@aura3d/animation 3.0.1 → 4.0.0

package/dist/pose/CcdIkConstraint.js

@@ -0,0 +1,198 @@
+/**
+ * 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.
+ */
+function jointIndex(skeleton, name) {
+    const indices = skeleton.jointIndicesByName.get(name);
+    if (!indices || indices.length === 0)
+        throw new Error(`CcdIkConstraint: unknown bone "${name}".`);
+    return indices[0];
+}
+function frames(pose, skeleton) {
+    const cache = new Map();
+    const resolve = (joint) => {
+        const hit = cache.get(joint);
+        if (hit)
+            return hit;
+        const pos = [pose.positions[joint * 3], pose.positions[joint * 3 + 1], pose.positions[joint * 3 + 2]];
+        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 parent = skeleton.parentIndices[joint] ?? -1;
+        if (parent < 0 || parent >= skeleton.boneCount || parent === joint) {
+            const f = { position: pos, rotation: rot, scale: scl };
+            cache.set(joint, f);
+            return f;
+        }
+        const pf = resolve(parent);
+        const scaled = [pos[0] * pf.scale[0], pos[1] * pf.scale[1], pos[2] * pf.scale[2]];
+        const rotated = rotateVec3(pf.rotation, scaled);
+        const f = {
+            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]]
+        };
+        cache.set(joint, f);
+        return f;
+    };
+    const out = [];
+    for (let i = 0; i < skeleton.boneCount; i += 1)
+        out.push(resolve(i));
+    return out;
+}
+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 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 normalize(v) {
+    const l = Math.hypot(v[0], v[1], v[2]);
+    return l <= 1e-9 ? [0, 0, 0] : [v[0] / l, v[1] / l, v[2] / l];
+}
+function invertModelTRS(matrix) {
+    const sx = Math.hypot(matrix[0], matrix[1], matrix[2]);
+    const sy = Math.hypot(matrix[4], matrix[5], matrix[6]);
+    const sz = Math.hypot(matrix[8], matrix[9], matrix[10]);
+    const m00 = matrix[0] / (sx || 1), m10 = matrix[1] / (sx || 1), m20 = matrix[2] / (sx || 1);
+    const m01 = matrix[4] / (sy || 1), m11 = matrix[5] / (sy || 1), m21 = matrix[6] / (sy || 1);
+    const m02 = matrix[8] / (sz || 1), m12 = matrix[9] / (sz || 1), m22 = matrix[10] / (sz || 1);
+    const trace = m00 + m11 + m22;
+    let q;
+    if (trace > 0) {
+        const s = 0.5 / Math.sqrt(trace + 1);
+        q = [(m21 - m12) * s, (m02 - m20) * s, (m10 - m01) * s, 0.25 / s];
+    }
+    else if (m00 > m11 && m00 > m22) {
+        const s = 2 * Math.sqrt(1 + m00 - m11 - m22);
+        q = [0.25 * s, (m01 + m10) / s, (m02 + m20) / s, (m21 - m12) / s];
+    }
+    else if (m11 > m22) {
+        const s = 2 * Math.sqrt(1 + m11 - m00 - m22);
+        q = [(m01 + m10) / s, 0.25 * s, (m12 + m21) / s, (m02 - m20) / s];
+    }
+    else {
+        const s = 2 * Math.sqrt(1 + m22 - m00 - m11);
+        q = [(m02 + m20) / s, (m12 + m21) / s, 0.25 * s, (m10 - m01) / s];
+    }
+    const l = Math.hypot(q[0], q[1], q[2], q[3]) || 1;
+    return { rotation: [q[0] / l, q[1] / l, q[2] / l, q[3] / l], scale: [sx, sy, sz], position: [matrix[12], matrix[13], matrix[14]] };
+}
+/**
+ * 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 function solveCcdIk(pose, skeleton, modelMatrix, spec, target) {
+    const weight = spec.weight ?? 1;
+    if (weight <= 0 || spec.chain.length === 0)
+        return { iterations: 0, tipError: Infinity, reached: false };
+    const maxIterations = Math.min(8, spec.iterations ?? 8);
+    const tolerance = spec.tolerance ?? 0.001;
+    const invModel = invertModelTRS(modelMatrix);
+    const shifted = [target[0] - invModel.position[0], target[1] - invModel.position[1], target[2] - invModel.position[2]];
+    const invRot = [-invModel.rotation[0], -invModel.rotation[1], -invModel.rotation[2], invModel.rotation[3]];
+    const scaledShift = rotateVec3(invRot, shifted);
+    const targetLocal = [
+        scaledShift[0] / (invModel.scale[0] || 1),
+        scaledShift[1] / (invModel.scale[1] || 1),
+        scaledShift[2] / (invModel.scale[2] || 1)
+    ];
+    const chainIndices = spec.chain.map((name) => jointIndex(skeleton, name));
+    const tipIndex = chainIndices[chainIndices.length - 1];
+    let iterations = 0;
+    let tipError = Infinity;
+    for (let iter = 0; iter < maxIterations; iter += 1) {
+        const current = frames(pose, skeleton); // refresh after each write below
+        tipError = Math.hypot(current[tipIndex].position[0] - targetLocal[0], current[tipIndex].position[1] - targetLocal[1], current[tipIndex].position[2] - targetLocal[2]);
+        if (tipError <= tolerance)
+            break;
+        iterations += 1;
+        // Sweep tip→root (chain is ordered root→tip, so walk backwards).
+        for (let i = chainIndices.length - 1; i >= 0; i -= 1) {
+            const joint = chainIndices[i];
+            const snapshot = frames(pose, skeleton);
+            const jointPos = snapshot[joint].position;
+            const tipPos = snapshot[tipIndex].position;
+            const toTip = normalize([tipPos[0] - jointPos[0], tipPos[1] - jointPos[1], tipPos[2] - jointPos[2]]);
+            const toTarget = normalize([targetLocal[0] - jointPos[0], targetLocal[1] - jointPos[1], targetLocal[2] - jointPos[2]]);
+            if (Math.hypot(toTip[0], toTip[1], toTip[2]) <= 1e-9 || Math.hypot(toTarget[0], toTarget[1], toTarget[2]) <= 1e-9)
+                continue;
+            const cross = [
+                toTip[1] * toTarget[2] - toTip[2] * toTarget[1],
+                toTip[2] * toTarget[0] - toTip[0] * toTarget[2],
+                toTip[0] * toTarget[1] - toTip[1] * toTarget[0]
+            ];
+            const crossLen = Math.hypot(cross[0], cross[1], cross[2]);
+            const dot = Math.max(-1, Math.min(1, toTip[0] * toTarget[0] + toTip[1] * toTarget[1] + toTip[2] * toTarget[2]));
+            let angle = Math.atan2(crossLen, dot);
+            const coneLimit = spec.coneLimitDeg?.[spec.chain[i]];
+            if (coneLimit !== undefined) {
+                angle = Math.min(angle, (coneLimit * Math.PI) / 180);
+            }
+            if (angle <= 1e-7 || crossLen <= 1e-9)
+                continue;
+            const axis = [cross[0] / crossLen, cross[1] / crossLen, cross[2] / crossLen];
+            const rot = axisAngle(axis, angle);
+            const worldNew = multiplyQuat(rot, snapshot[joint].rotation);
+            const parent = skeleton.parentIndices[joint] ?? -1;
+            const parentRot = parent >= 0 ? snapshot[parent].rotation : [0, 0, 0, 1];
+            const inv = [-parentRot[0], -parentRot[1], -parentRot[2], parentRot[3]];
+            const local = multiplyQuat(inv, worldNew);
+            const ll = Math.hypot(local[0], local[1], local[2], local[3]) || 1;
+            // Weight blends the CCD step with the current local rotation.
+            const out = new Float32Array(4);
+            slerpFlat(pose.rotations, joint * 4, local, weight, out);
+            pose.rotations[joint * 4] = out[0];
+            pose.rotations[joint * 4 + 1] = out[1];
+            pose.rotations[joint * 4 + 2] = out[2];
+            pose.rotations[joint * 4 + 3] = out[3];
+        }
+    }
+    return { iterations, tipError, reached: tipError <= tolerance };
+}
+function slerpFlat(current, offset, local, t, out) {
+    let ax = current[offset], ay = current[offset + 1], az = current[offset + 2], aw = current[offset + 3];
+    let bx = local[0], by = local[1], bz = local[2], bw = local[3];
+    let d = ax * bx + ay * by + az * bz + aw * bw;
+    if (d < 0) {
+        bx = -bx;
+        by = -by;
+        bz = -bz;
+        bw = -bw;
+        d = -d;
+    }
+    let s0 = 1 - t, s1 = t;
+    if (d < 0.9995) {
+        const theta = Math.acos(d);
+        const sin = Math.sin(theta);
+        s0 = Math.sin(s0 * theta) / sin;
+        s1 = Math.sin(s1 * theta) / sin;
+    }
+    out[0] = ax * s0 + bx * s1;
+    out[1] = ay * s0 + by * s1;
+    out[2] = az * s0 + bz * s1;
+    out[3] = aw * s0 + bw * s1;
+}
+//# sourceMappingURL=CcdIkConstraint.js.map

package/dist/pose/CcdIkConstraint.js.map

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

@@ -0,0 +1,48 @@
+import type { AnimationClip } from "../AnimationClip.js";
+import type { AnimationTrack, TrackValueType } from "../AnimationTrack.js";
+import type { AnimationValue } from "../Keyframe.js";
+/**
+ * PRD-06 T1.2 — clip compiled for allocation-free sampling: times/values live in
+ * flat Float32Arrays, and each playing action carries a per-track cursor
+ * (Uint32Array) so interval lookup is amortized O(1) for monotonic playback.
+ *
+ * Interpolation mirrors `AnimationTrack.sample` (LINEAR / STEP / CUBICSPLINE)
+ * with one deliberate deviation: quaternion CUBICSPLINE output is normalized
+ * directly instead of `sample`'s `slerpQuat(identity, q, 1)` — that call returns
+ * the raw cubic value un-normalized whenever |q.w| < 0.9995.
+ */
+export type CompiledTrackCursor = Uint32Array;
+export type CompiledTrack = {
+    readonly target: string;
+    readonly valueType: TrackValueType;
+    readonly times: Float32Array;
+    /** Flattened numeric values (stride×keyCount); empty for boolean/string tracks. */
+    readonly values: Float32Array;
+    /** Non-numeric values for boolean/string tracks; null otherwise. */
+    readonly rawValues: readonly AnimationValue[] | null;
+    /** Flattened cubic outTangents per keyframe (only when track has cubic keys). */
+    readonly outTangents: Float32Array | null;
+    /** Flattened cubic inTangents per keyframe (only when track has cubic keys). */
+    readonly inTangents: Float32Array | null;
+    readonly stride: number;
+    /** 0 = linear, 1 = step, 2 = cubicspline; one byte per keyframe. */
+    readonly interpolation: Uint8Array;
+    readonly keyframeCount: number;
+};
+export type CompiledClip = {
+    readonly duration: number;
+    readonly tracks: readonly CompiledTrack[];
+};
+export declare function compileTrack(track: AnimationTrack): CompiledTrack;
+export declare function compileClip(clip: AnimationClip): CompiledClip;
+/** One cursor byte per track; callers keep this on the action and reset it on seek. */
+export declare function createTrackCursors(clip: CompiledClip): CompiledTrackCursor;
+/**
+ * Sample `track` at `time` into `out` at `outOffset`. For boolean/string tracks
+ * the sampled raw value is written to `out[outOffset]` via Number coercion —
+ * callers needing the raw value use `sampleRaw` instead.
+ */
+export declare function sampleTrackInto(track: CompiledTrack, time: number, cursor: CompiledTrackCursor, cursorIndex: number, out: Float32Array, outOffset: number): void;
+/** Raw-value sample for boolean/string tracks (and a convenience for others). */
+export declare function sampleTrackRaw(track: CompiledTrack, time: number, cursor: CompiledTrackCursor, cursorIndex: number): AnimationValue;
+//# sourceMappingURL=CompiledClip.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"CompiledClip.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/pose/CompiledClip.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,qBAAqB,CAAC;AACzD,OAAO,KAAK,EAAE,cAAc,EAAE,cAAc,EAAE,MAAM,sBAAsB,CAAC;AAC3E,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,gBAAgB,CAAC;AAGrD;;;;;;;;;GASG;AAEH,MAAM,MAAM,mBAAmB,GAAG,WAAW,CAAC;AAE9C,MAAM,MAAM,aAAa,GAAG;IAC1B,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,SAAS,EAAE,cAAc,CAAC;IACnC,QAAQ,CAAC,KAAK,EAAE,YAAY,CAAC;IAC7B,mFAAmF;IACnF,QAAQ,CAAC,MAAM,EAAE,YAAY,CAAC;IAC9B,oEAAoE;IACpE,QAAQ,CAAC,SAAS,EAAE,SAAS,cAAc,EAAE,GAAG,IAAI,CAAC;IACrD,iFAAiF;IACjF,QAAQ,CAAC,WAAW,EAAE,YAAY,GAAG,IAAI,CAAC;IAC1C,gFAAgF;IAChF,QAAQ,CAAC,UAAU,EAAE,YAAY,GAAG,IAAI,CAAC;IACzC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,oEAAoE;IACpE,QAAQ,CAAC,aAAa,EAAE,UAAU,CAAC;IACnC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;CAChC,CAAC;AAEF,MAAM,MAAM,YAAY,GAAG;IACzB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,EAAE,SAAS,aAAa,EAAE,CAAC;CAC3C,CAAC;AA2BF,wBAAgB,YAAY,CAAC,KAAK,EAAE,cAAc,GAAG,aAAa,CA0DjE;AAED,wBAAgB,WAAW,CAAC,IAAI,EAAE,aAAa,GAAG,YAAY,CAK7D;AAED,uFAAuF;AACvF,wBAAgB,kBAAkB,CAAC,IAAI,EAAE,YAAY,GAAG,mBAAmB,CAE1E;AA+BD;;;;GAIG;AACH,wBAAgB,eAAe,CAC7B,KAAK,EAAE,aAAa,EACpB,IAAI,EAAE,MAAM,EACZ,MAAM,EAAE,mBAAmB,EAC3B,WAAW,EAAE,MAAM,EACnB,GAAG,EAAE,YAAY,EACjB,SAAS,EAAE,MAAM,GAChB,IAAI,CAuDN;AAED,iFAAiF;AACjF,wBAAgB,cAAc,CAAC,KAAK,EAAE,aAAa,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,mBAAmB,EAAE,WAAW,EAAE,MAAM,GAAG,cAAc,CAkBnI"}

package/dist/pose/CompiledClip.js

@@ -0,0 +1,209 @@
+import { normalizeQuatFlat, slerpQuatFlat } from "./quatFlat.js";
+const INTERP_LINEAR = 0;
+const INTERP_STEP = 1;
+const INTERP_CUBIC = 2;
+function strideFor(valueType, first) {
+    switch (valueType) {
+        case "scalar":
+            return 1;
+        case "vector3":
+            return 3;
+        case "quaternion":
+            return 4;
+        case "number-array":
+            return first.length;
+        default:
+            return 0;
+    }
+}
+function interpolationCode(interpolation) {
+    if (interpolation === "step")
+        return INTERP_STEP;
+    if (interpolation === "cubicspline")
+        return INTERP_CUBIC;
+    return INTERP_LINEAR;
+}
+export function compileTrack(track) {
+    const keyframes = track.keyframes;
+    const keyframeCount = keyframes.length;
+    const times = new Float32Array(keyframeCount);
+    const interpolation = new Uint8Array(keyframeCount);
+    const stride = strideFor(track.valueType, keyframes[0].value);
+    const numeric = stride > 0;
+    const values = numeric ? new Float32Array(keyframeCount * stride) : new Float32Array(0);
+    const rawValues = numeric ? null : [];
+    let hasCubic = false;
+    for (let i = 0; i < keyframeCount; i += 1) {
+        const keyframe = keyframes[i];
+        times[i] = keyframe.time;
+        const code = interpolationCode(keyframe.interpolation);
+        interpolation[i] = code;
+        if (code === INTERP_CUBIC)
+            hasCubic = true;
+        if (numeric) {
+            const value = keyframe.value;
+            const base = i * stride;
+            if (stride === 1)
+                values[base] = value;
+            else
+                for (let k = 0; k < stride; k += 1)
+                    values[base + k] = value[k];
+        }
+        else {
+            rawValues.push(keyframe.value);
+        }
+    }
+    let outTangents = null;
+    let inTangents = null;
+    if (hasCubic) {
+        outTangents = new Float32Array(keyframeCount * stride);
+        inTangents = new Float32Array(keyframeCount * stride);
+        for (let i = 0; i < keyframeCount; i += 1) {
+            const keyframe = keyframes[i];
+            const base = i * stride;
+            if (keyframe.outTangent !== undefined) {
+                const tangent = keyframe.outTangent;
+                for (let k = 0; k < stride; k += 1)
+                    outTangents[base + k] = typeof tangent === "number" ? tangent : tangent[k];
+            }
+            if (keyframe.inTangent !== undefined) {
+                const tangent = keyframe.inTangent;
+                for (let k = 0; k < stride; k += 1)
+                    inTangents[base + k] = typeof tangent === "number" ? tangent : tangent[k];
+            }
+        }
+    }
+    return {
+        target: track.target,
+        valueType: track.valueType,
+        times,
+        values,
+        rawValues,
+        outTangents,
+        inTangents,
+        stride,
+        interpolation,
+        keyframeCount
+    };
+}
+export function compileClip(clip) {
+    return {
+        duration: clip.duration,
+        tracks: clip.tracks.map((track) => compileTrack(track))
+    };
+}
+/** One cursor byte per track; callers keep this on the action and reset it on seek. */
+export function createTrackCursors(clip) {
+    return new Uint32Array(clip.tracks.length);
+}
+/**
+ * Locate the keyframe interval containing `time`, using `cursor` (a slot in the
+ * action's Uint32Array) as a search hint. Returns the index of the first
+ * keyframe of the interval, or -1 when `time` is outside the clip range (caller
+ * clamps to the first/last keyframe in that case).
+ */
+function locateInterval(track, time, cursor, cursorIndex) {
+    const times = track.times;
+    const lastInterval = track.keyframeCount - 2;
+    let i = cursor[cursorIndex];
+    if (i > lastInterval)
+        i = lastInterval;
+    while (i < lastInterval && time > times[i + 1])
+        i += 1;
+    while (i > 0 && time < times[i])
+        i -= 1;
+    cursor[cursorIndex] = i;
+    if (time < times[0] || time > times[track.keyframeCount - 1])
+        return -1;
+    return i;
+}
+function cubicHermite(a, b, outTangent, inTangent, t, deltaTime) {
+    const t2 = t * t;
+    const t3 = t2 * t;
+    return ((2 * t3 - 3 * t2 + 1) * a +
+        (t3 - 2 * t2 + t) * deltaTime * outTangent +
+        (-2 * t3 + 3 * t2) * b +
+        (t3 - t2) * deltaTime * inTangent);
+}
+/**
+ * Sample `track` at `time` into `out` at `outOffset`. For boolean/string tracks
+ * the sampled raw value is written to `out[outOffset]` via Number coercion —
+ * callers needing the raw value use `sampleRaw` instead.
+ */
+export function sampleTrackInto(track, time, cursor, cursorIndex, out, outOffset) {
+    const stride = track.stride;
+    const keyframeCount = track.keyframeCount;
+    const times = track.times;
+    const values = track.values;
+    if (time <= times[0]) {
+        for (let k = 0; k < stride; k += 1)
+            out[outOffset + k] = values[k];
+        return;
+    }
+    if (time >= times[keyframeCount - 1]) {
+        const base = (keyframeCount - 1) * stride;
+        for (let k = 0; k < stride; k += 1)
+            out[outOffset + k] = values[base + k];
+        return;
+    }
+    const i = locateInterval(track, time, cursor, cursorIndex);
+    const aBase = i * stride;
+    const bBase = (i + 1) * stride;
+    const aTime = times[i];
+    const bTime = times[i + 1];
+    const interp = track.interpolation[i];
+    if (interp === INTERP_STEP || bTime === aTime) {
+        for (let k = 0; k < stride; k += 1)
+            out[outOffset + k] = values[aBase + k];
+        return;
+    }
+    const t = (time - aTime) / (bTime - aTime);
+    if (interp === INTERP_CUBIC) {
+        const deltaTime = bTime - aTime;
+        const outTangents = track.outTangents;
+        const inTangents = track.inTangents;
+        for (let k = 0; k < stride; k += 1) {
+            out[outOffset + k] = cubicHermite(values[aBase + k], values[bBase + k], outTangents[aBase + k], inTangents[bBase + k], t, deltaTime);
+        }
+        if (track.valueType === "quaternion")
+            normalizeQuatFlat(out, outOffset);
+        return;
+    }
+    if (track.valueType === "quaternion") {
+        slerpQuatFlat(out, outOffset, values, aBase, values, bBase, t);
+        return;
+    }
+    for (let k = 0; k < stride; k += 1) {
+        out[outOffset + k] = values[aBase + k] + (values[bBase + k] - values[aBase + k]) * t;
+    }
+}
+/** Raw-value sample for boolean/string tracks (and a convenience for others). */
+export function sampleTrackRaw(track, time, cursor, cursorIndex) {
+    const times = track.times;
+    const keyframeCount = track.keyframeCount;
+    if (time <= times[0])
+        return track.rawValues ? track.rawValues[0] : firstNumeric(track);
+    if (time >= times[keyframeCount - 1]) {
+        return track.rawValues ? track.rawValues[keyframeCount - 1] : lastNumeric(track);
+    }
+    const i = locateInterval(track, time, cursor, cursorIndex);
+    const bTime = times[i + 1];
+    const t = (time - times[i]) / (bTime - times[i]);
+    if (track.rawValues) {
+        const interp = track.interpolation[i];
+        if (interp === INTERP_STEP || t < 1)
+            return track.rawValues[i];
+        return track.rawValues[i + 1];
+    }
+    const scratch = new Float32Array(track.stride);
+    sampleTrackInto(track, time, cursor, cursorIndex, scratch, 0);
+    return [...scratch];
+}
+function firstNumeric(track) {
+    return track.stride === 1 ? track.values[0] : [...track.values.subarray(0, track.stride)];
+}
+function lastNumeric(track) {
+    const base = (track.keyframeCount - 1) * track.stride;
+    return track.stride === 1 ? track.values[base] : [...track.values.subarray(base, base + track.stride)];
+}
+//# sourceMappingURL=CompiledClip.js.map

package/dist/pose/CompiledClip.js.map

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

@@ -0,0 +1,48 @@
+/**
+ * T3.3 (PRD-06 §7.1/7.2) — `LookAtConstraint`: pose-space look-at that
+ * distributes the required yaw/pitch across the named bones by weight,
+ * enforces `yawLimitDeg`/`pitchLimitDeg` on the aggregate rotation, and
+ * smooths applied angles with a critically-damped spring (`halfLife`,
+ * default 0.12 s — same convention as PoseInertializer).
+ *
+ * Stateful: the spring keeps per-constraint applied yaw/pitch; ±180° targets
+ * unwrap against the previous applied yaw so sweeping behind the character
+ * never snaps sign.
+ *
+ * `eyes` (optional bone names) aim directly at the target after the weighted
+ * pass — eye saccades are instant, not spring-smoothed.
+ */
+import type { PoseBuffer } from "./PoseBuffer.js";
+import type { SkeletonBinding } from "./SkeletonBinding.js";
+export interface LookAtConstraintSpec {
+    /** Weighted chain (e.g. spine 0.25 / neck 0.35 / head 0.4). Weights need not sum to 1. */
+    readonly bones: readonly {
+        readonly bone: string;
+        readonly weight: number;
+    }[];
+    /** Model-space forward axis of the bones (default "+z"). */
+    readonly forwardAxis?: "+z" | "-z" | "+y";
+    /** Aggregate yaw cap about the model-space up axis (default 90°). */
+    readonly yawLimitDeg?: number;
+    /** Aggregate pitch cap about the rotated right axis (default 60°). */
+    readonly pitchLimitDeg?: number;
+    /** Optional eye bones that aim at the target directly (full correction). */
+    readonly eyes?: readonly string[];
+    /** Critically-damped smoothing half-life in seconds (default 0.12). */
+    readonly halfLife?: number;
+}
+type Vec3 = readonly [number, number, number];
+export interface LookAtConstraint {
+    /** Apply the constraint: writes local rotations of the spec's bones. */
+    apply(pose: PoseBuffer, skeleton: SkeletonBinding, modelMatrix: Float32Array | readonly number[], target: Vec3, dt: number): void;
+    /** Current smoothed yaw/pitch (radians) — diagnostics. */
+    readonly smoothed: {
+        readonly yaw: number;
+        readonly pitch: number;
+    };
+    /** Reset the spring (e.g. on teleport). */
+    reset(): void;
+}
+export declare function createLookAtConstraint(spec: LookAtConstraintSpec): LookAtConstraint;
+export {};
+//# sourceMappingURL=LookAtConstraint.d.ts.map

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

@@ -0,0 +1 @@
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