Electronic supplementary material
Animation 1 (MPEG 1932 kb)
Animation 2 (MPEG 4857 kb)
Animation 3 (MPEG 2969 kb)
Animation 4 (MPEG 4394 kb)
Animation 5 (MPEG 3496 kb)
Animation 6 (MPEG 4700 kb)
Animation 7 (MPEG 1918 kb)
Animation 8 (MPEG 3786 kb)