@aura3d/animation 3.0.1 → 4.0.2

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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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