@aura3d/animation 3.0.1 → 4.0.0

package/dist/FootIk.js

@@ -250,10 +250,212 @@ function refineOverExtendedLegs(legs, solved, hipOffset) {
 function clamp(value, min, max) {
     return Math.max(min, Math.min(max, value));
 }
+/** Column-major affine mat4 × point (w divide for non-TRS safety). */
+function mulMat4Point(m, p) {
+    const x = p[0], y = p[1], z = p[2];
+    const w = m[3] * x + m[7] * y + m[11] * z + m[15] || 1;
+    return [
+        (m[0] * x + m[4] * y + m[8] * z + m[12]) / w,
+        (m[1] * x + m[5] * y + m[9] * z + m[13]) / w,
+        (m[2] * x + m[6] * y + m[10] * z + m[14]) / w
+    ];
+}
 function round(value) {
     return Number(value.toFixed(4));
 }
 function roundVec(value) {
     return [round(value[0]), round(value[1]), round(value[2])];
 }
+// ---------------------------------------------------------------------------
+// T3.2 — pose-space foot-IK constraint (`FootIkConstraintSpec`, PRD-06 §7.1):
+// consumes `solveTwoBoneIkRotations` directly on a PoseBuffer instead of the
+// legacy position-space leg input. Pelvis offset is the MINIMUM of the
+// per-foot ground deltas (each grounded foot's required vertical correction),
+// clamped to `maxPelvisDrop` — replaces the legacy fixed `hipDropFactor`
+// (0.72) on this path. Foot tilt aligns the foot bone's up axis to the ground
+// normal, capped at `maxFootTiltDeg` (default 35°).
+// ---------------------------------------------------------------------------
+import { solveTwoBoneIkRotations } from "./IK.js";
+function fkFrame(pose, skeleton, joint) {
+    const rot = [pose.rotations[joint * 4], pose.rotations[joint * 4 + 1], pose.rotations[joint * 4 + 2], pose.rotations[joint * 4 + 3]];
+    const scl = [pose.scales[joint * 3], pose.scales[joint * 3 + 1], pose.scales[joint * 3 + 2]];
+    const pos = [pose.positions[joint * 3], pose.positions[joint * 3 + 1], pose.positions[joint * 3 + 2]];
+    const parent = skeleton.parentIndices[joint] ?? -1;
+    if (parent < 0 || parent >= skeleton.boneCount || parent === joint) {
+        return { position: pos, rotation: rot, scale: scl };
+    }
+    const pf = fkFrame(pose, skeleton, parent);
+    const scaled = [pos[0] * pf.scale[0], pos[1] * pf.scale[1], pos[2] * pf.scale[2]];
+    const rotated = rotateVec3(pf.rotation, scaled);
+    return {
+        position: [pf.position[0] + rotated[0], pf.position[1] + rotated[1], pf.position[2] + rotated[2]],
+        rotation: multiplyQuat(pf.rotation, rot),
+        scale: [pf.scale[0] * scl[0], pf.scale[1] * scl[1], pf.scale[2] * scl[2]]
+    };
+}
+function rotateVec3(q, v) {
+    const [x, y, z, w] = q;
+    const tx = 2 * (y * v[2] - z * v[1]);
+    const ty = 2 * (z * v[0] - x * v[2]);
+    const tz = 2 * (x * v[1] - y * v[0]);
+    return [v[0] + w * tx + (y * tz - z * ty), v[1] + w * ty + (z * tx - x * tz), v[2] + w * tz + (x * ty - y * tx)];
+}
+function multiplyQuat(a, b) {
+    const [ax, ay, az, aw] = a;
+    const [bx, by, bz, bw] = b;
+    return [
+        ax * bw + aw * bx + ay * bz - az * by,
+        ay * bw + aw * by + az * bx - ax * bz,
+        az * bw + aw * bz + ax * by - ay * bx,
+        aw * bw - ax * bx - ay * by - az * bz
+    ];
+}
+function quatFromUnitVectors(from, to) {
+    const d = Math.max(-1, Math.min(1, from[0] * to[0] + from[1] * to[1] + from[2] * to[2]));
+    if (d > 1 - 1e-9)
+        return [0, 0, 0, 1];
+    if (d < -1 + 1e-9) {
+        const axis = Math.abs(from[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];
+        const c = [
+            from[1] * axis[2] - from[2] * axis[1],
+            from[2] * axis[0] - from[0] * axis[2],
+            from[0] * axis[1] - from[1] * axis[0]
+        ];
+        const l = Math.hypot(c[0], c[1], c[2]) || 1;
+        return [c[0] / l, c[1] / l, c[2] / l, 0];
+    }
+    const c = [
+        from[1] * to[2] - from[2] * to[1],
+        from[2] * to[0] - from[0] * to[2],
+        from[0] * to[1] - from[1] * to[0]
+    ];
+    const w = Math.sqrt((1 + d) / 2);
+    const s = 1 / (2 * w);
+    return [c[0] * s, c[1] * s, c[2] * s, w];
+}
+function axisAngle(axis, radians) {
+    const half = radians / 2;
+    const s = Math.sin(half);
+    return [axis[0] * s, axis[1] * s, axis[2] * s, Math.cos(half)];
+}
+function jointIndex(skeleton, name) {
+    const indices = skeleton.jointIndicesByName.get(name);
+    if (!indices || indices.length === 0)
+        throw new Error(`FootIkConstraint: unknown bone "${name}".`);
+    return indices[0];
+}
+/**
+ * T3.2 — evaluate a foot-IK constraint on a pose: for each leg, raycast the
+ * ground under the ankle, drop the pelvis by the deepest required correction
+ * (min of per-foot deltas, clamped to `maxPelvisDrop`), solve each leg's
+ * rotations toward `ground.point + normal * ankleHeight`, then tilt each foot
+ * bone toward the ground normal capped at `maxFootTiltDeg`.
+ *
+ * Returns per-leg telemetry (grounded, correction applied, tilt degrees) for
+ * the §17.3 foot-surface diagnostic.
+ */
+export function solveFootIkConstraint(pose, skeleton, modelMatrix, spec) {
+    const ankleHeightDefault = 0.035;
+    const rayStartHeight = spec.rayStartHeight ?? 0.6;
+    const maxRayDistance = spec.maxRayDistance ?? 2;
+    const plantThreshold = spec.plantThreshold ?? 0.02;
+    const maxPelvisDrop = spec.maxPelvisDrop ?? 0.4;
+    const maxFootTiltDeg = spec.maxFootTiltDeg ?? 35;
+    const plans = [];
+    for (const [index, leg] of spec.legs.entries()) {
+        const ankleIndex = jointIndex(skeleton, leg.tip);
+        const ankle = fkFrame(pose, skeleton, ankleIndex).position;
+        // Model matrix is applied inside the solver; raycast in MODEL space via
+        // world coords — the scene's GroundRaycaster is defined in world space and
+        // T3.9 supplies an analytic caster in world units, so keep model space for
+        // simple rigs (identity or translation-only model matrices).
+        const hit = spec.ground.raycastDown([ankle[0], ankle[1] + rayStartHeight, ankle[2]], rayStartHeight + maxRayDistance);
+        if (!hit)
+            continue;
+        const ankleHeight = leg.ankleHeight ?? ankleHeightDefault;
+        const target = [
+            hit.point[0] + hit.normal[0] * 0,
+            hit.point[1] + hit.normal[1] * ankleHeight,
+            hit.point[2] + hit.normal[2] * 0
+            // Sole offsets along X/Z by the normal's horizontal part are
+            // intentionally ignored — the ankle sits directly over the contact.
+        ];
+        const deltaY = target[1] - ankle[1];
+        const grounded = Math.abs(deltaY) <= plantThreshold;
+        plans.push({ spec: leg, index, ankleIndex, target, normal: hit.normal, deltaY, grounded });
+    }
+    if (plans.length === 0)
+        return [];
+    // Pelvis drop = MINIMUM per-foot delta (deepest needed correction), clamped.
+    // The correction is expressed in pose space; the pelvis node's local
+    // translation lives in its parent frame, whose up axis need not be +Y and
+    // whose units need not be pose units (e.g. cm under a scaled glTF root) —
+    // map (0, drop, 0) through the parent frame's inverse rotation and scale.
+    if (spec.pelvis) {
+        const pelvisIndex = jointIndex(skeleton, spec.pelvis);
+        const minDelta = Math.min(0, ...plans.map((plan) => plan.deltaY));
+        const drop = Math.max(-maxPelvisDrop, minDelta);
+        if (drop !== 0) {
+            const parentIndex = skeleton.parentIndices[pelvisIndex] ?? -1;
+            const parentFrame = parentIndex >= 0 && parentIndex < skeleton.boneCount ? fkFrame(pose, skeleton, parentIndex) : undefined;
+            if (parentFrame !== undefined) {
+                const invRot = [-parentFrame.rotation[0], -parentFrame.rotation[1], -parentFrame.rotation[2], parentFrame.rotation[3]];
+                const dir = rotateVec3(invRot, [0, drop, 0]);
+                const sx = parentFrame.scale[0] || 1, sy = parentFrame.scale[1] || 1, sz = parentFrame.scale[2] || 1;
+                pose.positions[pelvisIndex * 3] = pose.positions[pelvisIndex * 3] + dir[0] / sx;
+                pose.positions[pelvisIndex * 3 + 1] = pose.positions[pelvisIndex * 3 + 1] + dir[1] / sy;
+                pose.positions[pelvisIndex * 3 + 2] = pose.positions[pelvisIndex * 3 + 2] + dir[2] / sz;
+            }
+            else {
+                pose.positions[pelvisIndex * 3 + 1] = pose.positions[pelvisIndex * 3 + 1] + drop;
+            }
+        }
+    }
+    // Pass 2 — solve legs + tilt feet.
+    const results = [];
+    for (const plan of plans) {
+        if (spec.lockOnContact && plan.grounded) {
+            results.push({ leg: plan.index, grounded: true, verticalCorrection: 0, tiltDeg: 0 });
+            continue;
+        }
+        // `solveTwoBoneIkRotations` takes a WORLD-space target (it maps the target
+        // back to model space via invertTRS(modelMatrix)); `plan.target` is model
+        // space — lift it to world or the mount transform is applied twice and the
+        // ankle aims past the real terrain.
+        solveTwoBoneIkRotations(pose, skeleton, modelMatrix, plan.spec, mulMat4Point(modelMatrix, plan.target));
+        // Foot tilt: rotate the tip bone so its local +Y (sole normal) matches the
+        // ground normal, capped at maxFootTiltDeg — applied in the tip's parent frame.
+        const frame = fkFrame(pose, skeleton, plan.ankleIndex);
+        const up = rotateVec3(frame.rotation, [0, 1, 0]);
+        const tiltQ = quatFromUnitVectors(up, plan.normal);
+        const tiltAngle = Math.acos(Math.max(-1, Math.min(1, tiltQ[3]))) * 2 * (180 / Math.PI);
+        const capped = Math.min(tiltAngle, maxFootTiltDeg);
+        if (capped > 1e-4 && tiltAngle > 1e-4) {
+            const axis = [
+                up[1] * plan.normal[2] - up[2] * plan.normal[1],
+                up[2] * plan.normal[0] - up[0] * plan.normal[2],
+                up[0] * plan.normal[1] - up[1] * plan.normal[0]
+            ];
+            const axisLen = Math.hypot(axis[0], axis[1], axis[2]);
+            if (axisLen > 1e-6) {
+                const nAxis = [axis[0] / axisLen, axis[1] / axisLen, axis[2] / axisLen];
+                const applied = axisAngle(nAxis, (capped * Math.PI) / 180);
+                const newWorld = multiplyQuat(applied, frame.rotation);
+                const parent = skeleton.parentIndices[plan.ankleIndex] ?? -1;
+                const parentRot = parent >= 0
+                    ? fkFrame(pose, skeleton, parent).rotation
+                    : [0, 0, 0, 1];
+                const inv = [-parentRot[0], -parentRot[1], -parentRot[2], parentRot[3]];
+                const local = multiplyQuat(inv, newWorld);
+                const l = Math.hypot(local[0], local[1], local[2], local[3]) || 1;
+                pose.rotations[plan.ankleIndex * 4] = local[0] / l;
+                pose.rotations[plan.ankleIndex * 4 + 1] = local[1] / l;
+                pose.rotations[plan.ankleIndex * 4 + 2] = local[2] / l;
+                pose.rotations[plan.ankleIndex * 4 + 3] = local[3] / l;
+            }
+        }
+        results.push({ leg: plan.index, grounded: false, verticalCorrection: plan.deltaY, tiltDeg: Math.min(tiltAngle, maxFootTiltDeg) });
+    }
+    return results;
+}
 //# sourceMappingURL=FootIk.js.map

package/dist/FootIk.js.map

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package/dist/IK.d.ts

@@ -26,4 +26,30 @@ export declare function solveTwoBoneIk(input: TwoBoneIkInput): TwoBoneIkResult;
  * giving {@link solveTwoBoneIk} a stable bend plane (knees point forward, elbows back). Pure.
  */
 export declare function kneePoleHint(root: Vec3, mid: Vec3, forward: Vec3, distance?: number): Vec3;
+import type { PoseBuffer } from "./pose/PoseBuffer.js";
+import type { SkeletonBinding } from "./pose/SkeletonBinding.js";
+/** PRD-06 §7.1 `TwoBoneIkConstraintSpec` — resolved against a bound skeleton by name. */
+export interface TwoBoneIkConstraintSpec {
+    readonly root: string;
+    readonly mid: string;
+    readonly tip: string;
+    /** Pole plane hint: "auto" keeps the current bend plane; a point or `{bone}` steers it. */
+    readonly pole?: "auto" | readonly [number, number, number] | {
+        readonly bone: string;
+    };
+    /** Optional twist distribution bone (receives `twistWeight` of the plane-align twist). */
+    readonly twistBone?: string;
+    readonly twistWeight?: number;
+    /** Blend of the solve into the current pose (1 = full solve, 0 = untouched). */
+    readonly weight?: number;
+    /** Reach stretch multiplier > 1 permits targets beyond limb length. */
+    readonly allowStretch?: number;
+}
+export declare function solveTwoBoneIkRotations(pose: PoseBuffer, skeleton: SkeletonBinding, modelMatrix: Float32Array | readonly number[], spec: TwoBoneIkConstraintSpec, target: readonly [number, number, number]): void;
+/**
+ * @deprecated PRD-06 T3.1: prefer {@link solveTwoBoneIkRotations}, which writes
+ * local pose rotations directly. `solveTwoBoneIk` stays for position-space
+ * consumers (e.g. FootIk mid points) until they migrate.
+ */
+export type { TwoBoneIkInput as LegacyTwoBoneIkInput };
 //# sourceMappingURL=IK.d.ts.map

package/dist/IK.d.ts.map

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