@aura3d/animation 3.0.0 → 4.0.0

package/dist/pose/MotionMetrics.js

@@ -0,0 +1,253 @@
+/**
+ * §17.3 motion-quality metrics (T1.14). Pure functions over per-frame bone
+ * samples — world-space rotation (quat) and position per bone at a fixed
+ * cadence (the lane samples at 60 Hz from engine bone sockets; spec: "from
+ * engine bone data, not from screenshots").
+ *
+ * NOT built on `MotionQuality.ts` (E42): that tracker measures motion
+ * *existence* (tracksApplied, poseDiversityScore) — these measure quality.
+ */
+const IDENTITY_QUAT = [0, 0, 0, 1];
+/* ------------------------------------------------------------------ */
+/* matrix → {rotation, position}                                       */
+/* ------------------------------------------------------------------ */
+/**
+ * Decompose a column-major 4x4 world matrix into rotation quaternion +
+ * translation. Assumes uniform/orthonormal-ish basis (animation palettes are
+ * rigid transforms ± uniform scale; any uniform scale is divided out of the
+ * rotation columns).
+ */
+export function motionSampleFromMatrix(m) {
+    const position = [m[12], m[13], m[14]];
+    // Column lengths = per-axis scale magnitudes.
+    const sx = Math.hypot(m[0], m[1], m[2]) || 1;
+    const sy = Math.hypot(m[4], m[5], m[6]) || 1;
+    const sz = Math.hypot(m[8], m[9], m[10]) || 1;
+    const r00 = m[0] / sx, r01 = m[4] / sy, r02 = m[8] / sz;
+    const r10 = m[1] / sx, r11 = m[5] / sy, r12 = m[9] / sz;
+    const r20 = m[2] / sx, r21 = m[6] / sy, r22 = m[10] / sz;
+    // Standard rotation-matrix → quat.
+    const trace = r00 + r11 + r22;
+    let x = 0, y = 0, z = 0, w = 1;
+    if (trace > 0) {
+        const s = Math.sqrt(trace + 1) * 2;
+        w = s / 4;
+        x = (r21 - r12) / s;
+        y = (r02 - r20) / s;
+        z = (r10 - r01) / s;
+    }
+    else if (r00 > r11 && r00 > r22) {
+        const s = Math.sqrt(1 + r00 - r11 - r22) * 2;
+        w = (r21 - r12) / s;
+        x = s / 4;
+        y = (r01 + r10) / s;
+        z = (r02 + r20) / s;
+    }
+    else if (r11 > r22) {
+        const s = Math.sqrt(1 + r11 - r00 - r22) * 2;
+        w = (r02 - r20) / s;
+        x = (r01 + r10) / s;
+        y = s / 4;
+        z = (r12 + r21) / s;
+    }
+    else {
+        const s = Math.sqrt(1 + r22 - r00 - r11) * 2;
+        w = (r10 - r01) / s;
+        x = (r02 + r20) / s;
+        y = (r12 + r21) / s;
+        z = s / 4;
+    }
+    const len = Math.hypot(x, y, z, w) || 1;
+    return { rotation: [x / len, y / len, z / len, w / len], position };
+}
+/* ------------------------------------------------------------------ */
+/* bone filters                                                        */
+/* ------------------------------------------------------------------ */
+const FINGERISH = /finger|thumb|index|middle|ring|pinky|toe|tip|distal/i;
+const LIMBISH = /arm|leg|forearm|upper|lower|hand|foot|shoulder|clavicle|thigh|shin|calf|knee|elbow|wrist|ankle|spine|chest|hips|pelvis|neck|head/i;
+/**
+ * §17.3's bone subset: humanoid limb and spine bones only — fingers and toes
+ * excluded (they flap at high angular speed and are not what "continuity"
+ * judges). `mixamo`-style names (mixamorigHips) and plain names both match.
+ */
+export function isHumanoidMotionBone(bone) {
+    if (FINGERISH.test(bone))
+        return false;
+    return LIMBISH.test(bone);
+}
+/* ------------------------------------------------------------------ */
+/* angular speed                                                       */
+/* ------------------------------------------------------------------ */
+/** Shortest-arc angle between two quats, in degrees. */
+export function quatAngleDegrees(a, b) {
+    const d = Math.abs(a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3]);
+    const clamped = Math.min(1, d);
+    return (2 * Math.acos(clamped) * 180) / Math.PI;
+}
+/** Per-bone angular-speed series over the sampled window. */
+export function boneAngularSpeeds(frames, isBone = isHumanoidMotionBone) {
+    const byBone = new Map();
+    for (const frame of frames) {
+        for (const [bone, sample] of Object.entries(frame.bones)) {
+            if (!isBone(bone))
+                continue;
+            let series = byBone.get(bone);
+            if (series === undefined) {
+                series = { speeds: [], times: [] };
+                byBone.set(bone, series);
+            }
+            if (series.lastQ !== undefined && series.lastT !== undefined) {
+                const dt = frame.time - series.lastT;
+                if (dt > 0) {
+                    series.speeds.push(quatAngleDegrees(series.lastQ, sample.rotation) / dt);
+                    series.times.push(series.lastT + dt / 2);
+                }
+            }
+            series.lastQ = sample.rotation;
+            series.lastT = frame.time;
+        }
+    }
+    return [...byBone.entries()].map(([bone, s]) => ({ bone, speeds: s.speeds, times: s.times }));
+}
+/** Max deg/s across all bones inside [start, end] (0 when empty). */
+export function maxAngularSpeedInWindow(frames, start, end, isBone = isHumanoidMotionBone) {
+    return maxAngularSpeedDetailInWindow(frames, start, end, isBone).speed;
+}
+/** The single fastest bone→speed sample inside [start, end], with attribution. */
+export function maxAngularSpeedDetailInWindow(frames, start, end, isBone = isHumanoidMotionBone) {
+    let max = 0;
+    let bone;
+    let at;
+    for (const series of boneAngularSpeeds(frames, isBone)) {
+        for (let i = 0; i < series.speeds.length; i += 1) {
+            const t = series.times[i];
+            if (t >= start && t <= end && series.speeds[i] > max) {
+                max = series.speeds[i];
+                bone = series.bone;
+                at = t;
+            }
+        }
+    }
+    return { speed: max, ...(bone !== undefined ? { bone } : {}), ...(at !== undefined ? { at } : {}) };
+}
+/**
+ * C over the transition window [t₀ − windowBefore, t₀ + windowAfter]:
+ * the max per-bone angular speed (humanoid limb+spine only) divided by the max
+ * per-bone angular speed of either clip played alone over the same phase range
+ * — supplied via `baselineWindows` (frame ranges of pure clip playback) or an
+ * explicit `baselineDegPerSec`. Denominator floored at 90°/s (§17.3).
+ */
+export function transitionContinuity(frames, options) {
+    const isBone = options.isBone ?? isHumanoidMotionBone;
+    const start = options.transitionTime - (options.windowBefore ?? 0.1);
+    const end = options.transitionTime + (options.windowAfter ?? 0.3);
+    const fastest = maxAngularSpeedDetailInWindow(frames, start, end, isBone);
+    const maxAngularSpeed = fastest.speed;
+    let baseline = options.baselineDegPerSec ?? 0;
+    for (const [wStart, wEnd] of options.baselineWindows ?? []) {
+        baseline = Math.max(baseline, maxAngularSpeedInWindow(frames, wStart, wEnd, isBone));
+    }
+    baseline = Math.max(baseline, 90); // §17.3 floor: idle→idle cannot divide by ~0
+    return {
+        continuity: maxAngularSpeed / baseline,
+        maxAngularSpeedDegPerSec: maxAngularSpeed,
+        baselineDegPerSec: baseline,
+        ...(fastest.bone !== undefined ? { maxBone: fastest.bone } : {}),
+        ...(fastest.at !== undefined ? { maxAt: fastest.at } : {})
+    };
+}
+/**
+ * World displacement of a foot bone while its contact flag is set. Contact is
+ * a clip footstep event (`contactWindows`) or inferred: foot height < 3 cm AND
+ * horizontal speed < 0.1 m/s. §17.3 pass bars: ≤ 2 cm walk / ≤ 3 cm run.
+ */
+export function footSlide(frames, options) {
+    const heightM = options.contactHeightM ?? 0.03;
+    const speedMps = options.contactSpeedMps ?? 0.1;
+    const phases = [];
+    for (const bone of options.footBones) {
+        const explicit = options.contactWindows?.[bone];
+        let inContact = false;
+        let phaseStart = 0;
+        let phaseStartPos = [0, 0];
+        let slide = 0;
+        let last;
+        const closePhase = (t) => {
+            if (inContact)
+                phases.push({ bone, startTime: phaseStart, endTime: t, slideM: slide });
+            inContact = false;
+            slide = 0;
+        };
+        for (const frame of frames) {
+            const sample = frame.bones[bone];
+            if (sample === undefined) {
+                closePhase(frame.time);
+                last = undefined;
+                continue;
+            }
+            const p = sample.position;
+            const horizontalSpeed = last === undefined
+                ? 0
+                : Math.hypot(p[0] - last.p[0], p[2] - last.p[2]) / Math.max(1e-6, frame.time - last.t);
+            last = { p, t: frame.time };
+            const contact = explicit !== undefined
+                ? explicit.some(([s, e]) => frame.time >= s && frame.time <= e)
+                : p[1] <= heightM && horizontalSpeed <= speedMps;
+            if (contact && !inContact) {
+                inContact = true;
+                phaseStart = frame.time;
+                phaseStartPos = [p[0], p[2]];
+                slide = 0;
+            }
+            else if (contact) {
+                slide = Math.max(slide, Math.hypot(p[0] - phaseStartPos[0], p[2] - phaseStartPos[1]));
+            }
+            else {
+                closePhase(frame.time);
+            }
+        }
+        closePhase(frames.at(-1)?.time ?? phaseStart);
+    }
+    return { maxSlideM: phases.reduce((m, p) => Math.max(m, p.slideM), 0), phases };
+}
+/**
+ * Normalised-phase difference between two locomotion actions while both are
+ * weighted (default bar weight > 0.05). Phase is clip-local time normalised by
+ * duration (caller computes — `animationState().activeActions` exposes `time`
+ * and the clip durations resolve through `resolveAnimationClips`). §17.3 pass
+ * bar: ≤ 1% of the cycle.
+ */
+export function locomotionPhaseError(samples, options = {}) {
+    const minWeight = options.minWeight ?? 0.05;
+    let max = 0;
+    let sum = 0;
+    let n = 0;
+    for (const s of samples) {
+        if (s.a.weight <= minWeight || s.b.weight <= minWeight)
+            continue;
+        const raw = Math.abs(((s.a.phase % 1) + 1) % 1 - ((s.b.phase % 1) + 1) % 1);
+        const err = Math.min(raw, 1 - raw); // circular phase distance in cycles
+        max = Math.max(max, err);
+        sum += err;
+        n += 1;
+    }
+    return { maxPhaseError: max, meanPhaseError: n === 0 ? 0 : sum / n, comparedFrames: n };
+}
+/* ------------------------------------------------------------------ */
+/* sampling helper                                                     */
+/* ------------------------------------------------------------------ */
+/**
+ * Build one MotionFrame from a socket reader — the adapter's per-frame hook:
+ * `motionFrame(t, boneNames, (bone) => socket(bone).worldMatrix())`.
+ */
+export function motionFrame(time, boneNames, worldMatrix) {
+    const bones = {};
+    for (const bone of boneNames) {
+        const m = worldMatrix(bone);
+        if (m !== undefined)
+            bones[bone] = motionSampleFromMatrix(m);
+    }
+    return { time, bones };
+}
+export { IDENTITY_QUAT as MOTION_IDENTITY_QUAT };
+//# sourceMappingURL=MotionMetrics.js.map

package/dist/pose/MotionMetrics.js.map

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

@@ -0,0 +1,23 @@
+/**
+ * PRD-06 T1.1 — flat per-bone TRS storage for the pose pipeline.
+ *
+ * One `PoseBuffer` holds a full skeleton pose: `positions`/`scales` are
+ * `3 × boneCount` (x, y, z) and `rotations` is `4 × boneCount` (x, y, z, w).
+ * Fresh buffers start at the identity pose (zero translation/rotation, unit
+ * scale); {@link copyPose} copies in place with no allocation.
+ */
+export interface PoseBuffer {
+    readonly boneCount: number;
+    /** `3 × boneCount` — x, y, z per bone. */
+    readonly positions: Float32Array;
+    /** `4 × boneCount` — x, y, z, w per bone. */
+    readonly rotations: Float32Array;
+    /** `3 × boneCount` — x, y, z per bone. */
+    readonly scales: Float32Array;
+}
+export declare function createPoseBuffer(boneCount: number): PoseBuffer;
+/** Copy every channel of `src` into `dst` in place. Buffer sizes must match. */
+export declare function copyPose(dst: PoseBuffer, src: PoseBuffer): PoseBuffer;
+/** Restore `pose` to the identity transform on every bone (no allocation). */
+export declare function resetPoseToIdentity(pose: PoseBuffer): PoseBuffer;
+//# sourceMappingURL=PoseBuffer.d.ts.map

package/dist/pose/PoseBuffer.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"PoseBuffer.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/pose/PoseBuffer.ts"],"names":[],"mappings":"AAAA;;;;;;;GAOG;AAEH,MAAM,WAAW,UAAU;IACzB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,0CAA0C;IAC1C,QAAQ,CAAC,SAAS,EAAE,YAAY,CAAC;IACjC,6CAA6C;IAC7C,QAAQ,CAAC,SAAS,EAAE,YAAY,CAAC;IACjC,0CAA0C;IAC1C,QAAQ,CAAC,MAAM,EAAE,YAAY,CAAC;CAC/B;AAED,wBAAgB,gBAAgB,CAAC,SAAS,EAAE,MAAM,GAAG,UAAU,CAkB9D;AAED,gFAAgF;AAChF,wBAAgB,QAAQ,CAAC,GAAG,EAAE,UAAU,EAAE,GAAG,EAAE,UAAU,GAAG,UAAU,CAQrE;AAED,8EAA8E;AAC9E,wBAAgB,mBAAmB,CAAC,IAAI,EAAE,UAAU,GAAG,UAAU,CAQhE"}

package/dist/pose/PoseBuffer.js

@@ -0,0 +1,48 @@
+/**
+ * PRD-06 T1.1 — flat per-bone TRS storage for the pose pipeline.
+ *
+ * One `PoseBuffer` holds a full skeleton pose: `positions`/`scales` are
+ * `3 × boneCount` (x, y, z) and `rotations` is `4 × boneCount` (x, y, z, w).
+ * Fresh buffers start at the identity pose (zero translation/rotation, unit
+ * scale); {@link copyPose} copies in place with no allocation.
+ */
+export function createPoseBuffer(boneCount) {
+    if (!Number.isInteger(boneCount) || boneCount < 0) {
+        throw new Error("createPoseBuffer requires a non-negative integer bone count.");
+    }
+    const rotations = new Float32Array(boneCount * 4);
+    const scales = new Float32Array(boneCount * 3);
+    for (let index = 0; index < boneCount; index += 1) {
+        rotations[index * 4 + 3] = 1;
+        scales[index * 3] = 1;
+        scales[index * 3 + 1] = 1;
+        scales[index * 3 + 2] = 1;
+    }
+    return {
+        boneCount,
+        positions: new Float32Array(boneCount * 3),
+        rotations,
+        scales
+    };
+}
+/** Copy every channel of `src` into `dst` in place. Buffer sizes must match. */
+export function copyPose(dst, src) {
+    if (dst.boneCount !== src.boneCount) {
+        throw new Error("copyPose requires buffers with matching bone counts.");
+    }
+    dst.positions.set(src.positions);
+    dst.rotations.set(src.rotations);
+    dst.scales.set(src.scales);
+    return dst;
+}
+/** Restore `pose` to the identity transform on every bone (no allocation). */
+export function resetPoseToIdentity(pose) {
+    pose.positions.fill(0);
+    pose.rotations.fill(0);
+    pose.scales.fill(1);
+    for (let index = 0; index < pose.boneCount; index += 1) {
+        pose.rotations[index * 4 + 3] = 1;
+    }
+    return pose;
+}
+//# sourceMappingURL=PoseBuffer.js.map

package/dist/pose/PoseBuffer.js.map

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package/dist/pose/PoseInertializer.d.ts

@@ -0,0 +1,38 @@
+/**
+ * PRD-06 T1.6 — per-bone inertialized transitions (§6.4).
+ *
+ * `transition(latest, previous, dt)` captures the outgoing pose plus its
+ * per-bone velocity (finite difference of the last two output poses).
+ * `apply(out, newPose, elapsed)` writes `newPose` with the captured offset
+ * decayed by the existing `inertializedQuat` / `inertializedVec3` math —
+ * at `elapsed = 0` the output equals the captured pose (position- and
+ * velocity-continuous), then converges to `newPose`.
+ */
+import { type PoseBuffer } from "./PoseBuffer.js";
+export declare const DEFAULT_POSE_TRANSITION_HALF_LIFE = 0.15;
+export declare class PoseInertializer {
+    private captured;
+    private readonly positionVelocities;
+    private readonly scaleVelocities;
+    /** Per-bone angular velocity: axis (unit vec3, from latest·prev⁻¹) and speed (rad/s). */
+    private readonly angularSpeeds;
+    private readonly angularAxes;
+    private readonly boneCount;
+    private halfLife;
+    constructor(boneCount: number);
+    /** True once a transition has been captured. */
+    get active(): boolean;
+    /**
+     * Capture the transition: `latest` is the last output pose before the
+     * switch, `previous` the output `dt` seconds earlier (for velocities).
+     */
+    transition(latest: PoseBuffer, previous: PoseBuffer, dt: number, halfLife?: number): void;
+    /**
+     * Write `newPose` with the captured offset decayed over `elapsed` seconds
+     * into `out`. Buffers are reused — `out` may alias `newPose`.
+     */
+    apply(out: PoseBuffer, newPose: PoseBuffer, elapsed: number): PoseBuffer;
+    /** Drop the captured transition (no allocation). */
+    clear(): void;
+}
+//# sourceMappingURL=PoseInertializer.d.ts.map

package/dist/pose/PoseInertializer.d.ts.map

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package/dist/pose/PoseInertializer.js

@@ -0,0 +1,208 @@
+/**
+ * PRD-06 T1.6 — per-bone inertialized transitions (§6.4).
+ *
+ * `transition(latest, previous, dt)` captures the outgoing pose plus its
+ * per-bone velocity (finite difference of the last two output poses).
+ * `apply(out, newPose, elapsed)` writes `newPose` with the captured offset
+ * decayed by the existing `inertializedQuat` / `inertializedVec3` math —
+ * at `elapsed = 0` the output equals the captured pose (position- and
+ * velocity-continuous), then converges to `newPose`.
+ */
+import { inertializationDecayRate, inertializedQuat, inertializedVec3 } from "../Inertialization.js";
+import { createPoseBuffer } from "./PoseBuffer.js";
+export const DEFAULT_POSE_TRANSITION_HALF_LIFE = 0.15;
+export class PoseInertializer {
+    captured;
+    positionVelocities;
+    scaleVelocities;
+    /** Per-bone angular velocity: axis (unit vec3, from latest·prev⁻¹) and speed (rad/s). */
+    angularSpeeds;
+    angularAxes;
+    boneCount;
+    halfLife = DEFAULT_POSE_TRANSITION_HALF_LIFE;
+    constructor(boneCount) {
+        if (!Number.isInteger(boneCount) || boneCount < 0) {
+            throw new Error("PoseInertializer requires a non-negative integer bone count.");
+        }
+        this.boneCount = boneCount;
+        this.positionVelocities = new Float32Array(boneCount * 3);
+        this.scaleVelocities = new Float32Array(boneCount * 3);
+        this.angularSpeeds = new Float32Array(boneCount);
+        this.angularAxes = new Float32Array(boneCount * 3);
+    }
+    /** True once a transition has been captured. */
+    get active() {
+        return this.captured !== undefined;
+    }
+    /**
+     * Capture the transition: `latest` is the last output pose before the
+     * switch, `previous` the output `dt` seconds earlier (for velocities).
+     */
+    transition(latest, previous, dt, halfLife = DEFAULT_POSE_TRANSITION_HALF_LIFE) {
+        if (latest.boneCount !== this.boneCount || previous.boneCount !== this.boneCount) {
+            throw new Error("PoseInertializer.transition requires poses matching the constructor bone count.");
+        }
+        if (!(dt > 0)) {
+            throw new Error("PoseInertializer.transition requires a positive dt.");
+        }
+        if (!this.captured)
+            this.captured = createPoseBuffer(this.boneCount);
+        const captured = this.captured;
+        this.halfLife = halfLife;
+        const invDt = 1 / dt;
+        for (let bone = 0; bone < this.boneCount; bone += 1) {
+            const p = bone * 3;
+            const q = bone * 4;
+            for (let axis = 0; axis < 3; axis += 1) {
+                captured.positions[p + axis] = latest.positions[p + axis];
+                captured.scales[p + axis] = latest.scales[p + axis];
+                this.positionVelocities[p + axis] = (latest.positions[p + axis] - previous.positions[p + axis]) * invDt;
+                this.scaleVelocities[p + axis] = (latest.scales[p + axis] - previous.scales[p + axis]) * invDt;
+            }
+            captured.rotations[q] = latest.rotations[q];
+            captured.rotations[q + 1] = latest.rotations[q + 1];
+            captured.rotations[q + 2] = latest.rotations[q + 2];
+            captured.rotations[q + 3] = latest.rotations[q + 3];
+            // Angular speed: angle of the per-frame delta rotation (latest·prev⁻¹),
+            // signed later against each bone's offset axis at apply time.
+            const delta = quatMultiply([latest.rotations[q], latest.rotations[q + 1], latest.rotations[q + 2], latest.rotations[q + 3]], quatConjugate([previous.rotations[q], previous.rotations[q + 1], previous.rotations[q + 2], previous.rotations[q + 3]]));
+            const w = Math.min(1, Math.abs(normalizeComponent(delta[3])));
+            this.angularSpeeds[bone] = (2 * Math.acos(w)) * invDt;
+            const axis = quatAxis(delta);
+            this.angularAxes[p] = axis[0];
+            this.angularAxes[p + 1] = axis[1];
+            this.angularAxes[p + 2] = axis[2];
+        }
+    }
+    /**
+     * Write `newPose` with the captured offset decayed over `elapsed` seconds
+     * into `out`. Buffers are reused — `out` may alias `newPose`.
+     */
+    apply(out, newPose, elapsed) {
+        if (!this.captured) {
+            throw new Error("PoseInertializer.apply called before transition().");
+        }
+        if (newPose.boneCount !== this.boneCount || out.boneCount !== this.boneCount) {
+            throw new Error("PoseInertializer.apply requires poses matching the constructor bone count.");
+        }
+        const captured = this.captured;
+        const halfLife = this.halfLife;
+        for (let bone = 0; bone < this.boneCount; bone += 1) {
+            const p = bone * 3;
+            const q = bone * 4;
+            const posOffset = [
+                captured.positions[p] - newPose.positions[p],
+                captured.positions[p + 1] - newPose.positions[p + 1],
+                captured.positions[p + 2] - newPose.positions[p + 2]
+            ];
+            const posVelocity = [
+                this.positionVelocities[p],
+                this.positionVelocities[p + 1],
+                this.positionVelocities[p + 2]
+            ];
+            const decayedPos = inertializedVec3(posOffset, elapsed, halfLife, posVelocity);
+            out.positions[p] = newPose.positions[p] + decayedPos[0];
+            out.positions[p + 1] = newPose.positions[p + 1] + decayedPos[1];
+            out.positions[p + 2] = newPose.positions[p + 2] + decayedPos[2];
+            const scaleOffset = [
+                captured.scales[p] - newPose.scales[p],
+                captured.scales[p + 1] - newPose.scales[p + 1],
+                captured.scales[p + 2] - newPose.scales[p + 2]
+            ];
+            const scaleVelocity = [
+                this.scaleVelocities[p],
+                this.scaleVelocities[p + 1],
+                this.scaleVelocities[p + 2]
+            ];
+            const decayedScale = inertializedVec3(scaleOffset, elapsed, halfLife, scaleVelocity);
+            out.scales[p] = newPose.scales[p] + decayedScale[0];
+            out.scales[p + 1] = newPose.scales[p + 1] + decayedScale[1];
+            out.scales[p + 2] = newPose.scales[p + 2] + decayedScale[2];
+            const source = [
+                captured.rotations[q],
+                captured.rotations[q + 1],
+                captured.rotations[q + 2],
+                captured.rotations[q + 3]
+            ];
+            const target = [
+                newPose.rotations[q],
+                newPose.rotations[q + 1],
+                newPose.rotations[q + 2],
+                newPose.rotations[q + 3]
+            ];
+            // Sign the captured angular speed onto this bone's offset axis so
+            // momentum keeps pushing in the pre-transition direction.
+            const offset = quatMultiply(quatNormalize(source), quatConjugate(quatNormalize(target)));
+            const offsetAxis = quatAxis(offset);
+            const velAxis = [this.angularAxes[p], this.angularAxes[p + 1], this.angularAxes[p + 2]];
+            const sign = dot3(offsetAxis, velAxis) >= 0 ? 1 : -1;
+            const offsetAngle = 2 * Math.acos(Math.min(1, Math.abs(offset[3])));
+            let blended;
+            if (offsetAngle < 1e-4 && this.angularSpeeds[bone] > 0) {
+                // Degenerate case: poses already match, so the offset axis is
+                // undefined — decay momentum about the *captured velocity* axis
+                // instead of an arbitrary fallback axis.
+                const decayed = inertializedScalarInline(0, this.angularSpeeds[bone], elapsed, halfLife);
+                const momentum = [
+                    velAxis[0] * Math.sin(decayed / 2),
+                    velAxis[1] * Math.sin(decayed / 2),
+                    velAxis[2] * Math.sin(decayed / 2),
+                    Math.cos(decayed / 2)
+                ];
+                blended = quatNormalize(quatMultiply(momentum, quatNormalize(target)));
+            }
+            else {
+                blended = inertializedQuat(source, target, elapsed, halfLife, this.angularSpeeds[bone] * sign);
+            }
+            out.rotations[q] = blended[0];
+            out.rotations[q + 1] = blended[1];
+            out.rotations[q + 2] = blended[2];
+            out.rotations[q + 3] = blended[3];
+        }
+        return out;
+    }
+    /** Drop the captured transition (no allocation). */
+    clear() {
+        this.captured = undefined;
+    }
+}
+function quatMultiply(a, b) {
+    return [
+        a[3] * b[0] + a[0] * b[3] + a[1] * b[2] - a[2] * b[1],
+        a[3] * b[1] - a[0] * b[2] + a[1] * b[3] + a[2] * b[0],
+        a[3] * b[2] + a[0] * b[1] - a[1] * b[0] + a[2] * b[3],
+        a[3] * b[3] - a[0] * b[0] - a[1] * b[1] - a[2] * b[2]
+    ];
+}
+function quatConjugate(q) {
+    return [-q[0], -q[1], -q[2], q[3]];
+}
+function quatNormalize(q) {
+    const length = Math.hypot(q[0], q[1], q[2], q[3]);
+    if (length <= 1e-9)
+        return [0, 0, 0, 1];
+    return [q[0] / length, q[1] / length, q[2] / length, q[3] / length];
+}
+function normalizeComponent(x) {
+    return Number.isFinite(x) ? x : 1;
+}
+/** Rotation axis of a unit quaternion (normalized, or +X for identity). */
+function quatAxis(q) {
+    const s = Math.sqrt(Math.max(0, 1 - Math.min(1, q[3] * q[3])));
+    if (s < 1e-8)
+        return [1, 0, 0];
+    return [q[0] / s, q[1] / s, q[2] / s];
+}
+function dot3(a, b) {
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+/** `Inertialization.ts`'s scalar spring, inlined so `elapsed = 0` maps to `offset0`. */
+function inertializedScalarInline(offset0, velocity0, t, halfLife) {
+    if (!(t > 0))
+        return offset0;
+    const k = inertializationDecayRate(halfLife);
+    if (!Number.isFinite(k))
+        return 0;
+    return (offset0 + (velocity0 + k * offset0) * t) * Math.exp(-k * t);
+}
+//# sourceMappingURL=PoseInertializer.js.map

package/dist/pose/PoseInertializer.js.map

@@ -0,0 +1 @@
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