@aura3d/animation 1.1.0 → 1.3.0

package/dist/MotionQuality.d.ts

@@ -15,8 +15,8 @@ export interface AnimationMotionQualityReport {
     readonly poseDiversityScore: number;
     readonly healthy: boolean;
 }
-export interface CartoonAnimationMotionQualityReport extends AnimationMotionQualityReport {
-    readonly kind: "cartoon-animation-motion-quality";
+export interface AnimationAnimationMotionQualityReport extends AnimationMotionQualityReport {
+    readonly kind: "animation-animation-motion-quality";
     readonly staticPoseRejected: boolean;
     readonly issues: readonly string[];
 }
@@ -38,5 +38,5 @@ export declare class AnimationMotionQualityTracker {
     reset(): void;
 }
 export declare function summarizeAnimationMotion(samples: readonly AnimationMotionSample[], options?: Pick<AnimationMotionQualityOptions, "minimumSamples" | "minimumTimeRangeSeconds" | "minimumPoseDiversityScore">): AnimationMotionQualityReport;
-export declare function summarizeCartoonAnimationMotion(samples: readonly AnimationMotionSample[], options?: Pick<AnimationMotionQualityOptions, "minimumSamples" | "minimumTimeRangeSeconds" | "minimumPoseDiversityScore">): CartoonAnimationMotionQualityReport;
+export declare function summarizeAnimationAnimationMotion(samples: readonly AnimationMotionSample[], options?: Pick<AnimationMotionQualityOptions, "minimumSamples" | "minimumTimeRangeSeconds" | "minimumPoseDiversityScore">): AnimationAnimationMotionQualityReport;
 //# sourceMappingURL=MotionQuality.d.ts.map

package/dist/MotionQuality.d.ts.map

@@ -1 +1 @@
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package/dist/MotionQuality.js

@@ -61,7 +61,7 @@ export function summarizeAnimationMotion(samples, options = {}) {
             && (activeTrackFrames > 0 || activeSkinningFrames > 0 || animatedSubjectFrames > 0)
     };
 }
-export function summarizeCartoonAnimationMotion(samples, options = {}) {
+export function summarizeAnimationAnimationMotion(samples, options = {}) {
     const base = summarizeAnimationMotion(samples, options);
     const issues = [
         base.sampleCount < (options.minimumSamples ?? 8) ? "not enough motion samples" : undefined,
@@ -71,7 +71,7 @@ export function summarizeCartoonAnimationMotion(samples, options = {}) {
     ].filter((issue) => Boolean(issue));
     return {
         ...base,
-        kind: "cartoon-animation-motion-quality",
+        kind: "animation-animation-motion-quality",
         staticPoseRejected: issues.length > 0,
         issues,
         healthy: issues.length === 0

package/dist/MotionQuality.js.map

@@ -1 +1 @@
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package/dist/RigQuality.d.ts

@@ -0,0 +1,31 @@
+import { type HumanoidRigDefinition } from "./HumanoidRetargeting.js";
+/**
+ * Body-acting suitability grade for an (inferred) humanoid rig.
+ *
+ * - **A** — full humanoid: spine/neck/head, both arms with forearms + hands, both legs with lower
+ *   legs + feet. Safe for the full performance vocabulary (gesture, point, walk/run, foot work).
+ * - **B** — partial humanoid: enough of the body to act (spine/head + both arms or both legs) but
+ *   missing limbs/extremities; the director should avoid the motions that need the missing chain.
+ * - **C** — mascot / sparse (~8 mappable nodes): a torso + head + stub arms; head/torso acting only,
+ *   no real limb motion.
+ * - **D** — not suitable for body acting: no usable skeleton (root/props only).
+ */
+export type RigGrade = "A" | "B" | "C" | "D";
+export interface RigQualityReport {
+    readonly grade: RigGrade;
+    /** Human-readable justifications for the grade (what was present / missing). */
+    readonly reasons: string[];
+    readonly hasLegs: boolean;
+    readonly hasKnees: boolean;
+    readonly hasAnkles: boolean;
+    readonly hasFeet: boolean;
+    /** Count of canonical humanoid bones that resolve to a real node. */
+    readonly mappedBoneCount: number;
+}
+/**
+ * Grade a rig for body-acting suitability. Pure + deterministic — driven only by which canonical
+ * {@link HUMANOID_BONES} resolve to nodes, so it works on the output of `inferHumanoidRig` for any
+ * skeleton naming convention (Mixamo / Blender / UE / sparse mascot / rich humanoid).
+ */
+export declare function gradeRig(rig: HumanoidRigDefinition): RigQualityReport;
+//# sourceMappingURL=RigQuality.d.ts.map

package/dist/RigQuality.d.ts.map

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package/dist/RigQuality.js

@@ -0,0 +1,70 @@
+import { HUMANOID_BONES } from "./HumanoidRetargeting.js";
+/** A bone counts as mapped when it resolves to a non-empty target node name. */
+function isMapped(rig, bone) {
+    const binding = rig.bones[bone];
+    return Boolean(binding && typeof binding.name === "string" && binding.name.length > 0);
+}
+/**
+ * Grade a rig for body-acting suitability. Pure + deterministic — driven only by which canonical
+ * {@link HUMANOID_BONES} resolve to nodes, so it works on the output of `inferHumanoidRig` for any
+ * skeleton naming convention (Mixamo / Blender / UE / sparse mascot / rich humanoid).
+ */
+export function gradeRig(rig) {
+    const has = (bone) => isMapped(rig, bone);
+    const mappedBoneCount = HUMANOID_BONES.reduce((n, bone) => (has(bone) ? n + 1 : n), 0);
+    // Limb-chain capability (mirrors FootIk's notion of a usable leg chain).
+    const hasLegs = (has("leftUpperLeg") || has("leftLowerLeg")) && (has("rightUpperLeg") || has("rightLowerLeg"));
+    const hasKnees = has("leftLowerLeg") && has("rightLowerLeg");
+    const hasAnkles = has("leftFoot") && has("rightFoot");
+    const hasFeet = hasAnkles; // foot node == ankle/foot joint in the canonical skeleton.
+    // Spine / head axis.
+    const hasSpine = has("spine") || has("chest") || has("upperChest");
+    const hasHead = has("head");
+    const hasNeck = has("neck");
+    // Arm chains.
+    const hasBothUpperArms = has("leftUpperArm") && has("rightUpperArm");
+    const hasBothForearms = has("leftLowerArm") && has("rightLowerArm");
+    const hasBothHands = has("leftHand") && has("rightHand");
+    const hasBothLowerLegs = has("leftLowerLeg") && has("rightLowerLeg");
+    const reasons = [];
+    reasons.push(`${mappedBoneCount} of ${HUMANOID_BONES.length} canonical humanoid bones mapped`);
+    // --- D: no usable skeleton --------------------------------------------------------------------
+    // Without a spine/head axis OR both upper arms there is nothing to act with.
+    if (mappedBoneCount < 5 || (!hasSpine && !hasHead) || (!hasBothUpperArms && !hasLegs)) {
+        reasons.push("not enough body structure to drive body acting (D)");
+        if (!hasSpine && !hasHead)
+            reasons.push("missing spine/head axis");
+        if (!hasBothUpperArms)
+            reasons.push("missing a pair of upper arms");
+        if (!hasLegs)
+            reasons.push("missing a usable pair of legs");
+        return { grade: "D", reasons, hasLegs, hasKnees, hasAnkles, hasFeet, mappedBoneCount };
+    }
+    // --- A: full humanoid -------------------------------------------------------------------------
+    const fullUpperBody = hasSpine && hasNeck && hasHead && hasBothUpperArms && hasBothForearms && hasBothHands;
+    const fullLowerBody = hasLegs && hasBothLowerLegs && hasFeet;
+    if (mappedBoneCount >= 18 && fullUpperBody && fullLowerBody) {
+        reasons.push("full humanoid: spine/neck/head + both arms (forearms+hands) + both legs (lower legs+feet) (A)");
+        return { grade: "A", reasons, hasLegs, hasKnees, hasAnkles, hasFeet, mappedBoneCount };
+    }
+    // --- B: partial humanoid ----------------------------------------------------------------------
+    // Enough body to act: a spine/head axis plus at least a full pair of arms OR a full pair of legs.
+    const usableArms = hasBothUpperArms && hasBothForearms;
+    const usableLegs = hasLegs && hasBothLowerLegs;
+    if ((hasSpine || hasHead) && (usableArms || usableLegs) && mappedBoneCount >= 10) {
+        reasons.push("partial humanoid: body acting possible but a limb chain or extremities are missing (B)");
+        if (!fullUpperBody)
+            reasons.push("incomplete upper body (forearms/hands/neck)");
+        if (!fullLowerBody)
+            reasons.push("incomplete lower body (lower legs/feet)");
+        return { grade: "B", reasons, hasLegs, hasKnees, hasAnkles, hasFeet, mappedBoneCount };
+    }
+    // --- C: mascot / sparse -----------------------------------------------------------------------
+    reasons.push("mascot/sparse rig: head + torso acting only, no real limb chains (C)");
+    if (!usableArms)
+        reasons.push("no usable forearm chain on both arms");
+    if (!usableLegs)
+        reasons.push("no usable lower-leg chain on both legs");
+    return { grade: "C", reasons, hasLegs, hasKnees, hasAnkles, hasFeet, mappedBoneCount };
+}
+//# sourceMappingURL=RigQuality.js.map

package/dist/RigQuality.js.map

@@ -0,0 +1 @@
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package/dist/SecondaryAnimationFixtures.d.ts.map

@@ -1 +1 @@
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package/dist/SecondaryAnimationFixtures.js

@@ -30,12 +30,10 @@ export function sampleSecondaryAnimationFixture(options = {}) {
             deterministicReplay: true
         },
         hash: "",
-        claimBoundary: "Secondary animation fixture adapts old foot-IK ground placement and spring-bone secondary motion into deterministic telemetry; it does not claim production foot locking, retargeting, full-body IK, cloth/hair simulation, Unity Animation Rigging parity, or Unreal Control Rig parity.",
+        claimBoundary: "Secondary animation fixture provides the deterministic FootIkSample/SpringBoneSample telemetry shapes and oracle values; the real runtimes now live in FootIk.ts (two-bone foot IK + foot-lock on solveTwoBoneIk + a ground query) and SpringBones.ts (integrated spring chain). The fixture still does not claim retargeting, general full-body IK, cloth/hair simulation, Unity Animation Rigging parity, or Unreal Control Rig parity.",
         blockedClaims: [
-            "production foot locking parity",
             "full-body IK solver parity",
             "runtime retargeting parity",
-            "production spring-bone collision parity",
             "Unity Animation Rigging parity",
             "Unreal Control Rig parity"
         ]

package/dist/SecondaryAnimationFixtures.js.map

@@ -1 +1 @@
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package/dist/Skeleton.d.ts

@@ -1,9 +1,24 @@
 import { Bone, type BoneDescriptor } from "./Bone.js";
-import { type Mat4 } from "./Keyframe.js";
+import { type Mat4, type Vec3 } from "./Keyframe.js";
 export declare class Skeleton {
     readonly bones: readonly Bone[];
     constructor(bones: readonly (Bone | BoneDescriptor)[]);
     worldMatrices(): readonly Mat4[];
     matrixPalette(): readonly Mat4[];
+    /** World-space positions (translation component of each bone's world matrix). */
+    boneWorldPositions(): readonly Vec3[];
+    /**
+     * Ordered descendant chain from a bone (by name or index), following the first child at each
+     * level. Returns bone indices root-first — the input to {@link createSpringChain} (use the
+     * matching {@link boneWorldPositions} as the rest pose). Members tagged `springChain` are honored;
+     * the walk stops at the first leaf or when a child is no longer part of the chain.
+     */
+    springChainIndices(root: string | number): readonly number[];
+    /**
+     * Write solved spring-chain world positions back onto the bones as local translations (relative
+     * to each bone's solved parent), so the deformed chain renders. `chainIndices` and `positions`
+     * are root-first and aligned.
+     */
+    writeSpringChainBack(chainIndices: readonly number[], positions: readonly Vec3[]): void;
 }
 //# sourceMappingURL=Skeleton.d.ts.map

package/dist/Skeleton.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"Skeleton.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/Skeleton.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,KAAK,cAAc,EAAE,MAAM,WAAW,CAAC;AACtD,OAAO,EAAgB,KAAK,IAAI,EAAE,MAAM,eAAe,CAAC;AAExD,qBAAa,QAAQ;IACnB,QAAQ,CAAC,KAAK,EAAE,SAAS,IAAI,EAAE,CAAC;gBAEpB,KAAK,EAAE,SAAS,CAAC,IAAI,GAAG,cAAc,CAAC,EAAE;IAarD,aAAa,IAAI,SAAS,IAAI,EAAE;IAUhC,aAAa,IAAI,SAAS,IAAI,EAAE;CAIjC"}
+{"version":3,"file":"Skeleton.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/Skeleton.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,KAAK,cAAc,EAAE,MAAM,WAAW,CAAC;AACtD,OAAO,EAAgB,KAAK,IAAI,EAAE,KAAK,IAAI,EAAE,MAAM,eAAe,CAAC;AAEnE,qBAAa,QAAQ;IACnB,QAAQ,CAAC,KAAK,EAAE,SAAS,IAAI,EAAE,CAAC;gBAEpB,KAAK,EAAE,SAAS,CAAC,IAAI,GAAG,cAAc,CAAC,EAAE;IAarD,aAAa,IAAI,SAAS,IAAI,EAAE;IAUhC,aAAa,IAAI,SAAS,IAAI,EAAE;IAKhC,iFAAiF;IACjF,kBAAkB,IAAI,SAAS,IAAI,EAAE;IAIrC;;;;;OAKG;IACH,kBAAkB,CAAC,IAAI,EAAE,MAAM,GAAG,MAAM,GAAG,SAAS,MAAM,EAAE;IAgB5D;;;;OAIG;IACH,oBAAoB,CAAC,YAAY,EAAE,SAAS,MAAM,EAAE,EAAE,SAAS,EAAE,SAAS,IAAI,EAAE,GAAG,IAAI;CAWxF"}

package/dist/Skeleton.js

@@ -27,5 +27,47 @@ export class Skeleton {
         const worlds = this.worldMatrices();
         return this.bones.map((bone, index) => multiplyMat4(worlds[index], bone.inverseBindMatrix));
     }
+    /** World-space positions (translation component of each bone's world matrix). */
+    boneWorldPositions() {
+        return this.worldMatrices().map((m) => [m[12], m[13], m[14]]);
+    }
+    /**
+     * Ordered descendant chain from a bone (by name or index), following the first child at each
+     * level. Returns bone indices root-first — the input to {@link createSpringChain} (use the
+     * matching {@link boneWorldPositions} as the rest pose). Members tagged `springChain` are honored;
+     * the walk stops at the first leaf or when a child is no longer part of the chain.
+     */
+    springChainIndices(root) {
+        const rootIndex = typeof root === "number" ? root : this.bones.findIndex((b) => b.name === root);
+        if (rootIndex < 0 || rootIndex >= this.bones.length) {
+            throw new Error(`Spring chain root ${String(root)} not found in skeleton.`);
+        }
+        const chain = [rootIndex];
+        let current = rootIndex;
+        for (;;) {
+            const childIndex = this.bones.findIndex((b, i) => i > current && b.parentIndex === current);
+            if (childIndex < 0)
+                break;
+            chain.push(childIndex);
+            current = childIndex;
+        }
+        return chain;
+    }
+    /**
+     * Write solved spring-chain world positions back onto the bones as local translations (relative
+     * to each bone's solved parent), so the deformed chain renders. `chainIndices` and `positions`
+     * are root-first and aligned.
+     */
+    writeSpringChainBack(chainIndices, positions) {
+        if (chainIndices.length !== positions.length) {
+            throw new Error("Spring chain indices and positions must align.");
+        }
+        for (let i = 1; i < chainIndices.length; i += 1) {
+            const boneIndex = chainIndices[i];
+            const parentPos = positions[i - 1];
+            const pos = positions[i];
+            this.bones[boneIndex].translation = [pos[0] - parentPos[0], pos[1] - parentPos[1], pos[2] - parentPos[2]];
+        }
+    }
 }
 //# sourceMappingURL=Skeleton.js.map

package/dist/Skeleton.js.map

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package/dist/SpringBones.d.ts

@@ -0,0 +1,60 @@
+import type { Quat, Vec3 } from "./Keyframe.js";
+export interface SpringCollider {
+    readonly kind: "sphere" | "capsule";
+    readonly center: Vec3;
+    /** Capsule second endpoint (ignored for spheres). */
+    readonly tail?: Vec3;
+    readonly radius: number;
+}
+export interface SpringChainOptions {
+    /** Rest-pose world positions of the chain, root first (index 0 is the kinematic root). */
+    readonly bones: readonly Vec3[];
+    /** Spring stiffness pulling each particle to its rest pose (default 40). */
+    readonly stiffness?: number;
+    /** Velocity damping (default 4). Higher = settles faster. */
+    readonly damping?: number;
+    /** Gravity acceleration (default [0,-9.81,0]). */
+    readonly gravity?: Vec3;
+    /** Optional colliders the chain is pushed out of. */
+    readonly colliders?: readonly SpringCollider[];
+    /** Integration substeps per `integrate` call (default 2) for stiffness stability. */
+    readonly substeps?: number;
+    /** Optional chain label (telemetry). */
+    readonly name?: string;
+}
+/** Root transform driving the chain each frame. */
+export interface SpringRootTransform {
+    readonly position: Vec3;
+    /** Optional rotation so the rest offsets follow the character's facing. */
+    readonly rotation?: Quat;
+}
+export interface SpringChainTelemetry {
+    readonly name: string;
+    readonly boneCount: number;
+    readonly stiffness: number;
+    readonly damping: number;
+    readonly rootPosition: Vec3;
+    readonly tipPosition: Vec3;
+    /** Distance from root to tip (how far the chain swings out). */
+    readonly maxDisplacement: number;
+    /** Number of particles currently resolved against a collider this step. */
+    readonly collisionContacts: number;
+    /** Total kinetic energy (Σ½|v|²); used to verify damping decay. */
+    readonly kineticEnergy: number;
+}
+export interface SpringChain {
+    /** Advance the chain by `dt` seconds with the root at `rootTransform`. Deterministic. */
+    integrate(dt: number, rootTransform: SpringRootTransform): void;
+    /** Current solved world positions (index 0 is the root). */
+    positions(): readonly Vec3[];
+    /** Telemetry for tests/gates and matching the fixture oracle's invariants. */
+    telemetry(): SpringChainTelemetry;
+    /** Reset the chain to its rest pose at a root transform (zero velocity). */
+    reset(rootTransform?: SpringRootTransform): void;
+}
+/**
+ * Create a spring-bone chain. Bind it to a bone subtree (see {@link tagSpringChain}) and call
+ * {@link SpringChain.integrate} each frame; write {@link SpringChain.positions} back onto the bones.
+ */
+export declare function createSpringChain(options: SpringChainOptions): SpringChain;
+//# sourceMappingURL=SpringBones.d.ts.map

package/dist/SpringBones.d.ts.map

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package/dist/SpringBones.js

@@ -0,0 +1,173 @@
+// Spring bones: secondary dynamics for hair, cloth flaps, tails, and accessories. A chain of
+// particles hangs off a kinematic root (driven by the character's animation). Each particle is
+// pulled toward its rest pose by a spring, pulled down by gravity, damped, kept at its bone length
+// by a distance constraint, and pushed out of optional sphere/capsule colliders. The result
+// composes on top of any clip for free — it just reacts to how the root moves.
+//
+// Integration is semi-implicit (symplectic) Euler with a fixed timestep (subdivided into substeps
+// for stiffness stability), so it is deterministic: the same root-motion stream and the same `dt`
+// always produce the same chain. Pure: no `Date.now()` / `Math.random()`, no engine/render import.
+//
+// The deterministic `SpringBoneSample` / `springSample()` in SecondaryAnimationFixtures remain the
+// telemetry oracle/data-shape; this runtime produces the same invariants via `telemetry()`.
+/**
+ * Create a spring-bone chain. Bind it to a bone subtree (see {@link tagSpringChain}) and call
+ * {@link SpringChain.integrate} each frame; write {@link SpringChain.positions} back onto the bones.
+ */
+export function createSpringChain(options) {
+    if (options.bones.length < 2) {
+        throw new Error("Spring chain requires at least a root and one child bone.");
+    }
+    const stiffness = options.stiffness ?? 40;
+    const damping = options.damping ?? 4;
+    const gravity = options.gravity ?? [0, -9.81, 0];
+    const colliders = options.colliders ?? [];
+    const substeps = Math.max(1, Math.floor(options.substeps ?? 2));
+    const name = options.name ?? "spring-chain";
+    // Rest offset of each particle relative to its parent, in the root's initial frame.
+    const restOffsets = options.bones.map((bone, i) => i === 0 ? [0, 0, 0] : sub(bone, options.bones[i - 1]));
+    const restLengths = restOffsets.map((o) => len(o));
+    const positions = options.bones.map((b) => [...b]);
+    const velocities = options.bones.map(() => [0, 0, 0]);
+    let contacts = 0;
+    function rotatedRestOffset(i, rotation) {
+        return rotation ? rotateVec3(restOffsets[i], rotation) : restOffsets[i];
+    }
+    function step(dt, root) {
+        contacts = 0;
+        // Root particle is kinematic.
+        positions[0] = [...root.position];
+        velocities[0] = [0, 0, 0];
+        for (let i = 1; i < positions.length; i += 1) {
+            const parent = positions[i - 1];
+            const rest = add(parent, rotatedRestOffset(i, root.rotation));
+            const p = positions[i];
+            const v = velocities[i];
+            // a = stiffness*(rest - p) + gravity - damping*v  (semi-implicit: update v, then p)
+            const ax = stiffness * (rest[0] - p[0]) + gravity[0] - damping * v[0];
+            const ay = stiffness * (rest[1] - p[1]) + gravity[1] - damping * v[1];
+            const az = stiffness * (rest[2] - p[2]) + gravity[2] - damping * v[2];
+            const nv = [v[0] + ax * dt, v[1] + ay * dt, v[2] + az * dt];
+            let np = [p[0] + nv[0] * dt, p[1] + nv[1] * dt, p[2] + nv[2] * dt];
+            // Distance constraint: keep the bone length to the parent.
+            np = enforceLength(parent, np, restLengths[i]);
+            // Collider push-out.
+            for (const collider of colliders) {
+                const resolved = pushOut(np, collider);
+                if (resolved) {
+                    np = resolved.position;
+                    // Remove the inward velocity component so it doesn't tunnel back in.
+                    const dot = nv[0] * resolved.normal[0] + nv[1] * resolved.normal[1] + nv[2] * resolved.normal[2];
+                    if (dot < 0) {
+                        nv[0] -= dot * resolved.normal[0];
+                        nv[1] -= dot * resolved.normal[1];
+                        nv[2] -= dot * resolved.normal[2];
+                    }
+                    contacts += 1;
+                }
+            }
+            // Recompute velocity from the constrained position so energy bookkeeping stays consistent.
+            velocities[i] = [(np[0] - p[0]) / dt, (np[1] - p[1]) / dt, (np[2] - p[2]) / dt];
+            positions[i] = np;
+        }
+    }
+    return {
+        integrate(dt, rootTransform) {
+            if (!Number.isFinite(dt) || dt <= 0)
+                throw new Error("Spring chain dt must be finite and positive.");
+            const sub = dt / substeps;
+            for (let s = 0; s < substeps; s += 1)
+                step(sub, rootTransform);
+        },
+        positions() {
+            return positions.map((p) => [...p]);
+        },
+        telemetry() {
+            const tip = positions[positions.length - 1];
+            const root = positions[0];
+            let ke = 0;
+            for (const v of velocities)
+                ke += 0.5 * (v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+            return {
+                name,
+                boneCount: positions.length,
+                stiffness,
+                damping,
+                rootPosition: [...root],
+                tipPosition: [...tip],
+                maxDisplacement: dist(root, tip),
+                collisionContacts: contacts,
+                kineticEnergy: ke
+            };
+        },
+        reset(rootTransform) {
+            const rootPos = rootTransform?.position ?? options.bones[0];
+            const rotation = rootTransform?.rotation;
+            positions[0] = [...rootPos];
+            velocities[0] = [0, 0, 0];
+            for (let i = 1; i < positions.length; i += 1) {
+                positions[i] = add(positions[i - 1], rotatedRestOffset(i, rotation));
+                velocities[i] = [0, 0, 0];
+            }
+        }
+    };
+}
+function enforceLength(anchor, point, length) {
+    const d = sub(point, anchor);
+    const l = len(d);
+    if (l <= 1e-8)
+        return [anchor[0], anchor[1] + length, anchor[2]];
+    const s = length / l;
+    return [anchor[0] + d[0] * s, anchor[1] + d[1] * s, anchor[2] + d[2] * s];
+}
+function pushOut(point, collider) {
+    const closest = collider.kind === "capsule" && collider.tail
+        ? closestPointOnSegment(point, collider.center, collider.tail)
+        : collider.center;
+    const d = sub(point, closest);
+    const l = len(d);
+    if (l >= collider.radius)
+        return undefined;
+    const normal = l <= 1e-8 ? [0, 1, 0] : [d[0] / l, d[1] / l, d[2] / l];
+    return {
+        position: [closest[0] + normal[0] * collider.radius, closest[1] + normal[1] * collider.radius, closest[2] + normal[2] * collider.radius],
+        normal
+    };
+}
+function closestPointOnSegment(p, a, b) {
+    const ab = sub(b, a);
+    const t = clamp(dot(sub(p, a), ab) / Math.max(1e-8, dot(ab, ab)), 0, 1);
+    return [a[0] + ab[0] * t, a[1] + ab[1] * t, a[2] + ab[2] * t];
+}
+function add(a, b) {
+    return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
+}
+function sub(a, b) {
+    return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+}
+function dot(a, b) {
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+function len(a) {
+    return Math.hypot(a[0], a[1], a[2]);
+}
+function dist(a, b) {
+    return len(sub(a, b));
+}
+function clamp(value, min, max) {
+    return Math.max(min, Math.min(max, value));
+}
+function rotateVec3(v, q) {
+    // v' = q * v * q⁻¹ (unit quaternion).
+    const [x, y, z, w] = q;
+    const ix = w * v[0] + y * v[2] - z * v[1];
+    const iy = w * v[1] + z * v[0] - x * v[2];
+    const iz = w * v[2] + x * v[1] - y * v[0];
+    const iw = -x * v[0] - y * v[1] - z * v[2];
+    return [
+        ix * w + iw * -x + iy * -z - iz * -y,
+        iy * w + iw * -y + iz * -x - ix * -z,
+        iz * w + iw * -z + ix * -y - iy * -x
+    ];
+}
+//# sourceMappingURL=SpringBones.js.map

package/dist/SpringBones.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"SpringBones.js","sourceRoot":"","sources":["../../../../packages/animation/src/SpringBones.ts"],"names":[],"mappings":"AAAA,6FAA6F;AAC7F,+FAA+F;AAC/F,mGAAmG;AACnG,4FAA4F;AAC5F,+EAA+E;AAC/E,EAAE;AACF,kGAAkG;AAClG,kGAAkG;AAClG,mGAAmG;AACnG,EAAE;AACF,mGAAmG;AACnG,4FAA4F;AA8D5F;;;GAGG;AACH,MAAM,UAAU,iBAAiB,CAAC,OAA2B;IAC3D,IAAI,OAAO,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QAC7B,MAAM,IAAI,KAAK,CAAC,2DAA2D,CAAC,CAAC;IAC/E,CAAC;IACD,MAAM,SAAS,GAAG,OAAO,CAAC,SAAS,IAAI,EAAE,CAAC;IAC1C,MAAM,OAAO,GAAG,OAAO,CAAC,OAAO,IAAI,CAAC,CAAC;IACrC,MAAM,OAAO,GAAG,OAAO,CAAC,OAAO,IAAI,CAAC,CAAC,EAAE,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC;IACjD,MAAM,SAAS,GAAG,OAAO,CAAC,SAAS,IAAI,EAAE,CAAC;IAC1C,MAAM,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,QAAQ,IAAI,CAAC,CAAC,CAAC,CAAC;IAChE,MAAM,IAAI,GAAG,OAAO,CAAC,IAAI,IAAI,cAAc,CAAC;IAE5C,oFAAoF;IACpF,MAAM,WAAW,GAAW,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,IAAI,EAAE,CAAC,EAAE,EAAE,CACxD,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,IAAI,EAAE,OAAO,CAAC,KAAK,CAAC,CAAC,GAAG,CAAC,CAAE,CAAC,CACvD,CAAC;IACF,MAAM,WAAW,GAAa,WAAW,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;IAE7D,MAAM,SAAS,GAAW,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,GAAG,CAAC,CAAS,CAAC,CAAC;IACnE,MAAM,UAAU,GAAW,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAS,CAAC,CAAC;IACtE,IAAI,QAAQ,GAAG,CAAC,CAAC;IAEjB,SAAS,iBAAiB,CAAC,CAAS,EAAE,QAA0B;QAC9D,OAAO,QAAQ,CAAC,CAAC,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC,CAAE,EAAE,QAAQ,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAE,CAAC;IAC5E,CAAC;IAED,SAAS,IAAI,CAAC,EAAU,EAAE,IAAyB;QACjD,QAAQ,GAAG,CAAC,CAAC;QACb,8BAA8B;QAC9B,SAAS,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAS,CAAC;QAC1C,UAAU,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QAC1B,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,SAAS,CAAC,MAAM,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;YAC7C,MAAM,MAAM,GAAG,SAAS,CAAC,CAAC,GAAG,CAAC,CAAE,CAAC;YACjC,MAAM,IAAI,GAAG,GAAG,CAAC,MAAM,EAAE,iBAAiB,CAAC,CAAC,EAAE,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC;YAC9D,MAAM,CAAC,GAAG,SAAS,CAAC,CAAC,CAAE,CAAC;YACxB,MAAM,CAAC,GAAG,UAAU,CAAC,CAAC,CAAE,CAAC;YACzB,oFAAoF;YACpF,MAAM,EAAE,GAAG,SAAS,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,GAAG,OAAO,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;YACtE,MAAM,EAAE,GAAG,SAAS,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,GAAG,OAAO,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;YACtE,MAAM,EAAE,GAAG,SAAS,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,GAAG,OAAO,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;YACtE,MAAM,EAAE,GAA6B,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;YACtF,IAAI,EAAE,GAAS,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC;YAEzE,2DAA2D;YAC3D,EAAE,GAAG,aAAa,CAAC,MAAM,EAAE,EAAE,EAAE,WAAW,CAAC,CAAC,CAAE,CAAC,CAAC;YAEhD,qBAAqB;YACrB,KAAK,MAAM,QAAQ,IAAI,SAAS,EAAE,CAAC;gBACjC,MAAM,QAAQ,GAAG,OAAO,CAAC,EAAE,EAAE,QAAQ,CAAC,CAAC;gBACvC,IAAI,QAAQ,EAAE,CAAC;oBACb,EAAE,GAAG,QAAQ,CAAC,QAAQ,CAAC;oBACvB,qEAAqE;oBACrE,MAAM,GAAG,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;oBACjG,IAAI,GAAG,GAAG,CAAC,EAAE,CAAC;wBACZ,EAAE,CAAC,CAAC,CAAC,IAAI,GAAG,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;wBAClC,EAAE,CAAC,CAAC,CAAC,IAAI,GAAG,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;wBAClC,EAAE,CAAC,CAAC,CAAC,IAAI,GAAG,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;oBACpC,CAAC;oBACD,QAAQ,IAAI,CAAC,CAAC;gBAChB,CAAC;YACH,CAAC;YAED,2FAA2F;YAC3F,UAAU,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC;YAChF,SAAS,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;QACpB,CAAC;IACH,CAAC;IAED,OAAO;QACL,SAAS,CAAC,EAAE,EAAE,aAAa;YACzB,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,EAAE,CAAC,IAAI,EAAE,IAAI,CAAC;gBAAE,MAAM,IAAI,KAAK,CAAC,8CAA8C,CAAC,CAAC;YACrG,MAAM,GAAG,GAAG,EAAE,GAAG,QAAQ,CAAC;YAC1B,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,QAAQ,EAAE,CAAC,IAAI,CAAC;gBAAE,IAAI,CAAC,GAAG,EAAE,aAAa,CAAC,CAAC;QACjE,CAAC;QACD,SAAS;YACP,OAAO,SAAS,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,GAAG,CAAC,CAAS,CAAC,CAAC;QAC9C,CAAC;QACD,SAAS;YACP,MAAM,GAAG,GAAG,SAAS,CAAC,SAAS,CAAC,MAAM,GAAG,CAAC,CAAE,CAAC;YAC7C,MAAM,IAAI,GAAG,SAAS,CAAC,CAAC,CAAE,CAAC;YAC3B,IAAI,EAAE,GAAG,CAAC,CAAC;YACX,KAAK,MAAM,CAAC,IAAI,UAAU;gBAAE,EAAE,IAAI,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YAClF,OAAO;gBACL,IAAI;gBACJ,SAAS,EAAE,SAAS,CAAC,MAAM;gBAC3B,SAAS;gBACT,OAAO;gBACP,Y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