@aura3d/animation 3.0.1 → 4.0.2

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 @@
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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

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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