0x847320*_0x3ae8e9,_0x231a49[0x6]=_0x33a8cd+_0x16305e*_0x3ae8e9,_0x231a49[0xa]=_0x3b3161*_0x5d2af7;}else{if('YXZ'===_0x2f3232['order']){const _0x4f0d59=_0x5d2af7*_0x5ae155,_0x42785d=_0x5d2af7*_0x142aa0,_0x5615f6=_0x3ae8e9*_0x5ae155,_0x1a39d1=_0x3ae8e9*_0x142aa0;_0x231a49[0x0]=_0x4f0d59+_0x1a39d1*_0x4959ae,_0x231a49[0x4]=_0x5615f6*_0x4959ae-_0x42785d,_0x231a49[0x8]=_0x3b3161*_0x3ae8e9,_0x231a49[0x1]=_0x3b3161*_0x142aa0,_0x231a49[0x5]=_0x3b3161*_0x5ae155,_0x231a49[0x9]=-_0x4959ae,_0x231a49[0x2]=_0x42785d*_0x4959ae-_0x5615f6,_0x231a49[0x6]=_0x1a39d1+_0x4f0d59*_0x4959ae,_0x231a49[0xa]=_0x3b3161*_0x5d2af7;}else{if('ZXY'===_0x2f3232['order']){const _0x182aaa=_0x5d2af7*_0x5ae155,_0x4c4c59=_0x5d2af7*_0x142aa0,_0x39831f=_0x3ae8e9*_0x5ae155,_0x199f7e=_0x3ae8e9*_0x142aa0;_0x231a49[0x0]=_0x182aaa-_0x199f7e*_0x4959ae,_0x231a49[0x4]=-_0x3b3161*_0x142aa0,_0x231a49[0x8]=_0x39831f+_0x4c4c59*_0x4959ae,_0x231a49[0x1]=_0x4c4c59+_0x39831f*_0x4959ae,_0x231a49[0x5]=_0x3b3161*_0x5ae155,_0x231a49[0x9]=_0x199f7e-_0x182aaa*_0x4959ae,_0x231a49[0x2]=-_0x3b3161*_0x3ae8e9,_0x231a49[0x6]=_0x4959ae,_0x231a49[0xa]=_0x3b3161*_0x5d2af7;}else{if('ZYX'===_0x2f3232['order']){const _0x58dd1d=_0x3b3161*_0x5ae155,_0x524a1d=_0x3b3161*_0x142aa0,_0x31d4d1=_0x4959ae*_0x5ae155,_0x253664=_0x4959ae*_0x142aa0;_0x231a49[0x0]=_0x5d2af7*_0x5ae155,_0x231a49[0x4]=_0x31d4d1*_0x3ae8e9-_0x524a1d,_0x231a49[0x8]=_0x58dd1d*_0x3ae8e9+_0x253664,_0x231a49[0x1]=_0x5d2af7*_0x142aa0,_0x231a49[0x5]=_0x253664*_0x3ae8e9+_0x58dd1d,_0x231a49[0x9]=_0x524a1d*_0x3ae8e9-_0x31d4d1,_0x231a49[0x2]=-_0x3ae8e9,_0x231a49[0x6]=_0x4959ae*_0x5d2af7,_0x231a49[0xa]=_0x3b3161*_0x5d2af7;}else{if('YZX'===_0x2f3232['order']){const _0x3023ce=_0x3b3161*_0x5d2af7,_0x20d867=_0x3b3161*_0x3ae8e9,_0x4fb9a6=_0x4959ae*_0x5d2af7,_0x5a420c=_0x4959ae*_0x3ae8e9;_0x231a49[0x0]=_0x5d2af7*_0x5ae155,_0x231a49[0x4]=_0x5a420c-_0x3023ce*_0x142aa0,_0x231a49[0x8]=_0x4fb9a6*_0x142aa0+_0x20d867,_0x231a49[0x1]=_0x142aa0,_0x231a49[0x5]=_0x3b3161*_0x5ae155,_0x231a49[0x9]=-_0x4959ae*_0x5ae155,_0x231a49[0x2]=-_0x3ae8e9*_0x5ae155,_0x231a49[0x6]=_0x20d867*_0x142aa0+_0x4fb9a6,_0x231a49[0xa]=_0x3023ce-_0x5a420c*_0x142aa0;}else{if('XZY'===_0x2f3232['order']){const _0x57f8c9=_0x3b3161*_0x5d2af7,_0x5611a9=_0x3b3161*_0x3ae8e9,_0x18fc08=_0x4959ae*_0x5d2af7,_0x3a9093=_0x4959ae*_0x3ae8e9;_0x231a49[0x0]=_0x5d2af7*_0x5ae155,_0x231a49[0x4]=-_0x142aa0,_0x231a49[0x8]=_0x3ae8e9*_0x5ae155,_0x231a49[0x1]=_0x57f8c9*_0x142aa0+_0x3a9093,_0x231a49[0x5]=_0x3b3161*_0x5ae155,_0x231a49[0x9]=_0x5611a9*_0x142aa0-_0x18fc08,_0x231a49[0x2]=_0x18fc08*_0x142aa0-_0x5611a9,_0x231a49[0x6]=_0x4959ae*_0x5ae155,_0x231a49[0xa]=_0x3a9093*_0x142aa0+_0x57f8c9;}}}}}}return _0x231a49[0x3]=0x0,_0x231a49[0x7]=0x0,_0x231a49[0xb]=0x0,_0x231a49[0xc]=0x0,_0x231a49[0xd]=0x0,_0x231a49[0xe]=0x0,_0x231a49[0xf]=0x1,this;}['makeRotationFromQuaternion'](_0x22cb20){return this['compose'](Nn,_0x22cb20,Pn);}['lookAt'](_0x29801c,_0x16739c,_0x3dca3b){const _0x31572d=this['elements'];return Dn['subVectors'](_0x29801c,_0x16739c),0x0===Dn['lengthSq']()&&(Dn['z']=0x1),Dn['normalize'](),Fn['crossVectors'](_0x3dca3b,Dn),0x0===Fn['lengthSq']()&&(0x1===Math['abs'](_0x3dca3b['z'])?Dn['x']+=0.0001:Dn['z']+=0.0001,Dn['normalize'](),Fn['crossVectors'](_0x3dca3b,Dn)),Fn['normalize'](),jn['crossVectors'](Dn,Fn),_0x31572d[0x0]=Fn['x'],_0x31572d[0x4]=jn['x'],_0x31572d[0x8]=Dn['x'],_0x31572d[0x1]=Fn['y'],_0x31572d[0x5]=jn['y'],_0x31572d[0x9]=Dn['y'],_0x31572d[0x2]=Fn['z'],_0x31572d[0x6]=jn['z'],_0x31572d[0xa]=Dn['z'],this;}['multiply'](_0x11c3b3){return this['multiplyMatrices'](this,_0x11c3b3);}['premultiply'](_0xe0dff9){return this['multiplyMatrices'](_0xe0dff9,this);}['multiplyMatrices'](_0x4881ae,_0x21ff54){const _0x73d0f2=_0x4881ae['elements'],_0x53a0e2=_0x21ff54['elements'],_0x22aebf=this['elements'],_0x1aecba=_0x73d0f2[0x0],_0x2ead4e=_0x73d0f2[0x4],_0x10691c=_0x73d0f2[0x8],_0x472df0=_0x73d0f2[0xc],_0x169a1a=_0x73d0f2[0x1],_0x23e396=_0x73d0f2[0x5],_0x4f8dff=_0x73d0f2[0x9],_0x4e49f2=_0x73d0f2[0xd],_0x39197e=_0x73d0f2[0x2],_0x189a33=_0x73d0f2[0x6],_0x1e27bb=_0x73d0f2[0xa],_0xa7e99f=_0x73d0f2[0xe],_0x3e1c22=_0x73d0f2[0x3],_0x56a152=_0x73d0f2[0x7],_0x325ead=_0x73d0f2[0xb],_0x40dbb0=_0x73d0f2[0xf],_0x3f6618=_0x53a0e2[0x0],_0x40ef4d=_0x53a0e2[0x4],_0xb1ef54=_0x53a0e2[0x8],_0x43826e=_0x53a0e2[0xc],_0x2a60fc=_0x53a0e2[0x1],_0x54afde=_0x53a0e2[0x5],_0x519f4e=_0x53a0e2[0x9],_0x19816f=_0x53a0e2[0xd],_0x2f8398=_0x53a0e2[0x2],_0x2ceecf=_0x53a0e2[0x6],_0x2a97cb=_0x53a0e2[0xa],_0x254220=_0x53a0e2[0xe],_0x446b72=_0x53a0e2[0x3],_0x26d7fb=_0x53a0e2[0x7],_0x4c168c=_0x53a0e2[0xb],_0x2cd5c3=_0x53a0e2[0xf];return _0x22aebf[0x0]=_0x1aecba*_0x3f6618+_0x2ead4e*_0x2a60fc+_0x10691c*_0x2f8398+_0x472df0*_0x446b72,_0x22aebf[0x4]=_0x1aecba*_0x40ef4d+_0x2ead4e*_0x54afde+_0x10691c*_0x2ceecf+_0x472df0*_0x26d7fb,_0x22aebf[0x8]=_0x1aecba*_0xb1ef54+_0x2ead4e*_0x519f4e+_0x10691c*_0x2a97cb+_0x472df0*_0x4c168c,_0x22aebf[0xc]=_0x1aecba*_0x43826e+_0x2ead4e*_0x19816f+_0x10691c*_0x254220+_0x472df0*_0x2cd5c3,_0x22aebf[0x1]=_0x169a1a*_0x3f6618+_0x23e396*_0x2a60fc+_0x4f8dff*_0x2f8398+_0x4e49f2*_0x446b72,_0x22aebf[0x5]=_0x169a1a*_0x40ef4d+_0x23e396*_0x54afde+_0x4f8dff*_0x2ceecf+_0x4e49f2*_0x26d7fb,_0x22aebf[0x9]=_0x169a1a*_0xb1ef54+_0x23e396*_0x519f4e+_0x4f8dff*_0x2a97cb+_0x4e49f2*_0x4c168c,_0x22aebf[0xd]=_0x169a1a*_0x43826e+_0x23e396*_0x19816f+_0x4f8dff*_0x254220+_0x4e49f2*_0x2cd5c3,_0x22aebf[0x2]=_0x39197e*_0x3f6618+_0x189a33*_0x2a60fc+_0x1e27bb*_0x2f8398+_0xa7e99f*_0x446b72,_0x22aebf[0x6]=_0x39197e*_0x40ef4d+_0x189a33*_0x54afde+_0x1e27bb*_0x2ceecf+_0xa7e99f*_0x26d7fb,_0x22aebf[0xa]=_0x39197e*_0xb1ef54+_0x189a33*_0x519f4e+_0x1e27bb*_0x2a97cb+_0xa7e99f*_0x4c168c,_0x22aebf[0xe]=_0x39197e*_0x43826e+_0x189a33*_0x19816f+_0x1e27bb*_0x254220+_0xa7e99f*_0x2cd5c3,_0x22aebf[0x3]=_0x3e1c22*_0x3f6618+_0x56a152*_0x2a60fc+_0x325ead*_0x2f8398+_0x40dbb0*_0x446b72,_0x22aebf[0x7]=_0x3e1c22*_0x40ef4d+_0x56a152*_0x54afde+_0x325ead*_0x2ceecf+_0x40dbb0*_0x26d7fb,_0x22aebf[0xb]=_0x3e1c22*_0xb1ef54+_0x56a152*_0x519f4e+_0x325ead*_0x2a97cb+_0x40dbb0*_0x4c168c,_0x22aebf[0xf]=_0x3e1c22*_0x43826e+_0x56a152*_0x19816f+_0x325ead*_0x254220+_0x40dbb0*_0x2cd5c3,this;}['multiplyScalar'](_0x42abef){const _0x1caa9c=this['elements'];return _0x1caa9c[0x0]*=_0x42abef,_0x1caa9c[0x4]*=_0x42abef,_0x1caa9c[0x8]*=_0x42abef,_0x1caa9c[0xc]*=_0x42abef,_0x1caa9c[0x1]*=_0x42abef,_0x1caa9c[0x5]*=_0x42abef,_0x1caa9c[0x9]*=_0x42abef,_0x1caa9c[0xd]*=_0x42abef,_0x1caa9c[0x2]*=_0x42abef,_0x1caa9c[0x6]*=_0x42abef,_0x1caa9c[0xa]*=_0x42abef,_0x1caa9c[0xe]*=_0x42abef,_0x1caa9c[0x3]*=_0x42abef,_0x1caa9c[0x7]*=_0x42abef,_0x1caa9c[0xb]*=_0x42abef,_0x1caa9c[0xf]*=_0x42abef,this;}['determinant'](){const _0x5be511=this['elements'],_0x2328fd=_0x5be511[0x0],_0x3184c7=_0x5be511[0x4],_0x57a060=_0x5be511[0x8],_0x39244a=_0x5be511[0xc],_0x2f9a6d=_0x5be511[0x1],_0x435803=_0x5be511[0x5],_0x52379c=_0x5be511[0x9],_0x49e09f=_0x5be511[0xd],_0x16ed0b=_0x5be511[0x2],_0x5686dc=_0x5be511[0x6],_0x2005e9=_0x5be511[0xa],_0x7ef877=_0x5be511[0xe];return _0x5be511[0x3]*(+_0x39244a*_0x52379c*_0x5686dc-_0x57a060*_0x49e09f*_0x5686dc-_0x39244a*_0x435803*_0x2005e9+_0x3184c7*_0x49e09f*_0x2005e9+_0x57a060*_0x435803*_0x7ef877-_0x3184c7*_0x52379c*_0x7ef877)+_0x5be511[0x7]*(+_0x2328fd*_0x52379c*_0x7ef877-_0x2328fd*_0x49e09f*_0x2005e9+_0x39244a*_0x2f9a6d*_0x2005e9-_0x57a060*_0x2f9a6d*_0x7ef877+_0x57a060*_0x49e09f*_0x16ed0b-_0x39244a*_0x52379c*_0x16ed0b)+_0x5be511[0xb]*(+_0x2328fd*_0x49e09f*_0x5686dc-_0x2328fd*_0x435803*_0x7ef877-_0x39244a*_0x2f9a6d*_0x5686dc+_0x3184c7*_0x2f9a6d*_0x7ef877+_0x39244a*_0x435803*_0x16ed0b-_0x3184c7*_0x49e09f*_0x16ed0b)+_0x5be511[0xf]*(-_0x57a060*_0x435803*_0x16ed0b-_0x2328fd*_0x52379c*_0x5686dc+_0x2328fd*_0x435803*_0x2005e9+_0x57a060*_0x2f9a6d*_0x5686dc-_0x3184c7*_0x2f9a6d*_0x2005e9+_0x3184c7*_0x52379c*_0x16ed0b);}['transpose'](){const _0x4f095b=this['elements'];let _0x3cba32;return _0x3cba32=_0x4f095b[0x1],_0x4f095b[0x1]=_0x4f095b[0x4],_0x4f095b[0x4]=_0x3cba32,_0x3cba32=_0x4f095b[0x2],_0x4f095b[0x2]=_0x4f095b[0x8],_0x4f095b[0x8]=_0x3cba32,_0x3cba32=_0x4f095b[0x6],_0x4f095b[0x6]=_0x4f095b[0x9],_0x4f095b[0x9]=_0x3cba32,_0x3cba32=_0x4f095b[0x3],_0x4f095b[0x3]=_0x4f095b[0xc],_0x4f095b[0xc]=_0x3cba32,_0x3cba32=_0x4f095b[0x7],_0x4f095b[0x7]=_0x4f095b[0xd],_0x4f095b[0xd]=_0x3cba32,_0x3cba32=_0x4f095b[0xb],_0x4f095b[0xb]=_0x4f095b[0xe],_0x4f095b[0xe]=_0x3cba32,this;}['setPosition'](_0x1ba459,_0x15056b,_0x4466e7){const _0x17f885=this['elements'];return _0x1ba459['isVector3']?(_0x17f885[0xc]=_0x1ba459['x'],_0x17f885[0xd]=_0x1ba459['y'],_0x17f885[0xe]=_0x1ba459['z']):(_0x17f885[0xc]=_0x1ba459,_0x17f885[0xd]=_0x15056b,_0x17f885[0xe]=_0x4466e7),this;}['invert'](){const _0x9f8eaf=this['elements'],_0x52f8ba=_0x9f8eaf[0x0],_0x19cfbd=_0x9f8eaf[0x1],_0x4bcde3=_0x9f8eaf[0x2],_0x8d28f1=_0x9f8eaf[0x3],_0x5a77c4=_0x9f8eaf[0x4],_0x36875c=_0x9f8eaf[0x5],_0x2fd208=_0x9f8eaf[0x6],_0xec0812=_0x9f8eaf[0x7],_0x77a56f=_0x9f8eaf[0x8],_0xd1c06e=_0x9f8eaf[0x9],_0x525019=_0x9f8eaf[0xa],_0x4a1647=_0x9f8eaf[0xb],_0x451adc=_0x9f8eaf[0xc],_0x38ff76=_0x9f8eaf[0xd],_0x55aa4e=_0x9f8eaf[0xe],_0x43cea9=_0x9f8eaf[0xf],_0x353634=_0xd1c06e*_0x55aa4e*_0xec0812-_0x38ff76*_0x525019*_0xec0812+_0x38ff76*_0x2fd208*_0x4a1647-_0x36875c*_0x55aa4e*_0x4a1647-_0xd1c06e*_0x2fd208*_0x43cea9+_0x36875c*_0x525019*_0x43cea9,_0x562857=_0x451adc*_0x525019*_0xec0812-_0x77a56f*_0x55aa4e*_0xec0812-_0x451adc*_0x2fd208*_0x4a1647+_0x5a77c4*_0x55aa4e*_0x4a1647+_0x77a56f*_0x2fd208*_0x43cea9-_0x5a77c4*_0x525019*_0x43cea9,_0x29b4bf=_0x77a56f*_0x38ff76*_0xec0812-_0x451adc*_0xd1c06e*_0xec0812+_0x451adc*_0x36875c*_0x4a1647-_0x5a77c4*_0x38ff76*_0x4a1647-_0x77a56f*_0x36875c*_0x43cea9+_0x5a77c4*_0xd1c06e*_0x43cea9,_0x3ae98f=_0x451adc*_0xd1c06e*_0x2fd208-_0x77a56f*_0x38ff76*_0x2fd208-_0x451adc*_0x36875c*_0x525019+_0x5a77c4*_0x38ff76*_0x525019+_0x77a56f*_0x36875c*_0x55aa4e-_0x5a77c4*_0xd1c06e*_0x55aa4e,_0x45f524=_0x52f8ba*_0x353634+_0x19cfbd*_0x562857+_0x4bcde3*_0x29b4bf+_0x8d28f1*_0x3ae98f;if(0x0===_0x45f524)return this['set'](0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0);const _0x437bb1=0x1/_0x45f524;return _0x9f8eaf[0x0]=_0x353634*_0x437bb1,_0x9f8eaf[0x1]=(_0x38ff76*_0x525019*_0x8d28f1-_0xd1c06e*_0x55aa4e*_0x8d28f1-_0x38ff76*_0x4bcde3*_0x4a1647+_0x19cfbd*_0x55aa4e*_0x4a1647+_0xd1c06e*_0x4bcde3*_0x43cea9-_0x19cfbd*_0x525019*_0x43cea9)*_0x437bb1,_0x9f8eaf[0x2]=(_0x36875c*_0x55aa4e*_0x8d28f1-_0x38ff76*_0x2fd208*_0x8d28f1+_0x38ff76*_0x4bcde3*_0xec0812-_0x19cfbd*_0x55aa4e*_0xec0812-_0x36875c*_0x4bcde3*_0x43cea9+_0x19cfbd*_0x2fd208*_0x43cea9)*_0x437bb1,_0x9f8eaf[0x3]=(_0xd1c06e*_0x2fd208*_0x8d28f1-_0x36875c*_0x525019*_0x8d28f1-_0xd1c06e*_0x4bcde3*_0xec0812+_0x19cfbd*_0x525019*_0xec0812+_0x36875c*_0x4bcde3*_0x4a1647-_0x19cfbd*_0x2fd208*_0x4a1647)*_0x437bb1,_0x9f8eaf[0x4]=_0x562857*_0x437bb1,_0x9f8eaf[0x5]=(_0x77a56f*_0x55aa4e*_0x8d28f1-_0x451adc*_0x525019*_0x8d28f1+_0x451adc*_0x4bcde3*_0x4a1647-_0x52f8ba*_0x55aa4e*_0x4a1647-_0x77a56f*_0x4bcde3*_0x43cea9+_0x52f8ba*_0x525019*_0x43cea9)*_0x437bb1,_0x9f8eaf[0x6]=(_0x451adc*_0x2fd208*_0x8d28f1-_0x5a77c4*_0x55aa4e*_0x8d28f1-_0x451adc*_0x4bcde3*_0xec0812+_0x52f8ba*_0x55aa4e*_0xec0812+_0x5a77c4*_0x4bcde3*_0x43cea9-_0x52f8ba*_0x2fd208*_0x43cea9)*_0x437bb1,_0x9f8eaf[0x7]=(_0x5a77c4*_0x525019*_0x8d28f1-_0x77a56f*_0x2fd208*_0x8d28f1+_0x77a56f*_0x4bcde3*_0xec0812-_0x52f8ba*_0x525019*_0xec0812-_0x5a77c4*_0x4bcde3*_0x4a1647+_0x52f8ba*_0x2fd208*_0x4a1647)*_0x437bb1,_0x9f8eaf[0x8]=_0x29b4bf*_0x437bb1,_0x9f8eaf[0x9]=(_0x451adc*_0xd1c06e*_0x8d28f1-_0x77a56f*_0x38ff76*_0x8d28f1-_0x451adc*_0x19cfbd*_0x4a1647+_0x52f8ba*_0x38ff76*_0x4a1647+_0x77a56f*_0x19cfbd*_0x43cea9-_0x52f8ba*_0xd1c06e*_0x43cea9)*_0x437bb1,_0x9f8eaf[0xa]=(_0x5a77c4*_0x38ff76*_0x8d28f1-_0x451adc*_0x36875c*_0x8d28f1+_0x451adc*_0x19cfbd*_0xec0812-_0x52f8ba*_0x38ff76*_0xec0812-_0x5a77c4*_0x19cfbd*_0x43cea9+_0x52f8ba*_0x36875c*_0x43cea9)*_0x437bb1,_0x9f8eaf[0xb]=(_0x77a56f*_0x36875c*_0x8d28f1-_0x5a77c4*_0xd1c06e*_0x8d28f1-_0x77a56f*_0x19cfbd*_0xec0812+_0x52f8ba*_0xd1c06e*_0xec0812+_0x5a77c4*_0x19cfbd*_0x4a1647-_0x52f8ba*_0x36875c*_0x4a1647)*_0x437bb1,_0x9f8eaf[0xc]=_0x3ae98f*_0x437bb1,_0x9f8eaf[0xd]=(_0x77a56f*_0x38ff76*_0x4bcde3-_0x451adc*_0xd1c06e*_0x4bcde3+_0x451adc*_0x19cfbd*_0x525019-_0x52f8ba*_0x38ff76*_0x525019-_0x77a56f*_0x19cfbd*_0x55aa4e+_0x52f8ba*_0xd1c06e*_0x55aa4e)*_0x437bb1,_0x9f8eaf[0xe]=(_0x451adc*_0x36875c*_0x4bcde3-_0x5a77c4*_0x38ff76*_0x4bcde3-_0x451adc*_0x19cfbd*_0x2fd208+_0x52f8ba*_0x38ff76*_0x2fd208+_0x5a77c4*_0x19cfbd*_0x55aa4e-_0x52f8ba*_0x36875c*_0x55aa4e)*_0x437bb1,_0x9f8eaf[0xf]=(_0x5a77c4*_0xd1c06e*_0x4bcde3-_0x77a56f*_0x36875c*_0x4bcde3+_0x77a56f*_0x19cfbd*_0x2fd208-_0x52f8ba*_0xd1c06e*_0x2fd208-_0x5a77c4*_0x19cfbd*_0x525019+_0x52f8ba*_0x36875c*_0x525019)*_0x437bb1,this;}['scale'](_0x5aa5cd){const _0x644cba=this['elements'],_0x2c558e=_0x5aa5cd['x'],_0xf464b5=_0x5aa5cd['y'],_0x30973d=_0x5aa5cd['z'];return _0x644cba[0x0]*=_0x2c558e,_0x644cba[0x4]*=_0xf464b5,_0x644cba[0x8]*=_0x30973d,_0x644cba[0x1]*=_0x2c558e,_0x644cba[0x5]*=_0xf464b5,_0x644cba[0x9]*=_0x30973d,_0x644cba[0x2]*=_0x2c558e,_0x644cba[0x6]*=_0xf464b5,_0x644cba[0xa]*=_0x30973d,_0x644cba[0x3]*=_0x2c558e,_0x644cba[0x7]*=_0xf464b5,_0x644cba[0xb]*=_0x30973d,this;}['getMaxScaleOnAxis'](){const _0x1e78bf=this['elements'],_0x27a59a=_0x1e78bf[0x0]*_0x1e78bf[0x0]+_0x1e78bf[0x1]*_0x1e78bf[0x1]+_0x1e78bf[0x2]*_0x1e78bf[0x2],_0x545c04=_0x1e78bf[0x4]*_0x1e78bf[0x4]+_0x1e78bf[0x5]*_0x1e78bf[0x5]+_0x1e78bf[0x6]*_0x1e78bf[0x6],_0x302fdd=_0x1e78bf[0x8]*_0x1e78bf[0x8]+_0x1e78bf[0x9]*_0x1e78bf[0x9]+_0x1e78bf[0xa]*_0x1e78bf[0xa];return Math['sqrt'](Math['max'](_0x27a59a,_0x545c04,_0x302fdd));}['makeTranslation'](_0x24f52a,_0x3067cb,_0x41a84d){return _0x24f52a['isVector3']?this['set'](0x1,0x0,0x0,_0x24f52a['x'],0x0,0x1,0x0,_0x24f52a['y'],0x0,0x0,0x1,_0x24f52a['z'],0x0,0x0,0x0,0x1):this['set'](0x1,0x0,0x0,_0x24f52a,0x0,0x1,0x0,_0x3067cb,0x0,0x0,0x1,_0x41a84d,0x0,0x0,0x0,0x1),this;}['makeRotationX'](_0x1562e1){const _0x3a3d6e=Math['cos'](_0x1562e1),_0x11431c=Math['sin'](_0x1562e1);return this['set'](0x1,0x0,0x0,0x0,0x0,_0x3a3d6e,-_0x11431c,0x0,0x0,_0x11431c,_0x3a3d6e,0x0,0x0,0x0,0x0,0x1),this;}['makeRotationY'](_0xa3bff9){const _0x1b589a=Math['cos'](_0xa3bff9),_0x2f9c62=Math['sin'](_0xa3bff9);return this['set'](_0x1b589a,0x0,_0x2f9c62,0x0,0x0,0x1,0x0,0x0,-_0x2f9c62,0x0,_0x1b589a,0x0,0x0,0x0,0x0,0x1),this;}['makeRotationZ'](_0x4fdb34){const _0x484a10=Math['cos'](_0x4fdb34),_0x46bcf9=Math['sin'](_0x4fdb34);return this['set'](_0x484a10,-_0x46bcf9,0x0,0x0,_0x46bcf9,_0x484a10,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x1),this;}['makeRotationAxis'](_0x431ccc,_0x400d06){const _0x106061=Math['cos'](_0x400d06),_0x8bd879=Math['sin'](_0x400d06),_0x3b74a3=0x1-_0x106061,_0x540fa5=_0x431ccc['x'],_0x44bcf5=_0x431ccc['y'],_0x2e53f4=_0x431ccc['z'],_0x3a7489=_0x3b74a3*_0x540fa5,_0x395898=_0x3b74a3*_0x44bcf5;return this['set'](_0x3a7489*_0x540fa5+_0x106061,_0x3a7489*_0x44bcf5-_0x8bd879*_0x2e53f4,_0x3a7489*_0x2e53f4+_0x8bd879*_0x44bcf5,0x0,_0x3a7489*_0x44bcf5+_0x8bd879*_0x2e53f4,_0x395898*_0x44bcf5+_0x106061,_0x395898*_0x2e53f4-_0x8bd879*_0x540fa5,0x0,_0x3a7489*_0x2e53f4-_0x8bd879*_0x44bcf5,_0x395898*_0x2e53f4+_0x8bd879*_0x540fa5,_0x3b74a3*_0x2e53f4*_0x2e53f4+_0x106061,0x0,0x0,0x0,0x0,0x1),this;}['makeScale'](_0x1e2c5d,_0x367442,_0x4dde72){return this['set'](_0x1e2c5d,0x0,0x0,0x0,0x0,_0x367442,0x0,0x0,0x0,0x0,_0x4dde72,0x0,0x0,0x0,0x0,0x1),this;}['makeShear'](_0x1c28b0,_0x19b3ab,_0x565ac2,_0x42aed9,_0xd5ce08,_0xb49856){return this['set'](0x1,_0x565ac2,_0xd5ce08,0x0,_0x1c28b0,0x1,_0xb49856,0x0,_0x19b3ab,_0x42aed9,0x1,0x0,0x0,0x0,0x0,0x1),this;}['compose'](_0x3693f2,_0x22fbcc,_0xfa805){const _0x5ae82a=this['elements'],_0x1800ec=_0x22fbcc['_x'],_0x1ea7b1=_0x22fbcc['_y'],_0x243888=_0x22fbcc['_z'],_0x12e112=_0x22fbcc['_w'],_0x2c8b3=_0x1800ec+_0x1800ec,_0x24be6d=_0x1ea7b1+_0x1ea7b1,_0x46d1f5=_0x243888+_0x243888,_0x49001e=_0x1800ec*_0x2c8b3,_0x43229e=_0x1800ec*_0x24be6d,_0x4404f7=_0x1800ec*_0x46d1f5,_0x291786=_0x1ea7b1*_0x24be6d,_0x5a5a9=_0x1ea7b1*_0x46d1f5,_0x2ca715=_0x243888*_0x46d1f5,_0x2d737d=_0x12e112*_0x2c8b3,_0x4b2d8c=_0x12e112*_0x24be6d,_0x5b641e=_0x12e112*_0x46d1f5,_0x1f1d73=_0xfa805['x'],_0x4a0edd=_0xfa805['y'],_0x3a3ea5=_0xfa805['z'];return _0x5ae82a[0x0]=(0x1-(_0x291786+_0x2ca715))*_0x1f1d73,_0x5ae82a[0x1]=(_0x43229e+_0x5b641e)*_0x1f1d73,_0x5ae82a[0x2]=(_0x4404f7-_0x4b2d8c)*_0x1f1d73,_0x5ae82a[0x3]=0x0,_0x5ae82a[0x4]=(_0x43229e-_0x5b641e)*_0x4a0edd,_0x5ae82a[0x5]=(0x1-(_0x49001e+_0x2ca715))*_0x4a0edd,_0x5ae82a[0x6]=(_0x5a5a9+_0x2d737d)*_0x4a0edd,_0x5ae82a[0x7]=0x0,_0x5ae82a[0x8]=(_0x4404f7+_0x4b2d8c)*_0x3a3ea5,_0x5ae82a[0x9]=(_0x5a5a9-_0x2d737d)*_0x3a3ea5,_0x5ae82a[0xa]=(0x1-(_0x49001e+_0x291786))*_0x3a3ea5,_0x5ae82a[0xb]=0x0,_0x5ae82a[0xc]=_0x3693f2['x'],_0x5ae82a[0xd]=_0x3693f2['y'],_0x5ae82a[0xe]=_0x3693f2['z'],_0x5ae82a[0xf]=0x1,this;}['decompose'](_0x1db3bd,_0x46f246,_0x1a1d32){const _0x5c1346=this['elements'];let _0x303c6b=Ln['set'](_0x5c1346[0x0],_0x5c1346[0x1],_0x5c1346[0x2])['length']();const _0x260110=Ln['set'](_0x5c1346[0x4],_0x5c1346[0x5],_0x5c1346[0x6])['length'](),_0x107cd5=Ln['set'](_0x5c1346[0x8],_0x5c1346[0x9],_0x5c1346[0xa])['length']();this['determinant']()<0x0&&(_0x303c6b=-_0x303c6b),_0x1db3bd['x']=_0x5c1346[0xc],_0x1db3bd['y']=_0x5c1346[0xd],_0x1db3bd['z']=_0x5c1346[0xe],zn['copy'](this);const _0x3a1a85=0x1/_0x303c6b,_0x53e711=0x1/_0x260110,_0x59cb02=0x1/_0x107cd5;return zn['elements'][0x0]*=_0x3a1a85,zn['elements'][0x1]*=_0x3a1a85,zn['elements'][0x2]*=_0x3a1a85,zn['elements'][0x4]*=_0x53e711,zn['elements'][0x5]*=_0x53e711,zn['elements'][0x6]*=_0x53e711,zn['elements'][0x8]*=_0x59cb02,zn['elements'][0x9]*=_0x59cb02,zn['elements'][0xa]*=_0x59cb02,_0x46f246['setFromRotationMatrix'](zn),_0x1a1d32['x']=_0x303c6b,_0x1a1d32['y']=_0x260110,_0x1a1d32['z']=_0x107cd5,this;}['makePerspective'](_0x22a423,_0x57bf7e,_0x2e9879,_0x2940c6,_0x35579b,_0x1f9260,_0x492a96=0x7d0){const _0x1f2a14=this['elements'],_0x557d24=0x2*_0x35579b/(_0x57bf7e-_0x22a423),_0x33eb94=0x2*_0x35579b/(_0x2e9879-_0x2940c6),_0x5ae61e=(_0x57bf7e+_0x22a423)/(_0x57bf7e-_0x22a423),_0x3dce6a=(_0x2e9879+_0x2940c6)/(_0x2e9879-_0x2940c6);let _0x14b4de,_0x406e3d;if(_0x492a96===en)_0x14b4de=-(_0x1f9260+_0x35579b)/(_0x1f9260-_0x35579b),_0x406e3d=-0x2*_0x1f9260*_0x35579b/(_0x1f9260-_0x35579b);else{if(0x7d1!==_0x492a96)throw new Error('THREE.Matrix4.makePerspective():\x20Invalid\x20coordinate\x20system:\x20'+_0x492a96);_0x14b4de=-_0x1f9260/(_0x1f9260-_0x35579b),_0x406e3d=-_0x1f9260*_0x35579b/(_0x1f9260-_0x35579b);}return _0x1f2a14[0x0]=_0x557d24,_0x1f2a14[0x4]=0x0,_0x1f2a14[0x8]=_0x5ae61e,_0x1f2a14[0xc]=0x0,_0x1f2a14[0x1]=0x0,_0x1f2a14[0x5]=_0x33eb94,_0x1f2a14[0x9]=_0x3dce6a,_0x1f2a14[0xd]=0x0,_0x1f2a14[0x2]=0x0,_0x1f2a14[0x6]=0x0,_0x1f2a14[0xa]=_0x14b4de,_0x1f2a14[0xe]=_0x406e3d,_0x1f2a14[0x3]=0x0,_0x1f2a14[0x7]=0x0,_0x1f2a14[0xb]=-0x1,_0x1f2a14[0xf]=0x0,this;}['makeOrthographic'](_0x7c6d7d,_0x5aa5f7,_0xdbd935,_0x4394fd,_0x1c5d2e,_0x570c1f,_0x12d8f6=0x7d0){const _0x12ca78=this['elements'],_0x424f55=0x1/(_0x5aa5f7-_0x7c6d7d),_0x196c16=0x1/(_0xdbd935-_0x4394fd),_0x118053=0x1/(_0x570c1f-_0x1c5d2e),_0x946917=(_0x5aa5f7+_0x7c6d7d)*_0x424f55,_0x4ab6b0=(_0xdbd935+_0x4394fd)*_0x196c16;let _0x4f3ae2,_0x3b7860;if(_0x12d8f6===en)_0x4f3ae2=(_0x570c1f+_0x1c5d2e)*_0x118053,_0x3b7860=-0x2*_0x118053;else{if(0x7d1!==_0x12d8f6)throw new Error('THREE.Matrix4.makeOrthographic():\x20Invalid\x20coordinate\x20system:\x20'+_0x12d8f6);_0x4f3ae2=_0x1c5d2e*_0x118053,_0x3b7860=-0x1*_0x118053;}return _0x12ca78[0x0]=0x2*_0x424f55,_0x12ca78[0x4]=0x0,_0x12ca78[0x8]=0x0,_0x12ca78[0xc]=-_0x946917,_0x12ca78[0x1]=0x0,_0x12ca78[0x5]=0x2*_0x196c16,_0x12ca78[0x9]=0x0,_0x12ca78[0xd]=-_0x4ab6b0,_0x12ca78[0x2]=0x0,_0x12ca78[0x6]=0x0,_0x12ca78[0xa]=_0x3b7860,_0x12ca78[0xe]=-_0x4f3ae2,_0x12ca78[0x3]=0x0,_0x12ca78[0x7]=0x0,_0x12ca78[0xb]=0x0,_0x12ca78[0xf]=0x1,this;}['equals'](_0x195c5a){const _0x4e69c3=this['elements'],_0x45d05a=_0x195c5a['elements'];for(let _0x157cc5=0x0;_0x157cc5<0x10;_0x157cc5++)if(_0x4e69c3[_0x157cc5]!==_0x45d05a[_0x157cc5])return!0x1;return!0x0;}['fromArray'](_0x4995ad,_0x168a77=0x0){for(let _0x2f43d3=0x0;_0x2f43d3<0x10;_0x2f43d3++)this['elements'][_0x2f43d3]=_0x4995ad[_0x2f43d3+_0x168a77];return this;}['toArray'](_0x1c3270=[],_0x3d780f=0x0){const _0x259222=this['elements'];return _0x1c3270[_0x3d780f]=_0x259222[0x0],_0x1c3270[_0x3d780f+0x1]=_0x259222[0x1],_0x1c3270[_0x3d780f+0x2]=_0x259222[0x2],_0x1c3270[_0x3d780f+0x3]=_0x259222[0x3],_0x1c3270[_0x3d780f+0x4]=_0x259222[0x4],_0x1c3270[_0x3d780f+0x5]=_0x259222[0x5],_0x1c3270[_0x3d780f+0x6]=_0x259222[0x6],_0x1c3270[_0x3d780f+0x7]=_0x259222[0x7],_0x1c3270[_0x3d780f+0x8]=_0x259222[0x8],_0x1c3270[_0x3d780f+0x9]=_0x259222[0x9],_0x1c3270[_0x3d780f+0xa]=_0x259222[0xa],_0x1c3270[_0x3d780f+0xb]=_0x259222[0xb],_0x1c3270[_0x3d780f+0xc]=_0x259222[0xc],_0x1c3270[_0x3d780f+0xd]=_0x259222[0xd],_0x1c3270[_0x3d780f+0xe]=_0x259222[0xe],_0x1c3270[_0x3d780f+0xf]=_0x259222[0xf],_0x1c3270;}}const Ln=new In(),zn=new Rn(),Nn=new In(0x0,0x0,0x0),Pn=new In(0x1,0x1,0x1),Fn=new In(),jn=new In(),Dn=new In(),Bn=new Rn(),Un=new En();class Wn{constructor(_0x2b2711=0x0,_0x2a5bfc=0x0,_0x182245=0x0,_0x494f7a=Wn['DEFAULT_ORDER']){this['isEuler']=!0x0,this['_x']=_0x2b2711,this['_y']=_0x2a5bfc,this['_z']=_0x182245,this['_order']=_0x494f7a;}get['x'](){return this['_x'];}set['x'](_0x2a4784){this['_x']=_0x2a4784,this['_onChangeCallback']();}get['y'](){return this['_y'];}set['y'](_0x6c4f38){this['_y']=_0x6c4f38,this['_onChangeCallback']();}get['z'](){return this['_z'];}set['z'](_0x5bcb25){this['_z']=_0x5bcb25,this['_onChangeCallback']();}get['order'](){return this['_order'];}set['order'](_0x6817be){this['_order']=_0x6817be,this['_onChangeCallback']();}['set'](_0x3531fd,_0x340da5,_0x19f0a2,_0x1131d1=this['_order']){return this['_x']=_0x3531fd,this['_y']=_0x340da5,this['_z']=_0x19f0a2,this['_order']=_0x1131d1,this['_onChangeCallback'](),this;}['clone'](){return new this['constructor'](this['_x'],this['_y'],this['_z'],this['_order']);}['copy'](_0x1c9897){return this['_x']=_0x1c9897['_x'],this['_y']=_0x1c9897['_y'],this['_z']=_0x1c9897['_z'],this['_order']=_0x1c9897['_order'],this['_onChangeCallback'](),this;}['setFromRotationMatrix'](_0x5f460e,_0x53b839=this['_order'],_0x75805e=!0x0){const _0x49a895=_0x5f460e['elements'],_0x4b785b=_0x49a895[0x0],_0x1f5d9b=_0x49a895[0x4],_0x193b67=_0x49a895[0x8],_0x2e384b=_0x49a895[0x1],_0x30740e=_0x49a895[0x5],_0xf2cb39=_0x49a895[0x9],_0x4611a8=_0x49a895[0x2],_0x8a1916=_0x49a895[0x6],_0x40a280=_0x49a895[0xa];switch(_0x53b839){case'XYZ':this['_y']=Math['asin'](on(_0x193b67,-0x1,0x1)),Math['abs'](_0x193b67)<0.9999999?(this['_x']=Math['atan2'](-_0xf2cb39,_0x40a280),this['_z']=Math['atan2'](-_0x1f5d9b,_0x4b785b)):(this['_x']=Math['atan2'](_0x8a1916,_0x30740e),this['_z']=0x0);break;case'YXZ':this['_x']=Math['asin'](-on(_0xf2cb39,-0x1,0x1)),Math['abs'](_0xf2cb39)<0.9999999?(this['_y']=Math['atan2'](_0x193b67,_0x40a280),this['_z']=Math['atan2'](_0x2e384b,_0x30740e)):(this['_y']=Math['atan2'](-_0x4611a8,_0x4b785b),this['_z']=0x0);break;case'ZXY':this['_x']=Math['asin'](on(_0x8a1916,-0x1,0x1)),Math['abs'](_0x8a1916)<0.9999999?(this['_y']=Math['atan2'](-_0x4611a8,_0x40a280),this['_z']=Math['atan2'](-_0x1f5d9b,_0x30740e)):(this['_y']=0x0,this['_z']=Math['atan2'](_0x2e384b,_0x4b785b));break;case'ZYX':this['_y']=Math['asin'](-on(_0x4611a8,-0x1,0x1)),Math['abs'](_0x4611a8)<0.9999999?(this['_x']=Math['atan2'](_0x8a1916,_0x40a280),this['_z']=Math['atan2'](_0x2e384b,_0x4b785b)):(this['_x']=0x0,this['_z']=Math['atan2'](-_0x1f5d9b,_0x30740e));break;case'YZX':this['_z']=Math['asin'](on(_0x2e384b,-0x1,0x1)),Math['abs'](_0x2e384b)<0.9999999?(this['_x']=Math['atan2'](-_0xf2cb39,_0x30740e),this['_y']=Math['atan2'](-_0x4611a8,_0x4b785b)):(this['_x']=0x0,this['_y']=Math['atan2'](_0x193b67,_0x40a280));break;case'XZY':this['_z']=Math['asin'](-on(_0x1f5d9b,-0x1,0x1)),Math['abs'](_0x1f5d9b)<0.9999999?(this['_x']=Math['atan2'](_0x8a1916,_0x30740e),this['_y']=Math['atan2'](_0x193b67,_0x4b785b)):(this['_x']=Math['atan2'](-_0xf2cb39,_0x40a280),this['_y']=0x0);}return this['_order']=_0x53b839,!0x0===_0x75805e&&this['_onChangeCallback'](),this;}['setFromQuaternion'](_0x5a4f9d,_0x3aa75e,_0x1b57c3){return Bn['makeRotationFromQuaternion'](_0x5a4f9d),this['setFromRotationMatrix'](Bn,_0x3aa75e,_0x1b57c3);}['setFromVector3'](_0x5693d3,_0xcb704c=this['_order']){return this['set'](_0x5693d3['x'],_0x5693d3['y'],_0x5693d3['z'],_0xcb704c);}['reorder'](_0x23223d){return Un['setFromEuler'](this),this['setFromQuaternion'](Un,_0x23223d);}['equals'](_0x459da2){return _0x459da2['_x']===this['_x']&&_0x459da2['_y']===this['_y']&&_0x459da2['_z']===this['_z']&&_0x459da2['_order']===this['_order'];}['fromArray'](_0x28f24c){return this['_x']=_0x28f24c[0x0],this['_y']=_0x28f24c[0x1],this['_z']=_0x28f24c[0x2],void 0x0!==_0x28f24c[0x3]&&(this['_order']=_0x28f24c[0x3]),this['_onChangeCallback'](),this;}['toArray'](_0x3e5bc2=[],_0x44fea3=0x0){return _0x3e5bc2[_0x44fea3]=this['_x'],_0x3e5bc2[_0x44fea3+0x1]=this['_y'],_0x3e5bc2[_0x44fea3+0x2]=this['_z'],_0x3e5bc2[_0x44fea3+0x3]=this['_order'],_0x3e5bc2;}['_onChange'](_0x2c96a5){return this['_onChangeCallback']=_0x2c96a5,this;}['_onChangeCallback'](){}*[Symbol['iterator']](){yield this['_x'],yield this['_y'],yield this['_z'],yield this['_order'];}}Wn['DEFAULT_ORDER']='XYZ';class Gn{constructor(){this['mask']=0x1;}['set'](_0x1f282c){this['mask']=0x1<<_0x1f282c>>>0x0;}['enable'](_0x270991){this['mask']|=0x1<<_0x270991;}['enableAll'](){this['mask']=-0x1;}['toggle'](_0x1b15bf){this['mask']^=0x1<<_0x1b15bf;}['disable'](_0x12888b){this['mask']&=~(0x1<<_0x12888b);}['disableAll'](){this['mask']=0x0;}['test'](_0x8ce400){return!!(this['mask']&_0x8ce400['mask']);}['isEnabled'](_0x5152ce){return!!(this['mask']&0x1<<_0x5152ce);}}let qn=0x0;const Hn=new In(),Vn=new En(),Yn=new Rn(),Zn=new In(),Xn=new In(),Jn=new In(),Kn=new En(),Qn=new In(0x1,0x0,0x0),tr=new In(0x0,0x1,0x0),er=new In(0x0,0x0,0x1),ir={'type':'added'},sr={'type':'removed'};class nr extends sn{constructor(){super(),this['isObject3D']=!0x0,Object['defineProperty'](this,'id',{'value':qn++}),this['uuid']=rn(),this['name']='',this['type']='Object3D',this['parent']=null,this['children']=[],this['up']=nr['DEFAULT_UP']['clone']();const _0x36b438=new In(),_0x4937e9=new Wn(),_0x51eb06=new En(),_0x1b0f41=new In(0x1,0x1,0x1);_0x4937e9['_onChange'](function(){_0x51eb06['setFromEuler'](_0x4937e9,!0x1);}),_0x51eb06['_onChange'](function(){_0x4937e9['setFromQuaternion'](_0x51eb06,void 0x0,!0x1);}),Object['defineProperties'](this,{'position':{'configurable':!0x0,'enumerable':!0x0,'value':_0x36b438},'rotation':{'configurable':!0x0,'enumerable':!0x0,'value':_0x4937e9},'quaternion':{'configurable':!0x0,'enumerable':!0x0,'value':_0x51eb06},'scale':{'configurable':!0x0,'enumerable':!0x0,'value':_0x1b0f41},'modelViewMatrix':{'value':new Rn()},'normalMatrix':{'value':new cn()}}),this['matrix']=new Rn(),this['matrixWorld']=new Rn(),this['matrixAutoUpdate']=nr['DEFAULT_MATRIX_AUTO_UPDATE'],this['matrixWorldAutoUpdate']=nr['DEFAULT_MATRIX_WORLD_AUTO_UPDATE'],this['matrixWorldNeedsUpdate']=!0x1,this['layers']=new Gn(),this['visible']=!0x0,this['castShadow']=!0x1,this['receiveShadow']=!0x1,this['frustumCulled']=!0x0,this['renderOrder']=0x0,this['animations']=[],this['userData']={};}['onBeforeShadow'](){}['onAfterShadow'](){}['onBeforeRender'](){}['onAfterRender'](){}['applyMatrix4'](_0x1a5e42){this['matrixAutoUpdate']&&this['updateMatrix'](),this['matrix']['premultiply'](_0x1a5e42),this['matrix']['decompose'](this['position'],this['quaternion'],this['scale']);}['applyQuaternion'](_0x22bcce){return this['quaternion']['premultiply'](_0x22bcce),this;}['setRotationFromAxisAngle'](_0x59a7ac,_0x23b418){this['quaternion']['setFromAxisAngle'](_0x59a7ac,_0x23b418);}['setRotationFromEuler'](_0x50f272){this['quaternion']['setFromEuler'](_0x50f272,!0x0);}['setRotationFromMatrix'](_0x3eaa85){this['quaternion']['setFromRotationMatrix'](_0x3eaa85);}['setRotationFromQuaternion'](_0x8b2822){this['quaternion']['copy'](_0x8b2822);}['rotateOnAxis'](_0x5a2646,_0x8e8192){return Vn['setFromAxisAngle'](_0x5a2646,_0x8e8192),this['quaternion']['multiply'](Vn),this;}['rotateOnWorldAxis'](_0x34fc69,_0x280ed5){return Vn['setFromAxisAngle'](_0x34fc69,_0x280ed5),this['quaternion']['premultiply'](Vn),this;}['rotateX'](_0x30eab8){return this['rotateOnAxis'](Qn,_0x30eab8);}['rotateY'](_0x31eb58){return this['rotateOnAxis'](tr,_0x31eb58);}['rotateZ'](_0x4a730d){return this['rotateOnAxis'](er,_0x4a730d);}['translateOnAxis'](_0x14bf2b,_0x33b6e7){return Hn['copy'](_0x14bf2b)['applyQuaternion'](this['quaternion']),this['position']['add'](Hn['multiplyScalar'](_0x33b6e7)),this;}['translateX'](_0x31bf31){return this['translateOnAxis'](Qn,_0x31bf31);}['translateY'](_0x3d8bb9){return this['translateOnAxis'](tr,_0x3d8bb9);}['translateZ'](_0x54c1b8){return this['translateOnAxis'](er,_0x54c1b8);}['localToWorld'](_0x55831a){return this['updateWorldMatrix'](!0x0,!0x1),_0x55831a['applyMatrix4'](this['matrixWorld']);}['worldToLocal'](_0x54fcf7){return this['updateWorldMatrix'](!0x0,!0x1),_0x54fcf7['applyMatrix4'](Yn['copy'](this['matrixWorld'])['invert']());}['lookAt'](_0x529bb4,_0x168054,_0xf4e38f){_0x529bb4['isVector3']?Zn['copy'](_0x529bb4):Zn['set'](_0x529bb4,_0x168054,_0xf4e38f);const _0x210844=this['parent'];this['updateWorldMatrix'](!0x0,!0x1),Xn['setFromMatrixPosition'](this['matrixWorld']),this['isCamera']||this['isLight']?Yn['lookAt'](Xn,Zn,this['up']):Yn['lookAt'](Zn,Xn,this['up']),this['quaternion']['setFromRotationMatrix'](Yn),_0x210844&&(Yn['extractRotation'](_0x210844['matrixWorld']),Vn['setFromRotationMatrix'](Yn),this['quaternion']['premultiply'](Vn['invert']()));}['add'](_0x3c91f9){if(arguments['length']>0x1){for(let _0x2579aa=0x0;_0x2579aa<arguments['length'];_0x2579aa++)this['add'](arguments[_0x2579aa]);return this;}return _0x3c91f9===this||_0x3c91f9&&_0x3c91f9['isObject3D']&&(null!==_0x3c91f9['parent']&&_0x3c91f9['parent']['remove'](_0x3c91f9),_0x3c91f9['parent']=this,this['children']['push'](_0x3c91f9),_0x3c91f9['dispatchEvent'](ir)),this;}['remove'](_0x231823){if(arguments['length']>0x1){for(let _0x57d7e9=0x0;_0x57d7e9<arguments['length'];_0x57d7e9++)this['remove'](arguments[_0x57d7e9]);return this;}const _0x52f17a=this['children']['indexOf'](_0x231823);return-0x1!==_0x52f17a&&(_0x231823['parent']=null,this['children']['splice'](_0x52f17a,0x1),_0x231823['dispatchEvent'](sr)),this;}['removeFromParent'](){const _0x5d5649=this['parent'];return null!==_0x5d5649&&_0x5d5649['remove'](this),this;}['clear'](){return this['remove'](...this['children']);}['attach'](_0x3d2e85){return this['updateWorldMatrix'](!0x0,!0x1),Yn['copy'](this['matrixWorld'])['invert'](),null!==_0x3d2e85['parent']&&(_0x3d2e85['parent']['updateWorldMatrix'](!0x0,!0x1),Yn['multiply'](_0x3d2e85['parent']['matrixWorld'])),_0x3d2e85['applyMatrix4'](Yn),this['add'](_0x3d2e85),_0x3d2e85['updateWorldMatrix'](!0x1,!0x0),this;}['getObjectById'](_0x430057){return this['getObjectByProperty']('id',_0x430057);}['getObjectByName'](_0x4cbf9b){return this['getObjectByProperty']('name',_0x4cbf9b);}['getObjectByProperty'](_0x3608e7,_0x37201a){if(this[_0x3608e7]===_0x37201a)return this;for(let _0x535fd2=0x0,_0x2677a4=this['children']['length'];_0x535fd2<_0x2677a4;_0x535fd2++){const _0x508f96=this['children'][_0x535fd2]['getObjectByProperty'](_0x3608e7,_0x37201a);if(void 0x0!==_0x508f96)return _0x508f96;}}['getObjectsByProperty'](_0x394f42,_0xae90f1,_0x15ad3f=[]){this[_0x394f42]===_0xae90f1&&_0x15ad3f['push'](this);const _0x3f3c8b=this['children'];for(let _0x5a8caf=0x0,_0x1f6e02=_0x3f3c8b['length'];_0x5a8caf<_0x1f6e02;_0x5a8caf++)_0x3f3c8b[_0x5a8caf]['getObjectsByProperty'](_0x394f42,_0xae90f1,_0x15ad3f);return _0x15ad3f;}['getWorldPosition'](_0xcaa8d7){return this['updateWorldMatrix'](!0x0,!0x1),_0xcaa8d7['setFromMatrixPosition'](this['matrixWorld']);}['getWorldQuaternion'](_0x4643be){return this['updateWorldMatrix'](!0x0,!0x1),this['matrixWorld']['decompose'](Xn,_0x4643be,Jn),_0x4643be;}['getWorldScale'](_0x3db18b){return this['updateWorldMatrix'](!0x0,!0x1),this['matrixWorld']['decompose'](Xn,Kn,_0x3db18b),_0x3db18b;}['getWorldDirection'](_0x534047){this['updateWorldMatrix'](!0x0,!0x1);const _0x37e4e4=this['matrixWorld']['elements'];return _0x534047['set'](_0x37e4e4[0x8],_0x37e4e4[0x9],_0x37e4e4[0xa])['normalize']();}['raycast'](){}['traverse'](_0x5d8afe){_0x5d8afe(this);const _0x41215f=this['children'];for(let _0x2d4b4f=0x0,_0x1d394c=_0x41215f['length'];_0x2d4b4f<_0x1d394c;_0x2d4b4f++)_0x41215f[_0x2d4b4f]['traverse'](_0x5d8afe);}['traverseVisible'](_0x477c1e){if(!0x1===this['visible'])return;_0x477c1e(this);const _0x15a4fd=this['children'];for(let _0x470470=0x0,_0x19a3f4=_0x15a4fd['length'];_0x470470<_0x19a3f4;_0x470470++)_0x15a4fd[_0x470470]['traverseVisible'](_0x477c1e);}['traverseAncestors'](_0x16c78f){const _0x575c89=this['parent'];null!==_0x575c89&&(_0x16c78f(_0x575c89),_0x575c89['traverseAncestors'](_0x16c78f));}['updateMatrix'](){this['matrix']['compose'](this['position'],this['quaternion'],this['scale']),this['matrixWorldNeedsUpdate']=!0x0;}['updateMatrixWorld'](_0x59c23b){this['matrixAutoUpdate']&&this['updateMatrix'](),(this['matrixWorldNeedsUpdate']||_0x59c23b)&&(null===this['parent']?this['matrixWorld']['copy'](this['matrix']):this['matrixWorld']['multiplyMatrices'](this['parent']['matrixWorld'],this['matrix']),this['matrixWorldNeedsUpdate']=!0x1,_0x59c23b=!0x0);const _0x5c7861=this['children'];for(let _0x24b5d6=0x0,_0x12889f=_0x5c7861['length'];_0x24b5d6<_0x12889f;_0x24b5d6++){const _0x2c60a2=_0x5c7861[_0x24b5d6];!0x0!==_0x2c60a2['matrixWorldAutoUpdate']&&!0x0!==_0x59c23b||_0x2c60a2['updateMatrixWorld'](_0x59c23b);}}['updateWorldMatrix'](_0x275f78,_0x5c1ebf){const _0x5bff20=this['parent'];if(!0x0===_0x275f78&&null!==_0x5bff20&&!0x0===_0x5bff20['matrixWorldAutoUpdate']&&_0x5bff20['updateWorldMatrix'](!0x0,!0x1),this['matrixAutoUpdate']&&this['updateMatrix'](),null===this['parent']?this['matrixWorld']['copy'](this['matrix']):this['matrixWorld']['multiplyMatrices'](this['parent']['matrixWorld'],this['matrix']),!0x0===_0x5c1ebf){const _0x3c5d54=this['children'];for(let _0x5e7336=0x0,_0x1cbd33=_0x3c5d54['length'];_0x5e7336<_0x1cbd33;_0x5e7336++){const _0x479230=_0x3c5d54[_0x5e7336];!0x0===_0x479230['matrixWorldAutoUpdate']&&_0x479230['updateWorldMatrix'](!0x1,!0x0);}}}['toJSON'](_0x76c49f){const _0x128d9e=void 0x0===_0x76c49f||'string'==typeof _0x76c49f,_0x497f44={};_0x128d9e&&(_0x76c49f={'geometries':{},'materials':{},'textures':{},'images':{},'shapes':{},'skeletons':{},'animations':{},'nodes':{}},_0x497f44['metadata']={'version':4.6,'type':'Object','generator':'Object3D.toJSON'});const _0x2bb776={};function _0x1a7f85(_0x188347,_0x368c2c){return void 0x0===_0x188347[_0x368c2c['uuid']]&&(_0x188347[_0x368c2c['uuid']]=_0x368c2c['toJSON'](_0x76c49f)),_0x368c2c['uuid'];}if(_0x2bb776['uuid']=this['uuid'],_0x2bb776['type']=this['type'],''!==this['name']&&(_0x2bb776['name']=this['name']),!0x0===this['castShadow']&&(_0x2bb776['castShadow']=!0x0),!0x0===this['receiveShadow']&&(_0x2bb776['receiveShadow']=!0x0),!0x1===this['visible']&&(_0x2bb776['visible']=!0x1),!0x1===this['frustumCulled']&&(_0x2bb776['frustumCulled']=!0x1),0x0!==this['renderOrder']&&(_0x2bb776['renderOrder']=this['renderOrder']),Object['keys'](this['userData'])['length']>0x0&&(_0x2bb776['userData']=this['userData']),_0x2bb776['layers']=this['layers']['mask'],_0x2bb776['matrix']=this['matrix']['toArray'](),_0x2bb776['up']=this['up']['toArray'](),!0x1===this['matrixAutoUpdate']&&(_0x2bb776['matrixAutoUpdate']=!0x1),this['isInstancedMesh']&&(_0x2bb776['type']='InstancedMesh',_0x2bb776['count']=this['count'],_0x2bb776['instanceMatrix']=this['instanceMatrix']['toJSON'](),null!==this['instanceColor']&&(_0x2bb776['instanceColor']=this['instanceColor']['toJSON']())),this['isBatchedMesh']&&(_0x2bb776['type']='BatchedMesh',_0x2bb776['perObjectFrustumCulled']=this['perObjectFrustumCulled'],_0x2bb776['sortObjects']=this['sortObjects'],_0x2bb776['drawRanges']=this['_drawRanges'],_0x2bb776['reservedRanges']=this['_reservedRanges'],_0x2bb776['visibility']=this['_visibility'],_0x2bb776['active']=this['_active'],_0x2bb776['bounds']=this['_bounds']['map'](_0xef1b27=>({'boxInitialized':_0xef1b27['boxInitialized'],'boxMin':_0xef1b27['box']['min']['toArray'](),'boxMax':_0xef1b27['box']['max']['toArray'](),'sphereInitialized':_0xef1b27['sphereInitialized'],'sphereRadius':_0xef1b27['sphere']['radius'],'sphereCenter':_0xef1b27['sphere']['center']['toArray']()})),_0x2bb776['maxGeometryCount']=this['_maxGeometryCount'],_0x2bb776['maxVertexCount']=this['_maxVertexCount'],_0x2bb776['maxIndexCount']=this['_maxIndexCount'],_0x2bb776['geometryInitialized']=this['_geometryInitialized'],_0x2bb776['geometryCount']=this['_geometryCount'],_0x2bb776['matricesTexture']=this['_matricesTexture']['toJSON'](_0x76c49f),null!==this['boundingSphere']&&(_0x2bb776['boundingSphere']={'center':_0x2bb776['boundingSphere']['center']['toArray'](),'radius':_0x2bb776['boundingSphere']['radius']}),null!==this['boundingBox']&&(_0x2bb776['boundingBox']={'min':_0x2bb776['boundingBox']['min']['toArray'](),'max':_0x2bb776['boundingBox']['max']['toArray']()})),this['isScene'])this['background']&&(this['background']['isColor']?_0x2bb776['background']=this['background']['toJSON']():this['background']['isTexture']&&(_0x2bb776['background']=this['background']['toJSON'](_0x76c49f)['uuid'])),this['environment']&&this['environment']['isTexture']&&!0x0!==this['environment']['isRenderTargetTexture']&&(_0x2bb776['environment']=this['environment']['toJSON'](_0x76c49f)['uuid']);else{if(this['isMesh']||this['isLine']||this['isPoints']){_0x2bb776['geometry']=_0x1a7f85(_0x76c49f['geometries'],this['geometry']);const _0x1fb9f7=this['geometry']['parameters'];if(void 0x0!==_0x1fb9f7&&void 0x0!==_0x1fb9f7['shapes']){const _0x392e72=_0x1fb9f7['shapes'];if(Array['isArray'](_0x392e72))for(let _0x10470b=0x0,_0x3a7257=_0x392e72['length'];_0x10470b<_0x3a7257;_0x10470b++){const _0x2f20e3=_0x392e72[_0x10470b];_0x1a7f85(_0x76c49f['shapes'],_0x2f20e3);}else _0x1a7f85(_0x76c49f['shapes'],_0x392e72);}}}if(this['isSkinnedMesh']&&(_0x2bb776['bindMode']=this['bindMode'],_0x2bb776['bindMatrix']=this['bindMatrix']['toArray'](),void 0x0!==this['skeleton']&&(_0x1a7f85(_0x76c49f['skeletons'],this['skeleton']),_0x2bb776['skeleton']=this['skeleton']['uuid'])),void 0x0!==this['material']){if(Array['isArray'](this['material'])){const _0xc29415=[];for(let _0x59288e=0x0,_0x3eccd9=this['material']['length'];_0x59288e<_0x3eccd9;_0x59288e++)_0xc29415['push'](_0x1a7f85(_0x76c49f['materials'],this['material'][_0x59288e]));_0x2bb776['material']=_0xc29415;}else _0x2bb776['material']=_0x1a7f85(_0x76c49f['materials'],this['material']);}if(this['children']['length']>0x0){_0x2bb776['children']=[];for(let _0x248a7f=0x0;_0x248a7f<this['children']['length'];_0x248a7f++)_0x2bb776['children']['push'](this['children'][_0x248a7f]['toJSON'](_0x76c49f)['object']);}if(this['animations']['length']>0x0){_0x2bb776['animations']=[];for(let _0xeca9f=0x0;_0xeca9f<this['animations']['length'];_0xeca9f++){const _0x53baf6=this['animations'][_0xeca9f];_0x2bb776['animations']['push'](_0x1a7f85(_0x76c49f['animations'],_0x53baf6));}}if(_0x128d9e){const _0x4fbd27=_0x361158(_0x76c49f['geometries']),_0x3f8acf=_0x361158(_0x76c49f['materials']),_0x16b0b0=_0x361158(_0x76c49f['textures']),_0x1a0c7f=_0x361158(_0x76c49f['images']),_0x39ba39=_0x361158(_0x76c49f['shapes']),_0x1d9f2f=_0x361158(_0x76c49f['skeletons']),_0xc68d4c=_0x361158(_0x76c49f['animations']),_0x35db82=_0x361158(_0x76c49f['nodes']);_0x4fbd27['length']>0x0&&(_0x497f44['geometries']=_0x4fbd27),_0x3f8acf['length']>0x0&&(_0x497f44['materials']=_0x3f8acf),_0x16b0b0['length']>0x0&&(_0x497f44['textures']=_0x16b0b0),_0x1a0c7f['length']>0x0&&(_0x497f44['images']=_0x1a0c7f),_0x39ba39['length']>0x0&&(_0x497f44['shapes']=_0x39ba39),_0x1d9f2f['length']>0x0&&(_0x497f44['skeletons']=_0x1d9f2f),_0xc68d4c['length']>0x0&&(_0x497f44['animations']=_0xc68d4c),_0x35db82['length']>0x0&&(_0x497f44['nodes']=_0x35db82);}return _0x497f44['object']=_0x2bb776,_0x497f44;function _0x361158(_0x4bcff4){const _0x5a7bc0=[];for(const _0x5934cb in _0x4bcff4){const _0x1fb136=_0x4bcff4[_0x5934cb];delete _0x1fb136['metadata'],_0x5a7bc0['push'](_0x1fb136);}return _0x5a7bc0;}}['clone'](_0x411b7b){return new this['constructor']()['copy'](this,_0x411b7b);}['copy'](_0x5396f6,_0x2e9125=!0x0){if(this['name']=_0x5396f6['name'],this['up']['copy'](_0x5396f6['up']),this['position']['copy'](_0x5396f6['position']),this['rotation']['order']=_0x5396f6['rotation']['order'],this['quaternion']['copy'](_0x5396f6['quaternion']),this['scale']['copy'](_0x5396f6['scale']),this['matrix']['copy'](_0x5396f6['matrix']),this['matrixWorld']['copy'](_0x5396f6['matrixWorld']),this['matrixAutoUpdate']=_0x5396f6['matrixAutoUpdate'],this['matrixWorldAutoUpdate']=_0x5396f6['matrixWorldAutoUpdate'],this['matrixWorldNeedsUpdate']=_0x5396f6['matrixWorldNeedsUpdate'],this['layers']['mask']=_0x5396f6['layers']['mask'],this['visible']=_0x5396f6['visible'],this['castShadow']=_0x5396f6['castShadow'],this['receiveShadow']=_0x5396f6['receiveShadow'],this['frustumCulled']=_0x5396f6['frustumCulled'],this['renderOrder']=_0x5396f6['renderOrder'],this['animations']=_0x5396f6['animations']['slice'](),this['userData']=JSON['parse'](JSON['stringify'](_0x5396f6['userData'])),!0x0===_0x2e9125)for(let _0x36ac46=0x0;_0x36ac46<_0x5396f6['children']['length'];_0x36ac46++){const _0x47d8f4=_0x5396f6['children'][_0x36ac46];this['add'](_0x47d8f4['clone']());}return this;}}nr['DEFAULT_UP']=new In(0x0,0x1,0x0),nr['DEFAULT_MATRIX_AUTO_UPDATE']=!0x0,nr['DEFAULT_MATRIX_WORLD_AUTO_UPDATE']=!0x0;const rr={'aliceblue':0xf0f8ff,'antiquewhite':0xfaebd7,'aqua':0xffff,'aquamarine':0x7fffd4,'azure':0xf0ffff,'beige':0xf5f5dc,'bisque':0xffe4c4,'black':0x0,'blanchedalmond':0xffebcd,'blue':0xff,'blueviolet':0x8a2be2,'brown':0xa52a2a,'burlywood':0xdeb887,'cadetblue':0x5f9ea0,'chartreuse':0x7fff00,'chocolate':0xd2691e,'coral':0xff7f50,'cornflowerblue':0x6495ed,'cornsilk':0xfff8dc,'crimson':0xdc143c,'cyan':0xffff,'darkblue':0x8b,'darkcyan':0x8b8b,'darkgoldenrod':0xb8860b,'darkgray':0xa9a9a9,'darkgreen':0x6400,'darkgrey':0xa9a9a9,'darkkhaki':0xbdb76b,'darkmagenta':0x8b008b,'darkolivegreen':0x556b2f,'darkorange':0xff8c00,'darkorchid':0x9932cc,'darkred':0x8b0000,'darksalmon':0xe9967a,'darkseagreen':0x8fbc8f,'darkslateblue':0x483d8b,'darkslategray':0x2f4f4f,'darkslategrey':0x2f4f4f,'darkturquoise':0xced1,'darkviolet':0x9400d3,'deeppink':0xff1493,'deepskyblue':0xbfff,'dimgray':0x696969,'dimgrey':0x696969,'dodgerblue':0x1e90ff,'firebrick':0xb22222,'floralwhite':0xfffaf0,'forestgreen':0x228b22,'fuchsia':0xff00ff,'gainsboro':0xdcdcdc,'ghostwhite':0xf8f8ff,'gold':0xffd700,'goldenrod':0xdaa520,'gray':0x808080,'green':0x8000,'greenyellow':0xadff2f,'grey':0x808080,'honeydew':0xf0fff0,'hotpink':0xff69b4,'indianred':0xcd5c5c,'indigo':0x4b0082,'ivory':0xfffff0,'khaki':0xf0e68c,'lavender':0xe6e6fa,'lavenderblush':0xfff0f5,'lawngreen':0x7cfc00,'lemonchiffon':0xfffacd,'lightblue':0xadd8e6,'lightcoral':0xf08080,'lightcyan':0xe0ffff,'lightgoldenrodyellow':0xfafad2,'lightgray':0xd3d3d3,'lightgreen':0x90ee90,'lightgrey':0xd3d3d3,'lightpink':0xffb6c1,'lightsalmon':0xffa07a,'lightseagreen':0x20b2aa,'lightskyblue':0x87cefa,'lightslategray':0x778899,'lightslategrey':0x778899,'lightsteelblue':0xb0c4de,'lightyellow':0xffffe0,'lime':0xff00,'limegreen':0x32cd32,'linen':0xfaf0e6,'magenta':0xff00ff,'maroon':0x800000,'mediumaquamarine':0x66cdaa,'mediumblue':0xcd,'mediumorchid':0xba55d3,'mediumpurple':0x9370db,'mediumseagreen':0x3cb371,'mediumslateblue':0x7b68ee,'mediumspringgreen':0xfa9a,'mediumturquoise':0x48d1cc,'mediumvioletred':0xc71585,'midnightblue':0x191970,'mintcream':0xf5fffa,'mistyrose':0xffe4e1,'moccasin':0xffe4b5,'navajowhite':0xffdead,'navy':0x80,'oldlace':0xfdf5e6,'olive':0x808000,'olivedrab':0x6b8e23,'orange':0xffa500,'orangered':0xff4500,'orchid':0xda70d6,'palegoldenrod':0xeee8aa,'palegreen':0x98fb98,'paleturquoise':0xafeeee,'palevioletred':0xdb7093,'papayawhip':0xffefd5,'peachpuff':0xffdab9,'peru':0xcd853f,'pink':0xffc0cb,'plum':0xdda0dd,'powderblue':0xb0e0e6,'purple':0x800080,'rebeccapurple':0x663399,'red':0xff0000,'rosybrown':0xbc8f8f,'royalblue':0x4169e1,'saddlebrown':0x8b4513,'salmon':0xfa8072,'sandybrown':0xf4a460,'seagreen':0x2e8b57,'seashell':0xfff5ee,'sienna':0xa0522d,'silver':0xc0c0c0,'skyblue':0x87ceeb,'slateblue':0x6a5acd,'slategray':0x708090,'slategrey':0x708090,'snow':0xfffafa,'springgreen':0xff7f,'steelblue':0x4682b4,'tan':0xd2b48c,'teal':0x8080,'thistle':0xd8bfd8,'tomato':0xff6347,'turquoise':0x40e0d0,'violet':0xee82ee,'wheat':0xf5deb3,'white':0xffffff,'whitesmoke':0xf5f5f5,'yellow':0xffff00,'yellowgreen':0x9acd32},or={'h':0x0,'s':0x0,'l':0x0},ar={'h':0x0,'s':0x0,'l':0x0};function hr(_0x470739,_0x3b1504,_0x59a4a2){return _0x59a4a2<0x0&&(_0x59a4a2+=0x1),_0x59a4a2>0x1&&(_0x59a4a2-=0x1),_0x59a4a2<0x1/0x6?_0x470739+0x6*(_0x3b1504-_0x470739)*_0x59a4a2:_0x59a4a2<0.5?_0x3b1504:_0x59a4a2<0x2/0x3?_0x470739+0x6*(_0x3b1504-_0x470739)*(0x2/0x3-_0x59a4a2):_0x470739;}class cr{constructor(_0x4517f0,_0x550fc2,_0x324f88){return this['isColor']=!0x0,this['r']=0x1,this['g']=0x1,this['b']=0x1,this['set'](_0x4517f0,_0x550fc2,_0x324f88);}['set'](_0x2f29f5,_0x1de770,_0x2ac09c){if(void 0x0===_0x1de770&&void 0x0===_0x2ac09c){const _0x3a3220=_0x2f29f5;_0x3a3220&&_0x3a3220['isColor']?this['copy'](_0x3a3220):'number'==typeof _0x3a3220?this['setHex'](_0x3a3220):'string'==typeof _0x3a3220&&this['setStyle'](_0x3a3220);}else this['setRGB'](_0x2f29f5,_0x1de770,_0x2ac09c);return this;}['setScalar'](_0x1f97ea){return this['r']=_0x1f97ea,this['g']=_0x1f97ea,this['b']=_0x1f97ea,this;}['setHex'](_0x509704,_0x1a3bda=Ys){return _0x509704=Math['floor'](_0x509704),this['r']=(_0x509704>>0x10&0xff)/0xff,this['g']=(_0x509704>>0x8&0xff)/0xff,this['b']=(0xff&_0x509704)/0xff,bn['toWorkingColorSpace'](this,_0x1a3bda),this;}['setRGB'](_0x301a0e,_0x416641,_0x16eee9,_0x19512a=bn['workingColorSpace']){return this['r']=_0x301a0e,this['g']=_0x416641,this['b']=_0x16eee9,bn['toWorkingColorSpace'](this,_0x19512a),this;}['setHSL'](_0x16e569,_0x41cdb6,_0x44965a,_0x35bfe9=bn['workingColorSpace']){var _0xd0c453;if(_0x16e569=(_0x16e569%(_0xd0c453=0x1)+_0xd0c453)%_0xd0c453,_0x41cdb6=on(_0x41cdb6,0x0,0x1),_0x44965a=on(_0x44965a,0x0,0x1),0x0===_0x41cdb6)this['r']=this['g']=this['b']=_0x44965a;else{const _0x2fa4d7=_0x44965a<=0.5?_0x44965a*(0x1+_0x41cdb6):_0x44965a+_0x41cdb6-_0x44965a*_0x41cdb6,_0x529658=0x2*_0x44965a-_0x2fa4d7;this['r']=hr(_0x529658,_0x2fa4d7,_0x16e569+0x1/0x3),this['g']=hr(_0x529658,_0x2fa4d7,_0x16e569),this['b']=hr(_0x529658,_0x2fa4d7,_0x16e569-0x1/0x3);}return bn['toWorkingColorSpace'](this,_0x35bfe9),this;}['setStyle'](_0x29ba3a,_0x3d5e3b=Ys){function _0x46b083(_0x26aed6){void 0x0!==_0x26aed6&&parseFloat(_0x26aed6);}let _0x556409;if(_0x556409=/^(\w+)\(([^\)]*)\)/['exec'](_0x29ba3a)){let _0x5a59f8;const _0x2868bc=_0x556409[0x1],_0x1d4de1=_0x556409[0x2];switch(_0x2868bc){case'rgb':case'rgba':if(_0x5a59f8=/^\s*(\d+)\s*,\s*(\d+)\s*,\s*(\d+)\s*(?:,\s*(\d*\.?\d+)\s*)?$/['exec'](_0x1d4de1))return _0x46b083(_0x5a59f8[0x4]),this['setRGB'](Math['min'](0xff,parseInt(_0x5a59f8[0x1],0xa))/0xff,Math['min'](0xff,parseInt(_0x5a59f8[0x2],0xa))/0xff,Math['min'](0xff,parseInt(_0x5a59f8[0x3],0xa))/0xff,_0x3d5e3b);if(_0x5a59f8=/^\s*(\d+)\%\s*,\s*(\d+)\%\s*,\s*(\d+)\%\s*(?:,\s*(\d*\.?\d+)\s*)?$/['exec'](_0x1d4de1))return _0x46b083(_0x5a59f8[0x4]),this['setRGB'](Math['min'](0x64,parseInt(_0x5a59f8[0x1],0xa))/0x64,Math['min'](0x64,parseInt(_0x5a59f8[0x2],0xa))/0x64,Math['min'](0x64,parseInt(_0x5a59f8[0x3],0xa))/0x64,_0x3d5e3b);break;case'hsl':case'hsla':if(_0x5a59f8=/^\s*(\d*\.?\d+)\s*,\s*(\d*\.?\d+)\%\s*,\s*(\d*\.?\d+)\%\s*(?:,\s*(\d*\.?\d+)\s*)?$/['exec'](_0x1d4de1))return _0x46b083(_0x5a59f8[0x4]),this['setHSL'](parseFloat(_0x5a59f8[0x1])/0x168,parseFloat(_0x5a59f8[0x2])/0x64,parseFloat(_0x5a59f8[0x3])/0x64,_0x3d5e3b);}}else{if(_0x556409=/^\#([A-Fa-f\d]+)$/['exec'](_0x29ba3a)){const _0x5c9b23=_0x556409[0x1],_0x2807df=_0x5c9b23['length'];if(0x3===_0x2807df)return this['setRGB'](parseInt(_0x5c9b23['charAt'](0x0),0x10)/0xf,parseInt(_0x5c9b23['charAt'](0x1),0x10)/0xf,parseInt(_0x5c9b23['charAt'](0x2),0x10)/0xf,_0x3d5e3b);if(0x6===_0x2807df)return this['setHex'](parseInt(_0x5c9b23,0x10),_0x3d5e3b);}else{if(_0x29ba3a&&_0x29ba3a['length']>0x0)return this['setColorName'](_0x29ba3a,_0x3d5e3b);}}return this;}['setColorName'](_0xd608c5,_0x44325a=Ys){const _0x5121a9=rr[_0xd608c5['toLowerCase']()];return void 0x0!==_0x5121a9&&this['setHex'](_0x5121a9,_0x44325a),this;}['clone'](){return new this['constructor'](this['r'],this['g'],this['b']);}['copy'](_0x512192){return this['r']=_0x512192['r'],this['g']=_0x512192['g'],this['b']=_0x512192['b'],this;}['copySRGBToLinear'](_0x256140){return this['r']=wn(_0x256140['r']),this['g']=wn(_0x256140['g']),this['b']=wn(_0x256140['b']),this;}['copyLinearToSRGB'](_0x1a6939){return this['r']=vn(_0x1a6939['r']),this['g']=vn(_0x1a6939['g']),this['b']=vn(_0x1a6939['b']),this;}['convertSRGBToLinear'](){return this['copySRGBToLinear'](this),this;}['convertLinearToSRGB'](){return this['copyLinearToSRGB'](this),this;}['getHex'](_0x58becb=Ys){return bn['fromWorkingColorSpace'](lr['copy'](this),_0x58becb),0x10000*Math['round'](on(0xff*lr['r'],0x0,0xff))+0x100*Math['round'](on(0xff*lr['g'],0x0,0xff))+Math['round'](on(0xff*lr['b'],0x0,0xff));}['getHexString'](_0x1f0287=Ys){return('000000'+this['getHex'](_0x1f0287)['toString'](0x10))['slice'](-0x6);}['getHSL'](_0x2a27ae,_0x7880dd=bn['workingColorSpace']){bn['fromWorkingColorSpace'](lr['copy'](this),_0x7880dd);const _0x15882a=lr['r'],_0x13539d=lr['g'],_0x37f51c=lr['b'],_0x47867b=Math['max'](_0x15882a,_0x13539d,_0x37f51c),_0x298686=Math['min'](_0x15882a,_0x13539d,_0x37f51c);let _0x2745ad,_0x30951b;const _0x475bba=(_0x298686+_0x47867b)/0x2;if(_0x298686===_0x47867b)_0x2745ad=0x0,_0x30951b=0x0;else{const _0x10f326=_0x47867b-_0x298686;switch(_0x30951b=_0x475bba<=0.5?_0x10f326/(_0x47867b+_0x298686):_0x10f326/(0x2-_0x47867b-_0x298686),_0x47867b){case _0x15882a:_0x2745ad=(_0x13539d-_0x37f51c)/_0x10f326+(_0x13539d<_0x37f51c?0x6:0x0);break;case _0x13539d:_0x2745ad=(_0x37f51c-_0x15882a)/_0x10f326+0x2;break;case _0x37f51c:_0x2745ad=(_0x15882a-_0x13539d)/_0x10f326+0x4;}_0x2745ad/=0x6;}return _0x2a27ae['h']=_0x2745ad,_0x2a27ae['s']=_0x30951b,_0x2a27ae['l']=_0x475bba,_0x2a27ae;}['getRGB'](_0x48c6cd,_0x310206=bn['workingColorSpace']){return bn['fromWorkingColorSpace'](lr['copy'](this),_0x310206),_0x48c6cd['r']=lr['r'],_0x48c6cd['g']=lr['g'],_0x48c6cd['b']=lr['b'],_0x48c6cd;}['getStyle'](_0x2e90db=Ys){bn['fromWorkingColorSpace'](lr['copy'](this),_0x2e90db);const _0x4b452a=lr['r'],_0x2dd2dc=lr['g'],_0x5c711c=lr['b'];return _0x2e90db!==Ys?'color('+_0x2e90db+'\x20'+_0x4b452a['toFixed'](0x3)+'\x20'+_0x2dd2dc['toFixed'](0x3)+'\x20'+_0x5c711c['toFixed'](0x3)+')':'rgb('+Math['round'](0xff*_0x4b452a)+','+Math['round'](0xff*_0x2dd2dc)+','+Math['round'](0xff*_0x5c711c)+')';}['offsetHSL'](_0x457e48,_0x114359,_0x1fc7b2){return this['getHSL'](or),this['setHSL'](or['h']+_0x457e48,or['s']+_0x114359,or['l']+_0x1fc7b2);}['add'](_0x13bc22){return this['r']+=_0x13bc22['r'],this['g']+=_0x13bc22['g'],this['b']+=_0x13bc22['b'],this;}['addColors'](_0x51f0eb,_0x30462c){return this['r']=_0x51f0eb['r']+_0x30462c['r'],this['g']=_0x51f0eb['g']+_0x30462c['g'],this['b']=_0x51f0eb['b']+_0x30462c['b'],this;}['addScalar'](_0x7926a5){return this['r']+=_0x7926a5,this['g']+=_0x7926a5,this['b']+=_0x7926a5,this;}['sub'](_0x1b08af){return this['r']=Math['max'](0x0,this['r']-_0x1b08af['r']),this['g']=Math['max'](0x0,this['g']-_0x1b08af['g']),this['b']=Math['max'](0x0,this['b']-_0x1b08af['b']),this;}['multiply'](_0x87b91b){return this['r']*=_0x87b91b['r'],this['g']*=_0x87b91b['g'],this['b']*=_0x87b91b['b'],this;}['multiplyScalar'](_0x1a2c58){return this['r']*=_0x1a2c58,this['g']*=_0x1a2c58,this['b']*=_0x1a2c58,this;}['lerp'](_0x563080,_0xc1ae18){return this['r']+=(_0x563080['r']-this['r'])*_0xc1ae18,this['g']+=(_0x563080['g']-this['g'])*_0xc1ae18,this['b']+=(_0x563080['b']-this['b'])*_0xc1ae18,this;}['lerpColors'](_0xa5d5dc,_0x5aa810,_0x7987b0){return this['r']=_0xa5d5dc['r']+(_0x5aa810['r']-_0xa5d5dc['r'])*_0x7987b0,this['g']=_0xa5d5dc['g']+(_0x5aa810['g']-_0xa5d5dc['g'])*_0x7987b0,this['b']=_0xa5d5dc['b']+(_0x5aa810['b']-_0xa5d5dc['b'])*_0x7987b0,this;}['lerpHSL'](_0x38889c,_0x14df3c){this['getHSL'](or),_0x38889c['getHSL'](ar);const _0x43a45e=an(or['h'],ar['h'],_0x14df3c),_0x1d533e=an(or['s'],ar['s'],_0x14df3c),_0x4ad3a8=an(or['l'],ar['l'],_0x14df3c);return this['setHSL'](_0x43a45e,_0x1d533e,_0x4ad3a8),this;}['setFromVector3'](_0x214414){return this['r']=_0x214414['x'],this['g']=_0x214414['y'],this['b']=_0x214414['z'],this;}['applyMatrix3'](_0x13b8c5){const _0xe4c0c0=this['r'],_0x3422a1=this['g'],_0x243a19=this['b'],_0x48b913=_0x13b8c5['elements'];return this['r']=_0x48b913[0x0]*_0xe4c0c0+_0x48b913[0x3]*_0x3422a1+_0x48b913[0x6]*_0x243a19,this['g']=_0x48b913[0x1]*_0xe4c0c0+_0x48b913[0x4]*_0x3422a1+_0x48b913[0x7]*_0x243a19,this['b']=_0x48b913[0x2]*_0xe4c0c0+_0x48b913[0x5]*_0x3422a1+_0x48b913[0x8]*_0x243a19,this;}['equals'](_0x4b08c7){return _0x4b08c7['r']===this['r']&&_0x4b08c7['g']===this['g']&&_0x4b08c7['b']===this['b'];}['fromArray'](_0x4710e0,_0xec149c=0x0){return this['r']=_0x4710e0[_0xec149c],this['g']=_0x4710e0[_0xec149c+0x1],this['b']=_0x4710e0[_0xec149c+0x2],this;}['toArray'](_0x2e15d3=[],_0x220868=0x0){return _0x2e15d3[_0x220868]=this['r'],_0x2e15d3[_0x220868+0x1]=this['g'],_0x2e15d3[_0x220868+0x2]=this['b'],_0x2e15d3;}['fromBufferAttribute'](_0x319ce9,_0x3ef5eb){return this['r']=_0x319ce9['getX'](_0x3ef5eb),this['g']=_0x319ce9['getY'](_0x3ef5eb),this['b']=_0x319ce9['getZ'](_0x3ef5eb),this;}['toJSON'](){return this['getHex']();}*[Symbol['iterator']](){yield this['r'],yield this['g'],yield this['b'];}}const lr=new cr();cr['NAMES']=rr;class ur extends $n{constructor(_0x9971a,_0xd7b39b,_0xbb42c2,_0x2d0216,_0x1b42bc,_0x4c054c,_0x3c9bd9,_0x527836,_0x8479de,_0x1db96e){if((_0x1db96e=void 0x0!==_0x1db96e?_0x1db96e:Hs)!==Hs&&0x403!==_0x1db96e)throw new Error('DepthTexture\x20format\x20must\x20be\x20either\x20THREE.DepthFormat\x20or\x20THREE.DepthStencilFormat');void 0x0===_0xbb42c2&&_0x1db96e===Hs&&(_0xbb42c2=0x3f6),void 0x0===_0xbb42c2&&0x403===_0x1db96e&&(_0xbb42c2=0x3fc),super(null,_0x2d0216,_0x1b42bc,_0x4c054c,_0x3c9bd9,_0x527836,_0x1db96e,_0xbb42c2,_0x8479de),this['isDepthTexture']=!0x0,this['image']={'width':_0x9971a,'height':_0xd7b39b},this['magFilter']=void 0x0!==_0x3c9bd9?_0x3c9bd9:0x3eb,this['minFilter']=void 0x0!==_0x527836?_0x527836:0x3eb,this['flipY']=!0x1,this['generateMipmaps']=!0x1,this['compareFunction']=null;}['copy'](_0x164ca5){return super['copy'](_0x164ca5),this['compareFunction']=_0x164ca5['compareFunction'],this;}['toJSON'](_0x4881d7){const _0x4e22c9=super['toJSON'](_0x4881d7);return null!==this['compareFunction']&&(_0x4e22c9['compareFunction']=this['compareFunction']),_0x4e22c9;}}function fr(_0x446a79){return(fr='function'==typeof Symbol&&'symbol'==typeof Symbol['iterator']?function(_0x598c0e){return typeof _0x598c0e;}:function(_0x2f269b){return _0x2f269b&&'function'==typeof Symbol&&_0x2f269b['constructor']===Symbol&&_0x2f269b!==Symbol['prototype']?'symbol':typeof _0x2f269b;})(_0x446a79);}new ur(0x1,0x1)['compareFunction']=0x203,'undefined'!=typeof __THREE_DEVTOOLS__&&__THREE_DEVTOOLS__['dispatchEvent'](new CustomEvent('register',{'detail':{'revision':'160'}})),'undefined'!=typeof window&&(window['__THREE__']||(window['__THREE__']='160'));var pr=/^\s+/,dr=/\s+$/;function mr(_0x3268c9,_0x103b2f){if(_0x103b2f=_0x103b2f||{},(_0x3268c9=_0x3268c9||'')instanceof mr)return _0x3268c9;if(!(this instanceof mr))return new mr(_0x3268c9,_0x103b2f);var _0x408672=function(_0x4fb2f1){var 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_0x5d9d88=_0x34e566,_0x7f7afa=_0x216e3c['length']-0x1,_0x1db609=Ei['Cartesian3']['fromElements'](_0x5d9d88['x'],_0x5d9d88['y'],_0x5d9d88['z']),_0x322e71=_0x5d9d88['pointColor'],_0x403746=new Ei['Color'](_0x322e71['r'],_0x322e71['g'],_0x322e71['b'],_0x322e71['a']);_0x193e69['setPointColorFun']&&(_0x403746=_0x193e69['setPointColorFun'](_0x322e71)),_0x1044f0['get'](_0x7f7afa)&&!_0x193e69['dontClearPoints']?(_0x1044f0['get'](_0x7f7afa)['position']=_0x1db609,_0x1044f0['get'](_0x7f7afa)['color']=_0x403746):_0x1044f0['add']({'position':_0x1db609,'color':_0x403746,'pixelSize':_0x193e69['pixelSize']||0x3});}}}if(_0x193e69&&_0x193e69['primitiveObj']&&!_0x193e69['dontClearPoints']){let _0x1afb66=_0x193e69['primitiveObj'];if(_0x1afb66){let _0x3d0d13=ki(this,e)['length'],_0x59e50d=_0x216e3c['length'];if(_0x3d0d13>_0x59e50d)for(let _0x38f16e=_0x59e50d;_0x38f16e<_0x3d0d13;_0x38f16e++){let _0x1016f2=_0x1afb66['get'](_0x38f16e);_0x1016f2&&_0x1afb66['remove'](_0x1016f2);}}Ti(this,e,_0x216e3c);}_0x193e69&&_0x193e69['primitiveObj']?_0x424911({}):_0x424911({'header':Ds(_0x361379['header']),'result':_0x216e3c});});}}function vo(_0x536c01,_0x2c071c,_0x20458d,_0x20d420,_0x57e1c6,_0x1e58d2){_0x1e58d2[_0x57e1c6]=_0x536c01+Math['trunc'](0x57b*_0x20d420/0x3e8),_0x1e58d2[_0x57e1c6+0x1]=_0x536c01-Math['trunc'](0x158*_0x2c071c/0x3e8)-Math['trunc'](0x2ca*_0x20d420/0x3e8),_0x1e58d2[_0x57e1c6+0x2]=_0x536c01+Math['trunc'](0x6ea*_0x2c071c/0x3e8),_0x1e58d2[_0x57e1c6+0x3]=0xff,_0x1e58d2[_0x57e1c6+0x4]=_0x20458d+Math['trunc'](0x57b*_0x20d420/0x3e8),_0x1e58d2[_0x57e1c6+0x5]=_0x20458d-Math['trunc'](0x158*_0x2c071c/0x3e8)-Math['trunc'](0x2ca*_0x20d420/0x3e8),_0x1e58d2[_0x57e1c6+0x6]=_0x20458d+Math['trunc'](0x6ea*_0x2c071c/0x3e8),_0x1e58d2[_0x57e1c6+0x7]=0xff;}function xo(_0x59145d,_0x588bec,_0x371047,_0x5f2193){return new Function('data','width','height','step','output','\x0a\x20\x20if\x20(step\x20<\x20width)\x20{\x0a\x20\x20\x20\x20throw\x20new\x20Error(`Bayer\x20image\x20row\x20step\x20(${step})\x20must\x20be\x20at\x20least\x20width\x20(${width})`);\x0a\x20\x20}\x0a\x20\x20for\x20(let\x20i\x20=\x200;\x20i\x20<\x20height\x20/\x202;\x20i++)\x20{\x0a\x20\x20\x20\x20let\x20inIdx\x20=\x20i\x20*\x202\x20*\x20step;\x0a\x20\x20\x20\x20let\x20outTopIdx\x20=\x20i\x20*\x202\x20*\x20width\x20*\x204;\x20//\x20Addresses\x20top\x20row\x0a\x20\x20\x20\x20let\x20outBottomIdx\x20=\x20(i\x20*\x202\x20+\x201)\x20*\x20width\x20*\x204;\x20//\x20Addresses\x20bottom\x20row\x0a\x20\x20\x20\x20for\x20(let\x20j\x20=\x200;\x20j\x20<\x20width\x20/\x202;\x20j++)\x20{\x0a\x20\x20\x20\x20\x20\x20const\x20tl\x20=\x20data[inIdx++];\x0a\x20\x20\x20\x20\x20\x20const\x20tr\x20=\x20data[inIdx++];\x0a\x20\x20\x20\x20\x20\x20const\x20bl\x20=\x20data[inIdx\x20+\x20step\x20-\x202];\x0a\x20\x20\x20\x20\x20\x20const\x20br\x20=\x20data[inIdx\x20+\x20step\x20-\x201];\x0a\x0a\x20\x20\x20\x20\x20\x20const\x20'+_0x59145d+'\x20=\x20tl;\x0a\x20\x20\x20\x20\x20\x20const\x20'+_0x588bec+'\x20=\x20tr;\x0a\x20\x20\x20\x20\x20\x20const\x20'+_0x371047+'\x20=\x20bl;\x0a\x20\x20\x20\x20\x20\x20const\x20'+_0x5f2193+'\x20=\x20br;\x0a\x0a\x20\x20\x20\x20\x20\x20//\x20Top\x20row\x0a\x20\x20\x20\x20\x20\x20output[outTopIdx++]\x20=\x20r;\x0a\x20\x20\x20\x20\x20\x20output[outTopIdx++]\x20=\x20g0;\x0a\x20\x20\x20\x20\x20\x20output[outTopIdx++]\x20=\x20b;\x0a\x20\x20\x20\x20\x20\x20output[outTopIdx++]\x20=\x20255;\x0a\x0a\x20\x20\x20\x20\x20\x20output[outTopIdx++]\x20=\x20r;\x0a\x20\x20\x20\x20\x20\x20output[outTopIdx++]\x20=\x20g0;\x0a\x20\x20\x20\x20\x20\x20output[outTopIdx++]\x20=\x20b;\x0a\x20\x20\x20\x20\x20\x20output[outTopIdx++]\x20=\x20255;\x0a\x0a\x20\x20\x20\x20\x20\x20//\x20Bottom\x20row\x0a\x20\x20\x20\x20\x20\x20output[outBottomIdx++]\x20=\x20r;\x0a\x20\x20\x20\x20\x20\x20output[outBottomIdx++]\x20=\x20g1;\x0a\x20\x20\x20\x20\x20\x20output[outBottomIdx++]\x20=\x20b;\x0a\x20\x20\x20\x20\x20\x20output[outBottomIdx++]\x20=\x20255;\x0a\x0a\x20\x20\x20\x20\x20\x20output[outBottomIdx++]\x20=\x20r;\x0a\x20\x20\x20\x20\x20\x20output[outBottomIdx++]\x20=\x20g1;\x0a\x20\x20\x20\x20\x20\x20output[outBottomIdx++]\x20=\x20b;\x0a\x20\x20\x20\x20\x20\x20output[outBottomIdx++]\x20=\x20255;\x0a\x20\x20\x20\x20}\x0a\x20\x20}');}t=new WeakMap(),e=new WeakMap(),i=new WeakSet(),s=function(_0x34ab65,_0x20b12d,_0x5c0f51,_0x3f4184,_0x29cc72,_0x506e74,_0x4d16cb){let _0x4141dc=_0x29cc72['minValue']??Number['POSITIVE_INFINITY'],_0x204ab3=_0x29cc72['maxValue']??Number['NEGATIVE_INFINITY'];if(bo['includes'](_0x29cc72['colorMode'])&&(null==_0x29cc72['minValue']||null==_0x29cc72['maxValue'])){for(let _0x47796f=0x0;_0x47796f<_0x5c0f51;_0x47796f++){const _0x54c4a2=_0x47796f*_0x3f4184;let _0x45186c=Us((_0x506e74['datatype']||_0x506e74['type'])-0x1)(_0x20b12d,_0x54c4a2,_0x506e74['offset'],_0x4d16cb);isNaN(_0x45186c)||(_0x4141dc=Math['min'](_0x4141dc,_0x45186c),_0x204ab3=Math['max'](_0x204ab3,_0x45186c));}_0x4141dc=_0x29cc72['minValue']??_0x4141dc,_0x204ab3=_0x29cc72['maxValue']??_0x204ab3;}_0x34ab65[0x0]=_0x4141dc,_0x34ab65[0x1]=_0x204ab3;};const _o=xo('r','g0','g1','b'),ko=xo('b','g0','g1','r'),So=xo('g0','b','r','g1'),To=xo('g0','r','b','g1');class Mo extends Fs{constructor(){super(),xi(this,'rawImageTypes'),xi(this,'compressedImageTypes'),this['rawImageTypes']=['sensor_msgs/Image','sensor_msgs/msg/Image'],this['compressedImageTypes']=['sensor_msgs/CompressedImage','sensor_msgs/msg/CompressedImage'];}['parseMessage'](_0x4743b6,_0x43b869,_0x59a182){return new Promise((_0x370060,_0x961118)=>{let _0x844fca=_0x4743b6['header'],_0x36a72c={};var _0x391b07;if(this['rawImageTypes']['includes'](_0x43b869)?(_0x36a72c['header']=Ds(_0x4743b6['header']),_0x36a72c['height']=_0x4743b6['height']??0x0,_0x36a72c['width']=_0x4743b6['width']??0x0,_0x36a72c['encoding']=_0x4743b6['encoding']??'',_0x36a72c['is_bigendian']=_0x4743b6['is_bigendian']??!0x1,_0x36a72c['step']=_0x4743b6['step']??0x0,_0x36a72c['data']=null==(_0x391b07=_0x4743b6['data'])?new Uint8Array(0x0):_0x391b07 instanceof Int8Array||_0x391b07 instanceof Uint8Array?_0x391b07:new Uint8Array(0x0),_0x36a72c['compressed']=!0x1):this['compressedImageTypes']['includes'](_0x43b869)&&(_0x36a72c['compressed']=!0x0,_0x36a72c['header']=Ds(_0x4743b6['header']),_0x36a72c['format']=_0x4743b6['format']??'',_0x36a72c['data']=Bs(_0x4743b6['data'])),_0x36a72c['compressed'])(async function(_0x128fe5,_0x500c84){const _0x8d8b23=new Blob([_0x128fe5['data']],{'type':'image/'+_0x128fe5['format']});return await createImageBitmap(_0x8d8b23,{'resizeWidth':_0x500c84});}(_0x36a72c,0x780)['then'](_0x1cb27b=>{_0x370060({'header':_0x844fca,'result':_0x1cb27b});}));else{const _0x2383d9=new ImageData(_0x36a72c['width'],_0x36a72c['height']);!function(_0x1381ba,_0x1ad9ed,_0x45009e){const {encoding:_0x199299,width:_0x265af3,height:_0x32a89f,step:_0x3cff9f}=_0x1381ba,_0x29ff3f='is_bigendian'in _0x1381ba&&_0x1381ba['is_bigendian'],_0x3f1c01=_0x1381ba['data'];switch(_0x199299){case'yuv422':case'uyvy':!function(_0x4c0a21,_0x5e81d8,_0x366468,_0x108d73,_0xcf9c52){if(_0x108d73<0x2*_0x5e81d8)throw new Error('UYVY\x20image\x20row\x20step\x20('+_0x108d73+')\x20must\x20be\x20at\x20least\x202*width\x20('+0x2*_0x5e81d8+')');let _0xf77a7f=0x0;for(let _0x4980d5=0x0;_0x4980d5<_0x366468;_0x4980d5++){const _0x7391cf=_0x4980d5*_0x108d73;for(let _0x4349cc=0x0;_0x4349cc<_0x5e81d8;_0x4349cc+=0x2){const _0x37eac7=_0x7391cf+0x2*_0x4349cc,_0x54e420=_0x4c0a21[_0x37eac7]-0x80,_0x41e141=_0x4c0a21[_0x37eac7+0x1],_0x2f285c=_0x4c0a21[_0x37eac7+0x2]-0x80;vo(_0x41e141,_0x54e420,_0x4c0a21[_0x37eac7+0x3],_0x2f285c,_0xf77a7f,_0xcf9c52),_0xf77a7f+=0x8;}}}(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'yuv422_yuy2':case'yuyv':!function(_0x43728e,_0x4c9227,_0x1817f8,_0x147154,_0xa3821e){if(_0x147154<0x2*_0x4c9227)throw new Error('YUYV\x20image\x20row\x20step\x20('+_0x147154+')\x20must\x20be\x20at\x20least\x202*width\x20('+0x2*_0x4c9227+')');let _0x393d95=0x0;for(let _0x160f77=0x0;_0x160f77<_0x1817f8;_0x160f77++){const _0x230f0c=_0x160f77*_0x147154;for(let _0x363059=0x0;_0x363059<_0x4c9227;_0x363059+=0x2){const _0x2b25b5=_0x230f0c+0x2*_0x363059;vo(_0x43728e[_0x2b25b5],_0x43728e[_0x2b25b5+0x1]-0x80,_0x43728e[_0x2b25b5+0x2],_0x43728e[_0x2b25b5+0x3]-0x80,_0x393d95,_0xa3821e),_0x393d95+=0x8;}}}(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'rgb8':!function(_0x4d6e6a,_0x27893f,_0x1a7798,_0x58da13,_0x4dbc1f){if(_0x58da13<0x3*_0x27893f)throw new Error('RGB8\x20image\x20row\x20step\x20('+_0x58da13+')\x20must\x20be\x20at\x20least\x203*width\x20('+0x3*_0x27893f+')');let _0x44a641=0x0;for(let _0xaac6c2=0x0;_0xaac6c2<_0x1a7798;_0xaac6c2++){const _0x33f3c7=_0xaac6c2*_0x58da13;for(let _0x390a67=0x0;_0x390a67<_0x27893f;_0x390a67++){const _0x3a1ec3=_0x33f3c7+0x3*_0x390a67,_0x5362a9=_0x4d6e6a[_0x3a1ec3],_0x1cc4b0=_0x4d6e6a[_0x3a1ec3+0x1],_0xd9292a=_0x4d6e6a[_0x3a1ec3+0x2];_0x4dbc1f[_0x44a641++]=_0x5362a9,_0x4dbc1f[_0x44a641++]=_0x1cc4b0,_0x4dbc1f[_0x44a641++]=_0xd9292a,_0x4dbc1f[_0x44a641++]=0xff;}}}(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'rgba8':!function(_0x5ec080,_0x103ac6,_0x4da4ea,_0x2c6af0,_0x451a9d){if(_0x2c6af0<0x4*_0x103ac6)throw new Error('RGBA8\x20image\x20row\x20step\x20('+_0x2c6af0+')\x20must\x20be\x20at\x20least\x204*width\x20('+0x4*_0x103ac6+')');let _0x2ac8d4=0x0;for(let _0x1e2840=0x0;_0x1e2840<_0x4da4ea;_0x1e2840++){const _0x215d65=_0x1e2840*_0x2c6af0;for(let _0x3944f9=0x0;_0x3944f9<_0x103ac6;_0x3944f9++){const _0x253e4f=_0x215d65+0x4*_0x3944f9,_0x263c31=_0x5ec080[_0x253e4f],_0xfcbc1b=_0x5ec080[_0x253e4f+0x1],_0x508e07=_0x5ec080[_0x253e4f+0x2],_0x3f48b6=_0x5ec080[_0x253e4f+0x3];_0x451a9d[_0x2ac8d4++]=_0x263c31,_0x451a9d[_0x2ac8d4++]=_0xfcbc1b,_0x451a9d[_0x2ac8d4++]=_0x508e07,_0x451a9d[_0x2ac8d4++]=_0x3f48b6;}}}(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'bgra8':!function(_0x479085,_0xe43b03,_0xab5bf7,_0x30fb7c,_0x2f607){if(_0x30fb7c<0x4*_0xe43b03)throw new Error('BGRA8\x20image\x20row\x20step\x20('+_0x30fb7c+')\x20must\x20be\x20at\x20least\x204*width\x20('+0x4*_0xe43b03+')');let _0x3dd070=0x0;for(let _0x29e51a=0x0;_0x29e51a<_0xab5bf7;_0x29e51a++){const _0x5f55ba=_0x29e51a*_0x30fb7c;for(let _0x37507d=0x0;_0x37507d<_0xe43b03;_0x37507d++){const _0x2beb22=_0x5f55ba+0x4*_0x37507d,_0x265eaa=_0x479085[_0x2beb22],_0x5b06d3=_0x479085[_0x2beb22+0x1],_0x1f6289=_0x479085[_0x2beb22+0x2],_0x2e0d00=_0x479085[_0x2beb22+0x3];_0x2f607[_0x3dd070++]=_0x1f6289,_0x2f607[_0x3dd070++]=_0x5b06d3,_0x2f607[_0x3dd070++]=_0x265eaa,_0x2f607[_0x3dd070++]=_0x2e0d00;}}}(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'bgr8':case'8UC3':!function(_0x1a439e,_0x4ab966,_0x468cbd,_0x1ed23e,_0x7b8821){if(_0x1ed23e<0x3*_0x4ab966)throw new Error('BGR8\x20image\x20row\x20step\x20('+_0x1ed23e+')\x20must\x20be\x20at\x20least\x203*width\x20('+0x3*_0x4ab966+')');let _0x41c42a=0x0;for(let _0x2bad37=0x0;_0x2bad37<_0x468cbd;_0x2bad37++){const _0x2504c9=_0x2bad37*_0x1ed23e;for(let _0x13487f=0x0;_0x13487f<_0x4ab966;_0x13487f++){const _0x2633ad=_0x2504c9+0x3*_0x13487f,_0x2391d7=_0x1a439e[_0x2633ad],_0x323176=_0x1a439e[_0x2633ad+0x1],_0x75791d=_0x1a439e[_0x2633ad+0x2];_0x7b8821[_0x41c42a++]=_0x75791d,_0x7b8821[_0x41c42a++]=_0x323176,_0x7b8821[_0x41c42a++]=_0x2391d7,_0x7b8821[_0x41c42a++]=0xff;}}}(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'32FC1':!function(_0xa616aa,_0xe78cb6,_0x5f44d7,_0x56f822,_0x44b3f5,_0x12e9ed){if(_0x56f822<0x4*_0xe78cb6)throw new Error('Float\x20image\x20row\x20step\x20('+_0x56f822+')\x20must\x20be\x20at\x20least\x204*width\x20('+0x4*_0xe78cb6+')');const _0x11d100=new DataView(_0xa616aa['buffer'],_0xa616aa['byteOffset']);let _0x33fd57=0x0;for(let _0x11fa0b=0x0;_0x11fa0b<_0x5f44d7;_0x11fa0b++){const _0x35b4d6=_0x11fa0b*_0x56f822;for(let _0x133e70=0x0;_0x133e70<_0xe78cb6;_0x133e70++){const _0x27d644=0xff*_0x11d100['getFloat32'](_0x35b4d6+0x4*_0x133e70,!_0x44b3f5);_0x12e9ed[_0x33fd57++]=_0x27d644,_0x12e9ed[_0x33fd57++]=_0x27d644,_0x12e9ed[_0x33fd57++]=_0x27d644,_0x12e9ed[_0x33fd57++]=0xff;}}}(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x29ff3f,_0x45009e);break;case'bayer_rggb8':_o(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'bayer_bggr8':ko(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'bayer_gbrg8':So(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'bayer_grbg8':To(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'mono8':case'8UC1':!function(_0x3964de,_0x2e44a2,_0x219f2e,_0x330c90,_0x5f2622){if(_0x330c90<_0x2e44a2)throw new Error('Uint8\x20image\x20row\x20step\x20('+_0x330c90+')\x20must\x20be\x20at\x20least\x20width\x20('+_0x2e44a2+')');let _0x2baa1f=0x0;for(let _0x2c6c46=0x0;_0x2c6c46<_0x219f2e;_0x2c6c46++){const _0x375518=_0x2c6c46*_0x330c90;for(let _0x5bf030=0x0;_0x5bf030<_0x2e44a2;_0x5bf030++){const _0x331c47=_0x3964de[_0x375518+_0x5bf030];_0x5f2622[_0x2baa1f++]=_0x331c47,_0x5f2622[_0x2baa1f++]=_0x331c47,_0x5f2622[_0x2baa1f++]=_0x331c47,_0x5f2622[_0x2baa1f++]=0xff;}}}(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x45009e);break;case'mono16':case'16UC1':{const _0x3feb66=Object['assign']({},$o,Ao,_0x1ad9ed);if('rgba-fields'===_0x3feb66['colorMode']||'flat'===_0x3feb66['colorMode'])throw Error(_0x3feb66['colorMode']+'\x20color\x20mode\x20is\x20not\x20supported\x20for\x20mono16\x20images');const _0x5c1841=_0x3feb66['minValue'],_0x241c30=_0x3feb66['maxValue'],_0x3d00a4={'r':0x0,'g':0x0,'b':0x0,'a':0x0},_0x28605e=to(_0x3feb66,_0x5c1841,_0x241c30);!function(_0x1c147f,_0x55e347,_0x50175d,_0x37031f,_0x23f01d,_0x1ed4a4,_0x29789c){if(_0x37031f<0x2*_0x55e347)throw new Error('Uint16\x20image\x20row\x20step\x20('+_0x37031f+')\x20must\x20be\x20at\x20least\x202*width\x20('+0x2*_0x55e347+')');const _0xa1650d=new DataView(_0x1c147f['buffer'],_0x1c147f['byteOffset']),_0x3dbd70=_0x29789c?.['minValue']??0x0;let _0x6a447e=_0x29789c?.['maxValue']??0x2710;_0x6a447e===_0x3dbd70&&(_0x6a447e=_0x3dbd70+0x1);const _0x598812=_0x29789c?.['colorConverter'];let _0x179c24=0x0;for(let _0x5f4d1c=0x0;_0x5f4d1c<_0x50175d;_0x5f4d1c++){const _0x47de87=_0x5f4d1c*_0x37031f;for(let _0x574494=0x0;_0x574494<_0x55e347;_0x574494++){let _0x58f181=_0xa1650d['getUint16'](_0x47de87+0x2*_0x574494,!_0x23f01d);if(_0x598812){const {r:_0x200077,g:_0x31b082,b:_0x45248a}=_0x598812(_0x58f181);_0x1ed4a4[_0x179c24++]=0xff*_0x200077,_0x1ed4a4[_0x179c24++]=0xff*_0x31b082,_0x1ed4a4[_0x179c24++]=0xff*_0x45248a;}else _0x58f181=(_0x58f181-_0x3dbd70)/(_0x6a447e-_0x3dbd70),_0x58f181*=0xff,_0x1ed4a4[_0x179c24++]=_0x58f181,_0x1ed4a4[_0x179c24++]=_0x58f181,_0x1ed4a4[_0x179c24++]=_0x58f181;_0x1ed4a4[_0x179c24++]=0xff;}}}(_0x3f1c01,_0x265af3,_0x32a89f,_0x3cff9f,_0x29ff3f,_0x45009e,{'minValue':_0x1ad9ed['minValue'],'maxValue':_0x1ad9ed['maxValue'],'colorConverter':_0x47e5de=>(_0x28605e(_0x3d00a4,_0x47e5de),_0x3d00a4)});break;}default:throw new Error('Unsupported\x20encoding\x20'+_0x199299);}}(_0x36a72c,{'synchronize':!0x1,'flipHorizontal':!0x1,'flipVertical':!0x1,'colorMode':'gradient'},_0x2383d9['data']),_0x370060({'header':_0x844fca,'result':_0x2383d9});}});}['supportTypes'](){return[...this['rawImageTypes'],...this['compressedImageTypes']];}}const $o={'colorMode':'gradient','flatColor':'#ffffff','gradient':['#000000','#ffffff'],'colorMap':'turbo','explicitAlpha':0x0},Ao={'minValue':0x0,'maxValue':0xffff};var Eo={},Io={};Object['defineProperty'](Io,'__esModule',{'value':!0x0});var Co={};function Oo(_0x5db711,_0x2be014=!0x1){if(!_0x2be014&&(_0x5db711['sec']<0x0||_0x5db711['nsec']<0x0))throw new Error('Invalid\x20negative\x20time\x20{\x20sec:\x20'+_0x5db711['sec']+',\x20nsec:\x20'+_0x5db711['nsec']+'\x20}');return Math['floor'](_0x5db711['sec'])+'.'+Math['floor'](_0x5db711['nsec'])['toFixed']()['padStart'](0x9,'0');}function Ro(_0x1b836c){const _0x182e99=0x9-_0x1b836c['length'];return Math['round'](parseInt(_0x1b836c,0xa)*0xa**_0x182e99);}function Lo(_0x1ff0bf,_0x27a0e4=!0x1){const _0x5ecb84=_0x1ff0bf['nsec'],_0x53ed49=Math['floor'](_0x5ecb84/0x3b9aca00),_0x4e29a6=_0x5ecb84%0x3b9aca00,_0x8f115f={'sec':_0x1ff0bf['sec']+_0x53ed49,'nsec':Math['abs'](-0x1===Math['sign'](_0x4e29a6)?0x3b9aca00+_0x4e29a6:_0x4e29a6)};if(!_0x27a0e4&&_0x8f115f['sec']<0x0||_0x8f115f['nsec']<0x0)throw new Error('Cannot\x20normalize\x20invalid\x20time\x20'+Oo(_0x8f115f,!0x0));return _0x8f115f;}function zo({sec:_0x37aba1,nsec:_0x2588d7},{sec:_0x24021e,nsec:_0x54d336}){return Lo({'sec':_0x37aba1+_0x24021e,'nsec':_0x2588d7+_0x54d336});}function No({sec:_0x36cb0d,nsec:_0x159b6d},{sec:_0x30af6a,nsec:_0x221c54}){return Lo({'sec':_0x36cb0d-_0x30af6a,'nsec':_0x159b6d-_0x221c54},!0x0);}function Po({sec:_0x34ff83,nsec:_0x4999ba}){return _0x34ff83+1e-9*_0x4999ba;}function Fo(_0x492d56){let _0x2f677a=Math['trunc'](_0x492d56),_0x17c861=Math['round'](0x3b9aca00*(_0x492d56-_0x2f677a));return _0x2f677a+=Math['trunc'](_0x17c861/0x3b9aca00),_0x17c861%=0x3b9aca00,{'sec':_0x2f677a,'nsec':_0x17c861};}function jo(_0x1c3044,_0x3203ab){const _0x5560b3=_0x1c3044['sec']-_0x3203ab['sec'];return 0x0!==_0x5560b3?_0x5560b3:_0x1c3044['nsec']-_0x3203ab['nsec'];}Object['defineProperty'](Co,'__esModule',{'value':!0x0}),Co['areEqual']=Co['isGreaterThan']=Co['isLessThan']=Co['compare']=Co['isTimeInRangeInclusive']=Co['clampTime']=Co['fromMicros']=Co['fromMillis']=Co['toMillis']=Co['fromNanoSec']=Co['fromSec']=Co['toSec']=Co['toMicroSec']=Co['toNanoSec']=Co['subtract']=Co['add']=Co['fixTime']=Co['interpolate']=Co['percentOf']=Co['fromDate']=Co['toDate']=Co['fromRFC3339String']=Co['toRFC3339String']=Co['fromString']=Co['toString']=Co['isTime']=void 0x0,Co['isTime']=function(_0x35d71a){return'object'==typeof _0x35d71a&&!!_0x35d71a&&'sec'in _0x35d71a&&'nsec'in _0x35d71a&&0x2===Object['getOwnPropertyNames'](_0x35d71a)['length'];},Co['toString']=Oo,Co['fromString']=function(_0x34802e){if(/^\d+\.?$/['test'](_0x34802e)){const _0x26b69a=parseInt(_0x34802e,0xa);return{'sec':isNaN(_0x26b69a)?0x0:_0x26b69a,'nsec':0x0};}if(!/^\d+\.\d+$/['test'](_0x34802e))return;const _0x87d1ea=_0x34802e['split']('.');if(0x0===_0x87d1ea['length'])return;const [_0x4c538c,_0x356cf1]=_0x87d1ea;if(null==_0x4c538c||null==_0x356cf1)return;const _0x5cb8cc=parseInt(_0x4c538c,0xa),_0x384949=Ro(_0x356cf1);return Lo({'sec':isNaN(_0x5cb8cc)?0x0:_0x5cb8cc,'nsec':_0x384949});},Co['toRFC3339String']=function(_0x409917){if(_0x409917['sec']<0x0||_0x409917['nsec']<0x0)throw new Error('Invalid\x20negative\x20time\x20{\x20sec:\x20'+_0x409917['sec']+',\x20nsec:\x20'+_0x409917['nsec']+'\x20}');if(_0x409917['nsec']>=0x3b9aca00)throw new Error('Invalid\x20nanosecond\x20value\x20'+_0x409917['nsec']);const _0x557ffd=new Date(0x3e8*_0x409917['sec']);return _0x557ffd['getUTCFullYear']()+'-'+(_0x557ffd['getUTCMonth']()+0x1)['toFixed']()['padStart'](0x2,'0')+'-'+_0x557ffd['getUTCDate']()['toFixed']()['padStart'](0x2,'0')+'T'+_0x557ffd['getUTCHours']()['toFixed']()['padStart'](0x2,'0')+':'+_0x557ffd['getUTCMinutes']()['toFixed']()['padStart'](0x2,'0')+':'+_0x557ffd['getUTCSeconds']()['toFixed']()['padStart'](0x2,'0')+'.'+_0x409917['nsec']['toFixed']()['padStart'](0x9,'0')+'Z';},Co['fromRFC3339String']=function(_0x2ecbb8){const _0x4ef3a0=/^(\d{4,})-(\d\d)-(\d\d)[Tt](\d\d):(\d\d):(\d\d)(?:\.(\d+))?(?:[Zz]|([+-])(\d\d):(\d\d))$/['exec'](_0x2ecbb8);if(null==_0x4ef3a0)return;const [,_0x1d0cd7,_0x2b4d64,_0x5948a2,_0x77032d,_0x14c646,_0x2fbdeb,_0x3fa5ea,_0xd20d0,_0x3d30c5,_0x2ef221]=_0x4ef3a0,_0x27cc8b='-'===_0xd20d0?-0x1:0x1,_0x1c7632=Date['UTC'](+_0x1d0cd7,+_0x2b4d64-0x1,+_0x5948a2,+_0x77032d-_0x27cc8b*+(_0x3d30c5??0x0),+_0x14c646-_0x27cc8b*+(_0x2ef221??0x0),+_0x2fbdeb);return _0x1c7632%0x3e8==0x0?Lo({'sec':_0x1c7632/0x3e8,'nsec':null!=_0x3fa5ea?Ro(_0x3fa5ea):0x0}):void 0x0;},Co['toDate']=function(_0x510c89){const {sec:_0x1295f8,nsec:_0x3b1d43}=_0x510c89;return new Date(0x3e8*_0x1295f8+_0x3b1d43/0xf4240);},Co['fromDate']=function(_0x515e5f){const _0xc6dcaf=_0x515e5f['getTime'](),_0x3d8897=_0xc6dcaf%0x3e8;return{'sec':Math['floor'](_0xc6dcaf/0x3e8),'nsec':0xf4240*_0x3d8897};},Co['percentOf']=function(_0x3dce5e,_0x355233,_0x1e83de){const _0x351875=No(_0x355233,_0x3dce5e);return Po(No(_0x1e83de,_0x3dce5e))/Po(_0x351875);},Co['interpolate']=function(_0x442b85,_0x568d29,_0x44c575){return zo(_0x442b85,Fo(_0x44c575*Po(No(_0x568d29,_0x442b85))));},Co['fixTime']=Lo,Co['add']=zo,Co['subtract']=No,Co['toNanoSec']=function({sec:_0x54d647,nsec:_0x463b60}){return 0x3b9aca00n*BigInt(_0x54d647)+BigInt(_0x463b60);},Co['toMicroSec']=function({sec:_0x451a72,nsec:_0x5114d1}){return(0x3b9aca00*_0x451a72+_0x5114d1)/0x3e8;},Co['toSec']=Po,Co['fromSec']=Fo,Co['fromNanoSec']=function(_0x21bf08){return{'sec':Number(_0x21bf08/0x3b9aca00n),'nsec':Number(_0x21bf08%0x3b9aca00n)};},Co['toMillis']=function(_0x543f18,_0x2e8ef8=!0x0){const _0x5dda4c=0x3e8*_0x543f18['sec'],_0x25c1b3=_0x543f18['nsec']/0xf4240;return _0x2e8ef8?_0x5dda4c+Math['ceil'](_0x25c1b3):_0x5dda4c+Math['floor'](_0x25c1b3);},Co['fromMillis']=function(_0x32cdbd){let _0x2acc1=Math['trunc'](_0x32cdbd/0x3e8),_0x13c364=Math['round'](0xf4240*(_0x32cdbd-0x3e8*_0x2acc1));return _0x2acc1+=Math['trunc'](_0x13c364/0x3b9aca00),_0x13c364%=0x3b9aca00,{'sec':_0x2acc1,'nsec':_0x13c364};},Co['fromMicros']=function(_0x2e4bf7){let _0xc7ceb0=Math['trunc'](_0x2e4bf7/0xf4240),_0x2578d5=Math['round'](0x3e8*(_0x2e4bf7-0xf4240*_0xc7ceb0));return _0xc7ceb0+=Math['trunc'](_0x2578d5/0x3b9aca00),_0x2578d5%=0x3b9aca00,{'sec':_0xc7ceb0,'nsec':_0x2578d5};},Co['clampTime']=function(_0x550b0f,_0x245aff,_0x326abb){return jo(_0x245aff,_0x550b0f)>0x0?{'sec':_0x245aff['sec'],'nsec':_0x245aff['nsec']}:jo(_0x326abb,_0x550b0f)<0x0?{'sec':_0x326abb['sec'],'nsec':_0x326abb['nsec']}:{'sec':_0x550b0f['sec'],'nsec':_0x550b0f['nsec']};},Co['isTimeInRangeInclusive']=function(_0x44a694,_0x130c00,_0x2012d0){return!(jo(_0x130c00,_0x44a694)>0x0||jo(_0x2012d0,_0x44a694)<0x0);},Co['compare']=jo,Co['isLessThan']=function(_0x4badc0,_0x5b7291){return jo(_0x4badc0,_0x5b7291)<0x0;},Co['isGreaterThan']=function(_0x55938f,_0x3bfdd0){return jo(_0x55938f,_0x3bfdd0)>0x0;},Co['areEqual']=function(_0x147ef2,_0x39adb3){return _0x147ef2['sec']===_0x39adb3['sec']&&_0x147ef2['nsec']===_0x39adb3['nsec'];},function(_0x39e758){var _0x2a4bab=Li&&Li['__createBinding']||(Object['create']?function(_0x1904aa,_0x4559a5,_0x1a97bb,_0x38650a){void 0x0===_0x38650a&&(_0x38650a=_0x1a97bb),Object['defineProperty'](_0x1904aa,_0x38650a,{'enumerable':!0x0,'get':function(){return _0x4559a5[_0x1a97bb];}});}:function(_0x12c94e,_0x336895,_0x391b68,_0x80b31a){void 0x0===_0x80b31a&&(_0x80b31a=_0x391b68),_0x12c94e[_0x80b31a]=_0x336895[_0x391b68];}),_0x5d4e01=Li&&Li['__exportStar']||function(_0x4362fd,_0x475fdf){for(var _0x47c337 in _0x4362fd)'default'===_0x47c337||Object['prototype']['hasOwnProperty']['call'](_0x475fdf,_0x47c337)||_0x2a4bab(_0x475fdf,_0x4362fd,_0x47c337);};Object['defineProperty'](_0x39e758,'__esModule',{'value':!0x0}),_0x5d4e01(Io,_0x39e758),_0x5d4e01(Co,_0x39e758);}(Eo);const Do={0x0:'ARROW',0x1:'CUBE',0x2:'SPHERE',0x3:'CYLINDER',0x4:'LINE_STRIP',0x5:'LINE_LIST',0x6:'CUBE_LIST',0x7:'SPHERE_LIST',0x8:'POINTS',0x9:'TEXT',0xa:'MESH_RESOURCE',0xb:'TRIANGLE_LIST'};class Bo extends Fs{constructor(){super(...arguments),xi(this,'prevMarkersArray',new Map());}['supportTypes'](){return['visualization_msgs/MarkerArray','visualization_msgs/msg/MarkerArray'];}['parseMessage'](_0x9ffea6,_0x107417,_0x56b0d0){return new Promise((_0xe7d7cc,_0x2aa299)=>{let _0x5e3afd=_0x9ffea6['markers']||[],_0x2a7fc5=[];const _0x2a7d2b=new Date()['getTime']();let _0x51c880=[];this['prevMarkersArray']['forEach']((_0x454e9c,_0x3a7706)=>{let _0x23dd47=_0x454e9c['receiveTime'],_0x477515=Number(_0x454e9c['expiresIn']);void 0x0!==_0x477515&&_0x2a7d2b>_0x23dd47+_0x477515&&(_0x454e9c['action']=0x2,_0x2a7fc5['push'](_0x454e9c),this['prevMarkersArray']['delete'](_0x3a7706));});for(let _0x1bca45=0x0;_0x1bca45<_0x5e3afd['length'];_0x1bca45++){let _0xc81ab=Uo(_0x5e3afd[_0x1bca45]);if(_0xc81ab['id']=this['getMarkerId'](_0xc81ab),_0x51c880['push'](_0xc81ab['id']),_0xc81ab['action']=this['getMarkerAction'](_0xc81ab,_0xc81ab['id']),-0x1===_0xc81ab['action'])continue;let _0x23ece5=Do[_0xc81ab['type']];const _0x2eee91=0x0!==_0xc81ab['lifetime']['sec']||0x0!==_0xc81ab['lifetime']['nsec'];let _0x2292c2={'type':_0x23ece5,'action':_0xc81ab['action'],'position':_0xc81ab['pose']['position'],'orientation':_0xc81ab['pose']['orientation'],'dimensions':_0xc81ab['scale'],'points':_0xc81ab['points'],'label':_0xc81ab['text'],'receiveTime':_0x2a7d2b,'expiresIn':_0x2eee91?Eo['toNanoSec'](_0xc81ab['lifetime']):void 0x0};_0x2a7fc5['push'](_0x2292c2),this['prevMarkersArray']['set'](_0xc81ab['id'],_0x2292c2);}_0xe7d7cc({'result':_0x2a7fc5});});}['getMarkerId'](_0x3acbac){return'markers_'+_0x3acbac['type']+'_'+_0x3acbac['id'];}['getMarkerAction'](_0x3e4995,_0x206599){let _0x538cb6=_0x3e4995['action'];return 0x0===_0x538cb6||0x0===_0x538cb6?(_0x538cb6=0x0,this['prevMarkersArray']['has'](_0x206599)&&(_0x538cb6=0x1)):0x2!==_0x538cb6&&0x3!==_0x538cb6||(_0x538cb6=0x2),_0x538cb6;}}function Uo(_0x1b3e5a){return{'header':Ds(_0x1b3e5a['header']),'ns':_0x1b3e5a['ns']??'','id':_0x1b3e5a['id']+'','type':_0x1b3e5a['type']??0x0,'action':_0x1b3e5a['action']??0x0,'pose':(_0x570281=_0x1b3e5a['pose'],{'position':Ws(_0x570281?.['position']),'orientation':(_0x2b8f1c=_0x570281?.['orientation'],_0x2b8f1c?{'x':_0x2b8f1c['x']??0x0,'y':_0x2b8f1c['y']??0x0,'z':_0x2b8f1c['z']??0x0,'w':_0x2b8f1c['w']??0x0}:{'x':0x0,'y':0x0,'z':0x0,'w':0x1})}),'scale':Ws(_0x1b3e5a['scale']),'color':Gs(_0x1b3e5a['color']),'lifetime':js(_0x1b3e5a['lifetime']),'frame_locked':_0x1b3e5a['frame_locked']??!0x1,'points':(_0x10db5e=_0x1b3e5a['points'],_0x10db5e?_0x10db5e['map'](Ws):[]),'colors':(_0x364969=_0x1b3e5a['colors'],_0x364969?_0x364969['map'](Gs):[]),'text':_0x1b3e5a['text']??'','mesh_resource':_0x1b3e5a['mesh_resource']??'','mesh_use_embedded_materials':_0x1b3e5a['mesh_use_embedded_materials']??!0x1};var _0x364969,_0x10db5e,_0x570281,_0x2b8f1c;}class Wo extends Fs{['supportTypes'](){return['oa_msgs/DetectedObjectArray\x20','oa_msgs/msg/DetectedObjectArray'];}['parseMessage'](_0x284bd8,_0x42b5ec,_0x2d3b76){return new Promise(_0x41278f=>{let _0x3cb094=[];(_0x284bd8['objects']||[])['forEach'](_0x1efa9f=>{_0x3cb094['push']({'position':_0x1efa9f['pose']['position'],'orientation':_0x1efa9f['pose']['orientation'],'dimensions':_0x1efa9f['dimensions'],'label':_0x1efa9f['label']});}),_0x41278f({'result':_0x3cb094});});}}const Go=['gradient','colormap'],qo=0x1/0x0;class Ho extends Fs{constructor(){super(...arguments),Si(this,o),Si(this,n,new Map()),xi(this,'renderables',new Map()),Si(this,r,[]);}['supportTypes'](){return['cusMsg/PointCloud'];}['parseMessage'](_0x1878c2,_0x3e4d33){return new Promise(_0x4cb881=>{let _0x428c1d=null==(_0x251e2c=_0x1878c2['data'])?new Float32Array(0x0):_0x251e2c instanceof Float32Array?_0x251e2c:Array['isArray'](_0x251e2c)||_0x251e2c instanceof ArrayBuffer||_0x251e2c instanceof Float64Array?new Float32Array(_0x251e2c):new Float32Array(0x0);var _0x251e2c;const _0x1b04fe=Math['min'](_0x428c1d['length']/0x4,qo);let _0x4d23b8=[],_0x2a7a49={'explicitAlpha':0x1};yo(_0x2a7a49,['x','y','z','i'],{'supportsPackedRgbModes':!0x0,'supportsRgbaFieldsMode':!0x1}),_0x3e4d33&&_0x3e4d33['colorField']&&(_0x2a7a49['colorField']=_0x3e4d33['colorField']);let _0x63b35f=Number['POSITIVE_INFINITY'],_0x1b19b4=Number['NEGATIVE_INFINITY'];for(let _0x15985f=0x0;_0x15985f<_0x1b04fe;_0x15985f++){let _0x5d100a={'x':_0x428c1d[0x4*_0x15985f],'y':_0x428c1d[0x4*_0x15985f+0x1],'z':_0x428c1d[0x4*_0x15985f+0x2],'i':_0x428c1d[0x4*_0x15985f+0x3]};_0x4d23b8['push'](_0x5d100a);let _0x5cc37d=_0x5d100a[_0x2a7a49['colorField']];(_0x5cc37d||0x0===_0x5cc37d)&&(_0x63b35f=Math['min'](_0x63b35f,_0x5cc37d),_0x1b19b4=Math['max'](_0x1b19b4,_0x5cc37d));}const _0x4a435c=to(_0x2a7a49,_0x63b35f,_0x1b19b4);for(let _0x4399ab=0x0;_0x4399ab<_0x4d23b8['length'];_0x4399ab++){let _0x4f728d=_0x4d23b8[_0x4399ab];const _0x159313={'r':0x0,'g':0x0,'b':0x0,'a':0x0};if(_0x4a435c(_0x159313,_0x4f728d[_0x2a7a49['colorField']]),_0x4f728d['pointColor']=_0x159313,_0x3e4d33&&_0x3e4d33['primitiveObj']){let _0x513906=_0x3e4d33['primitiveObj'];if(_0x513906){let _0x3f91d1=_0x4f728d,_0x126367=_0x4d23b8['length']-0x1,_0x174ed6=Ei['Cartesian3']['fromElements'](_0x3f91d1['x'],_0x3f91d1['y'],_0x3f91d1['z']),_0xad527e=_0x3f91d1['pointColor'],_0x367e06=new Ei['Color'](_0xad527e['r'],_0xad527e['g'],_0xad527e['b'],_0xad527e['a']);_0x3e4d33['setPointColorFun']&&(_0x367e06=_0x3e4d33['setPointColorFun'](_0xad527e)),_0x513906['get'](_0x126367)&&!_0x3e4d33['dontClearPoints']?(_0x513906['get'](_0x126367)['position']=_0x174ed6,_0x513906['get'](_0x126367)['color']=_0x367e06):_0x513906['add']({'position':_0x174ed6,'color':_0x367e06,'pixelSize':_0x3e4d33['pixelSize']||0x3});}}}if(_0x3e4d33&&_0x3e4d33['primitiveObj']&&!_0x3e4d33['dontClearPoints']){let _0x3827bd=_0x3e4d33['primitiveObj'];if(_0x3827bd){let _0x1fb711=ki(this,r)['length'],_0x3f4059=_0x4d23b8['length'];if(_0x1fb711>_0x3f4059)for(let _0x14597a=_0x3f4059;_0x14597a<_0x1fb711;_0x14597a++){let _0x511a52=_0x3827bd['get'](_0x14597a);_0x511a52&&_0x3827bd['remove'](_0x511a52);}}Ti(this,r,_0x4d23b8);}_0x3e4d33&&_0x3e4d33['primitiveObj'],_0x4cb881({'result':_0x4d23b8});});}}n=new WeakMap(),r=new WeakMap(),o=new WeakSet();class Vo extends Fs{constructor(){super();}['parseMessage'](_0x503164,_0x49548d,_0x2e39d8){return new Promise((_0x3305b3,_0x5c9a74)=>{let _0xfe46b5=_0x503164['data'],_0x5690f7={'compressed':!0x0,'format':'jpeg'};_0x5690f7['data']=_0xfe46b5,async function(_0x4b8b8c,_0x1bc481){const _0xbe580b=new Blob([_0x4b8b8c['data']],{'type':'image/'+_0x4b8b8c['format']});return await createImageBitmap(_0xbe580b,{'resizeWidth':_0x1bc481});}(_0x5690f7,0x780)['then'](_0x314845=>{_0x3305b3(_0x314845);});});}['supportTypes'](){return['cusMsg/Image','cusMsg/Video'];}}class Yo{constructor(){xi(this,'list',[]);}['addParser'](_0x7714c7){this['list']['includes'](_0x7714c7)||this['list']['push'](_0x7714c7);}['getParserForType'](_0x4441e8){return this['list']['find'](_0x59454c=>_0x59454c['isSupport'](_0x4441e8));}}let Zo=null;function Xo(){if(!Zo){let _0x32d1a6=new Yo();_0x32d1a6['addParser'](new wo()),_0x32d1a6['addParser'](new Mo()),_0x32d1a6['addParser'](new Bo()),_0x32d1a6['addParser'](new Wo()),_0x32d1a6['addParser'](new Ho()),_0x32d1a6['addParser'](new Vo()),Zo=_0x32d1a6;}return Zo;}class Jo{constructor(){let _0x377cc1;Si(this,a,void 0x0),Si(this,h,void 0x0),_0x377cc1=new Worker('./worker/WorkerMessageParser.worker.js'),Ti(this,a,_0x377cc1),Ti(this,h,Ri['wrap'](ki(this,a)));}async['parse'](_0xe3a255,_0x24eb45,_0x40aafe,_0x55857a){return await ki(this,h)['parse'](_0xe3a255,_0x24eb45,_0x40aafe,_0x55857a);}['terminate'](){ki(this,a)['terminate']();}}a=new WeakMap(),h=new WeakMap();class Ko{constructor(_0x53b30e){xi(this,'url'),xi(this,'reconnectIndex'),xi(this,'reconnectTimeout'),xi(this,'topicsAndRawTypes'),xi(this,'rosClient'),xi(this,'options'),xi(this,'rosVersion'),xi(this,'messageDefinitionObj'),xi(this,'topicTypes'),xi(this,'unableToConnectTopicArr'),xi(this,'parserCollection'),xi(this,'status'),xi(this,'worker'),xi(this,'topicInfo'),xi(this,'topicObjMap'),xi(this,'getDefinitionNum'),this['options']=_0x53b30e,this['url']=this['options']['url'],this['rosClient']=null,this['reconnectIndex']=0x0,this['reconnectTimeout']=null,this['topicsAndRawTypes']=null,this['rosVersion']=0x1,this['messageDefinitionObj']={},this['unableToConnectTopicArr']=[],this['status']=-0x1,this['getDefinitionNum']=0x0,this['parserCollection']=Xo(),this['topicInfo']=new Map(),this['topicObjMap']=new Map(),this['options']['enableWebWorker']&&(this['worker']=new Jo()),this['initWebSocket']();}['wsErrorFun'](_0x1dbf9e){if(this['status']=0x2,this['options']['reconnectTime']){let _0x36291d=this['options']['reconnectMaxNum']||0x3;if(this['reconnectIndex']>=_0x36291d)return;this['reconnectTimeout']&&(clearTimeout(this['reconnectTimeout']),this['reconnectTimeout']=null),this['reconnectTimeout']=setTimeout(()=>{this['initWebSocket']();},this['options']['reconnectTime']),this['reconnectIndex']++;}}['initWebSocket'](){this['options']['isCus']||(this['rosClient']=new Fi['Ros']({'url':this['url'],'transportLibrary':this['options']['transportLibrary']||'workersocket'}),this['status']=0x0,this['rosClient']['on']('connection',()=>{this['status']=0x1,0x0!==this['unableToConnectTopicArr']['length']&&(this['unableToConnectTopicArr']['forEach'](_0x2f1382=>{let {topicId:_0x497ca6,topicName:_0x573503,callback:_0x4ac650,setting:_0x2cb477,options:_0x40f646}=_0x2f1382;this['requestTopic'](_0x497ca6,_0x573503,_0x4ac650,_0x2cb477,_0x40f646);}),this['unableToConnectTopicArr']=[]);}),this['rosClient']['on']('error',_0xedf5d1=>{this['wsErrorFun'](_0xedf5d1);}));}['requestCusWs'](_0x2b06a5,_0x194dca,_0x1995c7,_0xd7baf,_0x1fc641){if(WebSocket){this['status']=0x0;let _0x5c088d=new WebSocket(_0x2b06a5);_0x5c088d['binaryType']='arraybuffer',this['rosClient']=_0x5c088d;let _0x3437db=new Date()['getTime'](),_0x2c1676=this['parserCollection']['getParserForType'](_0x194dca),_0x37b55f=!0x1;this['rosClient']['onopen']=()=>{_0x37b55f||(_0x37b55f=!0x0,_0x1fc641['connectSuccess']());};let _0x198b17=!0x1;this['rosClient']['onmessage']=_0x9559f2=>{if(this['status']=0x1,!(new Date()['getTime']()-_0x3437db<_0x1fc641['subscribeInterval'])){if(_0x3437db=new Date()['getTime'](),!_0x2c1676)throw _0x1995c7&&'function'==typeof _0x1995c7&&_0x1995c7('no\x20parser\x20support\x20for\x20type:'+_0x194dca),new Error('no\x20parser\x20support\x20for\x20type:'+_0x194dca);_0x2c1676['parseMessage'](_0x9559f2,_0xd7baf)['then'](_0x5747e0=>{_0x198b17||(_0x198b17=!0x0),_0x1995c7&&'function'==typeof _0x1995c7&&_0x1995c7(_0x5747e0);})['catch'](_0x7b7733=>{_0x1995c7&&'function'==typeof _0x1995c7&&_0x1995c7('parse\x20data\x20error',_0x7b7733);});}},this['rosClient']['onerror']=_0x5183cc=>{this['wsErrorFun'](_0x5183cc);};}}['getAllTopicList'](){return new Promise(async(_0x5ec2e0,_0x4fc665)=>{if(this['topicsAndRawTypes'])_0x5ec2e0(this['topicsAndRawTypes']);else{const _0xcdb4a4=await new Promise((_0x32a8a5,_0x20354a)=>{this['rosClient']['getTopicsAndRawTypes'](_0x32a8a5,_0x20354a);});this['topicsAndRawTypes']=_0xcdb4a4;let _0x35da3b=0x0;_0x35da3b=_0xcdb4a4['types']['includes']('rcl_interfaces/msg/Log')?0x2:(_0xcdb4a4['types']['includes']('rosgraph_msgs/Log'),0x1),this['rosVersion']=_0x35da3b,_0x5ec2e0(_0xcdb4a4);}});}['updateSettings'](_0x651814){this['options']['settings']=_0x651814;}['updateTopicSetting'](_0x51de81,_0x4629af,_0x411f4a){if(this['topicInfo']['has'](_0x4629af)){let _0x140c35=this['topicInfo']['get'](_0x4629af);_0x140c35['has'](_0x51de81)&&(_0x140c35['get'](_0x51de81)[0x1]=_0x411f4a);}}['unsubscribe'](_0x4f260d,_0x112ccc){if(this['topicInfo']['has'](_0x112ccc)){let _0x8a9984=this['topicInfo']['get'](_0x112ccc);(_0x8a9984['delete'](_0x4f260d),0x0===_0x8a9984['size']&&(this['topicInfo']['delete'](_0x112ccc),this['topicObjMap']['has'](_0x112ccc)))&&(this['topicObjMap']['get'](_0x112ccc)['unsubscribe'](),this['topicObjMap']['delete'](_0x112ccc));}}['getDefinition'](_0x1a23e1){return new Promise(_0x470b2a=>{this['getAllTopicList']()['then'](()=>{let _0x479c97=this['getParsedDefinition'](_0x1a23e1);if(_0x479c97)this['getDefinitionNum']=0x0,_0x470b2a(_0x479c97);else{if(0x0!==this['getDefinitionNum'])throw this['getDefinitionNum']=0x0,new Error('unknown\x20topic:\x20'+_0x1a23e1);this['getDefinitionNum']=0x1,this['topicsAndRawTypes']=null,this['getDefinition'](_0x1a23e1)['then'](_0xf75ac3=>{_0xf75ac3&&_0x470b2a(_0xf75ac3);});}});});}['requestTopic'](_0x16e78a,_0x5a1cfc,_0x575637,_0x1e9c11,_0x521f18){if(0x1===this['status']){if(this['topicInfo']['has'](_0x5a1cfc))_0x521f18['connectSuccess'](),this['topicInfo']['get'](_0x5a1cfc)['set'](_0x16e78a,[_0x575637,_0x1e9c11]);else{this['topicInfo']['set'](_0x5a1cfc,new Map([[_0x16e78a,[_0x575637,_0x1e9c11]]]));let _0x4240eb=!0x1;this['getDefinition'](_0x5a1cfc)['then'](_0x3f7263=>{_0x4240eb||(_0x4240eb=!0x0,_0x521f18['connectSuccess']());let _0x15f7b0,_0xfd8096=_0x3f7263['parsedDefinition'],_0x47f5d9=_0x3f7263['type'];_0x15f7b0=0x2!==this['rosVersion']?new Yi(_0xfd8096):new Ji['MessageReader'](_0xfd8096);if(!(this['topicsAndRawTypes']?.['topics']||[])['includes'](_0x5a1cfc))throw new Error('no\x20topic\x20available\x20for\x20name:\x20'+_0x5a1cfc);{let _0x193338={'ros':this['rosClient'],'name':_0x5a1cfc,'compression':_0x521f18['compression']||'cbor-raw'};_0x521f18['messageType']&&(_0x193338['messageType']=_0x521f18['messageType']);let _0x37dc47=this['parserCollection']['getParserForType'](_0x47f5d9);const _0x39ca55=new Fi['Topic'](_0x193338);let _0x3b8ffc=new Date()['getTime']();this['topicObjMap']['set'](_0x5a1cfc,_0x39ca55),_0x39ca55['subscribe'](_0xc7bb30=>{if(new Date()['getTime']()-_0x3b8ffc<_0x521f18['subscribeInterval'])return;_0x3b8ffc=new Date()['getTime']();const _0x4539a0=new Uint8Array(_0xc7bb30['bytes']),_0x2216e6=_0x15f7b0['readMessage'](_0x4539a0);if(!_0x37dc47)throw _0x575637&&'function'==typeof _0x575637&&_0x575637('no\x20parser\x20support\x20for\x20type:'+_0x47f5d9),new Error('no\x20parser\x20support\x20for\x20type:'+_0x47f5d9);{let _0x147ad2=null;this['topicInfo']['get'](_0x5a1cfc)['forEach'](_0x35d43e=>{let [_0x258a09,_0x446a38]=_0x35d43e;_0x147ad2=this['worker']?this['worker']['parse'](_0x2216e6,_0x47f5d9,_0x5a1cfc,{..._0x446a38}):_0x37dc47['parseMessage'](_0x2216e6,_0x47f5d9,_0x5a1cfc,_0x446a38),_0x147ad2['then'](_0x59c60d=>{_0x258a09&&'function'==typeof _0x258a09&&_0x258a09({..._0x59c60d,'topic':_0x39ca55,'innerMessage':_0x2216e6});})['catch'](_0xdb388f=>{_0x258a09&&'function'==typeof _0x258a09&&_0x258a09('parse\x20data\x20error',_0xdb388f);});});}});}});}}else this['unableToConnectTopicArr']['push']({'topicId':_0x16e78a,'topicName':_0x5a1cfc,'callback':_0x575637,'setting':_0x1e9c11,'options':_0x521f18});}['getParsedDefinition'](_0x5271fc){if(this['messageDefinitionObj'][_0x5271fc])return this['messageDefinitionObj'][_0x5271fc];if(this['topicsAndRawTypes']){for(let _0x1b8ee6=0x0;_0x1b8ee6<this['topicsAndRawTypes']['topics']['length'];_0x1b8ee6++){const _0x1a6cfc=this['topicsAndRawTypes']['topics'][_0x1b8ee6];if(_0x1a6cfc===_0x5271fc){const _0x1e5e78=this['topicsAndRawTypes']['types'][_0x1b8ee6],_0x1eeddd=this['topicsAndRawTypes']['typedefs_full_text'][_0x1b8ee6];if(null==_0x1e5e78||null==_0x1eeddd)throw new Error('unknown\x20type\x20for\x20topic:\x20'+_0x1a6cfc);const _0x4649c1=Di['exports']['parse'](_0x1eeddd,{'ros2':0x2===this['rosVersion']});return this['messageDefinitionObj'][_0x5271fc]={'parsedDefinition':_0x4649c1,'type':_0x1e5e78},this['messageDefinitionObj'][_0x5271fc];}}return null;}}['destroy'](){this['worker']&&(this['worker']['terminate'](),this['worker']=void 0x0),this['rosClient']&&this['rosClient']['close']();}}let Qo={};const ta=_0xd7342b=>Qo[_0xd7342b]?Qo[_0xd7342b]:(_0x361b51=>{if((_0x361b51=_0x361b51||'')&&Qo[_0x361b51])return Qo[_0x361b51];let _0x1767e3={'init':_0x54e83b=>{_0x54e83b['url']&&(_0x1767e3['roselib']=new Ko(_0x54e83b));},'destroy':()=>{_0x1767e3['roselib']?.['destroy'](),Qo[_0x361b51]=null;},'roselib':null};return Qo[_0x361b51]=_0x1767e3,Qo[_0x361b51];})(_0xd7342b);let ea;const ia=new Uint8Array(0x10);function sa(){if(!ea&&(ea='undefined'!=typeof crypto&&crypto['getRandomValues']&&crypto['getRandomValues']['bind'](crypto),!ea))throw new Error('crypto.getRandomValues()\x20not\x20supported.\x20See\x20https://github.com/uuidjs/uuid#getrandomvalues-not-supported');return ea(ia);}const na=[];for(let bf=0x0;bf<0x100;++bf)na['push']((bf+0x100)['toString'](0x10)['slice'](0x1));const ra={'randomUUID':'undefined'!=typeof crypto&&crypto['randomUUID']&&crypto['randomUUID']['bind'](crypto)};function oa(_0x2e07bb,_0x5d8a4b,_0x1bf001){if(ra['randomUUID']&&!_0x5d8a4b&&!_0x2e07bb)return ra['randomUUID']();const 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Error('Type\x20transform\x20cannot\x20be\x20a\x20string\x20(type\x20\x27'+_0x25c755['type']+'\x27\x20for\x20token\x20\x27'+_0x3efa2d+'\x27)');var _0x1765fb=_0x25c755['match'];return _0x25c755['match']=Array['isArray'](_0x1765fb)?_0x1765fb:_0x1765fb?[_0x1765fb]:[],_0x25c755['match']['sort'](function(_0x1fd350,_0x520f5a){return _0x224e26(_0x1fd350)&&_0x224e26(_0x520f5a)?0x0:_0x224e26(_0x520f5a)?-0x1:_0x224e26(_0x1fd350)?0x1:_0x520f5a['length']-_0x1fd350['length'];}),_0x25c755;}function _0x4fce65(_0x4c912d){return Array['isArray'](_0x4c912d)?_0x516ec6(_0x4c912d):_0xe77718(_0x4c912d);}var _0x379ed8=_0x5ae648('error',{'lineBreaks':!0x0,'shouldThrow':!0x0});function _0x17149e(_0x2c82aa,_0x24b4c9){for(var _0x21f9b4=null,_0x535e8b=Object['create'](null),_0xb03775=!0x0,_0x59e1f2=null,_0x2e1f97=[],_0xb6999b=[],_0x2e2127=0x0;_0x2e2127<_0x2c82aa['length'];_0x2e2127++)_0x2c82aa[_0x2e2127]['fallback']&&(_0xb03775=!0x1);for(_0x2e2127=0x0;_0x2e2127<_0x2c82aa['length'];_0x2e2127++){var 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Error('State-switching\x20options\x20are\x20not\x20allowed\x20in\x20stateless\x20lexers\x20(for\x20token\x20\x27'+_0x27050b['defaultType']+'\x27)');if(_0x27050b['fallback'])throw new Error('State-switching\x20options\x20are\x20not\x20allowed\x20on\x20fallback\x20tokens\x20(for\x20token\x20\x27'+_0x27050b['defaultType']+'\x27)');}if(0x0!==_0x33fe51['length']){_0xb03775=!0x1,_0x2e1f97['push'](_0x27050b);for(var _0x8ef3d8=0x0;_0x8ef3d8<_0x33fe51['length'];_0x8ef3d8++){var _0x20c6ee=_0x33fe51[_0x8ef3d8];if(_0x224e26(_0x20c6ee)){if(null===_0x59e1f2)_0x59e1f2=_0x20c6ee['unicode'];else{if(_0x59e1f2!==_0x20c6ee['unicode']&&!0x1===_0x27050b['fallback'])throw new Error('If\x20one\x20rule\x20is\x20/u\x20then\x20all\x20must\x20be');}}}var _0x275ea1=_0x4ea549(_0x33fe51['map'](_0xeeb6ec)),_0x341fa3=new RegExp(_0x275ea1);if(_0x341fa3['test'](''))throw new Error('RegExp\x20matches\x20empty\x20string:\x20'+_0x341fa3);if(_0x157853(_0x275ea1)>0x0)throw new Error('RegExp\x20has\x20capture\x20groups:\x20'+_0x341fa3+'\x0aUse\x20(?:\x20…\x20)\x20instead');if(!_0x27050b['lineBreaks']&&_0x341fa3['test']('\x0a'))throw new Error('Rule\x20should\x20declare\x20lineBreaks:\x20'+_0x341fa3);_0xb6999b['push'](_0x31bb1a(_0x275ea1));}}var _0x153408=_0x21f9b4&&_0x21f9b4['fallback'],_0x3a368e=_0x2339b3&&!_0x153408?'ym':'gm',_0x4fc67f=_0x2339b3||_0x153408?'':'|';return!0x0===_0x59e1f2&&(_0x3a368e+='u'),{'regexp':new RegExp(_0x4ea549(_0xb6999b)+_0x4fc67f,_0x3a368e),'groups':_0x2e1f97,'fast':_0x535e8b,'error':_0x21f9b4||_0x379ed8};}function _0x2e4c80(_0x3bda3d){var _0x267b41=_0x17149e(_0x4fce65(_0x3bda3d));return new _0x5e4b71({'start':_0x267b41},'start');}function _0x58529f(_0x4c55e5,_0x3619c9,_0x44a14d){var _0x238a03=_0x4c55e5&&(_0x4c55e5['push']||_0x4c55e5['next']);if(_0x238a03&&!_0x44a14d[_0x238a03])throw new Error('Missing\x20state\x20\x27'+_0x238a03+'\x27\x20(in\x20token\x20\x27'+_0x4c55e5['defaultType']+'\x27\x20of\x20state\x20\x27'+_0x3619c9+'\x27)');if(_0x4c55e5&&_0x4c55e5['pop']&&0x1!=+_0x4c55e5['pop'])throw new Error('pop\x20must\x20be\x201\x20(in\x20token\x20\x27'+_0x4c55e5['defaultType']+'\x27\x20of\x20state\x20\x27'+_0x3619c9+'\x27)');}function _0x49c563(_0x1e71f6,_0x205ec8){var _0x2d56db=_0x1e71f6['$all']?_0x4fce65(_0x1e71f6['$all']):[];delete _0x1e71f6['$all'];var _0x2e014a=Object['getOwnPropertyNames'](_0x1e71f6);_0x205ec8||(_0x205ec8=_0x2e014a[0x0]);for(var _0x21d6e3=Object['create'](null),_0x5d8f37=0x0;_0x5d8f37<_0x2e014a['length'];_0x5d8f37++)_0x21d6e3[_0x46c933=_0x2e014a[_0x5d8f37]]=_0x4fce65(_0x1e71f6[_0x46c933])['concat'](_0x2d56db);for(_0x5d8f37=0x0;_0x5d8f37<_0x2e014a['length'];_0x5d8f37++)for(var _0x28474c=_0x21d6e3[_0x46c933=_0x2e014a[_0x5d8f37]],_0x37cd6c=Object['create'](null),_0x2515e4=0x0;_0x2515e4<_0x28474c['length'];_0x2515e4++){var 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Error('keyword\x20must\x20be\x20string\x20(in\x20keyword\x20\x27'+_0x5c50cf+'\x27)');_0x110028[_0x47dee3]=_0x5c50cf;});}function _0x2bb5aa(_0xe06da9){return JSON['stringify'](_0xe06da9);}var _0x112dc2='';for(var _0x3ee774 in(_0x112dc2+='switch\x20(value.length)\x20{\x0a',_0x264d7a)){var _0x86ec6a=_0x264d7a[_0x3ee774];_0x112dc2+='case\x20'+_0x3ee774+':\x0a',_0x112dc2+='switch\x20(value)\x20{\x0a',_0x86ec6a['forEach'](function(_0x14c033){var _0x2228cd=_0x110028[_0x14c033];_0x112dc2+='case\x20'+_0x2bb5aa(_0x14c033)+':\x20return\x20'+_0x2bb5aa(_0x2228cd)+'\x0a';}),_0x112dc2+='}\x0a';}return _0x112dc2+='}\x0a',Function('value',_0x112dc2);}var _0x5e4b71=function(_0x43c9c0,_0x2cc0a0){this['startState']=_0x2cc0a0,this['states']=_0x43c9c0,this['buffer']='',this['stack']=[],this['reset']();};_0x5e4b71['prototype']['reset']=function(_0x3b3775,_0x290666){return this['buffer']=_0x3b3775||'',this['index']=0x0,this['line']=_0x290666?_0x290666['line']:0x1,this['col']=_0x290666?_0x290666['col']:0x1,this['queuedToken']=_0x290666?_0x290666['queuedToken']:null,this['queuedThrow']=_0x290666?_0x290666['queuedThrow']:null,this['setState'](_0x290666?_0x290666['state']:this['startState']),this['stack']=_0x290666&&_0x290666['stack']?_0x290666['stack']['slice']():[],this;},_0x5e4b71['prototype']['save']=function(){return{'line':this['line'],'col':this['col'],'state':this['state'],'stack':this['stack']['slice'](),'queuedToken':this['queuedToken'],'queuedThrow':this['queuedThrow']};},_0x5e4b71['prototype']['setState']=function(_0x38c247){if(_0x38c247&&this['state']!==_0x38c247){this['state']=_0x38c247;var 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Ea{constructor(_0x14462a){super(),this['ver']=Ma(_0x14462a['ver']),this['conn']=Ma(_0x14462a['conn']),this['count']=Ma(_0x14462a['count']);}['parseData'](_0x3de911){this['indices']=[];const _0x384efb=new DataView(_0x3de911['buffer'],_0x3de911['byteOffset'],_0x3de911['byteLength']);for(let _0x241d15=0x0;_0x241d15<this['count'];_0x241d15++)this['indices']['push']({'time':_a(_0x3de911,0xc*_0x241d15),'offset':_0x384efb['getUint32'](0xc*_0x241d15+0x8,!0x0)});}}za['opcode']=0x4;class Na extends Ea{constructor(_0x30cf78){super(),this['connections']=[],this['ver']=Ma(_0x30cf78['ver']),this['chunkPosition']=Aa(_0x30cf78['chunk_pos']),this['startTime']=_a(_0x30cf78['start_time'],0x0),this['endTime']=_a(_0x30cf78['end_time'],0x0),this['count']=Ma(_0x30cf78['count']);}['parseData'](_0x199339){this['connections']=[];const _0x31cddb=new DataView(_0x199339['buffer'],_0x199339['byteOffset'],_0x199339['byteLength']);for(let _0x5ab178=0x0;_0x5ab178<this['count'];_0x5ab178++)this['connections']['push']({'conn':_0x31cddb['getUint32'](0x8*_0x5ab178,!0x0),'count':_0x31cddb['getUint32'](0x8*_0x5ab178+0x4,!0x0)});}}Na['opcode']=0x6;const Pa=!0x0;class Fa{constructor(_0x54b164){this['_file']=_0x54b164;}async['verifyBagHeader'](){const _0x318ed1=await this['_file']['read'](0x0,0xd);if('#ROSBAG\x20V2.0\x0a'!==new TextDecoder()['decode'](_0x318ed1))throw new Error('Cannot\x20identify\x20bag\x20format.');}async['readHeader'](){await this['verifyBagHeader']();const _0xe7a62f=await this['_file']['read'](0xd,0x1000),_0x54e1bf=new DataView(_0xe7a62f['buffer'],_0xe7a62f['byteOffset'],_0xe7a62f['byteLength']),_0x2d2cb8=_0xe7a62f['length'];if(_0x2d2cb8<0x8)throw new Error('Record\x20at\x20position\x2013\x20is\x20truncated.');const _0x2ab4a8=_0x54e1bf['getInt32'](0x0,Pa);if(_0x2d2cb8<_0x2ab4a8+0x8)throw new Error('Record\x20at\x20position\x2013\x20header\x20too\x20large:\x20'+_0x2ab4a8+'.');return this['readRecordFromBuffer'](_0xe7a62f,0xd,Ia);}async['readConnectionsAndChunkInfo'](_0x11dab9,_0x4d600d,_0x696d00){const _0x1abc5a=await this['_file']['read'](_0x11dab9,this['_file']['size']()-_0x11dab9);if(0x0===_0x4d600d)return{'connections':[],'chunkInfos':[]};const _0x31f9bc=this['readRecordsFromBuffer'](_0x1abc5a,_0x4d600d,_0x11dab9,Ra),_0xc5f88f=_0x31f9bc[_0x4d600d-0x1]['end']-_0x31f9bc[0x0]['offset'],_0x2f00cb=this['readRecordsFromBuffer'](_0x1abc5a['subarray'](_0xc5f88f),_0x696d00,_0x11dab9+_0xc5f88f,Na);if(_0x696d00>0x0){for(let _0x5a74d5=0x0;_0x5a74d5<_0x696d00-0x1;_0x5a74d5++)_0x2f00cb[_0x5a74d5]['nextChunk']=_0x2f00cb[_0x5a74d5+0x1];_0x2f00cb[_0x696d00-0x1]['nextChunk']=void 0x0;}return{'connections':_0x31f9bc,'chunkInfos':_0x2f00cb};}async['readChunkMessages'](_0x5adf60,_0x49fee4,_0x852649,_0x43aea7,_0x366bee){const _0x560c5e=_0x852649??{'sec':0x0,'nsec':0x0},_0x27cd3a=_0x43aea7??{'sec':Number['MAX_VALUE'],'nsec':Number['MAX_VALUE']},_0x3c4a12=_0x49fee4??_0x5adf60['connections']['map'](_0x469459=>_0x469459['conn']),_0x4ce7db=await this['readChunk'](_0x5adf60,_0x366bee),_0x4cd6ec=_0x4ce7db['chunk'],_0xe37ffe={};_0x4ce7db['indices']['forEach'](_0x1ec981=>{_0xe37ffe[_0x1ec981['conn']]=_0x1ec981;});const _0x4e65dc=function(_0x42c7a5,..._0x510f39){const _0x56ff21=new Ta((_0xef4e99,_0x233780)=>_0x42c7a5(_0xef4e99['value'],_0x233780['value']));for(let _0x225fce=0x0;_0x225fce<_0x510f39['length'];_0x225fce++){const _0x39bbc7=_0x510f39[_0x225fce]['next']();!0x0!==_0x39bbc7['done']&&_0x56ff21['push']({'i':_0x225fce,'value':_0x39bbc7['value']});}return{'next':()=>{if(_0x56ff21['empty']())return{'done':!0x0,'value':void 0x0};const {i:_0x35912b}=_0x56ff21['front'](),_0x561933=_0x510f39[_0x35912b]['next']();return!0x0===_0x561933['done']?{'value':_0x56ff21['pop']()['value'],'done':!0x1}:{'value':_0x56ff21['replace']({'i':_0x35912b,'value':_0x561933['value']})['value'],'done':!0x1};}};}((_0xa45727,_0x14c7cb)=>Eo['compare'](_0xa45727['time'],_0x14c7cb['time']),..._0x3c4a12['filter'](_0x32661c=>null!=_0xe37ffe[_0x32661c])['map'](_0x5ec4ea=>_0xe37ffe[_0x5ec4ea]['indices'][Symbol['iterator']]())),_0x274b96=[];let _0x4478bb=_0x4e65dc['next']();for(;!0x0!==_0x4478bb['done'];){const {value:_0x62a8ae}=_0x4478bb;if(_0x4478bb=_0x4e65dc['next'](),null!=_0x62a8ae&&!Eo['isGreaterThan'](_0x560c5e,_0x62a8ae['time'])){if(Eo['isGreaterThan'](_0x62a8ae['time'],_0x27cd3a))break;_0x274b96['push'](_0x62a8ae);}}return _0x274b96['map'](_0x46953a=>this['readRecordFromBuffer'](_0x4cd6ec['data']['subarray'](_0x46953a['offset']),_0x4cd6ec['dataOffset'],La));}async['readChunk'](_0x35970a,_0x20aed4){if(_0x35970a===this['_lastChunkInfo']&&null!=this['_lastReadResult'])return this['_lastReadResult'];const {nextChunk:_0x1cb483}=_0x35970a,_0x3245df=null!=_0x1cb483?_0x1cb483['chunkPosition']-_0x35970a['chunkPosition']:this['_file']['size']()-_0x35970a['chunkPosition'],_0x5a51fc=await this['_file']['read'](_0x35970a['chunkPosition'],_0x3245df),_0x204e8d=this['readRecordFromBuffer'](_0x5a51fc,_0x35970a['chunkPosition'],Ca),{compression:_0x4b55dd}=_0x204e8d;if('none'!==_0x4b55dd){const _0xd48101=_0x20aed4[_0x4b55dd];if(null==_0xd48101)throw new Error('Unsupported\x20compression\x20type\x20'+_0x204e8d['compression']);const _0x398b67=_0xd48101(_0x204e8d['data'],_0x204e8d['size']);_0x204e8d['data']=_0x398b67;}const _0x5e1acf=this['readRecordsFromBuffer'](_0x5a51fc['subarray'](_0x204e8d['length']),_0x35970a['count'],_0x35970a['chunkPosition']+_0x204e8d['length'],za);return this['_lastChunkInfo']=_0x35970a,this['_lastReadResult']={'chunk':_0x204e8d,'indices':_0x5e1acf},this['_lastReadResult'];}['readRecordsFromBuffer'](_0x4e1a16,_0x14274c,_0x87bc46,_0x1c1eb5){const _0x1f0d3f=[];let _0x48c425=0x0;for(let _0x5c492e=0x0;_0x5c492e<_0x14274c;_0x5c492e++){const _0x4c27a6=this['readRecordFromBuffer'](_0x4e1a16['subarray'](_0x48c425),_0x87bc46+_0x48c425,_0x1c1eb5);_0x48c425+=_0x4c27a6['end']-_0x4c27a6['offset'],_0x1f0d3f['push'](_0x4c27a6);}return _0x1f0d3f;}['readRecordFromBuffer'](_0x451608,_0x3c1ee8,_0x1965e4){const _0x49ee7f=new DataView(_0x451608['buffer'],_0x451608['byteOffset'],_0x451608['byteLength']),_0x457576=_0x49ee7f['getInt32'](0x0,Pa),_0x39a3a5=xa(_0x451608['subarray'](0x4,0x4+_0x457576));if(null==_0x39a3a5['op'])throw new Error('Record\x20is\x20missing\x20\x27op\x27\x20field.');const _0x46ebff=new DataView(_0x39a3a5['op']['buffer'],_0x39a3a5['op']['byteOffset'],_0x39a3a5['op']['byteLength'])['getUint8'](0x0);if(_0x46ebff!==_0x1965e4['opcode'])throw new Error('Expected\x20'+_0x1965e4['name']+'\x20('+_0x1965e4['opcode']+')\x20but\x20found\x20'+_0x46ebff);const _0xcb2b05=new _0x1965e4(_0x39a3a5),_0x35e509=0x4+_0x457576+0x4,_0x2716c4=_0x49ee7f['getInt32'](0x4+_0x457576,Pa),_0x518f83=new Uint8Array(_0x451608['buffer']['slice'](_0x451608['byteOffset']+_0x35e509,_0x451608['byteOffset']+_0x35e509+_0x2716c4));return _0xcb2b05['parseData'](_0x518f83),_0xcb2b05['offset']=_0x3c1ee8,_0xcb2b05['dataOffset']=_0xcb2b05['offset']+0x4+_0x457576+0x4,_0xcb2b05['end']=_0xcb2b05['dataOffset']+_0x2716c4,_0xcb2b05['length']=_0xcb2b05['end']-_0xcb2b05['offset'],_0xcb2b05;}}class ja{constructor(_0x483b6b,_0x90aa1e){if(this['cachedChunkReadResults']=new Map(),this['connections']=_0x483b6b['connections'],this['reader']=_0x483b6b['reader'],this['position']=_0x483b6b['position'],this['decompress']=_0x483b6b['decompress'],this['reader']=_0x483b6b['reader'],this['chunkInfos']=_0x483b6b['chunkInfos'],this['heap']=new Ta(_0x90aa1e),this['parse']=_0x483b6b['parse'],_0x483b6b['topics']){const _0x28beb2=_0x483b6b['topics'],_0x5b5dc3=this['connectionIds']=new Set();for(const [_0x363958,_0x3e0996]of _0x483b6b['connections'])_0x28beb2['includes'](_0x3e0996['topic'])&&this['connectionIds']['add'](_0x363958);this['chunkInfos']=_0x483b6b['chunkInfos']['filter'](_0x527aa7=>_0x527aa7['connections']['find'](_0x5166f2=>_0x5b5dc3['has'](_0x5166f2['conn'])));}}async*[Symbol['asyncIterator']](){for(;;){for(;!this['heap']['front']();){if(!await this['loadNext']())return;}const _0x412b45=this['heap']['pop']();if(!_0x412b45)return;const _0x35383b=_0x412b45['chunkReadResult']['chunk'],_0x49bbe6=this['reader']['readRecordFromBuffer'](_0x35383b['data']['subarray'](_0x412b45['offset']),_0x35383b['dataOffset'],La),_0x251fa5=this['connections']['get'](_0x49bbe6['conn']);if(!_0x251fa5)throw new Error('Unable\x20to\x20find\x20connection\x20with\x20id\x20'+_0x49bbe6['conn']);const {topic:_0x3961f8}=_0x251fa5,{data:_0x14024f,time:_0x111b44}=_0x49bbe6;if(!_0x14024f)throw new Error('No\x20data\x20in\x20message\x20for\x20topic:\x20'+_0x3961f8);const _0x3715ea={'topic':_0x3961f8,'connectionId':_0x49bbe6['conn'],'timestamp':_0x111b44,'data':_0x14024f,'message':this['parse']?.(_0x14024f,_0x251fa5)};yield _0x3715ea;}}}class Da extends ja{constructor(_0x52ee44){super(_0x52ee44,(_0x23fcee,_0x58dcbe)=>Eo['compare'](_0x23fcee['time'],_0x58dcbe['time'])),this['chunkInfos']=this['chunkInfos']['filter'](_0x204fc8=>Eo['compare'](_0x204fc8['endTime'],this['position'])>=0x0);const _0x4b273d=new Ta((_0x3f20a2,_0x501a77)=>Eo['compare'](_0x3f20a2['startTime'],_0x501a77['startTime']));for(const _0x487e4c of this['chunkInfos'])_0x4b273d['insert'](_0x487e4c);for(this['remainingChunkInfos']=[];_0x4b273d['size']()>0x0;)this['remainingChunkInfos']['push'](_0x4b273d['pop']());}async['loadNext'](){const _0x248a59=this['position'],_0x4ced67=this['remainingChunkInfos'][0x0];if(!_0x4ced67)return!0x1;this['remainingChunkInfos'][0x0]=void 0x0;let _0x3228dc=_0x4ced67['endTime'];const _0x50ae21=[_0x4ced67];for(let _0x2d62ce=0x1;_0x2d62ce<this['remainingChunkInfos']['length'];++_0x2d62ce){const _0x135974=this['remainingChunkInfos'][_0x2d62ce];if(!_0x135974)continue;if(Eo['compare'](_0x135974['startTime'],_0x3228dc)>0x0)break;_0x50ae21['push'](_0x135974),Eo['compare'](_0x135974['endTime'],_0x3228dc)<=0x0&&(this['remainingChunkInfos'][_0x2d62ce]=void 0x0);}if(this['remainingChunkInfos']=this['remainingChunkInfos']['filter'](Boolean),0x0===_0x50ae21['length'])return!0x1;this['position']=_0x3228dc=Eo['add'](_0x3228dc,{'sec':0x0,'nsec':0x1});const _0x13b4c8=this['heap'],_0x15714c=new Map();for(const _0x409f2f of _0x50ae21){let _0x79740=this['cachedChunkReadResults']['get'](_0x409f2f['chunkPosition']);_0x79740||(_0x79740=await this['reader']['readChunk'](_0x409f2f,this['decompress'])),Eo['compare'](_0x409f2f['startTime'],_0x3228dc)<=0x0&&Eo['compare'](_0x409f2f['endTime'],_0x3228dc)>=0x0&&_0x15714c['set'](_0x409f2f['chunkPosition'],_0x79740);for(const _0x2e8842 of _0x79740['indices'])if(!this['connectionIds']||this['connectionIds']['has'](_0x2e8842['conn'])){for(const _0x5c8628 of _0x2e8842['indices']??[])Eo['compare'](_0x5c8628['time'],_0x248a59)<0x0||Eo['compare'](_0x5c8628['time'],_0x3228dc)>=0x0||_0x13b4c8['push']({'time':_0x5c8628['time'],'offset':_0x5c8628['offset'],'chunkReadResult':_0x79740});}}return this['cachedChunkReadResults']=_0x15714c,!0x0;}}class Ba{constructor(_0x5f5c73,_0x5385f3,_0x1bedf7,_0x2b0735,_0x58343a,_0x2b2e3c,_0x28d799){this['topic']=_0x5f5c73,this['message']=_0x5385f3,this['timestamp']=_0x1bedf7,this['data']=_0x2b0735,this['chunkOffset']=_0x58343a,this['totalChunks']=_0x2b2e3c,!0x0===_0x28d799&&(Object['freeze'](_0x1bedf7),Object['freeze'](this));}}class Ua extends ja{constructor(_0x201612){super(_0x201612,(_0x1acf77,_0x445a7d)=>Eo['compare'](_0x445a7d['time'],_0x1acf77['time'])),this['chunkInfos']=this['chunkInfos']['filter'](_0x21d2ce=>Eo['compare'](_0x21d2ce['startTime'],this['position'])<=0x0);const _0x4d79a3=new Ta((_0x26ae8a,_0x9808bd)=>Eo['compare'](_0x9808bd['endTime'],_0x26ae8a['endTime']));for(const _0x10641c of this['chunkInfos'])_0x4d79a3['insert'](_0x10641c);for(this['remainingChunkInfos']=[];_0x4d79a3['size']()>0x0;)this['remainingChunkInfos']['push'](_0x4d79a3['pop']());}async['loadNext'](){const _0x9731b5=this['position'],_0x30f6f9=this['remainingChunkInfos'][0x0];if(!_0x30f6f9)return!0x1;this['remainingChunkInfos'][0x0]=void 0x0;let _0x4c0a5b=_0x30f6f9['startTime'];const _0x3b7b8b=[_0x30f6f9];for(let _0x182b4d=0x1;_0x182b4d<this['remainingChunkInfos']['length'];++_0x182b4d){const _0x2cfd16=this['remainingChunkInfos'][_0x182b4d];if(!_0x2cfd16)continue;if(Eo['compare'](_0x2cfd16['endTime'],_0x4c0a5b)<0x0)break;_0x3b7b8b['push'](_0x2cfd16),Eo['compare'](_0x2cfd16['startTime'],_0x4c0a5b)>=0x0&&(this['remainingChunkInfos'][_0x182b4d]=void 0x0);}if(this['remainingChunkInfos']=this['remainingChunkInfos']['filter'](Boolean),0x0===_0x3b7b8b['length'])return!0x1;this['position']=_0x4c0a5b=Eo['subtract'](_0x4c0a5b,{'sec':0x0,'nsec':0x1});const _0x53b5b3=this['heap'],_0x183eae=new Map();for(const _0x37d4c5 of _0x3b7b8b){let _0x7c4e2a=this['cachedChunkReadResults']['get'](_0x37d4c5['chunkPosition']);_0x7c4e2a||(_0x7c4e2a=await this['reader']['readChunk'](_0x37d4c5,this['decompress'])),Eo['compare'](_0x37d4c5['startTime'],_0x4c0a5b)<=0x0&&Eo['compare'](_0x37d4c5['endTime'],_0x4c0a5b)>=0x0&&_0x183eae['set'](_0x37d4c5['chunkPosition'],_0x7c4e2a);for(const _0x42a407 of _0x7c4e2a['indices'])if(!this['connectionIds']||this['connectionIds']['has'](_0x42a407['conn'])){for(const _0x961c86 of _0x42a407['indices']??[])Eo['compare'](_0x961c86['time'],_0x4c0a5b)<=0x0||Eo['compare'](_0x961c86['time'],_0x9731b5)>0x0||_0x53b5b3['push']({'time':_0x961c86['time'],'offset':_0x961c86['offset'],'chunkReadResult':_0x7c4e2a});}}return this['cachedChunkReadResults']=_0x183eae,!0x0;}}class Wa{constructor(_0x4bbf6f,_0x43ce95){this['chunkInfos']=[],this['reader']=new Fa(_0x4bbf6f),this['connections']=new Map(),this['bagOpt']=_0x43ce95??{};}async['open'](){this['header']=await this['reader']['readHeader']();const {connectionCount:_0x388ccd,chunkCount:_0x493024,indexPosition:_0x13d115}=this['header'],_0x4859e4=await this['reader']['readConnectionsAndChunkInfo'](_0x13d115,_0x388ccd,_0x493024);this['connections']=new Map(),_0x4859e4['connections']['forEach'](_0x3b7e80=>{this['connections']['set'](_0x3b7e80['conn'],_0x3b7e80);}),this['chunkInfos']=_0x4859e4['chunkInfos'],_0x493024>0x0&&(this['startTime']=this['chunkInfos'][0x0]['startTime'],this['endTime']=this['chunkInfos'][_0x493024-0x1]['endTime']);}['messageIterator'](_0x1394c6){const _0x5217d3=_0x1394c6?.['topics'];let _0x24c881;if(!0x1!==this['bagOpt']['parse']&&(_0x24c881=(_0x3cd27b,_0x2ce618)=>(_0x2ce618['reader']??(_0x2ce618['reader']=new Yi(wa['exports']['parse'](_0x2ce618['messageDefinition']))),_0x2ce618['reader']['readMessage'](_0x3cd27b))),!0x0===_0x1394c6?.['reverse']){const _0x5db274=_0x1394c6?.['start']??this['endTime'];if(!_0x5db274)throw new Error('no\x20timestamp');return new Ua({'position':_0x5db274,'topics':_0x5217d3,'reader':this['reader'],'connections':this['connections'],'chunkInfos':this['chunkInfos'],'decompress':this['bagOpt']['decompress']??{},'parse':_0x24c881});}{const _0x194fd9=_0x1394c6?.['start']??this['startTime'];if(!_0x194fd9)throw new Error('no\x20timestamp');return new Da({'position':_0x194fd9,'topics':_0x5217d3,'reader':this['reader'],'chunkInfos':this['chunkInfos'],'connections':this['connections'],'decompress':this['bagOpt']['decompress']??{},'parse':_0x24c881});}}async['readMessages'](_0x2deac0,_0xbba963){const 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_0x4ee12d(),this['_eventsCount']=0x0),this;},_0x4abed1['prototype']['off']=_0x4abed1['prototype']['removeListener'],_0x4abed1['prototype']['addListener']=_0x4abed1['prototype']['on'],_0x4abed1['prefixed']=_0x184f5e,_0x4abed1['EventEmitter']=_0x4abed1,_0x1bead8['exports']=_0x4abed1;}(Qu);const tf=Qu['exports'],ef=console,sf=class extends tf{constructor(_0x134932,_0x23167f){super(),Si(this,lt),Si(this,ft),Si(this,dt),Si(this,Q,void 0x0),Si(this,tt,new Map()),Si(this,et,[]),Si(this,it,[{'start':0x0,'end':0x0}]),Si(this,st,void 0x0),Si(this,nt,0x0),Si(this,rt,void 0x0),Si(this,ot,void 0x0),Si(this,at,{'sec':0x0,'nsec':0x0}),Si(this,ht,BigInt(0x0)),Si(this,ct,[]),Ti(this,Q,_0x134932),Ti(this,rt,_0x23167f?.['maxTotalSize']??0x25800000),Ti(this,ot,_0x23167f?.['maxBlockSize']??0x3200000);}async['initialize'](){return Ti(this,st,await ki(this,Q)['initialize']()),ki(this,st);}async['terminate'](){ki(this,et)['length']=0x0,ki(this,tt)['clear']();}['loadedRanges'](){return ki(this,it);}['getCacheSize'](){return ki(this,nt);}async*['messageIterator'](_0xd363b1){var _0x12bda3;if(!ki(this,st))throw new Error('Invariant:\x20uninitialized');const _0x75ca13=_0xd363b1['end']??ki(this,st)['end'],_0x216739=Eo['toNanoSec'](_0x75ca13);yl(_0xd363b1['topics'],ki(this,tt))||(ef['debug']('topics\x20changed\x20-\x20clearing\x20cache,\x20resetting\x20range'),Ti(this,tt,_0xd363b1['topics']),ki(this,et)['length']=0x0,Ti(this,nt,0x0),$i(this,lt,ut)['call'](this));let _0x40ae73=_0xd363b1['start']??ki(this,st)['start'];const _0x310b8b=_0x4bc68b=>Eo['compare'](_0x4bc68b['start'],_0x40ae73)<=0x0&&Eo['compare'](_0x4bc68b['end'],_0x40ae73)>=0x0,_0x1076bb=_0x1ce2d8=>Eo['compare'](_0x40ae73,_0x1ce2d8['start'])<0x0;for(Ti(this,at,_0x40ae73),Ti(this,ct,$i(this,ft,pt)['call'](this,ki(this,at)));!(Eo['compare'](_0x40ae73,_0x75ca13)>0x0);){const _0x52e236=ki(this,et)['findIndex'](_0x310b8b);let _0x2f2f98=ki(this,et)[_0x52e236];if(_0x2f2f98&&0x0===Eo['compare'](_0x2f2f98['start'],_0x2f2f98['end'])&&0x0===_0x2f2f98['items']['length']){_0x2f2f98=void 0x0,ki(this,et)['splice'](_0x52e236,0x1);continue;}if(_0x2f2f98){for(let _0x1a9156=$i(_0x12bda3=sf,yt,gt)['call'](_0x12bda3,_0x2f2f98['items'],Eo['toNanoSec'](_0x40ae73));_0x1a9156<_0x2f2f98['items']['length'];++_0x1a9156){const _0x3a3f94=_0x2f2f98['items'][_0x1a9156];if(!_0x3a3f94)break;if(_0x3a3f94[0x0]>_0x216739)return;_0x2f2f98['lastAccess']=Date['now'](),yield _0x3a3f94[0x1];}_0x40ae73=Eo['add'](_0x2f2f98['end'],{'sec':0x0,'nsec':0x1});continue;}const _0x49f72b=_0x40ae73,_0x76ea61=ki(this,et)['findIndex'](_0x1076bb),_0x16ad08=ki(this,et)[_0x76ea61];let _0x253b0e=_0x16ad08?Eo['subtract'](_0x16ad08['start'],{'sec':0x0,'nsec':0x1}):_0x75ca13;if(Eo['compare'](_0x49f72b,_0x253b0e)>0x0)throw new Error('Invariant:\x20sourceReadStart\x20>\x20sourceReadEnd');Eo['compare'](_0x253b0e,_0x75ca13)>0x0&&(_0x253b0e=_0x75ca13);const _0x482945=ki(this,Q)['messageIterator']({'topics':ki(this,tt),'start':_0x49f72b,'end':_0x253b0e,'consumptionType':_0xd363b1['consumptionType']});let _0x3444a8=Eo['toNanoSec'](_0x49f72b);const _0x57f2f1=[];for await(const _0x44b125 of _0x482945){if(!_0x2f2f98){const _0x2ec121={'id':Mi(this,ht)['_']++,'start':_0x40ae73,'end':_0x40ae73,'items':[],'size':0x0,'lastAccess':Date['now']()},_0x2b6037=wl(ki(this,et),_0x2ec121,_0x2cd85b=>Eo['toNanoSec'](_0x2cd85b['start']));ki(this,et)['splice'](_0x2b6037,0x0,_0x2ec121),_0x2f2f98=_0x2ec121,$i(this,lt,ut)['call'](this);}if('message-event'===_0x44b125['type']||'stamp'===_0x44b125['type']){const _0x1594a0='stamp'===_0x44b125['type']?_0x44b125['stamp']:_0x44b125['msgEvent']['receiveTime'],_0x40fa69=Eo['toNanoSec'](_0x1594a0);if(_0x40fa69>_0x3444a8){for(const _0x106976 of _0x57f2f1){const _0x4f6291=_0x106976[0x1],_0x1f8905='message-event'===_0x4f6291['type']?_0x4f6291['msgEvent']['sizeInBytes']:0x0;_0x2f2f98['items']['push'](_0x106976),_0x2f2f98['size']+=_0x1f8905;}_0x57f2f1['length']=0x0,_0x2f2f98['lastAccess']=Date['now'](),_0x2f2f98['end']=Eo['subtract'](_0x1594a0,{'sec':0x0,'nsec':0x1}),_0x3444a8=_0x40fa69,$i(this,lt,ut)['call'](this);}}_0x2f2f98['size']>=ki(this,ot)&&(_0x40ae73=Eo['add'](_0x2f2f98['end'],{'sec':0x0,'nsec':0x1}),_0x2f2f98=void 0x0);const _0x1ceb46='message-event'===_0x44b125['type']?_0x44b125['msgEvent']['sizeInBytes']:0x0;$i(this,dt,mt)['call'](this,{'activeBlock':_0x2f2f98,'sizeInBytes':_0x1ceb46})&&$i(this,lt,ut)['call'](this),Ti(this,nt,ki(this,nt)+_0x1ceb46),_0x57f2f1['push']([_0x3444a8,_0x44b125]),yield _0x44b125;}if(_0x2f2f98){_0x2f2f98['end']=_0x253b0e,_0x2f2f98['lastAccess']=Date['now']();for(const _0xc06210 of _0x57f2f1){const _0x22f943=_0xc06210[0x1],_0x293333='message-event'===_0x22f943['type']?_0x22f943['msgEvent']['sizeInBytes']:0x0;_0x2f2f98['items']['push'](_0xc06210),_0x2f2f98['size']+=_0x293333;}$i(this,lt,ut)['call'](this);}else{const _0x422e72={'id':Mi(this,ht)['_']++,'start':_0x40ae73,'end':_0x253b0e,'items':_0x57f2f1,'size':0x0,'lastAccess':Date['now']()};for(const _0xf16975 of _0x57f2f1){const _0x4dbef9=_0xf16975[0x1],_0x533b95='message-event'===_0x4dbef9['type']?_0x4dbef9['msgEvent']['sizeInBytes']:0x0;_0x422e72['size']+=_0x533b95;}const _0x6516ef=wl(ki(this,et),_0x422e72,_0x5f3a05=>Eo['toNanoSec'](_0x5f3a05['start']));ki(this,et)['splice'](_0x6516ef,0x0,_0x422e72),$i(this,lt,ut)['call'](this);}_0x40ae73=Eo['add'](_0x253b0e,{'sec':0x0,'nsec':0x1});}}async['getBackfillMessages'](_0x4789ca){if(!ki(this,st))throw new Error('Invariant:\x20uninitialized');const _0x2db3d8=ki(this,et)['findIndex'](_0x458a3c=>Eo['compare'](_0x458a3c['start'],_0x4789ca['time'])<=0x0&&Eo['compare'](_0x458a3c['end'],_0x4789ca['time'])>=0x0),_0x54d9d7=[],_0x2be408=new Map(_0x4789ca['topics']);for(let _0xe2a5bf=_0x2db3d8;_0xe2a5bf>=0x0&&_0x2be408['size']>0x0;--_0xe2a5bf){const _0x580f0f=ki(this,et)[_0xe2a5bf];if(!_0x580f0f)break;const _0x7da1bb=Eo['toNanoSec'](_0x4789ca['time']);let _0x1048a3=kl(_0x580f0f['items'],_0x7da1bb);if(_0x1048a3<0x0)_0x1048a3=~_0x1048a3,_0x1048a3-=0x1;else{for(let _0x297106=_0x1048a3+0x1;_0x297106<_0x580f0f['items']['length']&&_0x580f0f['items'][_0x297106]?.[0x0]===_0x7da1bb;++_0x297106)_0x1048a3=_0x297106;}for(let _0x211653=_0x1048a3;_0x211653>=0x0;--_0x211653){const _0x11111a=_0x580f0f['items'][_0x211653];if(!_0x11111a||'message-event'!==_0x11111a[0x1]['type'])continue;const _0x49fd0e=_0x11111a[0x1]['msgEvent'];_0x2be408['has'](_0x49fd0e['topic'])&&(_0x2be408['delete'](_0x49fd0e['topic']),_0x54d9d7['push'](_0x49fd0e));}const _0x13b1e6=ki(this,et)[_0xe2a5bf-0x1];if(_0x13b1e6&&0x0!==Eo['compare'](Eo['add'](_0x13b1e6['end'],{'sec':0x0,'nsec':0x1}),_0x580f0f['start']))break;}if(0x0===_0x2be408['size'])return _0x54d9d7;const _0x72ecdc=await ki(this,Q)['getBackfillMessages']({..._0x4789ca,'topics':_0x2be408});return _0x54d9d7['push'](..._0x72ecdc),_0x54d9d7['sort']((_0x5ad3b5,_0x80a01d)=>Eo['compare'](_0x5ad3b5['receiveTime'],_0x80a01d['receiveTime'])),_0x54d9d7;}['setCurrentReadHead'](_0x21ace5){Ti(this,at,_0x21ace5);}['canReadMore'](){return ki(this,nt)<ki(this,rt)||ki(this,ct)['length']>0x0;}};let nf=sf;Q=new WeakMap(),tt=new WeakMap(),et=new WeakMap(),it=new WeakMap(),st=new WeakMap(),nt=new WeakMap(),rt=new WeakMap(),ot=new WeakMap(),at=new WeakMap(),ht=new WeakMap(),ct=new WeakMap(),lt=new WeakSet(),ut=function(){if(!ki(this,st))throw new Error('Invariant:\x20uninitialized');const _0x19689f=Eo['toNanoSec'](ki(this,st)['start']),_0x3ddf4e=Number(Eo['toNanoSec'](Eo['subtract'](ki(this,st)['end'],ki(this,st)['start'])));if(0x0===_0x3ddf4e)return Ti(this,it,[{'start':0x0,'end':0x1}]),void this['emit']('loadedRangesChange');if(0x0===ki(this,et)['length'])return Ti(this,it,[{'start':0x0,'end':0x0}]),void this['emit']('loadedRangesChange');const _0x36ce0f=[];let _0x31f97d;for(const _0x883b4e of ki(this,et)){const _0x29ba14={'start':Eo['toNanoSec'](_0x883b4e['start']),'end':Eo['toNanoSec'](_0x883b4e['end'])};_0x31f97d?_0x31f97d['end']+0x1n===_0x29ba14['start']?_0x31f97d['end']=_0x29ba14['end']:(_0x36ce0f['push']({'start':Number(_0x31f97d['start']-_0x19689f)/_0x3ddf4e,'end':Number(_0x31f97d['end']-_0x19689f)/_0x3ddf4e}),_0x31f97d=_0x29ba14):_0x31f97d=_0x29ba14;}_0x31f97d&&_0x36ce0f['push']({'start':Number(_0x31f97d['start']-_0x19689f)/_0x3ddf4e,'end':Number(_0x31f97d['end']-_0x19689f)/_0x3ddf4e}),Ti(this,it,_0x36ce0f),this['emit']('loadedRangesChange');},ft=new WeakSet(),pt=function(_0x271fbc){if(0x0===ki(this,et)['length'])return[];const _0x524967=ki(this,et)['map'](_0x293cef=>({'id':_0x293cef['id'],'start':_0x293cef['start'],'end':_0x293cef['end']}));_0x524967['sort']((_0x2a4cc0,_0x16a6d2)=>Eo['compare'](_0x2a4cc0['end'],_0x16a6d2['end']));const _0x18ac9e=_0x524967['findIndex'](_0x407427=>Eo['compare'](_0x407427['start'],_0x271fbc)<=0x0&&Eo['compare'](_0x407427['end'],_0x271fbc)>=0x0);if(-0x1===_0x18ac9e){const _0x462993=function(_0x1a385a,_0x24ff78){if(0x0===_0x1a385a['length'])return-0x1;let _0xc380c3=0x0,_0x4b860b=_0x1a385a[0x0];for(let _0x309b37=0x1;_0x309b37<_0x1a385a['length'];++_0x309b37){const _0x394668=_0x1a385a[_0x309b37];_0x24ff78(_0x394668,_0x4b860b)<0x0&&(_0xc380c3=_0x309b37,_0x4b860b=_0x394668);}return _0xc380c3;}(ki(this,et),(_0x415fa5,_0x509f53)=>_0x415fa5['lastAccess']-_0x509f53['lastAccess']),_0x4f0bab=ki(this,et)[_0x462993];if(!_0x4f0bab)throw new Error('Failed\x20to\x20retrieve\x20oldest\x20block\x20from\x20cache');return[_0x4f0bab['id']];}const _0x514e97=_0x524967['splice'](0x0,_0x18ac9e)['map'](_0x1730d5=>_0x1730d5['id']);let _0x2e2280,_0x5d0e1d=0x0;for(_0x5d0e1d=0x0;_0x5d0e1d<_0x524967['length'];++_0x5d0e1d){const _0x3e2fd2=_0x524967[_0x5d0e1d],_0x3fbccc=Eo['toNanoSec'](_0x3e2fd2['start']),_0x1ed339=Eo['toNanoSec'](_0x3e2fd2['end']);if(null!=_0x2e2280&&_0x2e2280+0x1n!==_0x3fbccc)break;_0x2e2280=_0x1ed339;}return[..._0x514e97,..._0x524967['splice'](_0x5d0e1d)['map'](_0x32001d=>_0x32001d['id'])['reverse']()];},dt=new WeakSet(),mt=function(_0x17b8c1){const {activeBlock:_0x6e22e1,sizeInBytes:_0x13617f}=_0x17b8c1;if(ki(this,nt)+_0x13617f<=ki(this,rt))return!0x1;if(Ti(this,ct,$i(this,ft,pt)['call'](this,ki(this,at))),0x0===ki(this,ct)['length'])return!0x1;const _0x263354=ki(this,ct)['splice'](0x0,0x1)[0x0],_0x5f2ae8=ki(this,et)['findIndex'](_0x28c9d8=>_0x28c9d8['id']===_0x263354),_0x107a50=ki(this,et)[_0x5f2ae8];if(_0x107a50){if(_0x107a50===_0x6e22e1)throw new Error('Cannot\x20evict\x20the\x20active\x20cache\x20block.');return Ti(this,nt,ki(this,nt)-_0x107a50['size']),ki(this,et)['splice'](_0x5f2ae8,0x1),!0x0;}return!0x1;},yt=new WeakSet(),gt=function(_0x359ec3,_0x3e37f7){if(null!=_0x359ec3[0x0]&&_0x359ec3[0x0][0x0]>=_0x3e37f7)return 0x0;let _0x26fabe=kl(_0x359ec3,_0x3e37f7);if(_0x26fabe<0x0)return~_0x26fabe;for(let _0x45e14f=_0x26fabe-0x1;_0x45e14f>=0x0;--_0x45e14f){const _0x74dc33=_0x359ec3[_0x45e14f];if(null!=_0x74dc33&&_0x74dc33[0x0]!==_0x3e37f7)break;_0x26fabe=_0x45e14f;}return _0x26fabe;},Si(nf,yt);const rf=console,of={'sec':0xa,'nsec':0x0},af={'sec':0x1,'nsec':0x0};class hf extends tf{constructor(_0x5d08ef,_0x171659){if(super(),Si(this,Et),Si(this,bt,void 0x0),Si(this,wt,!0x1),Si(this,vt,!0x1),Si(this,xt,new xl()),Si(this,_t,new xl()),Si(this,kt,new Sl()),Si(this,St,{'sec':0x0,'nsec':0x0}),Si(this,Tt,void 0x0),Si(this,Mt,void 0x0),Si(this,$t,void 0x0),Si(this,At,void 0x0),Ti(this,$t,_0x171659?.['readAheadDuration']??of),Ti(this,At,_0x171659?.['minReadAheadDuration']??af),Ti(this,bt,new nf(_0x5d08ef)),Eo['compare'](ki(this,$t),ki(this,At))<0x0)throw new Error('Invariant:\x20readAheadDuration\x20<\x20minReadAheadDuration');ki(this,bt)['on']('loadedRangesChange',()=>this['emit']('loadedRangesChange'));}async['initialize'](){return Ti(this,Mt,await ki(this,bt)['initialize']()),ki(this,Mt);}async['terminate'](){ki(this,kt)['clear'](),ki(this,bt)['removeAllListeners']('loadedRangesChange'),await ki(this,bt)['terminate']();}async['stopProducer'](){rf['debug']('Stopping\x20producer'),Ti(this,vt,!0x0),ki(this,_t)['notifyAll'](),await ki(this,Tt),Ti(this,Tt,void 0x0);}['loadedRanges'](){return ki(this,bt)['loadedRanges']();}['getCacheSize'](){return ki(this,bt)['getCacheSize']();}['messageIterator'](_0x367138){if(!ki(this,Mt))throw new Error('Invariant:\x20uninitialized');if(ki(this,Tt))throw new Error('Invariant:\x20BufferedIterableSource\x20allows\x20only\x20one\x20messageIterator');const _0x3ffb62=_0x367138['start']??ki(this,Mt)['start'];Ti(this,St,_0x3ffb62),Ti(this,vt,!0x1),Ti(this,wt,!0x1),Ti(this,Tt,$i(this,Et,It)['call'](this,_0x367138));const _0x2b084f=this;return(async function*(){try{if(0x0===_0x367138['topics']['size'])return;for(;;){const _0x55d088=ki(_0x2b084f,kt)['dequeue']();if(_0x55d088)'stamp'===_0x55d088['type']&&Ti(_0x2b084f,St,_0x55d088['stamp']),'message-event'===_0x55d088['type']&&Ti(_0x2b084f,St,_0x55d088['msgEvent']['receiveTime']),ki(_0x2b084f,_t)['notifyAll'](),yield _0x55d088;else{if(ki(_0x2b084f,wt))break;await ki(_0x2b084f,xt)['wait']();}}}finally{rf['debug']('ending\x20buffered\x20message\x20iterator'),await _0x2b084f['stopProducer']();}}());}async['getBackfillMessages'](_0xb206ad){return await ki(this,bt)['getBackfillMessages'](_0xb206ad);}}bt=new WeakMap(),wt=new WeakMap(),vt=new WeakMap(),xt=new WeakMap(),_t=new WeakMap(),kt=new WeakMap(),St=new WeakMap(),Tt=new WeakMap(),Mt=new WeakMap(),$t=new WeakMap(),At=new WeakMap(),Et=new WeakSet(),It=async function(_0x505907){if(!ki(this,Mt))throw new Error('Invariant:\x20uninitialized');if(0x0!==_0x505907['topics']['size']){rf['debug']('Starting\x20producer'),ki(this,kt)['clear']();try{const _0x55ce61=ki(this,bt)['messageIterator']({'topics':_0x505907['topics'],'start':ki(this,St),'consumptionType':'partial'});let _0x521516=Eo['clampTime'](Eo['add'](ki(this,St),ki(this,$t)),ki(this,Mt)['start'],ki(this,Mt)['end']);for await(const _0x5bbe51 of _0x55ce61){if(ki(this,vt))return;if(_0x521516=Eo['add'](ki(this,St),ki(this,$t)),'stamp'===_0x5bbe51['type']&&Eo['compare'](_0x5bbe51['stamp'],_0x521516)>=0x0){for(;Eo['compare'](_0x5bbe51['stamp'],_0x521516)>=0x0;){if(ki(this,vt))return;ki(this,kt)['enqueue'](_0x5bbe51),ki(this,xt)['notifyAll'](),await ki(this,_t)['wait'](),_0x521516=Eo['add'](ki(this,St),ki(this,$t));}continue;}ki(this,kt)['enqueue'](_0x5bbe51);const _0x260cef='message-event'===_0x5bbe51['type']?_0x5bbe51['msgEvent']['receiveTime']:void 0x0,_0x4746a9=Eo['add'](ki(this,St),ki(this,At));_0x260cef&&Eo['compare'](_0x260cef,_0x4746a9)<0x0||(ki(this,xt)['notifyAll'](),ki(this,bt)['setCurrentReadHead'](ki(this,St)),_0x260cef&&Eo['compare'](_0x260cef,_0x521516)<=0x0&&ki(this,bt)['canReadMore']()||0x0!==ki(this,kt)['size']()&&await ki(this,_t)['wait']());}}finally{ki(this,xt)['notifyAll'](),Ti(this,wt,!0x0);}rf['debug']('producer\x20done');}else Ti(this,wt,!0x0);};const cf=console;async function lf(_0x5e3563){await new Promise(_0x30d21b=>setTimeout(_0x30d21b,_0x5e3563));}const uf=BigInt(0x5e69ec0),ff='Buffered\x20messages',pf=Object['freeze']([]);class df{constructor(_0x19e287){Si(this,_e),Si(this,Se),Si(this,Me),Si(this,Ae),Si(this,Ie),Si(this,Oe),Si(this,Le),Si(this,Ne),Si(this,Fe),Si(this,De),Si(this,Ue),Si(this,Ge),Si(this,He),Si(this,Ye),Si(this,Xe),Si(this,Ct,void 0x0),Si(this,Ot,void 0x0),Si(this,Rt,void 0x0),Si(this,Lt,'preinit'),Si(this,zt,!0x1),Si(this,Nt,!0x1),Si(this,Pt,void 0x0),Si(this,Ft,0x1),Si(this,jt,void 0x0),Si(this,Dt,void 0x0),Si(this,Bt,!0x0),Si(this,Ut,void 0x0),Si(this,Wt,Date['now']()),Si(this,Gt,[]),Si(this,qt,new Map()),Si(this,Ht,new Map()),Si(this,Vt,[Al,El]),Si(this,Yt,void 0x0),Si(this,Zt,void 0x0),Si(this,Xt,[]),Si(this,Jt,new Map()),Si(this,Kt,new Map()),Si(this,Qt,{}),Si(this,te,oa()),Si(this,ee,[]),Si(this,ie,0x0),Si(this,se,!0x1),Si(this,ne,void 0x0),Si(this,re,void 0x0),Si(this,oe,void 0x0),Si(this,ae,new Map()),Si(this,he,void 0x0),Si(this,ce,$l['INITIALIZING']),Si(this,le,void 0x0),Si(this,ue,new Ml()),Si(this,fe,void 0x0),Si(this,pe,void 0x0),Si(this,de,void 0x0),Si(this,me,void 0x0),Si(this,ye,void 0x0),Si(this,ge,void 0x0),Si(this,be,void 0x0),Si(this,we,void 0x0),Si(this,ve,void 0x0),xi(this,'isClosed'),Si(this,xe,()=>{});const {metricsCollector:_0x2a68fa,urlParams:_0x2dad45,source:_0x43232b,name:_0x354bf4,enablePreload:_0x377f55,sourceId:_0x30f763}=_0x19e287;Ti(this,fe,_0x43232b),Ti(this,pe,new hf(_0x43232b)),Ti(this,Ot,_0x354bf4),Ti(this,Ct,_0x2dad45),Ti(this,Zt,_0x2a68fa??new Tl()),ki(this,Zt)['playerConstructed'](),Ti(this,Bt,_0x377f55??!0x0),Ti(this,we,_0x30f763),this['isClosed']=new Promise(_0x1b3eb3=>{Ti(this,xe,_0x1b3eb3);}),Ti(this,be,vl($i(this,De,Be)['bind'](this)));}['setListener'](_0x4a9ffd){if(ki(this,Pt))throw new Error('Cannot\x20setListener\x20again');Ti(this,Pt,_0x4a9ffd),$i(this,Se,Te)['call'](this,'initialize');}['startPlayback'](){$i(this,_e,ke)['call'](this);}['playUntil'](_0x3f495d){$i(this,_e,ke)['call'](this,{'untilTime':_0x3f495d});}['pausePlayback'](){ki(this,Nt)&&(ki(this,Zt)['pause'](),Ti(this,Ut,void 0x0),Ti(this,Nt,!0x1),Ti(this,ve,void 0x0),Ti(this,ne,void 0x0),'play'===ki(this,Lt)?$i(this,Se,Te)['call'](this,'idle'):ki(this,be)['call'](this));}['setPlaybackSpeed'](_0x13e6d5){Ti(this,ne,void 0x0),Ti(this,Ft,_0x13e6d5),ki(this,Zt)['setSpeed'](_0x13e6d5),ki(this,be)['call'](this);}['seekPlayback'](_0x7917e1){if('preinit'===ki(this,Lt)||'initialize'===ki(this,Lt))return cf['debug']('Ignoring\x20seek,\x20state='+ki(this,Lt)),void Ti(this,he,_0x7917e1);if(!ki(this,jt)||!ki(this,Dt))throw new Error('invariant:\x20initialized\x20but\x20no\x20start/end\x20set');const _0x56bd43=Eo['clampTime'](_0x7917e1,ki(this,jt),ki(this,Dt));ki(this,he)&&0x0===Eo['compare'](ki(this,he),_0x56bd43)?cf['debug']('Ignoring\x20seek,\x20already\x20seeking\x20to\x20this\x20time'):ki(this,le)&&0x0===Eo['compare'](ki(this,le),_0x56bd43)?cf['debug']('Ignoring\x20seek,\x20already\x20at\x20this\x20time'):(ki(this,Zt)['seek'](_0x56bd43),Ti(this,he,_0x56bd43),Ti(this,ve,void 0x0),Ti(this,Ut,void 0x0),Ti(this,ne,void 0x0),$i(this,Se,Te)['call'](this,'seek-backfill'));}['setSubscriptions'](_0x2ef49f){cf['debug']('set\x20subscriptions',_0x2ef49f),Ti(this,Xt,_0x2ef49f),ki(this,Zt)['setSubscriptions'](_0x2ef49f);const _0x2fdf6e=new Map(ki(this,Xt)['map'](_0xeaf3d1=>[_0xeaf3d1['topic'],_0xeaf3d1])),_0x546c84=new Map(_l(ki(this,Xt),_0x1a0ec9=>'full'===_0x1a0ec9['preloadType']?[_0x1a0ec9['topic'],_0x1a0ec9]:void 0x0));yl(_0x2fdf6e,ki(this,Jt))&&yl(_0x546c84,ki(this,Kt))||(Ti(this,Jt,_0x2fdf6e),Ti(this,Kt,_0x546c84),ki(this,ye)?.['setTopics'](ki(this,Kt)),'idle'!==ki(this,Lt)&&'seek-backfill'!==ki(this,Lt)&&'play'!==ki(this,Lt)&&'start-play'!==ki(this,Lt)||!ki(this,Nt)&&ki(this,le)&&(ki(this,he)??Ti(this,he,ki(this,le)),Ti(this,ve,void 0x0),Ti(this,Ut,void 0x0),Ti(this,ne,void 0x0),$i(this,Se,Te)['call'](this,'seek-backfill')));}['setPublishers'](_0xf6be37){}['setParameter'](_0x2e717f,_0x549289){throw new Error('Parameter\x20editing\x20is\x20not\x20supported\x20by\x20this\x20data\x20source');}['publish'](_0x22a80a){throw new Error('Publishing\x20is\x20not\x20supported\x20by\x20this\x20data\x20source');}async['callService'](){throw new Error('Service\x20calls\x20are\x20not\x20supported\x20by\x20this\x20data\x20source');}['close'](){$i(this,Se,Te)['call'](this,'close');}['setGlobalVariables'](){}}Ct=new WeakMap(),Ot=new WeakMap(),Rt=new WeakMap(),Lt=new WeakMap(),zt=new WeakMap(),Nt=new WeakMap(),Pt=new WeakMap(),Ft=new WeakMap(),jt=new WeakMap(),Dt=new WeakMap(),Bt=new WeakMap(),Ut=new WeakMap(),Wt=new WeakMap(),Gt=new WeakMap(),qt=new WeakMap(),Ht=new WeakMap(),Vt=new WeakMap(),Yt=new WeakMap(),Zt=new WeakMap(),Xt=new WeakMap(),Jt=new WeakMap(),Kt=new WeakMap(),Qt=new WeakMap(),te=new WeakMap(),ee=new WeakMap(),ie=new WeakMap(),se=new WeakMap(),ne=new WeakMap(),re=new WeakMap(),oe=new WeakMap(),ae=new WeakMap(),he=new WeakMap(),ce=new WeakMap(),le=new WeakMap(),ue=new WeakMap(),fe=new WeakMap(),pe=new WeakMap(),de=new WeakMap(),me=new WeakMap(),ye=new WeakMap(),ge=new WeakMap(),be=new WeakMap(),we=new WeakMap(),ve=new WeakMap(),xe=new WeakMap(),_e=new WeakSet(),ke=function(_0x31223a){if(!ki(this,Nt)&&null==ki(this,ve)&&ki(this,jt)&&ki(this,Dt)){if(_0x31223a?.['untilTime']){if(ki(this,le)&&Eo['compare'](_0x31223a['untilTime'],ki(this,le))<=0x0)throw new Error('Invariant:\x20playUntil\x20time\x20must\x20be\x20after\x20the\x20current\x20time');Ti(this,ve,Eo['clampTime'](_0x31223a['untilTime'],ki(this,jt),ki(this,Dt)));}ki(this,Zt)['play'](ki(this,Ft)),Ti(this,Nt,!0x0),'idle'!==ki(this,Lt)||ki(this,Rt)&&'idle'!==ki(this,Rt)?ki(this,be)['call'](this):$i(this,Se,Te)['call'](this,'play');}},Se=new WeakSet(),Te=function(_0x22c6ea){'close'!==ki(this,Rt)&&(cf['debug']('Set\x20next\x20state:\x20'+_0x22c6ea),Ti(this,Rt,_0x22c6ea),ki(this,de)?.['abort'](),Ti(this,de,void 0x0),$i(this,Me,$e)['call'](this));},Me=new WeakSet(),$e=async function(){if(!ki(this,zt)){Ti(this,zt,!0x0);try{for(;ki(this,Rt);){const _0x5960a9=Ti(this,Lt,ki(this,Rt));switch(Ti(this,Rt,void 0x0),cf['debug']('Start\x20state:\x20'+_0x5960a9),'idle'!==_0x5960a9&&'play'!==_0x5960a9&&ki(this,me)&&(cf['debug']('Ending\x20playback\x20iterator\x20because\x20next\x20state\x20is\x20not\x20IDLE\x20or\x20PLAY'),await ki(this,me)['return']?.(),Ti(this,me,void 0x0)),_0x5960a9){case'preinit':ki(this,be)['call'](this);break;case'initialize':await $i(this,Ie,Ce)['call'](this);break;case'start-play':await $i(this,Ne,Pe)['call'](this);break;case'idle':await $i(this,Ge,qe)['call'](this);break;case'seek-backfill':await $i(this,Fe,je)['call'](this);break;case'play':await $i(this,He,Ve)['call'](this);break;case'close':await $i(this,Ye,Ze)['call'](this);break;case'reset-playback-iterator':await $i(this,Le,ze)['call'](this);}cf['debug']('Done\x20state\x20'+_0x5960a9);}}catch(_0x123de4){let _0x3029eb=_0x123de4;cf['error'](_0x3029eb),$i(this,Ae,Ee)['call'](this,_0x3029eb['message'],_0x3029eb),ki(this,be)['call'](this);}finally{Ti(this,zt,!0x1);}}},Ae=new WeakSet(),Ee=function(_0x331c60,_0x181009){Ti(this,se,!0x0),ki(this,ue)['addProblem']('global-error',{'severity':'error','message':_0x331c60,'error':_0x181009}),Ti(this,Nt,!0x1);},Ie=new WeakSet(),Ce=async function(){ki(this,be)['call'](this);try{const {start:_0x10c4b6,end:_0x355841,topics:_0x37b40f,profile:_0x9720e8,topicStats:_0x2e05d5,problems:_0x2cf001,publishersByTopic:_0x7e750a,datatypes:_0x1b5dd7,name:_0x4e33f9}=await ki(this,pe)['initialize']();ki(this,he)&&Ti(this,he,Eo['clampTime'](ki(this,he),_0x10c4b6,_0x355841)),Ti(this,Yt,_0x9720e8),Ti(this,jt,_0x10c4b6),Ti(this,le,ki(this,he)??_0x10c4b6),Ti(this,Dt,_0x355841),Ti(this,ae,_0x7e750a),Ti(this,Ht,_0x1b5dd7),Ti(this,Ot,_0x4e33f9??ki(this,Ot));const _0x5a0c1d=new Map();for(const _0x4b4f61 of _0x37b40f){const _0x38e75e=_0x5a0c1d['get'](_0x4b4f61['name']);_0x38e75e?_0x2cf001['push']({'severity':'warn','message':'Inconsistent\x20datatype\x20for\x20topic:\x20'+_0x4b4f61['name'],'tip':'Topic\x20'+_0x4b4f61['name']+'\x20has\x20messages\x20with\x20multiple\x20datatypes:\x20'+_0x38e75e['schemaName']+',\x20'+_0x4b4f61['schemaName']+'.\x20This\x20may\x20result\x20in\x20errors\x20during\x20visualization.'}):_0x5a0c1d['set'](_0x4b4f61['name'],_0x4b4f61);}Ti(this,Gt,Array['from'](_0x5a0c1d['values']())),Ti(this,qt,_0x2e05d5);let _0x165a92=0x0;for(const _0x301908 of _0x2cf001)ki(this,ue)['addProblem']('init-problem-'+_0x165a92,_0x301908),_0x165a92+=0x1;if(ki(this,Bt))try{Ti(this,ye,new Ku({'cacheSizeBytes':0x3b9aca00,'source':ki(this,fe),'start':ki(this,jt),'end':ki(this,Dt),'maxBlocks':0x190,'minBlockDurationNs':0x5f5e100,'problemManager':ki(this,ue)}));}catch(_0x15a527){let _0x2f67b3=_0x15a527;cf['error'](_0x2f67b3);const _0x5e5a88=Eo['toRFC3339String'](ki(this,jt)),_0x2a9f33=Eo['toRFC3339String'](ki(this,Dt));ki(this,ue)['addProblem']('block-loader',{'severity':'warn','message':'Failed\x20to\x20initialize\x20message\x20preloading','tip':'The\x20start\x20('+_0x5e5a88+')\x20and\x20end\x20('+_0x2a9f33+')\x20of\x20your\x20data\x20is\x20too\x20far\x20apart.','error':_0x2f67b3});}Ti(this,ce,$l['PRESENT']);}catch(_0x3bff0d){let _0x6c9019=_0x3bff0d;$i(this,Ae,Ee)['call'](this,'Error\x20initializing:\x20'+_0x6c9019['message'],_0x6c9019);}ki(this,be)['call'](this),!ki(this,se)&&ki(this,jt)&&(await lf(0x64),ki(this,ye)?.['setTopics'](ki(this,Kt)),Ti(this,ge,$i(this,Xe,Je)['call'](this)['catch'](_0x556d8a=>{$i(this,Ae,Ee)['call'](this,_0x556d8a['message'],_0x556d8a);})),$i(this,Se,Te)['call'](this,'start-play'));},Oe=new WeakSet(),Re=async function(){if(!ki(this,le))throw new Error('Invariant:\x20Tried\x20to\x20reset\x20playback\x20iterator\x20with\x20no\x20current\x20time.');const _0xd8dc4a=Eo['add'](ki(this,le),{'sec':0x0,'nsec':0x1});cf['debug']('Ending\x20previous\x20iterator'),await ki(this,me)?.['return']?.(),await ki(this,pe)['stopProducer'](),cf['debug']('Initializing\x20forward\x20iterator\x20from',_0xd8dc4a),Ti(this,me,ki(this,pe)['messageIterator']({'topics':ki(this,Jt),'start':_0xd8dc4a,'consumptionType':'partial'}));},Le=new WeakSet(),ze=async function(){if(!ki(this,le))throw new Error('Invariant:\x20Tried\x20to\x20reset\x20playback\x20iterator\x20with\x20no\x20current\x20time.');await $i(this,Oe,Re)['call'](this),$i(this,Se,Te)['call'](this,ki(this,Nt)?'play':'idle');},Ne=new WeakSet(),Pe=async function(){if(!ki(this,jt)||!ki(this,Dt))throw new Error('Invariant:\x20start\x20and\x20end\x20must\x20be\x20set');if(ki(this,he))return void $i(this,Se,Te)['call'](this,'seek-backfill');const _0x4c290c=Eo['clampTime'](Eo['add'](ki(this,jt),Eo['fromNanoSec'](uf)),ki(this,jt),ki(this,Dt));if(cf['debug']('Playing\x20from\x20'+Eo['toString'](ki(this,jt))+'\x20to\x20'+Eo['toString'](_0x4c290c)),ki(this,me))throw new Error('Invariant.\x20playbackIterator\x20was\x20already\x20set');cf['debug']('Initializing\x20forward\x20iterator\x20from',ki(this,jt),ki(this,Jt)),Ti(this,me,ki(this,pe)['messageIterator']({'topics':ki(this,Jt),'start':ki(this,jt),'consumptionType':'partial'})),Ti(this,re,void 0x0),Ti(this,ee,[]);const _0x42b5e0=[],_0x20f452=setTimeout(()=>{Ti(this,ce,$l['BUFFERING']),ki(this,be)['call'](this);},0x64);try{for(;;){const _0x1ed779=await ki(this,me)['next']();if(!0x0===_0x1ed779['done'])break;const _0xe0a790=_0x1ed779['value'];if(ki(this,Rt))return;if('problem'!==_0xe0a790['type']){if('stamp'===_0xe0a790['type']&&Eo['compare'](_0xe0a790['stamp'],_0x4c290c)>=0x0){Ti(this,oe,_0xe0a790['stamp']);break;}if('message-event'===_0xe0a790['type']){if(Eo['compare'](_0xe0a790['msgEvent']['receiveTime'],_0x4c290c)>0x0){Ti(this,re,_0xe0a790['msgEvent']);break;}_0x42b5e0['push'](_0xe0a790['msgEvent']);}}else ki(this,ue)['addProblem']('connid-'+_0xe0a790['connectionId'],_0xe0a790['problem']);}}finally{clearTimeout(_0x20f452);}Ti(this,le,_0x4c290c),Ti(this,ee,_0x42b5e0),Ti(this,ce,$l['PRESENT']),ki(this,be)['call'](this),$i(this,Se,Te)['call'](this,'idle');},Fe=new WeakSet(),je=async function(){if(!ki(this,jt)||!ki(this,Dt))throw new Error('invariant:\x20stateSeekBackfill\x20prior\x20to\x20initialization');if(!ki(this,he))return;const _0x152648=Eo['clampTime'](ki(this,he),ki(this,jt),ki(this,Dt));Ti(this,re,void 0x0);const _0x440dfe=setTimeout(()=>{Ti(this,ce,$l['BUFFERING']),Ti(this,ee,[]),Ti(this,le,_0x152648),ki(this,be)['call'](this);},0x64);try{Ti(this,de,new AbortController());const _0x189073=await ki(this,pe)['getBackfillMessages']({'topics':ki(this,Jt),'time':_0x152648,'abortSignal':ki(this,de)['signal']});if(clearTimeout(_0x440dfe),ki(this,Rt))return;Ti(this,ee,_0x189073),Ti(this,le,_0x152648),Ti(this,Wt,Date['now']()),Ti(this,ce,$l['PRESENT']),ki(this,be)['call'](this),await $i(this,Oe,Re)['call'](this),$i(this,Se,Te)['call'](this,ki(this,Nt)?'play':'idle');}catch(_0x116216){let _0x15c798=_0x116216;if(!ki(this,Rt)||'AbortError'!==_0x15c798['name'])throw _0x15c798;cf['debug']('Aborted\x20backfill');}finally{'seek-backfill'!==ki(this,Rt)&&Ti(this,he,void 0x0),clearTimeout(_0x440dfe),Ti(this,de,void 0x0);}},De=new WeakSet(),Be=async function(){if(!ki(this,Pt))return;if(ki(this,se))return void await ki(this,Pt)['call'](this,{'name':ki(this,Ot),'presence':$l['ERROR'],'progress':{},'capabilities':ki(this,Vt),'profile':ki(this,Yt),'playerId':ki(this,te),'activeData':void 0x0,'problems':ki(this,ue)['problems'](),'urlState':{'sourceId':ki(this,we),'parameters':ki(this,Ct)}});const _0x55e174=ki(this,ee);let _0x3f5d22;Ti(this,ee,pf),ki(this,jt)&&ki(this,Dt)&&ki(this,le)&&(_0x3f5d22={'messages':_0x55e174,'totalBytesReceived':ki(this,ie),'currentTime':ki(this,le),'startTime':ki(this,jt),'endTime':ki(this,Dt),'isPlaying':ki(this,Nt),'speed':ki(this,Ft),'lastSeekTime':ki(this,Wt),'topics':ki(this,Gt),'topicStats':ki(this,qt),'datatypes':ki(this,Ht),'publishedTopics':ki(this,ae)});const _0x37c8be={'name':ki(this,Ot),'presence':ki(this,ce),'progress':ki(this,Qt),'capabilities':ki(this,Vt),'profile':ki(this,Yt),'playerId':ki(this,te),'problems':ki(this,ue)['problems'](),'activeData':_0x3f5d22,'urlState':{'sourceId':ki(this,we),'parameters':ki(this,Ct)}};await ki(this,Pt)['call'](this,_0x37c8be);},Ue=new WeakSet(),We=async function(){if(!ki(this,Nt))return;if(!ki(this,jt)||!ki(this,Dt))throw new Error('Invariant:\x20start\x20&\x20end\x20should\x20be\x20set\x20before\x20tick()');const _0x5133d6=performance['now'](),_0x173077=null!=ki(this,Ut)&&0x0!==ki(this,Ut)?_0x5133d6-ki(this,Ut):0x14;Ti(this,Ut,_0x5133d6);let _0x5c7aba=Math['min'](_0x173077*ki(this,Ft),0x12c);if(null!=ki(this,ne)&&(_0x5c7aba=0.9*ki(this,ne)+0.1*_0x5c7aba),Ti(this,ne,_0x5c7aba),!ki(this,le))throw new Error('Invariant:\x20Tried\x20to\x20play\x20with\x20no\x20current\x20time.');const _0x2fdb01=Eo['add'](ki(this,le),Eo['fromMillis'](_0x5c7aba)),_0x383d62=Eo['clampTime'](_0x2fdb01,ki(this,jt),ki(this,ve)??ki(this,Dt));if(ki(this,oe)){if(Eo['compare'](ki(this,oe),_0x383d62)>=0x0)return await ki(this,be)['currentPromise'],Ti(this,le,_0x383d62),Ti(this,ee,[]),ki(this,be)['call'](this),void(ki(this,ve)&&Eo['compare'](ki(this,le),ki(this,ve))>=0x0&&this['pausePlayback']());Ti(this,oe,void 0x0);}const _0x5a8e7e=[];if(ki(this,re)){if(Eo['compare'](ki(this,re)['receiveTime'],_0x383d62)>0x0)return await ki(this,be)['currentPromise'],Ti(this,le,_0x383d62),Ti(this,ee,_0x5a8e7e),ki(this,be)['call'](this),void(ki(this,ve)&&Eo['compare'](ki(this,le),ki(this,ve))>=0x0&&this['pausePlayback']());_0x5a8e7e['push'](ki(this,re)),Ti(this,re,void 0x0);}const _0x238979=setTimeout(()=>{Ti(this,ce,$l['BUFFERING']),ki(this,be)['call'](this);},0x1f4);try{for(;;){if(!ki(this,me))throw new Error('Invariant.\x20this._playbackIterator\x20is\x20undefined.');const _0x5339f5=await ki(this,me)['next']();if(!0x0===_0x5339f5['done']||ki(this,Rt))break;const _0x6b30e2=_0x5339f5['value'];if('problem'!==_0x6b30e2['type']){if('stamp'===_0x6b30e2['type']&&Eo['compare'](_0x6b30e2['stamp'],_0x383d62)>=0x0){Ti(this,oe,_0x6b30e2['stamp']);break;}if('message-event'===_0x6b30e2['type']){if(Eo['compare'](_0x6b30e2['msgEvent']['receiveTime'],_0x383d62)>0x0){Ti(this,re,_0x6b30e2['msgEvent']);break;}_0x5a8e7e['push'](_0x6b30e2['msgEvent']);}}else ki(this,ue)['addProblem']('connid-'+_0x6b30e2['connectionId'],_0x6b30e2['problem']);}}finally{clearTimeout(_0x238979);}Ti(this,ce,$l['PRESENT']),ki(this,Rt)||(await ki(this,be)['currentPromise'],Ti(this,le,_0x383d62),Ti(this,ee,_0x5a8e7e),ki(this,be)['call'](this),ki(this,ve)&&Eo['compare'](ki(this,le),ki(this,ve))>=0x0&&this['pausePlayback']());},Ge=new WeakSet(),qe=async function(){if(void 0x0!==ki(this,de))throw new Error('Invariant:\x20some\x20other\x20abort\x20controller\x20exists');Ti(this,Nt,!0x1),Ti(this,ce,$l['PRESENT']),Ti(this,Qt,{...ki(this,Qt),'fullyLoadedFractionRanges':ki(this,pe)['loadedRanges'](),'messageCache':ki(this,Qt)['messageCache']});const _0x41aaeb=Ti(this,de,new AbortController()),_0x43e4ce=new Promise(_0x196f10=>{_0x41aaeb['signal']['addEventListener']('abort',_0x196f10);}),_0x3a4f4c=()=>{Ti(this,Qt,{'fullyLoadedFractionRanges':ki(this,pe)['loadedRanges'](),'messageCache':ki(this,Qt)['messageCache'],'memoryInfo':{...ki(this,Qt)['memoryInfo'],[ff]:ki(this,pe)['getCacheSize']()}}),ki(this,be)['call'](this);};ki(this,pe)['on']('loadedRangesChange',_0x3a4f4c),ki(this,be)['call'](this),await _0x43e4ce,ki(this,pe)['off']('loadedRangesChange',_0x3a4f4c);},He=new WeakSet(),Ve=async function(){if(Ti(this,ce,$l['PRESENT']),!ki(this,le))throw new Error('Invariant:\x20currentTime\x20not\x20set\x20before\x20statePlay');if(!ki(this,jt)||!ki(this,Dt))throw new Error('Invariant:\x20start\x20&\x20end\x20should\x20be\x20set\x20before\x20statePlay');const _0x23aecd=ki(this,Jt);try{for(;ki(this,Nt)&&!ki(this,se)&&!ki(this,Rt);){if(Eo['compare'](ki(this,le),ki(this,Dt))>=0x0)return Ti(this,Ut,void 0x0),Ti(this,ne,void 0x0),Ti(this,oe,void 0x0),void $i(this,Se,Te)['call'](this,'idle');const _0x4c657c=Date['now']();if(await $i(this,Ue,We)['call'](this),ki(this,Rt))return;if(Ti(this,Qt,{'fullyLoadedFractionRanges':ki(this,pe)['loadedRanges'](),'messageCache':ki(this,Qt)['messageCache'],'memoryInfo':{...ki(this,Qt)['memoryInfo'],[ff]:ki(this,pe)['getCacheSize']()}}),ki(this,Jt)!==_0x23aecd)return Ti(this,re,void 0x0),void $i(this,Se,Te)['call'](this,'reset-playback-iterator');const _0x33af63=Date['now']()-_0x4c657c;_0x33af63<0x10&&await lf(0x10-_0x33af63);}}catch(_0x5a9993){let _0xb07ef8=_0x5a9993;$i(this,Ae,Ee)['call'](this,_0xb07ef8['message'],_0xb07ef8),ki(this,be)['call'](this);}},Ye=new WeakSet(),Ze=async function(){Ti(this,Nt,!0x1),ki(this,Zt)['close'](),await ki(this,ye)?.['stopLoading'](),await ki(this,ge),await ki(this,pe)['stopProducer'](),await ki(this,pe)['terminate'](),await ki(this,me)?.['return']?.(),Ti(this,me,void 0x0),await ki(this,fe)['terminate']?.(),ki(this,xe)['call'](this);},Xe=new WeakSet(),Je=async function(){await ki(this,ye)?.['startLoading']({'progress':async _0x95647f=>{Ti(this,Qt,{'fullyLoadedFractionRanges':ki(this,Qt)['fullyLoadedFractionRanges'],'messageCache':_0x95647f['messageCache'],'memoryInfo':{...ki(this,Qt)['memoryInfo'],..._0x95647f['memoryInfo']}}),'play'!==ki(this,Lt)&&ki(this,be)['call'](this);}});};class mf{constructor(){Si(this,li),Si(this,fi),Si(this,di),Si(this,yi),Si(this,bi),Si(this,Ke,void 0x0),Si(this,Qe,void 0x0),Si(this,ti,void 0x0),Si(this,ei,void 0x0),Si(this,ii,void 0x0),Si(this,si,void 0x0),Si(this,ni,void 0x0),Si(this,ri,!0x1),Si(this,oi,'pause'),Si(this,ai,void 0x0),Si(this,hi,void 0x0),Si(this,ci,void 0x0);}async['init'](_0x283ea0){if(ki(this,ri))throw new Error('can\x20not\x20support\x20init\x20again');if(Ti(this,Qe,_0x283ea0),ki(this,Qe)['fileType'])Ti(this,Ke,$i(this,fi,pi)['call'](this,ki(this,Qe)['fileType']));else{let _0xae58de=ki(this,Qe)['fileName'],_0x22dd17=_0xae58de['lastIndexOf']('.'),_0x14af8b='';if(_0x22dd17>=0x0&&(_0x14af8b=_0xae58de['substring'](_0x22dd17+0x1)),!_0x14af8b)throw new Error('can\x20not\x20get\x20file\x20type\x20from\x20fileName\x20'+_0xae58de+',\x20please\x20set\x20fileType\x20option');Ti(this,Ke,$i(this,fi,pi)['call'](this,_0x14af8b));}Ti(this,ti,new df({'source':ki(this,Ke),'name':ki(this,Qe)['fileName'],'sourceId':oa()})),ki(this,Qe)['enableParseWorker']?Ti(this,ni,new Jo()):Ti(this,si,Xo()),await ki(this,Ke)['initialize']();let _0x3cf38e=await $i(this,di,mi)['call'](this);return Ti(this,ri,!0x0),Ti(this,ai,_0x3cf38e['startTime']),Ti(this,hi,_0x3cf38e['endTime']),_0x3cf38e;}['close'](){ki(this,Ke)&&ki(this,Ke)['terminate'](),ki(this,ti)?.['close'](),ki(this,ni)?.['terminate'](),Ti(this,ni,void 0x0),Ti(this,Ke,void 0x0),Ti(this,ti,void 0x0),Ti(this,ii,void 0x0),Ti(this,ri,!0x1);}['clearMyListener'](){Ti(this,ii,void 0x0);}['pausePlayback'](){$i(this,li,ui)['call'](this),Ti(this,oi,'pause'),$i(this,yi,gi)['call'](this),ki(this,ti)?.['pausePlayback']();}['playUntil'](_0x24d2b4){$i(this,li,ui)['call'](this),Ti(this,oi,'playing'),ki(this,ti)?.['playUntil'](_0x24d2b4),$i(this,yi,gi)['call'](this);}['seekPlayback'](_0x2fa234){$i(this,li,ui)['call'](this),ki(this,ti)?.['seekPlayback'](_0x2fa234),$i(this,yi,gi)['call'](this);}['setListener'](_0x3a1e4e){if($i(this,li,ui)['call'](this),ki(this,ii))throw new Error('Cannot\x20setListener\x20again');Ti(this,ii,_0x3a1e4e),ki(this,Qe)?.['autoPlay']&&this['startPlayback']();}['setSubscriptions'](_0x31bf68){let _0x4fd814=_0x31bf68['map'](_0x149970=>({'topic':_0x149970}));ki(this,ti)?.['setSubscriptions'](_0x4fd814);}['setPlaybackSpeed'](_0x59dc81){$i(this,li,ui)['call'](this),ki(this,ti)?.['setPlaybackSpeed'](_0x59dc81);}['startPlayback'](){$i(this,li,ui)['call'](this),Ti(this,oi,'playing'),$i(this,yi,gi)['call'](this),ki(this,ti)?.['startPlayback']();}['resetTime'](_0x1e9293){$i(this,li,ui)['call'](this),ki(this,ai)&&ki(this,ti)?.['seekPlayback'](ki(this,ai)),_0x1e9293&&(this['startPlayback'](),$i(this,yi,gi)['call'](this));}}Ke=new WeakMap(),Qe=new WeakMap(),ti=new WeakMap(),ei=new WeakMap(),ii=new WeakMap(),si=new WeakMap(),ni=new WeakMap(),ri=new WeakMap(),oi=new WeakMap(),ai=new WeakMap(),hi=new WeakMap(),ci=new WeakMap(),li=new WeakSet(),ui=function(){if(!ki(this,ri))throw new Error('please\x20call\x20init\x20first');},fi=new WeakSet(),pi=function(_0x442e1a){let _0x261a59,_0x414974,_0x12d08c=ki(this,Qe)?.['file'];switch(_0x442e1a&&(_0x442e1a=_0x442e1a['toLowerCase']()),_0x442e1a){case'bag':_0x414974=()=>new Worker('./worker/BagIterableSourceWorker.worker.js');break;case'db3':_0x414974=()=>new Worker('./worker/RosDb3IterableSourceWorker.worker.js');break;case'ulog':case'ulg':_0x414974=()=>new Worker('./worker/UlogIterableSourceWorker.worker.js');break;case'mcap':_0x414974=()=>new Worker('./worker/McapIterableSourceWorker.worker.js');break;default:throw new Error('create\x20WorkerIterableSource\x20error,\x20unsupported\x20file\x20type\x20:'+_0x442e1a);}return _0x261a59=new Ja({'initWorker':_0x414974,'initArgs':{'file':_0x12d08c}}),_0x261a59;},di=new WeakSet(),mi=function(){let _0x5a23af=!0x1;return new Promise((_0xd1e80a,_0x165db5)=>{let _0x1b38aa=async _0x1629f7=>{let _0x5487e1=_0x1629f7['activeData'];if('INITIALIZING'===_0x1629f7['presence']);else{if('BUFFERING'===_0x1629f7['presence']);else{if(!_0x5a23af&&'PRESENT'===_0x1629f7['presence']&&_0x1629f7['progress']['fullyLoadedFractionRanges']&&_0x5487e1)Ti(this,ci,_0x5487e1['currentTime']),_0x5487e1['topics']&&_0x5487e1['topics']['length']>0x0&&(_0x5a23af=!0x0,_0xd1e80a(_0x5487e1));else{if(_0x5a23af&&'PRESENT'==_0x1629f7['presence']&&_0x5487e1){await $i(this,bi,wi)['call'](this,_0x1629f7);let _0x57cd0f=_0x5487e1['currentTime'],_0x1b0fad=_0x5487e1['endTime'];if(!_0x5487e1['isPlaying']){if(_0x57cd0f&&_0x1b0fad&&Eo['compare'](_0x57cd0f,_0x1b0fad)>=0x0){Ti(this,oi,'end'),$i(this,yi,gi)['call'](this);const _0x33a1a9=ki(this,Qe)?.['loop']||!0x1;this['resetTime'](_0x33a1a9);}else'end'!==ki(this,oi)&&(Ti(this,oi,'pause'),$i(this,yi,gi)['call'](this));}}else _0x5a23af||'NOT_PRESENT'!=_0x1629f7['presence']&&'ERROR'!=_0x1629f7['presence']||_0x165db5(_0x1629f7);}}}await lf(0x10);};ki(this,ti)?.['setListener'](_0x1b38aa),Ti(this,ei,_0x1b38aa);});},yi=new WeakSet(),gi=function(_0x15662c){_0x15662c||(_0x15662c=ki(this,oi));let _0x313495={'type':'state','currentState':_0x15662c,'startTime':ki(this,ai),'endTime':ki(this,hi),'currentTime':ki(this,ci)};ki(this,ii)&&ki(this,ii)['call'](this,_0x313495);},bi=new WeakSet(),wi=async function(_0x26d7b4){let _0x2a42f9=_0x26d7b4['activeData']?.['messages'],_0x594c18=_0x26d7b4['activeData']?.['startTime'],_0x21fb24=_0x26d7b4['activeData']?.['endTime'],_0x4f5d45=_0x26d7b4['activeData']?.['currentTime'];if(!_0x2a42f9||_0x2a42f9['length']<=0x0)setTimeout(()=>{const _0xdec7ed={'type':'message','messages':[],'startTime':_0x594c18,'endTime':_0x21fb24,'currentTime':_0x4f5d45,'currentState':ki(this,oi)};ki(this,ii)&&ki(this,ii)['call'](this,_0xdec7ed);});else{let _0x596f06=[];for(let _0x2ca021=0x0;_0x2ca021<_0x2a42f9['length'];_0x2ca021++){let _0x1a9ead,{topic:_0x404e41,schemaName:_0x143255,message:_0x5193f5}=_0x2a42f9[_0x2ca021];if(ki(this,Qe)?.['enableParseWorker'])_0x1a9ead=await ki(this,ni)?.['parse'](_0x2a42f9,_0x143255,_0x404e41);else{let _0x564525=ki(this,si)?.['getParserForType'](_0x143255);_0x564525&&(_0x1a9ead=await _0x564525['parseMessage'](_0x5193f5,_0x143255,_0x404e41));}const _0x48427c={..._0x2a42f9[_0x2ca021]};_0x48427c['message']=_0x1a9ead,_0x48427c['sourceMessage']=_0x5193f5,_0x596f06['push'](_0x48427c);}setTimeout(()=>{const _0x132292={'type':'message','messages':_0x596f06,'startTime':_0x594c18,'endTime':_0x21fb24,'currentTime':_0x4f5d45,'currentState':ki(this,oi)};ki(this,ii)&&ki(this,ii)['call'](this,_0x132292);});}};let yf=_0x5316c9=>{!yf['installed']&&Object['keys'](da)['map'](_0x111be4=>da[_0x111be4])['forEach'](_0x3b8e9b=>{(_0x3b8e9b['hasOwnProperty']('name')||_0x3b8e9b['hasOwnProperty']('__name'))&&_0x3b8e9b['hasOwnProperty']('setup')&&_0x5316c9['component'](_0x3b8e9b['name']||_0x3b8e9b['__name'],_0x3b8e9b);});};const gf={'install':yf};exports['GyRoslib']=ha,exports['GyRoslibCus']=ca,exports['GyRoslibFile']=pa,exports['RosFilePlayer']=mf,exports['default']=gf,exports['install']=yf;