diff --git a/3rdparty/flatbuffers/README.md b/3rdparty/flatbuffers/README.md
index 4ea040adc6..bbd293d782 100644
--- a/3rdparty/flatbuffers/README.md
+++ b/3rdparty/flatbuffers/README.md
@@ -1 +1 @@
-Origin: https://github.com/google/flatbuffers/tree/v23.5.9
+Origin: https://github.com/google/flatbuffers/tree/v25.9.23
diff --git a/3rdparty/flatbuffers/include/flatbuffers/allocator.h b/3rdparty/flatbuffers/include/flatbuffers/allocator.h
index 30427190b6..d451818568 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/allocator.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/allocator.h
@@ -28,21 +28,21 @@ class Allocator {
   virtual ~Allocator() {}
 
   // Allocate `size` bytes of memory.
-  virtual uint8_t *allocate(size_t size) = 0;
+  virtual uint8_t* allocate(size_t size) = 0;
 
   // Deallocate `size` bytes of memory at `p` allocated by this allocator.
-  virtual void deallocate(uint8_t *p, size_t size) = 0;
+  virtual void deallocate(uint8_t* p, size_t size) = 0;
 
   // Reallocate `new_size` bytes of memory, replacing the old region of size
   // `old_size` at `p`. In contrast to a normal realloc, this grows downwards,
   // and is intended specifcally for `vector_downward` use.
   // `in_use_back` and `in_use_front` indicate how much of `old_size` is
   // actually in use at each end, and needs to be copied.
-  virtual uint8_t *reallocate_downward(uint8_t *old_p, size_t old_size,
+  virtual uint8_t* reallocate_downward(uint8_t* old_p, size_t old_size,
                                        size_t new_size, size_t in_use_back,
                                        size_t in_use_front) {
     FLATBUFFERS_ASSERT(new_size > old_size);  // vector_downward only grows
-    uint8_t *new_p = allocate(new_size);
+    uint8_t* new_p = allocate(new_size);
     memcpy_downward(old_p, old_size, new_p, new_size, in_use_back,
                     in_use_front);
     deallocate(old_p, old_size);
@@ -54,7 +54,7 @@ class Allocator {
   // to `new_p` of `new_size`. Only memory of size `in_use_front` and
   // `in_use_back` will be copied from the front and back of the old memory
   // allocation.
-  void memcpy_downward(uint8_t *old_p, size_t old_size, uint8_t *new_p,
+  void memcpy_downward(uint8_t* old_p, size_t old_size, uint8_t* new_p,
                        size_t new_size, size_t in_use_back,
                        size_t in_use_front) {
     memcpy(new_p + new_size - in_use_back, old_p + old_size - in_use_back,
diff --git a/3rdparty/flatbuffers/include/flatbuffers/array.h b/3rdparty/flatbuffers/include/flatbuffers/array.h
index f4bfbf054c..914f479aab 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/array.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/array.h
@@ -27,17 +27,15 @@
 namespace flatbuffers {
 
 // This is used as a helper type for accessing arrays.
-template<typename T, uint16_t length> class Array {
+template <typename T, uint16_t length>
+class Array {
   // Array<T> can carry only POD data types (scalars or structs).
   typedef typename flatbuffers::bool_constant<flatbuffers::is_scalar<T>::value>
       scalar_tag;
-  typedef
-      typename flatbuffers::conditional<scalar_tag::value, T, const T *>::type
-          IndirectHelperType;
 
  public:
   typedef uint16_t size_type;
-  typedef typename IndirectHelper<IndirectHelperType>::return_type return_type;
+  typedef typename IndirectHelper<T>::return_type return_type;
   typedef VectorConstIterator<T, return_type, uoffset_t> const_iterator;
   typedef VectorReverseIterator<const_iterator> const_reverse_iterator;
 
@@ -50,7 +48,7 @@ template<typename T, uint16_t length> class Array {
 
   return_type Get(uoffset_t i) const {
     FLATBUFFERS_ASSERT(i < size());
-    return IndirectHelper<IndirectHelperType>::Read(Data(), i);
+    return IndirectHelper<T>::Read(Data(), i);
   }
 
   return_type operator[](uoffset_t i) const { return Get(i); }
@@ -58,7 +56,8 @@ template<typename T, uint16_t length> class Array {
   // If this is a Vector of enums, T will be its storage type, not the enum
   // type. This function makes it convenient to retrieve value with enum
   // type E.
-  template<typename E> E GetEnum(uoffset_t i) const {
+  template <typename E>
+  E GetEnum(uoffset_t i) const {
     return static_cast<E>(Get(i));
   }
 
@@ -83,28 +82,28 @@ template<typename T, uint16_t length> class Array {
   // operation. For primitive types use @p Mutate directly.
   // @warning Assignments and reads to/from the dereferenced pointer are not
   //  automatically converted to the correct endianness.
-  typename flatbuffers::conditional<scalar_tag::value, void, T *>::type
+  typename flatbuffers::conditional<scalar_tag::value, void, T*>::type
   GetMutablePointer(uoffset_t i) const {
     FLATBUFFERS_ASSERT(i < size());
-    return const_cast<T *>(&data()[i]);
+    return const_cast<T*>(&data()[i]);
   }
 
   // Change elements if you have a non-const pointer to this object.
-  void Mutate(uoffset_t i, const T &val) { MutateImpl(scalar_tag(), i, val); }
+  void Mutate(uoffset_t i, const T& val) { MutateImpl(scalar_tag(), i, val); }
 
   // The raw data in little endian format. Use with care.
-  const uint8_t *Data() const { return data_; }
+  const uint8_t* Data() const { return data_; }
 
-  uint8_t *Data() { return data_; }
+  uint8_t* Data() { return data_; }
 
   // Similarly, but typed, much like std::vector::data
-  const T *data() const { return reinterpret_cast<const T *>(Data()); }
-  T *data() { return reinterpret_cast<T *>(Data()); }
+  const T* data() const { return reinterpret_cast<const T*>(Data()); }
+  T* data() { return reinterpret_cast<T*>(Data()); }
 
   // Copy data from a span with endian conversion.
   // If this Array and the span overlap, the behavior is undefined.
   void CopyFromSpan(flatbuffers::span<const T, length> src) {
-    const auto p1 = reinterpret_cast<const uint8_t *>(src.data());
+    const auto p1 = reinterpret_cast<const uint8_t*>(src.data());
     const auto p2 = Data();
     FLATBUFFERS_ASSERT(!(p1 >= p2 && p1 < (p2 + length)) &&
                        !(p2 >= p1 && p2 < (p1 + length)));
@@ -114,12 +113,12 @@ template<typename T, uint16_t length> class Array {
   }
 
  protected:
-  void MutateImpl(flatbuffers::true_type, uoffset_t i, const T &val) {
+  void MutateImpl(flatbuffers::true_type, uoffset_t i, const T& val) {
     FLATBUFFERS_ASSERT(i < size());
     WriteScalar(data() + i, val);
   }
 
-  void MutateImpl(flatbuffers::false_type, uoffset_t i, const T &val) {
+  void MutateImpl(flatbuffers::false_type, uoffset_t i, const T& val) {
     *(GetMutablePointer(i)) = val;
   }
 
@@ -134,7 +133,9 @@ template<typename T, uint16_t length> class Array {
   // Copy data from flatbuffers::span with endian conversion.
   void CopyFromSpanImpl(flatbuffers::false_type,
                         flatbuffers::span<const T, length> src) {
-    for (size_type k = 0; k < length; k++) { Mutate(k, src[k]); }
+    for (size_type k = 0; k < length; k++) {
+      Mutate(k, src[k]);
+    }
   }
 
   // This class is only used to access pre-existing data. Don't ever
@@ -153,21 +154,21 @@ template<typename T, uint16_t length> class Array {
  private:
   // This class is a pointer. Copying will therefore create an invalid object.
   // Private and unimplemented copy constructor.
-  Array(const Array &);
-  Array &operator=(const Array &);
+  Array(const Array&);
+  Array& operator=(const Array&);
 };
 
 // Specialization for Array[struct] with access using Offset<void> pointer.
 // This specialization used by idl_gen_text.cpp.
-template<typename T, uint16_t length, template<typename> class OffsetT>
+template <typename T, uint16_t length, template <typename> class OffsetT>
 class Array<OffsetT<T>, length> {
   static_assert(flatbuffers::is_same<T, void>::value, "unexpected type T");
 
  public:
-  typedef const void *return_type;
+  typedef const void* return_type;
   typedef uint16_t size_type;
 
-  const uint8_t *Data() const { return data_; }
+  const uint8_t* Data() const { return data_; }
 
   // Make idl_gen_text.cpp::PrintContainer happy.
   return_type operator[](uoffset_t) const {
@@ -178,14 +179,14 @@ class Array<OffsetT<T>, length> {
  private:
   // This class is only used to access pre-existing data.
   Array();
-  Array(const Array &);
-  Array &operator=(const Array &);
+  Array(const Array&);
+  Array& operator=(const Array&);
 
   uint8_t data_[1];
 };
 
-template<class U, uint16_t N>
-FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<U, N> make_span(Array<U, N> &arr)
+template <class U, uint16_t N>
+FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<U, N> make_span(Array<U, N>& arr)
     FLATBUFFERS_NOEXCEPT {
   static_assert(
       Array<U, N>::is_span_observable,
@@ -193,26 +194,26 @@ FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<U, N> make_span(Array<U, N> &arr)
   return span<U, N>(arr.data(), N);
 }
 
-template<class U, uint16_t N>
+template <class U, uint16_t N>
 FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<const U, N> make_span(
-    const Array<U, N> &arr) FLATBUFFERS_NOEXCEPT {
+    const Array<U, N>& arr) FLATBUFFERS_NOEXCEPT {
   static_assert(
       Array<U, N>::is_span_observable,
       "wrong type U, only plain struct, LE-scalar, or byte types are allowed");
   return span<const U, N>(arr.data(), N);
 }
 
-template<class U, uint16_t N>
+template <class U, uint16_t N>
 FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<uint8_t, sizeof(U) * N>
-make_bytes_span(Array<U, N> &arr) FLATBUFFERS_NOEXCEPT {
+make_bytes_span(Array<U, N>& arr) FLATBUFFERS_NOEXCEPT {
   static_assert(Array<U, N>::is_span_observable,
                 "internal error, Array<T> might hold only scalars or structs");
   return span<uint8_t, sizeof(U) * N>(arr.Data(), sizeof(U) * N);
 }
 
-template<class U, uint16_t N>
+template <class U, uint16_t N>
 FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<const uint8_t, sizeof(U) * N>
-make_bytes_span(const Array<U, N> &arr) FLATBUFFERS_NOEXCEPT {
+make_bytes_span(const Array<U, N>& arr) FLATBUFFERS_NOEXCEPT {
   static_assert(Array<U, N>::is_span_observable,
                 "internal error, Array<T> might hold only scalars or structs");
   return span<const uint8_t, sizeof(U) * N>(arr.Data(), sizeof(U) * N);
@@ -221,31 +222,31 @@ make_bytes_span(const Array<U, N> &arr) FLATBUFFERS_NOEXCEPT {
 // Cast a raw T[length] to a raw flatbuffers::Array<T, length>
 // without endian conversion. Use with care.
 // TODO: move these Cast-methods to `internal` namespace.
-template<typename T, uint16_t length>
-Array<T, length> &CastToArray(T (&arr)[length]) {
-  return *reinterpret_cast<Array<T, length> *>(arr);
+template <typename T, uint16_t length>
+Array<T, length>& CastToArray(T (&arr)[length]) {
+  return *reinterpret_cast<Array<T, length>*>(arr);
 }
 
-template<typename T, uint16_t length>
-const Array<T, length> &CastToArray(const T (&arr)[length]) {
-  return *reinterpret_cast<const Array<T, length> *>(arr);
+template <typename T, uint16_t length>
+const Array<T, length>& CastToArray(const T (&arr)[length]) {
+  return *reinterpret_cast<const Array<T, length>*>(arr);
 }
 
-template<typename E, typename T, uint16_t length>
-Array<E, length> &CastToArrayOfEnum(T (&arr)[length]) {
+template <typename E, typename T, uint16_t length>
+Array<E, length>& CastToArrayOfEnum(T (&arr)[length]) {
   static_assert(sizeof(E) == sizeof(T), "invalid enum type E");
-  return *reinterpret_cast<Array<E, length> *>(arr);
+  return *reinterpret_cast<Array<E, length>*>(arr);
 }
 
-template<typename E, typename T, uint16_t length>
-const Array<E, length> &CastToArrayOfEnum(const T (&arr)[length]) {
+template <typename E, typename T, uint16_t length>
+const Array<E, length>& CastToArrayOfEnum(const T (&arr)[length]) {
   static_assert(sizeof(E) == sizeof(T), "invalid enum type E");
-  return *reinterpret_cast<const Array<E, length> *>(arr);
+  return *reinterpret_cast<const Array<E, length>*>(arr);
 }
 
-template<typename T, uint16_t length>
-bool operator==(const Array<T, length> &lhs,
-                const Array<T, length> &rhs) noexcept {
+template <typename T, uint16_t length>
+bool operator==(const Array<T, length>& lhs,
+                const Array<T, length>& rhs) noexcept {
   return std::addressof(lhs) == std::addressof(rhs) ||
          (lhs.size() == rhs.size() &&
           std::memcmp(lhs.Data(), rhs.Data(), rhs.size() * sizeof(T)) == 0);
diff --git a/3rdparty/flatbuffers/include/flatbuffers/base.h b/3rdparty/flatbuffers/include/flatbuffers/base.h
index ac8db356a4..987dcbc406 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/base.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/base.h
@@ -139,9 +139,9 @@
   #endif
 #endif // !defined(FLATBUFFERS_LITTLEENDIAN)
 
-#define FLATBUFFERS_VERSION_MAJOR 23
-#define FLATBUFFERS_VERSION_MINOR 5
-#define FLATBUFFERS_VERSION_REVISION 9
+#define FLATBUFFERS_VERSION_MAJOR 25
+#define FLATBUFFERS_VERSION_MINOR 9
+#define FLATBUFFERS_VERSION_REVISION 23
 #define FLATBUFFERS_STRING_EXPAND(X) #X
 #define FLATBUFFERS_STRING(X) FLATBUFFERS_STRING_EXPAND(X)
 namespace flatbuffers {
@@ -155,7 +155,7 @@ namespace flatbuffers {
   #define FLATBUFFERS_FINAL_CLASS final
   #define FLATBUFFERS_OVERRIDE override
   #define FLATBUFFERS_EXPLICIT_CPP11 explicit
-  #define FLATBUFFERS_VTABLE_UNDERLYING_TYPE : flatbuffers::voffset_t
+  #define FLATBUFFERS_VTABLE_UNDERLYING_TYPE : ::flatbuffers::voffset_t
 #else
   #define FLATBUFFERS_FINAL_CLASS
   #define FLATBUFFERS_OVERRIDE
@@ -279,20 +279,22 @@ namespace flatbuffers {
 #endif  // !FLATBUFFERS_LOCALE_INDEPENDENT
 
 // Suppress Undefined Behavior Sanitizer (recoverable only). Usage:
-// - __suppress_ubsan__("undefined")
-// - __suppress_ubsan__("signed-integer-overflow")
+// - FLATBUFFERS_SUPPRESS_UBSAN("undefined")
+// - FLATBUFFERS_SUPPRESS_UBSAN("signed-integer-overflow")
 #if defined(__clang__) && (__clang_major__ > 3 || (__clang_major__ == 3 && __clang_minor__ >=7))
-  #define __suppress_ubsan__(type) __attribute__((no_sanitize(type)))
+  #define FLATBUFFERS_SUPPRESS_UBSAN(type) __attribute__((no_sanitize(type)))
 #elif defined(__GNUC__) && (__GNUC__ * 100 + __GNUC_MINOR__ >= 409)
-  #define __suppress_ubsan__(type) __attribute__((no_sanitize_undefined))
+  #define FLATBUFFERS_SUPPRESS_UBSAN(type) __attribute__((no_sanitize_undefined))
 #else
-  #define __suppress_ubsan__(type)
+  #define FLATBUFFERS_SUPPRESS_UBSAN(type)
 #endif
 
-// This is constexpr function used for checking compile-time constants.
-// Avoid `#pragma warning(disable: 4127) // C4127: expression is constant`.
-template<typename T> FLATBUFFERS_CONSTEXPR inline bool IsConstTrue(T t) {
-  return !!t;
+namespace flatbuffers {
+  // This is constexpr function used for checking compile-time constants.
+  // Avoid `#pragma warning(disable: 4127) // C4127: expression is constant`.
+  template<typename T> FLATBUFFERS_CONSTEXPR inline bool IsConstTrue(T t) {
+    return !!t;
+  }
 }
 
 // Enable C++ attribute [[]] if std:c++17 or higher.
@@ -337,15 +339,15 @@ typedef uint16_t voffset_t;
 typedef uintmax_t largest_scalar_t;
 
 // In 32bits, this evaluates to 2GB - 1
-#define FLATBUFFERS_MAX_BUFFER_SIZE std::numeric_limits<::flatbuffers::soffset_t>::max()
-#define FLATBUFFERS_MAX_64_BUFFER_SIZE std::numeric_limits<::flatbuffers::soffset64_t>::max()
+#define FLATBUFFERS_MAX_BUFFER_SIZE (std::numeric_limits<::flatbuffers::soffset_t>::max)()
+#define FLATBUFFERS_MAX_64_BUFFER_SIZE (std::numeric_limits<::flatbuffers::soffset64_t>::max)()
 
 // The minimum size buffer that can be a valid flatbuffer.
 // Includes the offset to the root table (uoffset_t), the offset to the vtable
 // of the root table (soffset_t), the size of the vtable (uint16_t), and the
 // size of the referring table (uint16_t).
-#define FLATBUFFERS_MIN_BUFFER_SIZE sizeof(uoffset_t) + sizeof(soffset_t) + \
-   sizeof(uint16_t) + sizeof(uint16_t)
+#define FLATBUFFERS_MIN_BUFFER_SIZE sizeof(::flatbuffers::uoffset_t) + \
+  sizeof(::flatbuffers::soffset_t) + sizeof(uint16_t) + sizeof(uint16_t)
 
 // We support aligning the contents of buffers up to this size.
 #ifndef FLATBUFFERS_MAX_ALIGNMENT
@@ -361,7 +363,6 @@ inline bool VerifyAlignmentRequirements(size_t align, size_t min_align = 1) {
 }
 
 #if defined(_MSC_VER)
-  #pragma warning(disable: 4351) // C4351: new behavior: elements of array ... will be default initialized
   #pragma warning(push)
   #pragma warning(disable: 4127) // C4127: conditional expression is constant
 #endif
@@ -422,7 +423,7 @@ template<typename T> T EndianScalar(T t) {
 
 template<typename T>
 // UBSAN: C++ aliasing type rules, see std::bit_cast<> for details.
-__suppress_ubsan__("alignment")
+FLATBUFFERS_SUPPRESS_UBSAN("alignment")
 T ReadScalar(const void *p) {
   return EndianScalar(*reinterpret_cast<const T *>(p));
 }
@@ -436,13 +437,13 @@ T ReadScalar(const void *p) {
 
 template<typename T>
 // UBSAN: C++ aliasing type rules, see std::bit_cast<> for details.
-__suppress_ubsan__("alignment")
+FLATBUFFERS_SUPPRESS_UBSAN("alignment")
 void WriteScalar(void *p, T t) {
   *reinterpret_cast<T *>(p) = EndianScalar(t);
 }
 
 template<typename T> struct Offset;
-template<typename T> __suppress_ubsan__("alignment") void WriteScalar(void *p, Offset<T> t) {
+template<typename T> FLATBUFFERS_SUPPRESS_UBSAN("alignment") void WriteScalar(void *p, Offset<T> t) {
   *reinterpret_cast<uoffset_t *>(p) = EndianScalar(t.o);
 }
 
@@ -453,15 +454,22 @@ template<typename T> __suppress_ubsan__("alignment") void WriteScalar(void *p, O
 // Computes how many bytes you'd have to pad to be able to write an
 // "scalar_size" scalar if the buffer had grown to "buf_size" (downwards in
 // memory).
-__suppress_ubsan__("unsigned-integer-overflow")
+FLATBUFFERS_SUPPRESS_UBSAN("unsigned-integer-overflow")
 inline size_t PaddingBytes(size_t buf_size, size_t scalar_size) {
   return ((~buf_size) + 1) & (scalar_size - 1);
 }
 
+#if !defined(_MSC_VER)
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
 // Generic 'operator==' with conditional specialisations.
 // T e - new value of a scalar field.
 // T def - default of scalar (is known at compile-time).
 template<typename T> inline bool IsTheSameAs(T e, T def) { return e == def; }
+#if !defined(_MSC_VER)
+  #pragma GCC diagnostic pop
+#endif
 
 #if defined(FLATBUFFERS_NAN_DEFAULTS) && \
     defined(FLATBUFFERS_HAS_NEW_STRTOD) && (FLATBUFFERS_HAS_NEW_STRTOD > 0)
diff --git a/3rdparty/flatbuffers/include/flatbuffers/buffer.h b/3rdparty/flatbuffers/include/flatbuffers/buffer.h
index 94d4f7903b..154d187ab7 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/buffer.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/buffer.h
@@ -20,12 +20,14 @@
 #include <algorithm>
 
 #include "flatbuffers/base.h"
+#include "flatbuffers/stl_emulation.h"
 
 namespace flatbuffers {
 
 // Wrapper for uoffset_t to allow safe template specialization.
 // Value is allowed to be 0 to indicate a null object (see e.g. AddOffset).
-template<typename T = void> struct Offset {
+template <typename T = void>
+struct Offset {
   // The type of offset to use.
   typedef uoffset_t offset_type;
 
@@ -36,8 +38,14 @@ template<typename T = void> struct Offset {
   bool IsNull() const { return !o; }
 };
 
+template <typename T>
+struct is_specialisation_of_Offset : false_type {};
+template <typename T>
+struct is_specialisation_of_Offset<Offset<T>> : true_type {};
+
 // Wrapper for uoffset64_t Offsets.
-template<typename T = void> struct Offset64 {
+template <typename T = void>
+struct Offset64 {
   // The type of offset to use.
   typedef uoffset64_t offset_type;
 
@@ -48,6 +56,11 @@ template<typename T = void> struct Offset64 {
   bool IsNull() const { return !o; }
 };
 
+template <typename T>
+struct is_specialisation_of_Offset64 : false_type {};
+template <typename T>
+struct is_specialisation_of_Offset64<Offset64<T>> : true_type {};
+
 // Litmus check for ensuring the Offsets are the expected size.
 static_assert(sizeof(Offset<>) == 4, "Offset has wrong size");
 static_assert(sizeof(Offset64<>) == 8, "Offset64 has wrong size");
@@ -55,12 +68,13 @@ static_assert(sizeof(Offset64<>) == 8, "Offset64 has wrong size");
 inline void EndianCheck() {
   int endiantest = 1;
   // If this fails, see FLATBUFFERS_LITTLEENDIAN above.
-  FLATBUFFERS_ASSERT(*reinterpret_cast<char *>(&endiantest) ==
+  FLATBUFFERS_ASSERT(*reinterpret_cast<char*>(&endiantest) ==
                      FLATBUFFERS_LITTLEENDIAN);
   (void)endiantest;
 }
 
-template<typename T> FLATBUFFERS_CONSTEXPR size_t AlignOf() {
+template <typename T>
+FLATBUFFERS_CONSTEXPR size_t AlignOf() {
   // clang-format off
   #ifdef _MSC_VER
     return __alignof(T);
@@ -76,8 +90,8 @@ template<typename T> FLATBUFFERS_CONSTEXPR size_t AlignOf() {
 
 // Lexicographically compare two strings (possibly containing nulls), and
 // return true if the first is less than the second.
-static inline bool StringLessThan(const char *a_data, uoffset_t a_size,
-                                  const char *b_data, uoffset_t b_size) {
+static inline bool StringLessThan(const char* a_data, uoffset_t a_size,
+                                  const char* b_data, uoffset_t b_size) {
   const auto cmp = memcmp(a_data, b_data, (std::min)(a_size, b_size));
   return cmp == 0 ? a_size < b_size : cmp < 0;
 }
@@ -90,42 +104,43 @@ static inline bool StringLessThan(const char *a_data, uoffset_t a_size,
 // return type like this.
 // The typedef is for the convenience of callers of this function
 // (avoiding the need for a trailing return decltype)
-template<typename T> struct IndirectHelper {
+template <typename T, typename Enable = void>
+struct IndirectHelper {
   typedef T return_type;
   typedef T mutable_return_type;
   static const size_t element_stride = sizeof(T);
 
-  static return_type Read(const uint8_t *p, const size_t i) {
-    return EndianScalar((reinterpret_cast<const T *>(p))[i]);
+  static return_type Read(const uint8_t* p, const size_t i) {
+    return EndianScalar((reinterpret_cast<const T*>(p))[i]);
   }
-  static mutable_return_type Read(uint8_t *p, const size_t i) {
+  static mutable_return_type Read(uint8_t* p, const size_t i) {
     return reinterpret_cast<mutable_return_type>(
-        Read(const_cast<const uint8_t *>(p), i));
+        Read(const_cast<const uint8_t*>(p), i));
   }
 };
 
 // For vector of Offsets.
-template<typename T, template<typename> class OffsetT>
+template <typename T, template <typename> class OffsetT>
 struct IndirectHelper<OffsetT<T>> {
-  typedef const T *return_type;
-  typedef T *mutable_return_type;
+  typedef const T* return_type;
+  typedef T* mutable_return_type;
   typedef typename OffsetT<T>::offset_type offset_type;
   static const offset_type element_stride = sizeof(offset_type);
 
-  static return_type Read(const uint8_t *const p, const offset_type i) {
+  static return_type Read(const uint8_t* const p, const offset_type i) {
     // Offsets are relative to themselves, so first update the pointer to
     // point to the offset location.
-    const uint8_t *const offset_location = p + i * element_stride;
+    const uint8_t* const offset_location = p + i * element_stride;
 
     // Then read the scalar value of the offset (which may be 32 or 64-bits) and
     // then determine the relative location from the offset location.
     return reinterpret_cast<return_type>(
         offset_location + ReadScalar<offset_type>(offset_location));
   }
-  static mutable_return_type Read(uint8_t *const p, const offset_type i) {
+  static mutable_return_type Read(uint8_t* const p, const offset_type i) {
     // Offsets are relative to themselves, so first update the pointer to
     // point to the offset location.
-    uint8_t *const offset_location = p + i * element_stride;
+    uint8_t* const offset_location = p + i * element_stride;
 
     // Then read the scalar value of the offset (which may be 32 or 64-bits) and
     // then determine the relative location from the offset location.
@@ -135,16 +150,26 @@ struct IndirectHelper<OffsetT<T>> {
 };
 
 // For vector of structs.
-template<typename T> struct IndirectHelper<const T *> {
-  typedef const T *return_type;
-  typedef T *mutable_return_type;
-  static const size_t element_stride = sizeof(T);
+template <typename T>
+struct IndirectHelper<
+    T, typename std::enable_if<
+           !std::is_scalar<typename std::remove_pointer<T>::type>::value &&
+           !is_specialisation_of_Offset<T>::value &&
+           !is_specialisation_of_Offset64<T>::value>::type> {
+ private:
+  typedef typename std::remove_pointer<typename std::remove_cv<T>::type>::type
+      pointee_type;
 
-  static return_type Read(const uint8_t *const p, const size_t i) {
+ public:
+  typedef const pointee_type* return_type;
+  typedef pointee_type* mutable_return_type;
+  static const size_t element_stride = sizeof(pointee_type);
+
+  static return_type Read(const uint8_t* const p, const size_t i) {
     // Structs are stored inline, relative to the first struct pointer.
     return reinterpret_cast<return_type>(p + i * element_stride);
   }
-  static mutable_return_type Read(uint8_t *const p, const size_t i) {
+  static mutable_return_type Read(uint8_t* const p, const size_t i) {
     // Structs are stored inline, relative to the first struct pointer.
     return reinterpret_cast<mutable_return_type>(p + i * element_stride);
   }
@@ -157,14 +182,14 @@ template<typename T> struct IndirectHelper<const T *> {
 /// This function is UNDEFINED for FlatBuffers whose schema does not include
 /// a file_identifier (likely points at padding or the start of a the root
 /// vtable).
-inline const char *GetBufferIdentifier(const void *buf,
+inline const char* GetBufferIdentifier(const void* buf,
                                        bool size_prefixed = false) {
-  return reinterpret_cast<const char *>(buf) +
+  return reinterpret_cast<const char*>(buf) +
          ((size_prefixed) ? 2 * sizeof(uoffset_t) : sizeof(uoffset_t));
 }
 
 // Helper to see if the identifier in a buffer has the expected value.
-inline bool BufferHasIdentifier(const void *buf, const char *identifier,
+inline bool BufferHasIdentifier(const void* buf, const char* identifier,
                                 bool size_prefixed = false) {
   return strncmp(GetBufferIdentifier(buf, size_prefixed), identifier,
                  flatbuffers::kFileIdentifierLength) == 0;
@@ -172,26 +197,27 @@ inline bool BufferHasIdentifier(const void *buf, const char *identifier,
 
 /// @cond FLATBUFFERS_INTERNAL
 // Helpers to get a typed pointer to the root object contained in the buffer.
-template<typename T> T *GetMutableRoot(void *buf) {
+template <typename T>
+T* GetMutableRoot(void* buf) {
   if (!buf) return nullptr;
   EndianCheck();
-  return reinterpret_cast<T *>(
-      reinterpret_cast<uint8_t *>(buf) +
-      EndianScalar(*reinterpret_cast<uoffset_t *>(buf)));
+  return reinterpret_cast<T*>(reinterpret_cast<uint8_t*>(buf) +
+                              EndianScalar(*reinterpret_cast<uoffset_t*>(buf)));
 }
 
-template<typename T, typename SizeT = uoffset_t>
-T *GetMutableSizePrefixedRoot(void *buf) {
-  return GetMutableRoot<T>(reinterpret_cast<uint8_t *>(buf) + sizeof(SizeT));
+template <typename T, typename SizeT = uoffset_t>
+T* GetMutableSizePrefixedRoot(void* buf) {
+  return GetMutableRoot<T>(reinterpret_cast<uint8_t*>(buf) + sizeof(SizeT));
 }
 
-template<typename T> const T *GetRoot(const void *buf) {
-  return GetMutableRoot<T>(const_cast<void *>(buf));
+template <typename T>
+const T* GetRoot(const void* buf) {
+  return GetMutableRoot<T>(const_cast<void*>(buf));
 }
 
-template<typename T, typename SizeT = uoffset_t>
-const T *GetSizePrefixedRoot(const void *buf) {
-  return GetRoot<T>(reinterpret_cast<const uint8_t *>(buf) + sizeof(SizeT));
+template <typename T, typename SizeT = uoffset_t>
+const T* GetSizePrefixedRoot(const void* buf) {
+  return GetRoot<T>(reinterpret_cast<const uint8_t*>(buf) + sizeof(SizeT));
 }
 
 }  // namespace flatbuffers
diff --git a/3rdparty/flatbuffers/include/flatbuffers/buffer_ref.h b/3rdparty/flatbuffers/include/flatbuffers/buffer_ref.h
index f70941fc64..746903eb97 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/buffer_ref.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/buffer_ref.h
@@ -27,23 +27,24 @@ namespace flatbuffers {
 // A BufferRef does not own its buffer.
 struct BufferRefBase {};  // for std::is_base_of
 
-template<typename T> struct BufferRef : BufferRefBase {
+template <typename T>
+struct BufferRef : BufferRefBase {
   BufferRef() : buf(nullptr), len(0), must_free(false) {}
-  BufferRef(uint8_t *_buf, uoffset_t _len)
+  BufferRef(uint8_t* _buf, uoffset_t _len)
       : buf(_buf), len(_len), must_free(false) {}
 
   ~BufferRef() {
     if (must_free) free(buf);
   }
 
-  const T *GetRoot() const { return flatbuffers::GetRoot<T>(buf); }
+  const T* GetRoot() const { return flatbuffers::GetRoot<T>(buf); }
 
   bool Verify() {
     Verifier verifier(buf, len);
     return verifier.VerifyBuffer<T>(nullptr);
   }
 
-  uint8_t *buf;
+  uint8_t* buf;
   uoffset_t len;
   bool must_free;
 };
diff --git a/3rdparty/flatbuffers/include/flatbuffers/default_allocator.h b/3rdparty/flatbuffers/include/flatbuffers/default_allocator.h
index d4724122cb..d1cab08d74 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/default_allocator.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/default_allocator.h
@@ -25,32 +25,32 @@ namespace flatbuffers {
 // DefaultAllocator uses new/delete to allocate memory regions
 class DefaultAllocator : public Allocator {
  public:
-  uint8_t *allocate(size_t size) FLATBUFFERS_OVERRIDE {
+  uint8_t* allocate(size_t size) FLATBUFFERS_OVERRIDE {
     return new uint8_t[size];
   }
 
-  void deallocate(uint8_t *p, size_t) FLATBUFFERS_OVERRIDE { delete[] p; }
+  void deallocate(uint8_t* p, size_t) FLATBUFFERS_OVERRIDE { delete[] p; }
 
-  static void dealloc(void *p, size_t) { delete[] static_cast<uint8_t *>(p); }
+  static void dealloc(void* p, size_t) { delete[] static_cast<uint8_t*>(p); }
 };
 
 // These functions allow for a null allocator to mean use the default allocator,
 // as used by DetachedBuffer and vector_downward below.
 // This is to avoid having a statically or dynamically allocated default
 // allocator, or having to move it between the classes that may own it.
-inline uint8_t *Allocate(Allocator *allocator, size_t size) {
+inline uint8_t* Allocate(Allocator* allocator, size_t size) {
   return allocator ? allocator->allocate(size)
                    : DefaultAllocator().allocate(size);
 }
 
-inline void Deallocate(Allocator *allocator, uint8_t *p, size_t size) {
+inline void Deallocate(Allocator* allocator, uint8_t* p, size_t size) {
   if (allocator)
     allocator->deallocate(p, size);
   else
     DefaultAllocator().deallocate(p, size);
 }
 
-inline uint8_t *ReallocateDownward(Allocator *allocator, uint8_t *old_p,
+inline uint8_t* ReallocateDownward(Allocator* allocator, uint8_t* old_p,
                                    size_t old_size, size_t new_size,
                                    size_t in_use_back, size_t in_use_front) {
   return allocator ? allocator->reallocate_downward(old_p, old_size, new_size,
diff --git a/3rdparty/flatbuffers/include/flatbuffers/detached_buffer.h b/3rdparty/flatbuffers/include/flatbuffers/detached_buffer.h
index 5e900baeb5..0577a42d96 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/detached_buffer.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/detached_buffer.h
@@ -36,8 +36,8 @@ class DetachedBuffer {
         cur_(nullptr),
         size_(0) {}
 
-  DetachedBuffer(Allocator *allocator, bool own_allocator, uint8_t *buf,
-                 size_t reserved, uint8_t *cur, size_t sz)
+  DetachedBuffer(Allocator* allocator, bool own_allocator, uint8_t* buf,
+                 size_t reserved, uint8_t* cur, size_t sz)
       : allocator_(allocator),
         own_allocator_(own_allocator),
         buf_(buf),
@@ -45,7 +45,7 @@ class DetachedBuffer {
         cur_(cur),
         size_(sz) {}
 
-  DetachedBuffer(DetachedBuffer &&other) noexcept
+  DetachedBuffer(DetachedBuffer&& other) noexcept
       : allocator_(other.allocator_),
         own_allocator_(other.own_allocator_),
         buf_(other.buf_),
@@ -55,7 +55,7 @@ class DetachedBuffer {
     other.reset();
   }
 
-  DetachedBuffer &operator=(DetachedBuffer &&other) noexcept {
+  DetachedBuffer& operator=(DetachedBuffer&& other) noexcept {
     if (this == &other) return *this;
 
     destroy();
@@ -74,28 +74,35 @@ class DetachedBuffer {
 
   ~DetachedBuffer() { destroy(); }
 
-  const uint8_t *data() const { return cur_; }
+  const uint8_t* data() const { return cur_; }
 
-  uint8_t *data() { return cur_; }
+  uint8_t* data() { return cur_; }
 
   size_t size() const { return size_; }
 
+  uint8_t* begin() { return data(); }
+  const uint8_t* begin() const { return data(); }
+  uint8_t* end() { return data() + size(); }
+  const uint8_t* end() const { return data() + size(); }
+
   // These may change access mode, leave these at end of public section
-  FLATBUFFERS_DELETE_FUNC(DetachedBuffer(const DetachedBuffer &other));
+  FLATBUFFERS_DELETE_FUNC(DetachedBuffer(const DetachedBuffer& other));
   FLATBUFFERS_DELETE_FUNC(
-      DetachedBuffer &operator=(const DetachedBuffer &other));
+      DetachedBuffer& operator=(const DetachedBuffer& other));
 
  protected:
-  Allocator *allocator_;
+  Allocator* allocator_;
   bool own_allocator_;
-  uint8_t *buf_;
+  uint8_t* buf_;
   size_t reserved_;
-  uint8_t *cur_;
+  uint8_t* cur_;
   size_t size_;
 
   inline void destroy() {
     if (buf_) Deallocate(allocator_, buf_, reserved_);
-    if (own_allocator_ && allocator_) { delete allocator_; }
+    if (own_allocator_ && allocator_) {
+      delete allocator_;
+    }
     reset();
   }
 
diff --git a/3rdparty/flatbuffers/include/flatbuffers/flatbuffer_builder.h b/3rdparty/flatbuffers/include/flatbuffers/flatbuffer_builder.h
index ed932cd9cc..9eea6bab0c 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/flatbuffer_builder.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/flatbuffer_builder.h
@@ -45,22 +45,24 @@ inline voffset_t FieldIndexToOffset(voffset_t field_id) {
   // Should correspond to what EndTable() below builds up.
   const voffset_t fixed_fields =
       2 * sizeof(voffset_t);  // Vtable size and Object Size.
-  return fixed_fields + field_id * sizeof(voffset_t);
+  size_t offset = fixed_fields + field_id * sizeof(voffset_t);
+  FLATBUFFERS_ASSERT(offset < std::numeric_limits<voffset_t>::max());
+  return static_cast<voffset_t>(offset);
 }
 
-template<typename T, typename Alloc = std::allocator<T>>
-const T *data(const std::vector<T, Alloc> &v) {
+template <typename T, typename Alloc = std::allocator<T>>
+const T* data(const std::vector<T, Alloc>& v) {
   // Eventually the returned pointer gets passed down to memcpy, so
   // we need it to be non-null to avoid undefined behavior.
   static uint8_t t;
-  return v.empty() ? reinterpret_cast<const T *>(&t) : &v.front();
+  return v.empty() ? reinterpret_cast<const T*>(&t) : &v.front();
 }
-template<typename T, typename Alloc = std::allocator<T>>
-T *data(std::vector<T, Alloc> &v) {
+template <typename T, typename Alloc = std::allocator<T>>
+T* data(std::vector<T, Alloc>& v) {
   // Eventually the returned pointer gets passed down to memcpy, so
   // we need it to be non-null to avoid undefined behavior.
   static uint8_t t;
-  return v.empty() ? reinterpret_cast<T *>(&t) : &v.front();
+  return v.empty() ? reinterpret_cast<T*>(&t) : &v.front();
 }
 
 /// @addtogroup flatbuffers_cpp_api
@@ -72,7 +74,8 @@ T *data(std::vector<T, Alloc> &v) {
 /// `PushElement`/`AddElement`/`EndTable`, or the builtin `CreateString`/
 /// `CreateVector` functions. Do this is depth-first order to build up a tree to
 /// the root. `Finish()` wraps up the buffer ready for transport.
-template<bool Is64Aware = false> class FlatBufferBuilderImpl {
+template <bool Is64Aware = false>
+class FlatBufferBuilderImpl {
  public:
   // This switches the size type of the builder, based on if its 64-bit aware
   // (uoffset64_t) or not (uoffset_t).
@@ -91,7 +94,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// types with custom alignment AND you wish to read the buffer in-place
   /// directly after creation.
   explicit FlatBufferBuilderImpl(
-      size_t initial_size = 1024, Allocator *allocator = nullptr,
+      size_t initial_size = 1024, Allocator* allocator = nullptr,
       bool own_allocator = false,
       size_t buffer_minalign = AlignOf<largest_scalar_t>())
       : buf_(initial_size, allocator, own_allocator, buffer_minalign,
@@ -110,7 +113,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   }
 
   /// @brief Move constructor for FlatBufferBuilder.
-  FlatBufferBuilderImpl(FlatBufferBuilderImpl &&other) noexcept
+  FlatBufferBuilderImpl(FlatBufferBuilderImpl&& other) noexcept
       : buf_(1024, nullptr, false, AlignOf<largest_scalar_t>(),
              static_cast<SizeT>(Is64Aware ? FLATBUFFERS_MAX_64_BUFFER_SIZE
                                           : FLATBUFFERS_MAX_BUFFER_SIZE)),
@@ -131,14 +134,14 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   }
 
   /// @brief Move assignment operator for FlatBufferBuilder.
-  FlatBufferBuilderImpl &operator=(FlatBufferBuilderImpl &&other) noexcept {
+  FlatBufferBuilderImpl& operator=(FlatBufferBuilderImpl&& other) noexcept {
     // Move construct a temporary and swap idiom
     FlatBufferBuilderImpl temp(std::move(other));
     Swap(temp);
     return *this;
   }
 
-  void Swap(FlatBufferBuilderImpl &other) {
+  void Swap(FlatBufferBuilderImpl& other) {
     using std::swap;
     buf_.swap(other.buf_);
     swap(num_field_loc, other.num_field_loc);
@@ -180,7 +183,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @brief The current size of the serialized buffer relative to the end of
   /// the 32-bit region.
   /// @return Returns an `uoffset_t` with the current size of the buffer.
-  template<bool is_64 = Is64Aware>
+  template <bool is_64 = Is64Aware>
   // Only enable this method for the 64-bit builder, as only that builder is
   // concerned with the 32/64-bit boundary, and should be the one to bare any
   // run time costs.
@@ -193,7 +196,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
     return static_cast<uoffset_t>(GetSize() - length_of_64_bit_region_);
   }
 
-  template<bool is_64 = Is64Aware>
+  template <bool is_64 = Is64Aware>
   // Only enable this method for the 32-bit builder.
   typename std::enable_if<!is_64, uoffset_t>::type GetSizeRelative32BitRegion()
       const {
@@ -203,7 +206,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @brief Get the serialized buffer (after you call `Finish()`).
   /// @return Returns an `uint8_t` pointer to the FlatBuffer data inside the
   /// buffer.
-  uint8_t *GetBufferPointer() const {
+  uint8_t* GetBufferPointer() const {
     Finished();
     return buf_.data();
   }
@@ -218,23 +221,15 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
 
   /// @brief Get a pointer to an unfinished buffer.
   /// @return Returns a `uint8_t` pointer to the unfinished buffer.
-  uint8_t *GetCurrentBufferPointer() const { return buf_.data(); }
-
-  /// @brief Get the released pointer to the serialized buffer.
-  /// @warning Do NOT attempt to use this FlatBufferBuilder afterwards!
-  /// @return A `FlatBuffer` that owns the buffer and its allocator and
-  /// behaves similar to a `unique_ptr` with a deleter.
-  FLATBUFFERS_ATTRIBUTE([[deprecated("use Release() instead")]])
-  DetachedBuffer ReleaseBufferPointer() {
-    Finished();
-    return buf_.release();
-  }
+  uint8_t* GetCurrentBufferPointer() const { return buf_.data(); }
 
   /// @brief Get the released DetachedBuffer.
   /// @return A `DetachedBuffer` that owns the buffer and its allocator.
   DetachedBuffer Release() {
     Finished();
-    return buf_.release();
+    DetachedBuffer buffer = buf_.release();
+    Clear();
+    return buffer;
   }
 
   /// @brief Get the released pointer to the serialized buffer.
@@ -245,10 +240,12 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @return A raw pointer to the start of the memory block containing
   /// the serialized `FlatBuffer`.
   /// @remark If the allocator is owned, it gets deleted when the destructor is
-  /// called..
-  uint8_t *ReleaseRaw(size_t &size, size_t &offset) {
+  /// called.
+  uint8_t* ReleaseRaw(size_t& size, size_t& offset) {
     Finished();
-    return buf_.release_raw(size, offset);
+    uint8_t* raw = buf_.release_raw(size, offset);
+    Clear();
+    return raw;
   }
 
   /// @brief get the minimum alignment this buffer needs to be accessed
@@ -295,22 +292,23 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
     buf_.fill(PaddingBytes(buf_.size(), elem_size));
   }
 
-  void PushFlatBuffer(const uint8_t *bytes, size_t size) {
+  void PushFlatBuffer(const uint8_t* bytes, size_t size) {
     PushBytes(bytes, size);
     finished = true;
   }
 
-  void PushBytes(const uint8_t *bytes, size_t size) { buf_.push(bytes, size); }
+  void PushBytes(const uint8_t* bytes, size_t size) { buf_.push(bytes, size); }
 
   void PopBytes(size_t amount) { buf_.pop(amount); }
 
-  template<typename T> void AssertScalarT() {
+  template <typename T>
+  void AssertScalarT() {
     // The code assumes power of 2 sizes and endian-swap-ability.
     static_assert(flatbuffers::is_scalar<T>::value, "T must be a scalar type");
   }
 
   // Write a single aligned scalar to the buffer
-  template<typename T, typename ReturnT = uoffset_t>
+  template <typename T, typename ReturnT = uoffset_t>
   ReturnT PushElement(T element) {
     AssertScalarT<T>();
     Align(sizeof(T));
@@ -318,7 +316,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
     return CalculateOffset<ReturnT>();
   }
 
-  template<typename T, template<typename> class OffsetT = Offset>
+  template <typename T, template <typename> class OffsetT = Offset>
   uoffset_t PushElement(OffsetT<T> off) {
     // Special case for offsets: see ReferTo below.
     return PushElement(ReferTo(off.o));
@@ -327,34 +325,41 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   // When writing fields, we track where they are, so we can create correct
   // vtables later.
   void TrackField(voffset_t field, uoffset_t off) {
-    FieldLoc fl = { off, field };
+    FieldLoc fl = {off, field};
     buf_.scratch_push_small(fl);
     num_field_loc++;
-    if (field > max_voffset_) { max_voffset_ = field; }
+    if (field > max_voffset_) {
+      max_voffset_ = field;
+    }
   }
 
   // Like PushElement, but additionally tracks the field this represents.
-  template<typename T> void AddElement(voffset_t field, T e, T def) {
+  template <typename T>
+  void AddElement(voffset_t field, T e, T def) {
     // We don't serialize values equal to the default.
     if (IsTheSameAs(e, def) && !force_defaults_) return;
     TrackField(field, PushElement(e));
   }
 
-  template<typename T> void AddElement(voffset_t field, T e) {
+  template <typename T>
+  void AddElement(voffset_t field, T e) {
     TrackField(field, PushElement(e));
   }
 
-  template<typename T> void AddOffset(voffset_t field, Offset<T> off) {
+  template <typename T>
+  void AddOffset(voffset_t field, Offset<T> off) {
     if (off.IsNull()) return;  // Don't store.
     AddElement(field, ReferTo(off.o), static_cast<uoffset_t>(0));
   }
 
-  template<typename T> void AddOffset(voffset_t field, Offset64<T> off) {
+  template <typename T>
+  void AddOffset(voffset_t field, Offset64<T> off) {
     if (off.IsNull()) return;  // Don't store.
     AddElement(field, ReferTo(off.o), static_cast<uoffset64_t>(0));
   }
 
-  template<typename T> void AddStruct(voffset_t field, const T *structptr) {
+  template <typename T>
+  void AddStruct(voffset_t field, const T* structptr) {
     if (!structptr) return;  // Default, don't store.
     Align(AlignOf<T>());
     buf_.push_small(*structptr);
@@ -384,12 +389,14 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
     return ReferTo(off, GetSize());
   }
 
-  template<typename T, typename T2> T ReferTo(const T off, const T2 size) {
+  template <typename T, typename T2>
+  T ReferTo(const T off, const T2 size) {
     FLATBUFFERS_ASSERT(off && off <= size);
     return size - off + static_cast<T>(sizeof(T));
   }
 
-  template<typename T> T ReferTo(const T off, const T size) {
+  template <typename T>
+  T ReferTo(const T off, const T size) {
     FLATBUFFERS_ASSERT(off && off <= size);
     return size - off + static_cast<T>(sizeof(T));
   }
@@ -445,7 +452,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
     // Write the offsets into the table
     for (auto it = buf_.scratch_end() - num_field_loc * sizeof(FieldLoc);
          it < buf_.scratch_end(); it += sizeof(FieldLoc)) {
-      auto field_location = reinterpret_cast<FieldLoc *>(it);
+      auto field_location = reinterpret_cast<FieldLoc*>(it);
       const voffset_t pos =
           static_cast<voffset_t>(vtable_offset_loc - field_location->off);
       // If this asserts, it means you've set a field twice.
@@ -454,7 +461,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
       WriteScalar<voffset_t>(buf_.data() + field_location->id, pos);
     }
     ClearOffsets();
-    auto vt1 = reinterpret_cast<voffset_t *>(buf_.data());
+    auto vt1 = reinterpret_cast<voffset_t*>(buf_.data());
     auto vt1_size = ReadScalar<voffset_t>(vt1);
     auto vt_use = GetSizeRelative32BitRegion();
     // See if we already have generated a vtable with this exact same
@@ -462,8 +469,8 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
     if (dedup_vtables_) {
       for (auto it = buf_.scratch_data(); it < buf_.scratch_end();
            it += sizeof(uoffset_t)) {
-        auto vt_offset_ptr = reinterpret_cast<uoffset_t *>(it);
-        auto vt2 = reinterpret_cast<voffset_t *>(buf_.data_at(*vt_offset_ptr));
+        auto vt_offset_ptr = reinterpret_cast<uoffset_t*>(it);
+        auto vt2 = reinterpret_cast<voffset_t*>(buf_.data_at(*vt_offset_ptr));
         auto vt2_size = ReadScalar<voffset_t>(vt2);
         if (vt1_size != vt2_size || 0 != memcmp(vt2, vt1, vt1_size)) continue;
         vt_use = *vt_offset_ptr;
@@ -494,8 +501,9 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
 
   // This checks a required field has been set in a given table that has
   // just been constructed.
-  template<typename T> void Required(Offset<T> table, voffset_t field) {
-    auto table_ptr = reinterpret_cast<const Table *>(buf_.data_at(table.o));
+  template <typename T>
+  void Required(Offset<T> table, voffset_t field) {
+    auto table_ptr = reinterpret_cast<const Table*>(buf_.data_at(table.o));
     bool ok = table_ptr->GetOptionalFieldOffset(field) != 0;
     // If this fails, the caller will show what field needs to be set.
     FLATBUFFERS_ASSERT(ok);
@@ -525,7 +533,8 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
 
   // Aligns such than when "len" bytes are written, an object of type `AlignT`
   // can be written after it (forward in the buffer) without padding.
-  template<typename AlignT> void PreAlign(size_t len) {
+  template <typename AlignT>
+  void PreAlign(size_t len) {
     AssertScalarT<AlignT>();
     PreAlign(len, AlignOf<AlignT>());
   }
@@ -535,8 +544,8 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] str A const char pointer to the data to be stored as a string.
   /// @param[in] len The number of bytes that should be stored from `str`.
   /// @return Returns the offset in the buffer where the string starts.
-  template<template<typename> class OffsetT = Offset>
-  OffsetT<String> CreateString(const char *str, size_t len) {
+  template <template <typename> class OffsetT = Offset>
+  OffsetT<String> CreateString(const char* str, size_t len) {
     CreateStringImpl(str, len);
     return OffsetT<String>(
         CalculateOffset<typename OffsetT<String>::offset_type>());
@@ -545,24 +554,24 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @brief Store a string in the buffer, which is null-terminated.
   /// @param[in] str A const char pointer to a C-string to add to the buffer.
   /// @return Returns the offset in the buffer where the string starts.
-  template<template<typename> class OffsetT = Offset>
-  OffsetT<String> CreateString(const char *str) {
+  template <template <typename> class OffsetT = Offset>
+  OffsetT<String> CreateString(const char* str) {
     return CreateString<OffsetT>(str, strlen(str));
   }
 
   /// @brief Store a string in the buffer, which is null-terminated.
   /// @param[in] str A char pointer to a C-string to add to the buffer.
   /// @return Returns the offset in the buffer where the string starts.
-  template<template<typename> class OffsetT = Offset>
-  OffsetT<String> CreateString(char *str) {
+  template <template <typename> class OffsetT = Offset>
+  OffsetT<String> CreateString(char* str) {
     return CreateString<OffsetT>(str, strlen(str));
   }
 
   /// @brief Store a string in the buffer, which can contain any binary data.
   /// @param[in] str A const reference to a std::string to store in the buffer.
   /// @return Returns the offset in the buffer where the string starts.
-  template<template<typename> class OffsetT = Offset>
-  OffsetT<String> CreateString(const std::string &str) {
+  template <template <typename> class OffsetT = Offset>
+  OffsetT<String> CreateString(const std::string& str) {
     return CreateString<OffsetT>(str.c_str(), str.length());
   }
 
@@ -581,21 +590,21 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @brief Store a string in the buffer, which can contain any binary data.
   /// @param[in] str A const pointer to a `String` struct to add to the buffer.
   /// @return Returns the offset in the buffer where the string starts
-  template<template<typename> class OffsetT = Offset>
-  OffsetT<String> CreateString(const String *str) {
+  template <template <typename> class OffsetT = Offset>
+  OffsetT<String> CreateString(const String* str) {
     return str ? CreateString<OffsetT>(str->c_str(), str->size()) : 0;
   }
 
   /// @brief Store a string in the buffer, which can contain any binary data.
   /// @param[in] str A const reference to a std::string like type with support
-  /// of T::c_str() and T::length() to store in the buffer.
+  /// of T::data() and T::length() to store in the buffer.
   /// @return Returns the offset in the buffer where the string starts.
-  template<template<typename> class OffsetT = Offset,
-           // No need to explicitly declare the T type, let the compiler deduce
-           // it.
-           int &...ExplicitArgumentBarrier, typename T>
-  OffsetT<String> CreateString(const T &str) {
-    return CreateString<OffsetT>(str.c_str(), str.length());
+  template <template <typename> class OffsetT = Offset,
+            // No need to explicitly declare the T type, let the compiler deduce
+            // it.
+            int&... ExplicitArgumentBarrier, typename T>
+  OffsetT<String> CreateString(const T& str) {
+    return CreateString<OffsetT>(str.data(), str.length());
   }
 
   /// @brief Store a string in the buffer, which can contain any binary data.
@@ -605,7 +614,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] str A const char pointer to the data to be stored as a string.
   /// @param[in] len The number of bytes that should be stored from `str`.
   /// @return Returns the offset in the buffer where the string starts.
-  Offset<String> CreateSharedString(const char *str, size_t len) {
+  Offset<String> CreateSharedString(const char* str, size_t len) {
     FLATBUFFERS_ASSERT(FLATBUFFERS_GENERAL_HEAP_ALLOC_OK);
     if (!string_pool) {
       string_pool = new StringOffsetMap(StringOffsetCompare(buf_));
@@ -644,7 +653,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// stored on the heap, but only stores the numerical offsets.
   /// @param[in] str A const char pointer to a C-string to add to the buffer.
   /// @return Returns the offset in the buffer where the string starts.
-  Offset<String> CreateSharedString(const char *str) {
+  Offset<String> CreateSharedString(const char* str) {
     return CreateSharedString(str, strlen(str));
   }
 
@@ -654,7 +663,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// stored on the heap, but only stores the numerical offsets.
   /// @param[in] str A const reference to a std::string to store in the buffer.
   /// @return Returns the offset in the buffer where the string starts.
-  Offset<String> CreateSharedString(const std::string &str) {
+  Offset<String> CreateSharedString(const std::string& str) {
     return CreateSharedString(str.c_str(), str.length());
   }
 #endif
@@ -665,19 +674,20 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// stored on the heap, but only stores the numerical offsets.
   /// @param[in] str A const pointer to a `String` struct to add to the buffer.
   /// @return Returns the offset in the buffer where the string starts
-  Offset<String> CreateSharedString(const String *str) {
+  Offset<String> CreateSharedString(const String* str) {
     return str ? CreateSharedString(str->c_str(), str->size()) : 0;
   }
 
   /// @cond FLATBUFFERS_INTERNAL
-  template<typename LenT = uoffset_t, typename ReturnT = uoffset_t>
+  template <typename LenT = uoffset_t, typename ReturnT = uoffset_t>
   ReturnT EndVector(size_t len) {
     FLATBUFFERS_ASSERT(nested);  // Hit if no corresponding StartVector.
     nested = false;
     return PushElement<LenT, ReturnT>(static_cast<LenT>(len));
   }
 
-  template<template<typename> class OffsetT = Offset, typename LenT = uint32_t>
+  template <template <typename> class OffsetT = Offset,
+            typename LenT = uint32_t>
   void StartVector(size_t len, size_t elemsize, size_t alignment) {
     NotNested();
     nested = true;
@@ -687,8 +697,8 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
     PreAlign(len * elemsize, alignment);  // Just in case elemsize > uoffset_t.
   }
 
-  template<typename T, template<typename> class OffsetT = Offset,
-           typename LenT = uint32_t>
+  template <typename T, template <typename> class OffsetT = Offset,
+            typename LenT = uint32_t>
   void StartVector(size_t len) {
     return StartVector<OffsetT, LenT>(len, sizeof(T), AlignOf<T>());
   }
@@ -698,12 +708,27 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   // normally dictate.
   // This is useful when storing a nested_flatbuffer in a vector of bytes,
   // or when storing SIMD floats, etc.
-  void ForceVectorAlignment(size_t len, size_t elemsize, size_t alignment) {
+  void ForceVectorAlignment(const size_t len, const size_t elemsize,
+                            const size_t alignment) {
     if (len == 0) return;
     FLATBUFFERS_ASSERT(VerifyAlignmentRequirements(alignment));
     PreAlign(len * elemsize, alignment);
   }
 
+  template <bool is_64 = Is64Aware>
+  typename std::enable_if<is_64, void>::type ForceVectorAlignment64(
+      const size_t len, const size_t elemsize, const size_t alignment) {
+    // If you hit this assertion, you are trying to force alignment on a
+    // vector with offset64 after serializing a 32-bit offset.
+    FLATBUFFERS_ASSERT(GetSize() == length_of_64_bit_region_);
+
+    // Call through.
+    ForceVectorAlignment(len, elemsize, alignment);
+
+    // Update the 64 bit region.
+    length_of_64_bit_region_ = GetSize();
+  }
+
   // Similar to ForceVectorAlignment but for String fields.
   void ForceStringAlignment(size_t len, size_t alignment) {
     if (len == 0) return;
@@ -722,10 +747,9 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] len The number of elements to serialize.
   /// @return Returns a typed `TOffset` into the serialized data indicating
   /// where the vector is stored.
-  template<template<typename...> class OffsetT = Offset,
-           template<typename...> class VectorT = Vector,
-           int &...ExplicitArgumentBarrier, typename T>
-  OffsetT<VectorT<T>> CreateVector(const T *v, size_t len) {
+  template <typename T, template <typename...> class OffsetT = Offset,
+            template <typename...> class VectorT = Vector>
+  OffsetT<VectorT<T>> CreateVector(const T* v, size_t len) {
     // The type of the length field in the vector.
     typedef typename VectorT<T>::size_type LenT;
     typedef typename OffsetT<VectorT<T>>::offset_type offset_type;
@@ -758,7 +782,8 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// serialize into the buffer as a `vector`.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, class C> Offset<Vector<T>> CreateVector(const C &array) {
+  template <typename T, class C>
+  Offset<Vector<T>> CreateVector(const C& array) {
     return CreateVector(array.data(), array.size());
   }
 
@@ -767,15 +792,17 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] v The value of the initializer list.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T>
+  template <typename T>
   Offset<Vector<T>> CreateVector(std::initializer_list<T> v) {
     return CreateVector(v.begin(), v.size());
   }
 
-  template<typename T>
-  Offset<Vector<Offset<T>>> CreateVector(const Offset<T> *v, size_t len) {
+  template <typename T>
+  Offset<Vector<Offset<T>>> CreateVector(const Offset<T>* v, size_t len) {
     StartVector<Offset<T>>(len);
-    for (auto i = len; i > 0;) { PushElement(v[--i]); }
+    for (auto i = len; i > 0;) {
+      PushElement(v[--i]);
+    }
     return Offset<Vector<Offset<T>>>(EndVector(len));
   }
 
@@ -785,21 +812,21 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// buffer as a `vector`.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename Alloc = std::allocator<T>>
-  Offset<Vector<T>> CreateVector(const std::vector<T, Alloc> &v) {
+  template <typename T, typename Alloc = std::allocator<T>>
+  Offset<Vector<T>> CreateVector(const std::vector<T, Alloc>& v) {
     return CreateVector(data(v), v.size());
   }
 
-  template<template<typename...> class VectorT = Vector64,
-           int &...ExplicitArgumentBarrier, typename T>
-  Offset64<VectorT<T>> CreateVector64(const std::vector<T> &v) {
-    return CreateVector<Offset64, VectorT>(data(v), v.size());
+  template <template <typename...> class VectorT = Vector64,
+            int&... ExplicitArgumentBarrier, typename T>
+  Offset64<VectorT<T>> CreateVector64(const std::vector<T>& v) {
+    return CreateVector<T, Offset64, VectorT>(data(v), v.size());
   }
 
   // vector<bool> may be implemented using a bit-set, so we can't access it as
   // an array. Instead, read elements manually.
   // Background: https://isocpp.org/blog/2012/11/on-vectorbool
-  Offset<Vector<uint8_t>> CreateVector(const std::vector<bool> &v) {
+  Offset<Vector<uint8_t>> CreateVector(const std::vector<bool>& v) {
     StartVector<uint8_t>(v.size());
     for (auto i = v.size(); i > 0;) {
       PushElement(static_cast<uint8_t>(v[--i]));
@@ -814,9 +841,9 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// returns any type that you can construct a FlatBuffers vector out of.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T>
+  template <typename T>
   Offset<Vector<T>> CreateVector(size_t vector_size,
-                                 const std::function<T(size_t i)> &f) {
+                                 const std::function<T(size_t i)>& f) {
     FLATBUFFERS_ASSERT(FLATBUFFERS_GENERAL_HEAP_ALLOC_OK);
     std::vector<T> elems(vector_size);
     for (size_t i = 0; i < vector_size; i++) elems[i] = f(i);
@@ -834,8 +861,8 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param state State passed to f.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename F, typename S>
-  Offset<Vector<T>> CreateVector(size_t vector_size, F f, S *state) {
+  template <typename T, typename F, typename S>
+  Offset<Vector<T>> CreateVector(size_t vector_size, F f, S* state) {
     FLATBUFFERS_ASSERT(FLATBUFFERS_GENERAL_HEAP_ALLOC_OK);
     std::vector<T> elems(vector_size);
     for (size_t i = 0; i < vector_size; i++) elems[i] = f(i, state);
@@ -850,10 +877,10 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// buffer as a `vector`.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename StringType = std::string,
-           typename Alloc = std::allocator<StringType>>
+  template <typename StringType = std::string,
+            typename Alloc = std::allocator<StringType>>
   Offset<Vector<Offset<String>>> CreateVectorOfStrings(
-      const std::vector<StringType, Alloc> &v) {
+      const std::vector<StringType, Alloc>& v) {
     return CreateVectorOfStrings(v.cbegin(), v.cend());
   }
 
@@ -863,9 +890,11 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param end The ending iterator of the collection
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<class It>
+  template <class It>
   Offset<Vector<Offset<String>>> CreateVectorOfStrings(It begin, It end) {
-    auto size = std::distance(begin, end);
+    auto distance = std::distance(begin, end);
+    FLATBUFFERS_ASSERT(distance >= 0);
+    auto size = static_cast<size_t>(distance);
     auto scratch_buffer_usage = size * sizeof(Offset<String>);
     // If there is not enough space to store the offsets, there definitely won't
     // be enough space to store all the strings. So ensuring space for the
@@ -875,10 +904,10 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
       buf_.scratch_push_small(CreateString(*it));
     }
     StartVector<Offset<String>>(size);
-    for (auto i = 1; i <= size; i++) {
+    for (size_t i = 1; i <= size; i++) {
       // Note we re-evaluate the buf location each iteration to account for any
       // underlying buffer resizing that may occur.
-      PushElement(*reinterpret_cast<Offset<String> *>(
+      PushElement(*reinterpret_cast<Offset<String>*>(
           buf_.scratch_end() - i * sizeof(Offset<String>)));
     }
     buf_.scratch_pop(scratch_buffer_usage);
@@ -892,19 +921,18 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] len The number of elements to serialize.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, template<typename...> class OffsetT = Offset,
-           template<typename...> class VectorT = Vector>
-  OffsetT<VectorT<const T *>> CreateVectorOfStructs(const T *v, size_t len) {
+  template <typename T, template <typename...> class OffsetT = Offset,
+            template <typename...> class VectorT = Vector>
+  OffsetT<VectorT<const T*>> CreateVectorOfStructs(const T* v, size_t len) {
     // The type of the length field in the vector.
     typedef typename VectorT<T>::size_type LenT;
-    typedef typename OffsetT<VectorT<const T *>>::offset_type offset_type;
+    typedef typename OffsetT<VectorT<const T*>>::offset_type offset_type;
 
-    StartVector<OffsetT, LenT>(len * sizeof(T) / AlignOf<T>(), sizeof(T),
-                               AlignOf<T>());
+    StartVector<OffsetT, LenT>(len, sizeof(T), AlignOf<T>());
     if (len > 0) {
-      PushBytes(reinterpret_cast<const uint8_t *>(v), sizeof(T) * len);
+      PushBytes(reinterpret_cast<const uint8_t*>(v), sizeof(T) * len);
     }
-    return OffsetT<VectorT<const T *>>(EndVector<LenT, offset_type>(len));
+    return OffsetT<VectorT<const T*>>(EndVector<LenT, offset_type>(len));
   }
 
   /// @brief Serialize an array of structs into a FlatBuffer `vector`.
@@ -915,10 +943,10 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// where the vector is stored.
   /// This is mostly useful when flatbuffers are generated with mutation
   /// accessors.
-  template<typename T>
-  Offset<Vector<const T *>> CreateVectorOfStructs(
-      size_t vector_size, const std::function<void(size_t i, T *)> &filler) {
-    T *structs = StartVectorOfStructs<T>(vector_size);
+  template <typename T>
+  Offset<Vector<const T*>> CreateVectorOfStructs(
+      size_t vector_size, const std::function<void(size_t i, T*)>& filler) {
+    T* structs = StartVectorOfStructs<T>(vector_size);
     for (size_t i = 0; i < vector_size; i++) {
       filler(i, structs);
       structs++;
@@ -935,10 +963,10 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// where the vector is stored.
   /// This is mostly useful when flatbuffers are generated with mutation
   /// accessors.
-  template<typename T, typename F, typename S>
-  Offset<Vector<const T *>> CreateVectorOfStructs(size_t vector_size, F f,
-                                                  S *state) {
-    T *structs = StartVectorOfStructs<T>(vector_size);
+  template <typename T, typename F, typename S>
+  Offset<Vector<const T*>> CreateVectorOfStructs(size_t vector_size, F f,
+                                                 S* state) {
+    T* structs = StartVectorOfStructs<T>(vector_size);
     for (size_t i = 0; i < vector_size; i++) {
       f(i, structs, state);
       structs++;
@@ -952,17 +980,17 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// serialize into the buffer as a `vector`.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, template<typename...> class OffsetT = Offset,
-           template<typename...> class VectorT = Vector,
-           typename Alloc = std::allocator<T>>
-  OffsetT<VectorT<const T *>> CreateVectorOfStructs(
-      const std::vector<T, Alloc> &v) {
+  template <typename T, template <typename...> class OffsetT = Offset,
+            template <typename...> class VectorT = Vector,
+            typename Alloc = std::allocator<T>>
+  OffsetT<VectorT<const T*>> CreateVectorOfStructs(
+      const std::vector<T, Alloc>& v) {
     return CreateVectorOfStructs<T, OffsetT, VectorT>(data(v), v.size());
   }
 
-  template<template<typename...> class VectorT = Vector64, int &..., typename T>
-  Offset64<VectorT<const T *>> CreateVectorOfStructs64(
-      const std::vector<T> &v) {
+  template <template <typename...> class VectorT = Vector64, int&...,
+            typename T>
+  Offset64<VectorT<const T*>> CreateVectorOfStructs64(const std::vector<T>& v) {
     return CreateVectorOfStructs<T, Offset64, VectorT>(data(v), v.size());
   }
 
@@ -976,12 +1004,14 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// to the FlatBuffer struct.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename S>
-  Offset<Vector<const T *>> CreateVectorOfNativeStructs(
-      const S *v, size_t len, T (*const pack_func)(const S &)) {
+  template <typename T, typename S>
+  Offset<Vector<const T*>> CreateVectorOfNativeStructs(
+      const S* v, size_t len, T (*const pack_func)(const S&)) {
     FLATBUFFERS_ASSERT(pack_func);
     auto structs = StartVectorOfStructs<T>(len);
-    for (size_t i = 0; i < len; i++) { structs[i] = pack_func(v[i]); }
+    for (size_t i = 0; i < len; i++) {
+      structs[i] = pack_func(v[i]);
+    }
     return EndVectorOfStructs<T>(len);
   }
 
@@ -993,10 +1023,9 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] len The number of elements to serialize.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename S>
-  Offset<Vector<const T *>> CreateVectorOfNativeStructs(const S *v,
-                                                        size_t len) {
-    extern T Pack(const S &);
+  template <typename T, typename S>
+  Offset<Vector<const T*>> CreateVectorOfNativeStructs(const S* v, size_t len) {
+    extern T Pack(const S&);
     return CreateVectorOfNativeStructs(v, len, Pack);
   }
 
@@ -1010,9 +1039,9 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// to the FlatBuffer struct.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename S, typename Alloc = std::allocator<T>>
-  Offset<Vector<const T *>> CreateVectorOfNativeStructs(
-      const std::vector<S, Alloc> &v, T (*const pack_func)(const S &)) {
+  template <typename T, typename S, typename Alloc = std::allocator<T>>
+  Offset<Vector<const T*>> CreateVectorOfNativeStructs(
+      const std::vector<S, Alloc>& v, T (*const pack_func)(const S&)) {
     return CreateVectorOfNativeStructs<T, S>(data(v), v.size(), pack_func);
   }
 
@@ -1024,15 +1053,16 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// serialize into the buffer as a `vector`.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename S, typename Alloc = std::allocator<S>>
-  Offset<Vector<const T *>> CreateVectorOfNativeStructs(
-      const std::vector<S, Alloc> &v) {
+  template <typename T, typename S, typename Alloc = std::allocator<S>>
+  Offset<Vector<const T*>> CreateVectorOfNativeStructs(
+      const std::vector<S, Alloc>& v) {
     return CreateVectorOfNativeStructs<T, S>(data(v), v.size());
   }
 
   /// @cond FLATBUFFERS_INTERNAL
-  template<typename T> struct StructKeyComparator {
-    bool operator()(const T &a, const T &b) const {
+  template <typename T>
+  struct StructKeyComparator {
+    bool operator()(const T& a, const T& b) const {
       return a.KeyCompareLessThan(&b);
     }
   };
@@ -1045,9 +1075,9 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// serialize into the buffer as a `vector`.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename Alloc = std::allocator<T>>
-  Offset<Vector<const T *>> CreateVectorOfSortedStructs(
-      std::vector<T, Alloc> *v) {
+  template <typename T, typename Alloc = std::allocator<T>>
+  Offset<Vector<const T*>> CreateVectorOfSortedStructs(
+      std::vector<T, Alloc>* v) {
     return CreateVectorOfSortedStructs(data(*v), v->size());
   }
 
@@ -1059,9 +1089,9 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// serialize into the buffer as a `vector`.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename S, typename Alloc = std::allocator<T>>
-  Offset<Vector<const T *>> CreateVectorOfSortedNativeStructs(
-      std::vector<S, Alloc> *v) {
+  template <typename T, typename S, typename Alloc = std::allocator<T>>
+  Offset<Vector<const T*>> CreateVectorOfSortedNativeStructs(
+      std::vector<S, Alloc>* v) {
     return CreateVectorOfSortedNativeStructs<T, S>(data(*v), v->size());
   }
 
@@ -1073,8 +1103,8 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] len The number of elements to serialize.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T>
-  Offset<Vector<const T *>> CreateVectorOfSortedStructs(T *v, size_t len) {
+  template <typename T>
+  Offset<Vector<const T*>> CreateVectorOfSortedStructs(T* v, size_t len) {
     std::stable_sort(v, v + len, StructKeyComparator<T>());
     return CreateVectorOfStructs(v, len);
   }
@@ -1088,30 +1118,32 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] len The number of elements to serialize.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename S>
-  Offset<Vector<const T *>> CreateVectorOfSortedNativeStructs(S *v,
-                                                              size_t len) {
-    extern T Pack(const S &);
+  template <typename T, typename S>
+  Offset<Vector<const T*>> CreateVectorOfSortedNativeStructs(S* v, size_t len) {
+    extern T Pack(const S&);
     auto structs = StartVectorOfStructs<T>(len);
-    for (size_t i = 0; i < len; i++) { structs[i] = Pack(v[i]); }
+    for (size_t i = 0; i < len; i++) {
+      structs[i] = Pack(v[i]);
+    }
     std::stable_sort(structs, structs + len, StructKeyComparator<T>());
     return EndVectorOfStructs<T>(len);
   }
 
   /// @cond FLATBUFFERS_INTERNAL
-  template<typename T> struct TableKeyComparator {
-    explicit TableKeyComparator(vector_downward<SizeT> &buf) : buf_(buf) {}
-    TableKeyComparator(const TableKeyComparator &other) : buf_(other.buf_) {}
-    bool operator()(const Offset<T> &a, const Offset<T> &b) const {
-      auto table_a = reinterpret_cast<T *>(buf_.data_at(a.o));
-      auto table_b = reinterpret_cast<T *>(buf_.data_at(b.o));
+  template <typename T>
+  struct TableKeyComparator {
+    explicit TableKeyComparator(vector_downward<SizeT>& buf) : buf_(buf) {}
+    TableKeyComparator(const TableKeyComparator& other) : buf_(other.buf_) {}
+    bool operator()(const Offset<T>& a, const Offset<T>& b) const {
+      auto table_a = reinterpret_cast<T*>(buf_.data_at(a.o));
+      auto table_b = reinterpret_cast<T*>(buf_.data_at(b.o));
       return table_a->KeyCompareLessThan(table_b);
     }
-    vector_downward<SizeT> &buf_;
+    vector_downward<SizeT>& buf_;
 
    private:
     FLATBUFFERS_DELETE_FUNC(
-        TableKeyComparator &operator=(const TableKeyComparator &other));
+        TableKeyComparator& operator=(const TableKeyComparator& other));
   };
   /// @endcond
 
@@ -1123,8 +1155,8 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] len The number of elements to store in the `vector`.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T>
-  Offset<Vector<Offset<T>>> CreateVectorOfSortedTables(Offset<T> *v,
+  template <typename T>
+  Offset<Vector<Offset<T>>> CreateVectorOfSortedTables(Offset<T>* v,
                                                        size_t len) {
     std::stable_sort(v, v + len, TableKeyComparator<T>(buf_));
     return CreateVector(v, len);
@@ -1137,9 +1169,9 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// offsets to store in the buffer in sorted order.
   /// @return Returns a typed `Offset` into the serialized data indicating
   /// where the vector is stored.
-  template<typename T, typename Alloc = std::allocator<T>>
+  template <typename T, typename Alloc = std::allocator<T>>
   Offset<Vector<Offset<T>>> CreateVectorOfSortedTables(
-      std::vector<Offset<T>, Alloc> *v) {
+      std::vector<Offset<T>, Alloc>* v) {
     return CreateVectorOfSortedTables(data(*v), v->size());
   }
 
@@ -1151,7 +1183,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// written to at a later time to serialize the data into a `vector`
   /// in the buffer.
   uoffset_t CreateUninitializedVector(size_t len, size_t elemsize,
-                                      size_t alignment, uint8_t **buf) {
+                                      size_t alignment, uint8_t** buf) {
     NotNested();
     StartVector(len, elemsize, alignment);
     buf_.make_space(len * elemsize);
@@ -1163,7 +1195,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
 
   FLATBUFFERS_ATTRIBUTE([[deprecated("call the version above instead")]])
   uoffset_t CreateUninitializedVector(size_t len, size_t elemsize,
-                                      uint8_t **buf) {
+                                      uint8_t** buf) {
     return CreateUninitializedVector(len, elemsize, elemsize, buf);
   }
 
@@ -1175,46 +1207,49 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[out] buf A pointer to a pointer of type `T` that can be
   /// written to at a later time to serialize the data into a `vector`
   /// in the buffer.
-  template<typename T>
-  Offset<Vector<T>> CreateUninitializedVector(size_t len, T **buf) {
+  template <typename T>
+  Offset<Vector<T>> CreateUninitializedVector(size_t len, T** buf) {
     AssertScalarT<T>();
     return CreateUninitializedVector(len, sizeof(T), AlignOf<T>(),
-                                     reinterpret_cast<uint8_t **>(buf));
+                                     reinterpret_cast<uint8_t**>(buf));
   }
 
-  template<typename T>
-  Offset<Vector<const T *>> CreateUninitializedVectorOfStructs(size_t len,
-                                                               T **buf) {
+  template <typename T>
+  Offset<Vector<const T*>> CreateUninitializedVectorOfStructs(size_t len,
+                                                              T** buf) {
     return CreateUninitializedVector(len, sizeof(T), AlignOf<T>(),
-                                     reinterpret_cast<uint8_t **>(buf));
+                                     reinterpret_cast<uint8_t**>(buf));
   }
 
   // @brief Create a vector of scalar type T given as input a vector of scalar
   // type U, useful with e.g. pre "enum class" enums, or any existing scalar
   // data of the wrong type.
-  template<typename T, typename U>
-  Offset<Vector<T>> CreateVectorScalarCast(const U *v, size_t len) {
+  template <typename T, typename U>
+  Offset<Vector<T>> CreateVectorScalarCast(const U* v, size_t len) {
     AssertScalarT<T>();
     AssertScalarT<U>();
     StartVector<T>(len);
-    for (auto i = len; i > 0;) { PushElement(static_cast<T>(v[--i])); }
+    for (auto i = len; i > 0;) {
+      PushElement(static_cast<T>(v[--i]));
+    }
     return Offset<Vector<T>>(EndVector(len));
   }
 
   /// @brief Write a struct by itself, typically to be part of a union.
-  template<typename T> Offset<const T *> CreateStruct(const T &structobj) {
+  template <typename T>
+  Offset<const T*> CreateStruct(const T& structobj) {
     NotNested();
     Align(AlignOf<T>());
     buf_.push_small(structobj);
-    return Offset<const T *>(
-        CalculateOffset<typename Offset<const T *>::offset_type>());
+    return Offset<const T*>(
+        CalculateOffset<typename Offset<const T*>::offset_type>());
   }
 
   /// @brief Finish serializing a buffer by writing the root offset.
   /// @param[in] file_identifier If a `file_identifier` is given, the buffer
   /// will be prefixed with a standard FlatBuffers file header.
-  template<typename T>
-  void Finish(Offset<T> root, const char *file_identifier = nullptr) {
+  template <typename T>
+  void Finish(Offset<T> root, const char* file_identifier = nullptr) {
     Finish(root.o, file_identifier, false);
   }
 
@@ -1225,13 +1260,13 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// All >32 bit quantities in this buffer will be aligned when the whole
   /// size pre-fixed buffer is aligned.
   /// These kinds of buffers are useful for creating a stream of FlatBuffers.
-  template<typename T>
+  template <typename T>
   void FinishSizePrefixed(Offset<T> root,
-                          const char *file_identifier = nullptr) {
+                          const char* file_identifier = nullptr) {
     Finish(root.o, file_identifier, true);
   }
 
-  void SwapBufAllocator(FlatBufferBuilderImpl &other) {
+  void SwapBufAllocator(FlatBufferBuilderImpl& other) {
     buf_.swap_allocator(other.buf_);
   }
 
@@ -1241,10 +1276,13 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
 
  protected:
   // You shouldn't really be copying instances of this class.
-  FlatBufferBuilderImpl(const FlatBufferBuilderImpl &);
-  FlatBufferBuilderImpl &operator=(const FlatBufferBuilderImpl &);
+  FlatBufferBuilderImpl(const FlatBufferBuilderImpl&);
+  FlatBufferBuilderImpl& operator=(const FlatBufferBuilderImpl&);
+
+  void Finish(uoffset_t root, const char* file_identifier, bool size_prefix) {
+    // A buffer can only be finished once. To reuse a builder use `clear()`.
+    FLATBUFFERS_ASSERT(!finished);
 
-  void Finish(uoffset_t root, const char *file_identifier, bool size_prefix) {
     NotNested();
     buf_.clear_scratch();
 
@@ -1260,11 +1298,13 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
 
     if (file_identifier) {
       FLATBUFFERS_ASSERT(strlen(file_identifier) == kFileIdentifierLength);
-      PushBytes(reinterpret_cast<const uint8_t *>(file_identifier),
+      PushBytes(reinterpret_cast<const uint8_t*>(file_identifier),
                 kFileIdentifierLength);
     }
     PushElement(ReferTo(root));  // Location of root.
-    if (size_prefix) { PushElement(GetSize()); }
+    if (size_prefix) {
+      PushElement(GetSize());
+    }
     finished = true;
   }
 
@@ -1302,11 +1342,6 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   // This will remain 0 if no 64-bit offset types are added to the buffer.
   size_t length_of_64_bit_region_;
 
-  // When true, 64-bit offsets can still be added to the builder. When false,
-  // only 32-bit offsets can be added, and attempts to add a 64-bit offset will
-  // raise an assertion. This is typically a compile-time error in ordering the
-  // serialization of 64-bit offset fields not at the tail of the buffer.
-
   // Ensure objects are not nested.
   bool nested;
 
@@ -1320,20 +1355,20 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   bool dedup_vtables_;
 
   struct StringOffsetCompare {
-    explicit StringOffsetCompare(const vector_downward<SizeT> &buf)
+    explicit StringOffsetCompare(const vector_downward<SizeT>& buf)
         : buf_(&buf) {}
-    bool operator()(const Offset<String> &a, const Offset<String> &b) const {
-      auto stra = reinterpret_cast<const String *>(buf_->data_at(a.o));
-      auto strb = reinterpret_cast<const String *>(buf_->data_at(b.o));
+    bool operator()(const Offset<String>& a, const Offset<String>& b) const {
+      auto stra = reinterpret_cast<const String*>(buf_->data_at(a.o));
+      auto strb = reinterpret_cast<const String*>(buf_->data_at(b.o));
       return StringLessThan(stra->data(), stra->size(), strb->data(),
                             strb->size());
     }
-    const vector_downward<SizeT> *buf_;
+    const vector_downward<SizeT>* buf_;
   };
 
   // For use with CreateSharedString. Instantiated on first use only.
   typedef std::set<Offset<String>, StringOffsetCompare> StringOffsetMap;
-  StringOffsetMap *string_pool;
+  StringOffsetMap* string_pool;
 
  private:
   void CanAddOffset64() {
@@ -1363,34 +1398,33 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
   /// @param[in] str A const char pointer to the data to be stored as a string.
   /// @param[in] len The number of bytes that should be stored from `str`.
   /// @return Returns the offset in the buffer where the string starts.
-  void CreateStringImpl(const char *str, size_t len) {
+  void CreateStringImpl(const char* str, size_t len) {
     NotNested();
     PreAlign<uoffset_t>(len + 1);  // Always 0-terminated.
     buf_.fill(1);
-    PushBytes(reinterpret_cast<const uint8_t *>(str), len);
+    PushBytes(reinterpret_cast<const uint8_t*>(str), len);
     PushElement(static_cast<uoffset_t>(len));
   }
 
   // Allocates space for a vector of structures.
   // Must be completed with EndVectorOfStructs().
-  template<typename T, template<typename> class OffsetT = Offset>
-  T *StartVectorOfStructs(size_t vector_size) {
-    StartVector<OffsetT>(vector_size * sizeof(T) / AlignOf<T>(), sizeof(T),
-                         AlignOf<T>());
-    return reinterpret_cast<T *>(buf_.make_space(vector_size * sizeof(T)));
+  template <typename T, template <typename> class OffsetT = Offset>
+  T* StartVectorOfStructs(size_t vector_size) {
+    StartVector<OffsetT>(vector_size, sizeof(T), AlignOf<T>());
+    return reinterpret_cast<T*>(buf_.make_space(vector_size * sizeof(T)));
   }
 
   // End the vector of structures in the flatbuffers.
   // Vector should have previously be started with StartVectorOfStructs().
-  template<typename T, template<typename> class OffsetT = Offset>
-  OffsetT<Vector<const T *>> EndVectorOfStructs(size_t vector_size) {
-    return OffsetT<Vector<const T *>>(
-        EndVector<typename Vector<const T *>::size_type,
-                  typename OffsetT<Vector<const T *>>::offset_type>(
+  template <typename T, template <typename> class OffsetT = Offset>
+  OffsetT<Vector<const T*>> EndVectorOfStructs(size_t vector_size) {
+    return OffsetT<Vector<const T*>>(
+        EndVector<typename Vector<const T*>::size_type,
+                  typename OffsetT<Vector<const T*>>::offset_type>(
             vector_size));
   }
 
-  template<typename T>
+  template <typename T>
   typename std::enable_if<std::is_same<T, uoffset_t>::value, T>::type
   CalculateOffset() {
     // Default to the end of the 32-bit region. This may or may not be the end
@@ -1400,7 +1434,7 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
 
   // Specializations to handle the 64-bit CalculateOffset, which is relative to
   // end of the buffer.
-  template<typename T>
+  template <typename T>
   typename std::enable_if<std::is_same<T, uoffset64_t>::value, T>::type
   CalculateOffset() {
     // This should never be compiled in when not using a 64-bit builder.
@@ -1417,14 +1451,14 @@ template<bool Is64Aware = false> class FlatBufferBuilderImpl {
 
 // Hack to `FlatBufferBuilder` mean `FlatBufferBuilder<false>` or
 // `FlatBufferBuilder<>`, where the template < > syntax is required.
-typedef FlatBufferBuilderImpl<false> FlatBufferBuilder;
-typedef FlatBufferBuilderImpl<true> FlatBufferBuilder64;
+using FlatBufferBuilder = FlatBufferBuilderImpl<false>;
+using FlatBufferBuilder64 = FlatBufferBuilderImpl<true>;
 
 // These are external due to GCC not allowing them in the class.
 // See: https://stackoverflow.com/q/8061456/868247
-template<>
-template<>
-inline Offset64<String> FlatBufferBuilder64::CreateString(const char *str,
+template <>
+template <>
+inline Offset64<String> FlatBufferBuilder64::CreateString(const char* str,
                                                           size_t len) {
   CanAddOffset64();
   CreateStringImpl(str, len);
@@ -1433,19 +1467,20 @@ inline Offset64<String> FlatBufferBuilder64::CreateString(const char *str,
 }
 
 // Used to distinguish from real Offsets.
-template<typename T = void> struct EmptyOffset {};
+template <typename T = void>
+struct EmptyOffset {};
 
 // TODO(derekbailey): it would be nice to combine these two methods.
-template<>
-template<>
+template <>
+template <>
 inline void FlatBufferBuilder64::StartVector<Offset64, uint32_t>(
     size_t len, size_t elemsize, size_t alignment) {
   CanAddOffset64();
   StartVector<EmptyOffset, uint32_t>(len, elemsize, alignment);
 }
 
-template<>
-template<>
+template <>
+template <>
 inline void FlatBufferBuilder64::StartVector<Offset64, uint64_t>(
     size_t len, size_t elemsize, size_t alignment) {
   CanAddOffset64();
@@ -1455,15 +1490,16 @@ inline void FlatBufferBuilder64::StartVector<Offset64, uint64_t>(
 /// Helpers to get a typed pointer to objects that are currently being built.
 /// @warning Creating new objects will lead to reallocations and invalidates
 /// the pointer!
-template<typename T>
-T *GetMutableTemporaryPointer(FlatBufferBuilder &fbb, Offset<T> offset) {
-  return reinterpret_cast<T *>(fbb.GetCurrentBufferPointer() + fbb.GetSize() -
-                               offset.o);
+template <typename T>
+T* GetMutableTemporaryPointer(FlatBufferBuilder& fbb, Offset<T> offset) {
+  return reinterpret_cast<T*>(fbb.GetCurrentBufferPointer() + fbb.GetSize() -
+                              offset.o);
 }
 
-template<typename T>
-const T *GetTemporaryPointer(FlatBufferBuilder &fbb, Offset<T> offset) {
-  return GetMutableTemporaryPointer<T>(fbb, offset);
+template <typename T>
+const T* GetTemporaryPointer(const FlatBufferBuilder& fbb, Offset<T> offset) {
+  return reinterpret_cast<const T*>(fbb.GetCurrentBufferPointer() +
+                                    fbb.GetSize() - offset.o);
 }
 
 }  // namespace flatbuffers
diff --git a/3rdparty/flatbuffers/include/flatbuffers/flatbuffers.h b/3rdparty/flatbuffers/include/flatbuffers/flatbuffers.h
index 53e48d5904..87b271e7c2 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/flatbuffers.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/flatbuffers.h
@@ -41,14 +41,14 @@ namespace flatbuffers {
 /// it is the opposite transformation of GetRoot().
 /// This may be useful if you want to pass on a root and have the recipient
 /// delete the buffer afterwards.
-inline const uint8_t *GetBufferStartFromRootPointer(const void *root) {
-  auto table = reinterpret_cast<const Table *>(root);
+inline const uint8_t* GetBufferStartFromRootPointer(const void* root) {
+  auto table = reinterpret_cast<const Table*>(root);
   auto vtable = table->GetVTable();
   // Either the vtable is before the root or after the root.
-  auto start = (std::min)(vtable, reinterpret_cast<const uint8_t *>(root));
+  auto start = (std::min)(vtable, reinterpret_cast<const uint8_t*>(root));
   // Align to at least sizeof(uoffset_t).
-  start = reinterpret_cast<const uint8_t *>(reinterpret_cast<uintptr_t>(start) &
-                                            ~(sizeof(uoffset_t) - 1));
+  start = reinterpret_cast<const uint8_t*>(reinterpret_cast<uintptr_t>(start) &
+                                           ~(sizeof(uoffset_t) - 1));
   // Additionally, there may be a file_identifier in the buffer, and the root
   // offset. The buffer may have been aligned to any size between
   // sizeof(uoffset_t) and FLATBUFFERS_MAX_ALIGNMENT (see "force_align").
@@ -64,7 +64,7 @@ inline const uint8_t *GetBufferStartFromRootPointer(const void *root) {
        possible_roots; possible_roots--) {
     start -= sizeof(uoffset_t);
     if (ReadScalar<uoffset_t>(start) + start ==
-        reinterpret_cast<const uint8_t *>(root))
+        reinterpret_cast<const uint8_t*>(root))
       return start;
   }
   // We didn't find the root, either the "root" passed isn't really a root,
@@ -76,11 +76,22 @@ inline const uint8_t *GetBufferStartFromRootPointer(const void *root) {
 }
 
 /// @brief This return the prefixed size of a FlatBuffer.
-template<typename SizeT = uoffset_t>
-inline SizeT GetPrefixedSize(const uint8_t *buf) {
+template <typename SizeT = uoffset_t>
+inline SizeT GetPrefixedSize(const uint8_t* buf) {
   return ReadScalar<SizeT>(buf);
 }
 
+// Gets the total length of the buffer given a sized prefixed FlatBuffer.
+//
+// This includes the size of the prefix as well as the buffer:
+//
+//  [size prefix][flatbuffer]
+//  |---------length--------|
+template <typename SizeT = uoffset_t>
+inline SizeT GetSizePrefixedBufferLength(const uint8_t* const buf) {
+  return ReadScalar<SizeT>(buf) + sizeof(SizeT);
+}
+
 // Base class for native objects (FlatBuffer data de-serialized into native
 // C++ data structures).
 // Contains no functionality, purely documentative.
@@ -95,9 +106,9 @@ struct NativeTable {};
 /// if you wish. The resolver does the opposite lookup, for when the object
 /// is being serialized again.
 typedef uint64_t hash_value_t;
-typedef std::function<void(void **pointer_adr, hash_value_t hash)>
+typedef std::function<void(void** pointer_adr, hash_value_t hash)>
     resolver_function_t;
-typedef std::function<hash_value_t(void *pointer)> rehasher_function_t;
+typedef std::function<hash_value_t(void* pointer)> rehasher_function_t;
 
 // Helper function to test if a field is present, using any of the field
 // enums in the generated code.
@@ -106,18 +117,18 @@ typedef std::function<hash_value_t(void *pointer)> rehasher_function_t;
 // Note: this function will return false for fields equal to the default
 // value, since they're not stored in the buffer (unless force_defaults was
 // used).
-template<typename T>
-bool IsFieldPresent(const T *table, typename T::FlatBuffersVTableOffset field) {
+template <typename T>
+bool IsFieldPresent(const T* table, typename T::FlatBuffersVTableOffset field) {
   // Cast, since Table is a private baseclass of any table types.
-  return reinterpret_cast<const Table *>(table)->CheckField(
+  return reinterpret_cast<const Table*>(table)->CheckField(
       static_cast<voffset_t>(field));
 }
 
 // Utility function for reverse lookups on the EnumNames*() functions
 // (in the generated C++ code)
 // names must be NULL terminated.
-inline int LookupEnum(const char **names, const char *name) {
-  for (const char **p = names; *p; p++)
+inline int LookupEnum(const char** names, const char* name) {
+  for (const char** p = names; *p; p++)
     if (!strcmp(*p, name)) return static_cast<int>(p - names);
   return -1;
 }
@@ -216,20 +227,20 @@ static_assert(sizeof(TypeCode) == 2, "TypeCode");
 struct TypeTable;
 
 // Signature of the static method present in each type.
-typedef const TypeTable *(*TypeFunction)();
+typedef const TypeTable* (*TypeFunction)();
 
 struct TypeTable {
   SequenceType st;
   size_t num_elems;  // of type_codes, values, names (but not type_refs).
-  const TypeCode *type_codes;     // num_elems count
-  const TypeFunction *type_refs;  // less than num_elems entries (see TypeCode).
-  const int16_t *array_sizes;     // less than num_elems entries (see TypeCode).
-  const int64_t *values;  // Only set for non-consecutive enum/union or structs.
-  const char *const *names;  // Only set if compiled with --reflect-names.
+  const TypeCode* type_codes;     // num_elems count
+  const TypeFunction* type_refs;  // less than num_elems entries (see TypeCode).
+  const int16_t* array_sizes;     // less than num_elems entries (see TypeCode).
+  const int64_t* values;  // Only set for non-consecutive enum/union or structs.
+  const char* const* names;  // Only set if compiled with --reflect-names.
 };
 
 // String which identifies the current version of FlatBuffers.
-inline const char *flatbuffers_version_string() {
+inline const char* flatbuffers_version_string() {
   return "FlatBuffers " FLATBUFFERS_STRING(FLATBUFFERS_VERSION_MAJOR) "."
       FLATBUFFERS_STRING(FLATBUFFERS_VERSION_MINOR) "."
       FLATBUFFERS_STRING(FLATBUFFERS_VERSION_REVISION);
@@ -237,31 +248,31 @@ inline const char *flatbuffers_version_string() {
 
 // clang-format off
 #define FLATBUFFERS_DEFINE_BITMASK_OPERATORS(E, T)\
-    inline E operator | (E lhs, E rhs){\
+    inline FLATBUFFERS_CONSTEXPR_CPP11 E operator | (E lhs, E rhs){\
         return E(T(lhs) | T(rhs));\
     }\
-    inline E operator & (E lhs, E rhs){\
+    inline FLATBUFFERS_CONSTEXPR_CPP11 E operator & (E lhs, E rhs){\
         return E(T(lhs) & T(rhs));\
     }\
-    inline E operator ^ (E lhs, E rhs){\
+    inline FLATBUFFERS_CONSTEXPR_CPP11 E operator ^ (E lhs, E rhs){\
         return E(T(lhs) ^ T(rhs));\
     }\
-    inline E operator ~ (E lhs){\
+    inline FLATBUFFERS_CONSTEXPR_CPP11 E operator ~ (E lhs){\
         return E(~T(lhs));\
     }\
-    inline E operator |= (E &lhs, E rhs){\
+    inline FLATBUFFERS_CONSTEXPR_CPP11 E operator |= (E &lhs, E rhs){\
         lhs = lhs | rhs;\
         return lhs;\
     }\
-    inline E operator &= (E &lhs, E rhs){\
+    inline FLATBUFFERS_CONSTEXPR_CPP11 E operator &= (E &lhs, E rhs){\
         lhs = lhs & rhs;\
         return lhs;\
     }\
-    inline E operator ^= (E &lhs, E rhs){\
+    inline FLATBUFFERS_CONSTEXPR_CPP11 E operator ^= (E &lhs, E rhs){\
         lhs = lhs ^ rhs;\
         return lhs;\
     }\
-    inline bool operator !(E rhs) \
+    inline FLATBUFFERS_CONSTEXPR_CPP11 bool operator !(E rhs) \
     {\
         return !bool(T(rhs)); \
     }
diff --git a/3rdparty/flatbuffers/include/flatbuffers/stl_emulation.h b/3rdparty/flatbuffers/include/flatbuffers/stl_emulation.h
index fd3a8cda71..67c6768cbf 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/stl_emulation.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/stl_emulation.h
@@ -45,7 +45,8 @@
   // Testing __cpp_lib_span requires including either <version> or <span>,
   // both of which were added in C++20.
   // See: https://en.cppreference.com/w/cpp/utility/feature_test
-  #if defined(__cplusplus) && __cplusplus >= 202002L
+  #if defined(__cplusplus) && __cplusplus >= 202002L \
+      || (defined(_MSVC_LANG) && _MSVC_LANG >= 202002L)
     #define FLATBUFFERS_USE_STD_SPAN 1
   #endif
 #endif // FLATBUFFERS_USE_STD_SPAN
@@ -272,7 +273,7 @@ template<class T, class U>
 FLATBUFFERS_CONSTEXPR_CPP11 bool operator==(const Optional<T>& lhs, const Optional<U>& rhs) FLATBUFFERS_NOEXCEPT {
   return static_cast<bool>(lhs) != static_cast<bool>(rhs)
               ? false
-              : !static_cast<bool>(lhs) ? false : (*lhs == *rhs);
+              : !static_cast<bool>(lhs) ? true : (*lhs == *rhs);
 }
 #endif // FLATBUFFERS_USE_STD_OPTIONAL
 
diff --git a/3rdparty/flatbuffers/include/flatbuffers/string.h b/3rdparty/flatbuffers/include/flatbuffers/string.h
index 97e399fd64..d9c62f96c2 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/string.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/string.h
@@ -23,7 +23,7 @@
 namespace flatbuffers {
 
 struct String : public Vector<char> {
-  const char *c_str() const { return reinterpret_cast<const char *>(Data()); }
+  const char* c_str() const { return reinterpret_cast<const char*>(Data()); }
   std::string str() const { return std::string(c_str(), size()); }
 
   // clang-format off
@@ -31,30 +31,35 @@ struct String : public Vector<char> {
   flatbuffers::string_view string_view() const {
     return flatbuffers::string_view(c_str(), size());
   }
+
+  /* implicit */
+  operator flatbuffers::string_view() const {
+    return flatbuffers::string_view(c_str(), size());
+  }
   #endif // FLATBUFFERS_HAS_STRING_VIEW
   // clang-format on
 
-  bool operator<(const String &o) const {
+  bool operator<(const String& o) const {
     return StringLessThan(this->data(), this->size(), o.data(), o.size());
   }
 };
 
 // Convenience function to get std::string from a String returning an empty
 // string on null pointer.
-static inline std::string GetString(const String *str) {
+static inline std::string GetString(const String* str) {
   return str ? str->str() : "";
 }
 
 // Convenience function to get char* from a String returning an empty string on
 // null pointer.
-static inline const char *GetCstring(const String *str) {
+static inline const char* GetCstring(const String* str) {
   return str ? str->c_str() : "";
 }
 
 #ifdef FLATBUFFERS_HAS_STRING_VIEW
 // Convenience function to get string_view from a String returning an empty
 // string_view on null pointer.
-static inline flatbuffers::string_view GetStringView(const String *str) {
+static inline flatbuffers::string_view GetStringView(const String* str) {
   return str ? str->string_view() : flatbuffers::string_view();
 }
 #endif  // FLATBUFFERS_HAS_STRING_VIEW
diff --git a/3rdparty/flatbuffers/include/flatbuffers/struct.h b/3rdparty/flatbuffers/include/flatbuffers/struct.h
index abacc8a9a6..3aa434c0e5 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/struct.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/struct.h
@@ -27,23 +27,25 @@ namespace flatbuffers {
 
 class Struct FLATBUFFERS_FINAL_CLASS {
  public:
-  template<typename T> T GetField(uoffset_t o) const {
+  template <typename T>
+  T GetField(uoffset_t o) const {
     return ReadScalar<T>(&data_[o]);
   }
 
-  template<typename T> T GetStruct(uoffset_t o) const {
+  template <typename T>
+  T GetStruct(uoffset_t o) const {
     return reinterpret_cast<T>(&data_[o]);
   }
 
-  const uint8_t *GetAddressOf(uoffset_t o) const { return &data_[o]; }
-  uint8_t *GetAddressOf(uoffset_t o) { return &data_[o]; }
+  const uint8_t* GetAddressOf(uoffset_t o) const { return &data_[o]; }
+  uint8_t* GetAddressOf(uoffset_t o) { return &data_[o]; }
 
  private:
   // private constructor & copy constructor: you obtain instances of this
   // class by pointing to existing data only
   Struct();
-  Struct(const Struct &);
-  Struct &operator=(const Struct &);
+  Struct(const Struct&);
+  Struct& operator=(const Struct&);
 
   uint8_t data_[1];
 };
diff --git a/3rdparty/flatbuffers/include/flatbuffers/table.h b/3rdparty/flatbuffers/include/flatbuffers/table.h
index b370ccb35b..defe084370 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/table.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/table.h
@@ -26,7 +26,7 @@ namespace flatbuffers {
 // omitted and added at will, but uses an extra indirection to read.
 class Table {
  public:
-  const uint8_t *GetVTable() const {
+  const uint8_t* GetVTable() const {
     return data_ - ReadScalar<soffset_t>(data_);
   }
 
@@ -42,38 +42,42 @@ class Table {
     return field < vtsize ? ReadScalar<voffset_t>(vtable + field) : 0;
   }
 
-  template<typename T> T GetField(voffset_t field, T defaultval) const {
+  template <typename T>
+  T GetField(voffset_t field, T defaultval) const {
     auto field_offset = GetOptionalFieldOffset(field);
     return field_offset ? ReadScalar<T>(data_ + field_offset) : defaultval;
   }
 
-  template<typename P, typename OffsetSize = uoffset_t>
+  template <typename P, typename OffsetSize = uoffset_t>
   P GetPointer(voffset_t field) {
     auto field_offset = GetOptionalFieldOffset(field);
     auto p = data_ + field_offset;
     return field_offset ? reinterpret_cast<P>(p + ReadScalar<OffsetSize>(p))
                         : nullptr;
   }
-  template<typename P, typename OffsetSize = uoffset_t>
+  template <typename P, typename OffsetSize = uoffset_t>
   P GetPointer(voffset_t field) const {
-    return const_cast<Table *>(this)->GetPointer<P, OffsetSize>(field);
+    return const_cast<Table*>(this)->GetPointer<P, OffsetSize>(field);
   }
 
-  template<typename P> P GetPointer64(voffset_t field) {
+  template <typename P>
+  P GetPointer64(voffset_t field) {
     return GetPointer<P, uoffset64_t>(field);
   }
 
-  template<typename P> P GetPointer64(voffset_t field) const {
+  template <typename P>
+  P GetPointer64(voffset_t field) const {
     return GetPointer<P, uoffset64_t>(field);
   }
 
-  template<typename P> P GetStruct(voffset_t field) const {
+  template <typename P>
+  P GetStruct(voffset_t field) const {
     auto field_offset = GetOptionalFieldOffset(field);
-    auto p = const_cast<uint8_t *>(data_ + field_offset);
+    auto p = const_cast<uint8_t*>(data_ + field_offset);
     return field_offset ? reinterpret_cast<P>(p) : nullptr;
   }
 
-  template<typename Raw, typename Face>
+  template <typename Raw, typename Face>
   flatbuffers::Optional<Face> GetOptional(voffset_t field) const {
     auto field_offset = GetOptionalFieldOffset(field);
     auto p = data_ + field_offset;
@@ -81,20 +85,22 @@ class Table {
                         : Optional<Face>();
   }
 
-  template<typename T> bool SetField(voffset_t field, T val, T def) {
+  template <typename T>
+  bool SetField(voffset_t field, T val, T def) {
     auto field_offset = GetOptionalFieldOffset(field);
     if (!field_offset) return IsTheSameAs(val, def);
     WriteScalar(data_ + field_offset, val);
     return true;
   }
-  template<typename T> bool SetField(voffset_t field, T val) {
+  template <typename T>
+  bool SetField(voffset_t field, T val) {
     auto field_offset = GetOptionalFieldOffset(field);
     if (!field_offset) return false;
     WriteScalar(data_ + field_offset, val);
     return true;
   }
 
-  bool SetPointer(voffset_t field, const uint8_t *val) {
+  bool SetPointer(voffset_t field, const uint8_t* val) {
     auto field_offset = GetOptionalFieldOffset(field);
     if (!field_offset) return false;
     WriteScalar(data_ + field_offset,
@@ -102,12 +108,12 @@ class Table {
     return true;
   }
 
-  uint8_t *GetAddressOf(voffset_t field) {
+  uint8_t* GetAddressOf(voffset_t field) {
     auto field_offset = GetOptionalFieldOffset(field);
     return field_offset ? data_ + field_offset : nullptr;
   }
-  const uint8_t *GetAddressOf(voffset_t field) const {
-    return const_cast<Table *>(this)->GetAddressOf(field);
+  const uint8_t* GetAddressOf(voffset_t field) const {
+    return const_cast<Table*>(this)->GetAddressOf(field);
   }
 
   bool CheckField(voffset_t field) const {
@@ -116,13 +122,13 @@ class Table {
 
   // Verify the vtable of this table.
   // Call this once per table, followed by VerifyField once per field.
-  bool VerifyTableStart(Verifier &verifier) const {
+  bool VerifyTableStart(Verifier& verifier) const {
     return verifier.VerifyTableStart(data_);
   }
 
   // Verify a particular field.
-  template<typename T>
-  bool VerifyField(const Verifier &verifier, voffset_t field,
+  template <typename T>
+  bool VerifyField(const Verifier& verifier, voffset_t field,
                    size_t align) const {
     // Calling GetOptionalFieldOffset should be safe now thanks to
     // VerifyTable().
@@ -132,8 +138,8 @@ class Table {
   }
 
   // VerifyField for required fields.
-  template<typename T>
-  bool VerifyFieldRequired(const Verifier &verifier, voffset_t field,
+  template <typename T>
+  bool VerifyFieldRequired(const Verifier& verifier, voffset_t field,
                            size_t align) const {
     auto field_offset = GetOptionalFieldOffset(field);
     return verifier.Check(field_offset != 0) &&
@@ -141,24 +147,24 @@ class Table {
   }
 
   // Versions for offsets.
-  template<typename OffsetT = uoffset_t>
-  bool VerifyOffset(const Verifier &verifier, voffset_t field) const {
+  template <typename OffsetT = uoffset_t>
+  bool VerifyOffset(const Verifier& verifier, voffset_t field) const {
     auto field_offset = GetOptionalFieldOffset(field);
     return !field_offset || verifier.VerifyOffset<OffsetT>(data_, field_offset);
   }
 
-  template<typename OffsetT = uoffset_t>
-  bool VerifyOffsetRequired(const Verifier &verifier, voffset_t field) const {
+  template <typename OffsetT = uoffset_t>
+  bool VerifyOffsetRequired(const Verifier& verifier, voffset_t field) const {
     auto field_offset = GetOptionalFieldOffset(field);
     return verifier.Check(field_offset != 0) &&
            verifier.VerifyOffset<OffsetT>(data_, field_offset);
   }
- 
-  bool VerifyOffset64(const Verifier &verifier, voffset_t field) const {
+
+  bool VerifyOffset64(const Verifier& verifier, voffset_t field) const {
     return VerifyOffset<uoffset64_t>(verifier, field);
   }
 
-  bool VerifyOffset64Required(const Verifier &verifier, voffset_t field) const {
+  bool VerifyOffset64Required(const Verifier& verifier, voffset_t field) const {
     return VerifyOffsetRequired<uoffset64_t>(verifier, field);
   }
 
@@ -166,15 +172,15 @@ class Table {
   // private constructor & copy constructor: you obtain instances of this
   // class by pointing to existing data only
   Table();
-  Table(const Table &other);
-  Table &operator=(const Table &);
+  Table(const Table& other);
+  Table& operator=(const Table&);
 
   uint8_t data_[1];
 };
 
 // This specialization allows avoiding warnings like:
 // MSVC C4800: type: forcing value to bool 'true' or 'false'.
-template<>
+template <>
 inline flatbuffers::Optional<bool> Table::GetOptional<uint8_t, bool>(
     voffset_t field) const {
   auto field_offset = GetOptionalFieldOffset(field);
diff --git a/3rdparty/flatbuffers/include/flatbuffers/vector.h b/3rdparty/flatbuffers/include/flatbuffers/vector.h
index 7d836362e8..e967e53441 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/vector.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/vector.h
@@ -27,44 +27,56 @@ struct String;
 
 // An STL compatible iterator implementation for Vector below, effectively
 // calling Get() for every element.
-template<typename T, typename IT, typename Data = uint8_t *,
-         typename SizeT = uoffset_t>
+template <typename T, typename IT, typename Data = uint8_t*,
+          typename SizeT = uoffset_t>
 struct VectorIterator {
   typedef std::random_access_iterator_tag iterator_category;
   typedef IT value_type;
   typedef ptrdiff_t difference_type;
-  typedef IT *pointer;
-  typedef IT &reference;
+  typedef IT* pointer;
+  typedef IT& reference;
 
   static const SizeT element_stride = IndirectHelper<T>::element_stride;
 
   VectorIterator(Data data, SizeT i) : data_(data + element_stride * i) {}
-  VectorIterator(const VectorIterator &other) : data_(other.data_) {}
+  VectorIterator(const VectorIterator& other) : data_(other.data_) {}
   VectorIterator() : data_(nullptr) {}
 
-  VectorIterator &operator=(const VectorIterator &other) {
+  VectorIterator& operator=(const VectorIterator& other) {
     data_ = other.data_;
     return *this;
   }
 
-  VectorIterator &operator=(VectorIterator &&other) {
+  VectorIterator& operator=(VectorIterator&& other) {
     data_ = other.data_;
     return *this;
   }
 
-  bool operator==(const VectorIterator &other) const {
+  bool operator==(const VectorIterator& other) const {
     return data_ == other.data_;
   }
 
-  bool operator<(const VectorIterator &other) const {
-    return data_ < other.data_;
-  }
-
-  bool operator!=(const VectorIterator &other) const {
+  bool operator!=(const VectorIterator& other) const {
     return data_ != other.data_;
   }
 
-  difference_type operator-(const VectorIterator &other) const {
+  bool operator<(const VectorIterator& other) const {
+    return data_ < other.data_;
+  }
+
+  bool operator>(const VectorIterator& other) const {
+    return data_ > other.data_;
+  }
+
+  bool operator<=(const VectorIterator& other) const {
+    return !(data_ > other.data_);
+  }
+
+  bool operator>=(const VectorIterator& other) const {
+    return !(data_ < other.data_);
+  }
+
+  difference_type operator-(const VectorIterator& other) const {
     return (data_ - other.data_) / element_stride;
   }
 
@@ -76,7 +88,7 @@ struct VectorIterator {
   // `pointer operator->()`.
   IT operator->() const { return IndirectHelper<T>::Read(data_, 0); }
 
-  VectorIterator &operator++() {
+  VectorIterator& operator++() {
     data_ += element_stride;
     return *this;
   }
@@ -87,16 +99,16 @@ struct VectorIterator {
     return temp;
   }
 
-  VectorIterator operator+(const SizeT &offset) const {
+  VectorIterator operator+(const SizeT& offset) const {
     return VectorIterator(data_ + offset * element_stride, 0);
   }
 
-  VectorIterator &operator+=(const SizeT &offset) {
+  VectorIterator& operator+=(const SizeT& offset) {
     data_ += offset * element_stride;
     return *this;
   }
 
-  VectorIterator &operator--() {
+  VectorIterator& operator--() {
     data_ -= element_stride;
     return *this;
   }
@@ -107,11 +119,11 @@ struct VectorIterator {
     return temp;
   }
 
-  VectorIterator operator-(const SizeT &offset) const {
+  VectorIterator operator-(const SizeT& offset) const {
     return VectorIterator(data_ - offset * element_stride, 0);
   }
 
-  VectorIterator &operator-=(const SizeT &offset) {
+  VectorIterator& operator-=(const SizeT& offset) {
     data_ -= offset * element_stride;
     return *this;
   }
@@ -120,10 +132,10 @@ struct VectorIterator {
   Data data_;
 };
 
-template<typename T, typename IT, typename SizeT = uoffset_t>
-using VectorConstIterator = VectorIterator<T, IT, const uint8_t *, SizeT>;
+template <typename T, typename IT, typename SizeT = uoffset_t>
+using VectorConstIterator = VectorIterator<T, IT, const uint8_t*, SizeT>;
 
-template<typename Iterator>
+template <typename Iterator>
 struct VectorReverseIterator : public std::reverse_iterator<Iterator> {
   explicit VectorReverseIterator(Iterator iter)
       : std::reverse_iterator<Iterator>(iter) {}
@@ -145,14 +157,13 @@ struct VectorReverseIterator : public std::reverse_iterator<Iterator> {
 
 // This is used as a helper type for accessing vectors.
 // Vector::data() assumes the vector elements start after the length field.
-template<typename T, typename SizeT = uoffset_t> class Vector {
+template <typename T, typename SizeT = uoffset_t>
+class Vector {
  public:
-  typedef VectorIterator<T,
-                         typename IndirectHelper<T>::mutable_return_type,
-                         uint8_t *, SizeT>
+  typedef VectorIterator<T, typename IndirectHelper<T>::mutable_return_type,
+                         uint8_t*, SizeT>
       iterator;
-  typedef VectorConstIterator<T, typename IndirectHelper<T>::return_type,
-                              SizeT>
+  typedef VectorConstIterator<T, typename IndirectHelper<T>::return_type, SizeT>
       const_iterator;
   typedef VectorReverseIterator<iterator> reverse_iterator;
   typedef VectorReverseIterator<const_iterator> const_reverse_iterator;
@@ -165,14 +176,18 @@ template<typename T, typename SizeT = uoffset_t> class Vector {
 
   SizeT size() const { return EndianScalar(length_); }
 
+  // Returns true if the vector is empty.
+  //
+  // This just provides another standardized method that is expected of vectors.
+  bool empty() const { return size() == 0; }
+
   // Deprecated: use size(). Here for backwards compatibility.
   FLATBUFFERS_ATTRIBUTE([[deprecated("use size() instead")]])
   SizeT Length() const { return size(); }
 
   typedef SizeT size_type;
   typedef typename IndirectHelper<T>::return_type return_type;
-  typedef typename IndirectHelper<T>::mutable_return_type
-      mutable_return_type;
+  typedef typename IndirectHelper<T>::mutable_return_type mutable_return_type;
   typedef return_type value_type;
 
   return_type Get(SizeT i) const {
@@ -185,24 +200,26 @@ template<typename T, typename SizeT = uoffset_t> class Vector {
   // If this is a Vector of enums, T will be its storage type, not the enum
   // type. This function makes it convenient to retrieve value with enum
   // type E.
-  template<typename E> E GetEnum(SizeT i) const {
+  template <typename E>
+  E GetEnum(SizeT i) const {
     return static_cast<E>(Get(i));
   }
 
   // If this a vector of unions, this does the cast for you. There's no check
   // to make sure this is the right type!
-  template<typename U> const U *GetAs(SizeT i) const {
-    return reinterpret_cast<const U *>(Get(i));
+  template <typename U>
+  const U* GetAs(SizeT i) const {
+    return reinterpret_cast<const U*>(Get(i));
   }
 
   // If this a vector of unions, this does the cast for you. There's no check
   // to make sure this is actually a string!
-  const String *GetAsString(SizeT i) const {
-    return reinterpret_cast<const String *>(Get(i));
+  const String* GetAsString(SizeT i) const {
+    return reinterpret_cast<const String*>(Get(i));
   }
 
-  const void *GetStructFromOffset(size_t o) const {
-    return reinterpret_cast<const void *>(Data() + o);
+  const void* GetStructFromOffset(size_t o) const {
+    return reinterpret_cast<const void*>(Data() + o);
   }
 
   iterator begin() { return iterator(Data(), 0); }
@@ -231,7 +248,7 @@ template<typename T, typename SizeT = uoffset_t> class Vector {
 
   // Change elements if you have a non-const pointer to this object.
   // Scalars only. See reflection.h, and the documentation.
-  void Mutate(SizeT i, const T &val) {
+  void Mutate(SizeT i, const T& val) {
     FLATBUFFERS_ASSERT(i < size());
     WriteScalar(data() + i, val);
   }
@@ -239,7 +256,7 @@ template<typename T, typename SizeT = uoffset_t> class Vector {
   // Change an element of a vector of tables (or strings).
   // "val" points to the new table/string, as you can obtain from
   // e.g. reflection::AddFlatBuffer().
-  void MutateOffset(SizeT i, const uint8_t *val) {
+  void MutateOffset(SizeT i, const uint8_t* val) {
     FLATBUFFERS_ASSERT(i < size());
     static_assert(sizeof(T) == sizeof(SizeT), "Unrelated types");
     WriteScalar(data() + i,
@@ -253,30 +270,32 @@ template<typename T, typename SizeT = uoffset_t> class Vector {
   }
 
   // The raw data in little endian format. Use with care.
-  const uint8_t *Data() const {
-    return reinterpret_cast<const uint8_t *>(&length_ + 1);
+  const uint8_t* Data() const {
+    return reinterpret_cast<const uint8_t*>(&length_ + 1);
   }
 
-  uint8_t *Data() { return reinterpret_cast<uint8_t *>(&length_ + 1); }
+  uint8_t* Data() { return reinterpret_cast<uint8_t*>(&length_ + 1); }
 
   // Similarly, but typed, much like std::vector::data
-  const T *data() const { return reinterpret_cast<const T *>(Data()); }
-  T *data() { return reinterpret_cast<T *>(Data()); }
+  const T* data() const { return reinterpret_cast<const T*>(Data()); }
+  T* data() { return reinterpret_cast<T*>(Data()); }
 
-  template<typename K> return_type LookupByKey(K key) const {
-    void *search_result = std::bsearch(
+  template <typename K>
+  return_type LookupByKey(K key) const {
+    void* search_result = std::bsearch(
         &key, Data(), size(), IndirectHelper<T>::element_stride, KeyCompare<K>);
 
     if (!search_result) {
       return nullptr;  // Key not found.
     }
 
-    const uint8_t *element = reinterpret_cast<const uint8_t *>(search_result);
+    const uint8_t* element = reinterpret_cast<const uint8_t*>(search_result);
 
     return IndirectHelper<T>::Read(element, 0);
   }
 
-  template<typename K> mutable_return_type MutableLookupByKey(K key) {
+  template <typename K>
+  mutable_return_type MutableLookupByKey(K key) {
     return const_cast<mutable_return_type>(LookupByKey(key));
   }
 
@@ -290,12 +309,13 @@ template<typename T, typename SizeT = uoffset_t> class Vector {
  private:
   // This class is a pointer. Copying will therefore create an invalid object.
   // Private and unimplemented copy constructor.
-  Vector(const Vector &);
-  Vector &operator=(const Vector &);
+  Vector(const Vector&);
+  Vector& operator=(const Vector&);
 
-  template<typename K> static int KeyCompare(const void *ap, const void *bp) {
-    const K *key = reinterpret_cast<const K *>(ap);
-    const uint8_t *data = reinterpret_cast<const uint8_t *>(bp);
+  template <typename K>
+  static int KeyCompare(const void* ap, const void* bp) {
+    const K* key = reinterpret_cast<const K*>(ap);
+    const uint8_t* data = reinterpret_cast<const uint8_t*>(bp);
     auto table = IndirectHelper<T>::Read(data, 0);
 
     // std::bsearch compares with the operands transposed, so we negate the
@@ -304,35 +324,36 @@ template<typename T, typename SizeT = uoffset_t> class Vector {
   }
 };
 
-template<typename T> using Vector64 = Vector<T, uoffset64_t>;
+template <typename T>
+using Vector64 = Vector<T, uoffset64_t>;
 
-template<class U>
-FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<U> make_span(Vector<U> &vec)
+template <class U>
+FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<U> make_span(Vector<U>& vec)
     FLATBUFFERS_NOEXCEPT {
   static_assert(Vector<U>::is_span_observable,
                 "wrong type U, only LE-scalar, or byte types are allowed");
   return span<U>(vec.data(), vec.size());
 }
 
-template<class U>
+template <class U>
 FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<const U> make_span(
-    const Vector<U> &vec) FLATBUFFERS_NOEXCEPT {
+    const Vector<U>& vec) FLATBUFFERS_NOEXCEPT {
   static_assert(Vector<U>::is_span_observable,
                 "wrong type U, only LE-scalar, or byte types are allowed");
   return span<const U>(vec.data(), vec.size());
 }
 
-template<class U>
+template <class U>
 FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<uint8_t> make_bytes_span(
-    Vector<U> &vec) FLATBUFFERS_NOEXCEPT {
+    Vector<U>& vec) FLATBUFFERS_NOEXCEPT {
   static_assert(Vector<U>::scalar_tag::value,
                 "wrong type U, only LE-scalar, or byte types are allowed");
   return span<uint8_t>(vec.Data(), vec.size() * sizeof(U));
 }
 
-template<class U>
+template <class U>
 FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<const uint8_t> make_bytes_span(
-    const Vector<U> &vec) FLATBUFFERS_NOEXCEPT {
+    const Vector<U>& vec) FLATBUFFERS_NOEXCEPT {
   static_assert(Vector<U>::scalar_tag::value,
                 "wrong type U, only LE-scalar, or byte types are allowed");
   return span<const uint8_t>(vec.Data(), vec.size() * sizeof(U));
@@ -340,17 +361,17 @@ FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<const uint8_t> make_bytes_span(
 
 // Convenient helper functions to get a span of any vector, regardless
 // of whether it is null or not (the field is not set).
-template<class U>
-FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<U> make_span(Vector<U> *ptr)
+template <class U>
+FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<U> make_span(Vector<U>* ptr)
     FLATBUFFERS_NOEXCEPT {
   static_assert(Vector<U>::is_span_observable,
                 "wrong type U, only LE-scalar, or byte types are allowed");
   return ptr ? make_span(*ptr) : span<U>();
 }
 
-template<class U>
+template <class U>
 FLATBUFFERS_CONSTEXPR_CPP11 flatbuffers::span<const U> make_span(
-    const Vector<U> *ptr) FLATBUFFERS_NOEXCEPT {
+    const Vector<U>* ptr) FLATBUFFERS_NOEXCEPT {
   static_assert(Vector<U>::is_span_observable,
                 "wrong type U, only LE-scalar, or byte types are allowed");
   return ptr ? make_span(*ptr) : span<const U>();
@@ -362,10 +383,10 @@ class VectorOfAny {
  public:
   uoffset_t size() const { return EndianScalar(length_); }
 
-  const uint8_t *Data() const {
-    return reinterpret_cast<const uint8_t *>(&length_ + 1);
+  const uint8_t* Data() const {
+    return reinterpret_cast<const uint8_t*>(&length_ + 1);
   }
-  uint8_t *Data() { return reinterpret_cast<uint8_t *>(&length_ + 1); }
+  uint8_t* Data() { return reinterpret_cast<uint8_t*>(&length_ + 1); }
 
  protected:
   VectorOfAny();
@@ -373,25 +394,26 @@ class VectorOfAny {
   uoffset_t length_;
 
  private:
-  VectorOfAny(const VectorOfAny &);
-  VectorOfAny &operator=(const VectorOfAny &);
+  VectorOfAny(const VectorOfAny&);
+  VectorOfAny& operator=(const VectorOfAny&);
 };
 
-template<typename T, typename U>
-Vector<Offset<T>> *VectorCast(Vector<Offset<U>> *ptr) {
+template <typename T, typename U>
+Vector<Offset<T>>* VectorCast(Vector<Offset<U>>* ptr) {
   static_assert(std::is_base_of<T, U>::value, "Unrelated types");
-  return reinterpret_cast<Vector<Offset<T>> *>(ptr);
+  return reinterpret_cast<Vector<Offset<T>>*>(ptr);
 }
 
-template<typename T, typename U>
-const Vector<Offset<T>> *VectorCast(const Vector<Offset<U>> *ptr) {
+template <typename T, typename U>
+const Vector<Offset<T>>* VectorCast(const Vector<Offset<U>>* ptr) {
   static_assert(std::is_base_of<T, U>::value, "Unrelated types");
-  return reinterpret_cast<const Vector<Offset<T>> *>(ptr);
+  return reinterpret_cast<const Vector<Offset<T>>*>(ptr);
 }
 
 // Convenient helper function to get the length of any vector, regardless
 // of whether it is null or not (the field is not set).
-template<typename T> static inline size_t VectorLength(const Vector<T> *v) {
+template <typename T>
+static inline size_t VectorLength(const Vector<T>* v) {
   return v ? v->size() : 0;
 }
 
diff --git a/3rdparty/flatbuffers/include/flatbuffers/vector_downward.h b/3rdparty/flatbuffers/include/flatbuffers/vector_downward.h
index fd491e7635..3e6da8e9da 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/vector_downward.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/vector_downward.h
@@ -17,9 +17,8 @@
 #ifndef FLATBUFFERS_VECTOR_DOWNWARD_H_
 #define FLATBUFFERS_VECTOR_DOWNWARD_H_
 
-#include <cstdint>
-
 #include <algorithm>
+#include <cstdint>
 
 #include "flatbuffers/base.h"
 #include "flatbuffers/default_allocator.h"
@@ -33,9 +32,10 @@ namespace flatbuffers {
 // Since this vector leaves the lower part unused, we support a "scratch-pad"
 // that can be stored there for temporary data, to share the allocated space.
 // Essentially, this supports 2 std::vectors in a single buffer.
-template<typename SizeT = uoffset_t> class vector_downward {
+template <typename SizeT = uoffset_t>
+class vector_downward {
  public:
-  explicit vector_downward(size_t initial_size, Allocator *allocator,
+  explicit vector_downward(size_t initial_size, Allocator* allocator,
                            bool own_allocator, size_t buffer_minalign,
                            const SizeT max_size = FLATBUFFERS_MAX_BUFFER_SIZE)
       : allocator_(allocator),
@@ -49,7 +49,7 @@ template<typename SizeT = uoffset_t> class vector_downward {
         cur_(nullptr),
         scratch_(nullptr) {}
 
-  vector_downward(vector_downward &&other) noexcept
+  vector_downward(vector_downward&& other) noexcept
       // clang-format on
       : allocator_(other.allocator_),
         own_allocator_(other.own_allocator_),
@@ -71,7 +71,7 @@ template<typename SizeT = uoffset_t> class vector_downward {
     other.scratch_ = nullptr;
   }
 
-  vector_downward &operator=(vector_downward &&other) noexcept {
+  vector_downward& operator=(vector_downward&& other) noexcept {
     // Move construct a temporary and swap idiom
     vector_downward temp(std::move(other));
     swap(temp);
@@ -102,7 +102,9 @@ template<typename SizeT = uoffset_t> class vector_downward {
   void clear_scratch() { scratch_ = buf_; }
 
   void clear_allocator() {
-    if (own_allocator_ && allocator_) { delete allocator_; }
+    if (own_allocator_ && allocator_) {
+      delete allocator_;
+    }
     allocator_ = nullptr;
     own_allocator_ = false;
   }
@@ -113,8 +115,8 @@ template<typename SizeT = uoffset_t> class vector_downward {
   }
 
   // Relinquish the pointer to the caller.
-  uint8_t *release_raw(size_t &allocated_bytes, size_t &offset) {
-    auto *buf = buf_;
+  uint8_t* release_raw(size_t& allocated_bytes, size_t& offset) {
+    auto* buf = buf_;
     allocated_bytes = reserved_;
     offset = vector_downward::offset();
 
@@ -143,12 +145,14 @@ template<typename SizeT = uoffset_t> class vector_downward {
     FLATBUFFERS_ASSERT(cur_ >= scratch_ && scratch_ >= buf_);
     // If the length is larger than the unused part of the buffer, we need to
     // grow.
-    if (len > unused_buffer_size()) { reallocate(len); }
+    if (len > unused_buffer_size()) {
+      reallocate(len);
+    }
     FLATBUFFERS_ASSERT(size() < max_size_);
     return len;
   }
 
-  inline uint8_t *make_space(size_t len) {
+  inline uint8_t* make_space(size_t len) {
     if (len) {
       ensure_space(len);
       cur_ -= len;
@@ -158,7 +162,7 @@ template<typename SizeT = uoffset_t> class vector_downward {
   }
 
   // Returns nullptr if using the DefaultAllocator.
-  Allocator *get_custom_allocator() { return allocator_; }
+  Allocator* get_custom_allocator() { return allocator_; }
 
   // The current offset into the buffer.
   size_t offset() const { return cur_ - buf_; }
@@ -167,43 +171,49 @@ template<typename SizeT = uoffset_t> class vector_downward {
   inline SizeT size() const { return size_; }
 
   // The size of the buffer part of the vector that is currently unused.
-  SizeT unused_buffer_size() const { return static_cast<SizeT>(cur_ - scratch_); }
+  SizeT unused_buffer_size() const {
+    return static_cast<SizeT>(cur_ - scratch_);
+  }
 
   // The size of the scratch part of the vector.
   SizeT scratch_size() const { return static_cast<SizeT>(scratch_ - buf_); }
 
   size_t capacity() const { return reserved_; }
 
-  uint8_t *data() const {
+  uint8_t* data() const {
     FLATBUFFERS_ASSERT(cur_);
     return cur_;
   }
 
-  uint8_t *scratch_data() const {
+  uint8_t* scratch_data() const {
     FLATBUFFERS_ASSERT(buf_);
     return buf_;
   }
 
-  uint8_t *scratch_end() const {
+  uint8_t* scratch_end() const {
     FLATBUFFERS_ASSERT(scratch_);
     return scratch_;
   }
 
-  uint8_t *data_at(size_t offset) const { return buf_ + reserved_ - offset; }
+  uint8_t* data_at(size_t offset) const { return buf_ + reserved_ - offset; }
 
-  void push(const uint8_t *bytes, size_t num) {
-    if (num > 0) { memcpy(make_space(num), bytes, num); }
+  void push(const uint8_t* bytes, size_t num) {
+    if (num > 0) {
+      memcpy(make_space(num), bytes, num);
+    }
   }
 
   // Specialized version of push() that avoids memcpy call for small data.
-  template<typename T> void push_small(const T &little_endian_t) {
+  template <typename T>
+  void push_small(const T& little_endian_t) {
     make_space(sizeof(T));
-    *reinterpret_cast<T *>(cur_) = little_endian_t;
+    *reinterpret_cast<T*>(cur_) = little_endian_t;
   }
 
-  template<typename T> void scratch_push_small(const T &t) {
+  template <typename T>
+  void scratch_push_small(const T& t) {
     ensure_space(sizeof(T));
-    *reinterpret_cast<T *>(scratch_) = t;
+    *reinterpret_cast<T*>(scratch_) = t;
     scratch_ += sizeof(T);
   }
 
@@ -227,7 +237,7 @@ template<typename SizeT = uoffset_t> class vector_downward {
 
   void scratch_pop(size_t bytes_to_remove) { scratch_ -= bytes_to_remove; }
 
-  void swap(vector_downward &other) {
+  void swap(vector_downward& other) {
     using std::swap;
     swap(allocator_, other.allocator_);
     swap(own_allocator_, other.own_allocator_);
@@ -241,7 +251,7 @@ template<typename SizeT = uoffset_t> class vector_downward {
     swap(scratch_, other.scratch_);
   }
 
-  void swap_allocator(vector_downward &other) {
+  void swap_allocator(vector_downward& other) {
     using std::swap;
     swap(allocator_, other.allocator_);
     swap(own_allocator_, other.own_allocator_);
@@ -249,10 +259,10 @@ template<typename SizeT = uoffset_t> class vector_downward {
 
  private:
   // You shouldn't really be copying instances of this class.
-  FLATBUFFERS_DELETE_FUNC(vector_downward(const vector_downward &));
-  FLATBUFFERS_DELETE_FUNC(vector_downward &operator=(const vector_downward &));
+  FLATBUFFERS_DELETE_FUNC(vector_downward(const vector_downward&));
+  FLATBUFFERS_DELETE_FUNC(vector_downward& operator=(const vector_downward&));
 
-  Allocator *allocator_;
+  Allocator* allocator_;
   bool own_allocator_;
   size_t initial_size_;
 
@@ -261,9 +271,9 @@ template<typename SizeT = uoffset_t> class vector_downward {
   size_t buffer_minalign_;
   size_t reserved_;
   SizeT size_;
-  uint8_t *buf_;
-  uint8_t *cur_;  // Points at location between empty (below) and used (above).
-  uint8_t *scratch_;  // Points to the end of the scratchpad in use.
+  uint8_t* buf_;
+  uint8_t* cur_;  // Points at location between empty (below) and used (above).
+  uint8_t* scratch_;  // Points to the end of the scratchpad in use.
 
   void reallocate(size_t len) {
     auto old_reserved = reserved_;
diff --git a/3rdparty/flatbuffers/include/flatbuffers/verifier.h b/3rdparty/flatbuffers/include/flatbuffers/verifier.h
index ddd79446e2..a0b793597c 100644
--- a/3rdparty/flatbuffers/include/flatbuffers/verifier.h
+++ b/3rdparty/flatbuffers/include/flatbuffers/verifier.h
@@ -23,7 +23,8 @@
 namespace flatbuffers {
 
 // Helper class to verify the integrity of a FlatBuffer
-class Verifier FLATBUFFERS_FINAL_CLASS {
+template <bool TrackVerifierBufferSize>
+class VerifierTemplate FLATBUFFERS_FINAL_CLASS {
  public:
   struct Options {
     // The maximum nesting of tables and vectors before we call it invalid.
@@ -40,17 +41,18 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
     bool assert = false;
   };
 
-  explicit Verifier(const uint8_t *const buf, const size_t buf_len,
-                    const Options &opts)
+  explicit VerifierTemplate(const uint8_t* const buf, const size_t buf_len,
+                            const Options& opts)
       : buf_(buf), size_(buf_len), opts_(opts) {
     FLATBUFFERS_ASSERT(size_ < opts.max_size);
   }
 
-  // Deprecated API, please construct with Verifier::Options.
-  Verifier(const uint8_t *const buf, const size_t buf_len,
-           const uoffset_t max_depth = 64, const uoffset_t max_tables = 1000000,
-           const bool check_alignment = true)
-      : Verifier(buf, buf_len, [&] {
+  // Deprecated API, please construct with VerifierTemplate::Options.
+  VerifierTemplate(const uint8_t* const buf, const size_t buf_len,
+                   const uoffset_t max_depth = 64,
+                   const uoffset_t max_tables = 1000000,
+                   const bool check_alignment = true)
+      : VerifierTemplate(buf, buf_len, [&] {
           Options opts;
           opts.max_depth = max_depth;
           opts.max_tables = max_tables;
@@ -62,25 +64,25 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
   bool Check(const bool ok) const {
     // clang-format off
     #ifdef FLATBUFFERS_DEBUG_VERIFICATION_FAILURE
-       if (opts_.assert) { FLATBUFFERS_ASSERT(ok); }
-    #endif
-    #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE
-      if (!ok)
-        upper_bound_ = 0;
+      if (opts_.assert) { FLATBUFFERS_ASSERT(ok); }
     #endif
     // clang-format on
+    if (TrackVerifierBufferSize) {
+      if (!ok) {
+        upper_bound_ = 0;
+      }
+    }
     return ok;
   }
 
   // Verify any range within the buffer.
   bool Verify(const size_t elem, const size_t elem_len) const {
-    // clang-format off
-    #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE
+    if (TrackVerifierBufferSize) {
       auto upper_bound = elem + elem_len;
-      if (upper_bound_ < upper_bound)
-        upper_bound_ =  upper_bound;
-    #endif
-    // clang-format on
+      if (upper_bound_ < upper_bound) {
+        upper_bound_ = upper_bound;
+      }
+    }
     return Check(elem_len < size_ && elem <= size_ - elem_len);
   }
 
@@ -89,59 +91,61 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
   }
 
   // Verify a range indicated by sizeof(T).
-  template<typename T> bool Verify(const size_t elem) const {
+  template <typename T>
+  bool Verify(const size_t elem) const {
     return VerifyAlignment(elem, sizeof(T)) && Verify(elem, sizeof(T));
   }
 
-  bool VerifyFromPointer(const uint8_t *const p, const size_t len) {
+  bool VerifyFromPointer(const uint8_t* const p, const size_t len) {
     return Verify(static_cast<size_t>(p - buf_), len);
   }
 
   // Verify relative to a known-good base pointer.
-  bool VerifyFieldStruct(const uint8_t *const base, const voffset_t elem_off,
+  bool VerifyFieldStruct(const uint8_t* const base, const voffset_t elem_off,
                          const size_t elem_len, const size_t align) const {
     const auto f = static_cast<size_t>(base - buf_) + elem_off;
     return VerifyAlignment(f, align) && Verify(f, elem_len);
   }
 
-  template<typename T>
-  bool VerifyField(const uint8_t *const base, const voffset_t elem_off,
+  template <typename T>
+  bool VerifyField(const uint8_t* const base, const voffset_t elem_off,
                    const size_t align) const {
     const auto f = static_cast<size_t>(base - buf_) + elem_off;
     return VerifyAlignment(f, align) && Verify(f, sizeof(T));
   }
 
   // Verify a pointer (may be NULL) of a table type.
-  template<typename T> bool VerifyTable(const T *const table) {
+  template <typename T>
+  bool VerifyTable(const T* const table) {
     return !table || table->Verify(*this);
   }
 
   // Verify a pointer (may be NULL) of any vector type.
-  template<int &..., typename T, typename LenT>
-  bool VerifyVector(const Vector<T, LenT> *const vec) const {
+  template <int&..., typename T, typename LenT>
+  bool VerifyVector(const Vector<T, LenT>* const vec) const {
     return !vec || VerifyVectorOrString<LenT>(
-                       reinterpret_cast<const uint8_t *>(vec), sizeof(T));
+                       reinterpret_cast<const uint8_t*>(vec), sizeof(T));
   }
 
   // Verify a pointer (may be NULL) of a vector to struct.
-  template<int &..., typename T, typename LenT>
-  bool VerifyVector(const Vector<const T *, LenT> *const vec) const {
-    return VerifyVector(reinterpret_cast<const Vector<T, LenT> *>(vec));
+  template <int&..., typename T, typename LenT>
+  bool VerifyVector(const Vector<const T*, LenT>* const vec) const {
+    return VerifyVector(reinterpret_cast<const Vector<T, LenT>*>(vec));
   }
 
   // Verify a pointer (may be NULL) to string.
-  bool VerifyString(const String *const str) const {
+  bool VerifyString(const String* const str) const {
     size_t end;
     return !str || (VerifyVectorOrString<uoffset_t>(
-                        reinterpret_cast<const uint8_t *>(str), 1, &end) &&
+                        reinterpret_cast<const uint8_t*>(str), 1, &end) &&
                     Verify(end, 1) &&           // Must have terminator
                     Check(buf_[end] == '\0'));  // Terminating byte must be 0.
   }
 
   // Common code between vectors and strings.
-  template<typename LenT = uoffset_t>
-  bool VerifyVectorOrString(const uint8_t *const vec, const size_t elem_size,
-                            size_t *const end = nullptr) const {
+  template <typename LenT = uoffset_t>
+  bool VerifyVectorOrString(const uint8_t* const vec, const size_t elem_size,
+                            size_t* const end = nullptr) const {
     const auto vec_offset = static_cast<size_t>(vec - buf_);
     // Check we can read the size field.
     if (!Verify<LenT>(vec_offset)) return false;
@@ -157,7 +161,7 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
   }
 
   // Special case for string contents, after the above has been called.
-  bool VerifyVectorOfStrings(const Vector<Offset<String>> *const vec) const {
+  bool VerifyVectorOfStrings(const Vector<Offset<String>>* const vec) const {
     if (vec) {
       for (uoffset_t i = 0; i < vec->size(); i++) {
         if (!VerifyString(vec->Get(i))) return false;
@@ -167,8 +171,8 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
   }
 
   // Special case for table contents, after the above has been called.
-  template<typename T>
-  bool VerifyVectorOfTables(const Vector<Offset<T>> *const vec) {
+  template <typename T>
+  bool VerifyVectorOfTables(const Vector<Offset<T>>* const vec) {
     if (vec) {
       for (uoffset_t i = 0; i < vec->size(); i++) {
         if (!vec->Get(i)->Verify(*this)) return false;
@@ -177,8 +181,8 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
     return true;
   }
 
-  __suppress_ubsan__("unsigned-integer-overflow") bool VerifyTableStart(
-      const uint8_t *const table) {
+  FLATBUFFERS_SUPPRESS_UBSAN("unsigned-integer-overflow")
+  bool VerifyTableStart(const uint8_t* const table) {
     // Check the vtable offset.
     const auto tableo = static_cast<size_t>(table - buf_);
     if (!Verify<soffset_t>(tableo)) return false;
@@ -195,8 +199,8 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
     return Check((vsize & 1) == 0) && Verify(vtableo, vsize);
   }
 
-  template<typename T>
-  bool VerifyBufferFromStart(const char *const identifier, const size_t start) {
+  template <typename T>
+  bool VerifyBufferFromStart(const char* const identifier, const size_t start) {
     // Buffers have to be of some size to be valid. The reason it is a runtime
     // check instead of static_assert, is that nested flatbuffers go through
     // this call and their size is determined at runtime.
@@ -210,19 +214,19 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
 
     // Call T::Verify, which must be in the generated code for this type.
     const auto o = VerifyOffset<uoffset_t>(start);
-    return Check(o != 0) &&
-           reinterpret_cast<const T *>(buf_ + start + o)->Verify(*this)
-    // clang-format off
-    #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE
-           && GetComputedSize()
-    #endif
-        ;
-    // clang-format on
+    if (!Check(o != 0)) return false;
+    if (!(reinterpret_cast<const T*>(buf_ + start + o)->Verify(*this))) {
+      return false;
+    }
+    if (TrackVerifierBufferSize) {
+      if (GetComputedSize() == 0) return false;
+    }
+    return true;
   }
 
-  template<typename T, int &..., typename SizeT>
-  bool VerifyNestedFlatBuffer(const Vector<uint8_t, SizeT> *const buf,
-                              const char *const identifier) {
+  template <typename T, int&..., typename SizeT>
+  bool VerifyNestedFlatBuffer(const Vector<uint8_t, SizeT>* const buf,
+                              const char* const identifier) {
     // Caller opted out of this.
     if (!opts_.check_nested_flatbuffers) return true;
 
@@ -232,25 +236,32 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
     // If there is a nested buffer, it must be greater than the min size.
     if (!Check(buf->size() >= FLATBUFFERS_MIN_BUFFER_SIZE)) return false;
 
-    Verifier nested_verifier(buf->data(), buf->size(), opts_);
+    VerifierTemplate<TrackVerifierBufferSize> nested_verifier(
+        buf->data(), buf->size(), opts_);
     return nested_verifier.VerifyBuffer<T>(identifier);
   }
 
   // Verify this whole buffer, starting with root type T.
-  template<typename T> bool VerifyBuffer() { return VerifyBuffer<T>(nullptr); }
+  template <typename T>
+  bool VerifyBuffer() {
+    return VerifyBuffer<T>(nullptr);
+  }
 
-  template<typename T> bool VerifyBuffer(const char *const identifier) {
+  template <typename T>
+  bool VerifyBuffer(const char* const identifier) {
     return VerifyBufferFromStart<T>(identifier, 0);
   }
 
-  template<typename T, typename SizeT = uoffset_t>
-  bool VerifySizePrefixedBuffer(const char *const identifier) {
+  template <typename T, typename SizeT = uoffset_t>
+  bool VerifySizePrefixedBuffer(const char* const identifier) {
     return Verify<SizeT>(0U) &&
-           Check(ReadScalar<SizeT>(buf_) == size_ - sizeof(SizeT)) &&
+           // Ensure the prefixed size is within the bounds of the provided
+           // length.
+           Check(ReadScalar<SizeT>(buf_) + sizeof(SizeT) <= size_) &&
            VerifyBufferFromStart<T>(identifier, sizeof(SizeT));
   }
 
-  template<typename OffsetT = uoffset_t, typename SOffsetT = soffset_t>
+  template <typename OffsetT = uoffset_t, typename SOffsetT = soffset_t>
   size_t VerifyOffset(const size_t start) const {
     if (!Verify<OffsetT>(start)) return 0;
     const auto o = ReadScalar<OffsetT>(buf_ + start);
@@ -264,8 +275,8 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
     return o;
   }
 
-  template<typename OffsetT = uoffset_t>
-  size_t VerifyOffset(const uint8_t *const base, const voffset_t start) const {
+  template <typename OffsetT = uoffset_t>
+  size_t VerifyOffset(const uint8_t* const base, const voffset_t start) const {
     return VerifyOffset<OffsetT>(static_cast<size_t>(base - buf_) + start);
   }
 
@@ -284,31 +295,37 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
     return true;
   }
 
-  // Returns the message size in bytes
+  // Returns the message size in bytes.
+  //
+  // This should only be called after first calling VerifyBuffer or
+  // VerifySizePrefixedBuffer.
+  //
+  // This method should only be called for VerifierTemplate instances
+  // where the TrackVerifierBufferSize template parameter is true,
+  // i.e. for SizeVerifier.  For instances where TrackVerifierBufferSize
+  // is false, this fails at runtime or returns zero.
   size_t GetComputedSize() const {
-    // clang-format off
-    #ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE
+    if (TrackVerifierBufferSize) {
       uintptr_t size = upper_bound_;
       // Align the size to uoffset_t
       size = (size - 1 + sizeof(uoffset_t)) & ~(sizeof(uoffset_t) - 1);
-      return (size > size_) ?  0 : size;
-    #else
-      // Must turn on FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE for this to work.
-      (void)upper_bound_;
-      FLATBUFFERS_ASSERT(false);
-      return 0;
-    #endif
-    // clang-format on
+      return (size > size_) ? 0 : size;
+    }
+    // Must use SizeVerifier, or (deprecated) turn on
+    // FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE, for this to work.
+    (void)upper_bound_;
+    FLATBUFFERS_ASSERT(false);
+    return 0;
   }
 
-  std::vector<uint8_t> *GetFlexReuseTracker() { return flex_reuse_tracker_; }
+  std::vector<uint8_t>* GetFlexReuseTracker() { return flex_reuse_tracker_; }
 
-  void SetFlexReuseTracker(std::vector<uint8_t> *const rt) {
+  void SetFlexReuseTracker(std::vector<uint8_t>* const rt) {
     flex_reuse_tracker_ = rt;
   }
 
  private:
-  const uint8_t *buf_;
+  const uint8_t* buf_;
   const size_t size_;
   const Options opts_;
 
@@ -316,14 +333,37 @@ class Verifier FLATBUFFERS_FINAL_CLASS {
 
   uoffset_t depth_ = 0;
   uoffset_t num_tables_ = 0;
-  std::vector<uint8_t> *flex_reuse_tracker_ = nullptr;
+  std::vector<uint8_t>* flex_reuse_tracker_ = nullptr;
 };
 
 // Specialization for 64-bit offsets.
-template<>
-inline size_t Verifier::VerifyOffset<uoffset64_t>(const size_t start) const {
+template <>
+template <>
+inline size_t VerifierTemplate<false>::VerifyOffset<uoffset64_t>(
+    const size_t start) const {
   return VerifyOffset<uoffset64_t, soffset64_t>(start);
 }
+template <>
+template <>
+inline size_t VerifierTemplate<true>::VerifyOffset<uoffset64_t>(
+    const size_t start) const {
+  return VerifyOffset<uoffset64_t, soffset64_t>(start);
+}
+
+// Instance of VerifierTemplate that supports GetComputedSize().
+using SizeVerifier = VerifierTemplate</*TrackVerifierBufferSize = */ true>;
+
+// The FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE build configuration macro is
+// deprecated, and should not be defined, since it is easy to misuse in ways
+// that result in ODR violations. Rather than using Verifier and defining
+// FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE, please use SizeVerifier instead.
+#ifdef FLATBUFFERS_TRACK_VERIFIER_BUFFER_SIZE  // Deprecated, see above.
+using Verifier = SizeVerifier;
+#else
+// Instance of VerifierTemplate that is slightly faster, but does not
+// support GetComputedSize().
+using Verifier = VerifierTemplate</*TrackVerifierBufferSize = */ false>;
+#endif
 
 }  // namespace flatbuffers
 
diff --git a/cmake/OpenCVDetectFlatbuffers.cmake b/cmake/OpenCVDetectFlatbuffers.cmake
index 537b73815a..b94f2d382d 100644
--- a/cmake/OpenCVDetectFlatbuffers.cmake
+++ b/cmake/OpenCVDetectFlatbuffers.cmake
@@ -1,6 +1,6 @@
 if(WITH_FLATBUFFERS)
   set(HAVE_FLATBUFFERS 1)
-  set(flatbuffers_VERSION "23.5.9")
+  set(flatbuffers_VERSION "25.9.23")
   ocv_install_3rdparty_licenses(flatbuffers "${OpenCV_SOURCE_DIR}/3rdparty/flatbuffers/LICENSE.txt")
   ocv_add_external_target(flatbuffers "${OpenCV_SOURCE_DIR}/3rdparty/flatbuffers/include" "" "HAVE_FLATBUFFERS=1")
   set(CUSTOM_STATUS_flatbuffers "    Flatbuffers:" "builtin/3rdparty (${flatbuffers_VERSION})")
diff --git a/modules/dnn/misc/tflite/schema_generated.h b/modules/dnn/misc/tflite/schema_generated.h
index 44162eeac0..b1e333c412 100644
--- a/modules/dnn/misc/tflite/schema_generated.h
+++ b/modules/dnn/misc/tflite/schema_generated.h
@@ -8,9 +8,9 @@
 
 // Ensure the included flatbuffers.h is the same version as when this file was
 // generated, otherwise it may not be compatible.
-static_assert(FLATBUFFERS_VERSION_MAJOR == 23 &&
-              FLATBUFFERS_VERSION_MINOR == 5 &&
-              FLATBUFFERS_VERSION_REVISION == 9,
+static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
+              FLATBUFFERS_VERSION_MINOR == 9 &&
+              FLATBUFFERS_VERSION_REVISION == 23,
              "Non-compatible flatbuffers version included");
 
 namespace opencv_tflite {