@aura3d/animation 3.0.1 → 4.0.0

package/dist/pose/LookAtConstraint.js

@@ -0,0 +1,251 @@
+/**
+ * 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.
+ */
+const UP = [0, 1, 0];
+function jointIndex(skeleton, name) {
+    const indices = skeleton.jointIndicesByName.get(name);
+    if (!indices || indices.length === 0)
+        throw new Error(`LookAtConstraint: unknown bone "${name}".`);
+    return indices[0];
+}
+function jointFrame(pose, skeleton, joint, cache) {
+    const cached = cache.get(joint);
+    if (cached)
+        return cached;
+    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 frame = { position: pos, rotation: rot, scale: scl };
+        cache.set(joint, frame);
+        return frame;
+    }
+    const pf = jointFrame(pose, skeleton, parent, cache);
+    const scaled = [pos[0] * pf.scale[0], pos[1] * pf.scale[1], pos[2] * pf.scale[2]];
+    const rotated = rotateVec3(pf.rotation, scaled);
+    const frame = {
+        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, frame);
+    return frame;
+}
+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];
+}
+/** Invert a TRS-only mat4 for target world→model conversion. */
+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]]
+    };
+}
+function forwardVector(axis) {
+    if (axis === "-z")
+        return [0, 0, -1];
+    if (axis === "+y")
+        return [0, 1, 0];
+    return [0, 0, 1];
+}
+export function createLookAtConstraint(spec) {
+    const halfLife = spec.halfLife ?? 0.12;
+    const yawLimit = ((spec.yawLimitDeg ?? 90) * Math.PI) / 180;
+    const pitchLimit = ((spec.pitchLimitDeg ?? 60) * Math.PI) / 180;
+    const axis = forwardVector(spec.forwardAxis ?? "+z");
+    const state = { yaw: 0, pitch: 0 };
+    return {
+        get smoothed() {
+            return { yaw: state.yaw, pitch: state.pitch };
+        },
+        reset() {
+            state.yaw = 0;
+            state.pitch = 0;
+        },
+        apply(pose, skeleton, modelMatrix, target, dt) {
+            const frames = new Map();
+            const invModel = invertModelTRS(modelMatrix);
+            // Target in model space.
+            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 rotatedTarget = rotateVec3(invRot, shifted);
+            const targetLocal = [
+                rotatedTarget[0] / (invModel.scale[0] || 1),
+                rotatedTarget[1] / (invModel.scale[1] || 1),
+                rotatedTarget[2] / (invModel.scale[2] || 1)
+            ];
+            // Desired yaw/pitch off the LAST weighted bone's current forward.
+            const last = spec.bones[spec.bones.length - 1];
+            if (!last)
+                return;
+            const lastFrame = jointFrame(pose, skeleton, jointIndex(skeleton, last.bone), frames);
+            const forward = rotateVec3(lastFrame.rotation, axis);
+            const toTarget = normalize([
+                targetLocal[0] - lastFrame.position[0],
+                targetLocal[1] - lastFrame.position[1],
+                targetLocal[2] - lastFrame.position[2]
+            ]);
+            if (Math.hypot(toTarget[0], toTarget[1], toTarget[2]) <= 1e-9)
+                return;
+            // Yaw about model up: signed angle between the XZ projections.
+            const forwardFlat = normalize([forward[0], 0, forward[2]]);
+            const targetFlat = normalize([toTarget[0], 0, toTarget[2]]);
+            // atan2(cross·up, dot) — cross(f,t)·up = fz·tx − fx·tz
+            const crossY = forwardFlat[2] * targetFlat[0] - forwardFlat[0] * targetFlat[2];
+            const yaw = Math.atan2(crossY, forwardFlat[0] * targetFlat[0] + forwardFlat[2] * targetFlat[2]);
+            // Pitch = the rotation about the yawed RIGHT axis needed to lift the
+            // CURRENT forward to the target's elevation — a delta, not the target's
+            // absolute elevation (an animated forward already pitched by the clip
+            // would otherwise keep its pitch residual forever). R_x(+θ) pitches +Z
+            // DOWN, so the correction is forwardElev − targetElev.
+            const pitch = Math.atan2(forward[1], Math.max(1e-9, Math.hypot(forward[0], forward[2]))) -
+                Math.atan2(toTarget[1], Math.max(1e-9, Math.hypot(toTarget[0], toTarget[2])));
+            let targetYaw = Math.max(-yawLimit, Math.min(yawLimit, yaw));
+            const targetPitch = Math.max(-pitchLimit, Math.min(pitchLimit, pitch));
+            // The constraint composes each frame's distributed share ON TOP of the
+            // animated pose (the pose the mixer just wrote — never last frame's
+            // constraint output), so the smoothed angles are absolute and
+            // convergent. `state` starts at 0 for a smooth ramp-in.
+            // ±180° unwrap: pull the TARGET onto the smoothed value's branch — the
+            // smoothed yaw itself keeps growing continuously past ±π (equivalent mod
+            // 2π in the applied share), so sweeping behind never snaps sign.
+            while (targetYaw - state.yaw > Math.PI)
+                targetYaw -= Math.PI * 2;
+            while (targetYaw - state.yaw < -Math.PI)
+                targetYaw += Math.PI * 2;
+            const blend = 1 - Math.pow(2, -dt / halfLife);
+            state.yaw += (targetYaw - state.yaw) * blend;
+            state.pitch += (targetPitch - state.pitch) * blend;
+            // Distribute smoothed angles across the bones by weight; write back.
+            for (const entry of spec.bones) {
+                const index = jointIndex(skeleton, entry.bone);
+                const frame = jointFrame(pose, skeleton, index, frames);
+                const yawShare = state.yaw * entry.weight;
+                const pitchShare = state.pitch * entry.weight;
+                const yawQ = axisAngle(UP, yawShare);
+                const afterYaw = multiplyQuat(yawQ, frame.rotation);
+                // Pitch about the bone's post-yaw RIGHT axis — the horizontal axis
+                // perpendicular to its current forward (`cross(UP, fwd)` = +X yawed by
+                // the forward's own azimuth). Using the yawed model +X instead pitches
+                // about an axis off by the whole azimuth, leaking the share into
+                // roll/yaw and leaving a residual that grows with off-axis targets.
+                const postYawForward = rotateVec3(afterYaw, axis);
+                const right = normalize([
+                    postYawForward[2],
+                    0,
+                    -postYawForward[0]
+                ]);
+                const pitchQ = axisAngle(right, pitchShare);
+                const world = multiplyQuat(pitchQ, afterYaw);
+                const l = Math.hypot(world[0], world[1], world[2], world[3]) || 1;
+                const normalized = [world[0] / l, world[1] / l, world[2] / l, world[3] / l];
+                const parent = skeleton.parentIndices[index] ?? -1;
+                const parentRot = parent >= 0 ? jointFrame(pose, skeleton, parent, frames).rotation : [0, 0, 0, 1];
+                const inv = [-parentRot[0], -parentRot[1], -parentRot[2], parentRot[3]];
+                const local = multiplyQuat(inv, normalized);
+                const ll = Math.hypot(local[0], local[1], local[2], local[3]) || 1;
+                pose.rotations[index * 4] = local[0] / ll;
+                pose.rotations[index * 4 + 1] = local[1] / ll;
+                pose.rotations[index * 4 + 2] = local[2] / ll;
+                pose.rotations[index * 4 + 3] = local[3] / ll;
+                // Downstream bones see this bone's new world rotation — drop the whole
+                // cache so later entries recompute against the updated pose.
+                frames.clear();
+            }
+            // Eyes aim directly at the target (instant saccade, no spring).
+            for (const eyeName of spec.eyes ?? []) {
+                const index = jointIndex(skeleton, eyeName);
+                const frame = jointFrame(pose, skeleton, index, frames);
+                const eyeForward = rotateVec3(frame.rotation, axis);
+                const eyeToTarget = normalize([
+                    targetLocal[0] - frame.position[0],
+                    targetLocal[1] - frame.position[1],
+                    targetLocal[2] - frame.position[2]
+                ]);
+                const d = eyeForward[0] * eyeToTarget[0] + eyeForward[1] * eyeToTarget[1] + eyeForward[2] * eyeToTarget[2];
+                if (d > 1 - 1e-6)
+                    continue;
+                const cross = [
+                    eyeForward[1] * eyeToTarget[2] - eyeForward[2] * eyeToTarget[1],
+                    eyeForward[2] * eyeToTarget[0] - eyeForward[0] * eyeToTarget[2],
+                    eyeForward[0] * eyeToTarget[1] - eyeForward[1] * eyeToTarget[0]
+                ];
+                const w = Math.sqrt((1 + Math.max(-1, d)) / 2);
+                const s = 1 / (2 * w);
+                const aim = [cross[0] * s, cross[1] * s, cross[2] * s, w];
+                const world = multiplyQuat(aim, frame.rotation);
+                const parent = skeleton.parentIndices[index] ?? -1;
+                const parentRot = parent >= 0 ? jointFrame(pose, skeleton, parent, frames).rotation : [0, 0, 0, 1];
+                const inv = [-parentRot[0], -parentRot[1], -parentRot[2], parentRot[3]];
+                const local = multiplyQuat(inv, world);
+                const ll = Math.hypot(local[0], local[1], local[2], local[3]) || 1;
+                pose.rotations[index * 4] = local[0] / ll;
+                pose.rotations[index * 4 + 1] = local[1] / ll;
+                pose.rotations[index * 4 + 2] = local[2] / ll;
+                pose.rotations[index * 4 + 3] = local[3] / ll;
+            }
+        }
+    };
+}
+//# sourceMappingURL=LookAtConstraint.js.map

package/dist/pose/LookAtConstraint.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"LookAtConstraint.js","sourceRoot":"","sources":["../../../../../packages/animation/src/pose/LookAtConstraint.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;GAaG;AAuBH,MAAM,EAAE,GAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAE3B,SAAS,UAAU,CAAC,QAAyB,EAAE,IAAY;IACzD,MAAM,OAAO,GAAG,QAAQ,CAAC,kBAAkB,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;IACtD,IAAI,CAAC,OAAO,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC;QAAE,MAAM,IAAI,KAAK,CAAC,mCAAmC,IAAI,IAAI,CAAC,CAAC;IACnG,OAAO,OAAO,CAAC,CAAC,CAAE,CAAC;AACrB,CAAC;AAQD,SAAS,UAAU,CAAC,IAAgB,EAAE,QAAyB,EAAE,KAAa,EAAE,KAA8B;IAC5G,MAAM,MAAM,GAAG,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAChC,IAAI,MAAM;QAAE,OAAO,MAAM,CAAC;IAC1B,MAAM,GAAG,GAAS,CAAC,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,CAAE,EAAE,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAE,EAAE,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAE,CAAC,CAAC;IAC/G,MAAM,GAAG,GAAS,CAAC,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,CAAE,EAAE,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAE,EAAE,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAE,EAAE,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAE,CAAC,CAAC;IAC/I,MAAM,GAAG,GAAS,CAAC,IAAI,CAAC,MAAM,CAAC,KAAK,GAAG,CAAC,CAAE,EAAE,IAAI,CAAC,MAAM,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAE,EAAE,IAAI,CAAC,MAAM,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAE,CAAC,CAAC;IACtG,MAAM,MAAM,GAAG,QAAQ,CAAC,aAAa,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;IACnD,IAAI,MAAM,GAAG,CAAC,IAAI,MAAM,IAAI,QAAQ,CAAC,SAAS,IAAI,MAAM,KAAK,KAAK,EAAE,CAAC;QACnE,MAAM,KAAK,GAAe,EAAE,QAAQ,EAAE,GAAG,EAAE,QAAQ,EAAE,GAAG,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC;QACvE,KAAK,CAAC,GAAG,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;QACxB,OAAO,KAAK,CAAC;IACf,CAAC;IACD,MAAM,EAAE,GAAG,UAAU,CAAC,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;IACrD,MAAM,MAAM,GAAS,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;IACxF,MAAM,OAAO,GAAG,UAAU,CAAC,EAAE,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAC;IAChD,MAAM,KAAK,GAAe;QACxB,QAAQ,EAAE,CAAC,EAAE,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,CAAC;QACjG,QAAQ,EAAE,YAAY,CAAC,EAAE,CAAC,QAAQ,EAAE,GAAG,CAAC;QACxC,KAAK,EAAE,CAAC,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC;KAC1E,CAAC;IACF,KAAK,CAAC,GAAG,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IACxB,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,UAAU,CAAC,CAAO,EAAE,CAAO;IAClC,MAAM,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,GAAG,CAAC,CAAC;IACvB,MAAM,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACrC,MAAM,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACrC,MAAM,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACrC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC;AACnH,CAAC;AAED,SAAS,YAAY,CAAC,CAAO,EAAE,CAAO;IACpC,MAAM,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,GAAG,CAAC,CAAC;IAC3B,MAAM,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,GAAG,CAAC,CAAC;IAC3B,OAAO;QACL,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;QACrC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;QACrC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;QACrC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE;KAC7B,CAAC;AACb,CAAC;AAED,SAAS,SAAS,CAAC,IAAU,EAAE,OAAe;IAC5C,MAAM,IAAI,GAAG,OAAO,GAAG,CAAC,CAAC;IACzB,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;IACzB,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC;AACjE,CAAC;AAED,SAAS,SAAS,CAAC,CAAO;IACxB,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACvC,OAAO,CAAC,IAAI,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;AAChE,CAAC;AAED,gEAAgE;AAChE,SAAS,cAAc,CAAC,MAAwC;IAC9D,MAAM,EAAE,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAE,EAAE,MAAM,CAAC,CAAC,CAAE,EAAE,MAAM,CAAC,CAAC,CAAE,CAAC,CAAC;IAC1D,MAAM,EAAE,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAE,EAAE,MAAM,CAAC,CAAC,CAAE,EAAE,MAAM,CAAC,CAAC,CAAE,CAAC,CAAC;IAC1D,MAAM,EAAE,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAE,EAAE,MAAM,CAAC,CAAC,CAAE,EAAE,MAAM,CAAC,EAAE,CAAE,CAAC,CAAC;IAC3D,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAE,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,MAAM,CAAC,CAAC,CAAE,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,MAAM,CAAC,CAAC,CAAE,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC;IAC/F,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAE,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,MAAM,CAAC,CAAC,CAAE,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,MAAM,CAAC,CAAC,CAAE,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC;IAC/F,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAE,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,MAAM,CAAC,CAAC,CAAE,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,GAAG,GAAG,MAAM,CAAC,EAAE,CAAE,GAAG,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC;IAChG,MAAM,KAAK,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IAC9B,IAAI,CAAmC,CAAC;IACxC,IAAI,KAAK,GAAG,CAAC,EAAE,CAAC;QACd,MAAM,CAAC,GAAG,GAAG,GAAG,IAAI,CAAC,IAAI,CAAC,KAAK,GAAG,CAAC,CAAC,CAAC;QACrC,CAAC,GAAG,CAAC,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,IAAI,GAAG,CAAC,CAAC,CAAC;IACpE,CAAC;SAAM,IAAI,GAAG,GAAG,GAAG,IAAI,GAAG,GAAG,GAAG,EAAE,CAAC;QAClC,MAAM,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC,CAAC;QAC7C,CAAC,GAAG,CAAC,IAAI,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC;IACpE,CAAC;SAAM,IAAI,GAAG,GAAG,GAAG,EAAE,CAAC;QACrB,MAAM,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC,CAAC;QAC7C,CAAC,GAAG,CAAC,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,IAAI,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC;IACpE,CAAC;SAAM,CAAC;QACN,MAAM,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC,CAAC;QAC7C,CAAC,GAAG,CAAC,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,EAAE,IAAI,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC;IACpE,CAAC;IACD,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;IAClD,OAAO;QACL,QAAQ,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QAClD,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC;QACnB,QAAQ,EAAE,CAAC,MAAM,CAAC,EAAE,CAAE,EAAE,MAAM,CAAC,EAAE,CAAE,EAAE,MAAM,CAAC,EAAE,CAAE,CAAC;KAClD,CAAC;AACJ,CAAC;AAED,SAAS,aAAa,CAAC,IAAwB;IAC7C,IAAI,IAAI,KAAK,IAAI;QAAE,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;IACrC,IAAI,IAAI,KAAK,IAAI;QAAE,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACpC,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AACnB,CAAC;AAWD,MAAM,UAAU,sBAAsB,CAAC,IAA0B;IAC/D,MAAM,QAAQ,GAAG,IAAI,CAAC,QAAQ,IAAI,IAAI,CAAC;IACvC,MAAM,QAAQ,GAAG,CAAC,CAAC,IAAI,CAAC,WAAW,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC;IAC5D,MAAM,UAAU,GAAG,CAAC,CAAC,IAAI,CAAC,aAAa,IAAI,EAAE,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC;IAChE,MAAM,IAAI,GAAG,aAAa,CAAC,IAAI,CAAC,WAAW,IAAI,IAAI,CAAC,CAAC;IACrD,MAAM,KAAK,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC;IAEnC,OAAO;QACL,IAAI,QAAQ;YACV,OAAO,EAAE,GAAG,EAAE,KAAK,CAAC,GAAG,EAAE,KAAK,EAAE,KAAK,CAAC,KAAK,EAAE,CAAC;QAChD,CAAC;QACD,KAAK;YACH,KAAK,CAAC,GAAG,GAAG,CAAC,CAAC;YACd,KAAK,CAAC,KAAK,GAAG,CAAC,CAAC;QAClB,CAAC;QACD,KAAK,CAAC,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,MAAM,EAAE,EAAE;YAC3C,MAAM,MAAM,GAAG,IAAI,GAAG,EAAsB,CAAC;YAC7C,MAAM,QAAQ,GAAG,cAAc,CAAC,WAAW,CAAC,CAAC;YAC7C,yBAAyB;YACzB,MAAM,OAAO,GAAS,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;YAC7H,MAAM,MAAM,GAAS,CAAC,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;YACjH,MAAM,aAAa,GAAG,UAAU,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;YAClD,MAAM,WAAW,GAAS;gBACxB,aAAa,CAAC,CAAC,CAAC,GAAG,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;gBAC3C,aAAa,CAAC,CAAC,CAAC,GAAG,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;gBAC3C,aAAa,CAAC,CAAC,CAAC,GAAG,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;aAC5C,CAAC;YAEF,kEAAkE;YAClE,MAAM,IAAI,GAAG,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC;YAC/C,IAAI,CAAC,IAAI;gBAAE,OAAO;YAClB,MAAM,SAAS,GAAG,UAAU,CAAC,IAAI,EAAE,QAAQ,EAAE,UAAU,CAAC,QAAQ,EAAE,IAAI,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC,CAAC;YACtF,MAAM,OAAO,GAAG,UAAU,CAAC,SAAS,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAC;YACrD,MAAM,QAAQ,GAAG,SAAS,CAAC;gBACzB,WAAW,CAAC,CAAC,CAAC,GAAG,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC;gBACtC,WAAW,CAAC,CAAC,CAAC,GAAG,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC;gBACtC,WAAW,CAAC,CAAC,CAAC,GAAG,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC;aACvC,CAAC,CAAC;YACH,IAAI,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,CAAC,IAAI,IAAI;gBAAE,OAAO;YAEtE,+DAA+D;YAC/D,MAAM,WAAW,GAAS,SAAS,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YACjE,MAAM,UAAU,GAAS,SAAS,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YAClE,uDAAuD;YACvD,MAAM,MAAM,GAAG,WAAW,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC;YAC/E,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,WAAW,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;YAEhG,qEAAqE;YACrE,wEAAwE;YACxE,sEAAsE;YACtE,uEAAuE;YACvE,uDAAuD;YACvD,MAAM,KAAK,GACT,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,IAAI,EAAE,IAAI,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;gBAC1E,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,IAAI,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YAEhF,IAAI,SAAS,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,QAAQ,EAAE,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,GAAG,CAAC,CAAC,CAAC;YAC7D,MAAM,WAAW,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,UAAU,EAAE,IAAI,CAAC,GAAG,CAAC,UAAU,EAAE,KAAK,CAAC,CAAC,CAAC;YAEvE,uEAAuE;YACvE,oEAAoE;YACpE,8DAA8D;YAC9D,wDAAwD;YACxD,uEAAuE;YACvE,yEAAyE;YACzE,iEAAiE;YACjE,OAAO,SAAS,GAAG,KAAK,CAAC,GAAG,GAAG,IAAI,CAAC,EAAE;gBAAE,SAAS,IAAI,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC;YACjE,OAAO,SAAS,GAAG,KAAK,CAAC,GAAG,GAAG,CAAC,IAAI,CAAC,EAAE;gBAAE,SAAS,IAAI,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC;YAClE,MAAM,KAAK,GAAG,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,QAAQ,CAAC,CAAC;YAC9C,KAAK,CAAC,GAAG,IAAI,CAAC,SAAS,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC;YAC7C,KAAK,CAAC,KAAK,IAAI,CAAC,WAAW,GAAG,KAAK,CAAC,KAAK,CAAC,GAAG,KAAK,CAAC;YAEnD,qEAAqE;YACrE,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,KAAK,EAAE,CAAC;gBAC/B,MAAM,KAAK,GAAG,UAAU,CAAC,QAAQ,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC;gBAC/C,MAAM,KAAK,GAAG,UAAU,CAAC,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;gBACxD,MAAM,QAAQ,GAAG,KAAK,CAAC,GAAG,GAAG,KAAK,CAAC,MAAM,CAAC;gBAC1C,MAAM,UAAU,GAAG,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,MAAM,CAAC;gBAC9C,MAAM,IAAI,GAAG,SAAS,CAAC,EAAE,EAAE,QAAQ,CAAC,CAAC;gBACrC,MAAM,QAAQ,GAAG,YAAY,CAAC,IAAI,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;gBACpD,mEAAmE;gBACnE,uEAAuE;gBACvE,uEAAuE;gBACvE,iEAAiE;gBACjE,oEAAoE;gBACpE,MAAM,cAAc,GAAG,UAAU,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAC;gBAClD,MAAM,KAAK,GAAG,SAAS,CAAC;oBACtB,cAAc,CAAC,CAAC,CAAC;oBACjB,CAAC;oBACD,CAAC,cAAc,CAAC,CAAC,CAAC;iBACnB,CAAC,CAAC;gBACH,MAAM,MAAM,GAAG,SAAS,CAAC,KAAK,EAAE,UAAU,CAAC,CAAC;gBAC5C,MAAM,KAAK,GAAG,YAAY,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;gBAC7C,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;gBAClE,MAAM,UAAU,GAAS,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;gBAClF,MAAM,MAAM,GAAG,QAAQ,CAAC,aAAa,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;gBACnD,MAAM,SAAS,GAAS,MAAM,IAAI,CAAC,CAAC,CAAC,CAAC,UAAU,CAAC,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;gBACzG,MAAM,GAAG,GAAS,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC;gBAC9E,MAAM,KAAK,GAAG,YAAY,CAAC,GAAG,EAAE,UAAU,CAAC,CAAC;gBAC5C,MAAM,EAAE,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;gBACnE,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC1C,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC9C,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC9C,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC9C,uEAAuE;gBACvE,6DAA6D;gBAC7D,MAAM,CAAC,KAAK,EAAE,CAAC;YACjB,CAAC;YAED,gEAAgE;YAChE,KAAK,MAAM,OAAO,IAAI,IAAI,CAAC,IAAI,IAAI,EAAE,EAAE,CAAC;gBACtC,MAAM,KAAK,GAAG,UAAU,CAAC,QAAQ,EAAE,OAAO,CAAC,CAAC;gBAC5C,MAAM,KAAK,GAAG,UAAU,CAAC,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;gBACxD,MAAM,UAAU,GAAG,UAAU,CAAC,KAAK,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAC;gBACpD,MAAM,WAAW,GAAG,SAAS,CAAC;oBAC5B,WAAW,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;oBAClC,WAAW,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;oBAClC,WAAW,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;iBACnC,CAAC,CAAC;gBACH,MAAM,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,CAAC;gBAC3G,IAAI,CAAC,GAAG,CAAC,GAAG,IAAI;oBAAE,SAAS;gBAC3B,MAAM,KAAK,GAAS;oBAClB,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC;oBAC/D,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC;oBAC/D,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC;iBAChE,CAAC;gBACF,MAAM,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;gBAC/C,MAAM,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;gBACtB,MAAM,GAAG,GAAS,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC;gBAChE,MAAM,KAAK,GAAG,YAAY,CAAC,GAAG,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;gBAChD,MAAM,MAAM,GAAG,QAAQ,CAAC,aAAa,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC;gBACnD,MAAM,SAAS,GAAS,MAAM,IAAI,CAAC,CAAC,CAAC,CAAC,UAAU,CAAC,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;gBACzG,MAAM,GAAG,GAAS,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE,CAAC,SAAS,CAAC,CAAC,CAAC,EAAE,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC;gBAC9E,MAAM,KAAK,GAAG,YAAY,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC;gBACvC,MAAM,EAAE,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;gBACnE,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC1C,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC9C,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;gBAC9C,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;YAChD,CAAC;QACH,CAAC;KACF,CAAC;AACJ,CAAC"}

package/dist/pose/MotionMetrics.d.ts

@@ -0,0 +1,136 @@
+/**
+ * §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.
+ */
+/** Quaternion [x,y,z,w]. */
+export type MotionQuat = readonly [number, number, number, number];
+/** World position [x,y,z]. */
+export type MotionVec3 = readonly [number, number, number];
+export interface MotionBoneSample {
+    readonly rotation: MotionQuat;
+    readonly position: MotionVec3;
+}
+/** One sampled frame: sim time in seconds → per-bone rotation+position. */
+export interface MotionFrame {
+    readonly time: number;
+    readonly bones: Readonly<Record<string, MotionBoneSample>>;
+}
+declare const IDENTITY_QUAT: MotionQuat;
+/**
+ * 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 declare function motionSampleFromMatrix(m: ArrayLike<number>): MotionBoneSample;
+/**
+ * §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 declare function isHumanoidMotionBone(bone: string): boolean;
+/** Shortest-arc angle between two quats, in degrees. */
+export declare function quatAngleDegrees(a: MotionQuat, b: MotionQuat): number;
+export interface BoneAngularSpeed {
+    readonly bone: string;
+    /** deg/s, frame-to-frame. */
+    readonly speeds: readonly number[];
+    readonly times: readonly number[];
+}
+/** Per-bone angular-speed series over the sampled window. */
+export declare function boneAngularSpeeds(frames: readonly MotionFrame[], isBone?: (bone: string) => boolean): BoneAngularSpeed[];
+/** Max deg/s across all bones inside [start, end] (0 when empty). */
+export declare function maxAngularSpeedInWindow(frames: readonly MotionFrame[], start: number, end: number, isBone?: typeof isHumanoidMotionBone): number;
+/** The single fastest bone→speed sample inside [start, end], with attribution. */
+export declare function maxAngularSpeedDetailInWindow(frames: readonly MotionFrame[], start: number, end: number, isBone?: typeof isHumanoidMotionBone): {
+    readonly speed: number;
+    readonly bone?: string;
+    readonly at?: number;
+};
+export interface ContinuityResult {
+    /** C = maxAngularSpeed / max(baseline, 90°/s). */
+    readonly continuity: number;
+    readonly maxAngularSpeedDegPerSec: number;
+    readonly baselineDegPerSec: number;
+    /** Attribution for the fastest sample (diagnostics on gate failures). */
+    readonly maxBone?: string;
+    readonly maxAt?: number;
+}
+/**
+ * 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 declare function transitionContinuity(frames: readonly MotionFrame[], options: {
+    readonly transitionTime: number;
+    readonly windowBefore?: number;
+    readonly windowAfter?: number;
+    /** Frame ranges where a single clip plays alone (baseline measurement). */
+    readonly baselineWindows?: readonly (readonly [number, number])[];
+    readonly baselineDegPerSec?: number;
+    readonly isBone?: (bone: string) => boolean;
+}): ContinuityResult;
+export interface FootContactPhase {
+    readonly bone: string;
+    readonly startTime: number;
+    readonly endTime: number;
+    /** Max horizontal (XZ) displacement from the phase's first position, metres. */
+    readonly slideM: number;
+}
+export interface FootSlideResult {
+    readonly maxSlideM: number;
+    readonly phases: readonly FootContactPhase[];
+}
+/**
+ * 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 declare function footSlide(frames: readonly MotionFrame[], options: {
+    readonly footBones: readonly string[];
+    readonly contactHeightM?: number;
+    readonly contactSpeedMps?: number;
+    /** Explicit contact windows per bone — overrides the inferred rule. */
+    readonly contactWindows?: Readonly<Record<string, readonly (readonly [number, number])[]>>;
+}): FootSlideResult;
+export interface LocomotionPhaseSample {
+    readonly time: number;
+    readonly a: {
+        readonly phase: number;
+        readonly weight: number;
+    };
+    readonly b: {
+        readonly phase: number;
+        readonly weight: number;
+    };
+}
+export interface LocomotionPhaseErrorResult {
+    /** Max |phaseA − phaseB| (circular, in [0, 0.5]) over frames where both weights pass the bar. */
+    readonly maxPhaseError: number;
+    readonly meanPhaseError: number;
+    readonly comparedFrames: number;
+}
+/**
+ * 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 declare function locomotionPhaseError(samples: readonly LocomotionPhaseSample[], options?: {
+    readonly minWeight?: number;
+}): LocomotionPhaseErrorResult;
+/**
+ * Build one MotionFrame from a socket reader — the adapter's per-frame hook:
+ * `motionFrame(t, boneNames, (bone) => socket(bone).worldMatrix())`.
+ */
+export declare function motionFrame(time: number, boneNames: readonly string[], worldMatrix: (bone: string) => ArrayLike<number> | undefined): MotionFrame;
+export { IDENTITY_QUAT as MOTION_IDENTITY_QUAT };
+//# sourceMappingURL=MotionMetrics.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"MotionMetrics.d.ts","sourceRoot":"","sources":["../../../../../packages/animation/src/pose/MotionMetrics.ts"],"names":[],"mappings":"AAAA;;;;;;;;GAQG;AAEH,4BAA4B;AAC5B,MAAM,MAAM,UAAU,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AACnE,8BAA8B;AAC9B,MAAM,MAAM,UAAU,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAE3D,MAAM,WAAW,gBAAgB;IAC/B,QAAQ,CAAC,QAAQ,EAAE,UAAU,CAAC;IAC9B,QAAQ,CAAC,QAAQ,EAAE,UAAU,CAAC;CAC/B;AAED,2EAA2E;AAC3E,MAAM,WAAW,WAAW;IAC1B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,KAAK,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,gBAAgB,CAAC,CAAC,CAAC;CAC5D;AAED,QAAA,MAAM,aAAa,EAAE,UAAyB,CAAC;AAM/C;;;;;GAKG;AACH,wBAAgB,sBAAsB,CAAC,CAAC,EAAE,SAAS,CAAC,MAAM,CAAC,GAAG,gBAAgB,CA2B7E;AASD;;;;GAIG;AACH,wBAAgB,oBAAoB,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAG1D;AAMD,wDAAwD;AACxD,wBAAgB,gBAAgB,CAAC,CAAC,EAAE,UAAU,EAAE,CAAC,EAAE,UAAU,GAAG,MAAM,CAIrE;AAED,MAAM,WAAW,gBAAgB;IAC/B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,6BAA6B;IAC7B,QAAQ,CAAC,MAAM,EAAE,SAAS,MAAM,EAAE,CAAC;IACnC,QAAQ,CAAC,KAAK,EAAE,SAAS,MAAM,EAAE,CAAC;CACnC;AAED,6DAA6D;AAC7D,wBAAgB,iBAAiB,CAC/B,MAAM,EAAE,SAAS,WAAW,EAAE,EAC9B,MAAM,GAAE,CAAC,IAAI,EAAE,MAAM,KAAK,OAA8B,GACvD,gBAAgB,EAAE,CAsBpB;AAED,qEAAqE;AACrE,wBAAgB,uBAAuB,CAAC,MAAM,EAAE,SAAS,WAAW,EAAE,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,EAAE,MAAM,8BAAuB,GAAG,MAAM,CAEzI;AAED,kFAAkF;AAClF,wBAAgB,6BAA6B,CAC3C,MAAM,EAAE,SAAS,WAAW,EAAE,EAC9B,KAAK,EAAE,MAAM,EACb,GAAG,EAAE,MAAM,EACX,MAAM,8BAAuB,GAC5B;IAAE,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IAAC,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IAAC,QAAQ,CAAC,EAAE,CAAC,EAAE,MAAM,CAAA;CAAE,CAe1E;AAMD,MAAM,WAAW,gBAAgB;IAC/B,kDAAkD;IAClD,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,wBAAwB,EAAE,MAAM,CAAC;IAC1C,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,yEAAyE;IACzE,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;CACzB;AAED;;;;;;GAMG;AACH,wBAAgB,oBAAoB,CAClC,MAAM,EAAE,SAAS,WAAW,EAAE,EAC9B,OAAO,EAAE;IACP,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,2EAA2E;IAC3E,QAAQ,CAAC,eAAe,CAAC,EAAE,SAAS,CAAC,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,EAAE,CAAC;IAClE,QAAQ,CAAC,iBAAiB,CAAC,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,MAAM,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,KAAK,OAAO,CAAC;CAC7C,GACA,gBAAgB,CAmBlB;AAMD,MAAM,WAAW,gBAAgB;IAC/B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,gFAAgF;IAChF,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;CACzB;AAED,MAAM,WAAW,eAAe;IAC9B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,MAAM,EAAE,SAAS,gBAAgB,EAAE,CAAC;CAC9C;AAED;;;;GAIG;AACH,wBAAgB,SAAS,CACvB,MAAM,EAAE,SAAS,WAAW,EAAE,EAC9B,OAAO,EAAE;IACP,QAAQ,CAAC,SAAS,EAAE,SAAS,MAAM,EAAE,CAAC;IACtC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,uEAAuE;IACvE,QAAQ,CAAC,cAAc,CAAC,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,SAAS,CAAC,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;CAC5F,GACA,eAAe,CA8CjB;AAMD,MAAM,WAAW,qBAAqB;IACpC,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,CAAC,EAAE;QAAE,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;QAAC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAA;KAAE,CAAC;IAChE,QAAQ,CAAC,CAAC,EAAE;QAAE,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;QAAC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAA;KAAE,CAAC;CACjE;AAED,MAAM,WAAW,0BAA0B;IACzC,iGAAiG;IACjG,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;CACjC;AAED;;;;;;GAMG;AACH,wBAAgB,oBAAoB,CAClC,OAAO,EAAE,SAAS,qBAAqB,EAAE,EACzC,OAAO,GAAE;IAAE,QAAQ,CAAC,SAAS,CAAC,EAAE,MAAM,CAAA;CAAO,GAC5C,0BAA0B,CAc5B;AAMD;;;GAGG;AACH,wBAAgB,WAAW,CACzB,IAAI,EAAE,MAAM,EACZ,SAAS,EAAE,SAAS,MAAM,EAAE,EAC5B,WAAW,EAAE,CAAC,IAAI,EAAE,MAAM,KAAK,SAAS,CAAC,MAAM,CAAC,GAAG,SAAS,GAC3D,WAAW,CAOb;AAED,OAAO,EAAE,aAAa,IAAI,oBAAoB,EAAE,CAAC"}