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eslint-disable */\n\n/**\n * @author alteredq / http://alteredqualia.com/\n */\n\nvar THREE = require('three');\n\n\nTHREE.Pass = function () {\n\n\t// if set to true, the pass is processed by the composer\n\tthis.enabled = true;\n\n\t// if set to true, the pass indicates to swap read and write buffer after rendering\n\tthis.needsSwap = true;\n\n\t// if set to true, the pass clears its buffer before rendering\n\tthis.clear = false;\n\n\t// if set to true, the result of the pass is rendered to screen\n\tthis.renderToScreen = false;\n\n};\n\nTHREE.Pass.prototype = Object.assign( THREE.Pass.prototype, {\n\n\tsetSize: function ( width, height ) {},\n\n\trender: function ( renderer, writeBuffer, readBuffer, delta, maskActive ) {\n\n\t\tconsole.error( 'THREE.Pass: .render() must be implemented in derived pass.' );\n\n\t}\n\n} );\n\nmodule.exports = THREE.Pass;\n","/* eslint-disable */\n\n/**\n * @author alteredq / http://alteredqualia.com/\n *\n * Full-screen textured quad shader\n */\n\nvar THREE = require('three');\n\n\nTHREE.CopyShader = {\n\n\tuniforms: {\n\n\t\t\"tDiffuse\": { value: null },\n\t\t\"opacity\":  { value: 1.0 }\n\n\t},\n\n\tvertexShader: [\n\n\t\t\"varying vec2 vUv;\",\n\n\t\t\"void main() {\",\n\n\t\t\t\"vUv = uv;\",\n\t\t\t\"gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\",\n\n\t\t\"}\"\n\n\t].join( \"\\n\" ),\n\n\tfragmentShader: [\n\n\t\t\"uniform float opacity;\",\n\n\t\t\"uniform sampler2D tDiffuse;\",\n\n\t\t\"varying vec2 vUv;\",\n\n\t\t\"void main() {\",\n\n\t\t\t\"vec4 texel = texture2D( tDiffuse, vUv );\",\n\t\t\t\"gl_FragColor = opacity * texel;\",\n\n\t\t\"}\"\n\n\t].join( \"\\n\" )\n\n};\n\nmodule.exports = THREE.CopyShader;\n","module.exports = __webpack_public_path__ + \"static/media/hebi-logo.31195651.svg\";","module.exports = 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\"","/* eslint-disable */\n\n/**\n * @author arodic / https://github.com/arodic\n */\n\nvar THREE = require('three');\n\n\nTHREE.TransformControls = function ( camera, domElement ) {\n\n\tTHREE.Object3D.call( this );\n\n\tdomElement = ( domElement !== undefined ) ? domElement : document;\n\n\tthis.visible = false;\n\n\tvar _gizmo = new THREE.TransformControlsGizmo();\n\tthis.add( _gizmo );\n\n\tvar _plane = new THREE.TransformControlsPlane();\n\tthis.add( _plane );\n\n\tvar scope = this;\n\n\t// Define properties with getters/setter\n\t// Setting the defined property will automatically trigger change event\n\t// Defined properties are passed down to gizmo and plane\n\n\tdefineProperty( \"camera\", camera );\n\tdefineProperty( \"object\", undefined );\n\tdefineProperty( \"enabled\", true );\n\tdefineProperty( \"axis\", null );\n\tdefineProperty( \"mode\", \"translate\" );\n\tdefineProperty( \"translationSnap\", null );\n\tdefineProperty( \"rotationSnap\", null );\n\tdefineProperty( \"space\", \"world\" );\n\tdefineProperty( \"size\", 1 );\n\tdefineProperty( \"dragging\", false );\n\tdefineProperty( \"showX\", true );\n\tdefineProperty( \"showY\", true );\n\tdefineProperty( \"showZ\", true );\n\n\tvar changeEvent = { type: \"change\" };\n\tvar mouseDownEvent = { type: \"mouseDown\" };\n\tvar mouseUpEvent = { type: \"mouseUp\", mode: scope.mode };\n\tvar objectChangeEvent = { type: \"objectChange\" };\n\n\t// Reusable utility variables\n\n\tvar ray = new THREE.Raycaster();\n\n\tvar _tempVector = new THREE.Vector3();\n\tvar _tempVector2 = new THREE.Vector3();\n\tvar _tempQuaternion = new THREE.Quaternion();\n\tvar _unit = {\n\t\tX: new THREE.Vector3( 1, 0, 0 ),\n\t\tY: new THREE.Vector3( 0, 1, 0 ),\n\t\tZ: new THREE.Vector3( 0, 0, 1 )\n\t};\n\tvar _identityQuaternion = new THREE.Quaternion();\n\tvar _alignVector = new THREE.Vector3();\n\n\tvar pointStart = new THREE.Vector3();\n\tvar pointEnd = new THREE.Vector3();\n\tvar offset = new THREE.Vector3();\n\tvar rotationAxis = new THREE.Vector3();\n\tvar startNorm = new THREE.Vector3();\n\tvar endNorm = new THREE.Vector3();\n\tvar rotationAngle = 0;\n\n\tvar cameraPosition = new THREE.Vector3();\n\tvar cameraQuaternion = new THREE.Quaternion();\n\tvar cameraScale = new THREE.Vector3();\n\n\tvar parentPosition = new THREE.Vector3();\n\tvar parentQuaternion = new THREE.Quaternion();\n\tvar parentQuaternionInv = new THREE.Quaternion();\n\tvar parentScale = new THREE.Vector3();\n\n\tvar worldPositionStart = new THREE.Vector3();\n\tvar worldQuaternionStart = new THREE.Quaternion();\n\tvar worldScaleStart = new THREE.Vector3();\n\n\tvar worldPosition = new THREE.Vector3();\n\tvar worldQuaternion = new THREE.Quaternion();\n\tvar worldQuaternionInv = new THREE.Quaternion();\n\tvar worldScale = new THREE.Vector3();\n\n\tvar eye = new THREE.Vector3();\n\n\tvar positionStart = new THREE.Vector3();\n\tvar quaternionStart = new THREE.Quaternion();\n\tvar scaleStart = new THREE.Vector3();\n\n\t// TODO: remove properties unused in plane and gizmo\n\n\tdefineProperty( \"worldPosition\", worldPosition );\n\tdefineProperty( \"worldPositionStart\", worldPositionStart );\n\tdefineProperty( \"worldQuaternion\", worldQuaternion );\n\tdefineProperty( \"worldQuaternionStart\", worldQuaternionStart );\n\tdefineProperty( \"cameraPosition\", cameraPosition );\n\tdefineProperty( \"cameraQuaternion\", cameraQuaternion );\n\tdefineProperty( \"pointStart\", pointStart );\n\tdefineProperty( \"pointEnd\", pointEnd );\n\tdefineProperty( \"rotationAxis\", rotationAxis );\n\tdefineProperty( \"rotationAngle\", rotationAngle );\n\tdefineProperty( \"eye\", eye );\n\n\t{\n\n\t\tdomElement.addEventListener( \"mousedown\", onPointerDown, false );\n\t\tdomElement.addEventListener( \"touchstart\", onPointerDown, false );\n\t\tdomElement.addEventListener( \"mousemove\", onPointerHover, false );\n\t\tdomElement.addEventListener( \"touchmove\", onPointerHover, false );\n\t\tdomElement.addEventListener( \"touchmove\", onPointerMove, false );\n\t\tdocument.addEventListener( \"mouseup\", onPointerUp, false );\n\t\tdomElement.addEventListener( \"touchend\", onPointerUp, false );\n\t\tdomElement.addEventListener( \"touchcancel\", onPointerUp, false );\n\t\tdomElement.addEventListener( \"touchleave\", onPointerUp, false );\n\n\t}\n\n\tthis.dispose = function () {\n\n\t\tdomElement.removeEventListener( \"mousedown\", onPointerDown );\n\t\tdomElement.removeEventListener( \"touchstart\", onPointerDown );\n\t\tdomElement.removeEventListener( \"mousemove\", onPointerHover );\n\t\tdomElement.removeEventListener( \"touchmove\", onPointerHover );\n\t\tdomElement.removeEventListener( \"touchmove\", onPointerMove );\n\t\tdocument.removeEventListener( \"mouseup\", onPointerUp );\n\t\tdomElement.removeEventListener( \"touchend\", onPointerUp );\n\t\tdomElement.removeEventListener( \"touchcancel\", onPointerUp );\n\t\tdomElement.removeEventListener( \"touchleave\", onPointerUp );\n\n\t};\n\n\t// Set current object\n\tthis.attach = function ( object ) {\n\n\t\tthis.object = object;\n\t\tthis.visible = true;\n\n\t};\n\n\t// Detatch from object\n\tthis.detach = function () {\n\n\t\tthis.object = undefined;\n\t\tthis.visible = false;\n\t\tthis.axis = null;\n\n\t};\n\n\t// Defined getter, setter and store for a property\n\tfunction defineProperty( propName, defaultValue ) {\n\n\t\tvar propValue = defaultValue;\n\n\t\tObject.defineProperty( scope, propName, {\n\n\t\t\tget: function() {\n\n\t\t\t\treturn propValue !== undefined ? propValue : defaultValue;\n\n\t\t\t},\n\n\t\t\tset: function( value ) {\n\n\t\t\t\tif ( propValue !== value ) {\n\n\t\t\t\t\tpropValue = value;\n\t\t\t\t\t_plane[ propName ] = value;\n\t\t\t\t\t_gizmo[ propName ] = value;\n\n\t\t\t\t\tscope.dispatchEvent( { type: propName + \"-changed\", value: value } );\n\t\t\t\t\tscope.dispatchEvent( changeEvent );\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t});\n\n\t\tscope[ propName ] = defaultValue;\n\t\t_plane[ propName ] = defaultValue;\n\t\t_gizmo[ propName ] = defaultValue;\n\n\t}\n\n\t// updateMatrixWorld  updates key transformation variables\n\tthis.updateMatrixWorld = function () {\n\n\t\tif ( this.object !== undefined ) {\n\n\t\t\tthis.object.updateMatrixWorld();\n\t\t\tthis.object.parent.matrixWorld.decompose( parentPosition, parentQuaternion, parentScale );\n\t\t\tthis.object.matrixWorld.decompose( worldPosition, worldQuaternion, worldScale );\n\n\t\t\tparentQuaternionInv.copy( parentQuaternion ).inverse();\n\t\t\tworldQuaternionInv.copy( worldQuaternion ).inverse();\n\n\t\t}\n\n\t\tthis.camera.updateMatrixWorld();\n\t\tthis.camera.matrixWorld.decompose( cameraPosition, cameraQuaternion, cameraScale );\n\n\t\tif ( this.camera instanceof THREE.PerspectiveCamera ) {\n\n\t\t\teye.copy( cameraPosition ).sub( worldPosition ).normalize();\n\n\t\t} else if ( this.camera instanceof THREE.OrthographicCamera ) {\n\n\t\t\teye.copy( cameraPosition ).normalize();\n\n\t\t}\n\n\t\tTHREE.Object3D.prototype.updateMatrixWorld.call( this );\n\n\t};\n\n\tthis.pointerHover = function( pointer ) {\n\n\t\tif ( this.object === undefined || this.dragging === true || ( pointer.button !== undefined && pointer.button !== 0 ) ) return;\n\n\t\tray.setFromCamera( pointer, this.camera );\n\n\t\tvar intersect = ray.intersectObjects( _gizmo.picker[ this.mode ].children, true )[ 0 ] || false;\n\n\t\tif ( intersect ) {\n\n\t\t\tthis.axis = intersect.object.name;\n\n\t\t} else {\n\n\t\t\tthis.axis = null;\n\n\t\t}\n\n\t};\n\n\tthis.pointerDown = function( pointer ) {\n\n\t\tif ( this.object === undefined || this.dragging === true || ( pointer.button !== undefined && pointer.button !== 0 ) ) return;\n\n\t\tif ( ( pointer.button === 0 || pointer.button === undefined ) && this.axis !== null ) {\n\n\t\t\tray.setFromCamera( pointer, this.camera );\n\n\t\t\tvar planeIntersect = ray.intersectObjects( [ _plane ], true )[ 0 ] || false;\n\n\t\t\tif ( planeIntersect ) {\n\n\t\t\t\tvar space = this.space;\n\n\t\t\t\tif ( this.mode === 'scale') {\n\n\t\t\t\t\tspace = 'local';\n\n\t\t\t\t} else if ( this.axis === 'E' ||  this.axis === 'XYZE' ||  this.axis === 'XYZ' ) {\n\n\t\t\t\t\tspace = 'world';\n\n\t\t\t\t}\n\n\t\t\t\tif ( space === 'local' && this.mode === 'rotate' ) {\n\n\t\t\t\t\tvar snap = this.rotationSnap;\n\n\t\t\t\t\tif ( this.axis === 'X' && snap ) this.object.rotation.x = Math.round( this.object.rotation.x / snap ) * snap;\n\t\t\t\t\tif ( this.axis === 'Y' && snap ) this.object.rotation.y = Math.round( this.object.rotation.y / snap ) * snap;\n\t\t\t\t\tif ( this.axis === 'Z' && snap ) this.object.rotation.z = Math.round( this.object.rotation.z / snap ) * snap;\n\n\t\t\t\t}\n\n\t\t\t\tthis.object.updateMatrixWorld();\n\t\t\t\tthis.object.parent.updateMatrixWorld();\n\n\t\t\t\tpositionStart.copy( this.object.position );\n\t\t\t\tquaternionStart.copy( this.object.quaternion );\n\t\t\t\tscaleStart.copy( this.object.scale );\n\n\t\t\t\tthis.object.matrixWorld.decompose( worldPositionStart, worldQuaternionStart, worldScaleStart );\n\n\t\t\t\tpointStart.copy( planeIntersect.point ).sub( worldPositionStart );\n\n\t\t\t}\n\n\t\t\tthis.dragging = true;\n\t\t\tmouseDownEvent.mode = this.mode;\n\t\t\tthis.dispatchEvent( mouseDownEvent );\n\n\t\t}\n\n\t};\n\n\tthis.pointerMove = function( pointer ) {\n\n\t\tvar axis = this.axis;\n\t\tvar mode = this.mode;\n\t\tvar object = this.object;\n\t\tvar space = this.space;\n\n\t\tif ( mode === 'scale') {\n\n\t\t\tspace = 'local';\n\n\t\t} else if ( axis === 'E' ||  axis === 'XYZE' ||  axis === 'XYZ' ) {\n\n\t\t\tspace = 'world';\n\n\t\t}\n\n\t\tif ( object === undefined || axis === null || this.dragging === false || ( pointer.button !== undefined && pointer.button !== 0 ) ) return;\n\n\t\tray.setFromCamera( pointer, this.camera );\n\n\t\tvar planeIntersect = ray.intersectObjects( [ _plane ], true )[ 0 ] || false;\n\n\t\tif ( planeIntersect === false ) return;\n\n\t\tpointEnd.copy( planeIntersect.point ).sub( worldPositionStart );\n\n\t\tif ( mode === 'translate' ) {\n\n\t\t\t// Apply translate\n\n\t\t\toffset.copy( pointEnd ).sub( pointStart );\n\n\t\t\tif ( space === 'local' && axis !== 'XYZ' ) {\n\t\t\t\toffset.applyQuaternion( worldQuaternionInv );\n\t\t\t}\n\n\t\t\tif ( axis.indexOf( 'X' ) === -1 ) offset.x = 0;\n\t\t\tif ( axis.indexOf( 'Y' ) === -1 ) offset.y = 0;\n\t\t\tif ( axis.indexOf( 'Z' ) === -1 ) offset.z = 0;\n\n\t\t\tif ( space === 'local' && axis !== 'XYZ') {\n\t\t\t\toffset.applyQuaternion( quaternionStart ).divide( parentScale );\n\t\t\t} else {\n\t\t\t\toffset.applyQuaternion( parentQuaternionInv ).divide( parentScale );\n\t\t\t}\n\n\t\t\tobject.position.copy( offset ).add( positionStart );\n\n\t\t\t// Apply translation snap\n\n\t\t\tif ( this.translationSnap ) {\n\n\t\t\t\tif ( space === 'local' ) {\n\n\t\t\t\t\tobject.position.applyQuaternion(_tempQuaternion.copy( quaternionStart ).inverse() );\n\n\t\t\t\t\tif ( axis.search( 'X' ) !== -1 ) {\n\t\t\t\t\t\tobject.position.x = Math.round( object.position.x / this.translationSnap ) * this.translationSnap;\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( axis.search( 'Y' ) !== -1 ) {\n\t\t\t\t\t\tobject.position.y = Math.round( object.position.y / this.translationSnap ) * this.translationSnap;\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( axis.search( 'Z' ) !== -1 ) {\n\t\t\t\t\t\tobject.position.z = Math.round( object.position.z / this.translationSnap ) * this.translationSnap;\n\t\t\t\t\t}\n\n\t\t\t\t\tobject.position.applyQuaternion( quaternionStart );\n\n\t\t\t\t}\n\n\t\t\t\tif ( space === 'world' ) {\n\n\t\t\t\t\tif ( object.parent ) {\n\t\t\t\t\t\tobject.position.add( _tempVector.setFromMatrixPosition( object.parent.matrixWorld ) );\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( axis.search( 'X' ) !== -1 ) {\n\t\t\t\t\t\tobject.position.x = Math.round( object.position.x / this.translationSnap ) * this.translationSnap;\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( axis.search( 'Y' ) !== -1 ) {\n\t\t\t\t\t\tobject.position.y = Math.round( object.position.y / this.translationSnap ) * this.translationSnap;\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( axis.search( 'Z' ) !== -1 ) {\n\t\t\t\t\t\tobject.position.z = Math.round( object.position.z / this.translationSnap ) * this.translationSnap;\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( object.parent ) {\n\t\t\t\t\t\tobject.position.sub( _tempVector.setFromMatrixPosition( object.parent.matrixWorld ) );\n\t\t\t\t\t}\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t} else if ( mode === 'scale' ) {\n\n\t\t\tif ( axis.search( 'XYZ' ) !== -1 ) {\n\n\t\t\t\tvar d = pointEnd.length() / pointStart.length();\n\n\t\t\t\tif ( pointEnd.dot( pointStart ) < 0 ) d *= -1;\n\n\t\t\t\t_tempVector.set( d, d, d );\n\n\t\t\t} else {\n\n\t\t\t\t_tempVector.copy( pointEnd ).divide( pointStart );\n\n\t\t\t\tif ( axis.search( 'X' ) === -1 ) {\n\t\t\t\t\t_tempVector.x = 1;\n\t\t\t\t}\n\t\t\t\tif ( axis.search( 'Y' ) === -1 ) {\n\t\t\t\t\t_tempVector.y = 1;\n\t\t\t\t}\n\t\t\t\tif ( axis.search( 'Z' ) === -1 ) {\n\t\t\t\t\t_tempVector.z = 1;\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\t// Apply scale\n\n\t\t\tobject.scale.copy( scaleStart ).multiply( _tempVector );\n\n\t\t} else if ( mode === 'rotate' ) {\n\n\t\t\toffset.copy( pointEnd ).sub( pointStart );\n\n\t\t\tvar ROTATION_SPEED = 20 / worldPosition.distanceTo( _tempVector.setFromMatrixPosition( this.camera.matrixWorld ) );\n\n\t\t\tif ( axis === 'E' ) {\n\n\t\t\t\trotationAxis.copy( eye );\n\t\t\t\trotationAngle = pointEnd.angleTo( pointStart );\n\n\t\t\t\tstartNorm.copy( pointStart ).normalize();\n\t\t\t\tendNorm.copy( pointEnd ).normalize();\n\n\t\t\t\trotationAngle *= ( endNorm.cross( startNorm ).dot( eye ) < 0 ? 1 : -1);\n\n\t\t\t} else if ( axis === 'XYZE' ) {\n\n\t\t\t\trotationAxis.copy( offset ).cross( eye ).normalize(  );\n\t\t\t\trotationAngle = offset.dot( _tempVector.copy( rotationAxis ).cross( this.eye ) ) * ROTATION_SPEED;\n\n\t\t\t} else if ( axis === 'X' || axis === 'Y' || axis === 'Z' ) {\n\n\t\t\t\trotationAxis.copy( _unit[ axis ] );\n\n\t\t\t\t_tempVector.copy( _unit[ axis ] );\n\n\t\t\t\tif ( space === 'local' ) {\n\t\t\t\t\t_tempVector.applyQuaternion( worldQuaternion );\n\t\t\t\t}\n\n\t\t\t\trotationAngle = offset.dot( _tempVector.cross( eye ).normalize() ) * ROTATION_SPEED;\n\n\t\t\t}\n\n\t\t\t// Apply rotation snap\n\n\t\t\tif ( this.rotationSnap ) rotationAngle = Math.round( rotationAngle / this.rotationSnap ) * this.rotationSnap;\n\n\t\t\tthis.rotationAngle = rotationAngle;\n\n\t\t\t// Apply rotate\n\t\t\tif ( space === 'local' && axis !== 'E' && axis !== 'XYZE' ) {\n\n\t\t\t\tobject.quaternion.copy( quaternionStart );\n\t\t\t\tobject.quaternion.multiply( _tempQuaternion.setFromAxisAngle( rotationAxis, rotationAngle ) ).normalize();\n\n\t\t\t} else {\n\n\t\t\t\trotationAxis.applyQuaternion( parentQuaternionInv );\n\t\t\t\tobject.quaternion.copy( _tempQuaternion.setFromAxisAngle( rotationAxis, rotationAngle ) );\n\t\t\t\tobject.quaternion.multiply( quaternionStart ).normalize();\n\n\t\t\t}\n\n\t\t}\n\n\t\tthis.dispatchEvent( changeEvent );\n\t\tthis.dispatchEvent( objectChangeEvent );\n\n\t};\n\n\tthis.pointerUp = function( pointer ) {\n\n\t\tif ( pointer.button !== undefined && pointer.button !== 0 ) return;\n\n\t\tif ( this.dragging && ( this.axis !== null ) ) {\n\n\t\t\tmouseUpEvent.mode = this.mode;\n\t\t\tthis.dispatchEvent( mouseUpEvent );\n\n\t\t}\n\n\t\tthis.dragging = false;\n\n\t\tif ( pointer.button === undefined ) this.axis = null;\n\n\t};\n\n\t// normalize mouse / touch pointer and remap {x,y} to view space.\n\n\tfunction getPointer( event ) {\n\n\t\tvar pointer = event.changedTouches ? event.changedTouches[ 0 ] : event;\n\n\t\tvar rect = domElement.getBoundingClientRect();\n\n\t\treturn {\n\t\t\tx: ( pointer.clientX - rect.left ) / rect.width * 2 - 1,\n\t\t\ty: - ( pointer.clientY - rect.top ) / rect.height * 2 + 1,\n\t\t\tbutton: event.button\n\t\t};\n\n\t}\n\n\t// mouse / touch event handlers\n\n\tfunction onPointerHover( event ) {\n\n\t\tif ( !scope.enabled ) return;\n\n\t\tscope.pointerHover( getPointer( event ) );\n\n\t}\n\n\tfunction onPointerDown( event ) {\n\n\t\tif ( !scope.enabled ) return;\n\n\t\tdocument.addEventListener( \"mousemove\", onPointerMove, false );\n\n\t\tscope.pointerHover( getPointer( event ) );\n\t\tscope.pointerDown( getPointer( event ) );\n\n\t}\n\n\tfunction onPointerMove( event ) {\n\n\t\tif ( !scope.enabled ) return;\n\n\t\tscope.pointerMove( getPointer( event ) );\n\n\t}\n\n\tfunction onPointerUp( event ) {\n\n\t\tif ( !scope.enabled ) return;\n\n\t\tdocument.removeEventListener( \"mousemove\", onPointerMove, false );\n\n\t\tscope.pointerUp( getPointer( event ) );\n\n\t}\n\n\t// TODO: depricate\n\n\tthis.getMode = function () {\n\n\t\treturn scope.mode;\n\n\t};\n\n\tthis.setMode = function ( mode ) {\n\n\t\tscope.mode = mode;\n\n\t};\n\n\tthis.setTranslationSnap = function ( translationSnap ) {\n\n\t\tscope.translationSnap = translationSnap;\n\n\t};\n\n\tthis.setRotationSnap = function ( rotationSnap ) {\n\n\t\tscope.rotationSnap = rotationSnap;\n\n\t};\n\n\tthis.setSize = function ( size ) {\n\n\t\tscope.size = size;\n\n\t};\n\n\tthis.setSpace = function ( space ) {\n\n\t\tscope.space = space;\n\n\t};\n\n\tthis.update = function () {\n\n\t\tconsole.warn( 'THREE.TransformControls: update function has been depricated.' );\n\n\t};\n\n};\n\nTHREE.TransformControls.prototype = Object.assign( Object.create( THREE.Object3D.prototype ), {\n\n  constructor: THREE.TransformControls,\n\n  isTransformControls: true\n\n} );\n\n\nTHREE.TransformControlsGizmo = function () {\n\n\t'use strict';\n\n\tTHREE.Object3D.call( this );\n\n\tthis.type = 'TransformControlsGizmo';\n\n\t// shared materials\n\n\tvar gizmoMaterial = new THREE.MeshBasicMaterial({\n\t\tdepthTest: false,\n\t\tdepthWrite: false,\n\t\ttransparent: true,\n\t\tside: THREE.DoubleSide,\n\t\tfog: false\n\t});\n\n\tvar gizmoLineMaterial = new THREE.LineBasicMaterial({\n\t\tdepthTest: false,\n\t\tdepthWrite: false,\n\t\ttransparent: true,\n\t\tlinewidth: 1,\n\t\tfog: false\n\t});\n\n\t// Make unique material for each axis/color\n\n\tvar matInvisible = gizmoMaterial.clone();\n\tmatInvisible.opacity = 0.15;\n\n\tvar matHelper = gizmoMaterial.clone();\n\tmatHelper.opacity = 0.33;\n\n\tvar matRed = gizmoMaterial.clone();\n\tmatRed.color.set( 0xff0000 );\n\n\tvar matGreen = gizmoMaterial.clone();\n\tmatGreen.color.set( 0x00ff00 );\n\n\tvar matBlue = gizmoMaterial.clone();\n\tmatBlue.color.set( 0x0000ff );\n\n\tvar matWhiteTransperent = gizmoMaterial.clone();\n\tmatWhiteTransperent.opacity = 0.25;\n\n\tvar matYellowTransparent = matWhiteTransperent.clone();\n\tmatYellowTransparent.color.set( 0xffff00 );\n\n\tvar matCyanTransparent = matWhiteTransperent.clone();\n\tmatCyanTransparent.color.set( 0x00ffff );\n\n\tvar matMagentaTransparent = matWhiteTransperent.clone();\n\tmatMagentaTransparent.color.set( 0xff00ff );\n\n\tvar matYellow = gizmoMaterial.clone();\n\tmatYellow.color.set( 0xffff00 );\n\n\tvar matLineRed = gizmoLineMaterial.clone();\n\tmatLineRed.color.set( 0xff0000 );\n\n\tvar matLineGreen = gizmoLineMaterial.clone();\n\tmatLineGreen.color.set( 0x00ff00 );\n\n\tvar matLineBlue = gizmoLineMaterial.clone();\n\tmatLineBlue.color.set( 0x0000ff );\n\n\tvar matLineCyan = gizmoLineMaterial.clone();\n\tmatLineCyan.color.set( 0x00ffff );\n\n\tvar matLineMagenta = gizmoLineMaterial.clone();\n\tmatLineMagenta.color.set( 0xff00ff );\n\n\tvar matLineYellow = gizmoLineMaterial.clone();\n\tmatLineYellow.color.set( 0xffff00 );\n\n\tvar matLineGray = gizmoLineMaterial.clone();\n\tmatLineGray.color.set( 0x787878);\n\n\tvar matLineYellowTransparent = matLineYellow.clone();\n\tmatLineYellowTransparent.opacity = 0.25;\n\n\t// reusable geometry\n\n\tvar arrowGeometry = new THREE.CylinderBufferGeometry( 0, 0.05, 0.2, 12, 1, false);\n\n\tvar scaleHandleGeometry = new THREE.BoxBufferGeometry( 0.125, 0.125, 0.125);\n\n\tvar lineGeometry = new THREE.BufferGeometry( );\n\tlineGeometry.addAttribute('position', new THREE.Float32BufferAttribute( [ 0, 0, 0,\t1, 0, 0 ], 3 ) );\n\n\tvar CircleGeometry = function( radius, arc ) {\n\n\t\tvar geometry = new THREE.BufferGeometry( );\n\t\tvar vertices = [];\n\n\t\tfor ( var i = 0; i <= 64 * arc; ++i ) {\n\n\t\t\tvertices.push( 0, Math.cos( i / 32 * Math.PI ) * radius, Math.sin( i / 32 * Math.PI ) * radius );\n\n\t\t}\n\n\t\tgeometry.addAttribute('position', new THREE.Float32BufferAttribute( vertices, 3 ) );\n\n\t\treturn geometry;\n\n\t};\n\n\t// Special geometry for transform helper. If scaled with position vector it spans from [0,0,0] to position\n\n\tvar TranslateHelperGeometry = function( radius, arc ) {\n\n\t\tvar geometry = new THREE.BufferGeometry()\n\n\t\tgeometry.addAttribute('position', new THREE.Float32BufferAttribute( [ 0, 0, 0, 1, 1, 1 ], 3 ) );\n\n\t\treturn geometry;\n\n\t};\n\n\t// Gizmo definitions - custom hierarchy definitions for setupGizmo() function\n\n\tvar gizmoTranslate = {\n\t\tX: [\n\t\t\t[ new THREE.Mesh( arrowGeometry, matRed ), [ 1, 0, 0 ], [ 0, 0, -Math.PI / 2 ], null, 'fwd' ],\n\t\t\t[ new THREE.Mesh( arrowGeometry, matRed ), [ 1, 0, 0 ], [ 0, 0, Math.PI / 2 ], null, 'bwd' ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineRed ) ]\n\t\t],\n\t\tY: [\n\t\t\t[ new THREE.Mesh( arrowGeometry, matGreen ), [ 0, 1, 0 ], null, null, 'fwd' ],\n\t\t\t[ new THREE.Mesh( arrowGeometry, matGreen ), [ 0, 1, 0 ], [ Math.PI, 0, 0 ], null, 'bwd' ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineGreen ), null, [ 0, 0, Math.PI / 2 ] ]\n\t\t],\n\t\tZ: [\n\t\t\t[ new THREE.Mesh( arrowGeometry, matBlue ), [ 0, 0, 1 ], [ Math.PI / 2, 0, 0 ], null, 'fwd' ],\n\t\t\t[ new THREE.Mesh( arrowGeometry, matBlue ), [ 0, 0, 1 ], [ -Math.PI / 2, 0, 0 ], null, 'bwd' ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineBlue ), null, [ 0, -Math.PI / 2, 0 ] ]\n\t\t],\n\t\tXYZ: [\n\t\t\t[ new THREE.Mesh( new THREE.OctahedronBufferGeometry( 0.1, 0 ), matWhiteTransperent ), [ 0, 0, 0 ], [ 0, 0, 0 ] ]\n\t\t],\n\t\tXY: [\n\t\t\t[ new THREE.Mesh( new THREE.PlaneBufferGeometry( 0.295, 0.295 ), matYellowTransparent ), [ 0.15, 0.15, 0 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineYellow ), [ 0.18, 0.3, 0 ], null, [ 0.125, 1, 1 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineYellow ), [ 0.3, 0.18, 0 ], [ 0, 0, Math.PI / 2 ], [ 0.125, 1, 1 ] ]\n\t\t],\n\t\tYZ: [\n\t\t\t[ new THREE.Mesh( new THREE.PlaneBufferGeometry( 0.295, 0.295 ), matCyanTransparent ), [ 0, 0.15, 0.15 ], [ 0, Math.PI / 2, 0 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineCyan ), [ 0, 0.18, 0.3 ], [ 0, 0, Math.PI / 2 ], [ 0.125, 1, 1 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineCyan ), [ 0, 0.3, 0.18 ], [ 0, -Math.PI / 2, 0 ], [ 0.125, 1, 1 ] ]\n\t\t],\n\t\tXZ: [\n\t\t\t[ new THREE.Mesh( new THREE.PlaneBufferGeometry( 0.295, 0.295 ), matMagentaTransparent ), [ 0.15, 0, 0.15 ], [ -Math.PI / 2, 0, 0 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineMagenta ), [ 0.18, 0, 0.3 ], null, [ 0.125, 1, 1 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineMagenta ), [ 0.3, 0, 0.18 ], [ 0, -Math.PI / 2, 0 ], [ 0.125, 1, 1 ] ]\n\t\t]\n\t};\n\n\tvar pickerTranslate = {\n\t\tX: [\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.2, 0, 1, 4, 1, false ), matInvisible ), [ 0.6, 0, 0 ], [ 0, 0, -Math.PI / 2 ] ]\n\t\t],\n\t\tY: [\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.2, 0, 1, 4, 1, false ), matInvisible ), [ 0, 0.6, 0 ] ]\n\t\t],\n\t\tZ: [\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.2, 0, 1, 4, 1, false ), matInvisible ), [ 0, 0, 0.6 ], [ Math.PI / 2, 0, 0 ] ]\n\t\t],\n\t\tXYZ: [\n\t\t\t[ new THREE.Mesh( new THREE.OctahedronBufferGeometry( 0.2, 0 ), matInvisible ) ]\n\t\t],\n\t\tXY: [\n\t\t\t[ new THREE.Mesh( new THREE.PlaneBufferGeometry( 0.4, 0.4 ), matInvisible ), [ 0.2, 0.2, 0 ] ]\n\t\t],\n\t\tYZ: [\n\t\t\t[ new THREE.Mesh( new THREE.PlaneBufferGeometry( 0.4, 0.4 ), matInvisible ), [ 0, 0.2, 0.2 ], [ 0, Math.PI / 2, 0 ] ]\n\t\t],\n\t\tXZ: [\n\t\t\t[ new THREE.Mesh( new THREE.PlaneBufferGeometry( 0.4, 0.4 ), matInvisible ), [ 0.2, 0, 0.2 ], [ -Math.PI / 2, 0, 0 ] ]\n\t\t]\n\t};\n\n\tvar helperTranslate = {\n\t\tSTART: [\n\t\t\t[ new THREE.Mesh( new THREE.OctahedronBufferGeometry( 0.01, 2 ), matHelper ), null, null, null, 'helper' ]\n\t\t],\n\t\tEND: [\n\t\t\t[ new THREE.Mesh( new THREE.OctahedronBufferGeometry( 0.01, 2 ), matHelper ), null, null, null, 'helper' ]\n\t\t],\n\t\tDELTA: [\n\t\t\t[ new THREE.Line( TranslateHelperGeometry(), matHelper ), null, null, null, 'helper' ]\n\t\t],\n\t\tX: [\n\t\t\t[ new THREE.Line( lineGeometry, matHelper.clone() ), [ -1e3, 0, 0 ], null, [ 1e6, 1, 1 ], 'helper' ]\n\t\t],\n\t\tY: [\n\t\t\t[ new THREE.Line( lineGeometry, matHelper.clone() ), [ 0, -1e3, 0 ], [ 0, 0, Math.PI / 2 ], [ 1e6, 1, 1 ], 'helper' ]\n\t\t],\n\t\tZ: [\n\t\t\t[ new THREE.Line( lineGeometry, matHelper.clone() ), [ 0, 0, -1e3 ], [ 0, -Math.PI / 2, 0 ], [ 1e6, 1, 1 ], 'helper' ]\n\t\t]\n\t};\n\n\tvar gizmoRotate = {\n\t\tX: [\n\t\t\t[ new THREE.Line( CircleGeometry( 1, 0.5 ), matLineRed ) ],\n\t\t\t[ new THREE.Mesh( new THREE.OctahedronBufferGeometry( 0.04, 0 ), matRed ), [ 0, 0, 0.99 ], null, [ 1, 3, 1 ] ],\n\t\t],\n\t\tY: [\n\t\t\t[ new THREE.Line( CircleGeometry( 1, 0.5 ), matLineGreen ), null, [ 0, 0, -Math.PI / 2 ] ],\n\t\t\t[ new THREE.Mesh( new THREE.OctahedronBufferGeometry( 0.04, 0 ), matGreen ), [ 0, 0, 0.99 ], null, [ 3, 1, 1 ] ],\n\t\t],\n\t\tZ: [\n\t\t\t[ new THREE.Line( CircleGeometry( 1, 0.5 ), matLineBlue ), null, [ 0, Math.PI / 2, 0 ] ],\n\t\t\t[ new THREE.Mesh( new THREE.OctahedronBufferGeometry( 0.04, 0 ), matBlue ), [ 0.99, 0, 0 ], null, [ 1, 3, 1 ] ],\n\t\t],\n\t\tE: [\n\t\t\t[ new THREE.Line( CircleGeometry( 1.25, 1 ), matLineYellowTransparent ), null, [ 0, Math.PI / 2, 0 ] ],\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.03, 0, 0.15, 4, 1, false ), matLineYellowTransparent ), [ 1.17, 0, 0 ], [ 0, 0, -Math.PI / 2 ], [ 1, 1, 0.001 ]],\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.03, 0, 0.15, 4, 1, false ), matLineYellowTransparent ), [ -1.17, 0, 0 ], [ 0, 0, Math.PI / 2 ], [ 1, 1, 0.001 ]],\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.03, 0, 0.15, 4, 1, false ), matLineYellowTransparent ), [ 0, -1.17, 0 ], [ Math.PI, 0, 0 ], [ 1, 1, 0.001 ]],\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.03, 0, 0.15, 4, 1, false ), matLineYellowTransparent ), [ 0, 1.17, 0 ], [ 0, 0, 0 ], [ 1, 1, 0.001 ]],\n\t\t],\n\t\tXYZE: [\n\t\t\t[ new THREE.Line( CircleGeometry( 1, 1 ), matLineGray ), null, [ 0, Math.PI / 2, 0 ] ]\n\t\t]\n\t};\n\n\tvar helperRotate = {\n\t\tAXIS: [\n\t\t\t[ new THREE.Line( lineGeometry, matHelper.clone() ), [ -1e3, 0, 0 ], null, [ 1e6, 1, 1 ], 'helper' ]\n\t\t]\n\t};\n\n\tvar pickerRotate = {\n\t\tX: [\n\t\t\t[ new THREE.Mesh( new THREE.TorusBufferGeometry( 1, 0.1, 4, 24 ), matInvisible ), [ 0, 0, 0 ], [ 0, -Math.PI / 2, -Math.PI / 2 ] ],\n\t\t],\n\t\tY: [\n\t\t\t[ new THREE.Mesh( new THREE.TorusBufferGeometry( 1, 0.1, 4, 24 ), matInvisible ), [ 0, 0, 0 ], [ Math.PI / 2, 0, 0 ] ],\n\t\t],\n\t\tZ: [\n\t\t\t[ new THREE.Mesh( new THREE.TorusBufferGeometry( 1, 0.1, 4, 24 ), matInvisible ), [ 0, 0, 0 ], [ 0, 0, -Math.PI / 2 ] ],\n\t\t],\n\t\tE: [\n\t\t\t[ new THREE.Mesh( new THREE.TorusBufferGeometry( 1.25, 0.1, 2, 24 ), matInvisible ) ]\n\t\t],\n\t\tXYZE: [\n\t\t\t[ new THREE.Mesh( new THREE.SphereBufferGeometry( 0.7, 10, 8 ), matInvisible ) ]\n\t\t]\n\t};\n\n\tvar gizmoScale = {\n\t\tX: [\n\t\t\t[ new THREE.Mesh( scaleHandleGeometry, matRed ), [ 0.8, 0, 0 ], [ 0, 0, -Math.PI / 2 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineRed ), null, null, [ 0.8, 1, 1 ] ]\n\t\t],\n\t\tY: [\n\t\t\t[ new THREE.Mesh( scaleHandleGeometry, matGreen ), [ 0, 0.8, 0 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineGreen ), null, [ 0, 0, Math.PI / 2 ], [ 0.8, 1, 1 ] ]\n\t\t],\n\t\tZ: [\n\t\t\t[ new THREE.Mesh( scaleHandleGeometry, matBlue ), [ 0, 0, 0.8 ], [ Math.PI / 2, 0, 0 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineBlue ), null, [ 0, -Math.PI / 2, 0 ], [ 0.8, 1, 1 ] ]\n\t\t],\n\t\tXY: [\n\t\t\t[ new THREE.Mesh( scaleHandleGeometry, matYellowTransparent ), [ 0.85, 0.85, 0 ], null, [ 2, 2, 0.2 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineYellow ), [ 0.855, 0.98, 0 ], null, [ 0.125, 1, 1 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineYellow ), [ 0.98, 0.855, 0 ], [ 0, 0, Math.PI / 2 ], [ 0.125, 1, 1 ] ]\n\t\t],\n\t\tYZ: [\n\t\t\t[ new THREE.Mesh( scaleHandleGeometry, matCyanTransparent ), [ 0, 0.85, 0.85 ], null, [ 0.2, 2, 2 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineCyan ), [ 0, 0.855, 0.98 ], [ 0, 0, Math.PI / 2 ], [ 0.125, 1, 1 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineCyan ), [ 0, 0.98, 0.855 ], [ 0, -Math.PI / 2, 0 ], [ 0.125, 1, 1 ] ]\n\t\t],\n\t\tXZ: [\n\t\t\t[ new THREE.Mesh( scaleHandleGeometry, matMagentaTransparent ), [ 0.85, 0, 0.85 ], null, [ 2, 0.2, 2 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineMagenta ), [ 0.855, 0, 0.98 ], null, [ 0.125, 1, 1 ] ],\n\t\t\t[ new THREE.Line( lineGeometry, matLineMagenta ), [ 0.98, 0, 0.855 ], [ 0, -Math.PI / 2, 0 ], [ 0.125, 1, 1 ] ]\n\t\t],\n\t\tXYZX: [\n\t\t\t[ new THREE.Mesh( new THREE.BoxBufferGeometry( 0.125, 0.125, 0.125 ), matWhiteTransperent ), [ 1.1, 0, 0 ] ],\n\t\t],\n\t\tXYZY: [\n\t\t\t[ new THREE.Mesh( new THREE.BoxBufferGeometry( 0.125, 0.125, 0.125 ), matWhiteTransperent ), [ 0, 1.1, 0 ] ],\n\t\t],\n\t\tXYZZ: [\n\t\t\t[ new THREE.Mesh( new THREE.BoxBufferGeometry( 0.125, 0.125, 0.125 ), matWhiteTransperent ), [ 0, 0, 1.1 ] ],\n\t\t]\n\t};\n\n\tvar pickerScale = {\n\t\tX: [\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.2, 0, 0.8, 4, 1, false ), matInvisible ), [ 0.5, 0, 0 ], [ 0, 0, -Math.PI / 2 ] ]\n\t\t],\n\t\tY: [\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.2, 0, 0.8, 4, 1, false ), matInvisible ), [ 0, 0.5, 0 ] ]\n\t\t],\n\t\tZ: [\n\t\t\t[ new THREE.Mesh( new THREE.CylinderBufferGeometry( 0.2, 0, 0.8, 4, 1, false ), matInvisible ), [ 0, 0, 0.5 ], [ Math.PI / 2, 0, 0 ] ]\n\t\t],\n\t\tXY: [\n\t\t\t[ new THREE.Mesh( scaleHandleGeometry, matInvisible ), [ 0.85, 0.85, 0 ], null, [ 3, 3, 0.2 ] ],\n\t\t],\n\t\tYZ: [\n\t\t\t[ new THREE.Mesh( scaleHandleGeometry, matInvisible ), [ 0, 0.85, 0.85 ], null, [ 0.2, 3, 3 ] ],\n\t\t],\n\t\tXZ: [\n\t\t\t[ new THREE.Mesh( scaleHandleGeometry, matInvisible ), [ 0.85, 0, 0.85 ], null, [ 3, 0.2, 3 ] ],\n\t\t],\n\t\tXYZX: [\n\t\t\t[ new THREE.Mesh( new THREE.BoxBufferGeometry( 0.2, 0.2, 0.2 ), matInvisible ), [ 1.1, 0, 0 ] ],\n\t\t],\n\t\tXYZY: [\n\t\t\t[ new THREE.Mesh( new THREE.BoxBufferGeometry( 0.2, 0.2, 0.2 ), matInvisible ), [ 0, 1.1, 0 ] ],\n\t\t],\n\t\tXYZZ: [\n\t\t\t[ new THREE.Mesh( new THREE.BoxBufferGeometry( 0.2, 0.2, 0.2 ), matInvisible ), [ 0, 0, 1.1 ] ],\n\t\t]\n\t};\n\n\tvar helperScale = {\n\t\tX: [\n\t\t\t[ new THREE.Line( lineGeometry, matHelper.clone() ), [ -1e3, 0, 0 ], null, [ 1e6, 1, 1 ], 'helper' ]\n\t\t],\n\t\tY: [\n\t\t\t[ new THREE.Line( lineGeometry, matHelper.clone() ), [ 0, -1e3, 0 ], [ 0, 0, Math.PI / 2 ], [ 1e6, 1, 1 ], 'helper' ]\n\t\t],\n\t\tZ: [\n\t\t\t[ new THREE.Line( lineGeometry, matHelper.clone() ), [ 0, 0, -1e3 ], [ 0, -Math.PI / 2, 0 ], [ 1e6, 1, 1 ], 'helper' ]\n\t\t]\n\t};\n\n\t// Creates an Object3D with gizmos described in custom hierarchy definition.\n\n\tvar setupGizmo = function( gizmoMap ) {\n\n\t\tvar gizmo = new THREE.Object3D();\n\n\t\tfor ( var name in gizmoMap ) {\n\n\t\t\tfor ( var i = gizmoMap[ name ].length; i --; ) {\n\n\t\t\t\tvar object = gizmoMap[ name ][ i ][ 0 ].clone();\n\t\t\t\tvar position = gizmoMap[ name ][ i ][ 1 ];\n\t\t\t\tvar rotation = gizmoMap[ name ][ i ][ 2 ];\n\t\t\t\tvar scale = gizmoMap[ name ][ i ][ 3 ];\n\t\t\t\tvar tag = gizmoMap[ name ][ i ][ 4 ];\n\n\t\t\t\t// name and tag properties are essential for picking and updating logic.\n\t\t\t\tobject.name = name;\n\t\t\t\tobject.tag = tag;\n\n\t\t\t\tif (position) {\n\t\t\t\t\tobject.position.set(position[ 0 ], position[ 1 ], position[ 2 ]);\n\t\t\t\t}\n\t\t\t\tif (rotation) {\n\t\t\t\t\tobject.rotation.set(rotation[ 0 ], rotation[ 1 ], rotation[ 2 ]);\n\t\t\t\t}\n\t\t\t\tif (scale) {\n\t\t\t\t\tobject.scale.set(scale[ 0 ], scale[ 1 ], scale[ 2 ]);\n\t\t\t\t}\n\n\t\t\t\tobject.updateMatrix();\n\n\t\t\t\tvar tempGeometry = object.geometry.clone();\n\t\t\t\ttempGeometry.applyMatrix(object.matrix);\n\t\t\t\tobject.geometry = tempGeometry;\n\n\t\t\t\tobject.position.set( 0, 0, 0 );\n\t\t\t\tobject.rotation.set( 0, 0, 0 );\n\t\t\t\tobject.scale.set(1, 1, 1);\n\n\t\t\t\tgizmo.add(object);\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn gizmo;\n\n\t};\n\n\t// Reusable utility variables\n\n\tvar tempVector = new THREE.Vector3( 0, 0, 0 );\n\tvar tempEuler = new THREE.Euler();\n\tvar alignVector = new THREE.Vector3( 0, 1, 0 );\n\tvar zeroVector = new THREE.Vector3( 0, 0, 0 );\n\tvar lookAtMatrix = new THREE.Matrix4();\n\tvar tempQuaternion = new THREE.Quaternion();\n\tvar tempQuaternion2 = new THREE.Quaternion();\n\tvar identityQuaternion = new THREE.Quaternion();\n\n\tvar unitX = new THREE.Vector3( 1, 0, 0 );\n\tvar unitY = new THREE.Vector3( 0, 1, 0 );\n\tvar unitZ = new THREE.Vector3( 0, 0, 1 );\n\n\t// Gizmo creation\n\n\tthis.gizmo = {};\n\tthis.picker = {};\n\tthis.helper = {};\n\n\tthis.add( this.gizmo[ \"translate\" ] = setupGizmo( gizmoTranslate ) );\n\tthis.add( this.gizmo[ \"rotate\" ] = setupGizmo( gizmoRotate ) );\n\tthis.add( this.gizmo[ \"scale\" ] = setupGizmo( gizmoScale ) );\n\tthis.add( this.picker[ \"translate\" ] = setupGizmo( pickerTranslate ) );\n\tthis.add( this.picker[ \"rotate\" ] = setupGizmo( pickerRotate ) );\n\tthis.add( this.picker[ \"scale\" ] = setupGizmo( pickerScale ) );\n\tthis.add( this.helper[ \"translate\" ] = setupGizmo( helperTranslate ) );\n\tthis.add( this.helper[ \"rotate\" ] = setupGizmo( helperRotate ) );\n\tthis.add( this.helper[ \"scale\" ] = setupGizmo( helperScale ) );\n\n\t// Pickers should be hidden always\n\n\tthis.picker[ \"translate\" ].visible = false;\n\tthis.picker[ \"rotate\" ].visible = false;\n\tthis.picker[ \"scale\" ].visible = false;\n\n\t// updateMatrixWorld will update transformations and appearance of individual handles\n\n\tthis.updateMatrixWorld = function () {\n\n\t\tvar space = this.space;\n\n\t\tif ( this.mode === 'scale' ) space = 'local'; // scale always oriented to local rotation\n\n\t\tvar quaternion = space === \"local\" ? this.worldQuaternion : identityQuaternion;\n\n\t\t// Show only gizmos for current transform mode\n\n\t\tthis.gizmo[ \"translate\" ].visible = this.mode === \"translate\";\n\t\tthis.gizmo[ \"rotate\" ].visible = this.mode === \"rotate\";\n\t\tthis.gizmo[ \"scale\" ].visible = this.mode === \"scale\";\n\n\t\tthis.helper[ \"translate\" ].visible = this.mode === \"translate\";\n\t\tthis.helper[ \"rotate\" ].visible = this.mode === \"rotate\";\n\t\tthis.helper[ \"scale\" ].visible = this.mode === \"scale\";\n\n\n\t\tvar handles = [];\n\t\thandles = handles.concat( this.picker[ this.mode ].children );\n\t\thandles = handles.concat( this.gizmo[ this.mode ].children );\n\t\thandles = handles.concat( this.helper[ this.mode ].children );\n\n\t\tfor ( var i = 0; i < handles.length; i++ ) {\n\n\t\t\tvar handle = handles[i];\n\n\t\t\t// hide aligned to camera\n\n\t\t\thandle.visible = true;\n\t\t\thandle.rotation.set( 0, 0, 0 );\n\t\t\thandle.position.copy( this.worldPosition );\n\n\t\t\tvar eyeDistance = this.worldPosition.distanceTo( this.cameraPosition);\n\t\t\thandle.scale.set( 1, 1, 1 ).multiplyScalar( eyeDistance * this.size / 7 );\n\n\t\t\t// TODO: simplify helpers and consider decoupling from gizmo\n\n\t\t\tif ( handle.tag === 'helper' ) {\n\n\t\t\t\thandle.visible = false;\n\n\t\t\t\tif ( handle.name === 'AXIS' ) {\n\n\t\t\t\t\thandle.position.copy( this.worldPositionStart );\n\t\t\t\t\thandle.visible = !!this.axis;\n\n\t\t\t\t\tif ( this.axis === 'X' ) {\n\n\t\t\t\t\t\ttempQuaternion.setFromEuler( tempEuler.set( 0, 0, 0 ) );\n\t\t\t\t\t\thandle.quaternion.copy( quaternion ).multiply( tempQuaternion );\n\n\t\t\t\t\t\tif ( Math.abs( alignVector.copy( unitX ).applyQuaternion( quaternion ).dot( this.eye ) ) > 0.9 ) {\n\t\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( this.axis === 'Y' ) {\n\n\t\t\t\t\t\ttempQuaternion.setFromEuler( tempEuler.set( 0, 0, Math.PI / 2 ) );\n\t\t\t\t\t\thandle.quaternion.copy( quaternion ).multiply( tempQuaternion );\n\n\t\t\t\t\t\tif ( Math.abs( alignVector.copy( unitY ).applyQuaternion( quaternion ).dot( this.eye ) ) > 0.9 ) {\n\t\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( this.axis === 'Z' ) {\n\n\t\t\t\t\t\ttempQuaternion.setFromEuler( tempEuler.set( 0, Math.PI / 2, 0 ) );\n\t\t\t\t\t\thandle.quaternion.copy( quaternion ).multiply( tempQuaternion );\n\n\t\t\t\t\t\tif ( Math.abs( alignVector.copy( unitZ ).applyQuaternion( quaternion ).dot( this.eye ) ) > 0.9 ) {\n\t\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t\t}\n\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( this.axis === 'XYZE' ) {\n\n\t\t\t\t\t\ttempQuaternion.setFromEuler( tempEuler.set( 0, Math.PI / 2, 0 ) );\n\t\t\t\t\t\talignVector.copy( this.rotationAxis );\n\t\t\t\t\t\thandle.quaternion.setFromRotationMatrix( lookAtMatrix.lookAt( zeroVector, alignVector, unitY ) );\n\t\t\t\t\t\thandle.quaternion.multiply( tempQuaternion );\n\t\t\t\t\t\thandle.visible = this.dragging;\n\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( this.axis === 'E' ) {\n\n\t\t\t\t\t\thandle.visible = false;\n\n\t\t\t\t\t}\n\n\n\t\t\t\t} else if ( handle.name === 'START' ) {\n\n\t\t\t\t\thandle.position.copy( this.worldPositionStart );\n\t\t\t\t\thandle.visible = this.dragging;\n\n\t\t\t\t} else if ( handle.name === 'END' ) {\n\n\t\t\t\t\thandle.position.copy( this.worldPosition );\n\t\t\t\t\thandle.visible = this.dragging;\n\n\t\t\t\t} else if ( handle.name === 'DELTA' ) {\n\n\t\t\t\t\thandle.position.copy( this.worldPositionStart );\n\t\t\t\t\thandle.quaternion.copy( this.worldQuaternionStart );\n\t\t\t\t\ttempVector.set( 1e-10, 1e-10, 1e-10 ).add( this.worldPositionStart ).sub( this.worldPosition ).multiplyScalar( -1 );\n\t\t\t\t\ttempVector.applyQuaternion( this.worldQuaternionStart.clone().inverse() );\n\t\t\t\t\thandle.scale.copy( tempVector );\n\t\t\t\t\thandle.visible = this.dragging;\n\n\t\t\t\t} else {\n\n\t\t\t\t\thandle.quaternion.copy( quaternion );\n\n\t\t\t\t\tif ( this.dragging ) {\n\n\t\t\t\t\t\thandle.position.copy( this.worldPositionStart );\n\n\t\t\t\t\t} else {\n\n\t\t\t\t\t\thandle.position.copy( this.worldPosition );\n\n\t\t\t\t\t}\n\n\t\t\t\t\tif ( this.axis ) {\n\n\t\t\t\t\t\thandle.visible = this.axis.search( handle.name ) !== -1;\n\n\t\t\t\t\t}\n\n\t\t\t\t}\n\n\t\t\t\t// If updating helper, skip rest of the loop\n\t\t\t\tcontinue;\n\n\t\t\t}\n\n\t\t\t// Align handles to current local or world rotation\n\n\t\t\thandle.quaternion.copy( quaternion );\n\n\t\t\tif ( this.mode === 'translate' || this.mode === 'scale' ) {\n\n\t\t\t\t// Hide translate and scale axis facing the camera\n\n\t\t\t\tvar AXIS_HIDE_TRESHOLD = 0.99;\n\t\t\t\tvar PLANE_HIDE_TRESHOLD = 0.2;\n\t\t\t\tvar AXIS_FLIP_TRESHOLD = -0.4;\n\n\n\t\t\t\tif ( handle.name === 'X' || handle.name === 'XYZX' ) {\n\t\t\t\t\tif ( Math.abs( alignVector.copy( unitX ).applyQuaternion( quaternion ).dot( this.eye ) ) > AXIS_HIDE_TRESHOLD ) {\n\t\t\t\t\t\thandle.scale.set( 1e-10, 1e-10, 1e-10 );\n\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\tif ( handle.name === 'Y' || handle.name === 'XYZY' ) {\n\t\t\t\t\tif ( Math.abs( alignVector.copy( unitY ).applyQuaternion( quaternion ).dot( this.eye ) ) > AXIS_HIDE_TRESHOLD ) {\n\t\t\t\t\t\thandle.scale.set( 1e-10, 1e-10, 1e-10 );\n\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\tif ( handle.name === 'Z' || handle.name === 'XYZZ' ) {\n\t\t\t\t\tif ( Math.abs( alignVector.copy( unitZ ).applyQuaternion( quaternion ).dot( this.eye ) ) > AXIS_HIDE_TRESHOLD ) {\n\t\t\t\t\t\thandle.scale.set( 1e-10, 1e-10, 1e-10 );\n\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\tif ( handle.name === 'XY' ) {\n\t\t\t\t\tif ( Math.abs( alignVector.copy( unitZ ).applyQuaternion( quaternion ).dot( this.eye ) ) < PLANE_HIDE_TRESHOLD ) {\n\t\t\t\t\t\thandle.scale.set( 1e-10, 1e-10, 1e-10 );\n\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\tif ( handle.name === 'YZ' ) {\n\t\t\t\t\tif ( Math.abs( alignVector.copy( unitX ).applyQuaternion( quaternion ).dot( this.eye ) ) < PLANE_HIDE_TRESHOLD ) {\n\t\t\t\t\t\thandle.scale.set( 1e-10, 1e-10, 1e-10 );\n\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\tif ( handle.name === 'XZ' ) {\n\t\t\t\t\tif ( Math.abs( alignVector.copy( unitY ).applyQuaternion( quaternion ).dot( this.eye ) ) < PLANE_HIDE_TRESHOLD ) {\n\t\t\t\t\t\thandle.scale.set( 1e-10, 1e-10, 1e-10 );\n\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t}\n\t\t\t\t}\n\n\t\t\t\t// Flip translate and scale axis ocluded behind another axis\n\n\t\t\t\tif ( handle.name.search( 'X' ) !== -1 ) {\n\t\t\t\t\tif ( alignVector.copy( unitX ).applyQuaternion( quaternion ).dot( this.eye ) < AXIS_FLIP_TRESHOLD ) {\n\t\t\t\t\t\tif ( handle.tag === 'fwd' ) {\n\t\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\thandle.scale.x *= -1;\n\t\t\t\t\t\t}\n\t\t\t\t\t} else if ( handle.tag === 'bwd' ) {\n\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t}\n\t\t\t\t}\n\n\t\t\t\tif ( handle.name.search( 'Y' ) !== -1 ) {\n\t\t\t\t\tif ( alignVector.copy( unitY ).applyQuaternion( quaternion ).dot( this.eye ) < AXIS_FLIP_TRESHOLD ) {\n\t\t\t\t\t\tif ( handle.tag === 'fwd' ) {\n\t\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\thandle.scale.y *= -1;\n\t\t\t\t\t\t}\n\t\t\t\t\t} else if ( handle.tag === 'bwd' ) {\n\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t}\n\t\t\t\t}\n\n\t\t\t\tif ( handle.name.search( 'Z' ) !== -1 ) {\n\t\t\t\t\tif ( alignVector.copy( unitZ ).applyQuaternion( quaternion ).dot( this.eye ) < AXIS_FLIP_TRESHOLD ) {\n\t\t\t\t\t\tif ( handle.tag === 'fwd' ) {\n\t\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t\t} else {\n\t\t\t\t\t\t\thandle.scale.z *= -1;\n\t\t\t\t\t\t}\n\t\t\t\t\t} else if ( handle.tag === 'bwd' ) {\n\t\t\t\t\t\thandle.visible = false;\n\t\t\t\t\t}\n\t\t\t\t}\n\n\t\t\t} else if ( this.mode === 'rotate' ) {\n\n\t\t\t\t// Align handles to current local or world rotation\n\n\t\t\t\ttempQuaternion2.copy( quaternion );\n\t\t\t\talignVector.copy( this.eye ).applyQuaternion( tempQuaternion.copy( quaternion ).inverse() );\n\n\t\t\t\tif ( handle.name.search( \"E\" ) !== - 1 ) {\n\n\t\t\t\t\thandle.quaternion.setFromRotationMatrix( lookAtMatrix.lookAt( this.eye, zeroVector, unitY ) );\n\n\t\t\t\t}\n\n\t\t\t\tif ( handle.name === 'X' ) {\n\n\t\t\t\t\ttempQuaternion.setFromAxisAngle( unitX, Math.atan2( -alignVector.y, alignVector.z ) );\n\t\t\t\t\ttempQuaternion.multiplyQuaternions( tempQuaternion2, tempQuaternion );\n\t\t\t\t\thandle.quaternion.copy( tempQuaternion );\n\n\t\t\t\t}\n\n\t\t\t\tif ( handle.name === 'Y' ) {\n\n\t\t\t\t\ttempQuaternion.setFromAxisAngle( unitY, Math.atan2( alignVector.x, alignVector.z ) );\n\t\t\t\t\ttempQuaternion.multiplyQuaternions( tempQuaternion2, tempQuaternion );\n\t\t\t\t\thandle.quaternion.copy( tempQuaternion );\n\n\t\t\t\t}\n\n\t\t\t\tif ( handle.name === 'Z' ) {\n\n\t\t\t\t\ttempQuaternion.setFromAxisAngle( unitZ, Math.atan2( alignVector.y, alignVector.x ) );\n\t\t\t\t\ttempQuaternion.multiplyQuaternions( tempQuaternion2, tempQuaternion );\n\t\t\t\t\thandle.quaternion.copy( tempQuaternion );\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\t// Hide disabled axes\n\t\t\thandle.visible = handle.visible && ( handle.name.indexOf( \"X\" ) === -1 || this.showX );\n\t\t\thandle.visible = handle.visible && ( handle.name.indexOf( \"Y\" ) === -1 || this.showY );\n\t\t\thandle.visible = handle.visible && ( handle.name.indexOf( \"Z\" ) === -1 || this.showZ );\n\t\t\thandle.visible = handle.visible && ( handle.name.indexOf( \"E\" ) === -1 || ( this.showX && this.showY && this.showZ ) );\n\n\t\t\t// highlight selected axis\n\n\t\t\thandle.material._opacity = handle.material._opacity || handle.material.opacity;\n\t\t\thandle.material._color = handle.material._color || handle.material.color.clone();\n\n\t\t\thandle.material.color.copy( handle.material._color );\n\t\t\thandle.material.opacity = handle.material._opacity;\n\n\t\t\tif ( !this.enabled ) {\n\n\t\t\t\thandle.material.opacity *= 0.5;\n\t\t\t\thandle.material.color.lerp( new THREE.Color( 1, 1, 1 ), 0.5 );\n\n\t\t\t} else if ( this.axis ) {\n\n\t\t\t\tif ( handle.name === this.axis ) {\n\n\t\t\t\t\thandle.material.opacity = 1.0;\n\t\t\t\t\thandle.material.color.lerp( new THREE.Color( 1, 1, 1 ), 0.5 );\n\n\t\t\t\t} else if ( this.axis.split('').some( function( a ) { return handle.name === a; } ) ) {\n\n\t\t\t\t\thandle.material.opacity = 1.0;\n\t\t\t\t\thandle.material.color.lerp( new THREE.Color( 1, 1, 1 ), 0.5 );\n\n\t\t\t\t} else {\n\n\t\t\t\t\thandle.material.opacity *= 0.25;\n\t\t\t\t\thandle.material.color.lerp( new THREE.Color( 1, 1, 1 ), 0.5 );\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t}\n\n\t\tTHREE.Object3D.prototype.updateMatrixWorld.call( this );\n\n\t};\n\n};\n\nTHREE.TransformControlsGizmo.prototype = Object.assign( Object.create( THREE.Object3D.prototype ), {\n\n\tconstructor: THREE.TransformControlsGizmo,\n\n\tisTransformControlsGizmo: true\n\n} );\n\n\nTHREE.TransformControlsPlane = function () {\n\n\t'use strict';\n\n\tTHREE.Mesh.call( this,\n\t\tnew THREE.PlaneBufferGeometry( 100000, 100000, 2, 2 ),\n\t\tnew THREE.MeshBasicMaterial( { visible: false, wireframe: true, side: THREE.DoubleSide, transparent: true, opacity: 0.1 } )\n\t);\n\n\tthis.type = 'TransformControlsPlane';\n\n\tvar unitX = new THREE.Vector3( 1, 0, 0 );\n\tvar unitY = new THREE.Vector3( 0, 1, 0 );\n\tvar unitZ = new THREE.Vector3( 0, 0, 1 );\n\n\tvar tempVector = new THREE.Vector3();\n\tvar dirVector = new THREE.Vector3();\n\tvar alignVector = new THREE.Vector3();\n\tvar tempMatrix = new THREE.Matrix4();\n\tvar identityQuaternion = new THREE.Quaternion();\n\n\tthis.updateMatrixWorld = function() {\n\n\t\tvar space = this.space;\n\n\t\tthis.position.copy( this.worldPosition );\n\n\t\tif ( this.mode === 'scale' ) space = 'local'; // scale always oriented to local rotation\n\n\t\tunitX.set( 1, 0, 0 ).applyQuaternion( space === \"local\" ? this.worldQuaternion : identityQuaternion );\n\t\tunitY.set( 0, 1, 0 ).applyQuaternion( space === \"local\" ? this.worldQuaternion : identityQuaternion );\n\t\tunitZ.set( 0, 0, 1 ).applyQuaternion( space === \"local\" ? this.worldQuaternion : identityQuaternion );\n\n\t\t// Align the plane for current transform mode, axis and space.\n\n\t\talignVector.copy( unitY );\n\n\t\tswitch ( this.mode ) {\n\t\t\tcase 'translate':\n\t\t\tcase 'scale':\n\t\t\t\tswitch ( this.axis ) {\n\t\t\t\t\tcase 'X':\n\t\t\t\t\t\talignVector.copy( this.eye ).cross( unitX );\n\t\t\t\t\t\tdirVector.copy( unitX ).cross( alignVector );\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 'Y':\n\t\t\t\t\t\talignVector.copy( this.eye ).cross( unitY );\n\t\t\t\t\t\tdirVector.copy( unitY ).cross( alignVector );\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 'Z':\n\t\t\t\t\t\talignVector.copy( this.eye ).cross( unitZ );\n\t\t\t\t\t\tdirVector.copy( unitZ ).cross( alignVector );\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 'XY':\n\t\t\t\t\t\tdirVector.copy( unitZ );\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 'YZ':\n\t\t\t\t\t\tdirVector.copy( unitX );\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 'XZ':\n\t\t\t\t\t\talignVector.copy( unitZ );\n\t\t\t\t\t\tdirVector.copy( unitY );\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 'XYZ':\n\t\t\t\t\tcase 'E':\n\t\t\t\t\t\tdirVector.set( 0, 0, 0 );\n\t\t\t\t\t\tbreak;\n\t\t\t\t}\n\t\t\t\tbreak;\n\t\t\tcase 'rotate':\n\t\t\tdefault:\n\t\t\t\t// special case for rotate\n\t\t\t\tdirVector.set( 0, 0, 0 );\n\t\t}\n\n\t\tif ( dirVector.length() === 0 ) {\n\n\t\t\t// If in rotate mode, make the plane parallel to camera\n\t\t\tthis.quaternion.copy( this.cameraQuaternion );\n\n\t\t} else {\n\n\t\t\ttempMatrix.lookAt( tempVector.set( 0, 0, 0 ), dirVector, alignVector );\n\n\t\t\tthis.quaternion.setFromRotationMatrix( tempMatrix );\n\n\t\t}\n\n\t\tTHREE.Object3D.prototype.updateMatrixWorld.call( this );\n\n\t};\n\n};\n\nTHREE.TransformControlsPlane.prototype = Object.assign( Object.create( THREE.Mesh.prototype ), {\n\n\tconstructor: THREE.TransformControlsPlane,\n\n\tisTransformControlsPlane: true\n\n} );\n\nTHREE.TransformControls.prototype = Object.create(THREE.Object3D.prototype);\nTHREE.TransformControls.prototype.constructor = THREE.TransformControls;\n\nmodule.exports = THREE.TransformControls;\n","/**\n * @author mpk / http://polko.me/\n *\n * WebGL port of Subpixel Morphological Antialiasing (SMAA) v2.8\n * Preset: SMAA 1x Medium (with color edge detection)\n * https://github.com/iryoku/smaa/releases/tag/v2.8\n */\n\nvar THREE = require('three');\n\n\nTHREE.SMAAShader = [ {\n\n\tdefines: {\n\n\t\t\"SMAA_THRESHOLD\": \"0.1\"\n\n\t},\n\n\tuniforms: {\n\n\t\t\"tDiffuse\":\t\t{ value: null },\n\t\t\"resolution\":\t{ value: new THREE.Vector2( 1 / 1024, 1 / 512 ) }\n\n\t},\n\n\tvertexShader: [\n\n\t\t\"uniform vec2 resolution;\",\n\n\t\t\"varying vec2 vUv;\",\n\t\t\"varying vec4 vOffset[ 3 ];\",\n\n\t\t\"void SMAAEdgeDetectionVS( vec2 texcoord ) {\",\n\t\t\t\"vOffset[ 0 ] = texcoord.xyxy + resolution.xyxy * vec4( -1.0, 0.0, 0.0,  1.0 );\", // WebGL port note: Changed sign in W component\n\t\t\t\"vOffset[ 1 ] = texcoord.xyxy + resolution.xyxy * vec4(  1.0, 0.0, 0.0, -1.0 );\", // WebGL port note: Changed sign in W component\n\t\t\t\"vOffset[ 2 ] = texcoord.xyxy + resolution.xyxy * vec4( -2.0, 0.0, 0.0,  2.0 );\", // WebGL port note: Changed sign in W component\n\t\t\"}\",\n\n\t\t\"void main() {\",\n\n\t\t\t\"vUv = uv;\",\n\n\t\t\t\"SMAAEdgeDetectionVS( vUv );\",\n\n\t\t\t\"gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\",\n\n\t\t\"}\"\n\n\t].join(\"\\n\"),\n\n\tfragmentShader: [\n\n\t\t\"uniform sampler2D tDiffuse;\",\n\n\t\t\"varying vec2 vUv;\",\n\t\t\"varying vec4 vOffset[ 3 ];\",\n\n\t\t\"vec4 SMAAColorEdgeDetectionPS( vec2 texcoord, vec4 offset[3], sampler2D colorTex ) {\",\n\t\t\t\"vec2 threshold = vec2( SMAA_THRESHOLD, SMAA_THRESHOLD );\",\n\n\t\t\t// Calculate color deltas:\n\t\t\t\"vec4 delta;\",\n\t\t\t\"vec3 C = texture2D( colorTex, texcoord ).rgb;\",\n\n\t\t\t\"vec3 Cleft = texture2D( colorTex, offset[0].xy ).rgb;\",\n\t\t\t\"vec3 t = abs( C - Cleft );\",\n\t\t\t\"delta.x = max( max( t.r, t.g ), t.b );\",\n\n\t\t\t\"vec3 Ctop = texture2D( colorTex, offset[0].zw ).rgb;\",\n\t\t\t\"t = abs( C - Ctop );\",\n\t\t\t\"delta.y = max( max( t.r, t.g ), t.b );\",\n\n\t\t\t// We do the usual threshold:\n\t\t\t\"vec2 edges = step( threshold, delta.xy );\",\n\n\t\t\t// Then discard if there is no edge:\n\t\t\t\"if ( dot( edges, vec2( 1.0, 1.0 ) ) == 0.0 )\",\n\t\t\t\t\"discard;\",\n\n\t\t\t// Calculate right and bottom deltas:\n\t\t\t\"vec3 Cright = texture2D( colorTex, offset[1].xy ).rgb;\",\n\t\t\t\"t = abs( C - Cright );\",\n\t\t\t\"delta.z = max( max( t.r, t.g ), t.b );\",\n\n\t\t\t\"vec3 Cbottom  = texture2D( colorTex, offset[1].zw ).rgb;\",\n\t\t\t\"t = abs( C - Cbottom );\",\n\t\t\t\"delta.w = max( max( t.r, t.g ), t.b );\",\n\n\t\t\t// Calculate the maximum delta in the direct neighborhood:\n\t\t\t\"float maxDelta = max( max( max( delta.x, delta.y ), delta.z ), delta.w );\",\n\n\t\t\t// Calculate left-left and top-top deltas:\n\t\t\t\"vec3 Cleftleft  = texture2D( colorTex, offset[2].xy ).rgb;\",\n\t\t\t\"t = abs( C - Cleftleft );\",\n\t\t\t\"delta.z = max( max( t.r, t.g ), t.b );\",\n\n\t\t\t\"vec3 Ctoptop = texture2D( colorTex, offset[2].zw ).rgb;\",\n\t\t\t\"t = abs( C - Ctoptop );\",\n\t\t\t\"delta.w = max( max( t.r, t.g ), t.b );\",\n\n\t\t\t// Calculate the final maximum delta:\n\t\t\t\"maxDelta = max( max( maxDelta, delta.z ), delta.w );\",\n\n\t\t\t// Local contrast adaptation in action:\n\t\t\t\"edges.xy *= step( 0.5 * maxDelta, delta.xy );\",\n\n\t\t\t\"return vec4( edges, 0.0, 0.0 );\",\n\t\t\"}\",\n\n\t\t\"void main() {\",\n\n\t\t\t\"gl_FragColor = SMAAColorEdgeDetectionPS( vUv, vOffset, tDiffuse );\",\n\n\t\t\"}\"\n\n\t].join(\"\\n\")\n\n}, {\n\n\tdefines: {\n\n\t\t\"SMAA_MAX_SEARCH_STEPS\":\t\t\"8\",\n\t\t\"SMAA_AREATEX_MAX_DISTANCE\":\t\"16\",\n\t\t\"SMAA_AREATEX_PIXEL_SIZE\":\t\t\"( 1.0 / vec2( 160.0, 560.0 ) )\",\n\t\t\"SMAA_AREATEX_SUBTEX_SIZE\":\t\t\"( 1.0 / 7.0 )\"\n\n\t},\n\n\tuniforms: {\n\n\t\t\"tDiffuse\":\t\t{ value: null },\n\t\t\"tArea\":\t\t{ value: null },\n\t\t\"tSearch\":\t\t{ value: null },\n\t\t\"resolution\":\t{ value: new THREE.Vector2( 1 / 1024, 1 / 512 ) }\n\n\t},\n\n\tvertexShader: [\n\n\t\t\"uniform vec2 resolution;\",\n\n\t\t\"varying vec2 vUv;\",\n\t\t\"varying vec4 vOffset[ 3 ];\",\n\t\t\"varying vec2 vPixcoord;\",\n\n\t\t\"void SMAABlendingWeightCalculationVS( vec2 texcoord ) {\",\n\t\t\t\"vPixcoord = texcoord / resolution;\",\n\n\t\t\t// We will use these offsets for the searches later on (see @PSEUDO_GATHER4):\n\t\t\t\"vOffset[ 0 ] = texcoord.xyxy + resolution.xyxy * vec4( -0.25, 0.125, 1.25, 0.125 );\", // WebGL port note: Changed sign in Y and W components\n\t\t\t\"vOffset[ 1 ] = texcoord.xyxy + resolution.xyxy * vec4( -0.125, 0.25, -0.125, -1.25 );\", // WebGL port note: Changed sign in Y and W components\n\n\t\t\t// And these for the searches, they indicate the ends of the loops:\n\t\t\t\"vOffset[ 2 ] = vec4( vOffset[ 0 ].xz, vOffset[ 1 ].yw ) + vec4( -2.0, 2.0, -2.0, 2.0 ) * resolution.xxyy * float( SMAA_MAX_SEARCH_STEPS );\",\n\n\t\t\"}\",\n\n\t\t\"void main() {\",\n\n\t\t\t\"vUv = uv;\",\n\n\t\t\t\"SMAABlendingWeightCalculationVS( vUv );\",\n\n\t\t\t\"gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\",\n\n\t\t\"}\"\n\n\t].join(\"\\n\"),\n\n\tfragmentShader: [\n\n\t\t\"#define SMAASampleLevelZeroOffset( tex, coord, offset ) texture2D( tex, coord + float( offset ) * resolution, 0.0 )\",\n\n\t\t\"uniform sampler2D tDiffuse;\",\n\t\t\"uniform sampler2D tArea;\",\n\t\t\"uniform sampler2D tSearch;\",\n\t\t\"uniform vec2 resolution;\",\n\n\t\t\"varying vec2 vUv;\",\n\t\t\"varying vec4 vOffset[3];\",\n\t\t\"varying vec2 vPixcoord;\",\n\n\t\t\"vec2 round( vec2 x ) {\",\n\t\t\t\"return sign( x ) * floor( abs( x ) + 0.5 );\",\n\t\t\"}\",\n\n\t\t\"float SMAASearchLength( sampler2D searchTex, vec2 e, float bias, float scale ) {\",\n\t\t\t// Not required if searchTex accesses are set to point:\n\t\t\t// float2 SEARCH_TEX_PIXEL_SIZE = 1.0 / float2(66.0, 33.0);\n\t\t\t// e = float2(bias, 0.0) + 0.5 * SEARCH_TEX_PIXEL_SIZE +\n\t\t\t//     e * float2(scale, 1.0) * float2(64.0, 32.0) * SEARCH_TEX_PIXEL_SIZE;\n\t\t\t\"e.r = bias + e.r * scale;\",\n\t\t\t\"return 255.0 * texture2D( searchTex, e, 0.0 ).r;\",\n\t\t\"}\",\n\n\t\t\"float SMAASearchXLeft( sampler2D edgesTex, sampler2D searchTex, vec2 texcoord, float end ) {\",\n\t\t\t/**\n\t\t\t* @PSEUDO_GATHER4\n\t\t\t* This texcoord has been offset by (-0.25, -0.125) in the vertex shader to\n\t\t\t* sample between edge, thus fetching four edges in a row.\n\t\t\t* Sampling with different offsets in each direction allows to disambiguate\n\t\t\t* which edges are active from the four fetched ones.\n\t\t\t*/\n\t\t\t\"vec2 e = vec2( 0.0, 1.0 );\",\n\n\t\t\t\"for ( int i = 0; i < SMAA_MAX_SEARCH_STEPS; i ++ ) {\", // WebGL port note: Changed while to for\n\t\t\t\t\"e = texture2D( edgesTex, texcoord, 0.0 ).rg;\",\n\t\t\t\t\"texcoord -= vec2( 2.0, 0.0 ) * resolution;\",\n\t\t\t\t\"if ( ! ( texcoord.x > end && e.g > 0.8281 && e.r == 0.0 ) ) break;\",\n\t\t\t\"}\",\n\n\t\t\t// We correct the previous (-0.25, -0.125) offset we applied:\n\t\t\t\"texcoord.x += 0.25 * resolution.x;\",\n\n\t\t\t// The searches are bias by 1, so adjust the coords accordingly:\n\t\t\t\"texcoord.x += resolution.x;\",\n\n\t\t\t// Disambiguate the length added by the last step:\n\t\t\t\"texcoord.x += 2.0 * resolution.x;\", // Undo last step\n\t\t\t\"texcoord.x -= resolution.x * SMAASearchLength(searchTex, e, 0.0, 0.5);\",\n\n\t\t\t\"return texcoord.x;\",\n\t\t\"}\",\n\n\t\t\"float SMAASearchXRight( sampler2D edgesTex, sampler2D searchTex, vec2 texcoord, float end ) {\",\n\t\t\t\"vec2 e = vec2( 0.0, 1.0 );\",\n\n\t\t\t\"for ( int i = 0; i < SMAA_MAX_SEARCH_STEPS; i ++ ) {\", // WebGL port note: Changed while to for\n\t\t\t\t\"e = texture2D( edgesTex, texcoord, 0.0 ).rg;\",\n\t\t\t\t\"texcoord += vec2( 2.0, 0.0 ) * resolution;\",\n\t\t\t\t\"if ( ! ( texcoord.x < end && e.g > 0.8281 && e.r == 0.0 ) ) break;\",\n\t\t\t\"}\",\n\n\t\t\t\"texcoord.x -= 0.25 * resolution.x;\",\n\t\t\t\"texcoord.x -= resolution.x;\",\n\t\t\t\"texcoord.x -= 2.0 * resolution.x;\",\n\t\t\t\"texcoord.x += resolution.x * SMAASearchLength( searchTex, e, 0.5, 0.5 );\",\n\n\t\t\t\"return texcoord.x;\",\n\t\t\"}\",\n\n\t\t\"float SMAASearchYUp( sampler2D edgesTex, sampler2D searchTex, vec2 texcoord, float end ) {\",\n\t\t\t\"vec2 e = vec2( 1.0, 0.0 );\",\n\n\t\t\t\"for ( int i = 0; i < SMAA_MAX_SEARCH_STEPS; i ++ ) {\", // WebGL port note: Changed while to for\n\t\t\t\t\"e = texture2D( edgesTex, texcoord, 0.0 ).rg;\",\n\t\t\t\t\"texcoord += vec2( 0.0, 2.0 ) * resolution;\", // WebGL port note: Changed sign\n\t\t\t\t\"if ( ! ( texcoord.y > end && e.r > 0.8281 && e.g == 0.0 ) ) break;\",\n\t\t\t\"}\",\n\n\t\t\t\"texcoord.y -= 0.25 * resolution.y;\", // WebGL port note: Changed sign\n\t\t\t\"texcoord.y -= resolution.y;\", // WebGL port note: Changed sign\n\t\t\t\"texcoord.y -= 2.0 * resolution.y;\", // WebGL port note: Changed sign\n\t\t\t\"texcoord.y += resolution.y * SMAASearchLength( searchTex, e.gr, 0.0, 0.5 );\", // WebGL port note: Changed sign\n\n\t\t\t\"return texcoord.y;\",\n\t\t\"}\",\n\n\t\t\"float SMAASearchYDown( sampler2D edgesTex, sampler2D searchTex, vec2 texcoord, float end ) {\",\n\t\t\t\"vec2 e = vec2( 1.0, 0.0 );\",\n\n\t\t\t\"for ( int i = 0; i < SMAA_MAX_SEARCH_STEPS; i ++ ) {\", // WebGL port note: Changed while to for\n\t\t\t\t\"e = texture2D( edgesTex, texcoord, 0.0 ).rg;\",\n\t\t\t\t\"texcoord -= vec2( 0.0, 2.0 ) * resolution;\", // WebGL port note: Changed sign\n\t\t\t\t\"if ( ! ( texcoord.y < end && e.r > 0.8281 && e.g == 0.0 ) ) break;\",\n\t\t\t\"}\",\n\n\t\t\t\"texcoord.y += 0.25 * resolution.y;\", // WebGL port note: Changed sign\n\t\t\t\"texcoord.y += resolution.y;\", // WebGL port note: Changed sign\n\t\t\t\"texcoord.y += 2.0 * resolution.y;\", // WebGL port note: Changed sign\n\t\t\t\"texcoord.y -= resolution.y * SMAASearchLength( searchTex, e.gr, 0.5, 0.5 );\", // WebGL port note: Changed sign\n\n\t\t\t\"return texcoord.y;\",\n\t\t\"}\",\n\n\t\t\"vec2 SMAAArea( sampler2D areaTex, vec2 dist, float e1, float e2, float offset ) {\",\n\t\t\t// Rounding prevents precision errors of bilinear filtering:\n\t\t\t\"vec2 texcoord = float( SMAA_AREATEX_MAX_DISTANCE ) * round( 4.0 * vec2( e1, e2 ) ) + dist;\",\n\n\t\t\t// We do a scale and bias for mapping to texel space:\n\t\t\t\"texcoord = SMAA_AREATEX_PIXEL_SIZE * texcoord + ( 0.5 * SMAA_AREATEX_PIXEL_SIZE );\",\n\n\t\t\t// Move to proper place, according to the subpixel offset:\n\t\t\t\"texcoord.y += SMAA_AREATEX_SUBTEX_SIZE * offset;\",\n\n\t\t\t\"return texture2D( areaTex, texcoord, 0.0 ).rg;\",\n\t\t\"}\",\n\n\t\t\"vec4 SMAABlendingWeightCalculationPS( vec2 texcoord, vec2 pixcoord, vec4 offset[ 3 ], sampler2D edgesTex, sampler2D areaTex, sampler2D searchTex, ivec4 subsampleIndices ) {\",\n\t\t\t\"vec4 weights = vec4( 0.0, 0.0, 0.0, 0.0 );\",\n\n\t\t\t\"vec2 e = texture2D( edgesTex, texcoord ).rg;\",\n\n\t\t\t\"if ( e.g > 0.0 ) {\", // Edge at north\n\t\t\t\t\"vec2 d;\",\n\n\t\t\t\t// Find the distance to the left:\n\t\t\t\t\"vec2 coords;\",\n\t\t\t\t\"coords.x = SMAASearchXLeft( edgesTex, searchTex, offset[ 0 ].xy, offset[ 2 ].x );\",\n\t\t\t\t\"coords.y = offset[ 1 ].y;\", // offset[1].y = texcoord.y - 0.25 * resolution.y (@CROSSING_OFFSET)\n\t\t\t\t\"d.x = coords.x;\",\n\n\t\t\t\t// Now fetch the left crossing edges, two at a time using bilinear\n\t\t\t\t// filtering. Sampling at -0.25 (see @CROSSING_OFFSET) enables to\n\t\t\t\t// discern what value each edge has:\n\t\t\t\t\"float e1 = texture2D( edgesTex, coords, 0.0 ).r;\",\n\n\t\t\t\t// Find the distance to the right:\n\t\t\t\t\"coords.x = SMAASearchXRight( edgesTex, searchTex, offset[ 0 ].zw, offset[ 2 ].y );\",\n\t\t\t\t\"d.y = coords.x;\",\n\n\t\t\t\t// We want the distances to be in pixel units (doing this here allow to\n\t\t\t\t// better interleave arithmetic and memory accesses):\n\t\t\t\t\"d = d / resolution.x - pixcoord.x;\",\n\n\t\t\t\t// SMAAArea below needs a sqrt, as the areas texture is compressed\n\t\t\t\t// quadratically:\n\t\t\t\t\"vec2 sqrt_d = sqrt( abs( d ) );\",\n\n\t\t\t\t// Fetch the right crossing edges:\n\t\t\t\t\"coords.y -= 1.0 * resolution.y;\", // WebGL port note: Added\n\t\t\t\t\"float e2 = SMAASampleLevelZeroOffset( edgesTex, coords, ivec2( 1, 0 ) ).r;\",\n\n\t\t\t\t// Ok, we know how this pattern looks like, now it is time for getting\n\t\t\t\t// the actual area:\n\t\t\t\t\"weights.rg = SMAAArea( areaTex, sqrt_d, e1, e2, float( subsampleIndices.y ) );\",\n\t\t\t\"}\",\n\n\t\t\t\"if ( e.r > 0.0 ) {\", // Edge at west\n\t\t\t\t\"vec2 d;\",\n\n\t\t\t\t// Find the distance to the top:\n\t\t\t\t\"vec2 coords;\",\n\n\t\t\t\t\"coords.y = SMAASearchYUp( edgesTex, searchTex, offset[ 1 ].xy, offset[ 2 ].z );\",\n\t\t\t\t\"coords.x = offset[ 0 ].x;\", // offset[1].x = texcoord.x - 0.25 * resolution.x;\n\t\t\t\t\"d.x = coords.y;\",\n\n\t\t\t\t// Fetch the top crossing edges:\n\t\t\t\t\"float e1 = texture2D( edgesTex, coords, 0.0 ).g;\",\n\n\t\t\t\t// Find the distance to the bottom:\n\t\t\t\t\"coords.y = SMAASearchYDown( edgesTex, searchTex, offset[ 1 ].zw, offset[ 2 ].w );\",\n\t\t\t\t\"d.y = coords.y;\",\n\n\t\t\t\t// We want the distances to be in pixel units:\n\t\t\t\t\"d = d / resolution.y - pixcoord.y;\",\n\n\t\t\t\t// SMAAArea below needs a sqrt, as the areas texture is compressed\n\t\t\t\t// quadratically:\n\t\t\t\t\"vec2 sqrt_d = sqrt( abs( d ) );\",\n\n\t\t\t\t// Fetch the bottom crossing edges:\n\t\t\t\t\"coords.y -= 1.0 * resolution.y;\", // WebGL port note: Added\n\t\t\t\t\"float e2 = SMAASampleLevelZeroOffset( edgesTex, coords, ivec2( 0, 1 ) ).g;\",\n\n\t\t\t\t// Get the area for this direction:\n\t\t\t\t\"weights.ba = SMAAArea( areaTex, sqrt_d, e1, e2, float( subsampleIndices.x ) );\",\n\t\t\t\"}\",\n\n\t\t\t\"return weights;\",\n\t\t\"}\",\n\n\t\t\"void main() {\",\n\n\t\t\t\"gl_FragColor = SMAABlendingWeightCalculationPS( vUv, vPixcoord, vOffset, tDiffuse, tArea, tSearch, ivec4( 0.0 ) );\",\n\n\t\t\"}\"\n\n\t].join(\"\\n\")\n\n}, {\n\n\tuniforms: {\n\n\t\t\"tDiffuse\":\t\t{ value: null },\n\t\t\"tColor\":\t\t{ value: null },\n\t\t\"resolution\":\t{ value: new THREE.Vector2( 1 / 1024, 1 / 512 ) }\n\n\t},\n\n\tvertexShader: [\n\n\t\t\"uniform vec2 resolution;\",\n\n\t\t\"varying vec2 vUv;\",\n\t\t\"varying vec4 vOffset[ 2 ];\",\n\n\t\t\"void SMAANeighborhoodBlendingVS( vec2 texcoord ) {\",\n\t\t\t\"vOffset[ 0 ] = texcoord.xyxy + resolution.xyxy * vec4( -1.0, 0.0, 0.0, 1.0 );\", // WebGL port note: Changed sign in W component\n\t\t\t\"vOffset[ 1 ] = texcoord.xyxy + resolution.xyxy * vec4( 1.0, 0.0, 0.0, -1.0 );\", // WebGL port note: Changed sign in W component\n\t\t\"}\",\n\n\t\t\"void main() {\",\n\n\t\t\t\"vUv = uv;\",\n\n\t\t\t\"SMAANeighborhoodBlendingVS( vUv );\",\n\n\t\t\t\"gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\",\n\n\t\t\"}\"\n\n\t].join(\"\\n\"),\n\n\tfragmentShader: [\n\n\t\t\"uniform sampler2D tDiffuse;\",\n\t\t\"uniform sampler2D tColor;\",\n\t\t\"uniform vec2 resolution;\",\n\n\t\t\"varying vec2 vUv;\",\n\t\t\"varying vec4 vOffset[ 2 ];\",\n\n\t\t\"vec4 SMAANeighborhoodBlendingPS( vec2 texcoord, vec4 offset[ 2 ], sampler2D colorTex, sampler2D blendTex ) {\",\n\t\t\t// Fetch the blending weights for current pixel:\n\t\t\t\"vec4 a;\",\n\t\t\t\"a.xz = texture2D( blendTex, texcoord ).xz;\",\n\t\t\t\"a.y = texture2D( blendTex, offset[ 1 ].zw ).g;\",\n\t\t\t\"a.w = texture2D( blendTex, offset[ 1 ].xy ).a;\",\n\n\t\t\t// Is there any blending weight with a value greater than 0.0?\n\t\t\t\"if ( dot(a, vec4( 1.0, 1.0, 1.0, 1.0 )) < 1e-5 ) {\",\n\t\t\t\t\"return texture2D( colorTex, texcoord, 0.0 );\",\n\t\t\t\"} else {\",\n\t\t\t\t// Up to 4 lines can be crossing a pixel (one through each edge). We\n\t\t\t\t// favor blending by choosing the line with the maximum weight for each\n\t\t\t\t// direction:\n\t\t\t\t\"vec2 offset;\",\n\t\t\t\t\"offset.x = a.a > a.b ? a.a : -a.b;\", // left vs. right\n\t\t\t\t\"offset.y = a.g > a.r ? -a.g : a.r;\", // top vs. bottom // WebGL port note: Changed signs\n\n\t\t\t\t// Then we go in the direction that has the maximum weight:\n\t\t\t\t\"if ( abs( offset.x ) > abs( offset.y )) {\", // horizontal vs. vertical\n\t\t\t\t\t\"offset.y = 0.0;\",\n\t\t\t\t\"} else {\",\n\t\t\t\t\t\"offset.x = 0.0;\",\n\t\t\t\t\"}\",\n\n\t\t\t\t// Fetch the opposite color and lerp by hand:\n\t\t\t\t\"vec4 C = texture2D( colorTex, texcoord, 0.0 );\",\n\t\t\t\t\"texcoord += sign( offset ) * resolution;\",\n\t\t\t\t\"vec4 Cop = texture2D( colorTex, texcoord, 0.0 );\",\n\t\t\t\t\"float s = abs( offset.x ) > abs( offset.y ) ? abs( offset.x ) : abs( offset.y );\",\n\n\t\t\t\t// WebGL port note: Added gamma correction\n\t\t\t\t\"C.xyz = pow(C.xyz, vec3(2.2));\",\n\t\t\t\t\"Cop.xyz = pow(Cop.xyz, vec3(2.2));\",\n\t\t\t\t\"vec4 mixed = mix(C, Cop, s);\",\n\t\t\t\t\"mixed.xyz = pow(mixed.xyz, vec3(1.0 / 2.2));\",\n\n\t\t\t\t\"return mixed;\",\n\t\t\t\"}\",\n\t\t\"}\",\n\n\t\t\"void main() {\",\n\n\t\t\t\"gl_FragColor = SMAANeighborhoodBlendingPS( vUv, vOffset, tColor, tDiffuse );\",\n\n\t\t\"}\"\n\n\t].join(\"\\n\")\n\n} ];\n\nmodule.exports = THREE.SMAAShader;\n","import {\n  attr,\n  Model,\n} from 'redux-orm';\n\nclass Asset extends Model {\n  static get fields() {\n    return {\n      id: attr(),\n      fileName: attr(),\n      contentType: attr(),\n      thumbnail: attr(),\n    };\n  }\n\n  static parse(assetData) {\n    return this.upsert(assetData);\n  }\n\n  toJSON() {\n    return {\n      ...this.ref,\n      url: `asset/${this.ref.id}`,\n    };\n  }\n\n  updateFrom(otherAsset) {\n    this.update(otherAsset.ref);\n  }\n}\n\nAsset.modelName = 'Asset';\n\nexport default Asset;\n","import {\n  attr,\n  fk,\n  Model,\n} from 'redux-orm';\n\nclass Attachment extends Model {\n  static get fields() {\n    return {\n      id: attr(),\n      childTranslationOffset: attr(),\n      childRotationOffset: attr(),\n      twistInterval: attr(),\n      boltPattern: fk('BoltPattern'),\n    };\n  }\n\n  static parse(attachmentData) {\n    const parsedData = {\n      ...attachmentData,\n      boltPattern: attachmentData.boltPatternId,\n    };\n\n    return this.upsert(parsedData);\n  }\n\n  toJSON() {\n    return { ...this.ref };\n  }\n\n  updateFrom(otherAttachment) {\n    this.update(otherAttachment.ref);\n  }\n}\n\nAttachment.modelName = 'Attachment';\n\nexport default Attachment;\n","import {\n  attr,\n  Model,\n} from 'redux-orm';\n\nclass BoltPattern extends Model {\n  static get fields() {\n    return {\n      id: attr(),\n      name: attr(),\n    };\n  }\n\n  static parse(boltPatternData) {\n    if (!boltPatternData) {\n      return;\n    }\n\n    return this.upsert(boltPatternData);\n  }\n\n  toJSON() {\n    return { ...this.ref };\n  }\n\n  updateFrom(otherBoltPattern) {\n    this.update(otherBoltPattern.ref);\n  }\n}\n\nBoltPattern.modelName = 'BoltPattern';\n\nexport default BoltPattern;\n","const { REACT_APP_HEBI_API_BASE_URL } = process.env;\n\nif (!REACT_APP_HEBI_API_BASE_URL || !REACT_APP_HEBI_API_BASE_URL.length) {\n  throw new Error('No API base URL set, have you configured your local .env file?');\n}\n\nexport {\n  REACT_APP_HEBI_API_BASE_URL,\n};\n","import {\n  attr,\n  fk,\n  many,\n  Model,\n} from 'redux-orm';\n\nimport omit from 'lodash-es/omit';\nimport { REACT_APP_HEBI_API_BASE_URL } from '../app/config/env-config';\n\nclass Part extends Model {\n  static get fields() {\n    return {\n      id: attr(),\n      name: attr(),\n      description: attr(),\n      minLength: attr(),\n      maxLength: attr(),\n      defaultLength: attr(),\n      twistInterval: attr(),\n      thumbnailId: attr(),\n      thumbnailUrl: attr(),\n      inputBoltPattern: fk('BoltPattern'),\n      partCategory: fk('PartCategory'),\n      assets: many('Asset', 'parts'),\n      attachments: many('Attachment', 'parts'),\n    };\n  }\n\n  static parse(partData) {\n    const {\n      Asset,\n      Attachment,\n    } = this.session;\n\n    partData.assets = partData.assets || [];\n    partData.attachments = partData.attachments || [];\n\n    const parsedData = {\n      ...omit(partData, [\n        'category',\n        'assets',\n        'attachments',\n        'inputBoltPatternId',\n        'partCategoryId',\n        'hrdfNodeName',\n      ]),\n      assets: partData.assets.map(({asset}) => Asset.parse(asset)),\n      attachments: partData.attachments.map((partAttachmentEntry) => Attachment.parse(partAttachmentEntry)),\n      inputBoltPattern: partData.inputBoltPatternId,\n      partCategory: partData.partCategoryId,\n      thumbnailUrl: REACT_APP_HEBI_API_BASE_URL + `thumbnail/${partData.thumbnailId}`,\n    };\n\n    return this.upsert(parsedData);\n  }\n\n  toJSON() {\n    const part = {\n      ...this.ref,\n      assets: this.assets.toModelArray().map(asset => asset.toJSON()),\n      attachments: this.attachments.toModelArray().map(attachment => attachment.toJSON()),\n      partCategory: this.partCategory.name,\n    };\n  \n    return part;\n  }\n\n  updateFrom(otherPart) {\n    this.update(otherPart.ref);\n  }\n}\n\nPart.modelName = 'Part';\n\nexport default Part;\n","import {\n  attr,\n  Model,\n} from 'redux-orm';\n\nclass PartLength extends Model {\n  static get fields() {\n    return {\n      id: attr(),\n      length: attr(),\n      unit: attr(),\n    };\n  }\n\n  static parse(partLengthData) {\n    const parsedData = {\n      ...partLengthData,\n    };\n\n    return this.upsert(parsedData);\n  }\n\n  toJSON() {\n    const partLength = {\n      ...this.ref,\n    };\n  \n    return partLength;\n  }\n\n  updateFrom(otherPartLength) {\n    this.update(otherPartLength.ref);\n  }\n}\n\nPartLength.modelName = 'PartLength';\n\nexport default PartLength;\n","import {\n  attr,\n  Model,\n} from 'redux-orm';\n\nclass PartCategory extends Model {\n  static get fields() {\n    return {\n      id: attr(),\n      name: attr(),\n    };\n  }\n\n  static parse(partCategoryData) {\n    return this.upsert(partCategoryData);\n  }\n\n  toJSON() {\n    return { ...this.ref };\n  }\n\n  updateFrom(otherPartCategory) {\n    this.update(otherPartCategory.ref);\n  }\n}\n\nPartCategory.modelName = 'PartCategory';\n\nexport default PartCategory;\n","import {\n    attr,\n    many,\n    Model,\n  } from 'redux-orm';\n  \n  class Robot extends Model {\n    static get fields() {\n      return {\n        id: attr(),\n        name: attr(),\n        description: attr(),\n        robotParts: many('RobotPart', 'robots'),\n      };\n    }\n  \n    static parse(robotData) {\n      const {\n        RobotPart,\n      } = this.session;\n  \n      robotData.robotParts = robotData.robotParts || [];\n  \n      const parsedData = {\n        ...robotData,\n        robotParts: robotData.robotParts.map((robotPart) => RobotPart.parse(robotPart)),\n      };\n  \n      return this.upsert(parsedData);\n    }\n  \n    toJSON() {\n      const robot = {\n        ...this.ref,\n        robotParts: this.robotParts.toModelArray().map(robotPart => robotPart.toJSON())\n      };\n    \n      return robot;\n    }\n  \n    updateFrom(otherRobot) {\n      this.update(otherRobot.ref);\n    }\n  }\n  \n  Robot.modelName = 'Robot';\n  \n  export default Robot;\n  ","import {\n  attr,\n  fk,\n  many,\n  Model,\n} from 'redux-orm';\n\nimport omit from 'lodash-es/omit';\n\nclass RobotPart extends Model {\n  static get fields() {\n    return {\n      id: attr(),\n      robot: fk('Robot'),\n      part: fk('Part'),\n      length: attr(),\n      twist: attr(),\n      children: many('RobotPart', 'parent'),\n    };\n  }\n  \n  static parse(robotPartData) {\n    const {\n      RobotPart,\n    } = this.session;\n\n    robotPartData.children = robotPartData.children || [];\n\n    const parsedData = {\n      ...omit(robotPartData, [\n        'boltPatternId',\n        'childRotationOffset',\n        'childTranslationOffset',\n        'partName',\n        'partType',\n        'partTypeHRDFName',\n        'children',\n      ]),\n      children: robotPartData.children.map((robotPart) => RobotPart.parse(robotPart)),\n      part: robotPartData.partId,\n      robot: robotPartData.robotId,\n    };\n\n    return this.upsert(parsedData);\n  }\n  \n  toJSON() {\n    const part = {\n      ...this.ref,\n      children: this.children.toModelArray().map(child => child.toJSON())\n    };\n  \n    return part;\n  }\n\n  updateFrom(otherPart) {\n    this.update(otherPart.ref);\n  }\n}\n  \nRobotPart.modelName = 'RobotPart';\n  \nexport default RobotPart;\n  ","import { ORM } from 'redux-orm';\n\nimport {\n  Asset,\n  Attachment,\n  BoltPattern,\n  Part,\n  PartCategory,\n  PartLength,\n  Robot,\n  RobotPart,\n} from '../models';\n\nconst orm = new ORM();\norm.register(\n  Asset,\n  Attachment,\n  BoltPattern,\n  Part,\n  PartCategory,\n  PartLength,\n  Robot,\n  RobotPart,\n);\n\nexport default orm;\n","export const getEntities = state => state.entities;\n","import { createSelector } from 'reselect';\n\nimport orm from '../../../app/orm';\nimport { getEntities } from './getEntities';\n\nexport const getEntitiesSession = createSelector(\n  getEntities,\n  entities => orm.session(entities)\n);\n","import { createSelector } from 'reselect';\n\nimport { getEntitiesSession } from '../../entities/selectors';\n\nexport const getPartLengths = createSelector(\n  getEntitiesSession,\n  session => {\n    const { PartLength } = session;\n\n    const partLengths = PartLength.all().toModelArray();\n    return partLengths;\n  }\n);\n","export const getConfigurator = state => state.configurator;\n","import { createSelector as createOrmSelector } from 'redux-orm';\n\nimport orm from '../../../app/orm';\nimport { getEntities } from '../../entities/selectors';\n\nexport const getAssets = createOrmSelector(\n  orm,\n  getEntities,\n  session => {\n    const { Asset } = session;\n\n    return Asset.all().toModelArray().map(asset => {\n      const obj = asset.toJSON();\n\n      return {\n        id: obj.id,\n        url: obj.url,\n      };\n    });\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getConfigurator } from './getConfigurator';\n\nexport const getBuilder = createSelector(\n  getConfigurator,\n  configurator => configurator.builder\n);\n","import { createSelector } from 'reselect';\n\nimport { getConfigurator } from './getConfigurator';\n\nexport const getBootstrapper = createSelector(\n  getConfigurator,\n  configurator => configurator.bootstrapper,\n);\n","import { createSelector } from 'reselect';\n\nimport { getBootstrapper } from './getBootstrapper';\n\nexport const getConfiguratorIsInitialized = createSelector(\n  getBootstrapper,\n  bootstrapper => bootstrapper.initialized,\n);\n","import { createSelector } from 'reselect';\n\nimport { getBuilder } from './getBuilder';\n\nexport const getCurrentRobotId = createSelector(\n  getBuilder,\n  builder => builder.currentRobotId\n);\n","import { createSelector } from 'reselect';\n\nimport { getEntitiesSession } from '../../entities/selectors';\nimport { getCurrentRobotId } from './getCurrentRobotId';\n\nexport const getCurrentRobot = createSelector(\n  [getEntitiesSession, getCurrentRobotId],\n  (session, currentRobotId) => {\n    const { Robot } = session;\n\n    if (!currentRobotId || !Robot.idExists(currentRobotId)) {\n      return null;\n    }\n    \n    const robot = Robot.withId(currentRobotId);\n    return robot;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getBuilder } from './getBuilder';\n\nexport const getCurrentRobotPartId = createSelector(\n  getBuilder,\n  builder => builder.currentRobotPartId\n);\n","import { createSelector } from 'reselect';\n\nimport { getEntitiesSession } from '../../entities/selectors';\nimport { getCurrentRobotPartId } from './getCurrentRobotPartId';\n\nexport const getCurrentRobotPart = createSelector(\n  [getEntitiesSession, getCurrentRobotPartId],\n  (session, currentRobotPartId) => {\n    const { RobotPart } = session;\n\n    if (!currentRobotPartId || !RobotPart.idExists(currentRobotPartId)) {\n      return null;\n    }\n    \n    const robotPart = RobotPart.withId(currentRobotPartId);\n    return robotPart;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getCurrentRobotPart } from './getCurrentRobotPart';\n\nexport const getCurrentRobotPartAsset = createSelector(\n  getCurrentRobotPart,\n  currentRobotPart => {\n    if (!currentRobotPart) {\n      return null;\n    }\n\n    const assets = currentRobotPart.part.assets.toModelArray();\n    if (!assets || !assets.length) {\n      return null;\n    }\n\n    const asset = assets[0];\n    return asset;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getCurrentRobotPart } from './getCurrentRobotPart';\n\nexport const getCurrentRobotPartParent = createSelector(\n  getCurrentRobotPart,\n  currentRobotPart => {\n    if (!currentRobotPart) {\n      return null;\n    }\n\n    const parentRobotParts = currentRobotPart.parent.toModelArray();\n    if (!parentRobotParts || !parentRobotParts.length) {\n      return null;\n    }\n\n    const parentPart = parentRobotParts[0];\n    return parentPart;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getCurrentRobotPartAsset } from './getCurrentRobotPartAsset';\n\nexport const getCurrentRobotPartAssetUrl = createSelector(\n  getCurrentRobotPartAsset,\n  asset => {\n    if (!asset) {\n      return null;\n    }\n\n    const { url } = asset.toJSON();\n\n    return url;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getCurrentRobotPartParent } from './getCurrentRobotPartParent';\n\nconst defaultOffset = {\n  rotation: {\n    x: 0,\n    y: 0,\n    z: 0,\n  },\n  translation: {\n    x: 0,\n    y: 0,\n    z: 0,\n  },\n};\n\n// TODO: Update this to getCurrentRobotPartConstraints?\nexport const getCurrentRobotPartParentOffsets = createSelector(\n  getCurrentRobotPartParent,\n  parentRobotPart => {\n    if (!parentRobotPart || !parentRobotPart.part) {\n      return defaultOffset;\n    }\n\n    const attachments = parentRobotPart.part.attachments.toModelArray();\n\n    if (!attachments || !attachments.length) {\n      return defaultOffset;\n    }\n\n    // TODO: What do we do if there are more than 1 attachment points?\n    const attachment = attachments[0];\n\n    const parentPartCategory = parentRobotPart.part.partCategory.name;\n\n    switch (parentPartCategory) {\n      case 'Link':\n        const offset = getLinkOffsets(parentRobotPart);\n        return {\n          ...offset,\n          boltPattern: attachment.boltPattern.name,\n        };\n      default:\n        return {\n          rotation: attachment.childRotationOffset,\n          translation: attachment.childTranslationOffset,\n          boltPattern: attachment.boltPattern.name,\n        };\n    }\n  }\n);\n\nconst getLinkOffsets = (linkRobotPart) => {\n  const twist = linkRobotPart.twist || 0;\n\n  return {\n    rotation: {\n      x: 0,\n      y: -0.0175 * Math.sin(twist),\n      z: 0.0175 * (1 + Math.cos(twist)),\n    },\n    translation: {\n      x: 0,\n      y: 0,\n      z: 0,\n    },\n  };\n};\n","import { createSelector } from 'reselect';\nimport omit from 'lodash-es/omit';\nimport pick from 'lodash-es/pick';\n\nimport { getCurrentRobotPart } from './getCurrentRobotPart';\nimport { getCurrentRobotPartParentOffsets } from './getCurrentRobotPartParentOffsets';\n\nexport const getCurrentRobotPartWorkspaceArguments = createSelector(\n  [getCurrentRobotPart, getCurrentRobotPartParentOffsets],\n  (currentRobotPart, parentOffsets) => {\n    if (!currentRobotPart) {\n      return {};\n    }\n\n    const {\n      rotation,\n      translation,\n      boltPattern,\n    } = parentOffsets;\n\n    return {\n      part: currentRobotPart.part.toJSON(),\n      userData: {\n        ...omit(currentRobotPart.toJSON(), [\n          'children',\n          'part',\n        ]),\n        ...pick(currentRobotPart.part.toJSON(), [\n          'partCategory',\n          'type',\n          'attachments'\n        ]),\n        parentOutputBoltPattern: boltPattern,\n        rotation,\n        translation,\n      }\n    }\n  }\n);\n","export const getCurrentPathname = (state, location) => location.pathname;\n","import { createSelector } from 'reselect';\n\nimport { getCurrentPathname } from '../../shared/router/selectors';\n\nexport const getInBuildMode = createSelector(\n  getCurrentPathname,\n  pathname => {\n    if (!pathname || !pathname.length) {\n      return false;\n    }\n\n    return pathname === '/configurator/build';\n  },\n);","import { createSelector } from 'reselect';\n\nimport { getBuilder } from './getBuilder';\n\nexport const getPlacementMode = createSelector(\n  getBuilder,\n  builder => builder.placementMode\n);\n","import { createSelector } from 'reselect';\nimport { getCurrentRobot } from './getCurrentRobot';\n\nexport const getTestDriveTabShouldBeEnabled = createSelector(\n  getCurrentRobot,\n  currentRobot => {\n    if (!currentRobot) {\n      return false;\n    }\n    \n    const baseParts = currentRobot.robotParts.toModelArray();\n    if(baseParts && baseParts.length) {\n      const nextPart = baseParts[0].children.toModelArray();\n      const hasMultipleParts = Boolean(nextPart && nextPart.length);\n      return hasMultipleParts;\n    }\n\n    return false;\n  }\n);\n","import { createSelector } from 'reselect';\nimport { getCurrentRobot } from './getCurrentRobot';\n\nexport const getRequestQuoteTabShouldBeEnabled = createSelector(\n  getCurrentRobot,\n  currentRobot => {\n    if (!currentRobot) {\n      return false;\n    }\n    \n    const baseParts = currentRobot.robotParts.toModelArray();\n    const hasPart = Boolean(baseParts && baseParts.length);\n    return hasPart;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getCurrentRobot } from './getCurrentRobot';\n\nexport const getPotentialParents = createSelector(\n  getCurrentRobot,\n  currentRobot => {\n    if (!currentRobot) {\n      return [];\n    }\n\n    const hierarchy = currentRobot.robotParts.toModelArray();\n    const potentialParents = getLeafNodes(hierarchy);\n    return potentialParents;\n  }\n);\n\nfunction getLeafNodes(nodes, result = []) {\n  for (var i = 0, length = nodes.length; i < length; i++) {\n    if (!nodes[i].children.exists()) {\n      result.push(nodes[i]);\n    } else {\n      result = getLeafNodes(nodes[i].children.toModelArray(), result);\n    }\n  }\n  return result;\n}\n","import { createSelector } from 'reselect';\n\nimport { getConfigurator } from './getConfigurator';\n\nexport const getWorkspace = createSelector(\n  getConfigurator,\n  configurator => configurator.workspace\n);\n","import { createSelector } from 'reselect';\n\nimport { getBuilder } from './getBuilder';\n\nexport const getRobotStatistics = createSelector(\n  getBuilder,\n  builder => builder.statistics\n);\n","import { createSelector } from 'reselect';\n\nimport { getWorkspace } from './getWorkspace';\n\nexport const getRobotPartIdsInScene = createSelector(\n  getWorkspace,\n  workspace => workspace.sceneRobotParts\n);\n","import { createSelector } from 'reselect';\n\nimport { getBuilder } from './getBuilder';\n\nexport const getSceneLoaded = createSelector(\n  getBuilder,\n  builder => builder.sceneLoaded\n);\n","import { createSelector } from 'reselect';\n\nimport { getWorkspace } from './getWorkspace';\n\nexport const getSelectedRobotPartId = createSelector(\n  getWorkspace,\n  workspace => workspace.selectedRobotPartId\n);\n","import { createSelector } from 'reselect';\n\nimport { getEntitiesSession } from '../../entities/selectors';\nimport { getSelectedRobotPartId } from './getSelectedRobotPartId';\n\nexport const getSelectedRobotPart = createSelector(\n  [getEntitiesSession, getSelectedRobotPartId],\n  (session, selectedRobotPartId) => {\n    const { RobotPart } = session;\n\n    if (!selectedRobotPartId || !RobotPart.idExists(selectedRobotPartId)) {\n      return null;\n    }\n    \n    const robotPart = RobotPart.withId(selectedRobotPartId);\n    return robotPart;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getSelectedRobotPart } from './getSelectedRobotPart';\n\nconst defaultConstraints = {\n  length: 0,\n  twist: 0,\n  twistInterval: 0,\n};\n\nexport const getSelectedRobotPartConstraints = createSelector(\n  getSelectedRobotPart,\n  selectedRobotPart => {\n    if (!selectedRobotPart) {\n      return defaultConstraints;\n    }\n    \n    const associatedPart = selectedRobotPart.part;\n\n    // TODO: Version 1.0+\n    // If multiple attachments, get selected attachment point\n    let twistInterval = defaultConstraints.twistInterval;\n    const attachments = associatedPart.attachments.toModelArray();\n    if (attachments && attachments.length) {\n      twistInterval = attachments[0].twistInterval;\n    }\n\n    return {\n      length: selectedRobotPart.length || defaultConstraints.length,\n      twist: selectedRobotPart.twist || defaultConstraints.twist,\n      twistInterval,\n    };\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getSelectedRobotPart } from './getSelectedRobotPart';\n\nexport const getSelectedRobotPartChildren = createSelector(\n  getSelectedRobotPart,\n  selectedRobotPart => {\n    if (!selectedRobotPart) {\n      return [];\n    }\n\n    const childRobotParts = selectedRobotPart.children.toModelArray();\n    return childRobotParts;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getSelectedRobotPartChildren } from './getSelectedRobotPartChildren';\n\nexport const getShouldWarnBeforeRobotPartRemoval = createSelector(\n  getSelectedRobotPartChildren,\n  children => {\n    if (children && children.length) {\n      return true;\n    }\n\n    return false;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getCurrentPathname } from '../../shared/router/selectors';\nimport { getConfiguratorIsInitialized } from '../../configurator/selectors';\n\nexport const getWorkspaceIsVisible = createSelector(\n  [getCurrentPathname, getConfiguratorIsInitialized],\n  (pathname, isInitialized) => {\n    if (!pathname || !pathname.length) {\n      return false;\n    }\n\n    const isWorkspacePage = pathname === '/configurator/build'\n      || pathname === '/configurator/test-drive';\n    \n    return isWorkspacePage && isInitialized;\n  },\n);\n\n","export const ADD_PART_TO_WORKSPACE_PREFIX = 'ADD_PART_TO_WORKSPACE';\nexport const ADD_PART_TO_WORKSPACE_REQUEST = `${ADD_PART_TO_WORKSPACE_PREFIX}_REQUEST`;\nexport const ADD_PART_TO_WORKSPACE_SUCCESS = `${ADD_PART_TO_WORKSPACE_PREFIX}_SUCCESS`;\nexport const ADD_PART_TO_WORKSPACE_ERROR = `${ADD_PART_TO_WORKSPACE_PREFIX}_ERROR`;\nexport const ADD_PART_TO_WORKSPACE_ERROR_MESSAGE = 'Error adding part to workspace';\nexport const ADD_PART_TO_WORKSPACE_NOT_SUPPORTED_MESSAGE = 'Cannot currently add a part with multiple potential parents. Please check back later!';\n\nexport const addPartToWorkspaceRequest = (id) => ({\n  type: ADD_PART_TO_WORKSPACE_REQUEST,\n  payload: {\n    id,\n  }\n});\n","import { ADD_PART_TO_WORKSPACE_SUCCESS } from './addPartToWorkspaceRequest';\n\nexport const addPartToWorkspaceSuccess = () => ({\n  type: ADD_PART_TO_WORKSPACE_SUCCESS,\n  payload: {\n  }\n});\n","export const CLEAR_SELECTED_ROBOT_PART = 'CLEAR_SELECTED_ROBOT_PART';\n\nexport const clearSelectedRobotPart = () => ({\n  type: CLEAR_SELECTED_ROBOT_PART,\n  payload: {\n  },\n});\n","export const ROBOT_CREATE_WITH_PART_PREFIX = 'ROBOT_CREATE_WITH_PART';\nexport const ROBOT_CREATE_WITH_PART_REQUEST = `${ROBOT_CREATE_WITH_PART_PREFIX}_REQUEST`;\nexport const ROBOT_CREATE_WITH_PART_SUCCESS = `${ROBOT_CREATE_WITH_PART_PREFIX}_SUCCESS`;\nexport const ROBOT_CREATE_WITH_PART_ERROR = `${ROBOT_CREATE_WITH_PART_PREFIX}_ERROR`;\nexport const ROBOT_CREATE_WITH_PART_ERROR_MESSAGE = 'Error creating robot with specified base. Check that the part name is correct';\n\nexport const createRobotWithPartRequest = (robot, partName) => ({\n  type: ROBOT_CREATE_WITH_PART_REQUEST,\n  payload: {\n    robot,\n    partName,\n  }\n});\n","import {\n  ROBOT_CREATE_WITH_PART_SUCCESS,\n} from './createRobotWithPartRequest';\n\nexport const createRobotWithPartSuccess = (id) => ({\n  type: ROBOT_CREATE_WITH_PART_SUCCESS,\n  payload: {\n    id,\n  }\n});\n","export const ROBOT_PART_CREATE_SUCCESS = 'ROBOT_PART_CREATE_SUCCESS';\n\nexport const createRobotPartSuccess = (robotPart) => ({\n  type: ROBOT_PART_CREATE_SUCCESS,\n  payload: {\n    robotPart,\n  },\n});\n","export const ROBOT_CREATE_PREFIX = 'ROBOT_CREATE';\nexport const ROBOT_CREATE_REQUEST = `${ROBOT_CREATE_PREFIX}_REQUEST`;\nexport const ROBOT_CREATE_SUCCESS = `${ROBOT_CREATE_PREFIX}_SUCCESS`;\nexport const ROBOT_CREATE_ERROR = `${ROBOT_CREATE_PREFIX}_ERROR`;\nexport const ROBOT_CREATE_ERROR_MESSAGE = 'Error creating robot';\n\nexport const createRobotRequest = () => ({\n  type: ROBOT_CREATE_REQUEST,\n  payload: {\n  }\n});\n","import { ROBOT_CREATE_SUCCESS } from './createRobotRequest';\n\nexport const createRobotSuccess = (id) => ({\n  type: ROBOT_CREATE_SUCCESS,\n  payload: {\n    id,\n  },\n})\n","export const INITIALIZE_CONFIGURATOR_PREFIX = 'INITIALIZE_CONFIGURATOR';\nexport const INITIALIZE_CONFIGURATOR_REQUEST = `${INITIALIZE_CONFIGURATOR_PREFIX}_REQUEST`;\nexport const INITIALIZE_CONFIGURATOR_SUCCESS = `${INITIALIZE_CONFIGURATOR_PREFIX}_SUCCESS`;\nexport const INITIALIZE_CONFIGURATOR_SUCCESS_CACHED = `${INITIALIZE_CONFIGURATOR_PREFIX}_SUCCESS_CACHED`;\nexport const INITIALIZE_CONFIGURATOR_ERROR = `${INITIALIZE_CONFIGURATOR_PREFIX}_ERROR`;\nexport const INITIALIZE_CONFIGURATOR_ERROR_MESSAGE = 'Error while initializing configurator';\n\nexport const initializeConfiguratorRequest = () => ({\n  type: INITIALIZE_CONFIGURATOR_REQUEST,\n  payload: {\n  },\n});\n","import {\n  INITIALIZE_CONFIGURATOR_SUCCESS,\n} from './initializeConfiguratorRequest';\n\nexport const initializeConfiguratorSuccess = () => ({\n  type: INITIALIZE_CONFIGURATOR_SUCCESS,\n  payload: {\n  },\n});\n","export const LOAD_ENTITIES_PREFIX = 'LOAD_ENTITIES';\nexport const LOAD_ENTITIES_REQUEST = `${LOAD_ENTITIES_PREFIX}_REQUEST`;\nexport const LOAD_ENTITIES_SUCCESS = `${LOAD_ENTITIES_PREFIX}_SUCCESS`;\nexport const LOAD_ENTITIES_ERROR = `${LOAD_ENTITIES_PREFIX}_ERROR`;\nexport const LOAD_ENTITIES_ERROR_MESSAGE = 'Error loading robot models';\n\nexport const loadEntitiesRequest = () => ({\n  type: LOAD_ENTITIES_REQUEST,\n});\n","import {\n  LOAD_ENTITIES_SUCCESS,\n} from './loadEntitiesRequest';\n\nexport const loadEntitiesSuccess = (entities) => ({\n  type: LOAD_ENTITIES_SUCCESS,\n  payload: {\n    ...entities,\n  },\n});\n","export const ROBOT_LOAD_PREFIX = 'ROBOT_LOAD';\nexport const ROBOT_LOAD_REQUEST = `${ROBOT_LOAD_PREFIX}_REQUEST`;\nexport const ROBOT_LOAD_SUCCESS = `${ROBOT_LOAD_PREFIX}_SUCCESS`;\nexport const ROBOT_LOAD_ERROR = `${ROBOT_LOAD_PREFIX}_ERROR`;\nexport const ROBOT_LOAD_ERROR_MESSAGE = 'Error loading robot';\n\nexport const loadRobotRequest = (id) => ({\n  type: ROBOT_LOAD_REQUEST,\n  payload: {\n    id,\n  },\n});\n","import {\n  ROBOT_LOAD_SUCCESS,\n} from './loadRobotRequest';\n\nexport const loadRobotSuccess = (robot) => ({\n  type: ROBOT_LOAD_SUCCESS,\n  payload: {\n    robot,\n  },\n});\n","export const ROBOT_PART_PLACE_SUCCESS = 'ROBOT_PART_PLACE_SUCCESS';\n\nexport const placeRobotPartSuccess = (id) => ({\n  type: ROBOT_PART_PLACE_SUCCESS,\n  payload: {\n    id,\n  }\n});\n","export const SET_CURRENT_ROBOT = 'SET_CURRENT_ROBOT';\n\nexport const setCurrentRobot = (id) => ({\n  type: SET_CURRENT_ROBOT,\n  payload: {\n    currentRobotId: id\n  },\n});\n","export const SET_CURRENT_ROBOT_PART = 'SET_CURRENT_ROBOT_PART';\n\nexport const setCurrentRobotPart = (id) => ({\n  type: SET_CURRENT_ROBOT_PART,\n  payload: {\n    currentRobotPartId: id\n  },\n});\n","export const SET_PLACEMENT_MODE = 'SET_PLACEMENT_MODE';\n\nexport const setPlacementMode = (mode) => ({\n  type: SET_PLACEMENT_MODE,\n  payload: {\n    mode,\n  },\n});\n","export const SET_SCENE_LOADED = 'SET_SCENE_LOADED';\n\nexport const setSceneLoaded = (loaded) => ({\n  type: SET_SCENE_LOADED,\n  payload: {\n    loaded,\n  },\n});\n","export const SET_SELECTED_ROBOT_PART = 'SET_SELECTED_ROBOT_PART';\nexport const SET_SELECTED_ROBOT_PART_ERROR = `${SET_SELECTED_ROBOT_PART}_ERROR`;\nexport const SET_SELECTED_ROBOT_PART_ERROR_MESSAGE = 'Error setting the selected part';\n\nexport const setSelectedRobotPart = (id, x, y) => ({\n  type: SET_SELECTED_ROBOT_PART,\n  payload: {\n    selectedRobotPartId: id,\n    location: {\n      x,\n      y,\n    },\n  },\n});\n","export const ROBOT_UPLOAD_HRDF_PREFIX = 'ROBOT_UPLOAD_HRDF';\nexport const ROBOT_UPLOAD_HRDF_REQUEST = `${ROBOT_UPLOAD_HRDF_PREFIX}_REQUEST`;\nexport const ROBOT_UPLOAD_HRDF_SUCCESS = `${ROBOT_UPLOAD_HRDF_PREFIX}_SUCCESS`;\nexport const ROBOT_UPLOAD_HRDF_ERROR = `${ROBOT_UPLOAD_HRDF_PREFIX}_ERROR`;\n// TODO: Actually use the error from the server\nexport const ROBOT_UPLOAD_HRDF_ERROR_MESSAGE = 'Error loading HRDF file';\n\nexport const uploadHRDFRequest = (file) => ({\n  type: ROBOT_UPLOAD_HRDF_REQUEST,\n  payload: {\n    file,\n  },\n});\n","import {\n  ROBOT_UPLOAD_HRDF_SUCCESS,\n} from './uploadHRDFRequest';\n\nexport const uploadHRDFSuccess = (id) => ({\n  type: ROBOT_UPLOAD_HRDF_SUCCESS,\n  payload: {\n    id,\n  }\n});","\nexport const ROBOT_PART_REMOVE_PREFIX = 'ROBOT_PART_REMOVE';\nexport const ROBOT_PART_REMOVE_REQUEST = `${ROBOT_PART_REMOVE_PREFIX}_REQUEST`;\nexport const ROBOT_PART_REMOVE_CANCEL = `${ROBOT_PART_REMOVE_PREFIX}_CANCEL`;\nexport const ROBOT_PART_REMOVE_SUCCESS = `${ROBOT_PART_REMOVE_PREFIX}_SUCCESS`;\nexport const ROBOT_PART_REMOVE_ERROR = `${ROBOT_PART_REMOVE_PREFIX}_ERROR`;\nexport const ROBOT_PART_REMOVE_ERROR_MESSAGE = 'Error removing robot part';\n\nexport const removeRobotPartRequest = () => ({\n  type: ROBOT_PART_REMOVE_REQUEST,\n});\n","import { ROBOT_PART_REMOVE_SUCCESS } from './removeRobotPartRequest';\n\nexport const removeRobotPartSuccess = (ids) => ({\n  type: ROBOT_PART_REMOVE_SUCCESS,\n  payload: {\n    ids,\n  },\n});\n","export const ROBOT_PART_REMOVE_CANCEL = 'ROBOT_PART_REMOVE_CANCEL';\n\nexport const removeRobotPartCancel = () => ({\n  type: ROBOT_PART_REMOVE_CANCEL,\n});\n","export const ROBOT_PART_REMOVE_CONFIRM_PREFIX = 'ROBOT_PART_REMOVE_CONFIRM';\nexport const ROBOT_PART_REMOVE_CONFIRM_REQUEST = `${ROBOT_PART_REMOVE_CONFIRM_PREFIX}_REQUEST`;\nexport const ROBOT_PART_REMOVE_CONFIRM_SUCCESS = `${ROBOT_PART_REMOVE_CONFIRM_PREFIX}_SUCCESS`;\nexport const ROBOT_PART_REMOVE_CONFIRM_ERROR = `${ROBOT_PART_REMOVE_CONFIRM_PREFIX}_ERROR`;\nexport const ROBOT_PART_REMOVE_CONFIRM_ERROR_MESSAGE = 'Error removing robot part';\n\nexport const removeRobotPartConfirmRequest = () => ({\n  type: ROBOT_PART_REMOVE_CONFIRM_REQUEST,\n});\n","import { ROBOT_PART_REMOVE_CONFIRM_SUCCESS } from './removeRobotPartConfirmRequest';\n\nexport const removeRobotPartConfirmSuccess = () => ({\n  type: ROBOT_PART_REMOVE_CONFIRM_SUCCESS,\n  payload: {\n  },\n});\n","export const ROBOT_PART_REPLACE_PREFIX = 'ROBOT_PART_REPLACE';\nexport const ROBOT_PART_REPLACE_REQUEST = `${ROBOT_PART_REPLACE_PREFIX}_REQUEST`;\nexport const ROBOT_PART_REPLACE_SUCCESS = `${ROBOT_PART_REPLACE_PREFIX}_SUCCESS`;\nexport const ROBOT_PART_REPLACE_ERROR = `${ROBOT_PART_REPLACE_PREFIX}_ERROR`;\nexport const ROBOT_PART_REPLACE_ERROR_MESSAGE = 'Error while initializing configurator';\n\nexport const replaceRobotPartRequest = (replaceId, newPart) => ({\n  type: ROBOT_PART_REPLACE_REQUEST,\n  payload: {\n    replaceId,\n    newPart,\n  },\n});\n","import {\n  ROBOT_PART_REPLACE_SUCCESS,\n} from './replaceRobotPartRequest';\n\nexport const replaceRobotPartSuccess = () => ({\n  type: ROBOT_PART_REPLACE_SUCCESS,\n  payload: {\n  },\n});\n","export const RESET_CAMERA = 'RESET_CAMERA';\n\nexport const resetCamera = () => dispatch => dispatch({ type: RESET_CAMERA });\n","export const TOGGLE_PLACEMENT_MODE = 'TOGGLE_PLACEMENT_MODE';\n\nexport const togglePlacementMode = () => ({\n  type: TOGGLE_PLACEMENT_MODE,\n  payload: {\n  },\n});\n","export const UPDATE_ROBOT_STATISTICS = 'UPDATE_ROBOT_STATISTICS';\nexport const UPDATE_ROBOT_STATISTICS_ERROR = `${UPDATE_ROBOT_STATISTICS}_ERROR`;\nexport const UPDATE_ROBOT_STATISTICS_ERROR_MESSAGE = 'Error setting the selected part';\n\nexport const updateRobotStatistics = (statistics) => ({\n  type: UPDATE_ROBOT_STATISTICS,\n  payload: {\n    statistics,\n  },\n});\n","export const ROBOT_PART_UPDATE_CONSTRAINT_PREFIX = 'ROBOT_PART_UPDATE_CONSTRAINT';\nexport const ROBOT_PART_UPDATE_CONSTRAINT_REQUEST = `${ROBOT_PART_UPDATE_CONSTRAINT_PREFIX}_REQUEST`;\nexport const ROBOT_PART_UPDATE_CONSTRAINT_SUCCESS = `${ROBOT_PART_UPDATE_CONSTRAINT_PREFIX}_SUCCESS`;\nexport const ROBOT_PART_UPDATE_CONSTRAINT_ERROR = `${ROBOT_PART_UPDATE_CONSTRAINT_PREFIX}_ERROR`;\nexport const ROBOT_PART_UPDATE_CONSTRAINT_ERROR_MESSAGE = 'Error updating robot part configuration';\n\nexport const updateSelectedRobotPartConstraintRequest = (constraint, value) => ({\n  type: ROBOT_PART_UPDATE_CONSTRAINT_REQUEST,\n  payload: {\n    constraint,\n    value,\n  },\n});\n","import {\n  ROBOT_PART_UPDATE_CONSTRAINT_SUCCESS,\n} from './updateSelectedRobotPartConstraintRequest';\n\nexport const updateSelectedRobotPartConstraintSuccess = (id, constraint, value) => ({\n  type: ROBOT_PART_UPDATE_CONSTRAINT_SUCCESS,\n  payload: {\n    id,\n    constraint,\n    value,\n  },\n});\n","export const ACTIVATE_TEST_DRIVE = 'ACTIVATE_TEST_DRIVE';\n\nexport const activateTestDrive = () => dispatch => dispatch({ type: ACTIVATE_TEST_DRIVE });\n","export const DEACTIVATE_TEST_DRIVE = 'DEACTIVATE_TEST_DRIVE';\n\nexport const deactivateTestDrive = () => dispatch => dispatch({ type: DEACTIVATE_TEST_DRIVE });\n","export const EXPORT_ROBOT_PREFIX = 'EXPORT_ROBOT';\nexport const EXPORT_ROBOT_REQUEST = `${EXPORT_ROBOT_PREFIX}_REQUEST`;\nexport const EXPORT_ROBOT_SUCCESS = `${EXPORT_ROBOT_PREFIX}_SUCCESS`;\nexport const EXPORT_ROBOT_ERROR = `${EXPORT_ROBOT_PREFIX}_ERROR`;\nexport const EXPORT_ROBOT_ERROR_MESSAGE = 'Unable to export robot, please try again.';\n\nexport const exportRobotRequest = () => ({\n  type: EXPORT_ROBOT_REQUEST,\n});","export const SUBMIT_FEEDBACK_PREFIX = 'SUBMIT_FEEDBACK';\nexport const SUBMIT_FEEDBACK_REQUEST = `${SUBMIT_FEEDBACK_PREFIX}_REQUEST`;\nexport const SUBMIT_FEEDBACK_SUCCESS = `${SUBMIT_FEEDBACK_PREFIX}_SUCCESS`;\nexport const SUBMIT_FEEDBACK_SUCCESS_MESSAGE = 'Your feedback has been submitted!';\nexport const SUBMIT_FEEDBACK_ERROR = `${SUBMIT_FEEDBACK_PREFIX}_ERROR`;\n\nexport const SUBMIT_FEEDBACK_ERROR_MESSAGE = `\n  We are unable to submit your feedback.\n  Please try again. If the problem persists, please visit our contact us\n  page for other ways to submit this feedback.\n`;\n\nexport const submitFeedbackRequest = (feedback, {\n  resetForm,\n  setSubmitting,\n}) => ({\n  type: SUBMIT_FEEDBACK_REQUEST,\n  payload: {\n    feedback,\n    resetForm,\n    setSubmitting,\n  }\n});\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport Button from '@material-ui/core/Button';\nimport Dialog from '@material-ui/core/Dialog';\nimport DialogActions from '@material-ui/core/DialogActions';\nimport DialogContent from '@material-ui/core/DialogContent';\nimport DialogTitle from '@material-ui/core/DialogTitle';\nimport Typography from '@material-ui/core/Typography';\n\nimport {\n  getShouldWarnBeforeRobotPartRemoval,\n} from '../selectors';\n\nimport {\n  removeRobotPartConfirmRequest,\n  removeRobotPartCancel,\n} from '../actions';\n\nconst RemovePartConfirmationModal = ({\n  title,\n  description,\n  handleCancel,\n  handleConfirm,\n}) => (\n  <Dialog\n    open={true}\n    onClose={handleCancel}\n    aria-labelledby=\"alert-dialog-title\"\n    aria-describedby=\"alert-dialog-description\"\n  >\n    <DialogTitle id=\"alert-dialog-title\">\n      {title}\n    </DialogTitle>\n    <DialogContent>\n      <Typography id=\"alert-dialog-description\" variant=\"subtitle1\">\n        {description}\n      </Typography>\n    </DialogContent>\n    <DialogActions>\n      <Button onClick={handleCancel} color=\"primary\">\n        Cancel\n      </Button>\n      <Button onClick={handleConfirm} color=\"primary\" autoFocus>\n        Confirm\n      </Button>\n    </DialogActions>\n  </Dialog>\n);\n\nRemovePartConfirmationModal.propTypes = {\n  title: PropTypes.string.isRequired,\n  description: PropTypes.string.isRequired,\n  handleCancel: PropTypes.func.isRequired,\n  handleConfirm: PropTypes.func.isRequired,\n};\n\nconst mapStateToProps = state => {\n  const shouldWarn = getShouldWarnBeforeRobotPartRemoval(state);\n  const title = 'Confirm component removal';\n  const description = shouldWarn ?\n    'Removing this component from the robot will also remove all components that are dependent on this one.  Are you sure you want to proceed?' :\n    'Do you want to remove this component from the robot?';\n  \n  return {\n    title,\n    description,\n  };\n}\n\nconst actions = {\n  handleCancel: removeRobotPartCancel,\n  handleConfirm: removeRobotPartConfirmRequest,\n};\n\nexport default connect(mapStateToProps, actions)(RemovePartConfirmationModal);\n","export const MODAL_CLOSE = 'MODAL_CLOSE';\n\nexport const closeModal = () => ({\n  type: MODAL_CLOSE,\n});\n","export const MODAL_OPEN = 'MODAL_OPEN';\n\nexport const openModal = (type, modalProps) => ({\n  type: MODAL_OPEN,\n  payload: {\n    type,\n    modalProps,\n  },\n});\n","import axios from 'axios';\n\nimport { REACT_APP_HEBI_API_BASE_URL } from '../app/config/env-config';\n\nexport default axios.create({\n  baseURL: REACT_APP_HEBI_API_BASE_URL,\n  timeout: 20000,\n  headers: {\n    'Accept': 'application/json',\n  },\n});","import {\n  call,\n} from 'redux-saga/effects';\n\nimport Api from '../api';\n\nexport const create = (someClass, ...args) => call(() => new someClass(...args));\n\nexport const apiGet = (url, config) => Api.get(url, config).then(r => r.data);\nexport const apiPost = (url, config) => Api.post(url, config).then(r => r.data);\nexport const apiPut = (url, config) => Api.put(url, config).then(r => r.data);\nexport const apiPatch = (url, config) => Api.patch(url, config).then(r => r.data);\nexport const apiDelete = (url, config) => Api.delete(url, config).then(r => r.data);\n","import React, { useState } from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport Button from '@material-ui/core/Button';\nimport Dialog from '@material-ui/core/Dialog';\nimport Grid from '@material-ui/core/Grid';\nimport DialogContent from '@material-ui/core/DialogContent';\nimport DialogTitle from '@material-ui/core/DialogTitle';\nimport Typography from '@material-ui/core/Typography';\nimport TextField from '@material-ui/core/TextField';\nimport { Form, Formik } from 'formik';\n\nimport { closeModal } from '../../modals/actions';\n\nimport { apiPost } from '../../../common/utils/saga-utils';\n\nconst submitFeedback = feedbackMessage => {\n  console.log(feedbackMessage);\n  // Insert action here\n  // e.g. axios.post('/user', values)\n\n  apiPost('/Feedback', feedbackMessage);\n};\n\nconst FeedbackForm = ({ setSentStatus }) => {\n  return (\n    <Formik\n      initialValues={{ emailAddress: '', comments: '' }}\n      onSubmit={(values, actions) => {\n        try {\n          submitFeedback(values);\n          actions.setSubmitting(false);\n          setSentStatus(true);\n        } catch (e) {\n          console.error(e);\n        }\n      }}\n      render={props => (\n        <Form onSubmit={props.handleSubmit}>\n          <Grid container spacing={24}>\n            <Grid item xs={12}>\n              <TextField\n                fullWidth\n                label=\"E-Mail\"\n                variant=\"outlined\"\n                type=\"email\"\n                name=\"emailAddress\"\n                required\n                value={props.values.emailAddress}\n                error={\n                  props.errors.emailAddress &&\n                  props.errors.emailAddress.length &&\n                  props.touched.emailAddress\n                }\n                onChange={props.handleChange}\n              />\n            </Grid>\n            <Grid item xs={12}>\n              <TextField\n                fullWidth\n                label=\"Message\"\n                type=\"text\"\n                variant=\"outlined\"\n                multiline={true}\n                rows={3}\n                rowsMax={6}\n                name=\"comments\"\n                required\n                value={props.values.comments}\n                error={\n                  props.errors.comments &&\n                  props.errors.comments.length &&\n                  props.touched.comments\n                }\n                onChange={props.handleChange}\n              />\n            </Grid>\n            <Grid item xs={12}>\n              <Button variant=\"contained\" color=\"primary\" type=\"submit\">\n                Submit\n              </Button>\n            </Grid>\n          </Grid>\n        </Form>\n      )}\n    />\n  );\n};\n\nconst ThankYouNote = () => (\n  <Typography paragraph>Thank you for your feedback!</Typography>\n);\n\nconst FeedbackModal = ({ title, description, handleCancel }) => {\n\n  const [sentStatus, setSentStatus] = useState(false);\n\n  return (\n    <Dialog\n      open={true}\n      onClose={handleCancel}\n      aria-labelledby=\"alert-dialog-title\"\n      aria-describedby=\"alert-dialog-description\"\n    >\n      <DialogTitle id=\"alert-dialog-title\">{title}</DialogTitle>\n      <DialogContent>\n        <Typography paragraph id=\"alert-dialog-description\" variant=\"subtitle1\">\n          {description}\n        </Typography>\n        {sentStatus ? (\n          <ThankYouNote />\n        ) : (\n            <FeedbackForm setSentStatus={setSentStatus} />\n          )}\n      </DialogContent>\n    </Dialog>\n  );\n};\n\nFeedbackModal.propTypes = {\n  title: PropTypes.string.isRequired,\n  description: PropTypes.string.isRequired,\n  handleCancel: PropTypes.func.isRequired\n};\n\nconst mapStateToProps = () => {\n\n  // NOTE: You can use standard variables for static content\n  //             mapStateToProps is for pulling values from the connected redux store.\n  const title = 'Feedback';\n  const description =\n    'Is there something that went wrong? Let us know so we can improve.';\n\n  return {\n    title,\n    description\n  };\n};\n\nconst actions = {\n  handleCancel: closeModal\n};\n\nexport default connect(\n  mapStateToProps,\n  actions\n)(FeedbackModal);\n","import React from 'react';\nimport { connect } from 'react-redux';\n\nimport RemovePartConfirmationModal from '../configurator/components/RemovePartConfirmationModal';\nimport FeedbackModal from '../configurator/components/FeedbackModal';\n\nimport { getModals } from './selectors';\n\nconst modalComponentLookupTable = {\n  RemovePartConfirmationModal,\n  FeedbackModal,\n};\n\nexport class ModalManager extends React.Component {\n  render() {\n    const { currentModals } = this.props;\n\n    const renderedModals = currentModals.map((modalDescription, index) => {\n      const { type, modalProps = {} } = modalDescription;\n      const ModalComponent = modalComponentLookupTable[type];\n\n      return <ModalComponent {...modalProps} key={type + index} />;\n    });\n\n    return (\n      <React.Fragment>\n        {renderedModals}\n      </React.Fragment>\n    )\n  }\n}\n\nconst mapStateToProps = (state) => ({\n  currentModals: getModals(state),\n});\n\nexport default connect(mapStateToProps)(ModalManager);\n","export const getModals = state => state.modals;\n","export const SELECT_PART = 'SELECT_PART';\n\nexport const selectPart = (id) => ({\n  type: SELECT_PART,\n  payload: {\n    id,\n  },\n});\n","export const SET_DRAWER_VISIBLE = 'SET_DRAWER_VISIBLE';\n\nexport const setDrawerVisible = (visible) => ({\n  type: SET_DRAWER_VISIBLE,\n  payload: {\n    visible,\n  },\n});\n","export const SET_SELECTED_CATEGORY = 'SET_SELECTED_CATEGORY';\n\nexport const setSelectedCategory = (id) => ({\n  type: SET_SELECTED_CATEGORY,\n  payload: {\n    id,\n  },\n});\n","export const TOGGLE_DRAWER_VISIBLE = 'TOGGLE_DRAWER_VISIBLE';\n\nexport const toggleDrawerVisible = () => ({\n  type: TOGGLE_DRAWER_VISIBLE,\n});\n","export const UPDATE_AVAILABLE_PARTS_PREFIX = 'UPDATE_AVAILABLE_PARTS';\nexport const UPDATE_AVAILABLE_PARTS_REQUEST = `${UPDATE_AVAILABLE_PARTS_PREFIX}_REQUEST`;\nexport const UPDATE_AVAILABLE_PARTS_SUCCESS = `${UPDATE_AVAILABLE_PARTS_PREFIX}_SUCCESS`;\nexport const UPDATE_AVAILABLE_PARTS_ERROR = `${UPDATE_AVAILABLE_PARTS_PREFIX}_ERROR`;\nexport const UPDATE_AVAILABLE_PARTS_ERROR_MESSAGE = 'Error updating the catalog';\n\nexport const updateAvailablePartsRequest = () => ({\n  type: UPDATE_AVAILABLE_PARTS_REQUEST,\n  payload: {\n  }\n});\n","import { UPDATE_AVAILABLE_PARTS_SUCCESS } from './updateAvailablePartsRequest';\n\nexport const updateAvailablePartsSuccess = (ids) => ({\n  type: UPDATE_AVAILABLE_PARTS_SUCCESS,\n  payload: {\n    ids,\n  }\n});\n","import React from 'react';\nimport { connect } from 'react-redux';\nimport PropTypes from 'prop-types';\nimport Radio from '@material-ui/core/Radio';\nimport RadioGroup from '@material-ui/core/RadioGroup';\nimport FormControlLabel from '@material-ui/core/FormControlLabel';\nimport FormControl from '@material-ui/core/FormControl';\nimport FormLabel from '@material-ui/core/FormLabel';\nimport { withStyles } from '@material-ui/core/styles';\n\nimport { getSelectedRobotPartConstraints } from '../../selectors';\nimport { getPartLengths } from '../../../entities/selectors';\n\nimport { standardizeLength } from '../../../../common/utils/length-utils';\n\nimport {\n  updateSelectedRobotPartConstraintRequest,\n} from '../../actions';\n\nconst styles = theme => ({\n  slider: {\n    padding: '26px 0px',\n  },\n  radioGroup: {\n    justifyContent: 'space-between',\n  },\n  radio: {\n    color: theme.palette.primary.main,\n    '&$checked': {\n      color: theme.palette.primary.main,\n    }\n  },\n  checked: {},\n});\n\n/**\n * Note that the length offset below removes the length of the two end caps for display purposes only.\n * For example, although an X5 Link's total length may be 325mm, the tube length is only 300mm.\n * However, the kinematic solver and HRDF upload process require the full link length.\n * http://docs.hebi.us/hardware.html#x5-link\n */\nconst END_CAPS_LENGTH_OFFSET = 0.025;\n\nconst LinkDialogContent = ({\n  classes,\n  handleConstraintChanged,\n  length,\n  lengthOptions,\n  twist,\n  twistInterval,\n}) => (\n  <React.Fragment>\n    {Boolean(lengthOptions && lengthOptions.length) && (\n      <FormControl component=\"fieldset\" margin=\"dense\">\n        <FormLabel>Length (mm)</FormLabel>\n\n        <RadioGroup\n          value={length.toString()}\n          onChange={event => handleConstraintChanged('length', Number(event.target.value))}\n          row={true}\n          classes={{\n            root: classes.radioGroup,\n          }}\n        >\n          {lengthOptions.map(option => (\n            <FormControlLabel\n              key={option.id}\n              value={option.length.toString()}\n              control={\n                <Radio\n                  classes={{\n                    root: classes.radio,\n                    checked: classes.checked,\n                  }}\n                />\n              }\n              label={standardizeLength(option.length - END_CAPS_LENGTH_OFFSET, option.unit)}\n              labelPlacement=\"end\"\n            />\n          ))}\n        </RadioGroup>\n      </FormControl>\n    )}\n    \n    <FormControl component=\"fieldset\" margin=\"none\">\n      <FormLabel>Twist Interval (degrees)</FormLabel>\n      <RadioGroup\n        value={Math.round(twist/twistInterval).toString()}\n        onChange={event => handleConstraintChanged('twist', Number(event.target.value*twistInterval))}\n        row={true}\n        classes={{\n          root: classes.radioGroup,\n        }}\n      >\n        {[...Array(Math.round(Math.PI * 2 / twistInterval)).keys()].map(option => (\n          <FormControlLabel\n            key={option.id}\n            value={option.toString()}\n            control={\n              <Radio\n                classes={{\n                  root: classes.radio,\n                  checked: classes.checked,\n                }}\n              />\n            }\n            label={(90*option).toString()+'°'}\n            labelPlacement=\"end\"\n          />\n        ))}\n      </RadioGroup>\n    </FormControl>\n  </React.Fragment>\n);\n\nLinkDialogContent.propTypes = {\n  handleConstraintChanged: PropTypes.func.isRequired,\n  length: PropTypes.number.isRequired,\n  lengthOptions: PropTypes.arrayOf(PropTypes.shape({\n    id: PropTypes.number.isRequired,\n    length: PropTypes.number.isRequired,\n    unit: PropTypes.string.isRequired,\n  })).isRequired,\n  twist: PropTypes.number.isRequired,\n  twistInterval: PropTypes.number.isRequired,\n};\n\nconst mapStateToProps = state => {\n  const constraints = getSelectedRobotPartConstraints(state);\n  const { length, twist, twistInterval } = constraints;\n  const lengthOptions = getPartLengths(state);\n\n  return {\n    length,\n    twist,\n    twistInterval,\n    lengthOptions,\n  };\n};\n\nconst actions = {\n  handleConstraintChanged: updateSelectedRobotPartConstraintRequest,\n};\n\nexport default withStyles(styles)(\n  connect(mapStateToProps, actions)(LinkDialogContent)\n);\n","import React from 'react';\n\nimport LinkDialogContent from './LinkDialogContent';\n\nexport default {\n  Link: {\n    DialogContent: LinkDialogContent,\n  },\n  default: {\n    DialogContent: () => <React.Fragment />,\n  },\n}\n","/**\n * All HEBI figures are defined in meters\n * @param {number} length \n * @param {string} targetUnit \n */\nexport const standardizeLength = (length, targetUnit) => {\n  switch (targetUnit.toLowerCase()) {\n    case 'millimeters':\n      return length;\n    case 'meters':\n      return length * 1000;\n    default:\n      return length;\n  }\n}","import React from 'react';\nimport { connect } from 'react-redux';\nimport PropTypes from 'prop-types';\nimport classNames from 'classnames';\nimport { withStyles } from '@material-ui/core/styles';\nimport Button from '@material-ui/core/Button';\nimport Card from '@material-ui/core/Card';\nimport CardActions from '@material-ui/core/CardActions';\nimport CardContent from '@material-ui/core/CardContent';\nimport CardHeader from '@material-ui/core/CardHeader';\nimport IconButton from '@material-ui/core/IconButton';\nimport DragIndicatorIcon from '@material-ui/icons/DragIndicator';\nimport Paper from '@material-ui/core/Paper';\nimport Tooltip from '@material-ui/core/Tooltip';\n\nimport {\n  removeRobotPartRequest,\n  togglePlacementMode,\n} from '../../actions';\n\nimport {\n  getPlacementMode,\n  getSelectedRobotPart,\n} from '../../selectors';\n\nimport {\n  setDrawerVisible,\n} from '../../../catalog/actions';\n\nimport strategies from './strategies';\n\nconst styles = theme => ({\n  card: {\n    width: '330px',\n    pointerEvents: 'auto',\n  },\n  title: {\n    fontSize: '20px',\n    fontWeight: 600,\n  },\n  subheader: {\n    fontSize: '16px',\n    whiteSpace: 'pre',\n  },\n  cardActions: {\n    flexDirection: 'row',\n    justifyContent: 'flex-end',\n  },\n  content: {\n    display: 'flex',\n    flexDirection: 'column',\n    flex: 1,\n  },\n});\n\nconst ConfiguratorDialog = ({\n  category,\n  classes,\n  className,\n  handleRemove,\n  handleReplace,\n  placementMode,\n  title,\n  subheader,\n}) => {\n  const { DialogContent } = strategies[category] || strategies.default;\n\n  const onReplaceClicked = () => {\n    handleReplace(placementMode);\n  };\n\n  const getReplaceButton = () => {\n    const inReplaceMode = placementMode === 'replace';\n    const color = inReplaceMode ? 'primary' : 'default';\n    const variant = inReplaceMode ? 'contained' : 'text';\n\n    return (\n      <Button\n        onClick={onReplaceClicked}\n        color={color}\n        variant={variant}\n      >\n        Replace\n      </Button>\n    )\n  };\n\n  return (\n    <Paper elevation={10}>\n      <Card className={classes.card}>\n        <CardHeader\n          classes={{\n            title: classes.title,\n            subheader: classes.subheader,\n          }}\n          title={title}\n          subheader={subheader}\n          action={\n            <Tooltip title=\"Click and Drag\">\n              <IconButton aria-label=\"Click and Drag\" className=\"drag-handle\">\n                <DragIndicatorIcon />\n              </IconButton>\n            </Tooltip>\n          }\n        />\n        <CardContent className={classes.content}>\n          <DialogContent />\n        </CardContent>\n        <CardActions className={classNames(classes.cardActions, className)}>\n          <Button onClick={handleRemove}>Remove</Button>\n          {getReplaceButton()}\n        </CardActions>\n      </Card>\n    </Paper>\n  )\n};\n\nConfiguratorDialog.propTypes = {\n  category: PropTypes.string.isRequired,\n  classes: PropTypes.object.isRequired,\n  className: PropTypes.string,\n  handleRemove: PropTypes.func.isRequired,\n  handleReplace: PropTypes.func.isRequired,\n  placementMode: PropTypes.string.isRequired,\n  title: PropTypes.string.isRequired,\n  subheader: PropTypes.string,\n};\n\nconst defaultValues = {\n  category: '',\n  placementMode: 'place',\n  subheader: '',\n  title: '',\n};\n\nConfiguratorDialog.defaultProps = defaultValues;\n\nconst mapStateToProps = state => {\n  const selectedRobotPart = getSelectedRobotPart(state);\n  if (!selectedRobotPart) {\n    return defaultValues;\n  }\n\n  const associatedPart = selectedRobotPart.part;\n  const placementMode = getPlacementMode(state);\n\n  return {\n    title: associatedPart.name,\n    placementMode,\n    subheader: associatedPart.description,\n    category: associatedPart.partCategory.name,\n  };\n};\n\nconst mapDispatchToProps = dispatch => {\n  return {\n    handleRemove: () => dispatch(removeRobotPartRequest()),\n    handleReplace: placementMode => {\n      dispatch(togglePlacementMode());\n      const drawerShouldBeVisible = placementMode === 'place';\n      dispatch(setDrawerVisible(drawerShouldBeVisible));\n    },\n  };\n}\n\nexport default withStyles(styles)(\n  connect(\n    mapStateToProps,\n    mapDispatchToProps\n  )(ConfiguratorDialog)\n);","export const formatNumber = (value) => {\n  value = value || 0;\n  const minimumFractionDigits = 2;\n  const maximumFractionDigits = 2;\n\n  const formattedValue = value.toLocaleString(undefined, {\n    minimumFractionDigits,\n    maximumFractionDigits,\n  });\n\n  return formattedValue;\n};\n","export const getPopper = state => state.popper;\n","import { createSelector } from 'reselect';\n\nimport { getPopper } from './getPopper';\n\nexport const getPopperLocation = createSelector(\n  getPopper,\n  popper => popper.location,\n);\n","import { createSelector } from 'reselect';\n\nimport { getPopper } from './getPopper';\n\nexport const getPopperProps = createSelector(\n  getPopper,\n  popper => popper.popperProps,\n);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\nimport Card from '@material-ui/core/Card';\nimport CardContent from '@material-ui/core/CardContent';\nimport Paper from '@material-ui/core/Paper';\nimport Typography from '@material-ui/core/Typography';\nimport startCase from 'lodash-es/startCase';\n\nimport { formatNumber } from '../../../common/utils/formatters';\n\nimport {\n  getPopperProps,\n} from '../../poppers/selectors';\n\nconst styles = theme => ({\n  container: {\n    display: 'flex',\n    flexDirection: 'column',\n    opacity: 0.9,\n  },\n});\n\nconst formatLabel = (key, value) => {\n  let formattedValue = '';\n  value = value || 0;\n\n  switch (key) {\n    case 'x':\n    case 'y':\n    case 'z':\n      formattedValue = `${formatNumber(value * 1000)} mm`;\n      break;\n    case 'continuousPayload':\n      formattedValue = `${formatNumber(value)} kg`;\n      break;\n    case 'peakPayload':\n      formattedValue = `${formatNumber(value)} kg`;\n      break;\n    default:\n      break;\n  }\n\n  const formattedKey = startCase(key);\n  return `${formattedKey}: ${formattedValue}`;\n}\n\nconst TestDriveGrabberLabel = ({\n  classes,\n  statistics,\n}) => {\n  if (!statistics) {\n    return null;\n  }\n\n  return (\n    <Paper elevation={10} className={classes.container}>\n      <Card>\n        <CardContent className={classes.content}>\n          {Object.entries(statistics).map(([key, value]) => (\n            <Typography\n              key={key}\n              variant=\"body2\"\n              gutterBottom\n            >\n              {formatLabel(key, value)}\n            </Typography>\n          ))}\n        </CardContent>\n      </Card>\n    </Paper>\n  );\n};\n\nTestDriveGrabberLabel.propTypes = {\n  classes: PropTypes.object.isRequired,\n  statistics: PropTypes.shape({\n    x: PropTypes.number,\n    y: PropTypes.number,\n    z: PropTypes.number,\n    continuousPayload: PropTypes.number,\n    peakPayload: PropTypes.number,\n  }),\n};\n\nconst mapStateToProps = state => {\n  const popperProps = getPopperProps(state);\n  if (!popperProps) {\n    return {};\n  };\n\n  const { statistics } = popperProps;\n\n  return {\n    statistics,\n  };\n};\n\nexport default withStyles(styles)(\n  connect(mapStateToProps)(TestDriveGrabberLabel)\n);\n","import './proxima-nova/index.css';\nimport './whitney-semibold/index.css';\n\nexport const PRIMARY_FONT = 'proxima-nova';\nexport const SECONDARY_FONT = 'Whitney-Semibold';\n","import { PRIMARY_FONT } from '../fonts';\n\nexport const typography = {\n  useNextVariants: true,\n  fontFamily: [\n    PRIMARY_FONT,\n    'sans-serif',\n  ].join(','),\n  h1: {\n    fontSize: '96px',\n    fontFamily: PRIMARY_FONT,\n    fontWeight: 300,\n    letterSpacing: '-1.5px',\n  },\n  h2: {\n    fontSize: '60px',\n    fontFamily: PRIMARY_FONT,\n    fontWeight: 300,\n    letterSpacing: '-0.5px',\n    lineHeight: '73px',\n  },\n  h3: {\n    fontSize: '48px',\n    fontFamily: PRIMARY_FONT,\n    lineHeight: '58px',\n  },\n  h4: {\n    fontSize: '34px',\n    fontFamily: PRIMARY_FONT,\n    letterSpacing: '0.25px',\n    lineHeight: '41px',\n  },\n  h5: {\n    fontSize: '24px',\n    fontFamily: PRIMARY_FONT,\n    lineHeight: '29px',\n  },\n  h6: {\n    fontSize: '20px',\n    fontFamily: PRIMARY_FONT,\n    fontWeight: 600,\n    letterSpacing: '0.15px',\n    lineHeight: '24px',\n  },\n  subtitle1: {\n    fontSize: '16px',\n    fontFamily: PRIMARY_FONT,\n    letterSpacing: '0.15px',\n    lineHeight: '20px',\n  },\n  subtitle2: {\n    fontSize: '14px',\n    fontFamily: PRIMARY_FONT,\n    fontWeight: 600,\n    letterSpacing: '0.1px',\n    lineHeight: '17px',\n  },\n  body1: {\n    fontSize: '16px',\n    fontFamily: PRIMARY_FONT,\n    letterSpacing: '0.5px',\n    lineHeight: '20px',\n  },\n  body2: {\n    fontSize: '14px',\n    fontFamily: PRIMARY_FONT,\n    letterSpacing: '0.25px',\n    lineHeight: '18px',\n  },\n  button: {\n    fontSize: '14px',\n    fontFamily: PRIMARY_FONT,\n    fontWeight: 600,\n    letterSpacing: '1.25px',\n    lineHeight: '17px',\n  },\n  caption: {\n    fontSize: '12px',\n    fontFamily: PRIMARY_FONT,\n    letterSpacing: '0.4px',\n    lineHeight: '15px',\n  },\n  overline: {\n    fontSize: '10px',\n    fontFamily: PRIMARY_FONT,\n    letterSpacing: '1.5px',\n    lineHeight: '12px',\n  },\n};\n\nexport const zIndex = {\n  mobileStepper: 1000,\n  workspace: 1099,\n  appBar: 1100,\n  drawer: 1200,\n  modal: 1300,\n  snackbar: 1400,\n  tooltip: 1500,\n};\n","import { createMuiTheme } from '@material-ui/core/styles';\n\nimport {\n  typography,\n  zIndex,\n} from './variables';\n\nconst secondaryColor = '#DCD521';\n\nlet theme = createMuiTheme({\n  typography: {\n    ...typography,\n    color: '#F1F1EF',\n  },\n  zIndex,\n  palette: {\n    type: 'dark',\n    primary: {\n      main: '#64F8AF',\n    },\n    secondary: {\n      main: secondaryColor,\n    },\n    neutral: {\n      light: {\n        color: '#6F6E68',\n      },\n    }\n  },\n  overrides: {\n    MuiSlider: {\n      track: { backgroundColor: secondaryColor },\n      thumb: { backgroundColor: secondaryColor },\n    },\n  }\n});\n\nexport default theme;\n","export const POPPER_HIDE = 'POPPER_HIDE';\n\nexport const hidePopper = () => ({\n  type: POPPER_HIDE,\n});\n","export const POPPER_SHOW = 'POPPER_SHOW';\n\nexport const showPopper = (x, y, type, popperProps) => ({\n  type: POPPER_SHOW,\n  payload: {\n    location: {\n      x,\n      y,\n    },\n    type,\n    popperProps,\n  },\n});\n","export const POPPER_UPDATE_PREFIX = 'POPPER_UPDATE';\nexport const POPPER_UPDATE_REQUEST = `${POPPER_UPDATE_PREFIX}_REQUEST`;\nexport const POPPER_UPDATE_SUCCESS = `${POPPER_UPDATE_PREFIX}_POPPER_UPDATE_SUCCESS`;\n\nexport const updatePopperRequest = (x, y, popperProps) => ({\n  type: POPPER_UPDATE_REQUEST,\n  payload: {\n    location: {\n      x,\n      y,\n    },\n    popperProps,\n  },\n});\n","import {\n  POPPER_UPDATE_SUCCESS,\n} from './updatePopperRequest';\n\nexport const updatePopperSuccess = (location, popperProps) => ({\n  type: POPPER_UPDATE_SUCCESS,\n  payload: {\n    location,\n    popperProps,\n  },\n});\n","import React from 'react';\nimport { connect } from 'react-redux';\nimport autoBind from 'react-autobind';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport { MuiThemeProvider } from '@material-ui/core/styles';\nimport Draggable from 'react-draggable';\n\nimport darkTheme from '../../common/themes/material-dark-theme';\n\nimport {\n  updatePopperRequest,\n} from './actions';\n\nimport {\n  getPopperLocation,\n} from './selectors';\n\nconst styles = theme => ({\n  container: {\n    position: 'absolute',\n    zIndex: theme.zIndex.modal,\n    pointerEvents: 'none',\n  },\n});\n\nclass Popper extends React.Component {\n  constructor(props) {\n    super(props);\n    autoBind(this);\n  }\n\n  handleDrag(e, position) {\n    const { x, y } = position;\n    this.props.handlePopperUpdate(x, y);\n  }\n\n  render() {\n    const {\n      children,\n      classes,\n      location,\n    } = this.props;\n\n    return (\n      <MuiThemeProvider theme={darkTheme}>\n        <Draggable\n          defaultPosition={{ x: location.x + 2, y: location.y }}\n          position={location}\n          onStop={this.handleDrag}\n          handle=\".drag-handle\"\n        >\n          <div className={classes.container}>\n            {children}\n          </div>\n        </Draggable>\n      </MuiThemeProvider>\n    );\n  }\n}\n\nPopper.propTypes = {\n  children: PropTypes.node.isRequired,\n  classes: PropTypes.object.isRequired,\n  location: PropTypes.shape({\n    x: PropTypes.number,\n    y: PropTypes.number,\n  }),\n};\n\nconst mapStateToProps = state => ({\n  location: getPopperLocation(state),\n});\n\nconst actions = {\n  handlePopperUpdate: updatePopperRequest,\n};\n\nexport default withStyles(styles)(\n  connect(mapStateToProps, actions)(Popper)\n);\n","import React from 'react';\nimport { connect } from 'react-redux';\n\nimport ConfiguratorDialog from '../configurator/components/dialogs/ConfiguratorDialog';\nimport TestDriveGrabberLabel from '../configurator/components/TestDriveGrabberLabel';\n\nimport Popper from './Popper';\nimport { getPopper } from './selectors';\n\nconst popperTypes = {\n  ConfiguratorDialog,\n  TestDriveGrabberLabel,\n};\n\nexport class PopperManager extends React.Component {\n  render() {\n    const { popper } = this.props;\n    const { show, location, type, popperProps = {} } = popper;\n\n    let dialog = null;\n\n    if (show) {\n      const PopperComponent = popperTypes[type];\n\n      if (PopperComponent) {\n        dialog = (\n          <Popper location={location}>\n            <PopperComponent {...popperProps} />\n          </Popper>\n        );\n      }\n    }\n\n    return dialog;\n  }\n}\n\nconst mapStateToProps = (state) => ({\n  popper: getPopper(state),\n});\n\nexport default connect(mapStateToProps)(PopperManager);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport AddBoxIcon from '@material-ui/icons/AddBox';\nimport Button from '@material-ui/core/Button';\nimport RefreshIcon from '@material-ui/icons/Refresh';\n\nconst styles = theme => ({\n  buttons: {\n    display: 'flex',\n    flexDirection: 'row',\n    justifyContent: 'space-between',\n  },\n  button: {\n    minWidth: '170px',\n    margin: theme.spacing.unit,\n  },\n  icon: {\n    paddingRight: theme.spacing.unit,\n  },\n});\n\nconst RobotBuilderButtonBarDesktop = ({\n  classes,\n  handleAddComponentClick,\n  handleNewSessionClick,\n}) => (\n  <div className={classes.buttons}>\n    <Button\n      variant=\"outlined\"\n      color=\"primary\"\n      className={classes.button}\n      onClick={handleNewSessionClick}\n    >\n      <RefreshIcon className={classes.icon} />\n      New Session\n    </Button>\n    <Button\n      variant=\"outlined\"\n      color=\"primary\"\n      className={classes.button}\n      onClick={handleAddComponentClick}\n    >\n      <AddBoxIcon className={classes.icon} />\n      Component\n    </Button>\n  </div>\n);\n\nRobotBuilderButtonBarDesktop.propTypes = {\n  classes: PropTypes.object.isRequired,\n  handleAddComponentClick: PropTypes.func.isRequired,\n  handleNewSessionClick: PropTypes.func.isRequired,\n};\n\nexport default withStyles(styles)(RobotBuilderButtonBarDesktop);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport AddBoxIcon from '@material-ui/icons/AddBox';\nimport IconButton from '@material-ui/core/IconButton';\nimport RefreshIcon from '@material-ui/icons/Refresh';\nimport Tooltip from '@material-ui/core/Tooltip';\n\nconst styles = theme => ({\n  buttons: {\n    display: 'flex',\n    flexDirection: 'row',\n    justifyContent: 'space-between',\n  },\n  button: {\n    margin: theme.spacing.unit,\n  },\n});\n\nconst RobotBuilderButtonBarMobile = ({\n  classes,\n  handleAddComponentClick,\n  handleNewSessionClick,\n}) => (\n  <div className={classes.buttons}>\n    <Tooltip title=\"New Session\">\n      <IconButton\n        className={classes.button}\n        color=\"primary\"\n        aria-label=\"New Session\"\n        onClick={handleNewSessionClick}\n      >\n        <RefreshIcon />\n      </IconButton>\n    </Tooltip>\n\n    <Tooltip title=\"Components\">\n      <IconButton\n        className={classes.button}\n        color=\"primary\"\n        onClick={handleAddComponentClick}\n        aria-label=\"Components\"\n      >\n        <AddBoxIcon />\n      </IconButton>\n    </Tooltip>\n    \n  </div>\n);\n\nRobotBuilderButtonBarMobile.propTypes = {\n  classes: PropTypes.object.isRequired,\n  handleAddComponentClick: PropTypes.func.isRequired,\n  handleNewSessionClick: PropTypes.func.isRequired,\n};\n\nexport default withStyles(styles)(RobotBuilderButtonBarMobile);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport withWidth, { isWidthDown } from '@material-ui/core/withWidth';\n\nimport {\n  createRobotRequest,\n} from '../../configurator/actions';\n\nimport {\n  toggleDrawerVisible as toggleComponentCatalogDrawerVisible,\n} from '../../catalog/actions';\n\nimport RobotBuilderButtonBarDesktop from './RobotBuilderButtonBarDesktop';\nimport RobotBuilderButtonBarMobile from './RobotBuilderButtonBarMobile';\n\nconst RobotBuilderButtonBar = ({\n  handleAddComponentClick,\n  handleNewSessionClick,\n  width,\n}) => {\n  if (isWidthDown('xs', width)) {\n    return (\n      <RobotBuilderButtonBarMobile\n        handleAddComponentClick={handleAddComponentClick}\n        handleNewSessionClick={handleNewSessionClick}\n      />\n    )\n  }\n\n  return (\n    <RobotBuilderButtonBarDesktop\n      handleAddComponentClick={handleAddComponentClick}\n      handleNewSessionClick={handleNewSessionClick}\n    />\n  )\n};\n\nRobotBuilderButtonBar.propTypes = {\n  width: PropTypes.string.isRequired,\n  handleAddComponentClick: PropTypes.func.isRequired,\n  handleNewSessionClick: PropTypes.func.isRequired,\n}\n\nconst actions = {\n  handleAddComponentClick: toggleComponentCatalogDrawerVisible,\n  handleNewSessionClick: createRobotRequest,\n};\n\nexport default withWidth()(\n  connect(null, actions)(RobotBuilderButtonBar)\n);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport { Link } from 'react-router-dom';\nimport logo from '../../../common/images/hebi-logo.svg';\n\nconst styles = theme => ({\n  logo: {\n    height: '26.98px',\n    width: '81.36px',\n  },\n});\n\nconst HebiLogo = ({ classes }) => (\n  <Link to=\"/\">\n    <img\n      src={logo}\n      className={classes.logo}\n      alt=\"HEBI Robotics\"\n    />\n  </Link>\n);\n\nHebiLogo.propTypes = {\n  height: PropTypes.number,\n  width: PropTypes.number,\n};\n\nexport default withStyles(styles)(HebiLogo);\n"," export const createLoadingSelector = actions => state =>\n  actions.some(action => state.loading[action]);","import * as catalogActions from '../../catalog/actions';\nimport * as configurationActions from '../../configurator/actions';\n\nimport { createLoadingSelector } from './createLoadingSelector';\n\nconst allActions = {\n  ...catalogActions,\n  ...configurationActions,\n};\n\nconst actionsToMonitor = Object.entries(allActions).reduce((result, [name, value]) => {\n  if (name && name.length && name.endsWith('PREFIX')) {\n    result.push(value);\n  }\n\n  return result;\n}, []);\n\nexport const getApplicationIsLoading = createLoadingSelector(actionsToMonitor);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\nimport LinearProgress from '@material-ui/core/LinearProgress';\n\nimport { getApplicationIsLoading } from '../../selectors';\n\nconst styles = theme => ({\n  container: {\n    zIndex: theme.zIndex.appBar,\n  },\n});\n\nconst ProgressBar = ({\n  classes,\n  isLoading,\n}) => (\n  <div\n    className={classes.container}\n    style={{ visibility: isLoading ? 'visible' : 'hidden' }}\n  >\n    <LinearProgress color=\"secondary\" />\n  </div>\n);\n\nProgressBar.propTypes = {\n  classes: PropTypes.object.isRequired,\n  isLoading: PropTypes.bool.isRequired,\n};\n\nconst mapStateToProps = state => ({\n  isLoading: getApplicationIsLoading(state),\n});\n\nexport default withStyles(styles)(\n  connect(mapStateToProps)(ProgressBar)\n);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withRouter } from 'react-router-dom';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\nimport AppBar from '@material-ui/core/AppBar';\nimport Toolbar from '@material-ui/core/Toolbar';\nimport Typography from '@material-ui/core/Typography';\n\nimport RobotBuilderButtonBar from './RobotBuilderButtonBar';\nimport HebiLogo from '../../shared/HebiLogo';\nimport { getInBuildMode } from '../../configurator/selectors';\nimport ProgressBar from '../../loading/components/ProgressBar/ProgressBar';\n\nconst styles = theme => ({\n  appBar: {\n    zIndex: theme.zIndex.drawer + 1,\n  },\n  toolbar: {\n    '& > div': {\n      paddingLeft: theme.spacing.unit * 6,\n    },\n    [theme.breakpoints.up('md')]: {\n      paddingLeft: theme.spacing.unit * 6,\n      paddingRight: theme.spacing.unit * 6,\n    },\n  },\n  titleContainer: {\n    flex: 1,\n  },\n  title: {\n    textTransform: 'uppercase',\n    [theme.breakpoints.down('sm')]: {\n      display: 'none',\n    },\n    color: theme.palette.neutral.darker.color,\n  },\n});\n\nconst AppNav = ({\n  classes,\n  showRobotBuilderButtons,\n}) => (\n  <AppBar position=\"static\" color=\"inherit\" className={classes.appBar}>\n    <Toolbar className={classes.toolbar}>\n      <HebiLogo />\n      <div className={classes.titleContainer}>\n        <Typography variant=\"subtitle1\" className={classes.title}>\n          3D Configurator\n        </Typography>\n      </div>\n\n      {\n        showRobotBuilderButtons && <RobotBuilderButtonBar />\n      }\n    </Toolbar>\n    <ProgressBar />\n  </AppBar>\n);\n\nAppNav.propTypes = {\n  classes: PropTypes.object.isRequired,\n  location: PropTypes.object.isRequired,\n  showRobotBuilderButtons: PropTypes.bool.isRequired,\n};\n\nconst mapStateToProps = (state, props) => {\n  const { location } = props;\n  const currentlyInBuildMode = getInBuildMode(state, location);\n\n  return {\n    showRobotBuilderButtons: currentlyInBuildMode,\n  };\n};\n\nexport default withRouter(\n  withStyles(styles)(connect(mapStateToProps)(AppNav))\n);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport IconButton from '@material-ui/core/IconButton';\nimport Button from '@material-ui/core/Button';\nimport Toolbar from '@material-ui/core/Toolbar';\nimport { FontAwesomeIcon } from '@fortawesome/react-fontawesome';\nimport {\n  faEnvelope,\n} from '@fortawesome/free-regular-svg-icons';\nimport {\n  faTwitter,\n  faYoutube,\n  faInstagram,\n  faLinkedin,\n} from '@fortawesome/free-brands-svg-icons';\n\nconst styles = theme => ({\n  container: {\n    display: 'flex',\n    flexDirection: 'row',\n    minHeight: '104px',\n    boxShadow: '0 2px 4px 0 rgba(0,0,0,0.5)',\n    backgroundColor: theme.palette.neutral.main.color,\n    zIndex: theme.zIndex.appBar,\n  },\n  innerContainer: {\n    display: 'flex',\n    flexDirection: 'row',\n    alignItems: 'center',\n    flex: 1,\n    [theme.breakpoints.down('sm')]: {\n      paddingTop: theme.spacing.unit,\n      paddingBottom: theme.spacing.unit,\n      flexDirection: 'column',\n      justifyContent: 'center',\n      alignItems: 'center',\n    },\n  },\n  icon: {\n    color: theme.palette.text.primary,\n  },\n  text: {\n    color: theme.palette.text.secondary,\n  },\n  button: {\n    textTransform: 'lowercase',\n    fontWeight: 'normal',\n    [theme.breakpoints.up('md')]: {\n      margin: theme.spacing.unit * 2,\n    },\n  },\n  urlContainer: {\n    [theme.breakpoints.up('md')]: {\n      marginRight: theme.spacing.unit * 2,\n    },\n  },\n});\n\nconst links = [{\n  id: 'mail',\n  icon: faEnvelope,\n  href: 'mailto:info@hebirobotics.com',\n  newTab: false,\n}, {\n  id: 'youtube',\n  icon: faYoutube,\n  href: 'https://www.youtube.com/channel/UCIOok6K_XlNoDPgCNPhDQnA',\n  newTab: true,\n}, {\n  id: 'twitter',\n  icon: faTwitter,\n  href: 'https://twitter.com/HebiRobotics',\n  newTab: true,\n}, {\n  id: 'instagram',\n  icon: faInstagram,\n  href: 'https://www.instagram.com/hebirobotics/',\n  newTab: true,\n}, {\n  id: 'linkedIn',\n  icon: faLinkedin,\n  href: 'https://www.linkedin.com/company/hebi-robotics/ ',\n  newTab: true,\n}];\n\nconst AppFooter = ({ classes }) => (\n  <Toolbar className={classes.container}>\n    <div className={classes.innerContainer}>\n      <div className={classes.urlContainer}>\n        <Button\n          color=\"primary\"\n          href=\"https://www.hebirobotics.com\"\n          target=\"_blank\"\n          rel=\"noopener noreferrer\"\n          className={classes.button}\n        >\n          hebirobotics.com\n        </Button>\n\n        <Button\n          color=\"primary\"\n          href=\"http://docs.hebi.us\"\n          target=\"_blank\"\n          rel=\"noopener noreferrer\"\n          className={classes.button}\n        >\n          docs.hebi.us\n        </Button>\n      </div>\n\n      <div>\n      {\n        links.map(link => (\n          <a\n            key={link.id}\n            href={link.href}\n            {\n              ...(\n                !!link.newTab && {\n                target: '_blank',\n                rel: 'noopener noreferrer',\n             })\n            }\n          >\n            <IconButton className={classes.icon}>\n              <FontAwesomeIcon icon={link.icon} size=\"sm\" />\n            </IconButton>\n          </a>\n        ))\n      }\n      </div>\n    </div>\n  </Toolbar>\n);\n\nAppFooter.propTypes = {\n  classes: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(AppFooter);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport Typography from '@material-ui/core/Typography';\n\nconst GettingStartedCardContent = ({\n  description,\n  title,\n}) => (\n  <React.Fragment>\n    <Typography gutterBottom variant=\"h6\">\n      {title}\n    </Typography>\n    {\n      description && description.length &&\n      <Typography variant=\"body1\" component=\"p\">\n        {description}\n      </Typography>\n    }\n  </React.Fragment>\n);\n\nGettingStartedCardContent.propTypes = {\n  description: PropTypes.string,\n  title: PropTypes.string,\n};\n\nGettingStartedCardContent.defaultProps = {\n  description: '',\n};\n\nexport default GettingStartedCardContent;\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\n\nconst styles = theme => ({\n  media: {\n    height: 182,\n    backgroundColor: theme.palette.neutral.dark.color,\n    alignItems: 'center',\n    justifyContent: 'center',\n    display: 'flex',\n  },\n});\n\nconst GettingStartedCardIconMedia = ({\n  classes,\n  icon,\n}) => (\n  <div className={classes.media}>\n    {icon}\n  </div>\n);\n\nGettingStartedCardIconMedia.propTypes = {\n  classes: PropTypes.object.isRequired,\n  icon: PropTypes.node.isRequired,\n};\n\nexport default withStyles(styles)(GettingStartedCardIconMedia);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport Card from '@material-ui/core/Card';\nimport CardActions from '@material-ui/core/CardActions';\nimport CardContent from '@material-ui/core/CardContent';\n\nconst styles = theme => ({\n  card: {\n    [theme.breakpoints.only('xs')]: {\n      flexWrap: 'wrap',\n      minWidth: 288,\n    },\n    [theme.breakpoints.up('sm')]: {\n      width: 288,\n    },\n    display: 'flex',\n    flexDirection: 'column',\n    marginBottom: '10px',\n  },\n  actions: {\n    display: 'flex',\n    flex: 1,\n    alignItems: 'flex-end',\n  },\n});\n\nconst GettingStartedCard = ({\n  classes,\n  media,\n  content,\n  actions,\n}) => (\n  <Card className={classes.card} raised>\n    {media}\n    <CardContent>\n      {content}\n    </CardContent>\n    <CardActions className={classes.actions}>\n      {actions}\n    </CardActions>\n  </Card>\n);\n\nGettingStartedCard.propTypes = {\n  classes: PropTypes.object.isRequired,\n  media: PropTypes.node.isRequired,\n  content: PropTypes.node.isRequired,\n  actions: PropTypes.node.isRequired,\n};\n\nexport default withStyles(styles)(GettingStartedCard);\n","import { createLoadingSelector } from '../../loading/selectors';\nimport {\n  ROBOT_UPLOAD_HRDF_PREFIX,\n  ROBOT_LOAD_PREFIX,\n  ROBOT_CREATE_PREFIX,\n  ROBOT_CREATE_WITH_PART_PREFIX,\n} from '../../configurator/actions';\n\nexport const getIsCreatingRobot = createLoadingSelector([\n  ROBOT_UPLOAD_HRDF_PREFIX,\n  ROBOT_LOAD_PREFIX,\n  ROBOT_CREATE_PREFIX,\n  ROBOT_CREATE_WITH_PART_PREFIX,\n]);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport Button from '@material-ui/core/Button';\nimport { withStyles } from '@material-ui/core/styles';\nimport { connect } from 'react-redux';\nimport { FontAwesomeIcon } from '@fortawesome/react-fontawesome';\nimport {\n  faCloudUploadAlt,\n} from '@fortawesome/free-solid-svg-icons';\n\nimport DefaultCardBody from '../../components/GettingStartedCardContent';\nimport IconCardMedia from '../../components/GettingStartedCardIconMedia';\nimport GettingStartedCard from '../../components/GettingStartedCard';\n\nimport {\n  getIsCreatingRobot,\n} from '../../selectors';\n\nimport {\n  uploadHRDFRequest,\n} from '../../../configurator/actions';\n\nconst styles = theme => ({\n  input: {\n    display: 'none',\n  },\n  wrapperLabel: {\n    position: 'relative',\n  },\n  buttonProgress: {\n    position: 'absolute',\n    top: '50%',\n    left: '50%',\n    marginTop: -12,\n    marginLeft: -12,\n  },\n  icon: {\n    color: theme.palette.neutral.darkest.color,\n  },\n});\n\nconst LoadHRDFCard = ({\n  classes,\n  handleHRDFLoad,\n  isSubmitting,\n}) => (\n  <GettingStartedCard\n    media={\n      <IconCardMedia\n        icon={\n          <FontAwesomeIcon\n            icon={faCloudUploadAlt}\n            size=\"4x\"\n            className={classes.icon}\n          />\n        }\n      />\n    }\n    content={\n      <DefaultCardBody\n        title=\"Load HRDF file\"\n        description=\"Load an existing HRDF file as the starting point.\"\n      />\n    }\n    actions={\n      <React.Fragment>\n        {!isSubmitting && <input\n          accept=\".hrdf\"\n          className={classes.input}\n          id=\"hrdf-file-uploader\"\n          type=\"file\"\n          onChange={(event) => {\n            if (!event.target.files || !event.target.files.length) {\n              return;\n            }\n\n            const reader = new FileReader();\n            reader.onload = async (event) => {\n              const base64 = event.target.result.split(',').pop();\n              handleHRDFLoad(base64);\n            };\n\n            reader.readAsDataURL(event.target.files[0]);\n            event.target.value = null;\n          }}\n        />}\n        <label htmlFor=\"hrdf-file-uploader\" className={classes.wrapperLabel}>\n          <Button\n            component=\"span\"\n            size=\"small\"\n            color=\"primary\"\n            disabled={isSubmitting}\n          >\n            Select\n          </Button>\n        </label>\n      </React.Fragment>\n    }\n  />\n);\n\nLoadHRDFCard.propTypes = {\n  classes: PropTypes.object.isRequired,\n  handleHRDFLoad: PropTypes.func.isRequired,\n  isSubmitting: PropTypes.bool.isRequired,\n};\n\nconst mapStateToProps = state => ({\n  isSubmitting: getIsCreatingRobot(state),\n});\n\nconst actions = {\n  handleHRDFLoad: uploadHRDFRequest,\n};\n\nexport default connect(mapStateToProps, actions)(\n  withStyles(styles)(LoadHRDFCard)\n);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport CardMedia from '@material-ui/core/CardMedia';\n\nconst styles = theme => ({\n  media: {\n    height: 182,\n  },\n});\n\nconst GettingStartedCardMedia = ({\n  classes,\n  imageUrl,\n}) => (\n  <CardMedia\n    className={classes.media}\n    image={imageUrl}\n  />\n);\n\nGettingStartedCardMedia.propTypes = {\n  classes: PropTypes.object.isRequired,\n  imageUrl: PropTypes.string.isRequired,\n};\n\nexport default withStyles(styles)(GettingStartedCardMedia);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport Button from '@material-ui/core/Button';\n\nconst GettingStartedCardActions = ({\n  confirmButtonText,\n  confirmButtonDisabled,\n  onClick,\n}) => (\n  <Button\n    size=\"small\"\n    color=\"primary\"\n    onClick={onClick}\n    disabled={confirmButtonDisabled}\n  >\n    {confirmButtonText}\n  </Button>\n);\n\nGettingStartedCardActions.defaultProps = {\n  confirmButtonDisabled: false,\n};\n\nGettingStartedCardActions.propTypes = {\n  confirmButtonText: PropTypes.string.isRequired,\n  confirmButtonDisabled: PropTypes.bool,\n  onClick: PropTypes.func.isRequired,\n};\n\nexport default GettingStartedCardActions;\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withRouter } from 'react-router-dom';\nimport { connect } from 'react-redux';\n\nimport DefaultCardBody from '../../components/GettingStartedCardContent';\nimport DefaultCardMedia from '../../components/GettingStartedCardMedia';\nimport DefaultCardActions from '../../components/GettingStartedCardActions';\n\nimport GettingStartedCard from '../../components/GettingStartedCard';\n\nimport emptyWorkspaceImage from './empty-workspace.png';\n\nimport {\n  getIsCreatingRobot,\n} from '../../selectors';\n\nimport {\n  createRobotRequest,\n} from '../../../configurator/actions';\n\nconst FromScratchCard = ({\n  handleCreateRobot,\n  isSubmitting,\n}) => (\n  <GettingStartedCard\n    media={\n      <DefaultCardMedia\n        imageUrl={emptyWorkspaceImage}\n      />\n    }\n    content={\n      <DefaultCardBody\n        title=\"From Scratch\"\n        description=\"Build your robot without starting from a specific base plate.\"\n      />\n    }\n    actions={\n      <DefaultCardActions\n        confirmButtonText=\"Select\"\n        onClick={handleCreateRobot}\n        confirmButtonDisabled={isSubmitting}\n      />\n    }\n  />\n);\n\nFromScratchCard.propTypes = {\n  handleCreateRobot: PropTypes.func.isRequired,\n  isSubmitting: PropTypes.bool.isRequired,\n};\n\nconst mapStateToProps = state => ({\n  isSubmitting: getIsCreatingRobot(state),\n});\n\nconst actions = {\n  handleCreateRobot: createRobotRequest,\n};\n\nexport default withRouter(\n  connect(mapStateToProps, actions)(FromScratchCard)\n);\n","import LoadHRDFCard from './LoadHRDFCard';\nimport FromScratchCard from './FromScratchCard';\n\nexport default [\n  LoadHRDFCard,\n  FromScratchCard,\n];\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport Grow from '@material-ui/core/Grow';\nimport { withStyles } from '@material-ui/core/styles';\n\nimport Cards from '../cards';\n\nconst styles = theme => ({\n  container: {\n    display: 'flex',\n    justifyContent: 'center',\n    flexWrap: 'wrap',\n    flexDirection: 'row',\n    [theme.breakpoints.up('sm')]: {\n      '& > div': {\n        marginLeft: theme.spacing.unit * 2,\n        marginRight: theme.spacing.unit * 2,\n      },\n    },\n  },\n});\n\nconst GettingStartedCardList = ({\n  classes,\n}) => (\n  <div className={classes.container}>\n    {Cards.map((Card, i) => (\n      <Grow\n        in={true}\n        timeout={(i + 1) * 500}\n        key={i}\n      >\n        <div>\n          <Card />\n        </div>\n      </Grow>\n    ))}\n  </div>\n);\n\nGettingStartedCardList.propTypes = {\n  classes: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(GettingStartedCardList);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport Typography from '@material-ui/core/Typography';\n\nimport { SECONDARY_FONT } from '../../../common/fonts';\n\nimport GettingStartedCardsList from '../components/GettingStartedCardList';\n\nconst styles = theme => ({\n  container: {\n    backgroundColor: theme.palette.neutral.darkest.color,\n    display: 'flex',\n    flex: 1,\n    flexDirection: 'column'\n  },\n  title: {\n    textAlign: 'center',\n    fontFamily: SECONDARY_FONT,\n    textTransform: 'uppercase',\n    color: theme.palette.secondary.main,\n    letterSpacing: '2.5px',\n    fontWeight: 'bold',\n    marginBottom: '2em',\n  },\n});\n\nconst GettingStartedPage = ({\n  classes,\n}) => (\n  <div className={classes.container}>\n    <Typography variant=\"h5\" className={classes.title}>\n      How would you like to get started?\n    </Typography>\n\n    <GettingStartedCardsList />\n  </div>\n);\n\nGettingStartedPage.propTypes = {\n  classes: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(GettingStartedPage);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport Typography from '@material-ui/core/Typography';\nimport Icon from '@material-ui/core/Icon';\n\nconst styles = theme => ({\n  container: {\n    display: 'flex',\n    position: 'absolute',\n    alignSelf: 'center',\n    flexDirection: 'row',\n    justifyContent: 'space-evenly',\n    zIndex: theme.zIndex.workspace + 1,\n    top: theme.spacing.unit * 2,\n    pointerEvents: 'none',\n  },\n  instructionIcon: {\n    margin: theme.spacing.unit * 1.5,\n    color: theme.palette.neutral.darkest.color,\n  },\n  instructionText: {\n    alignSelf: 'center',\n    marginRight: theme.spacing.unit * 2.5,\n    color: theme.palette.neutral.darkest.color\n  },\n});\n\nconst WorkspaceInstructions = ({\n  classes,\n  instructions,\n}) => (\n  <div className={classes.container}>\n    {instructions.map(({ icon, instruction }) => (\n      <React.Fragment key={icon}>\n        <Icon className={classes.instructionIcon}>\n          {icon}\n        </Icon>\n        <Typography variant=\"caption\" className={classes.instructionText}>\n          {instruction}\n        </Typography>\n      </React.Fragment>\n    ))}\n  </div>\n);\n\nWorkspaceInstructions.propTypes = {\n  classes: PropTypes.object.isRequired,\n  instructions: PropTypes.arrayOf(PropTypes.shape({\n    icon: PropTypes.string.isRequired,\n    instruction: PropTypes.string.isRequired,\n  })).isRequired,\n};\n\nexport default withStyles(styles)(WorkspaceInstructions);\n","export const getCatalog = state => state.catalog;\n","import { createSelector } from 'reselect';\n\nimport { getCatalog } from './getCatalog';\n\nexport const getSelectedCategoryId = createSelector(\n  getCatalog,\n  catalog => catalog.selectedCategoryId,\n);\n","import { createSelector } from 'reselect';\n\nimport { getEntitiesSession } from '../../entities/selectors';\nimport { getSelectedCategoryId } from './getSelectedCategoryId';\n\nexport const getPartsInSelectedCategory = createSelector(\n  [getEntitiesSession, getSelectedCategoryId],\n  (session, selectedCategoryId) => {\n    const { Part, PartCategory } = session;\n    \n    if (!selectedCategoryId || !PartCategory.idExists(selectedCategoryId)) {\n      return [];\n    }\n    \n    const parts = Part\n      .all()\n      .toModelArray()\n      .filter(p => p.partCategory.id === selectedCategoryId);\n\n    return parts;\n  }\n);","import { createSelector } from 'reselect';\n\nimport { getEntitiesSession } from '../../entities/selectors';\n\nexport const getPartIdsAvailableForCatalogSelection = createSelector(\n  getEntitiesSession,\n  session => {\n    const { Part } = session;\n    const availablePartIds = Part\n      .all()\n      .filter(p => p.enabledForWorkspace === true)\n      .toRefArray()\n      .map(p => p.id);\n\n    return availablePartIds;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getPartsInSelectedCategory } from './getPartsInSelectedCategory';\nimport { getPartIdsAvailableForCatalogSelection } from './getPartIdsAvailableForCatalogSelection';\n\nexport const getCatalogParts = createSelector(\n  [getPartsInSelectedCategory, getPartIdsAvailableForCatalogSelection],\n  (partsInSelectedCategory, availablePartIds) => {\n    if (!partsInSelectedCategory || !partsInSelectedCategory.length) {\n      return [];\n    }\n\n    availablePartIds = availablePartIds || [];\n\n    const parts = partsInSelectedCategory\n      .map(({ id, name, description, thumbnailUrl }) => ({\n        id,\n        name,\n        description,\n        thumbnailUrl,\n        enabled: availablePartIds.includes(id),\n      }));\n    \n    return parts;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getCatalog } from './getCatalog';\n\nexport const getDrawerIsVisible = createSelector(\n  getCatalog,\n  catalog => catalog.componentDrawerVisible,\n);\n","import { createSelector } from 'reselect';\n\nimport { getEntitiesSession } from '../../entities/selectors';\nimport { getSelectedCategoryId } from './getSelectedCategoryId';\n\nexport const getSelectedCategory = createSelector(\n  [getEntitiesSession, getSelectedCategoryId],\n  (session, selectedCategoryId) => {\n    const { PartCategory } = session;\n\n    if (!selectedCategoryId || !PartCategory.idExists(selectedCategoryId)) {\n      return null;\n    }\n    \n    const category = PartCategory.withId(selectedCategoryId);\n    return category;\n  }\n);\n","import { createSelector } from 'reselect';\n\nimport { getCatalog } from './getCatalog';\n\nexport const getSelectedPartId = createSelector(\n  getCatalog,\n  catalog => catalog.selectedPartId\n);\n","import { createSelector } from 'reselect';\n\nimport { getEntitiesSession } from '../../entities/selectors';\nimport { getSelectedPartId } from './getSelectedPartId';\n\nexport const getSelectedPart = createSelector(\n  [getEntitiesSession, getSelectedPartId],\n  (session, selectedPartId) => {\n    const { Part } = session;\n\n    if (!selectedPartId || !Part.idExists(selectedPartId)) {\n      return null;\n    }\n    \n    const part = Part.withId(selectedPartId);\n    return part;\n  }\n);\n","import React from 'react';\nimport ReactDOM from 'react-dom';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\nimport InputLabel from '@material-ui/core/InputLabel';\nimport Select from '@material-ui/core/Select';\nimport OutlinedInput from '@material-ui/core/OutlinedInput';\nimport MenuItem from '@material-ui/core/MenuItem';\nimport FormControl from '@material-ui/core/FormControl';\nimport pluralize from 'pluralize';\n\nimport { getEntitiesSession } from '../../entities/selectors';\nimport { getSelectedCategoryId } from '../selectors';\nimport { setSelectedCategory } from '../actions';\n\nconst styles = theme => ({\n  formControl: {\n    margin: theme.spacing.unit,\n    minWidth: '120px',\n  },\n});\n\nclass CategorySelect extends React.Component {\n  state = {\n    labelWidth: 0,\n  }\n\n  componentDidMount() {\n    this.setState({\n      labelWidth: ReactDOM.findDOMNode(this.inputLabelRef).offsetWidth,\n    });\n  }\n\n  render() {\n    const {\n      categories,\n      classes,\n      handleCategoryChange,\n      selectedCategory,\n    } = this.props;\n\n    return (\n      <FormControl variant=\"outlined\" className={classes.formControl}>\n        <InputLabel\n          htmlFor=\"outlined-category\"\n          ref={ref => {\n            this.inputLabelRef = ref;\n          }}\n        >\n          Category\n        </InputLabel>\n        <Select\n          value={selectedCategory}\n          onChange={({ target }) => handleCategoryChange(target.value)}\n          input={\n            <OutlinedInput\n              name=\"category\"\n              id=\"outlined-category\"\n              labelWidth={this.state.labelWidth}\n            />\n          }\n        >\n          {\n            categories && categories.length &&\n            categories.filter(({ id, name, enabled }) => ( name !== \"Base Plates\" )).map(({ id, name, enabled }) => (\n              <MenuItem value={id} key={id} disabled={!enabled}>{name}</MenuItem>\n            ))\n          }\n        </Select>\n      </FormControl>\n    )\n  }\n}\n\nCategorySelect.propTypes = {\n  categories: PropTypes.arrayOf(PropTypes.shape({\n    id: PropTypes.number.isRequired,\n    name: PropTypes.string.isRequired,\n  })),\n  classes: PropTypes.object.isRequired,\n  handleCategoryChange: PropTypes.func.isRequired,\n  selectedCategory: PropTypes.oneOfType([\n    PropTypes.oneOf(['']),\n    PropTypes.number,\n  ]).isRequired,\n};\n\nconst mapStateToProps = state => {\n  const session = getEntitiesSession(state);\n  const { Part, PartCategory } = session;\n\n  const categories = PartCategory.all().toModelArray().map(({id, name}) => ({\n    id,\n    name: pluralize(name),\n    enabled: Part.all().toModelArray().filter(p => p.partCategory.id === id).some(p => p.enabledForWorkspace),\n  }));\n\n  let selectedCategory = getSelectedCategoryId(state);\n  selectedCategory = selectedCategory || '';\n\n  return {\n    categories,\n    selectedCategory,\n  };\n};\n\nconst actions = {\n  handleCategoryChange: id => setSelectedCategory(id || null),\n};\n\nexport default withStyles(styles)(\n  connect(mapStateToProps, actions)(CategorySelect)\n);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport pluralize from 'pluralize';\nimport { withStyles } from '@material-ui/core/styles';\nimport Button from '@material-ui/core/Button';\nimport Divider from '@material-ui/core/Divider';\nimport List from '@material-ui/core/List';\nimport ListItem from '@material-ui/core/ListItem';\nimport Typography from '@material-ui/core/Typography';\n\nimport { addPartToWorkspaceRequest } from '../../configurator/actions';\n\nimport { getPlacementMode } from '../../configurator/selectors';\n\nimport {\n  getCatalogParts,\n  getSelectedCategory,\n} from '../selectors';\n\nconst styles = theme => ({\n  container: {\n    display: 'flex',\n    flexDirection: 'column',\n    flex: 1,\n  },\n  seriesText: {\n    marginLeft: '16px',\n    marginTop: '22px'\n  },\n  listItem: {\n    display: 'flex',\n    flexDirection: 'row'\n  },\n  description: {\n    whiteSpace: 'pre',\n  },\n  partImage: {\n    flex: 1,\n    height: '126px',\n    maxWidth: '126px',\n    marginRight: '16px',\n    display: 'flex',\n    justifyContent: 'center',\n    border: '1px solid',\n    borderColor: theme.palette.neutral.darker.color,\n    backgroundColor: theme.palette.neutral.workspace.color\n  },\n  partImageAltText: {\n    alignSelf: 'center'\n  },\n  itemInfo: {\n    flex: 1,\n    height: '128px',\n    display: 'flex',\n    flexDirection: 'column',\n    justifyContent: 'space-between'\n  },\n  partName: {\n    marginBottom: '8px'\n  },\n  placeButton: {\n    maxWidth: '82px'\n  }\n});\n\nclass ComponentsList extends React.Component {\n  handleAddPart(id) {\n    const { addPartToWorkspaceRequest } = this.props;\n\n    return () => {\n      addPartToWorkspaceRequest(id);\n    };\n  }\n\n  renderThumbnailOrPlaceholder(part, classes) {\n    if (part.thumbnailUrl) {\n      return (\n        <img\n          src={part.thumbnailUrl}\n          className={classes.partImage}\n          alt={part.name}\n        />\n      );\n    }\n\n    return (\n      <div className={classes.partImage}>\n        <Typography\n          variant=\"caption\"\n          color=\"primary\"\n          className={classes.partImageAltText}\n        >\n          Coming Soon!\n        </Typography>\n      </div>\n    );\n  }\n\n  render() {\n    const {\n      addPartButtonText,\n      classes,\n      parts,\n      partCategory,\n    } = this.props;\n\n    if (!partCategory) {\n      return <div />;\n    }\n\n    return (\n      <div className={classes.container}>\n        <Typography className={classes.seriesText} variant=\"subtitle2\">\n          {`X-Series ${pluralize(partCategory.name)}`}\n        </Typography>\n        <List>\n          {parts.sort((a, b) => {\n            if (a.enabled === b.enabled) {\n              return 0;\n            } else if (a.enabled) {\n              return -1;\n            }\n            return 1;\n          }).map((part, i) => (\n            <div key={i}>\n              <ListItem key={part.id} className={classes.listItem}>\n                {this.renderThumbnailOrPlaceholder(part, classes)}\n                <div className={classes.itemInfo}>\n                  <div>\n                    <Typography\n                      variant=\"subtitle2\"\n                      className={classes.partName}\n                    >\n                      {part.name}\n                    </Typography>\n\n                    {\n                      part.description &&\n                      <Typography className={classes.description} variant=\"caption\">\n                        {part.description}\n                      </Typography>\n                    }\n                  </div>\n                  <Button\n                    variant=\"contained\"\n                    color=\"primary\"\n                    className={classes.placeButton}\n                    onClick={this.handleAddPart(part.id)}\n                    disabled={!part.enabled}\n                  >\n                    {addPartButtonText}\n                  </Button>\n                </div>\n              </ListItem>\n              {i < parts.length && (\n                <li>\n                  <Divider variant=\"middle\" />\n                </li>\n              )}\n            </div>\n          ))}\n        </List>\n      </div>\n    );\n  }\n}\n\nComponentsList.propTypes = {\n  addPartButtonText: PropTypes.string.isRequired,\n  addPartToWorkspaceRequest: PropTypes.func.isRequired,\n  parts: PropTypes.array.isRequired,\n  partCategory: PropTypes.object\n};\n\nconst mapStateToProps = state => {\n  const partCategory = getSelectedCategory(state);\n  const parts = getCatalogParts(state);\n  const placementMode = getPlacementMode(state);\n\n  const addPartButtonText = placementMode;\n\n  return {\n    addPartButtonText,\n    parts,\n    partCategory,\n  };\n};\n\nconst actions = {\n  addPartToWorkspaceRequest,\n};\n\nexport default withStyles(styles)(\n  connect(\n    mapStateToProps,\n    actions\n  )(ComponentsList)\n);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\nimport Drawer from '@material-ui/core/Drawer';\nimport Divider from '@material-ui/core/Divider';\nimport Typography from '@material-ui/core/Typography';\nimport IconButton from '@material-ui/core/IconButton';\nimport CloseIcon from '@material-ui/icons/Close';\n\nimport { getDrawerIsVisible as getCatalogDrawerIsVisible } from '../selectors';\nimport { setDrawerVisible as setComponentCatalogDrawerVisible } from '../actions';\n\nimport CategorySelect from './CategorySelect';\nimport ComponentsList from './ComponentsList';\n\nconst drawerWidth = 320;\n\nconst styles = theme => ({\n  drawer: {\n    width: drawerWidth,\n    flexShrink: 0,\n  },\n  drawerPaper: {\n    backgroundColor: theme.palette.neutral.light.color,\n    width: drawerWidth,\n  },\n  content: {\n    flexGrow: 1,\n    padding: theme.spacing.unit * 3,\n  },\n  toolbar: theme.mixins.toolbar,\n  header: {\n    display: 'flex',\n    flexDirection: 'row',\n    justifyContent: 'space-between',\n    alignItems: 'center',\n    margin: theme.spacing.unit,\n  },\n});\n\nconst ComponentCatalogDrawer = ({\n  classes,\n  isVisible,\n  handleDrawerClose,\n}) => (\n  <Drawer\n    className={classes.drawer}\n    variant=\"persistent\"\n    anchor=\"right\"\n    open={isVisible}\n    classes={{\n      paper: classes.drawerPaper,\n    }}\n  >\n    <div className={classes.toolbar} />\n\n    <div className={classes.header}>\n      <Typography variant=\"h6\">\n        Components\n      </Typography>\n      <IconButton onClick={handleDrawerClose}>\n        <CloseIcon />\n      </IconButton>\n    </div>\n\n    <CategorySelect />\n\n    <Divider />\n\n    <ComponentsList />\n  </Drawer>\n);\n\nComponentCatalogDrawer.propTypes = {\n  components: PropTypes.array,\n  isVisible: PropTypes.bool.isRequired,\n};\n\nconst mapStateToProps = state => ({\n  isVisible: getCatalogDrawerIsVisible(state),\n});\n\nconst actions = {\n  handleDrawerClose: () => setComponentCatalogDrawerVisible(false),\n}\n\nexport default withStyles(styles)(connect(mapStateToProps, actions)(ComponentCatalogDrawer));\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\nimport Button from '@material-ui/core/Button';\nimport { exportRobotRequest } from '../actions/exportRobotRequest';\nimport { openModal } from '../../modals/actions';\n\nconst styles = theme => ({\n  exportRobot: {\n    display: 'flex',\n    position: 'absolute',\n    bottom: theme.spacing.unit * 3,\n    alignSelf: 'flex-end',\n    flexDirection: 'row',\n    justifyContent: 'space-evenly',\n    zIndex: theme.zIndex.workspace + 1,\n  },\n  exportRobotButton: {\n    borderColor: theme.palette.neutral.main.color,\n    height: '40px',\n  },\n  feedbackButton: {\n    borderColor: theme.palette.neutral.main.color,\n    height: '40px',\n    marginRight: '10px',\n    backgroundColor: '#FDFF0055'\n  },\n});\n\nconst ExportRobotButton = ({\n  classes,\n  handleExportRobot,\n  handleFeedbackClick,\n}) => (\n  <div className={classes.exportRobot}>\n    <Button\n      variant=\"outlined\"\n      color=\"primary\"\n      className={classes.feedbackButton}\n      onClick={handleFeedbackClick}\n    >\n      THIS IS A BETA! Provide Feedback\n    </Button>\n    <Button\n      variant=\"outlined\"\n      color=\"primary\"\n      className={classes.exportRobotButton}\n      onClick={handleExportRobot}\n    >\n      Export HRDF\n    </Button>\n  </div>\n);\n\nExportRobotButton.propTypes = {\n  classes: PropTypes.object.isRequired,\n};\n\nconst actions = {\n    handleExportRobot: () => exportRobotRequest(),\n    handleFeedbackClick: () => openModal('FeedbackModal'),\n  };\n\nexport default withStyles(styles)(connect( null, actions)(ExportRobotButton));\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport ButtonBase from '@material-ui/core/ButtonBase';\n\nconst styles = theme => ({\n  toggleButton: {\n    height: '48px',\n    width: '48px',\n    alignContent: 'center',\n    border: '1px solid',\n    borderColor: theme.palette.neutral.dark.color,\n    backgroundColor: theme.palette.neutral.workspace.contrastText,\n    boxShadow: '1px 1px 3px 0 rgba(0,0,0,0.4)',\n    '&:hover': {\n      backgroundColor: '#F1F1EF'\n    },\n    '&:disabled': {\n      color: theme.palette.neutral.main.color\n    }\n  }\n});\n\nconst ToggleButton = ({ classes, onClick, disabled, children }) => (\n  <ButtonBase onClick={onClick} className={classes.toggleButton} focusRipple\n    disabled={disabled === null || disabled === undefined ? false : disabled}>\n    {children}\n  </ButtonBase>\n);\n\nToggleButton.propTypes = {\n  classes: PropTypes.object.isRequired,\n  onClick: PropTypes.func.isRequired,\n  disabled: PropTypes.bool,\n  children: PropTypes.element.isRequired,\n};\n\nexport default withStyles(styles)(ToggleButton);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\n\nimport Tooltip from '@material-ui/core/Tooltip';\nimport { AxisArrow } from 'mdi-material-ui';\nimport { resetCamera } from '../actions';\nimport ToggleButton from '../../shared/Components/ToggleButton';\n\nconst styles = theme => ({\n  workspaceToolbar: {\n    zIndex: theme.zIndex.appBar,\n    position: 'absolute',\n    bottom: theme.spacing.unit * 3,\n    display: 'flex'\n  }\n});\n\nconst WorkspaceToolbar = ({ resetCamera, classes }) => (\n  <div className={classes.workspaceToolbar}>\n    <Tooltip title=\"Re-center the model view\" placement=\"bottom-start\">\n      <div>\n        <ToggleButton onClick={resetCamera}>\n          <AxisArrow />\n        </ToggleButton>\n      </div>\n    </Tooltip>\n  </div>\n);\n\nWorkspaceToolbar.propTypes = {\n  classes: PropTypes.object.isRequired,\n  resetCamera: PropTypes.func.isRequired,\n};\n\nconst actions = {\n  resetCamera,\n}\n\nexport default withStyles(styles)(connect(null, actions)(WorkspaceToolbar));\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\n\nimport WorkspaceInstructions from '../../shared/WorkspaceInstructions';\nimport ComponentCatalogDrawer from '../../catalog/components/ComponentCatalogDrawer';\nimport ExportRobotButton from '../components/ExportRobotButton';\nimport WorkspaceToolbar from '../components/WorkspaceToolbar';\nimport { setDrawerVisible as setComponentCatalogDrawerVisible } from '../../catalog/actions';\n\nimport {\n  hidePopper,\n} from '../../poppers/actions';\n\nconst styles = theme => ({\n  container: {\n    display: 'flex',\n    flex: 1,\n    flexDirection: 'column',\n    position: 'relative',\n  },\n})\n\nconst instructions = [{\n  icon: 'rotate_right',\n  instruction: 'Rotate: left click + drag',\n}, {\n  icon: 'zoom_in',\n  instruction: 'Scroll to zoom',\n}, {\n  icon: 'pan_tool',\n  instruction: 'Pan: right click + drag',\n}];\n\nclass BuildRobotPage extends React.Component {\n  componentWillUnmount() {\n    this.props.setComponentCatalogDrawerVisible(false);\n    this.props.hidePopper();\n  }\n\n  render() {\n    const { classes } = this.props;\n\n    return (\n      <div className={classes.container}>\n        <WorkspaceInstructions instructions={instructions} />\n        <WorkspaceToolbar />\n        <ComponentCatalogDrawer />\n        <ExportRobotButton />\n      </div>\n    )\n  }\n}\n\nBuildRobotPage.propTypes = {\n  classes: PropTypes.object.isRequired,\n  setComponentCatalogDrawerVisible: PropTypes.func.isRequired,\n};\n\nconst actions = {\n  hidePopper,\n  setComponentCatalogDrawerVisible,\n};\n\nexport default withStyles(styles)(\n  connect(\n    null,\n    actions\n  )(BuildRobotPage)\n);\n","import { withStyles } from '@material-ui/core/styles';\nimport MuiExpansionPanel from '@material-ui/core/ExpansionPanel';\n\nconst ExpansionPanel = withStyles({\n  root: {\n    minHeight: '67px',\n  },\n  expanded: {\n    margin: 0,\n  },\n})(MuiExpansionPanel);\n\nexport default ExpansionPanel;\n","import React from 'react';\nimport { withStyles } from '@material-ui/core/styles';\nimport MuiExpansionPanelSummary from '@material-ui/core/ExpansionPanelSummary';\n\nconst ExpansionPanelSummary = withStyles(theme => ({\n  root: {\n    minHeight: '67px',\n    borderBottom: `1px solid ${theme.palette.neutral.light.color}`,\n    '&$expanded': {\n      minHeight: '67px',\n    },\n  },\n  expanded: {},\n}))(props => <MuiExpansionPanelSummary {...props} />);\n\nExpansionPanelSummary.muiName = 'ExpansionPanelSummary';\n\nexport default ExpansionPanelSummary;\n","import React from 'react';\nimport autoBind from 'react-autobind';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\nimport ExpansionPanelDetails from '@material-ui/core/ExpansionPanelDetails';\nimport Typography from '@material-ui/core/Typography';\nimport ExpandMoreIcon from '@material-ui/icons/ExpandMore';\nimport { MuiThemeProvider } from '@material-ui/core/styles';\n\nimport ExpansionPanel from './ExpansionPanel';\nimport ExpansionPanelSummary from './ExpansionPanelSummary';\n\nimport darkTheme from '../../../../common/themes/material-dark-theme';\nimport { formatNumber } from '../../../../common/utils/formatters';\n\nimport {\n  getRobotStatistics,\n} from '../../selectors';\n\nconst styles = theme => ({\n  container: {\n    display: 'flex',\n    flexDirection: 'column',\n    position: 'absolute',\n    top: theme.spacing.unit * 3,\n    width: '280px',\n    zIndex: theme.zIndex.appBar,\n  },\n  details: {\n    display: 'flex',\n    flexDirection: 'column',\n  },\n  label: {\n    whiteSpace: 'pre',\n  },\n});\n\nclass TestDriveSpecifications extends React.Component {\n  constructor(props) {\n    super(props);\n    autoBind(this);\n\n    this.state = {\n      expanded: false,\n    };\n  }\n\n  toggleExpanded() {\n    this.setState(prevState => ({\n      expanded: !prevState.expanded,\n    }));\n  }\n\n  formatLabel(key, value) {\n    let formattedValue = '';\n    let formattedKey = '';\n    value = value || 0;\n\n    switch (key) {\n      case 'maxHorizontalReach':\n        formattedKey = 'Maximum horizontal reach';\n        formattedValue = `${formatNumber(value * 1000)} mm`;\n        break;\n      case 'continuousPayload':\n        formattedKey = 'Continuous payload at max reach';\n        formattedValue = `${formatNumber(value)} kg`;\n        break;\n      case 'peakPayload':\n        formattedKey = 'Peak payload at max reach';\n        formattedValue = `${formatNumber(value)} kg`;\n        break;\n      case 'mass':\n        formattedKey = 'Mass'\n        formattedValue = `${formatNumber(value)} kg`;\n        break;\n      case 'continuousPower24V':\n        formattedKey = 'Continuous power draw (estimated)';\n        formattedValue = `${formatNumber(value)} W`;\n        break;\n      case 'peakPower24V':\n        formattedKey = 'Peak power draw';\n        formattedValue = `${formatNumber(value)} W`;\n        break;\n      default:\n        break;\n    }\n\n    return `${formattedKey}\\n${formattedValue}`;\n  }\n  \n  render() {\n    const { classes, statistics } = this.props;\n\n    return (\n      <MuiThemeProvider theme={darkTheme}>\n        <ExpansionPanel\n          className={classes.container}\n          expanded={this.state.expanded}\n          onChange={this.toggleExpanded}\n          elevation={10}\n        >\n          <ExpansionPanelSummary className={classes.summary} expandIcon={<ExpandMoreIcon />}>\n            <Typography variant=\"h6\">Technical Specs</Typography>\n          </ExpansionPanelSummary>\n          <ExpansionPanelDetails>\n            <div className={classes.details}>\n              {statistics &&\n                Object.entries(statistics).map(([key, value]) => (\n                  <Typography\n                    key={key}\n                    variant=\"body2\"\n                    className={classes.label}\n                    gutterBottom\n                  >\n                    {this.formatLabel(key, value)}\n                  </Typography>\n                ))\n              }\n            </div>\n          </ExpansionPanelDetails>\n        </ExpansionPanel>\n      </MuiThemeProvider>\n    );\n  }\n}\n\nTestDriveSpecifications.propTypes = {\n  classes: PropTypes.object.isRequired,\n  statistics: PropTypes.object,\n};\n\nconst mapStateToProps = state => {\n  const statistics = getRobotStatistics(state);\n\n  return {\n    statistics,\n  };\n};\n\nexport default withStyles(styles)(\n  connect(mapStateToProps)(TestDriveSpecifications)\n);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { withStyles } from '@material-ui/core/styles';\n\nimport ExportRobotButton from '../components/ExportRobotButton';\nimport WorkspaceInstructions from '../../shared/WorkspaceInstructions';\nimport WorkspaceToolbar from '../components/WorkspaceToolbar';\nimport TestDriveSpecifications from '../components/TestDriveSpecifications';\nimport { activateTestDrive, deactivateTestDrive } from '../actions';\nimport {\n  getSceneLoaded,\n} from '../selectors';\n\nconst styles = theme => ({\n  container: {\n    display: 'flex',\n    flex: 1,\n    flexDirection: 'column',\n    position: 'relative',\n  },\n})\n\nconst instructions = [{\n  icon: 'touch_app',\n  instruction: 'Grab and move the end of the robot to view measurements',\n}];\n\nclass TestDrivePage extends React.Component {\n  componentDidMount() {\n    if (this.props.sceneLoaded) {\n      this.props.handleActivateTestDrive();\n    }\n  }\n\n  componentDidUpdate(prevProps) {\n    if (!prevProps.sceneLoaded && this.props.sceneLoaded) {\n      this.props.handleActivateTestDrive();\n    }\n  }\n\n  componentWillUnmount() {\n    this.props.handleDeactivateTestDrive();\n  }\n\n  render() {\n    const { classes } = this.props;\n\n    return (\n      <div className={classes.container}>\n        <WorkspaceInstructions instructions={instructions} />\n        <TestDriveSpecifications />\n        <WorkspaceToolbar />\n        <ExportRobotButton />\n      </div>\n    );\n  }\n}\n\nTestDrivePage.propTypes = {\n  classes: PropTypes.object.isRequired,\n  handleActivateTestDrive: PropTypes.func.isRequired,\n  handleDeactivateTestDrive: PropTypes.func.isRequired,\n  sceneLoaded: PropTypes.bool,\n};\n\nTestDrivePage.defaultProps = {\n  sceneLoaded: false,\n};\n\nconst mapStateToProps = (state) => ({\n  sceneLoaded: getSceneLoaded(state),\n});\n\nconst actions = {\n  handleActivateTestDrive: activateTestDrive,\n  handleDeactivateTestDrive: deactivateTestDrive,\n};\n\nexport default withStyles(styles)(\n  connect(\n    mapStateToProps,\n    actions,\n  )(TestDrivePage)\n);\n","import { getNames } from 'country-list';\n\nconst countryNames = getNames();\nexport default countryNames;\n","import React, { PureComponent } from 'react';\nimport { FormikConsumer } from 'formik';\n\nclass FormikPersistor extends PureComponent {\n  componentWillMount() {\n    window.addEventListener('beforeunload', this.clear);\n  }\n\n  componentDidMount() {\n    const {\n      setValues,\n      setErrors,\n      setStatus,\n      setTouched,\n    } = this.props;\n\n    const data = sessionStorage.getItem(this.storageKey);\n    if (data) {\n      const {\n        errors,\n        status,\n        touched,\n        values,\n      } = JSON.parse(data);\n      setErrors(errors);\n      setStatus(status);\n      setTouched(touched || {});\n      setValues(values);\n    }\n  }\n\n  componentDidUpdate() {\n    const {\n      errors,\n      status,\n      touched,\n      values,\n    } = this.props;\n    sessionStorage.setItem(\n      this.storageKey,\n      JSON.stringify({\n        errors,\n        status,\n        touched: touched || {},\n        values,\n      })\n    );\n  }\n\n  componentWillUnmount() {\n    window.removeEventListener('beforeunload', this.clear);\n  }\n\n  get storageKey() {\n    return `formik.form.${this.props.name}`;\n  }\n\n  clear = () => {\n    sessionStorage.removeItem(this.storageKey);\n  }\n\n  render() {\n    return null;\n  }\n}\n\nconst FormikPersist = ({ name }) => (\n  <FormikConsumer>\n    {({\n      errors,\n      status,\n      touched,\n      values,\n      setErrors,\n      setStatus,\n      setTouched,\n      setValues,\n    }) => (\n      <FormikPersistor\n        name={name}\n        setErrors={setErrors}\n        setStatus={setStatus}\n        setTouched={setTouched}\n        setValues={setValues}\n        status={status}\n        touched={touched}\n        values={values}\n        errors={errors}\n      />\n    )}\n  </FormikConsumer>\n);\n\nexport default FormikPersist","import React from 'react';\nimport PropTypes from 'prop-types';\nimport CancelIcon from '@material-ui/icons/Cancel';\n\nconst ClearIndicator = (props) => {\n  const {\n    children = <CancelIcon style={{ fontSize: '16px' }} />,\n    getStyles,\n    innerProps: { ref, ...restInnerProps },\n  } = props;\n\n  return (\n    <div\n      {...restInnerProps}\n      ref={ref}\n      style={{\n        ...getStyles('clearIndicator', props),\n        padding: '6px',\n      }}\n    >\n      {children}\n    </div>\n  );\n};\n\nClearIndicator.propTypes = {\n  children: PropTypes.node,\n  innerProps: PropTypes.object,\n};\n\nexport default ClearIndicator;\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport TextField from '@material-ui/core/TextField';\n\nconst styles = theme => ({\n  input: {\n    display: 'flex',\n    padding: 0,\n  },\n});\n\nconst inputComponent = ({ inputRef, ...props }) => (\n  <div ref={inputRef} {...props} />\n);\n\n// Needs to be a class component to support refs\nclass Control extends React.Component {\n  render() {\n    const {\n      children,\n      classes,\n      innerProps,\n      innerRef,\n      selectProps,\n    } = this.props;\n\n    return (\n      <TextField\n        fullWidth\n        InputProps={{\n          inputComponent,\n          inputProps: {\n            className: classes.input,\n            inputRef: innerRef,\n            children,\n            ...innerProps,\n          },\n          endAdornment: selectProps.textFieldAdornment,\n        }}\n        {...selectProps.textFieldProps}\n      />\n    )\n  }\n}\n\nControl.propTypes = {\n  children: PropTypes.node.isRequired,\n  classes: PropTypes.object.isRequired,\n  innerProps: PropTypes.object,\n  innerRef: PropTypes.func,\n  selectProps: PropTypes.shape({\n    textFieldProps: PropTypes.object.isRequired,\n  }),\n};\n\nexport default withStyles(styles)(Control);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport ArrowDropDownIcon from '@material-ui/icons/ArrowDropDown';\n\nconst DropdownIndicator = (props) => {\n  const {\n    getStyles,\n    innerProps: { ref, ...restInnerProps },\n  } = props;\n\n  return (\n    <div\n      {...restInnerProps}\n      ref={ref}\n      style={{\n        ...getStyles('clearIndicator', props),\n        padding: '4px',\n      }}\n    >\n      <ArrowDropDownIcon style={{ fontSize: '24px' }} />\n    </div>\n  );\n};\n\nDropdownIndicator.propTypes = {\n  children: PropTypes.node,\n  innerProps: PropTypes.object,\n};\n\nexport default DropdownIndicator;\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { components } from 'react-select';\n\nconst IndicatorsContainer = (props) => {\n  const { getStyles } = props;\n  return (\n    <components.IndicatorsContainer\n      {...props}\n      style={{\n        ...getStyles('indicatorsContainer', props),\n        padding: '6px',\n      }}\n    />\n  );\n};\n\nIndicatorsContainer.propTypes = {\n  getStyles: PropTypes.func.isRequired,\n};\n\nexport default IndicatorsContainer;\n","import React from 'react';\nimport { VariableSizeList } from 'react-window';\n\nconst sum = (a, b) => a + b;\n\n// Used to facilitate virtualization for react-select for long lists\n// https://github.com/JedWatson/react-select/issues/2850\nclass OptionWrapper extends React.PureComponent {\n  render() {\n    const { style, index, data } = this.props;\n    return <div style={style}>{data[index]}</div>;\n  }\n}\n\nexport default (listDefaultHeight = 35, listApproximatedLengthBreak = 50) =>\n  // eslint-disable-next-line react/no-multi-comp\n  class MenuList extends React.PureComponent {\n    constructor(props) {\n      super(props);\n      this.itemSize = this.itemSize.bind(this);\n      this.list = React.createRef();\n\n      this.state = {\n        rawChildren: null,\n        maxHeight: null,\n        currentIndex: 0,\n      };\n    }\n\n    static getDerivedStateFromProps({ children: rawChildren, maxHeight }, state) {\n      if (rawChildren !== state.rawChildren || maxHeight !== state.maxHeight) {\n        const children = Array.isArray(rawChildren)\n          ? rawChildren\n          : [rawChildren];\n\n        // Waiting for https://github.com/bvaughn/react-window/issues/6\n        const heights = children.map(\n          ({ props: { label } }) =>\n            8 +\n            8 +\n            listDefaultHeight *\n              Math.ceil((label || '_').length / listApproximatedLengthBreak)\n        );\n        const totalHeight = heights.reduce(sum);\n        const height = Math.min(maxHeight, totalHeight);\n        const itemCount = children.length;\n\n        const currentIndex = Math.max(\n          children.findIndex(({ props: { isFocused } }) => isFocused),\n          0\n        );\n\n        const estimatedItemSize = Math.floor(totalHeight / itemCount);\n\n        return {\n          height,\n          itemCount,\n          heights,\n          estimatedItemSize,\n          maxHeight,\n          rawChildren,\n          currentIndex,\n        };\n      }\n\n      return null;\n    }\n\n    componentDidMount() {\n      this.componentDidUpdate()\n    }\n\n    componentDidUpdate() {\n      const { currentIndex } = this.state;\n      this.list.current.scrollToItem(currentIndex);\n    }\n\n    itemSize(index) {\n      return this.state.heights[index];\n    }\n\n    render() {\n      const { children, innerRef } = this.props;\n      const { height, itemCount, estimatedItemSize } = this.state;\n      return (\n        <div ref={innerRef}>\n          <VariableSizeList\n            ref={this.list}\n            height={height}\n            itemCount={itemCount}\n            itemSize={this.itemSize}\n            estimatedItemSize={estimatedItemSize}\n            itemData={Array.isArray(children) ? children : [children]}\n          >\n            {OptionWrapper}\n          </VariableSizeList>\n        </div>\n      );\n    }\n  }\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport classNames from 'classnames';\nimport { withStyles } from '@material-ui/core/styles';\nimport { emphasize } from '@material-ui/core/styles/colorManipulator';\nimport CancelIcon from '@material-ui/icons/Cancel';\nimport Chip from '@material-ui/core/Chip';\n\nconst styles = theme => ({\n  chip: {\n    margin: `${theme.spacing.unit / 2}px ${theme.spacing.unit / 4}px`,\n  },\n  chipFocused: {\n    backgroundColor: emphasize(\n      theme.palette.type === 'light' ? theme.palette.grey[300] : theme.palette.grey[700],\n      0.08,\n    ),\n  },\n});\n\n// Needs to be a class component to support refs\nclass MultiValue extends React.Component {\n  render() {\n    const {\n      children,\n      classes,\n      isFocused,\n      removeProps,\n    } = this.props;\n\n    return (\n      <Chip\n        tabIndex={-1}\n        label={children}\n        className={classNames(classes.chip, {\n          [classes.chipFocused]: isFocused,\n        })}\n        onDelete={removeProps.onClick}\n        deleteIcon={<CancelIcon {...removeProps} />}\n      />\n    );\n  }\n}\n\nMultiValue.propTypes = {\n  children: PropTypes.node.isRequired,\n  classes: PropTypes.object.isRequired,\n  isFocused: PropTypes.bool.isRequired,\n  removeProps: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(MultiValue);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport Typography from '@material-ui/core/Typography';\n\nconst styles = theme => ({\n  noOptionsMessage: {\n    padding: `${theme.spacing.unit}px ${theme.spacing.unit * 2}px`,\n  },\n});\n\nconst NoOptionsMessage = ({\n  children,\n  classes,\n}) => (\n  <Typography\n    color=\"textSecondary\"\n    className={classes.noOptionsMessage}\n  >\n    {children}\n  </Typography>\n);\n\nNoOptionsMessage.propTypes = {\n  children: PropTypes.node.isRequired,\n  classes: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(NoOptionsMessage);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport MenuItem from '@material-ui/core/MenuItem';\n\n// Needs to be a class component to support refs\nclass Option extends React.Component {\n  render() {\n    const {\n      children,\n      innerProps,\n      innerRef,\n      isFocused,\n      isSelected,\n    } = this.props;\n\n    return (\n      <MenuItem\n        buttonRef={innerRef}\n        selected={isFocused}\n        component=\"div\"\n        style={{\n          fontWeight: isSelected ? 500 : 400,\n        }}\n        {...innerProps}\n      >\n        {children}\n      </MenuItem>\n    );\n  }\n}\n\nOption.propTypes = {\n  children: PropTypes.node.isRequired,\n  innerProps: PropTypes.object.isRequired,\n  innerRef: PropTypes.func,\n  isFocused: PropTypes.bool.isRequired,\n  isSelected: PropTypes.bool.isRequired,\n};\n\nexport default Option;\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport Typography from '@material-ui/core/Typography';\n\nconst styles = theme => ({\n  placeholder: {\n    position: 'absolute',\n    left: 2,\n    fontSize: 16,\n  },\n});\n\nconst Placeholder = ({\n  children,\n  classes,\n  innerProps,\n}) => (\n  <Typography\n    color=\"textSecondary\"\n    className={classes.placeholder}\n    {...innerProps}\n  >\n    {children}\n  </Typography>\n);\n\nPlaceholder.propTypes = {\n  children: PropTypes.node,\n  classes: PropTypes.object.isRequired,\n  innerProps: PropTypes.object,\n};\n\nexport default withStyles(styles)(Placeholder);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport Typography from '@material-ui/core/Typography';\n\nconst styles = theme => ({\n  singleValue: {\n    fontSize: 16,\n  },\n});\n\nconst SingleValue = ({\n  children,\n  classes,\n  innerProps,\n}) => (\n  <Typography className={classes.singleValue} {...innerProps}>\n    {children}\n  </Typography>\n);\n\nSingleValue.propTypes = {\n  children: PropTypes.node.isRequired,\n  classes: PropTypes.object.isRequired,\n  innerProps: PropTypes.object,\n};\n\nexport default withStyles(styles)(SingleValue);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\n\nconst styles = theme => ({\n  valueContainer: {\n    display: 'flex',\n    flexWrap: 'wrap',\n    flex: 1,\n    alignItems: 'center',\n    overflow: 'hidden',\n  },\n});\n\nconst ValueContainer = ({\n  children,\n  classes,\n}) => (\n  <div className={classes.valueContainer}>{children}</div>\n);\n\nValueContainer.propTypes = {\n  children: PropTypes.node.isRequired,\n  classes: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(ValueContainer);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport Select from 'react-select';\nimport ClearIndicator from './ClearIndicator';\nimport Control from './Control';\nimport DropdownIndicator from './DropdownIndicator';\nimport IndicatorsContainer from './IndicatorsContainer';\nimport MenuList from './MenuList';\nimport MultiValue from './MultiValue';\nimport NoOptionsMessage from './NoOptionsMessage';\nimport Option from './Option';\nimport Placeholder from './Placeholder';\nimport SingleValue from './SingleValue';\nimport ValueContainer from './ValueContainer';\n\n// Implements react-select for autocomplete\n// Uses react-window for virtualizing long lists to improve performance\n// Inspired by https://material-ui.com/demos/autocomplete/\nconst styles = theme => ({\n  divider: {\n    height: theme.spacing.unit * 2,\n  },\n});\n\nconst components = {\n  ClearIndicator,\n  DropdownIndicator,\n  Control,\n  IndicatorsContainer,\n  MenuList: MenuList(),\n  MultiValue,\n  NoOptionsMessage,\n  Option,\n  Placeholder,\n  SingleValue,\n  ValueContainer,\n};\n\nconst Autocomplete = ({\n  classes,\n  theme,\n  onChange,\n  options,\n  placeholder,\n  value,\n  ...rest\n}) => {\n  const selectStyles = {\n    input: base => ({\n      ...base,\n      color: theme.palette.text.primary,\n      '& input': {\n        font: 'inherit',\n      },\n    }),\n  };\n\n  return (\n    <Select\n      classes={classes}\n      styles={selectStyles}\n      options={options}\n      components={components}\n      value={value}\n      onChange={onChange}\n      placeholder={placeholder}\n      isClearable\n      {...rest}\n    />\n  );\n};\n\nAutocomplete.propTypes = {\n  classes: PropTypes.object.isRequired,\n  theme: PropTypes.object.isRequired,\n  onChange: PropTypes.func.isRequired,\n  options: PropTypes.arrayOf(\n    PropTypes.oneOfType([\n      PropTypes.string,\n      PropTypes.object,\n    ]),\n  ).isRequired,\n  placeholder: PropTypes.string,\n  value: PropTypes.oneOfType([\n    PropTypes.string,\n    PropTypes.object,\n  ]),\n};\n\nexport default withStyles(styles, { withTheme: true })(Autocomplete);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport Button from '@material-ui/core/Button';\nimport Checkbox from '@material-ui/core/Checkbox';\nimport FormControlLabel from '@material-ui/core/FormControlLabel';\nimport Grid from '@material-ui/core/Grid';\nimport InputAdornment from '@material-ui/core/InputAdornment';\nimport ErrorIcon from '@material-ui/icons/Error';\nimport TextField from '@material-ui/core/TextField';\nimport { Form } from 'formik';\nimport FormikPersist from '../../shared/FormikPersist';\n\nimport Autocomplete from '../../shared/Autocomplete';\n\nconst styles = theme => ({\n  container: {\n    [theme.breakpoints.up('md')]: {\n      paddingLeft: theme.spacing.unit * 16,\n      paddingRight: theme.spacing.unit * 16,\n    },\n  },\n  buttonGroup: {\n    textAlign: 'center',\n  },\n  alignBottom: {\n    display: 'flex',\n    alignItems: 'flex-end',\n  },\n  errorIcon: {\n    color: theme.palette.status.danger.color,\n  },\n});\n\nconst RequestQuoteForm = ({\n  classes,\n  countries,\n  isSubmitting,\n  isValid,\n  errors,\n  touched,\n  handleSubmit,\n  handleBlur,\n  handleChange,\n  setFieldTouched,\n  setFieldValue,\n  setStatus,\n  setFieldError,\n  status,\n  values,\n}) => (\n    <Form className={classes.container}>\n      <Grid container spacing={24}>\n        <Grid item xs={12} sm={6}>\n          <TextField\n            name=\"name\"\n            type=\"text\"\n            label=\"Name\"\n            fullWidth\n            error={errors.name && errors.name.length && touched.name}\n            helperText={errors.name && errors.name.length && touched.name ? errors.name : 'Required'}\n            onBlur={handleBlur}\n            onChange={handleChange}\n            value={values.name}\n            InputProps={{\n              endAdornment:\n                errors.name && errors.name.length && touched.name &&\n                <InputAdornment>\n                  <ErrorIcon className={classes.errorIcon} />\n                </InputAdornment>,\n            }}\n          />\n        </Grid>\n        <Grid item xs={12} sm={6}>\n          <TextField\n            name=\"emailAddress\"\n            type=\"email\"\n            label=\"Email\"\n            error={errors.emailAddress && errors.emailAddress.length && touched.emailAddress}\n            fullWidth\n            helperText={errors.emailAddress && errors.emailAddress.length && touched.emailAddress ? errors.emailAddress : 'Required'}\n            onBlur={handleBlur}\n            onChange={handleChange}\n            value={values.emailAddress}\n            InputProps={{\n              endAdornment:\n                errors.emailAddress && errors.emailAddress.length && touched.emailAddress &&\n                <InputAdornment>\n                  <ErrorIcon className={classes.errorIcon} />\n                </InputAdornment>,\n            }}\n          />\n        </Grid>\n        <Grid item xs={12} sm={6}>\n\n          <Autocomplete\n            options={countries}\n            value={values.country}\n            onChange={option => {\n              setFieldTouched('country', true);\n              setFieldValue('country', option);\n              if (option == null || option === undefined || option === '') \n                setFieldError('country', 'Required');\n              else \n                setFieldError('country', null);\n              \n              setStatus({ ...status, shrink: Boolean(option && option.value && option.value.length) });\n            }}\n            helperText={'Required'}\n            placeholder={null}\n            textFieldAdornment={\n                errors.country && errors.country.length && touched.country &&\n                  <InputAdornment>\n                    <ErrorIcon className={classes.errorIcon} />\n                  </InputAdornment>\n              }\n            textFieldProps={{\n              label: \"My country\",\n              InputLabelProps: status && status.shrink ? { shrink: true } : {},\n              error: errors.country && errors.country.length && touched.country, \n              helperText: 'Required',\n            }}\n          />\n        </Grid>\n        <Grid container item xs={12} sm={6}>\n          <Grid item xs={12}>\n            <FormControlLabel\n              control={\n                <Checkbox\n                  checked={values.contactViaPhone}\n                  name=\"contactViaPhone\"\n                  onChange={(e, checked) => {\n                    setFieldTouched('contactViaPhone', true);\n                    setFieldValue('contactViaPhone', checked);\n                    setStatus({ ...status, phoneNumberRequired: checked });\n\n                    if (!checked) {\n                      setFieldTouched('phoneNumber', false);\n                      setFieldValue('phoneNumber', '');\n                    }\n                  }}\n                  color=\"primary\"\n                />\n              }\n              label=\"I have some questions. Please contact me via phone.\"\n            />\n          </Grid>\n          {\n            status && status.phoneNumberRequired &&\n            <Grid item xs={12}>\n              <TextField\n                name=\"phoneNumber\"\n                label=\"Phone number\"\n                fullWidth\n                error={errors.phoneNumber && errors.phoneNumber.length && touched.phoneNumber}\n                helperText=\"Required\"\n                onBlur={handleBlur}\n                onChange={handleChange}\n                value={values.phoneNumber}\n                InputProps={{\n                  endAdornment:\n                    errors.phoneNumber && errors.phoneNumber.length && touched.phoneNumber &&\n                    <InputAdornment>\n                      <ErrorIcon className={classes.errorIcon} />\n                    </InputAdornment>,\n                }}\n              />\n            </Grid>\n          }\n        </Grid>\n        <Grid item xs={12} sm={6}>\n          <TextField\n            name=\"fieldOfResearch\"\n            label=\"My field of research\"\n            error={errors.researchField && errors.researchField.length && touched.researchField}\n            fullWidth\n            helperText=\"Optional\"\n            onBlur={handleBlur}\n            onChange={handleChange}\n            value={values.fieldOfResearch}\n          />\n        </Grid>\n        <Grid item xs={12} sm={6} className={classes.alignBottom}>\n          <FormControlLabel\n            control={\n              <Checkbox\n                name=\"includeAssembly\"\n                color=\"primary\"\n                onChange={handleChange}\n                checked={values.includeAssembly}\n              />\n            }\n            label=\"Please include quote for HEBI Robotics to assemble\"\n          />\n        </Grid>\n        <Grid item xs={12} sm={6}>\n          <TextField\n            name=\"comments\"\n            label=\"Comments\"\n            multiline\n            rows=\"4\"\n            helperText=\"Additional requests, accessories, special delivery needs, etc.\"\n            error={errors.comments && errors.comments.length && touched.comments}\n            fullWidth\n            onBlur={handleBlur}\n            onChange={handleChange}\n            value={values.comments}\n          />\n        </Grid>\n\n        <Grid item xs={12} />\n\n        <Grid item xs={12} className={classes.buttonGroup}>\n          <Button\n            disabled={isSubmitting || !isValid}\n            variant=\"contained\"\n            color=\"primary\"\n            onClick={handleSubmit}\n          >\n            Please contact me with a quote\n        </Button>\n        </Grid>\n      </Grid>\n      <FormikPersist name=\"request-quote-form\" />\n    </Form>\n  );\n\nRequestQuoteForm.propTypes = {\n  classes: PropTypes.object.isRequired,\n  countries: PropTypes.arrayOf(PropTypes.shape({\n    label: PropTypes.string,\n    value: PropTypes.string,\n  })).isRequired,\n  isSubmitting: PropTypes.bool.isRequired,\n  isValid: PropTypes.bool.isRequired,\n  errors: PropTypes.object.isRequired,\n  touched: PropTypes.object.isRequired,\n  handleSubmit: PropTypes.func.isRequired,\n  handleBlur: PropTypes.func.isRequired,\n  handleChange: PropTypes.func.isRequired,\n  setFieldTouched: PropTypes.func.isRequired,\n  setFieldValue: PropTypes.func.isRequired,\n  setStatus: PropTypes.func.isRequired,\n  status: PropTypes.object,\n  values: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(RequestQuoteForm);\n","\nexport const SUBMIT_QUOTE_PREFIX = 'SUBMIT_QUOTE';\nexport const SUBMIT_QUOTE_REQUEST = `${SUBMIT_QUOTE_PREFIX}_REQUEST`;\nexport const SUBMIT_QUOTE_SUCCESS = `${SUBMIT_QUOTE_PREFIX}_SUCCESS`;\nexport const SUBMIT_QUOTE_SUCCESS_MESSAGE = 'Your quote has been submitted!';\nexport const SUBMIT_QUOTE_ERROR = `${SUBMIT_QUOTE_PREFIX}_ERROR`;\n\nexport const SUBMIT_QUOTE_ERROR_MESSAGE = `\n  We are unable to submit your request for quote.\n  Please try again. If the problem persists, please visit our contact us\n  page for other ways to submit this request.\n`;\n\nexport const submitQuoteRequest = (quote, {\n  resetForm,\n  setSubmitting,\n}) => ({\n  type: SUBMIT_QUOTE_REQUEST,\n  payload: {\n    quote,\n    resetForm,\n    setSubmitting,\n  }\n});\n","\nimport React from 'react';\nimport PropTypes from 'prop-types';\nimport { Formik } from 'formik';\nimport * as Yup from 'yup';\nimport get from 'lodash-es/get';\nimport omit from 'lodash-es/omit';\nimport { connect } from 'react-redux';\n\nimport countryNames from '../../../common/utils/country-names';\n\nimport RequestQuoteForm from '../components/RequestQuoteForm';\n\nimport { submitQuoteRequest } from '../actions';\n\nconst countries = countryNames.map(name => ({\n  value: name,\n  label: name,\n}));\n\nconst RequestQuoteFormContainer = ({\n  handleSubmitQuote,\n}) => (\n  <Formik\n    enableReinitialize\n    initialValues={{\n      emailAddress: '',\n      name: '',\n      phoneNumber: '',\n      country: '',\n      fieldOfResearch: '',\n      comments: '',\n      contactViaPhone: false,\n      includeAssembly: false,\n    }}\n    validationSchema={Yup.object().shape({\n      name: Yup.string()\n                .required('Required'),\n      country: Yup.string()\n                .required('Required'),\n      contactViaPhone: Yup.bool(),\n      includeAssembly: Yup.bool(),\n      emailAddress: Yup.string()\n        .email('Email address in invalid format')\n        .required('Required'),\n      phoneNumber: Yup.string()\n        .when('contactViaPhone', {\n          is: val => val === true,\n          then: Yup.string().required('Required'),\n          otherwise: Yup.string().notRequired()\n        })\n    })}\n    onSubmit={(values, { setSubmitting, resetForm }) => {\n      const formValues = {\n        ...omit(values, 'country'),\n        country: get(values, ['country', 'value']),\n      };\n      handleSubmitQuote(formValues, {\n        resetForm,\n        setSubmitting,\n      });\n    }}\n    render={formikProps =>\n      <RequestQuoteForm\n        countries={countries}\n        {...formikProps}\n      />\n    }\n  />\n);\n\nRequestQuoteFormContainer.propTypes = {\n  handleSubmitQuote: PropTypes.func.isRequired,\n};\n\nconst actions = {\n  handleSubmitQuote: submitQuoteRequest,\n};\n\nexport default connect(null, actions)(RequestQuoteFormContainer);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { withStyles } from '@material-ui/core/styles';\nimport Typography from '@material-ui/core/Typography';\n\nimport { SECONDARY_FONT } from '../../../common/fonts';\nimport RequestQuoteFormContainer from '../containers/RequestQuoteFormContainer';\n\nconst styles = theme => ({\n  container: {\n    color: theme.palette.neutral.light.contrastText,\n    display: 'flex',\n    flex: 1,\n    flexDirection: 'column',\n    alignItems: 'center',\n  },\n  title: {\n    color: theme.palette.neutral.darkest.color,\n    textTransform: 'uppercase',\n    fontFamily: SECONDARY_FONT,\n    letterSpacing: '2.5px',\n    textAlign: 'center',\n  },\n  subtitle: {\n    textAlign: 'center',\n  },\n  form: {\n    paddingTop: theme.spacing.unit * 3,\n  },\n});\n\nconst RequestQuotePage = ({ classes }) => (\n  <div className={classes.container}>\n    <Typography\n      variant=\"h5\"\n      className={classes.title}\n      gutterBottom\n    >\n      How much would it cost to build this robot?\n    </Typography>\n\n    <Typography\n      variant=\"body1\"\n      className={classes.subtitle}\n      gutterBottom\n    >\n      Please send me a detailed quote based on this configuration.\n    </Typography>\n\n    <div className={classes.form}>\n      <RequestQuoteFormContainer />\n    </div>\n  </div>\n);\n\nRequestQuotePage.propTypes = {\n  classes: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(RequestQuotePage);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { connect } from 'react-redux';\nimport { Link, withRouter } from 'react-router-dom';\nimport { withStyles } from '@material-ui/core/styles';\nimport AppBar from '@material-ui/core/AppBar';\nimport Tabs from '@material-ui/core/Tabs';\nimport Tab from '@material-ui/core/Tab';\n\nimport { SECONDARY_FONT } from '../../../common/fonts';\n\nimport {\n  getTestDriveTabShouldBeEnabled,\n  getRequestQuoteTabShouldBeEnabled,\n} from '../selectors';\n\nconst styles = theme => ({\n  root: {\n  },\n  tabsRoot: {\n    backgroundColor: theme.palette.neutral.darkest.color,\n  },\n  tabRoot: {\n    fontFamily: SECONDARY_FONT,\n    fontSize: '16px',\n    color: '#D3D3CE',\n    '&:hover': {\n      color: theme.palette.neutral.main.color,\n      backgroundColor: '#5B5A54',\n    },\n    '&$tabSelected': {\n      color: theme.palette.secondary.main,\n    },\n  },\n  tabSelected: {}, // Needed to override CSS specificity\n});\n\nconst ConfiguratorTabBar = ({\n  classes,\n  location,\n  match,\n  testDriveTabEnabled,\n  requestQuoteTabEnabled,\n}) => {\n  const tabs = [{\n    title: 'Build Robot',\n    to: `${match.url}/build`,\n    disabled: false,\n  }, {\n    title: 'Test Drive',\n    to: `${match.url}/test-drive`,\n    disabled: !testDriveTabEnabled,\n  }, {\n    title: 'Request Quote',\n    to: `${match.url}/request-quote`,\n    disabled: !requestQuoteTabEnabled,\n  }];\n\n  return (\n    <AppBar position=\"static\" color=\"default\">\n      <Tabs\n        value={location.pathname}\n        indicatorColor=\"secondary\"\n        variant=\"fullWidth\"\n        className={classes.tabsRoot}\n      >\n        {\n          tabs.map(tab => (\n            <Tab\n              key={tab.title}\n              component={Link}\n              to={{\n                pathname: tab.to,\n                search: location.search\n              }}\n              disabled={tab.disabled}\n              label={tab.title}\n              value={tab.to}\n              classes={{ root: classes.tabRoot, selected: classes.tabSelected }}\n            />\n          ))\n        }\n      </Tabs>\n    </AppBar>\n  );\n};\n\n\n\nConfiguratorTabBar.propTypes = {\n  classes: PropTypes.object.isRequired,\n  location: PropTypes.shape({\n    pathname: PropTypes.string.isRequired,\n  }),\n  match: PropTypes.shape({\n    url: PropTypes.string.isRequired,\n  }).isRequired,\n  testDriveTabEnabled: PropTypes.bool.isRequired,\n  requestQuoteTabEnabled: PropTypes.bool.isRequired,\n};\n\nconst mapStateToProps = state => ({\n  testDriveTabEnabled: getTestDriveTabShouldBeEnabled(state),\n  requestQuoteTabEnabled: getRequestQuoteTabShouldBeEnabled(state),\n});\n\nexport default withRouter(\n  withStyles(styles)(connect(mapStateToProps)(ConfiguratorTabBar))\n);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { Route, Switch, withRouter } from 'react-router-dom';\n\nimport BuildRobotPage from '../pages/BuildRobotPage';\nimport TestDrivePage from '../pages/TestDrivePage';\nimport RequestQuotePage from '../../request-quote/pages/RequestQuotePage';\n\nimport ConfiguratorTabBar from '../components/ConfiguratorTabBar';\n\nconst ConfiguratorTabbedRoutes = ({\n  match,\n}) => (\n  <React.Fragment>\n    <ConfiguratorTabBar />\n\n    <Switch>\n      <Route path={`${match.url}/build`} component={BuildRobotPage} />\n      <Route path={`${match.url}/test-drive`} component={TestDrivePage} />\n      <Route path={`${match.url}/request-quote`} component={RequestQuotePage} />\n    </Switch>\n  </React.Fragment>\n);\n\nConfiguratorTabbedRoutes.propTypes = {\n  match: PropTypes.shape({\n    url: PropTypes.string.isRequired,\n  }).isRequired,\n};\n\nexport default withRouter(ConfiguratorTabbedRoutes);\n","import React from 'react';\nimport { connect } from 'react-redux';\nimport autoBind from 'react-autobind';\nimport PropTypes from 'prop-types';\nimport { withRouter } from 'react-router-dom';\nimport { withStyles } from '@material-ui/core/styles';\nimport Typography from '@material-ui/core/Typography';\nimport LinearProgress from '@material-ui/core/LinearProgress';\nimport { RotateRight, ZoomIn, PanTool } from '@material-ui/icons';\nimport queryString from 'query-string'\n\nimport {\n  createRobotRequest,\n  loadRobotRequest,\n} from '../actions';\nimport { getConfiguratorIsInitialized } from '../selectors';\n\nimport ConfiguratorTabbedRoutes from '../components/ConfiguratorTabbedRoutes';\n\nconst styles = theme => ({\n  container: {\n    backgroundColor: theme.palette.neutral.darkest.color,\n    color: theme.palette.neutral.darkest.contrastText,\n    display: 'flex',\n    flex: 1,\n    flexDirection: 'column',\n    alignItems: 'center'\n  },\n  title: {\n    textTransform: 'uppercase',\n    color: theme.palette.secondary.main\n  },\n  progress: {\n    marginTop: '40px',\n    width: '480px'\n  },\n  instructionsContainer: {\n    marginTop: '175px'\n  },\n  instruction: {\n    marginBottom: '42px',\n    display: 'flex',\n    flexDirection: 'row',\n    alignContent: 'flex-start'\n  },\n  instructionIcon: {\n    marginRight: '16px'\n  },\n  instructionText: {\n    color: theme.palette.neutral.darkest.contrastText\n  }\n});\n\nconst instructions = [\n  {\n    id: 1,\n    icon: classes => <RotateRight className={classes.instructionIcon} />,\n    text: 'Rotate: left-click and drag'\n  },\n  {\n    id: 2,\n    icon: classes => <ZoomIn className={classes.instructionIcon} />,\n    text: 'Zoom: scroll'\n  },\n  {\n    id: 3,\n    icon: classes => <PanTool className={classes.instructionIcon} />,\n    text: 'Pan: right-click and drag'\n  }\n];\n\nclass ConfiguratorLoader extends React.Component {\n  constructor(props) {\n    super(props);\n    autoBind(this);\n  }\n\n  componentDidMount() {\n    const robotId = this.parseRobotIdFromQueryString(this.props);\n    if (robotId) {\n      this.loadRobot(robotId);\n    } else {\n      this.props.createRobotRequest();\n    }\n  }\n\n  componentDidUpdate(prevProps) {\n    const currentRobotId = this.parseRobotIdFromQueryString(this.props);\n    const previousRobotId = this.parseRobotIdFromQueryString(prevProps);\n\n    if (currentRobotId !== previousRobotId) {\n      this.loadRobot(currentRobotId);\n    }\n  }\n\n  loadRobot(id) {\n    this.props.loadRobotRequest(id);\n  }\n\n  parseRobotIdFromQueryString(props) {\n    const values = queryString.parse(props.location.search);\n    if (!values || !values.robotId) {\n      return null;\n    }\n\n    return values.robotId;\n  }\n\n  render() {\n    const {\n      classes,\n      configuratorInitialized,\n    } = this.props;\n\n    if (configuratorInitialized) {\n      return <ConfiguratorTabbedRoutes />;\n    }\n\n    return (\n      <div className={classes.container}>\n        <Typography variant=\"h5\" className={classes.title}>\n          Loading 3D Components\n        </Typography>\n        <LinearProgress\n          variant=\"indeterminate\"\n          color=\"secondary\"\n          className={classes.progress}\n        />\n        <div className={classes.instructionsContainer}>\n          {instructions.map(instruction => (\n            <div key={instruction.id} className={classes.instruction}>\n              {instruction.icon(classes)}\n              <Typography variant=\"h6\" className={classes.instructionText}>\n                {instruction.text}\n              </Typography>\n            </div>\n          ))}\n        </div>\n      </div>\n    );\n  }\n}\n\nConfiguratorLoader.propTypes = {\n  classes: PropTypes.object.isRequired,\n  configuratorInitialized: PropTypes.bool.isRequired,\n  loadRobotRequest: PropTypes.func.isRequired,\n  location: PropTypes.object.isRequired,\n  match: PropTypes.object.isRequired,\n};\n\nconst mapStateToProps = state => ({\n  configuratorInitialized: getConfiguratorIsInitialized(state),\n});\n\nconst actions = {\n  createRobotRequest,\n  loadRobotRequest,\n};\n\nexport default withRouter(\n  withStyles(styles)(connect(mapStateToProps, actions)(ConfiguratorLoader))\n);\n","import React from 'react';\n\nconst NotFoundPage = () => (\n  <div>\n    The page you're trying to reach can't be found.\n  </div>\n);\n\nexport default NotFoundPage;\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { Route } from 'react-router-dom';\nimport { withStyles } from '@material-ui/core/styles'; \n\nconst styles = theme => ({\n  container: {\n    '& > div': {\n      paddingTop: theme.spacing.unit * 6,\n      paddingBottom: theme.spacing.unit * 6,\n      ...theme.mixins.gutters(),\n    },\n    display: 'flex',\n    flexDirection: 'column',\n    flex: 1,\n    backgroundColor: theme.palette.neutral.light.color,\n  },\n});\n\nconst DefaultLayout = ({\n  component: Component,\n  classes,\n  ...rest\n}) => {\n  return (\n    <Route {...rest} render={matchProps => (\n      <div className={classes.container}>\n        <Component {...matchProps} />\n      </div>\n      )}\n    />\n  )\n};\n\nDefaultLayout.propTypes = {\n  component: PropTypes.func.isRequired,\n  classes: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(DefaultLayout);\n","import React from 'react';\nimport PropTypes from 'prop-types';\nimport { Switch, withRouter } from 'react-router-dom';\nimport { ToastContainer, toast } from 'react-toastify';\nimport CssBaseline from '@material-ui/core/CssBaseline';\nimport { withStyles } from '@material-ui/core/styles';\n\nimport 'react-toastify/dist/ReactToastify.css';\n\nimport ModalManager from '../features/modals/ModalManager';\nimport PopperManager from '../features/poppers/PopperManager';\n\nimport AppNav from '../features/shared/AppNav';\nimport AppFooter from '../features/shared/AppFooter';\nimport GettingStartedPage from '../features/getting-started/pages/GettingStartedPage';\nimport ConfiguratorLoader from '../features/configurator/pages/ConfiguratorLoader';\nimport NotFoundPage from '../features/shared/NotFoundPage';\n\nimport DefaultLayout from '../features/shared/layouts/DefaultLayout';\n\nconst styles = theme => ({\n  container: {\n    display: 'flex',\n    flex: 1,\n    flexDirection: 'column',\n  },\n});\n\nclass App extends React.Component {\n  render() {\n    const { classes } = this.props;\n\n    return (\n      <>\n        <CssBaseline />\n        <ToastContainer autoClose={3000} position={toast.POSITION.BOTTOM_RIGHT} />\n        <ModalManager />\n        <PopperManager />\n        <div className={classes.container}>\n          <AppNav />\n          <Switch>\n            <DefaultLayout path=\"/\" exact component={GettingStartedPage} />\n            <DefaultLayout path=\"/configurator\" component={ConfiguratorLoader} />\n            <DefaultLayout component={NotFoundPage} />\n          </Switch>\n          <AppFooter />\n        </div>\n      </>\n    );\n  }\n}\n\nApp.propTypes = {\n  classes: PropTypes.object.isRequired,\n};\n\nexport default withStyles(styles)(\n  withRouter(App)\n);\n","export const createReducer = (initialState, fnMap) => {\n  return (state = initialState, { type, payload }) => {\n    const handler = fnMap[type];\n\n    return handler ? handler(state, payload) : state;\n  };\n};\n\nexport const reduceReducers = (...reducers) => {\n  return (previous, current) =>\n    reducers.reduce(\n      (p, r) => r(p, current),\n      previous\n    );\n};\n\nexport const createConditionalSliceReducer = (sliceName, fnMap) => {\n  // Create a reducer that knows how to handle one slice of state, with these action types\n  const sliceReducer = createReducer({}, fnMap);\n\n  // Create a new wrapping reducer\n  return (state, action) => {\n    // Check to see if this slice reducer knows how to handle this action\n    if (fnMap[action.type]) {\n      // If it does, pass the slice to the slice reducer, and update the slice\n      return {\n        ...state,\n        [sliceName]: sliceReducer(state[sliceName], action),\n      };\n    }\n\n    // Otherwise, return the existing state unchanged\n    return state;\n  }\n};\n","import {\n  createReducer,\n} from '../../common/utils/reducer-utils';\n\nimport {\n  LOAD_ENTITIES_SUCCESS,\n} from '../../features/configurator/actions';\n\nimport orm from '../orm';\n\nconst initialState = orm.getEmptyState();\n\nconst loadData = (state, payload) => {\n  const session = orm.session(state);\n\n  const {\n    Asset,\n    BoltPattern,\n    Part,\n    PartLength,\n    PartCategory,\n    Robot,\n  } = session;\n\n  const {\n    boltPatterns,\n    parts,\n    partCategories,\n    partLengths,\n  } = payload;\n\n  // Clear out any existing models from state so that we can avoid\n  // conflicts from the new data coming in if data is reloaded\n  const models = [\n    Asset,\n    BoltPattern,\n    Part,\n    PartLength,\n    PartCategory,\n    Robot,\n  ];\n\n  models.forEach(modelType => {\n    modelType.all().toModelArray().forEach(model => model.delete());\n  });\n\n  boltPatterns.forEach(boltPattern => BoltPattern.parse(boltPattern));\n  partCategories.forEach(partCategory => PartCategory.parse(partCategory));\n  partLengths.forEach(partLength => PartLength.parse(partLength));\n  parts.forEach(part => Part.parse(part));\n\n  return session.state;\n}\n\nexport default createReducer(initialState, {\n  [LOAD_ENTITIES_SUCCESS]: loadData,\n});\n","import {\n  INITIALIZE_CONFIGURATOR_SUCCESS,\n  INITIALIZE_CONFIGURATOR_SUCCESS_CACHED,\n} from '../actions';\n\nconst initialState = {\n  initialized: false,\n};\n\nexport default (state = initialState, action) => {\n  const { type } = action;\n\n  switch (type) {\n    case INITIALIZE_CONFIGURATOR_SUCCESS:\n    case INITIALIZE_CONFIGURATOR_SUCCESS_CACHED:\n      return {\n        initialized: true,\n      };\n    default:\n      return state;\n  }\n};","import { createReducer } from '../../../common/utils/reducer-utils';\n\nimport {\n  SET_CURRENT_ROBOT,\n  SET_CURRENT_ROBOT_PART,\n  SET_PLACEMENT_MODE,\n  TOGGLE_PLACEMENT_MODE,\n  UPDATE_ROBOT_STATISTICS,\n  SET_SCENE_LOADED,\n} from '../actions';\n\nconst placementModes = ['place', 'replace'];\n\nconst initialState = {\n  currentRobotId: null,\n  currentRobotPartId: null,\n  placementMode: 'place',\n  statistics: null,\n  sceneLoaded: false,\n};\n\nconst setCurrentRobot = (state, payload) => {\n  return {\n    ...state,\n    currentRobotId: payload.currentRobotId,\n  };\n}\n\nconst setCurrentRobotPart = (state, payload) => {\n  return {\n    ...state,\n    currentRobotPartId: payload.currentRobotPartId,\n  };\n};\n\nconst setPlacementMode = (state, payload) => ({\n  ...state,\n  placementMode: payload.mode,\n});\n\nconst togglePlacementMode = (state) => {\n  const { placementMode: currentPlacementMode } = state;\n  const newPlacementMode = placementModes.find(p => p !== currentPlacementMode);\n\n  return {\n    ...state,\n    placementMode: newPlacementMode,\n  };\n};\n\nconst updateStatistics = (state, payload) => ({\n  ...state,\n  statistics: payload.statistics,\n});\n\nconst setSceneLoaded = (state, payload) => ({\n  ...state,\n  sceneLoaded: payload.loaded,\n});\n\nexport default createReducer(initialState, {\n  [SET_CURRENT_ROBOT]: setCurrentRobot,\n  [SET_CURRENT_ROBOT_PART]: setCurrentRobotPart,\n  [SET_PLACEMENT_MODE]: setPlacementMode,\n  [TOGGLE_PLACEMENT_MODE]: togglePlacementMode,\n  [UPDATE_ROBOT_STATISTICS]: updateStatistics,\n  [SET_SCENE_LOADED]: setSceneLoaded,\n});\n","import { createReducer } from '../../../common/utils/reducer-utils';\n\nimport {\n  SET_SELECTED_ROBOT_PART,\n  CLEAR_SELECTED_ROBOT_PART,\n} from '../actions';\n\nconst initialState = {\n  selectedRobotPartId: null,\n  selectedRobotPartLocation: null,\n};\n\nconst setSelectedRobotPart = (state, payload) => ({\n  ...state,\n  selectedRobotPartId: payload.selectedRobotPartId,\n  selectedRobotPartLocation: payload.location,\n});\n\nconst clearSelectedRobotPart = (state) => ({\n  ...state,\n  selectedRobotPartId: null,\n  selectedRobotPartLocation: null,\n});\n\nexport default createReducer(initialState, {\n  [SET_SELECTED_ROBOT_PART]: setSelectedRobotPart,\n  [CLEAR_SELECTED_ROBOT_PART]: clearSelectedRobotPart,\n});\n","import { combineReducers } from 'redux';\n\nimport bootstrapper from './bootstrapper';\nimport builder from './builder';\nimport workspace from './workspace';\n\nexport default combineReducers({\n  bootstrapper,\n  builder,\n  workspace,\n});\n","import { createReducer } from '../../common/utils/reducer-utils';\nimport {\n  SELECT_PART,\n  SET_DRAWER_VISIBLE,\n  SET_SELECTED_CATEGORY,\n  TOGGLE_DRAWER_VISIBLE,\n} from './actions';\n\nconst initialState = {\n  componentDrawerVisible: false,\n  selectedCategoryId: null,\n  selectedPartId: null,\n};\n\nconst setDrawerVisibility = (state, payload) => ({\n  ...state,\n  componentDrawerVisible: payload.visible,\n});\n\nconst toggleDrawerVisibility = (state) => ({\n  ...state,\n  componentDrawerVisible: !state.componentDrawerVisible,\n});\n\nconst setSelelectedCategory = (state, payload) => ({\n  ...state,\n  selectedCategoryId: payload.id,\n});\n\nconst setSelelectedPart = (state, payload) => ({\n  ...state,\n  selectedPartId: payload.id,\n});\n\nexport default createReducer(initialState, {\n  [SET_DRAWER_VISIBLE]: setDrawerVisibility,\n  [TOGGLE_DRAWER_VISIBLE]: toggleDrawerVisibility,\n  [SET_SELECTED_CATEGORY]: setSelelectedCategory,\n  [SELECT_PART]: setSelelectedPart,\n});\n","import {\n  MODAL_CLOSE,\n  MODAL_OPEN,\n} from './actions';\n\nimport { createReducer } from '../../common/utils/reducer-utils';\n\nconst initialState = [];\n\nconst openModal = (state, payload) => {\n  const { type, modalProps } = payload;\n  return state.concat({ type, modalProps });\n}\n\nconst closeModal = (state) => {\n  const newState = state.slice();\n  newState.pop();\n  return newState;\n}\n\nexport default createReducer(initialState, {\n  [MODAL_OPEN]: openModal,\n  [MODAL_CLOSE]: closeModal,\n});\n","import {\n  POPPER_HIDE,\n  POPPER_SHOW,\n  POPPER_UPDATE_SUCCESS,\n} from './actions';\n\nimport { createReducer } from '../../common/utils/reducer-utils';\n\nconst initialState = {\n  show: false,\n  location: {\n    x: null,\n    y: null,\n  },\n  type: null,\n  popperProps: undefined,\n};\n\nconst showPopper = (state, payload) => ({\n  ...state,\n  show: true,\n  ...payload,\n});\n\nconst hidePopper = (state, payload) => ({\n  ...initialState,\n});\n\nconst updatePopper = (state, payload) => ({\n  ...state,\n  location: payload.location,\n  popperProps: payload.popperProps,\n});\n\nexport default createReducer(initialState, {\n  [POPPER_SHOW]: showPopper,\n  [POPPER_HIDE]: hidePopper,\n  [POPPER_UPDATE_SUCCESS]: updatePopper,\n});\n","const initialState = {};\n\nexport default (state = initialState, action) => {\n  const { type } = action;\n  const matches = /(.*)_(REQUEST|SUCCESS|ERROR|CANCEL)(.*)/.exec(type);\n  \n  // not a *_REQUEST / *_SUCCESS / *_ERROR actions, so ignore\n  if (!matches) return state;\n  \n  const [, requestName, requestState] = matches;\n  return {\n    ...state,\n    // Store whether a request is happening at the moment or not\n    // e.g. will be true when receiving GET_TODOS_REQUEST\n    //      and false when receiving GET_TODOS_SUCCESS / GET_TODOS_ERROR\n    [requestName]: requestState === 'REQUEST',\n  };\n};\n","import { reduceReducers } from '../../../common/utils/reducer-utils';\n\nimport loading from './loading';\n\nexport default reduceReducers(\n  loading,\n);\n","import { createConditionalSliceReducer } from '../../../common/utils/reducer-utils';\n\nimport {\n  UPDATE_AVAILABLE_PARTS_REQUEST,\n  UPDATE_AVAILABLE_PARTS_SUCCESS,\n} from '../../catalog/actions';\n\nimport {\n  ADD_PART_TO_WORKSPACE_REQUEST,\n} from '../../configurator/actions';\n\nimport orm from '../../../app/orm';\n\nconst disableParts = (state) => {\n  const session = orm.session(state);\n  const { Part } = session;\n\n  Part.all().update({\n    enabledForWorkspace: false,\n  });\n\n  return session.state;\n};\n\nconst enableAvailableParts = (state, payload) => {\n  const session = orm.session(state);\n  const { Part } = session;\n  const { ids } = payload;\n\n  Part.all()\n    .filter(p => ids.includes(p.id))\n    .update({\n      enabledForWorkspace: true,\n    });\n\n  return session.state;\n};\n\nconst robotHandlers = {\n  [UPDATE_AVAILABLE_PARTS_REQUEST]: disableParts,\n  [UPDATE_AVAILABLE_PARTS_SUCCESS]: enableAvailableParts,\n  [ADD_PART_TO_WORKSPACE_REQUEST]: disableParts,\n};\n\nexport default createConditionalSliceReducer('entities', robotHandlers);\n\n","import { createConditionalSliceReducer } from '../../../common/utils/reducer-utils';\n\nimport {\n  ROBOT_PART_CREATE_SUCCESS,\n  ROBOT_PART_REMOVE_SUCCESS,\n  ROBOT_PART_REPLACE_REQUEST,\n  ROBOT_PART_UPDATE_CONSTRAINT_SUCCESS,\n  ROBOT_LOAD_SUCCESS,\n} from '../../configurator/actions';\n\nimport orm from '../../../app/orm';\n\nconst loadRobot = (state, payload) => {\n  const session = orm.session(state);\n  const { Robot } = session;\n  const { robot } = payload;\n\n  Robot.parse(robot);\n\n  return session.state;\n};\n\nconst addRobotPart = (state, payload) => {\n  const session = orm.session(state);\n  const { Robot, RobotPart } = session;\n  const { robotPart } = payload;\n\n  const newRobotPart = RobotPart.parse(robotPart);\n\n  if (robotPart.parentRobotPartId) {\n    RobotPart.withId(robotPart.parentRobotPartId).children.add(newRobotPart);\n  } else {\n    const { robotId } = robotPart;\n    Robot.withId(robotId).robotParts.add(newRobotPart);\n  }\n\n  return session.state;\n};\n\nconst removeRobotParts = (state, payload) => {\n  const session = orm.session(state);\n  const { RobotPart } = session;\n  const { ids } = payload;\n\n  RobotPart.filter(rp => ids.includes(rp.id)).delete();\n\n  return session.state;\n};\n\nconst updateRobotPartConstraint = (state, payload) => {\n  const session = orm.session(state);\n  const { RobotPart } = session;\n  const { id, constraint, value } = payload;\n\n  RobotPart.withId(id)[constraint] = value;\n\n  return session.state;\n};\n\nconst replaceRobotPart = (state, payload) => {\n  const session = orm.session(state);\n  const { RobotPart } = session;\n  const { replaceId, newPart } = payload;\n\n  const {\n    partId: newPartId,\n    length,\n    twist,\n  } = newPart;\n\n  const existingRobotPart = RobotPart.withId(replaceId);\n  existingRobotPart.part = newPartId;\n  existingRobotPart.length = length;\n  existingRobotPart.twist = twist;\n\n  return session.state;\n};\n\nconst robotHandlers = {\n  [ROBOT_LOAD_SUCCESS]: loadRobot,\n  [ROBOT_PART_CREATE_SUCCESS]: addRobotPart,\n  [ROBOT_PART_REMOVE_SUCCESS]: removeRobotParts,\n  [ROBOT_PART_REPLACE_REQUEST]: replaceRobotPart,\n  [ROBOT_PART_UPDATE_CONSTRAINT_SUCCESS]: updateRobotPartConstraint,\n};\n\nexport default createConditionalSliceReducer('entities', robotHandlers);\n","import { reduceReducers } from '../../../common/utils/reducer-utils';\n\nimport part from './part';\nimport robot from './robot';\n\nexport default reduceReducers(\n  part,\n  robot,\n);\n","import storage from 'redux-persist/lib/storage/session';\nimport autoMergeLevel2 from 'redux-persist/lib/stateReconciler/autoMergeLevel2';\nimport { createWhitelistFilter } from 'redux-persist-transform-filter';\nimport { createMigrate } from 'redux-persist';\n\nconst migrations = {\n  2: (state) => {\n    if(state.entities && state.entities.Part.count() === 25) {\n      return {\n        ...state\n      }\n    }\n\n    return {\n      ...state,\n      configurator: {\n        bootstrapper: {\n          initialized: false\n        }\n      }\n    }\n  }\n}\n\nconst persistConfig = {\n  key: 'HEBI-RobotBuilder',\n  version: 2,\n  storage,\n  blacklist: [\n    'loading',\n    'modals',\n    'popper',\n  ],\n  stateReconciler: autoMergeLevel2,\n  migrate: createMigrate( migrations, {debug: false }),\n  transforms: [\n    createWhitelistFilter('entities'),\n    createWhitelistFilter('catalog', [\n      'selectedCategoryId',\n      'componentDrawerVisible',\n    ]),\n    createWhitelistFilter('configurator', [\n      'bootstrapper.initialized',\n    ]),\n  ],\n};\n\nexport default persistConfig;\n","import { createStore, compose, applyMiddleware } from 'redux';\nimport { connectRouter, routerMiddleware } from 'connected-react-router'\nimport { composeWithDevTools } from 'redux-devtools-extension'; // eslint-disable-line import/no-extraneous-dependencies\nimport { createBrowserHistory } from 'history';\nimport { persistReducer, persistStore } from 'redux-persist';\nimport createSagaMiddleware from 'redux-saga';\nimport thunk from 'redux-thunk';\n\nimport createRootReducer from './reducers/root-reducer';\nimport persistConfig from './config/persist-config';\n\nexport const history = createBrowserHistory();\nexport const sagaMiddleware = createSagaMiddleware();\nconst middlewares = [\n  sagaMiddleware,\n  thunk,\n  routerMiddleware(history),\n];\n\nconst middlewareEnhancer = applyMiddleware(...middlewares);\nconst storeEnhancers = [middlewareEnhancer];\n\nconst environmentEnhancer = process.env.NODE_ENV === 'production' ?\n  compose(...storeEnhancers) :\n  composeWithDevTools(...storeEnhancers);\n\nconst rootReducer = createRootReducer(history);\nexport const persistedReducer = persistReducer(persistConfig, rootReducer);\nconst store = createStore(connectRouter(history)(persistedReducer), environmentEnhancer);\nexport const persistor = persistStore(store);\n\nif (module.hot) {\n  module.hot.accept(() => {\n    const nextRootReducer = require('./reducers/root-reducer');\n    store.replaceReducer(\n      persistReducer(persistConfig, nextRootReducer)\n    );\n  });\n}\n\nexport default store;\n","import { combineReducers } from 'redux';\nimport { connectRouter } from 'connected-react-router';\nimport { reduceReducers } from '../../common/utils/reducer-utils';\n\nimport entities from './entities-reducer';\n\nimport configurator from '../../features/configurator/reducers';\nimport catalog from '../../features/catalog/reducer';\nimport modals from '../../features/modals/reducer';\nimport popper from '../../features/poppers/reducer';\nimport loading from '../../features/loading/reducers';\n\nimport entitiesCrudReducer from '../../features/entities/reducers';\n\nexport default (history) => {\n  const combinedReducers = combineReducers({\n    catalog,\n    entities,\n    router: connectRouter(history),\n    configurator,\n    modals,\n    popper,\n    loading,\n  });\n\n  const rootReducer = reduceReducers(\n    combinedReducers,\n    entitiesCrudReducer,\n  );\n\n  return rootReducer;\n}\n","import {\n  call,\n  put,\n  select,\n  take,\n} from 'redux-saga/effects';\n\nimport { toast } from 'react-toastify';\n\nimport {\n  apiGet,\n} from '../../../common/utils/saga-utils';\n\nimport {\n  SET_PLACEMENT_MODE,\n  SET_CURRENT_ROBOT,\n  TOGGLE_PLACEMENT_MODE,\n  ADD_PART_TO_WORKSPACE_SUCCESS,\n  ROBOT_PART_REMOVE_CONFIRM_SUCCESS,\n} from '../../configurator/actions';\n\nimport {\n  getCurrentRobotId,\n  getSelectedRobotPartId,\n  getPlacementMode,\n} from '../../configurator/selectors';\n\nimport {\n  UPDATE_AVAILABLE_PARTS_ERROR,\n  UPDATE_AVAILABLE_PARTS_ERROR_MESSAGE,\n  updateAvailablePartsRequest,\n  updateAvailablePartsSuccess,\n} from '../actions';\n\nconst strategies = {\n  place: {\n    updateAvailableParts: getAvailablePartsForPlacement,\n  },\n  replace: {\n    updateAvailableParts: getAvailablePartsForReplacement,\n  },\n};\n\nexport default function* updateAvailablePartsWatcher() {\n  while (true) {\n    try {\n      yield take([\n        ADD_PART_TO_WORKSPACE_SUCCESS,\n        SET_CURRENT_ROBOT,\n        SET_PLACEMENT_MODE,\n        TOGGLE_PLACEMENT_MODE,\n        ROBOT_PART_REMOVE_CONFIRM_SUCCESS,\n      ]);\n\n      const placementMode = yield select(getPlacementMode);\n      const { updateAvailableParts } = strategies[placementMode];\n      yield put(updateAvailablePartsRequest());\n\n      const parts = yield call(updateAvailableParts);\n      const partIds = parts.map(p => p.partId);\n      yield put(updateAvailablePartsSuccess(partIds))\n    } catch (error) {\n      yield put({ type: UPDATE_AVAILABLE_PARTS_ERROR, error });\n      yield call(toast.error, UPDATE_AVAILABLE_PARTS_ERROR_MESSAGE);\n    }\n  }\n}\n\nfunction* getAvailablePartsForPlacement() {\n  const robotId = yield select(getCurrentRobotId);\n  const parts = yield call(apiGet, `/Robot/${robotId}/Parts/Placement`);\n  return parts;\n}\n\nfunction* getAvailablePartsForReplacement() {\n  const replaceId = yield select(getSelectedRobotPartId);\n  const parts = yield call(apiGet, `/Robot/Part/${replaceId}/Replacement`);\n  return parts;\n}\n","import {\n  fork,\n} from 'redux-saga/effects';\n\nimport updateAvailablePartsWatcher from './updateAvailablePartsWatcher';\n\nexport default function* root() {\n  yield fork(updateAvailablePartsWatcher);\n}\n","import { createPartGroup as createLinkPartGroup } from './link';\nimport { createPartGroup as createGenericPartGroup } from './default';\n\nexport default {\n  Link: {\n    createPartGroup: createLinkPartGroup,\n  },\n  default: {\n    createPartGroup: createGenericPartGroup,\n  },\n}\n","import * as THREE from 'three';\n\nexport const createPartGroup = (meshes, userData) => {\n  const group = createGroup();\n\n  group.userData = {\n    ...userData,\n    addChild,\n    applyTransformation,\n    getChild,\n    getChildMeshes,\n    removeChild,\n    updateLength,\n    updateTwist,\n    addInterfaceItem,\n  };\n\n  return group;\n\n  function createGroup() {\n    if (meshes.length !== 3) {\n      throw new Error('Link must have three meshes.');\n    }\n\n    const linkGroup = new THREE.Group();\n    const [spacedCap, tubeMesh, tightCap] = meshes;\n\n    const beginCap = spacedCap.clone();\n    const endCap = tightCap.clone();\n    const tube = tubeMesh.clone();\n\n    const tubeGroup = new THREE.Group();\n    tubeGroup.add(tube);\n\n    const endCapGroup = new THREE.Group();\n    endCapGroup.add(endCap);\n    const childGroup = new THREE.Group();\n    endCapGroup.add(childGroup);\n\n    const endGroup = new THREE.Group();\n    endGroup.add(endCapGroup);\n\n    tubeGroup.add(endGroup);\n  \n    linkGroup.add(beginCap);\n    linkGroup.add(tubeGroup);\n\n    return linkGroup;\n  }\n\n  /**\n   * Traverses all components in the link, retrieves their correct offsets, and applies them\n   */\n  function applyTransformation() {\n    const offsets = getAdjustedOffsets();\n    const components = getComponents();\n\n    Object.entries(offsets).forEach(([componentName, offset]) => {\n      const component = components[componentName];\n\n      if (component) {\n        Object.entries(offset).forEach(([offsetType, offsetValues]) => {\n          Object.entries(offsetValues).forEach(([axis, value]) => {\n            component[offsetType][axis] = value;\n          });\n        });\n      }\n    });\n\n    // Ensure that the end cap is centered around the tube so that it rotates correctly\n    const { endCapMesh } = components;\n    endCapMesh.geometry.center();\n  }\n\n  /**\n   * After scaling the tube linearly, the tube must be repositioned to sit in its original position.\n   * This equation was derived by manually applying offsets, plotting the resulting points, and determining\n   * the best fit line, therefore it may not be 100% accurate for longer tube lengths.\n   * @param {number} tubeLength \n   */\n  function getTubePositionByTubeLength(tubeLength) {\n    const tubePosition = 0.4986486 * tubeLength + 0.0130945;\n    return tubePosition;\n  }\n\n  function getAdjustedOffsets() {\n    const { length } = group.userData;\n    const tubeLength = length;\n    const tubePosition = getTubePositionByTubeLength(tubeLength);\n\n    const defaultOffsets = {\n      tubeMesh: {\n        scale: {\n          z: tubeLength,\n        },\n      },\n      tubeGroup: {\n        rotation: {\n          y: THREE.Math.degToRad(90),\n        },\n        position: {\n          x: tubePosition,\n          z: 0.02,\n        },\n      },\n      endGroup: {\n        rotation: {\n          y: THREE.Math.degToRad(90),\n        },\n        position: {\n          z: tubePosition - 0.006,\n        },\n      },\n      childGroup: {\n        position: {\n          z: -0.018, // adjust for thickness of end cap\n        },\n        rotation: {\n          y: THREE.Math.degToRad(180), // orient correctly\n        },\n      },\n    };\n\n    return defaultOffsets;\n  }\n\n  function getComponents() {\n    const beginCapMesh = group.children[0];\n    const tubeGroup = group.children[1];\n    const tubeMesh = tubeGroup.children[0];\n    const endGroup = tubeGroup.children[1];\n    const endCapGroup = endGroup.children[0];\n    const endCapMesh = endCapGroup.children[0];\n    const childGroup = endCapGroup.children[1];\n\n    return {\n      beginCapMesh,\n      tubeGroup,\n      tubeMesh,\n      endCapGroup,\n      endCapMesh,\n      endGroup,\n      childGroup,\n    };\n  }\n\n  function updateLength(length) {\n    group.userData.length = length;\n\n    const {\n      endGroup,\n      tubeGroup,\n      tubeMesh,\n    } = getComponents();\n\n    const {\n      endGroup: endGroupOffset,\n      tubeGroup: tubeGroupOffset,\n    } = getAdjustedOffsets();\n\n    tubeMesh.scale.z = length; // scale tube by given length\n    tubeGroup.position.x = tubeGroupOffset.position.x; // reposition tube group so that its origin remains the same\n    endGroup.position.z = endGroupOffset.position.z; // move end group so that it aligns with tube\n  }\n\n  function updateTwist(twist) {\n    group.userData.twist = twist;\n\n    const { endCapGroup } = getComponents();\n    endCapGroup.rotation.x = twist;\n  }\n\n  function addChild(child) {\n    const { childGroup } = getComponents();\n    childGroup.add(child);\n  }\n\n  function removeChild(child) {\n    const { childGroup } = getComponents();\n    childGroup.remove(child);\n  }\n\n  function getChild() {\n    const { childGroup } = getComponents();\n    if (!childGroup.children || !childGroup.children.length) {\n      return null;\n    }\n\n    return childGroup.children[0];\n  }\n\n  function getChildMeshes() {\n    const { beginCapMesh, tubeMesh, endCapMesh } = getComponents();\n\n    return [\n      beginCapMesh,\n      tubeMesh,\n      endCapMesh,\n    ];\n  }\n\n  function addInterfaceItem(interfaceItem) {\n\n    if(group.userData.attachments && group.userData.attachments.length) {\n      const { childTranslationOffset, childRotationOffset } = group.userData.attachments[0];\n      const { childGroup } = getComponents();\n      \n      childGroup.add(interfaceItem);\n\n      interfaceItem.position.set(childTranslationOffset.x, childTranslationOffset.y, childTranslationOffset.z);\n      interfaceItem.rotation.set(childRotationOffset.x, childRotationOffset.y, childRotationOffset.z, 'XYZ');\n    }\n  }\n}\n","import * as THREE from 'three';\n\nexport const createPartGroup = (meshes, userData) => {\n  const group = createGroup();\n\n  group.userData = {\n    ...userData,\n    addChild,\n    getChild,\n    getChildMeshes,\n    removeChild,\n    addInterfaceItem,\n  };\n\n  return group;\n\n  function createGroup() {\n    const group = new THREE.Group();\n      meshes.forEach((mesh) => {\n        const clonedMesh = mesh.clone();\n        clonedMesh.geometry.computeBoundingBox();\n        group.add(clonedMesh);\n      });\n  \n    return group;\n  }\n\n  function addChild(child) {\n    group.add(child);\n  }\n\n  function removeChild(child) {\n    group.remove(child);\n  }\n\n  function getChildMeshes() {\n    const meshesToOutline = group.children.filter(child => child.type === 'Mesh');\n    return meshesToOutline;\n  }\n\n  function getChild() {\n    const children = group.children.filter(child => child.type === 'Group');\n    if (!children || !children.length) {\n      return null;\n    }\n\n    return children[0];\n  }\n\n  function addInterfaceItem(interfaceItem) {\n\n    if(group.userData.attachments && group.userData.attachments.length) {\n      const { childTranslationOffset, childRotationOffset } = group.userData.attachments[0];\n\n      group.add(interfaceItem);\n\n      interfaceItem.position.set(childTranslationOffset.x, childTranslationOffset.y, childTranslationOffset.z);\n      interfaceItem.rotation.set(childRotationOffset.x, childRotationOffset.y, childRotationOffset.z, 'XYZ');\n    }\n  }\n}\n","import strategies from './part-group-strategies';\n\nexport default (camera) => {\n  function create(meshes, userData) {\n    const {\n      partCategory: category,\n      translation,\n      rotation,\n    } = userData;\n\n    const { createPartGroup } = strategies[category] || strategies.default;\n    const group = createPartGroup(meshes, userData);\n\n    const canRotate = category === 'Actuator';\n\n    // Return attributes and functions as part of userData so that the consumer can freely call them\n    group.userData = {\n      ...group.userData,\n      setLocalTransform,\n      getOutlineMeshes,\n      canRotate,\n      updateConstraint,\n    };\n\n    group.name = userData.id;\n\n    setLocalTransform(translation, rotation);\n\n    if (group.userData.applyTransformation) {\n      group.userData.applyTransformation();\n    }\n\n    if (group.userData.twist) {\n      updateConstraint('twist', group.userData.twist);\n    }\n    \n    return group;\n  \n    function setLocalTransform(translation, rotation) {\n      if (translation) {\n        group.position.x = translation.x;\n        group.position.y = translation.y;\n        group.position.z = translation.z;\n      }\n\n      if (rotation) {\n        group.rotation.x = rotation.x;\n        group.rotation.y = rotation.y;\n        group.rotation.z = rotation.z;\n      }\n    }\n\n    function getOutlineMeshes() {\n      if (!group || !group.userData || !group.userData.getChildMeshes) {\n        return [];\n      }\n\n      const { getChildMeshes } = group.userData;\n      const meshesToOutline = getChildMeshes();\n      return meshesToOutline;\n    }\n\n    function updateConstraint(constraint, value) {\n      switch (constraint) {\n        case 'twist':\n          if (group.userData.updateTwist) {\n            group.userData.updateTwist(value);\n          }\n          break;\n        case 'length':\n          if (group.userData.updateLength) {\n            group.userData.updateLength(value);\n          }\n          break;\n        default:\n          break;\n      }\n    }\n  }\n\n  return {\n    create,\n  };\n}\n","import GLTFLoader from 'three-gltf-loader';\n\nimport { REACT_APP_HEBI_API_BASE_URL } from '../../../app/config/env-config';\nimport { promisifyLoader } from './three-utils';\n\nconst GltfLoader = new GLTFLoader();\nGltfLoader.setPath(REACT_APP_HEBI_API_BASE_URL);\n\nexport default promisifyLoader(GltfLoader);\n","export const promisifyLoader = (loader, onProgress) => {\n  function promiseLoader(url) {\n    return new Promise((resolve, reject) => {\n      loader.load(url, resolve, onProgress, reject);\n    });\n  }\n\n  return {\n    originalLoader: loader,\n    load: promiseLoader,\n  };\n};\n","export const ASSET_CACHE_ERROR_MESSAGE = 'Failed to load asset during caching process.';","import { toast } from 'react-toastify';\nimport GLTFLoader from './GLTFLoader';\nimport {\n    ASSET_CACHE_ERROR_MESSAGE,\n  } from './constants';\n\nexport default () => {\n\n    //NOTE: This asset cache needs to remain in memory for now.\n    //      With the local storage limit of 10mb, we won't be \n    //      able to load the cached asset meshes there.\n    let assetCache = [];\n\n    async function getPartAssets(part) {\n        let matchingAssets = getFirstPartAsset(part);\n        if (matchingAssets == null) {\n            await addPartToCache(part);\n            return getFirstPartAsset(part);\n        }\n        return matchingAssets;\n    }\n\n    function getFirstPartAsset(part) {\n        let matchingAssets = assetCache.filter(p => p.partId === part.id);\n        if (matchingAssets && matchingAssets.length > 0) {\n            return matchingAssets[0];\n        }\n        return null;\n    }\n\n    async function addPartToCache(part) {\n        if (!part.assets)\n            return;\n\n        for (const partAsset of part.assets) {\n            if (!partAsset.url)\n                return;\n            try {\n                const gltf = await GLTFLoader.load(partAsset.url);\n                gltf.scene.traverse(child => {\n                    if (child.type === \"Mesh\") {\n                        cachePartAsset(part, child);\n                    }\n                });\n            } catch (error) {\n                toast.error(ASSET_CACHE_ERROR_MESSAGE);\n            }\n        }\n    }\n\n    function cachePartAsset(part, mesh) {\n        let cachedPartAssets = getCachedPartAssetsById(part.id);\n        if (!cachedPartAssets) {\n            let addedCachedPart = {\n                partId: part.id,\n                meshes: [mesh]\n            };\n            assetCache.push(addedCachedPart);\n        }\n        else {\n            let cachedMesh = cachedPartAssets.meshes.filter(m => m === mesh);\n            if (!cachedMesh || cachedMesh.length === 0) {\n                cachedPartAssets.meshes.push(mesh);\n            }\n        }\n    }\n\n    function getCachedPartAssetsById(partId) {\n        let matchingAssets = assetCache.filter(p => p.partId === partId);\n        if (matchingAssets && matchingAssets.length > 0)\n            return matchingAssets[0];\n        else\n            return null;\n    }\n\n    return {\n        getPartAssets,\n        addPartToCache,\n    }\n}","import {\n  Vector2,\n  Vector3,\n} from 'three';\n\nexport default class WindowManager {\n  static instance;\n\n  constructor(canvas, camera, renderer, composer) {\n    if (this.instance) {\n      return this.instance;\n    }\n\n    this.canvas = canvas;\n    this.camera = camera;\n    this.renderer = renderer;\n    this.composer = composer;\n    this.workspaceDimensions = {\n      width: window.innerWidth,\n      height: window.innerHeight,\n    };\n\n    this.bindEventListeners = this.bindEventListeners.bind(this);\n    this.getWindowCoordinates = this.getWindowCoordinates.bind(this);\n    this.normalizeMouseScreenCoords = this.normalizeMouseScreenCoords.bind(this);\n    this.removeEventListeners = this.removeEventListeners.bind(this);\n    this.resizeCanvas = this.resizeCanvas.bind(this);\n    this.bindEventListeners();\n    this.instance = this;\n  }\n\n  removeEventListeners() {\n    window.removeEventListener('resize', this.resizeCanvas);\n    window.removeEventListener('beforeunload', this.removeEventListeners);\n  }\n\n  bindEventListeners() {\n    window.addEventListener('resize', this.resizeCanvas);\n    window.addEventListener('beforeunload', this.removeEventListeners);\n  }\n\n  getWindowCoordinates(object) {\n    const position = new Vector3();\n    object.getWorldPosition(position);\n    position.project(this.camera);\n\n    const x = Math.round((0.5 + position.x / 2) * (this.workspaceDimensions.width / window.devicePixelRatio));\n    const y = Math.round((0.5 - position.y / 2) * (this.workspaceDimensions.height  / window.devicePixelRatio));\n\n    return {\n      x,\n      y,\n    };\n  }\n\n  resizeCanvas() {\n    this.canvas.style.width = '100%';\n    this.canvas.style.height= '100%';\n    \n    this.canvas.width  = this.canvas.offsetWidth;\n    this.canvas.height = this.canvas.offsetHeight;\n\n    this.workspaceDimensions = {\n      width: window.innerWidth,\n      height: window.innerHeight,\n    };\n\n    this.camera.aspect = this.workspaceDimensions.width / this.workspaceDimensions.height;\n    this.camera.updateProjectionMatrix();\n\n    this.renderer.setSize(this.workspaceDimensions.width, this.workspaceDimensions.height);\n    this.composer.setSize(this.workspaceDimensions.width, this.workspaceDimensions.height);\n  }\n\n  normalizeMouseScreenCoords(x, y) {\n    //top left is (-1, 1), bottom right is (1, -1)\n\n    const mouse2D = new Vector2(\n      (x / this.workspaceDimensions.width) * 2 - 1,\n      - (y / this.workspaceDimensions.height) * 2 + 1\n    );\n\n    return mouse2D;\n  }\n}\n","\nexport const TranslationMode = {\n  xOnly: 1,\n  yOnly: 2,\n  zOnly: 3,\n  all: 4,\n};\n","//Note: these colors will not directly match the hex codes on the React side.\n//These are non-linear color definitions which are then gamma-corrected by WebGL.\n\nexport const WORKSPACE_BKG_COLOR = 0xB5B4AE;\nexport const WORKSPACE_GRID_COLOR = 0x474642;\nexport const PRIMARY_HIGHLIGHT_COLOR = 0x15c663;\nexport const SECONDARY_HIGHLIGHT_COLOR = 0xc8ded5;\n","/* eslint-disable */\n\n/**\n * @author alteredq / http://alteredqualia.com/\n */\n\nimport Pass from './Pass';\n\nvar THREE = require('three');\n\n\nTHREE.ShaderPass = function ( shader, textureID ) {\n\n\tPass.call( this );\n\n\tthis.textureID = ( textureID !== undefined ) ? textureID : \"tDiffuse\";\n\n\tif ( shader instanceof THREE.ShaderMaterial ) {\n\n\t\tthis.uniforms = shader.uniforms;\n\n\t\tthis.material = shader;\n\n\t} else if ( shader ) {\n\n\t\tthis.uniforms = THREE.UniformsUtils.clone( shader.uniforms );\n\n\t\tthis.material = new THREE.ShaderMaterial( {\n\n\t\t\tdefines: Object.assign( {}, shader.defines ),\n\t\t\tuniforms: this.uniforms,\n\t\t\tvertexShader: shader.vertexShader,\n\t\t\tfragmentShader: shader.fragmentShader\n\n\t\t} );\n\n\t}\n\n\tthis.camera = new THREE.OrthographicCamera( - 1, 1, 1, - 1, 0, 1 );\n\tthis.scene = new THREE.Scene();\n\n\tthis.quad = new THREE.Mesh( new THREE.PlaneBufferGeometry( 2, 2 ), null );\n\tthis.quad.frustumCulled = false; // Avoid getting clipped\n\tthis.scene.add( this.quad );\n\n};\n\nTHREE.ShaderPass.prototype = Object.assign( Object.create( Pass.prototype ), {\n\n\tconstructor: THREE.ShaderPass,\n\n\trender: function( renderer, writeBuffer, readBuffer, delta, maskActive ) {\n\n\t\tif ( this.uniforms[ this.textureID ] ) {\n\n\t\t\tthis.uniforms[ this.textureID ].value = readBuffer.texture;\n\n\t\t}\n\n\t\tthis.quad.material = this.material;\n\n\t\tif ( this.renderToScreen ) {\n\n\t\t\trenderer.render( this.scene, this.camera );\n\n\t\t} else {\n\n\t\t\trenderer.render( this.scene, this.camera, writeBuffer, this.clear );\n\n\t\t}\n\n\t}\n\n} );\n\nexport default THREE.ShaderPass;\n","/* eslint-disable */\n\n/**\n * @author alteredq / http://alteredqualia.com/\n */\n\nimport CopyShader from '../Shaders/CopyShader';\nimport ShaderPass from './ShaderPass';\n\nvar THREE = require('three');\n\n\nTHREE.EffectComposer = function ( renderer, renderTarget ) {\n\n\tthis.renderer = renderer;\n\n\tif ( renderTarget === undefined ) {\n\n\t\tvar parameters = {\n\t\t\tminFilter: THREE.LinearFilter,\n\t\t\tmagFilter: THREE.LinearFilter,\n\t\t\tformat: THREE.RGBAFormat,\n\t\t\tstencilBuffer: false\n\t\t};\n\n\t\tvar size = renderer.getDrawingBufferSize();\n\t\trenderTarget = new THREE.WebGLRenderTarget( size.width, size.height, parameters );\n\t\trenderTarget.texture.name = 'EffectComposer.rt1';\n\n\t}\n\n\tthis.renderTarget1 = renderTarget;\n\tthis.renderTarget2 = renderTarget.clone();\n\tthis.renderTarget2.texture.name = 'EffectComposer.rt2';\n\n\tthis.writeBuffer = this.renderTarget1;\n\tthis.readBuffer = this.renderTarget2;\n\n\tthis.passes = [];\n\n\t// dependencies\n\n\tif ( CopyShader === undefined ) {\n\n\t\tconsole.error( 'THREE.EffectComposer relies on THREE.CopyShader' );\n\n\t}\n\n\tif ( ShaderPass === undefined ) {\n\n\t\tconsole.error( 'THREE.EffectComposer relies on THREE.ShaderPass' );\n\n\t}\n\n\tthis.copyPass = new ShaderPass( CopyShader );\n\n};\n\nTHREE.EffectComposer.prototype = Object.assign( THREE.EffectComposer.prototype, {\n\n\tswapBuffers: function () {\n\n\t\tvar tmp = this.readBuffer;\n\t\tthis.readBuffer = this.writeBuffer;\n\t\tthis.writeBuffer = tmp;\n\n\t},\n\n\taddPass: function ( pass ) {\n\n\t\tthis.passes.push( pass );\n\n\t\tvar size = this.renderer.getDrawingBufferSize();\n\t\tpass.setSize( size.width, size.height );\n\n\t},\n\n\tinsertPass: function ( pass, index ) {\n\n\t\tthis.passes.splice( index, 0, pass );\n\n\t},\n\n\trender: function ( delta ) {\n\n\t\tvar maskActive = false;\n\n\t\tvar pass, i, il = this.passes.length;\n\n\t\tfor ( i = 0; i < il; i ++ ) {\n\n\t\t\tpass = this.passes[ i ];\n\n\t\t\tif ( pass.enabled === false ) continue;\n\n\t\t\tpass.render( this.renderer, this.writeBuffer, this.readBuffer, delta, maskActive );\n\n\t\t\tif ( pass.needsSwap ) {\n\n\t\t\t\tif ( maskActive ) {\n\n\t\t\t\t\tvar context = this.renderer.context;\n\n\t\t\t\t\tcontext.stencilFunc( context.NOTEQUAL, 1, 0xffffffff );\n\n\t\t\t\t\tthis.copyPass.render( this.renderer, this.writeBuffer, this.readBuffer, delta );\n\n\t\t\t\t\tcontext.stencilFunc( context.EQUAL, 1, 0xffffffff );\n\n\t\t\t\t}\n\n\t\t\t\tthis.swapBuffers();\n\n\t\t\t}\n\n\t\t\tif ( THREE.MaskPass !== undefined ) {\n\n\t\t\t\tif ( pass instanceof THREE.MaskPass ) {\n\n\t\t\t\t\tmaskActive = true;\n\n\t\t\t\t} else if ( pass instanceof THREE.ClearMaskPass ) {\n\n\t\t\t\t\tmaskActive = false;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t}\n\n\t},\n\n\treset: function ( renderTarget ) {\n\n\t\tif ( renderTarget === undefined ) {\n\n\t\t\tvar size = this.renderer.getDrawingBufferSize();\n\n\t\t\trenderTarget = this.renderTarget1.clone();\n\t\t\trenderTarget.setSize( size.width, size.height );\n\n\t\t}\n\n\t\tthis.renderTarget1.dispose();\n\t\tthis.renderTarget2.dispose();\n\t\tthis.renderTarget1 = renderTarget;\n\t\tthis.renderTarget2 = renderTarget.clone();\n\n\t\tthis.writeBuffer = this.renderTarget1;\n\t\tthis.readBuffer = this.renderTarget2;\n\n\t},\n\n\tsetSize: function ( width, height ) {\n\n\t\tthis.renderTarget1.setSize( width, height );\n\t\tthis.renderTarget2.setSize( width, height );\n\n\t\tfor ( var i = 0; i < this.passes.length; i ++ ) {\n\n\t\t\tthis.passes[ i ].setSize( width, height );\n\n\t\t}\n\n\t}\n\n} );\n\n\nexport default THREE.EffectComposer;\n","/* eslint-disable */\n\n/**\n * @author alteredq / http://alteredqualia.com/\n */\n\n import Pass from './Pass';\n\nvar THREE = require('three');\n\n\nTHREE.RenderPass = function ( scene, camera, overrideMaterial, clearColor, clearAlpha ) {\n\n\tPass.call( this );\n\n\tthis.scene = scene;\n\tthis.camera = camera;\n\n\tthis.overrideMaterial = overrideMaterial;\n\n\tthis.clearColor = clearColor;\n\tthis.clearAlpha = ( clearAlpha !== undefined ) ? clearAlpha : 0;\n\n\tthis.clear = true;\n\tthis.clearDepth = false;\n\tthis.needsSwap = false;\n\n};\n\nTHREE.RenderPass.prototype = Object.assign( Object.create( Pass.prototype ), {\n\n\tconstructor: THREE.RenderPass,\n\n\trender: function ( renderer, writeBuffer, readBuffer, delta, maskActive ) {\n\n\t\tvar oldAutoClear = renderer.autoClear;\n\t\trenderer.autoClear = false;\n\n\t\tthis.scene.overrideMaterial = this.overrideMaterial;\n\n\t\tvar oldClearColor, oldClearAlpha;\n\n\t\tif ( this.clearColor ) {\n\n\t\t\toldClearColor = renderer.getClearColor().getHex();\n\t\t\toldClearAlpha = renderer.getClearAlpha();\n\n\t\t\trenderer.setClearColor( this.clearColor, this.clearAlpha );\n\n\t\t}\n\n\t\tif ( this.clearDepth ) {\n\n\t\t\trenderer.clearDepth();\n\n\t\t}\n\n\t\trenderer.render( this.scene, this.camera, this.renderToScreen ? null : readBuffer, this.clear );\n\n\t\tif ( this.clearColor ) {\n\n\t\t\trenderer.setClearColor( oldClearColor, oldClearAlpha );\n\n\t\t}\n\n\t\tthis.scene.overrideMaterial = null;\n\t\trenderer.autoClear = oldAutoClear;\n\t}\n\n} );\n\nexport default THREE.RenderPass;\n","/* eslint-disable */\n\n/**\n * @author spidersharma / http://eduperiment.com/\n */\n\nimport Pass from './Pass';\n\nvar THREE = require('three');\n\n\nTHREE.OutlinePass = function ( resolution, scene, camera, selectedObjects ) {\n\n\tthis.renderScene = scene;\n\tthis.renderCamera = camera;\n\tthis.selectedObjects = selectedObjects !== undefined ? selectedObjects : [];\n\tthis.visibleEdgeColor = new THREE.Color( 1, 1, 1 );\n\tthis.hiddenEdgeColor = new THREE.Color( 0.1, 0.04, 0.02 );\n\tthis.edgeGlow = 0.0;\n\tthis.usePatternTexture = false;\n\tthis.edgeThickness = 1.0;\n\tthis.edgeStrength = 3.0;\n\tthis.downSampleRatio = 2;\n\tthis.pulsePeriod = 0;\n\n\tPass.call( this );\n\n\tthis.resolution = ( resolution !== undefined ) ? new THREE.Vector2( resolution.x, resolution.y ) : new THREE.Vector2( 256, 256 );\n\n\tvar pars = { minFilter: THREE.LinearFilter, magFilter: THREE.LinearFilter, format: THREE.RGBAFormat };\n\n\tvar resx = Math.round( this.resolution.x / this.downSampleRatio );\n\tvar resy = Math.round( this.resolution.y / this.downSampleRatio );\n\n\tthis.maskBufferMaterial = new THREE.MeshBasicMaterial( { color: 0xffffff } );\n\tthis.maskBufferMaterial.side = THREE.DoubleSide;\n\tthis.renderTargetMaskBuffer = new THREE.WebGLRenderTarget( this.resolution.x, this.resolution.y, pars );\n\tthis.renderTargetMaskBuffer.texture.name = \"OutlinePass.mask\";\n\tthis.renderTargetMaskBuffer.texture.generateMipmaps = false;\n\n\tthis.depthMaterial = new THREE.MeshDepthMaterial();\n\tthis.depthMaterial.side = THREE.DoubleSide;\n\tthis.depthMaterial.depthPacking = THREE.RGBADepthPacking;\n\tthis.depthMaterial.blending = THREE.NoBlending;\n\n\tthis.prepareMaskMaterial = this.getPrepareMaskMaterial();\n\tthis.prepareMaskMaterial.side = THREE.DoubleSide;\n\tthis.prepareMaskMaterial.fragmentShader = replaceDepthToViewZ( this.prepareMaskMaterial.fragmentShader, this.renderCamera );\n\n\tthis.renderTargetDepthBuffer = new THREE.WebGLRenderTarget( this.resolution.x, this.resolution.y, pars );\n\tthis.renderTargetDepthBuffer.texture.name = \"OutlinePass.depth\";\n\tthis.renderTargetDepthBuffer.texture.generateMipmaps = false;\n\n\tthis.renderTargetMaskDownSampleBuffer = new THREE.WebGLRenderTarget( resx, resy, pars );\n\tthis.renderTargetMaskDownSampleBuffer.texture.name = \"OutlinePass.depthDownSample\";\n\tthis.renderTargetMaskDownSampleBuffer.texture.generateMipmaps = false;\n\n\tthis.renderTargetBlurBuffer1 = new THREE.WebGLRenderTarget( resx, resy, pars );\n\tthis.renderTargetBlurBuffer1.texture.name = \"OutlinePass.blur1\";\n\tthis.renderTargetBlurBuffer1.texture.generateMipmaps = false;\n\tthis.renderTargetBlurBuffer2 = new THREE.WebGLRenderTarget( Math.round( resx / 2 ), Math.round( resy / 2 ), pars );\n\tthis.renderTargetBlurBuffer2.texture.name = \"OutlinePass.blur2\";\n\tthis.renderTargetBlurBuffer2.texture.generateMipmaps = false;\n\n\tthis.edgeDetectionMaterial = this.getEdgeDetectionMaterial();\n\tthis.renderTargetEdgeBuffer1 = new THREE.WebGLRenderTarget( resx, resy, pars );\n\tthis.renderTargetEdgeBuffer1.texture.name = \"OutlinePass.edge1\";\n\tthis.renderTargetEdgeBuffer1.texture.generateMipmaps = false;\n\tthis.renderTargetEdgeBuffer2 = new THREE.WebGLRenderTarget( Math.round( resx / 2 ), Math.round( resy / 2 ), pars );\n\tthis.renderTargetEdgeBuffer2.texture.name = \"OutlinePass.edge2\";\n\tthis.renderTargetEdgeBuffer2.texture.generateMipmaps = false;\n\n\tvar MAX_EDGE_THICKNESS = 4;\n\tvar MAX_EDGE_GLOW = 4;\n\n\tthis.separableBlurMaterial1 = this.getSeperableBlurMaterial( MAX_EDGE_THICKNESS );\n\tthis.separableBlurMaterial1.uniforms[ \"texSize\" ].value = new THREE.Vector2( resx, resy );\n\tthis.separableBlurMaterial1.uniforms[ \"kernelRadius\" ].value = 1;\n\tthis.separableBlurMaterial2 = this.getSeperableBlurMaterial( MAX_EDGE_GLOW );\n\tthis.separableBlurMaterial2.uniforms[ \"texSize\" ].value = new THREE.Vector2( Math.round( resx / 2 ), Math.round( resy / 2 ) );\n\tthis.separableBlurMaterial2.uniforms[ \"kernelRadius\" ].value = MAX_EDGE_GLOW;\n\n\t// Overlay material\n\tthis.overlayMaterial = this.getOverlayMaterial();\n\n\t// copy material\n\tif ( THREE.CopyShader === undefined )\n\t\tconsole.error( \"THREE.OutlinePass relies on THREE.CopyShader\" );\n\n\tvar copyShader = THREE.CopyShader;\n\n\tthis.copyUniforms = THREE.UniformsUtils.clone( copyShader.uniforms );\n\tthis.copyUniforms[ \"opacity\" ].value = 1.0;\n\n\tthis.materialCopy = new THREE.ShaderMaterial( {\n\t\tuniforms: this.copyUniforms,\n\t\tvertexShader: copyShader.vertexShader,\n\t\tfragmentShader: copyShader.fragmentShader,\n\t\tblending: THREE.NoBlending,\n\t\tdepthTest: false,\n\t\tdepthWrite: false,\n\t\ttransparent: true\n\t} );\n\n\tthis.enabled = true;\n\tthis.needsSwap = false;\n\n\tthis.oldClearColor = new THREE.Color();\n\tthis.oldClearAlpha = 1;\n\n\tthis.camera = new THREE.OrthographicCamera( - 1, 1, 1, - 1, 0, 1 );\n\tthis.scene = new THREE.Scene();\n\n\tthis.quad = new THREE.Mesh( new THREE.PlaneBufferGeometry( 2, 2 ), null );\n\tthis.quad.frustumCulled = false; // Avoid getting clipped\n\tthis.scene.add( this.quad );\n\n\tthis.tempPulseColor1 = new THREE.Color();\n\tthis.tempPulseColor2 = new THREE.Color();\n\tthis.textureMatrix = new THREE.Matrix4();\n\n\tfunction replaceDepthToViewZ( string, camera ) {\n\n\t\tvar type = camera.isPerspectiveCamera ? 'perspective' : 'orthographic';\n\n\t\treturn string.replace( /DEPTH_TO_VIEW_Z/g, type + 'DepthToViewZ' );\n\n\t}\n\n};\n\nTHREE.OutlinePass.prototype = Object.assign( Object.create( Pass.prototype ), {\n\n\tconstructor: THREE.OutlinePass,\n\n\tdispose: function () {\n\n\t\tthis.renderTargetMaskBuffer.dispose();\n\t\tthis.renderTargetDepthBuffer.dispose();\n\t\tthis.renderTargetMaskDownSampleBuffer.dispose();\n\t\tthis.renderTargetBlurBuffer1.dispose();\n\t\tthis.renderTargetBlurBuffer2.dispose();\n\t\tthis.renderTargetEdgeBuffer1.dispose();\n\t\tthis.renderTargetEdgeBuffer2.dispose();\n\n\t},\n\n\tsetSize: function ( width, height ) {\n\n\t\tthis.renderTargetMaskBuffer.setSize( width, height );\n\n\t\tvar resx = Math.round( width / this.downSampleRatio );\n\t\tvar resy = Math.round( height / this.downSampleRatio );\n\t\tthis.renderTargetMaskDownSampleBuffer.setSize( resx, resy );\n\t\tthis.renderTargetBlurBuffer1.setSize( resx, resy );\n\t\tthis.renderTargetEdgeBuffer1.setSize( resx, resy );\n\t\tthis.separableBlurMaterial1.uniforms[ \"texSize\" ].value = new THREE.Vector2( resx, resy );\n\n\t\tresx = Math.round( resx / 2 );\n\t\tresy = Math.round( resy / 2 );\n\n\t\tthis.renderTargetBlurBuffer2.setSize( resx, resy );\n\t\tthis.renderTargetEdgeBuffer2.setSize( resx, resy );\n\n\t\tthis.separableBlurMaterial2.uniforms[ \"texSize\" ].value = new THREE.Vector2( resx, resy );\n\n\t},\n\n\tchangeVisibilityOfSelectedObjects: function ( bVisible ) {\n\n\t\tfunction gatherSelectedMeshesCallBack( object ) {\n\n\t\t\tif ( object.isMesh ) {\n\n\t\t\t\tif ( bVisible ) {\n\n\t\t\t\t\tobject.visible = object.userData.oldVisible;\n\t\t\t\t\tdelete object.userData.oldVisible;\n\n\t\t\t\t} else {\n\n\t\t\t\t\tobject.userData.oldVisible = object.visible;\n\t\t\t\t\tobject.visible = bVisible;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t}\n\n\t\tfor ( var i = 0; i < this.selectedObjects.length; i ++ ) {\n\n\t\t\tvar selectedObject = this.selectedObjects[ i ];\n\t\t\tselectedObject.traverse( gatherSelectedMeshesCallBack );\n\n\t\t}\n\n\t},\n\n\tchangeVisibilityOfNonSelectedObjects: function ( bVisible ) {\n\n\t\tvar selectedMeshes = [];\n\n\t\tfunction gatherSelectedMeshesCallBack( object ) {\n\n\t\t\tif ( object.isMesh ) selectedMeshes.push( object );\n\n\t\t}\n\n\t\tfor ( var i = 0; i < this.selectedObjects.length; i ++ ) {\n\n\t\t\tvar selectedObject = this.selectedObjects[ i ];\n\t\t\tselectedObject.traverse( gatherSelectedMeshesCallBack );\n\n\t\t}\n\n\t\tfunction VisibilityChangeCallBack( object ) {\n\n\t\t\tif ( object.isMesh || object.isLine || object.isSprite ) {\n\n\t\t\t\tvar bFound = false;\n\n\t\t\t\tfor ( var i = 0; i < selectedMeshes.length; i ++ ) {\n\n\t\t\t\t\tvar selectedObjectId = selectedMeshes[ i ].id;\n\n\t\t\t\t\tif ( selectedObjectId === object.id ) {\n\n\t\t\t\t\t\tbFound = true;\n\t\t\t\t\t\tbreak;\n\n\t\t\t\t\t}\n\n\t\t\t\t}\n\n\t\t\t\tif ( ! bFound ) {\n\n\t\t\t\t\tvar visibility = object.visible;\n\n\t\t\t\t\tif ( ! bVisible || object.bVisible ) object.visible = bVisible;\n\n\t\t\t\t\tobject.bVisible = visibility;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t}\n\n\t\tthis.renderScene.traverse( VisibilityChangeCallBack );\n\n\t},\n\n\tupdateTextureMatrix: function () {\n\n\t\tthis.textureMatrix.set( 0.5, 0.0, 0.0, 0.5,\n\t\t\t0.0, 0.5, 0.0, 0.5,\n\t\t\t0.0, 0.0, 0.5, 0.5,\n\t\t\t0.0, 0.0, 0.0, 1.0 );\n\t\tthis.textureMatrix.multiply( this.renderCamera.projectionMatrix );\n\t\tthis.textureMatrix.multiply( this.renderCamera.matrixWorldInverse );\n\n\t},\n\n\trender: function ( renderer, writeBuffer, readBuffer, delta, maskActive ) {\n\n\t\tif ( this.selectedObjects.length > 0 ) {\n\n\t\t\tthis.oldClearColor.copy( renderer.getClearColor() );\n\t\t\tthis.oldClearAlpha = renderer.getClearAlpha();\n\t\t\tvar oldAutoClear = renderer.autoClear;\n\n\t\t\trenderer.autoClear = false;\n\n\t\t\tif ( maskActive ) renderer.context.disable( renderer.context.STENCIL_TEST );\n\n\t\t\trenderer.setClearColor( 0xffffff, 1 );\n\n\t\t\t// Make selected objects invisible\n\t\t\tthis.changeVisibilityOfSelectedObjects( false );\n\n\t\t\tvar currentBackground = this.renderScene.background;\n\t\t\tthis.renderScene.background = null;\n\n\t\t\t// 1. Draw Non Selected objects in the depth buffer\n\t\t\tthis.renderScene.overrideMaterial = this.depthMaterial;\n\t\t\trenderer.render( this.renderScene, this.renderCamera, this.renderTargetDepthBuffer, true );\n\n\t\t\t// Make selected objects visible\n\t\t\tthis.changeVisibilityOfSelectedObjects( true );\n\n\t\t\t// Update Texture Matrix for Depth compare\n\t\t\tthis.updateTextureMatrix();\n\n\t\t\t// Make non selected objects invisible, and draw only the selected objects, by comparing the depth buffer of non selected objects\n\t\t\tthis.changeVisibilityOfNonSelectedObjects( false );\n\t\t\tthis.renderScene.overrideMaterial = this.prepareMaskMaterial;\n\t\t\tthis.prepareMaskMaterial.uniforms[ \"cameraNearFar\" ].value = new THREE.Vector2( this.renderCamera.near, this.renderCamera.far );\n\t\t\tthis.prepareMaskMaterial.uniforms[ \"depthTexture\" ].value = this.renderTargetDepthBuffer.texture;\n\t\t\tthis.prepareMaskMaterial.uniforms[ \"textureMatrix\" ].value = this.textureMatrix;\n\t\t\trenderer.render( this.renderScene, this.renderCamera, this.renderTargetMaskBuffer, true );\n\t\t\tthis.renderScene.overrideMaterial = null;\n\t\t\tthis.changeVisibilityOfNonSelectedObjects( true );\n\n\t\t\tthis.renderScene.background = currentBackground;\n\n\t\t\t// 2. Downsample to Half resolution\n\t\t\tthis.quad.material = this.materialCopy;\n\t\t\tthis.copyUniforms[ \"tDiffuse\" ].value = this.renderTargetMaskBuffer.texture;\n\t\t\trenderer.render( this.scene, this.camera, this.renderTargetMaskDownSampleBuffer, true );\n\n\t\t\tthis.tempPulseColor1.copy( this.visibleEdgeColor );\n\t\t\tthis.tempPulseColor2.copy( this.hiddenEdgeColor );\n\n\t\t\tif ( this.pulsePeriod > 0 ) {\n\n\t\t\t\tvar scalar = ( 1 + 0.25 ) / 2 + Math.cos( performance.now() * 0.01 / this.pulsePeriod ) * ( 1.0 - 0.25 ) / 2;\n\t\t\t\tthis.tempPulseColor1.multiplyScalar( scalar );\n\t\t\t\tthis.tempPulseColor2.multiplyScalar( scalar );\n\n\t\t\t}\n\n\t\t\t// 3. Apply Edge Detection Pass\n\t\t\tthis.quad.material = this.edgeDetectionMaterial;\n\t\t\tthis.edgeDetectionMaterial.uniforms[ \"maskTexture\" ].value = this.renderTargetMaskDownSampleBuffer.texture;\n\t\t\tthis.edgeDetectionMaterial.uniforms[ \"texSize\" ].value = new THREE.Vector2( this.renderTargetMaskDownSampleBuffer.width, this.renderTargetMaskDownSampleBuffer.height );\n\t\t\tthis.edgeDetectionMaterial.uniforms[ \"visibleEdgeColor\" ].value = this.tempPulseColor1;\n\t\t\tthis.edgeDetectionMaterial.uniforms[ \"hiddenEdgeColor\" ].value = this.tempPulseColor2;\n\t\t\trenderer.render( this.scene, this.camera, this.renderTargetEdgeBuffer1, true );\n\n\t\t\t// 4. Apply Blur on Half res\n\t\t\tthis.quad.material = this.separableBlurMaterial1;\n\t\t\tthis.separableBlurMaterial1.uniforms[ \"colorTexture\" ].value = this.renderTargetEdgeBuffer1.texture;\n\t\t\tthis.separableBlurMaterial1.uniforms[ \"direction\" ].value = THREE.OutlinePass.BlurDirectionX;\n\t\t\tthis.separableBlurMaterial1.uniforms[ \"kernelRadius\" ].value = this.edgeThickness;\n\t\t\trenderer.render( this.scene, this.camera, this.renderTargetBlurBuffer1, true );\n\t\t\tthis.separableBlurMaterial1.uniforms[ \"colorTexture\" ].value = this.renderTargetBlurBuffer1.texture;\n\t\t\tthis.separableBlurMaterial1.uniforms[ \"direction\" ].value = THREE.OutlinePass.BlurDirectionY;\n\t\t\trenderer.render( this.scene, this.camera, this.renderTargetEdgeBuffer1, true );\n\n\t\t\t// Apply Blur on quarter res\n\t\t\tthis.quad.material = this.separableBlurMaterial2;\n\t\t\tthis.separableBlurMaterial2.uniforms[ \"colorTexture\" ].value = this.renderTargetEdgeBuffer1.texture;\n\t\t\tthis.separableBlurMaterial2.uniforms[ \"direction\" ].value = THREE.OutlinePass.BlurDirectionX;\n\t\t\trenderer.render( this.scene, this.camera, this.renderTargetBlurBuffer2, true );\n\t\t\tthis.separableBlurMaterial2.uniforms[ \"colorTexture\" ].value = this.renderTargetBlurBuffer2.texture;\n\t\t\tthis.separableBlurMaterial2.uniforms[ \"direction\" ].value = THREE.OutlinePass.BlurDirectionY;\n\t\t\trenderer.render( this.scene, this.camera, this.renderTargetEdgeBuffer2, true );\n\n\t\t\t// Blend it additively over the input texture\n\t\t\tthis.quad.material = this.overlayMaterial;\n\t\t\tthis.overlayMaterial.uniforms[ \"maskTexture\" ].value = this.renderTargetMaskBuffer.texture;\n\t\t\tthis.overlayMaterial.uniforms[ \"edgeTexture1\" ].value = this.renderTargetEdgeBuffer1.texture;\n\t\t\tthis.overlayMaterial.uniforms[ \"edgeTexture2\" ].value = this.renderTargetEdgeBuffer2.texture;\n\t\t\tthis.overlayMaterial.uniforms[ \"patternTexture\" ].value = this.patternTexture;\n\t\t\tthis.overlayMaterial.uniforms[ \"edgeStrength\" ].value = this.edgeStrength;\n\t\t\tthis.overlayMaterial.uniforms[ \"edgeGlow\" ].value = this.edgeGlow;\n\t\t\tthis.overlayMaterial.uniforms[ \"usePatternTexture\" ].value = this.usePatternTexture;\n\n\n\t\t\tif ( maskActive ) renderer.context.enable( renderer.context.STENCIL_TEST );\n\n\t\t\trenderer.render( this.scene, this.camera, readBuffer, false );\n\n\t\t\trenderer.setClearColor( this.oldClearColor, this.oldClearAlpha );\n\t\t\trenderer.autoClear = oldAutoClear;\n\n\t\t}\n\n\t\tif ( this.renderToScreen ) {\n\n\t\t\tthis.quad.material = this.materialCopy;\n\t\t\tthis.copyUniforms[ \"tDiffuse\" ].value = readBuffer.texture;\n\t\t\trenderer.render( this.scene, this.camera );\n\n\t\t}\n\n\t},\n\n\tgetPrepareMaskMaterial: function () {\n\n\t\treturn new THREE.ShaderMaterial( {\n\n\t\t\tuniforms: {\n\t\t\t\t\"depthTexture\": { value: null },\n\t\t\t\t\"cameraNearFar\": { value: new THREE.Vector2( 0.5, 0.5 ) },\n\t\t\t\t\"textureMatrix\": { value: new THREE.Matrix4() }\n\t\t\t},\n\n\t\t\tvertexShader: [\n\t\t\t\t'varying vec4 projTexCoord;',\n\t\t\t\t'varying vec4 vPosition;',\n\t\t\t\t'uniform mat4 textureMatrix;',\n\n\t\t\t\t'void main() {',\n\n\t\t\t\t'\tvPosition = modelViewMatrix * vec4( position, 1.0 );',\n\t\t\t\t'\tvec4 worldPosition = modelMatrix * vec4( position, 1.0 );',\n\t\t\t\t'\tprojTexCoord = textureMatrix * worldPosition;',\n\t\t\t\t'\tgl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );',\n\n\t\t\t\t'}'\n\t\t\t].join( '\\n' ),\n\n\t\t\tfragmentShader: [\n\t\t\t\t'#include <packing>',\n\t\t\t\t'varying vec4 vPosition;',\n\t\t\t\t'varying vec4 projTexCoord;',\n\t\t\t\t'uniform sampler2D depthTexture;',\n\t\t\t\t'uniform vec2 cameraNearFar;',\n\n\t\t\t\t'void main() {',\n\n\t\t\t\t'\tfloat depth = unpackRGBAToDepth(texture2DProj( depthTexture, projTexCoord ));',\n\t\t\t\t'\tfloat viewZ = - DEPTH_TO_VIEW_Z( depth, cameraNearFar.x, cameraNearFar.y );',\n\t\t\t\t'\tfloat depthTest = (-vPosition.z > viewZ) ? 1.0 : 0.0;',\n\t\t\t\t'\tgl_FragColor = vec4(0.0, depthTest, 1.0, 1.0);',\n\n\t\t\t\t'}'\n\t\t\t].join( '\\n' )\n\n\t\t} );\n\n\t},\n\n\tgetEdgeDetectionMaterial: function () {\n\n\t\treturn new THREE.ShaderMaterial( {\n\n\t\t\tuniforms: {\n\t\t\t\t\"maskTexture\": { value: null },\n\t\t\t\t\"texSize\": { value: new THREE.Vector2( 0.5, 0.5 ) },\n\t\t\t\t\"visibleEdgeColor\": { value: new THREE.Vector3( 1.0, 1.0, 1.0 ) },\n\t\t\t\t\"hiddenEdgeColor\": { value: new THREE.Vector3( 1.0, 1.0, 1.0 ) },\n\t\t\t},\n\n\t\t\tvertexShader:\n\t\t\t\t\"varying vec2 vUv;\\n\\\n\t\t\t\tvoid main() {\\n\\\n\t\t\t\t\tvUv = uv;\\n\\\n\t\t\t\t\tgl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\\n\\\n\t\t\t\t}\",\n\n\t\t\tfragmentShader:\n\t\t\t\t\"varying vec2 vUv;\\\n\t\t\t\tuniform sampler2D maskTexture;\\\n\t\t\t\tuniform vec2 texSize;\\\n\t\t\t\tuniform vec3 visibleEdgeColor;\\\n\t\t\t\tuniform vec3 hiddenEdgeColor;\\\n\t\t\t\t\\\n\t\t\t\tvoid main() {\\n\\\n\t\t\t\t\tvec2 invSize = 1.0 / texSize;\\\n\t\t\t\t\tvec4 uvOffset = vec4(1.0, 0.0, 0.0, 1.0) * vec4(invSize, invSize);\\\n\t\t\t\t\tvec4 c1 = texture2D( maskTexture, vUv + uvOffset.xy);\\\n\t\t\t\t\tvec4 c2 = texture2D( maskTexture, vUv - uvOffset.xy);\\\n\t\t\t\t\tvec4 c3 = texture2D( maskTexture, vUv + uvOffset.yw);\\\n\t\t\t\t\tvec4 c4 = texture2D( maskTexture, vUv - uvOffset.yw);\\\n\t\t\t\t\tfloat diff1 = (c1.r - c2.r)*0.5;\\\n\t\t\t\t\tfloat diff2 = (c3.r - c4.r)*0.5;\\\n\t\t\t\t\tfloat d = length( vec2(diff1, diff2) );\\\n\t\t\t\t\tfloat a1 = min(c1.g, c2.g);\\\n\t\t\t\t\tfloat a2 = min(c3.g, c4.g);\\\n\t\t\t\t\tfloat visibilityFactor = min(a1, a2);\\\n\t\t\t\t\tvec3 edgeColor = 1.0 - visibilityFactor > 0.001 ? visibleEdgeColor : hiddenEdgeColor;\\\n\t\t\t\t\tgl_FragColor = vec4(edgeColor, 1.0) * vec4(d);\\\n\t\t\t\t}\"\n\t\t} );\n\n\t},\n\n\tgetSeperableBlurMaterial: function ( maxRadius ) {\n\n\t\treturn new THREE.ShaderMaterial( {\n\n\t\t\tdefines: {\n\t\t\t\t\"MAX_RADIUS\": maxRadius,\n\t\t\t},\n\n\t\t\tuniforms: {\n\t\t\t\t\"colorTexture\": { value: null },\n\t\t\t\t\"texSize\": { value: new THREE.Vector2( 0.5, 0.5 ) },\n\t\t\t\t\"direction\": { value: new THREE.Vector2( 0.5, 0.5 ) },\n\t\t\t\t\"kernelRadius\": { value: 1.0 }\n\t\t\t},\n\n\t\t\tvertexShader:\n\t\t\t\t\"varying vec2 vUv;\\n\\\n\t\t\t\tvoid main() {\\n\\\n\t\t\t\t\tvUv = uv;\\n\\\n\t\t\t\t\tgl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\\n\\\n\t\t\t\t}\",\n\n\t\t\tfragmentShader:\n\t\t\t\t\"#include <common>\\\n\t\t\t\tvarying vec2 vUv;\\\n\t\t\t\tuniform sampler2D colorTexture;\\\n\t\t\t\tuniform vec2 texSize;\\\n\t\t\t\tuniform vec2 direction;\\\n\t\t\t\tuniform float kernelRadius;\\\n\t\t\t\t\\\n\t\t\t\tfloat gaussianPdf(in float x, in float sigma) {\\\n\t\t\t\t\treturn 0.39894 * exp( -0.5 * x * x/( sigma * sigma))/sigma;\\\n\t\t\t\t}\\\n\t\t\t\tvoid main() {\\\n\t\t\t\t\tvec2 invSize = 1.0 / texSize;\\\n\t\t\t\t\tfloat weightSum = gaussianPdf(0.0, kernelRadius);\\\n\t\t\t\t\tvec3 diffuseSum = texture2D( colorTexture, vUv).rgb * weightSum;\\\n\t\t\t\t\tvec2 delta = direction * invSize * kernelRadius/float(MAX_RADIUS);\\\n\t\t\t\t\tvec2 uvOffset = delta;\\\n\t\t\t\t\tfor( int i = 1; i <= MAX_RADIUS; i ++ ) {\\\n\t\t\t\t\t\tfloat w = gaussianPdf(uvOffset.x, kernelRadius);\\\n\t\t\t\t\t\tvec3 sample1 = texture2D( colorTexture, vUv + uvOffset).rgb;\\\n\t\t\t\t\t\tvec3 sample2 = texture2D( colorTexture, vUv - uvOffset).rgb;\\\n\t\t\t\t\t\tdiffuseSum += ((sample1 + sample2) * w);\\\n\t\t\t\t\t\tweightSum += (2.0 * w);\\\n\t\t\t\t\t\tuvOffset += delta;\\\n\t\t\t\t\t}\\\n\t\t\t\t\tgl_FragColor = vec4(diffuseSum/weightSum, 1.0);\\\n\t\t\t\t}\"\n\t\t} );\n\n\t},\n\n\tgetOverlayMaterial: function () {\n\n\t\treturn new THREE.ShaderMaterial( {\n\n\t\t\tuniforms: {\n\t\t\t\t\"maskTexture\": { value: null },\n\t\t\t\t\"edgeTexture1\": { value: null },\n\t\t\t\t\"edgeTexture2\": { value: null },\n\t\t\t\t\"patternTexture\": { value: null },\n\t\t\t\t\"edgeStrength\": { value: 1.0 },\n\t\t\t\t\"edgeGlow\": { value: 1.0 },\n\t\t\t\t\"usePatternTexture\": { value: 0.0 }\n\t\t\t},\n\n\t\t\tvertexShader:\n\t\t\t\t\"varying vec2 vUv;\\n\\\n\t\t\t\tvoid main() {\\n\\\n\t\t\t\t\tvUv = uv;\\n\\\n\t\t\t\t\tgl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\\n\\\n\t\t\t\t}\",\n\n\t\t\tfragmentShader:\n\t\t\t\t\"varying vec2 vUv;\\\n\t\t\t\tuniform sampler2D maskTexture;\\\n\t\t\t\tuniform sampler2D edgeTexture1;\\\n\t\t\t\tuniform sampler2D edgeTexture2;\\\n\t\t\t\tuniform sampler2D patternTexture;\\\n\t\t\t\tuniform float edgeStrength;\\\n\t\t\t\tuniform float edgeGlow;\\\n\t\t\t\tuniform bool usePatternTexture;\\\n\t\t\t\t\\\n\t\t\t\tvoid main() {\\\n\t\t\t\t\tvec4 edgeValue1 = texture2D(edgeTexture1, vUv);\\\n\t\t\t\t\tvec4 edgeValue2 = texture2D(edgeTexture2, vUv);\\\n\t\t\t\t\tvec4 maskColor = texture2D(maskTexture, vUv);\\\n\t\t\t\t\tvec4 patternColor = texture2D(patternTexture, 6.0 * vUv);\\\n\t\t\t\t\tfloat visibilityFactor = 1.0 - maskColor.g > 0.0 ? 1.0 : 0.5;\\\n\t\t\t\t\tvec4 edgeValue = edgeValue1 + edgeValue2 * edgeGlow;\\\n\t\t\t\t\tvec4 finalColor = edgeStrength * maskColor.r * edgeValue;\\\n\t\t\t\t\tif(usePatternTexture)\\\n\t\t\t\t\t\tfinalColor += + visibilityFactor * (1.0 - maskColor.r) * (1.0 - patternColor.r);\\\n\t\t\t\t\tgl_FragColor = finalColor;\\\n\t\t\t\t}\",\n\t\t\tblending: THREE.AdditiveBlending,\n\t\t\tdepthTest: false,\n\t\t\tdepthWrite: false,\n\t\t\ttransparent: true\n\t\t} );\n\n\t}\n\n} );\n\nTHREE.OutlinePass.BlurDirectionX = new THREE.Vector2( 1.0, 0.0 );\nTHREE.OutlinePass.BlurDirectionY = new THREE.Vector2( 0.0, 1.0 );\n\nexport default THREE.OutlinePass;\n","/**\n * @author mpk / http://polko.me/\n */\n\n import SMAAShader from '../Shaders/SMAAShader';\n\nvar THREE = require('three');\n\n\nTHREE.SMAAPass = function ( width, height ) {\n\n\tTHREE.Pass.call( this );\n\n\t// render targets\n\n\tthis.edgesRT = new THREE.WebGLRenderTarget( width, height, {\n\t\tdepthBuffer: false,\n\t\tstencilBuffer: false,\n\t\tgenerateMipmaps: false,\n\t\tminFilter: THREE.LinearFilter,\n\t\tformat: THREE.RGBFormat\n\t} );\n\tthis.edgesRT.texture.name = \"SMAAPass.edges\";\n\n\tthis.weightsRT = new THREE.WebGLRenderTarget( width, height, {\n\t\tdepthBuffer: false,\n\t\tstencilBuffer: false,\n\t\tgenerateMipmaps: false,\n\t\tminFilter: THREE.LinearFilter,\n\t\tformat: THREE.RGBAFormat\n\t} );\n\tthis.weightsRT.texture.name = \"SMAAPass.weights\";\n\n\t// textures\n\tvar scope = this;\n\n\tvar areaTextureImage = new Image();\n\tareaTextureImage.src = this.getAreaTexture();\n\tareaTextureImage.onload = function() {\n\t\t// assigning data to HTMLImageElement.src is asynchronous (see #15162)\n\t\tscope.areaTexture.needsUpdate = true;\n\t};\n\n\tthis.areaTexture = new THREE.Texture();\n\tthis.areaTexture.name = \"SMAAPass.area\";\n\tthis.areaTexture.image = areaTextureImage;\n\tthis.areaTexture.format = THREE.RGBFormat;\n\tthis.areaTexture.minFilter = THREE.LinearFilter;\n\tthis.areaTexture.generateMipmaps = false;\n\tthis.areaTexture.flipY = false;\n\n\tvar searchTextureImage = new Image();\n\tsearchTextureImage.src = this.getSearchTexture();\n\tsearchTextureImage.onload = function() {\n\t\t// assigning data to HTMLImageElement.src is asynchronous (see #15162)\n\t\tscope.searchTexture.needsUpdate = true;\n\t};\n\n\tthis.searchTexture = new THREE.Texture();\n\tthis.searchTexture.name = \"SMAAPass.search\";\n\tthis.searchTexture.image = searchTextureImage;\n\tthis.searchTexture.magFilter = THREE.NearestFilter;\n\tthis.searchTexture.minFilter = THREE.NearestFilter;\n\tthis.searchTexture.generateMipmaps = false;\n\tthis.searchTexture.flipY = false;\n\n\t// materials - pass 1\n\n\tif ( SMAAShader === undefined ) {\n\t\tconsole.error( \"THREE.SMAAPass relies on THREE.SMAAShader\" );\n\t}\n\n\tthis.uniformsEdges = THREE.UniformsUtils.clone( SMAAShader[0].uniforms );\n\n\tthis.uniformsEdges[ \"resolution\" ].value.set( 1 / width, 1 / height );\n\n\tthis.materialEdges = new THREE.ShaderMaterial( {\n\t\tdefines: Object.assign( {}, SMAAShader[ 0 ].defines ),\n\t\tuniforms: this.uniformsEdges,\n\t\tvertexShader: SMAAShader[0].vertexShader,\n\t\tfragmentShader: SMAAShader[0].fragmentShader\n\t} );\n\n\t// materials - pass 2\n\n\tthis.uniformsWeights = THREE.UniformsUtils.clone( SMAAShader[1].uniforms );\n\n\tthis.uniformsWeights[ \"resolution\" ].value.set( 1 / width, 1 / height );\n\tthis.uniformsWeights[ \"tDiffuse\" ].value = this.edgesRT.texture;\n\tthis.uniformsWeights[ \"tArea\" ].value = this.areaTexture;\n\tthis.uniformsWeights[ \"tSearch\" ].value = this.searchTexture;\n\n\tthis.materialWeights = new THREE.ShaderMaterial( {\n\t\tdefines: Object.assign( {}, SMAAShader[ 1 ].defines ),\n\t\tuniforms: this.uniformsWeights,\n\t\tvertexShader: SMAAShader[1].vertexShader,\n\t\tfragmentShader: SMAAShader[1].fragmentShader\n\t} );\n\n\t// materials - pass 3\n\n\tthis.uniformsBlend = THREE.UniformsUtils.clone( SMAAShader[2].uniforms );\n\n\tthis.uniformsBlend[ \"resolution\" ].value.set( 1 / width, 1 / height );\n\tthis.uniformsBlend[ \"tDiffuse\" ].value = this.weightsRT.texture;\n\n\tthis.materialBlend = new THREE.ShaderMaterial( {\n\t\tuniforms: this.uniformsBlend,\n\t\tvertexShader: SMAAShader[2].vertexShader,\n\t\tfragmentShader: SMAAShader[2].fragmentShader\n\t} );\n\n\tthis.needsSwap = false;\n\n\tthis.camera = new THREE.OrthographicCamera( -1, 1, 1, -1, 0, 1 );\n\tthis.scene  = new THREE.Scene();\n\n\tthis.quad = new THREE.Mesh( new THREE.PlaneBufferGeometry( 2, 2 ), null );\n\tthis.quad.frustumCulled = false; // Avoid getting clipped\n\tthis.scene.add( this.quad );\n\n};\n\nTHREE.SMAAPass.prototype = Object.assign( Object.create( THREE.Pass.prototype ), {\n\n\tconstructor: THREE.SMAAPass,\n\n\trender: function ( renderer, writeBuffer, readBuffer, delta, maskActive ) {\n\n\t\t// pass 1\n\n\t\tthis.uniformsEdges[ \"tDiffuse\" ].value = readBuffer.texture;\n\n\t\tthis.quad.material = this.materialEdges;\n\n\t\trenderer.render( this.scene, this.camera, this.edgesRT, this.clear );\n\n\t\t// pass 2\n\n\t\tthis.quad.material = this.materialWeights;\n\n\t\trenderer.render( this.scene, this.camera, this.weightsRT, this.clear );\n\n\t\t// pass 3\n\n\t\tthis.uniformsBlend[ \"tColor\" ].value = readBuffer.texture;\n\n\t\tthis.quad.material = this.materialBlend;\n\n\t\tif ( this.renderToScreen ) {\n\n\t\t\trenderer.render( this.scene, this.camera );\n\n\t\t} else {\n\n\t\t\trenderer.render( this.scene, this.camera, writeBuffer, this.clear );\n\n\t\t}\n\n\t},\n\n\tsetSize: function ( width, height ) {\n\n\t\tthis.edgesRT.setSize( width, height );\n\t\tthis.weightsRT.setSize( width, height );\n\n\t\tthis.materialEdges.uniforms[ 'resolution' ].value.set( 1 / width, 1 / height );\n\t\tthis.materialWeights.uniforms[ 'resolution' ].value.set( 1 / width, 1 / height );\n\t\tthis.materialBlend.uniforms[ 'resolution' ].value.set( 1 / width, 1 / height );\n\n\t},\n\n\tgetAreaTexture: function () {\n\t\treturn 'data:image/png;base64,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';\n\t},\n\n\tgetSearchTexture: function () {\n\t\treturn 'data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAEIAAAAhCAAAAABIXyLAAAAAOElEQVRIx2NgGAWjYBSMglEwEICREYRgFBZBqDCSLA2MGPUIVQETE9iNUAqLR5gIeoQKRgwXjwAAGn4AtaFeYLEAAAAASUVORK5CYII=';\n\t}\n\n} );\n\nexport default THREE.SMAAPass;\n","//TODO: bring this in as a library\n\n/* eslint-disable */\n\nimport * as tslib_1 from \"tslib\";\nimport { Matrix4, Vector3 } from 'three';\nimport { CommonOps, Matrix2d, SizeOps } from \"./hebimath\";\n\n///////////////////////////////////////////////////\n// Extensions/helpers for ThreeJS\n\n/// <reference types=\"three\">\n/**\n * Values of interest:\n * --------------------\n *  0    -Wz   +Wy    x\n * +Wz    0    -Wx    y\n * -Wy   +Wx    0     z\n *  0     0     0     1\n *  --------------------\n *\n *  Col-Major Index\n *  https://github.com/mrdoob/three.js/blob/dev/src/math/Matrix4.js#L43-L46\n *  --------------------\n *  0   4   8   12\n *  1   5   9   13\n *  2   6   10  14\n *  3   7   11  15\n *  --------------------\n */\nMatrix4.prototype.getX = function () {\n    return this.elements[12];\n};\nMatrix4.prototype.getY = function () {\n    return this.elements[13];\n};\nMatrix4.prototype.getZ = function () {\n    return this.elements[14];\n};\nMatrix4.prototype.setX = function (value) {\n    this.elements[12] = value;\n    return this;\n};\nMatrix4.prototype.setY = function (value) {\n    this.elements[13] = value;\n    return this;\n};\nMatrix4.prototype.setZ = function (value) {\n    this.elements[14] = value;\n    return this;\n};\nMatrix4.prototype.getWx = function () {\n    return (this.elements[6] - this.elements[9]) / 2;\n};\nMatrix4.prototype.getWy = function () {\n    return (this.elements[8] - this.elements[2]) / 2;\n};\nMatrix4.prototype.getWz = function () {\n    return (this.elements[1] - this.elements[4]) / 2;\n};\nMatrix4.prototype.toString = function () {\n    var str = '';\n    for (var row = 0; row < 4; row++) {\n        for (var col = 0; col < 4; col++) {\n            var value = this.elements[col * 4 + row];\n            str += value.toFixed(4) + \", \";\n        }\n        str += '\\n';\n    }\n    return str;\n};\n\n\n\n///////////////////////////////////////////////////\n\nexport var JointAxis;\n(function (JointAxis) {\n    JointAxis[JointAxis[\"rz\"] = 0] = \"rz\"; // rotation about z axis\n})(JointAxis || (JointAxis = {}));\nvar PayloadStats = /** @class */ (function () {\n    function PayloadStats() {\n        this.continuousPayload = 0;\n        this.peakPayload = 0;\n    }\n    return PayloadStats;\n}());\nexport { PayloadStats };\nvar RobotStats = /** @class */ (function () {\n    function RobotStats() {\n        this.maxHorizontalReach = 0; // [m]\n        this.continuousPayload = 0; // [kg]\n        this.peakPayload = 0; // [kg]\n        this.mass = 0; // [kg]\n        this.continuousPower24V = 0; // [w]\n        this.peakPower24V = 0; // [w]\n    }\n    return RobotStats;\n}());\nexport { RobotStats };\n/**\n * For the simple FK/Jacobian/IK case we only need to know about\n * the output transform. Once we get into gravity and acceleration\n * compensation, we will also need to know about the mass and\n * center of mass locations.\n */\nvar Body = /** @class */ (function () {\n    function Body(output, com, mass) {\n        this.output = output;\n        this.com = com;\n        this.mass = mass;\n    }\n    return Body;\n}());\nvar Joint = /** @class */ (function (_super) {\n    tslib_1.__extends(Joint, _super);\n    function Joint(axis) {\n        var _this = _super.call(this, new Matrix4().identity(), new Matrix4().identity(), 0) || this;\n        _this.axis = axis;\n        _this.position = 0;\n        _this.maxVel = NaN;\n        _this.contEffort = NaN;\n        _this.peakEffort = NaN;\n        _this.contCurrent24V = NaN;\n        _this.peakCurrent24V = NaN;\n        return _this;\n    }\n    // Sets transform to match the desired position ([rad] or [m])\n    Joint.prototype.setPosition = function (position) {\n        // Only update transform if position actually changes\n        if (this.position != position) {\n            this.position = position;\n            switch (this.axis) {\n                case JointAxis.rz:\n                    this.output.makeRotationZ(position);\n                    break;\n                default:\n                    throw new Error('Unsupported Axis');\n            }\n        }\n    };\n    return Joint;\n}(Body));\nvar KinematicChain = /** @class */ (function () {\n    function KinematicChain() {\n        this.bodies = [];\n        this.joints = [];\n    }\n    KinematicChain.prototype.getNumJoints = function () {\n        return this.joints.length;\n    };\n    KinematicChain.prototype.getNumBodies = function () {\n        return this.bodies.length;\n    };\n    KinematicChain.prototype.addBody = function (body) {\n        this.bodies.push(body);\n    };\n    KinematicChain.prototype.addJoint = function (joint) {\n        this.joints.push(joint);\n        this.bodies.push(joint);\n    };\n    KinematicChain.prototype.setPositions = function (positions) {\n        if (positions.length != this.joints.length) {\n            throw Error('Dimension mismatch');\n        }\n        for (var i = 0; i < this.joints.length; i++) {\n            this.joints[i].setPosition(positions[i]);\n        }\n    };\n    return KinematicChain;\n}());\n/**\n * Public API\n */\nvar RobotModel = /** @class */ (function () {\n    function RobotModel() {\n        this.EXTENSION_EDGE_TO_CENTER_Z_DISTANCE = 0.035 / 2; // 35mm edge to edge\n        this.gravCompEfforts = new Matrix2d();\n        this.unitPayloadEfforts = new Matrix2d();\n        this.tmpCompEffort = new Matrix2d();\n        this.tmpWrench3 = new Matrix2d(3, 1);\n        this.tmpR = new Matrix4();\n        this.tmpRtrans = new Matrix4();\n        this.tmpW = new Matrix4();\n        this.tmpAngVel = new Vector3();\n        this.tmpFrames = [];\n        this.tmpTestFrames = [];\n        this.tmpJacobians = [];\n        this.tmpMatrix = new Matrix4();\n        this.robot = new KinematicChain();\n        this.deltas = new Matrix2d();\n    }\n    RobotModel.prototype.addActuator = function (type) {\n        var x = 0;\n        var y = 0;\n        var z = 0;\n        var comZ = 0;\n        var joint = new Joint(JointAxis.rz);\n        // Class-type dependent variables\n        switch (type) {\n            case \"X5-1\":\n            case \"X5-4\":\n            case \"X5-9\":\n                z = 0.03105;\n                comZ = 0.0165;\n                joint.contCurrent24V = 0.8;\n                joint.peakCurrent24V = 2.4;\n                break;\n            case \"X8-3\":\n            case \"X8-9\":\n            case \"X8-16\":\n                z = 0.0451;\n                comZ = 0.0242;\n                joint.contCurrent24V = 2.0;\n                joint.peakCurrent24V = 4.5;\n                break;\n            case \"R8-3\":\n            case \"R8-9\":\n            case \"R8-16\":\n                z = 0.0510;\n                comZ = 0.0256;\n                joint.contCurrent24V = 1.3;\n                joint.peakCurrent24V = 3.0;\n                break;\n            default:\n                throw new Error(\"Unknown Actuator type: \" + type);\n        }\n        // Individual type specific variables copied from spec sheet\n        var mass = 0;\n        switch (type) {\n            case \"X5-1\":\n                joint.peakEffort = 2.5;\n                joint.contEffort = 1.3;\n                joint.maxVel = 9.5;\n                mass = 0.315;\n                break;\n            case \"X5-4\":\n                joint.peakEffort = 7;\n                joint.contEffort = 4;\n                joint.maxVel = 3.35;\n                mass = 0.335;\n                break;\n            case \"X5-9\":\n                joint.peakEffort = 13;\n                joint.contEffort = 9;\n                joint.maxVel = 1.466;\n                mass = 0.360;\n                break;\n            case \"X8-3\":\n                joint.peakEffort = 7;\n                joint.contEffort = 3;\n                joint.maxVel = 8.8;\n                mass = 0.460;\n                break;\n            case \"X8-9\":\n                joint.peakEffort = 20;\n                joint.contEffort = 8;\n                joint.maxVel = 3.142;\n                mass = 0.480;\n                break;\n            case \"X8-16\":\n                joint.peakEffort = 38;\n                joint.contEffort = 16;\n                joint.maxVel = 1.571;\n                mass = 0.500;\n                break;\n            case \"R8-3\":\n                joint.peakEffort = 7;\n                joint.contEffort = 3;\n                joint.maxVel = 8.8;\n                mass = 0.670;\n                break;\n            case \"R8-9\":\n                joint.peakEffort = 20;\n                joint.contEffort = 8;\n                joint.maxVel = 3.142;\n                mass = 0.685;\n                break;\n            case \"R8-16\":\n                joint.peakEffort = 38;\n                joint.contEffort = 16;\n                joint.maxVel = 1.571;\n                mass = 0.715;\n                break;\n        }\n        // Add static transform to CoM\n        var com = new Matrix4().makeTranslation(x, y, comZ);\n        // Add static transform part\n        var T = new Matrix4().makeTranslation(x, y, z);\n        this.addBody(T, com, mass);\n        // Add dynamic rotation about z axis\n        this.addJoint(joint);\n        return this;\n    };\n    RobotModel.prototype.addBracket = function (type) {\n        var rx = Math.PI / 2; // right -> positive, left -> negative\n        var x = 0; // center stays the same\n        var y = 0;\n        var z = 0;\n        var mass = 0;\n        var comY = 0;\n        var HEAVY_IN_Y = 0.0225;\n        var HEAVY_OUT_Y = 0.0375;\n        switch (type) {\n            case \"X5HeavyRightInside\":\n                y = HEAVY_IN_Y;\n                z = 0.055;\n                mass = 0.215;\n                comY = HEAVY_OUT_Y / 2;\n                break;\n            case \"X5HeavyRightOutside\":\n                y = -HEAVY_OUT_Y;\n                z = 0.055;\n                mass = 0.215;\n                comY = y / 2;\n                break;\n            case \"X5HeavyLeftInside\":\n                rx *= -1;\n                y = -HEAVY_IN_Y;\n                z = 0.055;\n                mass = 0.215;\n                comY = -HEAVY_OUT_Y / 2;\n                break;\n            case \"X5HeavyLeftOutside\":\n                rx *= -1;\n                y = HEAVY_OUT_Y;\n                z = 0.055;\n                mass = 0.215;\n                comY = y / 2;\n                break;\n            case \"X5LightRight\":\n                y = -0.043;\n                z = 0.040;\n                mass = 0.100;\n                comY = y / 2;\n                break;\n            case \"X5LightLeft\":\n                rx *= -1;\n                y = 0.043;\n                z = 0.040;\n                mass = 0.100;\n                comY = y / 2;\n                break;\n            case \"R8HeavyRightInside\":\n                y = HEAVY_IN_Y;\n                z = 0.055;\n                mass = 0.215;\n                comY = HEAVY_OUT_Y / 2;\n                break;\n            case \"R8HeavyRightOutside\":\n                y = -HEAVY_OUT_Y;\n                z = 0.055;\n                mass = 0.215;\n                comY = y / 2;\n                break;\n            case \"R8HeavyLeftInside\":\n                rx *= -1;\n                y = -HEAVY_IN_Y;\n                z = 0.055;\n                mass = 0.215;\n                comY = -HEAVY_OUT_Y / 2;\n                break;\n            case \"R8HeavyLeftOutside\":\n                rx *= -1;\n                y = HEAVY_OUT_Y;\n                z = 0.055;\n                mass = 0.215;\n                comY = y / 2;\n                break;\n            case \"R8LightRight\":\n                y = -0.043;\n                z = 0.040;\n                mass = 0.100;\n                comY = y / 2;\n                break;\n            case \"R8LightLeft\":\n                rx *= -1;\n                y = 0.043;\n                z = 0.040;\n                mass = 0.100;\n                comY = y / 2;\n                break;\n            default:\n                throw new Error(\"Unknown Bracket type: \" + type);\n        }\n        // Translation to center of mass\n        var com = new Matrix4().identity()\n            .setX(x / 2)\n            .setY(comY)\n            .setZ(z / 2);\n        // Form static transform and add to model\n        var T = new Matrix4()\n            .makeRotationX(rx)\n            .setX(x)\n            .setY(y)\n            .setZ(z);\n        this.addBody(T, com, mass);\n        return this;\n    };\n    RobotModel.prototype.addLink = function (type, extension, twist) {\n        switch (type) {\n            case \"X5\":\n                break;\n            case \"R8\":\n                break;\n            default:\n                throw new Error(\"Unknown Link type: \" + type);\n        }\n        // 193g for screws + adapters + ~0.421g / mm pipe\n        var mass = 0.42074 * (extension - 0.025) + 0.193;\n        // Move first half to CoM\n        var com = new Matrix4().makeTranslation(extension / 2, 0, this.EXTENSION_EDGE_TO_CENTER_Z_DISTANCE);\n        // Rotate by twist and move second half\n        var T = new Matrix4().makeRotationX(twist)\n            .premultiply(com)\n            .multiply(com); // Move second half to output (second distance is equal to first)\n        this.addBody(T, com, mass);\n        return this;\n    };\n    /**\n     * Adds a static 4x4 transform\n     *\n     * @param transform\n     * @param com\n     * @param mass\n     */\n    RobotModel.prototype.addBody = function (transform, com, mass) {\n        if (com === void 0) { com = new Matrix4().identity(); }\n        if (mass === void 0) { mass = 0; }\n        this.robot.addBody(new Body(transform, com, mass));\n    };\n    /**\n     * Adds a mass-less body with a dynamic\n     * transform around the specified axis\n     *\n     * @param jointOrAxis\n     * @param maxVel\n     * @param maxEffort\n     */\n    RobotModel.prototype.addJoint = function (jointOrAxis) {\n        if (jointOrAxis instanceof Joint)\n            this.robot.addJoint(jointOrAxis);\n        else {\n            this.robot.addJoint(new Joint(jointOrAxis));\n        }\n    };\n    /**\n     * Computes forward kinematics to end effector given the\n     * desired joint positions.\n     *\n     * @param positions desired positions for all joints\n     * @param result store. Modified\n     */\n    RobotModel.prototype.getEndEffector = function (positions, result) {\n        this.robot.setPositions(positions);\n        result.identity();\n        for (var i = 0; i < this.robot.bodies.length; i++) {\n            result.multiply(this.robot.bodies[i].output);\n        }\n    };\n    /**\n     * Returns the Jacobian, the partial derivatives of the forward kinematics\n     * equation, for the end effector frame.\n     *\n     * The Jacobian is of size 6x numDoF. Rows 1-3 of this matrix correspond to\n     * this body's linear velocities [m/s] along the X-Y-Z axes in the base frame,\n     * while rows 4-6 correspond to rotational velocities [rad/s] about the X-Y-Z\n     * axes in the world frame. The columns define the contributions to these linear\n     * and rotational velocities that would be a result of the respective degree of\n     * freedom instantaneously moving at unit velocity (e.g., a rotational joint\n     * being driven at 1 rad/s).\n     *\n     * @param positions\n     * @param result\n     */\n    RobotModel.prototype.getJEndEffector = function (positions) {\n        var J = new Matrix2d(6, this.robot.getNumJoints());\n        // Calculate FK to compare to\n        var frame = new Matrix4();\n        this.getEndEffector(positions, frame);\n        var testFrame = new Matrix4();\n        var R = new Matrix4().extractRotation(frame); // R\n        var Rtrans = R.clone().transpose(); // R'\n        var W = new Matrix4();\n        var angVel = new Vector3();\n        // Perturb each joint slightly and compare effect\n        var epsilon = RobotModel.EPSILON;\n        for (var col = 0; col < this.robot.getNumJoints(); col++) {\n            // Re-compute FK with perturbed input\n            var originalPosition = positions[col];\n            positions[col] += epsilon;\n            this.getEndEffector(positions, testFrame);\n            positions[col] = originalPosition;\n            // Differentiate positions to get translational velocities\n            var x = (testFrame.getX() - frame.getX()) / epsilon;\n            var y = (testFrame.getY() - frame.getY()) / epsilon;\n            var z = (testFrame.getZ() - frame.getZ()) / epsilon;\n            // Differentiate rotation matrices to get rotational velocities\n            // W = R' * R_test;\n            W.multiplyMatrices(Rtrans, testFrame);\n            // Extract angular velocities\n            angVel.set(W.getWx() / epsilon, W.getWy() / epsilon, W.getWz() / epsilon);\n            // Rotate angular velocities into the Body frame of the robot.\n            // R * [ w_x; w_y; w_z ]\n            angVel.applyMatrix4(R);\n            // Set column\n            J.unsafe_set(0, col, x);\n            J.unsafe_set(1, col, y);\n            J.unsafe_set(2, col, z);\n            J.unsafe_set(3, col, angVel.x);\n            J.unsafe_set(4, col, angVel.y);\n            J.unsafe_set(5, col, angVel.z);\n        }\n        return J;\n    };\n    /**\n     *  Reduced Jacobian that only returns upper 3 rows (x/y/z)\n     *\n     * @param positions\n     */\n    RobotModel.prototype.getJacobianXyz = function (positions) {\n        var J = new Matrix2d(3, this.robot.getNumJoints());\n        // Calculate FK to compare to\n        var frame = new Matrix4();\n        this.getEndEffector(positions, frame);\n        var testFrame = new Matrix4();\n        // Perturb each joint slightly and compare effect\n        var epsilon = RobotModel.EPSILON;\n        for (var col = 0; col < this.robot.getNumJoints(); col++) {\n            // Re-compute FK with perturbed input\n            var originalPosition = positions[col];\n            positions[col] += epsilon;\n            this.getEndEffector(positions, testFrame);\n            positions[col] = originalPosition;\n            // Differentiate positions to get translational velocities\n            var x = (testFrame.getX() - frame.getX()) / epsilon;\n            var y = (testFrame.getY() - frame.getY()) / epsilon;\n            var z = (testFrame.getZ() - frame.getZ()) / epsilon;\n            // Set column\n            J.set(0, col, x);\n            J.set(1, col, y);\n            J.set(2, col, z);\n        }\n        return J;\n    };\n    /**\n     *\n     * @param initialPositions joint angles to start with\n     * @param goal goal object\n     * @param positions absolute positions to reach desired effect\n     */\n    RobotModel.prototype.getInverseKinematics = function (initialPositions, goal, positions) {\n        switch (goal.kind) {\n            case 'delta-translation':\n                // d(position) = J^T * (xyz vector) * tuned scaling factor\n                var J = this.getJacobianXyz(initialPositions);\n                var vector = Matrix2d.wrap(3, 1, [goal.x, goal.y, goal.z]);\n                CommonOps.multTransA(J, vector, this.deltas);\n                var tuningFactor = 1.0;\n                for (var i = 0; i < this.robot.getNumJoints(); i++) {\n                    positions[i] = initialPositions[i] + this.deltas.data[i] * tuningFactor;\n                }\n                return;\n        }\n        throw new Error(\"Invalid Goal\");\n    };\n    RobotModel.prototype.getCoMFrames = function (positions, result) {\n        SizeOps.resizeTransforms(result, this.robot.getNumBodies());\n        this.robot.setPositions(positions);\n        var output = this.tmpMatrix.identity();\n        for (var i = 0; i < this.robot.getNumBodies(); i++) {\n            var body = this.robot.bodies[i];\n            // store CoM\n            result[i].multiplyMatrices(output, body.com);\n            // advance to next output\n            output.multiply(body.output);\n        }\n    };\n    /**\n     * @param positions array of positions at which to calculate the Jacobians\n     * @param jacobians array of Jacobians at the CoM\n     */\n    RobotModel.prototype.getJacobiansCoM = function (positions, jacobians) {\n        if (positions.length != this.robot.getNumJoints())\n            throw new Error(\"Expected one value for each joint\");\n        SizeOps.resizeMatrices(jacobians, this.robot.getNumBodies(), 3, this.robot.getNumJoints());\n        // Make sure Jacobians are zeroed\n        for (var _i = 0, jacobians_1 = jacobians; _i < jacobians_1.length; _i++) {\n            var J = jacobians_1[_i];\n            J.zero();\n        }\n        // Calculate the state to linearize around and set up the\n        // Jacobian matrix based on the return vector\n        var numBodies = this.robot.getNumBodies();\n        var numJoints = this.robot.getNumJoints();\n        var frames = SizeOps.resizeTransforms(this.tmpFrames, numBodies);\n        var testFrames = SizeOps.resizeTransforms(this.tmpTestFrames, numBodies);\n        this.getCoMFrames(positions, frames);\n        // Perturb each joint slightly and compare effect\n        var epsilon = RobotModel.EPSILON;\n        for (var jointIx = 0; jointIx < this.robot.getNumJoints(); jointIx++) {\n            // Re-compute FK with perturbed input\n            var originalPosition = positions[jointIx];\n            positions[jointIx] += epsilon;\n            this.getCoMFrames(positions, testFrames);\n            positions[jointIx] = originalPosition;\n            // Build each row for a column, corresponding to wrench outputs\n            for (var bodyIx = 0; bodyIx < numBodies; bodyIx++) {\n                // Extract transforms\n                var frame = frames[bodyIx];\n                var testFrame = testFrames[bodyIx];\n                // Differentiate positions to get translational velocities\n                var x = (testFrame.getX() - frame.getX()) / epsilon;\n                var y = (testFrame.getY() - frame.getY()) / epsilon;\n                var z = (testFrame.getZ() - frame.getZ()) / epsilon;\n                // Fill translational rows of Jacobian\n                var J = jacobians[bodyIx];\n                J.unsafe_set(0, jointIx, x);\n                J.unsafe_set(1, jointIx, y);\n                J.unsafe_set(2, jointIx, z);\n                /*\n                // NOTE: we currently only use the first 3 rows for grav comp\n                // and we don't do any dynamics comp. Uncomment the lines below\n                // to enable 6 dof\n\n                // Differentiate rotation matrices to get rotational velocities\n                // W = R' * R_test;\n                let R = this.tmpR.extractRotation(frame); // R\n                let Rtrans = this.tmpRtrans.copy(R).transpose(); // R'\n                let W = this.tmpW.multiplyMatrices(Rtrans, testFrame);\n\n                // Extract angular velocities\n                let angVel = this.tmpAngVel.set(\n                    W.getWx() / epsilon,\n                    W.getWy() / epsilon,\n                    W.getWz() / epsilon);\n\n                // Rotate angular velocities into the Body frame of the robot.\n                // R * [ w_x; w_y; w_z ]\n                angVel.applyMatrix4(R);\n\n                // Set rotational rows\n                J.unsafe_set(3, jointIx, angVel.x);\n                J.unsafe_set(4, jointIx, angVel.y);\n                J.unsafe_set(5, jointIx, angVel.z);\n                */\n            }\n        }\n    };\n    /**\n     * @param positions given joint angles. Not modified\n     * @param gravCompEfforts vector of torques needed to sustain weight of robot given gravity. Modified\n     * @param unitPayloadEfforts vector of torque needed to sustain a unit weight (1kg) at the current position. Modified\n     * @param gravity vector showing where gravity is. Defaults to gravity coming from [0 0 -1]\n     */\n    RobotModel.prototype.getGravCompEfforts = function (positions, gravCompEfforts, unitPayloadEfforts, gravity) {\n        if (gravity === void 0) { gravity = RobotModel.DEFAULT_GRAVITY; }\n        // Calculate Jacobians at the center of mass\n        var numBodies = this.robot.getNumBodies();\n        var numJoints = this.robot.getNumJoints();\n        var jacobians = SizeOps.resizeMatrices(this.tmpJacobians, numBodies, 3, numJoints);\n        this.getJacobiansCoM(positions, jacobians);\n        var tmpResult = this.tmpCompEffort.reshape(numJoints, 1).zero();\n        gravCompEfforts.reshape(numJoints, 1).zero();\n        unitPayloadEfforts.reshape(numJoints, 1).zero();\n        // Sum gravity effects for all bodies\n        var wrench = this.tmpWrench3.zero();\n        for (var bodyIx = 0; bodyIx < numBodies; bodyIx++) {\n            // Set translational part of wrench vector\n            var mass = this.robot.bodies[bodyIx].mass;\n            if (mass == 0)\n                continue;\n            wrench.data[0] = -gravity.x * mass;\n            wrench.data[1] = -gravity.y * mass;\n            wrench.data[2] = -gravity.z * mass;\n            // compEffort = J' * wrench\n            var J_1 = jacobians[bodyIx];\n            CommonOps.multTransA(J_1, wrench, tmpResult);\n            CommonOps.addEquals(gravCompEfforts, tmpResult);\n        }\n        // Calculate what torque would be needed per joint for\n        // a unit-payload at the end effector\n        var J = jacobians[numBodies - 1];\n        var unitMass = 1;\n        wrench.data[0] = -gravity.x * unitMass;\n        wrench.data[1] = -gravity.y * unitMass;\n        wrench.data[2] = -gravity.z * unitMass;\n        CommonOps.multTransA(J, wrench, unitPayloadEfforts);\n    };\n    RobotModel.prototype.getPayloadStats = function (positions, result) {\n        // Figure out torques needed to cancel the weight of the robot itself\n        var numJoints = this.robot.getNumJoints();\n        this.getGravCompEfforts(positions, this.gravCompEfforts, this.unitPayloadEfforts);\n        // See what we can do with the leftover portion\n        result.continuousPayload = Infinity;\n        result.peakPayload = Infinity;\n        for (var i = 0; i < numJoints; i++) {\n            var joint = this.robot.joints[i];\n            var multiplier = 1 / Math.abs(this.unitPayloadEfforts.data[i]);\n            var cont = (joint.contEffort - this.gravCompEfforts.data[i]) * multiplier;\n            var peak = (joint.peakEffort - this.gravCompEfforts.data[i]) * multiplier;\n            result.continuousPayload = Math.min(result.continuousPayload, cont);\n            result.peakPayload = Math.min(result.peakPayload, peak);\n        }\n    };\n    RobotModel.prototype.getRobotStats = function (result) {\n        var numBodies = this.robot.getNumBodies();\n        var numJoints = this.robot.getNumJoints();\n        // Sum total mass\n        result.mass = 0;\n        for (var bodyIx = 0; bodyIx < numBodies; bodyIx++) {\n            result.mass += this.robot.bodies[bodyIx].mass;\n        }\n        // Sum total joint power\n        result.continuousPower24V = 0;\n        result.peakPower24V = 0;\n        for (var jointIx = 0; jointIx < numJoints; jointIx++) {\n            result.continuousPower24V += this.robot.joints[jointIx].contCurrent24V;\n            result.peakPower24V += this.robot.joints[jointIx].peakCurrent24V;\n        }\n        result.continuousPower24V *= 24; // convert current to watts\n        result.peakPower24V *= 24;\n        // Find max horizontal reach\n        var positions = new Array(numJoints);\n        for (var i = 1; i < numJoints; i++) {\n            // initialize slightly offset so we never go straight up\n            positions[i] = 0.1;\n        }\n        // Find the maximum distance increase for each joint\n        // Brute force with knowledge that parts can be oriented\n        // at a minimum of 90 deg increments\n        for (var jointIx = 0; jointIx < numJoints; jointIx++) {\n            // try zero angle as base line\n            var jointMax = 0;\n            positions[jointIx] = 0;\n            var jointMaxDistance = this.getHorizontalReach(positions);\n            // try other 3 options\n            for (var angle = Math.PI / 2; angle < 2 * Math.PI; angle += Math.PI / 2) {\n                positions[jointIx] = angle;\n                var distance = this.getHorizontalReach(positions);\n                if (distance > jointMaxDistance) {\n                    jointMaxDistance = distance;\n                    jointMax = angle;\n                }\n            }\n            // save highest per joint\n            positions[jointIx] = jointMax;\n        }\n        // Find max payload at the maximum reach\n        var payloadStats = new PayloadStats();\n        this.getPayloadStats(positions, payloadStats);\n        result.continuousPayload = payloadStats.continuousPayload;\n        result.peakPayload = payloadStats.peakPayload;\n        result.maxHorizontalReach = this.getHorizontalReach(positions);\n    };\n    RobotModel.prototype.getHorizontalReach = function (positions) {\n        var T = this.tmpMatrix;\n        this.getEndEffector(positions, T);\n        return Math.sqrt(T.getX() * T.getX() + T.getY() * T.getY());\n    };\n    RobotModel.G_TO_MPS2 = 9.80665;\n    RobotModel.DEFAULT_GRAVITY = new Vector3(0, 0, -RobotModel.G_TO_MPS2);\n    RobotModel.EPSILON = 1E-6;\n    return RobotModel;\n}());\nexport { RobotModel };\n\n","/* eslint-disable */\n\nimport { Matrix4 } from \"three\";\n/**\n * Represents a matrix that has 2 dimensions,\n * i.e., numRows and columns. Modelled after EJML's\n * DMatrixRMaj\n */\nvar Matrix2d = /** @class */ (function () {\n    function Matrix2d(numRows, numCols) {\n        if (numRows === void 0) { numRows = 0; }\n        if (numCols === void 0) { numCols = 0; }\n        this.numRows = numRows;\n        this.numCols = numCols;\n        this.data = new Float64Array(0);\n        this.data = new Float64Array(numRows * numCols);\n    }\n    /**\n     * Creates a new Matrix2d around the provided data.  The data must encode\n     * a row-major matrix. Any modification to the returned matrix will modify the\n     * provided data.\n     *\n     * @param numRows Number of rows in the matrix.\n     * @param numCols Number of columns in the matrix.\n     * @param data Data that is being wrapped. Referenced Saved.\n     * @return A matrix which references the provided data internally.\n     *\n     */\n    Matrix2d.wrap = function (numRows, numCols, data) {\n        var s = new Matrix2d();\n        s.numRows = numRows;\n        s.numCols = numCols;\n        s.data = new Float64Array(s.getNumElements());\n        for (var i = 0; i < s.getNumElements(); i++) {\n            s.data[i] = data[i];\n        }\n        return s;\n    };\n    Matrix2d.prototype.getNumElements = function () {\n        return this.numRows * this.numCols;\n    };\n    Matrix2d.prototype.reshape = function (rows, cols) {\n        this.numRows = rows;\n        this.numCols = cols;\n        if (this.data.length < this.getNumElements()) {\n            this.data = new Float64Array(this.getNumElements()).fill(0);\n        }\n        return this;\n    };\n    Matrix2d.prototype.set = function (row, col, value) {\n        if (col < 0 || col >= this.numCols || row < 0 || row >= this.numRows) {\n            throw new Error(\"Specified element is out of bounds: (\" + row + \" , \" + col + \")\");\n        }\n        this.data[row * this.numCols + col] = value;\n    };\n    Matrix2d.prototype.unsafe_set = function (row, col, value) {\n        this.data[row * this.numCols + col] = value;\n    };\n    Matrix2d.prototype.get = function (row, col) {\n        if (col < 0 || col >= this.numCols || row < 0 || row >= this.numRows) {\n            throw new Error(\"Specified element is out of bounds: (\" + row + \" , \" + col + \")\");\n        }\n        return this.data[row * this.numCols + col];\n    };\n    Matrix2d.prototype.unsafe_get = function (row, col) {\n        return this.data[row * this.numCols + col];\n    };\n    Matrix2d.prototype.zero = function () {\n        // Note: we could do from-to index, but documentation is inconsistent\n        // on how to exactly use it, i.e., inclusive vs exclusive end index.\n        this.data.fill(0.0);\n        return this;\n    };\n    Matrix2d.prototype.getNumCols = function () {\n        return this.numCols;\n    };\n    Matrix2d.prototype.getNumRows = function () {\n        return this.numRows;\n    };\n    Matrix2d.prototype.toString = function () {\n        var out = \"[ \";\n        for (var row = 0; row < this.getNumRows(); row++) {\n            for (var col = 0; col < this.getNumCols(); col++) {\n                out += this.unsafe_get(row, col).toFixed(4);\n                if (col + 1 < this.getNumCols()) {\n                    out += \" , \";\n                }\n            }\n            if (row + 1 < this.getNumRows())\n                out += \" ;\\n  \";\n            else\n                out += \" ]\";\n        }\n        return out;\n    };\n    return Matrix2d;\n}());\nexport { Matrix2d };\n/**\n * Mathematical operations on matrices / vectors\n */\nvar CommonOps = /** @class */ (function () {\n    function CommonOps() {\n    }\n    /**\n     * c = a * b\n     *\n     * @param a Not modified.\n     * @param b Not modified.\n     * @param c Modified. (optional)\n     * @return c\n     */\n    CommonOps.mult = function (a, b, c) {\n        if (c === void 0) { c = new Matrix2d(a.numRows, b.numCols); }\n        // NOTE: EJML switches to do a reordered multiply if >15 columns\n        // The code below is equivalent to mult_small()\n        if (a === c || b === c) {\n            throw new Error(\"Neither 'a' or 'b' can be the same matrix as 'c'\");\n        }\n        else if (a.numCols != b.numCols) {\n            throw new Error(\"The 'a' and 'b' matrices do not have compatible dimensions\");\n        }\n        c.reshape(a.numRows, b.numCols);\n        var aIndexStart = 0;\n        var cIndex = 0;\n        for (var i = 0; i < a.numRows; i++) {\n            for (var j = 0; j < b.numCols; j++) {\n                var total = 0;\n                var indexA = aIndexStart;\n                var indexB = j;\n                var end = indexA + b.numRows;\n                while (indexA < end) {\n                    total += a.data[indexA++] * b.data[indexB];\n                    indexB += b.numCols;\n                }\n                c.data[cIndex++] = total;\n            }\n            aIndexStart += a.numCols;\n        }\n        return c;\n    };\n    /**\n     * c = a' * b\n     *\n     * @param a Not modified.\n     * @param b Not modified.\n     * @param c Modified. (optional)\n     * @return c\n     */\n    CommonOps.multTransA = function (a, b, c) {\n        if (c === void 0) { c = new Matrix2d(a.numCols, b.numRows); }\n        // NOTE: EJML switches to do a reordered multiply if >15 columns\n        // The code below is equivalent to multTransA_small()\n        if (a === c || b === c) {\n            throw new Error(\"Neither 'a' or 'b' can be the same matrix as 'c'\");\n        }\n        else if (a.numRows != b.numRows) {\n            throw new Error(\"The 'a' and 'b' matrices do not have compatible dimensions\");\n        }\n        c.reshape(a.numCols, b.numCols);\n        var cIndex = 0;\n        for (var i = 0; i < a.numCols; i++) {\n            for (var j = 0; j < b.numCols; j++) {\n                var indexA = i;\n                var indexB = j;\n                var end = indexB + b.numRows * b.numCols;\n                var total = 0;\n                // loop for k\n                for (; indexB < end; indexB += b.numCols) {\n                    total += a.data[indexA] * b.data[indexB];\n                    indexA += a.numCols;\n                }\n                c.data[cIndex++] = total;\n            }\n        }\n        return c;\n    };\n    /**\n     * <p>Performs the following operation:<br>\n     * <br>\n     * a = a + b <br>\n     * a<sub>ij</sub> = a<sub>ij</sub> + b<sub>ij</sub> <br>\n     * </p>\n     *\n     * @param a A Matrix. Modified.\n     * @param b A Matrix. Not modified.\n     */\n    CommonOps.addEquals = function (a, b) {\n        // NOTE: EJML switches to do a reordered multiply if >15 columns\n        // The code below is equivalent to multTransA_small()\n        if (a.numCols != b.numCols || a.numRows != b.numRows) {\n            throw new Error(\"The 'a' and 'b' matrices do not have compatible dimensions\");\n        }\n        var length = a.getNumElements();\n        for (var i = 0; i < length; i++) {\n            a.data[i] += b.data[i];\n        }\n    };\n    return CommonOps;\n}());\nexport { CommonOps };\nvar SizeOps = /** @class */ (function () {\n    function SizeOps() {\n    }\n    /**\n     * @return resize the array to the desired length, and reshape each element to the desired rows/cols\n     */\n    SizeOps.resizeMatrices = function (array, numMatrices, rows, cols) {\n        // Reshape any existing entries\n        for (var i = 0; i < Math.min(array.length, numMatrices); i++) {\n            array[i].reshape(rows, cols);\n        }\n        // Add/Remove elements if needed\n        while (array.length < numMatrices) {\n            array.push(new Matrix2d(rows, cols));\n        }\n        while (array.length > numMatrices) {\n            array.pop();\n        }\n        return array;\n    };\n    SizeOps.resizeTransforms = function (array, length) {\n        if (length == array.length)\n            return array;\n        while (array.length < length)\n            array.push(new Matrix4());\n        while (array.length > length)\n            array.pop();\n        return array;\n    };\n    return SizeOps;\n}());\nexport { SizeOps };\n\n","import { map } from 'lodash-es';\nimport * as THREE from 'three';\n\nimport store from '../../../app/store';\nimport {TranslationMode} from './TranslationMode';\nimport { RobotModel, PayloadStats, RobotStats } from '../../../features/shared/InverseKinematics/kinematics';\n\nimport {\n  updateRobotStatistics,\n} from '../../../features/configurator/actions';\n\nexport default class InverseKinematicsManager {\n  static instance;\n\n  constructor() {\n    if (this.instance) {\n      return this.instance;\n    }\n\n    this.ikRobot = new RobotModel();\n    this.directChildrenOfActuators = [];\n    this.ikPartsSequence = [];\n    this.staticStats = new RobotStats();\n    this.dynamicStats = new PayloadStats();\n\n    this.resetRobot = this.resetRobot.bind(this);\n    this.buildRobot = this.buildRobot.bind(this);\n    this.traverseRobot = this.traverseRobot.bind(this);\n    this.buildIK = this.buildIK.bind(this);\n    this.areAnyChildrenGroups = this.areAnyChildrenGroups.bind(this);\n    this.updateInverseKinematics = this.updateInverseKinematics.bind(this);\n    this.getDynamicStats = this.getDynamicStats.bind(this);\n    this.sanitizeStat = this.sanitizeStat.bind(this);\n    this.clampRotations = this.clampRotations.bind(this);\n    this.isChangeTooLarge = this.isChangeTooLarge.bind(this);\n\n    this.instance = this;\n  }\n\n  resetRobot() {\n    this.ikRobot = new RobotModel();\n    this.directChildrenOfActuators = [];\n    this.ikPartsSequence = [];\n  }\n\n  buildRobot(terminatingPart) {\n    this.ikRobot = new RobotModel();\n    this.dynamicStats = new PayloadStats();\n\n    this.traverseRobot(terminatingPart);\n    this.buildIK();\n\n    this.ikRobot.getRobotStats(this.staticStats);\n    store.dispatch(updateRobotStatistics(this.staticStats));\n  }\n\n  traverseRobot(robotPart) {\n    //work backwards from the end and build up the chain\n\n    if(robotPart.parent) {\n\n      if (robotPart.parent.userData.canRotate) {\n        this.directChildrenOfActuators.unshift(robotPart);\n      }\n      else if(robotPart.userData.canRotate && this.areAnyChildrenGroups(robotPart.children) === false) {\n        //the terminating part is a actuator - add a dummy child part after the actuator so\n        //that the solver can rotate it like usual using this zeroed rotation property\n        this.directChildrenOfActuators.unshift({\n          userData: {\n            type: 'DummyActuatorChild',\n          },\n          rotation: {\n            x: 0,\n            y: 0,\n            z: 0,\n          },\n        });\n      }\n\n      this.ikPartsSequence.unshift(robotPart);\n\n      this.traverseRobot(robotPart.parent);\n    }\n  }\n\n  buildIK() {\n    this.ikPartsSequence.forEach(part => {\n      switch(part.userData.partCategory) {\n        case 'Actuator':\n          this.ikRobot.addActuator(part.userData.type);\n        break;\n        case 'Link':\n          this.ikRobot.addLink(\n            part.userData.type,\n            (part.userData.length && part.userData.length !== 0) ? part.userData.length : part.userData.defaultLength,\n            part.userData.twist ? part.userData.twist : 0\n          );\n        break;\n        case 'Bracket':\n          this.ikRobot.addBracket(part.userData.type);\n        break;\n        case 'DummyActuatorChild':\n          //this is not a type from the database - it is only inserted at runtime for robots that terminate in an actuator\n          this.ikRobot.addBody(new THREE.Matrix4(), new THREE.Matrix4(), 0);\n        break;\n        default:\n        //the solver only cares about the part types above\n        break;\n      }\n    });\n  }\n\n  areAnyChildrenGroups(robotPartChildren) {\n    let hasGroups = false;\n    robotPartChildren.forEach(child => {\n      if(child.type === \"Group\") {\n        hasGroups = true;\n      }\n    });\n    return hasGroups;\n  }\n  \n  updateInverseKinematics(deltaGoal, testDriveTranslationMode, allowClamping, loggingEnabled) {\n    if(this.ikRobot) {\n      let startingRotations = map(this.directChildrenOfActuators, c => c.rotation.z);\n      let updatedRotations = [];\n\n      startingRotations.forEach(r => {\n        updatedRotations.push(0);\n      });\n\n      switch(testDriveTranslationMode) {\n        case TranslationMode.xOnly:\n          deltaGoal = new THREE.Vector3(deltaGoal.x, 0, 0);\n        break;\n        case TranslationMode.yOnly:\n          deltaGoal = new THREE.Vector3(0, deltaGoal.y, 0);\n        break;\n        case TranslationMode.zOnly:\n          deltaGoal = new THREE.Vector3(0, 0, deltaGoal.z);\n        break;\n        default:\n          //keep the vector as-is\n        break;\n      }\n\n      try {\n        this.ikRobot.getInverseKinematics(\n          startingRotations,\n          {kind: \"delta-translation\", x: deltaGoal.x, y: deltaGoal.y, z: deltaGoal.z},\n          updatedRotations\n        );\n      }\n      catch(err) {\n        console.log('Invalid robot configuration!');\n        console.log(err);\n      }\n\n      if(allowClamping) {\n        this.clampRotations(startingRotations, updatedRotations);\n      }\n\n      //TODO: for HEBI's internal testing\n      if(loggingEnabled) {\n        console.log(\"vector:\");\n        console.log(deltaGoal);\n\n        console.log(\"starting rotations:\");\n        console.log(startingRotations);\n\n        console.log(\"updated rotations:\");\n        console.log(updatedRotations);\n\n        console.log(\"----------------\");\n      }\n\n      for(var i = 0; i < updatedRotations.length; i++) {\n        this.directChildrenOfActuators[i].rotation.z = updatedRotations[i];\n      }\n\n      this.ikRobot.getPayloadStats(updatedRotations, this.dynamicStats);\n    }\n  }\n\n  getDynamicStats() {\n    this.dynamicStats.continuousPayload = this.sanitizeStat(this.dynamicStats.continuousPayload);\n    this.dynamicStats.peakPayload = this.sanitizeStat(this.dynamicStats.peakPayload);\n\n    return this.dynamicStats;\n  }\n\n  sanitizeStat(stat) {\n    if(!stat || isNaN(stat)) {\n      stat = 0;\n    }\n    return stat;\n  }\n\n  clampRotations(startingRotations, updatedRotations) {\n\n    const acceptableVariance = 0.02;\n\n    for(let i = 0; i < startingRotations.length; i++) {\n      if(this.isChangeTooLarge(acceptableVariance, startingRotations[i], updatedRotations[i])) {\n        if(startingRotations[i] < updatedRotations[i]) {\n          updatedRotations[i] = startingRotations[i] + acceptableVariance;\n        }\n        else {\n          updatedRotations[i] = startingRotations[i] - acceptableVariance;\n        }\n      }\n    }\n  }\n\n  isChangeTooLarge(acceptableVariance, original, updated) {\n    return Math.abs(original - updated) >= acceptableVariance;\n  }\n}\n","import { find, isEmpty } from 'lodash-es';\n\nimport * as THREE from 'three';\nimport OrbitControls from 'three-orbitcontrols';\n\nimport TransformControls from '../../../features/shared/threejs/TransformControls';\n\nimport store from '../../../app/store';\nimport PartGroupFactory from './PartGroupFactory';\nimport AssetCacheManager from './AssetCacheManager';\nimport WindowManager from './WindowManager';\nimport {TranslationMode} from './TranslationMode';\n\nimport {\n  showPopper,\n  hidePopper,\n  updatePopperRequest,\n} from '../../../features/poppers/actions';\n\nimport {\n  clearSelectedRobotPart,\n  setSelectedRobotPart,\n} from '../../../features/configurator/actions';\n\nimport { WORKSPACE_BKG_COLOR, WORKSPACE_GRID_COLOR, PRIMARY_HIGHLIGHT_COLOR } from '../../../common/themes/workspace';\nimport { PostProcessingComposer } from './PostProcessingComposer';\n\nimport Stats from 'stats.js/build/stats';\nimport InverseKinematicsManager from './InverseKinematicsManager';\n\nexport default canvas => {\n  const assetCacheManager = new AssetCacheManager();\n\n  const origin = new THREE.Vector3(0, 0, 0);\n  const { dispatch } = store;\n\n  const workspaceDimensions = {\n    width: window.innerWidth,\n    height: window.innerHeight,\n  };\n\n  const stats = new Stats();\n  if (process.env.NODE_ENV === 'development') {\n    stats.showPanel(0);\n    document.body.appendChild(stats.dom);\n  }\n\n  const pointLightForCamera = new THREE.PointLight(0xffffff, 0.8);   //this light's position needs to be updated each frame so that it tracks with the camera\n\n  const { testDriveTarget, testDriveSnapTarget, screenPlane } = buildTestDriveControls();\n  deemphasizeTestDriveTarget();\n\n  const workspaceScene = buildWorkspaceScene(pointLightForCamera, testDriveTarget, screenPlane);   //scene that will have lights, objects, and postprocessing effects\n\n  const camera = buildCamera(workspaceDimensions);\n  resetCamera();\n\n  const renderer = buildRenderer(workspaceDimensions);\n  let sceneIsDirty = true;\n  let wasIntersecting = true;\n\n  const orbitControls = buildOrbitControls();\n  const rotateControls = buildRotationControls();\n\n  const controlsScene = buildControlsScene([rotateControls]);      //draw controls separately so they are always on top\n\n  const { composer, hoverOutlinePass, selectedOutlinePass } = PostProcessingComposer(renderer, workspaceScene, controlsScene, camera, workspaceDimensions.width, workspaceDimensions.height);\n\n  const raycaster = new THREE.Raycaster();\n\n  let robotParts = [];\n  const partGroupFactory = new PartGroupFactory(camera);\n\n  const inverseKinematicsManager = new InverseKinematicsManager();\n  let testDriveActive = false;\n  let isDraggingTarget = false;\n  let dragStartPosition = new THREE.Vector3();\n  let testDriveTranslationMode = TranslationMode.all;\n\n  //////////////////////////////\n  //TODO: for HEBI's internal testing\n  let allowClamping = true;\n  let loggingEnabled = false;\n  //////////////////////////////\n\n  const windowManager = new WindowManager(canvas, camera, renderer, composer);\n\n  // Mark scene as dirty (needs a redraw)\n  function invalidateScene() {\n    sceneIsDirty = true;\n  }\n\n  function buildWorkspaceScene(camPointLight, target, plane) {\n    const scene = new THREE.Scene();\n    scene.background = new THREE.Color(WORKSPACE_BKG_COLOR);\n\n    const grid = new THREE.GridHelper(2, 24, WORKSPACE_GRID_COLOR, WORKSPACE_GRID_COLOR);\n    grid.rotateX(Math.PI / 2);\n    scene.add(grid);\n\n    if (process.env.NODE_ENV === 'development') {\n      scene.add(new THREE.AxesHelper(1));\n    }\n\n    scene.add(new THREE.AmbientLight(0xffffff, 0.1));\n    scene.add(camPointLight);\n\n    scene.add(target);\n    target.visible = false;\n\n    scene.add(plane);\n\n    return scene;\n  }\n\n  function buildControlsScene(controls) {\n    const scene = new THREE.Scene();\n\n    controls.forEach(control => {\n      scene.add(control);\n    });\n\n    return scene;\n  }\n\n  function buildRenderer({ width, height }) {\n    const renderer = new THREE.WebGLRenderer({ canvas, antialias: true });\n\n    renderer.setPixelRatio(window.devicePixelRatio);\n    renderer.setSize(width, height);\n\n    renderer.gammaOutput = true;\n\n    return renderer;\n  }\n\n  function buildCamera({ width, height }) {\n    const fieldOfView = 45;\n    const aspectRatio = width / height;\n    const nearPlane = 0.01;\n    const farPlane = 5;\n\n    const cam = new THREE.PerspectiveCamera(fieldOfView, aspectRatio, nearPlane, farPlane);\n    cam.up.set(0, 0, 1);    //set z axis of camera to up\n\n    return cam;\n  }\n\n  function resetCamera() {\n    camera.position.set(0.5, 0.5, 0.15);\n    camera.lookAt(origin);\n    camera.updateProjectionMatrix();\n\n    if (orbitControls) {\n      orbitControls.target.set(0, 0, 0);\n      orbitControls.update();\n    }\n  }\n\n  function buildOrbitControls() {\n    const orbitControls = new OrbitControls(camera, renderer.domElement);\n    orbitControls.target.set(0, 0, 0);\n    orbitControls.maxDistance = 2;\n    orbitControls.minDistance = 0.3;\n    orbitControls.update();\n\n    orbitControls.addEventListener('change', () => {\n      sceneIsDirty = true;\n      if (testDriveActive) {\n        updateGrabberLabel();\n      }\n    });\n\n    return orbitControls;\n  }\n\n  function buildRotationControls() {\n    const controls = new TransformControls(camera, renderer.domElement);\n    controls.setSpace('local');\n    controls.setMode('rotate');\n\n    controls.showX = false;\n    controls.showY = false;\n    controls.showZ = true;\n\n    controls.addEventListener('change', render);\n\n    controls.addEventListener('dragging-changed', function (event) {\n      orbitControls.enabled = !event.value;\n    });\n\n    return controls;\n  }\n\n  function buildTestDriveControls() {\n    const target = new THREE.Mesh(\n      new THREE.SphereGeometry(0.025, 32, 32),\n      new THREE.MeshBasicMaterial({color: PRIMARY_HIGHLIGHT_COLOR, transparent: true})\n    );\n\n    const snapTarget = new THREE.Mesh(\n      new THREE.BoxGeometry(0.01, 0.01, 0.01),\n      new THREE.MeshBasicMaterial({ color: 0xffffff, visible: false })\n    );\n\n    const plane = new THREE.Mesh(\n      new THREE.PlaneBufferGeometry(10, 10, 16, 16),\n      new THREE.MeshBasicMaterial({ color: 0xffffff, alphaTest: 0, visible: false })\n    );\n\n    return { testDriveTarget: target, testDriveSnapTarget: snapTarget, screenPlane: plane };\n  }\n\n  function updateGrabberLabel() {\n    const targetWindowCoordinates = windowManager.getWindowCoordinates(testDriveTarget);\n    const positionOffset = 100;\n    const dynamicStats = inverseKinematicsManager.getDynamicStats();\n    let worldPositionOfSnapTarget = getWorldSnapTarget();\n\n    if(dynamicStats) {\n      dispatch(updatePopperRequest(targetWindowCoordinates.x + positionOffset, targetWindowCoordinates.y - positionOffset, {\n        statistics: {\n          x: Math.abs(worldPositionOfSnapTarget.x),\n          y: Math.abs(worldPositionOfSnapTarget.y),\n          z: Math.abs(worldPositionOfSnapTarget.z),\n          continuousPayload: dynamicStats.continuousPayload,\n          peakPayload: dynamicStats.peakPayload,\n        },\n      }));\n    }\n  }\n\n  function update() {\n    pointLightForCamera.position.copy(camera.position);\n    screenPlane.lookAt(camera.position);\n\n    if (process.env.NODE_ENV === 'development') {\n      stats.update();\n    }\n  }\n\n  function render() {\n    requestAnimationFrame(render);\n\n    if(sceneIsDirty) {\n      update();\n      composer.render();\n      sceneIsDirty = false;\n    }\n  }\n\n  function onTouchStart(x, y) {\n    // Prevent event from firing if user is actively rotating\n    if (rotateControls.visible && rotateControls.dragging) {\n      return;\n    }\n\n    const mouse2D = windowManager.normalizeMouseScreenCoords(x, y);\n\n    if (testDriveActive) {\n      // Enable camera rotation if not dragging test drive target\n      orbitControls.enableRotate = !raycastAndBuildScreenOffset(mouse2D);\n    } else {\n      const intersectedPart = checkNearestRaycastIntersectionOnRobot(mouse2D);\n      selectRobotPart(intersectedPart);\n      // Enable camera rotation if part was not clicked on\n      orbitControls.enableRotate = !intersectedPart;\n    }\n  }\n\n  function onMouseDown(x, y) {\n    // Prevent event from firing if user is actively rotating\n    if (rotateControls.visible && rotateControls.dragging) {\n      return;\n    }\n\n    const mouse2D = windowManager.normalizeMouseScreenCoords(x, y);\n\n    if(testDriveActive) {\n      raycastAndBuildScreenOffset(mouse2D);\n    }\n    else {\n      const intersectedPart = checkNearestRaycastIntersectionOnRobot(mouse2D);\n      selectRobotPart(intersectedPart);\n    }\n  }\n\n  function onMouseMove(x, y) {\n\n    // Prevent event from firing if user is actively rotating\n    if (rotateControls.visible && rotateControls.dragging) {\n      sceneIsDirty = true;\n      return;\n    }\n\n    const mouse2D = windowManager.normalizeMouseScreenCoords(x, y);\n\n    if(testDriveActive) {\n      raycastForTargetHighlight(mouse2D);\n\n      if(isDraggingTarget) {\n        // If cursor is over testDriveTarget, need to disable camera rotation (both behaviors are bound to left click)\n        orbitControls.enableRotate = false;\n        raycastAndUpdateTestDrivePosition(mouse2D);\n        sceneIsDirty = true;\n      } else {\n        // reenable camera rotation once end effector drag is completed\n        orbitControls.enableRotate = true;\n      }\n    }\n    else if(!testDriveActive) {\n      const intersectedPart = checkNearestRaycastIntersectionOnRobot(mouse2D);\n      hoverOverRobotPart(intersectedPart);\n\n      if(intersectedPart || wasIntersecting) {\n        sceneIsDirty = true;\n      }\n      wasIntersecting = intersectedPart;\n    }\n  }\n\n  function onMouseUp(x, y) {\n    isDraggingTarget = false;\n    deemphasizeTestDriveTarget();\n\n    //constrain to the snap target\n    let worldPositionOfSnapTarget = getWorldSnapTarget();\n    testDriveTarget.position.copy(worldPositionOfSnapTarget);\n\n    snapScreenspacePlaneToTestDriveTarget();\n    sceneIsDirty = true;\n  }\n\n  //TODO: for HEBI's internal testing\n  function onKeyPress(key) {\n    switch(key) {\n      case 88:  //x\n        testDriveTranslationMode = TranslationMode.xOnly;\n      break;\n      case 89:  //y\n        testDriveTranslationMode = TranslationMode.yOnly;\n      break;\n      case 90:  //z\n        testDriveTranslationMode = TranslationMode.zOnly;\n      break;\n      case 69:  //e\n        testDriveTranslationMode = TranslationMode.all;\n      break;\n      case 67:  //c\n        allowClamping = !allowClamping;\n      break;\n      case 76:  //l\n        loggingEnabled = !loggingEnabled;\n      break;\n      default:\n      break;\n    }\n  }\n\n  async function addPart(part, userData) {\n    const partAssets = await assetCacheManager.getPartAssets(part);\n    const group = partGroupFactory.create(partAssets.meshes, userData);\n    const { parentRobotPartId } = getUserData(group);\n\n    if (parentRobotPartId) {\n      const parent = findRobotPartForId(parentRobotPartId);\n      const { addChild } = getUserData(parent);\n      addChild(group);\n    }\n    else {\n      workspaceScene.add(group);\n    }\n\n    robotParts.push(group);\n\n    selectRobotPart(group);\n\n    return group;\n  }\n\n  function findRobotPartForId(id) {\n    return find(robotParts, p => p.userData.id === id);\n  }\n\n  function selectRobotPart(robotPart) {\n    if(robotPart && !testDriveActive) {\n      const { id } = getUserData(robotPart);\n      const robotPartGroup = findRobotPartForId(id);\n\n      if (robotPartGroup.parent && robotPartGroup.parent.userData && robotPartGroup.parent.userData.canRotate) {\n        rotateControls.attach(robotPartGroup);\n      } else {\n        rotateControls.detach();\n      }\n\n      const x = 20;\n      const y = 130;\n      dispatch(setSelectedRobotPart(id, x, y));\n    }\n    else {\n      dispatch(clearSelectedRobotPart());\n      rotateControls.detach();\n    }\n\n    selectedOutlinePass.selectedObjects = selectMeshesForOutline(robotPart);\n    sceneIsDirty = true;\n  }\n\n  /**\n   * Traverses up the parent tree until finding the root PartGroup object,\n   * returning the userData object and all associated attributes and functions\n   * @param {*} robotPart \n   */\n  function getUserData(robotPart) {\n    if (isEmpty(robotPart.userData)) {\n      return getUserData(robotPart.parent);\n    }\n\n    return robotPart.userData;\n  }\n\n  function hoverOverRobotPart(robotPart) {\n    hoverOutlinePass.selectedObjects = selectMeshesForOutline(robotPart);\n  }\n\n  function selectMeshesForOutline(robotPart) {\n    if (!robotPart) {\n      return [];\n    }\n\n    const { getOutlineMeshes } = getUserData(robotPart);\n    const meshes = getOutlineMeshes();\n    return meshes;\n  }\n\n  function checkNearestRaycastIntersectionOnRobot(mouseVector) {\n    var mouse3D = new THREE.Vector3(mouseVector.x, mouseVector.y, 0.5);\n    raycaster.setFromCamera(mouse3D, camera);\n\n    var intersections = raycaster.intersectObjects(robotParts, true);\n\n    if (intersections.length > 0) {\n      return intersections[0].object.parent;    //get the Three Group that is holding the particular mesh we intersected\n    }\n    return null;\n  }\n\n  function raycastForTargetHighlight(mouseVector) {\n    var mouse3D = new THREE.Vector3(mouseVector.x, mouseVector.y, 1);\n    raycaster.setFromCamera(mouse3D, camera);\n\n    var targetIntersection = raycaster.intersectObject(testDriveTarget);\n\n    if(targetIntersection.length > 0) {\n      selectedOutlinePass.selectedObjects = [ targetIntersection[0].object ];\n      sceneIsDirty = true;\n    }\n    else if(!isDraggingTarget) {\n      if(selectedOutlinePass.selectedObjects.length > 0) {\n        sceneIsDirty = true;\n      }\n\n      selectedOutlinePass.selectedObjects = [];\n    }\n  }\n\n  function raycastAndBuildScreenOffset(mouseVector) {\n    var mouse3D = new THREE.Vector3(mouseVector.x, mouseVector.y, 1);\n    raycaster.setFromCamera(mouse3D, camera);\n\n    var targetIntersection = raycaster.intersectObject(testDriveTarget);\n    var planeIntersection = raycaster.intersectObject(screenPlane);\n\n    if(targetIntersection.length > 0 && planeIntersection.length > 0) {\n      isDraggingTarget = true;\n\n      emphasizeTestDriveTarget();\n\n      dragStartPosition.copy(planeIntersection[0].point.sub(screenPlane.position));\n    }\n    else {\n      isDraggingTarget = false;\n      deemphasizeTestDriveTarget();\n    }\n\n    return isDraggingTarget;\n  }\n\n  function raycastAndUpdateTestDrivePosition(mouseVector) {\n    var mouse3D = new THREE.Vector3(mouseVector.x, mouseVector.y, 1);\n    raycaster.setFromCamera(mouse3D, camera);\n\n    var planeIntersection = raycaster.intersectObject(screenPlane);\n\n    if(planeIntersection.length > 0) {\n      const delta = planeIntersection[0].point.sub(dragStartPosition);\n      testDriveTarget.position.copy(delta);\n\n      const worldSnapPosition = getWorldSnapTarget();\n      const deltaGoal = new THREE.Vector3().subVectors(delta, worldSnapPosition);\n\n      inverseKinematicsManager.updateInverseKinematics(deltaGoal, testDriveTranslationMode, allowClamping, loggingEnabled);\n\n      workspaceScene.updateMatrixWorld();   //force matrix hierarchy update\n\n      //constrain to the snap target\n      testDriveTarget.position.copy(worldSnapPosition);\n\n      updateGrabberLabel();\n    }\n    else {\n      snapScreenspacePlaneToTestDriveTarget();\n    }\n  }\n\n  function snapScreenspacePlaneToTestDriveTarget() {\n    //update plane position so it stays with the target\n    screenPlane.position.copy(testDriveTarget.position);\n    screenPlane.lookAt(camera.position);\n  }\n\n  function getWorldSnapTarget() {\n    let worldPositionOfSnapTarget = new THREE.Vector3();\n    testDriveSnapTarget.getWorldPosition(worldPositionOfSnapTarget);\n    return worldPositionOfSnapTarget;\n  }\n\n  function activateTestDrive(parentPartId) {\n\n    disableBuildingControls();\n\n    if(parentPartId) {\n      const parentPart = findRobotPartForId(parentPartId);\n\n      if(parentPart) {\n        testDriveTarget.visible = true;\n        dragStartPosition = new THREE.Vector3();\n\n        parentPart.userData.addInterfaceItem(testDriveSnapTarget);\n\n        //set testDriveTarget's local position to the world position of the testDriveSnapTarget - by setting\n        //the local position instead of adding it as a child, the coordinate system of testDriveTarget will\n        //remain the same as the world because it remains a direct child of the scene\n        let worldPositionOfSnapTarget = getWorldSnapTarget();\n        testDriveTarget.position.copy(worldPositionOfSnapTarget);\n\n        //do the same thing for the plane\n        screenPlane.position.copy(worldPositionOfSnapTarget);\n\n        snapScreenspacePlaneToTestDriveTarget();\n\n        inverseKinematicsManager.buildRobot(parentPart);\n        inverseKinematicsManager.updateInverseKinematics(new THREE.Vector3(), allowClamping, loggingEnabled);\n\n        dispatch(showPopper(0, 0, 'TestDriveGrabberLabel'));\n        updateGrabberLabel();\n      }\n    }\n\n    sceneIsDirty = true;\n  }\n\n  function deactivateTestDrive() {\n    testDriveActive = false;\n    testDriveTarget.visible = false;\n\n    dispatch(hidePopper());\n\n    inverseKinematicsManager.resetRobot();\n    sceneIsDirty = true;\n  }\n\n  function disableBuildingControls() {\n    hoverOutlinePass.selectedObjects = [];\n    selectedOutlinePass.selectedObjects = [];\n\n    testDriveActive = true;\n\n    rotateControls.detach();    //don't let the user fight the IK\n    sceneIsDirty = true;\n  }\n\n  function emphasizeTestDriveTarget() {\n    testDriveTarget.material.opacity = 1.0;    //increase the opacity\n    sceneIsDirty = true;\n  }\n\n  function deemphasizeTestDriveTarget() {\n    testDriveTarget.material.opacity = 0.8;    //decrease the opacity\n    sceneIsDirty = true;\n  }\n\n  function clearScene(scene) {\n    scene.traverse(function (object) {\n      if (object instanceof THREE.Group) {\n        scene.remove(object);\n      }\n    });\n  }\n\n  function clearWorkspace() {\n    rotateControls.detach();\n    dispatch(hidePopper());\n    robotParts = [];\n    clearScene(workspaceScene);\n    sceneIsDirty = true;\n  }\n\n  function clearSelectedPart() {\n    selectRobotPart(null);\n    sceneIsDirty = true;\n  }\n\n  function removeRobotParts(robotPartsToRemove) {\n    clearSelectedPart();\n\n    for (let i = robotPartsToRemove.length - 1; i >= 0; i -= 1) {\n      const { id, parentRobotPartId } = robotPartsToRemove[i];\n\n      const groupToRemove = findRobotPartForId(id);\n\n      if (parentRobotPartId) {\n        const parentGroup = findRobotPartForId(parentRobotPartId);\n        const { removeChild } = parentGroup.userData;\n        removeChild(groupToRemove);\n      } else {\n        workspaceScene.remove(groupToRemove);\n      }\n    }\n\n    const robotPartIds = robotPartsToRemove.map(rp => rp.id);\n    robotParts = robotParts.filter(rp => robotPartIds.includes(rp.userData.id) === false);\n  }\n\n  function updatePartConstraint(id, constraint, value) {\n    const robotPart = findRobotPartForId(id);\n    if (!robotPart) {\n      return;\n    }\n\n    const { updateConstraint } = getUserData(robotPart);\n    updateConstraint(constraint, value);\n    sceneIsDirty = true;\n  }\n\n  function updateRobotPart(id, newRobotPart) {\n    const index = robotParts.findIndex(p => p.userData.id === id);\n    robotParts[index] = newRobotPart;\n    sceneIsDirty = true;\n  }\n\n  async function replacePart(partToReplace, addPartArgs) {\n    clearSelectedPart();\n\n    const robotPartToReplace = findRobotPartForId(partToReplace.id);\n    const {\n      getChild,\n      parentRobotPartId,\n    } = getUserData(robotPartToReplace);\n\n    // First, store child group that we need to recreate\n    const partGroupHierarchyToKeep = getChild();\n\n    // Then remove the part we are replacing\n    if (parentRobotPartId) {\n      const parentGroup = findRobotPartForId(parentRobotPartId);\n      const { removeChild } = parentGroup.userData;\n      removeChild(robotPartToReplace);\n    } else {\n      workspaceScene.remove(robotPartToReplace);\n    }\n\n    // Add the new part\n    const { part, userData } = addPartArgs;\n    const newPart = await addPart(part, userData);\n\n    // Finally, re-add all previously existing parts\n    if (partGroupHierarchyToKeep) {\n      const { setLocalTransform } = getUserData(partGroupHierarchyToKeep);\n      const { addChild } = getUserData(newPart);\n      addChild(partGroupHierarchyToKeep);\n\n      // Apply replacement part's child offset to child\n      if (part.attachments && part.attachments.length) {\n        const { childTranslationOffset, childRotationOffset } = part.attachments[0];\n        setLocalTransform(childTranslationOffset, childRotationOffset);\n      }\n    }\n\n    updateRobotPart(partToReplace.id, newPart);\n    selectRobotPart(newPart);\n  }\n\n  return {\n    addPart,\n    activateTestDrive,\n    deactivateTestDrive,\n    disableBuildingControls,\n    clearWorkspace,\n    render,\n    update,\n    removeRobotParts,\n    replacePart,\n    resetCamera,\n    onMouseDown,\n    onMouseMove,\n    onMouseUp,\n    onTouchStart,\n    onKeyPress,\n    updatePartConstraint,\n    invalidateScene,\n  };\n}\n","import * as THREE from 'three';\n\nimport EffectComposer from '../../../features/shared/threejs/postprocessing/EffectComposer';\nimport RenderPass from '../../../features/shared/threejs/postprocessing/RenderPass';\nimport OutlinePass from '../../../features/shared/threejs/postprocessing/OutlinePass';\nimport SMAAPass from '../../../features/shared/threejs/postprocessing/SMAAPass';\n\nimport { PRIMARY_HIGHLIGHT_COLOR, SECONDARY_HIGHLIGHT_COLOR } from '../../../common/themes/workspace';\n\n\nexport const PostProcessingComposer = (renderer, effectsScene, controlsScene, camera, width, height) => {\n\n  const composer = new EffectComposer(renderer);\n\n  const effectsRenderPass = new RenderPass(effectsScene, camera);\n  effectsRenderPass.clear = true;\n  effectsRenderPass.clearDepth = true;\n  composer.addPass(effectsRenderPass);\n\n  const inScreenControlsRenderPass = new RenderPass(controlsScene, camera);\n  inScreenControlsRenderPass.clear = false;\n  inScreenControlsRenderPass.clearDepth = true;\n  composer.addPass(inScreenControlsRenderPass);\n\n  function defineOutlinePass(canvasWidth, canvasHeight, scene, camera, outlineConfig) {\n    var outlinePass = new OutlinePass(new THREE.Vector2(canvasWidth, canvasHeight), scene, camera);\n    for(var property in outlineConfig) outlinePass[property] = outlineConfig[property];\n    return outlinePass;\n  }\n\n  const hoverOutlinePass = defineOutlinePass(width, height, effectsScene, camera, {\n    visibleEdgeColor: new THREE.Color(SECONDARY_HIGHLIGHT_COLOR),\n    hiddenEdgeColor: new THREE.Color(SECONDARY_HIGHLIGHT_COLOR),\n    edgeStrength: 1.0,\n    edgeGlow: 2.0,\n    edgeThickness: 1.0,\n    pulsePeriod: 0,\n  });\n\n  const selectedOutlinePass = defineOutlinePass(width, height, effectsScene, camera, {\n    visibleEdgeColor: new THREE.Color(PRIMARY_HIGHLIGHT_COLOR),\n    hiddenEdgeColor: new THREE.Color(PRIMARY_HIGHLIGHT_COLOR),\n    edgeStrength: 4.0,\n    edgeGlow: 0.1,\n    edgeThickness: 2.0,\n    pulsePeriod: 0,\n  });\n\n  composer.addPass(hoverOutlinePass);\n  composer.addPass(selectedOutlinePass);\n\n  const smaaPass = new SMAAPass(1 / window.innerWidth, 1 / window.innerHeight);\n  smaaPass.renderToScreen = true;\n  composer.addPass(smaaPass);\n\n  return {\n    composer,\n    hoverOutlinePass,\n    selectedOutlinePass,\n  };\n};\n","import SceneManager from './SceneManager';\n\nexport default canvas => {\n  const sceneManager = new SceneManager(canvas);\n  const isTouchDevice = 'ontouchstart' in document.documentElement;\n\n  bindEventListeners();\n\n  function bindEventListeners() {\n    if (isTouchDevice) {\n      canvas.addEventListener('touchstart', touchStart);\n      canvas.addEventListener('touchmove', touchMove);\n      canvas.addEventListener('touchend', touchEnd);\n    } else {\n      canvas.addEventListener('mousedown', mouseDown);\n      canvas.addEventListener('mousemove', mouseMove);\n      canvas.addEventListener('mouseup', mouseUp);\n    }\n\n    canvas.addEventListener('wheel', wheel);\n\n\n    //TODO: for HEBI's debug keybindings\n    document.addEventListener('keydown', keyPress);\n  }\n\n  function touchStart(e) {\n    if (!e.touches || e.touches.length !== 1) {\n      return;\n    }\n\n    const touch = e.touches[0];\n    sceneManager.onTouchStart(touch.pageX, touch.pageY);\n  }\n\n  function touchMove(e) {\n    if (!e.touches || e.touches.length !== 1) {\n      return;\n    }\n    const touch = e.touches[0];\n    sceneManager.onMouseMove(touch.pageX, touch.pageY);\n  }\n\n  function touchEnd(e) {\n    if (!e.touches || e.touches.length !== 1) {\n      return;\n    }\n    const touch = e.touches[0];\n    sceneManager.onMouseUp(touch.pageX, touch.pageY);\n  }\n\n  function wheel(e) {} // The three orbit controls handle everything for now.\n\n  function mouseDown(e) {\n    e = e || window.event; // support Internet Explorer\n    const { clientX, clientY, which } = e;\n    const isLeftClick = which === 1;\n\n    if (isLeftClick) {\n      sceneManager.onMouseDown(clientX, clientY);\n    }\n  }\n\n  function mouseMove({ clientX, clientY }) {\n    sceneManager.onMouseMove(clientX, clientY);\n  }\n\n  function mouseUp(e) {\n    e = e || window.event; // support Internet Explorer\n    const { clientX, clientY } = e;\n    sceneManager.onMouseUp(clientX, clientY);\n  }\n\n  function keyPress(key) {\n    sceneManager.onKeyPress(key.which);\n  }\n\n  function render() {\n    sceneManager.render();\n  }\n\n  function resetCamera() {\n    sceneManager.resetCamera();\n  }\n\n  async function addPart({ part, userData }) {\n    await sceneManager.addPart(part, userData);\n  }\n\n  function activateTestDrive(parentPartId) {\n    sceneManager.activateTestDrive(parentPartId);\n  }\n\n  function deactivateTestDrive() {\n    sceneManager.deactivateTestDrive();\n  }\n\n  function disableBuildingControls() {\n    sceneManager.disableBuildingControls();\n  }\n\n  function clearScene() {\n    sceneManager.clearWorkspace();\n  }\n\n  function removeRobotParts(robotParts) {\n    sceneManager.removeRobotParts(robotParts);\n  }\n\n  function updatePartConstraint(id, constraint, value) {\n    sceneManager.updatePartConstraint(id, constraint, value);\n  }\n\n  async function replacePart(partToReplace, addPartArgs) {\n    await sceneManager.replacePart(partToReplace, addPartArgs);\n  }\n\n  return {\n    addPart,\n    activateTestDrive,\n    deactivateTestDrive,\n    disableBuildingControls,\n    clearScene,\n    render,\n    removeRobotParts,\n    replacePart,\n    resetCamera,\n    updatePartConstraint,\n  }\n}\n","import {\n  call,\n  select,\n  take,\n} from 'redux-saga/effects';\n\nimport {\n  LOCATION_CHANGE,\n  getLocation,\n} from 'connected-react-router';\n\nimport { zIndex } from '../../../common/themes/variables'\n\nimport ThreeProcessor from '../../../common/utils/three/ThreeProcessor';\n\nimport {\n  INITIALIZE_CONFIGURATOR_SUCCESS,\n  INITIALIZE_CONFIGURATOR_SUCCESS_CACHED,\n} from '../actions';\n\nimport {\n  getWorkspaceIsVisible,\n} from '../selectors';\n\nconst CANVAS_ID = 'configurator-workspace';\n\nconst getCanvasVisibility = isVisible => isVisible ? 'visible' : 'hidden';\n\nexport default function* configureCanvasWatcher() {\n  while (true) {\n    yield take([\n      LOCATION_CHANGE,\n      INITIALIZE_CONFIGURATOR_SUCCESS,\n      INITIALIZE_CONFIGURATOR_SUCCESS_CACHED,\n    ]);\n\n    const location = yield select(getLocation);\n    yield call(updateCanvasVisibility, location);\n  }\n}\n\nfunction* updateCanvasVisibility(location) {\n  const shouldBeVisible = yield select(getWorkspaceIsVisible, location);\n  const canvas = document.getElementById(CANVAS_ID);\n  canvas.style.visibility = getCanvasVisibility(shouldBeVisible);\n}\n\nexport function createCanvas() {\n  const canvas = document.createElement('canvas');\n  canvas.id = CANVAS_ID;\n\n  canvas.style.position = 'absolute';\n  canvas.style.zIndex = zIndex.workspace;\n  document.body.appendChild(canvas);\n\n  const threeProcessor = ThreeProcessor(canvas);\n  threeProcessor.render();\n\n  return {\n    threeProcessor,\n  };\n}\n","import {\n  call,\n  take,\n} from 'redux-saga/effects';\n\nimport {\n  RESET_CAMERA\n} from '../actions';\n\nexport default function* resetCameraWatcher(threeProcessor) {\n  while (true) {\n    yield take(RESET_CAMERA);\n    \n    yield call(threeProcessor.resetCamera);\n  }\n}\n","import {\n  call,\n  put,\n  select,\n} from 'redux-saga/effects';\n\nimport {\n  setCurrentRobotPart,\n} from '../actions';\n\nimport {\n  getCurrentRobotPartWorkspaceArguments,\n  getCurrentRobotPart,\n} from '../selectors';\n\nexport default function* addPartToWorkspaceSaga(robotPartId, threeProcessor) {\n  yield put(setCurrentRobotPart(robotPartId));\n  const robotPart = yield select(getCurrentRobotPart);\n\n  const args = yield select(getCurrentRobotPartWorkspaceArguments);\n  yield call(threeProcessor.addPart, args);\n\n  for (const childPart of robotPart.children.toModelArray()) {\n    yield call(addPartToWorkspaceSaga, childPart.id, threeProcessor);\n  }\n}\n","import {\n  all,\n  call,\n  put,\n} from 'redux-saga/effects';\nimport { toast } from 'react-toastify';\n\nimport {\n  apiGet,\n} from '../../../common/utils/saga-utils';\n\nimport {\n  setSelectedCategory,\n} from '../../catalog/actions';\n\nimport {\n  LOAD_ENTITIES_REQUEST,\n  LOAD_ENTITIES_ERROR,\n  LOAD_ENTITIES_ERROR_MESSAGE,\n  loadEntitiesSuccess,\n} from '../actions';\n\nfunction* loadEntities() {\n  const entities = yield all({\n    boltPatterns: call(apiGet, '/Part/Attachment/boltPattern'),\n    partLengths: call(apiGet, '/Part/lengths'),\n    parts: call(apiGet, '/parts'),\n    partCategories: call(apiGet, '/Part/categories?sorts=name'),\n  });\n\n  return entities;\n}\n\nexport default function* loadEntitiesSaga() {\n  try {\n    yield put({ type: LOAD_ENTITIES_REQUEST });\n    const entities = yield call(loadEntities);\n    yield put(loadEntitiesSuccess(entities));\n    yield call(setDefaultSelectedCategory, entities.partCategories);\n  } catch (error) {\n    yield put({ type: LOAD_ENTITIES_ERROR, payload: { error } });\n    yield call(toast.error, LOAD_ENTITIES_ERROR_MESSAGE);\n  }\n}\n\nfunction* setDefaultSelectedCategory(categories) {\n  if (!categories || !categories.length) {\n    return;\n  }\n\n  const { id: defaultCategoryId } = categories[0];\n  yield put(setSelectedCategory(defaultCategoryId));\n}","import {\n  call,\n  put,\n  select,\n} from 'redux-saga/effects';\n\nimport { toast } from 'react-toastify';\n\nimport {\n  INITIALIZE_CONFIGURATOR_SUCCESS_CACHED,\n  INITIALIZE_CONFIGURATOR_ERROR,\n  INITIALIZE_CONFIGURATOR_ERROR_MESSAGE,\n  initializeConfiguratorSuccess,\n  initializeConfiguratorRequest,\n} from '../actions';\n\nimport {\n  getConfiguratorIsInitialized,\n} from '../selectors';\n\nimport loadEntitiesSaga from './loadEntitiesSaga';\n\nexport default function* initializeConfiguratorSaga() {\n  try {\n    yield put(initializeConfiguratorRequest());\n\n    const initialized = yield select(getConfiguratorIsInitialized);\n    if (initialized) {\n      yield put({ type: INITIALIZE_CONFIGURATOR_SUCCESS_CACHED });\n    } else {\n      yield call(loadEntitiesSaga);\n      yield put(initializeConfiguratorSuccess());\n    }\n  } catch (error) {\n    yield put({ type: INITIALIZE_CONFIGURATOR_ERROR, error });\n    yield call(toast.error, INITIALIZE_CONFIGURATOR_ERROR_MESSAGE);\n  }\n}\n","import {\n  call,\n  put,\n  select,\n  take,\n} from 'redux-saga/effects';\n\nimport { toast } from 'react-toastify';\n\nimport {\n  apiGet,\n} from '../../../common/utils/saga-utils';\n\nimport {\n  ROBOT_LOAD_REQUEST,\n  ROBOT_LOAD_ERROR,\n  ROBOT_LOAD_ERROR_MESSAGE,\n  setCurrentRobot,\n  loadRobotSuccess,\n  setSceneLoaded,\n} from '../actions';\n\nimport {\n  getCurrentRobot,\n} from '../selectors';\n\nimport addPartToWorkspaceSaga from './addPartToWorkspaceSaga';\nimport initializeConfiguratorSaga from './initializeConfiguratorSaga';\n\nexport default function* loadRobotWatcher(threeProcessor) {\n  while (true) {\n    try {\n      const { payload } = yield take([\n        ROBOT_LOAD_REQUEST,\n      ]);\n\n      const { id } = payload;\n      yield call(threeProcessor.clearScene);\n      yield call(initializeConfiguratorSaga);\n      yield put(setCurrentRobot(id));\n      yield call(loadRobot, id);\n      yield call(addRobotToWorkspace, threeProcessor);\n      yield put(setSceneLoaded(true));\n    } catch (error) {\n      yield put({ type: ROBOT_LOAD_ERROR, error });\n      yield call(toast.error, ROBOT_LOAD_ERROR_MESSAGE);\n    }\n  }\n}\n\nfunction* loadRobot(id) {\n  const robot = yield call(apiGet, `/Robot/${id}`);\n  yield put(loadRobotSuccess(robot));\n}\n\nfunction* addRobotToWorkspace(threeProcessor) {\n  const currentRobot = yield select(getCurrentRobot);\n  const robotParts = currentRobot.robotParts.toModelArray();\n\n  for (const robotPart of robotParts) {\n    yield call(addPartToWorkspaceSaga, robotPart.id, threeProcessor);\n  }\n}\n","import {\n  call,\n  put,\n  select,\n  takeEvery,\n} from 'redux-saga/effects';\nimport { toast } from 'react-toastify';\nimport saveAs from 'file-saver';\nimport { format } from 'date-fns';\n\nimport { apiGet } from '../../../common/utils/saga-utils';\n\nimport { getCurrentRobot } from '../selectors';\n\nimport {\n  EXPORT_ROBOT_REQUEST,\n  EXPORT_ROBOT_ERROR,\n  EXPORT_ROBOT_ERROR_MESSAGE,\n  EXPORT_ROBOT_SUCCESS,\n} from '../actions';\n\nfunction* processRobotExport() {\n  try {\n    const currentRobot = yield select(getCurrentRobot);\n\n    if (currentRobot) {\n      var result = yield call(apiGet, `/Robot/${currentRobot.id}`, {\n        headers: {\n          Accept: 'text/hrdf'\n        }\n      });\n      var blob = new Blob([result], { type: 'text/hrdf;charset=utf-8' });\n      saveAs(blob, `HEBI Robot ${format(new Date(), 'yyyy-MM-dd')}.hrdf`);\n      yield put({ type: EXPORT_ROBOT_SUCCESS });\n    } else {\n      yield put({ type: EXPORT_ROBOT_ERROR });\n      yield call(toast.error, EXPORT_ROBOT_ERROR_MESSAGE);\n    }\n  } catch (error) {\n    yield put({ type: EXPORT_ROBOT_ERROR, error });\n    yield call(toast.error, EXPORT_ROBOT_ERROR_MESSAGE);\n  }\n}\n\nexport default function* exportRobotWatcher() {\n  yield takeEvery(EXPORT_ROBOT_REQUEST, processRobotExport);\n}\n","import {\n  push,\n} from 'connected-react-router';\n\nimport {\n  call,\n  put,\n  take,\n} from 'redux-saga/effects';\n\nimport { toast } from 'react-toastify';\n\nimport {\n  apiGet,\n  apiPost,\n} from '../../../common/utils/saga-utils';\n\nimport {\n  setDrawerVisible,\n} from '../../catalog/actions';\n\nimport {\n  ROBOT_CREATE_WITH_PART_REQUEST,\n  ROBOT_CREATE_WITH_PART_ERROR,\n  ROBOT_CREATE_WITH_PART_ERROR_MESSAGE,\n  ROBOT_CREATE_REQUEST,\n  ROBOT_CREATE_ERROR,\n  ROBOT_CREATE_ERROR_MESSAGE,\n  ROBOT_UPLOAD_HRDF_REQUEST,\n  ROBOT_UPLOAD_HRDF_ERROR,\n  ROBOT_UPLOAD_HRDF_ERROR_MESSAGE,\n  createRobotWithPartSuccess,\n  createRobotSuccess,\n  uploadHRDFSuccess,\n} from '../actions';\n\nexport default function* createRobotWatcher() {\n  while (true) {\n    try {\n      const { payload, type } = yield take([\n        ROBOT_CREATE_REQUEST,\n        ROBOT_CREATE_WITH_PART_REQUEST,\n        ROBOT_UPLOAD_HRDF_REQUEST,\n      ]);\n\n      const { createRobot } = createRobotStrategies[type];\n      const id = yield call(createRobot, payload);\n      yield put(push(`/configurator/build?robotId=${id}`));\n    } catch (error) {\n      yield put({ type: ROBOT_CREATE_ERROR, error });\n      yield call(toast.error, ROBOT_CREATE_ERROR_MESSAGE);\n    }\n  }\n}\n\nfunction* createRobotWithPart({ robot, partName }) {\n  try {\n    const basePart = yield call(getPartByName, partName);\n    if (!basePart) {\n      return yield call(createEmptyRobot);\n    }\n\n    robot = robot || {};\n    robot.robotParts = robot.robotParts || [];\n\n    robot = {\n      ...robot,\n      robotParts: [\n        ...robot.robotParts,\n        {\n          partId: basePart.id,\n        },\n      ]\n    }\n\n    const id = yield call(createRobot, robot);\n    yield put(createRobotWithPartSuccess(id));\n    yield put(setDrawerVisible(true));\n    return id;\n  } catch (error) {\n    yield put({ type: ROBOT_CREATE_WITH_PART_ERROR, payload: { error } });\n    yield call(toast.error, ROBOT_CREATE_WITH_PART_ERROR_MESSAGE);\n  } \n}\n\nfunction* getPartByName(name) {\n  const parts = yield call(apiGet, `/Parts?Filters=name==${name}`);\n  if (!parts || !parts.length) {\n    return null;\n  }\n\n  return parts[0];\n}\n\nfunction* createEmptyRobot() {\n  try {\n    const id = yield call(createRobot, {});\n    yield put(createRobotSuccess(id));\n    yield put(setDrawerVisible(true));\n    return id;\n  } catch (error) {\n    yield put({ type: ROBOT_CREATE_ERROR, payload: { error } });\n    yield call(toast.error, ROBOT_CREATE_ERROR_MESSAGE);\n  }\n}\n\nfunction* createRobot(robot) {\n  const id = yield call(apiPost, '/Robot', {\n    name: 'ROBOT_V1',\n    ...robot,\n  });\n\n  return id;\n}\n\nfunction* createRobotFromHRDF({ file }) {\n  try {\n    const id = yield call(apiPost, '/Robot/Upload', {\n      file,\n    });\n\n    yield put(uploadHRDFSuccess(id));\n    yield put(setDrawerVisible(false));\n    return id;\n  } catch (error) {\n    yield put({ type: ROBOT_UPLOAD_HRDF_ERROR, payload: { error } });\n    yield call(toast.error, ROBOT_UPLOAD_HRDF_ERROR_MESSAGE);\n  }\n}\n\nconst createRobotStrategies = {\n  ROBOT_CREATE_REQUEST: {\n    createRobot: createEmptyRobot,\n  },\n  ROBOT_CREATE_WITH_PART_REQUEST: {\n    createRobot: createRobotWithPart,\n  },\n  ROBOT_UPLOAD_HRDF_REQUEST: {\n    createRobot: createRobotFromHRDF,\n  }\n};\n","import {\n  call,\n  put,\n  select,\n  take,\n} from 'redux-saga/effects';\nimport { toast } from 'react-toastify';\n\nimport { apiDelete } from '../../../common/utils/saga-utils';\n\nimport {\n  ROBOT_PART_REMOVE_REQUEST,\n  ROBOT_PART_REMOVE_CANCEL,\n  ROBOT_PART_REMOVE_ERROR,\n  ROBOT_PART_REMOVE_ERROR_MESSAGE,\n  ROBOT_PART_REMOVE_CONFIRM_REQUEST,\n  ROBOT_PART_REMOVE_CONFIRM_SUCCESS,\n  removeRobotPartSuccess,\n  clearSelectedRobotPart,\n  setCurrentRobotPart,\n} from '../actions';\n\nimport {\n  getSelectedRobotPart,\n  getPotentialParents,\n} from '../selectors';\n\nimport {\n  openModal,\n  closeModal,\n} from '../../modals/actions';\n\nimport {\n  hidePopper,\n} from '../../poppers/actions';\n\nexport default function* removeRobotPartWatcher(threeProcessor) {\n  const confirmationModalName = 'RemovePartConfirmationModal';\n  const configurationDialogName = 'ConfiguratorDialog';\n\n  while (true) {\n    try {\n      yield take([\n        ROBOT_PART_REMOVE_REQUEST,\n      ]);\n\n      yield put(openModal(confirmationModalName));\n\n      const { type } = yield take([\n        ROBOT_PART_REMOVE_CONFIRM_REQUEST,\n        ROBOT_PART_REMOVE_CANCEL,\n      ]);\n\n      if (type === ROBOT_PART_REMOVE_CONFIRM_REQUEST) {\n        const selectedRobotPart = yield select(getSelectedRobotPart);\n        const robotPartsToRemove = getRobotPartsToRemove(selectedRobotPart);\n\n        yield call(deleteRobotPart, selectedRobotPart.id);       \n        yield put(removeRobotPartSuccess(robotPartsToRemove.map(rp => rp.id)));\n        threeProcessor.removeRobotParts(robotPartsToRemove);\n        yield put(clearSelectedRobotPart());\n        yield call(resetCurrentRobotPart);\n\n        yield put({ type: ROBOT_PART_REMOVE_CONFIRM_SUCCESS });\n        yield put(hidePopper(configurationDialogName));\n      }\n\n      yield put(closeModal(confirmationModalName));\n    } catch (error) {\n      yield put({ type: ROBOT_PART_REMOVE_ERROR, error });\n      yield call(toast.error, ROBOT_PART_REMOVE_ERROR_MESSAGE);\n    }\n  }\n}\n\nfunction* resetCurrentRobotPart() {\n  const potentialParents = yield select(getPotentialParents);\n  if (potentialParents && potentialParents.length) {\n    const { id } = potentialParents[0];\n    yield put(setCurrentRobotPart(id));\n  }\n}\n\nfunction* deleteRobotPart(id) {\n  yield call(apiDelete, `/Robot/Part/${id}`);\n}\n\nfunction getRobotPartsToRemove(selectedRobotPart) {\n  const children = selectedRobotPart.children.toModelArray();\n\n  const robotParts = getChildRobotParts(children, [selectedRobotPart]);\n  return robotParts;\n}\n\nfunction getChildRobotParts(robotParts, result = []) {\n  for (let i = 0, length = robotParts.length; i < length; i++) {\n    result.push(robotParts[i]);\n\n    result = getChildRobotParts(robotParts[i].children.toModelArray(), result);\n  }\n\n  return result;\n}\n","import {\n  call,\n  put,\n  select,\n  take,\n} from 'redux-saga/effects';\nimport { toast } from 'react-toastify';\n\nimport {\n  CLEAR_SELECTED_ROBOT_PART,\n  SET_SELECTED_ROBOT_PART,\n  SET_SELECTED_ROBOT_PART_ERROR,\n  SET_SELECTED_ROBOT_PART_ERROR_MESSAGE,\n  setPlacementMode,\n} from '../actions';\n\nimport {\n  getPlacementMode,\n  getSceneLoaded,\n} from '../selectors';\n\nimport {\n  hidePopper,\n  showPopper,\n} from '../../poppers/actions';\n\nexport default function* selectRobotPartWatcher() {\n  const configurationDialogName = 'ConfiguratorDialog';\n\n  while (true) {\n    try {\n      const { payload, type } = yield take([\n        SET_SELECTED_ROBOT_PART,\n        CLEAR_SELECTED_ROBOT_PART,\n      ]);\n\n      const sceneLoaded = yield select(getSceneLoaded);\n\n      if (!sceneLoaded) {\n        continue;\n      }\n\n      const placementMode = yield select(getPlacementMode);\n      if (placementMode !== 'place') {\n        yield put(setPlacementMode('place'));\n      }\n\n      if (type === SET_SELECTED_ROBOT_PART) {\n        const { location: { x, y }} = payload;\n        yield put(showPopper(x, y, configurationDialogName));\n      } else if (type === CLEAR_SELECTED_ROBOT_PART) {\n        yield put(hidePopper(configurationDialogName));\n      }\n    } catch (error) {\n      yield put({ type: SET_SELECTED_ROBOT_PART_ERROR, error });\n      yield call(toast.error, SET_SELECTED_ROBOT_PART_ERROR_MESSAGE);\n    }\n  }\n}\n","import {\n  call,\n  take,\n  select,\n} from 'redux-saga/effects';\n\nimport {\n  ACTIVATE_TEST_DRIVE,\n} from '../actions';\n\nimport {\n  getPotentialParents,\n} from '../selectors';\n\nimport { toast } from 'react-toastify';\n\nexport default function* activateTestDriveWatcher(threeProcessor) {\n  while (true) {\n    yield take(ACTIVATE_TEST_DRIVE);\n\n    const potentialParents = yield select(getPotentialParents);\n\n    if(potentialParents.length === 0) {\n      yield call(toast.error, 'Need a robot to test drive!');\n    }\n    else if(potentialParents.length === 1) {\n      const parentPart = potentialParents[0];\n      yield call(threeProcessor.activateTestDrive, parentPart.id);\n    }\n    else {\n      // TODO: Version 1.0+\n      // If Multiple potential parents, wait for user to select one, validate, and continue\n      yield call(toast.error, 'Unsupported robot configuration');\n    }\n  }\n}\n","import {\n  call,\n  take,\n} from 'redux-saga/effects';\n\nimport {\n  DEACTIVATE_TEST_DRIVE\n} from '../actions';\n\nexport default function* deactivateTestDriveWatcher(threeProcessor) {\n  while (true) {\n    yield take(DEACTIVATE_TEST_DRIVE);\n    \n    yield call(threeProcessor.deactivateTestDrive);\n  }\n}\n","import {\n  call,\n  put,\n  select,\n  take,\n} from 'redux-saga/effects';\nimport { toast } from 'react-toastify';\n\nimport { apiPatch } from '../../../common/utils/saga-utils';\n\nimport {\n  ROBOT_PART_UPDATE_CONSTRAINT_REQUEST,\n  ROBOT_PART_UPDATE_CONSTRAINT_ERROR,\n  ROBOT_PART_UPDATE_CONSTRAINT_ERROR_MESSAGE,\n  updateSelectedRobotPartConstraintSuccess,\n} from '../actions';\n\nimport {\n  getSelectedRobotPartId,\n} from '../selectors';\n\nexport default function* configurePartWatcher(threeProcessor) {\n  while (true) {\n    try {\n      const { payload } = yield take(ROBOT_PART_UPDATE_CONSTRAINT_REQUEST)\n      const { constraint, value } = payload;\n      const selectedRobotPartId = yield select(getSelectedRobotPartId);\n      \n      yield call(updateConstraint, selectedRobotPartId, constraint, value);\n      threeProcessor.updatePartConstraint(selectedRobotPartId, constraint, value);\n\n      yield put(updateSelectedRobotPartConstraintSuccess(selectedRobotPartId, constraint, value));\n    } catch (error) {\n      yield put({ type: ROBOT_PART_UPDATE_CONSTRAINT_ERROR, error });\n      yield call(toast.error, ROBOT_PART_UPDATE_CONSTRAINT_ERROR_MESSAGE);\n    }\n  }\n}\n\nfunction* updateConstraint(robotPartId, constraint, value) {\n  yield call(apiPatch, '/Robot/Part/Constraint', {\n    id: robotPartId,\n    constraint,\n    value,\n  });\n}\n","\nimport {\n  call,\n  put,\n  select,\n} from 'redux-saga/effects';\n\nimport { apiGet, apiPost } from '../../../../common/utils/saga-utils';\n\nimport {\n  getSelectedPartId,\n} from '../../../catalog/selectors';\n\nimport {\n  createRobotPartSuccess,\n} from '../../actions';\n\nimport {\n  getCurrentRobotId,\n  getPotentialParents,\n} from '../../selectors';\n\nimport addPartToWorkspaceSaga from '../addPartToWorkspaceSaga';\n\nexport function* createChildPartSaga(threeProcessor) {\n  const potentialParents = yield select(getPotentialParents);\n  const parentRobotPart = potentialParents[0];\n  const attachments = parentRobotPart.part.attachments.toModelArray();\n  const partId = yield select(getSelectedPartId);\n  const robotId = yield select(getCurrentRobotId);\n  const parentRobotPartId = parentRobotPart.id;\n\n  const id = yield call(apiPost, '/Robot/Part', {\n    robotId,\n    partId,\n    parentRobotPartId,\n    attachmentId: Boolean(attachments && attachments.length) ? attachments[0].id : null,\n  });\n\n  const newPart = yield call(apiGet, `/Robot/Part/${id}`);\n\n  yield put(createRobotPartSuccess(newPart));\n  yield call(addPartToWorkspaceSaga, id, threeProcessor);\n}\n","\nimport {\n  call,\n  put,\n  select,\n} from 'redux-saga/effects';\n\nimport { apiGet, apiPost } from '../../../../common/utils/saga-utils';\n\nimport {\n  getSelectedPartId,\n} from '../../../catalog/selectors';\n\nimport {\n  getCurrentRobotId,\n} from '../../selectors';\n\nimport {\n  createRobotPartSuccess,\n} from '../../actions';\n\nimport addPartToWorkspaceSaga from '../addPartToWorkspaceSaga';\n\nexport function* createRootPartSaga(threeProcessor) {\n  const partId = yield select(getSelectedPartId);\n  const robotId = yield select(getCurrentRobotId);\n\n  const id = yield call(apiPost, '/Robot/Part', {\n    robotId,\n    partId,\n  });\n\n  const newPart = yield call(apiGet, `/Robot/Part/${id}`);\n\n  yield put(createRobotPartSuccess(newPart));\n  yield call(addPartToWorkspaceSaga, id, threeProcessor);\n}\n","\nimport {\n  call,\n  put,\n} from 'redux-saga/effects';\n\nimport { toast } from 'react-toastify';\n\nimport {\n  ADD_PART_TO_WORKSPACE_ERROR,\n  ADD_PART_TO_WORKSPACE_NOT_SUPPORTED_MESSAGE,\n} from '../../actions';\n\nexport function* ensurePotentialParentSelectedBeforeCreationSaga() {\n  // TODO: Version 1.0+\n  // If Multiple potential parents, wait for user to select one, validate, and continue\n  yield put({ type: ADD_PART_TO_WORKSPACE_ERROR });\n  yield call(toast.error, ADD_PART_TO_WORKSPACE_NOT_SUPPORTED_MESSAGE);\n}","import {\n  call,\n  select,\n} from 'redux-saga/effects';\n\nimport {\n  getPotentialParents,\n} from '../../selectors';\n\nimport { createChildPartSaga } from './createChildPartSaga';\nimport { createRootPartSaga } from './createRootPartSaga';\nimport { ensurePotentialParentSelectedBeforeCreationSaga } from './ensurePotentialParentSelectedBeforeCreationSaga';\n\nexport default function* placePartSaga(threeProcessor) {\n  const potentialParents = yield select(getPotentialParents);\n  const numberOfPotentialParents = potentialParents.length;\n\n  if (numberOfPotentialParents === 0) {\n    yield call(createRootPartSaga, threeProcessor);\n  } else if (numberOfPotentialParents === 1) {\n    yield call(createChildPartSaga, threeProcessor);\n  } else {\n    yield call(ensurePotentialParentSelectedBeforeCreationSaga);\n  }\n}\n","import {\n  call,\n  put,\n  select,\n} from 'redux-saga/effects';\n\nimport { apiGet, apiPut } from '../../../../common/utils/saga-utils';\n\nimport {\n  getSelectedPart,\n} from '../../../catalog/selectors';\n\nimport {\n  setCurrentRobotPart,\n  setPlacementMode,\n  replaceRobotPartSuccess,\n  replaceRobotPartRequest,\n} from '../../actions';\n\nimport {\n  getSelectedRobotPart,\n  getCurrentRobotPartWorkspaceArguments,\n} from '../../selectors';\n\nexport default function* replacePartSaga(threeProcessor) {\n  const partToReplace = yield select(getSelectedRobotPart);\n  const replaceWithPart = yield select(getSelectedPart);\n\n  yield call(apiPut, '/Robot/Part', {\n    replaceRobotPartId: partToReplace.id,\n    withPartId: replaceWithPart.id,\n  });\n\n  const newPart = yield call(apiGet, `/Robot/Part/${partToReplace.id}`);\n  yield put(replaceRobotPartRequest(partToReplace.id, newPart))\n  yield put(setCurrentRobotPart(partToReplace.id));\n  const args = yield select(getCurrentRobotPartWorkspaceArguments);\n\n  yield call(threeProcessor.replacePart, partToReplace, args);\n\n  yield put(setPlacementMode('place'));\n  yield put(replaceRobotPartSuccess());\n}\n","import placePartSaga from './placePartSaga';\nimport replacePartSaga from './replacePartSaga';\n\nexport default {\n  place: {\n    createPart: placePartSaga,\n  },\n  replace: {\n    createPart: replacePartSaga,\n  },\n};\n","import {\n  call,\n  put,\n  select,\n  take,\n} from 'redux-saga/effects';\nimport { toast } from 'react-toastify';\n\nimport {\n  ADD_PART_TO_WORKSPACE_REQUEST,\n  ADD_PART_TO_WORKSPACE_ERROR,\n  ADD_PART_TO_WORKSPACE_ERROR_MESSAGE,\n  addPartToWorkspaceSuccess,\n  setSceneLoaded,\n} from '../actions';\n\nimport {\n  getPlacementMode,\n} from '../selectors';\n\nimport {\n  selectPart,\n} from '../../catalog/actions';\n\nimport createPartStrategy from './createPart/strategies';\n\nexport default function* addPartToWorkspaceWatcher(threeProcessor) {\n  while (true) {\n    try {\n      const { payload } = yield take(ADD_PART_TO_WORKSPACE_REQUEST);\n      const { id } = payload;\n\n      yield put(selectPart(id));\n    \n      const placementMode = yield select(getPlacementMode);\n      const { createPart } = createPartStrategy[placementMode];\n      yield call(createPart, threeProcessor);\n      yield put(addPartToWorkspaceSuccess());\n      yield put(setSceneLoaded(true));\n    }\n    catch (error) {\n      yield put({ type: ADD_PART_TO_WORKSPACE_ERROR, error });\n      yield call(toast.error, ADD_PART_TO_WORKSPACE_ERROR_MESSAGE);\n    }\n  }\n}\n","import {\n  fork,\n} from 'redux-saga/effects';\n\nimport configureCanvasWatcher, { createCanvas } from './configureCanvasWatcher';\nimport resetCameraWatcher from './resetCameraWatcher';\nimport loadRobotWatcher from './loadRobotWatcher';\nimport exportRobotWatcher from './exportRobotWatcher';\nimport createRobotWatcher from './createRobotWatcher';\nimport removeRobotPartWatcher from './removeRobotPartWatcher';\nimport selectRobotPartWatcher from './selectRobotPartWatcher';\nimport activateTestDriveWatcher from './activateTestDriveWatcher';\nimport deactivateTestDriveWatcher from './deactivateTestDriveWatcher';\nimport configurePartWatcher from './configurePartWatcher';\nimport addPartToWorkspaceWatcher from './addPartToWorkspaceWatcher';\n\nexport default function* root() {\n  const { threeProcessor } = createCanvas();\n  yield fork(addPartToWorkspaceWatcher, threeProcessor);\n  yield fork(configureCanvasWatcher);\n  yield fork(resetCameraWatcher, threeProcessor);\n  yield fork(loadRobotWatcher, threeProcessor);\n  yield fork(activateTestDriveWatcher, threeProcessor);\n  yield fork(deactivateTestDriveWatcher, threeProcessor);\n  yield fork(createRobotWatcher);\n  yield fork(exportRobotWatcher);\n  yield fork(removeRobotPartWatcher, threeProcessor);\n  yield fork(selectRobotPartWatcher);\n  yield fork(configurePartWatcher, threeProcessor);\n}\n","import {\n  put,\n  throttle,\n} from 'redux-saga/effects';\n\nimport {\n  POPPER_UPDATE_REQUEST,\n  updatePopperSuccess,\n} from '../actions';\n\nexport default function* updatePopperSaga() {\n  yield throttle(15, POPPER_UPDATE_REQUEST, updatePopper);\n}\n\nfunction* updatePopper(action) {\n  const { payload } = action;\n  const { location, popperProps } = payload;\n\n  yield put(updatePopperSuccess(location, popperProps));\n}\n","import {\n  fork,\n} from 'redux-saga/effects';\n\nimport updatePopperSaga from './updatePopperSaga';\n\nexport default function* root() {\n  yield fork(updatePopperSaga);\n}\n","import {\n  call,\n  put,\n  select,\n  take,\n} from 'redux-saga/effects';\n\nimport { toast } from 'react-toastify';\n\nimport { apiPost } from '../../../common/utils/saga-utils';\n\nimport {\n  SUBMIT_QUOTE_REQUEST,\n  SUBMIT_QUOTE_SUCCESS,\n  SUBMIT_QUOTE_SUCCESS_MESSAGE,\n  SUBMIT_QUOTE_ERROR,\n  SUBMIT_QUOTE_ERROR_MESSAGE,\n} from '../actions';\n\nimport {\n  getCurrentRobotId,\n} from '../../configurator/selectors';\n\nexport default function* submitQuoteWatcher() {\n  while (true) {\n    try {\n      const { payload } = yield take(SUBMIT_QUOTE_REQUEST);\n\n      const robotId = yield select(getCurrentRobotId);\n      if (!robotId) {\n        return;\n      }\n\n      const {\n        quote, \n        setSubmitting,\n        resetForm,\n      } = payload;\n\n      yield call(submitQuote, robotId, quote, setSubmitting, resetForm);\n    } catch (error) {\n      yield call(handleError, error);\n    }\n  }\n}\n\nfunction* submitQuote(robotId, quote, setSubmitting, resetForm) {\n  try {\n    yield call(apiPost, '/Quote', {\n      robotId,\n      ...quote,\n    });\n\n    resetForm();\n\n    yield call(toast.success, SUBMIT_QUOTE_SUCCESS_MESSAGE);\n    yield put({ type: SUBMIT_QUOTE_SUCCESS });\n  } catch (error) {\n    yield call(handleError, error);\n  }\n\n  setSubmitting(false);\n}\n\nfunction* handleError(error) {\n  yield put({ type: SUBMIT_QUOTE_ERROR, payload: { error } });\n  yield call(toast.error, SUBMIT_QUOTE_ERROR_MESSAGE);\n}\n","import {\n  fork,\n} from 'redux-saga/effects';\n\nimport submitQuoteWatcher from './submitQuoteWatcher';\n\nexport default function* root() {\n  yield fork(submitQuoteWatcher);\n}\n","import { all } from 'redux-saga/effects';\n\nimport CatalogSaga from '../features/catalog/sagas/catalogSaga';\nimport ConfiguratorSaga from '../features/configurator/sagas/configuratorSaga';\nimport PopperSaga from '../features/poppers/sagas/popperSaga';\nimport RequestQuoteSaga from '../features/request-quote/sagas';\n\nexport default function* () {\n  yield all([\n    CatalogSaga(),\n    ConfiguratorSaga(),\n    PopperSaga(),\n    RequestQuoteSaga(),\n  ]);\n};\n","import { createMuiTheme } from '@material-ui/core/styles';\n\nimport {\n  typography,\n  zIndex,\n} from './variables';\n\nlet theme = createMuiTheme({\n  typography: {\n    ...typography,\n    color: '#474642',\n  },\n  zIndex,\n  palette: {\n    primary: {\n      light: '#FF5D35',\n      main: '#C82506',\n      dark: '#8F0000',\n      contrastText: '#fff',\n    },\n    secondary: {\n      light: '#9cffe1',\n      main: '#64F8AF',\n      dark: '#1dc47f',\n      contrastText: '#1D1D1D',\n    },\n    neutral: {\n      light: {\n        color: '#F1F1EF',\n        contrastText: '#1D1D1D',\n      },\n      main: {\n        color: '#D3D3CE',\n        contrastText: '#1D1D1D',\n      },\n      dark: {\n        color: '#B5B4AE',\n        contrastText: '#1D1D1D',\n      },\n      darker: {\n        color: '#6F6E68',\n        contrastText: '#FFFFFF',\n      },\n      darkest: {\n        color: '#474642',\n        contrastText: '#FFFFFF',\n      },\n      workspace: {\n        color: '#919191',\n        contrastText: '#FFFFFF',\n      },\n    },\n    accent: {\n      accent1: {\n        color: '#DCD521',\n        contrastText: '#1D1D1D'\n      },\n      accent2: {\n        color: '#F79205',\n        contrastText: '#1D1D1D'\n      },\n      accent3: {\n        color: '#05CE0B',\n        contrastText: '#1D1D1D'\n      },\n    },\n    status: {\n      danger: {\n        color: '#F80B0B',\n        contrastText: '#1D1D1D',\n      },\n      warning: {\n        color: '#F79205',\n        contrastText: '#1D1D1D',\n      },\n      success: {\n        color: '#05CE0B',\n        contrastText: '#1D1D1D',\n      },\n    },\n    text: {\n      primary: '#474642',\n      secondary: '#C82506',\n    },\n  },\n});\n\ntheme = {\n  ...theme,\n  overrides: {\n    MuiAppBar: {\n      colorDefault: theme.palette.neutral.darker,\n      root: {\n        backgroundColor: 'white',\n      },\n    },\n    MuiFormLabel: {\n      root: {\n        color: theme.palette.neutral.darkest.color,\n      },\n    },\n    MuiFormHelperText: {\n      root: {\n        color: theme.palette.neutral.darkest.color,\n      },\n    }\n  },\n};\n\nexport default theme;\n","// This optional code is used to register a service worker.\n// register() is not called by default.\n\n// This lets the app load faster on subsequent visits in production, and gives\n// it offline capabilities. However, it also means that developers (and users)\n// will only see deployed updates on subsequent visits to a page, after all the\n// existing tabs open on the page have been closed, since previously cached\n// resources are updated in the background.\n\n// To learn more about the benefits of this model and instructions on how to\n// opt-in, read http://bit.ly/CRA-PWA\n\nconst isLocalhost = Boolean(\n  window.location.hostname === 'localhost' ||\n    // [::1] is the IPv6 localhost address.\n    window.location.hostname === '[::1]' ||\n    // 127.0.0.1/8 is considered localhost for IPv4.\n    window.location.hostname.match(\n      /^127(?:\\.(?:25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)){3}$/\n    )\n);\n\nexport function register(config) {\n  if (process.env.NODE_ENV === 'production' && 'serviceWorker' in navigator) {\n    // The URL constructor is available in all browsers that support SW.\n    const publicUrl = new URL(process.env.PUBLIC_URL, window.location.href);\n    if (publicUrl.origin !== window.location.origin) {\n      // Our service worker won't work if PUBLIC_URL is on a different origin\n      // from what our page is served on. This might happen if a CDN is used to\n      // serve assets; see https://github.com/facebook/create-react-app/issues/2374\n      return;\n    }\n\n    window.addEventListener('load', () => {\n      const swUrl = `${process.env.PUBLIC_URL}/service-worker.js`;\n\n      if (isLocalhost) {\n        // This is running on localhost. Let's check if a service worker still exists or not.\n        checkValidServiceWorker(swUrl, config);\n\n        // Add some additional logging to localhost, pointing developers to the\n        // service worker/PWA documentation.\n        navigator.serviceWorker.ready.then(() => {\n          console.log(\n            'This web app is being served cache-first by a service ' +\n              'worker. To learn more, visit http://bit.ly/CRA-PWA'\n          );\n        });\n      } else {\n        // Is not localhost. Just register service worker\n        registerValidSW(swUrl, config);\n      }\n    });\n  }\n}\n\nfunction registerValidSW(swUrl, config) {\n  navigator.serviceWorker\n    .register(swUrl)\n    .then(registration => {\n      registration.onupdatefound = () => {\n        const installingWorker = registration.installing;\n        if (installingWorker == null) {\n          return;\n        }\n        installingWorker.onstatechange = () => {\n          if (installingWorker.state === 'installed') {\n            if (navigator.serviceWorker.controller) {\n              // At this point, the updated precached content has been fetched,\n              // but the previous service worker will still serve the older\n              // content until all client tabs are closed.\n              console.log(\n                'New content is available and will be used when all ' +\n                  'tabs for this page are closed. See http://bit.ly/CRA-PWA.'\n              );\n\n              // Execute callback\n              if (config && config.onUpdate) {\n                config.onUpdate(registration);\n              }\n            } else {\n              // At this point, everything has been precached.\n              // It's the perfect time to display a\n              // \"Content is cached for offline use.\" message.\n              console.log('Content is cached for offline use.');\n\n              // Execute callback\n              if (config && config.onSuccess) {\n                config.onSuccess(registration);\n              }\n            }\n          }\n        };\n      };\n    })\n    .catch(error => {\n      console.error('Error during service worker registration:', error);\n    });\n}\n\nfunction checkValidServiceWorker(swUrl, config) {\n  // Check if the service worker can be found. If it can't reload the page.\n  fetch(swUrl)\n    .then(response => {\n      // Ensure service worker exists, and that we really are getting a JS file.\n      const contentType = response.headers.get('content-type');\n      if (\n        response.status === 404 ||\n        (contentType != null && contentType.indexOf('javascript') === -1)\n      ) {\n        // No service worker found. Probably a different app. Reload the page.\n        navigator.serviceWorker.ready.then(registration => {\n          registration.unregister().then(() => {\n            window.location.reload();\n          });\n        });\n      } else {\n        // Service worker found. Proceed as normal.\n        registerValidSW(swUrl, config);\n      }\n    })\n    .catch(() => {\n      console.log(\n        'No internet connection found. App is running in offline mode.'\n      );\n    });\n}\n\nexport function unregister() {\n  if ('serviceWorker' in navigator) {\n    navigator.serviceWorker.ready.then(registration => {\n      registration.unregister();\n    });\n  }\n}\n","import React from 'react';\nimport ReactDOM from 'react-dom';\nimport { MuiThemeProvider } from '@material-ui/core/styles';\nimport { Provider } from 'react-redux';\nimport { PersistGate } from 'redux-persist/lib/integration/react';\nimport { ConnectedRouter } from 'connected-react-router';\n\nimport './index.css';\nimport App from './app/App';\nimport store, { history, persistor, sagaMiddleware } from './app/store';\nimport sagas from './app/saga';\nimport theme from './common/themes/material-theme';\n\nimport * as serviceWorker from './serviceWorker';\n\nsagaMiddleware.run(sagas);\n\nconst render = Component => {\n  ReactDOM.render(\n    <Provider store={store}>\n      <PersistGate persistor={persistor} loading={null}>\n        <ConnectedRouter history={history}>\n          <MuiThemeProvider theme={theme}>\n            <Component />\n          </MuiThemeProvider>\n        </ConnectedRouter>\n      </PersistGate>\n    </Provider>,\n    document.getElementById('root')\n  )\n};\n\nrender(App);\n\nif (module.hot) {\n  module.hot.accept('./app/App', () => {\n    const NextApp = require('./app/App').default;\n    render(NextApp);\n  });\n}\n\n// If you want your app to work offline and load faster, you can change\n// unregister() to register() below. Note this comes with some pitfalls.\n// Learn more about service workers: http://bit.ly/CRA-PWA\nserviceWorker.unregister();\n"],"sourceRoot":""}