@aura3d/animation 2.0.4 → 3.0.1

package/dist/FootIk.d.ts.map

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

@@ -24,6 +24,40 @@ export function createHeightFieldGround(heightAt) {
         }
     };
 }
+/**
+ * Moving-platform ground adapter (E2): wraps any base `GroundRaycaster` (terrain heightfield,
+ * physics raycaster, …) and adds the platform's current vertical offset under feet standing
+ * on it. `platformHeightAt` returns the platform top height at (x, z), or `undefined` when no
+ * platform is under the query point — in which case the base ground answer is used unchanged.
+ * The platform offset is also reported so callers can carry a locked foot with the platform.
+ */
+export function createMovingPlatformGround(base, platformHeightAt) {
+    return {
+        raycastDown(origin, maxDistance) {
+            const platformHeight = platformHeightAt(origin[0], origin[2]);
+            const baseHit = base.raycastDown(origin, maxDistance);
+            if (platformHeight === undefined)
+                return baseHit;
+            const platformDistance = origin[1] - platformHeight;
+            if (platformDistance < 0 || platformDistance > maxDistance)
+                return baseHit;
+            if (!baseHit || platformDistance <= baseHit.distance) {
+                return { point: [origin[0], platformHeight, origin[2]], normal: [0, 1, 0], distance: platformDistance };
+            }
+            return baseHit;
+        },
+        platformOffsetAt(x, z) {
+            return platformHeightAt(x, z);
+        }
+    };
+}
+/** Platform-top height under the foot when the ground query is a platform adapter. */
+function readPlatformTop(raycaster, foot) {
+    const maybe = raycaster;
+    if (typeof maybe.platformOffsetAt !== "function")
+        return undefined;
+    return maybe.platformOffsetAt(foot[0], foot[2]);
+}
 /** Create a foot-IK rig. Foot-lock state persists across `solveFootPlacement` calls. */
 export function createFootIkRig(options) {
     const ankleHeight = options.ankleHeight ?? 0.035;
@@ -36,7 +70,7 @@ export function createFootIkRig(options) {
     function lockFor(side) {
         let state = locks.get(side);
         if (!state) {
-            state = { locked: false, lockedPosition: [0, 0, 0] };
+            state = { locked: false, lockedPosition: [0, 0, 0], onPlatform: false };
             locks.set(side, state);
         }
         return state;
@@ -50,11 +84,16 @@ export function createFootIkRig(options) {
             let deepestCorrection = 0;
             for (const leg of legs) {
                 const lock = lockFor(leg.side);
-                const result = solveLeg(leg, lock, raycaster, { ankleHeight, rayStartHeight, maxRayDistance, plantThreshold });
+                const result = solveLeg(leg, lock, raycaster, { ankleHeight: leg.ankleHeight ?? ankleHeight, rayStartHeight, maxRayDistance, plantThreshold });
                 solved.push(result);
-                deepestCorrection = Math.max(deepestCorrection, Math.max(0, result.sample.verticalCorrection));
+                // Stance legs only: a swing foot hangs above its ground target by design, and its
+                // "correction" would inflate the pelvis drop and bury the planted feet.
+                if (result.sample.grounded) {
+                    deepestCorrection = Math.max(deepestCorrection, Math.max(0, result.sample.verticalCorrection));
+                }
             }
             const hipOffset = round(-deepestCorrection * hipDropFactor);
+            refineOverExtendedLegs(legs, solved, hipOffset);
             const groundedFeet = solved.filter((leg) => leg.sample.grounded).length;
             const averageTargetError = solved.length === 0
                 ? 0
@@ -95,16 +134,43 @@ function solveLeg(leg, lock, raycaster, params) {
     }
     const groundTargetY = ground.point[1] + params.ankleHeight;
     const heightAboveGround = sourceAnkle[1] - groundTargetY;
-    const inStance = heightAboveGround <= params.plantThreshold;
+    const inStance = leg.contact ?? (heightAboveGround <= params.plantThreshold);
+    if (lock.locked && lock.supportId !== leg.support?.id)
+        lock.locked = false;
+    if (lock.locked && leg.support) {
+        if (leg.support.delta.some(value => !Number.isFinite(value)))
+            throw new Error("Foot support displacement must be finite.");
+        lock.lockedPosition = [
+            lock.lockedPosition[0] + leg.support.delta[0],
+            lock.lockedPosition[1] + leg.support.delta[1],
+            lock.lockedPosition[2] + leg.support.delta[2]
+        ];
+    }
+    const platformTop = readPlatformTop(raycaster, sourceAnkle);
+    // The winning surface is the platform exactly when its top matches the raycast hit.
+    const overPlatform = platformTop !== undefined && platformTop >= ground.point[1] - 1e-6;
     let target;
     if (inStance) {
         if (!lock.locked) {
             // Just entered stance: plant the foot at the ground point under it.
             lock.locked = true;
             lock.lockedPosition = [sourceAnkle[0], groundTargetY, sourceAnkle[2]];
+            lock.onPlatform = overPlatform;
+            lock.supportId = leg.support?.id;
+        }
+        else if (lock.onPlatform) {
+            if (overPlatform && platformTop !== undefined) {
+                // Carry a platform-locked foot with the platform top (E2 moving platforms).
+                lock.lockedPosition = [lock.lockedPosition[0], platformTop + params.ankleHeight, lock.lockedPosition[2]];
+            }
+            else {
+                // The platform left from under the foot: release so the foot is not dragged through air.
+                lock.locked = false;
+                lock.onPlatform = false;
+            }
         }
         // Hold the locked world position so the foot does not slide while it should be stationary.
-        target = lock.lockedPosition;
+        target = lock.locked ? lock.lockedPosition : [sourceAnkle[0], groundTargetY, sourceAnkle[2]];
     }
     else {
         // Swing phase: release the lock; the foot follows above the ground under it.
@@ -117,9 +183,11 @@ function solveLeg(leg, lock, raycaster, params) {
         root: leg.hip,
         mid: leg.knee,
         end: leg.ankle,
-        target,
+        // Blend the target before solving; interpolating solved knee/ankle positions
+        // shortens the bones during swing blending.
+        target: [sourceAnkle[0] + (target[0] - sourceAnkle[0]) * weight, sourceAnkle[1] + (target[1] - sourceAnkle[1]) * weight, sourceAnkle[2] + (target[2] - sourceAnkle[2]) * weight],
         pole: leg.pole,
-        weight
+        weight: 1
     });
     const verticalCorrection = round(sourceAnkle[1] - target[1]);
     const targetError = round(solved.endDistanceToTarget);
@@ -141,6 +209,44 @@ function solveLeg(leg, lock, raycaster, params) {
         reached: solved.reached
     };
 }
+/**
+ * Second IK pass for legs the pelvis drop serves. Phase one solves from the animated hip
+ * and reports its miss; the drop then lowers the pelvis, and re-solving from the dropped
+ * hip lands the foot measurably closer this frame instead of chasing the ground over
+ * several. Every leg is re-solved after a shared pelvis drop; leaving another knee
+ * at its pre-drop position would change its upper segment length. The
+ * whole leg translates rigidly (root, mid, end all shift by the drop) so the solver
+ * derives the true bone lengths — dropping only the root would shorten the implied reach
+ * by exactly the drop and gain nothing. `hip` stays pre-drop — the caller applies
+ * `hipOffset` to the hip write-back — so only knee/ankle/reached/error refresh here.
+ * Lock state is untouched: this is pure IK.
+ */
+function refineOverExtendedLegs(legs, solved, hipOffset) {
+    if (hipOffset >= 0)
+        return;
+    for (let index = 0; index < solved.length; index += 1) {
+        const result = solved[index];
+        const leg = legs[index];
+        if (!result || !leg)
+            continue;
+        const drop = (value) => [value[0], value[1] + hipOffset, value[2]];
+        const refined = solveTwoBoneIk({
+            root: drop(leg.hip),
+            mid: drop(leg.knee),
+            end: drop(leg.ankle),
+            target: result.locked ? result.sample.plantedFoot : result.ankle,
+            pole: leg.pole,
+            weight: 1
+        });
+        solved[index] = {
+            ...result,
+            knee: roundVec(refined.mid),
+            ankle: roundVec(refined.end),
+            reached: refined.reached,
+            sample: { ...result.sample, targetError: round(refined.endDistanceToTarget) }
+        };
+    }
+}
 function clamp(value, min, max) {
     return Math.max(min, Math.min(max, value));
 }

package/dist/FootIk.js.map

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

@@ -48,7 +48,36 @@ export interface HumanoidRetargetingOptions {
     readonly expectedUnits?: HumanoidRigUnits;
     readonly requireRestPose?: boolean;
     readonly requireToes?: boolean;
+    /** Optional per-rig correction profile (shoulder/hip + per-bone scale). */
+    readonly profile?: HumanoidRetargetingProfile;
 }
+/**
+ * Per-certified-rig correction profile (E2): per-bone scale multipliers plus shoulder and
+ * hip corrections for rigs whose proportions deviate from the reference humanoid (wide
+ * shoulders, long legs, …). Profiles are keyed by rig id and land with rig certification —
+ * see `docs/rendering/animation.md` for the certified roster. The base length-ratio scale
+ * from `createHumanoidRetargetingMap` is multiplied by these corrections, never replaced,
+ * so an unprofiled rig behaves exactly as before.
+ */
+export interface HumanoidRetargetingProfile {
+    /** Rig id this profile corrects (`source` or `target` side — matched against either). */
+    readonly rigId: string;
+    /** Per-bone scale multipliers applied on top of the length-ratio scale. */
+    readonly perBoneScale?: Partial<Record<HumanoidBoneName, number>>;
+    /**
+     * Shoulder-width correction applied to shoulder + upper-arm bindings (e.g. 1.1 widens
+     * the retargeted shoulder line by 10%).
+     */
+    readonly shoulderWidthCorrection?: number;
+    /** Hip correction applied to hips + upper-leg bindings (leg-length / pelvis-width tweak). */
+    readonly hipCorrection?: number;
+}
+/**
+ * Registry of certified-rig correction profiles, keyed by rig id. Empty until rigs are
+ * certified with pixel proof — do not add entries for uncertified rigs.
+ */
+export declare const HUMANOID_RETARGETING_PROFILES: Record<string, HumanoidRetargetingProfile>;
+export declare function registerHumanoidRetargetingProfile(profile: HumanoidRetargetingProfile): void;
 export interface HumanoidBoneRetargetBinding {
     readonly bone: HumanoidBoneName;
     readonly source: HumanoidBoneBinding;
@@ -62,6 +91,9 @@ export interface HumanoidBoneRetargetBinding {
     readonly sourceRest?: AnimationQuaternion;
     /** Target rig rest-pose local rotation for this bone (identity when unknown). */
     readonly targetRest?: AnimationQuaternion;
+    /** Source and target local bind translations, captured so animated translation deltas can be rebased. */
+    readonly sourceRestPosition?: AnimationVector3;
+    readonly targetRestPosition?: AnimationVector3;
 }
 export interface HumanoidRetargetingMap {
     readonly sourceRigId: string;
@@ -114,8 +146,9 @@ export declare function createHumanoidRetargetingMap(source: HumanoidRigDefiniti
  *      `F` that carries the source facing axis onto the target facing axis: `Rt_hips = F · Rt_hips`.
  *      This only touches the root so child bones inherit the reframe through the hierarchy.
  *
- *   3. Position / hip-height scaling (unchanged from before): translations are scaled by the
- *      bone's length ratio (`binding.scale`), and optional root motion by the average bone scale.
+ *   3. Position / hip-height scaling: the animated displacement from the source local bind
+ *      translation is scaled by the bone length ratio and rebased on the target local bind
+ *      translation. Optional root motion is scaled by the average bone scale.
  *
  * The signature and return type are unchanged.
  *

package/dist/HumanoidRetargeting.d.ts.map

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

@@ -39,6 +39,46 @@ export const REQUIRED_HUMANOID_BONES = [
     "rightLowerLeg",
     "rightFoot"
 ];
+/**
+ * Registry of certified-rig correction profiles, keyed by rig id. Empty until rigs are
+ * certified with pixel proof — do not add entries for uncertified rigs.
+ */
+export const HUMANOID_RETARGETING_PROFILES = {};
+export function registerHumanoidRetargetingProfile(profile) {
+    if (!profile.rigId)
+        throw new Error("Humanoid retargeting profiles must have a rig id.");
+    HUMANOID_RETARGETING_PROFILES[profile.rigId] = profile;
+}
+const SHOULDER_PROFILE_BONES = [
+    "leftShoulder",
+    "rightShoulder",
+    "leftUpperArm",
+    "rightUpperArm"
+];
+const HIP_PROFILE_BONES = [
+    "hips",
+    "leftUpperLeg",
+    "rightUpperLeg"
+];
+function applyRetargetingProfileScale(bone, baseScale, profile) {
+    if (!profile)
+        return baseScale;
+    let scale = baseScale;
+    const perBone = profile.perBoneScale?.[bone];
+    if (perBone !== undefined) {
+        if (!Number.isFinite(perBone) || perBone <= 0) {
+            throw new Error(`Retargeting profile "${profile.rigId}" has an invalid scale for bone "${bone}".`);
+        }
+        scale *= perBone;
+    }
+    if (profile.shoulderWidthCorrection !== undefined && SHOULDER_PROFILE_BONES.includes(bone)) {
+        scale *= profile.shoulderWidthCorrection;
+    }
+    if (profile.hipCorrection !== undefined && HIP_PROFILE_BONES.includes(bone)) {
+        scale *= profile.hipCorrection;
+    }
+    return scale;
+}
 export function analyzeHumanoidRig(rig, options = {}) {
     const diagnostics = [];
     const requiredBones = options.requireToes
@@ -200,9 +240,11 @@ export function createHumanoidRetargetingMap(source, target, options = {}) {
             bone,
             source: sourceBinding,
             target: targetBinding,
-            scale: estimateBoneScale(sourceBinding, targetBinding, source.scale, target.scale),
+            scale: applyRetargetingProfileScale(bone, estimateBoneScale(sourceBinding, targetBinding, source.scale, target.scale), options.profile),
             sourceRest: restRotationFor(source, bone, sourceBinding),
-            targetRest: restRotationFor(target, bone, targetBinding)
+            targetRest: restRotationFor(target, bone, targetBinding),
+            sourceRestPosition: restPositionFor(source, bone, sourceBinding),
+            targetRestPosition: restPositionFor(target, bone, targetBinding)
         };
     }
     const coverage = mappedBones / HUMANOID_BONES.length;
@@ -247,8 +289,9 @@ export function createHumanoidRetargetingMap(source, target, options = {}) {
  *      `F` that carries the source facing axis onto the target facing axis: `Rt_hips = F · Rt_hips`.
  *      This only touches the root so child bones inherit the reframe through the hierarchy.
  *
- *   3. Position / hip-height scaling (unchanged from before): translations are scaled by the
- *      bone's length ratio (`binding.scale`), and optional root motion by the average bone scale.
+ *   3. Position / hip-height scaling: the animated displacement from the source local bind
+ *      translation is scaled by the bone length ratio and rebased on the target local bind
+ *      translation. Optional root motion is scaled by the average bone scale.
  *
  * The signature and return type are unchanged.
  *
@@ -397,6 +440,10 @@ function restRotationFor(rig, bone, binding) {
         return normalizeQuatObj(binding.rotation);
     return IDENTITY_QUAT;
 }
+function restPositionFor(rig, bone, binding) {
+    const position = rig.restPose?.[bone]?.position ?? binding.position;
+    return position ? { ...position } : { x: 0, y: 0, z: 0 };
+}
 /**
  * Apply rest-pose reconciliation + (root-only) facing alignment + length scaling to one bone.
  * See {@link retargetHumanoidPose} for the math derivation.
@@ -419,11 +466,14 @@ function retargetBoneTransform(transform, binding, facing) {
         // No animated rotation but a facing delta still needs to reframe the root.
         rotation = normalizeQuatObj(multiplyQuat(facing, targetRest));
     }
-    return {
-        position: transform.position ? scaleVector(transform.position, binding.scale) : undefined,
-        rotation,
-        scale: transform.scale
-    };
+    const sourceRestPosition = binding.sourceRestPosition ?? { x: 0, y: 0, z: 0 };
+    const targetRestPosition = binding.targetRestPosition ?? { x: 0, y: 0, z: 0 };
+    const position = transform.position ? {
+        x: targetRestPosition.x + (transform.position.x - sourceRestPosition.x) * binding.scale,
+        y: targetRestPosition.y + (transform.position.y - sourceRestPosition.y) * binding.scale,
+        z: targetRestPosition.z + (transform.position.z - sourceRestPosition.z) * binding.scale
+    } : undefined;
+    return { position, rotation, scale: transform.scale };
 }
 /**
  * Rotation that carries `from` cardinal axis onto `to` cardinal axis (shortest arc). Used to

package/dist/HumanoidRetargeting.js.map

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

@@ -0,0 +1,34 @@
+import type { Vec3 } from "./Keyframe.js";
+/** Measured scene transforms, not IK targets. Support coordinates include support rotation. */
+export interface LocomotionContactSample {
+    readonly time: number;
+    readonly side: "left" | "right";
+    readonly pointId?: string;
+    readonly stance: boolean;
+    readonly supportId: string;
+    readonly supportLocalPosition: Vec3;
+    readonly contactError: number;
+}
+export interface LocomotionStanceMeasurement {
+    readonly side: "left" | "right";
+    readonly pointId?: string;
+    readonly supportId: string;
+    readonly startTime: number;
+    readonly endTime: number;
+    readonly samples: number;
+    readonly maxSlip: number;
+    readonly worstContactError: number;
+}
+/**
+ * Measure excursion from touchdown across the entire stance, so many tiny per-frame
+ * slips cannot evade a limit. A change of support or a swing ends the interval.
+ * The caller retains raw samples and supplies actual support-local ankle positions.
+ */
+export declare function measureLocomotionStances(samples: readonly LocomotionContactSample[], rigHeight: number): {
+    readonly intervals: readonly LocomotionStanceMeasurement[];
+    readonly slipLimit: number;
+    readonly maxSlip: number;
+    readonly worstContactError: number;
+    readonly passed: boolean;
+};
+//# sourceMappingURL=LocomotionEvidence.d.ts.map

package/dist/LocomotionEvidence.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"LocomotionEvidence.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/LocomotionEvidence.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,eAAe,CAAC;AAE1C,+FAA+F;AAC/F,MAAM,WAAW,uBAAuB;IACtC,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,oBAAoB,EAAE,IAAI,CAAC;IACpC,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;CAC/B;AAED,MAAM,WAAW,2BAA2B;IAC1C,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;CACpC;AAED;;;;GAIG;AACH,wBAAgB,wBAAwB,CAAC,OAAO,EAAE,SAAS,uBAAuB,EAAE,EAAE,SAAS,EAAE,MAAM,GAAG;IACxG,QAAQ,CAAC,SAAS,EAAE,SAAS,2BAA2B,EAAE,CAAC;IAC3D,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;CAC1B,CAuCA"}

package/dist/LocomotionEvidence.js

@@ -0,0 +1,48 @@
+/**
+ * Measure excursion from touchdown across the entire stance, so many tiny per-frame
+ * slips cannot evade a limit. A change of support or a swing ends the interval.
+ * The caller retains raw samples and supplies actual support-local ankle positions.
+ */
+export function measureLocomotionStances(samples, rigHeight) {
+    if (!Number.isFinite(rigHeight) || rigHeight <= 0)
+        throw new Error("Measured rig height must be positive.");
+    const intervals = [];
+    const active = new Map();
+    const lastTimes = new Map();
+    for (const sample of samples) {
+        const key = `${sample.side}:${sample.pointId ?? "ankle"}`;
+        if (!Number.isFinite(sample.time) || sample.time < 0 ||
+            sample.time <= (lastTimes.get(key) ?? -Infinity) ||
+            sample.supportLocalPosition.length !== 3 || sample.supportLocalPosition.some(value => !Number.isFinite(value)) ||
+            !Number.isFinite(sample.contactError) || sample.contactError < 0 || !sample.supportId) {
+            throw new Error("Contact samples require increasing times, finite positions/errors, and a support identity.");
+        }
+        lastTimes.set(key, sample.time);
+        let state = active.get(key);
+        if (state && (!sample.stance || sample.supportId !== state.interval.supportId)) {
+            intervals.push(state.interval);
+            active.delete(key);
+            state = undefined;
+        }
+        if (!sample.stance)
+            continue;
+        if (!state) {
+            state = { anchor: [...sample.supportLocalPosition], interval: {
+                    side: sample.side, ...(sample.pointId === undefined ? {} : { pointId: sample.pointId }), supportId: sample.supportId, startTime: sample.time,
+                    endTime: sample.time, samples: 0, maxSlip: 0, worstContactError: 0
+                } };
+            active.set(key, state);
+        }
+        const slip = Math.hypot(...sample.supportLocalPosition.map((value, axis) => value - state.anchor[axis]));
+        state.interval = { ...state.interval, endTime: sample.time, samples: state.interval.samples + 1,
+            maxSlip: Math.max(state.interval.maxSlip, slip),
+            worstContactError: Math.max(state.interval.worstContactError, sample.contactError) };
+    }
+    intervals.push(...[...active.values()].map(state => state.interval));
+    const maxSlip = Math.max(0, ...intervals.map(interval => interval.maxSlip));
+    const worstContactError = Math.max(0, ...intervals.map(interval => interval.worstContactError));
+    const slipLimit = rigHeight * 0.01;
+    return { intervals, slipLimit, maxSlip, worstContactError,
+        passed: intervals.length > 0 && intervals.every(interval => interval.samples >= 2) && maxSlip <= slipLimit };
+}
+//# sourceMappingURL=LocomotionEvidence.js.map

package/dist/LocomotionEvidence.js.map

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

@@ -22,6 +22,12 @@ export interface LocomotionKitOptions<TClipId extends string = string> {
     readonly runningThreshold?: number;
     /** Optional foot-IK rig so locomotion can ground feet on uneven terrain (no foot sliding). */
     readonly footIkRig?: FootIkRig;
+    /**
+     * Half-life (seconds) of the inertialized idle↔walk↔run transition blend. Defaults to the
+     * state machine's critically-damped default — locomotion transitions are inertialized,
+     * never snapped or linearly ramped.
+     */
+    readonly transitionHalfLife?: number;
 }
 export interface LocomotionKitSample<TClipId extends string = string> {
     readonly speed: number;

package/dist/LocomotionKit.d.ts.map

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