@aura3d/animation 3.0.0 → 4.0.0

package/dist/Keyframe.js.map

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

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

package/dist/LocomotionEvidence.d.ts.map

@@ -0,0 +1 @@
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package/dist/LocomotionEvidence.js

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

package/dist/LocomotionEvidence.js.map

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package/dist/RootMotion.d.ts

@@ -24,9 +24,8 @@ export interface RootMotionSlideReport {
     readonly cycleDistance: number;
     /**
      * Loop-closure error (units/second): magnitude of the root-velocity discontinuity at the
-     * loop point, `|v(0+) − v(duration−)|` via finite differences. Zero means the clip wraps
-     * seamlessly — no velocity snap at the seam, which is the quantitative form of "no foot
-     * sliding at turn".
+     * loop point, `|v(0+) − v(duration−)|` via finite differences. Zero means no root velocity
+     * snap at the seam; planted-foot contact must be measured independently.
      */
     readonly loopClosureError: number;
     /**
@@ -39,10 +38,20 @@ export interface RootMotionSlideReport {
     readonly maxVelocityDeviation: number;
 }
 /**
- * Zero-slide metric for root-motion locomotion (E2): for a looping clip, verify the root
+ * Root-track continuity metric only: this does not measure planted-foot slip. Verify the root
  * advances by a stable per-cycle delta with (near-)zero loop-closure error. Pure and
  * deterministic.
  */
 export declare function measureRootMotionLoopClosure(clip: AnimationClip, target?: string): RootMotionSlideReport;
 export declare function applyRootMotion(target: RootMotionTarget, sample: RootMotionSample, scale?: number): RootMotionTarget;
+/** Convert a clip-space displacement to world space; translation of the matrix is deliberately ignored. */
+export declare function transformRootMotionDelta(delta: Vec3, worldFromLocal: ArrayLike<number>): Vec3;
+export interface RootMotionConsumption {
+    readonly requested: Vec3;
+    readonly accepted: Vec3;
+    /** Rejected displacement is diagnostic, never silently carried into the next frame. */
+    readonly rejected: Vec3;
+}
+/** The injected authority (e.g. Rapier character controller) is the only position owner. */
+export declare function consumeRootMotion(sample: RootMotionSample, worldFromLocal: ArrayLike<number>, move: (requestedWorldDelta: Vec3) => Vec3): RootMotionConsumption;
 //# sourceMappingURL=RootMotion.d.ts.map

package/dist/RootMotion.d.ts.map

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

@@ -24,7 +24,7 @@ export function extractRootMotion(clip, descriptor) {
     };
 }
 /**
- * Zero-slide metric for root-motion locomotion (E2): for a looping clip, verify the root
+ * Root-track continuity metric only: this does not measure planted-foot slip. Verify the root
  * advances by a stable per-cycle delta with (near-)zero loop-closure error. Pure and
  * deterministic.
  */
@@ -119,4 +119,24 @@ function subtractVec3(a, b) {
 function scaleVec3(a, scale) {
     return [a[0] * scale, a[1] * scale, a[2] * scale];
 }
+/** Convert a clip-space displacement to world space; translation of the matrix is deliberately ignored. */
+export function transformRootMotionDelta(delta, worldFromLocal) {
+    if (worldFromLocal.length !== 16 || Array.from(worldFromLocal).some(value => !Number.isFinite(value))) {
+        throw new Error("Root motion transform must be a finite 4x4 matrix.");
+    }
+    return [
+        worldFromLocal[0] * delta[0] + worldFromLocal[4] * delta[1] + worldFromLocal[8] * delta[2],
+        worldFromLocal[1] * delta[0] + worldFromLocal[5] * delta[1] + worldFromLocal[9] * delta[2],
+        worldFromLocal[2] * delta[0] + worldFromLocal[6] * delta[1] + worldFromLocal[10] * delta[2]
+    ];
+}
+/** The injected authority (e.g. Rapier character controller) is the only position owner. */
+export function consumeRootMotion(sample, worldFromLocal, move) {
+    const requested = transformRootMotionDelta(sample.delta, worldFromLocal);
+    const accepted = move(requested);
+    if (accepted.length !== 3 || accepted.some(value => !Number.isFinite(value))) {
+        throw new Error("Root motion authority must return a finite accepted displacement.");
+    }
+    return { requested, accepted: [...accepted], rejected: subtractVec3(requested, accepted) };
+}
 //# sourceMappingURL=RootMotion.js.map

package/dist/RootMotion.js.map

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

@@ -1,4 +1,6 @@
 import type { Quat, Vec3 } from "./Keyframe.js";
+import type { PoseBuffer } from "./pose/PoseBuffer.js";
+import type { SkeletonBinding } from "./pose/SkeletonBinding.js";
 export interface SpringCollider {
     readonly kind: "sphere" | "capsule";
     readonly center: Vec3;
@@ -19,6 +21,25 @@ export interface SpringChainOptions {
     readonly colliders?: readonly SpringCollider[];
     /** Integration substeps per `integrate` call (default 2) for stiffness stability. */
     readonly substeps?: number;
+    /**
+     * Velocity damping toward the parent particle, per second (default 0 — the
+     * legacy absolute-damping-only behaviour). The per-particle spring target
+     * moves with its simulated parent, which can pump energy into swing modes
+     * that absolute `damping` alone never dissipates (a persistent limit cycle);
+     * damping the parent-relative velocity drains exactly those modes while
+     * leaving rigid follow-through untouched. ~8 visibly settles a hair preset.
+     */
+    readonly relativeDamping?: number;
+    /**
+     * Frame the particles' inertia lives in (default `"model"`, the legacy
+     * behaviour). `"anchor"` simulates in the kinematic root's animated frame:
+     * each step first carries the particles and their velocities rigidly with
+     * the root's translation and rotation, so animation of the anchor bone
+     * itself never flings the chain — the spring reacts to gravity and to the
+     * animated pose *below* the anchor (the rest offsets), and settles relative
+     * to the animated parent. Omitted `rotation` means identity.
+     */
+    readonly space?: "model" | "anchor";
     /** Optional chain label (telemetry). */
     readonly name?: string;
 }
@@ -27,6 +48,14 @@ export interface SpringRootTransform {
     readonly position: Vec3;
     /** Optional rotation so the rest offsets follow the character's facing. */
     readonly rotation?: Quat;
+    /**
+     * Optional animated rest offsets, 3 floats per particle (index 0 ignored):
+     * each particle's rest position relative to its parent, already in the
+     * solver's frame. When set they replace the rotated bind offsets as the
+     * spring target and the segment length, so the chain settles onto the
+     * animated pose instead of the bind pose.
+     */
+    readonly offsets?: Float32Array;
 }
 export interface SpringChainTelemetry {
     readonly name: string;
@@ -47,6 +76,12 @@ export interface SpringChain {
     integrate(dt: number, rootTransform: SpringRootTransform): void;
     /** Current solved world positions (index 0 is the root). */
     positions(): readonly Vec3[];
+    /**
+     * §13 flat snapshot — writes the solved positions into `out` (3 floats per
+     * particle, same order as `positions()`); the per-frame bound path uses it
+     * instead of `positions()` so a step allocates nothing.
+     */
+    positionsFlat(out: Float32Array): Float32Array;
     /** Telemetry for tests/gates and matching the fixture oracle's invariants. */
     telemetry(): SpringChainTelemetry;
     /** Reset the chain to its rest pose at a root transform (zero velocity). */
@@ -85,4 +120,49 @@ export declare function createSpringChainFromPreset(preset: SpringBonePreset["na
     readonly substeps?: number;
     readonly gravityScale?: number;
 }): SpringChain;
+/**
+ * Options for {@link bindSpringChainToSkeleton}.
+ */
+export interface SpringBindOptions {
+    /**
+     * Fixed-step accumulator rate in Hz (default 60). `step(dt)` integrates the
+     * chain in whole `1/substepHz` increments; the remainder is carried into the
+     * next call so the solver never sees a variable timestep.
+     */
+    readonly substepHz?: number;
+    /**
+     * Maximum substeps consumed per `step` call (default 8). Excess accumulated
+     * time is dropped rather than integrated — a long hitched frame produces a
+     * one-frame catch-up instead of a spiral of expensive substeps.
+     */
+    readonly maxSubsteps?: number;
+}
+export interface BoundSpringChain {
+    /**
+     * Re-seed the chain at the pose's current bone world positions (kinematic
+     * root frame, rest offsets, zero velocity). Called lazily by the first
+     * `step`; call explicitly to re-bind after a teleport or pose reset.
+     */
+    initialize(pose: PoseBuffer): void;
+    /**
+     * Accumulate `dt`, integrate the chain in fixed `1/substepHz` increments at
+     * the kinematic root frame, then write local rotations into
+     * `pose.rotations` aiming each chain bone at its simulated child. Bones keep
+     * their FK positions; the tip bone (no simulated child) keeps its animated
+     * rotation.
+     */
+    step(pose: PoseBuffer, dt: number): void;
+}
+/**
+ * T4.1 (PRD-06 §7.1) — bind a {@link SpringChain} to a skeleton bone chain.
+ * `boneNames` lists the chain root first (the kinematic anchor, driven by
+ * animation) followed by the simulated bones. Unknown names throw — a
+ * misspelled chain is louder than a silently dead spring.
+ *
+ * Per `step`, the kinematic root frame is read from the pose, the fixed-step
+ * accumulator integrates at `substepHz`, and each bone with a simulated child
+ * gets a local rotation aiming its rest child-direction at the simulated
+ * segment direction. Positions stay FK-driven: the sim only bends the chain.
+ */
+export declare function bindSpringChainToSkeleton(chain: SpringChain, skeleton: SkeletonBinding, boneNames: readonly string[], options?: SpringBindOptions): BoundSpringChain;
 //# sourceMappingURL=SpringBones.d.ts.map

package/dist/SpringBones.d.ts.map

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