@aura3d/assets 3.0.0 → 4.0.0

package/dist/GLTFAnimationRuntime.d.ts

@@ -1,4 +1,6 @@
-import { AnimationAction, AnimationClip, AnimationMixer, type AnimationEvent, type AnimationMixerOptions, type AnimationValue, type GroundRaycaster, type LoopMode, type TwoBoneIkResult } from "@aura3d/animation";
+import { AnimationAction, AnimationClip, AnimationMixer, type RootMotionConsumption, type RootMotionSample, type AnimationEvent, type AnimationMixerOptions, type AnimationValue, type GroundRaycaster, type LoopMode, type TwoBoneIkResult } from "@aura3d/animation";
+import { PoseMixer, type CompiledClip, type PoseBuffer, type SkeletonBinding } from "@aura3d/animation/lanes";
+import { type BakeRetargetedClipsOptions } from "@aura3d/animation/lanes";
 import { Scene, type Mat4 } from "@aura3d/scene";
 import type { GLTFAsset } from "./GLTFLoader.js";
 /**
@@ -6,6 +8,16 @@ import type { GLTFAsset } from "./GLTFLoader.js";
  * structural (instead of importing the rendering `Material`) so the animation runtime stays
  * decoupled from the renderer; the production bridge adapts the live material library.
  */
+/**
+ * T3.8 (PRD-06 §7.2) — options for `addClipsFrom`: the bake options plus the
+ * cache/worker plumbing (`cache`/`worker` default on, `engineVersion` defaults
+ * to the lane's retarget version key).
+ */
+export interface AddClipsFromRuntimeOptions extends BakeRetargetedClipsOptions {
+    readonly engineVersion?: string;
+    readonly cache?: boolean;
+    readonly worker?: boolean;
+}
 export interface GLTFSceneAnimationMaterialSink {
     readonly name: string;
     setAnimationParameter(parameter: string, value: number | readonly number[]): void;
@@ -33,6 +45,13 @@ export interface GLTFootPlantingLegConfig {
     readonly knee: string;
     readonly ankle: string;
     readonly pole?: readonly [number, number, number];
+    /** Optional measured joint-to-sole offset for asymmetric footwear. */
+    readonly ankleHeight?: number;
+    readonly contact?: boolean;
+    readonly support?: {
+        readonly id: string;
+        readonly delta: readonly [number, number, number];
+    };
 }
 export interface GLTFootPlantingConfig {
     readonly legs: readonly GLTFootPlantingLegConfig[];
@@ -42,6 +61,8 @@ export interface GLTFootPlantingConfig {
     readonly maxRayDistance?: number;
     readonly plantThreshold?: number;
     readonly hipDropFactor?: number;
+    /** False is a diagnostic control: ankle lock alone does not plant the skinned sole. */
+    readonly lockFootRotation?: boolean;
     /**
      * Actor-local → world matrix (column-major 16). The runtime skeleton usually lives in
      * import units (the certified walk girl is centimeter-scale) while `ground` speaks world
@@ -53,6 +74,36 @@ export interface GLTFootPlantingConfig {
     readonly worldFromLocal?: Mat4;
 }
 export interface GLTFootPlantingApplyResult {
+    /** Post-writeback world ankle positions, measured from scene transforms rather than IK targets. */
+    readonly feet?: readonly {
+        readonly side: "left" | "right";
+        readonly worldPosition: readonly [number, number, number];
+        readonly contactError: number;
+        readonly locked: boolean;
+    }[];
+    readonly surfaces?: readonly {
+        readonly side: "left" | "right";
+        readonly mesh: string;
+        readonly vertex: number;
+        readonly worldPosition: readonly [number, number, number];
+        readonly groundError: number | null;
+        readonly skinningProbe?: {
+            readonly position: readonly number[];
+            readonly joints: readonly number[];
+            readonly weights: readonly number[];
+            readonly matrices: readonly number[];
+            readonly modelMatrix: readonly number[];
+            readonly expectedWorldPosition: readonly number[];
+        };
+    }[];
+    readonly legDeformation?: readonly {
+        readonly side: "left" | "right";
+        readonly upperBefore: number;
+        readonly upperAfter: number;
+        readonly lowerBefore: number;
+        readonly lowerAfter: number;
+        readonly maxRelativeLengthChange: number;
+    }[];
     readonly groundedFeet: number;
     readonly averageTargetError: number;
     readonly lockedSides: readonly ("left" | "right")[];
@@ -72,7 +123,20 @@ export interface GLTFootPlantingApplyResult {
  *
  * Returns `undefined` only when there are no available clips.
  */
-export declare function resolveGLTFClipName(requested: string, available: readonly string[]): string | undefined;
+export type ResolveGLTFClipNameFallback = "error" | "first";
+export interface ResolveGLTFClipNameOptions {
+    /**
+     * What to return when levels 1-3 (exact/synonym/substring) all miss.
+     * `"first"` keeps the legacy pick-the-first-clip behavior; `"error"`
+     * returns `undefined` so the caller can warn and degrade. When omitted,
+     * the default follows the QR defaults resolution (§5.2 env/URL sources):
+     * `"error"` under 3.1 (`A3D_QR_ANIMATION`/`A3D_QR`/`?a3d-qr=` flag on),
+     * `"first"` otherwise. Callers that know the resolved flags (the
+     * compiler) should pass it explicitly.
+     */
+    readonly fallback?: ResolveGLTFClipNameFallback;
+}
+export declare function resolveGLTFClipName(requested: string, available: readonly string[], options?: ResolveGLTFClipNameOptions): string | undefined;
 export interface GLTFSceneAnimationClipBoneMask {
     /** Only apply tracks whose node name matches one of these (substring match), if present. */
     readonly include?: readonly string[];
@@ -139,6 +203,44 @@ export interface GLTFSceneAnimationApplyResult {
     readonly skinningPalettesUpdated: number;
     readonly missingTargets: readonly string[];
     readonly unsupportedTracks: readonly string[];
+    /**
+     * PRD-06 §9.8/§13 — wall-clock split of this apply's animation phase, in
+     * ms. Published only by the pose paths (`applyClips`, `applyPoseMixer`);
+     * `cpuMs` covers the whole call (mixer + constraints + springs + target
+     * application + palette build).
+     */
+    readonly phaseTimings?: GLTFSceneAnimationPhaseTimings;
+}
+/** PRD-06 §9.8 — per-phase wall-clock timings for one animation apply (ms). */
+export interface GLTFSceneAnimationPhaseTimings {
+    readonly mixerMs: number;
+    readonly constraintsMs: number;
+    readonly springsMs: number;
+    readonly paletteBytes: number;
+    readonly cpuMs: number;
+}
+/**
+ * T3.5 (PRD-06 §7.1) — a pose-space constraint entry on the runtime. Evaluated
+ * after the mixer writes the pose and before skinning palettes are built.
+ * `bones` lists the joint indices `evaluate` may touch so the runtime unions
+ * them into the emitted sampled targets even when no clip covers them.
+ */
+export interface GLTFPoseConstraint {
+    /** Joints this constraint may write (SkeletonBinding indices). */
+    readonly bones: readonly number[];
+    /**
+     * PRD-06 §9.8 — `"springs"` tags spring-chain constraints so the runtime's
+     * phase timings can split `springsMs` from `constraintsMs`.
+     */
+    readonly kind?: "springs";
+    /**
+     * Apply the constraint onto `pose`. `modelMatrix` maps world→model space
+     * (skeleton-root space); `context.dt` is the frame dt (applyPoseMixer) or the
+     * nominal 1/60 for stateless `applyClips` evaluation.
+     */
+    evaluate(pose: PoseBuffer, binding: SkeletonBinding, modelMatrix: readonly number[] | Float32Array, context: {
+        readonly dt: number;
+    }): void;
 }
 export interface GLTFSceneAnimationRuntimeSnapshot {
     readonly clipCount: number;
@@ -170,6 +272,8 @@ export interface GLTFSceneAnimationClipBindingDiagnostics {
 export interface GLTFSceneAnimationMixerOptions extends GLTFSceneAnimationRuntimeOptions {
     readonly autoPlay?: string | false;
     readonly mixer?: AnimationMixerOptions;
+    /** Called once per blended update; owns actor movement before foot placement. */
+    readonly consumeRootMotion?: (sample: RootMotionSample) => void;
 }
 export interface GLTFSceneAnimationMixerUpdateResult {
     readonly events: readonly AnimationEvent[];
@@ -306,15 +410,48 @@ export declare class GLTFImportedSkeletonIKController {
     solve(patch?: Partial<Pick<GLTFImportedSkeletonIKControllerOptions, "target" | "pole" | "weight" | "allowStretch" | "apply">>): GLTFImportedSkeletonIKResult;
     snapshot(): GLTFImportedSkeletonIKControllerSnapshot;
 }
+/** Column-major mat4 multiply written into a Float32Array slot — the T0.11 no-alloc palette path. Exported so the §13 palette-build micro-budget test measures the exact per-joint write the runtime performs. `a` is hoisted into scalars once per call so the inner writes are pure FMA-grade flops — the indexed-read loop measured ~1.3× over the §13 palette budget. */
+export declare function multiplyMat4Into(out: Float32Array, outOffset: number, a: ArrayLike<number>, b: ArrayLike<number>): void;
+/** Column-major general 4×4 inverse into `out` (adjugate / determinant, gl-matrix `mat4.invert`; 06-T0: out[7], out[10], out[11], out[14], out[15] previously used the wrong cofactor terms, so even inverse(identity) had out[11] = -1 and every skinning palette carried a non-affine row 3 that projected skinned vertices off-screen on the GPU). §13: `invertMat4` allocates two objects per call — over 600 frames that alone blows the steady-state budget. */
+export declare function invertMat4Into(out: Float32Array, a: ArrayLike<number>): Float32Array;
 export declare class GLTFSceneAnimationRuntime {
     private readonly options;
     private readonly clipsByName;
     private readonly nodesByName;
     private readonly morphRenderablesByNodeName;
     private readonly skinningBindings;
+    private disposed;
+    private readonly footBindMatrices;
+    private readonly footOrientationLocks;
+    private readonly footDescendantLocks;
+    private readonly footSurfaceVertices;
     private footPlanting;
     private footRig;
     private lastApply?;
+    /** T0.11 scratch for the per-joint palette multiply (inverseMeshWorld * jointWorld). */
+    private readonly paletteScratch;
+    /** §13: reusable scratch for the per-binding inverse world matrix (no alloc/frame). */
+    private readonly inverseWorldScratch;
+    /** §13: persistent result object for `refreshSkinningPalettes` (0 bytes/frame). */
+    private readonly paletteResult;
+    /**
+     * T1.7 (PRD-06) — the per-runtime pose pipeline backing `applyClips`: a
+     * scene-wide SkeletonBinding (every traversed node in order, rest pose = the
+     * node's local TRS at bind time), one PoseMixer, and the compiled clips.
+     * Rebuilt whenever `reindexScene` re-reads the node set.
+     */
+    private poseState?;
+    /**
+     * T3.5 — world→model matrix provider for pose constraints. Defaults to the
+     * scene root's world matrix; the `prd06.animation` actor extension installs
+     * the app-node transform when one is known.
+     */
+    private poseConstraintModelMatrix?;
+    /**
+     * Wall-clock (ms) of the last constraint evaluation under `applyClips` —
+     * its caller passes no dt, so constraint dynamics measure the real gap.
+     */
+    private lastConstraintEvalAtMs?;
     constructor(options: GLTFSceneAnimationRuntimeOptions);
     /**
      * Enable, replace, or clear (undefined) the foot-planting post-pass. Replacing the leg
@@ -324,15 +461,74 @@ export declare class GLTFSceneAnimationRuntime {
      * model nodes move, and world-space locks stay valid across that refresh.
      */
     setFootPlanting(config: GLTFootPlantingConfig | undefined): void;
+    /**
+     * Extract real authored displacement over unwrapped clip time, hand it to the physical
+     * authority once, then apply an in-place root pose and solve feet in the updated actor
+     * transform. Rejected movement is returned and discarded rather than accumulating drift.
+     * The caller refreshes footPlanting.worldFromLocal inside move after committing movement.
+     */
+    applyRootMotionClip(name: string, options: {
+        readonly fromTime: number;
+        readonly toTime: number;
+        readonly target: string;
+        readonly loop?: boolean;
+        readonly worldFromLocal: Mat4;
+        readonly move: (requested: readonly [number, number, number]) => readonly [number, number, number];
+    }): {
+        motion: RootMotionConsumption;
+        applyResult: GLTFSceneAnimationApplyResult;
+    };
+    /** Blend displacement and consumed poses with the same base/additive weights. */
+    applyRootMotionClips(samples: readonly {
+        readonly clipName: string;
+        readonly fromTime: number;
+        readonly toTime: number;
+        readonly target: string;
+        readonly loop?: boolean;
+        readonly weight?: number;
+        readonly additive?: boolean;
+    }[], options: {
+        readonly worldFromLocal: Mat4;
+        readonly move: (requested: readonly [number, number, number]) => readonly [number, number, number];
+    }): {
+        motion: RootMotionConsumption;
+        applyResult: GLTFSceneAnimationApplyResult;
+    };
+    /**
+     * T3.7 (PRD-06 §6.8) — resolve the root-motion translation track target for
+     * spec-level `play(clip, {rootMotion})`: with `bone` set, the bone's own
+     * `translation`/`position` track; without it, the clip's root-motion
+     * candidate (largest planar displacement on a hips/root/pelvis node, then
+     * any translation track by displacement). Throws when nothing qualifies.
+     */
+    rootMotionTargetFor(clipName: string, bone?: string): string;
+    /**
+     * T3.7 — yaw delta (radians, about local Y) authored on `bone`'s rotation
+     * track between `fromTime`/`toTime` (loop-aware). Returns 0 when the clip
+     * has no matching rotation track.
+     */
+    rootMotionYawDelta(clipName: string, bone: string | undefined, fromTime: number, toTime: number, loop: boolean): number;
     applyClipByName(name: string, time: number): GLTFSceneAnimationApplyResult;
     /** Names of every clip registered on this runtime, in declaration order. */
     clipNames(): readonly string[];
+    /**
+     * T0.6 (PRD-06) — the C-19 `AuraResolvedClipInfo` surface that backs the
+     * `prd06.animation` handle extension's `resolveAnimationClips()`: real GLB
+     * clip durations (plus channel counts and the 5 cm XZ-displacement
+     * root-motion candidate heuristic of T0.7) after the asset has loaded.
+     */
+    resolvedClipInfos(): readonly {
+        readonly name: string;
+        readonly duration: number;
+        readonly channelCount: number;
+        readonly hasRootMotionCandidate: boolean;
+    }[];
     /**
      * Resolve a requested clip name to the best available registered clip name
      * using fuzzy matching (exact -> synonym group -> substring -> first clip).
      * Returns `undefined` when the runtime has no clips.
      */
-    resolveClipName(name: string): string | undefined;
+    resolveClipName(name: string, options?: ResolveGLTFClipNameOptions): string | undefined;
     /**
      * Apply a clip selected by fuzzy name resolution. Unlike {@link applyClipByName}
      * this tolerates differing source clip names (e.g. requesting "idle" when the
@@ -340,8 +536,104 @@ export declare class GLTFSceneAnimationRuntime {
      */
     applyClipByNameFuzzy(name: string, time: number): GLTFSceneAnimationApplyResult;
     applyClip(clip: AnimationClip, time: number): GLTFSceneAnimationApplyResult;
+    /**
+     * T1.7 (PRD-06 §10) — re-implemented on the per-runtime `PoseMixer` in
+     * stateless mode (`evaluateSamples` with explicit per-sample times). Node
+     * translation/rotation/scale tracks bound to a scene node go through the
+     * pose pipeline (incremental-weight accumulate + rest fill + additive
+     * accumulators, three r185 `AnimationMixer` order); morph-weight, material
+     * and light pointer tracks keep the existing accumulator path, and so do
+     * node tracks aimed at nodes the binding does not cover (they keep their
+     * `missingTargets` reporting). Two documented semantic changes vs the old
+     * accumulator blend: partial-weight mixes fill the remainder from the rest
+     * pose instead of renormalising (rest blend), and a bone covered by the
+     * blend but not by a given channel resets that channel to rest (rest reset).
+     */
     applyClips(samples: readonly GLTFSceneAnimationClipSample[]): GLTFSceneAnimationApplyResult;
+    /**
+     * §10 (PRD-06) — the scene-wide pose binding the pose path evaluates on.
+     * Joints are every scene node in `traverse` order, resolved by node index
+     * (duplicate names bind all slots); the rest pose is each node's local TRS
+     * captured at bind time.
+     */
+    skeletons(): readonly SkeletonBinding[];
+    /** §10 (PRD-06) — the per-clip compiled tracks used by the pose path. */
+    compiledClips(): ReadonlyMap<string, CompiledClip>;
+    /** §10 (PRD-06) — the per-runtime PoseMixer `applyClips` evaluates on. */
+    mixer(): PoseMixer;
+    /**
+     * T3.8 (PRD-06 §7.2, C-19) — `actor.animation.addClipsFrom(source)` retarget-
+     * bakes another skeleton's compiled clips onto this runtime's skeleton and
+     * registers them by name (raw + compiled + mixer) so `play`/`playLayer`
+     * resolve them like loaded clips. The bake runs in `pose/retarget.worker.ts`
+     * when the platform has workers, otherwise in-process, and its output is
+     * cached in IndexedDB under `(engineVersion, sourceHash, targetHash)` so a
+     * rollback ignores newer caches. Returns the registered clip names.
+     */
+    addClipsFrom(source: {
+        readonly skeleton: SkeletonBinding;
+        readonly clips: ReadonlyMap<string, CompiledClip>;
+    } | Pick<GLTFSceneAnimationRuntime, "skeletons" | "compiledClips">, options?: AddClipsFromRuntimeOptions): Promise<readonly string[]>;
+    /**
+     * T1.9 (PRD-06 §10) — advance the per-runtime `PoseMixer` by `dt` seconds
+     * and write the evaluated pose to scene nodes in `applySampledTargets`
+     * order. `restPoseReset !== false` writes every bound bone (rest-filled
+     * channels reset); `false` writes only the bones covered by active actions'
+     * bound tracks, so uncovered bones keep their current scene values.
+     * Non-pose tracks (morph weights, material/light pointer, node tracks
+     * aimed at nodes outside the binding) keep the legacy accumulator path,
+     * sampled at each active action's own clock and effective weight.
+     */
+    applyPoseMixer(dt: number, options?: {
+        readonly label?: string;
+        readonly restPoseReset?: boolean;
+    }): GLTFSceneAnimationApplyResult;
+    /**
+     * T1.10 (PRD-06 §10, C-19 `blendMode: "additive"`/`additiveReference`) — lazily
+     * compile an additive variant of `clipName` via `makeClipAdditive` (reference
+     * defaults to the clip's own first frame) and register it on the mixer under
+     * a synthesized name. Returns the registered clip key for `clipAction`/`playLayer`.
+     */
+    ensureAdditiveClip(clipName: string, reference?: {
+        readonly clip?: string;
+        readonly time?: number;
+    }): string;
+    /**
+     * T1.10 (C-19 `animation.mask`) — bind-order joint names for `createBoneMask`.
+     */
+    skeletonJointNames(): readonly string[];
+    /**
+     * T3.5 — register a pose constraint. Entries evaluate in insertion order
+     * after each mixer write; returns a disposer that removes exactly this
+     * constraint (by identity — a duplicate spec stays).
+     */
+    addPoseConstraint(constraint: GLTFPoseConstraint): () => void;
+    /** T3.5 — drop every pose constraint (constant-time identity sweep). */
+    clearPoseConstraints(): void;
+    /** T3.5 — the count of live pose constraints (diagnostics/tests). */
+    poseConstraintCount(): number;
+    /** T3.5 — install the world→model matrix provider (actor extension). */
+    setPoseConstraintModelMatrix(provider: (() => readonly number[] | Float32Array) | undefined): void;
+    /**
+     * T3.5 — evaluate the constraint list in order onto the just-mixed pose and
+     * return the union of touched joint indices (empty when no constraints),
+     * plus the §9.8 wall-clock split between `"springs"`-tagged constraints and
+     * the rest.
+     */
+    private runPoseConstraints;
+    /** §9.8/§13 — CPU-side palette payload this runtime owns, bytes (16 f32/joint). */
+    private paletteBufferBytes;
+    private poseRuntime;
     applyAnimationValues(label: string, time: number, values: ReadonlyMap<string, AnimationValue>, unsupportedTracks?: readonly string[]): GLTFSceneAnimationApplyResult;
+    /**
+     * §16 S3 (PRD-06) — teardown frees the C-18 palette textures this runtime
+     * stamped, keyed on each skin binding (`skinningPaletteCache.release`).
+     * Morph array textures and CPU-morph scratch are released by the actor's
+     * own teardown (`prd06.animation` extension dispose / pipeline lifecycle),
+     * which is the layer that can see resolved `Geometry` objects — the scene
+     * layer here only knows geometry handles.
+     */
+    dispose(): void;
     /**
      * Render-time bridge: drive the loaded GLB from an externally-computed pose whose keys are GLB
      * **node names** (e.g. the output of `@aura3d/animation`'s `retargetHumanoidPose`, whose
@@ -362,9 +654,9 @@ export declare class GLTFSceneAnimationRuntime {
     reindexScene(): void;
     private findSceneLight;
     /**
-     * Foot-planting post-pass (E2): solves the configured leg chains against the ground and
-     * writes the solved hip/knee/ankle world positions back onto the skeleton. Position-only
-     * write-back (rotations stay as animated); missing leg nodes are reported in
+     * Foot-planting post-pass (E2): solves the configured leg chains against the ground,
+     * applies a shared pelvis reach correction, and rotates rigid hip/knee chains toward the
+     * solved targets. Missing leg nodes are reported in
      * `missingLegNodes` and skipped, never faked. Returns undefined when unconfigured.
      */
     private applyFootPlanting;
@@ -382,6 +674,8 @@ export declare class GLTFSceneAnimationRuntime {
      * so a light track matching no scene light is reported missing (diagnosed, never silent).
      */
     private applyLightTrackValue;
+    /** CPU skinning oracle using the exact palette submitted to rendering, not IK targets. */
+    sampleFootSurfaces(): NonNullable<GLTFootPlantingApplyResult["surfaces"]>;
     private refreshSkinningPalettes;
     private inspectClipBinding;
     private applySampledTargets;

package/dist/GLTFAnimationRuntime.d.ts.map

@@ -1 +1 @@
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