@aura3d/animation 3.0.0 → 4.0.0

package/dist/lanes/prd06.js

@@ -0,0 +1,26 @@
+/**
+ * Lane prd06 barrel — owned by lane 06 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here.
+ */
+export { createPoseBuffer, copyPose, resetPoseToIdentity } from "../pose/PoseBuffer.js";
+export { bindSkeleton } from "../pose/SkeletonBinding.js";
+export { createBoneMask } from "../pose/BoneMask.js";
+export { makeClipAdditive, isClipAdditive } from "../pose/makeClipAdditive.js";
+export { compileTrack, compileClip, createTrackCursors, sampleTrackInto, sampleTrackRaw } from "../pose/CompiledClip.js";
+export { PoseMixer, PoseAction } from "../pose/PoseMixer.js";
+export { PoseInertializer, DEFAULT_POSE_TRANSITION_HALF_LIFE } from "../pose/PoseInertializer.js";
+export { setPoseMixerBlendFlagProvider, poseMixerBlendEnabled } from "../pose/poseMixerFlags.js";
+export { blendBaseValue, additiveContributionValue, applyAdditiveValue, combineAdditiveValue } from "../pose/blendKernels.js";
+// T1.14 — §17.3 motion-quality metrics (E42: not built on MotionQuality.ts).
+export { isHumanoidMotionBone, motionFrame, motionSampleFromMatrix, quatAngleDegrees, boneAngularSpeeds, maxAngularSpeedInWindow, transitionContinuity, footSlide, locomotionPhaseError } from "../pose/MotionMetrics.js";
+// T3.x — pose-space constraints (PRD-06 §7.1/7.2). Solve + spec types.
+export { solveTwoBoneIkRotations } from "../IK.js";
+export { solveFootIkConstraint } from "../FootIk.js";
+export { createLookAtConstraint } from "../pose/LookAtConstraint.js";
+export { solveCcdIk } from "../pose/CcdIkConstraint.js";
+export { createSpringChain, createSpringChainFromPreset, bindSpringChainToSkeleton, SPRING_BONE_PRESETS } from "../SpringBones.js";
+// T3.8 (PRD-06 §7.2) — clip retarget baking + limb-flip detector + IDB cache.
+export { bakeRetargetedClips, bakeRetargetedClipMap, decompileCompiledClip, detectLimbFlips, humanoidRigForSkeleton, rigWithRestPose } from "../pose/Retarget.js";
+export { AURA3D_RETARGET_ENGINE_VERSION, retargetCacheKey, retargetClipsHash, retargetSkeletonHash, readRetargetCache, writeRetargetCache } from "../pose/RetargetCache.js";
+export { createRetargetWorker, bakeClipsInWorker } from "../pose/RetargetWorker.js";
+//# sourceMappingURL=prd06.js.map

package/dist/lanes/prd06.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd06.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd06.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,gBAAgB,EAAE,QAAQ,EAAE,mBAAmB,EAAE,MAAM,uBAAuB,CAAC;AAExF,OAAO,EAAE,YAAY,EAAE,MAAM,4BAA4B,CAAC;AAE1D,OAAO,EAAE,cAAc,EAAE,MAAM,qBAAqB,CAAC;AAErD,OAAO,EAAE,gBAAgB,EAAE,cAAc,EAAE,MAAM,6BAA6B,CAAC;AAE/E,OAAO,EAAE,YAAY,EAAE,WAAW,EAAE,kBAAkB,EAAE,eAAe,EAAE,cAAc,EAAE,MAAM,yBAAyB,CAAC;AAEzH,OAAO,EAAE,SAAS,EAAE,UAAU,EAAE,MAAM,sBAAsB,CAAC;AAE7D,OAAO,EAAE,gBAAgB,EAAE,iCAAiC,EAAE,MAAM,6BAA6B,CAAC;AAClG,OAAO,EAAE,6BAA6B,EAAE,qBAAqB,EAAE,MAAM,2BAA2B,CAAC;AACjG,OAAO,EAAE,cAAc,EAAE,yBAAyB,EAAE,kBAAkB,EAAE,oBAAoB,EAAE,MAAM,yBAAyB,CAAC;AAE9H,6EAA6E;AAC7E,OAAO,EAAE,oBAAoB,EAAE,WAAW,EAAE,sBAAsB,EAAE,gBAAgB,EAAE,iBAAiB,EAAE,uBAAuB,EAAE,oBAAoB,EAAE,SAAS,EAAE,oBAAoB,EAAE,MAAM,0BAA0B,CAAC;AAE1N,uEAAuE;AACvE,OAAO,EAAE,uBAAuB,EAAE,MAAM,UAAU,CAAC;AAEnD,OAAO,EAAE,qBAAqB,EAAE,MAAM,cAAc,CAAC;AAErD,OAAO,EAAE,sBAAsB,EAAE,MAAM,6BAA6B,CAAC;AAErE,OAAO,EAAE,UAAU,EAAE,MAAM,4BAA4B,CAAC;AAExD,OAAO,EAAE,iBAAiB,EAAE,2BAA2B,EAAE,yBAAyB,EAAE,mBAAmB,EAAE,MAAM,mBAAmB,CAAC;AAGnI,8EAA8E;AAC9E,OAAO,EAAE,mBAAmB,EAAE,qBAAqB,EAAE,qBAAqB,EAAE,eAAe,EAAE,sBAAsB,EAAE,eAAe,EAAE,MAAM,qBAAqB,CAAC;AAElK,OAAO,EAAE,8BAA8B,EAAE,gBAAgB,EAAE,iBAAiB,EAAE,oBAAoB,EAAE,iBAAiB,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC5K,OAAO,EAAE,oBAAoB,EAAE,iBAAiB,EAAE,MAAM,2BAA2B,CAAC"}

package/dist/lanes/prd07.d.ts

@@ -0,0 +1,6 @@
+/**
+ * Lane prd07 barrel — owned by lane 07 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd07.d.ts.map

package/dist/lanes/prd07.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd07.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd07.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd07.js

@@ -0,0 +1,6 @@
+/**
+ * Lane prd07 barrel — owned by lane 07 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd07.js.map

package/dist/lanes/prd07.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd07.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd07.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd08.d.ts

@@ -0,0 +1,6 @@
+/**
+ * Lane prd08 barrel — owned by lane 08 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd08.d.ts.map

package/dist/lanes/prd08.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd08.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd08.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd08.js

@@ -0,0 +1,6 @@
+/**
+ * Lane prd08 barrel — owned by lane 08 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd08.js.map

package/dist/lanes/prd08.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd08.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd08.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd09.d.ts

@@ -0,0 +1,6 @@
+/**
+ * Lane prd09 barrel — owned by lane 09 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd09.d.ts.map

package/dist/lanes/prd09.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd09.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd09.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd09.js

@@ -0,0 +1,6 @@
+/**
+ * Lane prd09 barrel — owned by lane 09 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd09.js.map

package/dist/lanes/prd09.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd09.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd09.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd10.d.ts

@@ -0,0 +1,6 @@
+/**
+ * Lane prd10 barrel — owned by lane 10 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd10.d.ts.map

package/dist/lanes/prd10.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd10.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd10.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd10.js

@@ -0,0 +1,6 @@
+/**
+ * Lane prd10 barrel — owned by lane 10 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd10.js.map

package/dist/lanes/prd10.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd10.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd10.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd11.d.ts

@@ -0,0 +1,6 @@
+/**
+ * Lane prd11 barrel — owned by lane 11 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd11.d.ts.map

package/dist/lanes/prd11.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd11.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd11.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd11.js

@@ -0,0 +1,6 @@
+/**
+ * Lane prd11 barrel — owned by lane 11 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd11.js.map

package/dist/lanes/prd11.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd11.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd11.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd12.d.ts

@@ -0,0 +1,6 @@
+/**
+ * Lane prd12 barrel — owned by lane 12 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd12.d.ts.map

package/dist/lanes/prd12.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd12.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd12.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd12.js

@@ -0,0 +1,6 @@
+/**
+ * Lane prd12 barrel — owned by lane 12 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd12.js.map

package/dist/lanes/prd12.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd12.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd12.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd13.d.ts

@@ -0,0 +1,6 @@
+/**
+ * Lane prd13 barrel — owned by lane 13 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd13.d.ts.map

package/dist/lanes/prd13.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd13.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd13.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd13.js

@@ -0,0 +1,6 @@
+/**
+ * Lane prd13 barrel — owned by lane 13 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd13.js.map

package/dist/lanes/prd13.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd13.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd13.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd14.d.ts

@@ -0,0 +1,6 @@
+/**
+ * Lane prd14 barrel — owned by lane 14 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd14.d.ts.map

package/dist/lanes/prd14.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd14.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd14.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd14.js

@@ -0,0 +1,6 @@
+/**
+ * Lane prd14 barrel — owned by lane 14 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd14.js.map

package/dist/lanes/prd14.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd14.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd14.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd15.d.ts

@@ -0,0 +1,6 @@
+/**
+ * Lane prd15 barrel — owned by lane 15 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd15.d.ts.map

package/dist/lanes/prd15.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd15.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd15.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/lanes/prd15.js

@@ -0,0 +1,6 @@
+/**
+ * Lane prd15 barrel — owned by lane 15 (CONTRACTS.md §3.8). `provide()` calls
+ * for that lane's real implementations live here; empty in PR 0a.
+ */
+export {};
+//# sourceMappingURL=prd15.js.map

package/dist/lanes/prd15.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"prd15.js","sourceRoot":"","sources":["../../../../../packages/animation/src/lanes/prd15.ts"],"names":[],"mappings":"AAAA;;;GAGG;AACH,OAAO,EAAE,CAAC"}

package/dist/pose/BoneMask.d.ts

@@ -0,0 +1,39 @@
+/**
+ * PRD-06 T1.5 — per-bone blend weights in a flat `Float32Array`.
+ *
+ * Selectors:
+ *  - `"Spine"` — exact joint name (a duplicated name weights *all* its joints).
+ *  - `{ bone: "Spine", descendants: true }` — the joint plus its subtree via
+ *    the skeleton's parent indices.
+ *  - `{ humanoid: "upper-body" }` — preset resolved through
+ *    `HumanoidBoneInference` (§6.4): `upper-body` = Spine and descendants
+ *    excluding the leg chains; `lower-body` = Hips + the leg chains; the
+ *    sided presets pick one limb chain (plus its subtree).
+ *  - `{ substring: "mixamorig" }` — deprecated name-fragment match, kept only
+ *    for callers migrating off the old substring path.
+ *
+ * `spec.weights` supplies a falloff: `{ "Spine": 0.3, "Spine1": 0.6,
+ * "Spine2": 1.0 }` or preset keys like `{ "upper-body": 0.5 }`.
+ */
+export type BoneMaskPreset = "upper-body" | "lower-body" | "left-arm" | "right-arm" | "left-leg" | "right-leg" | "head";
+export type BoneMaskSelector = string | {
+    readonly bone: string;
+    readonly descendants?: boolean;
+} | {
+    readonly humanoid: BoneMaskPreset;
+} | {
+    readonly substring: string;
+};
+export interface BoneMaskSpec {
+    /** Selectors that set weight 1 (overridable per-bone by `weights`). */
+    readonly include?: readonly BoneMaskSelector[];
+    /** Per-bone-name or per-preset weight falloff. */
+    readonly weights?: Readonly<Record<string, number>>;
+}
+export interface BoneMaskSkeleton {
+    readonly jointNames: readonly string[];
+    /** Parent joint index per joint (-1 for roots). */
+    readonly parentIndices?: readonly number[];
+}
+export declare function createBoneMask(spec: BoneMaskSpec, skeleton: BoneMaskSkeleton): Float32Array;
+//# sourceMappingURL=BoneMask.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"BoneMask.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/pose/BoneMask.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;GAgBG;AAKH,MAAM,MAAM,cAAc,GACtB,YAAY,GACZ,YAAY,GACZ,UAAU,GACV,WAAW,GACX,UAAU,GACV,WAAW,GACX,MAAM,CAAC;AAEX,MAAM,MAAM,gBAAgB,GACxB,MAAM,GACN;IAAE,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IAAC,QAAQ,CAAC,WAAW,CAAC,EAAE,OAAO,CAAA;CAAE,GACzD;IAAE,QAAQ,CAAC,QAAQ,EAAE,cAAc,CAAA;CAAE,GACrC;IAAE,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAA;CAAE,CAAC;AAEnC,MAAM,WAAW,YAAY;IAC3B,uEAAuE;IACvE,QAAQ,CAAC,OAAO,CAAC,EAAE,SAAS,gBAAgB,EAAE,CAAC;IAC/C,kDAAkD;IAClD,QAAQ,CAAC,OAAO,CAAC,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;CACrD;AAED,MAAM,WAAW,gBAAgB;IAC/B,QAAQ,CAAC,UAAU,EAAE,SAAS,MAAM,EAAE,CAAC;IACvC,mDAAmD;IACnD,QAAQ,CAAC,aAAa,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;CAC5C;AAiBD,wBAAgB,cAAc,CAAC,IAAI,EAAE,YAAY,EAAE,QAAQ,EAAE,gBAAgB,GAAG,YAAY,CA8G3F"}

package/dist/pose/BoneMask.js

@@ -0,0 +1,160 @@
+/**
+ * PRD-06 T1.5 — per-bone blend weights in a flat `Float32Array`.
+ *
+ * Selectors:
+ *  - `"Spine"` — exact joint name (a duplicated name weights *all* its joints).
+ *  - `{ bone: "Spine", descendants: true }` — the joint plus its subtree via
+ *    the skeleton's parent indices.
+ *  - `{ humanoid: "upper-body" }` — preset resolved through
+ *    `HumanoidBoneInference` (§6.4): `upper-body` = Spine and descendants
+ *    excluding the leg chains; `lower-body` = Hips + the leg chains; the
+ *    sided presets pick one limb chain (plus its subtree).
+ *  - `{ substring: "mixamorig" }` — deprecated name-fragment match, kept only
+ *    for callers migrating off the old substring path.
+ *
+ * `spec.weights` supplies a falloff: `{ "Spine": 0.3, "Spine1": 0.6,
+ * "Spine2": 1.0 }` or preset keys like `{ "upper-body": 0.5 }`.
+ */
+import { inferHumanoidRig } from "../HumanoidBoneInference.js";
+/** Slots whose chains make up a leg (used to exclude them from `upper-body`). */
+const LEG_SLOTS = [
+    "leftUpperLeg", "leftLowerLeg", "leftFoot", "leftToes",
+    "rightUpperLeg", "rightLowerLeg", "rightFoot", "rightToes"
+];
+const LEFT_ARM_SLOTS = ["leftShoulder", "leftUpperArm", "leftLowerArm", "leftHand"];
+const RIGHT_ARM_SLOTS = ["rightShoulder", "rightUpperArm", "rightLowerArm", "rightHand"];
+const LEFT_LEG_SLOTS = ["leftUpperLeg", "leftLowerLeg", "leftFoot", "leftToes"];
+const RIGHT_LEG_SLOTS = ["rightUpperLeg", "rightLowerLeg", "rightFoot", "rightToes"];
+const UPPER_BODY_SLOTS = [
+    "spine", "chest", "upperChest", "neck", "head",
+    "leftShoulder", "leftUpperArm", "leftLowerArm", "leftHand",
+    "rightShoulder", "rightUpperArm", "rightLowerArm", "rightHand"
+];
+export function createBoneMask(spec, skeleton) {
+    const count = skeleton.jointNames.length;
+    const mask = new Float32Array(count);
+    const indicesByName = new Map();
+    skeleton.jointNames.forEach((name, index) => {
+        const bucket = indicesByName.get(name);
+        if (bucket)
+            bucket.push(index);
+        else
+            indicesByName.set(name, [index]);
+    });
+    const parents = skeleton.parentIndices ?? new Array(count).fill(-1);
+    const childrenOf = new Map();
+    parents.forEach((parent, index) => {
+        if (parent < 0 || parent >= count)
+            return;
+        const bucket = childrenOf.get(parent);
+        if (bucket)
+            bucket.push(index);
+        else
+            childrenOf.set(parent, [index]);
+    });
+    const mark = (index, weight) => {
+        if (index >= 0 && index < count)
+            mask[index] = weight;
+    };
+    const markSubtree = (index, weight) => {
+        mark(index, weight);
+        for (const child of childrenOf.get(index) ?? [])
+            markSubtree(child, weight);
+    };
+    const markNames = (names, weight, includeDescendants) => {
+        for (const name of names) {
+            if (name === undefined)
+                continue;
+            for (const index of indicesByName.get(name) ?? []) {
+                if (includeDescendants)
+                    markSubtree(index, weight);
+                else
+                    mark(index, weight);
+            }
+        }
+    };
+    const rig = inferHumanoidRig(skeleton.jointNames);
+    const slotName = (slot) => rig.bones[slot]?.name;
+    const slotChainNames = (slots) => slots.map((slot) => slotName(slot)).filter((name) => name !== undefined);
+    const legNames = new Set(slotChainNames(LEG_SLOTS));
+    const applyPreset = (preset, weight) => {
+        switch (preset) {
+            case "upper-body": {
+                // Spine and descendants, excluding legs (§6.4).
+                const spine = slotName("spine");
+                for (const index of indicesByName.get(spine ?? "") ?? [])
+                    markSubtree(index, weight);
+                markNames(slotChainNames(UPPER_BODY_SLOTS), weight, false);
+                for (const legName of legNames) {
+                    for (const index of indicesByName.get(legName) ?? [])
+                        markSubtree(index, 0);
+                }
+                break;
+            }
+            case "lower-body":
+                // Hips + legs (§6.4).
+                markNames([slotName("hips")], weight, false);
+                markNames(slotChainNames(LEG_SLOTS), weight, true);
+                break;
+            case "left-arm":
+                markNames(slotChainNames(LEFT_ARM_SLOTS), weight, true);
+                break;
+            case "right-arm":
+                markNames(slotChainNames(RIGHT_ARM_SLOTS), weight, true);
+                break;
+            case "left-leg":
+                markNames(slotChainNames(LEFT_LEG_SLOTS), weight, true);
+                break;
+            case "right-leg":
+                markNames(slotChainNames(RIGHT_LEG_SLOTS), weight, true);
+                break;
+            case "head":
+                markNames([slotName("head"), slotName("neck")], weight, true);
+                break;
+        }
+    };
+    const applySelector = (selector, weight) => {
+        if (typeof selector === "string") {
+            markNames([selector], weight, false);
+            return;
+        }
+        if ("bone" in selector) {
+            for (const index of indicesByName.get(selector.bone) ?? []) {
+                if (selector.descendants)
+                    markSubtree(index, weight);
+                else
+                    mark(index, weight);
+            }
+            return;
+        }
+        if ("humanoid" in selector) {
+            applyPreset(selector.humanoid, weight);
+            return;
+        }
+        if ("substring" in selector) {
+            const needle = selector.substring.toLowerCase();
+            skeleton.jointNames.forEach((name, index) => {
+                if (name.toLowerCase().includes(needle))
+                    mark(index, weight);
+            });
+        }
+    };
+    for (const selector of spec.include ?? [])
+        applySelector(selector, 1);
+    if (spec.weights) {
+        for (const [key, weight] of Object.entries(spec.weights)) {
+            if (isBoneMaskPreset(key))
+                applyPreset(key, weight);
+            else
+                markNames([key], weight, false);
+        }
+    }
+    return mask;
+}
+const PRESETS = new Set([
+    "upper-body", "lower-body", "left-arm", "right-arm", "left-leg", "right-leg", "head"
+]);
+function isBoneMaskPreset(key) {
+    return PRESETS.has(key);
+}
+//# sourceMappingURL=BoneMask.js.map

package/dist/pose/BoneMask.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"BoneMask.js","sourceRoot":"","sources":["../../../../../packages/animation/src/pose/BoneMask.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;GAgBG;AAEH,OAAO,EAAE,gBAAgB,EAAE,MAAM,6BAA6B,CAAC;AA+B/D,iFAAiF;AACjF,MAAM,SAAS,GAAgC;IAC7C,cAAc,EAAE,cAAc,EAAE,UAAU,EAAE,UAAU;IACtD,eAAe,EAAE,eAAe,EAAE,WAAW,EAAE,WAAW;CAC3D,CAAC;AACF,MAAM,cAAc,GAAgC,CAAC,cAAc,EAAE,cAAc,EAAE,cAAc,EAAE,UAAU,CAAC,CAAC;AACjH,MAAM,eAAe,GAAgC,CAAC,eAAe,EAAE,eAAe,EAAE,eAAe,EAAE,WAAW,CAAC,CAAC;AACtH,MAAM,cAAc,GAAgC,CAAC,cAAc,EAAE,cAAc,EAAE,UAAU,EAAE,UAAU,CAAC,CAAC;AAC7G,MAAM,eAAe,GAAgC,CAAC,eAAe,EAAE,eAAe,EAAE,WAAW,EAAE,WAAW,CAAC,CAAC;AAClH,MAAM,gBAAgB,GAAgC;IACpD,OAAO,EAAE,OAAO,EAAE,YAAY,EAAE,MAAM,EAAE,MAAM;IAC9C,cAAc,EAAE,cAAc,EAAE,cAAc,EAAE,UAAU;IAC1D,eAAe,EAAE,eAAe,EAAE,eAAe,EAAE,WAAW;CAC/D,CAAC;AAEF,MAAM,UAAU,cAAc,CAAC,IAAkB,EAAE,QAA0B;IAC3E,MAAM,KAAK,GAAG,QAAQ,CAAC,UAAU,CAAC,MAAM,CAAC;IACzC,MAAM,IAAI,GAAG,IAAI,YAAY,CAAC,KAAK,CAAC,CAAC;IACrC,MAAM,aAAa,GAAG,IAAI,GAAG,EAAoB,CAAC;IAClD,QAAQ,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,IAAI,EAAE,KAAK,EAAE,EAAE;QAC1C,MAAM,MAAM,GAAG,aAAa,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QACvC,IAAI,MAAM;YAAE,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;;YAC1B,aAAa,CAAC,GAAG,CAAC,IAAI,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC;IACxC,CAAC,CAAC,CAAC;IACH,MAAM,OAAO,GAAG,QAAQ,CAAC,aAAa,IAAI,IAAI,KAAK,CAAS,KAAK,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IAC5E,MAAM,UAAU,GAAG,IAAI,GAAG,EAAoB,CAAC;IAC/C,OAAO,CAAC,OAAO,CAAC,CAAC,MAAM,EAAE,KAAK,EAAE,EAAE;QAChC,IAAI,MAAM,GAAG,CAAC,IAAI,MAAM,IAAI,KAAK;YAAE,OAAO;QAC1C,MAAM,MAAM,GAAG,UAAU,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;QACtC,IAAI,MAAM;YAAE,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;;YAC1B,UAAU,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC;IACvC,CAAC,CAAC,CAAC;IAEH,MAAM,IAAI,GAAG,CAAC,KAAa,EAAE,MAAc,EAAQ,EAAE;QACnD,IAAI,KAAK,IAAI,CAAC,IAAI,KAAK,GAAG,KAAK;YAAE,IAAI,CAAC,KAAK,CAAC,GAAG,MAAM,CAAC;IACxD,CAAC,CAAC;IACF,MAAM,WAAW,GAAG,CAAC,KAAa,EAAE,MAAc,EAAQ,EAAE;QAC1D,IAAI,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;QACpB,KAAK,MAAM,KAAK,IAAI,UAAU,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,EAAE;YAAE,WAAW,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;IAC9E,CAAC,CAAC;IACF,MAAM,SAAS,GAAG,CAAC,KAAsC,EAAE,MAAc,EAAE,kBAA2B,EAAQ,EAAE;QAC9G,KAAK,MAAM,IAAI,IAAI,KAAK,EAAE,CAAC;YACzB,IAAI,IAAI,KAAK,SAAS;gBAAE,SAAS;YACjC,KAAK,MAAM,KAAK,IAAI,aAAa,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,EAAE,EAAE,CAAC;gBAClD,IAAI,kBAAkB;oBAAE,WAAW,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;;oBAC9C,IAAI,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;YAC3B,CAAC;QACH,CAAC;IACH,CAAC,CAAC;IAEF,MAAM,GAAG,GAAG,gBAAgB,CAAC,QAAQ,CAAC,UAAU,CAAC,CAAC;IAClD,MAAM,QAAQ,GAAG,CAAC,IAAsB,EAAsB,EAAE,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;IACvF,MAAM,cAAc,GAAG,CAAC,KAAkC,EAAY,EAAE,CACtE,KAAK,CAAC,GAAG,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,IAAI,EAAkB,EAAE,CAAC,IAAI,KAAK,SAAS,CAAC,CAAC;IAC3F,MAAM,QAAQ,GAAG,IAAI,GAAG,CAAC,cAAc,CAAC,SAAS,CAAC,CAAC,CAAC;IAEpD,MAAM,WAAW,GAAG,CAAC,MAAsB,EAAE,MAAc,EAAQ,EAAE;QACnE,QAAQ,MAAM,EAAE,CAAC;YACf,KAAK,YAAY,CAAC,CAAC,CAAC;gBAClB,gDAAgD;gBAChD,MAAM,KAAK,GAAG,QAAQ,CAAC,OAAO,CAAC,CAAC;gBAChC,KAAK,MAAM,KAAK,IAAI,aAAa,CAAC,GAAG,CAAC,KAAK,IAAI,EAAE,CAAC,IAAI,EAAE;oBAAE,WAAW,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;gBACrF,SAAS,CAAC,cAAc,CAAC,gBAAgB,CAAC,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;gBAC3D,KAAK,MAAM,OAAO,IAAI,QAAQ,EAAE,CAAC;oBAC/B,KAAK,MAAM,KAAK,IAAI,aAAa,CAAC,GAAG,CAAC,OAAO,CAAC,IAAI,EAAE;wBAAE,WAAW,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;gBAC9E,CAAC;gBACD,MAAM;YACR,CAAC;YACD,KAAK,YAAY;gBACf,sBAAsB;gBACtB,SAAS,CAAC,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;gBAC7C,SAAS,CAAC,cAAc,CAAC,SAAS,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,CAAC;gBACnD,MAAM;YACR,KAAK,UAAU;gBACb,SAAS,CAAC,cAAc,CAAC,cAAc,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,CAAC;gBACxD,MAAM;YACR,KAAK,WAAW;gBACd,SAAS,CAAC,cAAc,CAAC,eAAe,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,CAAC;gBACzD,MAAM;YACR,KAAK,UAAU;gBACb,SAAS,CAAC,cAAc,CAAC,cAAc,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,CAAC;gBACxD,MAAM;YACR,KAAK,WAAW;gBACd,SAAS,CAAC,cAAc,CAAC,eAAe,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,CAAC;gBACzD,MAAM;YACR,KAAK,MAAM;gBACT,SAAS,CAAC,CAAC,QAAQ,CAAC,MAAM,CAAC,EAAE,QAAQ,CAAC,MAAM,CAAC,CAAC,EAAE,MAAM,EAAE,IAAI,CAAC,CAAC;gBAC9D,MAAM;QACV,CAAC;IACH,CAAC,CAAC;IAEF,MAAM,aAAa,GAAG,CAAC,QAA0B,EAAE,MAAc,EAAQ,EAAE;QACzE,IAAI,OAAO,QAAQ,KAAK,QAAQ,EAAE,CAAC;YACjC,SAAS,CAAC,CAAC,QAAQ,CAAC,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;YACrC,OAAO;QACT,CAAC;QACD,IAAI,MAAM,IAAI,QAAQ,EAAE,CAAC;YACvB,KAAK,MAAM,KAAK,IAAI,aAAa,CAAC,GAAG,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,EAAE,EAAE,CAAC;gBAC3D,IAAI,QAAQ,CAAC,WAAW;oBAAE,WAAW,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;;oBAChD,IAAI,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;YAC3B,CAAC;YACD,OAAO;QACT,CAAC;QACD,IAAI,UAAU,IAAI,QAAQ,EAAE,CAAC;YAC3B,WAAW,CAAC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAC;YACvC,OAAO;QACT,CAAC;QACD,IAAI,WAAW,IAAI,QAAQ,EAAE,CAAC;YAC5B,MAAM,MAAM,GAAG,QAAQ,CAAC,SAAS,CAAC,WAAW,EAAE,CAAC;YAChD,QAAQ,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,IAAI,EAAE,KAAK,EAAE,EAAE;gBAC1C,IAAI,IAAI,CAAC,WAAW,EAAE,CAAC,QAAQ,CAAC,MAAM,CAAC;oBAAE,IAAI,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;YAC/D,CAAC,CAAC,CAAC;QACL,CAAC;IACH,CAAC,CAAC;IAEF,KAAK,MAAM,QAAQ,IAAI,IAAI,CAAC,OAAO,IAAI,EAAE;QAAE,aAAa,CAAC,QAAQ,EAAE,CAAC,CAAC,CAAC;IAE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package/dist/pose/CcdIkConstraint.d.ts

@@ -0,0 +1,38 @@
+/**
+ * T3.4 (PRD-06 §7.1/7.2) — `CcdIkConstraint`: cyclic coordinate descent over a
+ * named joint chain — each iteration sweeps tip-to-root rotating every joint so
+ * the tip's direction toward the target maximally closes. Cone limits per bone
+ * (`coneLimitDeg`), hard cap `iterations ≤ 8`, early-out at `tolerance`
+ * (default 1 mm).
+ *
+ * Pose-space like the rest of the lane: the target arrives world-space and is
+ * transformed into model space by `invertTRS(modelMatrix)` before the sweep.
+ */
+import type { PoseBuffer } from "./PoseBuffer.js";
+import type { SkeletonBinding } from "./SkeletonBinding.js";
+export interface CcdIkConstraintSpec {
+    /** Ordered joint names root→tip. */
+    readonly chain: readonly string[];
+    /** Max sweep iterations — clamped to 8 (default 8). */
+    readonly iterations?: number;
+    /** Early-out distance in metres (default 1 mm). */
+    readonly tolerance?: number;
+    /** Per-bone cone limits (degrees) — caps each joint's per-iteration rotation. */
+    readonly coneLimitDeg?: Readonly<Record<string, number>>;
+    /** Blend of the solve into the pose (1 = full, 0 = no-op). */
+    readonly weight?: number;
+}
+type Vec3 = readonly [number, number, number];
+export interface CcdIkResult {
+    readonly iterations: number;
+    readonly tipError: number;
+    readonly reached: boolean;
+}
+/**
+ * Evaluate a CCD chain: sweeps `spec.chain` tip→root up to `iterations` times,
+ * rotating each joint by the minimal arc that pulls the tip toward `target`,
+ * cone-capped per bone. Writes local rotations back into `pose`.
+ */
+export declare function solveCcdIk(pose: PoseBuffer, skeleton: SkeletonBinding, modelMatrix: Float32Array | readonly number[], spec: CcdIkConstraintSpec, target: Vec3): CcdIkResult;
+export {};
+//# sourceMappingURL=CcdIkConstraint.d.ts.map

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

@@ -0,0 +1 @@
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