diff --git a/frontend/package-lock.json b/frontend/package-lock.json index acb33816..96319cbe 100644 --- a/frontend/package-lock.json +++ b/frontend/package-lock.json @@ -65,6 +65,7 @@ "tailwind-merge": "^2.5.2", "tailwindcss-animate": "^1.0.7", "three": "^0.167.1", + "tsd-jsdoc": "^2.5.0", "urdf-loader": "^0.12.2", "zod": "^3.23.8", "zxcvbn": "^4.4.2" @@ -586,7 +587,6 @@ "version": "7.24.8", "resolved": "https://registry.npmjs.org/@babel/helper-string-parser/-/helper-string-parser-7.24.8.tgz", "integrity": "sha512-pO9KhhRcuUyGnJWwyEgnRJTSIZHiT+vMD0kPeD+so0l7mxkMT19g3pjY9GTnHySck/hDzq+dtW/4VgnMkippsQ==", - "dev": true, "license": "MIT", "engines": { "node": ">=6.9.0" @@ -596,7 +596,6 @@ "version": "7.24.7", "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.24.7.tgz", "integrity": "sha512-rR+PBcQ1SMQDDyF6X0wxtG8QyLCgUB0eRAGguqRLfkCA87l7yAP7ehq8SNj96OOGTO8OBV70KhuFYcIkHXOg0w==", - "dev": true, "license": "MIT", "engines": { "node": ">=6.9.0" @@ -661,7 +660,6 @@ "version": "7.25.3", "resolved": "https://registry.npmjs.org/@babel/parser/-/parser-7.25.3.tgz", "integrity": "sha512-iLTJKDbJ4hMvFPgQwwsVoxtHyWpKKPBrxkANrSYewDPaPpT5py5yeVkgPIJ7XYXhndxJpaA3PyALSXQ7u8e/Dw==", - "dev": true, "license": "MIT", "dependencies": { "@babel/types": "^7.25.2" @@ -677,7 +675,6 @@ "version": "7.25.2", "resolved": "https://registry.npmjs.org/@babel/types/-/types-7.25.2.tgz", "integrity": "sha512-YTnYtra7W9e6/oAZEHj0bJehPRUlLH9/fbpT5LfB0NhQXyALCRkRs3zH9v07IYhkgpqX6Z78FnuccZr/l4Fs4Q==", - "dev": true, "license": "MIT", "dependencies": { "@babel/helper-string-parser": "^7.24.8", @@ -3564,6 +3561,24 @@ "integrity": "sha512-5+fP8P8MFNC+AyZCDxrB2pkZFPGzqQWUzpSeuuVLvm8VMcorNYavBqoFcxK8bQz4Qsbn4oUEEem4wDLfcysGHA==", "dev": true }, + "node_modules/@types/linkify-it": { + "version": "5.0.0", + "resolved": "https://registry.npmjs.org/@types/linkify-it/-/linkify-it-5.0.0.tgz", + "integrity": "sha512-sVDA58zAw4eWAffKOaQH5/5j3XeayukzDk+ewSsnv3p4yJEZHCCzMDiZM8e0OUrRvmpGZ85jf4yDHkHsgBNr9Q==", + "license": "MIT", + "peer": true + }, + "node_modules/@types/markdown-it": { + "version": "12.2.3", + "resolved": "https://registry.npmjs.org/@types/markdown-it/-/markdown-it-12.2.3.tgz", + "integrity": "sha512-GKMHFfv3458yYy+v/N8gjufHO6MSZKCOXpZc5GXIWWy8uldwfmPn98vp81gZ5f9SVw8YYBctgfJ22a2d7AOMeQ==", + "license": "MIT", + "peer": true, + "dependencies": { + "@types/linkify-it": "*", + "@types/mdurl": "*" + } + }, "node_modules/@types/mdast": { "version": "4.0.4", "resolved": "https://registry.npmjs.org/@types/mdast/-/mdast-4.0.4.tgz", @@ -3573,6 +3588,13 @@ "@types/unist": "*" } }, + "node_modules/@types/mdurl": { + "version": "2.0.0", + "resolved": "https://registry.npmjs.org/@types/mdurl/-/mdurl-2.0.0.tgz", + "integrity": "sha512-RGdgjQUZba5p6QEFAVx2OGb8rQDL/cPRG7GiedRzMcJ1tYnUANBncjbSB1NRGwbvjcPeikRABz2nshyPk1bhWg==", + "license": "MIT", + "peer": true + }, "node_modules/@types/ms": { "version": "0.7.34", "resolved": "https://registry.npmjs.org/@types/ms/-/ms-0.7.34.tgz", @@ -4352,7 +4374,6 @@ "version": "2.0.1", "resolved": "https://registry.npmjs.org/argparse/-/argparse-2.0.1.tgz", "integrity": "sha512-8+9WqebbFzpX9OR+Wa6O29asIogeRMzcGtAINdpMHHyAg10f05aSFVBbcEqGf/PXw1EjAZ+q2/bEBg3DvurK3Q==", - "dev": true, "license": "Python-2.0" }, "node_modules/aria-hidden": { @@ -4619,6 +4640,13 @@ "url": "https://github.com/sponsors/sindresorhus" } }, + "node_modules/bluebird": { + "version": "3.7.2", + "resolved": "https://registry.npmjs.org/bluebird/-/bluebird-3.7.2.tgz", + "integrity": "sha512-XpNj6GDQzdfW+r2Wnn7xiSAd7TM3jzkxGXBGTtWKuSXv1xUV+azxAm8jdWZN06QTQk+2N2XB9jRDkvbmQmcRtg==", + "license": "MIT", + "peer": true + }, "node_modules/brace-expansion": { "version": "1.1.11", "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz", @@ -4774,6 +4802,19 @@ ], "license": "CC-BY-4.0" }, + "node_modules/catharsis": { + "version": "0.9.0", + "resolved": "https://registry.npmjs.org/catharsis/-/catharsis-0.9.0.tgz", + "integrity": "sha512-prMTQVpcns/tzFgFVkVp6ak6RykZyWb3gu8ckUpd6YkTlacOd3DXGJjIpD4Q6zJirizvaiAjSSHlOsA+6sNh2A==", + "license": "MIT", + "peer": true, + "dependencies": { + "lodash": "^4.17.15" + }, + "engines": { + "node": ">= 10" + } + }, "node_modules/ccount": { "version": "2.0.1", "resolved": "https://registry.npmjs.org/ccount/-/ccount-2.0.1.tgz", @@ -5331,6 +5372,16 @@ "node": ">=10.13.0" } }, + "node_modules/entities": { + "version": "2.1.0", + "resolved": "https://registry.npmjs.org/entities/-/entities-2.1.0.tgz", + "integrity": "sha512-hCx1oky9PFrJ611mf0ifBLBRW8lUUVRlFolb5gWRfIELabBlbp9xZvrqZLZAs+NxFnbfQoeGd8wDkygjg7U85w==", + "license": "BSD-2-Clause", + "peer": true, + "funding": { + "url": "https://github.com/fb55/entities?sponsor=1" + } + }, "node_modules/envinfo": { "version": "7.14.0", "resolved": "https://registry.npmjs.org/envinfo/-/envinfo-7.14.0.tgz", @@ -6532,8 +6583,7 @@ "node_modules/graceful-fs": { "version": "4.2.11", "resolved": "https://registry.npmjs.org/graceful-fs/-/graceful-fs-4.2.11.tgz", - "integrity": "sha512-RbJ5/jmFcNNCcDV5o9eTnBLJ/HszWV0P73bc+Ff4nS/rJj+YaS6IGyiOL0VoBYX+l1Wrl3k63h/KrH+nhJ0XvQ==", - "dev": true + "integrity": "sha512-RbJ5/jmFcNNCcDV5o9eTnBLJ/HszWV0P73bc+Ff4nS/rJj+YaS6IGyiOL0VoBYX+l1Wrl3k63h/KrH+nhJ0XvQ==" }, "node_modules/graphemer": { "version": "1.4.0", @@ -7491,6 +7541,56 @@ "js-yaml": "bin/js-yaml.js" } }, + "node_modules/js2xmlparser": { + "version": "4.0.2", + "resolved": "https://registry.npmjs.org/js2xmlparser/-/js2xmlparser-4.0.2.tgz", + "integrity": "sha512-6n4D8gLlLf1n5mNLQPRfViYzu9RATblzPEtm1SthMX1Pjao0r9YI9nw7ZIfRxQMERS87mcswrg+r/OYrPRX6jA==", + "license": "Apache-2.0", + "peer": true, + "dependencies": { + "xmlcreate": "^2.0.4" + } + }, + "node_modules/jsdoc": { + "version": "3.6.11", + "resolved": "https://registry.npmjs.org/jsdoc/-/jsdoc-3.6.11.tgz", + "integrity": "sha512-8UCU0TYeIYD9KeLzEcAu2q8N/mx9O3phAGl32nmHlE0LpaJL71mMkP4d+QE5zWfNt50qheHtOZ0qoxVrsX5TUg==", + "license": "Apache-2.0", + "peer": true, + "dependencies": { + "@babel/parser": "^7.9.4", + "@types/markdown-it": "^12.2.3", + "bluebird": "^3.7.2", + "catharsis": "^0.9.0", + "escape-string-regexp": "^2.0.0", + "js2xmlparser": "^4.0.2", + "klaw": "^3.0.0", + "markdown-it": "^12.3.2", + "markdown-it-anchor": "^8.4.1", + "marked": "^4.0.10", + "mkdirp": "^1.0.4", + "requizzle": "^0.2.3", + "strip-json-comments": "^3.1.0", + "taffydb": "2.6.2", + "underscore": "~1.13.2" + }, + "bin": { + "jsdoc": "jsdoc.js" + }, + "engines": { + "node": ">=12.0.0" + } + }, + "node_modules/jsdoc/node_modules/escape-string-regexp": { + "version": "2.0.0", + "resolved": "https://registry.npmjs.org/escape-string-regexp/-/escape-string-regexp-2.0.0.tgz", + "integrity": "sha512-UpzcLCXolUWcNu5HtVMHYdXJjArjsF9C0aNnquZYY4uW/Vu0miy5YoWvbV345HauVvcAUnpRuhMMcqTcGOY2+w==", + "license": "MIT", + "peer": true, + "engines": { + "node": ">=8" + } + }, "node_modules/jsesc": { "version": "2.5.2", "resolved": "https://registry.npmjs.org/jsesc/-/jsesc-2.5.2.tgz", @@ -7579,6 +7679,16 @@ "node": ">=0.10.0" } }, + "node_modules/klaw": { + "version": "3.0.0", + "resolved": "https://registry.npmjs.org/klaw/-/klaw-3.0.0.tgz", + "integrity": "sha512-0Fo5oir+O9jnXu5EefYbVK+mHMBeEVEy2cmctR1O1NECcCkPRreJKrS6Qt/j3KC2C148Dfo9i3pCmCMsdqGr0g==", + "license": "MIT", + "peer": true, + "dependencies": { + "graceful-fs": "^4.1.9" + } + }, "node_modules/leva": { "version": "0.9.35", "resolved": "https://registry.npmjs.org/leva/-/leva-0.9.35.tgz", @@ -7669,6 +7779,16 @@ "integrity": "sha512-7ylylesZQ/PV29jhEDl3Ufjo6ZX7gCqJr5F7PKrqc93v7fzSymt1BpwEU8nAUXs8qzzvqhbjhK5QZg6Mt/HkBg==", "license": "MIT" }, + "node_modules/linkify-it": { + "version": "3.0.3", + "resolved": "https://registry.npmjs.org/linkify-it/-/linkify-it-3.0.3.tgz", + "integrity": "sha512-ynTsyrFSdE5oZ/O9GEf00kPngmOfVwazR5GKDq6EYfhlpFug3J2zybX56a2PRRpc9P+FuSoGNAwjlbDs9jJBPQ==", + "license": "MIT", + "peer": true, + "dependencies": { + "uc.micro": "^1.0.1" + } + }, "node_modules/loader-runner": { "version": "4.3.0", "resolved": "https://registry.npmjs.org/loader-runner/-/loader-runner-4.3.0.tgz", @@ -7698,7 +7818,6 @@ "version": "4.17.21", "resolved": "https://registry.npmjs.org/lodash/-/lodash-4.17.21.tgz", "integrity": "sha512-v2kDEe57lecTulaDIuNTPy3Ry4gLGJ6Z1O3vE1krgXZNrsQ+LFTGHVxVjcXPs17LhbZVGedAJv8XZ1tvj5FvSg==", - "dev": true, "license": "MIT" }, "node_modules/lodash.merge": { @@ -7763,6 +7882,34 @@ "three": ">=0.134.0" } }, + "node_modules/markdown-it": { + "version": "12.3.2", + "resolved": "https://registry.npmjs.org/markdown-it/-/markdown-it-12.3.2.tgz", + "integrity": "sha512-TchMembfxfNVpHkbtriWltGWc+m3xszaRD0CZup7GFFhzIgQqxIfn3eGj1yZpfuflzPvfkt611B2Q/Bsk1YnGg==", + "license": "MIT", + "peer": true, + "dependencies": { + "argparse": "^2.0.1", + "entities": "~2.1.0", + "linkify-it": "^3.0.1", + "mdurl": "^1.0.1", + "uc.micro": "^1.0.5" + }, + "bin": { + "markdown-it": "bin/markdown-it.js" + } + }, + "node_modules/markdown-it-anchor": { + "version": "8.6.7", + "resolved": "https://registry.npmjs.org/markdown-it-anchor/-/markdown-it-anchor-8.6.7.tgz", + "integrity": "sha512-FlCHFwNnutLgVTflOYHPW2pPcl2AACqVzExlkGQNsi4CJgqOHN7YTgDd4LuhgN1BFO3TS0vLAruV1Td6dwWPJA==", + "license": "Unlicense", + "peer": true, + "peerDependencies": { + "@types/markdown-it": "*", + "markdown-it": "*" + } + }, "node_modules/markdown-table": { "version": "3.0.3", "resolved": "https://registry.npmjs.org/markdown-table/-/markdown-table-3.0.3.tgz", @@ -7773,6 +7920,19 @@ "url": "https://github.com/sponsors/wooorm" } }, + "node_modules/marked": { + "version": "4.3.0", + "resolved": "https://registry.npmjs.org/marked/-/marked-4.3.0.tgz", + "integrity": "sha512-PRsaiG84bK+AMvxziE/lCFss8juXjNaWzVbN5tXAm4XjeaS9NAHhop+PjQxz2A9h8Q4M/xGmzP8vqNwy6JeK0A==", + "license": "MIT", + "peer": true, + "bin": { + "marked": "bin/marked.js" + }, + "engines": { + "node": ">= 12" + } + }, "node_modules/mdast-util-find-and-replace": { "version": "3.0.1", "resolved": "https://registry.npmjs.org/mdast-util-find-and-replace/-/mdast-util-find-and-replace-3.0.1.tgz", @@ -8055,6 +8215,13 @@ "url": "https://opencollective.com/unified" } }, + "node_modules/mdurl": { + "version": "1.0.1", + "resolved": "https://registry.npmjs.org/mdurl/-/mdurl-1.0.1.tgz", + "integrity": "sha512-/sKlQJCBYVY9Ers9hqzKou4H6V5UWc/M59TH2dvkt+84itfnq7uFOMLpOiOS4ujvHP4etln18fmIxA5R5fll0g==", + "license": "MIT", + "peer": true + }, "node_modules/merge-stream": { "version": "2.0.0", "resolved": "https://registry.npmjs.org/merge-stream/-/merge-stream-2.0.0.tgz", @@ -8752,6 +8919,19 @@ "node": ">=0.10.0" } }, + "node_modules/mkdirp": { + "version": "1.0.4", + "resolved": "https://registry.npmjs.org/mkdirp/-/mkdirp-1.0.4.tgz", + "integrity": "sha512-vVqVZQyf3WLx2Shd0qJ9xuvqgAyKPLAiqITEtqW0oIUjzo3PePDd6fW9iFz30ef7Ysp/oiWqbhszeGWW2T6Gzw==", + "license": "MIT", + "peer": true, + "bin": { + "mkdirp": "bin/cmd.js" + }, + "engines": { + "node": ">=10" + } + }, "node_modules/mri": { "version": "1.2.0", "resolved": "https://registry.npmjs.org/mri/-/mri-1.2.0.tgz", @@ -10270,6 +10450,16 @@ "node": ">=0.10.0" } }, + "node_modules/requizzle": { + "version": "0.2.4", + "resolved": "https://registry.npmjs.org/requizzle/-/requizzle-0.2.4.tgz", + "integrity": "sha512-JRrFk1D4OQ4SqovXOgdav+K8EAhSB/LJZqCz8tbX0KObcdeM15Ss59ozWMBWmmINMagCwmqn4ZNryUGpBsl6Jw==", + "license": "MIT", + "peer": true, + "dependencies": { + "lodash": "^4.17.21" + } + }, "node_modules/resolve": { "version": "2.0.0-next.5", "resolved": "https://registry.npmjs.org/resolve/-/resolve-2.0.0-next.5.tgz", @@ -10944,7 +11134,6 @@ "version": "3.1.1", "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-3.1.1.tgz", "integrity": "sha512-6fPc+R4ihwqP6N/aIv2f1gMH8lOVtWQHoqC4yK6oSDVVocumAsfCqjkXnqiYMhmMwS/mEHLp7Vehlt3ql6lEig==", - "dev": true, "license": "MIT", "engines": { "node": ">=8" @@ -11041,6 +11230,12 @@ "url": "https://opencollective.com/unts" } }, + "node_modules/taffydb": { + "version": "2.6.2", + "resolved": "https://registry.npmjs.org/taffydb/-/taffydb-2.6.2.tgz", + "integrity": "sha512-y3JaeRSplks6NYQuCOj3ZFMO3j60rTwbuKCvZxsAraGYH2epusatvZ0baZYA01WsGqJBq/Dl6vOrMUJqyMj8kA==", + "peer": true + }, "node_modules/tailwind-merge": { "version": "2.5.2", "resolved": "https://registry.npmjs.org/tailwind-merge/-/tailwind-merge-2.5.2.tgz", @@ -11248,7 +11443,6 @@ "version": "2.0.0", "resolved": "https://registry.npmjs.org/to-fast-properties/-/to-fast-properties-2.0.0.tgz", "integrity": "sha512-/OaKK0xYrs3DmxRYqL/yDc+FxFUVYhDlXMhRmv3z915w2HF1tnN1omB354j8VUGO/hbRzyD6Y3sA7v7GS/ceog==", - "dev": true, "license": "MIT", "engines": { "node": ">=4" @@ -11335,6 +11529,31 @@ "integrity": "sha512-Y/arvbn+rrz3JCKl9C4kVNfTfSm2/mEp5FSz5EsZSANGPSlQrpRI5M4PKF+mJnE52jOO90PnPSc3Ur3bTQw0gA==", "license": "Apache-2.0" }, + "node_modules/tsd-jsdoc": { + "version": "2.5.0", + "resolved": "https://registry.npmjs.org/tsd-jsdoc/-/tsd-jsdoc-2.5.0.tgz", + "integrity": "sha512-80fcJLAiUeerg4xPftp+iEEKWUjJjHk9AvcHwJqA8Zw0R4oASdu3kT/plE/Zj19QUTz8KupyOX25zStlNJjS9g==", + "license": "MIT", + "dependencies": { + "typescript": "^3.2.1" + }, + "peerDependencies": { + "jsdoc": "^3.6.3" + } + }, + "node_modules/tsd-jsdoc/node_modules/typescript": { + "version": "3.9.10", + "resolved": "https://registry.npmjs.org/typescript/-/typescript-3.9.10.tgz", + "integrity": "sha512-w6fIxVE/H1PkLKcCPsFqKE7Kv7QUwhU8qQY2MueZXWx5cPZdwFupLgKK3vntcK98BtNHZtAF4LA/yl2a7k8R6Q==", + "license": "Apache-2.0", + "bin": { + "tsc": "bin/tsc", + "tsserver": "bin/tsserver" + }, + "engines": { + "node": ">=4.2.0" + } + }, "node_modules/tslib": { "version": "2.6.3", "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.6.3.tgz", @@ -11529,6 +11748,13 @@ "node": "*" } }, + "node_modules/uc.micro": { + "version": "1.0.6", + "resolved": "https://registry.npmjs.org/uc.micro/-/uc.micro-1.0.6.tgz", + "integrity": "sha512-8Y75pvTYkLJW2hWQHXxoqRgV7qb9B+9vFEtidML+7koHUFapnVJAZ6cKs+Qjz5Aw3aZWHMC6u0wJE3At+nSGwA==", + "license": "MIT", + "peer": true + }, "node_modules/unbox-primitive": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/unbox-primitive/-/unbox-primitive-1.0.2.tgz", @@ -11545,6 +11771,13 @@ "url": "https://github.com/sponsors/ljharb" } }, + "node_modules/underscore": { + "version": "1.13.7", + "resolved": "https://registry.npmjs.org/underscore/-/underscore-1.13.7.tgz", + "integrity": "sha512-GMXzWtsc57XAtguZgaQViUOzs0KTkk8ojr3/xAxXLITqf/3EMwxC0inyETfDFjH/Krbhuep0HNbbjI9i/q3F3g==", + "license": "MIT", + "peer": true + }, "node_modules/undici-types": { "version": "6.19.8", "resolved": "https://registry.npmjs.org/undici-types/-/undici-types-6.19.8.tgz", @@ -12346,6 +12579,13 @@ "url": "https://github.com/chalk/strip-ansi?sponsor=1" } }, + "node_modules/xmlcreate": { + "version": "2.0.4", + "resolved": "https://registry.npmjs.org/xmlcreate/-/xmlcreate-2.0.4.tgz", + "integrity": "sha512-nquOebG4sngPmGPICTS5EnxqhKbCmz5Ox5hsszI2T6U5qdrJizBc+0ilYSEjTSzU0yZcmvppztXe/5Al5fUwdg==", + "license": "Apache-2.0", + "peer": true + }, "node_modules/yallist": { "version": "3.1.1", "resolved": "https://registry.npmjs.org/yallist/-/yallist-3.1.1.tgz", diff --git a/frontend/package.json b/frontend/package.json index 17849b3b..a806f3f4 100644 --- a/frontend/package.json +++ b/frontend/package.json @@ -80,6 +80,7 @@ "tailwind-merge": "^2.5.2", "tailwindcss-animate": "^1.0.7", "three": "^0.167.1", + "tsd-jsdoc": "^2.5.0", "urdf-loader": "^0.12.2", "zod": "^3.23.8", "zxcvbn": "^4.4.2" diff --git a/frontend/src/App.tsx b/frontend/src/App.tsx index 75a32bd3..4935be3f 100644 --- a/frontend/src/App.tsx +++ b/frontend/src/App.tsx @@ -26,7 +26,6 @@ import Logout from "@/components/pages/Logout"; import NotFound from "@/components/pages/NotFound"; import OrderSuccess from "@/components/pages/OrderSuccess"; import OrdersPage from "@/components/pages/Orders"; -import Playground from "@/components/pages/Playground"; import PrivacyPolicy from "@/components/pages/PrivacyPolicy"; import Profile from "@/components/pages/Profile"; import ResearchPage from "@/components/pages/ResearchPage"; @@ -57,12 +56,6 @@ const App = () => { } /> - {/* Playground */} - } - /> - {/* General pages */} } /> { /> {/* Seller */} - } - > + + } + /> } diff --git a/frontend/src/components/files/FileRenderer.tsx b/frontend/src/components/files/FileRenderer.tsx index 00c861ff..b4faf2d7 100644 --- a/frontend/src/components/files/FileRenderer.tsx +++ b/frontend/src/components/files/FileRenderer.tsx @@ -1,22 +1,48 @@ -import STLRenderer from "./STLRenderer"; -import { UntarredFile } from "./Tarfile"; -import URDFRenderer from "./URDFRenderer"; +import MJCFRenderer from "@/components/files/MJCFRenderer"; +import STLRenderer from "@/components/files/STLRenderer"; +import URDFRenderer from "@/components/files/URDFRenderer"; +import { UntarredFile } from "@/components/files/untar"; + +const isMJCFFile = (content: string, filename: string): boolean => { + const extension = filename.split(".").pop()?.toLowerCase(); + if (extension !== "xml" && extension !== "mjcf") { + return false; + } + + return content.includes(""); +}; const FileRenderer: React.FC<{ file: UntarredFile; allFiles: UntarredFile[]; }> = ({ file, allFiles }) => { const fileExtension = file.name.split(".").pop()?.toLowerCase(); + const fileContent = new TextDecoder().decode(file.content); switch (fileExtension) { case "urdf": return ( ); + case "xml": + case "mjcf": + if (isMJCFFile(fileContent, file.name)) { + // For now, just render the default humanoid, since there is something + // funky about the way the MJCF files are being generated by the + // K-Scale Onshape Library that isn't working well with the current + // renderer. + return ; + } else { + return ( +
+

Invalid MJCF file format

+
+ ); + } case "stl": return ; default: diff --git a/frontend/src/components/files/FileTreeViewer.tsx b/frontend/src/components/files/FileTreeViewer.tsx index 2b548dc2..183a8ebd 100644 --- a/frontend/src/components/files/FileTreeViewer.tsx +++ b/frontend/src/components/files/FileTreeViewer.tsx @@ -1,7 +1,7 @@ import { useState } from "react"; import { FaFile, FaFolder, FaFolderOpen } from "react-icons/fa"; -import { UntarredFile } from "./Tarfile"; +import { UntarredFile } from "@/components/files/untar"; interface FileTreeNode { name: string; diff --git a/frontend/src/components/files/MJCFRenderer.tsx b/frontend/src/components/files/MJCFRenderer.tsx new file mode 100644 index 00000000..f596e14d --- /dev/null +++ b/frontend/src/components/files/MJCFRenderer.tsx @@ -0,0 +1,410 @@ +import { useCallback, useEffect, useRef, useState } from "react"; +import { + FaChevronLeft, + FaChevronRight, + FaCompress, + FaExpand, + FaPause, + FaPlay, + FaUndo, +} from "react-icons/fa"; + +import { + MujocoRefs, + cleanupMujoco, + getJointNames, + initializeMujoco, + initializeThreeJS, + resetJoints, + setupModelGeometry, + setupScene, + updateBodyTransforms, +} from "@/components/files/mujoco/mujoco"; +import { UntarredFile } from "@/components/files/untar"; +import Spinner from "@/components/ui/Spinner"; +import { humanReadableError } from "@/hooks/useAlertQueue"; +import { mujoco } from "@/lib/mujoco/mujoco_wasm"; +import * as THREE from "three"; +import { OrbitControls } from "three/examples/jsm/controls/OrbitControls"; + +interface Props { + mjcfContent: string; + files: UntarredFile[]; + useControls?: boolean; +} + +const MJCFRenderer = ({ mjcfContent, files, useControls = true }: Props) => { + const animationFrameRef = useRef(); + const containerRef = useRef(null); + + // Create refs object for MuJoCo and Three.js + const refs: MujocoRefs = { + mujocoRef: useRef(null), + modelRef: useRef | null>(null), + stateRef: useRef | null>(null), + simulationRef: useRef | null>(null), + rendererRef: useRef(null), + sceneRef: useRef(null), + cameraRef: useRef(null), + controlsRef: useRef(null), + }; + + // State management + const isSimulatingRef = useRef(false); + const mujocoTimeRef = useRef(0); + const [isMujocoReady, setIsMujocoReady] = useState(false); + const [errorToShow, setErrorToShow] = useState(null); + + // Constants + const DEFAULT_TIMESTEP = 0.002; + + // Add new state for sidebar visibility + const [showControls, setShowControls] = useState(true); + + // Add state for simulation control + const [isSimulating, setIsSimulating] = useState(false); + + // Add new state for joint controls + const [joints, setJoints] = useState<{ name: string; value: number }[]>([]); + + // Add new state for fullscreen + const [isFullscreen, setIsFullscreen] = useState(false); + const parentRef = useRef(null); + + const toggleFullScreen = useCallback(() => { + if (!parentRef.current) return; + + if (!document.fullscreenElement) { + parentRef.current.requestFullscreen(); + } else { + document.exitFullscreen(); + } + }, []); + + // Add function to update joint positions + const updateJointPosition = (index: number, value: number) => { + if ( + refs.stateRef.current && + refs.simulationRef.current && + refs.modelRef.current + ) { + const qposAddr = refs.modelRef.current.jnt_qposadr[index]; + refs.simulationRef.current.qpos[qposAddr] = value; + refs.simulationRef.current.forward(); + updateBodyTransforms(refs); + + // Update state + setJoints((prev) => + prev.map((joint, i) => (i === index ? { ...joint, value } : joint)), + ); + } + }; + + const animate = (time: number) => { + if ( + !refs.rendererRef.current || + !refs.sceneRef.current || + !refs.cameraRef.current + ) + return; + + // Update physics if simulating + if (isSimulatingRef.current && refs.simulationRef.current) { + const timestep = DEFAULT_TIMESTEP; + if (time - mujocoTimeRef.current > 35.0) { + mujocoTimeRef.current = time; + } + + while (mujocoTimeRef.current < time) { + refs.simulationRef.current.step(); + mujocoTimeRef.current += timestep * 1000.0; + } + + // Update body transforms after physics step + updateBodyTransforms(refs); + } + + // Update controls if enabled + if (useControls && refs.controlsRef.current) { + refs.controlsRef.current.update(); + } + + // Render the scene + refs.rendererRef.current.render( + refs.sceneRef.current, + refs.cameraRef.current, + ); + animationFrameRef.current = requestAnimationFrame(animate); + }; + + const stopPhysicsSimulation = () => { + isSimulatingRef.current = false; + setIsSimulating(false); + if (animationFrameRef.current) { + cancelAnimationFrame(animationFrameRef.current); + } + }; + + // Add a function to start physics simulation + const startPhysicsSimulation = () => { + isSimulatingRef.current = true; + setIsSimulating(true); + animate(performance.now()); + }; + + // Toggle simulation function + const toggleSimulation = () => { + if (isSimulating) { + stopPhysicsSimulation(); + } else { + startPhysicsSimulation(); + } + }; + + // Add function to restart simulation + const restartSimulation = () => { + if (refs.stateRef.current && refs.simulationRef.current) { + refs.simulationRef.current.resetData(); + refs.simulationRef.current.forward(); + updateBodyTransforms(refs); + + // Reset joint slider values + if (refs.modelRef.current) { + setJoints(resetJoints(refs, joints)); + } + } + }; + + useEffect(() => { + if (!containerRef.current) return; + + // Define handleResize first + const handleResize = () => { + if ( + refs.rendererRef.current && + refs.cameraRef.current && + containerRef.current + ) { + refs.cameraRef.current.aspect = + containerRef.current.clientWidth / containerRef.current.clientHeight; + refs.cameraRef.current.updateProjectionMatrix(); + refs.rendererRef.current.setSize( + containerRef.current.clientWidth, + containerRef.current.clientHeight, + ); + } + }; + + // Then define cleanup + const cleanup = () => { + window.removeEventListener("resize", handleResize); + if (animationFrameRef.current) { + cancelAnimationFrame(animationFrameRef.current); + } + cleanupMujoco(refs); + stopPhysicsSimulation(); + Object.keys(refs).forEach((key) => { + refs[key as keyof MujocoRefs].current = null; + }); + }; + + // Rest of the effect remains the same... + cleanup(); + + (async () => { + try { + if (!containerRef.current) throw new Error("Container ref is null"); + + // Initialize MuJoCo with the humanoid model + const { mj, model, state, simulation } = await initializeMujoco({ + modelXML: mjcfContent, + files, + }); + + // Only set refs if component is still mounted + if (containerRef.current) { + refs.mujocoRef.current = mj; + refs.modelRef.current = model; + refs.stateRef.current = state; + refs.simulationRef.current = simulation; + + // Initialize Three.js scene + const { renderer, scene, camera, controls } = initializeThreeJS( + containerRef.current, + { + backgroundColor: new THREE.Color("#f0f0f0"), + }, + ); + + // Add camera positioning + camera.position.set(2, 2, 2); // Set initial camera position + camera.lookAt(0, 0, 0); + + // Configure controls + controls.enableDamping = true; + controls.dampingFactor = 0.05; + controls.maxDistance = 10; + controls.minDistance = 0.5; + + refs.rendererRef.current = renderer; + refs.sceneRef.current = scene; + refs.cameraRef.current = camera; + refs.controlsRef.current = controls; + + // Add model-specific setup (bodies, geometries, etc.) + setupModelGeometry(refs); + setupScene(refs); + setIsMujocoReady(true); + + // Get joint names and set initial joint values. + if (mj) { + setJoints(getJointNames(refs, mj)); + } + + // Start animation loop. + animate(performance.now()); + + isSimulatingRef.current = false; + setIsSimulating(false); + } + } catch (error) { + setErrorToShow(error as Error); + } + })(); + + window.addEventListener("resize", handleResize); + + // Add fullscreen change listener + const handleFullscreenChange = () => { + setIsFullscreen(!!document.fullscreenElement); + }; + document.addEventListener("fullscreenchange", handleFullscreenChange); + + return () => { + // ... existing cleanup code ... + document.removeEventListener("fullscreenchange", handleFullscreenChange); + }; + }, []); // Empty dependency array + + return ( +
+ {errorToShow && ( +
+
+ {errorToShow.name}: {humanReadableError(errorToShow)} +
+
+ )} + + {!isMujocoReady && ( +
+ +
+ )} + +
+ + {useControls && showControls && ( +
+
+
+
+ {/* Add notification banner */} +
+

+ The MuJoCo renderer is currently under development. If you + would like to contribute, see the project repository{" "} + + here + + . +

+
+ + + + {/* Add joint controls */} +
+

Joint Controls

+ {joints.map((joint, index) => ( +
+
+ + + {joint.value.toFixed(2)} + +
+ + updateJointPosition(index, parseFloat(e.target.value)) + } + className="w-full h-2 bg-gray-200 rounded-lg appearance-none cursor-pointer" + /> +
+ {"-3.14"} + {"3.14"} +
+
+ ))} +
+
+
+
+
+ )} + + {useControls && !showControls && ( + + )} + +
+ + + +
+
+ ); +}; + +export default MJCFRenderer; diff --git a/frontend/src/components/files/URDFRenderer.tsx b/frontend/src/components/files/URDFRenderer.tsx index f742c8e2..4eda76f2 100644 --- a/frontend/src/components/files/URDFRenderer.tsx +++ b/frontend/src/components/files/URDFRenderer.tsx @@ -10,7 +10,7 @@ import { FaUndo, } from "react-icons/fa"; -import { UntarredFile } from "@/components/files/Tarfile"; +import { UntarredFile } from "@/components/files/untar"; import * as THREE from "three"; import { OrbitControls } from "three/examples/jsm/controls/OrbitControls"; import { STLLoader } from "three/examples/jsm/loaders/STLLoader"; diff --git a/frontend/src/components/files/mujoco/mujoco.ts b/frontend/src/components/files/mujoco/mujoco.ts new file mode 100644 index 00000000..dd942562 --- /dev/null +++ b/frontend/src/components/files/mujoco/mujoco.ts @@ -0,0 +1,470 @@ +import { UntarredFile } from "@/components/files/untar"; +import load_mujoco, { mujoco } from "@/lib/mujoco/mujoco_wasm"; +import * as THREE from "three"; +import { OrbitControls } from "three/examples/jsm/controls/OrbitControls"; + +export interface MujocoRefs { + mujocoRef: React.MutableRefObject; + modelRef: React.MutableRefObject | null>; + stateRef: React.MutableRefObject | null>; + simulationRef: React.MutableRefObject | null>; + rendererRef: React.MutableRefObject; + sceneRef: React.MutableRefObject; + cameraRef: React.MutableRefObject; + controlsRef: React.MutableRefObject; +} + +export interface MujocoInitOptions { + modelXML: string; + files: UntarredFile[]; +} + +export const initializeMujoco = async ({ + modelXML, + files, +}: MujocoInitOptions) => { + const MODEL_DIR = "/working"; + const MODEL_FILE = "model.xml"; + const MODEL_PATH = `${MODEL_DIR}/${MODEL_FILE}`; + + // Load MuJoCo WASM module + const mj = await load_mujoco(); + + // Set up file system and load XML model + // @ts-expect-error: mj.FS is not typed + if (!mj.FS.analyzePath(MODEL_DIR).exists) { + mj.FS.mkdir(MODEL_DIR); + } + + // Write all asset files to the filesystem + for (const file of files) { + // Skip non-mesh files + if ( + !file.name.toLowerCase().endsWith(".stl") && + !file.name.toLowerCase().endsWith(".obj") + ) { + continue; + } + + const filePath = `${MODEL_DIR}/${file.name}`; + const dirs = file.name.split("/"); + if (dirs.length > 1) { + let currentPath = MODEL_DIR; + for (const dir of dirs.slice(0, -1)) { + currentPath = `${currentPath}/${dir}`; + // @ts-expect-error: mj.FS is not typed + if (!mj.FS.analyzePath(currentPath).exists) { + mj.FS.mkdir(currentPath); + } + } + } + mj.FS.writeFile(filePath, file.content); + } + + // Write the main model XML file + mj.FS.writeFile(MODEL_PATH, modelXML); + mj.FS.chdir(MODEL_DIR); + const model = mj.Model.load_from_xml(MODEL_FILE); + const state = new mj.State(model); + const simulation = new mj.Simulation(model, state); + simulation.forward(); // Compute initial positions and orientations + return { mj, model, state, simulation }; +}; + +export interface ThreeJSInitOptions { + cameraDistance?: number; + cameraHeight?: number; + backgroundColor?: THREE.Color; + onError?: (error: Error) => void; +} + +export const initializeThreeJS = ( + container: HTMLDivElement, + { + cameraDistance = 2.5, + cameraHeight = 1.5, + backgroundColor = new THREE.Color(0.15, 0.25, 0.35), + }: ThreeJSInitOptions = {}, +) => { + // Set up renderer + const renderer = new THREE.WebGLRenderer({ + antialias: true, + alpha: true, + powerPreference: "high-performance", + }); + + if (!renderer.getContext()) { + throw new Error("Failed to get WebGL context"); + } + + renderer.setSize(container.clientWidth, container.clientHeight); + container.appendChild(renderer.domElement); + + // Set up scene + const scene = new THREE.Scene(); + scene.background = backgroundColor; + + // Set up camera + const camera = new THREE.PerspectiveCamera( + 45, + container.clientWidth / container.clientHeight, + 0.001, + 100, + ); + camera.position.set( + cameraDistance * Math.cos(Math.PI / 4), + cameraHeight, + cameraDistance * Math.sin(Math.PI / 4), + ); + scene.add(camera); + + // Set up controls + const controls = new OrbitControls(camera, renderer.domElement); + controls.enableDamping = true; + controls.dampingFactor = 0.1; + controls.minDistance = 1.0; + controls.maxDistance = 5.0; + controls.update(); + + // Add lighting + const ambientLight = new THREE.AmbientLight(0xffffff, 0.5); + scene.add(ambientLight); + + const dirLight = new THREE.DirectionalLight(0xffffff, 0.5); + dirLight.position.set(5, 5, 5); + scene.add(dirLight); + + // Add floor + const floorGeometry = new THREE.PlaneGeometry(10, 10); + const floorMaterial = new THREE.MeshStandardMaterial({ + color: 0xe0e0e0, + roughness: 0.7, + metalness: 0.1, + }); + const floor = new THREE.Mesh(floorGeometry, floorMaterial); + floor.rotation.x = -Math.PI / 2; + floor.position.y = 0; + scene.add(floor); + + return { renderer, scene, camera, controls }; +}; + +export const cleanupMujoco = (refs: MujocoRefs) => { + // Clean up Three.js resources + if (refs.rendererRef.current) { + refs.rendererRef.current.dispose(); + refs.rendererRef.current.forceContextLoss(); + refs.rendererRef.current.domElement.remove(); + } + + if (refs.sceneRef.current) { + refs.sceneRef.current.traverse((object) => { + if (object instanceof THREE.Mesh) { + object.geometry.dispose(); + if (object.material instanceof THREE.Material) { + object.material.dispose(); + } else if (Array.isArray(object.material)) { + object.material.forEach((material) => material.dispose()); + } + } + }); + } + + if (refs.controlsRef.current) { + refs.controlsRef.current.dispose(); + } + if (refs.stateRef.current) { + refs.stateRef.current.free(); + } + if (refs.simulationRef.current) { + refs.simulationRef.current.free(); + } + if (refs.modelRef.current) { + refs.modelRef.current.free(); + } + + // Reset all refs except containerRef + refs.mujocoRef.current = null; + refs.modelRef.current = null; + refs.stateRef.current = null; + refs.simulationRef.current = null; + refs.rendererRef.current = null; + refs.sceneRef.current = null; + refs.cameraRef.current = null; + refs.controlsRef.current = null; +}; + +const getMeshGeometry = (model: mujoco["Model"], i: number) => { + // Get mesh data from MuJoCo + const meshId = model.geom_dataid[i]; + if (meshId < 0) { + throw new Error(`Mesh data not found for geom ${i}`); + } + + const vertCount = model.mesh_vertnum[meshId]; + const faceCount = model.mesh_facenum[meshId]; + + // Get vertex positions + const vertStart = model.mesh_vertadr[meshId]; + const vertices = model.mesh_vert.subarray( + vertStart * 3, + (vertStart + vertCount) * 3, + ); + + // Get face indices + const faceStart = model.mesh_faceadr[meshId]; + const faces = model.mesh_face.subarray( + faceStart * 3, + (faceStart + faceCount) * 3, + ); + + // Create Three.js geometry + const geometry = new THREE.BufferGeometry(); + + // Set vertices (converting from MuJoCo to Three.js coordinate system) + const positions = new Float32Array(vertCount * 3); + for (let v = 0; v < vertCount; v++) { + positions[v * 3] = vertices[v * 3]; // x + positions[v * 3 + 1] = vertices[v * 3 + 2]; // y -> z + positions[v * 3 + 2] = -vertices[v * 3 + 1]; // z -> -y + } + + geometry.setAttribute("position", new THREE.BufferAttribute(positions, 3)); + + // Set faces + geometry.setIndex(Array.from(faces)); + + // Compute normals + geometry.computeVertexNormals(); + + return geometry; +}; + +export const setupModelGeometry = (refs: MujocoRefs) => { + const { sceneRef, modelRef, mujocoRef } = refs; + if (!sceneRef.current || !modelRef.current || !mujocoRef.current) return; + const model = modelRef.current; + const mj = mujocoRef.current; + + // Create body groups first + const bodies: { [key: number]: THREE.Group } = {}; + for (let b = 0; b < model.nbody; b++) { + bodies[b] = new THREE.Group(); + bodies[b].name = `body_${b}`; + bodies[b].userData.bodyId = b; + + // Add to parent body or scene + if (b === 0 || !bodies[0]) { + sceneRef.current.add(bodies[b]); + } else { + bodies[0].add(bodies[b]); + } + } + + try { + for (let i = 0; i < model.ngeom; i++) { + // Get geom properties from the model + const geomType = model.geom_type[i]; + const geomSize = model.geom_size.subarray(i * 3, i * 3 + 3); + + // Create corresponding Three.js geometry + let geometry: THREE.BufferGeometry; + switch (geomType) { + // @ts-expect-error: mj.mjtGeom is not typed + case mj.mjtGeom.mjGEOM_PLANE.value: + geometry = new THREE.PlaneGeometry(geomSize[0] * 2, geomSize[1] * 2); + break; + // @ts-expect-error: mj.mjtGeom is not typed + case mj.mjtGeom.mjGEOM_SPHERE.value: + geometry = new THREE.SphereGeometry(geomSize[0], 32, 32); + break; + // @ts-expect-error: mj.mjtGeom is not typed + case mj.mjtGeom.mjGEOM_CAPSULE.value: + // Capsule is a cylinder with hemispheres at the ends + geometry = new THREE.CapsuleGeometry( + geomSize[0], + geomSize[1] * 2, + 4, + 32, + ); + break; + // @ts-expect-error: mj.mjtGeom is not typed + case mj.mjtGeom.mjGEOM_ELLIPSOID.value: + // Create a sphere and scale it to make an ellipsoid + geometry = new THREE.SphereGeometry(1, 32, 32); + geometry.scale(geomSize[0], geomSize[1], geomSize[2]); + break; + // @ts-expect-error: mj.mjtGeom is not typed + case mj.mjtGeom.mjGEOM_CYLINDER.value: + geometry = new THREE.CylinderGeometry( + geomSize[0], + geomSize[0], + geomSize[1] * 2, + 32, + ); + break; + // @ts-expect-error: mj.mjtGeom is not typed + case mj.mjtGeom.mjGEOM_BOX.value: + geometry = new THREE.BoxGeometry( + geomSize[0] * 2, + geomSize[1] * 2, + geomSize[2] * 2, + ); + break; + // @ts-expect-error: mj.mjtGeom is not typed + case mj.mjtGeom.mjGEOM_MESH.value: + geometry = getMeshGeometry(model, i); + break; + // @ts-expect-error: mj.mjtGeom is not typed + case mj.mjtGeom.mjGEOM_LINE.value: + geometry = new THREE.BufferGeometry().setFromPoints([ + new THREE.Vector3(0, 0, 0), + new THREE.Vector3(geomSize[0], 0, 0), + ]); + break; + default: + console.warn(`Unsupported geom type: ${geomType}`); + continue; + } + + // Create material (you can customize this based on geom properties) + const material = new THREE.MeshPhongMaterial({ color: 0x808080 }); + + // Create mesh and add to corresponding body + const mesh = new THREE.Mesh(geometry, material); + mesh.userData.geomIndex = i; + + const bodyId = model.geom_bodyid[i]; + if (bodies[bodyId]) { + // Set local position and orientation relative to body + const pos = model.geom_pos.subarray(i * 3, i * 3 + 3); + mesh.position.set(pos[0], pos[2], -pos[1]); + + const quat = model.geom_quat.subarray(i * 4, i * 4 + 4); + mesh.quaternion.set(-quat[1], -quat[3], quat[2], -quat[0]); + + bodies[bodyId].add(mesh); + } + } + + // Update initial body positions and orientations + for (let b = 0; b < model.nbody; b++) { + if (bodies[b]) { + const pos = refs.simulationRef.current!.xpos.subarray(b * 3, b * 3 + 3); + bodies[b].position.set(pos[0], pos[2], -pos[1]); + + const quat = refs.simulationRef.current!.xquat.subarray( + b * 4, + b * 4 + 4, + ); + bodies[b].quaternion.set(-quat[1], -quat[3], quat[2], -quat[0]); + + bodies[b].updateWorldMatrix(true, true); + } + } + } catch (error) { + console.error(error); + } +}; + +export const setupScene = (refs: MujocoRefs) => { + if (!refs.sceneRef.current || !refs.cameraRef.current) return; + + // Set up scene properties + refs.sceneRef.current.background = new THREE.Color(0.15, 0.25, 0.35); + refs.sceneRef.current.fog = new THREE.Fog( + refs.sceneRef.current.background, + 30, + 50, + ); + + // Add ambient light + const ambientLight = new THREE.AmbientLight(0xffffff, 0.1); + ambientLight.name = "AmbientLight"; + refs.sceneRef.current.add(ambientLight); + + // Set up camera with wider view + refs.cameraRef.current.position.set(4.0, 3.4, 3.4); + refs.cameraRef.current.far = 100; + refs.cameraRef.current.updateProjectionMatrix(); + + // Update OrbitControls settings + if (refs.controlsRef.current) { + refs.controlsRef.current.target.set(0, 0.7, 0); + refs.controlsRef.current.panSpeed = 2; + refs.controlsRef.current.zoomSpeed = 1; + refs.controlsRef.current.enableDamping = true; + refs.controlsRef.current.dampingFactor = 0.1; + refs.controlsRef.current.screenSpacePanning = true; + refs.controlsRef.current.update(); + } +}; + +export const updateBodyTransforms = (refs: MujocoRefs) => { + const { modelRef, simulationRef, sceneRef } = refs; + if (!modelRef.current || !simulationRef.current || !sceneRef.current) return; + + // Update body transforms + for (let b = 0; b < modelRef.current.nbody; b++) { + const body = sceneRef.current.getObjectByName(`body_${b}`); + if (body) { + const pos = simulationRef.current.xpos.subarray(b * 3, b * 3 + 3); + body.position.set(pos[0], pos[2], -pos[1]); + + const quat = simulationRef.current.xquat.subarray(b * 4, b * 4 + 4); + body.quaternion.set(-quat[1], -quat[3], quat[2], -quat[0]); + + body.updateWorldMatrix(true, true); + } + } +}; + +export const getJoints = (refs: MujocoRefs) => { + const jointNames = []; + const numJoints = refs.modelRef.current?.nu; + if (!numJoints) return []; + + for (let i = 0; i < numJoints; i++) { + const name = refs.simulationRef.current?.id2name( + // @ts-expect-error: mj.mjtObj is not typed + mj.mjtObj.mjOBJ_ACTUATOR.value, + i, + ); + // @ts-expect-error: mj.State is not typed + const qpos = refs.stateRef.current?.qpos || []; + jointNames.push({ name, value: qpos[i] || 0 }); + } +}; + +export const getJointNames = (refs: MujocoRefs, mj: mujoco) => { + const jointNames: { name: string; value: number }[] = []; + const numJoints = refs.modelRef.current?.nu; + if (!numJoints) return jointNames; + + for (let i = 0; i < numJoints + 1; i++) { + const name = refs.simulationRef.current?.id2name( + // @ts-expect-error: mj.mjtObj is not typed + mj.mjtObj.mjOBJ_JOINT.value, + i, + ); + if (!name) continue; + // @ts-expect-error: mj.mjtObj is not typed + const qpos = refs.stateRef.current?.qpos || []; + jointNames.push({ name, value: qpos[i] || 0 }); + } + return jointNames; +}; + +export const resetJoints = ( + refs: MujocoRefs, + joints: { name: string; value: number }[], +) => { + // @ts-expect-error: mj.State is not typed + const qpos = refs.stateRef.current?.qpos || []; + return joints.map((joint, i) => ({ + ...joint, + value: qpos[i] || 0, + })); +}; diff --git a/frontend/src/components/files/Tarfile.tsx b/frontend/src/components/files/untar.ts similarity index 76% rename from frontend/src/components/files/Tarfile.tsx rename to frontend/src/components/files/untar.ts index f35294da..026411b3 100644 --- a/frontend/src/components/files/Tarfile.tsx +++ b/frontend/src/components/files/untar.ts @@ -1,3 +1,5 @@ +import pako from "pako"; + export interface UntarredFile { name: string; content: Uint8Array; @@ -58,3 +60,18 @@ export const parseTar = (buffer: Uint8Array): UntarredFile[] => { return files; }; + +export const untarFile = async (url: string) => { + const response = await fetch(url); + const arrayBuffer = await response.arrayBuffer(); + const uint8Array = new Uint8Array(arrayBuffer); + const decompressed = pako.ungzip(uint8Array); + const files = parseTar(decompressed); + return files; +}; + +export const cleanXml = (xml: string) => { + xml = xml.replace(/<\?xml version="1.0" encoding="UTF-8"\?>/, ""); + xml = xml.replace(/\n/g, ""); + return xml; +}; diff --git a/frontend/src/components/listing/ListingRenderer.tsx b/frontend/src/components/listing/ListingRenderer.tsx index bcf554b8..9da60f33 100644 --- a/frontend/src/components/listing/ListingRenderer.tsx +++ b/frontend/src/components/listing/ListingRenderer.tsx @@ -9,7 +9,7 @@ import ListingMetadata from "@/components/listing/ListingMetadata"; import ListingName from "@/components/listing/ListingName"; import ListingOnshape from "@/components/listing/ListingOnshape"; import ListingRegisterRobot from "@/components/listing/ListingRegisterRobot"; -import { Artifact, ListingResponse } from "@/components/listing/types"; +import { ListingResponse } from "@/components/listing/types"; const ListingRenderer = ({ listing }: { listing: ListingResponse }) => { const { @@ -31,14 +31,6 @@ const ListingRenderer = ({ listing }: { listing: ListingResponse }) => { const [artifacts, setArtifacts] = useState(initialArtifacts); const [currentImageIndex, setCurrentImageIndex] = useState(0); - const addArtifacts = (newArtifacts: Artifact[]) => { - setArtifacts((prevArtifacts) => - [...newArtifacts, ...prevArtifacts].sort((a, b) => - a.is_main ? -1 : b.is_main ? 1 : 0, - ), - ); - }; - return (
{/* Main content area - flex column on mobile, row on desktop */} @@ -72,7 +64,7 @@ const ListingRenderer = ({ listing }: { listing: ListingResponse }) => {
{/* Build this robot */} -
+
{ dropzoneOptions={{ accept: { "image/*": [".png", ".jpg", ".jpeg"] }, }} - addArtifacts={addArtifacts} + addArtifacts={setArtifacts} /> )} @@ -117,7 +109,7 @@ const ListingRenderer = ({ listing }: { listing: ListingResponse }) => { listingId={listingId} onshapeUrl={onshapeUrl} canEdit={canEdit} - addArtifacts={addArtifacts} + addArtifacts={setArtifacts} /> )}
diff --git a/frontend/src/components/nav/Navbar.tsx b/frontend/src/components/nav/Navbar.tsx index fec38d87..335cd98a 100644 --- a/frontend/src/components/nav/Navbar.tsx +++ b/frontend/src/components/nav/Navbar.tsx @@ -1,11 +1,5 @@ import { useState } from "react"; -import { - FaBars, - FaGithub, - FaRegFileLines, - FaRobot, - FaWpexplorer, -} from "react-icons/fa6"; +import { FaBars } from "react-icons/fa6"; import { Link, useLocation, useNavigate } from "react-router-dom"; import Logo from "@/components/Logo"; @@ -13,111 +7,17 @@ import { useFeaturedListings } from "@/components/listing/FeaturedListings"; import Sidebar from "@/components/nav/Sidebar"; import { useAuthentication } from "@/hooks/useAuth"; import ROUTES from "@/lib/types/routes"; -import { - ChevronDownIcon, - ChevronUpIcon, - ExternalLinkIcon, - MagnifyingGlassIcon, -} from "@radix-ui/react-icons"; -type NavItem = { - name: string; - path: string; - isExternal: boolean; -}; +import { getNavItems } from "./navigation"; const Navbar = () => { const { isAuthenticated } = useAuthentication(); const [showSidebar, setShowSidebar] = useState(false); const location = useLocation(); const navigate = useNavigate(); - const [showDevelopersDropdown, setShowDevelopersDropdown] = useState(false); const { featuredListings } = useFeaturedListings(); - let navItems: NavItem[] = []; - - if (isAuthenticated) { - navItems = [ - { name: "Terminal", path: "/terminal", isExternal: false }, - ...navItems, - ]; - } - - const technicalItems = [ - { - name: "Bots", - path: ROUTES.BOTS.BROWSE.path, - icon: , - isExternal: false, - }, - { - name: "Playground", - path: ROUTES.PLAYGROUND.path, - icon: , - isExternal: false, - }, - { - name: "Research", - path: ROUTES.RESEARCH.path, - icon: , - isExternal: false, - }, - { - name: "Docs", - path: "https://docs.kscale.dev/", - icon: , - isExternal: true, - }, - { - name: "Code", - path: "https://github.com/kscalelabs", - icon: , - isExternal: true, - }, - ]; - - const ListItem = ({ - className, - href, - title, - icon, - isExternal, - }: { - className?: string; - href: string; - title: string; - icon: React.ReactNode; - isExternal: boolean; - }) => { - return ( -
  • - {isExternal ? ( - -
    - {icon} - {title} - -
    -     - ) : ( - -
    - {icon} - {title} -
    - - )} -
    • - ); - }; + const navItems = getNavItems(isAuthenticated); const handleFeaturedClick = (username: string, slug: string | null) => { const path = ROUTES.BOT.buildPath({ @@ -175,12 +75,11 @@ const Navbar = () => { {item.name} - ) : ( { : "text-gray-1 hover:bg-gray-1 hover:text-primary-9" }`} > - {item.name} +
    {item.name}
    ), )} -
    - setShowDevelopersDropdown(!showDevelopersDropdown) - } - > - -
    -
    -
      - {technicalItems.map((item) => ( - - ))} -
    -
    -
    -
    {isAuthenticated ? ( diff --git a/frontend/src/components/nav/Sidebar.tsx b/frontend/src/components/nav/Sidebar.tsx index 65538b3e..bbb9ba67 100644 --- a/frontend/src/components/nav/Sidebar.tsx +++ b/frontend/src/components/nav/Sidebar.tsx @@ -1,19 +1,12 @@ -import { FaDiscord, FaGithub, FaTimes } from "react-icons/fa"; -import { - FaDownload, - FaRegFileLines, - FaRobot, - FaSearchengin, - FaTerminal, - FaWpexplorer, - FaXTwitter, -} from "react-icons/fa6"; +import { FaTimes } from "react-icons/fa"; import { useNavigate } from "react-router-dom"; import Logo from "@/components/Logo"; import { useFeaturedListings } from "@/components/listing/FeaturedListings"; import { useAuthentication } from "@/hooks/useAuth"; +import { getNavItems } from "./navigation"; + interface SidebarItemProps { title: string; icon?: JSX.Element; @@ -37,49 +30,12 @@ const SidebarItem = ({ icon, title, onClick }: SidebarItemProps) => ( ); -type NavItem = { - name: string; - path: string; - isExternal: boolean; - icon?: JSX.Element; -}; - const Sidebar = ({ show, onClose }: SidebarProps) => { const navigate = useNavigate(); const { isAuthenticated } = useAuthentication(); const { featuredListings } = useFeaturedListings(); - let navItems: NavItem[] = []; - - if (isAuthenticated) { - navItems = [ - { - name: "Terminal", - path: "/terminal", - isExternal: false, - icon: , - }, - ...navItems, - ]; - } - - const technicalItems = [ - { name: "Browse", path: "/browse", icon: }, - { name: "Downloads", path: "/downloads", icon: }, - { name: "Playground", path: "/playground", icon: }, - { name: "Research", path: "/research", icon: }, - { - name: "Docs", - path: "https://docs.kscale.dev/", - icon: , - }, - { name: "Code", path: "https://github.com/kscalelabs", icon: }, - ]; - - const communityItems = [ - { name: "Discord", path: "https://discord.gg/kscale", icon: }, - { name: "Twitter", path: "https://x.com/kscalelabs", icon: }, - ]; + const navItems = getNavItems(isAuthenticated); const handleItemClick = (path: string, isExternal?: boolean) => { if (isExternal) { @@ -109,7 +65,7 @@ const Sidebar = ({ show, onClose }: SidebarProps) => { diff --git a/frontend/src/components/nav/navigation.tsx b/frontend/src/components/nav/navigation.tsx new file mode 100644 index 00000000..cd040f82 --- /dev/null +++ b/frontend/src/components/nav/navigation.tsx @@ -0,0 +1,48 @@ +import { FaRobot, FaTerminal, FaWpexplorer } from "react-icons/fa"; +import { FaRegFileLines } from "react-icons/fa6"; + +import ROUTES from "@/lib/types/routes"; + +export interface BaseNavItem { + name: string; + path: string; + isExternal?: boolean; + icon?: JSX.Element; +} + +export interface NavItem extends BaseNavItem { + icon?: JSX.Element; +} + +export const DEFAULT_NAV_ITEMS: BaseNavItem[] = [ + { + name: "Bots", + path: ROUTES.BOTS.BROWSE.path, + icon: , + }, + { + name: "Research", + path: ROUTES.RESEARCH.path, + icon: , + }, + { + name: "Docs", + path: "https://docs.kscale.dev/", + isExternal: true, + icon: , + }, +]; + +export const AUTHENTICATED_NAV_ITEMS: BaseNavItem[] = [ + { + name: "Terminal", + path: ROUTES.TERMINAL.path, + icon: , + }, +]; + +export const getNavItems = (isAuthenticated: boolean): BaseNavItem[] => { + return isAuthenticated + ? [...AUTHENTICATED_NAV_ITEMS, ...DEFAULT_NAV_ITEMS] + : DEFAULT_NAV_ITEMS; +}; diff --git a/frontend/src/components/pages/FileBrowser.tsx b/frontend/src/components/pages/FileBrowser.tsx index 7565d5e2..4e7633b2 100644 --- a/frontend/src/components/pages/FileBrowser.tsx +++ b/frontend/src/components/pages/FileBrowser.tsx @@ -11,7 +11,7 @@ import { useTypedParams } from "react-router-typesafe-routes/dom"; import FileRenderer from "@/components/files/FileRenderer"; import FileTreeViewer from "@/components/files/FileTreeViewer"; -import { parseTar } from "@/components/files/Tarfile"; +import { UntarredFile, untarFile } from "@/components/files/untar"; import Spinner from "@/components/ui/Spinner"; import { Tooltip } from "@/components/ui/ToolTip"; import { Button } from "@/components/ui/button"; @@ -20,19 +20,13 @@ import { components } from "@/gen/api"; import { humanReadableError, useAlertQueue } from "@/hooks/useAlertQueue"; import { useAuthentication } from "@/hooks/useAuth"; import ROUTES from "@/lib/types/routes"; -import pako from "pako"; type SingleArtifactResponse = components["schemas"]["SingleArtifactResponse"]; -interface UntarredFile { - name: string; - content: Uint8Array; -} - const FileBrowser = () => { - const { artifactId } = useTypedParams(ROUTES.FILE); + const { artifactId, fileName } = useTypedParams(ROUTES.FILE); const [artifact, setArtifact] = useState(null); - const [loading, setLoading] = useState(true); + const [isLoading, setIsLoading] = useState(true); const [untarring, setUntarring] = useState(false); const [untarredFiles, setUntarredFiles] = useState([]); const [selectedFile, setSelectedFile] = useState(null); @@ -67,12 +61,15 @@ const FileBrowser = () => { if (data.urls?.large) { setUntarring(true); try { - const response = await fetch(data.urls.large); - const arrayBuffer = await response.arrayBuffer(); - const uint8Array = new Uint8Array(arrayBuffer); - const decompressed = pako.ungzip(uint8Array); - const files = parseTar(decompressed); + const files = await untarFile(data.urls.large); setUntarredFiles(files); + + if (fileName) { + const file = files.find((file) => file.name === fileName); + if (file) { + setSelectedFile(file); + } + } } catch (err) { addErrorAlert(`Error loading file: ${humanReadableError(err)}`); } finally { @@ -83,10 +80,19 @@ const FileBrowser = () => { } catch (err) { addErrorAlert(humanReadableError(err)); } finally { - setLoading(false); + setIsLoading(false); } })(); - }, [artifactId, auth.client, addErrorAlert, artifact]); + }, [artifactId, auth.client, addErrorAlert]); + + useEffect(() => { + if (fileName && untarredFiles.length > 0) { + const file = untarredFiles.find((file) => file.name === fileName); + if (file) { + setSelectedFile(file); + } + } + }, [fileName, untarredFiles]); useEffect(() => { if (artifact) { @@ -110,6 +116,9 @@ const FileBrowser = () => { const handleFileSelect = (file: UntarredFile) => { setSelectedFile(file); + navigate(ROUTES.FILE.buildPath({ artifactId, fileName: file.name }), { + replace: true, + }); }; const handleSaveEdit = async () => { @@ -139,15 +148,11 @@ const FileBrowser = () => { } }; - if (loading) { - return ( -
    - -
    - ); - } - - return artifact?.urls.large ? ( + return isLoading ? ( +
    + +
    + ) : artifact?.urls.large ? (
    {isEditing ? ( @@ -286,7 +291,7 @@ const FileBrowser = () => {
    ) : (
    - + Error loading artifact
    ); }; diff --git a/frontend/src/components/pages/Playground.tsx b/frontend/src/components/pages/Playground.tsx deleted file mode 100644 index eb6fcac6..00000000 --- a/frontend/src/components/pages/Playground.tsx +++ /dev/null @@ -1,454 +0,0 @@ -// Import necessary dependencies -import { useEffect, useRef, useState } from "react"; - -import load_mujoco, { mujoco } from "@/lib/mujoco/mujoco_wasm.js"; -import * as THREE from "three"; -import { OrbitControls } from "three/examples/jsm/controls/OrbitControls"; - -const Playground = () => { - const containerRef = useRef(null); - const mujocoRef = useRef(null); - const modelRef = useRef | null>(null); - const stateRef = useRef | null>(null); - const simulationRef = useRef | null>(null); - const rendererRef = useRef(null); - const sceneRef = useRef(null); - const cameraRef = useRef(null); - const controlsRef = useRef(null); - const leftLegRef = useRef(null); - const rightLegRef = useRef(null); - - // Add state for joint angles - const [leftLegAngle, setLeftLegAngle] = useState(0); - const [rightLegAngle, setRightLegAngle] = useState(0); - - // Add new refs for physics simulation - const isSimulatingRef = useRef(false); - - // Add simulation state - const [isSimulating, setIsSimulating] = useState(false); - - // Add mujoco time tracking - const mujocoTimeRef = useRef(0); - - // Add a state to track MuJoCo initialization - const [isMujocoReady, setIsMujocoReady] = useState(false); - - // Add a constant for the default timestep - const DEFAULT_TIMESTEP = 0.002; - - // Add these constants near the top of the component - const SWING_FREQUENCY = 2.0; // Hz - const SWING_AMPLITUDE = 0.8; // radians - - // Initialize Three.js and MuJoCo only once - useEffect(() => { - const initializeMuJoCo = async () => { - try { - // Load MuJoCo WASM module - mujocoRef.current = await load_mujoco(); - - // Set up file system and load XML model - mujocoRef.current.FS.mkdir("/working"); - mujocoRef.current.FS.mount( - mujocoRef.current.MEMFS, - { root: "." }, - "/working", - ); - - // Create a simple test model with two hinge joints - const xmlContent = ` - - `; - - mujocoRef.current.FS.writeFile("/working/model.xml", xmlContent); - - // Load model - modelRef.current = new mujocoRef.current.Model("/working/model.xml"); - - // Create initial state - stateRef.current = new mujocoRef.current.State(modelRef.current); - - // Create simulation - simulationRef.current = new mujocoRef.current.Simulation( - modelRef.current, - stateRef.current, - ); - - // Verify qpos exists - if (!simulationRef.current.qpos) { - throw new Error("MuJoCo simulation data not properly initialized"); - } - - setIsMujocoReady(true); - } catch (error) { - console.error("Error initializing MuJoCo:", error); - setIsMujocoReady(false); - } - }; - - const initializeThreeJS = () => { - const container = containerRef.current; - if (!container) return; - - // Set up Three.js scene - const scene = new THREE.Scene(); - scene.background = new THREE.Color(0.15, 0.25, 0.35); - sceneRef.current = scene; - - // Set up camera with container dimensions instead of window - const camera = new THREE.PerspectiveCamera( - 45, - container.clientWidth / container.clientHeight, - 0.001, - 100, - ); - camera.position.set(2.0, 1.7, 1.7); - scene.add(camera); - cameraRef.current = camera; - - // Set up renderer with container dimensions - const renderer = new THREE.WebGLRenderer({ antialias: true }); - renderer.setSize(container.clientWidth, container.clientHeight); - container.appendChild(renderer.domElement); - rendererRef.current = renderer; - - // Set up controls - const controls = new OrbitControls(camera, renderer.domElement); - controls.target.set(0, 0.7, 0); - controls.enableDamping = true; - controls.dampingFactor = 0.1; - controlsRef.current = controls; - - // Add ambient light - const ambientLight = new THREE.AmbientLight(0xffffff, 0.5); - scene.add(ambientLight); - - // Add floor - const floorGeometry = new THREE.PlaneGeometry(4, 4); - const floorMaterial = new THREE.MeshStandardMaterial({ - color: 0xe0e0e0, - roughness: 0.7, - metalness: 0.1, - }); - const floor = new THREE.Mesh(floorGeometry, floorMaterial); - floor.rotation.x = -Math.PI / 2; // Rotate to be horizontal - floor.position.y = 0; // Place at y=0 - scene.add(floor); - - // Add directional light for better shadows - const dirLight = new THREE.DirectionalLight(0xffffff, 0.5); - dirLight.position.set(5, 5, 5); - scene.add(dirLight); - - // Remove the existing block code and add robot parts - // Robot body - const bodyGeometry = new THREE.BoxGeometry(0.3, 0.2, 0.2); - const bodyMaterial = new THREE.MeshStandardMaterial({ color: 0x4444ff }); - const bodyMesh = new THREE.Mesh(bodyGeometry, bodyMaterial); - bodyMesh.position.y = 0.5; - scene.add(bodyMesh); - - // Robot legs - const legGeometry = new THREE.BoxGeometry(0.1, 0.3, 0.1); - // Move the geometry's origin to the top - legGeometry.translate(0, -0.15, 0); - const legMaterial = new THREE.MeshStandardMaterial({ color: 0x444444 }); - - // Left leg - const leftLeg = new THREE.Mesh(legGeometry, legMaterial); - leftLeg.position.set(-0.1, 0.4, 0); // Adjusted Y position up to match with body - scene.add(leftLeg); - leftLegRef.current = leftLeg; - - // Right leg - const rightLeg = new THREE.Mesh(legGeometry, legMaterial); - rightLeg.position.set(0.1, 0.4, 0); // Adjusted Y position up to match with body - scene.add(rightLeg); - rightLegRef.current = rightLeg; - - const animate = (timeMS: number) => { - if (leftLegRef.current && rightLegRef.current) { - if ( - isSimulatingRef.current && - simulationRef.current && - modelRef.current - ) { - try { - if (timeMS - mujocoTimeRef.current > 35.0) { - mujocoTimeRef.current = timeMS; - } - - while (mujocoTimeRef.current < timeMS) { - // Add oscillating control signals - const time = mujocoTimeRef.current / 1000.0; - const ctrl = simulationRef.current.ctrl; - - // Left leg leads by π radians (180 degrees) - ctrl[0] = - SWING_AMPLITUDE * - Math.sin(2 * Math.PI * SWING_FREQUENCY * time); - // Right leg follows - ctrl[1] = - SWING_AMPLITUDE * - Math.sin(2 * Math.PI * SWING_FREQUENCY * time + Math.PI); - - simulationRef.current.step(); - mujocoTimeRef.current += DEFAULT_TIMESTEP * 1000.0; - - if (simulationRef.current.qpos) { - const qpos = simulationRef.current.qpos; - if (leftLegRef.current) { - leftLegRef.current.userData.angle = qpos[7]; - } - if (rightLegRef.current) { - rightLegRef.current.userData.angle = qpos[8]; - } - } - } - } catch (error) { - console.error("Simulation error:", error); - isSimulatingRef.current = false; - } - } - - // Update visual representation - leftLegRef.current.rotation.x = - leftLegRef.current.userData.angle || 0; - rightLegRef.current.rotation.x = - rightLegRef.current.userData.angle || 0; - - // Update leg positions - leftLegRef.current.position.z = - Math.sin(leftLegRef.current.userData.angle || 0) * 0.15; - rightLegRef.current.position.z = - Math.sin(rightLegRef.current.userData.angle || 0) * 0.15; - } - - controlsRef.current?.update(); - rendererRef.current?.render(sceneRef.current!, cameraRef.current!); - requestAnimationFrame(animate); - }; - - animate(performance.now()); - }; - - const handleResize = () => { - const renderer = rendererRef.current; - const camera = cameraRef.current; - const container = containerRef.current; - if (renderer && camera && container) { - camera.aspect = container.clientWidth / container.clientHeight; - camera.updateProjectionMatrix(); - renderer.setSize(container.clientWidth, container.clientHeight); - } - }; - - // Initialize MuJoCo and Three.js components - initializeMuJoCo(); - initializeThreeJS(); - - // Event listener for window resizing - window.addEventListener("resize", handleResize); - - return () => { - // Clean up resources on component unmount - window.removeEventListener("resize", handleResize); - if (rendererRef.current) rendererRef.current.dispose(); - stopPhysicsSimulation(); - }; - }, []); // Empty dependency array - run only once - - // Update the effect that handles slider changes - useEffect(() => { - if (isMujocoReady && !isSimulatingRef.current && simulationRef.current) { - try { - // Safety check to ensure qpos exists - if (!simulationRef.current.qpos) { - console.warn("MuJoCo simulation data not properly initialized"); - return; - } - - // Update MuJoCo state - const qpos = simulationRef.current.qpos; - - // Clamp values to safe ranges - const maxAngle = Math.PI / 2; - const clampedLeftAngle = Math.max( - -maxAngle, - Math.min(maxAngle, leftLegAngle), - ); - const clampedRightAngle = Math.max( - -maxAngle, - Math.min(maxAngle, rightLegAngle), - ); - - qpos[7] = clampedLeftAngle; - qpos[8] = clampedRightAngle; - - // Forward the simulation to update positions - simulationRef.current.forward(); - - // Update Three.js visualization - if (leftLegRef.current) { - leftLegRef.current.userData.angle = clampedLeftAngle; - } - if (rightLegRef.current) { - rightLegRef.current.userData.angle = clampedRightAngle; - } - } catch (error) { - console.error("Error updating MuJoCo state:", error); - } - } - }, [leftLegAngle, rightLegAngle, isMujocoReady]); - - // Add physics simulation loop - const startPhysicsSimulation = () => { - if ( - !simulationRef.current || - isSimulatingRef.current || - !mujocoRef.current || - !modelRef.current - ) - return; - - try { - // Create a new state to reset the simulation - stateRef.current = new mujocoRef.current.State(modelRef.current); - simulationRef.current = new mujocoRef.current.Simulation( - modelRef.current, - stateRef.current, - ); - - // Set initial joint positions (qpos) - const qpos = simulationRef.current.qpos; - // First 7 values are for the free joint (position[3] + quaternion[4]) - qpos[0] = 0; // x position - qpos[1] = 0; // y position - qpos[2] = 0.5; // z position - qpos[3] = 1; // quaternion w - qpos[4] = 0; // quaternion x - qpos[5] = 0; // quaternion y - qpos[6] = 0; // quaternion z - // Then the leg joints - qpos[7] = leftLegAngle; // Left leg - qpos[8] = rightLegAngle; // Right leg - - // Reset velocities to zero (qvel) - const qvel = simulationRef.current.qvel; - for (let i = 0; i < qvel.length; i++) { - qvel[i] = 0; - } - - isSimulatingRef.current = true; - mujocoTimeRef.current = performance.now(); - } catch (error) { - console.error("Error starting simulation:", error); - } - }; - - const stopPhysicsSimulation = () => { - isSimulatingRef.current = false; - }; - - // Add simulation controls to the UI - return ( -
    - {/* 3D Viewer */} -
    -
    -
    - - {/* Control Panel */} -
    -

    Joint Controls

    - - {!isMujocoReady ? ( -
    Loading MuJoCo...
    - ) : ( - <> - {/* Simulation button */} - - - {/* Controls */} -
    -
    - - setLeftLegAngle(parseFloat(e.target.value))} - className="w-full" - disabled={isSimulating} - /> -
    - {((leftLegAngle * 180) / Math.PI).toFixed(1)}° -
    -
    - -
    - - setRightLegAngle(parseFloat(e.target.value))} - className="w-full" - disabled={isSimulating} - /> -
    - {((rightLegAngle * 180) / Math.PI).toFixed(1)}° -
    -
    -
    - - )} -
    -
    - ); -}; - -export default Playground; diff --git a/frontend/src/components/pages/Profile.tsx b/frontend/src/components/pages/Profile.tsx index 0720e951..3bb1feeb 100644 --- a/frontend/src/components/pages/Profile.tsx +++ b/frontend/src/components/pages/Profile.tsx @@ -361,7 +361,6 @@ export const RenderProfile = (props: RenderProfileProps) => { ) : (
    -

    Bio

    {user.bio ? (

    {user.bio}

    ) : ( diff --git a/frontend/src/components/terminal/TerminalRobotModel.tsx b/frontend/src/components/terminal/TerminalRobotModel.tsx index f39e4f4d..34790257 100644 --- a/frontend/src/components/terminal/TerminalRobotModel.tsx +++ b/frontend/src/components/terminal/TerminalRobotModel.tsx @@ -1,21 +1,15 @@ import { useEffect, useState } from "react"; -import { parseTar } from "@/components/files/Tarfile"; import URDFRenderer from "@/components/files/URDFRenderer"; +import { UntarredFile, untarFile } from "@/components/files/untar"; import Spinner from "@/components/ui/Spinner"; import { useAlertQueue } from "@/hooks/useAlertQueue"; import { useAuthentication } from "@/hooks/useAuth"; -import pako from "pako"; interface Props { listingId: string; } -interface UntarredFile { - name: string; - content: Uint8Array; -} - const TerminalRobotModel = ({ listingId }: Props) => { const auth = useAuthentication(); const { addErrorAlert } = useAlertQueue(); @@ -58,11 +52,7 @@ const TerminalRobotModel = ({ listingId }: Props) => { setIsLoading(false); return; } - const response = await fetch(urdfUrl); - const arrayBuffer = await response.arrayBuffer(); - const uint8Array = new Uint8Array(arrayBuffer); - const decompressed = pako.ungzip(uint8Array); - const files = parseTar(decompressed); + const files = await untarFile(urdfUrl); const firstUrdfFile = files.find((file) => file.name.endsWith(".urdf")); if (!firstUrdfFile) { addErrorAlert("No URDF file found in the tarball"); diff --git a/frontend/src/lib/mujoco/mujoco_wasm.d.ts b/frontend/src/lib/mujoco/mujoco_wasm.d.ts index 96fa9e99..c3c79a2a 100644 --- a/frontend/src/lib/mujoco/mujoco_wasm.d.ts +++ b/frontend/src/lib/mujoco/mujoco_wasm.d.ts @@ -249,9 +249,9 @@ declare namespace FS { ): FSNode; } -declare let MEMFS: Emscripten.FileSystemType; -declare let NODEFS: Emscripten.FileSystemType; -declare let IDBFS: Emscripten.FileSystemType; +declare var MEMFS: Emscripten.FileSystemType; +declare var NODEFS: Emscripten.FileSystemType; +declare var IDBFS: Emscripten.FileSystemType; // https://emscripten.org/docs/porting/connecting_cpp_and_javascript/Interacting-with-code.html type StringToType = R extends Emscripten.JSType @@ -304,6 +304,8 @@ export enum mjtDisableBit { mjDSBL_REFSAFE , /** sensors */ mjDSBL_SENSOR , + /** mid-phase collision filtering */ + mjDSBL_MIDPHASE , /** number of disable flags */ mjNDISABLE , } @@ -398,6 +400,8 @@ export enum mjtIntegrator { mjINT_RK4 , /** implicit in velocity */ mjINT_IMPLICIT , + /** implicit in velocity, no rne derivative */ + mjINT_IMPLICITFAST , } /** collision mode for selecting geom pairs */ export enum mjtCollision { @@ -729,6 +733,8 @@ export interface Model { na : number; /** number of bodies*/ nbody : number; + /** number of total bounding volumes in all bodies*/ + nbvh : number; /** number of joints*/ njnt : number; /** number of geoms*/ @@ -743,8 +749,10 @@ export interface Model { nmesh : number; /** number of vertices in all meshes*/ nmeshvert : number; - /** number of vertices with texcoords in all meshes*/ - nmeshtexvert : number; + /** number of normals in all meshes*/ + nmeshnormal : number; + /** number of texcoords in all meshes*/ + nmeshtexcoord : number; /** number of triangular faces in all meshes*/ nmeshface : number; /** number of ints in mesh auxiliary data*/ @@ -821,10 +829,14 @@ export interface Model { nuser_sensor : number; /** number of chars in all names*/ nnames : number; + /** number of slots in the names hash map*/ + nnames_map : number; /** number of non-zeros in sparse inertia matrix*/ nM : number; - /** number of non-zeros in sparse derivative matrix*/ + /** number of non-zeros in sparse dof-dof matrix*/ nD : number; + /** number of non-zeros in sparse body-dof matrix*/ + nB : number; /** number of potential equality-constraint rows*/ nemax : number; /** number of available rows in constraint Jacobian*/ @@ -889,8 +901,20 @@ export interface Model { body_gravcomp : Float64Array; /** user data (nbody x nuser_body)*/ body_user : Float64Array; - /** plugin instance id (-1 if not in use) (nbody x 1)*/ + /** plugin instance id; -1: not in use (nbody x 1)*/ body_plugin : Int32Array; + /** address of bvh root (nbody x 1)*/ + body_bvhadr : Int32Array; + /** number of bounding volumes (nbody x 1)*/ + body_bvhnum : Int32Array; + /** depth in the bounding volume hierarchy (nbvh x 1)*/ + bvh_depth : Int32Array; + /** left and right children in tree (nbvh x 2)*/ + bvh_child : Int32Array; + /** geom id of the node; -1: non-leaf (nbvh x 1)*/ + bvh_geomid : Int32Array; + /** bounding box of node (center, size) (nbvh x 6)*/ + bvh_aabb : Float64Array; /** type of joint (mjtJoint) (njnt x 1)*/ jnt_type : Int32Array; /** start addr in 'qpos' for joint's data (njnt x 1)*/ @@ -953,9 +977,9 @@ export interface Model { geom_condim : Int32Array; /** id of geom's body (ngeom x 1)*/ geom_bodyid : Int32Array; - /** id of geom's mesh/hfield (-1: none) (ngeom x 1)*/ + /** id of geom's mesh/hfield; -1: none (ngeom x 1)*/ geom_dataid : Int32Array; - /** material id for rendering (ngeom x 1)*/ + /** material id for rendering; -1: none (ngeom x 1)*/ geom_matid : Int32Array; /** group for visibility (ngeom x 1)*/ geom_group : Int32Array; @@ -971,6 +995,8 @@ export interface Model { geom_solimp : Float64Array; /** geom-specific size parameters (ngeom x 3)*/ geom_size : Float64Array; + /** bounding box, (center, size) (ngeom x 6)*/ + geom_aabb : Float64Array; /** radius of bounding sphere (ngeom x 1)*/ geom_rbound : Float64Array; /** local position offset rel. to body (ngeom x 3)*/ @@ -993,7 +1019,7 @@ export interface Model { site_type : Int32Array; /** id of site's body (nsite x 1)*/ site_bodyid : Int32Array; - /** material id for rendering (nsite x 1)*/ + /** material id for rendering; -1: none (nsite x 1)*/ site_matid : Int32Array; /** group for visibility (nsite x 1)*/ site_group : Int32Array; @@ -1069,8 +1095,14 @@ export interface Model { mesh_vertadr : Int32Array; /** number of vertices (nmesh x 1)*/ mesh_vertnum : Int32Array; + /** first normal address (nmesh x 1)*/ + mesh_normaladr : Int32Array; + /** number of normals (nmesh x 1)*/ + mesh_normalnum : Int32Array; /** texcoord data address; -1: no texcoord (nmesh x 1)*/ mesh_texcoordadr : Int32Array; + /** number of texcoord (nmesh x 1)*/ + mesh_texcoordnum : Int32Array; /** first face address (nmesh x 1)*/ mesh_faceadr : Int32Array; /** number of faces (nmesh x 1)*/ @@ -1079,12 +1111,16 @@ export interface Model { mesh_graphadr : Int32Array; /** vertex positions for all meshes (nmeshvert x 3)*/ mesh_vert : Float32Array; - /** vertex normals for all meshes (nmeshvert x 3)*/ + /** normals for all meshes (nmeshnormal x 3)*/ mesh_normal : Float32Array; - /** vertex texcoords for all meshes (nmeshtexvert x 2)*/ + /** vertex texcoords for all meshes (nmeshtexcoord x 2)*/ mesh_texcoord : Float32Array; - /** triangle face data (nmeshface x 3)*/ + /** vertex face data (nmeshface x 3)*/ mesh_face : Int32Array; + /** normal face data (nmeshface x 3)*/ + mesh_facenormal : Int32Array; + /** texture face data (nmeshface x 3)*/ + mesh_facetexcoord : Int32Array; /** convex graph data (nmeshgraph x 1)*/ mesh_graph : Int32Array; /** skin material id; -1: none (nskin x 1)*/ @@ -1171,7 +1207,7 @@ export interface Model { pair_geom1 : Int32Array; /** id of geom2 (npair x 1)*/ pair_geom2 : Int32Array; - /** (body1+1)<<16 + body2+1 (npair x 1)*/ + /** (body1+1) << 16 + body2+1 (npair x 1)*/ pair_signature : Int32Array; /** constraint solver reference: contact (npair x mjNREF)*/ pair_solref : Float64Array; @@ -1183,7 +1219,7 @@ export interface Model { pair_gap : Float64Array; /** tangent1, 2, spin, roll1, 2 (npair x 5)*/ pair_friction : Float64Array; - /** (body1+1)<<16 + body2+1 (nexclude x 1)*/ + /** (body1+1) << 16 + body2+1 (nexclude x 1)*/ exclude_signature : Int32Array; /** constraint type (mjtEq) (neq x 1)*/ eq_type : Int32Array; @@ -1319,7 +1355,7 @@ export interface Model { sensor_user : Float64Array; /** plugin instance id; -1: not a plugin (nsensor x 1)*/ sensor_plugin : Int32Array; - /** plugin instance id (-1 if not in use) (nbody x 1)*/ + /** plugin instance id; -1: not in use (nbody x 1)*/ plugin : Int32Array; /** address in the plugin state array (nplugin x 1)*/ plugin_stateadr : Int32Array; @@ -1411,6 +1447,8 @@ export interface Model { name_pluginadr : Int32Array; /** names of all objects, 0-terminated (nnames x 1)*/ names : Uint8Array; + /** internal hash map of names (nnames_map x 1)*/ + names_map : Int32Array; } export interface State { @@ -1435,153 +1473,161 @@ export interface Simulation { refQuat1: number, refQuat2: number, refQuat3: number, refQuat4: number, flg_paused: number): void; // DATA_INTERFACE - /** position (nq x 1)*/ + /** position (nq x 1)*/ qpos : Float64Array; - /** velocity (nv x 1)*/ + /** velocity (nv x 1)*/ qvel : Float64Array; - /** actuator activation (na x 1)*/ + /** actuator activation (na x 1)*/ act : Float64Array; - /** acceleration used for warmstart (nv x 1)*/ + /** acceleration used for warmstart (nv x 1)*/ qacc_warmstart : Float64Array; - /** plugin state (npluginstate x 1)*/ + /** plugin state (npluginstate x 1)*/ plugin_state : Float64Array; - /** control (nu x 1)*/ + /** control (nu x 1)*/ ctrl : Float64Array; - /** applied generalized force (nv x 1)*/ + /** applied generalized force (nv x 1)*/ qfrc_applied : Float64Array; - /** applied Cartesian force/torque (nbody x 6)*/ + /** applied Cartesian force/torque (nbody x 6)*/ xfrc_applied : Float64Array; - /** positions of mocap bodies (nmocap x 3)*/ + /** positions of mocap bodies (nmocap x 3)*/ mocap_pos : Float64Array; - /** orientations of mocap bodies (nmocap x 4)*/ + /** orientations of mocap bodies (nmocap x 4)*/ mocap_quat : Float64Array; - /** acceleration (nv x 1)*/ + /** acceleration (nv x 1)*/ qacc : Float64Array; - /** time-derivative of actuator activation (na x 1)*/ + /** time-derivative of actuator activation (na x 1)*/ act_dot : Float64Array; - /** user data, not touched by engine (nuserdata x 1)*/ + /** user data, not touched by engine (nuserdata x 1)*/ userdata : Float64Array; - /** sensor data array (nsensordata x 1)*/ + /** sensor data array (nsensordata x 1)*/ sensordata : Float64Array; - /** copy of m->plugin, required for deletion (nplugin x 1)*/ + /** copy of m->plugin, required for deletion (nplugin x 1)*/ plugin : Int32Array; - /** pointer to plugin-managed data structure (nplugin x 1)*/ + /** pointer to plugin-managed data structure (nplugin x 1)*/ plugin_data : BigUint64Array; - /** Cartesian position of body frame (nbody x 3)*/ + /** Cartesian position of body frame (nbody x 3)*/ xpos : Float64Array; - /** Cartesian orientation of body frame (nbody x 4)*/ + /** Cartesian orientation of body frame (nbody x 4)*/ xquat : Float64Array; - /** Cartesian orientation of body frame (nbody x 9)*/ + /** Cartesian orientation of body frame (nbody x 9)*/ xmat : Float64Array; - /** Cartesian position of body com (nbody x 3)*/ + /** Cartesian position of body com (nbody x 3)*/ xipos : Float64Array; - /** Cartesian orientation of body inertia (nbody x 9)*/ + /** Cartesian orientation of body inertia (nbody x 9)*/ ximat : Float64Array; - /** Cartesian position of joint anchor (njnt x 3)*/ + /** Cartesian position of joint anchor (njnt x 3)*/ xanchor : Float64Array; - /** Cartesian joint axis (njnt x 3)*/ + /** Cartesian joint axis (njnt x 3)*/ xaxis : Float64Array; - /** Cartesian geom position (ngeom x 3)*/ + /** Cartesian geom position (ngeom x 3)*/ geom_xpos : Float64Array; - /** Cartesian geom orientation (ngeom x 9)*/ + /** Cartesian geom orientation (ngeom x 9)*/ geom_xmat : Float64Array; - /** Cartesian site position (nsite x 3)*/ + /** Cartesian site position (nsite x 3)*/ site_xpos : Float64Array; - /** Cartesian site orientation (nsite x 9)*/ + /** Cartesian site orientation (nsite x 9)*/ site_xmat : Float64Array; - /** Cartesian camera position (ncam x 3)*/ + /** Cartesian camera position (ncam x 3)*/ cam_xpos : Float64Array; - /** Cartesian camera orientation (ncam x 9)*/ + /** Cartesian camera orientation (ncam x 9)*/ cam_xmat : Float64Array; - /** Cartesian light position (nlight x 3)*/ + /** Cartesian light position (nlight x 3)*/ light_xpos : Float64Array; - /** Cartesian light direction (nlight x 3)*/ + /** Cartesian light direction (nlight x 3)*/ light_xdir : Float64Array; - /** center of mass of each subtree (nbody x 3)*/ + /** center of mass of each subtree (nbody x 3)*/ subtree_com : Float64Array; - /** com-based motion axis of each dof (nv x 6)*/ + /** com-based motion axis of each dof (nv x 6)*/ cdof : Float64Array; - /** com-based body inertia and mass (nbody x 10)*/ + /** com-based body inertia and mass (nbody x 10)*/ cinert : Float64Array; - /** start address of tendon's path (ntendon x 1)*/ + /** start address of tendon's path (ntendon x 1)*/ ten_wrapadr : Int32Array; - /** number of wrap points in path (ntendon x 1)*/ + /** number of wrap points in path (ntendon x 1)*/ ten_wrapnum : Int32Array; - /** number of non-zeros in Jacobian row (ntendon x 1)*/ + /** number of non-zeros in Jacobian row (ntendon x 1)*/ ten_J_rownnz : Int32Array; - /** row start address in colind array (ntendon x 1)*/ + /** row start address in colind array (ntendon x 1)*/ ten_J_rowadr : Int32Array; - /** column indices in sparse Jacobian (ntendon x nv)*/ + /** column indices in sparse Jacobian (ntendon x nv)*/ ten_J_colind : Int32Array; - /** tendon lengths (ntendon x 1)*/ + /** tendon lengths (ntendon x 1)*/ ten_length : Float64Array; - /** tendon Jacobian (ntendon x nv)*/ + /** tendon Jacobian (ntendon x nv)*/ ten_J : Float64Array; - /** geom id; -1: site; -2: pulley (nwrap*2 x 1)*/ + /** geom id; -1: site; -2: pulley (nwrap*2 x 1)*/ wrap_obj : Int32Array; - /** Cartesian 3D points in all path (nwrap*2 x 3)*/ + /** Cartesian 3D points in all path (nwrap*2 x 3)*/ wrap_xpos : Float64Array; - /** actuator lengths (nu x 1)*/ + /** actuator lengths (nu x 1)*/ actuator_length : Float64Array; - /** actuator moments (nu x nv)*/ + /** actuator moments (nu x nv)*/ actuator_moment : Float64Array; - /** com-based composite inertia and mass (nbody x 10)*/ + /** com-based composite inertia and mass (nbody x 10)*/ crb : Float64Array; - /** total inertia (sparse) (nM x 1)*/ + /** total inertia (sparse) (nM x 1)*/ qM : Float64Array; - /** L'*D*L factorization of M (sparse) (nM x 1)*/ + /** L'*D*L factorization of M (sparse) (nM x 1)*/ qLD : Float64Array; - /** 1/diag(D) (nv x 1)*/ + /** 1/diag(D) (nv x 1)*/ qLDiagInv : Float64Array; - /** 1/sqrt(diag(D)) (nv x 1)*/ + /** 1/sqrt(diag(D)) (nv x 1)*/ qLDiagSqrtInv : Float64Array; - /** tendon velocities (ntendon x 1)*/ + /** volume has been added to collisions (nbvh x 1)*/ + bvh_active : Uint8Array; + /** tendon velocities (ntendon x 1)*/ ten_velocity : Float64Array; - /** actuator velocities (nu x 1)*/ + /** actuator velocities (nu x 1)*/ actuator_velocity : Float64Array; - /** com-based velocity [3D rot; 3D tran] (nbody x 6)*/ + /** com-based velocity [3D rot; 3D tran] (nbody x 6)*/ cvel : Float64Array; - /** time-derivative of cdof (nv x 6)*/ + /** time-derivative of cdof (nv x 6)*/ cdof_dot : Float64Array; - /** C(qpos,qvel) (nv x 1)*/ + /** C(qpos,qvel) (nv x 1)*/ qfrc_bias : Float64Array; - /** passive force (nv x 1)*/ + /** passive force (nv x 1)*/ qfrc_passive : Float64Array; - /** linear velocity of subtree com (nbody x 3)*/ + /** linear velocity of subtree com (nbody x 3)*/ subtree_linvel : Float64Array; - /** angular momentum about subtree com (nbody x 3)*/ + /** angular momentum about subtree com (nbody x 3)*/ subtree_angmom : Float64Array; - /** L'*D*L factorization of modified M (nM x 1)*/ + /** L'*D*L factorization of modified M (nM x 1)*/ qH : Float64Array; - /** 1/diag(D) of modified M (nv x 1)*/ + /** 1/diag(D) of modified M (nv x 1)*/ qHDiagInv : Float64Array; - /** non-zeros in each row (nv x 1)*/ + /** non-zeros in each row (nv x 1)*/ D_rownnz : Int32Array; - /** address of each row in D_colind (nv x 1)*/ + /** address of each row in D_colind (nv x 1)*/ D_rowadr : Int32Array; - /** column indices of non-zeros (nD x 1)*/ + /** column indices of non-zeros (nD x 1)*/ D_colind : Int32Array; - /** d (passive + actuator - bias) / d qvel (nD x 1)*/ + /** non-zeros in each row (nbody x 1)*/ + B_rownnz : Int32Array; + /** address of each row in B_colind (nbody x 1)*/ + B_rowadr : Int32Array; + /** column indices of non-zeros (nB x 1)*/ + B_colind : Int32Array; + /** d (passive + actuator - bias) / d qvel (nD x 1)*/ qDeriv : Float64Array; - /** sparse LU of (qM - dt*qDeriv) (nD x 1)*/ + /** sparse LU of (qM - dt*qDeriv) (nD x 1)*/ qLU : Float64Array; - /** actuator force in actuation space (nu x 1)*/ + /** actuator force in actuation space (nu x 1)*/ actuator_force : Float64Array; - /** actuator force (nv x 1)*/ + /** actuator force (nv x 1)*/ qfrc_actuator : Float64Array; - /** net unconstrained force (nv x 1)*/ + /** net unconstrained force (nv x 1)*/ qfrc_smooth : Float64Array; - /** unconstrained acceleration (nv x 1)*/ + /** unconstrained acceleration (nv x 1)*/ qacc_smooth : Float64Array; - /** constraint force (nv x 1)*/ + /** constraint force (nv x 1)*/ qfrc_constraint : Float64Array; - /** net external force; should equal: (nv x 1)*/ + /** net external force; should equal: (nv x 1)*/ qfrc_inverse : Float64Array; - /** com-based acceleration (nbody x 6)*/ + /** com-based acceleration (nbody x 6)*/ cacc : Float64Array; - /** com-based interaction force with parent (nbody x 6)*/ + /** com-based interaction force with parent (nbody x 6)*/ cfrc_int : Float64Array; - /** com-based external force on body (nbody x 6)*/ + /** com-based external force on body (nbody x 6)*/ cfrc_ext : Float64Array; /** Free last XML model if loaded. Called internally at each load.*/ freeLastXML (): void; @@ -1868,5 +1914,5 @@ export interface mujoco extends EmscriptenModule { State : State; Simulation : Simulation; } -declare let load_mujoco: EmscriptenModuleFactory; +declare var load_mujoco: EmscriptenModuleFactory; export default load_mujoco; diff --git a/frontend/src/lib/mujoco/mujoco_wasm.js b/frontend/src/lib/mujoco/mujoco_wasm.js index 4f6a7028..f296f479 100644 --- a/frontend/src/lib/mujoco/mujoco_wasm.js +++ b/frontend/src/lib/mujoco/mujoco_wasm.js @@ -3,12 +3,12 @@ var load_mujoco = (() => { var _scriptDir = import.meta.url; return ( -async function(load_mujoco = {}) { +async function(moduleArg = {}) { -var Module=typeof load_mujoco!="undefined"?load_mujoco:{};var readyPromiseResolve,readyPromiseReject;Module["ready"]=new Promise(function(resolve,reject){readyPromiseResolve=resolve;readyPromiseReject=reject});["_main","getExceptionMessage","___get_exception_message","_free","_fflush","___getTypeName","__embind_initialize_bindings","onRuntimeInitialized"].forEach(prop=>{if(!Object.getOwnPropertyDescriptor(Module["ready"],prop)){Object.defineProperty(Module["ready"],prop,{get:()=>abort("You are getting "+prop+" on the Promise object, instead of the instance. Use .then() to get called back with the instance, see the MODULARIZE docs in src/settings.js"),set:()=>abort("You are setting "+prop+" on the Promise object, instead of the instance. Use .then() to get called back with the instance, see the MODULARIZE docs in src/settings.js")})}});var moduleOverrides=Object.assign({},Module);var arguments_=[];var thisProgram="./this.program";var quit_=(status,toThrow)=>{throw toThrow};var ENVIRONMENT_IS_WEB=typeof window=="object";var ENVIRONMENT_IS_WORKER=typeof importScripts=="function";var ENVIRONMENT_IS_NODE=typeof process=="object"&&typeof process.versions=="object"&&typeof process.versions.node=="string";var ENVIRONMENT_IS_SHELL=!ENVIRONMENT_IS_WEB&&!ENVIRONMENT_IS_NODE&&!ENVIRONMENT_IS_WORKER;if(Module["ENVIRONMENT"]){throw new Error("Module.ENVIRONMENT has been deprecated. To force the environment, use the ENVIRONMENT compile-time option (for example, -sENVIRONMENT=web or -sENVIRONMENT=node)")}var scriptDirectory="";function locateFile(path){if(Module["locateFile"]){return Module["locateFile"](path,scriptDirectory)}return scriptDirectory+path}var read_,readAsync,readBinary,setWindowTitle;if(ENVIRONMENT_IS_NODE){if(typeof process=="undefined"||!process.release||process.release.name!=="node")throw new Error("not compiled for this environment (did you build to HTML and try to run it not on the web, or set ENVIRONMENT to something - like node - and run it someplace else - like on the web?)");var nodeVersion=process.versions.node;var numericVersion=nodeVersion.split(".").slice(0,3);numericVersion=numericVersion[0]*1e4+numericVersion[1]*100+numericVersion[2]*1;if(numericVersion<101900){throw new Error("This emscripten-generated code requires node v10.19.19.0 (detected v"+nodeVersion+")")}const{createRequire:createRequire}=await import("module");var require=createRequire(import.meta.url);var fs=require("fs");var nodePath=require("path");if(ENVIRONMENT_IS_WORKER){scriptDirectory=nodePath.dirname(scriptDirectory)+"/"}else{scriptDirectory=require("url").fileURLToPath(new URL("./",import.meta.url))}read_=(filename,binary)=>{filename=isFileURI(filename)?new URL(filename):nodePath.normalize(filename);return fs.readFileSync(filename,binary?undefined:"utf8")};readBinary=filename=>{var ret=read_(filename,true);if(!ret.buffer){ret=new Uint8Array(ret)}assert(ret.buffer);return ret};readAsync=(filename,onload,onerror)=>{filename=isFileURI(filename)?new URL(filename):nodePath.normalize(filename);fs.readFile(filename,function(err,data){if(err)onerror(err);else onload(data.buffer)})};if(process.argv.length>1){thisProgram=process.argv[1].replace(/\\/g,"/")}arguments_=process.argv.slice(2);quit_=(status,toThrow)=>{process.exitCode=status;throw toThrow};Module["inspect"]=function(){return"[Emscripten Module object]"}}else if(ENVIRONMENT_IS_SHELL){if(typeof process=="object"&&typeof require==="function"||typeof window=="object"||typeof importScripts=="function")throw new Error("not compiled for this environment (did you build to HTML and try to run it not on the web, or set ENVIRONMENT to something - like node - and run it someplace else - like on the web?)");if(typeof read!="undefined"){read_=function shell_read(f){return read(f)}}readBinary=function readBinary(f){let data;if(typeof readbuffer=="function"){return new Uint8Array(readbuffer(f))}data=read(f,"binary");assert(typeof data=="object");return data};readAsync=function readAsync(f,onload,onerror){setTimeout(()=>onload(readBinary(f)),0)};if(typeof clearTimeout=="undefined"){globalThis.clearTimeout=id=>{}}if(typeof scriptArgs!="undefined"){arguments_=scriptArgs}else if(typeof arguments!="undefined"){arguments_=arguments}if(typeof quit=="function"){quit_=(status,toThrow)=>{setTimeout(()=>{if(!(toThrow instanceof ExitStatus)){let toLog=toThrow;if(toThrow&&typeof toThrow=="object"&&toThrow.stack){toLog=[toThrow,toThrow.stack]}err("exiting due to exception: "+toLog)}quit(status)});throw toThrow}}if(typeof print!="undefined"){if(typeof console=="undefined")console={};console.log=print;console.warn=console.error=typeof printErr!="undefined"?printErr:print}}else if(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER){if(ENVIRONMENT_IS_WORKER){scriptDirectory=self.location.href}else if(typeof document!="undefined"&&document.currentScript){scriptDirectory=document.currentScript.src}if(_scriptDir){scriptDirectory=_scriptDir}if(scriptDirectory.indexOf("blob:")!==0){scriptDirectory=scriptDirectory.substr(0,scriptDirectory.replace(/[?#].*/,"").lastIndexOf("/")+1)}else{scriptDirectory=""}if(!(typeof window=="object"||typeof importScripts=="function"))throw new Error("not compiled for this environment (did you build to HTML and try to run it not on the web, or set ENVIRONMENT to something - like node - and run it someplace else - like on the web?)");{read_=url=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.send(null);return xhr.responseText};if(ENVIRONMENT_IS_WORKER){readBinary=url=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.responseType="arraybuffer";xhr.send(null);return new Uint8Array(xhr.response)}}readAsync=(url,onload,onerror)=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,true);xhr.responseType="arraybuffer";xhr.onload=()=>{if(xhr.status==200||xhr.status==0&&xhr.response){onload(xhr.response);return}onerror()};xhr.onerror=onerror;xhr.send(null)}}setWindowTitle=title=>document.title=title}else{throw new Error("environment detection error")}var out=Module["print"]||console.log.bind(console);var err=Module["printErr"]||console.warn.bind(console);Object.assign(Module,moduleOverrides);moduleOverrides=null;checkIncomingModuleAPI();if(Module["arguments"])arguments_=Module["arguments"];legacyModuleProp("arguments","arguments_");if(Module["thisProgram"])thisProgram=Module["thisProgram"];legacyModuleProp("thisProgram","thisProgram");if(Module["quit"])quit_=Module["quit"];legacyModuleProp("quit","quit_");assert(typeof Module["memoryInitializerPrefixURL"]=="undefined","Module.memoryInitializerPrefixURL option was removed, use Module.locateFile instead");assert(typeof Module["pthreadMainPrefixURL"]=="undefined","Module.pthreadMainPrefixURL option was removed, use Module.locateFile instead");assert(typeof Module["cdInitializerPrefixURL"]=="undefined","Module.cdInitializerPrefixURL option was removed, use Module.locateFile instead");assert(typeof Module["filePackagePrefixURL"]=="undefined","Module.filePackagePrefixURL option was removed, use Module.locateFile instead");assert(typeof Module["read"]=="undefined","Module.read option was removed (modify read_ in JS)");assert(typeof Module["readAsync"]=="undefined","Module.readAsync option was removed (modify readAsync in JS)");assert(typeof Module["readBinary"]=="undefined","Module.readBinary option was removed (modify readBinary in JS)");assert(typeof Module["setWindowTitle"]=="undefined","Module.setWindowTitle option was removed (modify setWindowTitle in JS)");assert(typeof Module["TOTAL_MEMORY"]=="undefined","Module.TOTAL_MEMORY has been renamed Module.INITIAL_MEMORY");legacyModuleProp("read","read_");legacyModuleProp("readAsync","readAsync");legacyModuleProp("readBinary","readBinary");legacyModuleProp("setWindowTitle","setWindowTitle");assert(!ENVIRONMENT_IS_SHELL,"shell environment detected but not enabled at build time. Add 'shell' to `-sENVIRONMENT` to enable.");var wasmBinary;if(Module["wasmBinary"])wasmBinary=Module["wasmBinary"];legacyModuleProp("wasmBinary","wasmBinary");var noExitRuntime=Module["noExitRuntime"]||true;legacyModuleProp("noExitRuntime","noExitRuntime");if(typeof WebAssembly!="object"){abort("no native wasm support detected")}var wasmMemory;var ABORT=false;var EXITSTATUS;function assert(condition,text){if(!condition){abort("Assertion failed"+(text?": "+text:""))}}var UTF8Decoder=typeof TextDecoder!="undefined"?new TextDecoder("utf8"):undefined;function UTF8ArrayToString(heapOrArray,idx,maxBytesToRead){var endIdx=idx+maxBytesToRead;var endPtr=idx;while(heapOrArray[endPtr]&&!(endPtr>=endIdx))++endPtr;if(endPtr-idx>16&&heapOrArray.buffer&&UTF8Decoder){return UTF8Decoder.decode(heapOrArray.subarray(idx,endPtr))}var str="";while(idx>10,56320|ch&1023)}}return str}function UTF8ToString(ptr,maxBytesToRead){assert(typeof ptr=="number");return ptr?UTF8ArrayToString(HEAPU8,ptr,maxBytesToRead):""}function stringToUTF8Array(str,heap,outIdx,maxBytesToWrite){if(!(maxBytesToWrite>0))return 0;var startIdx=outIdx;var endIdx=outIdx+maxBytesToWrite-1;for(var i=0;i=55296&&u<=57343){var u1=str.charCodeAt(++i);u=65536+((u&1023)<<10)|u1&1023}if(u<=127){if(outIdx>=endIdx)break;heap[outIdx++]=u}else if(u<=2047){if(outIdx+1>=endIdx)break;heap[outIdx++]=192|u>>6;heap[outIdx++]=128|u&63}else if(u<=65535){if(outIdx+2>=endIdx)break;heap[outIdx++]=224|u>>12;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63}else{if(outIdx+3>=endIdx)break;if(u>1114111)warnOnce("Invalid Unicode code point "+ptrToString(u)+" encountered when serializing a JS string to a UTF-8 string in wasm memory! (Valid unicode code points should be in range 0-0x10FFFF).");heap[outIdx++]=240|u>>18;heap[outIdx++]=128|u>>12&63;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63}}heap[outIdx]=0;return outIdx-startIdx}function stringToUTF8(str,outPtr,maxBytesToWrite){assert(typeof maxBytesToWrite=="number","stringToUTF8(str, outPtr, maxBytesToWrite) is missing the third parameter that specifies the length of the output buffer!");return stringToUTF8Array(str,HEAPU8,outPtr,maxBytesToWrite)}function lengthBytesUTF8(str){var len=0;for(var i=0;i=55296&&c<=57343){len+=4;++i}else{len+=3}}return len}var HEAP8,HEAPU8,HEAP16,HEAPU16,HEAP32,HEAPU32,HEAPF32,HEAPF64;function updateMemoryViews(){var b=wasmMemory.buffer;Module["HEAP8"]=HEAP8=new Int8Array(b);Module["HEAP16"]=HEAP16=new Int16Array(b);Module["HEAP32"]=HEAP32=new Int32Array(b);Module["HEAPU8"]=HEAPU8=new Uint8Array(b);Module["HEAPU16"]=HEAPU16=new Uint16Array(b);Module["HEAPU32"]=HEAPU32=new Uint32Array(b);Module["HEAPF32"]=HEAPF32=new Float32Array(b);Module["HEAPF64"]=HEAPF64=new Float64Array(b)}assert(!Module["STACK_SIZE"],"STACK_SIZE can no longer be set at runtime. Use -sSTACK_SIZE at link time");assert(typeof Int32Array!="undefined"&&typeof Float64Array!=="undefined"&&Int32Array.prototype.subarray!=undefined&&Int32Array.prototype.set!=undefined,"JS engine does not provide full typed array support");assert(!Module["wasmMemory"],"Use of `wasmMemory` detected. Use -sIMPORTED_MEMORY to define wasmMemory externally");assert(!Module["INITIAL_MEMORY"],"Detected runtime INITIAL_MEMORY setting. Use -sIMPORTED_MEMORY to define wasmMemory dynamically");var wasmTable;function writeStackCookie(){var max=_emscripten_stack_get_end();assert((max&3)==0);if(max==0){max+=4}HEAPU32[max>>2]=34821223;HEAPU32[max+4>>2]=2310721022;HEAPU32[0]=1668509029}function checkStackCookie(){if(ABORT)return;var max=_emscripten_stack_get_end();if(max==0){max+=4}var cookie1=HEAPU32[max>>2];var cookie2=HEAPU32[max+4>>2];if(cookie1!=34821223||cookie2!=2310721022){abort("Stack overflow! Stack cookie has been overwritten at "+ptrToString(max)+", expected hex dwords 0x89BACDFE and 0x2135467, but received "+ptrToString(cookie2)+" "+ptrToString(cookie1))}if(HEAPU32[0]!==1668509029){abort("Runtime error: The application has corrupted its heap memory area (address zero)!")}}(function(){var h16=new Int16Array(1);var h8=new Int8Array(h16.buffer);h16[0]=25459;if(h8[0]!==115||h8[1]!==99)throw"Runtime error: expected the system to be little-endian! (Run with -sSUPPORT_BIG_ENDIAN to bypass)"})();var __ATPRERUN__=[];var __ATINIT__=[];var __ATMAIN__=[];var __ATPOSTRUN__=[];var runtimeInitialized=false;var runtimeKeepaliveCounter=0;function keepRuntimeAlive(){return noExitRuntime||runtimeKeepaliveCounter>0}function preRun(){if(Module["preRun"]){if(typeof Module["preRun"]=="function")Module["preRun"]=[Module["preRun"]];while(Module["preRun"].length){addOnPreRun(Module["preRun"].shift())}}callRuntimeCallbacks(__ATPRERUN__)}function initRuntime(){assert(!runtimeInitialized);runtimeInitialized=true;checkStackCookie();if(!Module["noFSInit"]&&!FS.init.initialized)FS.init();FS.ignorePermissions=false;TTY.init();callRuntimeCallbacks(__ATINIT__)}function preMain(){checkStackCookie();callRuntimeCallbacks(__ATMAIN__)}function postRun(){checkStackCookie();if(Module["postRun"]){if(typeof Module["postRun"]=="function")Module["postRun"]=[Module["postRun"]];while(Module["postRun"].length){addOnPostRun(Module["postRun"].shift())}}callRuntimeCallbacks(__ATPOSTRUN__)}function addOnPreRun(cb){__ATPRERUN__.unshift(cb)}function addOnInit(cb){__ATINIT__.unshift(cb)}function addOnPostRun(cb){__ATPOSTRUN__.unshift(cb)}assert(Math.imul,"This browser does not support Math.imul(), build with LEGACY_VM_SUPPORT or POLYFILL_OLD_MATH_FUNCTIONS to add in a polyfill");assert(Math.fround,"This browser does not support Math.fround(), build with LEGACY_VM_SUPPORT or POLYFILL_OLD_MATH_FUNCTIONS to add in a polyfill");assert(Math.clz32,"This browser does not support Math.clz32(), build with LEGACY_VM_SUPPORT or POLYFILL_OLD_MATH_FUNCTIONS to add in a polyfill");assert(Math.trunc,"This browser does not support Math.trunc(), build with LEGACY_VM_SUPPORT or POLYFILL_OLD_MATH_FUNCTIONS to add in a polyfill");var runDependencies=0;var runDependencyWatcher=null;var dependenciesFulfilled=null;var runDependencyTracking={};function getUniqueRunDependency(id){var orig=id;while(1){if(!runDependencyTracking[id])return id;id=orig+Math.random()}}function addRunDependency(id){runDependencies++;if(Module["monitorRunDependencies"]){Module["monitorRunDependencies"](runDependencies)}if(id){assert(!runDependencyTracking[id]);runDependencyTracking[id]=1;if(runDependencyWatcher===null&&typeof setInterval!="undefined"){runDependencyWatcher=setInterval(function(){if(ABORT){clearInterval(runDependencyWatcher);runDependencyWatcher=null;return}var shown=false;for(var dep in runDependencyTracking){if(!shown){shown=true;err("still waiting on run dependencies:")}err("dependency: "+dep)}if(shown){err("(end of list)")}},1e4)}}else{err("warning: run dependency added without ID")}}function removeRunDependency(id){runDependencies--;if(Module["monitorRunDependencies"]){Module["monitorRunDependencies"](runDependencies)}if(id){assert(runDependencyTracking[id]);delete runDependencyTracking[id]}else{err("warning: run dependency removed without ID")}if(runDependencies==0){if(runDependencyWatcher!==null){clearInterval(runDependencyWatcher);runDependencyWatcher=null}if(dependenciesFulfilled){var callback=dependenciesFulfilled;dependenciesFulfilled=null;callback()}}}function abort(what){if(Module["onAbort"]){Module["onAbort"](what)}what="Aborted("+what+")";err(what);ABORT=true;EXITSTATUS=1;var e=new WebAssembly.RuntimeError(what);readyPromiseReject(e);throw e}var dataURIPrefix="data:application/octet-stream;base64,";function isDataURI(filename){return filename.startsWith(dataURIPrefix)}function isFileURI(filename){return filename.startsWith("file://")}function createExportWrapper(name,fixedasm){return function(){var displayName=name;var asm=fixedasm;if(!fixedasm){asm=Module["asm"]}assert(runtimeInitialized,"native function `"+displayName+"` called before runtime initialization");if(!asm[name]){assert(asm[name],"exported native function `"+displayName+"` not found")}return asm[name].apply(null,arguments)}}class EmscriptenEH extends Error{}class EmscriptenSjLj extends EmscriptenEH{}class CppException extends EmscriptenEH{constructor(excPtr){super(excPtr);const excInfo=getExceptionMessage(excPtr);this.name=excInfo[0];this.message=excInfo[1]}}var wasmBinaryFile;if(Module["locateFile"]){wasmBinaryFile="mujoco_wasm.wasm";if(!isDataURI(wasmBinaryFile)){wasmBinaryFile=locateFile(wasmBinaryFile)}}else{wasmBinaryFile=new URL("mujoco_wasm.wasm",import.meta.url).href}function getBinary(file){try{if(file==wasmBinaryFile&&wasmBinary){return new Uint8Array(wasmBinary)}if(readBinary){return readBinary(file)}throw"both async and sync fetching of the wasm failed"}catch(err){abort(err)}}function getBinaryPromise(binaryFile){if(!wasmBinary&&(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER)){if(typeof fetch=="function"&&!isFileURI(binaryFile)){return fetch(binaryFile,{credentials:"same-origin"}).then(function(response){if(!response["ok"]){throw"failed to load wasm binary file at '"+binaryFile+"'"}return response["arrayBuffer"]()}).catch(function(){return getBinary(binaryFile)})}else{if(readAsync){return new Promise(function(resolve,reject){readAsync(binaryFile,function(response){resolve(new Uint8Array(response))},reject)})}}}return Promise.resolve().then(function(){return getBinary(binaryFile)})}function instantiateArrayBuffer(binaryFile,imports,receiver){return getBinaryPromise(binaryFile).then(function(binary){return WebAssembly.instantiate(binary,imports)}).then(function(instance){return instance}).then(receiver,function(reason){err("failed to asynchronously prepare wasm: "+reason);if(isFileURI(wasmBinaryFile)){err("warning: Loading from a file URI ("+wasmBinaryFile+") is not supported in most browsers. See https://emscripten.org/docs/getting_started/FAQ.html#how-do-i-run-a-local-webserver-for-testing-why-does-my-program-stall-in-downloading-or-preparing")}abort(reason)})}function instantiateAsync(binary,binaryFile,imports,callback){if(!binary&&typeof WebAssembly.instantiateStreaming=="function"&&!isDataURI(binaryFile)&&!isFileURI(binaryFile)&&!ENVIRONMENT_IS_NODE&&typeof fetch=="function"){return fetch(binaryFile,{credentials:"same-origin"}).then(function(response){var result=WebAssembly.instantiateStreaming(response,imports);return result.then(callback,function(reason){err("wasm streaming compile failed: "+reason);err("falling back to ArrayBuffer instantiation");return instantiateArrayBuffer(binaryFile,imports,callback)})})}else{return instantiateArrayBuffer(binaryFile,imports,callback)}}function createWasm(){var info={"env":wasmImports,"wasi_snapshot_preview1":wasmImports};function receiveInstance(instance,module){var exports=instance.exports;Module["asm"]=exports;wasmMemory=Module["asm"]["memory"];assert(wasmMemory,"memory not found in wasm exports");updateMemoryViews();wasmTable=Module["asm"]["__indirect_function_table"];assert(wasmTable,"table not found in wasm exports");addOnInit(Module["asm"]["__wasm_call_ctors"]);removeRunDependency("wasm-instantiate");return exports}addRunDependency("wasm-instantiate");var trueModule=Module;function receiveInstantiationResult(result){assert(Module===trueModule,"the Module object should not be replaced during async compilation - perhaps the order of HTML elements is wrong?");trueModule=null;receiveInstance(result["instance"])}if(Module["instantiateWasm"]){try{return Module["instantiateWasm"](info,receiveInstance)}catch(e){err("Module.instantiateWasm callback failed with error: "+e);readyPromiseReject(e)}}instantiateAsync(wasmBinary,wasmBinaryFile,info,receiveInstantiationResult).catch(readyPromiseReject);return{}}var tempDouble;var tempI64;function legacyModuleProp(prop,newName){if(!Object.getOwnPropertyDescriptor(Module,prop)){Object.defineProperty(Module,prop,{configurable:true,get:function(){abort("Module."+prop+" has been replaced with plain "+newName+" (the initial value can be provided on Module, but after startup the value is only looked for on a local variable of that name)")}})}}function ignoredModuleProp(prop){if(Object.getOwnPropertyDescriptor(Module,prop)){abort("`Module."+prop+"` was supplied but `"+prop+"` not included in INCOMING_MODULE_JS_API")}}function isExportedByForceFilesystem(name){return name==="FS_createPath"||name==="FS_createDataFile"||name==="FS_createPreloadedFile"||name==="FS_unlink"||name==="addRunDependency"||name==="FS_createLazyFile"||name==="FS_createDevice"||name==="removeRunDependency"}function missingGlobal(sym,msg){if(typeof globalThis!=="undefined"){Object.defineProperty(globalThis,sym,{configurable:true,get:function(){warnOnce("`"+sym+"` is not longer defined by emscripten. "+msg);return undefined}})}}missingGlobal("buffer","Please use HEAP8.buffer or wasmMemory.buffer");function missingLibrarySymbol(sym){if(typeof globalThis!=="undefined"&&!Object.getOwnPropertyDescriptor(globalThis,sym)){Object.defineProperty(globalThis,sym,{configurable:true,get:function(){var msg="`"+sym+"` is a library symbol and not included by default; add it to your library.js __deps or to DEFAULT_LIBRARY_FUNCS_TO_INCLUDE on the command line";var librarySymbol=sym;if(!librarySymbol.startsWith("_")){librarySymbol="$"+sym}msg+=" (e.g. -sDEFAULT_LIBRARY_FUNCS_TO_INCLUDE="+librarySymbol+")";if(isExportedByForceFilesystem(sym)){msg+=". Alternatively, forcing filesystem support (-sFORCE_FILESYSTEM) can export this for you"}warnOnce(msg);return undefined}})}unexportedRuntimeSymbol(sym)}function unexportedRuntimeSymbol(sym){if(!Object.getOwnPropertyDescriptor(Module,sym)){Object.defineProperty(Module,sym,{configurable:true,get:function(){var msg="'"+sym+"' was not exported. add it to EXPORTED_RUNTIME_METHODS (see the FAQ)";if(isExportedByForceFilesystem(sym)){msg+=". Alternatively, forcing filesystem support (-sFORCE_FILESYSTEM) can export this for you"}abort(msg)}})}}function ExitStatus(status){this.name="ExitStatus";this.message="Program terminated with exit("+status+")";this.status=status}function callRuntimeCallbacks(callbacks){while(callbacks.length>0){callbacks.shift()(Module)}}var wasmTableMirror=[];function getWasmTableEntry(funcPtr){var func=wasmTableMirror[funcPtr];if(!func){if(funcPtr>=wasmTableMirror.length)wasmTableMirror.length=funcPtr+1;wasmTableMirror[funcPtr]=func=wasmTable.get(funcPtr)}assert(wasmTable.get(funcPtr)==func,"JavaScript-side Wasm function table mirror is out of date!");return func}function exception_decRef(info){if(info.release_ref()&&!info.get_rethrown()){var destructor=info.get_destructor();if(destructor){getWasmTableEntry(destructor)(info.excPtr)}___cxa_free_exception(info.excPtr)}}function ExceptionInfo(excPtr){this.excPtr=excPtr;this.ptr=excPtr-24;this.set_type=function(type){HEAPU32[this.ptr+4>>2]=type};this.get_type=function(){return HEAPU32[this.ptr+4>>2]};this.set_destructor=function(destructor){HEAPU32[this.ptr+8>>2]=destructor};this.get_destructor=function(){return HEAPU32[this.ptr+8>>2]};this.set_refcount=function(refcount){HEAP32[this.ptr>>2]=refcount};this.set_caught=function(caught){caught=caught?1:0;HEAP8[this.ptr+12>>0]=caught};this.get_caught=function(){return HEAP8[this.ptr+12>>0]!=0};this.set_rethrown=function(rethrown){rethrown=rethrown?1:0;HEAP8[this.ptr+13>>0]=rethrown};this.get_rethrown=function(){return HEAP8[this.ptr+13>>0]!=0};this.init=function(type,destructor){this.set_adjusted_ptr(0);this.set_type(type);this.set_destructor(destructor);this.set_refcount(0);this.set_caught(false);this.set_rethrown(false)};this.add_ref=function(){var value=HEAP32[this.ptr>>2];HEAP32[this.ptr>>2]=value+1};this.release_ref=function(){var prev=HEAP32[this.ptr>>2];HEAP32[this.ptr>>2]=prev-1;assert(prev>0);return prev===1};this.set_adjusted_ptr=function(adjustedPtr){HEAPU32[this.ptr+16>>2]=adjustedPtr};this.get_adjusted_ptr=function(){return HEAPU32[this.ptr+16>>2]};this.get_exception_ptr=function(){var isPointer=___cxa_is_pointer_type(this.get_type());if(isPointer){return HEAPU32[this.excPtr>>2]}var adjusted=this.get_adjusted_ptr();if(adjusted!==0)return adjusted;return this.excPtr}}function ___cxa_decrement_exception_refcount(ptr){if(!ptr)return;exception_decRef(new ExceptionInfo(ptr))}function withStackSave(f){var stack=stackSave();var ret=f();stackRestore(stack);return ret}function getExceptionMessageCommon(ptr){return withStackSave(function(){var type_addr_addr=stackAlloc(4);var message_addr_addr=stackAlloc(4);___get_exception_message(ptr,type_addr_addr,message_addr_addr);var type_addr=HEAPU32[type_addr_addr>>2];var message_addr=HEAPU32[message_addr_addr>>2];var type=UTF8ToString(type_addr);_free(type_addr);var message;if(message_addr){message=UTF8ToString(message_addr);_free(message_addr)}return[type,message]})}function getExceptionMessage(ptr){return getExceptionMessageCommon(ptr)}Module["getExceptionMessage"]=getExceptionMessage;function exception_addRef(info){info.add_ref()}function ___cxa_increment_exception_refcount(ptr){if(!ptr)return;exception_addRef(new ExceptionInfo(ptr))}function ptrToString(ptr){assert(typeof ptr==="number");return"0x"+ptr.toString(16).padStart(8,"0")}function warnOnce(text){if(!warnOnce.shown)warnOnce.shown={};if(!warnOnce.shown[text]){warnOnce.shown[text]=1;if(ENVIRONMENT_IS_NODE)text="warning: "+text;err(text)}}function ___assert_fail(condition,filename,line,func){abort("Assertion failed: "+UTF8ToString(condition)+", at: "+[filename?UTF8ToString(filename):"unknown filename",line,func?UTF8ToString(func):"unknown function"])}var exceptionCaught=[];var uncaughtExceptionCount=0;function ___cxa_begin_catch(ptr){var info=new ExceptionInfo(ptr);if(!info.get_caught()){info.set_caught(true);uncaughtExceptionCount--}info.set_rethrown(false);exceptionCaught.push(info);exception_addRef(info);return info.get_exception_ptr()}var exceptionLast=0;function ___cxa_end_catch(){_setThrew(0);assert(exceptionCaught.length>0);var info=exceptionCaught.pop();exception_decRef(info);exceptionLast=0}function ___resumeException(ptr){if(!exceptionLast){exceptionLast=ptr}throw new CppException(ptr)}function ___cxa_find_matching_catch(){var thrown=exceptionLast;if(!thrown){setTempRet0(0);return 0}var info=new ExceptionInfo(thrown);info.set_adjusted_ptr(thrown);var thrownType=info.get_type();if(!thrownType){setTempRet0(0);return thrown}for(var i=0;ipath.charAt(0)==="/",splitPath:filename=>{var splitPathRe=/^(\/?|)([\s\S]*?)((?:\.{1,2}|[^\/]+?|)(\.[^.\/]*|))(?:[\/]*)$/;return splitPathRe.exec(filename).slice(1)},normalizeArray:(parts,allowAboveRoot)=>{var up=0;for(var i=parts.length-1;i>=0;i--){var last=parts[i];if(last==="."){parts.splice(i,1)}else if(last===".."){parts.splice(i,1);up++}else if(up){parts.splice(i,1);up--}}if(allowAboveRoot){for(;up;up--){parts.unshift("..")}}return parts},normalize:path=>{var isAbsolute=PATH.isAbs(path),trailingSlash=path.substr(-1)==="/";path=PATH.normalizeArray(path.split("/").filter(p=>!!p),!isAbsolute).join("/");if(!path&&!isAbsolute){path="."}if(path&&trailingSlash){path+="/"}return(isAbsolute?"/":"")+path},dirname:path=>{var result=PATH.splitPath(path),root=result[0],dir=result[1];if(!root&&!dir){return"."}if(dir){dir=dir.substr(0,dir.length-1)}return root+dir},basename:path=>{if(path==="/")return"/";path=PATH.normalize(path);path=path.replace(/\/$/,"");var lastSlash=path.lastIndexOf("/");if(lastSlash===-1)return path;return path.substr(lastSlash+1)},join:function(){var paths=Array.prototype.slice.call(arguments);return PATH.normalize(paths.join("/"))},join2:(l,r)=>{return PATH.normalize(l+"/"+r)}};function getRandomDevice(){if(typeof crypto=="object"&&typeof crypto["getRandomValues"]=="function"){var randomBuffer=new Uint8Array(1);return()=>{crypto.getRandomValues(randomBuffer);return randomBuffer[0]}}else if(ENVIRONMENT_IS_NODE){try{var crypto_module=require("crypto");return()=>crypto_module["randomBytes"](1)[0]}catch(e){}}return()=>abort("no cryptographic support found for randomDevice. consider polyfilling it if you want to use something insecure like Math.random(), e.g. put this in a --pre-js: var crypto = { getRandomValues: function(array) { for (var i = 0; i < array.length; i++) array[i] = (Math.random()*256)|0 } };")}var PATH_FS={resolve:function(){var resolvedPath="",resolvedAbsolute=false;for(var i=arguments.length-1;i>=-1&&!resolvedAbsolute;i--){var path=i>=0?arguments[i]:FS.cwd();if(typeof path!="string"){throw new TypeError("Arguments to path.resolve must be strings")}else if(!path){return""}resolvedPath=path+"/"+resolvedPath;resolvedAbsolute=PATH.isAbs(path)}resolvedPath=PATH.normalizeArray(resolvedPath.split("/").filter(p=>!!p),!resolvedAbsolute).join("/");return(resolvedAbsolute?"/":"")+resolvedPath||"."},relative:(from,to)=>{from=PATH_FS.resolve(from).substr(1);to=PATH_FS.resolve(to).substr(1);function trim(arr){var start=0;for(;start=0;end--){if(arr[end]!=="")break}if(start>end)return[];return arr.slice(start,end-start+1)}var fromParts=trim(from.split("/"));var toParts=trim(to.split("/"));var length=Math.min(fromParts.length,toParts.length);var samePartsLength=length;for(var i=0;i0?length:lengthBytesUTF8(stringy)+1;var u8array=new Array(len);var numBytesWritten=stringToUTF8Array(stringy,u8array,0,u8array.length);if(dontAddNull)u8array.length=numBytesWritten;return u8array}var TTY={ttys:[],init:function(){},shutdown:function(){},register:function(dev,ops){TTY.ttys[dev]={input:[],output:[],ops:ops};FS.registerDevice(dev,TTY.stream_ops)},stream_ops:{open:function(stream){var tty=TTY.ttys[stream.node.rdev];if(!tty){throw new FS.ErrnoError(43)}stream.tty=tty;stream.seekable=false},close:function(stream){stream.tty.ops.fsync(stream.tty)},fsync:function(stream){stream.tty.ops.fsync(stream.tty)},read:function(stream,buffer,offset,length,pos){if(!stream.tty||!stream.tty.ops.get_char){throw new FS.ErrnoError(60)}var bytesRead=0;for(var i=0;i0){result=buf.slice(0,bytesRead).toString("utf-8")}else{result=null}}else if(typeof window!="undefined"&&typeof window.prompt=="function"){result=window.prompt("Input: ");if(result!==null){result+="\n"}}else if(typeof readline=="function"){result=readline();if(result!==null){result+="\n"}}if(!result){return null}tty.input=intArrayFromString(result,true)}return tty.input.shift()},put_char:function(tty,val){if(val===null||val===10){out(UTF8ArrayToString(tty.output,0));tty.output=[]}else{if(val!=0)tty.output.push(val)}},fsync:function(tty){if(tty.output&&tty.output.length>0){out(UTF8ArrayToString(tty.output,0));tty.output=[]}}},default_tty1_ops:{put_char:function(tty,val){if(val===null||val===10){err(UTF8ArrayToString(tty.output,0));tty.output=[]}else{if(val!=0)tty.output.push(val)}},fsync:function(tty){if(tty.output&&tty.output.length>0){err(UTF8ArrayToString(tty.output,0));tty.output=[]}}}};function mmapAlloc(size){abort("internal error: mmapAlloc called but `emscripten_builtin_memalign` native symbol not exported")}var MEMFS={ops_table:null,mount:function(mount){return MEMFS.createNode(null,"/",16384|511,0)},createNode:function(parent,name,mode,dev){if(FS.isBlkdev(mode)||FS.isFIFO(mode)){throw new FS.ErrnoError(63)}if(!MEMFS.ops_table){MEMFS.ops_table={dir:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr,lookup:MEMFS.node_ops.lookup,mknod:MEMFS.node_ops.mknod,rename:MEMFS.node_ops.rename,unlink:MEMFS.node_ops.unlink,rmdir:MEMFS.node_ops.rmdir,readdir:MEMFS.node_ops.readdir,symlink:MEMFS.node_ops.symlink},stream:{llseek:MEMFS.stream_ops.llseek}},file:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr},stream:{llseek:MEMFS.stream_ops.llseek,read:MEMFS.stream_ops.read,write:MEMFS.stream_ops.write,allocate:MEMFS.stream_ops.allocate,mmap:MEMFS.stream_ops.mmap,msync:MEMFS.stream_ops.msync}},link:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr,readlink:MEMFS.node_ops.readlink},stream:{}},chrdev:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr},stream:FS.chrdev_stream_ops}}}var node=FS.createNode(parent,name,mode,dev);if(FS.isDir(node.mode)){node.node_ops=MEMFS.ops_table.dir.node;node.stream_ops=MEMFS.ops_table.dir.stream;node.contents={}}else if(FS.isFile(node.mode)){node.node_ops=MEMFS.ops_table.file.node;node.stream_ops=MEMFS.ops_table.file.stream;node.usedBytes=0;node.contents=null}else if(FS.isLink(node.mode)){node.node_ops=MEMFS.ops_table.link.node;node.stream_ops=MEMFS.ops_table.link.stream}else if(FS.isChrdev(node.mode)){node.node_ops=MEMFS.ops_table.chrdev.node;node.stream_ops=MEMFS.ops_table.chrdev.stream}node.timestamp=Date.now();if(parent){parent.contents[name]=node;parent.timestamp=node.timestamp}return node},getFileDataAsTypedArray:function(node){if(!node.contents)return new Uint8Array(0);if(node.contents.subarray)return node.contents.subarray(0,node.usedBytes);return new Uint8Array(node.contents)},expandFileStorage:function(node,newCapacity){var prevCapacity=node.contents?node.contents.length:0;if(prevCapacity>=newCapacity)return;var CAPACITY_DOUBLING_MAX=1024*1024;newCapacity=Math.max(newCapacity,prevCapacity*(prevCapacity>>0);if(prevCapacity!=0)newCapacity=Math.max(newCapacity,256);var oldContents=node.contents;node.contents=new Uint8Array(newCapacity);if(node.usedBytes>0)node.contents.set(oldContents.subarray(0,node.usedBytes),0)},resizeFileStorage:function(node,newSize){if(node.usedBytes==newSize)return;if(newSize==0){node.contents=null;node.usedBytes=0}else{var oldContents=node.contents;node.contents=new Uint8Array(newSize);if(oldContents){node.contents.set(oldContents.subarray(0,Math.min(newSize,node.usedBytes)))}node.usedBytes=newSize}},node_ops:{getattr:function(node){var attr={};attr.dev=FS.isChrdev(node.mode)?node.id:1;attr.ino=node.id;attr.mode=node.mode;attr.nlink=1;attr.uid=0;attr.gid=0;attr.rdev=node.rdev;if(FS.isDir(node.mode)){attr.size=4096}else if(FS.isFile(node.mode)){attr.size=node.usedBytes}else if(FS.isLink(node.mode)){attr.size=node.link.length}else{attr.size=0}attr.atime=new Date(node.timestamp);attr.mtime=new Date(node.timestamp);attr.ctime=new Date(node.timestamp);attr.blksize=4096;attr.blocks=Math.ceil(attr.size/attr.blksize);return attr},setattr:function(node,attr){if(attr.mode!==undefined){node.mode=attr.mode}if(attr.timestamp!==undefined){node.timestamp=attr.timestamp}if(attr.size!==undefined){MEMFS.resizeFileStorage(node,attr.size)}},lookup:function(parent,name){throw FS.genericErrors[44]},mknod:function(parent,name,mode,dev){return MEMFS.createNode(parent,name,mode,dev)},rename:function(old_node,new_dir,new_name){if(FS.isDir(old_node.mode)){var new_node;try{new_node=FS.lookupNode(new_dir,new_name)}catch(e){}if(new_node){for(var i in new_node.contents){throw new FS.ErrnoError(55)}}}delete old_node.parent.contents[old_node.name];old_node.parent.timestamp=Date.now();old_node.name=new_name;new_dir.contents[new_name]=old_node;new_dir.timestamp=old_node.parent.timestamp;old_node.parent=new_dir},unlink:function(parent,name){delete parent.contents[name];parent.timestamp=Date.now()},rmdir:function(parent,name){var node=FS.lookupNode(parent,name);for(var i in node.contents){throw new FS.ErrnoError(55)}delete parent.contents[name];parent.timestamp=Date.now()},readdir:function(node){var entries=[".",".."];for(var key in node.contents){if(!node.contents.hasOwnProperty(key)){continue}entries.push(key)}return entries},symlink:function(parent,newname,oldpath){var node=MEMFS.createNode(parent,newname,511|40960,0);node.link=oldpath;return node},readlink:function(node){if(!FS.isLink(node.mode)){throw new FS.ErrnoError(28)}return node.link}},stream_ops:{read:function(stream,buffer,offset,length,position){var contents=stream.node.contents;if(position>=stream.node.usedBytes)return 0;var size=Math.min(stream.node.usedBytes-position,length);assert(size>=0);if(size>8&&contents.subarray){buffer.set(contents.subarray(position,position+size),offset)}else{for(var i=0;i0||position+length{assert(arrayBuffer,'Loading data file "'+url+'" failed (no arrayBuffer).');onload(new Uint8Array(arrayBuffer));if(dep)removeRunDependency(dep)},event=>{if(onerror){onerror()}else{throw'Loading data file "'+url+'" failed.'}});if(dep)addRunDependency(dep)}var ERRNO_MESSAGES={0:"Success",1:"Arg list too long",2:"Permission denied",3:"Address already in use",4:"Address not available",5:"Address family not supported by protocol family",6:"No more processes",7:"Socket already connected",8:"Bad file number",9:"Trying to read unreadable message",10:"Mount device busy",11:"Operation canceled",12:"No children",13:"Connection aborted",14:"Connection refused",15:"Connection reset by peer",16:"File locking deadlock error",17:"Destination address required",18:"Math arg out of domain of func",19:"Quota exceeded",20:"File exists",21:"Bad address",22:"File too large",23:"Host is unreachable",24:"Identifier removed",25:"Illegal byte sequence",26:"Connection already in progress",27:"Interrupted system call",28:"Invalid argument",29:"I/O error",30:"Socket is already connected",31:"Is a directory",32:"Too many symbolic links",33:"Too many open files",34:"Too many links",35:"Message too long",36:"Multihop attempted",37:"File or path name too long",38:"Network interface is not configured",39:"Connection reset by network",40:"Network is unreachable",41:"Too many open files in system",42:"No buffer space available",43:"No such device",44:"No such file or directory",45:"Exec format error",46:"No record locks available",47:"The link has been severed",48:"Not enough core",49:"No message of desired type",50:"Protocol not available",51:"No space left on device",52:"Function not implemented",53:"Socket is not connected",54:"Not a directory",55:"Directory not empty",56:"State not recoverable",57:"Socket operation on non-socket",59:"Not a typewriter",60:"No such device or address",61:"Value too large for defined data type",62:"Previous owner died",63:"Not super-user",64:"Broken pipe",65:"Protocol error",66:"Unknown protocol",67:"Protocol wrong type for socket",68:"Math result not representable",69:"Read only file system",70:"Illegal seek",71:"No such process",72:"Stale file handle",73:"Connection timed out",74:"Text file busy",75:"Cross-device link",100:"Device not a stream",101:"Bad font file fmt",102:"Invalid slot",103:"Invalid request code",104:"No anode",105:"Block device required",106:"Channel number out of range",107:"Level 3 halted",108:"Level 3 reset",109:"Link number out of range",110:"Protocol driver not attached",111:"No CSI structure available",112:"Level 2 halted",113:"Invalid exchange",114:"Invalid request descriptor",115:"Exchange full",116:"No data (for no delay io)",117:"Timer expired",118:"Out of streams resources",119:"Machine is not on the network",120:"Package not installed",121:"The object is remote",122:"Advertise error",123:"Srmount error",124:"Communication error on send",125:"Cross mount point (not really error)",126:"Given log. name not unique",127:"f.d. invalid for this operation",128:"Remote address changed",129:"Can access a needed shared lib",130:"Accessing a corrupted shared lib",131:".lib section in a.out corrupted",132:"Attempting to link in too many libs",133:"Attempting to exec a shared library",135:"Streams pipe error",136:"Too many users",137:"Socket type not supported",138:"Not supported",139:"Protocol family not supported",140:"Can't send after socket shutdown",141:"Too many references",142:"Host is down",148:"No medium (in tape drive)",156:"Level 2 not synchronized"};var ERRNO_CODES={};function demangle(func){warnOnce("warning: build with -sDEMANGLE_SUPPORT to link in libcxxabi demangling");return func}function demangleAll(text){var regex=/\b_Z[\w\d_]+/g;return text.replace(regex,function(x){var y=demangle(x);return x===y?x:y+" ["+x+"]"})}var FS={root:null,mounts:[],devices:{},streams:[],nextInode:1,nameTable:null,currentPath:"/",initialized:false,ignorePermissions:true,ErrnoError:null,genericErrors:{},filesystems:null,syncFSRequests:0,lookupPath:(path,opts={})=>{path=PATH_FS.resolve(path);if(!path)return{path:"",node:null};var defaults={follow_mount:true,recurse_count:0};opts=Object.assign(defaults,opts);if(opts.recurse_count>8){throw new FS.ErrnoError(32)}var parts=path.split("/").filter(p=>!!p);var current=FS.root;var current_path="/";for(var i=0;i40){throw new FS.ErrnoError(32)}}}}return{path:current_path,node:current}},getPath:node=>{var path;while(true){if(FS.isRoot(node)){var mount=node.mount.mountpoint;if(!path)return mount;return mount[mount.length-1]!=="/"?mount+"/"+path:mount+path}path=path?node.name+"/"+path:node.name;node=node.parent}},hashName:(parentid,name)=>{var hash=0;for(var i=0;i>>0)%FS.nameTable.length},hashAddNode:node=>{var hash=FS.hashName(node.parent.id,node.name);node.name_next=FS.nameTable[hash];FS.nameTable[hash]=node},hashRemoveNode:node=>{var hash=FS.hashName(node.parent.id,node.name);if(FS.nameTable[hash]===node){FS.nameTable[hash]=node.name_next}else{var current=FS.nameTable[hash];while(current){if(current.name_next===node){current.name_next=node.name_next;break}current=current.name_next}}},lookupNode:(parent,name)=>{var errCode=FS.mayLookup(parent);if(errCode){throw new FS.ErrnoError(errCode,parent)}var hash=FS.hashName(parent.id,name);for(var node=FS.nameTable[hash];node;node=node.name_next){var nodeName=node.name;if(node.parent.id===parent.id&&nodeName===name){return node}}return FS.lookup(parent,name)},createNode:(parent,name,mode,rdev)=>{assert(typeof parent=="object");var node=new FS.FSNode(parent,name,mode,rdev);FS.hashAddNode(node);return node},destroyNode:node=>{FS.hashRemoveNode(node)},isRoot:node=>{return node===node.parent},isMountpoint:node=>{return!!node.mounted},isFile:mode=>{return(mode&61440)===32768},isDir:mode=>{return(mode&61440)===16384},isLink:mode=>{return(mode&61440)===40960},isChrdev:mode=>{return(mode&61440)===8192},isBlkdev:mode=>{return(mode&61440)===24576},isFIFO:mode=>{return(mode&61440)===4096},isSocket:mode=>{return(mode&49152)===49152},flagModes:{"r":0,"r+":2,"w":577,"w+":578,"a":1089,"a+":1090},modeStringToFlags:str=>{var flags=FS.flagModes[str];if(typeof flags=="undefined"){throw new Error("Unknown file open mode: "+str)}return flags},flagsToPermissionString:flag=>{var perms=["r","w","rw"][flag&3];if(flag&512){perms+="w"}return perms},nodePermissions:(node,perms)=>{if(FS.ignorePermissions){return 0}if(perms.includes("r")&&!(node.mode&292)){return 2}else if(perms.includes("w")&&!(node.mode&146)){return 2}else if(perms.includes("x")&&!(node.mode&73)){return 2}return 0},mayLookup:dir=>{var errCode=FS.nodePermissions(dir,"x");if(errCode)return errCode;if(!dir.node_ops.lookup)return 2;return 0},mayCreate:(dir,name)=>{try{var node=FS.lookupNode(dir,name);return 20}catch(e){}return FS.nodePermissions(dir,"wx")},mayDelete:(dir,name,isdir)=>{var node;try{node=FS.lookupNode(dir,name)}catch(e){return e.errno}var errCode=FS.nodePermissions(dir,"wx");if(errCode){return errCode}if(isdir){if(!FS.isDir(node.mode)){return 54}if(FS.isRoot(node)||FS.getPath(node)===FS.cwd()){return 10}}else{if(FS.isDir(node.mode)){return 31}}return 0},mayOpen:(node,flags)=>{if(!node){return 44}if(FS.isLink(node.mode)){return 32}else if(FS.isDir(node.mode)){if(FS.flagsToPermissionString(flags)!=="r"||flags&512){return 31}}return FS.nodePermissions(node,FS.flagsToPermissionString(flags))},MAX_OPEN_FDS:4096,nextfd:(fd_start=0,fd_end=FS.MAX_OPEN_FDS)=>{for(var fd=fd_start;fd<=fd_end;fd++){if(!FS.streams[fd]){return fd}}throw new FS.ErrnoError(33)},getStream:fd=>FS.streams[fd],createStream:(stream,fd_start,fd_end)=>{if(!FS.FSStream){FS.FSStream=function(){this.shared={}};FS.FSStream.prototype={};Object.defineProperties(FS.FSStream.prototype,{object:{get:function(){return this.node},set:function(val){this.node=val}},isRead:{get:function(){return(this.flags&2097155)!==1}},isWrite:{get:function(){return(this.flags&2097155)!==0}},isAppend:{get:function(){return this.flags&1024}},flags:{get:function(){return this.shared.flags},set:function(val){this.shared.flags=val}},position:{get:function(){return this.shared.position},set:function(val){this.shared.position=val}}})}stream=Object.assign(new FS.FSStream,stream);var fd=FS.nextfd(fd_start,fd_end);stream.fd=fd;FS.streams[fd]=stream;return stream},closeStream:fd=>{FS.streams[fd]=null},chrdev_stream_ops:{open:stream=>{var device=FS.getDevice(stream.node.rdev);stream.stream_ops=device.stream_ops;if(stream.stream_ops.open){stream.stream_ops.open(stream)}},llseek:()=>{throw new FS.ErrnoError(70)}},major:dev=>dev>>8,minor:dev=>dev&255,makedev:(ma,mi)=>ma<<8|mi,registerDevice:(dev,ops)=>{FS.devices[dev]={stream_ops:ops}},getDevice:dev=>FS.devices[dev],getMounts:mount=>{var mounts=[];var check=[mount];while(check.length){var m=check.pop();mounts.push(m);check.push.apply(check,m.mounts)}return mounts},syncfs:(populate,callback)=>{if(typeof populate=="function"){callback=populate;populate=false}FS.syncFSRequests++;if(FS.syncFSRequests>1){err("warning: "+FS.syncFSRequests+" FS.syncfs operations in flight at once, probably just doing extra work")}var mounts=FS.getMounts(FS.root.mount);var completed=0;function doCallback(errCode){assert(FS.syncFSRequests>0);FS.syncFSRequests--;return callback(errCode)}function done(errCode){if(errCode){if(!done.errored){done.errored=true;return doCallback(errCode)}return}if(++completed>=mounts.length){doCallback(null)}}mounts.forEach(mount=>{if(!mount.type.syncfs){return done(null)}mount.type.syncfs(mount,populate,done)})},mount:(type,opts,mountpoint)=>{if(typeof type=="string"){throw type}var root=mountpoint==="/";var pseudo=!mountpoint;var node;if(root&&FS.root){throw new FS.ErrnoError(10)}else if(!root&&!pseudo){var lookup=FS.lookupPath(mountpoint,{follow_mount:false});mountpoint=lookup.path;node=lookup.node;if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}if(!FS.isDir(node.mode)){throw new FS.ErrnoError(54)}}var mount={type:type,opts:opts,mountpoint:mountpoint,mounts:[]};var mountRoot=type.mount(mount);mountRoot.mount=mount;mount.root=mountRoot;if(root){FS.root=mountRoot}else if(node){node.mounted=mount;if(node.mount){node.mount.mounts.push(mount)}}return mountRoot},unmount:mountpoint=>{var lookup=FS.lookupPath(mountpoint,{follow_mount:false});if(!FS.isMountpoint(lookup.node)){throw new FS.ErrnoError(28)}var node=lookup.node;var mount=node.mounted;var mounts=FS.getMounts(mount);Object.keys(FS.nameTable).forEach(hash=>{var current=FS.nameTable[hash];while(current){var next=current.name_next;if(mounts.includes(current.mount)){FS.destroyNode(current)}current=next}});node.mounted=null;var idx=node.mount.mounts.indexOf(mount);assert(idx!==-1);node.mount.mounts.splice(idx,1)},lookup:(parent,name)=>{return parent.node_ops.lookup(parent,name)},mknod:(path,mode,dev)=>{var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;var name=PATH.basename(path);if(!name||name==="."||name===".."){throw new FS.ErrnoError(28)}var errCode=FS.mayCreate(parent,name);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.mknod){throw new FS.ErrnoError(63)}return parent.node_ops.mknod(parent,name,mode,dev)},create:(path,mode)=>{mode=mode!==undefined?mode:438;mode&=4095;mode|=32768;return FS.mknod(path,mode,0)},mkdir:(path,mode)=>{mode=mode!==undefined?mode:511;mode&=511|512;mode|=16384;return FS.mknod(path,mode,0)},mkdirTree:(path,mode)=>{var dirs=path.split("/");var d="";for(var i=0;i{if(typeof dev=="undefined"){dev=mode;mode=438}mode|=8192;return FS.mknod(path,mode,dev)},symlink:(oldpath,newpath)=>{if(!PATH_FS.resolve(oldpath)){throw new FS.ErrnoError(44)}var lookup=FS.lookupPath(newpath,{parent:true});var parent=lookup.node;if(!parent){throw new FS.ErrnoError(44)}var newname=PATH.basename(newpath);var errCode=FS.mayCreate(parent,newname);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.symlink){throw new FS.ErrnoError(63)}return parent.node_ops.symlink(parent,newname,oldpath)},rename:(old_path,new_path)=>{var old_dirname=PATH.dirname(old_path);var new_dirname=PATH.dirname(new_path);var old_name=PATH.basename(old_path);var new_name=PATH.basename(new_path);var lookup,old_dir,new_dir;lookup=FS.lookupPath(old_path,{parent:true});old_dir=lookup.node;lookup=FS.lookupPath(new_path,{parent:true});new_dir=lookup.node;if(!old_dir||!new_dir)throw new FS.ErrnoError(44);if(old_dir.mount!==new_dir.mount){throw new FS.ErrnoError(75)}var old_node=FS.lookupNode(old_dir,old_name);var relative=PATH_FS.relative(old_path,new_dirname);if(relative.charAt(0)!=="."){throw new FS.ErrnoError(28)}relative=PATH_FS.relative(new_path,old_dirname);if(relative.charAt(0)!=="."){throw new FS.ErrnoError(55)}var new_node;try{new_node=FS.lookupNode(new_dir,new_name)}catch(e){}if(old_node===new_node){return}var isdir=FS.isDir(old_node.mode);var errCode=FS.mayDelete(old_dir,old_name,isdir);if(errCode){throw new FS.ErrnoError(errCode)}errCode=new_node?FS.mayDelete(new_dir,new_name,isdir):FS.mayCreate(new_dir,new_name);if(errCode){throw new FS.ErrnoError(errCode)}if(!old_dir.node_ops.rename){throw new FS.ErrnoError(63)}if(FS.isMountpoint(old_node)||new_node&&FS.isMountpoint(new_node)){throw new FS.ErrnoError(10)}if(new_dir!==old_dir){errCode=FS.nodePermissions(old_dir,"w");if(errCode){throw new FS.ErrnoError(errCode)}}FS.hashRemoveNode(old_node);try{old_dir.node_ops.rename(old_node,new_dir,new_name)}catch(e){throw e}finally{FS.hashAddNode(old_node)}},rmdir:path=>{var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;var name=PATH.basename(path);var node=FS.lookupNode(parent,name);var errCode=FS.mayDelete(parent,name,true);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.rmdir){throw new FS.ErrnoError(63)}if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}parent.node_ops.rmdir(parent,name);FS.destroyNode(node)},readdir:path=>{var lookup=FS.lookupPath(path,{follow:true});var node=lookup.node;if(!node.node_ops.readdir){throw new FS.ErrnoError(54)}return node.node_ops.readdir(node)},unlink:path=>{var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;if(!parent){throw new FS.ErrnoError(44)}var name=PATH.basename(path);var node=FS.lookupNode(parent,name);var errCode=FS.mayDelete(parent,name,false);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.unlink){throw new FS.ErrnoError(63)}if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}parent.node_ops.unlink(parent,name);FS.destroyNode(node)},readlink:path=>{var lookup=FS.lookupPath(path);var link=lookup.node;if(!link){throw new FS.ErrnoError(44)}if(!link.node_ops.readlink){throw new FS.ErrnoError(28)}return PATH_FS.resolve(FS.getPath(link.parent),link.node_ops.readlink(link))},stat:(path,dontFollow)=>{var lookup=FS.lookupPath(path,{follow:!dontFollow});var node=lookup.node;if(!node){throw new FS.ErrnoError(44)}if(!node.node_ops.getattr){throw new FS.ErrnoError(63)}return node.node_ops.getattr(node)},lstat:path=>{return FS.stat(path,true)},chmod:(path,mode,dontFollow)=>{var node;if(typeof path=="string"){var lookup=FS.lookupPath(path,{follow:!dontFollow});node=lookup.node}else{node=path}if(!node.node_ops.setattr){throw new FS.ErrnoError(63)}node.node_ops.setattr(node,{mode:mode&4095|node.mode&~4095,timestamp:Date.now()})},lchmod:(path,mode)=>{FS.chmod(path,mode,true)},fchmod:(fd,mode)=>{var stream=FS.getStream(fd);if(!stream){throw new FS.ErrnoError(8)}FS.chmod(stream.node,mode)},chown:(path,uid,gid,dontFollow)=>{var node;if(typeof path=="string"){var lookup=FS.lookupPath(path,{follow:!dontFollow});node=lookup.node}else{node=path}if(!node.node_ops.setattr){throw new FS.ErrnoError(63)}node.node_ops.setattr(node,{timestamp:Date.now()})},lchown:(path,uid,gid)=>{FS.chown(path,uid,gid,true)},fchown:(fd,uid,gid)=>{var stream=FS.getStream(fd);if(!stream){throw new FS.ErrnoError(8)}FS.chown(stream.node,uid,gid)},truncate:(path,len)=>{if(len<0){throw new FS.ErrnoError(28)}var node;if(typeof path=="string"){var lookup=FS.lookupPath(path,{follow:true});node=lookup.node}else{node=path}if(!node.node_ops.setattr){throw new FS.ErrnoError(63)}if(FS.isDir(node.mode)){throw new FS.ErrnoError(31)}if(!FS.isFile(node.mode)){throw new FS.ErrnoError(28)}var errCode=FS.nodePermissions(node,"w");if(errCode){throw new FS.ErrnoError(errCode)}node.node_ops.setattr(node,{size:len,timestamp:Date.now()})},ftruncate:(fd,len)=>{var stream=FS.getStream(fd);if(!stream){throw new FS.ErrnoError(8)}if((stream.flags&2097155)===0){throw new FS.ErrnoError(28)}FS.truncate(stream.node,len)},utime:(path,atime,mtime)=>{var lookup=FS.lookupPath(path,{follow:true});var node=lookup.node;node.node_ops.setattr(node,{timestamp:Math.max(atime,mtime)})},open:(path,flags,mode)=>{if(path===""){throw new FS.ErrnoError(44)}flags=typeof flags=="string"?FS.modeStringToFlags(flags):flags;mode=typeof mode=="undefined"?438:mode;if(flags&64){mode=mode&4095|32768}else{mode=0}var node;if(typeof path=="object"){node=path}else{path=PATH.normalize(path);try{var lookup=FS.lookupPath(path,{follow:!(flags&131072)});node=lookup.node}catch(e){}}var created=false;if(flags&64){if(node){if(flags&128){throw new FS.ErrnoError(20)}}else{node=FS.mknod(path,mode,0);created=true}}if(!node){throw new FS.ErrnoError(44)}if(FS.isChrdev(node.mode)){flags&=~512}if(flags&65536&&!FS.isDir(node.mode)){throw new FS.ErrnoError(54)}if(!created){var errCode=FS.mayOpen(node,flags);if(errCode){throw new FS.ErrnoError(errCode)}}if(flags&512&&!created){FS.truncate(node,0)}flags&=~(128|512|131072);var stream=FS.createStream({node:node,path:FS.getPath(node),flags:flags,seekable:true,position:0,stream_ops:node.stream_ops,ungotten:[],error:false});if(stream.stream_ops.open){stream.stream_ops.open(stream)}if(Module["logReadFiles"]&&!(flags&1)){if(!FS.readFiles)FS.readFiles={};if(!(path in FS.readFiles)){FS.readFiles[path]=1}}return stream},close:stream=>{if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if(stream.getdents)stream.getdents=null;try{if(stream.stream_ops.close){stream.stream_ops.close(stream)}}catch(e){throw e}finally{FS.closeStream(stream.fd)}stream.fd=null},isClosed:stream=>{return stream.fd===null},llseek:(stream,offset,whence)=>{if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if(!stream.seekable||!stream.stream_ops.llseek){throw new FS.ErrnoError(70)}if(whence!=0&&whence!=1&&whence!=2){throw new FS.ErrnoError(28)}stream.position=stream.stream_ops.llseek(stream,offset,whence);stream.ungotten=[];return stream.position},read:(stream,buffer,offset,length,position)=>{if(length<0||position<0){throw new FS.ErrnoError(28)}if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if((stream.flags&2097155)===1){throw new FS.ErrnoError(8)}if(FS.isDir(stream.node.mode)){throw new FS.ErrnoError(31)}if(!stream.stream_ops.read){throw new FS.ErrnoError(28)}var seeking=typeof position!="undefined";if(!seeking){position=stream.position}else if(!stream.seekable){throw new FS.ErrnoError(70)}var bytesRead=stream.stream_ops.read(stream,buffer,offset,length,position);if(!seeking)stream.position+=bytesRead;return bytesRead},write:(stream,buffer,offset,length,position,canOwn)=>{if(length<0||position<0){throw new FS.ErrnoError(28)}if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if((stream.flags&2097155)===0){throw new FS.ErrnoError(8)}if(FS.isDir(stream.node.mode)){throw new FS.ErrnoError(31)}if(!stream.stream_ops.write){throw new FS.ErrnoError(28)}if(stream.seekable&&stream.flags&1024){FS.llseek(stream,0,2)}var seeking=typeof position!="undefined";if(!seeking){position=stream.position}else if(!stream.seekable){throw new FS.ErrnoError(70)}var bytesWritten=stream.stream_ops.write(stream,buffer,offset,length,position,canOwn);if(!seeking)stream.position+=bytesWritten;return bytesWritten},allocate:(stream,offset,length)=>{if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if(offset<0||length<=0){throw new FS.ErrnoError(28)}if((stream.flags&2097155)===0){throw new FS.ErrnoError(8)}if(!FS.isFile(stream.node.mode)&&!FS.isDir(stream.node.mode)){throw new FS.ErrnoError(43)}if(!stream.stream_ops.allocate){throw new FS.ErrnoError(138)}stream.stream_ops.allocate(stream,offset,length)},mmap:(stream,length,position,prot,flags)=>{if((prot&2)!==0&&(flags&2)===0&&(stream.flags&2097155)!==2){throw new FS.ErrnoError(2)}if((stream.flags&2097155)===1){throw new FS.ErrnoError(2)}if(!stream.stream_ops.mmap){throw new FS.ErrnoError(43)}return stream.stream_ops.mmap(stream,length,position,prot,flags)},msync:(stream,buffer,offset,length,mmapFlags)=>{if(!stream.stream_ops.msync){return 0}return stream.stream_ops.msync(stream,buffer,offset,length,mmapFlags)},munmap:stream=>0,ioctl:(stream,cmd,arg)=>{if(!stream.stream_ops.ioctl){throw new FS.ErrnoError(59)}return stream.stream_ops.ioctl(stream,cmd,arg)},readFile:(path,opts={})=>{opts.flags=opts.flags||0;opts.encoding=opts.encoding||"binary";if(opts.encoding!=="utf8"&&opts.encoding!=="binary"){throw new Error('Invalid encoding type "'+opts.encoding+'"')}var ret;var stream=FS.open(path,opts.flags);var stat=FS.stat(path);var length=stat.size;var buf=new Uint8Array(length);FS.read(stream,buf,0,length,0);if(opts.encoding==="utf8"){ret=UTF8ArrayToString(buf,0)}else if(opts.encoding==="binary"){ret=buf}FS.close(stream);return ret},writeFile:(path,data,opts={})=>{opts.flags=opts.flags||577;var stream=FS.open(path,opts.flags,opts.mode);if(typeof data=="string"){var buf=new Uint8Array(lengthBytesUTF8(data)+1);var actualNumBytes=stringToUTF8Array(data,buf,0,buf.length);FS.write(stream,buf,0,actualNumBytes,undefined,opts.canOwn)}else if(ArrayBuffer.isView(data)){FS.write(stream,data,0,data.byteLength,undefined,opts.canOwn)}else{throw new Error("Unsupported data type")}FS.close(stream)},cwd:()=>FS.currentPath,chdir:path=>{var lookup=FS.lookupPath(path,{follow:true});if(lookup.node===null){throw new FS.ErrnoError(44)}if(!FS.isDir(lookup.node.mode)){throw new FS.ErrnoError(54)}var errCode=FS.nodePermissions(lookup.node,"x");if(errCode){throw new FS.ErrnoError(errCode)}FS.currentPath=lookup.path},createDefaultDirectories:()=>{FS.mkdir("/tmp");FS.mkdir("/home");FS.mkdir("/home/web_user")},createDefaultDevices:()=>{FS.mkdir("/dev");FS.registerDevice(FS.makedev(1,3),{read:()=>0,write:(stream,buffer,offset,length,pos)=>length});FS.mkdev("/dev/null",FS.makedev(1,3));TTY.register(FS.makedev(5,0),TTY.default_tty_ops);TTY.register(FS.makedev(6,0),TTY.default_tty1_ops);FS.mkdev("/dev/tty",FS.makedev(5,0));FS.mkdev("/dev/tty1",FS.makedev(6,0));var random_device=getRandomDevice();FS.createDevice("/dev","random",random_device);FS.createDevice("/dev","urandom",random_device);FS.mkdir("/dev/shm");FS.mkdir("/dev/shm/tmp")},createSpecialDirectories:()=>{FS.mkdir("/proc");var proc_self=FS.mkdir("/proc/self");FS.mkdir("/proc/self/fd");FS.mount({mount:()=>{var node=FS.createNode(proc_self,"fd",16384|511,73);node.node_ops={lookup:(parent,name)=>{var fd=+name;var stream=FS.getStream(fd);if(!stream)throw new FS.ErrnoError(8);var ret={parent:null,mount:{mountpoint:"fake"},node_ops:{readlink:()=>stream.path}};ret.parent=ret;return ret}};return node}},{},"/proc/self/fd")},createStandardStreams:()=>{if(Module["stdin"]){FS.createDevice("/dev","stdin",Module["stdin"])}else{FS.symlink("/dev/tty","/dev/stdin")}if(Module["stdout"]){FS.createDevice("/dev","stdout",null,Module["stdout"])}else{FS.symlink("/dev/tty","/dev/stdout")}if(Module["stderr"]){FS.createDevice("/dev","stderr",null,Module["stderr"])}else{FS.symlink("/dev/tty1","/dev/stderr")}var stdin=FS.open("/dev/stdin",0);var stdout=FS.open("/dev/stdout",1);var stderr=FS.open("/dev/stderr",1);assert(stdin.fd===0,"invalid handle for stdin ("+stdin.fd+")");assert(stdout.fd===1,"invalid handle for stdout ("+stdout.fd+")");assert(stderr.fd===2,"invalid handle for stderr ("+stderr.fd+")")},ensureErrnoError:()=>{if(FS.ErrnoError)return;FS.ErrnoError=function ErrnoError(errno,node){this.name="ErrnoError";this.node=node;this.setErrno=function(errno){this.errno=errno;for(var key in ERRNO_CODES){if(ERRNO_CODES[key]===errno){this.code=key;break}}};this.setErrno(errno);this.message=ERRNO_MESSAGES[errno];if(this.stack){Object.defineProperty(this,"stack",{value:(new Error).stack,writable:true});this.stack=demangleAll(this.stack)}};FS.ErrnoError.prototype=new Error;FS.ErrnoError.prototype.constructor=FS.ErrnoError;[44].forEach(code=>{FS.genericErrors[code]=new FS.ErrnoError(code);FS.genericErrors[code].stack=""})},staticInit:()=>{FS.ensureErrnoError();FS.nameTable=new Array(4096);FS.mount(MEMFS,{},"/");FS.createDefaultDirectories();FS.createDefaultDevices();FS.createSpecialDirectories();FS.filesystems={"MEMFS":MEMFS}},init:(input,output,error)=>{assert(!FS.init.initialized,"FS.init was previously called. If you want to initialize later with custom parameters, remove any earlier calls (note that one is automatically added to the generated code)");FS.init.initialized=true;FS.ensureErrnoError();Module["stdin"]=input||Module["stdin"];Module["stdout"]=output||Module["stdout"];Module["stderr"]=error||Module["stderr"];FS.createStandardStreams()},quit:()=>{FS.init.initialized=false;_fflush(0);for(var i=0;i{var mode=0;if(canRead)mode|=292|73;if(canWrite)mode|=146;return mode},findObject:(path,dontResolveLastLink)=>{var ret=FS.analyzePath(path,dontResolveLastLink);if(!ret.exists){return null}return ret.object},analyzePath:(path,dontResolveLastLink)=>{try{var lookup=FS.lookupPath(path,{follow:!dontResolveLastLink});path=lookup.path}catch(e){}var ret={isRoot:false,exists:false,error:0,name:null,path:null,object:null,parentExists:false,parentPath:null,parentObject:null};try{var lookup=FS.lookupPath(path,{parent:true});ret.parentExists=true;ret.parentPath=lookup.path;ret.parentObject=lookup.node;ret.name=PATH.basename(path);lookup=FS.lookupPath(path,{follow:!dontResolveLastLink});ret.exists=true;ret.path=lookup.path;ret.object=lookup.node;ret.name=lookup.node.name;ret.isRoot=lookup.path==="/"}catch(e){ret.error=e.errno}return ret},createPath:(parent,path,canRead,canWrite)=>{parent=typeof parent=="string"?parent:FS.getPath(parent);var parts=path.split("/").reverse();while(parts.length){var part=parts.pop();if(!part)continue;var current=PATH.join2(parent,part);try{FS.mkdir(current)}catch(e){}parent=current}return current},createFile:(parent,name,properties,canRead,canWrite)=>{var path=PATH.join2(typeof parent=="string"?parent:FS.getPath(parent),name);var mode=FS.getMode(canRead,canWrite);return FS.create(path,mode)},createDataFile:(parent,name,data,canRead,canWrite,canOwn)=>{var path=name;if(parent){parent=typeof parent=="string"?parent:FS.getPath(parent);path=name?PATH.join2(parent,name):parent}var mode=FS.getMode(canRead,canWrite);var node=FS.create(path,mode);if(data){if(typeof data=="string"){var arr=new Array(data.length);for(var i=0,len=data.length;i{var path=PATH.join2(typeof parent=="string"?parent:FS.getPath(parent),name);var mode=FS.getMode(!!input,!!output);if(!FS.createDevice.major)FS.createDevice.major=64;var dev=FS.makedev(FS.createDevice.major++,0);FS.registerDevice(dev,{open:stream=>{stream.seekable=false},close:stream=>{if(output&&output.buffer&&output.buffer.length){output(10)}},read:(stream,buffer,offset,length,pos)=>{var bytesRead=0;for(var i=0;i{for(var i=0;i{if(obj.isDevice||obj.isFolder||obj.link||obj.contents)return true;if(typeof XMLHttpRequest!="undefined"){throw new Error("Lazy loading should have been performed (contents set) in createLazyFile, but it was not. Lazy loading only works in web workers. Use --embed-file or --preload-file in emcc on the main thread.")}else if(read_){try{obj.contents=intArrayFromString(read_(obj.url),true);obj.usedBytes=obj.contents.length}catch(e){throw new FS.ErrnoError(29)}}else{throw new Error("Cannot load without read() or XMLHttpRequest.")}},createLazyFile:(parent,name,url,canRead,canWrite)=>{function LazyUint8Array(){this.lengthKnown=false;this.chunks=[]}LazyUint8Array.prototype.get=function LazyUint8Array_get(idx){if(idx>this.length-1||idx<0){return undefined}var chunkOffset=idx%this.chunkSize;var chunkNum=idx/this.chunkSize|0;return this.getter(chunkNum)[chunkOffset]};LazyUint8Array.prototype.setDataGetter=function LazyUint8Array_setDataGetter(getter){this.getter=getter};LazyUint8Array.prototype.cacheLength=function LazyUint8Array_cacheLength(){var xhr=new XMLHttpRequest;xhr.open("HEAD",url,false);xhr.send(null);if(!(xhr.status>=200&&xhr.status<300||xhr.status===304))throw new Error("Couldn't load "+url+". Status: "+xhr.status);var datalength=Number(xhr.getResponseHeader("Content-length"));var header;var hasByteServing=(header=xhr.getResponseHeader("Accept-Ranges"))&&header==="bytes";var usesGzip=(header=xhr.getResponseHeader("Content-Encoding"))&&header==="gzip";var chunkSize=1024*1024;if(!hasByteServing)chunkSize=datalength;var doXHR=(from,to)=>{if(from>to)throw new Error("invalid range ("+from+", "+to+") or no bytes requested!");if(to>datalength-1)throw new Error("only "+datalength+" bytes available! programmer error!");var xhr=new XMLHttpRequest;xhr.open("GET",url,false);if(datalength!==chunkSize)xhr.setRequestHeader("Range","bytes="+from+"-"+to);xhr.responseType="arraybuffer";if(xhr.overrideMimeType){xhr.overrideMimeType("text/plain; charset=x-user-defined")}xhr.send(null);if(!(xhr.status>=200&&xhr.status<300||xhr.status===304))throw new Error("Couldn't load "+url+". Status: "+xhr.status);if(xhr.response!==undefined){return new Uint8Array(xhr.response||[])}return intArrayFromString(xhr.responseText||"",true)};var lazyArray=this;lazyArray.setDataGetter(chunkNum=>{var start=chunkNum*chunkSize;var end=(chunkNum+1)*chunkSize-1;end=Math.min(end,datalength-1);if(typeof lazyArray.chunks[chunkNum]=="undefined"){lazyArray.chunks[chunkNum]=doXHR(start,end)}if(typeof lazyArray.chunks[chunkNum]=="undefined")throw new Error("doXHR failed!");return lazyArray.chunks[chunkNum]});if(usesGzip||!datalength){chunkSize=datalength=1;datalength=this.getter(0).length;chunkSize=datalength;out("LazyFiles on gzip forces download of the whole file when length is accessed")}this._length=datalength;this._chunkSize=chunkSize;this.lengthKnown=true};if(typeof XMLHttpRequest!="undefined"){if(!ENVIRONMENT_IS_WORKER)throw"Cannot do synchronous binary XHRs outside webworkers in modern browsers. Use --embed-file or --preload-file in emcc";var lazyArray=new LazyUint8Array;Object.defineProperties(lazyArray,{length:{get:function(){if(!this.lengthKnown){this.cacheLength()}return this._length}},chunkSize:{get:function(){if(!this.lengthKnown){this.cacheLength()}return this._chunkSize}}});var properties={isDevice:false,contents:lazyArray}}else{var properties={isDevice:false,url:url}}var node=FS.createFile(parent,name,properties,canRead,canWrite);if(properties.contents){node.contents=properties.contents}else if(properties.url){node.contents=null;node.url=properties.url}Object.defineProperties(node,{usedBytes:{get:function(){return this.contents.length}}});var stream_ops={};var keys=Object.keys(node.stream_ops);keys.forEach(key=>{var fn=node.stream_ops[key];stream_ops[key]=function forceLoadLazyFile(){FS.forceLoadFile(node);return fn.apply(null,arguments)}});function writeChunks(stream,buffer,offset,length,position){var contents=stream.node.contents;if(position>=contents.length)return 0;var size=Math.min(contents.length-position,length);assert(size>=0);if(contents.slice){for(var i=0;i{FS.forceLoadFile(node);return writeChunks(stream,buffer,offset,length,position)};stream_ops.mmap=(stream,length,position,prot,flags)=>{FS.forceLoadFile(node);var ptr=mmapAlloc(length);if(!ptr){throw new FS.ErrnoError(48)}writeChunks(stream,HEAP8,ptr,length,position);return{ptr:ptr,allocated:true}};node.stream_ops=stream_ops;return node},createPreloadedFile:(parent,name,url,canRead,canWrite,onload,onerror,dontCreateFile,canOwn,preFinish)=>{var fullname=name?PATH_FS.resolve(PATH.join2(parent,name)):parent;var dep=getUniqueRunDependency("cp "+fullname);function processData(byteArray){function finish(byteArray){if(preFinish)preFinish();if(!dontCreateFile){FS.createDataFile(parent,name,byteArray,canRead,canWrite,canOwn)}if(onload)onload();removeRunDependency(dep)}if(Browser.handledByPreloadPlugin(byteArray,fullname,finish,()=>{if(onerror)onerror();removeRunDependency(dep)})){return}finish(byteArray)}addRunDependency(dep);if(typeof url=="string"){asyncLoad(url,byteArray=>processData(byteArray),onerror)}else{processData(url)}},indexedDB:()=>{return window.indexedDB||window.mozIndexedDB||window.webkitIndexedDB||window.msIndexedDB},DB_NAME:()=>{return"EM_FS_"+window.location.pathname},DB_VERSION:20,DB_STORE_NAME:"FILE_DATA",saveFilesToDB:(paths,onload=(()=>{}),onerror=(()=>{}))=>{var indexedDB=FS.indexedDB();try{var openRequest=indexedDB.open(FS.DB_NAME(),FS.DB_VERSION)}catch(e){return onerror(e)}openRequest.onupgradeneeded=()=>{out("creating db");var db=openRequest.result;db.createObjectStore(FS.DB_STORE_NAME)};openRequest.onsuccess=()=>{var db=openRequest.result;var transaction=db.transaction([FS.DB_STORE_NAME],"readwrite");var files=transaction.objectStore(FS.DB_STORE_NAME);var ok=0,fail=0,total=paths.length;function finish(){if(fail==0)onload();else onerror()}paths.forEach(path=>{var putRequest=files.put(FS.analyzePath(path).object.contents,path);putRequest.onsuccess=()=>{ok++;if(ok+fail==total)finish()};putRequest.onerror=()=>{fail++;if(ok+fail==total)finish()}});transaction.onerror=onerror};openRequest.onerror=onerror},loadFilesFromDB:(paths,onload=(()=>{}),onerror=(()=>{}))=>{var indexedDB=FS.indexedDB();try{var openRequest=indexedDB.open(FS.DB_NAME(),FS.DB_VERSION)}catch(e){return onerror(e)}openRequest.onupgradeneeded=onerror;openRequest.onsuccess=()=>{var db=openRequest.result;try{var transaction=db.transaction([FS.DB_STORE_NAME],"readonly")}catch(e){onerror(e);return}var files=transaction.objectStore(FS.DB_STORE_NAME);var ok=0,fail=0,total=paths.length;function finish(){if(fail==0)onload();else onerror()}paths.forEach(path=>{var getRequest=files.get(path);getRequest.onsuccess=()=>{if(FS.analyzePath(path).exists){FS.unlink(path)}FS.createDataFile(PATH.dirname(path),PATH.basename(path),getRequest.result,true,true,true);ok++;if(ok+fail==total)finish()};getRequest.onerror=()=>{fail++;if(ok+fail==total)finish()}});transaction.onerror=onerror};openRequest.onerror=onerror},absolutePath:()=>{abort("FS.absolutePath has been removed; use PATH_FS.resolve instead")},createFolder:()=>{abort("FS.createFolder has been removed; use FS.mkdir instead")},createLink:()=>{abort("FS.createLink has been removed; use FS.symlink instead")},joinPath:()=>{abort("FS.joinPath has been removed; use PATH.join instead")},mmapAlloc:()=>{abort("FS.mmapAlloc has been replaced by the top level function mmapAlloc")},standardizePath:()=>{abort("FS.standardizePath has been removed; use PATH.normalize instead")}};var SYSCALLS={DEFAULT_POLLMASK:5,calculateAt:function(dirfd,path,allowEmpty){if(PATH.isAbs(path)){return path}var dir;if(dirfd===-100){dir=FS.cwd()}else{var dirstream=SYSCALLS.getStreamFromFD(dirfd);dir=dirstream.path}if(path.length==0){if(!allowEmpty){throw new FS.ErrnoError(44)}return dir}return PATH.join2(dir,path)},doStat:function(func,path,buf){try{var stat=func(path)}catch(e){if(e&&e.node&&PATH.normalize(path)!==PATH.normalize(FS.getPath(e.node))){return-54}throw e}HEAP32[buf>>2]=stat.dev;HEAP32[buf+8>>2]=stat.ino;HEAP32[buf+12>>2]=stat.mode;HEAPU32[buf+16>>2]=stat.nlink;HEAP32[buf+20>>2]=stat.uid;HEAP32[buf+24>>2]=stat.gid;HEAP32[buf+28>>2]=stat.rdev;tempI64=[stat.size>>>0,(tempDouble=stat.size,+Math.abs(tempDouble)>=1?tempDouble>0?(Math.min(+Math.floor(tempDouble/4294967296),4294967295)|0)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+40>>2]=tempI64[0],HEAP32[buf+44>>2]=tempI64[1];HEAP32[buf+48>>2]=4096;HEAP32[buf+52>>2]=stat.blocks;var atime=stat.atime.getTime();var mtime=stat.mtime.getTime();var ctime=stat.ctime.getTime();tempI64=[Math.floor(atime/1e3)>>>0,(tempDouble=Math.floor(atime/1e3),+Math.abs(tempDouble)>=1?tempDouble>0?(Math.min(+Math.floor(tempDouble/4294967296),4294967295)|0)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+56>>2]=tempI64[0],HEAP32[buf+60>>2]=tempI64[1];HEAPU32[buf+64>>2]=atime%1e3*1e3;tempI64=[Math.floor(mtime/1e3)>>>0,(tempDouble=Math.floor(mtime/1e3),+Math.abs(tempDouble)>=1?tempDouble>0?(Math.min(+Math.floor(tempDouble/4294967296),4294967295)|0)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+72>>2]=tempI64[0],HEAP32[buf+76>>2]=tempI64[1];HEAPU32[buf+80>>2]=mtime%1e3*1e3;tempI64=[Math.floor(ctime/1e3)>>>0,(tempDouble=Math.floor(ctime/1e3),+Math.abs(tempDouble)>=1?tempDouble>0?(Math.min(+Math.floor(tempDouble/4294967296),4294967295)|0)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+88>>2]=tempI64[0],HEAP32[buf+92>>2]=tempI64[1];HEAPU32[buf+96>>2]=ctime%1e3*1e3;tempI64=[stat.ino>>>0,(tempDouble=stat.ino,+Math.abs(tempDouble)>=1?tempDouble>0?(Math.min(+Math.floor(tempDouble/4294967296),4294967295)|0)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+104>>2]=tempI64[0],HEAP32[buf+108>>2]=tempI64[1];return 0},doMsync:function(addr,stream,len,flags,offset){if(!FS.isFile(stream.node.mode)){throw new FS.ErrnoError(43)}if(flags&2){return 0}var buffer=HEAPU8.slice(addr,addr+len);FS.msync(stream,buffer,offset,len,flags)},varargs:undefined,get:function(){assert(SYSCALLS.varargs!=undefined);SYSCALLS.varargs+=4;var ret=HEAP32[SYSCALLS.varargs-4>>2];return ret},getStr:function(ptr){var ret=UTF8ToString(ptr);return ret},getStreamFromFD:function(fd){var stream=FS.getStream(fd);if(!stream)throw new FS.ErrnoError(8);return stream}};function ___syscall_dup3(fd,suggestFD,flags){try{var old=SYSCALLS.getStreamFromFD(fd);assert(!flags);if(old.fd===suggestFD)return-28;var suggest=FS.getStream(suggestFD);if(suggest)FS.close(suggest);return FS.createStream(old,suggestFD,suggestFD+1).fd}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return-e.errno}}function setErrNo(value){HEAP32[___errno_location()>>2]=value;return value}function ___syscall_fcntl64(fd,cmd,varargs){SYSCALLS.varargs=varargs;try{var stream=SYSCALLS.getStreamFromFD(fd);switch(cmd){case 0:{var arg=SYSCALLS.get();if(arg<0){return-28}var newStream;newStream=FS.createStream(stream,arg);return newStream.fd}case 1:case 2:return 0;case 3:return stream.flags;case 4:{var arg=SYSCALLS.get();stream.flags|=arg;return 0}case 5:{var arg=SYSCALLS.get();var offset=0;HEAP16[arg+offset>>1]=2;return 0}case 6:case 7:return 0;case 16:case 8:return-28;case 9:setErrNo(28);return-1;default:{return-28}}}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return-e.errno}}function ___syscall_ioctl(fd,op,varargs){SYSCALLS.varargs=varargs;try{var stream=SYSCALLS.getStreamFromFD(fd);switch(op){case 21509:case 21505:{if(!stream.tty)return-59;return 0}case 21510:case 21511:case 21512:case 21506:case 21507:case 21508:{if(!stream.tty)return-59;return 0}case 21519:{if(!stream.tty)return-59;var argp=SYSCALLS.get();HEAP32[argp>>2]=0;return 0}case 21520:{if(!stream.tty)return-59;return-28}case 21531:{var argp=SYSCALLS.get();return FS.ioctl(stream,op,argp)}case 21523:{if(!stream.tty)return-59;return 0}case 21524:{if(!stream.tty)return-59;return 0}default:return-28}}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return-e.errno}}function ___syscall_openat(dirfd,path,flags,varargs){SYSCALLS.varargs=varargs;try{path=SYSCALLS.getStr(path);path=SYSCALLS.calculateAt(dirfd,path);var mode=varargs?SYSCALLS.get():0;return FS.open(path,flags,mode).fd}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return-e.errno}}var structRegistrations={};function runDestructors(destructors){while(destructors.length){var ptr=destructors.pop();var del=destructors.pop();del(ptr)}}function simpleReadValueFromPointer(pointer){return this["fromWireType"](HEAP32[pointer>>2])}var awaitingDependencies={};var registeredTypes={};var typeDependencies={};var char_0=48;var char_9=57;function makeLegalFunctionName(name){if(undefined===name){return"_unknown"}name=name.replace(/[^a-zA-Z0-9_]/g,"$");var f=name.charCodeAt(0);if(f>=char_0&&f<=char_9){return"_"+name}return name}function createNamedFunction(name,body){name=makeLegalFunctionName(name);return{[name]:function(){return body.apply(this,arguments)}}[name]}function extendError(baseErrorType,errorName){var errorClass=createNamedFunction(errorName,function(message){this.name=errorName;this.message=message;var stack=new Error(message).stack;if(stack!==undefined){this.stack=this.toString()+"\n"+stack.replace(/^Error(:[^\n]*)?\n/,"")}});errorClass.prototype=Object.create(baseErrorType.prototype);errorClass.prototype.constructor=errorClass;errorClass.prototype.toString=function(){if(this.message===undefined){return this.name}else{return this.name+": "+this.message}};return errorClass}var InternalError=undefined;function throwInternalError(message){throw new InternalError(message)}function whenDependentTypesAreResolved(myTypes,dependentTypes,getTypeConverters){myTypes.forEach(function(type){typeDependencies[type]=dependentTypes});function onComplete(typeConverters){var myTypeConverters=getTypeConverters(typeConverters);if(myTypeConverters.length!==myTypes.length){throwInternalError("Mismatched type converter count")}for(var i=0;i{if(registeredTypes.hasOwnProperty(dt)){typeConverters[i]=registeredTypes[dt]}else{unregisteredTypes.push(dt);if(!awaitingDependencies.hasOwnProperty(dt)){awaitingDependencies[dt]=[]}awaitingDependencies[dt].push(()=>{typeConverters[i]=registeredTypes[dt];++registered;if(registered===unregisteredTypes.length){onComplete(typeConverters)}})}});if(0===unregisteredTypes.length){onComplete(typeConverters)}}function __embind_finalize_value_object(structType){var reg=structRegistrations[structType];delete structRegistrations[structType];var rawConstructor=reg.rawConstructor;var rawDestructor=reg.rawDestructor;var fieldRecords=reg.fields;var fieldTypes=fieldRecords.map(field=>field.getterReturnType).concat(fieldRecords.map(field=>field.setterArgumentType));whenDependentTypesAreResolved([structType],fieldTypes,fieldTypes=>{var fields={};fieldRecords.forEach((field,i)=>{var fieldName=field.fieldName;var getterReturnType=fieldTypes[i];var getter=field.getter;var getterContext=field.getterContext;var setterArgumentType=fieldTypes[i+fieldRecords.length];var setter=field.setter;var setterContext=field.setterContext;fields[fieldName]={read:ptr=>{return getterReturnType["fromWireType"](getter(getterContext,ptr))},write:(ptr,o)=>{var destructors=[];setter(setterContext,ptr,setterArgumentType["toWireType"](destructors,o));runDestructors(destructors)}}});return[{name:reg.name,"fromWireType":function(ptr){var rv={};for(var i in fields){rv[i]=fields[i].read(ptr)}rawDestructor(ptr);return rv},"toWireType":function(destructors,o){for(var fieldName in fields){if(!(fieldName in o)){throw new TypeError('Missing field: "'+fieldName+'"')}}var ptr=rawConstructor();for(fieldName in fields){fields[fieldName].write(ptr,o[fieldName])}if(destructors!==null){destructors.push(rawDestructor,ptr)}return ptr},"argPackAdvance":8,"readValueFromPointer":simpleReadValueFromPointer,destructorFunction:rawDestructor}]})}function __embind_register_bigint(primitiveType,name,size,minRange,maxRange){}function getShiftFromSize(size){switch(size){case 1:return 0;case 2:return 1;case 4:return 2;case 8:return 3;default:throw new TypeError("Unknown type size: "+size)}}function embind_init_charCodes(){var codes=new Array(256);for(var i=0;i<256;++i){codes[i]=String.fromCharCode(i)}embind_charCodes=codes}var embind_charCodes=undefined;function readLatin1String(ptr){var ret="";var c=ptr;while(HEAPU8[c]){ret+=embind_charCodes[HEAPU8[c++]]}return ret}var BindingError=undefined;function throwBindingError(message){throw new BindingError(message)}function registerType(rawType,registeredInstance,options={}){if(!("argPackAdvance"in registeredInstance)){throw new TypeError("registerType registeredInstance requires argPackAdvance")}var name=registeredInstance.name;if(!rawType){throwBindingError('type "'+name+'" must have a positive integer typeid pointer')}if(registeredTypes.hasOwnProperty(rawType)){if(options.ignoreDuplicateRegistrations){return}else{throwBindingError("Cannot register type '"+name+"' twice")}}registeredTypes[rawType]=registeredInstance;delete typeDependencies[rawType];if(awaitingDependencies.hasOwnProperty(rawType)){var callbacks=awaitingDependencies[rawType];delete awaitingDependencies[rawType];callbacks.forEach(cb=>cb())}}function __embind_register_bool(rawType,name,size,trueValue,falseValue){var shift=getShiftFromSize(size);name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":function(wt){return!!wt},"toWireType":function(destructors,o){return o?trueValue:falseValue},"argPackAdvance":8,"readValueFromPointer":function(pointer){var heap;if(size===1){heap=HEAP8}else if(size===2){heap=HEAP16}else if(size===4){heap=HEAP32}else{throw new TypeError("Unknown boolean type size: "+name)}return this["fromWireType"](heap[pointer>>shift])},destructorFunction:null})}function ClassHandle_isAliasOf(other){if(!(this instanceof ClassHandle)){return false}if(!(other instanceof ClassHandle)){return false}var leftClass=this.$$.ptrType.registeredClass;var left=this.$$.ptr;var rightClass=other.$$.ptrType.registeredClass;var right=other.$$.ptr;while(leftClass.baseClass){left=leftClass.upcast(left);leftClass=leftClass.baseClass}while(rightClass.baseClass){right=rightClass.upcast(right);rightClass=rightClass.baseClass}return leftClass===rightClass&&left===right}function shallowCopyInternalPointer(o){return{count:o.count,deleteScheduled:o.deleteScheduled,preservePointerOnDelete:o.preservePointerOnDelete,ptr:o.ptr,ptrType:o.ptrType,smartPtr:o.smartPtr,smartPtrType:o.smartPtrType}}function throwInstanceAlreadyDeleted(obj){function getInstanceTypeName(handle){return handle.$$.ptrType.registeredClass.name}throwBindingError(getInstanceTypeName(obj)+" instance already deleted")}var finalizationRegistry=false;function detachFinalizer(handle){}function runDestructor($$){if($$.smartPtr){$$.smartPtrType.rawDestructor($$.smartPtr)}else{$$.ptrType.registeredClass.rawDestructor($$.ptr)}}function releaseClassHandle($$){$$.count.value-=1;var toDelete=0===$$.count.value;if(toDelete){runDestructor($$)}}function downcastPointer(ptr,ptrClass,desiredClass){if(ptrClass===desiredClass){return ptr}if(undefined===desiredClass.baseClass){return null}var rv=downcastPointer(ptr,ptrClass,desiredClass.baseClass);if(rv===null){return null}return desiredClass.downcast(rv)}var registeredPointers={};function getInheritedInstanceCount(){return Object.keys(registeredInstances).length}function getLiveInheritedInstances(){var rv=[];for(var k in registeredInstances){if(registeredInstances.hasOwnProperty(k)){rv.push(registeredInstances[k])}}return rv}var deletionQueue=[];function flushPendingDeletes(){while(deletionQueue.length){var obj=deletionQueue.pop();obj.$$.deleteScheduled=false;obj["delete"]()}}var delayFunction=undefined;function setDelayFunction(fn){delayFunction=fn;if(deletionQueue.length&&delayFunction){delayFunction(flushPendingDeletes)}}function init_embind(){Module["getInheritedInstanceCount"]=getInheritedInstanceCount;Module["getLiveInheritedInstances"]=getLiveInheritedInstances;Module["flushPendingDeletes"]=flushPendingDeletes;Module["setDelayFunction"]=setDelayFunction}var registeredInstances={};function getBasestPointer(class_,ptr){if(ptr===undefined){throwBindingError("ptr should not be undefined")}while(class_.baseClass){ptr=class_.upcast(ptr);class_=class_.baseClass}return ptr}function getInheritedInstance(class_,ptr){ptr=getBasestPointer(class_,ptr);return registeredInstances[ptr]}function makeClassHandle(prototype,record){if(!record.ptrType||!record.ptr){throwInternalError("makeClassHandle requires ptr and ptrType")}var hasSmartPtrType=!!record.smartPtrType;var hasSmartPtr=!!record.smartPtr;if(hasSmartPtrType!==hasSmartPtr){throwInternalError("Both smartPtrType and smartPtr must be specified")}record.count={value:1};return attachFinalizer(Object.create(prototype,{$$:{value:record}}))}function RegisteredPointer_fromWireType(ptr){var rawPointer=this.getPointee(ptr);if(!rawPointer){this.destructor(ptr);return null}var registeredInstance=getInheritedInstance(this.registeredClass,rawPointer);if(undefined!==registeredInstance){if(0===registeredInstance.$$.count.value){registeredInstance.$$.ptr=rawPointer;registeredInstance.$$.smartPtr=ptr;return registeredInstance["clone"]()}else{var rv=registeredInstance["clone"]();this.destructor(ptr);return rv}}function makeDefaultHandle(){if(this.isSmartPointer){return makeClassHandle(this.registeredClass.instancePrototype,{ptrType:this.pointeeType,ptr:rawPointer,smartPtrType:this,smartPtr:ptr})}else{return makeClassHandle(this.registeredClass.instancePrototype,{ptrType:this,ptr:ptr})}}var actualType=this.registeredClass.getActualType(rawPointer);var registeredPointerRecord=registeredPointers[actualType];if(!registeredPointerRecord){return makeDefaultHandle.call(this)}var toType;if(this.isConst){toType=registeredPointerRecord.constPointerType}else{toType=registeredPointerRecord.pointerType}var dp=downcastPointer(rawPointer,this.registeredClass,toType.registeredClass);if(dp===null){return makeDefaultHandle.call(this)}if(this.isSmartPointer){return makeClassHandle(toType.registeredClass.instancePrototype,{ptrType:toType,ptr:dp,smartPtrType:this,smartPtr:ptr})}else{return makeClassHandle(toType.registeredClass.instancePrototype,{ptrType:toType,ptr:dp})}}function attachFinalizer(handle){if("undefined"===typeof FinalizationRegistry){attachFinalizer=handle=>handle;return handle}finalizationRegistry=new FinalizationRegistry(info=>{console.warn(info.leakWarning.stack.replace(/^Error: /,""));releaseClassHandle(info.$$)});attachFinalizer=handle=>{var $$=handle.$$;var hasSmartPtr=!!$$.smartPtr;if(hasSmartPtr){var info={$$:$$};var cls=$$.ptrType.registeredClass;info.leakWarning=new Error("Embind found a leaked C++ instance "+cls.name+" <"+ptrToString($$.ptr)+">.\n"+"We'll free it automatically in this case, but this functionality is not reliable across various environments.\n"+"Make sure to invoke .delete() manually once you're done with the instance instead.\n"+"Originally allocated");if("captureStackTrace"in Error){Error.captureStackTrace(info.leakWarning,RegisteredPointer_fromWireType)}finalizationRegistry.register(handle,info,handle)}return handle};detachFinalizer=handle=>finalizationRegistry.unregister(handle);return attachFinalizer(handle)}function ClassHandle_clone(){if(!this.$$.ptr){throwInstanceAlreadyDeleted(this)}if(this.$$.preservePointerOnDelete){this.$$.count.value+=1;return this}else{var clone=attachFinalizer(Object.create(Object.getPrototypeOf(this),{$$:{value:shallowCopyInternalPointer(this.$$)}}));clone.$$.count.value+=1;clone.$$.deleteScheduled=false;return clone}}function ClassHandle_delete(){if(!this.$$.ptr){throwInstanceAlreadyDeleted(this)}if(this.$$.deleteScheduled&&!this.$$.preservePointerOnDelete){throwBindingError("Object already scheduled for deletion")}detachFinalizer(this);releaseClassHandle(this.$$);if(!this.$$.preservePointerOnDelete){this.$$.smartPtr=undefined;this.$$.ptr=undefined}}function ClassHandle_isDeleted(){return!this.$$.ptr}function ClassHandle_deleteLater(){if(!this.$$.ptr){throwInstanceAlreadyDeleted(this)}if(this.$$.deleteScheduled&&!this.$$.preservePointerOnDelete){throwBindingError("Object already scheduled for deletion")}deletionQueue.push(this);if(deletionQueue.length===1&&delayFunction){delayFunction(flushPendingDeletes)}this.$$.deleteScheduled=true;return this}function init_ClassHandle(){ClassHandle.prototype["isAliasOf"]=ClassHandle_isAliasOf;ClassHandle.prototype["clone"]=ClassHandle_clone;ClassHandle.prototype["delete"]=ClassHandle_delete;ClassHandle.prototype["isDeleted"]=ClassHandle_isDeleted;ClassHandle.prototype["deleteLater"]=ClassHandle_deleteLater}function ClassHandle(){}function ensureOverloadTable(proto,methodName,humanName){if(undefined===proto[methodName].overloadTable){var prevFunc=proto[methodName];proto[methodName]=function(){if(!proto[methodName].overloadTable.hasOwnProperty(arguments.length)){throwBindingError("Function '"+humanName+"' called with an invalid number of arguments ("+arguments.length+") - expects one of ("+proto[methodName].overloadTable+")!")}return proto[methodName].overloadTable[arguments.length].apply(this,arguments)};proto[methodName].overloadTable=[];proto[methodName].overloadTable[prevFunc.argCount]=prevFunc}}function exposePublicSymbol(name,value,numArguments){if(Module.hasOwnProperty(name)){if(undefined===numArguments||undefined!==Module[name].overloadTable&&undefined!==Module[name].overloadTable[numArguments]){throwBindingError("Cannot register public name '"+name+"' twice")}ensureOverloadTable(Module,name,name);if(Module.hasOwnProperty(numArguments)){throwBindingError("Cannot register multiple overloads of a function with the same number of arguments ("+numArguments+")!")}Module[name].overloadTable[numArguments]=value}else{Module[name]=value;if(undefined!==numArguments){Module[name].numArguments=numArguments}}}function RegisteredClass(name,constructor,instancePrototype,rawDestructor,baseClass,getActualType,upcast,downcast){this.name=name;this.constructor=constructor;this.instancePrototype=instancePrototype;this.rawDestructor=rawDestructor;this.baseClass=baseClass;this.getActualType=getActualType;this.upcast=upcast;this.downcast=downcast;this.pureVirtualFunctions=[]}function upcastPointer(ptr,ptrClass,desiredClass){while(ptrClass!==desiredClass){if(!ptrClass.upcast){throwBindingError("Expected null or instance of "+desiredClass.name+", got an instance of "+ptrClass.name)}ptr=ptrClass.upcast(ptr);ptrClass=ptrClass.baseClass}return ptr}function constNoSmartPtrRawPointerToWireType(destructors,handle){if(handle===null){if(this.isReference){throwBindingError("null is not a valid "+this.name)}return 0}if(!handle.$$){throwBindingError('Cannot pass "'+embindRepr(handle)+'" as a '+this.name)}if(!handle.$$.ptr){throwBindingError("Cannot pass deleted object as a pointer of type "+this.name)}var handleClass=handle.$$.ptrType.registeredClass;var ptr=upcastPointer(handle.$$.ptr,handleClass,this.registeredClass);return ptr}function genericPointerToWireType(destructors,handle){var ptr;if(handle===null){if(this.isReference){throwBindingError("null is not a valid "+this.name)}if(this.isSmartPointer){ptr=this.rawConstructor();if(destructors!==null){destructors.push(this.rawDestructor,ptr)}return ptr}else{return 0}}if(!handle.$$){throwBindingError('Cannot pass "'+embindRepr(handle)+'" as a '+this.name)}if(!handle.$$.ptr){throwBindingError("Cannot pass deleted object as a pointer of type "+this.name)}if(!this.isConst&&handle.$$.ptrType.isConst){throwBindingError("Cannot convert argument of type "+(handle.$$.smartPtrType?handle.$$.smartPtrType.name:handle.$$.ptrType.name)+" to parameter type "+this.name)}var handleClass=handle.$$.ptrType.registeredClass;ptr=upcastPointer(handle.$$.ptr,handleClass,this.registeredClass);if(this.isSmartPointer){if(undefined===handle.$$.smartPtr){throwBindingError("Passing raw pointer to smart pointer is illegal")}switch(this.sharingPolicy){case 0:if(handle.$$.smartPtrType===this){ptr=handle.$$.smartPtr}else{throwBindingError("Cannot convert argument of type "+(handle.$$.smartPtrType?handle.$$.smartPtrType.name:handle.$$.ptrType.name)+" to parameter type "+this.name)}break;case 1:ptr=handle.$$.smartPtr;break;case 2:if(handle.$$.smartPtrType===this){ptr=handle.$$.smartPtr}else{var clonedHandle=handle["clone"]();ptr=this.rawShare(ptr,Emval.toHandle(function(){clonedHandle["delete"]()}));if(destructors!==null){destructors.push(this.rawDestructor,ptr)}}break;default:throwBindingError("Unsupporting sharing policy")}}return ptr}function nonConstNoSmartPtrRawPointerToWireType(destructors,handle){if(handle===null){if(this.isReference){throwBindingError("null is not a valid "+this.name)}return 0}if(!handle.$$){throwBindingError('Cannot pass "'+embindRepr(handle)+'" as a '+this.name)}if(!handle.$$.ptr){throwBindingError("Cannot pass deleted object as a pointer of type "+this.name)}if(handle.$$.ptrType.isConst){throwBindingError("Cannot convert argument of type "+handle.$$.ptrType.name+" to parameter type "+this.name)}var handleClass=handle.$$.ptrType.registeredClass;var ptr=upcastPointer(handle.$$.ptr,handleClass,this.registeredClass);return ptr}function RegisteredPointer_getPointee(ptr){if(this.rawGetPointee){ptr=this.rawGetPointee(ptr)}return ptr}function RegisteredPointer_destructor(ptr){if(this.rawDestructor){this.rawDestructor(ptr)}}function RegisteredPointer_deleteObject(handle){if(handle!==null){handle["delete"]()}}function init_RegisteredPointer(){RegisteredPointer.prototype.getPointee=RegisteredPointer_getPointee;RegisteredPointer.prototype.destructor=RegisteredPointer_destructor;RegisteredPointer.prototype["argPackAdvance"]=8;RegisteredPointer.prototype["readValueFromPointer"]=simpleReadValueFromPointer;RegisteredPointer.prototype["deleteObject"]=RegisteredPointer_deleteObject;RegisteredPointer.prototype["fromWireType"]=RegisteredPointer_fromWireType}function RegisteredPointer(name,registeredClass,isReference,isConst,isSmartPointer,pointeeType,sharingPolicy,rawGetPointee,rawConstructor,rawShare,rawDestructor){this.name=name;this.registeredClass=registeredClass;this.isReference=isReference;this.isConst=isConst;this.isSmartPointer=isSmartPointer;this.pointeeType=pointeeType;this.sharingPolicy=sharingPolicy;this.rawGetPointee=rawGetPointee;this.rawConstructor=rawConstructor;this.rawShare=rawShare;this.rawDestructor=rawDestructor;if(!isSmartPointer&®isteredClass.baseClass===undefined){if(isConst){this["toWireType"]=constNoSmartPtrRawPointerToWireType;this.destructorFunction=null}else{this["toWireType"]=nonConstNoSmartPtrRawPointerToWireType;this.destructorFunction=null}}else{this["toWireType"]=genericPointerToWireType}}function replacePublicSymbol(name,value,numArguments){if(!Module.hasOwnProperty(name)){throwInternalError("Replacing nonexistant public symbol")}if(undefined!==Module[name].overloadTable&&undefined!==numArguments){Module[name].overloadTable[numArguments]=value}else{Module[name]=value;Module[name].argCount=numArguments}}function dynCallLegacy(sig,ptr,args){assert("dynCall_"+sig in Module,"bad function pointer type - dynCall function not found for sig '"+sig+"'");if(args&&args.length){assert(args.length===sig.substring(1).replace(/j/g,"--").length)}else{assert(sig.length==1)}var f=Module["dynCall_"+sig];return args&&args.length?f.apply(null,[ptr].concat(args)):f.call(null,ptr)}function dynCall(sig,ptr,args){if(sig.includes("j")){return dynCallLegacy(sig,ptr,args)}assert(getWasmTableEntry(ptr),"missing table entry in dynCall: "+ptr);var rtn=getWasmTableEntry(ptr).apply(null,args);return rtn}function getDynCaller(sig,ptr){assert(sig.includes("j")||sig.includes("p"),"getDynCaller should only be called with i64 sigs");var argCache=[];return function(){argCache.length=0;Object.assign(argCache,arguments);return dynCall(sig,ptr,argCache)}}function embind__requireFunction(signature,rawFunction){signature=readLatin1String(signature);function makeDynCaller(){if(signature.includes("j")){return getDynCaller(signature,rawFunction)}return getWasmTableEntry(rawFunction)}var fp=makeDynCaller();if(typeof fp!="function"){throwBindingError("unknown function pointer with signature "+signature+": "+rawFunction)}return fp}var UnboundTypeError=undefined;function getTypeName(type){var ptr=___getTypeName(type);var rv=readLatin1String(ptr);_free(ptr);return rv}function throwUnboundTypeError(message,types){var unboundTypes=[];var seen={};function visit(type){if(seen[type]){return}if(registeredTypes[type]){return}if(typeDependencies[type]){typeDependencies[type].forEach(visit);return}unboundTypes.push(type);seen[type]=true}types.forEach(visit);throw new UnboundTypeError(message+": "+unboundTypes.map(getTypeName).join([", "]))}function __embind_register_class(rawType,rawPointerType,rawConstPointerType,baseClassRawType,getActualTypeSignature,getActualType,upcastSignature,upcast,downcastSignature,downcast,name,destructorSignature,rawDestructor){name=readLatin1String(name);getActualType=embind__requireFunction(getActualTypeSignature,getActualType);if(upcast){upcast=embind__requireFunction(upcastSignature,upcast)}if(downcast){downcast=embind__requireFunction(downcastSignature,downcast)}rawDestructor=embind__requireFunction(destructorSignature,rawDestructor);var legalFunctionName=makeLegalFunctionName(name);exposePublicSymbol(legalFunctionName,function(){throwUnboundTypeError("Cannot construct "+name+" due to unbound types",[baseClassRawType])});whenDependentTypesAreResolved([rawType,rawPointerType,rawConstPointerType],baseClassRawType?[baseClassRawType]:[],function(base){base=base[0];var baseClass;var basePrototype;if(baseClassRawType){baseClass=base.registeredClass;basePrototype=baseClass.instancePrototype}else{basePrototype=ClassHandle.prototype}var constructor=createNamedFunction(legalFunctionName,function(){if(Object.getPrototypeOf(this)!==instancePrototype){throw new BindingError("Use 'new' to construct "+name)}if(undefined===registeredClass.constructor_body){throw new BindingError(name+" has no accessible constructor")}var body=registeredClass.constructor_body[arguments.length];if(undefined===body){throw new BindingError("Tried to invoke ctor of "+name+" with invalid number of parameters ("+arguments.length+") - expected ("+Object.keys(registeredClass.constructor_body).toString()+") parameters instead!")}return body.apply(this,arguments)});var instancePrototype=Object.create(basePrototype,{constructor:{value:constructor}});constructor.prototype=instancePrototype;var registeredClass=new RegisteredClass(name,constructor,instancePrototype,rawDestructor,baseClass,getActualType,upcast,downcast);var referenceConverter=new RegisteredPointer(name,registeredClass,true,false,false);var pointerConverter=new RegisteredPointer(name+"*",registeredClass,false,false,false);var constPointerConverter=new RegisteredPointer(name+" const*",registeredClass,false,true,false);registeredPointers[rawType]={pointerType:pointerConverter,constPointerType:constPointerConverter};replacePublicSymbol(legalFunctionName,constructor);return[referenceConverter,pointerConverter,constPointerConverter]})}function new_(constructor,argumentList){if(!(constructor instanceof Function)){throw new TypeError("new_ called with constructor type "+typeof constructor+" which is not a function")}var dummy=createNamedFunction(constructor.name||"unknownFunctionName",function(){});dummy.prototype=constructor.prototype;var obj=new dummy;var r=constructor.apply(obj,argumentList);return r instanceof Object?r:obj}function craftInvokerFunction(humanName,argTypes,classType,cppInvokerFunc,cppTargetFunc,isAsync){var argCount=argTypes.length;if(argCount<2){throwBindingError("argTypes array size mismatch! Must at least get return value and 'this' types!")}assert(!isAsync,"Async bindings are only supported with JSPI.");var isClassMethodFunc=argTypes[1]!==null&&classType!==null;var needsDestructorStack=false;for(var i=1;i0?", ":"")+argsListWired}invokerFnBody+=(returns||isAsync?"var rv = ":"")+"invoker(fn"+(argsListWired.length>0?", ":"")+argsListWired+");\n";if(needsDestructorStack){invokerFnBody+="runDestructors(destructors);\n"}else{for(var i=isClassMethodFunc?1:2;i>2])}return array}function __embind_register_class_class_function(rawClassType,methodName,argCount,rawArgTypesAddr,invokerSignature,rawInvoker,fn,isAsync){var rawArgTypes=heap32VectorToArray(argCount,rawArgTypesAddr);methodName=readLatin1String(methodName);rawInvoker=embind__requireFunction(invokerSignature,rawInvoker);whenDependentTypesAreResolved([],[rawClassType],function(classType){classType=classType[0];var humanName=classType.name+"."+methodName;function unboundTypesHandler(){throwUnboundTypeError("Cannot call "+humanName+" due to unbound types",rawArgTypes)}if(methodName.startsWith("@@")){methodName=Symbol[methodName.substring(2)]}var proto=classType.registeredClass.constructor;if(undefined===proto[methodName]){unboundTypesHandler.argCount=argCount-1;proto[methodName]=unboundTypesHandler}else{ensureOverloadTable(proto,methodName,humanName);proto[methodName].overloadTable[argCount-1]=unboundTypesHandler}whenDependentTypesAreResolved([],rawArgTypes,function(argTypes){var invokerArgsArray=[argTypes[0],null].concat(argTypes.slice(1));var func=craftInvokerFunction(humanName,invokerArgsArray,null,rawInvoker,fn,isAsync);if(undefined===proto[methodName].overloadTable){func.argCount=argCount-1;proto[methodName]=func}else{proto[methodName].overloadTable[argCount-1]=func}return[]});return[]})}function __embind_register_class_constructor(rawClassType,argCount,rawArgTypesAddr,invokerSignature,invoker,rawConstructor){assert(argCount>0);var rawArgTypes=heap32VectorToArray(argCount,rawArgTypesAddr);invoker=embind__requireFunction(invokerSignature,invoker);whenDependentTypesAreResolved([],[rawClassType],function(classType){classType=classType[0];var humanName="constructor "+classType.name;if(undefined===classType.registeredClass.constructor_body){classType.registeredClass.constructor_body=[]}if(undefined!==classType.registeredClass.constructor_body[argCount-1]){throw new BindingError("Cannot register multiple constructors with identical number of parameters ("+(argCount-1)+") for class '"+classType.name+"'! Overload resolution is currently only performed using the parameter count, not actual type info!")}classType.registeredClass.constructor_body[argCount-1]=()=>{throwUnboundTypeError("Cannot construct "+classType.name+" due to unbound types",rawArgTypes)};whenDependentTypesAreResolved([],rawArgTypes,function(argTypes){argTypes.splice(1,0,null);classType.registeredClass.constructor_body[argCount-1]=craftInvokerFunction(humanName,argTypes,null,invoker,rawConstructor);return[]});return[]})}function __embind_register_class_function(rawClassType,methodName,argCount,rawArgTypesAddr,invokerSignature,rawInvoker,context,isPureVirtual,isAsync){var rawArgTypes=heap32VectorToArray(argCount,rawArgTypesAddr);methodName=readLatin1String(methodName);rawInvoker=embind__requireFunction(invokerSignature,rawInvoker);whenDependentTypesAreResolved([],[rawClassType],function(classType){classType=classType[0];var humanName=classType.name+"."+methodName;if(methodName.startsWith("@@")){methodName=Symbol[methodName.substring(2)]}if(isPureVirtual){classType.registeredClass.pureVirtualFunctions.push(methodName)}function unboundTypesHandler(){throwUnboundTypeError("Cannot call "+humanName+" due to unbound types",rawArgTypes)}var proto=classType.registeredClass.instancePrototype;var method=proto[methodName];if(undefined===method||undefined===method.overloadTable&&method.className!==classType.name&&method.argCount===argCount-2){unboundTypesHandler.argCount=argCount-2;unboundTypesHandler.className=classType.name;proto[methodName]=unboundTypesHandler}else{ensureOverloadTable(proto,methodName,humanName);proto[methodName].overloadTable[argCount-2]=unboundTypesHandler}whenDependentTypesAreResolved([],rawArgTypes,function(argTypes){var memberFunction=craftInvokerFunction(humanName,argTypes,classType,rawInvoker,context,isAsync);if(undefined===proto[methodName].overloadTable){memberFunction.argCount=argCount-2;proto[methodName]=memberFunction}else{proto[methodName].overloadTable[argCount-2]=memberFunction}return[]});return[]})}function validateThis(this_,classType,humanName){if(!(this_ instanceof Object)){throwBindingError(humanName+' with invalid "this": '+this_)}if(!(this_ instanceof classType.registeredClass.constructor)){throwBindingError(humanName+' incompatible with "this" of type '+this_.constructor.name)}if(!this_.$$.ptr){throwBindingError("cannot call emscripten binding method "+humanName+" on deleted object")}return upcastPointer(this_.$$.ptr,this_.$$.ptrType.registeredClass,classType.registeredClass)}function __embind_register_class_property(classType,fieldName,getterReturnType,getterSignature,getter,getterContext,setterArgumentType,setterSignature,setter,setterContext){fieldName=readLatin1String(fieldName);getter=embind__requireFunction(getterSignature,getter);whenDependentTypesAreResolved([],[classType],function(classType){classType=classType[0];var humanName=classType.name+"."+fieldName;var desc={get:function(){throwUnboundTypeError("Cannot access "+humanName+" due to unbound types",[getterReturnType,setterArgumentType])},enumerable:true,configurable:true};if(setter){desc.set=()=>{throwUnboundTypeError("Cannot access "+humanName+" due to unbound types",[getterReturnType,setterArgumentType])}}else{desc.set=v=>{throwBindingError(humanName+" is a read-only property")}}Object.defineProperty(classType.registeredClass.instancePrototype,fieldName,desc);whenDependentTypesAreResolved([],setter?[getterReturnType,setterArgumentType]:[getterReturnType],function(types){var getterReturnType=types[0];var desc={get:function(){var ptr=validateThis(this,classType,humanName+" getter");return getterReturnType["fromWireType"](getter(getterContext,ptr))},enumerable:true};if(setter){setter=embind__requireFunction(setterSignature,setter);var setterArgumentType=types[1];desc.set=function(v){var ptr=validateThis(this,classType,humanName+" setter");var destructors=[];setter(setterContext,ptr,setterArgumentType["toWireType"](destructors,v));runDestructors(destructors)}}Object.defineProperty(classType.registeredClass.instancePrototype,fieldName,desc);return[]});return[]})}var emval_free_list=[];var emval_handle_array=[{},{value:undefined},{value:null},{value:true},{value:false}];function __emval_decref(handle){if(handle>4&&0===--emval_handle_array[handle].refcount){emval_handle_array[handle]=undefined;emval_free_list.push(handle)}}function count_emval_handles(){var count=0;for(var i=5;i{if(!handle){throwBindingError("Cannot use deleted val. handle = "+handle)}return emval_handle_array[handle].value},toHandle:value=>{switch(value){case undefined:return 1;case null:return 2;case true:return 3;case false:return 4;default:{var handle=emval_free_list.length?emval_free_list.pop():emval_handle_array.length;emval_handle_array[handle]={refcount:1,value:value};return handle}}}};function __embind_register_emval(rawType,name){name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":function(handle){var rv=Emval.toValue(handle);__emval_decref(handle);return rv},"toWireType":function(destructors,value){return Emval.toHandle(value)},"argPackAdvance":8,"readValueFromPointer":simpleReadValueFromPointer,destructorFunction:null})}function enumReadValueFromPointer(name,shift,signed){switch(shift){case 0:return function(pointer){var heap=signed?HEAP8:HEAPU8;return this["fromWireType"](heap[pointer])};case 1:return function(pointer){var heap=signed?HEAP16:HEAPU16;return this["fromWireType"](heap[pointer>>1])};case 2:return function(pointer){var heap=signed?HEAP32:HEAPU32;return this["fromWireType"](heap[pointer>>2])};default:throw new TypeError("Unknown integer type: "+name)}}function __embind_register_enum(rawType,name,size,isSigned){var shift=getShiftFromSize(size);name=readLatin1String(name);function ctor(){}ctor.values={};registerType(rawType,{name:name,constructor:ctor,"fromWireType":function(c){return this.constructor.values[c]},"toWireType":function(destructors,c){return c.value},"argPackAdvance":8,"readValueFromPointer":enumReadValueFromPointer(name,shift,isSigned),destructorFunction:null});exposePublicSymbol(name,ctor)}function requireRegisteredType(rawType,humanName){var impl=registeredTypes[rawType];if(undefined===impl){throwBindingError(humanName+" has unknown type "+getTypeName(rawType))}return impl}function __embind_register_enum_value(rawEnumType,name,enumValue){var enumType=requireRegisteredType(rawEnumType,"enum");name=readLatin1String(name);var Enum=enumType.constructor;var Value=Object.create(enumType.constructor.prototype,{value:{value:enumValue},constructor:{value:createNamedFunction(enumType.name+"_"+name,function(){})}});Enum.values[enumValue]=Value;Enum[name]=Value}function embindRepr(v){if(v===null){return"null"}var t=typeof v;if(t==="object"||t==="array"||t==="function"){return v.toString()}else{return""+v}}function floatReadValueFromPointer(name,shift){switch(shift){case 2:return function(pointer){return this["fromWireType"](HEAPF32[pointer>>2])};case 3:return function(pointer){return this["fromWireType"](HEAPF64[pointer>>3])};default:throw new TypeError("Unknown float type: "+name)}}function __embind_register_float(rawType,name,size){var shift=getShiftFromSize(size);name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":function(value){return value},"toWireType":function(destructors,value){if(typeof value!="number"&&typeof value!="boolean"){throw new TypeError('Cannot convert "'+embindRepr(value)+'" to '+this.name)}return value},"argPackAdvance":8,"readValueFromPointer":floatReadValueFromPointer(name,shift),destructorFunction:null})}function integerReadValueFromPointer(name,shift,signed){switch(shift){case 0:return signed?function readS8FromPointer(pointer){return HEAP8[pointer]}:function readU8FromPointer(pointer){return HEAPU8[pointer]};case 1:return signed?function readS16FromPointer(pointer){return HEAP16[pointer>>1]}:function readU16FromPointer(pointer){return HEAPU16[pointer>>1]};case 2:return signed?function readS32FromPointer(pointer){return HEAP32[pointer>>2]}:function readU32FromPointer(pointer){return HEAPU32[pointer>>2]};default:throw new TypeError("Unknown integer type: "+name)}}function __embind_register_integer(primitiveType,name,size,minRange,maxRange){name=readLatin1String(name);if(maxRange===-1){maxRange=4294967295}var shift=getShiftFromSize(size);var fromWireType=value=>value;if(minRange===0){var bitshift=32-8*size;fromWireType=value=>value<>>bitshift}var isUnsignedType=name.includes("unsigned");var checkAssertions=(value,toTypeName)=>{if(typeof value!="number"&&typeof value!="boolean"){throw new TypeError('Cannot convert "'+embindRepr(value)+'" to '+toTypeName)}if(valuemaxRange){throw new TypeError('Passing a number "'+embindRepr(value)+'" from JS side to C/C++ side to an argument of type "'+name+'", which is outside the valid range ['+minRange+", "+maxRange+"]!")}};var toWireType;if(isUnsignedType){toWireType=function(destructors,value){checkAssertions(value,this.name);return value>>>0}}else{toWireType=function(destructors,value){checkAssertions(value,this.name);return value}}registerType(primitiveType,{name:name,"fromWireType":fromWireType,"toWireType":toWireType,"argPackAdvance":8,"readValueFromPointer":integerReadValueFromPointer(name,shift,minRange!==0),destructorFunction:null})}function __embind_register_memory_view(rawType,dataTypeIndex,name){var typeMapping=[Int8Array,Uint8Array,Int16Array,Uint16Array,Int32Array,Uint32Array,Float32Array,Float64Array];var TA=typeMapping[dataTypeIndex];function decodeMemoryView(handle){handle=handle>>2;var heap=HEAPU32;var size=heap[handle];var data=heap[handle+1];return new TA(heap.buffer,data,size)}name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":decodeMemoryView,"argPackAdvance":8,"readValueFromPointer":decodeMemoryView},{ignoreDuplicateRegistrations:true})}function __embind_register_std_string(rawType,name){name=readLatin1String(name);var stdStringIsUTF8=name==="std::string";registerType(rawType,{name:name,"fromWireType":function(value){var length=HEAPU32[value>>2];var payload=value+4;var str;if(stdStringIsUTF8){var decodeStartPtr=payload;for(var i=0;i<=length;++i){var currentBytePtr=payload+i;if(i==length||HEAPU8[currentBytePtr]==0){var maxRead=currentBytePtr-decodeStartPtr;var stringSegment=UTF8ToString(decodeStartPtr,maxRead);if(str===undefined){str=stringSegment}else{str+=String.fromCharCode(0);str+=stringSegment}decodeStartPtr=currentBytePtr+1}}}else{var a=new Array(length);for(var i=0;i>2]=length;if(stdStringIsUTF8&&valueIsOfTypeString){stringToUTF8(value,ptr,length+1)}else{if(valueIsOfTypeString){for(var i=0;i255){_free(ptr);throwBindingError("String has UTF-16 code units that do not fit in 8 bits")}HEAPU8[ptr+i]=charCode}}else{for(var i=0;i>1;var maxIdx=idx+maxBytesToRead/2;while(!(idx>=maxIdx)&&HEAPU16[idx])++idx;endPtr=idx<<1;if(endPtr-ptr>32&&UTF16Decoder)return UTF16Decoder.decode(HEAPU8.subarray(ptr,endPtr));var str="";for(var i=0;!(i>=maxBytesToRead/2);++i){var codeUnit=HEAP16[ptr+i*2>>1];if(codeUnit==0)break;str+=String.fromCharCode(codeUnit)}return str}function stringToUTF16(str,outPtr,maxBytesToWrite){assert(outPtr%2==0,"Pointer passed to stringToUTF16 must be aligned to two bytes!");assert(typeof maxBytesToWrite=="number","stringToUTF16(str, outPtr, maxBytesToWrite) is missing the third parameter that specifies the length of the output buffer!");if(maxBytesToWrite===undefined){maxBytesToWrite=2147483647}if(maxBytesToWrite<2)return 0;maxBytesToWrite-=2;var startPtr=outPtr;var numCharsToWrite=maxBytesToWrite>1]=codeUnit;outPtr+=2}HEAP16[outPtr>>1]=0;return outPtr-startPtr}function lengthBytesUTF16(str){return str.length*2}function UTF32ToString(ptr,maxBytesToRead){assert(ptr%4==0,"Pointer passed to UTF32ToString must be aligned to four bytes!");var i=0;var str="";while(!(i>=maxBytesToRead/4)){var utf32=HEAP32[ptr+i*4>>2];if(utf32==0)break;++i;if(utf32>=65536){var ch=utf32-65536;str+=String.fromCharCode(55296|ch>>10,56320|ch&1023)}else{str+=String.fromCharCode(utf32)}}return str}function stringToUTF32(str,outPtr,maxBytesToWrite){assert(outPtr%4==0,"Pointer passed to stringToUTF32 must be aligned to four bytes!");assert(typeof maxBytesToWrite=="number","stringToUTF32(str, outPtr, maxBytesToWrite) is missing the third parameter that specifies the length of the output buffer!");if(maxBytesToWrite===undefined){maxBytesToWrite=2147483647}if(maxBytesToWrite<4)return 0;var startPtr=outPtr;var endPtr=startPtr+maxBytesToWrite-4;for(var i=0;i=55296&&codeUnit<=57343){var trailSurrogate=str.charCodeAt(++i);codeUnit=65536+((codeUnit&1023)<<10)|trailSurrogate&1023}HEAP32[outPtr>>2]=codeUnit;outPtr+=4;if(outPtr+4>endPtr)break}HEAP32[outPtr>>2]=0;return outPtr-startPtr}function lengthBytesUTF32(str){var len=0;for(var i=0;i=55296&&codeUnit<=57343)++i;len+=4}return len}function __embind_register_std_wstring(rawType,charSize,name){name=readLatin1String(name);var decodeString,encodeString,getHeap,lengthBytesUTF,shift;if(charSize===2){decodeString=UTF16ToString;encodeString=stringToUTF16;lengthBytesUTF=lengthBytesUTF16;getHeap=()=>HEAPU16;shift=1}else if(charSize===4){decodeString=UTF32ToString;encodeString=stringToUTF32;lengthBytesUTF=lengthBytesUTF32;getHeap=()=>HEAPU32;shift=2}registerType(rawType,{name:name,"fromWireType":function(value){var length=HEAPU32[value>>2];var HEAP=getHeap();var str;var decodeStartPtr=value+4;for(var i=0;i<=length;++i){var currentBytePtr=value+4+i*charSize;if(i==length||HEAP[currentBytePtr>>shift]==0){var maxReadBytes=currentBytePtr-decodeStartPtr;var stringSegment=decodeString(decodeStartPtr,maxReadBytes);if(str===undefined){str=stringSegment}else{str+=String.fromCharCode(0);str+=stringSegment}decodeStartPtr=currentBytePtr+charSize}}_free(value);return str},"toWireType":function(destructors,value){if(!(typeof value=="string")){throwBindingError("Cannot pass non-string to C++ string type "+name)}var length=lengthBytesUTF(value);var ptr=_malloc(4+length+charSize);HEAPU32[ptr>>2]=length>>shift;encodeString(value,ptr+4,length+charSize);if(destructors!==null){destructors.push(_free,ptr)}return ptr},"argPackAdvance":8,"readValueFromPointer":simpleReadValueFromPointer,destructorFunction:function(ptr){_free(ptr)}})}function __embind_register_value_object(rawType,name,constructorSignature,rawConstructor,destructorSignature,rawDestructor){structRegistrations[rawType]={name:readLatin1String(name),rawConstructor:embind__requireFunction(constructorSignature,rawConstructor),rawDestructor:embind__requireFunction(destructorSignature,rawDestructor),fields:[]}}function __embind_register_value_object_field(structType,fieldName,getterReturnType,getterSignature,getter,getterContext,setterArgumentType,setterSignature,setter,setterContext){structRegistrations[structType].fields.push({fieldName:readLatin1String(fieldName),getterReturnType:getterReturnType,getter:embind__requireFunction(getterSignature,getter),getterContext:getterContext,setterArgumentType:setterArgumentType,setter:embind__requireFunction(setterSignature,setter),setterContext:setterContext})}function __embind_register_void(rawType,name){name=readLatin1String(name);registerType(rawType,{isVoid:true,name:name,"argPackAdvance":0,"fromWireType":function(){return undefined},"toWireType":function(destructors,o){return undefined}})}function __emscripten_throw_longjmp(){throw new EmscriptenSjLj}function __emval_as(handle,returnType,destructorsRef){handle=Emval.toValue(handle);returnType=requireRegisteredType(returnType,"emval::as");var destructors=[];var rd=Emval.toHandle(destructors);HEAPU32[destructorsRef>>2]=rd;return returnType["toWireType"](destructors,handle)}function __emval_get_property(handle,key){handle=Emval.toValue(handle);key=Emval.toValue(key);return Emval.toHandle(handle[key])}function __emval_incref(handle){if(handle>4){emval_handle_array[handle].refcount+=1}}var emval_symbols={};function getStringOrSymbol(address){var symbol=emval_symbols[address];if(symbol===undefined){return readLatin1String(address)}return symbol}function __emval_new_cstring(v){return Emval.toHandle(getStringOrSymbol(v))}function __emval_run_destructors(handle){var destructors=Emval.toValue(handle);runDestructors(destructors);__emval_decref(handle)}function __emval_take_value(type,arg){type=requireRegisteredType(type,"_emval_take_value");var v=type["readValueFromPointer"](arg);return Emval.toHandle(v)}function readI53FromI64(ptr){return HEAPU32[ptr>>2]+HEAP32[ptr+4>>2]*4294967296}function __isLeapYear(year){return year%4===0&&(year%100!==0||year%400===0)}var __MONTH_DAYS_LEAP_CUMULATIVE=[0,31,60,91,121,152,182,213,244,274,305,335];var __MONTH_DAYS_REGULAR_CUMULATIVE=[0,31,59,90,120,151,181,212,243,273,304,334];function __yday_from_date(date){var isLeapYear=__isLeapYear(date.getFullYear());var monthDaysCumulative=isLeapYear?__MONTH_DAYS_LEAP_CUMULATIVE:__MONTH_DAYS_REGULAR_CUMULATIVE;var yday=monthDaysCumulative[date.getMonth()]+date.getDate()-1;return yday}function __localtime_js(time,tmPtr){var date=new Date(readI53FromI64(time)*1e3);HEAP32[tmPtr>>2]=date.getSeconds();HEAP32[tmPtr+4>>2]=date.getMinutes();HEAP32[tmPtr+8>>2]=date.getHours();HEAP32[tmPtr+12>>2]=date.getDate();HEAP32[tmPtr+16>>2]=date.getMonth();HEAP32[tmPtr+20>>2]=date.getFullYear()-1900;HEAP32[tmPtr+24>>2]=date.getDay();var yday=__yday_from_date(date)|0;HEAP32[tmPtr+28>>2]=yday;HEAP32[tmPtr+36>>2]=-(date.getTimezoneOffset()*60);var start=new Date(date.getFullYear(),0,1);var summerOffset=new Date(date.getFullYear(),6,1).getTimezoneOffset();var winterOffset=start.getTimezoneOffset();var dst=(summerOffset!=winterOffset&&date.getTimezoneOffset()==Math.min(winterOffset,summerOffset))|0;HEAP32[tmPtr+32>>2]=dst}function allocateUTF8(str){var size=lengthBytesUTF8(str)+1;var ret=_malloc(size);if(ret)stringToUTF8Array(str,HEAP8,ret,size);return ret}function __tzset_js(timezone,daylight,tzname){var currentYear=(new Date).getFullYear();var winter=new Date(currentYear,0,1);var summer=new Date(currentYear,6,1);var winterOffset=winter.getTimezoneOffset();var summerOffset=summer.getTimezoneOffset();var stdTimezoneOffset=Math.max(winterOffset,summerOffset);HEAPU32[timezone>>2]=stdTimezoneOffset*60;HEAP32[daylight>>2]=Number(winterOffset!=summerOffset);function extractZone(date){var match=date.toTimeString().match(/\(([A-Za-z ]+)\)$/);return match?match[1]:"GMT"}var winterName=extractZone(winter);var summerName=extractZone(summer);var winterNamePtr=allocateUTF8(winterName);var summerNamePtr=allocateUTF8(summerName);if(summerOffset>2]=winterNamePtr;HEAPU32[tzname+4>>2]=summerNamePtr}else{HEAPU32[tzname>>2]=summerNamePtr;HEAPU32[tzname+4>>2]=winterNamePtr}}function _abort(){abort("native code called abort()")}var dlopenMissingError="To use dlopen, you need enable dynamic linking, see https://github.com/emscripten-core/emscripten/wiki/Linking";function _dlopen(handle){abort(dlopenMissingError)}function _emscripten_date_now(){return Date.now()}function getHeapMax(){return 2147483648}function _emscripten_get_heap_max(){return getHeapMax()}function _emscripten_memcpy_big(dest,src,num){HEAPU8.copyWithin(dest,src,src+num)}function emscripten_realloc_buffer(size){var b=wasmMemory.buffer;try{wasmMemory.grow(size-b.byteLength+65535>>>16);updateMemoryViews();return 1}catch(e){err("emscripten_realloc_buffer: Attempted to grow heap from "+b.byteLength+" bytes to "+size+" bytes, but got error: "+e)}}function _emscripten_resize_heap(requestedSize){var oldSize=HEAPU8.length;requestedSize=requestedSize>>>0;assert(requestedSize>oldSize);var maxHeapSize=getHeapMax();if(requestedSize>maxHeapSize){err("Cannot enlarge memory, asked to go up to "+requestedSize+" bytes, but the limit is "+maxHeapSize+" bytes!");return false}let alignUp=(x,multiple)=>x+(multiple-x%multiple)%multiple;for(var cutDown=1;cutDown<=4;cutDown*=2){var overGrownHeapSize=oldSize*(1+.2/cutDown);overGrownHeapSize=Math.min(overGrownHeapSize,requestedSize+100663296);var newSize=Math.min(maxHeapSize,alignUp(Math.max(requestedSize,overGrownHeapSize),65536));var replacement=emscripten_realloc_buffer(newSize);if(replacement){return true}}err("Failed to grow the heap from "+oldSize+" bytes to "+newSize+" bytes, not enough memory!");return false}var ENV={};function getExecutableName(){return thisProgram||"./this.program"}function getEnvStrings(){if(!getEnvStrings.strings){var lang=(typeof navigator=="object"&&navigator.languages&&navigator.languages[0]||"C").replace("-","_")+".UTF-8";var env={"USER":"web_user","LOGNAME":"web_user","PATH":"/","PWD":"/","HOME":"/home/web_user","LANG":lang,"_":getExecutableName()};for(var x in ENV){if(ENV[x]===undefined)delete env[x];else env[x]=ENV[x]}var strings=[];for(var x in env){strings.push(x+"="+env[x])}getEnvStrings.strings=strings}return getEnvStrings.strings}function writeAsciiToMemory(str,buffer,dontAddNull){for(var i=0;i>0]=str.charCodeAt(i)}if(!dontAddNull)HEAP8[buffer>>0]=0}function _environ_get(__environ,environ_buf){var bufSize=0;getEnvStrings().forEach(function(string,i){var ptr=environ_buf+bufSize;HEAPU32[__environ+i*4>>2]=ptr;writeAsciiToMemory(string,ptr);bufSize+=string.length+1});return 0}function _environ_sizes_get(penviron_count,penviron_buf_size){var strings=getEnvStrings();HEAPU32[penviron_count>>2]=strings.length;var bufSize=0;strings.forEach(function(string){bufSize+=string.length+1});HEAPU32[penviron_buf_size>>2]=bufSize;return 0}function _proc_exit(code){EXITSTATUS=code;if(!keepRuntimeAlive()){if(Module["onExit"])Module["onExit"](code);ABORT=true}quit_(code,new ExitStatus(code))}function exitJS(status,implicit){EXITSTATUS=status;checkUnflushedContent();if(keepRuntimeAlive()&&!implicit){var msg="program exited (with status: "+status+"), but keepRuntimeAlive() is set (counter="+runtimeKeepaliveCounter+") due to an async operation, so halting execution but not exiting the runtime or preventing further async execution (you can use emscripten_force_exit, if you want to force a true shutdown)";readyPromiseReject(msg);err(msg)}_proc_exit(status)}var _exit=exitJS;function _fd_close(fd){try{var stream=SYSCALLS.getStreamFromFD(fd);FS.close(stream);return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}function doReadv(stream,iov,iovcnt,offset){var ret=0;for(var i=0;i>2];var len=HEAPU32[iov+4>>2];iov+=8;var curr=FS.read(stream,HEAP8,ptr,len,offset);if(curr<0)return-1;ret+=curr;if(curr>2]=num;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}function convertI32PairToI53Checked(lo,hi){assert(lo==lo>>>0||lo==(lo|0));assert(hi===(hi|0));return hi+2097152>>>0<4194305-!!lo?(lo>>>0)+hi*4294967296:NaN}function _fd_seek(fd,offset_low,offset_high,whence,newOffset){try{var offset=convertI32PairToI53Checked(offset_low,offset_high);if(isNaN(offset))return 61;var stream=SYSCALLS.getStreamFromFD(fd);FS.llseek(stream,offset,whence);tempI64=[stream.position>>>0,(tempDouble=stream.position,+Math.abs(tempDouble)>=1?tempDouble>0?(Math.min(+Math.floor(tempDouble/4294967296),4294967295)|0)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[newOffset>>2]=tempI64[0],HEAP32[newOffset+4>>2]=tempI64[1];if(stream.getdents&&offset===0&&whence===0)stream.getdents=null;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}function doWritev(stream,iov,iovcnt,offset){var ret=0;for(var i=0;i>2];var len=HEAPU32[iov+4>>2];iov+=8;var curr=FS.write(stream,HEAP8,ptr,len,offset);if(curr<0)return-1;ret+=curr;if(typeof offset!=="undefined"){offset+=curr}}return ret}function _fd_write(fd,iov,iovcnt,pnum){try{var stream=SYSCALLS.getStreamFromFD(fd);var num=doWritev(stream,iov,iovcnt);HEAPU32[pnum>>2]=num;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}function __arraySum(array,index){var sum=0;for(var i=0;i<=index;sum+=array[i++]){}return sum}var __MONTH_DAYS_LEAP=[31,29,31,30,31,30,31,31,30,31,30,31];var __MONTH_DAYS_REGULAR=[31,28,31,30,31,30,31,31,30,31,30,31];function __addDays(date,days){var newDate=new Date(date.getTime());while(days>0){var leap=__isLeapYear(newDate.getFullYear());var currentMonth=newDate.getMonth();var daysInCurrentMonth=(leap?__MONTH_DAYS_LEAP:__MONTH_DAYS_REGULAR)[currentMonth];if(days>daysInCurrentMonth-newDate.getDate()){days-=daysInCurrentMonth-newDate.getDate()+1;newDate.setDate(1);if(currentMonth<11){newDate.setMonth(currentMonth+1)}else{newDate.setMonth(0);newDate.setFullYear(newDate.getFullYear()+1)}}else{newDate.setDate(newDate.getDate()+days);return newDate}}return newDate}function writeArrayToMemory(array,buffer){assert(array.length>=0,"writeArrayToMemory array must have a length (should be an array or typed array)");HEAP8.set(array,buffer)}function _strftime(s,maxsize,format,tm){var tm_zone=HEAP32[tm+40>>2];var date={tm_sec:HEAP32[tm>>2],tm_min:HEAP32[tm+4>>2],tm_hour:HEAP32[tm+8>>2],tm_mday:HEAP32[tm+12>>2],tm_mon:HEAP32[tm+16>>2],tm_year:HEAP32[tm+20>>2],tm_wday:HEAP32[tm+24>>2],tm_yday:HEAP32[tm+28>>2],tm_isdst:HEAP32[tm+32>>2],tm_gmtoff:HEAP32[tm+36>>2],tm_zone:tm_zone?UTF8ToString(tm_zone):""};var pattern=UTF8ToString(format);var EXPANSION_RULES_1={"%c":"%a %b %d %H:%M:%S %Y","%D":"%m/%d/%y","%F":"%Y-%m-%d","%h":"%b","%r":"%I:%M:%S %p","%R":"%H:%M","%T":"%H:%M:%S","%x":"%m/%d/%y","%X":"%H:%M:%S","%Ec":"%c","%EC":"%C","%Ex":"%m/%d/%y","%EX":"%H:%M:%S","%Ey":"%y","%EY":"%Y","%Od":"%d","%Oe":"%e","%OH":"%H","%OI":"%I","%Om":"%m","%OM":"%M","%OS":"%S","%Ou":"%u","%OU":"%U","%OV":"%V","%Ow":"%w","%OW":"%W","%Oy":"%y"};for(var rule in EXPANSION_RULES_1){pattern=pattern.replace(new RegExp(rule,"g"),EXPANSION_RULES_1[rule])}var WEEKDAYS=["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"];var MONTHS=["January","February","March","April","May","June","July","August","September","October","November","December"];function leadingSomething(value,digits,character){var str=typeof value=="number"?value.toString():value||"";while(str.length0?1:0}var compare;if((compare=sgn(date1.getFullYear()-date2.getFullYear()))===0){if((compare=sgn(date1.getMonth()-date2.getMonth()))===0){compare=sgn(date1.getDate()-date2.getDate())}}return compare}function getFirstWeekStartDate(janFourth){switch(janFourth.getDay()){case 0:return new Date(janFourth.getFullYear()-1,11,29);case 1:return janFourth;case 2:return new Date(janFourth.getFullYear(),0,3);case 3:return new Date(janFourth.getFullYear(),0,2);case 4:return new Date(janFourth.getFullYear(),0,1);case 5:return new Date(janFourth.getFullYear()-1,11,31);case 6:return new Date(janFourth.getFullYear()-1,11,30)}}function getWeekBasedYear(date){var thisDate=__addDays(new Date(date.tm_year+1900,0,1),date.tm_yday);var janFourthThisYear=new Date(thisDate.getFullYear(),0,4);var janFourthNextYear=new Date(thisDate.getFullYear()+1,0,4);var firstWeekStartThisYear=getFirstWeekStartDate(janFourthThisYear);var firstWeekStartNextYear=getFirstWeekStartDate(janFourthNextYear);if(compareByDay(firstWeekStartThisYear,thisDate)<=0){if(compareByDay(firstWeekStartNextYear,thisDate)<=0){return thisDate.getFullYear()+1}return thisDate.getFullYear()}return thisDate.getFullYear()-1}var EXPANSION_RULES_2={"%a":function(date){return WEEKDAYS[date.tm_wday].substring(0,3)},"%A":function(date){return WEEKDAYS[date.tm_wday]},"%b":function(date){return MONTHS[date.tm_mon].substring(0,3)},"%B":function(date){return MONTHS[date.tm_mon]},"%C":function(date){var year=date.tm_year+1900;return leadingNulls(year/100|0,2)},"%d":function(date){return leadingNulls(date.tm_mday,2)},"%e":function(date){return leadingSomething(date.tm_mday,2," ")},"%g":function(date){return getWeekBasedYear(date).toString().substring(2)},"%G":function(date){return getWeekBasedYear(date)},"%H":function(date){return leadingNulls(date.tm_hour,2)},"%I":function(date){var twelveHour=date.tm_hour;if(twelveHour==0)twelveHour=12;else if(twelveHour>12)twelveHour-=12;return leadingNulls(twelveHour,2)},"%j":function(date){return leadingNulls(date.tm_mday+__arraySum(__isLeapYear(date.tm_year+1900)?__MONTH_DAYS_LEAP:__MONTH_DAYS_REGULAR,date.tm_mon-1),3)},"%m":function(date){return leadingNulls(date.tm_mon+1,2)},"%M":function(date){return leadingNulls(date.tm_min,2)},"%n":function(){return"\n"},"%p":function(date){if(date.tm_hour>=0&&date.tm_hour<12){return"AM"}return"PM"},"%S":function(date){return leadingNulls(date.tm_sec,2)},"%t":function(){return"\t"},"%u":function(date){return date.tm_wday||7},"%U":function(date){var days=date.tm_yday+7-date.tm_wday;return leadingNulls(Math.floor(days/7),2)},"%V":function(date){var val=Math.floor((date.tm_yday+7-(date.tm_wday+6)%7)/7);if((date.tm_wday+371-date.tm_yday-2)%7<=2){val++}if(!val){val=52;var dec31=(date.tm_wday+7-date.tm_yday-1)%7;if(dec31==4||dec31==5&&__isLeapYear(date.tm_year%400-1)){val++}}else if(val==53){var jan1=(date.tm_wday+371-date.tm_yday)%7;if(jan1!=4&&(jan1!=3||!__isLeapYear(date.tm_year)))val=1}return leadingNulls(val,2)},"%w":function(date){return date.tm_wday},"%W":function(date){var days=date.tm_yday+7-(date.tm_wday+6)%7;return leadingNulls(Math.floor(days/7),2)},"%y":function(date){return(date.tm_year+1900).toString().substring(2)},"%Y":function(date){return date.tm_year+1900},"%z":function(date){var off=date.tm_gmtoff;var ahead=off>=0;off=Math.abs(off)/60;off=off/60*100+off%60;return(ahead?"+":"-")+String("0000"+off).slice(-4)},"%Z":function(date){return date.tm_zone},"%%":function(){return"%"}};pattern=pattern.replace(/%%/g,"\0\0");for(var rule in EXPANSION_RULES_2){if(pattern.includes(rule)){pattern=pattern.replace(new RegExp(rule,"g"),EXPANSION_RULES_2[rule](date))}}pattern=pattern.replace(/\0\0/g,"%");var bytes=intArrayFromString(pattern,false);if(bytes.length>maxsize){return 0}writeArrayToMemory(bytes,s);return bytes.length-1}function _strftime_l(s,maxsize,format,tm,loc){return _strftime(s,maxsize,format,tm)}function handleException(e){if(e instanceof ExitStatus||e=="unwind"){return EXITSTATUS}checkStackCookie();if(e instanceof WebAssembly.RuntimeError){if(_emscripten_stack_get_current()<=0){err("Stack overflow detected. You can try increasing -sSTACK_SIZE (currently set to "+65536+")")}}quit_(1,e)}function allocateUTF8OnStack(str){var size=lengthBytesUTF8(str)+1;var ret=stackAlloc(size);stringToUTF8Array(str,HEAP8,ret,size);return ret}var FSNode=function(parent,name,mode,rdev){if(!parent){parent=this}this.parent=parent;this.mount=parent.mount;this.mounted=null;this.id=FS.nextInode++;this.name=name;this.mode=mode;this.node_ops={};this.stream_ops={};this.rdev=rdev};var readMode=292|73;var writeMode=146;Object.defineProperties(FSNode.prototype,{read:{get:function(){return(this.mode&readMode)===readMode},set:function(val){val?this.mode|=readMode:this.mode&=~readMode}},write:{get:function(){return(this.mode&writeMode)===writeMode},set:function(val){val?this.mode|=writeMode:this.mode&=~writeMode}},isFolder:{get:function(){return FS.isDir(this.mode)}},isDevice:{get:function(){return FS.isChrdev(this.mode)}}});FS.FSNode=FSNode;FS.staticInit();Module["FS_createPath"]=FS.createPath;Module["FS_createDataFile"]=FS.createDataFile;Module["FS_createPreloadedFile"]=FS.createPreloadedFile;Module["FS_unlink"]=FS.unlink;Module["FS_createLazyFile"]=FS.createLazyFile;Module["FS_createDevice"]=FS.createDevice;ERRNO_CODES={"EPERM":63,"ENOENT":44,"ESRCH":71,"EINTR":27,"EIO":29,"ENXIO":60,"E2BIG":1,"ENOEXEC":45,"EBADF":8,"ECHILD":12,"EAGAIN":6,"EWOULDBLOCK":6,"ENOMEM":48,"EACCES":2,"EFAULT":21,"ENOTBLK":105,"EBUSY":10,"EEXIST":20,"EXDEV":75,"ENODEV":43,"ENOTDIR":54,"EISDIR":31,"EINVAL":28,"ENFILE":41,"EMFILE":33,"ENOTTY":59,"ETXTBSY":74,"EFBIG":22,"ENOSPC":51,"ESPIPE":70,"EROFS":69,"EMLINK":34,"EPIPE":64,"EDOM":18,"ERANGE":68,"ENOMSG":49,"EIDRM":24,"ECHRNG":106,"EL2NSYNC":156,"EL3HLT":107,"EL3RST":108,"ELNRNG":109,"EUNATCH":110,"ENOCSI":111,"EL2HLT":112,"EDEADLK":16,"ENOLCK":46,"EBADE":113,"EBADR":114,"EXFULL":115,"ENOANO":104,"EBADRQC":103,"EBADSLT":102,"EDEADLOCK":16,"EBFONT":101,"ENOSTR":100,"ENODATA":116,"ETIME":117,"ENOSR":118,"ENONET":119,"ENOPKG":120,"EREMOTE":121,"ENOLINK":47,"EADV":122,"ESRMNT":123,"ECOMM":124,"EPROTO":65,"EMULTIHOP":36,"EDOTDOT":125,"EBADMSG":9,"ENOTUNIQ":126,"EBADFD":127,"EREMCHG":128,"ELIBACC":129,"ELIBBAD":130,"ELIBSCN":131,"ELIBMAX":132,"ELIBEXEC":133,"ENOSYS":52,"ENOTEMPTY":55,"ENAMETOOLONG":37,"ELOOP":32,"EOPNOTSUPP":138,"EPFNOSUPPORT":139,"ECONNRESET":15,"ENOBUFS":42,"EAFNOSUPPORT":5,"EPROTOTYPE":67,"ENOTSOCK":57,"ENOPROTOOPT":50,"ESHUTDOWN":140,"ECONNREFUSED":14,"EADDRINUSE":3,"ECONNABORTED":13,"ENETUNREACH":40,"ENETDOWN":38,"ETIMEDOUT":73,"EHOSTDOWN":142,"EHOSTUNREACH":23,"EINPROGRESS":26,"EALREADY":7,"EDESTADDRREQ":17,"EMSGSIZE":35,"EPROTONOSUPPORT":66,"ESOCKTNOSUPPORT":137,"EADDRNOTAVAIL":4,"ENETRESET":39,"EISCONN":30,"ENOTCONN":53,"ETOOMANYREFS":141,"EUSERS":136,"EDQUOT":19,"ESTALE":72,"ENOTSUP":138,"ENOMEDIUM":148,"EILSEQ":25,"EOVERFLOW":61,"ECANCELED":11,"ENOTRECOVERABLE":56,"EOWNERDEAD":62,"ESTRPIPE":135};InternalError=Module["InternalError"]=extendError(Error,"InternalError");embind_init_charCodes();BindingError=Module["BindingError"]=extendError(Error,"BindingError");init_ClassHandle();init_embind();init_RegisteredPointer();UnboundTypeError=Module["UnboundTypeError"]=extendError(Error,"UnboundTypeError");init_emval();var decodeBase64=typeof atob=="function"?atob:function(input){var keyStr="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/=";var output="";var chr1,chr2,chr3;var enc1,enc2,enc3,enc4;var i=0;input=input.replace(/[^A-Za-z0-9\+\/\=]/g,"");do{enc1=keyStr.indexOf(input.charAt(i++));enc2=keyStr.indexOf(input.charAt(i++));enc3=keyStr.indexOf(input.charAt(i++));enc4=keyStr.indexOf(input.charAt(i++));chr1=enc1<<2|enc2>>4;chr2=(enc2&15)<<4|enc3>>2;chr3=(enc3&3)<<6|enc4;output=output+String.fromCharCode(chr1);if(enc3!==64){output=output+String.fromCharCode(chr2)}if(enc4!==64){output=output+String.fromCharCode(chr3)}}while(i>2;args.forEach(arg=>{HEAP32[argv_ptr++]=allocateUTF8OnStack(arg)});HEAP32[argv_ptr]=0;try{var ret=entryFunction(argc,argv);exitJS(ret,true);return ret}catch(e){return handleException(e)}}function stackCheckInit(){_emscripten_stack_init();writeStackCookie()}function run(args=arguments_){if(runDependencies>0){return}stackCheckInit();preRun();if(runDependencies>0){return}function doRun(){if(calledRun)return;calledRun=true;Module["calledRun"]=true;if(ABORT)return;initRuntime();preMain();readyPromiseResolve(Module);if(Module["onRuntimeInitialized"])Module["onRuntimeInitialized"]();if(shouldRunNow)callMain(args);postRun()}if(Module["setStatus"]){Module["setStatus"]("Running...");setTimeout(function(){setTimeout(function(){Module["setStatus"]("")},1);doRun()},1)}else{doRun()}checkStackCookie()}function checkUnflushedContent(){var oldOut=out;var oldErr=err;var has=false;out=err=x=>{has=true};try{_fflush(0);["stdout","stderr"].forEach(function(name){var info=FS.analyzePath("/dev/"+name);if(!info)return;var stream=info.object;var rdev=stream.rdev;var tty=TTY.ttys[rdev];if(tty&&tty.output&&tty.output.length){has=true}})}catch(e){}out=oldOut;err=oldErr;if(has){warnOnce("stdio streams had content in them that was not flushed. you should set EXIT_RUNTIME to 1 (see the FAQ), or make sure to emit a newline when you printf etc.")}}if(Module["preInit"]){if(typeof Module["preInit"]=="function")Module["preInit"]=[Module["preInit"]];while(Module["preInit"].length>0){Module["preInit"].pop()()}}var shouldRunNow=true;if(Module["noInitialRun"])shouldRunNow=false;run(); +var Module=moduleArg;var readyPromiseResolve,readyPromiseReject;Module["ready"]=new Promise((resolve,reject)=>{readyPromiseResolve=resolve;readyPromiseReject=reject});["_main","getExceptionMessage","___get_exception_message","_free","_memory","___indirect_function_table","_fflush","__embind_initialize_bindings","onRuntimeInitialized"].forEach(prop=>{if(!Object.getOwnPropertyDescriptor(Module["ready"],prop)){Object.defineProperty(Module["ready"],prop,{get:()=>abort("You are getting "+prop+" on the Promise object, instead of the instance. Use .then() to get called back with the instance, see the MODULARIZE docs in src/settings.js"),set:()=>abort("You are setting "+prop+" on the Promise object, instead of the instance. Use .then() to get called back with the instance, see the MODULARIZE docs in src/settings.js")})}});var moduleOverrides=Object.assign({},Module);var arguments_=[];var thisProgram="./this.program";var quit_=(status,toThrow)=>{throw toThrow};var ENVIRONMENT_IS_WEB=typeof window=="object";var ENVIRONMENT_IS_WORKER=typeof importScripts=="function";var ENVIRONMENT_IS_NODE=typeof process=="object"&&typeof process.versions=="object"&&typeof process.versions.node=="string";var ENVIRONMENT_IS_SHELL=!ENVIRONMENT_IS_WEB&&!ENVIRONMENT_IS_NODE&&!ENVIRONMENT_IS_WORKER;if(Module["ENVIRONMENT"]){throw new Error("Module.ENVIRONMENT has been deprecated. To force the environment, use the ENVIRONMENT compile-time option (for example, -sENVIRONMENT=web or -sENVIRONMENT=node)")}var scriptDirectory="";function locateFile(path){if(Module["locateFile"]){return Module["locateFile"](path,scriptDirectory)}return scriptDirectory+path}var read_,readAsync,readBinary;if(ENVIRONMENT_IS_NODE){if(typeof process=="undefined"||!process.release||process.release.name!=="node")throw new Error("not compiled for this environment (did you build to HTML and try to run it not on the web, or set ENVIRONMENT to something - like node - and run it someplace else - like on the web?)");var nodeVersion=process.versions.node;var numericVersion=nodeVersion.split(".").slice(0,3);numericVersion=numericVersion[0]*1e4+numericVersion[1]*100+numericVersion[2].split("-")[0]*1;if(numericVersion<16e4){throw new Error("This emscripten-generated code requires node v16.0.0 (detected v"+nodeVersion+")")}const{createRequire:createRequire}=await import("module");var require=createRequire(import.meta.url);var fs=require("fs");var nodePath=require("path");if(ENVIRONMENT_IS_WORKER){scriptDirectory=nodePath.dirname(scriptDirectory)+"/"}else{scriptDirectory=require("url").fileURLToPath(new URL("./",import.meta.url))}read_=(filename,binary)=>{filename=isFileURI(filename)?new URL(filename):nodePath.normalize(filename);return fs.readFileSync(filename,binary?undefined:"utf8")};readBinary=filename=>{var ret=read_(filename,true);if(!ret.buffer){ret=new Uint8Array(ret)}assert(ret.buffer);return ret};readAsync=(filename,onload,onerror,binary=true)=>{filename=isFileURI(filename)?new URL(filename):nodePath.normalize(filename);fs.readFile(filename,binary?undefined:"utf8",(err,data)=>{if(err)onerror(err);else onload(binary?data.buffer:data)})};if(!Module["thisProgram"]&&process.argv.length>1){thisProgram=process.argv[1].replace(/\\/g,"/")}arguments_=process.argv.slice(2);quit_=(status,toThrow)=>{process.exitCode=status;throw toThrow};Module["inspect"]=()=>"[Emscripten Module object]"}else if(ENVIRONMENT_IS_SHELL){if(typeof process=="object"&&typeof require==="function"||typeof window=="object"||typeof importScripts=="function")throw new Error("not compiled for this environment (did you build to HTML and try to run it not on the web, or set ENVIRONMENT to something - like node - and run it someplace else - like on the web?)");if(typeof read!="undefined"){read_=read}readBinary=f=>{if(typeof readbuffer=="function"){return new Uint8Array(readbuffer(f))}let data=read(f,"binary");assert(typeof data=="object");return data};readAsync=(f,onload,onerror)=>{setTimeout(()=>onload(readBinary(f)))};if(typeof clearTimeout=="undefined"){globalThis.clearTimeout=id=>{}}if(typeof setTimeout=="undefined"){globalThis.setTimeout=f=>typeof f=="function"?f():abort()}if(typeof scriptArgs!="undefined"){arguments_=scriptArgs}else if(typeof arguments!="undefined"){arguments_=arguments}if(typeof quit=="function"){quit_=(status,toThrow)=>{setTimeout(()=>{if(!(toThrow instanceof ExitStatus)){let toLog=toThrow;if(toThrow&&typeof toThrow=="object"&&toThrow.stack){toLog=[toThrow,toThrow.stack]}err(`exiting due to exception: ${toLog}`)}quit(status)});throw toThrow}}if(typeof print!="undefined"){if(typeof console=="undefined")console={};console.log=print;console.warn=console.error=typeof printErr!="undefined"?printErr:print}}else if(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER){if(ENVIRONMENT_IS_WORKER){scriptDirectory=self.location.href}else if(typeof document!="undefined"&&document.currentScript){scriptDirectory=document.currentScript.src}if(_scriptDir){scriptDirectory=_scriptDir}if(scriptDirectory.indexOf("blob:")!==0){scriptDirectory=scriptDirectory.substr(0,scriptDirectory.replace(/[?#].*/,"").lastIndexOf("/")+1)}else{scriptDirectory=""}if(!(typeof window=="object"||typeof importScripts=="function"))throw new Error("not compiled for this environment (did you build to HTML and try to run it not on the web, or set ENVIRONMENT to something - like node - and run it someplace else - like on the web?)");{read_=url=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.send(null);return xhr.responseText};if(ENVIRONMENT_IS_WORKER){readBinary=url=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.responseType="arraybuffer";xhr.send(null);return new Uint8Array(xhr.response)}}readAsync=(url,onload,onerror)=>{var xhr=new XMLHttpRequest;xhr.open("GET",url,true);xhr.responseType="arraybuffer";xhr.onload=()=>{if(xhr.status==200||xhr.status==0&&xhr.response){onload(xhr.response);return}onerror()};xhr.onerror=onerror;xhr.send(null)}}}else{throw new Error("environment detection error")}var out=Module["print"]||console.log.bind(console);var err=Module["printErr"]||console.error.bind(console);Object.assign(Module,moduleOverrides);moduleOverrides=null;checkIncomingModuleAPI();if(Module["arguments"])arguments_=Module["arguments"];legacyModuleProp("arguments","arguments_");if(Module["thisProgram"])thisProgram=Module["thisProgram"];legacyModuleProp("thisProgram","thisProgram");if(Module["quit"])quit_=Module["quit"];legacyModuleProp("quit","quit_");assert(typeof Module["memoryInitializerPrefixURL"]=="undefined","Module.memoryInitializerPrefixURL option was removed, use Module.locateFile instead");assert(typeof Module["pthreadMainPrefixURL"]=="undefined","Module.pthreadMainPrefixURL option was removed, use Module.locateFile instead");assert(typeof Module["cdInitializerPrefixURL"]=="undefined","Module.cdInitializerPrefixURL option was removed, use Module.locateFile instead");assert(typeof Module["filePackagePrefixURL"]=="undefined","Module.filePackagePrefixURL option was removed, use Module.locateFile instead");assert(typeof Module["read"]=="undefined","Module.read option was removed (modify read_ in JS)");assert(typeof Module["readAsync"]=="undefined","Module.readAsync option was removed (modify readAsync in JS)");assert(typeof Module["readBinary"]=="undefined","Module.readBinary option was removed (modify readBinary in JS)");assert(typeof Module["setWindowTitle"]=="undefined","Module.setWindowTitle option was removed (modify emscripten_set_window_title in JS)");assert(typeof Module["TOTAL_MEMORY"]=="undefined","Module.TOTAL_MEMORY has been renamed Module.INITIAL_MEMORY");legacyModuleProp("asm","wasmExports");legacyModuleProp("read","read_");legacyModuleProp("readAsync","readAsync");legacyModuleProp("readBinary","readBinary");legacyModuleProp("setWindowTitle","setWindowTitle");assert(!ENVIRONMENT_IS_SHELL,"shell environment detected but not enabled at build time. Add 'shell' to `-sENVIRONMENT` to enable.");var wasmBinary;if(Module["wasmBinary"])wasmBinary=Module["wasmBinary"];legacyModuleProp("wasmBinary","wasmBinary");if(typeof WebAssembly!="object"){abort("no native wasm support detected")}var wasmMemory;var ABORT=false;var EXITSTATUS;function assert(condition,text){if(!condition){abort("Assertion failed"+(text?": "+text:""))}}var HEAP8,HEAPU8,HEAP16,HEAPU16,HEAP32,HEAPU32,HEAPF32,HEAPF64;function updateMemoryViews(){var b=wasmMemory.buffer;Module["HEAP8"]=HEAP8=new Int8Array(b);Module["HEAP16"]=HEAP16=new Int16Array(b);Module["HEAPU8"]=HEAPU8=new Uint8Array(b);Module["HEAPU16"]=HEAPU16=new Uint16Array(b);Module["HEAP32"]=HEAP32=new Int32Array(b);Module["HEAPU32"]=HEAPU32=new Uint32Array(b);Module["HEAPF32"]=HEAPF32=new Float32Array(b);Module["HEAPF64"]=HEAPF64=new Float64Array(b)}assert(!Module["STACK_SIZE"],"STACK_SIZE can no longer be set at runtime. Use -sSTACK_SIZE at link time");assert(typeof Int32Array!="undefined"&&typeof Float64Array!=="undefined"&&Int32Array.prototype.subarray!=undefined&&Int32Array.prototype.set!=undefined,"JS engine does not provide full typed array support");assert(!Module["wasmMemory"],"Use of `wasmMemory` detected. Use -sIMPORTED_MEMORY to define wasmMemory externally");assert(!Module["INITIAL_MEMORY"],"Detected runtime INITIAL_MEMORY setting. Use -sIMPORTED_MEMORY to define wasmMemory dynamically");function writeStackCookie(){var max=_emscripten_stack_get_end();assert((max&3)==0);if(max==0){max+=4}HEAPU32[max>>2]=34821223;HEAPU32[max+4>>2]=2310721022;HEAPU32[0>>2]=1668509029}function checkStackCookie(){if(ABORT)return;var max=_emscripten_stack_get_end();if(max==0){max+=4}var cookie1=HEAPU32[max>>2];var cookie2=HEAPU32[max+4>>2];if(cookie1!=34821223||cookie2!=2310721022){abort(`Stack overflow! Stack cookie has been overwritten at ${ptrToString(max)}, expected hex dwords 0x89BACDFE and 0x2135467, but received ${ptrToString(cookie2)} ${ptrToString(cookie1)}`)}if(HEAPU32[0>>2]!=1668509029){abort("Runtime error: The application has corrupted its heap memory area (address zero)!")}}(function(){var h16=new Int16Array(1);var h8=new Int8Array(h16.buffer);h16[0]=25459;if(h8[0]!==115||h8[1]!==99)throw"Runtime error: expected the system to be little-endian! (Run with -sSUPPORT_BIG_ENDIAN to bypass)"})();var __ATPRERUN__=[];var __ATINIT__=[];var __ATMAIN__=[];var __ATPOSTRUN__=[];var runtimeInitialized=false;function preRun(){if(Module["preRun"]){if(typeof Module["preRun"]=="function")Module["preRun"]=[Module["preRun"]];while(Module["preRun"].length){addOnPreRun(Module["preRun"].shift())}}callRuntimeCallbacks(__ATPRERUN__)}function initRuntime(){assert(!runtimeInitialized);runtimeInitialized=true;checkStackCookie();if(!Module["noFSInit"]&&!FS.init.initialized)FS.init();FS.ignorePermissions=false;TTY.init();callRuntimeCallbacks(__ATINIT__)}function preMain(){checkStackCookie();callRuntimeCallbacks(__ATMAIN__)}function postRun(){checkStackCookie();if(Module["postRun"]){if(typeof Module["postRun"]=="function")Module["postRun"]=[Module["postRun"]];while(Module["postRun"].length){addOnPostRun(Module["postRun"].shift())}}callRuntimeCallbacks(__ATPOSTRUN__)}function addOnPreRun(cb){__ATPRERUN__.unshift(cb)}function addOnInit(cb){__ATINIT__.unshift(cb)}function addOnPostRun(cb){__ATPOSTRUN__.unshift(cb)}assert(Math.imul,"This browser does not support Math.imul(), build with LEGACY_VM_SUPPORT or POLYFILL_OLD_MATH_FUNCTIONS to add in a polyfill");assert(Math.fround,"This browser does not support Math.fround(), build with LEGACY_VM_SUPPORT or POLYFILL_OLD_MATH_FUNCTIONS to add in a polyfill");assert(Math.clz32,"This browser does not support Math.clz32(), build with LEGACY_VM_SUPPORT or POLYFILL_OLD_MATH_FUNCTIONS to add in a polyfill");assert(Math.trunc,"This browser does not support Math.trunc(), build with LEGACY_VM_SUPPORT or POLYFILL_OLD_MATH_FUNCTIONS to add in a polyfill");var runDependencies=0;var runDependencyWatcher=null;var dependenciesFulfilled=null;var runDependencyTracking={};function getUniqueRunDependency(id){var orig=id;while(1){if(!runDependencyTracking[id])return id;id=orig+Math.random()}}function addRunDependency(id){runDependencies++;if(Module["monitorRunDependencies"]){Module["monitorRunDependencies"](runDependencies)}if(id){assert(!runDependencyTracking[id]);runDependencyTracking[id]=1;if(runDependencyWatcher===null&&typeof setInterval!="undefined"){runDependencyWatcher=setInterval(()=>{if(ABORT){clearInterval(runDependencyWatcher);runDependencyWatcher=null;return}var shown=false;for(var dep in runDependencyTracking){if(!shown){shown=true;err("still waiting on run dependencies:")}err(`dependency: ${dep}`)}if(shown){err("(end of list)")}},1e4)}}else{err("warning: run dependency added without ID")}}function removeRunDependency(id){runDependencies--;if(Module["monitorRunDependencies"]){Module["monitorRunDependencies"](runDependencies)}if(id){assert(runDependencyTracking[id]);delete runDependencyTracking[id]}else{err("warning: run dependency removed without ID")}if(runDependencies==0){if(runDependencyWatcher!==null){clearInterval(runDependencyWatcher);runDependencyWatcher=null}if(dependenciesFulfilled){var callback=dependenciesFulfilled;dependenciesFulfilled=null;callback()}}}function abort(what){if(Module["onAbort"]){Module["onAbort"](what)}what="Aborted("+what+")";err(what);ABORT=true;EXITSTATUS=1;var e=new WebAssembly.RuntimeError(what);readyPromiseReject(e);throw e}var dataURIPrefix="data:application/octet-stream;base64,";var isDataURI=filename=>filename.startsWith(dataURIPrefix);var isFileURI=filename=>filename.startsWith("file://");function createExportWrapper(name){return function(){assert(runtimeInitialized,`native function \`${name}\` called before runtime initialization`);var f=wasmExports[name];assert(f,`exported native function \`${name}\` not found`);return f.apply(null,arguments)}}class EmscriptenEH extends Error{}class EmscriptenSjLj extends EmscriptenEH{}class CppException extends EmscriptenEH{constructor(excPtr){super(excPtr);this.excPtr=excPtr;const excInfo=getExceptionMessage(excPtr);this.name=excInfo[0];this.message=excInfo[1]}}var wasmBinaryFile;if(Module["locateFile"]){wasmBinaryFile="mujoco_wasm.wasm";if(!isDataURI(wasmBinaryFile)){wasmBinaryFile=locateFile(wasmBinaryFile)}}else{wasmBinaryFile=new URL("mujoco_wasm.wasm",import.meta.url).href}function getBinarySync(file){if(file==wasmBinaryFile&&wasmBinary){return new Uint8Array(wasmBinary)}if(readBinary){return readBinary(file)}throw"both async and sync fetching of the wasm failed"}function getBinaryPromise(binaryFile){if(!wasmBinary&&(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER)){if(typeof fetch=="function"&&!isFileURI(binaryFile)){return fetch(binaryFile,{credentials:"same-origin"}).then(response=>{if(!response["ok"]){throw"failed to load wasm binary file at '"+binaryFile+"'"}return response["arrayBuffer"]()}).catch(()=>getBinarySync(binaryFile))}else if(readAsync){return new Promise((resolve,reject)=>{readAsync(binaryFile,response=>resolve(new Uint8Array(response)),reject)})}}return Promise.resolve().then(()=>getBinarySync(binaryFile))}function instantiateArrayBuffer(binaryFile,imports,receiver){return getBinaryPromise(binaryFile).then(binary=>WebAssembly.instantiate(binary,imports)).then(instance=>instance).then(receiver,reason=>{err(`failed to asynchronously prepare wasm: ${reason}`);if(isFileURI(wasmBinaryFile)){err(`warning: Loading from a file URI (${wasmBinaryFile}) is not supported in most browsers. See https://emscripten.org/docs/getting_started/FAQ.html#how-do-i-run-a-local-webserver-for-testing-why-does-my-program-stall-in-downloading-or-preparing`)}abort(reason)})}function instantiateAsync(binary,binaryFile,imports,callback){if(!binary&&typeof WebAssembly.instantiateStreaming=="function"&&!isDataURI(binaryFile)&&!isFileURI(binaryFile)&&!ENVIRONMENT_IS_NODE&&typeof fetch=="function"){return fetch(binaryFile,{credentials:"same-origin"}).then(response=>{var result=WebAssembly.instantiateStreaming(response,imports);return result.then(callback,function(reason){err(`wasm streaming compile failed: ${reason}`);err("falling back to ArrayBuffer instantiation");return instantiateArrayBuffer(binaryFile,imports,callback)})})}return instantiateArrayBuffer(binaryFile,imports,callback)}function createWasm(){var info={"env":wasmImports,"wasi_snapshot_preview1":wasmImports};function receiveInstance(instance,module){wasmExports=instance.exports;wasmMemory=wasmExports["memory"];assert(wasmMemory,"memory not found in wasm exports");updateMemoryViews();wasmTable=wasmExports["__indirect_function_table"];assert(wasmTable,"table not found in wasm exports");addOnInit(wasmExports["__wasm_call_ctors"]);removeRunDependency("wasm-instantiate");return wasmExports}addRunDependency("wasm-instantiate");var trueModule=Module;function receiveInstantiationResult(result){assert(Module===trueModule,"the Module object should not be replaced during async compilation - perhaps the order of HTML elements is wrong?");trueModule=null;receiveInstance(result["instance"])}if(Module["instantiateWasm"]){try{return Module["instantiateWasm"](info,receiveInstance)}catch(e){err(`Module.instantiateWasm callback failed with error: ${e}`);readyPromiseReject(e)}}instantiateAsync(wasmBinary,wasmBinaryFile,info,receiveInstantiationResult).catch(readyPromiseReject);return{}}var tempDouble;var tempI64;function legacyModuleProp(prop,newName,incomming=true){if(!Object.getOwnPropertyDescriptor(Module,prop)){Object.defineProperty(Module,prop,{configurable:true,get(){let extra=incomming?" (the initial value can be provided on Module, but after startup the value is only looked for on a local variable of that name)":"";abort(`\`Module.${prop}\` has been replaced by \`${newName}\``+extra)}})}}function ignoredModuleProp(prop){if(Object.getOwnPropertyDescriptor(Module,prop)){abort(`\`Module.${prop}\` was supplied but \`${prop}\` not included in INCOMING_MODULE_JS_API`)}}function isExportedByForceFilesystem(name){return name==="FS_createPath"||name==="FS_createDataFile"||name==="FS_createPreloadedFile"||name==="FS_unlink"||name==="addRunDependency"||name==="FS_createLazyFile"||name==="FS_createDevice"||name==="removeRunDependency"}function missingGlobal(sym,msg){if(typeof globalThis!=="undefined"){Object.defineProperty(globalThis,sym,{configurable:true,get(){warnOnce("`"+sym+"` is not longer defined by emscripten. "+msg);return undefined}})}}missingGlobal("buffer","Please use HEAP8.buffer or wasmMemory.buffer");missingGlobal("asm","Please use wasmExports instead");function missingLibrarySymbol(sym){if(typeof globalThis!=="undefined"&&!Object.getOwnPropertyDescriptor(globalThis,sym)){Object.defineProperty(globalThis,sym,{configurable:true,get(){var msg="`"+sym+"` is a library symbol and not included by default; add it to your library.js __deps or to DEFAULT_LIBRARY_FUNCS_TO_INCLUDE on the command line";var librarySymbol=sym;if(!librarySymbol.startsWith("_")){librarySymbol="$"+sym}msg+=" (e.g. -sDEFAULT_LIBRARY_FUNCS_TO_INCLUDE='"+librarySymbol+"')";if(isExportedByForceFilesystem(sym)){msg+=". Alternatively, forcing filesystem support (-sFORCE_FILESYSTEM) can export this for you"}warnOnce(msg);return undefined}})}unexportedRuntimeSymbol(sym)}function unexportedRuntimeSymbol(sym){if(!Object.getOwnPropertyDescriptor(Module,sym)){Object.defineProperty(Module,sym,{configurable:true,get(){var msg="'"+sym+"' was not exported. add it to EXPORTED_RUNTIME_METHODS (see the Emscripten FAQ)";if(isExportedByForceFilesystem(sym)){msg+=". Alternatively, forcing filesystem support (-sFORCE_FILESYSTEM) can export this for you"}abort(msg)}})}}function ExitStatus(status){this.name="ExitStatus";this.message=`Program terminated with exit(${status})`;this.status=status}var callRuntimeCallbacks=callbacks=>{while(callbacks.length>0){callbacks.shift()(Module)}};var withStackSave=f=>{var stack=stackSave();var ret=f();stackRestore(stack);return ret};var UTF8Decoder=typeof TextDecoder!="undefined"?new TextDecoder("utf8"):undefined;var UTF8ArrayToString=(heapOrArray,idx,maxBytesToRead)=>{var endIdx=idx+maxBytesToRead;var endPtr=idx;while(heapOrArray[endPtr]&&!(endPtr>=endIdx))++endPtr;if(endPtr-idx>16&&heapOrArray.buffer&&UTF8Decoder){return UTF8Decoder.decode(heapOrArray.subarray(idx,endPtr))}var str="";while(idx>10,56320|ch&1023)}}return str};var UTF8ToString=(ptr,maxBytesToRead)=>{assert(typeof ptr=="number");return ptr?UTF8ArrayToString(HEAPU8,ptr,maxBytesToRead):""};var getExceptionMessageCommon=ptr=>withStackSave(()=>{var type_addr_addr=stackAlloc(4);var message_addr_addr=stackAlloc(4);___get_exception_message(ptr,type_addr_addr,message_addr_addr);var type_addr=HEAPU32[type_addr_addr>>2];var message_addr=HEAPU32[message_addr_addr>>2];var type=UTF8ToString(type_addr);_free(type_addr);var message;if(message_addr){message=UTF8ToString(message_addr);_free(message_addr)}return[type,message]});var getExceptionMessage=ptr=>getExceptionMessageCommon(ptr);Module["getExceptionMessage"]=getExceptionMessage;var noExitRuntime=Module["noExitRuntime"]||true;var ptrToString=ptr=>{assert(typeof ptr==="number");ptr>>>=0;return"0x"+ptr.toString(16).padStart(8,"0")};var warnOnce=text=>{if(!warnOnce.shown)warnOnce.shown={};if(!warnOnce.shown[text]){warnOnce.shown[text]=1;if(ENVIRONMENT_IS_NODE)text="warning: "+text;err(text)}};var ___assert_fail=(condition,filename,line,func)=>{abort(`Assertion failed: ${UTF8ToString(condition)}, at: `+[filename?UTF8ToString(filename):"unknown filename",line,func?UTF8ToString(func):"unknown function"])};var exceptionCaught=[];var uncaughtExceptionCount=0;var ___cxa_begin_catch=ptr=>{var info=new ExceptionInfo(ptr);if(!info.get_caught()){info.set_caught(true);uncaughtExceptionCount--}info.set_rethrown(false);exceptionCaught.push(info);___cxa_increment_exception_refcount(info.excPtr);return info.get_exception_ptr()};var exceptionLast=0;var ___cxa_end_catch=()=>{_setThrew(0,0);assert(exceptionCaught.length>0);var info=exceptionCaught.pop();___cxa_decrement_exception_refcount(info.excPtr);exceptionLast=0};function ExceptionInfo(excPtr){this.excPtr=excPtr;this.ptr=excPtr-24;this.set_type=function(type){HEAPU32[this.ptr+4>>2]=type};this.get_type=function(){return HEAPU32[this.ptr+4>>2]};this.set_destructor=function(destructor){HEAPU32[this.ptr+8>>2]=destructor};this.get_destructor=function(){return HEAPU32[this.ptr+8>>2]};this.set_caught=function(caught){caught=caught?1:0;HEAP8[this.ptr+12>>0]=caught};this.get_caught=function(){return HEAP8[this.ptr+12>>0]!=0};this.set_rethrown=function(rethrown){rethrown=rethrown?1:0;HEAP8[this.ptr+13>>0]=rethrown};this.get_rethrown=function(){return HEAP8[this.ptr+13>>0]!=0};this.init=function(type,destructor){this.set_adjusted_ptr(0);this.set_type(type);this.set_destructor(destructor)};this.set_adjusted_ptr=function(adjustedPtr){HEAPU32[this.ptr+16>>2]=adjustedPtr};this.get_adjusted_ptr=function(){return HEAPU32[this.ptr+16>>2]};this.get_exception_ptr=function(){var isPointer=___cxa_is_pointer_type(this.get_type());if(isPointer){return HEAPU32[this.excPtr>>2]}var adjusted=this.get_adjusted_ptr();if(adjusted!==0)return adjusted;return this.excPtr}}var ___resumeException=ptr=>{if(!exceptionLast){exceptionLast=new CppException(ptr)}throw exceptionLast};var findMatchingCatch=args=>{var thrown=exceptionLast&&exceptionLast.excPtr;if(!thrown){setTempRet0(0);return 0}var info=new ExceptionInfo(thrown);info.set_adjusted_ptr(thrown);var thrownType=info.get_type();if(!thrownType){setTempRet0(0);return thrown}for(var arg in args){var caughtType=args[arg];if(caughtType===0||caughtType===thrownType){break}var adjusted_ptr_addr=info.ptr+16;if(___cxa_can_catch(caughtType,thrownType,adjusted_ptr_addr)){setTempRet0(caughtType);return thrown}}setTempRet0(thrownType);return thrown};var ___cxa_find_matching_catch_2=()=>findMatchingCatch([]);var ___cxa_find_matching_catch_3=arg0=>findMatchingCatch([arg0]);var ___cxa_rethrow=()=>{var info=exceptionCaught.pop();if(!info){abort("no exception to throw")}var ptr=info.excPtr;if(!info.get_rethrown()){exceptionCaught.push(info);info.set_rethrown(true);info.set_caught(false);uncaughtExceptionCount++}exceptionLast=new CppException(ptr);throw exceptionLast};var ___cxa_throw=(ptr,type,destructor)=>{var info=new ExceptionInfo(ptr);info.init(type,destructor);exceptionLast=new CppException(ptr);uncaughtExceptionCount++;throw exceptionLast};var ___cxa_uncaught_exceptions=()=>uncaughtExceptionCount;var PATH={isAbs:path=>path.charAt(0)==="/",splitPath:filename=>{var splitPathRe=/^(\/?|)([\s\S]*?)((?:\.{1,2}|[^\/]+?|)(\.[^.\/]*|))(?:[\/]*)$/;return splitPathRe.exec(filename).slice(1)},normalizeArray:(parts,allowAboveRoot)=>{var up=0;for(var i=parts.length-1;i>=0;i--){var last=parts[i];if(last==="."){parts.splice(i,1)}else if(last===".."){parts.splice(i,1);up++}else if(up){parts.splice(i,1);up--}}if(allowAboveRoot){for(;up;up--){parts.unshift("..")}}return parts},normalize:path=>{var isAbsolute=PATH.isAbs(path),trailingSlash=path.substr(-1)==="/";path=PATH.normalizeArray(path.split("/").filter(p=>!!p),!isAbsolute).join("/");if(!path&&!isAbsolute){path="."}if(path&&trailingSlash){path+="/"}return(isAbsolute?"/":"")+path},dirname:path=>{var result=PATH.splitPath(path),root=result[0],dir=result[1];if(!root&&!dir){return"."}if(dir){dir=dir.substr(0,dir.length-1)}return root+dir},basename:path=>{if(path==="/")return"/";path=PATH.normalize(path);path=path.replace(/\/$/,"");var lastSlash=path.lastIndexOf("/");if(lastSlash===-1)return path;return path.substr(lastSlash+1)},join:function(){var paths=Array.prototype.slice.call(arguments);return PATH.normalize(paths.join("/"))},join2:(l,r)=>PATH.normalize(l+"/"+r)};var initRandomFill=()=>{if(typeof crypto=="object"&&typeof crypto["getRandomValues"]=="function"){return view=>crypto.getRandomValues(view)}else if(ENVIRONMENT_IS_NODE){try{var crypto_module=require("crypto");var randomFillSync=crypto_module["randomFillSync"];if(randomFillSync){return view=>crypto_module["randomFillSync"](view)}var randomBytes=crypto_module["randomBytes"];return view=>(view.set(randomBytes(view.byteLength)),view)}catch(e){}}abort("no cryptographic support found for randomDevice. consider polyfilling it if you want to use something insecure like Math.random(), e.g. put this in a --pre-js: var crypto = { getRandomValues: (array) => { for (var i = 0; i < array.length; i++) array[i] = (Math.random()*256)|0 } };")};var randomFill=view=>(randomFill=initRandomFill())(view);var PATH_FS={resolve:function(){var resolvedPath="",resolvedAbsolute=false;for(var i=arguments.length-1;i>=-1&&!resolvedAbsolute;i--){var path=i>=0?arguments[i]:FS.cwd();if(typeof path!="string"){throw new TypeError("Arguments to path.resolve must be strings")}else if(!path){return""}resolvedPath=path+"/"+resolvedPath;resolvedAbsolute=PATH.isAbs(path)}resolvedPath=PATH.normalizeArray(resolvedPath.split("/").filter(p=>!!p),!resolvedAbsolute).join("/");return(resolvedAbsolute?"/":"")+resolvedPath||"."},relative:(from,to)=>{from=PATH_FS.resolve(from).substr(1);to=PATH_FS.resolve(to).substr(1);function trim(arr){var start=0;for(;start=0;end--){if(arr[end]!=="")break}if(start>end)return[];return arr.slice(start,end-start+1)}var fromParts=trim(from.split("/"));var toParts=trim(to.split("/"));var length=Math.min(fromParts.length,toParts.length);var samePartsLength=length;for(var i=0;i{var len=0;for(var i=0;i=55296&&c<=57343){len+=4;++i}else{len+=3}}return len};var stringToUTF8Array=(str,heap,outIdx,maxBytesToWrite)=>{assert(typeof str==="string");if(!(maxBytesToWrite>0))return 0;var startIdx=outIdx;var endIdx=outIdx+maxBytesToWrite-1;for(var i=0;i=55296&&u<=57343){var u1=str.charCodeAt(++i);u=65536+((u&1023)<<10)|u1&1023}if(u<=127){if(outIdx>=endIdx)break;heap[outIdx++]=u}else if(u<=2047){if(outIdx+1>=endIdx)break;heap[outIdx++]=192|u>>6;heap[outIdx++]=128|u&63}else if(u<=65535){if(outIdx+2>=endIdx)break;heap[outIdx++]=224|u>>12;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63}else{if(outIdx+3>=endIdx)break;if(u>1114111)warnOnce("Invalid Unicode code point "+ptrToString(u)+" encountered when serializing a JS string to a UTF-8 string in wasm memory! (Valid unicode code points should be in range 0-0x10FFFF).");heap[outIdx++]=240|u>>18;heap[outIdx++]=128|u>>12&63;heap[outIdx++]=128|u>>6&63;heap[outIdx++]=128|u&63}}heap[outIdx]=0;return outIdx-startIdx};function intArrayFromString(stringy,dontAddNull,length){var len=length>0?length:lengthBytesUTF8(stringy)+1;var u8array=new Array(len);var numBytesWritten=stringToUTF8Array(stringy,u8array,0,u8array.length);if(dontAddNull)u8array.length=numBytesWritten;return u8array}var FS_stdin_getChar=()=>{if(!FS_stdin_getChar_buffer.length){var result=null;if(ENVIRONMENT_IS_NODE){var BUFSIZE=256;var buf=Buffer.alloc(BUFSIZE);var bytesRead=0;var fd=process.stdin.fd;try{bytesRead=fs.readSync(fd,buf)}catch(e){if(e.toString().includes("EOF"))bytesRead=0;else throw e}if(bytesRead>0){result=buf.slice(0,bytesRead).toString("utf-8")}else{result=null}}else if(typeof window!="undefined"&&typeof window.prompt=="function"){result=window.prompt("Input: ");if(result!==null){result+="\n"}}else if(typeof readline=="function"){result=readline();if(result!==null){result+="\n"}}if(!result){return null}FS_stdin_getChar_buffer=intArrayFromString(result,true)}return FS_stdin_getChar_buffer.shift()};var TTY={ttys:[],init(){},shutdown(){},register(dev,ops){TTY.ttys[dev]={input:[],output:[],ops:ops};FS.registerDevice(dev,TTY.stream_ops)},stream_ops:{open(stream){var tty=TTY.ttys[stream.node.rdev];if(!tty){throw new FS.ErrnoError(43)}stream.tty=tty;stream.seekable=false},close(stream){stream.tty.ops.fsync(stream.tty)},fsync(stream){stream.tty.ops.fsync(stream.tty)},read(stream,buffer,offset,length,pos){if(!stream.tty||!stream.tty.ops.get_char){throw new FS.ErrnoError(60)}var bytesRead=0;for(var i=0;i0){out(UTF8ArrayToString(tty.output,0));tty.output=[]}},ioctl_tcgets(tty){return{c_iflag:25856,c_oflag:5,c_cflag:191,c_lflag:35387,c_cc:[3,28,127,21,4,0,1,0,17,19,26,0,18,15,23,22,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]}},ioctl_tcsets(tty,optional_actions,data){return 0},ioctl_tiocgwinsz(tty){return[24,80]}},default_tty1_ops:{put_char(tty,val){if(val===null||val===10){err(UTF8ArrayToString(tty.output,0));tty.output=[]}else{if(val!=0)tty.output.push(val)}},fsync(tty){if(tty.output&&tty.output.length>0){err(UTF8ArrayToString(tty.output,0));tty.output=[]}}}};var mmapAlloc=size=>{abort("internal error: mmapAlloc called but `emscripten_builtin_memalign` native symbol not exported")};var MEMFS={ops_table:null,mount(mount){return MEMFS.createNode(null,"/",16384|511,0)},createNode(parent,name,mode,dev){if(FS.isBlkdev(mode)||FS.isFIFO(mode)){throw new FS.ErrnoError(63)}if(!MEMFS.ops_table){MEMFS.ops_table={dir:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr,lookup:MEMFS.node_ops.lookup,mknod:MEMFS.node_ops.mknod,rename:MEMFS.node_ops.rename,unlink:MEMFS.node_ops.unlink,rmdir:MEMFS.node_ops.rmdir,readdir:MEMFS.node_ops.readdir,symlink:MEMFS.node_ops.symlink},stream:{llseek:MEMFS.stream_ops.llseek}},file:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr},stream:{llseek:MEMFS.stream_ops.llseek,read:MEMFS.stream_ops.read,write:MEMFS.stream_ops.write,allocate:MEMFS.stream_ops.allocate,mmap:MEMFS.stream_ops.mmap,msync:MEMFS.stream_ops.msync}},link:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr,readlink:MEMFS.node_ops.readlink},stream:{}},chrdev:{node:{getattr:MEMFS.node_ops.getattr,setattr:MEMFS.node_ops.setattr},stream:FS.chrdev_stream_ops}}}var node=FS.createNode(parent,name,mode,dev);if(FS.isDir(node.mode)){node.node_ops=MEMFS.ops_table.dir.node;node.stream_ops=MEMFS.ops_table.dir.stream;node.contents={}}else if(FS.isFile(node.mode)){node.node_ops=MEMFS.ops_table.file.node;node.stream_ops=MEMFS.ops_table.file.stream;node.usedBytes=0;node.contents=null}else if(FS.isLink(node.mode)){node.node_ops=MEMFS.ops_table.link.node;node.stream_ops=MEMFS.ops_table.link.stream}else if(FS.isChrdev(node.mode)){node.node_ops=MEMFS.ops_table.chrdev.node;node.stream_ops=MEMFS.ops_table.chrdev.stream}node.timestamp=Date.now();if(parent){parent.contents[name]=node;parent.timestamp=node.timestamp}return node},getFileDataAsTypedArray(node){if(!node.contents)return new Uint8Array(0);if(node.contents.subarray)return node.contents.subarray(0,node.usedBytes);return new Uint8Array(node.contents)},expandFileStorage(node,newCapacity){var prevCapacity=node.contents?node.contents.length:0;if(prevCapacity>=newCapacity)return;var CAPACITY_DOUBLING_MAX=1024*1024;newCapacity=Math.max(newCapacity,prevCapacity*(prevCapacity>>0);if(prevCapacity!=0)newCapacity=Math.max(newCapacity,256);var oldContents=node.contents;node.contents=new Uint8Array(newCapacity);if(node.usedBytes>0)node.contents.set(oldContents.subarray(0,node.usedBytes),0)},resizeFileStorage(node,newSize){if(node.usedBytes==newSize)return;if(newSize==0){node.contents=null;node.usedBytes=0}else{var oldContents=node.contents;node.contents=new Uint8Array(newSize);if(oldContents){node.contents.set(oldContents.subarray(0,Math.min(newSize,node.usedBytes)))}node.usedBytes=newSize}},node_ops:{getattr(node){var attr={};attr.dev=FS.isChrdev(node.mode)?node.id:1;attr.ino=node.id;attr.mode=node.mode;attr.nlink=1;attr.uid=0;attr.gid=0;attr.rdev=node.rdev;if(FS.isDir(node.mode)){attr.size=4096}else if(FS.isFile(node.mode)){attr.size=node.usedBytes}else if(FS.isLink(node.mode)){attr.size=node.link.length}else{attr.size=0}attr.atime=new Date(node.timestamp);attr.mtime=new Date(node.timestamp);attr.ctime=new Date(node.timestamp);attr.blksize=4096;attr.blocks=Math.ceil(attr.size/attr.blksize);return attr},setattr(node,attr){if(attr.mode!==undefined){node.mode=attr.mode}if(attr.timestamp!==undefined){node.timestamp=attr.timestamp}if(attr.size!==undefined){MEMFS.resizeFileStorage(node,attr.size)}},lookup(parent,name){throw FS.genericErrors[44]},mknod(parent,name,mode,dev){return MEMFS.createNode(parent,name,mode,dev)},rename(old_node,new_dir,new_name){if(FS.isDir(old_node.mode)){var new_node;try{new_node=FS.lookupNode(new_dir,new_name)}catch(e){}if(new_node){for(var i in new_node.contents){throw new FS.ErrnoError(55)}}}delete old_node.parent.contents[old_node.name];old_node.parent.timestamp=Date.now();old_node.name=new_name;new_dir.contents[new_name]=old_node;new_dir.timestamp=old_node.parent.timestamp;old_node.parent=new_dir},unlink(parent,name){delete parent.contents[name];parent.timestamp=Date.now()},rmdir(parent,name){var node=FS.lookupNode(parent,name);for(var i in node.contents){throw new FS.ErrnoError(55)}delete parent.contents[name];parent.timestamp=Date.now()},readdir(node){var entries=[".",".."];for(var key in node.contents){if(!node.contents.hasOwnProperty(key)){continue}entries.push(key)}return entries},symlink(parent,newname,oldpath){var node=MEMFS.createNode(parent,newname,511|40960,0);node.link=oldpath;return node},readlink(node){if(!FS.isLink(node.mode)){throw new FS.ErrnoError(28)}return node.link}},stream_ops:{read(stream,buffer,offset,length,position){var contents=stream.node.contents;if(position>=stream.node.usedBytes)return 0;var size=Math.min(stream.node.usedBytes-position,length);assert(size>=0);if(size>8&&contents.subarray){buffer.set(contents.subarray(position,position+size),offset)}else{for(var i=0;i0||position+length{var dep=!noRunDep?getUniqueRunDependency(`al ${url}`):"";readAsync(url,arrayBuffer=>{assert(arrayBuffer,`Loading data file "${url}" failed (no arrayBuffer).`);onload(new Uint8Array(arrayBuffer));if(dep)removeRunDependency(dep)},event=>{if(onerror){onerror()}else{throw`Loading data file "${url}" failed.`}});if(dep)addRunDependency(dep)};var FS_createDataFile=(parent,name,fileData,canRead,canWrite,canOwn)=>FS.createDataFile(parent,name,fileData,canRead,canWrite,canOwn);var preloadPlugins=Module["preloadPlugins"]||[];var FS_handledByPreloadPlugin=(byteArray,fullname,finish,onerror)=>{if(typeof Browser!="undefined")Browser.init();var handled=false;preloadPlugins.forEach(plugin=>{if(handled)return;if(plugin["canHandle"](fullname)){plugin["handle"](byteArray,fullname,finish,onerror);handled=true}});return handled};var FS_createPreloadedFile=(parent,name,url,canRead,canWrite,onload,onerror,dontCreateFile,canOwn,preFinish)=>{var fullname=name?PATH_FS.resolve(PATH.join2(parent,name)):parent;var dep=getUniqueRunDependency(`cp ${fullname}`);function processData(byteArray){function finish(byteArray){if(preFinish)preFinish();if(!dontCreateFile){FS_createDataFile(parent,name,byteArray,canRead,canWrite,canOwn)}if(onload)onload();removeRunDependency(dep)}if(FS_handledByPreloadPlugin(byteArray,fullname,finish,()=>{if(onerror)onerror();removeRunDependency(dep)})){return}finish(byteArray)}addRunDependency(dep);if(typeof url=="string"){asyncLoad(url,byteArray=>processData(byteArray),onerror)}else{processData(url)}};var FS_modeStringToFlags=str=>{var flagModes={"r":0,"r+":2,"w":512|64|1,"w+":512|64|2,"a":1024|64|1,"a+":1024|64|2};var flags=flagModes[str];if(typeof flags=="undefined"){throw new Error(`Unknown file open mode: ${str}`)}return flags};var FS_getMode=(canRead,canWrite)=>{var mode=0;if(canRead)mode|=292|73;if(canWrite)mode|=146;return mode};var ERRNO_MESSAGES={0:"Success",1:"Arg list too long",2:"Permission denied",3:"Address already in use",4:"Address not available",5:"Address family not supported by protocol family",6:"No more processes",7:"Socket already connected",8:"Bad file number",9:"Trying to read unreadable message",10:"Mount device busy",11:"Operation canceled",12:"No children",13:"Connection aborted",14:"Connection refused",15:"Connection reset by peer",16:"File locking deadlock error",17:"Destination address required",18:"Math arg out of domain of func",19:"Quota exceeded",20:"File exists",21:"Bad address",22:"File too large",23:"Host is unreachable",24:"Identifier removed",25:"Illegal byte sequence",26:"Connection already in progress",27:"Interrupted system call",28:"Invalid argument",29:"I/O error",30:"Socket is already connected",31:"Is a directory",32:"Too many symbolic links",33:"Too many open files",34:"Too many links",35:"Message too long",36:"Multihop attempted",37:"File or path name too long",38:"Network interface is not configured",39:"Connection reset by network",40:"Network is unreachable",41:"Too many open files in system",42:"No buffer space available",43:"No such device",44:"No such file or directory",45:"Exec format error",46:"No record locks available",47:"The link has been severed",48:"Not enough core",49:"No message of desired type",50:"Protocol not available",51:"No space left on device",52:"Function not implemented",53:"Socket is not connected",54:"Not a directory",55:"Directory not empty",56:"State not recoverable",57:"Socket operation on non-socket",59:"Not a typewriter",60:"No such device or address",61:"Value too large for defined data type",62:"Previous owner died",63:"Not super-user",64:"Broken pipe",65:"Protocol error",66:"Unknown protocol",67:"Protocol wrong type for socket",68:"Math result not representable",69:"Read only file system",70:"Illegal seek",71:"No such process",72:"Stale file handle",73:"Connection timed out",74:"Text file busy",75:"Cross-device link",100:"Device not a stream",101:"Bad font file fmt",102:"Invalid slot",103:"Invalid request code",104:"No anode",105:"Block device required",106:"Channel number out of range",107:"Level 3 halted",108:"Level 3 reset",109:"Link number out of range",110:"Protocol driver not attached",111:"No CSI structure available",112:"Level 2 halted",113:"Invalid exchange",114:"Invalid request descriptor",115:"Exchange full",116:"No data (for no delay io)",117:"Timer expired",118:"Out of streams resources",119:"Machine is not on the network",120:"Package not installed",121:"The object is remote",122:"Advertise error",123:"Srmount error",124:"Communication error on send",125:"Cross mount point (not really error)",126:"Given log. name not unique",127:"f.d. invalid for this operation",128:"Remote address changed",129:"Can access a needed shared lib",130:"Accessing a corrupted shared lib",131:".lib section in a.out corrupted",132:"Attempting to link in too many libs",133:"Attempting to exec a shared library",135:"Streams pipe error",136:"Too many users",137:"Socket type not supported",138:"Not supported",139:"Protocol family not supported",140:"Can't send after socket shutdown",141:"Too many references",142:"Host is down",148:"No medium (in tape drive)",156:"Level 2 not synchronized"};var ERRNO_CODES={};var demangle=func=>{warnOnce("warning: build with -sDEMANGLE_SUPPORT to link in libcxxabi demangling");return func};var demangleAll=text=>{var regex=/\b_Z[\w\d_]+/g;return text.replace(regex,function(x){var y=demangle(x);return x===y?x:y+" ["+x+"]"})};var FS={root:null,mounts:[],devices:{},streams:[],nextInode:1,nameTable:null,currentPath:"/",initialized:false,ignorePermissions:true,ErrnoError:null,genericErrors:{},filesystems:null,syncFSRequests:0,lookupPath(path,opts={}){path=PATH_FS.resolve(path);if(!path)return{path:"",node:null};var defaults={follow_mount:true,recurse_count:0};opts=Object.assign(defaults,opts);if(opts.recurse_count>8){throw new FS.ErrnoError(32)}var parts=path.split("/").filter(p=>!!p);var current=FS.root;var current_path="/";for(var i=0;i40){throw new FS.ErrnoError(32)}}}}return{path:current_path,node:current}},getPath(node){var path;while(true){if(FS.isRoot(node)){var mount=node.mount.mountpoint;if(!path)return mount;return mount[mount.length-1]!=="/"?`${mount}/${path}`:mount+path}path=path?`${node.name}/${path}`:node.name;node=node.parent}},hashName(parentid,name){var hash=0;for(var i=0;i>>0)%FS.nameTable.length},hashAddNode(node){var hash=FS.hashName(node.parent.id,node.name);node.name_next=FS.nameTable[hash];FS.nameTable[hash]=node},hashRemoveNode(node){var hash=FS.hashName(node.parent.id,node.name);if(FS.nameTable[hash]===node){FS.nameTable[hash]=node.name_next}else{var current=FS.nameTable[hash];while(current){if(current.name_next===node){current.name_next=node.name_next;break}current=current.name_next}}},lookupNode(parent,name){var errCode=FS.mayLookup(parent);if(errCode){throw new FS.ErrnoError(errCode,parent)}var hash=FS.hashName(parent.id,name);for(var node=FS.nameTable[hash];node;node=node.name_next){var nodeName=node.name;if(node.parent.id===parent.id&&nodeName===name){return node}}return FS.lookup(parent,name)},createNode(parent,name,mode,rdev){assert(typeof parent=="object");var node=new FS.FSNode(parent,name,mode,rdev);FS.hashAddNode(node);return node},destroyNode(node){FS.hashRemoveNode(node)},isRoot(node){return node===node.parent},isMountpoint(node){return!!node.mounted},isFile(mode){return(mode&61440)===32768},isDir(mode){return(mode&61440)===16384},isLink(mode){return(mode&61440)===40960},isChrdev(mode){return(mode&61440)===8192},isBlkdev(mode){return(mode&61440)===24576},isFIFO(mode){return(mode&61440)===4096},isSocket(mode){return(mode&49152)===49152},flagsToPermissionString(flag){var perms=["r","w","rw"][flag&3];if(flag&512){perms+="w"}return perms},nodePermissions(node,perms){if(FS.ignorePermissions){return 0}if(perms.includes("r")&&!(node.mode&292)){return 2}else if(perms.includes("w")&&!(node.mode&146)){return 2}else if(perms.includes("x")&&!(node.mode&73)){return 2}return 0},mayLookup(dir){var errCode=FS.nodePermissions(dir,"x");if(errCode)return errCode;if(!dir.node_ops.lookup)return 2;return 0},mayCreate(dir,name){try{var node=FS.lookupNode(dir,name);return 20}catch(e){}return FS.nodePermissions(dir,"wx")},mayDelete(dir,name,isdir){var node;try{node=FS.lookupNode(dir,name)}catch(e){return e.errno}var errCode=FS.nodePermissions(dir,"wx");if(errCode){return errCode}if(isdir){if(!FS.isDir(node.mode)){return 54}if(FS.isRoot(node)||FS.getPath(node)===FS.cwd()){return 10}}else{if(FS.isDir(node.mode)){return 31}}return 0},mayOpen(node,flags){if(!node){return 44}if(FS.isLink(node.mode)){return 32}else if(FS.isDir(node.mode)){if(FS.flagsToPermissionString(flags)!=="r"||flags&512){return 31}}return FS.nodePermissions(node,FS.flagsToPermissionString(flags))},MAX_OPEN_FDS:4096,nextfd(){for(var fd=0;fd<=FS.MAX_OPEN_FDS;fd++){if(!FS.streams[fd]){return fd}}throw new FS.ErrnoError(33)},getStreamChecked(fd){var stream=FS.getStream(fd);if(!stream){throw new FS.ErrnoError(8)}return stream},getStream:fd=>FS.streams[fd],createStream(stream,fd=-1){if(!FS.FSStream){FS.FSStream=function(){this.shared={}};FS.FSStream.prototype={};Object.defineProperties(FS.FSStream.prototype,{object:{get(){return this.node},set(val){this.node=val}},isRead:{get(){return(this.flags&2097155)!==1}},isWrite:{get(){return(this.flags&2097155)!==0}},isAppend:{get(){return this.flags&1024}},flags:{get(){return this.shared.flags},set(val){this.shared.flags=val}},position:{get(){return this.shared.position},set(val){this.shared.position=val}}})}stream=Object.assign(new FS.FSStream,stream);if(fd==-1){fd=FS.nextfd()}stream.fd=fd;FS.streams[fd]=stream;return stream},closeStream(fd){FS.streams[fd]=null},chrdev_stream_ops:{open(stream){var device=FS.getDevice(stream.node.rdev);stream.stream_ops=device.stream_ops;if(stream.stream_ops.open){stream.stream_ops.open(stream)}},llseek(){throw new FS.ErrnoError(70)}},major:dev=>dev>>8,minor:dev=>dev&255,makedev:(ma,mi)=>ma<<8|mi,registerDevice(dev,ops){FS.devices[dev]={stream_ops:ops}},getDevice:dev=>FS.devices[dev],getMounts(mount){var mounts=[];var check=[mount];while(check.length){var m=check.pop();mounts.push(m);check.push.apply(check,m.mounts)}return mounts},syncfs(populate,callback){if(typeof populate=="function"){callback=populate;populate=false}FS.syncFSRequests++;if(FS.syncFSRequests>1){err(`warning: ${FS.syncFSRequests} FS.syncfs operations in flight at once, probably just doing extra work`)}var mounts=FS.getMounts(FS.root.mount);var completed=0;function doCallback(errCode){assert(FS.syncFSRequests>0);FS.syncFSRequests--;return callback(errCode)}function done(errCode){if(errCode){if(!done.errored){done.errored=true;return doCallback(errCode)}return}if(++completed>=mounts.length){doCallback(null)}}mounts.forEach(mount=>{if(!mount.type.syncfs){return done(null)}mount.type.syncfs(mount,populate,done)})},mount(type,opts,mountpoint){if(typeof type=="string"){throw type}var root=mountpoint==="/";var pseudo=!mountpoint;var node;if(root&&FS.root){throw new FS.ErrnoError(10)}else if(!root&&!pseudo){var lookup=FS.lookupPath(mountpoint,{follow_mount:false});mountpoint=lookup.path;node=lookup.node;if(FS.isMountpoint(node)){throw new FS.ErrnoError(10)}if(!FS.isDir(node.mode)){throw new FS.ErrnoError(54)}}var mount={type:type,opts:opts,mountpoint:mountpoint,mounts:[]};var mountRoot=type.mount(mount);mountRoot.mount=mount;mount.root=mountRoot;if(root){FS.root=mountRoot}else if(node){node.mounted=mount;if(node.mount){node.mount.mounts.push(mount)}}return mountRoot},unmount(mountpoint){var lookup=FS.lookupPath(mountpoint,{follow_mount:false});if(!FS.isMountpoint(lookup.node)){throw new FS.ErrnoError(28)}var node=lookup.node;var mount=node.mounted;var mounts=FS.getMounts(mount);Object.keys(FS.nameTable).forEach(hash=>{var current=FS.nameTable[hash];while(current){var next=current.name_next;if(mounts.includes(current.mount)){FS.destroyNode(current)}current=next}});node.mounted=null;var idx=node.mount.mounts.indexOf(mount);assert(idx!==-1);node.mount.mounts.splice(idx,1)},lookup(parent,name){return parent.node_ops.lookup(parent,name)},mknod(path,mode,dev){var lookup=FS.lookupPath(path,{parent:true});var parent=lookup.node;var name=PATH.basename(path);if(!name||name==="."||name===".."){throw new FS.ErrnoError(28)}var errCode=FS.mayCreate(parent,name);if(errCode){throw new FS.ErrnoError(errCode)}if(!parent.node_ops.mknod){throw new FS.ErrnoError(63)}return parent.node_ops.mknod(parent,name,mode,dev)},create(path,mode){mode=mode!==undefined?mode:438;mode&=4095;mode|=32768;return FS.mknod(path,mode,0)},mkdir(path,mode){mode=mode!==undefined?mode:511;mode&=511|512;mode|=16384;return FS.mknod(path,mode,0)},mkdirTree(path,mode){var dirs=path.split("/");var d="";for(var i=0;i=0);if(length<0||position<0){throw new FS.ErrnoError(28)}if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if((stream.flags&2097155)===1){throw new FS.ErrnoError(8)}if(FS.isDir(stream.node.mode)){throw new FS.ErrnoError(31)}if(!stream.stream_ops.read){throw new FS.ErrnoError(28)}var seeking=typeof position!="undefined";if(!seeking){position=stream.position}else if(!stream.seekable){throw new FS.ErrnoError(70)}var bytesRead=stream.stream_ops.read(stream,buffer,offset,length,position);if(!seeking)stream.position+=bytesRead;return bytesRead},write(stream,buffer,offset,length,position,canOwn){assert(offset>=0);if(length<0||position<0){throw new FS.ErrnoError(28)}if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if((stream.flags&2097155)===0){throw new FS.ErrnoError(8)}if(FS.isDir(stream.node.mode)){throw new FS.ErrnoError(31)}if(!stream.stream_ops.write){throw new FS.ErrnoError(28)}if(stream.seekable&&stream.flags&1024){FS.llseek(stream,0,2)}var seeking=typeof position!="undefined";if(!seeking){position=stream.position}else if(!stream.seekable){throw new FS.ErrnoError(70)}var bytesWritten=stream.stream_ops.write(stream,buffer,offset,length,position,canOwn);if(!seeking)stream.position+=bytesWritten;return bytesWritten},allocate(stream,offset,length){if(FS.isClosed(stream)){throw new FS.ErrnoError(8)}if(offset<0||length<=0){throw new FS.ErrnoError(28)}if((stream.flags&2097155)===0){throw new FS.ErrnoError(8)}if(!FS.isFile(stream.node.mode)&&!FS.isDir(stream.node.mode)){throw new FS.ErrnoError(43)}if(!stream.stream_ops.allocate){throw new FS.ErrnoError(138)}stream.stream_ops.allocate(stream,offset,length)},mmap(stream,length,position,prot,flags){if((prot&2)!==0&&(flags&2)===0&&(stream.flags&2097155)!==2){throw new FS.ErrnoError(2)}if((stream.flags&2097155)===1){throw new FS.ErrnoError(2)}if(!stream.stream_ops.mmap){throw new FS.ErrnoError(43)}return stream.stream_ops.mmap(stream,length,position,prot,flags)},msync(stream,buffer,offset,length,mmapFlags){assert(offset>=0);if(!stream.stream_ops.msync){return 0}return stream.stream_ops.msync(stream,buffer,offset,length,mmapFlags)},munmap:stream=>0,ioctl(stream,cmd,arg){if(!stream.stream_ops.ioctl){throw new FS.ErrnoError(59)}return stream.stream_ops.ioctl(stream,cmd,arg)},readFile(path,opts={}){opts.flags=opts.flags||0;opts.encoding=opts.encoding||"binary";if(opts.encoding!=="utf8"&&opts.encoding!=="binary"){throw new Error(`Invalid encoding type "${opts.encoding}"`)}var ret;var stream=FS.open(path,opts.flags);var stat=FS.stat(path);var length=stat.size;var buf=new Uint8Array(length);FS.read(stream,buf,0,length,0);if(opts.encoding==="utf8"){ret=UTF8ArrayToString(buf,0)}else if(opts.encoding==="binary"){ret=buf}FS.close(stream);return ret},writeFile(path,data,opts={}){opts.flags=opts.flags||577;var stream=FS.open(path,opts.flags,opts.mode);if(typeof data=="string"){var buf=new Uint8Array(lengthBytesUTF8(data)+1);var actualNumBytes=stringToUTF8Array(data,buf,0,buf.length);FS.write(stream,buf,0,actualNumBytes,undefined,opts.canOwn)}else if(ArrayBuffer.isView(data)){FS.write(stream,data,0,data.byteLength,undefined,opts.canOwn)}else{throw new Error("Unsupported data type")}FS.close(stream)},cwd:()=>FS.currentPath,chdir(path){var lookup=FS.lookupPath(path,{follow:true});if(lookup.node===null){throw new FS.ErrnoError(44)}if(!FS.isDir(lookup.node.mode)){throw new FS.ErrnoError(54)}var errCode=FS.nodePermissions(lookup.node,"x");if(errCode){throw new FS.ErrnoError(errCode)}FS.currentPath=lookup.path},createDefaultDirectories(){FS.mkdir("/tmp");FS.mkdir("/home");FS.mkdir("/home/web_user")},createDefaultDevices(){FS.mkdir("/dev");FS.registerDevice(FS.makedev(1,3),{read:()=>0,write:(stream,buffer,offset,length,pos)=>length});FS.mkdev("/dev/null",FS.makedev(1,3));TTY.register(FS.makedev(5,0),TTY.default_tty_ops);TTY.register(FS.makedev(6,0),TTY.default_tty1_ops);FS.mkdev("/dev/tty",FS.makedev(5,0));FS.mkdev("/dev/tty1",FS.makedev(6,0));var randomBuffer=new Uint8Array(1024),randomLeft=0;var randomByte=()=>{if(randomLeft===0){randomLeft=randomFill(randomBuffer).byteLength}return randomBuffer[--randomLeft]};FS.createDevice("/dev","random",randomByte);FS.createDevice("/dev","urandom",randomByte);FS.mkdir("/dev/shm");FS.mkdir("/dev/shm/tmp")},createSpecialDirectories(){FS.mkdir("/proc");var proc_self=FS.mkdir("/proc/self");FS.mkdir("/proc/self/fd");FS.mount({mount(){var node=FS.createNode(proc_self,"fd",16384|511,73);node.node_ops={lookup(parent,name){var fd=+name;var stream=FS.getStreamChecked(fd);var ret={parent:null,mount:{mountpoint:"fake"},node_ops:{readlink:()=>stream.path}};ret.parent=ret;return ret}};return node}},{},"/proc/self/fd")},createStandardStreams(){if(Module["stdin"]){FS.createDevice("/dev","stdin",Module["stdin"])}else{FS.symlink("/dev/tty","/dev/stdin")}if(Module["stdout"]){FS.createDevice("/dev","stdout",null,Module["stdout"])}else{FS.symlink("/dev/tty","/dev/stdout")}if(Module["stderr"]){FS.createDevice("/dev","stderr",null,Module["stderr"])}else{FS.symlink("/dev/tty1","/dev/stderr")}var stdin=FS.open("/dev/stdin",0);var stdout=FS.open("/dev/stdout",1);var stderr=FS.open("/dev/stderr",1);assert(stdin.fd===0,`invalid handle for stdin (${stdin.fd})`);assert(stdout.fd===1,`invalid handle for stdout (${stdout.fd})`);assert(stderr.fd===2,`invalid handle for stderr (${stderr.fd})`)},ensureErrnoError(){if(FS.ErrnoError)return;FS.ErrnoError=function ErrnoError(errno,node){this.name="ErrnoError";this.node=node;this.setErrno=function(errno){this.errno=errno;for(var key in ERRNO_CODES){if(ERRNO_CODES[key]===errno){this.code=key;break}}};this.setErrno(errno);this.message=ERRNO_MESSAGES[errno];if(this.stack){Object.defineProperty(this,"stack",{value:(new Error).stack,writable:true});this.stack=demangleAll(this.stack)}};FS.ErrnoError.prototype=new Error;FS.ErrnoError.prototype.constructor=FS.ErrnoError;[44].forEach(code=>{FS.genericErrors[code]=new FS.ErrnoError(code);FS.genericErrors[code].stack=""})},staticInit(){FS.ensureErrnoError();FS.nameTable=new Array(4096);FS.mount(MEMFS,{},"/");FS.createDefaultDirectories();FS.createDefaultDevices();FS.createSpecialDirectories();FS.filesystems={"MEMFS":MEMFS}},init(input,output,error){assert(!FS.init.initialized,"FS.init was previously called. If you want to initialize later with custom parameters, remove any earlier calls (note that one is automatically added to the generated code)");FS.init.initialized=true;FS.ensureErrnoError();Module["stdin"]=input||Module["stdin"];Module["stdout"]=output||Module["stdout"];Module["stderr"]=error||Module["stderr"];FS.createStandardStreams()},quit(){FS.init.initialized=false;_fflush(0);for(var i=0;ithis.length-1||idx<0){return undefined}var chunkOffset=idx%this.chunkSize;var chunkNum=idx/this.chunkSize|0;return this.getter(chunkNum)[chunkOffset]};LazyUint8Array.prototype.setDataGetter=function LazyUint8Array_setDataGetter(getter){this.getter=getter};LazyUint8Array.prototype.cacheLength=function LazyUint8Array_cacheLength(){var xhr=new XMLHttpRequest;xhr.open("HEAD",url,false);xhr.send(null);if(!(xhr.status>=200&&xhr.status<300||xhr.status===304))throw new Error("Couldn't load "+url+". Status: "+xhr.status);var datalength=Number(xhr.getResponseHeader("Content-length"));var header;var hasByteServing=(header=xhr.getResponseHeader("Accept-Ranges"))&&header==="bytes";var usesGzip=(header=xhr.getResponseHeader("Content-Encoding"))&&header==="gzip";var chunkSize=1024*1024;if(!hasByteServing)chunkSize=datalength;var doXHR=(from,to)=>{if(from>to)throw new Error("invalid range ("+from+", "+to+") or no bytes requested!");if(to>datalength-1)throw new Error("only "+datalength+" bytes available! programmer error!");var xhr=new XMLHttpRequest;xhr.open("GET",url,false);if(datalength!==chunkSize)xhr.setRequestHeader("Range","bytes="+from+"-"+to);xhr.responseType="arraybuffer";if(xhr.overrideMimeType){xhr.overrideMimeType("text/plain; charset=x-user-defined")}xhr.send(null);if(!(xhr.status>=200&&xhr.status<300||xhr.status===304))throw new Error("Couldn't load "+url+". Status: "+xhr.status);if(xhr.response!==undefined){return new Uint8Array(xhr.response||[])}return intArrayFromString(xhr.responseText||"",true)};var lazyArray=this;lazyArray.setDataGetter(chunkNum=>{var start=chunkNum*chunkSize;var end=(chunkNum+1)*chunkSize-1;end=Math.min(end,datalength-1);if(typeof lazyArray.chunks[chunkNum]=="undefined"){lazyArray.chunks[chunkNum]=doXHR(start,end)}if(typeof lazyArray.chunks[chunkNum]=="undefined")throw new Error("doXHR failed!");return lazyArray.chunks[chunkNum]});if(usesGzip||!datalength){chunkSize=datalength=1;datalength=this.getter(0).length;chunkSize=datalength;out("LazyFiles on gzip forces download of the whole file when length is accessed")}this._length=datalength;this._chunkSize=chunkSize;this.lengthKnown=true};if(typeof XMLHttpRequest!="undefined"){if(!ENVIRONMENT_IS_WORKER)throw"Cannot do synchronous binary XHRs outside webworkers in modern browsers. Use --embed-file or --preload-file in emcc";var lazyArray=new LazyUint8Array;Object.defineProperties(lazyArray,{length:{get:function(){if(!this.lengthKnown){this.cacheLength()}return this._length}},chunkSize:{get:function(){if(!this.lengthKnown){this.cacheLength()}return this._chunkSize}}});var properties={isDevice:false,contents:lazyArray}}else{var properties={isDevice:false,url:url}}var node=FS.createFile(parent,name,properties,canRead,canWrite);if(properties.contents){node.contents=properties.contents}else if(properties.url){node.contents=null;node.url=properties.url}Object.defineProperties(node,{usedBytes:{get:function(){return this.contents.length}}});var stream_ops={};var keys=Object.keys(node.stream_ops);keys.forEach(key=>{var fn=node.stream_ops[key];stream_ops[key]=function forceLoadLazyFile(){FS.forceLoadFile(node);return fn.apply(null,arguments)}});function writeChunks(stream,buffer,offset,length,position){var contents=stream.node.contents;if(position>=contents.length)return 0;var size=Math.min(contents.length-position,length);assert(size>=0);if(contents.slice){for(var i=0;i{FS.forceLoadFile(node);return writeChunks(stream,buffer,offset,length,position)};stream_ops.mmap=(stream,length,position,prot,flags)=>{FS.forceLoadFile(node);var ptr=mmapAlloc(length);if(!ptr){throw new FS.ErrnoError(48)}writeChunks(stream,HEAP8,ptr,length,position);return{ptr:ptr,allocated:true}};node.stream_ops=stream_ops;return node},absolutePath(){abort("FS.absolutePath has been removed; use PATH_FS.resolve instead")},createFolder(){abort("FS.createFolder has been removed; use FS.mkdir instead")},createLink(){abort("FS.createLink has been removed; use FS.symlink instead")},joinPath(){abort("FS.joinPath has been removed; use PATH.join instead")},mmapAlloc(){abort("FS.mmapAlloc has been replaced by the top level function mmapAlloc")},standardizePath(){abort("FS.standardizePath has been removed; use PATH.normalize instead")}};var SYSCALLS={DEFAULT_POLLMASK:5,calculateAt(dirfd,path,allowEmpty){if(PATH.isAbs(path)){return path}var dir;if(dirfd===-100){dir=FS.cwd()}else{var dirstream=SYSCALLS.getStreamFromFD(dirfd);dir=dirstream.path}if(path.length==0){if(!allowEmpty){throw new FS.ErrnoError(44)}return dir}return PATH.join2(dir,path)},doStat(func,path,buf){try{var stat=func(path)}catch(e){if(e&&e.node&&PATH.normalize(path)!==PATH.normalize(FS.getPath(e.node))){return-54}throw e}HEAP32[buf>>2]=stat.dev;HEAP32[buf+4>>2]=stat.mode;HEAPU32[buf+8>>2]=stat.nlink;HEAP32[buf+12>>2]=stat.uid;HEAP32[buf+16>>2]=stat.gid;HEAP32[buf+20>>2]=stat.rdev;tempI64=[stat.size>>>0,(tempDouble=stat.size,+Math.abs(tempDouble)>=1?tempDouble>0?+Math.floor(tempDouble/4294967296)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+24>>2]=tempI64[0],HEAP32[buf+28>>2]=tempI64[1];HEAP32[buf+32>>2]=4096;HEAP32[buf+36>>2]=stat.blocks;var atime=stat.atime.getTime();var mtime=stat.mtime.getTime();var ctime=stat.ctime.getTime();tempI64=[Math.floor(atime/1e3)>>>0,(tempDouble=Math.floor(atime/1e3),+Math.abs(tempDouble)>=1?tempDouble>0?+Math.floor(tempDouble/4294967296)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+40>>2]=tempI64[0],HEAP32[buf+44>>2]=tempI64[1];HEAPU32[buf+48>>2]=atime%1e3*1e3;tempI64=[Math.floor(mtime/1e3)>>>0,(tempDouble=Math.floor(mtime/1e3),+Math.abs(tempDouble)>=1?tempDouble>0?+Math.floor(tempDouble/4294967296)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+56>>2]=tempI64[0],HEAP32[buf+60>>2]=tempI64[1];HEAPU32[buf+64>>2]=mtime%1e3*1e3;tempI64=[Math.floor(ctime/1e3)>>>0,(tempDouble=Math.floor(ctime/1e3),+Math.abs(tempDouble)>=1?tempDouble>0?+Math.floor(tempDouble/4294967296)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+72>>2]=tempI64[0],HEAP32[buf+76>>2]=tempI64[1];HEAPU32[buf+80>>2]=ctime%1e3*1e3;tempI64=[stat.ino>>>0,(tempDouble=stat.ino,+Math.abs(tempDouble)>=1?tempDouble>0?+Math.floor(tempDouble/4294967296)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[buf+88>>2]=tempI64[0],HEAP32[buf+92>>2]=tempI64[1];return 0},doMsync(addr,stream,len,flags,offset){if(!FS.isFile(stream.node.mode)){throw new FS.ErrnoError(43)}if(flags&2){return 0}var buffer=HEAPU8.slice(addr,addr+len);FS.msync(stream,buffer,offset,len,flags)},varargs:undefined,get(){assert(SYSCALLS.varargs!=undefined);var ret=HEAP32[+SYSCALLS.varargs>>2];SYSCALLS.varargs+=4;return ret},getp(){return SYSCALLS.get()},getStr(ptr){var ret=UTF8ToString(ptr);return ret},getStreamFromFD(fd){var stream=FS.getStreamChecked(fd);return stream}};function ___syscall_dup3(fd,newfd,flags){try{var old=SYSCALLS.getStreamFromFD(fd);assert(!flags);if(old.fd===newfd)return-28;var existing=FS.getStream(newfd);if(existing)FS.close(existing);return FS.createStream(old,newfd).fd}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return-e.errno}}var setErrNo=value=>{HEAP32[___errno_location()>>2]=value;return value};function ___syscall_fcntl64(fd,cmd,varargs){SYSCALLS.varargs=varargs;try{var stream=SYSCALLS.getStreamFromFD(fd);switch(cmd){case 0:{var arg=SYSCALLS.get();if(arg<0){return-28}while(FS.streams[arg]){arg++}var newStream;newStream=FS.createStream(stream,arg);return newStream.fd}case 1:case 2:return 0;case 3:return stream.flags;case 4:{var arg=SYSCALLS.get();stream.flags|=arg;return 0}case 5:{var arg=SYSCALLS.getp();var offset=0;HEAP16[arg+offset>>1]=2;return 0}case 6:case 7:return 0;case 16:case 8:return-28;case 9:setErrNo(28);return-1;default:{return-28}}}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return-e.errno}}function ___syscall_ioctl(fd,op,varargs){SYSCALLS.varargs=varargs;try{var stream=SYSCALLS.getStreamFromFD(fd);switch(op){case 21509:{if(!stream.tty)return-59;return 0}case 21505:{if(!stream.tty)return-59;if(stream.tty.ops.ioctl_tcgets){var termios=stream.tty.ops.ioctl_tcgets(stream);var argp=SYSCALLS.getp();HEAP32[argp>>2]=termios.c_iflag||0;HEAP32[argp+4>>2]=termios.c_oflag||0;HEAP32[argp+8>>2]=termios.c_cflag||0;HEAP32[argp+12>>2]=termios.c_lflag||0;for(var i=0;i<32;i++){HEAP8[argp+i+17>>0]=termios.c_cc[i]||0}return 0}return 0}case 21510:case 21511:case 21512:{if(!stream.tty)return-59;return 0}case 21506:case 21507:case 21508:{if(!stream.tty)return-59;if(stream.tty.ops.ioctl_tcsets){var argp=SYSCALLS.getp();var c_iflag=HEAP32[argp>>2];var c_oflag=HEAP32[argp+4>>2];var c_cflag=HEAP32[argp+8>>2];var c_lflag=HEAP32[argp+12>>2];var c_cc=[];for(var i=0;i<32;i++){c_cc.push(HEAP8[argp+i+17>>0])}return stream.tty.ops.ioctl_tcsets(stream.tty,op,{c_iflag:c_iflag,c_oflag:c_oflag,c_cflag:c_cflag,c_lflag:c_lflag,c_cc:c_cc})}return 0}case 21519:{if(!stream.tty)return-59;var argp=SYSCALLS.getp();HEAP32[argp>>2]=0;return 0}case 21520:{if(!stream.tty)return-59;return-28}case 21531:{var argp=SYSCALLS.getp();return FS.ioctl(stream,op,argp)}case 21523:{if(!stream.tty)return-59;if(stream.tty.ops.ioctl_tiocgwinsz){var winsize=stream.tty.ops.ioctl_tiocgwinsz(stream.tty);var argp=SYSCALLS.getp();HEAP16[argp>>1]=winsize[0];HEAP16[argp+2>>1]=winsize[1]}return 0}case 21524:{if(!stream.tty)return-59;return 0}case 21515:{if(!stream.tty)return-59;return 0}default:return-28}}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return-e.errno}}function ___syscall_openat(dirfd,path,flags,varargs){SYSCALLS.varargs=varargs;try{path=SYSCALLS.getStr(path);path=SYSCALLS.calculateAt(dirfd,path);var mode=varargs?SYSCALLS.get():0;return FS.open(path,flags,mode).fd}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return-e.errno}}var structRegistrations={};var runDestructors=destructors=>{while(destructors.length){var ptr=destructors.pop();var del=destructors.pop();del(ptr)}};function simpleReadValueFromPointer(pointer){return this["fromWireType"](HEAP32[pointer>>2])}var awaitingDependencies={};var registeredTypes={};var typeDependencies={};var InternalError;var throwInternalError=message=>{throw new InternalError(message)};var whenDependentTypesAreResolved=(myTypes,dependentTypes,getTypeConverters)=>{myTypes.forEach(function(type){typeDependencies[type]=dependentTypes});function onComplete(typeConverters){var myTypeConverters=getTypeConverters(typeConverters);if(myTypeConverters.length!==myTypes.length){throwInternalError("Mismatched type converter count")}for(var i=0;i{if(registeredTypes.hasOwnProperty(dt)){typeConverters[i]=registeredTypes[dt]}else{unregisteredTypes.push(dt);if(!awaitingDependencies.hasOwnProperty(dt)){awaitingDependencies[dt]=[]}awaitingDependencies[dt].push(()=>{typeConverters[i]=registeredTypes[dt];++registered;if(registered===unregisteredTypes.length){onComplete(typeConverters)}})}});if(0===unregisteredTypes.length){onComplete(typeConverters)}};var __embind_finalize_value_object=structType=>{var reg=structRegistrations[structType];delete structRegistrations[structType];var rawConstructor=reg.rawConstructor;var rawDestructor=reg.rawDestructor;var fieldRecords=reg.fields;var fieldTypes=fieldRecords.map(field=>field.getterReturnType).concat(fieldRecords.map(field=>field.setterArgumentType));whenDependentTypesAreResolved([structType],fieldTypes,fieldTypes=>{var fields={};fieldRecords.forEach((field,i)=>{var fieldName=field.fieldName;var getterReturnType=fieldTypes[i];var getter=field.getter;var getterContext=field.getterContext;var setterArgumentType=fieldTypes[i+fieldRecords.length];var setter=field.setter;var setterContext=field.setterContext;fields[fieldName]={read:ptr=>getterReturnType["fromWireType"](getter(getterContext,ptr)),write:(ptr,o)=>{var destructors=[];setter(setterContext,ptr,setterArgumentType["toWireType"](destructors,o));runDestructors(destructors)}}});return[{name:reg.name,"fromWireType":ptr=>{var rv={};for(var i in fields){rv[i]=fields[i].read(ptr)}rawDestructor(ptr);return rv},"toWireType":(destructors,o)=>{for(var fieldName in fields){if(!(fieldName in o)){throw new TypeError(`Missing field: "${fieldName}"`)}}var ptr=rawConstructor();for(fieldName in fields){fields[fieldName].write(ptr,o[fieldName])}if(destructors!==null){destructors.push(rawDestructor,ptr)}return ptr},"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":simpleReadValueFromPointer,destructorFunction:rawDestructor}]})};var __embind_register_bigint=(primitiveType,name,size,minRange,maxRange)=>{};var embind_init_charCodes=()=>{var codes=new Array(256);for(var i=0;i<256;++i){codes[i]=String.fromCharCode(i)}embind_charCodes=codes};var embind_charCodes;var readLatin1String=ptr=>{var ret="";var c=ptr;while(HEAPU8[c]){ret+=embind_charCodes[HEAPU8[c++]]}return ret};var BindingError;var throwBindingError=message=>{throw new BindingError(message)};function sharedRegisterType(rawType,registeredInstance,options={}){var name=registeredInstance.name;if(!rawType){throwBindingError(`type "${name}" must have a positive integer typeid pointer`)}if(registeredTypes.hasOwnProperty(rawType)){if(options.ignoreDuplicateRegistrations){return}else{throwBindingError(`Cannot register type '${name}' twice`)}}registeredTypes[rawType]=registeredInstance;delete typeDependencies[rawType];if(awaitingDependencies.hasOwnProperty(rawType)){var callbacks=awaitingDependencies[rawType];delete awaitingDependencies[rawType];callbacks.forEach(cb=>cb())}}function registerType(rawType,registeredInstance,options={}){if(!("argPackAdvance"in registeredInstance)){throw new TypeError("registerType registeredInstance requires argPackAdvance")}return sharedRegisterType(rawType,registeredInstance,options)}var GenericWireTypeSize=8;var __embind_register_bool=(rawType,name,trueValue,falseValue)=>{name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":function(wt){return!!wt},"toWireType":function(destructors,o){return o?trueValue:falseValue},"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":function(pointer){return this["fromWireType"](HEAPU8[pointer])},destructorFunction:null})};var shallowCopyInternalPointer=o=>({count:o.count,deleteScheduled:o.deleteScheduled,preservePointerOnDelete:o.preservePointerOnDelete,ptr:o.ptr,ptrType:o.ptrType,smartPtr:o.smartPtr,smartPtrType:o.smartPtrType});var throwInstanceAlreadyDeleted=obj=>{function getInstanceTypeName(handle){return handle.$$.ptrType.registeredClass.name}throwBindingError(getInstanceTypeName(obj)+" instance already deleted")};var finalizationRegistry=false;var detachFinalizer=handle=>{};var runDestructor=$$=>{if($$.smartPtr){$$.smartPtrType.rawDestructor($$.smartPtr)}else{$$.ptrType.registeredClass.rawDestructor($$.ptr)}};var releaseClassHandle=$$=>{$$.count.value-=1;var toDelete=0===$$.count.value;if(toDelete){runDestructor($$)}};var downcastPointer=(ptr,ptrClass,desiredClass)=>{if(ptrClass===desiredClass){return ptr}if(undefined===desiredClass.baseClass){return null}var rv=downcastPointer(ptr,ptrClass,desiredClass.baseClass);if(rv===null){return null}return desiredClass.downcast(rv)};var registeredPointers={};var getInheritedInstanceCount=()=>Object.keys(registeredInstances).length;var getLiveInheritedInstances=()=>{var rv=[];for(var k in registeredInstances){if(registeredInstances.hasOwnProperty(k)){rv.push(registeredInstances[k])}}return rv};var deletionQueue=[];var flushPendingDeletes=()=>{while(deletionQueue.length){var obj=deletionQueue.pop();obj.$$.deleteScheduled=false;obj["delete"]()}};var delayFunction;var setDelayFunction=fn=>{delayFunction=fn;if(deletionQueue.length&&delayFunction){delayFunction(flushPendingDeletes)}};var init_embind=()=>{Module["getInheritedInstanceCount"]=getInheritedInstanceCount;Module["getLiveInheritedInstances"]=getLiveInheritedInstances;Module["flushPendingDeletes"]=flushPendingDeletes;Module["setDelayFunction"]=setDelayFunction};var registeredInstances={};var getBasestPointer=(class_,ptr)=>{if(ptr===undefined){throwBindingError("ptr should not be undefined")}while(class_.baseClass){ptr=class_.upcast(ptr);class_=class_.baseClass}return ptr};var getInheritedInstance=(class_,ptr)=>{ptr=getBasestPointer(class_,ptr);return registeredInstances[ptr]};var makeClassHandle=(prototype,record)=>{if(!record.ptrType||!record.ptr){throwInternalError("makeClassHandle requires ptr and ptrType")}var hasSmartPtrType=!!record.smartPtrType;var hasSmartPtr=!!record.smartPtr;if(hasSmartPtrType!==hasSmartPtr){throwInternalError("Both smartPtrType and smartPtr must be specified")}record.count={value:1};return attachFinalizer(Object.create(prototype,{$$:{value:record}}))};function RegisteredPointer_fromWireType(ptr){var rawPointer=this.getPointee(ptr);if(!rawPointer){this.destructor(ptr);return null}var registeredInstance=getInheritedInstance(this.registeredClass,rawPointer);if(undefined!==registeredInstance){if(0===registeredInstance.$$.count.value){registeredInstance.$$.ptr=rawPointer;registeredInstance.$$.smartPtr=ptr;return registeredInstance["clone"]()}else{var rv=registeredInstance["clone"]();this.destructor(ptr);return rv}}function makeDefaultHandle(){if(this.isSmartPointer){return makeClassHandle(this.registeredClass.instancePrototype,{ptrType:this.pointeeType,ptr:rawPointer,smartPtrType:this,smartPtr:ptr})}else{return makeClassHandle(this.registeredClass.instancePrototype,{ptrType:this,ptr:ptr})}}var actualType=this.registeredClass.getActualType(rawPointer);var registeredPointerRecord=registeredPointers[actualType];if(!registeredPointerRecord){return makeDefaultHandle.call(this)}var toType;if(this.isConst){toType=registeredPointerRecord.constPointerType}else{toType=registeredPointerRecord.pointerType}var dp=downcastPointer(rawPointer,this.registeredClass,toType.registeredClass);if(dp===null){return makeDefaultHandle.call(this)}if(this.isSmartPointer){return makeClassHandle(toType.registeredClass.instancePrototype,{ptrType:toType,ptr:dp,smartPtrType:this,smartPtr:ptr})}else{return makeClassHandle(toType.registeredClass.instancePrototype,{ptrType:toType,ptr:dp})}}var attachFinalizer=handle=>{if("undefined"===typeof FinalizationRegistry){attachFinalizer=handle=>handle;return handle}finalizationRegistry=new FinalizationRegistry(info=>{console.warn(info.leakWarning.stack.replace(/^Error: /,""));releaseClassHandle(info.$$)});attachFinalizer=handle=>{var $$=handle.$$;var hasSmartPtr=!!$$.smartPtr;if(hasSmartPtr){var info={$$:$$};var cls=$$.ptrType.registeredClass;info.leakWarning=new Error(`Embind found a leaked C++ instance ${cls.name} <${ptrToString($$.ptr)}>.\n`+"We'll free it automatically in this case, but this functionality is not reliable across various environments.\n"+"Make sure to invoke .delete() manually once you're done with the instance instead.\n"+"Originally allocated");if("captureStackTrace"in Error){Error.captureStackTrace(info.leakWarning,RegisteredPointer_fromWireType)}finalizationRegistry.register(handle,info,handle)}return handle};detachFinalizer=handle=>finalizationRegistry.unregister(handle);return attachFinalizer(handle)};var init_ClassHandle=()=>{Object.assign(ClassHandle.prototype,{"isAliasOf"(other){if(!(this instanceof ClassHandle)){return false}if(!(other instanceof ClassHandle)){return false}var leftClass=this.$$.ptrType.registeredClass;var left=this.$$.ptr;other.$$=other.$$;var rightClass=other.$$.ptrType.registeredClass;var right=other.$$.ptr;while(leftClass.baseClass){left=leftClass.upcast(left);leftClass=leftClass.baseClass}while(rightClass.baseClass){right=rightClass.upcast(right);rightClass=rightClass.baseClass}return leftClass===rightClass&&left===right},"clone"(){if(!this.$$.ptr){throwInstanceAlreadyDeleted(this)}if(this.$$.preservePointerOnDelete){this.$$.count.value+=1;return this}else{var clone=attachFinalizer(Object.create(Object.getPrototypeOf(this),{$$:{value:shallowCopyInternalPointer(this.$$)}}));clone.$$.count.value+=1;clone.$$.deleteScheduled=false;return clone}},"delete"(){if(!this.$$.ptr){throwInstanceAlreadyDeleted(this)}if(this.$$.deleteScheduled&&!this.$$.preservePointerOnDelete){throwBindingError("Object already scheduled for deletion")}detachFinalizer(this);releaseClassHandle(this.$$);if(!this.$$.preservePointerOnDelete){this.$$.smartPtr=undefined;this.$$.ptr=undefined}},"isDeleted"(){return!this.$$.ptr},"deleteLater"(){if(!this.$$.ptr){throwInstanceAlreadyDeleted(this)}if(this.$$.deleteScheduled&&!this.$$.preservePointerOnDelete){throwBindingError("Object already scheduled for deletion")}deletionQueue.push(this);if(deletionQueue.length===1&&delayFunction){delayFunction(flushPendingDeletes)}this.$$.deleteScheduled=true;return this}})};function ClassHandle(){}var char_0=48;var char_9=57;var makeLegalFunctionName=name=>{if(undefined===name){return"_unknown"}name=name.replace(/[^a-zA-Z0-9_]/g,"$");var f=name.charCodeAt(0);if(f>=char_0&&f<=char_9){return`_${name}`}return name};function createNamedFunction(name,body){name=makeLegalFunctionName(name);return{[name]:function(){return body.apply(this,arguments)}}[name]}var ensureOverloadTable=(proto,methodName,humanName)=>{if(undefined===proto[methodName].overloadTable){var prevFunc=proto[methodName];proto[methodName]=function(){if(!proto[methodName].overloadTable.hasOwnProperty(arguments.length)){throwBindingError(`Function '${humanName}' called with an invalid number of arguments (${arguments.length}) - expects one of (${proto[methodName].overloadTable})!`)}return proto[methodName].overloadTable[arguments.length].apply(this,arguments)};proto[methodName].overloadTable=[];proto[methodName].overloadTable[prevFunc.argCount]=prevFunc}};var exposePublicSymbol=(name,value,numArguments)=>{if(Module.hasOwnProperty(name)){if(undefined===numArguments||undefined!==Module[name].overloadTable&&undefined!==Module[name].overloadTable[numArguments]){throwBindingError(`Cannot register public name '${name}' twice`)}ensureOverloadTable(Module,name,name);if(Module.hasOwnProperty(numArguments)){throwBindingError(`Cannot register multiple overloads of a function with the same number of arguments (${numArguments})!`)}Module[name].overloadTable[numArguments]=value}else{Module[name]=value;if(undefined!==numArguments){Module[name].numArguments=numArguments}}};function RegisteredClass(name,constructor,instancePrototype,rawDestructor,baseClass,getActualType,upcast,downcast){this.name=name;this.constructor=constructor;this.instancePrototype=instancePrototype;this.rawDestructor=rawDestructor;this.baseClass=baseClass;this.getActualType=getActualType;this.upcast=upcast;this.downcast=downcast;this.pureVirtualFunctions=[]}var upcastPointer=(ptr,ptrClass,desiredClass)=>{while(ptrClass!==desiredClass){if(!ptrClass.upcast){throwBindingError(`Expected null or instance of ${desiredClass.name}, got an instance of ${ptrClass.name}`)}ptr=ptrClass.upcast(ptr);ptrClass=ptrClass.baseClass}return ptr};function constNoSmartPtrRawPointerToWireType(destructors,handle){if(handle===null){if(this.isReference){throwBindingError(`null is not a valid ${this.name}`)}return 0}if(!handle.$$){throwBindingError(`Cannot pass "${embindRepr(handle)}" as a ${this.name}`)}if(!handle.$$.ptr){throwBindingError(`Cannot pass deleted object as a pointer of type ${this.name}`)}var handleClass=handle.$$.ptrType.registeredClass;var ptr=upcastPointer(handle.$$.ptr,handleClass,this.registeredClass);return ptr}function genericPointerToWireType(destructors,handle){var ptr;if(handle===null){if(this.isReference){throwBindingError(`null is not a valid ${this.name}`)}if(this.isSmartPointer){ptr=this.rawConstructor();if(destructors!==null){destructors.push(this.rawDestructor,ptr)}return ptr}else{return 0}}if(!handle.$$){throwBindingError(`Cannot pass "${embindRepr(handle)}" as a ${this.name}`)}if(!handle.$$.ptr){throwBindingError(`Cannot pass deleted object as a pointer of type ${this.name}`)}if(!this.isConst&&handle.$$.ptrType.isConst){throwBindingError(`Cannot convert argument of type ${handle.$$.smartPtrType?handle.$$.smartPtrType.name:handle.$$.ptrType.name} to parameter type ${this.name}`)}var handleClass=handle.$$.ptrType.registeredClass;ptr=upcastPointer(handle.$$.ptr,handleClass,this.registeredClass);if(this.isSmartPointer){if(undefined===handle.$$.smartPtr){throwBindingError("Passing raw pointer to smart pointer is illegal")}switch(this.sharingPolicy){case 0:if(handle.$$.smartPtrType===this){ptr=handle.$$.smartPtr}else{throwBindingError(`Cannot convert argument of type ${handle.$$.smartPtrType?handle.$$.smartPtrType.name:handle.$$.ptrType.name} to parameter type ${this.name}`)}break;case 1:ptr=handle.$$.smartPtr;break;case 2:if(handle.$$.smartPtrType===this){ptr=handle.$$.smartPtr}else{var clonedHandle=handle["clone"]();ptr=this.rawShare(ptr,Emval.toHandle(()=>clonedHandle["delete"]()));if(destructors!==null){destructors.push(this.rawDestructor,ptr)}}break;default:throwBindingError("Unsupporting sharing policy")}}return ptr}function nonConstNoSmartPtrRawPointerToWireType(destructors,handle){if(handle===null){if(this.isReference){throwBindingError(`null is not a valid ${this.name}`)}return 0}if(!handle.$$){throwBindingError(`Cannot pass "${embindRepr(handle)}" as a ${this.name}`)}if(!handle.$$.ptr){throwBindingError(`Cannot pass deleted object as a pointer of type ${this.name}`)}if(handle.$$.ptrType.isConst){throwBindingError(`Cannot convert argument of type ${handle.$$.ptrType.name} to parameter type ${this.name}`)}var handleClass=handle.$$.ptrType.registeredClass;var ptr=upcastPointer(handle.$$.ptr,handleClass,this.registeredClass);return ptr}function readPointer(pointer){return this["fromWireType"](HEAPU32[pointer>>2])}var init_RegisteredPointer=()=>{Object.assign(RegisteredPointer.prototype,{getPointee(ptr){if(this.rawGetPointee){ptr=this.rawGetPointee(ptr)}return ptr},destructor(ptr){if(this.rawDestructor){this.rawDestructor(ptr)}},"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":readPointer,"deleteObject"(handle){if(handle!==null){handle["delete"]()}},"fromWireType":RegisteredPointer_fromWireType})};function RegisteredPointer(name,registeredClass,isReference,isConst,isSmartPointer,pointeeType,sharingPolicy,rawGetPointee,rawConstructor,rawShare,rawDestructor){this.name=name;this.registeredClass=registeredClass;this.isReference=isReference;this.isConst=isConst;this.isSmartPointer=isSmartPointer;this.pointeeType=pointeeType;this.sharingPolicy=sharingPolicy;this.rawGetPointee=rawGetPointee;this.rawConstructor=rawConstructor;this.rawShare=rawShare;this.rawDestructor=rawDestructor;if(!isSmartPointer&®isteredClass.baseClass===undefined){if(isConst){this["toWireType"]=constNoSmartPtrRawPointerToWireType;this.destructorFunction=null}else{this["toWireType"]=nonConstNoSmartPtrRawPointerToWireType;this.destructorFunction=null}}else{this["toWireType"]=genericPointerToWireType}}var replacePublicSymbol=(name,value,numArguments)=>{if(!Module.hasOwnProperty(name)){throwInternalError("Replacing nonexistant public symbol")}if(undefined!==Module[name].overloadTable&&undefined!==numArguments){Module[name].overloadTable[numArguments]=value}else{Module[name]=value;Module[name].argCount=numArguments}};var dynCallLegacy=(sig,ptr,args)=>{assert("dynCall_"+sig in Module,`bad function pointer type - dynCall function not found for sig '${sig}'`);if(args&&args.length){assert(args.length===sig.substring(1).replace(/j/g,"--").length)}else{assert(sig.length==1)}var f=Module["dynCall_"+sig];return args&&args.length?f.apply(null,[ptr].concat(args)):f.call(null,ptr)};var wasmTableMirror=[];var wasmTable;var getWasmTableEntry=funcPtr=>{var func=wasmTableMirror[funcPtr];if(!func){if(funcPtr>=wasmTableMirror.length)wasmTableMirror.length=funcPtr+1;wasmTableMirror[funcPtr]=func=wasmTable.get(funcPtr)}assert(wasmTable.get(funcPtr)==func,"JavaScript-side Wasm function table mirror is out of date!");return func};var dynCall=(sig,ptr,args)=>{if(sig.includes("j")){return dynCallLegacy(sig,ptr,args)}assert(getWasmTableEntry(ptr),`missing table entry in dynCall: ${ptr}`);var rtn=getWasmTableEntry(ptr).apply(null,args);return rtn};var getDynCaller=(sig,ptr)=>{assert(sig.includes("j")||sig.includes("p"),"getDynCaller should only be called with i64 sigs");var argCache=[];return function(){argCache.length=0;Object.assign(argCache,arguments);return dynCall(sig,ptr,argCache)}};var embind__requireFunction=(signature,rawFunction)=>{signature=readLatin1String(signature);function makeDynCaller(){if(signature.includes("j")){return getDynCaller(signature,rawFunction)}return getWasmTableEntry(rawFunction)}var fp=makeDynCaller();if(typeof fp!="function"){throwBindingError(`unknown function pointer with signature ${signature}: ${rawFunction}`)}return fp};var extendError=(baseErrorType,errorName)=>{var errorClass=createNamedFunction(errorName,function(message){this.name=errorName;this.message=message;var stack=new Error(message).stack;if(stack!==undefined){this.stack=this.toString()+"\n"+stack.replace(/^Error(:[^\n]*)?\n/,"")}});errorClass.prototype=Object.create(baseErrorType.prototype);errorClass.prototype.constructor=errorClass;errorClass.prototype.toString=function(){if(this.message===undefined){return this.name}else{return`${this.name}: ${this.message}`}};return errorClass};var UnboundTypeError;var getTypeName=type=>{var ptr=___getTypeName(type);var rv=readLatin1String(ptr);_free(ptr);return rv};var throwUnboundTypeError=(message,types)=>{var unboundTypes=[];var seen={};function visit(type){if(seen[type]){return}if(registeredTypes[type]){return}if(typeDependencies[type]){typeDependencies[type].forEach(visit);return}unboundTypes.push(type);seen[type]=true}types.forEach(visit);throw new UnboundTypeError(`${message}: `+unboundTypes.map(getTypeName).join([", "]))};var __embind_register_class=(rawType,rawPointerType,rawConstPointerType,baseClassRawType,getActualTypeSignature,getActualType,upcastSignature,upcast,downcastSignature,downcast,name,destructorSignature,rawDestructor)=>{name=readLatin1String(name);getActualType=embind__requireFunction(getActualTypeSignature,getActualType);if(upcast){upcast=embind__requireFunction(upcastSignature,upcast)}if(downcast){downcast=embind__requireFunction(downcastSignature,downcast)}rawDestructor=embind__requireFunction(destructorSignature,rawDestructor);var legalFunctionName=makeLegalFunctionName(name);exposePublicSymbol(legalFunctionName,function(){throwUnboundTypeError(`Cannot construct ${name} due to unbound types`,[baseClassRawType])});whenDependentTypesAreResolved([rawType,rawPointerType,rawConstPointerType],baseClassRawType?[baseClassRawType]:[],function(base){base=base[0];var baseClass;var basePrototype;if(baseClassRawType){baseClass=base.registeredClass;basePrototype=baseClass.instancePrototype}else{basePrototype=ClassHandle.prototype}var constructor=createNamedFunction(legalFunctionName,function(){if(Object.getPrototypeOf(this)!==instancePrototype){throw new BindingError("Use 'new' to construct "+name)}if(undefined===registeredClass.constructor_body){throw new BindingError(name+" has no accessible constructor")}var body=registeredClass.constructor_body[arguments.length];if(undefined===body){throw new BindingError(`Tried to invoke ctor of ${name} with invalid number of parameters (${arguments.length}) - expected (${Object.keys(registeredClass.constructor_body).toString()}) parameters instead!`)}return body.apply(this,arguments)});var instancePrototype=Object.create(basePrototype,{constructor:{value:constructor}});constructor.prototype=instancePrototype;var registeredClass=new RegisteredClass(name,constructor,instancePrototype,rawDestructor,baseClass,getActualType,upcast,downcast);if(registeredClass.baseClass){if(registeredClass.baseClass.__derivedClasses===undefined){registeredClass.baseClass.__derivedClasses=[]}registeredClass.baseClass.__derivedClasses.push(registeredClass)}var referenceConverter=new RegisteredPointer(name,registeredClass,true,false,false);var pointerConverter=new RegisteredPointer(name+"*",registeredClass,false,false,false);var constPointerConverter=new RegisteredPointer(name+" const*",registeredClass,false,true,false);registeredPointers[rawType]={pointerType:pointerConverter,constPointerType:constPointerConverter};replacePublicSymbol(legalFunctionName,constructor);return[referenceConverter,pointerConverter,constPointerConverter]})};function newFunc(constructor,argumentList){if(!(constructor instanceof Function)){throw new TypeError(`new_ called with constructor type ${typeof constructor} which is not a function`)}var dummy=createNamedFunction(constructor.name||"unknownFunctionName",function(){});dummy.prototype=constructor.prototype;var obj=new dummy;var r=constructor.apply(obj,argumentList);return r instanceof Object?r:obj}function craftInvokerFunction(humanName,argTypes,classType,cppInvokerFunc,cppTargetFunc,isAsync){var argCount=argTypes.length;if(argCount<2){throwBindingError("argTypes array size mismatch! Must at least get return value and 'this' types!")}assert(!isAsync,"Async bindings are only supported with JSPI.");var isClassMethodFunc=argTypes[1]!==null&&classType!==null;var needsDestructorStack=false;for(var i=1;i0?", ":"")+argsListWired}invokerFnBody+=(returns||isAsync?"var rv = ":"")+"invoker(fn"+(argsListWired.length>0?", ":"")+argsListWired+");\n";if(needsDestructorStack){invokerFnBody+="runDestructors(destructors);\n"}else{for(var i=isClassMethodFunc?1:2;i{var array=[];for(var i=0;i>2])}return array};var getFunctionName=signature=>{signature=signature.trim();const argsIndex=signature.indexOf("(");if(argsIndex!==-1){assert(signature[signature.length-1]==")","Parentheses for argument names should match.");return signature.substr(0,argsIndex)}else{return signature}};var __embind_register_class_class_function=(rawClassType,methodName,argCount,rawArgTypesAddr,invokerSignature,rawInvoker,fn,isAsync)=>{var rawArgTypes=heap32VectorToArray(argCount,rawArgTypesAddr);methodName=readLatin1String(methodName);methodName=getFunctionName(methodName);rawInvoker=embind__requireFunction(invokerSignature,rawInvoker);whenDependentTypesAreResolved([],[rawClassType],function(classType){classType=classType[0];var humanName=`${classType.name}.${methodName}`;function unboundTypesHandler(){throwUnboundTypeError(`Cannot call ${humanName} due to unbound types`,rawArgTypes)}if(methodName.startsWith("@@")){methodName=Symbol[methodName.substring(2)]}var proto=classType.registeredClass.constructor;if(undefined===proto[methodName]){unboundTypesHandler.argCount=argCount-1;proto[methodName]=unboundTypesHandler}else{ensureOverloadTable(proto,methodName,humanName);proto[methodName].overloadTable[argCount-1]=unboundTypesHandler}whenDependentTypesAreResolved([],rawArgTypes,function(argTypes){var invokerArgsArray=[argTypes[0],null].concat(argTypes.slice(1));var func=craftInvokerFunction(humanName,invokerArgsArray,null,rawInvoker,fn,isAsync);if(undefined===proto[methodName].overloadTable){func.argCount=argCount-1;proto[methodName]=func}else{proto[methodName].overloadTable[argCount-1]=func}if(classType.registeredClass.__derivedClasses){for(const derivedClass of classType.registeredClass.__derivedClasses){if(!derivedClass.constructor.hasOwnProperty(methodName)){derivedClass.constructor[methodName]=func}}}return[]});return[]})};var __embind_register_class_constructor=(rawClassType,argCount,rawArgTypesAddr,invokerSignature,invoker,rawConstructor)=>{assert(argCount>0);var rawArgTypes=heap32VectorToArray(argCount,rawArgTypesAddr);invoker=embind__requireFunction(invokerSignature,invoker);whenDependentTypesAreResolved([],[rawClassType],function(classType){classType=classType[0];var humanName=`constructor ${classType.name}`;if(undefined===classType.registeredClass.constructor_body){classType.registeredClass.constructor_body=[]}if(undefined!==classType.registeredClass.constructor_body[argCount-1]){throw new BindingError(`Cannot register multiple constructors with identical number of parameters (${argCount-1}) for class '${classType.name}'! Overload resolution is currently only performed using the parameter count, not actual type info!`)}classType.registeredClass.constructor_body[argCount-1]=()=>{throwUnboundTypeError(`Cannot construct ${classType.name} due to unbound types`,rawArgTypes)};whenDependentTypesAreResolved([],rawArgTypes,argTypes=>{argTypes.splice(1,0,null);classType.registeredClass.constructor_body[argCount-1]=craftInvokerFunction(humanName,argTypes,null,invoker,rawConstructor);return[]});return[]})};var __embind_register_class_function=(rawClassType,methodName,argCount,rawArgTypesAddr,invokerSignature,rawInvoker,context,isPureVirtual,isAsync)=>{var rawArgTypes=heap32VectorToArray(argCount,rawArgTypesAddr);methodName=readLatin1String(methodName);methodName=getFunctionName(methodName);rawInvoker=embind__requireFunction(invokerSignature,rawInvoker);whenDependentTypesAreResolved([],[rawClassType],function(classType){classType=classType[0];var humanName=`${classType.name}.${methodName}`;if(methodName.startsWith("@@")){methodName=Symbol[methodName.substring(2)]}if(isPureVirtual){classType.registeredClass.pureVirtualFunctions.push(methodName)}function unboundTypesHandler(){throwUnboundTypeError(`Cannot call ${humanName} due to unbound types`,rawArgTypes)}var proto=classType.registeredClass.instancePrototype;var method=proto[methodName];if(undefined===method||undefined===method.overloadTable&&method.className!==classType.name&&method.argCount===argCount-2){unboundTypesHandler.argCount=argCount-2;unboundTypesHandler.className=classType.name;proto[methodName]=unboundTypesHandler}else{ensureOverloadTable(proto,methodName,humanName);proto[methodName].overloadTable[argCount-2]=unboundTypesHandler}whenDependentTypesAreResolved([],rawArgTypes,function(argTypes){var memberFunction=craftInvokerFunction(humanName,argTypes,classType,rawInvoker,context,isAsync);if(undefined===proto[methodName].overloadTable){memberFunction.argCount=argCount-2;proto[methodName]=memberFunction}else{proto[methodName].overloadTable[argCount-2]=memberFunction}return[]});return[]})};var validateThis=(this_,classType,humanName)=>{if(!(this_ instanceof Object)){throwBindingError(`${humanName} with invalid "this": ${this_}`)}if(!(this_ instanceof classType.registeredClass.constructor)){throwBindingError(`${humanName} incompatible with "this" of type ${this_.constructor.name}`)}if(!this_.$$.ptr){throwBindingError(`cannot call emscripten binding method ${humanName} on deleted object`)}return upcastPointer(this_.$$.ptr,this_.$$.ptrType.registeredClass,classType.registeredClass)};var __embind_register_class_property=(classType,fieldName,getterReturnType,getterSignature,getter,getterContext,setterArgumentType,setterSignature,setter,setterContext)=>{fieldName=readLatin1String(fieldName);getter=embind__requireFunction(getterSignature,getter);whenDependentTypesAreResolved([],[classType],function(classType){classType=classType[0];var humanName=`${classType.name}.${fieldName}`;var desc={get(){throwUnboundTypeError(`Cannot access ${humanName} due to unbound types`,[getterReturnType,setterArgumentType])},enumerable:true,configurable:true};if(setter){desc.set=()=>throwUnboundTypeError(`Cannot access ${humanName} due to unbound types`,[getterReturnType,setterArgumentType])}else{desc.set=v=>throwBindingError(humanName+" is a read-only property")}Object.defineProperty(classType.registeredClass.instancePrototype,fieldName,desc);whenDependentTypesAreResolved([],setter?[getterReturnType,setterArgumentType]:[getterReturnType],function(types){var getterReturnType=types[0];var desc={get(){var ptr=validateThis(this,classType,humanName+" getter");return getterReturnType["fromWireType"](getter(getterContext,ptr))},enumerable:true};if(setter){setter=embind__requireFunction(setterSignature,setter);var setterArgumentType=types[1];desc.set=function(v){var ptr=validateThis(this,classType,humanName+" setter");var destructors=[];setter(setterContext,ptr,setterArgumentType["toWireType"](destructors,v));runDestructors(destructors)}}Object.defineProperty(classType.registeredClass.instancePrototype,fieldName,desc);return[]});return[]})};function handleAllocatorInit(){Object.assign(HandleAllocator.prototype,{get(id){assert(this.allocated[id]!==undefined,`invalid handle: ${id}`);return this.allocated[id]},has(id){return this.allocated[id]!==undefined},allocate(handle){var id=this.freelist.pop()||this.allocated.length;this.allocated[id]=handle;return id},free(id){assert(this.allocated[id]!==undefined);this.allocated[id]=undefined;this.freelist.push(id)}})}function HandleAllocator(){this.allocated=[undefined];this.freelist=[]}var emval_handles=new HandleAllocator;var __emval_decref=handle=>{if(handle>=emval_handles.reserved&&0===--emval_handles.get(handle).refcount){emval_handles.free(handle)}};var count_emval_handles=()=>{var count=0;for(var i=emval_handles.reserved;i{emval_handles.allocated.push({value:undefined},{value:null},{value:true},{value:false});emval_handles.reserved=emval_handles.allocated.length;Module["count_emval_handles"]=count_emval_handles};var Emval={toValue:handle=>{if(!handle){throwBindingError("Cannot use deleted val. handle = "+handle)}return emval_handles.get(handle).value},toHandle:value=>{switch(value){case undefined:return 1;case null:return 2;case true:return 3;case false:return 4;default:{return emval_handles.allocate({refcount:1,value:value})}}}};var __embind_register_emval=(rawType,name)=>{name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":handle=>{var rv=Emval.toValue(handle);__emval_decref(handle);return rv},"toWireType":(destructors,value)=>Emval.toHandle(value),"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":simpleReadValueFromPointer,destructorFunction:null})};var enumReadValueFromPointer=(name,width,signed)=>{switch(width){case 1:return signed?function(pointer){return this["fromWireType"](HEAP8[pointer>>0])}:function(pointer){return this["fromWireType"](HEAPU8[pointer>>0])};case 2:return signed?function(pointer){return this["fromWireType"](HEAP16[pointer>>1])}:function(pointer){return this["fromWireType"](HEAPU16[pointer>>1])};case 4:return signed?function(pointer){return this["fromWireType"](HEAP32[pointer>>2])}:function(pointer){return this["fromWireType"](HEAPU32[pointer>>2])};default:throw new TypeError(`invalid integer width (${width}): ${name}`)}};var __embind_register_enum=(rawType,name,size,isSigned)=>{name=readLatin1String(name);function ctor(){}ctor.values={};registerType(rawType,{name:name,constructor:ctor,"fromWireType":function(c){return this.constructor.values[c]},"toWireType":(destructors,c)=>c.value,"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":enumReadValueFromPointer(name,size,isSigned),destructorFunction:null});exposePublicSymbol(name,ctor)};var requireRegisteredType=(rawType,humanName)=>{var impl=registeredTypes[rawType];if(undefined===impl){throwBindingError(humanName+" has unknown type "+getTypeName(rawType))}return impl};var __embind_register_enum_value=(rawEnumType,name,enumValue)=>{var enumType=requireRegisteredType(rawEnumType,"enum");name=readLatin1String(name);var Enum=enumType.constructor;var Value=Object.create(enumType.constructor.prototype,{value:{value:enumValue},constructor:{value:createNamedFunction(`${enumType.name}_${name}`,function(){})}});Enum.values[enumValue]=Value;Enum[name]=Value};var embindRepr=v=>{if(v===null){return"null"}var t=typeof v;if(t==="object"||t==="array"||t==="function"){return v.toString()}else{return""+v}};var floatReadValueFromPointer=(name,width)=>{switch(width){case 4:return function(pointer){return this["fromWireType"](HEAPF32[pointer>>2])};case 8:return function(pointer){return this["fromWireType"](HEAPF64[pointer>>3])};default:throw new TypeError(`invalid float width (${width}): ${name}`)}};var __embind_register_float=(rawType,name,size)=>{name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":value=>value,"toWireType":(destructors,value)=>{if(typeof value!="number"&&typeof value!="boolean"){throw new TypeError(`Cannot convert ${embindRepr(value)} to ${this.name}`)}return value},"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":floatReadValueFromPointer(name,size),destructorFunction:null})};var integerReadValueFromPointer=(name,width,signed)=>{switch(width){case 1:return signed?pointer=>HEAP8[pointer>>0]:pointer=>HEAPU8[pointer>>0];case 2:return signed?pointer=>HEAP16[pointer>>1]:pointer=>HEAPU16[pointer>>1];case 4:return signed?pointer=>HEAP32[pointer>>2]:pointer=>HEAPU32[pointer>>2];default:throw new TypeError(`invalid integer width (${width}): ${name}`)}};var __embind_register_integer=(primitiveType,name,size,minRange,maxRange)=>{name=readLatin1String(name);if(maxRange===-1){maxRange=4294967295}var fromWireType=value=>value;if(minRange===0){var bitshift=32-8*size;fromWireType=value=>value<>>bitshift}var isUnsignedType=name.includes("unsigned");var checkAssertions=(value,toTypeName)=>{if(typeof value!="number"&&typeof value!="boolean"){throw new TypeError(`Cannot convert "${embindRepr(value)}" to ${toTypeName}`)}if(valuemaxRange){throw new TypeError(`Passing a number "${embindRepr(value)}" from JS side to C/C++ side to an argument of type "${name}", which is outside the valid range [${minRange}, ${maxRange}]!`)}};var toWireType;if(isUnsignedType){toWireType=function(destructors,value){checkAssertions(value,this.name);return value>>>0}}else{toWireType=function(destructors,value){checkAssertions(value,this.name);return value}}registerType(primitiveType,{name:name,"fromWireType":fromWireType,"toWireType":toWireType,"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":integerReadValueFromPointer(name,size,minRange!==0),destructorFunction:null})};var __embind_register_memory_view=(rawType,dataTypeIndex,name)=>{var typeMapping=[Int8Array,Uint8Array,Int16Array,Uint16Array,Int32Array,Uint32Array,Float32Array,Float64Array];var TA=typeMapping[dataTypeIndex];function decodeMemoryView(handle){var size=HEAPU32[handle>>2];var data=HEAPU32[handle+4>>2];return new TA(HEAP8.buffer,data,size)}name=readLatin1String(name);registerType(rawType,{name:name,"fromWireType":decodeMemoryView,"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":decodeMemoryView},{ignoreDuplicateRegistrations:true})};var stringToUTF8=(str,outPtr,maxBytesToWrite)=>{assert(typeof maxBytesToWrite=="number","stringToUTF8(str, outPtr, maxBytesToWrite) is missing the third parameter that specifies the length of the output buffer!");return stringToUTF8Array(str,HEAPU8,outPtr,maxBytesToWrite)};var __embind_register_std_string=(rawType,name)=>{name=readLatin1String(name);var stdStringIsUTF8=name==="std::string";registerType(rawType,{name:name,"fromWireType"(value){var length=HEAPU32[value>>2];var payload=value+4;var str;if(stdStringIsUTF8){var decodeStartPtr=payload;for(var i=0;i<=length;++i){var currentBytePtr=payload+i;if(i==length||HEAPU8[currentBytePtr]==0){var maxRead=currentBytePtr-decodeStartPtr;var stringSegment=UTF8ToString(decodeStartPtr,maxRead);if(str===undefined){str=stringSegment}else{str+=String.fromCharCode(0);str+=stringSegment}decodeStartPtr=currentBytePtr+1}}}else{var a=new Array(length);for(var i=0;i>2]=length;if(stdStringIsUTF8&&valueIsOfTypeString){stringToUTF8(value,ptr,length+1)}else{if(valueIsOfTypeString){for(var i=0;i255){_free(ptr);throwBindingError("String has UTF-16 code units that do not fit in 8 bits")}HEAPU8[ptr+i]=charCode}}else{for(var i=0;i{assert(ptr%2==0,"Pointer passed to UTF16ToString must be aligned to two bytes!");var endPtr=ptr;var idx=endPtr>>1;var maxIdx=idx+maxBytesToRead/2;while(!(idx>=maxIdx)&&HEAPU16[idx])++idx;endPtr=idx<<1;if(endPtr-ptr>32&&UTF16Decoder)return UTF16Decoder.decode(HEAPU8.subarray(ptr,endPtr));var str="";for(var i=0;!(i>=maxBytesToRead/2);++i){var codeUnit=HEAP16[ptr+i*2>>1];if(codeUnit==0)break;str+=String.fromCharCode(codeUnit)}return str};var stringToUTF16=(str,outPtr,maxBytesToWrite)=>{assert(outPtr%2==0,"Pointer passed to stringToUTF16 must be aligned to two bytes!");assert(typeof maxBytesToWrite=="number","stringToUTF16(str, outPtr, maxBytesToWrite) is missing the third parameter that specifies the length of the output buffer!");if(maxBytesToWrite===undefined){maxBytesToWrite=2147483647}if(maxBytesToWrite<2)return 0;maxBytesToWrite-=2;var startPtr=outPtr;var numCharsToWrite=maxBytesToWrite>1]=codeUnit;outPtr+=2}HEAP16[outPtr>>1]=0;return outPtr-startPtr};var lengthBytesUTF16=str=>str.length*2;var UTF32ToString=(ptr,maxBytesToRead)=>{assert(ptr%4==0,"Pointer passed to UTF32ToString must be aligned to four bytes!");var i=0;var str="";while(!(i>=maxBytesToRead/4)){var utf32=HEAP32[ptr+i*4>>2];if(utf32==0)break;++i;if(utf32>=65536){var ch=utf32-65536;str+=String.fromCharCode(55296|ch>>10,56320|ch&1023)}else{str+=String.fromCharCode(utf32)}}return str};var stringToUTF32=(str,outPtr,maxBytesToWrite)=>{assert(outPtr%4==0,"Pointer passed to stringToUTF32 must be aligned to four bytes!");assert(typeof maxBytesToWrite=="number","stringToUTF32(str, outPtr, maxBytesToWrite) is missing the third parameter that specifies the length of the output buffer!");if(maxBytesToWrite===undefined){maxBytesToWrite=2147483647}if(maxBytesToWrite<4)return 0;var startPtr=outPtr;var endPtr=startPtr+maxBytesToWrite-4;for(var i=0;i=55296&&codeUnit<=57343){var trailSurrogate=str.charCodeAt(++i);codeUnit=65536+((codeUnit&1023)<<10)|trailSurrogate&1023}HEAP32[outPtr>>2]=codeUnit;outPtr+=4;if(outPtr+4>endPtr)break}HEAP32[outPtr>>2]=0;return outPtr-startPtr};var lengthBytesUTF32=str=>{var len=0;for(var i=0;i=55296&&codeUnit<=57343)++i;len+=4}return len};var __embind_register_std_wstring=(rawType,charSize,name)=>{name=readLatin1String(name);var decodeString,encodeString,getHeap,lengthBytesUTF,shift;if(charSize===2){decodeString=UTF16ToString;encodeString=stringToUTF16;lengthBytesUTF=lengthBytesUTF16;getHeap=()=>HEAPU16;shift=1}else if(charSize===4){decodeString=UTF32ToString;encodeString=stringToUTF32;lengthBytesUTF=lengthBytesUTF32;getHeap=()=>HEAPU32;shift=2}registerType(rawType,{name:name,"fromWireType":value=>{var length=HEAPU32[value>>2];var HEAP=getHeap();var str;var decodeStartPtr=value+4;for(var i=0;i<=length;++i){var currentBytePtr=value+4+i*charSize;if(i==length||HEAP[currentBytePtr>>shift]==0){var maxReadBytes=currentBytePtr-decodeStartPtr;var stringSegment=decodeString(decodeStartPtr,maxReadBytes);if(str===undefined){str=stringSegment}else{str+=String.fromCharCode(0);str+=stringSegment}decodeStartPtr=currentBytePtr+charSize}}_free(value);return str},"toWireType":(destructors,value)=>{if(!(typeof value=="string")){throwBindingError(`Cannot pass non-string to C++ string type ${name}`)}var length=lengthBytesUTF(value);var ptr=_malloc(4+length+charSize);HEAPU32[ptr>>2]=length>>shift;encodeString(value,ptr+4,length+charSize);if(destructors!==null){destructors.push(_free,ptr)}return ptr},"argPackAdvance":GenericWireTypeSize,"readValueFromPointer":simpleReadValueFromPointer,destructorFunction(ptr){_free(ptr)}})};var __embind_register_value_object=(rawType,name,constructorSignature,rawConstructor,destructorSignature,rawDestructor)=>{structRegistrations[rawType]={name:readLatin1String(name),rawConstructor:embind__requireFunction(constructorSignature,rawConstructor),rawDestructor:embind__requireFunction(destructorSignature,rawDestructor),fields:[]}};var __embind_register_value_object_field=(structType,fieldName,getterReturnType,getterSignature,getter,getterContext,setterArgumentType,setterSignature,setter,setterContext)=>{structRegistrations[structType].fields.push({fieldName:readLatin1String(fieldName),getterReturnType:getterReturnType,getter:embind__requireFunction(getterSignature,getter),getterContext:getterContext,setterArgumentType:setterArgumentType,setter:embind__requireFunction(setterSignature,setter),setterContext:setterContext})};var __embind_register_void=(rawType,name)=>{name=readLatin1String(name);registerType(rawType,{isVoid:true,name:name,"argPackAdvance":0,"fromWireType":()=>undefined,"toWireType":(destructors,o)=>undefined})};var __emscripten_throw_longjmp=()=>{throw new EmscriptenSjLj};var __emval_as=(handle,returnType,destructorsRef)=>{handle=Emval.toValue(handle);returnType=requireRegisteredType(returnType,"emval::as");var destructors=[];var rd=Emval.toHandle(destructors);HEAPU32[destructorsRef>>2]=rd;return returnType["toWireType"](destructors,handle)};var __emval_get_property=(handle,key)=>{handle=Emval.toValue(handle);key=Emval.toValue(key);return Emval.toHandle(handle[key])};var __emval_incref=handle=>{if(handle>4){emval_handles.get(handle).refcount+=1}};var emval_symbols={};var getStringOrSymbol=address=>{var symbol=emval_symbols[address];if(symbol===undefined){return readLatin1String(address)}return symbol};var __emval_new_cstring=v=>Emval.toHandle(getStringOrSymbol(v));var __emval_run_destructors=handle=>{var destructors=Emval.toValue(handle);runDestructors(destructors);__emval_decref(handle)};var __emval_take_value=(type,arg)=>{type=requireRegisteredType(type,"_emval_take_value");var v=type["readValueFromPointer"](arg);return Emval.toHandle(v)};var isLeapYear=year=>year%4===0&&(year%100!==0||year%400===0);var MONTH_DAYS_LEAP_CUMULATIVE=[0,31,60,91,121,152,182,213,244,274,305,335];var MONTH_DAYS_REGULAR_CUMULATIVE=[0,31,59,90,120,151,181,212,243,273,304,334];var ydayFromDate=date=>{var leap=isLeapYear(date.getFullYear());var monthDaysCumulative=leap?MONTH_DAYS_LEAP_CUMULATIVE:MONTH_DAYS_REGULAR_CUMULATIVE;var yday=monthDaysCumulative[date.getMonth()]+date.getDate()-1;return yday};var convertI32PairToI53Checked=(lo,hi)=>{assert(lo==lo>>>0||lo==(lo|0));assert(hi===(hi|0));return hi+2097152>>>0<4194305-!!lo?(lo>>>0)+hi*4294967296:NaN};function __localtime_js(time_low,time_high,tmPtr){var time=convertI32PairToI53Checked(time_low,time_high);var date=new Date(time*1e3);HEAP32[tmPtr>>2]=date.getSeconds();HEAP32[tmPtr+4>>2]=date.getMinutes();HEAP32[tmPtr+8>>2]=date.getHours();HEAP32[tmPtr+12>>2]=date.getDate();HEAP32[tmPtr+16>>2]=date.getMonth();HEAP32[tmPtr+20>>2]=date.getFullYear()-1900;HEAP32[tmPtr+24>>2]=date.getDay();var yday=ydayFromDate(date)|0;HEAP32[tmPtr+28>>2]=yday;HEAP32[tmPtr+36>>2]=-(date.getTimezoneOffset()*60);var start=new Date(date.getFullYear(),0,1);var summerOffset=new Date(date.getFullYear(),6,1).getTimezoneOffset();var winterOffset=start.getTimezoneOffset();var dst=(summerOffset!=winterOffset&&date.getTimezoneOffset()==Math.min(winterOffset,summerOffset))|0;HEAP32[tmPtr+32>>2]=dst}var stringToNewUTF8=str=>{var size=lengthBytesUTF8(str)+1;var ret=_malloc(size);if(ret)stringToUTF8(str,ret,size);return ret};var __tzset_js=(timezone,daylight,tzname)=>{var currentYear=(new Date).getFullYear();var winter=new Date(currentYear,0,1);var summer=new Date(currentYear,6,1);var winterOffset=winter.getTimezoneOffset();var summerOffset=summer.getTimezoneOffset();var stdTimezoneOffset=Math.max(winterOffset,summerOffset);HEAPU32[timezone>>2]=stdTimezoneOffset*60;HEAP32[daylight>>2]=Number(winterOffset!=summerOffset);function extractZone(date){var match=date.toTimeString().match(/\(([A-Za-z ]+)\)$/);return match?match[1]:"GMT"}var winterName=extractZone(winter);var summerName=extractZone(summer);var winterNamePtr=stringToNewUTF8(winterName);var summerNamePtr=stringToNewUTF8(summerName);if(summerOffset>2]=winterNamePtr;HEAPU32[tzname+4>>2]=summerNamePtr}else{HEAPU32[tzname>>2]=summerNamePtr;HEAPU32[tzname+4>>2]=winterNamePtr}};var _abort=()=>{abort("native code called abort()")};var _emscripten_date_now=()=>Date.now();var getHeapMax=()=>2147483648;var _emscripten_get_heap_max=()=>getHeapMax();var _emscripten_memcpy_js=(dest,src,num)=>HEAPU8.copyWithin(dest,src,src+num);var growMemory=size=>{var b=wasmMemory.buffer;var pages=(size-b.byteLength+65535)/65536;try{wasmMemory.grow(pages);updateMemoryViews();return 1}catch(e){err(`growMemory: Attempted to grow heap from ${b.byteLength} bytes to ${size} bytes, but got error: ${e}`)}};var _emscripten_resize_heap=requestedSize=>{var oldSize=HEAPU8.length;requestedSize>>>=0;assert(requestedSize>oldSize);var maxHeapSize=getHeapMax();if(requestedSize>maxHeapSize){err(`Cannot enlarge memory, requested ${requestedSize} bytes, but the limit is ${maxHeapSize} bytes!`);return false}var alignUp=(x,multiple)=>x+(multiple-x%multiple)%multiple;for(var cutDown=1;cutDown<=4;cutDown*=2){var overGrownHeapSize=oldSize*(1+.2/cutDown);overGrownHeapSize=Math.min(overGrownHeapSize,requestedSize+100663296);var newSize=Math.min(maxHeapSize,alignUp(Math.max(requestedSize,overGrownHeapSize),65536));var replacement=growMemory(newSize);if(replacement){return true}}err(`Failed to grow the heap from ${oldSize} bytes to ${newSize} bytes, not enough memory!`);return false};var ENV={};var getExecutableName=()=>thisProgram||"./this.program";var getEnvStrings=()=>{if(!getEnvStrings.strings){var lang=(typeof navigator=="object"&&navigator.languages&&navigator.languages[0]||"C").replace("-","_")+".UTF-8";var env={"USER":"web_user","LOGNAME":"web_user","PATH":"/","PWD":"/","HOME":"/home/web_user","LANG":lang,"_":getExecutableName()};for(var x in ENV){if(ENV[x]===undefined)delete env[x];else env[x]=ENV[x]}var strings=[];for(var x in env){strings.push(`${x}=${env[x]}`)}getEnvStrings.strings=strings}return getEnvStrings.strings};var stringToAscii=(str,buffer)=>{for(var i=0;i>0]=str.charCodeAt(i)}HEAP8[buffer>>0]=0};var _environ_get=(__environ,environ_buf)=>{var bufSize=0;getEnvStrings().forEach((string,i)=>{var ptr=environ_buf+bufSize;HEAPU32[__environ+i*4>>2]=ptr;stringToAscii(string,ptr);bufSize+=string.length+1});return 0};var _environ_sizes_get=(penviron_count,penviron_buf_size)=>{var strings=getEnvStrings();HEAPU32[penviron_count>>2]=strings.length;var bufSize=0;strings.forEach(string=>bufSize+=string.length+1);HEAPU32[penviron_buf_size>>2]=bufSize;return 0};var runtimeKeepaliveCounter=0;var keepRuntimeAlive=()=>noExitRuntime||runtimeKeepaliveCounter>0;var _proc_exit=code=>{EXITSTATUS=code;if(!keepRuntimeAlive()){if(Module["onExit"])Module["onExit"](code);ABORT=true}quit_(code,new ExitStatus(code))};var exitJS=(status,implicit)=>{EXITSTATUS=status;checkUnflushedContent();if(keepRuntimeAlive()&&!implicit){var msg=`program exited (with status: ${status}), but keepRuntimeAlive() is set (counter=${runtimeKeepaliveCounter}) due to an async operation, so halting execution but not exiting the runtime or preventing further async execution (you can use emscripten_force_exit, if you want to force a true shutdown)`;readyPromiseReject(msg);err(msg)}_proc_exit(status)};var _exit=exitJS;function _fd_close(fd){try{var stream=SYSCALLS.getStreamFromFD(fd);FS.close(stream);return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var doReadv=(stream,iov,iovcnt,offset)=>{var ret=0;for(var i=0;i>2];var len=HEAPU32[iov+4>>2];iov+=8;var curr=FS.read(stream,HEAP8,ptr,len,offset);if(curr<0)return-1;ret+=curr;if(curr>2]=num;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}function _fd_seek(fd,offset_low,offset_high,whence,newOffset){var offset=convertI32PairToI53Checked(offset_low,offset_high);try{if(isNaN(offset))return 61;var stream=SYSCALLS.getStreamFromFD(fd);FS.llseek(stream,offset,whence);tempI64=[stream.position>>>0,(tempDouble=stream.position,+Math.abs(tempDouble)>=1?tempDouble>0?+Math.floor(tempDouble/4294967296)>>>0:~~+Math.ceil((tempDouble-+(~~tempDouble>>>0))/4294967296)>>>0:0)],HEAP32[newOffset>>2]=tempI64[0],HEAP32[newOffset+4>>2]=tempI64[1];if(stream.getdents&&offset===0&&whence===0)stream.getdents=null;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var doWritev=(stream,iov,iovcnt,offset)=>{var ret=0;for(var i=0;i>2];var len=HEAPU32[iov+4>>2];iov+=8;var curr=FS.write(stream,HEAP8,ptr,len,offset);if(curr<0)return-1;ret+=curr;if(typeof offset!=="undefined"){offset+=curr}}return ret};function _fd_write(fd,iov,iovcnt,pnum){try{var stream=SYSCALLS.getStreamFromFD(fd);var num=doWritev(stream,iov,iovcnt);HEAPU32[pnum>>2]=num;return 0}catch(e){if(typeof FS=="undefined"||!(e.name==="ErrnoError"))throw e;return e.errno}}var arraySum=(array,index)=>{var sum=0;for(var i=0;i<=index;sum+=array[i++]){}return sum};var MONTH_DAYS_LEAP=[31,29,31,30,31,30,31,31,30,31,30,31];var MONTH_DAYS_REGULAR=[31,28,31,30,31,30,31,31,30,31,30,31];var addDays=(date,days)=>{var newDate=new Date(date.getTime());while(days>0){var leap=isLeapYear(newDate.getFullYear());var currentMonth=newDate.getMonth();var daysInCurrentMonth=(leap?MONTH_DAYS_LEAP:MONTH_DAYS_REGULAR)[currentMonth];if(days>daysInCurrentMonth-newDate.getDate()){days-=daysInCurrentMonth-newDate.getDate()+1;newDate.setDate(1);if(currentMonth<11){newDate.setMonth(currentMonth+1)}else{newDate.setMonth(0);newDate.setFullYear(newDate.getFullYear()+1)}}else{newDate.setDate(newDate.getDate()+days);return newDate}}return newDate};var writeArrayToMemory=(array,buffer)=>{assert(array.length>=0,"writeArrayToMemory array must have a length (should be an array or typed array)");HEAP8.set(array,buffer)};var _strftime=(s,maxsize,format,tm)=>{var tm_zone=HEAPU32[tm+40>>2];var date={tm_sec:HEAP32[tm>>2],tm_min:HEAP32[tm+4>>2],tm_hour:HEAP32[tm+8>>2],tm_mday:HEAP32[tm+12>>2],tm_mon:HEAP32[tm+16>>2],tm_year:HEAP32[tm+20>>2],tm_wday:HEAP32[tm+24>>2],tm_yday:HEAP32[tm+28>>2],tm_isdst:HEAP32[tm+32>>2],tm_gmtoff:HEAP32[tm+36>>2],tm_zone:tm_zone?UTF8ToString(tm_zone):""};var pattern=UTF8ToString(format);var EXPANSION_RULES_1={"%c":"%a %b %d %H:%M:%S %Y","%D":"%m/%d/%y","%F":"%Y-%m-%d","%h":"%b","%r":"%I:%M:%S %p","%R":"%H:%M","%T":"%H:%M:%S","%x":"%m/%d/%y","%X":"%H:%M:%S","%Ec":"%c","%EC":"%C","%Ex":"%m/%d/%y","%EX":"%H:%M:%S","%Ey":"%y","%EY":"%Y","%Od":"%d","%Oe":"%e","%OH":"%H","%OI":"%I","%Om":"%m","%OM":"%M","%OS":"%S","%Ou":"%u","%OU":"%U","%OV":"%V","%Ow":"%w","%OW":"%W","%Oy":"%y"};for(var rule in EXPANSION_RULES_1){pattern=pattern.replace(new RegExp(rule,"g"),EXPANSION_RULES_1[rule])}var WEEKDAYS=["Sunday","Monday","Tuesday","Wednesday","Thursday","Friday","Saturday"];var MONTHS=["January","February","March","April","May","June","July","August","September","October","November","December"];function leadingSomething(value,digits,character){var str=typeof value=="number"?value.toString():value||"";while(str.length0?1:0}var compare;if((compare=sgn(date1.getFullYear()-date2.getFullYear()))===0){if((compare=sgn(date1.getMonth()-date2.getMonth()))===0){compare=sgn(date1.getDate()-date2.getDate())}}return compare}function getFirstWeekStartDate(janFourth){switch(janFourth.getDay()){case 0:return new Date(janFourth.getFullYear()-1,11,29);case 1:return janFourth;case 2:return new Date(janFourth.getFullYear(),0,3);case 3:return new Date(janFourth.getFullYear(),0,2);case 4:return new Date(janFourth.getFullYear(),0,1);case 5:return new Date(janFourth.getFullYear()-1,11,31);case 6:return new Date(janFourth.getFullYear()-1,11,30)}}function getWeekBasedYear(date){var thisDate=addDays(new Date(date.tm_year+1900,0,1),date.tm_yday);var janFourthThisYear=new Date(thisDate.getFullYear(),0,4);var janFourthNextYear=new Date(thisDate.getFullYear()+1,0,4);var firstWeekStartThisYear=getFirstWeekStartDate(janFourthThisYear);var firstWeekStartNextYear=getFirstWeekStartDate(janFourthNextYear);if(compareByDay(firstWeekStartThisYear,thisDate)<=0){if(compareByDay(firstWeekStartNextYear,thisDate)<=0){return thisDate.getFullYear()+1}return thisDate.getFullYear()}return thisDate.getFullYear()-1}var EXPANSION_RULES_2={"%a":date=>WEEKDAYS[date.tm_wday].substring(0,3),"%A":date=>WEEKDAYS[date.tm_wday],"%b":date=>MONTHS[date.tm_mon].substring(0,3),"%B":date=>MONTHS[date.tm_mon],"%C":date=>{var year=date.tm_year+1900;return leadingNulls(year/100|0,2)},"%d":date=>leadingNulls(date.tm_mday,2),"%e":date=>leadingSomething(date.tm_mday,2," "),"%g":date=>getWeekBasedYear(date).toString().substring(2),"%G":date=>getWeekBasedYear(date),"%H":date=>leadingNulls(date.tm_hour,2),"%I":date=>{var twelveHour=date.tm_hour;if(twelveHour==0)twelveHour=12;else if(twelveHour>12)twelveHour-=12;return leadingNulls(twelveHour,2)},"%j":date=>leadingNulls(date.tm_mday+arraySum(isLeapYear(date.tm_year+1900)?MONTH_DAYS_LEAP:MONTH_DAYS_REGULAR,date.tm_mon-1),3),"%m":date=>leadingNulls(date.tm_mon+1,2),"%M":date=>leadingNulls(date.tm_min,2),"%n":()=>"\n","%p":date=>{if(date.tm_hour>=0&&date.tm_hour<12){return"AM"}return"PM"},"%S":date=>leadingNulls(date.tm_sec,2),"%t":()=>"\t","%u":date=>date.tm_wday||7,"%U":date=>{var days=date.tm_yday+7-date.tm_wday;return leadingNulls(Math.floor(days/7),2)},"%V":date=>{var val=Math.floor((date.tm_yday+7-(date.tm_wday+6)%7)/7);if((date.tm_wday+371-date.tm_yday-2)%7<=2){val++}if(!val){val=52;var dec31=(date.tm_wday+7-date.tm_yday-1)%7;if(dec31==4||dec31==5&&isLeapYear(date.tm_year%400-1)){val++}}else if(val==53){var jan1=(date.tm_wday+371-date.tm_yday)%7;if(jan1!=4&&(jan1!=3||!isLeapYear(date.tm_year)))val=1}return leadingNulls(val,2)},"%w":date=>date.tm_wday,"%W":date=>{var days=date.tm_yday+7-(date.tm_wday+6)%7;return leadingNulls(Math.floor(days/7),2)},"%y":date=>(date.tm_year+1900).toString().substring(2),"%Y":date=>date.tm_year+1900,"%z":date=>{var off=date.tm_gmtoff;var ahead=off>=0;off=Math.abs(off)/60;off=off/60*100+off%60;return(ahead?"+":"-")+String("0000"+off).slice(-4)},"%Z":date=>date.tm_zone,"%%":()=>"%"};pattern=pattern.replace(/%%/g,"\0\0");for(var rule in EXPANSION_RULES_2){if(pattern.includes(rule)){pattern=pattern.replace(new RegExp(rule,"g"),EXPANSION_RULES_2[rule](date))}}pattern=pattern.replace(/\0\0/g,"%");var bytes=intArrayFromString(pattern,false);if(bytes.length>maxsize){return 0}writeArrayToMemory(bytes,s);return bytes.length-1};var _strftime_l=(s,maxsize,format,tm,loc)=>_strftime(s,maxsize,format,tm);var handleException=e=>{if(e instanceof ExitStatus||e=="unwind"){return EXITSTATUS}checkStackCookie();if(e instanceof WebAssembly.RuntimeError){if(_emscripten_stack_get_current()<=0){err("Stack overflow detected. You can try increasing -sSTACK_SIZE (currently set to 65536)")}}quit_(1,e)};var stringToUTF8OnStack=str=>{var size=lengthBytesUTF8(str)+1;var ret=stackAlloc(size);stringToUTF8(str,ret,size);return ret};var FSNode=function(parent,name,mode,rdev){if(!parent){parent=this}this.parent=parent;this.mount=parent.mount;this.mounted=null;this.id=FS.nextInode++;this.name=name;this.mode=mode;this.node_ops={};this.stream_ops={};this.rdev=rdev};var readMode=292|73;var writeMode=146;Object.defineProperties(FSNode.prototype,{read:{get:function(){return(this.mode&readMode)===readMode},set:function(val){val?this.mode|=readMode:this.mode&=~readMode}},write:{get:function(){return(this.mode&writeMode)===writeMode},set:function(val){val?this.mode|=writeMode:this.mode&=~writeMode}},isFolder:{get:function(){return FS.isDir(this.mode)}},isDevice:{get:function(){return FS.isChrdev(this.mode)}}});FS.FSNode=FSNode;FS.createPreloadedFile=FS_createPreloadedFile;FS.staticInit();Module["FS_createPath"]=FS.createPath;Module["FS_createDataFile"]=FS.createDataFile;Module["FS_createPreloadedFile"]=FS.createPreloadedFile;Module["FS_unlink"]=FS.unlink;Module["FS_createLazyFile"]=FS.createLazyFile;Module["FS_createDevice"]=FS.createDevice;ERRNO_CODES={"EPERM":63,"ENOENT":44,"ESRCH":71,"EINTR":27,"EIO":29,"ENXIO":60,"E2BIG":1,"ENOEXEC":45,"EBADF":8,"ECHILD":12,"EAGAIN":6,"EWOULDBLOCK":6,"ENOMEM":48,"EACCES":2,"EFAULT":21,"ENOTBLK":105,"EBUSY":10,"EEXIST":20,"EXDEV":75,"ENODEV":43,"ENOTDIR":54,"EISDIR":31,"EINVAL":28,"ENFILE":41,"EMFILE":33,"ENOTTY":59,"ETXTBSY":74,"EFBIG":22,"ENOSPC":51,"ESPIPE":70,"EROFS":69,"EMLINK":34,"EPIPE":64,"EDOM":18,"ERANGE":68,"ENOMSG":49,"EIDRM":24,"ECHRNG":106,"EL2NSYNC":156,"EL3HLT":107,"EL3RST":108,"ELNRNG":109,"EUNATCH":110,"ENOCSI":111,"EL2HLT":112,"EDEADLK":16,"ENOLCK":46,"EBADE":113,"EBADR":114,"EXFULL":115,"ENOANO":104,"EBADRQC":103,"EBADSLT":102,"EDEADLOCK":16,"EBFONT":101,"ENOSTR":100,"ENODATA":116,"ETIME":117,"ENOSR":118,"ENONET":119,"ENOPKG":120,"EREMOTE":121,"ENOLINK":47,"EADV":122,"ESRMNT":123,"ECOMM":124,"EPROTO":65,"EMULTIHOP":36,"EDOTDOT":125,"EBADMSG":9,"ENOTUNIQ":126,"EBADFD":127,"EREMCHG":128,"ELIBACC":129,"ELIBBAD":130,"ELIBSCN":131,"ELIBMAX":132,"ELIBEXEC":133,"ENOSYS":52,"ENOTEMPTY":55,"ENAMETOOLONG":37,"ELOOP":32,"EOPNOTSUPP":138,"EPFNOSUPPORT":139,"ECONNRESET":15,"ENOBUFS":42,"EAFNOSUPPORT":5,"EPROTOTYPE":67,"ENOTSOCK":57,"ENOPROTOOPT":50,"ESHUTDOWN":140,"ECONNREFUSED":14,"EADDRINUSE":3,"ECONNABORTED":13,"ENETUNREACH":40,"ENETDOWN":38,"ETIMEDOUT":73,"EHOSTDOWN":142,"EHOSTUNREACH":23,"EINPROGRESS":26,"EALREADY":7,"EDESTADDRREQ":17,"EMSGSIZE":35,"EPROTONOSUPPORT":66,"ESOCKTNOSUPPORT":137,"EADDRNOTAVAIL":4,"ENETRESET":39,"EISCONN":30,"ENOTCONN":53,"ETOOMANYREFS":141,"EUSERS":136,"EDQUOT":19,"ESTALE":72,"ENOTSUP":138,"ENOMEDIUM":148,"EILSEQ":25,"EOVERFLOW":61,"ECANCELED":11,"ENOTRECOVERABLE":56,"EOWNERDEAD":62,"ESTRPIPE":135};InternalError=Module["InternalError"]=class InternalError extends Error{constructor(message){super(message);this.name="InternalError"}};embind_init_charCodes();BindingError=Module["BindingError"]=class BindingError extends Error{constructor(message){super(message);this.name="BindingError"}};init_ClassHandle();init_embind();init_RegisteredPointer();UnboundTypeError=Module["UnboundTypeError"]=extendError(Error,"UnboundTypeError");handleAllocatorInit();init_emval();function checkIncomingModuleAPI(){ignoredModuleProp("fetchSettings")}var wasmImports={__assert_fail:___assert_fail,__cxa_begin_catch:___cxa_begin_catch,__cxa_end_catch:___cxa_end_catch,__cxa_find_matching_catch_2:___cxa_find_matching_catch_2,__cxa_find_matching_catch_3:___cxa_find_matching_catch_3,__cxa_rethrow:___cxa_rethrow,__cxa_throw:___cxa_throw,__cxa_uncaught_exceptions:___cxa_uncaught_exceptions,__resumeException:___resumeException,__syscall_dup3:___syscall_dup3,__syscall_fcntl64:___syscall_fcntl64,__syscall_ioctl:___syscall_ioctl,__syscall_openat:___syscall_openat,_embind_finalize_value_object:__embind_finalize_value_object,_embind_register_bigint:__embind_register_bigint,_embind_register_bool:__embind_register_bool,_embind_register_class:__embind_register_class,_embind_register_class_class_function:__embind_register_class_class_function,_embind_register_class_constructor:__embind_register_class_constructor,_embind_register_class_function:__embind_register_class_function,_embind_register_class_property:__embind_register_class_property,_embind_register_emval:__embind_register_emval,_embind_register_enum:__embind_register_enum,_embind_register_enum_value:__embind_register_enum_value,_embind_register_float:__embind_register_float,_embind_register_integer:__embind_register_integer,_embind_register_memory_view:__embind_register_memory_view,_embind_register_std_string:__embind_register_std_string,_embind_register_std_wstring:__embind_register_std_wstring,_embind_register_value_object:__embind_register_value_object,_embind_register_value_object_field:__embind_register_value_object_field,_embind_register_void:__embind_register_void,_emscripten_throw_longjmp:__emscripten_throw_longjmp,_emval_as:__emval_as,_emval_decref:__emval_decref,_emval_get_property:__emval_get_property,_emval_incref:__emval_incref,_emval_new_cstring:__emval_new_cstring,_emval_run_destructors:__emval_run_destructors,_emval_take_value:__emval_take_value,_localtime_js:__localtime_js,_tzset_js:__tzset_js,abort:_abort,emscripten_date_now:_emscripten_date_now,emscripten_get_heap_max:_emscripten_get_heap_max,emscripten_memcpy_js:_emscripten_memcpy_js,emscripten_resize_heap:_emscripten_resize_heap,environ_get:_environ_get,environ_sizes_get:_environ_sizes_get,exit:_exit,fd_close:_fd_close,fd_read:_fd_read,fd_seek:_fd_seek,fd_write:_fd_write,invoke_diii:invoke_diii,invoke_fiii:invoke_fiii,invoke_i:invoke_i,invoke_ii:invoke_ii,invoke_iii:invoke_iii,invoke_iiii:invoke_iiii,invoke_iiiii:invoke_iiiii,invoke_iiiiii:invoke_iiiiii,invoke_iiiiiii:invoke_iiiiiii,invoke_iiiiiiii:invoke_iiiiiiii,invoke_iiiiiiiiiii:invoke_iiiiiiiiiii,invoke_iiiiiiiiiiii:invoke_iiiiiiiiiiii,invoke_iiiiiiiiiiiii:invoke_iiiiiiiiiiiii,invoke_jiiii:invoke_jiiii,invoke_v:invoke_v,invoke_vi:invoke_vi,invoke_vii:invoke_vii,invoke_viii:invoke_viii,invoke_viiii:invoke_viiii,invoke_viiiii:invoke_viiiii,invoke_viiiiii:invoke_viiiiii,invoke_viiiiiii:invoke_viiiiiii,invoke_viiiiiiiiii:invoke_viiiiiiiiii,invoke_viiiiiiiiiiiiiii:invoke_viiiiiiiiiiiiiii,strftime_l:_strftime_l};var wasmExports=createWasm();var ___wasm_call_ctors=createExportWrapper("__wasm_call_ctors");var _main=Module["_main"]=createExportWrapper("__main_argc_argv");var _malloc=createExportWrapper("malloc");var _free=Module["_free"]=createExportWrapper("free");var ___errno_location=createExportWrapper("__errno_location");var setTempRet0=createExportWrapper("setTempRet0");var _fflush=Module["_fflush"]=createExportWrapper("fflush");var ___getTypeName=createExportWrapper("__getTypeName");var __embind_initialize_bindings=Module["__embind_initialize_bindings"]=createExportWrapper("_embind_initialize_bindings");var _setThrew=createExportWrapper("setThrew");var _emscripten_stack_init=()=>(_emscripten_stack_init=wasmExports["emscripten_stack_init"])();var _emscripten_stack_get_free=()=>(_emscripten_stack_get_free=wasmExports["emscripten_stack_get_free"])();var _emscripten_stack_get_base=()=>(_emscripten_stack_get_base=wasmExports["emscripten_stack_get_base"])();var _emscripten_stack_get_end=()=>(_emscripten_stack_get_end=wasmExports["emscripten_stack_get_end"])();var stackSave=createExportWrapper("stackSave");var stackRestore=createExportWrapper("stackRestore");var stackAlloc=createExportWrapper("stackAlloc");var _emscripten_stack_get_current=()=>(_emscripten_stack_get_current=wasmExports["emscripten_stack_get_current"])();var ___cxa_free_exception=createExportWrapper("__cxa_free_exception");var ___cxa_decrement_exception_refcount=createExportWrapper("__cxa_decrement_exception_refcount");var ___cxa_increment_exception_refcount=createExportWrapper("__cxa_increment_exception_refcount");var ___get_exception_message=Module["___get_exception_message"]=createExportWrapper("__get_exception_message");var ___cxa_can_catch=createExportWrapper("__cxa_can_catch");var ___cxa_is_pointer_type=createExportWrapper("__cxa_is_pointer_type");var dynCall_jiji=Module["dynCall_jiji"]=createExportWrapper("dynCall_jiji");var dynCall_viijii=Module["dynCall_viijii"]=createExportWrapper("dynCall_viijii");var dynCall_jiiii=Module["dynCall_jiiii"]=createExportWrapper("dynCall_jiiii");var dynCall_iiiiij=Module["dynCall_iiiiij"]=createExportWrapper("dynCall_iiiiij");var dynCall_iiiiijj=Module["dynCall_iiiiijj"]=createExportWrapper("dynCall_iiiiijj");var dynCall_iiiiiijj=Module["dynCall_iiiiiijj"]=createExportWrapper("dynCall_iiiiiijj");function invoke_ii(index,a1){var sp=stackSave();try{return getWasmTableEntry(index)(a1)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_vii(index,a1,a2){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiiii(index,a1,a2,a3,a4,a5,a6){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiii(index,a1,a2,a3,a4,a5,a6){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiii(index,a1,a2,a3,a4,a5){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_vi(index,a1){var sp=stackSave();try{getWasmTableEntry(index)(a1)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viii(index,a1,a2,a3){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iii(index,a1,a2){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_i(index){var sp=stackSave();try{return getWasmTableEntry(index)()}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiii(index,a1,a2,a3,a4){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiii(index,a1,a2,a3){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiii(index,a1,a2,a3,a4,a5){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_v(index){var sp=stackSave();try{getWasmTableEntry(index)()}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiiii(index,a1,a2,a3,a4,a5,a6,a7){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiii(index,a1,a2,a3,a4){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_fiii(index,a1,a2,a3){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_diii(index,a1,a2,a3){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiiiii(index,a1,a2,a3,a4,a5,a6,a7){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_iiiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11){var sp=stackSave();try{return getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_viiiiiiiiiiiiiii(index,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15){var sp=stackSave();try{getWasmTableEntry(index)(a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function invoke_jiiii(index,a1,a2,a3,a4){var sp=stackSave();try{return dynCall_jiiii(index,a1,a2,a3,a4)}catch(e){stackRestore(sp);if(!(e instanceof EmscriptenEH))throw e;_setThrew(1,0)}}function intArrayFromBase64(s){if(typeof ENVIRONMENT_IS_NODE!="undefined"&&ENVIRONMENT_IS_NODE){var buf=Buffer.from(s,"base64");return new Uint8Array(buf.buffer,buf.byteOffset,buf.length)}var decoded=atob(s);var bytes=new Uint8Array(decoded.length);for(var i=0;i{HEAPU32[argv_ptr>>2]=stringToUTF8OnStack(arg);argv_ptr+=4});HEAPU32[argv_ptr>>2]=0;try{var ret=entryFunction(argc,argv);exitJS(ret,true);return ret}catch(e){return handleException(e)}}function stackCheckInit(){_emscripten_stack_init();writeStackCookie()}function run(args=arguments_){if(runDependencies>0){return}stackCheckInit();preRun();if(runDependencies>0){return}function doRun(){if(calledRun)return;calledRun=true;Module["calledRun"]=true;if(ABORT)return;initRuntime();preMain();readyPromiseResolve(Module);if(Module["onRuntimeInitialized"])Module["onRuntimeInitialized"]();if(shouldRunNow)callMain(args);postRun()}if(Module["setStatus"]){Module["setStatus"]("Running...");setTimeout(function(){setTimeout(function(){Module["setStatus"]("")},1);doRun()},1)}else{doRun()}checkStackCookie()}function checkUnflushedContent(){var oldOut=out;var oldErr=err;var has=false;out=err=x=>{has=true};try{_fflush(0);["stdout","stderr"].forEach(function(name){var info=FS.analyzePath("/dev/"+name);if(!info)return;var stream=info.object;var rdev=stream.rdev;var tty=TTY.ttys[rdev];if(tty&&tty.output&&tty.output.length){has=true}})}catch(e){}out=oldOut;err=oldErr;if(has){warnOnce("stdio streams had content in them that was not flushed. you should set EXIT_RUNTIME to 1 (see the Emscripten FAQ), or make sure to emit a newline when you printf etc.")}}if(Module["preInit"]){if(typeof Module["preInit"]=="function")Module["preInit"]=[Module["preInit"]];while(Module["preInit"].length>0){Module["preInit"].pop()()}}var shouldRunNow=true;if(Module["noInitialRun"])shouldRunNow=false;run(); - return load_mujoco.ready + return moduleArg.ready } ); diff --git a/frontend/src/lib/mujoco/mujoco_wasm.wasm b/frontend/src/lib/mujoco/mujoco_wasm.wasm index 5f88fcf2..08ce502a 100644 Binary files a/frontend/src/lib/mujoco/mujoco_wasm.wasm and b/frontend/src/lib/mujoco/mujoco_wasm.wasm differ diff --git a/frontend/src/lib/types/routes.ts b/frontend/src/lib/types/routes.ts index 2d4d61e9..5d8052ba 100644 --- a/frontend/src/lib/types/routes.ts +++ b/frontend/src/lib/types/routes.ts @@ -2,7 +2,6 @@ import { route, string } from "react-router-typesafe-routes/dom"; const ROUTES = { HOME: route(""), - PLAYGROUND: route("playground"), // General pages ABOUT: route("about"), @@ -41,8 +40,8 @@ const ROUTES = { PROFILE: route("profile/:id?", { params: { id: string() }, }), - FILE: route("file/:artifactId", { - params: { artifactId: string().defined() }, + FILE: route("file/:artifactId/:fileName?", { + params: { artifactId: string().defined(), fileName: string() }, }), // Sell. @@ -50,6 +49,7 @@ const ROUTES = { "sell", {}, { + DASHBOARD: route("dashboard"), ONBOARDING: route("onboarding"), DELETE: route("delete"), }, diff --git a/frontend/src/react-app-env.d.ts b/frontend/src/react-app-env.d.ts index 4ea89a5c..4645f776 100644 --- a/frontend/src/react-app-env.d.ts +++ b/frontend/src/react-app-env.d.ts @@ -3,3 +3,4 @@ declare module "*.png"; declare module "*.svg"; declare module "*.jpeg"; declare module "*.jpg"; +declare module "*.xml"; diff --git a/frontend/vite.config.ts b/frontend/vite.config.ts index f4631bfc..6dcd88e6 100644 --- a/frontend/vite.config.ts +++ b/frontend/vite.config.ts @@ -20,4 +20,5 @@ export default defineConfig({ build: { outDir: "dist", }, + assetsInclude: ["**/*.xml"], });