@aura3d/animation 3.0.0 → 3.0.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/AnimationMixer.d.ts +4 -1
- package/dist/AnimationMixer.d.ts.map +1 -1
- package/dist/AnimationMixer.js +36 -29
- package/dist/AnimationMixer.js.map +1 -1
- package/dist/FootIk.d.ts +9 -0
- package/dist/FootIk.d.ts.map +1 -1
- package/dist/FootIk.js +22 -8
- package/dist/FootIk.js.map +1 -1
- package/dist/HumanoidRetargeting.d.ts +6 -2
- package/dist/HumanoidRetargeting.d.ts.map +1 -1
- package/dist/HumanoidRetargeting.js +18 -8
- package/dist/HumanoidRetargeting.js.map +1 -1
- package/dist/LocomotionEvidence.d.ts +34 -0
- package/dist/LocomotionEvidence.d.ts.map +1 -0
- package/dist/LocomotionEvidence.js +48 -0
- package/dist/LocomotionEvidence.js.map +1 -0
- package/dist/RootMotion.d.ts +13 -4
- package/dist/RootMotion.d.ts.map +1 -1
- package/dist/RootMotion.js +21 -1
- package/dist/RootMotion.js.map +1 -1
- package/dist/index.d.ts +1 -0
- package/dist/index.d.ts.map +1 -1
- package/dist/index.js +1 -0
- package/dist/index.js.map +1 -1
- package/package.json +2 -2
package/dist/AnimationMixer.d.ts
CHANGED
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@@ -7,12 +7,16 @@ import { type RootMotionSample } from "./RootMotion.js";
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7
7
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export type AnimationTarget = {
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setAnimationValue?: (target: string, value: AnimationValue) => void;
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9
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applyRootMotion?: (sample: RootMotionSample) => void;
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10
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+
/** Authoritative movement sink. When supplied, the mixer never also writes position. */
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11
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+
consumeRootMotion?: (sample: RootMotionSample) => void;
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position?: [number, number, number];
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};
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export type AnimationMixerOptions = {
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readonly applyRootMotion?: boolean;
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readonly rootMotionTrack?: string;
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readonly rootMotionScale?: number;
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+
/** Remove extracted displacement from the sampled local root pose. Opt in for actor locomotion. */
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readonly consumeRootMotionTrack?: boolean;
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};
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export type AnimationMixerSnapshot = {
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readonly timeScale: number;
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@@ -61,7 +65,6 @@ export declare class AnimationMixer {
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private assertAlive;
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private assertCrossFadePair;
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private advanceInertialTransition;
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-
private applyActionRootMotion;
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private layersForAction;
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}
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//# sourceMappingURL=AnimationMixer.d.ts.map
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@@ -1 +1 @@
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1
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-
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1
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+
{"version":3,"file":"AnimationMixer.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/AnimationMixer.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,eAAe,EAAE,KAAK,uBAAuB,EAAE,MAAM,sBAAsB,CAAC;AACrF,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,oBAAoB,CAAC;AACxD,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,sBAAsB,CAAC;AAC3D,OAAO,KAAK,EAAE,cAAc,EAAE,sBAAsB,EAAE,MAAM,qBAAqB,CAAC;AAClF,OAAO,EAAiD,KAAK,cAAc,EAAE,MAAM,eAAe,CAAC;AAEnG,OAAO,EAAsC,KAAK,gBAAgB,EAAyB,MAAM,iBAAiB,CAAC;AAEnH,MAAM,MAAM,eAAe,GAAG;IAC5B,iBAAiB,CAAC,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,cAAc,KAAK,IAAI,CAAC;IACpE,eAAe,CAAC,EAAE,CAAC,MAAM,EAAE,gBAAgB,KAAK,IAAI,CAAC;IACrD,wFAAwF;IACxF,iBAAiB,CAAC,EAAE,CAAC,MAAM,EAAE,gBAAgB,KAAK,IAAI,CAAC;IACvD,QAAQ,CAAC,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;CACrC,CAAC;AAEF,MAAM,MAAM,qBAAqB,GAAG;IAClC,QAAQ,CAAC,eAAe,CAAC,EAAE,OAAO,CAAC;IACnC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,mGAAmG;IACnG,QAAQ,CAAC,sBAAsB,CAAC,EAAE,OAAO,CAAC;CAC3C,CAAC;AAEF,MAAM,MAAM,sBAAsB,GAAG;IACnC,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,OAAO,EAAE,SAAS,uBAAuB,EAAE,CAAC;IACrD,QAAQ,CAAC,MAAM,EAAE,SAAS,sBAAsB,EAAE,CAAC;IACnD,QAAQ,CAAC,MAAM,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,cAAc,CAAC,CAAC,CAAC;IAC1D,QAAQ,CAAC,WAAW,EAAE,SAAS,mBAAmB,EAAE,CAAC;CACtD,CAAC;AAEF,MAAM,MAAM,mBAAmB,GAAG;IAChC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;CAC1B,CAAC;AAMF,qBAAa,cAAc;IAYa,OAAO,CAAC,QAAQ,CAAC,OAAO;IAX9D,QAAQ,CAAC,MAAM,EAAE,eAAe,GAAG,SAAS,CAAC;IAC7C,SAAS,SAAK;IACd,OAAO,CAAC,QAAQ,CAAC,OAAO,CAAyB;IACjD,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAwB;IAC/C,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAqC;IAC5D,OAAO,CAAC,WAAW,CAA6B;IAChD,OAAO,CAAC,QAAQ,CAAC,cAAc,CAA8C;IAC7E,OAAO,CAAC,QAAQ,CAAS;IACzB,OAAO,CAAC,iBAAiB,CAAS;IAClC,OAAO,CAAC,kBAAkB,CAAgG;gBAE9G,MAAM,CAAC,EAAE,eAAe,EAAmB,OAAO,GAAE,qBAA0B;IAI1F,IAAI,CAAC,IAAI,EAAE,aAAa,GAAG,eAAe;IAQ1C,SAAS,CAAC,MAAM,EAAE,eAAe,GAAG,IAAI;IAaxC,QAAQ,CAAC,KAAK,EAAE,cAAc,GAAG,IAAI;IAYrC,YAAY,CAAC,SAAS,EAAE,MAAM,GAAG,IAAI;IAQrC,OAAO,IAAI,IAAI;IAWf,SAAS,CAAC,IAAI,EAAE,eAAe,EAAE,EAAE,EAAE,eAAe,EAAE,QAAQ,EAAE,MAAM,GAAG,IAAI;IAc7E;;;;;;OAMG;IACH,iBAAiB,CAAC,IAAI,EAAE,eAAe,EAAE,EAAE,EAAE,eAAe,EAAE,QAAQ,SAAoC,GAAG,IAAI;IAgBjH,MAAM,CAAC,KAAK,EAAE,MAAM,GAAG,SAAS,cAAc,EAAE;IA+FhD,QAAQ,CAAC,MAAM,EAAE,MAAM,GAAG,cAAc,GAAG,SAAS;IAKpD,OAAO,CAAC,QAAQ,EAAE,CAAC,KAAK,EAAE,cAAc,KAAK,IAAI,GAAG,MAAM,IAAI;IAS9D,QAAQ,IAAI,sBAAsB;IAelC,OAAO,IAAI,IAAI;IAUf,OAAO,CAAC,WAAW;IAMnB,OAAO,CAAC,mBAAmB;IAS3B,OAAO,CAAC,yBAAyB;IAgBjC,OAAO,CAAC,eAAe;CAOxB"}
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package/dist/AnimationMixer.js
CHANGED
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@@ -123,8 +123,11 @@ export class AnimationMixer {
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this.advanceInertialTransition(delta * this.timeScale);
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const events = [];
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const accumulators = new Map();
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const motion = new Map();
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let motionSample;
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for (const action of this.actions) {
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const previousTime = action.time;
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const advancedTime = action.playing && !action.paused ? delta * this.timeScale * action.timeScale : 0;
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const actionEvents = action.update(delta * this.timeScale);
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if (actionEvents.length > 0) {
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events.push(...actionEvents);
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@@ -132,9 +135,25 @@ export class AnimationMixer {
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if (!action.playing && action.weight <= 0) {
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continue;
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}
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-
this.
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const rootMotionTarget = this.options.rootMotionTrack ?? "root.position";
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if (this.options.applyRootMotion && action.weight > 0 && action.clip.tracks.some(track => track.target === rootMotionTarget)) {
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const sample = extractRootMotion(action.clip, {
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fromTime: previousTime,
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toTime: action.loopMode === "repeat" ? previousTime + advancedTime : action.time,
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loop: action.loopMode === "repeat",
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target: rootMotionTarget
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});
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motionSample = sample;
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for (const layer of this.layersForAction(action)) {
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if (layer.capturesTarget(rootMotionTarget)) {
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blendInto(motion, rootMotionTarget, "vector3", sample.delta, action.weight * layer.weight, layer.additive);
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}
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}
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}
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for (const track of action.clip.tracks) {
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const sample = track.
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const sample = this.options.applyRootMotion && this.options.consumeRootMotionTrack && track.target === rootMotionTarget
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? track.sample(0)
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: track.sample(action.time);
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for (const layer of this.layersForAction(action)) {
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if (layer.capturesTarget(track.target)) {
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blendInto(accumulators, track.target, track.valueType, sample, action.weight * layer.weight, layer.additive);
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@@ -142,6 +161,21 @@ export class AnimationMixer {
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}
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}
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}
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if (motionSample) {
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const accumulator = motion.get(motionSample.target);
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if (accumulator) {
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const delta = finalizeTargetBlend(accumulator);
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const scale = this.options.rootMotionScale ?? 1;
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if (!Number.isFinite(scale))
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throw new Error("Root motion scale must be finite.");
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const sample = { ...motionSample, delta: delta.map(value => value * scale) };
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this.target?.applyRootMotion?.(sample);
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if (this.target?.consumeRootMotion)
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this.target.consumeRootMotion(sample);
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else if (this.target?.position)
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applyRootMotion(this.target, sample);
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}
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}
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this.values.clear();
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this.applyErrors = [];
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for (const [target, accumulator] of accumulators) {
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@@ -228,33 +262,6 @@ export class AnimationMixer {
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this.inertialTransition = undefined;
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}
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}
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applyActionRootMotion(action, previousTime) {
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if (!this.options.applyRootMotion || action.weight <= 0)
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return;
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const rootMotionTarget = this.options.rootMotionTrack ?? "root.position";
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if (!action.clip.tracks.some((track) => track.target === rootMotionTarget))
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return;
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const sample = extractRootMotion(action.clip, {
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fromTime: previousTime,
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toTime: action.time,
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loop: action.loopMode === "repeat",
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target: rootMotionTarget
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});
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const scaledSample = action.weight === 1
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? sample
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: {
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...sample,
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delta: [
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sample.delta[0] * action.weight,
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sample.delta[1] * action.weight,
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sample.delta[2] * action.weight
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]
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};
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this.target?.applyRootMotion?.(scaledSample);
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if (this.target?.position) {
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applyRootMotion(this.target, scaledSample, this.options.rootMotionScale ?? 1);
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}
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}
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layersForAction(action) {
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if (this.layers.length === 0) {
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return UNMASKED_LAYERS;
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@@ -1 +1 @@
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1
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-
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1
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+
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|
package/dist/FootIk.d.ts
CHANGED
|
@@ -44,6 +44,15 @@ export interface FootLegInput {
|
|
|
44
44
|
readonly knee: Vec3;
|
|
45
45
|
readonly ankle: Vec3;
|
|
46
46
|
readonly pole?: Vec3;
|
|
47
|
+
/** Measured joint-to-sole offset for this leg; overrides the rig fallback. */
|
|
48
|
+
readonly ankleHeight?: number;
|
|
49
|
+
/** Authored contact phase. False always releases; true still requires a ground hit. */
|
|
50
|
+
readonly contact?: boolean;
|
|
51
|
+
/** Stable support identity plus its displacement since the preceding solve, in world units. */
|
|
52
|
+
readonly support?: {
|
|
53
|
+
readonly id: string;
|
|
54
|
+
readonly delta: Vec3;
|
|
55
|
+
};
|
|
47
56
|
}
|
|
48
57
|
export interface FootIkRigOptions {
|
|
49
58
|
readonly legs: readonly FootLegInput[];
|
package/dist/FootIk.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"FootIk.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/FootIk.ts"],"names":[],"mappings":"AAYA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,eAAe,CAAC;AAE1C,oDAAoD;AACpD,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,QAAQ,CAAC,WAAW,EAAE,IAAI,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;IAC3B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;CAC9B;AAED,qFAAqF;AACrF,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;CAC3B;AAED,+FAA+F;AAC/F,MAAM,WAAW,eAAe;IAC9B,WAAW,CAAC,MAAM,EAAE,IAAI,EAAE,WAAW,EAAE,MAAM,GAAG,YAAY,GAAG,SAAS,CAAC;CAC1E;AAED;;;GAGG;AACH,wBAAgB,uBAAuB,CAAC,QAAQ,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK;IAAE,MAAM,EAAE,MAAM,CAAC;IAAC,MAAM,CAAC,EAAE,IAAI,CAAA;CAAE,GAAG,eAAe,CAS9H;AAED;;;;;;GAMG;AACH,wBAAgB,0BAA0B,CACxC,IAAI,EAAE,eAAe,EACrB,gBAAgB,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK,MAAM,GAAG,SAAS,GAC7D,eAAe,GAAG;IAAE,gBAAgB,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,GAAG,SAAS,CAAA;CAAE,CAiBlF;AAED,wFAAwF;AACxF,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;
|
|
1
|
+
{"version":3,"file":"FootIk.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/FootIk.ts"],"names":[],"mappings":"AAYA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,eAAe,CAAC;AAE1C,oDAAoD;AACpD,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,QAAQ,CAAC,WAAW,EAAE,IAAI,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;IAC3B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;CAC9B;AAED,qFAAqF;AACrF,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;CAC3B;AAED,+FAA+F;AAC/F,MAAM,WAAW,eAAe;IAC9B,WAAW,CAAC,MAAM,EAAE,IAAI,EAAE,WAAW,EAAE,MAAM,GAAG,YAAY,GAAG,SAAS,CAAC;CAC1E;AAED;;;GAGG;AACH,wBAAgB,uBAAuB,CAAC,QAAQ,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK;IAAE,MAAM,EAAE,MAAM,CAAC;IAAC,MAAM,CAAC,EAAE,IAAI,CAAA;CAAE,GAAG,eAAe,CAS9H;AAED;;;;;;GAMG;AACH,wBAAgB,0BAA0B,CACxC,IAAI,EAAE,eAAe,EACrB,gBAAgB,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK,MAAM,GAAG,SAAS,GAC7D,eAAe,GAAG;IAAE,gBAAgB,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,GAAG,SAAS,CAAA;CAAE,CAiBlF;AAED,wFAAwF;AACxF,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;IACrB,8EAA8E;IAC9E,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,uFAAuF;IACvF,QAAQ,CAAC,OAAO,CAAC,EAAE,OAAO,CAAC;IAC3B,+FAA+F;IAC/F,QAAQ,CAAC,OAAO,CAAC,EAAE;QAAE,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;QAAC,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAA;KAAE,CAAC;CAClE;AAED,MAAM,WAAW,gBAAgB;IAC/B,QAAQ,CAAC,IAAI,EAAE,SAAS,YAAY,EAAE,CAAC;IACvC,QAAQ,CAAC,SAAS,EAAE,eAAe,CAAC;IACpC,kFAAkF;IAClF,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,uEAAuE;IACvE,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,oCAAoC;IACpC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,kGAAkG;IAClG,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,kGAAkG;IAClG,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;CACjC;AAED,MAAM,WAAW,SAAS;IACxB,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,MAAM,EAAE,YAAY,CAAC;IAC9B,+DAA+D;IAC/D,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,kEAAkE;IAClE,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,OAAO,EAAE,OAAO,CAAC;CAC3B;AAED,MAAM,WAAW,iBAAiB;IAChC,QAAQ,CAAC,IAAI,EAAE,SAAS,SAAS,EAAE,CAAC;IACpC,gFAAgF;IAChF,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;CACrC;AAiBD,MAAM,WAAW,SAAS;IACxB;;;;OAIG;IACH,kBAAkB,CAAC,IAAI,CAAC,EAAE;QAAE,IAAI,CAAC,EAAE,SAAS,YAAY,EAAE,CAAA;KAAE,EAAE,WAAW,CAAC,EAAE,eAAe,GAAG,iBAAiB,CAAC;IAChH,qDAAqD;IACrD,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,GAAG,OAAO,CAAC;IAC1C,8DAA8D;IAC9D,KAAK,IAAI,IAAI,CAAC;CACf;AAED,wFAAwF;AACxF,wBAAgB,eAAe,CAAC,OAAO,EAAE,gBAAgB,GAAG,SAAS,CAiDpE"}
|
package/dist/FootIk.js
CHANGED
|
@@ -84,7 +84,7 @@ export function createFootIkRig(options) {
|
|
|
84
84
|
let deepestCorrection = 0;
|
|
85
85
|
for (const leg of legs) {
|
|
86
86
|
const lock = lockFor(leg.side);
|
|
87
|
-
const result = solveLeg(leg, lock, raycaster, { ankleHeight, rayStartHeight, maxRayDistance, plantThreshold });
|
|
87
|
+
const result = solveLeg(leg, lock, raycaster, { ankleHeight: leg.ankleHeight ?? ankleHeight, rayStartHeight, maxRayDistance, plantThreshold });
|
|
88
88
|
solved.push(result);
|
|
89
89
|
// Stance legs only: a swing foot hangs above its ground target by design, and its
|
|
90
90
|
// "correction" would inflate the pelvis drop and bury the planted feet.
|
|
@@ -134,7 +134,18 @@ function solveLeg(leg, lock, raycaster, params) {
|
|
|
134
134
|
}
|
|
135
135
|
const groundTargetY = ground.point[1] + params.ankleHeight;
|
|
136
136
|
const heightAboveGround = sourceAnkle[1] - groundTargetY;
|
|
137
|
-
const inStance = heightAboveGround <= params.plantThreshold;
|
|
137
|
+
const inStance = leg.contact ?? (heightAboveGround <= params.plantThreshold);
|
|
138
|
+
if (lock.locked && lock.supportId !== leg.support?.id)
|
|
139
|
+
lock.locked = false;
|
|
140
|
+
if (lock.locked && leg.support) {
|
|
141
|
+
if (leg.support.delta.some(value => !Number.isFinite(value)))
|
|
142
|
+
throw new Error("Foot support displacement must be finite.");
|
|
143
|
+
lock.lockedPosition = [
|
|
144
|
+
lock.lockedPosition[0] + leg.support.delta[0],
|
|
145
|
+
lock.lockedPosition[1] + leg.support.delta[1],
|
|
146
|
+
lock.lockedPosition[2] + leg.support.delta[2]
|
|
147
|
+
];
|
|
148
|
+
}
|
|
138
149
|
const platformTop = readPlatformTop(raycaster, sourceAnkle);
|
|
139
150
|
// The winning surface is the platform exactly when its top matches the raycast hit.
|
|
140
151
|
const overPlatform = platformTop !== undefined && platformTop >= ground.point[1] - 1e-6;
|
|
@@ -145,6 +156,7 @@ function solveLeg(leg, lock, raycaster, params) {
|
|
|
145
156
|
lock.locked = true;
|
|
146
157
|
lock.lockedPosition = [sourceAnkle[0], groundTargetY, sourceAnkle[2]];
|
|
147
158
|
lock.onPlatform = overPlatform;
|
|
159
|
+
lock.supportId = leg.support?.id;
|
|
148
160
|
}
|
|
149
161
|
else if (lock.onPlatform) {
|
|
150
162
|
if (overPlatform && platformTop !== undefined) {
|
|
@@ -171,9 +183,11 @@ function solveLeg(leg, lock, raycaster, params) {
|
|
|
171
183
|
root: leg.hip,
|
|
172
184
|
mid: leg.knee,
|
|
173
185
|
end: leg.ankle,
|
|
174
|
-
target
|
|
186
|
+
// Blend the target before solving; interpolating solved knee/ankle positions
|
|
187
|
+
// shortens the bones during swing blending.
|
|
188
|
+
target: [sourceAnkle[0] + (target[0] - sourceAnkle[0]) * weight, sourceAnkle[1] + (target[1] - sourceAnkle[1]) * weight, sourceAnkle[2] + (target[2] - sourceAnkle[2]) * weight],
|
|
175
189
|
pole: leg.pole,
|
|
176
|
-
weight
|
|
190
|
+
weight: 1
|
|
177
191
|
});
|
|
178
192
|
const verticalCorrection = round(sourceAnkle[1] - target[1]);
|
|
179
193
|
const targetError = round(solved.endDistanceToTarget);
|
|
@@ -199,8 +213,8 @@ function solveLeg(leg, lock, raycaster, params) {
|
|
|
199
213
|
* Second IK pass for legs the pelvis drop serves. Phase one solves from the animated hip
|
|
200
214
|
* and reports its miss; the drop then lowers the pelvis, and re-solving from the dropped
|
|
201
215
|
* hip lands the foot measurably closer this frame instead of chasing the ground over
|
|
202
|
-
* several.
|
|
203
|
-
*
|
|
216
|
+
* several. Every leg is re-solved after a shared pelvis drop; leaving another knee
|
|
217
|
+
* at its pre-drop position would change its upper segment length. The
|
|
204
218
|
* whole leg translates rigidly (root, mid, end all shift by the drop) so the solver
|
|
205
219
|
* derives the true bone lengths — dropping only the root would shorten the implied reach
|
|
206
220
|
* by exactly the drop and gain nothing. `hip` stays pre-drop — the caller applies
|
|
@@ -213,14 +227,14 @@ function refineOverExtendedLegs(legs, solved, hipOffset) {
|
|
|
213
227
|
for (let index = 0; index < solved.length; index += 1) {
|
|
214
228
|
const result = solved[index];
|
|
215
229
|
const leg = legs[index];
|
|
216
|
-
if (!result || !leg
|
|
230
|
+
if (!result || !leg)
|
|
217
231
|
continue;
|
|
218
232
|
const drop = (value) => [value[0], value[1] + hipOffset, value[2]];
|
|
219
233
|
const refined = solveTwoBoneIk({
|
|
220
234
|
root: drop(leg.hip),
|
|
221
235
|
mid: drop(leg.knee),
|
|
222
236
|
end: drop(leg.ankle),
|
|
223
|
-
target: result.sample.plantedFoot,
|
|
237
|
+
target: result.locked ? result.sample.plantedFoot : result.ankle,
|
|
224
238
|
pole: leg.pole,
|
|
225
239
|
weight: 1
|
|
226
240
|
});
|
package/dist/FootIk.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"FootIk.js","sourceRoot":"","sources":["../../../../packages/animation/src/FootIk.ts"],"names":[],"mappings":"AAAA,+FAA+F;AAC/F,oGAAoG;AACpG,+FAA+F;AAC/F,kGAAkG;AAClG,kDAAkD;AAClD,EAAE;AACF,qGAAqG;AACrG,8FAA8F;AAC9F,mGAAmG;AACnG,kEAAkE;AAElE,OAAO,EAAE,cAAc,EAAwB,MAAM,SAAS,CAAC;AA0B/D;;;GAGG;AACH,MAAM,UAAU,uBAAuB,CAAC,QAAqE;IAC3G,OAAO;QACL,WAAW,CAAC,MAAY,EAAE,WAAmB;YAC3C,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YAC1D,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC;YACpC,IAAI,QAAQ,GAAG,CAAC,IAAI,QAAQ,GAAG,WAAW;gBAAE,OAAO,SAAS,CAAC;YAC7D,OAAO,EAAE,KAAK,EAAE,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,EAAE,MAAM,EAAE,MAAM,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,CAAC;QAC1F,CAAC;KACF,CAAC;AACJ,CAAC;AAED;;;;;;GAMG;AACH,MAAM,UAAU,0BAA0B,CACxC,IAAqB,EACrB,gBAA8D;IAE9D,OAAO;QACL,WAAW,CAAC,MAAY,EAAE,WAAmB;YAC3C,MAAM,cAAc,GAAG,gBAAgB,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YAC9D,MAAM,OAAO,GAAG,IAAI,CAAC,WAAW,CAAC,MAAM,EAAE,WAAW,CAAC,CAAC;YACtD,IAAI,cAAc,KAAK,SAAS;gBAAE,OAAO,OAAO,CAAC;YACjD,MAAM,gBAAgB,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,cAAc,CAAC;YACpD,IAAI,gBAAgB,GAAG,CAAC,IAAI,gBAAgB,GAAG,WAAW;gBAAE,OAAO,OAAO,CAAC;YAC3E,IAAI,CAAC,OAAO,IAAI,gBAAgB,IAAI,OAAO,CAAC,QAAQ,EAAE,CAAC;gBACrD,OAAO,EAAE,KAAK,EAAE,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,cAAc,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,gBAAgB,EAAE,CAAC;YAC1G,CAAC;YACD,OAAO,OAAO,CAAC;QACjB,CAAC;QACD,gBAAgB,CAAC,CAAS,EAAE,CAAS;YACnC,OAAO,gBAAgB,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAChC,CAAC;KACF,CAAC;AACJ,CAAC;
|
|
1
|
+
{"version":3,"file":"FootIk.js","sourceRoot":"","sources":["../../../../packages/animation/src/FootIk.ts"],"names":[],"mappings":"AAAA,+FAA+F;AAC/F,oGAAoG;AACpG,+FAA+F;AAC/F,kGAAkG;AAClG,kDAAkD;AAClD,EAAE;AACF,qGAAqG;AACrG,8FAA8F;AAC9F,mGAAmG;AACnG,kEAAkE;AAElE,OAAO,EAAE,cAAc,EAAwB,MAAM,SAAS,CAAC;AA0B/D;;;GAGG;AACH,MAAM,UAAU,uBAAuB,CAAC,QAAqE;IAC3G,OAAO;QACL,WAAW,CAAC,MAAY,EAAE,WAAmB;YAC3C,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YAC1D,MAAM,QAAQ,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC;YACpC,IAAI,QAAQ,GAAG,CAAC,IAAI,QAAQ,GAAG,WAAW;gBAAE,OAAO,SAAS,CAAC;YAC7D,OAAO,EAAE,KAAK,EAAE,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,EAAE,MAAM,EAAE,MAAM,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,CAAC;QAC1F,CAAC;KACF,CAAC;AACJ,CAAC;AAED;;;;;;GAMG;AACH,MAAM,UAAU,0BAA0B,CACxC,IAAqB,EACrB,gBAA8D;IAE9D,OAAO;QACL,WAAW,CAAC,MAAY,EAAE,WAAmB;YAC3C,MAAM,cAAc,GAAG,gBAAgB,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;YAC9D,MAAM,OAAO,GAAG,IAAI,CAAC,WAAW,CAAC,MAAM,EAAE,WAAW,CAAC,CAAC;YACtD,IAAI,cAAc,KAAK,SAAS;gBAAE,OAAO,OAAO,CAAC;YACjD,MAAM,gBAAgB,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,cAAc,CAAC;YACpD,IAAI,gBAAgB,GAAG,CAAC,IAAI,gBAAgB,GAAG,WAAW;gBAAE,OAAO,OAAO,CAAC;YAC3E,IAAI,CAAC,OAAO,IAAI,gBAAgB,IAAI,OAAO,CAAC,QAAQ,EAAE,CAAC;gBACrD,OAAO,EAAE,KAAK,EAAE,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,cAAc,EAAE,MAAM,CAAC,CAAC,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,gBAAgB,EAAE,CAAC;YAC1G,CAAC;YACD,OAAO,OAAO,CAAC;QACjB,CAAC;QACD,gBAAgB,CAAC,CAAS,EAAE,CAAS;YACnC,OAAO,gBAAgB,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAChC,CAAC;KACF,CAAC;AACJ,CAAC;AA4DD,sFAAsF;AACtF,SAAS,eAAe,CAAC,SAA0B,EAAE,IAAU;IAC7D,MAAM,KAAK,GAAG,SAAoF,CAAC;IACnG,IAAI,OAAO,KAAK,CAAC,gBAAgB,KAAK,UAAU;QAAE,OAAO,SAAS,CAAC;IACnE,OAAO,KAAK,CAAC,gBAAgB,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;AAClD,CAAC;AAeD,wFAAwF;AACxF,MAAM,UAAU,eAAe,CAAC,OAAyB;IACvD,MAAM,WAAW,GAAG,OAAO,CAAC,WAAW,IAAI,KAAK,CAAC;IACjD,MAAM,cAAc,GAAG,OAAO,CAAC,cAAc,IAAI,GAAG,CAAC;IACrD,MAAM,cAAc,GAAG,OAAO,CAAC,cAAc,IAAI,CAAC,CAAC;IACnD,MAAM,cAAc,GAAG,OAAO,CAAC,cAAc,IAAI,IAAI,CAAC;IACtD,MAAM,aAAa,GAAG,OAAO,CAAC,aAAa,IAAI,IAAI,CAAC;IACpD,IAAI,IAAI,GAAG,OAAO,CAAC,IAAI,CAAC;IACxB,MAAM,KAAK,GAAG,IAAI,GAAG,EAAkC,CAAC;IAExD,SAAS,OAAO,CAAC,IAAsB;QACrC,IAAI,KAAK,GAAG,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QAC5B,IAAI,CAAC,KAAK,EAAE,CAAC;YACX,KAAK,GAAG,EAAE,MAAM,EAAE,KAAK,EAAE,cAAc,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,UAAU,EAAE,KAAK,EAAE,CAAC;YACxE,KAAK,CAAC,GAAG,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;QACzB,CAAC;QACD,OAAO,KAAK,CAAC;IACf,CAAC;IAED,OAAO;QACL,kBAAkB,CAAC,IAAI,EAAE,WAAW;YAClC,MAAM,SAAS,GAAG,WAAW,IAAI,OAAO,CAAC,SAAS,CAAC;YACnD,IAAI,IAAI,EAAE,IAAI;gBAAE,IAAI,GAAG,IAAI,CAAC,IAAI,CAAC;YACjC,MAAM,MAAM,GAAgB,EAAE,CAAC;YAC/B,IAAI,iBAAiB,GAAG,CAAC,CAAC;YAC1B,KAAK,MAAM,GAAG,IAAI,IAAI,EAAE,CAAC;gBACvB,MAAM,IAAI,GAAG,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;gBAC/B,MAAM,MAAM,GAAG,QAAQ,CAAC,GAAG,EAAE,IAAI,EAAE,SAAS,EAAE,EAAE,WAAW,EAAE,GAAG,CAAC,WAAW,IAAI,WAAW,EAAE,cAAc,EAAE,cAAc,EAAE,cAAc,EAAE,CAAC,CAAC;gBAC/I,MAAM,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;gBACpB,kFAAkF;gBAClF,wEAAwE;gBACxE,IAAI,MAAM,CAAC,MAAM,CAAC,QAAQ,EAAE,CAAC;oBAC3B,iBAAiB,GAAG,IAAI,CAAC,GAAG,CAAC,iBAAiB,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,MAAM,CAAC,MAAM,CAAC,kBAAkB,CAAC,CAAC,CAAC;gBACjG,CAAC;YACH,CAAC;YACD,MAAM,SAAS,GAAG,KAAK,CAAC,CAAC,iBAAiB,GAAG,aAAa,CAAC,CAAC;YAC5D,sBAAsB,CAAC,IAAI,EAAE,MAAM,EAAE,SAAS,CAAC,CAAC;YAChD,MAAM,YAAY,GAAG,MAAM,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC,MAAM,CAAC;YACxE,MAAM,kBAAkB,GAAG,MAAM,CAAC,MAAM,KAAK,CAAC;gBAC5C,CAAC,CAAC,CAAC;gBACH,CAAC,CAAC,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,MAAM,CAAC,WAAW,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,MAAM,CAAC,CAAC;YACxF,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,SAAS,EAAE,YAAY,EAAE,kBAAkB,EAAE,CAAC;QACvE,CAAC;QACD,QAAQ,CAAC,IAAI;YACX,OAAO,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,MAAM,IAAI,KAAK,CAAC;QAC1C,CAAC;QACD,KAAK;YACH,KAAK,CAAC,KAAK,EAAE,CAAC;QAChB,CAAC;KACF,CAAC;AACJ,CAAC;AASD,SAAS,QAAQ,CAAC,GAAiB,EAAE,IAAkB,EAAE,SAA0B,EAAE,MAAmB;IACtG,MAAM,WAAW,GAAG,GAAG,CAAC,KAAK,CAAC;IAC9B,MAAM,MAAM,GAAG,SAAS,CAAC,WAAW,CAClC,CAAC,WAAW,CAAC,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,cAAc,EAAE,WAAW,CAAC,CAAC,CAAC,CAAC,EACxE,MAAM,CAAC,cAAc,GAAG,MAAM,CAAC,cAAc,CAC9C,CAAC;IAEF,IAAI,CAAC,MAAM,EAAE,CAAC;QACZ,kGAAkG;QAClG,IAAI,CAAC,MAAM,GAAG,KAAK,CAAC;QACpB,OAAO;YACL,IAAI,EAAE,GAAG,CAAC,IAAI;YACd,MAAM,EAAE;gBACN,IAAI,EAAE,GAAG,CAAC,IAAI;gBACd,UAAU,EAAE,WAAW;gBACvB,WAAW,EAAE,WAAW;gBACxB,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;gBACvB,QAAQ,EAAE,KAAK;gBACf,kBAAkB,EAAE,CAAC;gBACrB,WAAW,EAAE,CAAC;aACf;YACD,GAAG,EAAE,GAAG,CAAC,GAAG;YACZ,IAAI,EAAE,GAAG,CAAC,IAAI;YACd,KAAK,EAAE,WAAW;YAClB,MAAM,EAAE,KAAK;YACb,OAAO,EAAE,IAAI;SACd,CAAC;IACJ,CAAC;IAED,MAAM,aAAa,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,WAAW,CAAC;IAC3D,MAAM,iBAAiB,GAAG,WAAW,CAAC,CAAC,CAAC,GAAG,aAAa,CAAC;IACzD,MAAM,QAAQ,GAAG,GAAG,CAAC,OAAO,IAAI,CAAC,iBAAiB,IAAI,MAAM,CAAC,cAAc,CAA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@@ -91,6 +91,9 @@ export interface HumanoidBoneRetargetBinding {
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91
91
|
readonly sourceRest?: AnimationQuaternion;
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|
92
92
|
/** Target rig rest-pose local rotation for this bone (identity when unknown). */
|
|
93
93
|
readonly targetRest?: AnimationQuaternion;
|
|
94
|
+
/** Source and target local bind translations, captured so animated translation deltas can be rebased. */
|
|
95
|
+
readonly sourceRestPosition?: AnimationVector3;
|
|
96
|
+
readonly targetRestPosition?: AnimationVector3;
|
|
94
97
|
}
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|
95
98
|
export interface HumanoidRetargetingMap {
|
|
96
99
|
readonly sourceRigId: string;
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@@ -143,8 +146,9 @@ export declare function createHumanoidRetargetingMap(source: HumanoidRigDefiniti
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|
143
146
|
* `F` that carries the source facing axis onto the target facing axis: `Rt_hips = F · Rt_hips`.
|
|
144
147
|
* This only touches the root so child bones inherit the reframe through the hierarchy.
|
|
145
148
|
*
|
|
146
|
-
* 3. Position / hip-height scaling
|
|
147
|
-
* bone
|
|
149
|
+
* 3. Position / hip-height scaling: the animated displacement from the source local bind
|
|
150
|
+
* translation is scaled by the bone length ratio and rebased on the target local bind
|
|
151
|
+
* translation. Optional root motion is scaled by the average bone scale.
|
|
148
152
|
*
|
|
149
153
|
* The signature and return type are unchanged.
|
|
150
154
|
*
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@@ -1 +1 @@
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|
1
|
-
{"version":3,"file":"HumanoidRetargeting.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/HumanoidRetargeting.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,aAAa,EACb,sBAAsB,EACtB,mBAAmB,EACnB,gBAAgB,EACjB,MAAM,0BAA0B,CAAC;AAElC,eAAO,MAAM,cAAc,mTAuBjB,CAAC;AAEX,MAAM,MAAM,gBAAgB,GAAG,OAAO,cAAc,CAAC,MAAM,CAAC,CAAC;AAC7D,MAAM,MAAM,YAAY,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,IAAI,GAAG,IAAI,GAAG,IAAI,CAAC;AAChE,MAAM,MAAM,gBAAgB,GAAG,QAAQ,GAAG,aAAa,GAAG,SAAS,GAAG,CAAC,MAAM,GAAG,EAAE,CAAC,CAAC;AAEpF,eAAO,MAAM,uBAAuB,EAAE,SAAS,gBAAgB,EAgB9D,CAAC;AAEF,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,MAAM,CAAC,EAAE,gBAAgB,GAAG,MAAM,CAAC;IAC5C,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,gBAAgB,CAAC;IACrC,QAAQ,CAAC,QAAQ,CAAC,EAAE,mBAAmB,CAAC;IACxC,QAAQ,CAAC,OAAO,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;CACtC;AAED,MAAM,WAAW,qBAAqB;IACpC,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,KAAK,EAAE,OAAO,CAAC,MAAM,CAAC,gBAAgB,EAAE,mBAAmB,CAAC,CAAC,CAAC;IACvE,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,KAAK,CAAC,EAAE,gBAAgB,CAAC;IAClC,QAAQ,CAAC,UAAU,CAAC,EAAE,YAAY,CAAC;IACnC,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,gBAAgB,EAAE,sBAAsB,CAAC,CAAC,CAAC;IAC9E,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;CAC7C;AAED,MAAM,MAAM,qCAAqC,GAAG,MAAM,GAAG,SAAS,GAAG,OAAO,CAAC;AAEjF,MAAM,WAAW,6BAA6B;IAC5C,QAAQ,CAAC,QAAQ,EAAE,qCAAqC,CAAC;IACzD,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,IAAI,CAAC,EAAE,gBAAgB,CAAC;IACjC,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;CAC9B;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,EAAE,EAAE,OAAO,CAAC;IACrB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,oBAAoB,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,WAAW,EAAE,SAAS,6BAA6B,EAAE,CAAC;CAChE;AAED,MAAM,WAAW,0BAA0B;IACzC,QAAQ,CAAC,mBAAmB,CAAC,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,kBAAkB,CAAC,EAAE,YAAY,CAAC;IAC3C,QAAQ,CAAC,aAAa,CAAC,EAAE,gBAAgB,CAAC;IAC1C,QAAQ,CAAC,eAAe,CAAC,EAAE,OAAO,CAAC;IACnC,QAAQ,CAAC,WAAW,CAAC,EAAE,OAAO,CAAC;IAC/B,2EAA2E;IAC3E,QAAQ,CAAC,OAAO,CAAC,EAAE,0BAA0B,CAAC;CAC/C;AAED;;;;;;;GAOG;AACH,MAAM,WAAW,0BAA0B;IACzC,yFAAyF;IACzF,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,2EAA2E;IAC3E,QAAQ,CAAC,YAAY,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,gBAAgB,EAAE,MAAM,CAAC,CAAC,CAAC;IAClE;;;OAGG;IACH,QAAQ,CAAC,uBAAuB,CAAC,EAAE,MAAM,CAAC;IAC1C,6FAA6F;IAC7F,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;CACjC;AAED;;;GAGG;AACH,eAAO,MAAM,6BAA6B,EAAE,MAAM,CAAC,MAAM,EAAE,0BAA0B,CAAM,CAAC;AAE5F,wBAAgB,kCAAkC,CAAC,OAAO,EAAE,0BAA0B,GAAG,IAAI,CAG5F;AAsCD,MAAM,WAAW,2BAA2B;IAC1C,QAAQ,CAAC,IAAI,EAAE,gBAAgB,CAAC;IAChC,QAAQ,CAAC,MAAM,EAAE,mBAAmB,CAAC;IACrC,QAAQ,CAAC,MAAM,EAAE,mBAAmB,CAAC;IACrC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB;;;;OAIG;IACH,QAAQ,CAAC,UAAU,CAAC,EAAE,mBAAmB,CAAC;IAC1C,iFAAiF;IACjF,QAAQ,CAAC,UAAU,CAAC,EAAE,mBAAmB,CAAC;
|
|
1
|
+
{"version":3,"file":"HumanoidRetargeting.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/HumanoidRetargeting.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,aAAa,EACb,sBAAsB,EACtB,mBAAmB,EACnB,gBAAgB,EACjB,MAAM,0BAA0B,CAAC;AAElC,eAAO,MAAM,cAAc,mTAuBjB,CAAC;AAEX,MAAM,MAAM,gBAAgB,GAAG,OAAO,cAAc,CAAC,MAAM,CAAC,CAAC;AAC7D,MAAM,MAAM,YAAY,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,IAAI,GAAG,IAAI,GAAG,IAAI,CAAC;AAChE,MAAM,MAAM,gBAAgB,GAAG,QAAQ,GAAG,aAAa,GAAG,SAAS,GAAG,CAAC,MAAM,GAAG,EAAE,CAAC,CAAC;AAEpF,eAAO,MAAM,uBAAuB,EAAE,SAAS,gBAAgB,EAgB9D,CAAC;AAEF,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,MAAM,CAAC,EAAE,gBAAgB,GAAG,MAAM,CAAC;IAC5C,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,QAAQ,CAAC,EAAE,gBAAgB,CAAC;IACrC,QAAQ,CAAC,QAAQ,CAAC,EAAE,mBAAmB,CAAC;IACxC,QAAQ,CAAC,OAAO,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;CACtC;AAED,MAAM,WAAW,qBAAqB;IACpC,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,KAAK,EAAE,OAAO,CAAC,MAAM,CAAC,gBAAgB,EAAE,mBAAmB,CAAC,CAAC,CAAC;IACvE,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,KAAK,CAAC,EAAE,gBAAgB,CAAC;IAClC,QAAQ,CAAC,UAAU,CAAC,EAAE,YAAY,CAAC;IACnC,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,gBAAgB,EAAE,sBAAsB,CAAC,CAAC,CAAC;IAC9E,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;CAC7C;AAED,MAAM,MAAM,qCAAqC,GAAG,MAAM,GAAG,SAAS,GAAG,OAAO,CAAC;AAEjF,MAAM,WAAW,6BAA6B;IAC5C,QAAQ,CAAC,QAAQ,EAAE,qCAAqC,CAAC;IACzD,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,IAAI,CAAC,EAAE,gBAAgB,CAAC;IACjC,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;CAC9B;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,EAAE,EAAE,OAAO,CAAC;IACrB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,oBAAoB,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,WAAW,EAAE,SAAS,6BAA6B,EAAE,CAAC;CAChE;AAED,MAAM,WAAW,0BAA0B;IACzC,QAAQ,CAAC,mBAAmB,CAAC,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,kBAAkB,CAAC,EAAE,YAAY,CAAC;IAC3C,QAAQ,CAAC,aAAa,CAAC,EAAE,gBAAgB,CAAC;IAC1C,QAAQ,CAAC,eAAe,CAAC,EAAE,OAAO,CAAC;IACnC,QAAQ,CAAC,WAAW,CAAC,EAAE,OAAO,CAAC;IAC/B,2EAA2E;IAC3E,QAAQ,CAAC,OAAO,CAAC,EAAE,0BAA0B,CAAC;CAC/C;AAED;;;;;;;GAOG;AACH,MAAM,WAAW,0BAA0B;IACzC,yFAAyF;IACzF,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,2EAA2E;IAC3E,QAAQ,CAAC,YAAY,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,gBAAgB,EAAE,MAAM,CAAC,CAAC,CAAC;IAClE;;;OAGG;IACH,QAAQ,CAAC,uBAAuB,CAAC,EAAE,MAAM,CAAC;IAC1C,6FAA6F;IAC7F,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;CACjC;AAED;;;GAGG;AACH,eAAO,MAAM,6BAA6B,EAAE,MAAM,CAAC,MAAM,EAAE,0BAA0B,CAAM,CAAC;AAE5F,wBAAgB,kCAAkC,CAAC,OAAO,EAAE,0BAA0B,GAAG,IAAI,CAG5F;AAsCD,MAAM,WAAW,2BAA2B;IAC1C,QAAQ,CAAC,IAAI,EAAE,gBAAgB,CAAC;IAChC,QAAQ,CAAC,MAAM,EAAE,mBAAmB,CAAC;IACrC,QAAQ,CAAC,MAAM,EAAE,mBAAmB,CAAC;IACrC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB;;;;OAIG;IACH,QAAQ,CAAC,UAAU,CAAC,EAAE,mBAAmB,CAAC;IAC1C,iFAAiF;IACjF,QAAQ,CAAC,UAAU,CAAC,EAAE,mBAAmB,CAAC;IAC1C,yGAAyG;IACzG,QAAQ,CAAC,kBAAkB,CAAC,EAAE,gBAAgB,CAAC;IAC/C,QAAQ,CAAC,kBAAkB,CAAC,EAAE,gBAAgB,CAAC;CAChD;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,EAAE,EAAE,OAAO,CAAC;IACrB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC,MAAM,CAAC,gBAAgB,EAAE,2BAA2B,CAAC,CAAC,CAAC;IAClF,QAAQ,CAAC,WAAW,EAAE,SAAS,6BAA6B,EAAE,CAAC;IAC/D,0FAA0F;IAC1F,QAAQ,CAAC,gBAAgB,CAAC,EAAE,YAAY,CAAC;IACzC,0FAA0F;IAC1F,QAAQ,CAAC,gBAAgB,CAAC,EAAE,YAAY,CAAC;CAC1C;AAED,MAAM,WAAW,2BAA2B;IAC1C,QAAQ,CAAC,0BAA0B,CAAC,EAAE,OAAO,CAAC;IAC9C,QAAQ,CAAC,wBAAwB,CAAC,EAAE,OAAO,CAAC;IAC5C,QAAQ,CAAC,eAAe,CAAC,EAAE,OAAO,CAAC;CACpC;AAED,MAAM,WAAW,mCAAoC,SAAQ,0BAA0B;IACrF,QAAQ,CAAC,aAAa,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;IAC3C,QAAQ,CAAC,cAAc,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;IAC5C,QAAQ,CAAC,oBAAoB,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;IAClD,QAAQ,CAAC,mBAAmB,CAAC,EAAE,OAAO,CAAC;CACxC;AAED,MAAM,WAAW,uCAAwC,SAAQ,sBAAsB;IACrF,QAAQ,CAAC,IAAI,EAAE,4CAA4C,CAAC;IAC5D,QAAQ,CAAC,UAAU,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,SAAS,EAAE,OAAO,CAAC;IAC5B,QAAQ,CAAC,mBAAmB,EAAE,OAAO,CAAC;CACvC;AAED,wBAAgB,kBAAkB,CAChC,GAAG,EAAE,qBAAqB,EAC1B,OAAO,GAAE,0BAA+B,GACvC,sBAAsB,CA0IxB;AAED,wBAAgB,4BAA4B,CAC1C,MAAM,EAAE,qBAAqB,EAC7B,MAAM,EAAE,qBAAqB,EAC7B,OAAO,GAAE,0BAA+B,GACvC,sBAAsB,CA4ExB;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgCG;AACH,wBAAgB,oBAAoB,CAClC,UAAU,EAAE,aAAa,EACzB,GAAG,EAAE,sBAAsB,EAC3B,OAAO,GAAE,2BAAgC,GACxC,aAAa,CA4Cf;AAED,wBAAgB,8BAA8B,CAC5C,MAAM,EAAE,qBAAqB,EAC7B,MAAM,EAAE,qBAAqB,EAC7B,OAAO,GAAE,0BAA+B,GACvC,SAAS,6BAA6B,EAAE,CAE1C;AAED,wBAAgB,mCAAmC,CACjD,GAAG,EAAE,qBAAqB,EAC1B,OAAO,GAAE,mCAAwC,GAChD,uCAAuC,CA4CzC"}
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@@ -242,7 +242,9 @@ export function createHumanoidRetargetingMap(source, target, options = {}) {
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242
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target: targetBinding,
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243
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|
scale: applyRetargetingProfileScale(bone, estimateBoneScale(sourceBinding, targetBinding, source.scale, target.scale), options.profile),
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244
244
|
sourceRest: restRotationFor(source, bone, sourceBinding),
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245
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-
targetRest: restRotationFor(target, bone, targetBinding)
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245
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+
targetRest: restRotationFor(target, bone, targetBinding),
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246
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+
sourceRestPosition: restPositionFor(source, bone, sourceBinding),
|
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247
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+
targetRestPosition: restPositionFor(target, bone, targetBinding)
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246
248
|
};
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247
249
|
}
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248
250
|
const coverage = mappedBones / HUMANOID_BONES.length;
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@@ -287,8 +289,9 @@ export function createHumanoidRetargetingMap(source, target, options = {}) {
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287
289
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* `F` that carries the source facing axis onto the target facing axis: `Rt_hips = F · Rt_hips`.
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288
290
|
* This only touches the root so child bones inherit the reframe through the hierarchy.
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289
291
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*
|
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290
|
-
* 3. Position / hip-height scaling
|
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291
|
-
* bone
|
|
292
|
+
* 3. Position / hip-height scaling: the animated displacement from the source local bind
|
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293
|
+
* translation is scaled by the bone length ratio and rebased on the target local bind
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294
|
+
* translation. Optional root motion is scaled by the average bone scale.
|
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292
295
|
*
|
|
293
296
|
* The signature and return type are unchanged.
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294
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|
*
|
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@@ -437,6 +440,10 @@ function restRotationFor(rig, bone, binding) {
|
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|
437
440
|
return normalizeQuatObj(binding.rotation);
|
|
438
441
|
return IDENTITY_QUAT;
|
|
439
442
|
}
|
|
443
|
+
function restPositionFor(rig, bone, binding) {
|
|
444
|
+
const position = rig.restPose?.[bone]?.position ?? binding.position;
|
|
445
|
+
return position ? { ...position } : { x: 0, y: 0, z: 0 };
|
|
446
|
+
}
|
|
440
447
|
/**
|
|
441
448
|
* Apply rest-pose reconciliation + (root-only) facing alignment + length scaling to one bone.
|
|
442
449
|
* See {@link retargetHumanoidPose} for the math derivation.
|
|
@@ -459,11 +466,14 @@ function retargetBoneTransform(transform, binding, facing) {
|
|
|
459
466
|
// No animated rotation but a facing delta still needs to reframe the root.
|
|
460
467
|
rotation = normalizeQuatObj(multiplyQuat(facing, targetRest));
|
|
461
468
|
}
|
|
462
|
-
|
|
463
|
-
|
|
464
|
-
|
|
465
|
-
|
|
466
|
-
|
|
469
|
+
const sourceRestPosition = binding.sourceRestPosition ?? { x: 0, y: 0, z: 0 };
|
|
470
|
+
const targetRestPosition = binding.targetRestPosition ?? { x: 0, y: 0, z: 0 };
|
|
471
|
+
const position = transform.position ? {
|
|
472
|
+
x: targetRestPosition.x + (transform.position.x - sourceRestPosition.x) * binding.scale,
|
|
473
|
+
y: targetRestPosition.y + (transform.position.y - sourceRestPosition.y) * binding.scale,
|
|
474
|
+
z: targetRestPosition.z + (transform.position.z - sourceRestPosition.z) * binding.scale
|
|
475
|
+
} : undefined;
|
|
476
|
+
return { position, rotation, scale: transform.scale };
|
|
467
477
|
}
|
|
468
478
|
/**
|
|
469
479
|
* Rotation that carries `from` cardinal axis onto `to` cardinal axis (shortest arc). Used to
|
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
|
1
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+
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@@ -0,0 +1,34 @@
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1
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+
import type { Vec3 } from "./Keyframe.js";
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2
|
+
/** Measured scene transforms, not IK targets. Support coordinates include support rotation. */
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|
3
|
+
export interface LocomotionContactSample {
|
|
4
|
+
readonly time: number;
|
|
5
|
+
readonly side: "left" | "right";
|
|
6
|
+
readonly pointId?: string;
|
|
7
|
+
readonly stance: boolean;
|
|
8
|
+
readonly supportId: string;
|
|
9
|
+
readonly supportLocalPosition: Vec3;
|
|
10
|
+
readonly contactError: number;
|
|
11
|
+
}
|
|
12
|
+
export interface LocomotionStanceMeasurement {
|
|
13
|
+
readonly side: "left" | "right";
|
|
14
|
+
readonly pointId?: string;
|
|
15
|
+
readonly supportId: string;
|
|
16
|
+
readonly startTime: number;
|
|
17
|
+
readonly endTime: number;
|
|
18
|
+
readonly samples: number;
|
|
19
|
+
readonly maxSlip: number;
|
|
20
|
+
readonly worstContactError: number;
|
|
21
|
+
}
|
|
22
|
+
/**
|
|
23
|
+
* Measure excursion from touchdown across the entire stance, so many tiny per-frame
|
|
24
|
+
* slips cannot evade a limit. A change of support or a swing ends the interval.
|
|
25
|
+
* The caller retains raw samples and supplies actual support-local ankle positions.
|
|
26
|
+
*/
|
|
27
|
+
export declare function measureLocomotionStances(samples: readonly LocomotionContactSample[], rigHeight: number): {
|
|
28
|
+
readonly intervals: readonly LocomotionStanceMeasurement[];
|
|
29
|
+
readonly slipLimit: number;
|
|
30
|
+
readonly maxSlip: number;
|
|
31
|
+
readonly worstContactError: number;
|
|
32
|
+
readonly passed: boolean;
|
|
33
|
+
};
|
|
34
|
+
//# sourceMappingURL=LocomotionEvidence.d.ts.map
|
|
@@ -0,0 +1 @@
|
|
|
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"}
|
|
@@ -0,0 +1,48 @@
|
|
|
1
|
+
/**
|
|
2
|
+
* Measure excursion from touchdown across the entire stance, so many tiny per-frame
|
|
3
|
+
* slips cannot evade a limit. A change of support or a swing ends the interval.
|
|
4
|
+
* The caller retains raw samples and supplies actual support-local ankle positions.
|
|
5
|
+
*/
|
|
6
|
+
export function measureLocomotionStances(samples, rigHeight) {
|
|
7
|
+
if (!Number.isFinite(rigHeight) || rigHeight <= 0)
|
|
8
|
+
throw new Error("Measured rig height must be positive.");
|
|
9
|
+
const intervals = [];
|
|
10
|
+
const active = new Map();
|
|
11
|
+
const lastTimes = new Map();
|
|
12
|
+
for (const sample of samples) {
|
|
13
|
+
const key = `${sample.side}:${sample.pointId ?? "ankle"}`;
|
|
14
|
+
if (!Number.isFinite(sample.time) || sample.time < 0 ||
|
|
15
|
+
sample.time <= (lastTimes.get(key) ?? -Infinity) ||
|
|
16
|
+
sample.supportLocalPosition.length !== 3 || sample.supportLocalPosition.some(value => !Number.isFinite(value)) ||
|
|
17
|
+
!Number.isFinite(sample.contactError) || sample.contactError < 0 || !sample.supportId) {
|
|
18
|
+
throw new Error("Contact samples require increasing times, finite positions/errors, and a support identity.");
|
|
19
|
+
}
|
|
20
|
+
lastTimes.set(key, sample.time);
|
|
21
|
+
let state = active.get(key);
|
|
22
|
+
if (state && (!sample.stance || sample.supportId !== state.interval.supportId)) {
|
|
23
|
+
intervals.push(state.interval);
|
|
24
|
+
active.delete(key);
|
|
25
|
+
state = undefined;
|
|
26
|
+
}
|
|
27
|
+
if (!sample.stance)
|
|
28
|
+
continue;
|
|
29
|
+
if (!state) {
|
|
30
|
+
state = { anchor: [...sample.supportLocalPosition], interval: {
|
|
31
|
+
side: sample.side, ...(sample.pointId === undefined ? {} : { pointId: sample.pointId }), supportId: sample.supportId, startTime: sample.time,
|
|
32
|
+
endTime: sample.time, samples: 0, maxSlip: 0, worstContactError: 0
|
|
33
|
+
} };
|
|
34
|
+
active.set(key, state);
|
|
35
|
+
}
|
|
36
|
+
const slip = Math.hypot(...sample.supportLocalPosition.map((value, axis) => value - state.anchor[axis]));
|
|
37
|
+
state.interval = { ...state.interval, endTime: sample.time, samples: state.interval.samples + 1,
|
|
38
|
+
maxSlip: Math.max(state.interval.maxSlip, slip),
|
|
39
|
+
worstContactError: Math.max(state.interval.worstContactError, sample.contactError) };
|
|
40
|
+
}
|
|
41
|
+
intervals.push(...[...active.values()].map(state => state.interval));
|
|
42
|
+
const maxSlip = Math.max(0, ...intervals.map(interval => interval.maxSlip));
|
|
43
|
+
const worstContactError = Math.max(0, ...intervals.map(interval => interval.worstContactError));
|
|
44
|
+
const slipLimit = rigHeight * 0.01;
|
|
45
|
+
return { intervals, slipLimit, maxSlip, worstContactError,
|
|
46
|
+
passed: intervals.length > 0 && intervals.every(interval => interval.samples >= 2) && maxSlip <= slipLimit };
|
|
47
|
+
}
|
|
48
|
+
//# sourceMappingURL=LocomotionEvidence.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"file":"LocomotionEvidence.js","sourceRoot":"","sources":["../../../../packages/animation/src/LocomotionEvidence.ts"],"names":[],"mappings":"AAwBA;;;;GAIG;AACH,MAAM,UAAU,wBAAwB,CAAC,OAA2C,EAAE,SAAiB;IAOrG,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,SAAS,CAAC,IAAI,SAAS,IAAI,CAAC;QAAE,MAAM,IAAI,KAAK,CAAC,uCAAuC,CAAC,CAAC;IAC5G,MAAM,SAAS,GAAkC,EAAE,CAAC;IACpD,MAAM,MAAM,GAAG,IAAI,GAAG,EAAmE,CAAC;IAC1F,MAAM,SAAS,GAAG,IAAI,GAAG,EAAkB,CAAC;IAC5C,KAAK,MAAM,MAAM,IAAI,OAAO,EAAE,CAAC;QAC7B,MAAM,GAAG,GAAG,GAAG,MAAM,CAAC,IAAI,IAAI,MAAM,CAAC,OAAO,IAAI,OAAO,EAAE,CAAC;QAC1D,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,IAAI,CAAC,IAAI,MAAM,CAAC,IAAI,GAAG,CAAC;YAClD,MAAM,CAAC,IAAI,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,QAAQ,CAAC;YAChD,MAAM,CAAC,oBAAoB,CAAC,MAAM,KAAK,CAAC,IAAI,MAAM,CAAC,oBAAoB,CAAC,IAAI,CAAC,KAAK,CAAC,EAAE,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;YAC9G,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAC,YAAY,CAAC,IAAI,MAAM,CAAC,YAAY,GAAG,CAAC,IAAI,CAAC,MAAM,CAAC,SAAS,EAAE,CAAC;YACxF,MAAM,IAAI,KAAK,CAAC,4FAA4F,CAAC,CAAC;QAChH,CAAC;QACD,SAAS,CAAC,GAAG,CAAC,GAAG,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC;QAChC,IAAI,KAAK,GAAG,MAAM,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,KAAK,IAAI,CAAC,CAAC,MAAM,CAAC,MAAM,IAAI,MAAM,CAAC,SAAS,KAAK,KAAK,CAAC,QAAQ,CAAC,SAAS,CAAC,EAAE,CAAC;YAC/E,SAAS,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;YAC/B,MAAM,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;YACnB,KAAK,GAAG,SAAS,CAAC;QACpB,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,MAAM;YAAE,SAAS;QAC7B,IAAI,CAAC,KAAK,EAAE,CAAC;YACX,KAAK,GAAG,EAAE,MAAM,EAAE,CAAC,GAAG,MAAM,CAAC,oBAAoB,CAAC,EAAE,QAAQ,EAAE;oBAC5D,IAAI,EAAE,MAAM,CAAC,IAAI,EAAE,GAAG,CAAC,MAAM,CAAC,OAAO,KAAK,SAAS,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,OAAO,EAAE,MAAM,CAAC,OAAO,EAAE,CAAC,EAAE,SAAS,EAAE,MAAM,CAAC,SAAS,EAAE,SAAS,EAAE,MAAM,CAAC,IAAI;oBAC5I,OAAO,EAAE,MAAM,CAAC,IAAI,EAAE,OAAO,EAAE,CAAC,EAAE,OAAO,EAAE,CAAC,EAAE,iBAAiB,EAAE,CAAC;iBACnE,EAAE,CAAC;YACJ,MAAM,CAAC,GAAG,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC;QACzB,CAAC;QACD,MAAM,IAAI,GAAG,IAAI,CAAC,KAAK,CAAC,GAAG,MAAM,CAAC,oBAAoB,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,IAAI,EAAE,EAAE,CAAC,KAAK,GAAG,KAAM,CAAC,MAAM,CAAC,IAAI,CAAE,CAAC,CAAC,CAAC;QAC3G,KAAK,CAAC,QAAQ,GAAG,EAAE,GAAG,KAAK,CAAC,QAAQ,EAAE,OAAO,EAAE,MAAM,CAAC,IAAI,EAAE,OAAO,EAAE,KAAK,CAAC,QAAQ,CAAC,OAAO,GAAG,CAAC;YAC7F,OAAO,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,QAAQ,CAAC,OAAO,EAAE,IAAI,CAAC;YAC/C,iBAAiB,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC,YAAY,CAAC,EAAE,CAAC;IACzF,CAAC;IACD,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,MAAM,CAAC,MAAM,EAAE,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;IACrE,MAAM,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,SAAS,CAAC,GAAG,CAAC,QAAQ,CAAC,EAAE,CAAC,QAAQ,CAAC,OAAO,CAAC,CAAC,CAAC;IAC5E,MAAM,iBAAiB,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,SAAS,CAAC,GAAG,CAAC,QAAQ,CAAC,EAAE,CAAC,QAAQ,CAAC,iBAAiB,CAAC,CAAC,CAAC;IAChG,MAAM,SAAS,GAAG,SAAS,GAAG,IAAI,CAAC;IACnC,OAAO,EAAE,SAAS,EAAE,SAAS,EAAE,OAAO,EAAE,iBAAiB;QACvD,MAAM,EAAE,SAAS,CAAC,MAAM,GAAG,CAAC,IAAI,SAAS,CAAC,KAAK,CAAC,QAAQ,CAAC,EAAE,CAAC,QAAQ,CAAC,OAAO,IAAI,CAAC,CAAC,IAAI,OAAO,IAAI,SAAS,EAAE,CAAC;AACjH,CAAC"}
|
package/dist/RootMotion.d.ts
CHANGED
|
@@ -24,9 +24,8 @@ export interface RootMotionSlideReport {
|
|
|
24
24
|
readonly cycleDistance: number;
|
|
25
25
|
/**
|
|
26
26
|
* Loop-closure error (units/second): magnitude of the root-velocity discontinuity at the
|
|
27
|
-
* loop point, `|v(0+) − v(duration−)|` via finite differences. Zero means
|
|
28
|
-
*
|
|
29
|
-
* sliding at turn".
|
|
27
|
+
* loop point, `|v(0+) − v(duration−)|` via finite differences. Zero means no root velocity
|
|
28
|
+
* snap at the seam; planted-foot contact must be measured independently.
|
|
30
29
|
*/
|
|
31
30
|
readonly loopClosureError: number;
|
|
32
31
|
/**
|
|
@@ -39,10 +38,20 @@ export interface RootMotionSlideReport {
|
|
|
39
38
|
readonly maxVelocityDeviation: number;
|
|
40
39
|
}
|
|
41
40
|
/**
|
|
42
|
-
*
|
|
41
|
+
* Root-track continuity metric only: this does not measure planted-foot slip. Verify the root
|
|
43
42
|
* advances by a stable per-cycle delta with (near-)zero loop-closure error. Pure and
|
|
44
43
|
* deterministic.
|
|
45
44
|
*/
|
|
46
45
|
export declare function measureRootMotionLoopClosure(clip: AnimationClip, target?: string): RootMotionSlideReport;
|
|
47
46
|
export declare function applyRootMotion(target: RootMotionTarget, sample: RootMotionSample, scale?: number): RootMotionTarget;
|
|
47
|
+
/** Convert a clip-space displacement to world space; translation of the matrix is deliberately ignored. */
|
|
48
|
+
export declare function transformRootMotionDelta(delta: Vec3, worldFromLocal: ArrayLike<number>): Vec3;
|
|
49
|
+
export interface RootMotionConsumption {
|
|
50
|
+
readonly requested: Vec3;
|
|
51
|
+
readonly accepted: Vec3;
|
|
52
|
+
/** Rejected displacement is diagnostic, never silently carried into the next frame. */
|
|
53
|
+
readonly rejected: Vec3;
|
|
54
|
+
}
|
|
55
|
+
/** The injected authority (e.g. Rapier character controller) is the only position owner. */
|
|
56
|
+
export declare function consumeRootMotion(sample: RootMotionSample, worldFromLocal: ArrayLike<number>, move: (requestedWorldDelta: Vec3) => Vec3): RootMotionConsumption;
|
|
48
57
|
//# sourceMappingURL=RootMotion.d.ts.map
|
package/dist/RootMotion.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"RootMotion.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/RootMotion.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,oBAAoB,CAAC;AAExD,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,eAAe,CAAC;AAE1C,MAAM,MAAM,8BAA8B,GAAG;IAC3C,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,IAAI,CAAC,EAAE,OAAO,CAAC;CACzB,CAAC;AAEF,MAAM,MAAM,gBAAgB,GAAG;IAC7B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;CACtB,CAAC;AAEF,MAAM,MAAM,gBAAgB,GAAG;IAC7B,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;CACpC,CAAC;AAIF,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,aAAa,EAAE,UAAU,EAAE,8BAA8B,GAAG,gBAAgB,CA4BnH;AAED,MAAM,WAAW,qBAAqB;IACpC,wFAAwF;IACxF,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,qDAAqD;IACrD,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B
|
|
1
|
+
{"version":3,"file":"RootMotion.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/RootMotion.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,oBAAoB,CAAC;AAExD,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,eAAe,CAAC;AAE1C,MAAM,MAAM,8BAA8B,GAAG;IAC3C,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,IAAI,CAAC,EAAE,OAAO,CAAC;CACzB,CAAC;AAEF,MAAM,MAAM,gBAAgB,GAAG;IAC7B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;CACtB,CAAC;AAEF,MAAM,MAAM,gBAAgB,GAAG;IAC7B,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;CACpC,CAAC;AAIF,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,aAAa,EAAE,UAAU,EAAE,8BAA8B,GAAG,gBAAgB,CA4BnH;AAED,MAAM,WAAW,qBAAqB;IACpC,wFAAwF;IACxF,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,qDAAqD;IACrD,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B;;;;OAIG;IACH,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC;;;;;;OAMG;IACH,QAAQ,CAAC,oBAAoB,EAAE,MAAM,CAAC;CACvC;AAED;;;;GAIG;AACH,wBAAgB,4BAA4B,CAC1C,IAAI,EAAE,aAAa,EACnB,MAAM,SAAkB,GACvB,qBAAqB,CA8CvB;AAED,wBAAgB,eAAe,CAAC,MAAM,EAAE,gBAAgB,EAAE,MAAM,EAAE,gBAAgB,EAAE,KAAK,SAAI,GAAG,gBAAgB,CAU/G;AA4DD,2GAA2G;AAC3G,wBAAgB,wBAAwB,CAAC,KAAK,EAAE,IAAI,EAAE,cAAc,EAAE,SAAS,CAAC,MAAM,CAAC,GAAG,IAAI,CAS7F;AAED,MAAM,WAAW,qBAAqB;IACpC,QAAQ,CAAC,SAAS,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,uFAAuF;IACvF,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;CACzB;AAED,4FAA4F;AAC5F,wBAAgB,iBAAiB,CAC/B,MAAM,EAAE,gBAAgB,EACxB,cAAc,EAAE,SAAS,CAAC,MAAM,CAAC,EACjC,IAAI,EAAE,CAAC,mBAAmB,EAAE,IAAI,KAAK,IAAI,GACxC,qBAAqB,CAOvB"}
|
package/dist/RootMotion.js
CHANGED
|
@@ -24,7 +24,7 @@ export function extractRootMotion(clip, descriptor) {
|
|
|
24
24
|
};
|
|
25
25
|
}
|
|
26
26
|
/**
|
|
27
|
-
*
|
|
27
|
+
* Root-track continuity metric only: this does not measure planted-foot slip. Verify the root
|
|
28
28
|
* advances by a stable per-cycle delta with (near-)zero loop-closure error. Pure and
|
|
29
29
|
* deterministic.
|
|
30
30
|
*/
|
|
@@ -119,4 +119,24 @@ function subtractVec3(a, b) {
|
|
|
119
119
|
function scaleVec3(a, scale) {
|
|
120
120
|
return [a[0] * scale, a[1] * scale, a[2] * scale];
|
|
121
121
|
}
|
|
122
|
+
/** Convert a clip-space displacement to world space; translation of the matrix is deliberately ignored. */
|
|
123
|
+
export function transformRootMotionDelta(delta, worldFromLocal) {
|
|
124
|
+
if (worldFromLocal.length !== 16 || Array.from(worldFromLocal).some(value => !Number.isFinite(value))) {
|
|
125
|
+
throw new Error("Root motion transform must be a finite 4x4 matrix.");
|
|
126
|
+
}
|
|
127
|
+
return [
|
|
128
|
+
worldFromLocal[0] * delta[0] + worldFromLocal[4] * delta[1] + worldFromLocal[8] * delta[2],
|
|
129
|
+
worldFromLocal[1] * delta[0] + worldFromLocal[5] * delta[1] + worldFromLocal[9] * delta[2],
|
|
130
|
+
worldFromLocal[2] * delta[0] + worldFromLocal[6] * delta[1] + worldFromLocal[10] * delta[2]
|
|
131
|
+
];
|
|
132
|
+
}
|
|
133
|
+
/** The injected authority (e.g. Rapier character controller) is the only position owner. */
|
|
134
|
+
export function consumeRootMotion(sample, worldFromLocal, move) {
|
|
135
|
+
const requested = transformRootMotionDelta(sample.delta, worldFromLocal);
|
|
136
|
+
const accepted = move(requested);
|
|
137
|
+
if (accepted.length !== 3 || accepted.some(value => !Number.isFinite(value))) {
|
|
138
|
+
throw new Error("Root motion authority must return a finite accepted displacement.");
|
|
139
|
+
}
|
|
140
|
+
return { requested, accepted: [...accepted], rejected: subtractVec3(requested, accepted) };
|
|
141
|
+
}
|
|
122
142
|
//# sourceMappingURL=RootMotion.js.map
|
package/dist/RootMotion.js.map
CHANGED
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@@ -1 +1 @@
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|
|
1
|
-
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|
|
1
|
+
{"version":3,"file":"RootMotion.js","sourceRoot":"","sources":["../../../../packages/animation/src/RootMotion.ts"],"names":[],"mappings":"AAuBA,MAAM,uBAAuB,GAAG,eAAe,CAAC;AAEhD,MAAM,UAAU,iBAAiB,CAAC,IAAmB,EAAE,UAA0C;IAC/F,MAAM,MAAM,GAAG,UAAU,CAAC,MAAM,IAAI,uBAAuB,CAAC;IAC5D,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAC,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAC,MAAM,CAAC,EAAE,CAAC;QACjF,MAAM,IAAI,KAAK,CAAC,mCAAmC,CAAC,CAAC;IACvD,CAAC;IACD,MAAM,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,SAAS,EAAE,EAAE,CAAC,SAAS,CAAC,MAAM,KAAK,MAAM,CAAC,CAAC;IAC3E,IAAI,CAAC,KAAK,EAAE,CAAC;QACX,MAAM,IAAI,KAAK,CAAC,sBAAsB,MAAM,kBAAkB,CAAC,CAAC;IAClE,CAAC;IACD,IAAI,KAAK,CAAC,SAAS,KAAK,SAAS,EAAE,CAAC;QAClC,MAAM,IAAI,KAAK,CAAC,sBAAsB,MAAM,4BAA4B,CAAC,CAAC;IAC5E,CAAC;IAED,MAAM,IAAI,GAAG,UAAU,CAAC,IAAI,IAAI,KAAK,CAAC;IACtC,MAAM,KAAK,GAAG,IAAI;QAChB,CAAC,CAAC,mBAAmB,CAAC,KAAK,EAAE,IAAI,CAAC,QAAQ,EAAE,UAAU,CAAC,QAAQ,EAAE,UAAU,CAAC,MAAM,CAAC;QACnF,CAAC,CAAC,YAAY,CACV,UAAU,CAAC,KAAK,EAAE,SAAS,CAAC,UAAU,CAAC,MAAM,EAAE,IAAI,CAAC,QAAQ,CAAC,CAAC,EAC9D,UAAU,CAAC,KAAK,EAAE,SAAS,CAAC,UAAU,CAAC,QAAQ,EAAE,IAAI,CAAC,QAAQ,CAAC,CAAC,CACjE,CAAC;IAEN,OAAO;QACL,MAAM;QACN,QAAQ,EAAE,UAAU,CAAC,QAAQ;QAC7B,MAAM,EAAE,UAAU,CAAC,MAAM;QACzB,MAAM,EAAE,IAAI;QACZ,KAAK;KACN,CAAC;AACJ,CAAC;AAuBD;;;;GAIG;AACH,MAAM,UAAU,4BAA4B,CAC1C,IAAmB,EACnB,MAAM,GAAG,eAAe;IAExB,MAAM,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,SAAS,EAAE,EAAE,CAAC,SAAS,CAAC,MAAM,KAAK,MAAM,CAAC,CAAC;IAC3E,IAAI,CAAC,KAAK,EAAE,CAAC;QACX,MAAM,IAAI,KAAK,CAAC,sBAAsB,MAAM,kBAAkB,CAAC,CAAC;IAClE,CAAC;IACD,IAAI,KAAK,CAAC,SAAS,KAAK,SAAS,EAAE,CAAC;QAClC,MAAM,IAAI,KAAK,CAAC,sBAAsB,MAAM,4BAA4B,CAAC,CAAC;IAC5E,CAAC;IACD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,QAAQ,CAAC,IAAI,IAAI,CAAC,QAAQ,IAAI,CAAC,EAAE,CAAC;QAC1D,MAAM,IAAI,KAAK,CAAC,6DAA6D,CAAC,CAAC;IACjF,CAAC;IACD,MAAM,QAAQ,GAAG,IAAI,CAAC,QAAQ,CAAC;IAC/B,MAAM,KAAK,GAAG,UAAU,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;IACnC,MAAM,GAAG,GAAG,UAAU,CAAC,KAAK,EAAE,QAAQ,CAAC,CAAC;IACxC,MAAM,UAAU,GAAG,YAAY,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC;IAC5C,MAAM,aAAa,GAAG,IAAI,CAAC,KAAK,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;IAC9E,MAAM,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,EAAE,QAAQ,GAAG,EAAE,CAAC,CAAC;IAChD,MAAM,eAAe,GAAG,SAAS,CAC/B,YAAY,CAAC,UAAU,CAAC,KAAK,EAAE,SAAS,CAAC,OAAO,EAAE,QAAQ,CAAC,CAAC,EAAE,KAAK,CAAC,EACpE,CAAC,GAAG,OAAO,CACZ,CAAC;IACF,MAAM,aAAa,GAAG,SAAS,CAC7B,YAAY,CAAC,GAAG,EAAE,UAAU,CAAC,KAAK,EAAE,SAAS,CAAC,QAAQ,GAAG,OAAO,EAAE,QAAQ,CAAC,CAAC,CAAC,EAC7E,CAAC,GAAG,OAAO,CACZ,CAAC;IACF,MAAM,gBAAgB,GAAG,IAAI,CAAC,KAAK,CACjC,eAAe,CAAC,CAAC,CAAC,GAAG,aAAa,CAAC,CAAC,CAAC,EACrC,eAAe,CAAC,CAAC,CAAC,GAAG,aAAa,CAAC,CAAC,CAAC,EACrC,eAAe,CAAC,CAAC,CAAC,GAAG,aAAa,CAAC,CAAC,CAAC,CACtC,CAAC;IACF,MAAM,eAAe,GAAG,SAAS,CAAC,UAAU,EAAE,CAAC,GAAG,QAAQ,CAAC,CAAC;IAC5D,IAAI,oBAAoB,GAAG,CAAC,CAAC;IAC7B,MAAM,QAAQ,GAAG,EAAE,CAAC;IACpB,IAAI,QAAQ,GAAG,UAAU,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;IACpC,KAAK,IAAI,OAAO,GAAG,CAAC,EAAE,OAAO,IAAI,QAAQ,EAAE,OAAO,IAAI,CAAC,EAAE,CAAC;QACxD,MAAM,OAAO,GAAG,UAAU,CAAC,KAAK,EAAE,CAAC,OAAO,GAAG,QAAQ,CAAC,GAAG,QAAQ,CAAC,CAAC;QACnE,MAAM,IAAI,GAAG,QAAQ,GAAG,QAAQ,CAAC;QACjC,MAAM,SAAS,GAAG,IAAI,CAAC,KAAK,CAC1B,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,IAAI,GAAG,eAAe,CAAC,CAAC,CAAC,EACtD,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,IAAI,GAAG,eAAe,CAAC,CAAC,CAAC,EACtD,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,IAAI,GAAG,eAAe,CAAC,CAAC,CAAC,CACvD,CAAC;QACF,oBAAoB,GAAG,IAAI,CAAC,GAAG,CAAC,oBAAoB,EAAE,SAAS,CAAC,CAAC;QACjE,QAAQ,GAAG,OAAO,CAAC;IACrB,CAAC;IACD,OAAO,EAAE,UAAU,EAAE,aAAa,EAAE,gBAAgB,EAAE,oBAAoB,EAAE,CAAC;AAC/E,CAAC;AAED,MAAM,UAAU,eAAe,CAAC,MAAwB,EAAE,MAAwB,EAAE,KAAK,GAAG,CAAC;IAC3F,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;QAC5B,MAAM,IAAI,KAAK,CAAC,mCAAmC,CAAC,CAAC;IACvD,CAAC;IACD,MAAM,CAAC,QAAQ,GAAG;QAChB,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,KAAK;QAC5C,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,KAAK;QAC5C,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,KAAK;KAC7C,CAAC;IACF,OAAO,MAAM,CAAC;AAChB,CAAC;AAED,SAAS,mBAAmB,CAAC,KAAqB,EAAE,QAAgB,EAAE,QAAgB,EAAE,MAAc;IACpG,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,IAAI,QAAQ,IAAI,CAAC,EAAE,CAAC;QAChD,MAAM,IAAI,KAAK,CAAC,wDAAwD,CAAC,CAAC;IAC5E,CAAC;IAED,IAAI,WAAW,GAAG,MAAM,CAAC;IACzB,IAAI,WAAW,GAAG,QAAQ,EAAE,CAAC;QAC3B,WAAW,IAAI,IAAI,CAAC,IAAI,CAAC,CAAC,QAAQ,GAAG,WAAW,CAAC,GAAG,QAAQ,CAAC,GAAG,QAAQ,CAAC;IAC3E,CAAC;IAED,MAAM,SAAS,GAAG,IAAI,CAAC,KAAK,CAAC,QAAQ,GAAG,QAAQ,CAAC,CAAC;IAClD,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,WAAW,GAAG,QAAQ,CAAC,CAAC;IACnD,MAAM,WAAW,GAAG,QAAQ,CAAC,QAAQ,EAAE,QAAQ,CAAC,CAAC;IACjD,MAAM,SAAS,GAAG,QAAQ,CAAC,WAAW,EAAE,QAAQ,CAAC,CAAC;IAElD,IAAI,SAAS,KAAK,OAAO,EAAE,CAAC;QAC1B,OAAO,YAAY,CAAC,UAAU,CAAC,KAAK,EAAE,SAAS,CAAC,EAAE,UAAU,CAAC,KAAK,EAAE,WAAW,CAAC,CAAC,CAAC;IACpF,CAAC;IAED,MAAM,UAAU,GAAG,YAAY,CAAC,UAAU,CAAC,KAAK,EAAE,QAAQ,CAAC,EAAE,UAAU,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC;IACnF,MAAM,YAAY,GAAG,YAAY,CAAC,UAAU,CAAC,KAAK,EAAE,QAAQ,CAAC,EA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package/dist/index.d.ts
CHANGED
|
@@ -15,6 +15,7 @@ export * from "./AnimationStateGraph.js";
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|
|
15
15
|
export * from "./LocomotionKit.js";
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|
16
16
|
export * from "./FighterAnimationAdapter.js";
|
|
17
17
|
export * from "./RootMotion.js";
|
|
18
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+
export * from "./LocomotionEvidence.js";
|
|
18
19
|
export * from "./MotionQuality.js";
|
|
19
20
|
export * from "./LocomotionController.js";
|
|
20
21
|
export * from "./SceneAnimationBridge.js";
|
package/dist/index.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/index.ts"],"names":[],"mappings":"AAAA,cAAc,eAAe,CAAC;AAC9B,cAAc,qBAAqB,CAAC;AACpC,cAAc,oBAAoB,CAAC;AACnC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,qBAAqB,CAAC;AACpC,cAAc,qBAAqB,CAAC;AACpC,cAAc,WAAW,CAAC;AAC1B,cAAc,eAAe,CAAC;AAC9B,cAAc,eAAe,CAAC;AAC9B,cAAc,gBAAgB,CAAC;AAC/B,cAAc,sBAAsB,CAAC;AACrC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,0BAA0B,CAAC;AACzC,cAAc,oBAAoB,CAAC;AACnC,cAAc,8BAA8B,CAAC;AAC7C,cAAc,iBAAiB,CAAC;AAChC,cAAc,oBAAoB,CAAC;AACnC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,2BAA2B,CAAC;AAC1C,cAAc,yBAAyB,CAAC;AACxC,cAAc,SAAS,CAAC;AACxB,cAAc,aAAa,CAAC;AAC5B,cAAc,kBAAkB,CAAC;AACjC,cAAc,qBAAqB,CAAC;AACpC,cAAc,0BAA0B,CAAC;AACzC,OAAO,EAAE,qBAAqB,EAAE,2BAA2B,EAAE,wBAAwB,EAAE,8BAA8B,EAAE,MAAM,4BAA4B,CAAC;AAC1J,YAAY,EACV,uBAAuB,EACvB,eAAe,EACf,qBAAqB,EACrB,+BAA+B,EAC/B,uCAAuC,EACvC,4BAA4B,EAC5B,0BAA0B,EAC1B,oBAAoB,EACpB,iBAAiB,EACjB,cAAc,IAAI,kBAAkB,EACpC,oBAAoB,EACpB,yBAAyB,EACzB,gCAAgC,EAChC,uBAAuB,EACxB,MAAM,4BAA4B,CAAC;AACpC,cAAc,0BAA0B,CAAC;AACzC,cAAc,0BAA0B,CAAC;AACzC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,iBAAiB,CAAC;AAChC,cAAc,oCAAoC,CAAC;AACnD,cAAc,oCAAoC,CAAC;AACnD,OAAO,EAAE,wBAAwB,EAAE,MAAM,0CAA0C,CAAC;AACpF,YAAY,EAAE,wBAAwB,EAAE,mBAAmB,EAAE,MAAM,0CAA0C,CAAC;AAC9G,OAAO,EAAE,0BAA0B,EAAE,MAAM,4CAA4C,CAAC;AACxF,OAAO,EAAE,yBAAyB,EAAE,MAAM,2CAA2C,CAAC;AACtF,OAAO,EAAE,mBAAmB,EAAE,MAAM,qCAAqC,CAAC;AAC1E,YAAY,EAAE,eAAe,EAAE,MAAM,qCAAqC,CAAC;AAC3E,OAAO,EAAE,sBAAsB,EAAE,MAAM,wCAAwC,CAAC;AAChF,OAAO,EAAE,2BAA2B,EAAE,MAAM,6CAA6C,CAAC;AAC1F,YAAY,EAAE,4BAA4B,EAAE,MAAM,6CAA6C,CAAC;AAChG,OAAO,EACL,qCAAqC,EACrC,gCAAgC,EAChC,iCAAiC,EAClC,MAAM,iDAAiD,CAAC;AACzD,YAAY,EAAE,kCAAkC,EAAE,MAAM,iDAAiD,CAAC"}
|
|
1
|
+
{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/index.ts"],"names":[],"mappings":"AAAA,cAAc,eAAe,CAAC;AAC9B,cAAc,qBAAqB,CAAC;AACpC,cAAc,oBAAoB,CAAC;AACnC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,qBAAqB,CAAC;AACpC,cAAc,qBAAqB,CAAC;AACpC,cAAc,WAAW,CAAC;AAC1B,cAAc,eAAe,CAAC;AAC9B,cAAc,eAAe,CAAC;AAC9B,cAAc,gBAAgB,CAAC;AAC/B,cAAc,sBAAsB,CAAC;AACrC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,0BAA0B,CAAC;AACzC,cAAc,oBAAoB,CAAC;AACnC,cAAc,8BAA8B,CAAC;AAC7C,cAAc,iBAAiB,CAAC;AAChC,cAAc,yBAAyB,CAAC;AACxC,cAAc,oBAAoB,CAAC;AACnC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,2BAA2B,CAAC;AAC1C,cAAc,yBAAyB,CAAC;AACxC,cAAc,SAAS,CAAC;AACxB,cAAc,aAAa,CAAC;AAC5B,cAAc,kBAAkB,CAAC;AACjC,cAAc,qBAAqB,CAAC;AACpC,cAAc,0BAA0B,CAAC;AACzC,OAAO,EAAE,qBAAqB,EAAE,2BAA2B,EAAE,wBAAwB,EAAE,8BAA8B,EAAE,MAAM,4BAA4B,CAAC;AAC1J,YAAY,EACV,uBAAuB,EACvB,eAAe,EACf,qBAAqB,EACrB,+BAA+B,EAC/B,uCAAuC,EACvC,4BAA4B,EAC5B,0BAA0B,EAC1B,oBAAoB,EACpB,iBAAiB,EACjB,cAAc,IAAI,kBAAkB,EACpC,oBAAoB,EACpB,yBAAyB,EACzB,gCAAgC,EAChC,uBAAuB,EACxB,MAAM,4BAA4B,CAAC;AACpC,cAAc,0BAA0B,CAAC;AACzC,cAAc,0BAA0B,CAAC;AACzC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,iBAAiB,CAAC;AAChC,cAAc,oCAAoC,CAAC;AACnD,cAAc,oCAAoC,CAAC;AACnD,OAAO,EAAE,wBAAwB,EAAE,MAAM,0CAA0C,CAAC;AACpF,YAAY,EAAE,wBAAwB,EAAE,mBAAmB,EAAE,MAAM,0CAA0C,CAAC;AAC9G,OAAO,EAAE,0BAA0B,EAAE,MAAM,4CAA4C,CAAC;AACxF,OAAO,EAAE,yBAAyB,EAAE,MAAM,2CAA2C,CAAC;AACtF,OAAO,EAAE,mBAAmB,EAAE,MAAM,qCAAqC,CAAC;AAC1E,YAAY,EAAE,eAAe,EAAE,MAAM,qCAAqC,CAAC;AAC3E,OAAO,EAAE,sBAAsB,EAAE,MAAM,wCAAwC,CAAC;AAChF,OAAO,EAAE,2BAA2B,EAAE,MAAM,6CAA6C,CAAC;AAC1F,YAAY,EAAE,4BAA4B,EAAE,MAAM,6CAA6C,CAAC;AAChG,OAAO,EACL,qCAAqC,EACrC,gCAAgC,EAChC,iCAAiC,EAClC,MAAM,iDAAiD,CAAC;AACzD,YAAY,EAAE,kCAAkC,EAAE,MAAM,iDAAiD,CAAC"}
|
package/dist/index.js
CHANGED
|
@@ -15,6 +15,7 @@ export * from "./AnimationStateGraph.js";
|
|
|
15
15
|
export * from "./LocomotionKit.js";
|
|
16
16
|
export * from "./FighterAnimationAdapter.js";
|
|
17
17
|
export * from "./RootMotion.js";
|
|
18
|
+
export * from "./LocomotionEvidence.js";
|
|
18
19
|
export * from "./MotionQuality.js";
|
|
19
20
|
export * from "./LocomotionController.js";
|
|
20
21
|
export * from "./SceneAnimationBridge.js";
|
package/dist/index.js.map
CHANGED
|
@@ -1 +1 @@
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|
|
1
|
-
{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../packages/animation/src/index.ts"],"names":[],"mappings":"AAAA,cAAc,eAAe,CAAC;AAC9B,cAAc,qBAAqB,CAAC;AACpC,cAAc,oBAAoB,CAAC;AACnC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,qBAAqB,CAAC;AACpC,cAAc,qBAAqB,CAAC;AACpC,cAAc,WAAW,CAAC;AAC1B,cAAc,eAAe,CAAC;AAC9B,cAAc,eAAe,CAAC;AAC9B,cAAc,gBAAgB,CAAC;AAC/B,cAAc,sBAAsB,CAAC;AACrC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,0BAA0B,CAAC;AACzC,cAAc,oBAAoB,CAAC;AACnC,cAAc,8BAA8B,CAAC;AAC7C,cAAc,iBAAiB,CAAC;AAChC,cAAc,oBAAoB,CAAC;AACnC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,2BAA2B,CAAC;AAC1C,cAAc,yBAAyB,CAAC;AACxC,cAAc,SAAS,CAAC;AACxB,cAAc,aAAa,CAAC;AAC5B,cAAc,kBAAkB,CAAC;AACjC,cAAc,qBAAqB,CAAC;AACpC,cAAc,0BAA0B,CAAC;AACzC,OAAO,EAAE,qBAAqB,EAAE,2BAA2B,EAAE,wBAAwB,EAAE,8BAA8B,EAAE,MAAM,4BAA4B,CAAC;AAiB1J,cAAc,0BAA0B,CAAC;AACzC,cAAc,0BAA0B,CAAC;AACzC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,iBAAiB,CAAC;AAChC,cAAc,oCAAoC,CAAC;AACnD,cAAc,oCAAoC,CAAC;AACnD,OAAO,EAAE,wBAAwB,EAAE,MAAM,0CAA0C,CAAC;AAEpF,OAAO,EAAE,0BAA0B,EAAE,MAAM,4CAA4C,CAAC;AACxF,OAAO,EAAE,yBAAyB,EAAE,MAAM,2CAA2C,CAAC;AACtF,OAAO,EAAE,mBAAmB,EAAE,MAAM,qCAAqC,CAAC;AAE1E,OAAO,EAAE,sBAAsB,EAAE,MAAM,wCAAwC,CAAC;AAChF,OAAO,EAAE,2BAA2B,EAAE,MAAM,6CAA6C,CAAC;AAE1F,OAAO,EACL,qCAAqC,EACrC,gCAAgC,EAChC,iCAAiC,EAClC,MAAM,iDAAiD,CAAC"}
|
|
1
|
+
{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../packages/animation/src/index.ts"],"names":[],"mappings":"AAAA,cAAc,eAAe,CAAC;AAC9B,cAAc,qBAAqB,CAAC;AACpC,cAAc,oBAAoB,CAAC;AACnC,cAAc,sBAAsB,CAAC;AACrC,cAAc,sBAAsB,CAAC;AACrC,cAAc,qBAAqB,CAAC;AACpC,cAAc,qBAAqB,CAAC;AACpC,cAAc,WAAW,CAAC;AAC1B,cAAc,eAAe,CAAC;AAC9B,cAAc,eAAe,CAAC;AAC9B,cAAc,gBAAgB,CAAC;AAC/B,cAAc,sBAAsB,CAAC;AACrC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,0BAA0B,CAAC;AACzC,cAAc,oBAAoB,CAAC;AACnC,cAAc,8BAA8B,CAAC;AAC7C,cAAc,iBAAiB,CAAC;AAChC,cAAc,yBAAyB,CAAC;AACxC,cAAc,oBAAoB,CAAC;AACnC,cAAc,2BAA2B,CAAC;AAC1C,cAAc,2BAA2B,CAAC;AAC1C,cAAc,yBAAyB,CAAC;AACxC,cAAc,SAAS,CAAC;AACxB,cAAc,aAAa,CAAC;AAC5B,cAAc,kBAAkB,CAAC;AACjC,cAAc,qBAAqB,CAAC;AACpC,cAAc,0BAA0B,CAAC;AACzC,OAAO,EAAE,qBAAqB,EAAE,2BAA2B,EAAE,wBAAwB,EAAE,8BAA8B,EAAE,MAAM,4BAA4B,CAAC;AAiB1J,cAAc,0BAA0B,CAAC;AACzC,cAAc,0BAA0B,CAAC;AACzC,cAAc,4BAA4B,CAAC;AAC3C,cAAc,iBAAiB,CAAC;AAChC,cAAc,oCAAoC,CAAC;AACnD,cAAc,oCAAoC,CAAC;AACnD,OAAO,EAAE,wBAAwB,EAAE,MAAM,0CAA0C,CAAC;AAEpF,OAAO,EAAE,0BAA0B,EAAE,MAAM,4CAA4C,CAAC;AACxF,OAAO,EAAE,yBAAyB,EAAE,MAAM,2CAA2C,CAAC;AACtF,OAAO,EAAE,mBAAmB,EAAE,MAAM,qCAAqC,CAAC;AAE1E,OAAO,EAAE,sBAAsB,EAAE,MAAM,wCAAwC,CAAC;AAChF,OAAO,EAAE,2BAA2B,EAAE,MAAM,6CAA6C,CAAC;AAE1F,OAAO,EACL,qCAAqC,EACrC,gCAAgC,EAChC,iCAAiC,EAClC,MAAM,iDAAiD,CAAC"}
|
package/package.json
CHANGED
|
@@ -1,6 +1,6 @@
|
|
|
1
1
|
{
|
|
2
2
|
"name": "@aura3d/animation",
|
|
3
|
-
"version": "3.0.
|
|
3
|
+
"version": "3.0.1",
|
|
4
4
|
"type": "module",
|
|
5
5
|
"main": "./dist/index.js",
|
|
6
6
|
"types": "./dist/index.d.ts",
|
|
@@ -12,7 +12,7 @@
|
|
|
12
12
|
}
|
|
13
13
|
},
|
|
14
14
|
"dependencies": {
|
|
15
|
-
"@aura3d/math": "3.0.
|
|
15
|
+
"@aura3d/math": "3.0.1"
|
|
16
16
|
},
|
|
17
17
|
"description": "Deterministic animation clips, mixers, root motion, skeleton palettes, blend trees, state machines, and scene/ECS animation bridges for Aura3D.",
|
|
18
18
|
"keywords": [
|