@aura3d/engine 1.0.0

package/dist/animation/BlendTree.d.ts

@@ -0,0 +1,23 @@
+export type BlendTreeChild<T> = {
+    readonly value: T;
+    readonly threshold: number;
+};
+export type BlendTree2DChild<T> = {
+    readonly value: T;
+    readonly position: readonly [number, number];
+};
+export type BlendTreeWeight<T> = {
+    readonly value: T;
+    readonly weight: number;
+};
+export declare class BlendTree1D<T> {
+    readonly children: readonly BlendTreeChild<T>[];
+    constructor(children: readonly BlendTreeChild<T>[]);
+    weights(parameter: number): readonly BlendTreeWeight<T>[];
+}
+export declare class BlendTree2D<T> {
+    readonly children: readonly BlendTree2DChild<T>[];
+    constructor(children: readonly BlendTree2DChild<T>[]);
+    weights(parameter: readonly [number, number]): readonly BlendTreeWeight<T>[];
+}
+//# sourceMappingURL=BlendTree.d.ts.map

package/dist/animation/BlendTree.d.ts.map

@@ -0,0 +1 @@
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package/dist/animation/BlendTree.js

@@ -0,0 +1,68 @@
+export class BlendTree1D {
+    children;
+    constructor(children) {
+        if (children.length === 0) {
+            throw new Error("BlendTree1D requires at least one child.");
+        }
+        this.children = [...children].sort((a, b) => a.threshold - b.threshold);
+    }
+    weights(parameter) {
+        if (!Number.isFinite(parameter)) {
+            throw new Error("Blend parameter must be finite.");
+        }
+        if (this.children.length === 1 || parameter <= this.children[0].threshold) {
+            return [{ value: this.children[0].value, weight: 1 }];
+        }
+        const last = this.children[this.children.length - 1];
+        if (parameter >= last.threshold) {
+            return [{ value: last.value, weight: 1 }];
+        }
+        for (let index = 0; index < this.children.length - 1; index += 1) {
+            const a = this.children[index];
+            const b = this.children[index + 1];
+            if (parameter >= a.threshold && parameter <= b.threshold) {
+                const span = b.threshold - a.threshold;
+                const t = span === 0 ? 0 : (parameter - a.threshold) / span;
+                return [{ value: a.value, weight: 1 - t }, { value: b.value, weight: t }];
+            }
+        }
+        return [{ value: last.value, weight: 1 }];
+    }
+}
+export class BlendTree2D {
+    children;
+    constructor(children) {
+        if (children.length === 0) {
+            throw new Error("BlendTree2D requires at least one child.");
+        }
+        for (const child of children) {
+            if (!Number.isFinite(child.position[0]) || !Number.isFinite(child.position[1])) {
+                throw new Error("BlendTree2D child positions must be finite.");
+            }
+        }
+        this.children = [...children];
+    }
+    weights(parameter) {
+        if (!Number.isFinite(parameter[0]) || !Number.isFinite(parameter[1])) {
+            throw new Error("BlendTree2D parameters must be finite.");
+        }
+        if (this.children.length === 1) {
+            return [{ value: this.children[0].value, weight: 1 }];
+        }
+        const distances = this.children.map((child) => {
+            const dx = parameter[0] - child.position[0];
+            const dy = parameter[1] - child.position[1];
+            return Math.hypot(dx, dy);
+        });
+        const exactIndex = distances.findIndex((distance) => distance === 0);
+        if (exactIndex >= 0) {
+            return [{ value: this.children[exactIndex].value, weight: 1 }];
+        }
+        const inverseDistances = distances.map((distance) => 1 / distance);
+        const total = inverseDistances.reduce((sum, weight) => sum + weight, 0);
+        return this.children
+            .map((child, index) => ({ value: child.value, weight: inverseDistances[index] / total }))
+            .filter((weight) => weight.weight > 0);
+    }
+}
+//# sourceMappingURL=BlendTree.js.map

package/dist/animation/BlendTree.js.map

@@ -0,0 +1 @@
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package/dist/animation/Bone.d.ts

@@ -0,0 +1,20 @@
+import { type Mat4, type Quat, type Vec3 } from "./Keyframe.js";
+export type BoneDescriptor = {
+    readonly name: string;
+    readonly parentIndex: number;
+    readonly translation?: Vec3;
+    readonly rotation?: Quat;
+    readonly scale?: Vec3;
+    readonly inverseBindMatrix?: Mat4;
+};
+export declare class Bone {
+    readonly name: string;
+    readonly parentIndex: number;
+    translation: Vec3;
+    rotation: Quat;
+    scale: Vec3;
+    inverseBindMatrix: Mat4;
+    constructor(descriptor: BoneDescriptor);
+    localMatrix(): Mat4;
+}
+//# sourceMappingURL=Bone.d.ts.map

package/dist/animation/Bone.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"Bone.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/Bone.ts"],"names":[],"mappings":"AAAA,OAAO,EAA6B,KAAK,IAAI,EAAE,KAAK,IAAI,EAAE,KAAK,IAAI,EAAE,MAAM,eAAe,CAAC;AAE3F,MAAM,MAAM,cAAc,GAAG;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,CAAC,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,KAAK,CAAC,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,iBAAiB,CAAC,EAAE,IAAI,CAAC;CACnC,CAAC;AAEF,qBAAa,IAAI;IACf,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,WAAW,EAAE,IAAI,CAAC;IAClB,QAAQ,EAAE,IAAI,CAAC;IACf,KAAK,EAAE,IAAI,CAAC;IACZ,iBAAiB,EAAE,IAAI,CAAC;gBAEZ,UAAU,EAAE,cAAc;IAYtC,WAAW,IAAI,IAAI;CAGpB"}

package/dist/animation/Bone.js

@@ -0,0 +1,24 @@
+import { composeMat4, identityMat4 } from "./Keyframe.js";
+export class Bone {
+    name;
+    parentIndex;
+    translation;
+    rotation;
+    scale;
+    inverseBindMatrix;
+    constructor(descriptor) {
+        if (descriptor.name.trim().length === 0) {
+            throw new Error("Bone name cannot be empty.");
+        }
+        this.name = descriptor.name;
+        this.parentIndex = descriptor.parentIndex;
+        this.translation = descriptor.translation ?? [0, 0, 0];
+        this.rotation = descriptor.rotation ?? [0, 0, 0, 1];
+        this.scale = descriptor.scale ?? [1, 1, 1];
+        this.inverseBindMatrix = descriptor.inverseBindMatrix ?? identityMat4();
+    }
+    localMatrix() {
+        return composeMat4(this.translation, this.rotation, this.scale);
+    }
+}
+//# sourceMappingURL=Bone.js.map

package/dist/animation/Bone.js.map

@@ -0,0 +1 @@
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package/dist/animation/CrowdAnimation.d.ts

@@ -0,0 +1,13 @@
+export interface CrowdAnimationAgent {
+    readonly id: string;
+    readonly clip: string;
+    readonly phase: number;
+    readonly speed: number;
+}
+export interface CrowdAnimationSample {
+    readonly id: string;
+    readonly clip: string;
+    readonly time: number;
+}
+export declare function sampleCrowdAnimation(agents: readonly CrowdAnimationAgent[], elapsedSeconds: number): readonly CrowdAnimationSample[];
+//# sourceMappingURL=CrowdAnimation.d.ts.map

package/dist/animation/CrowdAnimation.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"CrowdAnimation.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/CrowdAnimation.ts"],"names":[],"mappings":"AAAA,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;CACxB;AAED,MAAM,WAAW,oBAAoB;IACnC,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;CACvB;AAED,wBAAgB,oBAAoB,CAAC,MAAM,EAAE,SAAS,mBAAmB,EAAE,EAAE,cAAc,EAAE,MAAM,GAAG,SAAS,oBAAoB,EAAE,CAWpI"}

package/dist/animation/CrowdAnimation.js

@@ -0,0 +1,14 @@
+export function sampleCrowdAnimation(agents, elapsedSeconds) {
+    if (!Number.isFinite(elapsedSeconds) || elapsedSeconds < 0) {
+        throw new Error("Crowd animation elapsedSeconds must be finite and non-negative.");
+    }
+    return agents.map((agent) => {
+        if (!agent.id.trim() || !agent.clip.trim())
+            throw new Error("Crowd animation agents require id and clip.");
+        if (!Number.isFinite(agent.phase) || !Number.isFinite(agent.speed) || agent.speed < 0) {
+            throw new Error(`Crowd animation agent ${agent.id} has invalid phase or speed.`);
+        }
+        return { id: agent.id, clip: agent.clip, time: agent.phase + elapsedSeconds * agent.speed };
+    });
+}
+//# sourceMappingURL=CrowdAnimation.js.map

package/dist/animation/CrowdAnimation.js.map

@@ -0,0 +1 @@
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package/dist/animation/ECSAnimationBridge.d.ts

@@ -0,0 +1,9 @@
+import type { AnimationValue } from "./Keyframe.js";
+export type ECSAnimationComponent = Record<string, AnimationValue | undefined>;
+export declare class ECSAnimationBridge {
+    private readonly components;
+    register(entityName: string, component: ECSAnimationComponent): void;
+    unregister(entityName: string): void;
+    setAnimationValue(target: string, value: AnimationValue): void;
+}
+//# sourceMappingURL=ECSAnimationBridge.d.ts.map

package/dist/animation/ECSAnimationBridge.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ECSAnimationBridge.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/ECSAnimationBridge.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,eAAe,CAAC;AAEpD,MAAM,MAAM,qBAAqB,GAAG,MAAM,CAAC,MAAM,EAAE,cAAc,GAAG,SAAS,CAAC,CAAC;AAE/E,qBAAa,kBAAkB;IAC7B,OAAO,CAAC,QAAQ,CAAC,UAAU,CAA4C;IAEvE,QAAQ,CAAC,UAAU,EAAE,MAAM,EAAE,SAAS,EAAE,qBAAqB,GAAG,IAAI;IAOpE,UAAU,CAAC,UAAU,EAAE,MAAM,GAAG,IAAI;IAIpC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,cAAc,GAAG,IAAI;CAW/D"}

package/dist/animation/ECSAnimationBridge.js

@@ -0,0 +1,24 @@
+export class ECSAnimationBridge {
+    components = new Map();
+    register(entityName, component) {
+        if (entityName.trim().length === 0) {
+            throw new Error("ECS animation target name cannot be empty.");
+        }
+        this.components.set(entityName, component);
+    }
+    unregister(entityName) {
+        this.components.delete(entityName);
+    }
+    setAnimationValue(target, value) {
+        const [entityName, property] = target.split(".");
+        if (!entityName || !property) {
+            throw new Error(`Invalid ECS animation target ${target}.`);
+        }
+        const component = this.components.get(entityName);
+        if (!component) {
+            throw new Error(`Missing ECS animation target ${entityName}.`);
+        }
+        component[property] = Array.isArray(value) ? [...value] : value;
+    }
+}
+//# sourceMappingURL=ECSAnimationBridge.js.map

package/dist/animation/ECSAnimationBridge.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ECSAnimationBridge.js","sourceRoot":"","sources":["../../../../packages/animation/src/ECSAnimationBridge.ts"],"names":[],"mappings":"AAIA,MAAM,OAAO,kBAAkB;IACZ,UAAU,GAAG,IAAI,GAAG,EAAiC,CAAC;IAEvE,QAAQ,CAAC,UAAkB,EAAE,SAAgC;QAC3D,IAAI,UAAU,CAAC,IAAI,EAAE,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACnC,MAAM,IAAI,KAAK,CAAC,4CAA4C,CAAC,CAAC;QAChE,CAAC;QACD,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC,UAAU,EAAE,SAAS,CAAC,CAAC;IAC7C,CAAC;IAED,UAAU,CAAC,UAAkB;QAC3B,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,UAAU,CAAC,CAAC;IACrC,CAAC;IAED,iBAAiB,CAAC,MAAc,EAAE,KAAqB;QACrD,MAAM,CAAC,UAAU,EAAE,QAAQ,CAAC,GAAG,MAAM,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;QACjD,IAAI,CAAC,UAAU,IAAI,CAAC,QAAQ,EAAE,CAAC;YAC7B,MAAM,IAAI,KAAK,CAAC,gCAAgC,MAAM,GAAG,CAAC,CAAC;QAC7D,CAAC;QACD,MAAM,SAAS,GAAG,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC,UAAU,CAAC,CAAC;QAClD,IAAI,CAAC,SAAS,EAAE,CAAC;YACf,MAAM,IAAI,KAAK,CAAC,gCAAgC,UAAU,GAAG,CAAC,CAAC;QACjE,CAAC;QACD,SAAS,CAAC,QAAQ,CAAC,GAAG,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,CAAE,CAAC,GAAG,KAAK,CAA+B,CAAC,CAAC,CAAC,KAAK,CAAC;IACjG,CAAC;CACF"}

package/dist/animation/IK.d.ts

@@ -0,0 +1,24 @@
+import { type Vec3 } from "./Keyframe.js";
+export interface TwoBoneIkInput {
+    readonly root: Vec3;
+    readonly mid: Vec3;
+    readonly end: Vec3;
+    readonly target: Vec3;
+    readonly pole?: Vec3;
+    readonly weight?: number;
+    readonly allowStretch?: boolean;
+}
+export interface TwoBoneIkResult {
+    readonly root: Vec3;
+    readonly mid: Vec3;
+    readonly end: Vec3;
+    readonly reached: boolean;
+    readonly stretched: boolean;
+    readonly upperLength: number;
+    readonly lowerLength: number;
+    readonly targetDistance: number;
+    readonly endDistanceToTarget: number;
+    readonly poleInfluence: number;
+}
+export declare function solveTwoBoneIk(input: TwoBoneIkInput): TwoBoneIkResult;
+//# sourceMappingURL=IK.d.ts.map

package/dist/animation/IK.d.ts.map

@@ -0,0 +1 @@
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package/dist/animation/IK.js

@@ -0,0 +1,76 @@
+import { lerpVec3 } from "./Keyframe.js";
+export function solveTwoBoneIk(input) {
+    const weight = clamp(input.weight ?? 1, 0, 1);
+    const upperLength = distance(input.root, input.mid);
+    const lowerLength = distance(input.mid, input.end);
+    if (upperLength <= 1e-6 || lowerLength <= 1e-6) {
+        throw new Error("Two-bone IK requires non-zero upper and lower segment lengths.");
+    }
+    const targetDelta = subtract(input.target, input.root);
+    const targetDistance = length(targetDelta);
+    if (targetDistance <= 1e-6) {
+        throw new Error("Two-bone IK target must be distinct from the root.");
+    }
+    const maxReach = upperLength + lowerLength;
+    const minReach = Math.abs(upperLength - lowerLength) + 1e-5;
+    const solveDistance = input.allowStretch ? targetDistance : clamp(targetDistance, minReach, maxReach - 1e-5);
+    const axis = normalize(targetDelta);
+    const poleDirection = projectedPoleDirection(input.root, axis, input.pole ?? input.mid);
+    const adjacent = clamp((upperLength * upperLength + solveDistance * solveDistance - lowerLength * lowerLength) / (2 * solveDistance), 0, upperLength);
+    const height = Math.sqrt(Math.max(0, upperLength * upperLength - adjacent * adjacent));
+    const solvedEnd = add(input.root, scale(axis, solveDistance));
+    const solvedMid = add(add(input.root, scale(axis, adjacent)), scale(poleDirection, height));
+    const mid = lerpVec3(input.mid, solvedMid, weight);
+    const end = lerpVec3(input.end, solvedEnd, weight);
+    const endDistanceToTarget = distance(end, input.target);
+    return {
+        root: input.root,
+        mid,
+        end,
+        reached: endDistanceToTarget <= 1e-3,
+        stretched: targetDistance > maxReach && input.allowStretch === true,
+        upperLength,
+        lowerLength,
+        targetDistance,
+        endDistanceToTarget,
+        poleInfluence: Math.abs(dot(normalize(subtract(mid, input.root)), poleDirection))
+    };
+}
+function projectedPoleDirection(root, axis, pole) {
+    const poleDelta = subtract(pole, root);
+    const projected = subtract(poleDelta, scale(axis, dot(poleDelta, axis)));
+    const projectedLength = length(projected);
+    if (projectedLength > 1e-6)
+        return scale(projected, 1 / projectedLength);
+    const fallback = Math.abs(axis[1]) < 0.9 ? [0, 1, 0] : [1, 0, 0];
+    const fallbackProjected = subtract(fallback, scale(axis, dot(fallback, axis)));
+    return normalize(fallbackProjected);
+}
+function add(left, right) {
+    return [left[0] + right[0], left[1] + right[1], left[2] + right[2]];
+}
+function subtract(left, right) {
+    return [left[0] - right[0], left[1] - right[1], left[2] - right[2]];
+}
+function scale(value, scalar) {
+    return [value[0] * scalar, value[1] * scalar, value[2] * scalar];
+}
+function dot(left, right) {
+    return left[0] * right[0] + left[1] * right[1] + left[2] * right[2];
+}
+function length(value) {
+    return Math.hypot(value[0], value[1], value[2]);
+}
+function distance(left, right) {
+    return length(subtract(left, right));
+}
+function normalize(value) {
+    const valueLength = length(value);
+    if (valueLength <= 1e-6)
+        return [0, 1, 0];
+    return scale(value, 1 / valueLength);
+}
+function clamp(value, min, max) {
+    return Math.max(min, Math.min(max, value));
+}
+//# sourceMappingURL=IK.js.map

package/dist/animation/IK.js.map

@@ -0,0 +1 @@
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package/dist/animation/Keyframe.d.ts

@@ -0,0 +1,50 @@
+export type Vec3 = readonly [number, number, number];
+export type Quat = readonly [number, number, number, number];
+export type Mat4 = readonly [
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number,
+    number
+];
+export type NumberArray = readonly number[];
+export type AnimationValue = number | boolean | string | Vec3 | Quat | NumberArray;
+export type InterpolationMode = "step" | "linear" | "cubicspline";
+export type Keyframe<T extends AnimationValue = AnimationValue> = {
+    readonly time: number;
+    readonly value: T;
+    readonly interpolation?: InterpolationMode;
+    readonly inTangent?: T;
+    readonly outTangent?: T;
+};
+export type SerializedKeyframe<T extends AnimationValue = AnimationValue> = {
+    readonly time: number;
+    readonly value: T;
+    readonly interpolation?: InterpolationMode;
+    readonly inTangent?: T;
+    readonly outTangent?: T;
+};
+export declare function validateKeyframes<T extends AnimationValue>(keyframes: readonly Keyframe<T>[]): void;
+export declare function serializeKeyframe<T extends AnimationValue>(keyframe: Keyframe<T>): SerializedKeyframe<T>;
+export declare function deserializeKeyframe<T extends AnimationValue>(keyframe: SerializedKeyframe<T>): Keyframe<T>;
+export declare function cloneAnimationValue<T extends AnimationValue>(value: T): T;
+export declare function lerpNumber(a: number, b: number, t: number): number;
+export declare function lerpVec3(a: Vec3, b: Vec3, t: number): Vec3;
+export declare function normalizeQuat(q: Quat): Quat;
+export declare function slerpQuat(a: Quat, b: Quat, t: number): Quat;
+export declare function identityMat4(): Mat4;
+export declare function composeMat4(translation?: Vec3, rotation?: Quat, scale?: Vec3): Mat4;
+export declare function multiplyMat4(a: Mat4, b: Mat4): Mat4;
+export declare function invertTranslationMat4(matrix: Mat4): Mat4;
+//# sourceMappingURL=Keyframe.d.ts.map

package/dist/animation/Keyframe.d.ts.map

@@ -0,0 +1 @@
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package/dist/animation/Keyframe.js

@@ -0,0 +1,118 @@
+export function validateKeyframes(keyframes) {
+    if (keyframes.length === 0) {
+        throw new Error("Animation track requires at least one keyframe.");
+    }
+    let previous = -Number.MAX_VALUE;
+    for (const keyframe of keyframes) {
+        if (!Number.isFinite(keyframe.time) || keyframe.time < 0) {
+            throw new Error("Keyframe time must be finite and non-negative.");
+        }
+        if (keyframe.time <= previous) {
+            throw new Error("Keyframes must be sorted by strictly increasing time.");
+        }
+        previous = keyframe.time;
+    }
+}
+export function serializeKeyframe(keyframe) {
+    return {
+        time: keyframe.time,
+        value: cloneAnimationValue(keyframe.value),
+        ...(keyframe.interpolation ? { interpolation: keyframe.interpolation } : {}),
+        ...(keyframe.inTangent !== undefined ? { inTangent: cloneAnimationValue(keyframe.inTangent) } : {}),
+        ...(keyframe.outTangent !== undefined ? { outTangent: cloneAnimationValue(keyframe.outTangent) } : {})
+    };
+}
+export function deserializeKeyframe(keyframe) {
+    return serializeKeyframe(keyframe);
+}
+export function cloneAnimationValue(value) {
+    return Array.isArray(value) ? [...value] : value;
+}
+export function lerpNumber(a, b, t) {
+    return a + (b - a) * t;
+}
+export function lerpVec3(a, b, t) {
+    return [lerpNumber(a[0], b[0], t), lerpNumber(a[1], b[1], t), lerpNumber(a[2], b[2], t)];
+}
+export function normalizeQuat(q) {
+    const length = Math.hypot(q[0], q[1], q[2], q[3]);
+    if (length <= 1e-9) {
+        return [0, 0, 0, 1];
+    }
+    return [q[0] / length, q[1] / length, q[2] / length, q[3] / length];
+}
+export function slerpQuat(a, b, t) {
+    let bx = b[0];
+    let by = b[1];
+    let bz = b[2];
+    let bw = b[3];
+    let cos = a[0] * bx + a[1] * by + a[2] * bz + a[3] * bw;
+    if (cos < 0) {
+        cos = -cos;
+        bx = -bx;
+        by = -by;
+        bz = -bz;
+        bw = -bw;
+    }
+    if (cos > 0.9995) {
+        return normalizeQuat([lerpNumber(a[0], bx, t), lerpNumber(a[1], by, t), lerpNumber(a[2], bz, t), lerpNumber(a[3], bw, t)]);
+    }
+    const theta = Math.acos(Math.max(-1, Math.min(1, cos)));
+    const sinTheta = Math.sin(theta);
+    const wa = Math.sin((1 - t) * theta) / sinTheta;
+    const wb = Math.sin(t * theta) / sinTheta;
+    return [a[0] * wa + bx * wb, a[1] * wa + by * wb, a[2] * wa + bz * wb, a[3] * wa + bw * wb];
+}
+export function identityMat4() {
+    return [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
+}
+export function composeMat4(translation = [0, 0, 0], rotation = [0, 0, 0, 1], scale = [1, 1, 1]) {
+    const [x, y, z, w] = normalizeQuat(rotation);
+    const x2 = x + x;
+    const y2 = y + y;
+    const z2 = z + z;
+    const xx = x * x2;
+    const xy = x * y2;
+    const xz = x * z2;
+    const yy = y * y2;
+    const yz = y * z2;
+    const zz = z * z2;
+    const wx = w * x2;
+    const wy = w * y2;
+    const wz = w * z2;
+    return [
+        (1 - (yy + zz)) * scale[0], (xy + wz) * scale[0], (xz - wy) * scale[0], 0,
+        (xy - wz) * scale[1], (1 - (xx + zz)) * scale[1], (yz + wx) * scale[1], 0,
+        (xz + wy) * scale[2], (yz - wx) * scale[2], (1 - (xx + yy)) * scale[2], 0,
+        translation[0], translation[1], translation[2], 1
+    ];
+}
+export function multiplyMat4(a, b) {
+    const out = new Array(16).fill(0);
+    for (let row = 0; row < 4; row += 1) {
+        for (let col = 0; col < 4; col += 1) {
+            const a0 = a[row * 4];
+            const a1 = a[row * 4 + 1];
+            const a2 = a[row * 4 + 2];
+            const a3 = a[row * 4 + 3];
+            out[col + row * 4] =
+                a0 * b[col] +
+                    a1 * b[col + 4] +
+                    a2 * b[col + 8] +
+                    a3 * b[col + 12];
+        }
+    }
+    return out;
+}
+export function invertTranslationMat4(matrix) {
+    return [
+        matrix[0], matrix[4], matrix[8], 0,
+        matrix[1], matrix[5], matrix[9], 0,
+        matrix[2], matrix[6], matrix[10], 0,
+        -(matrix[12] * matrix[0] + matrix[13] * matrix[1] + matrix[14] * matrix[2]),
+        -(matrix[12] * matrix[4] + matrix[13] * matrix[5] + matrix[14] * matrix[6]),
+        -(matrix[12] * matrix[8] + matrix[13] * matrix[9] + matrix[14] * matrix[10]),
+        1
+    ];
+}
+//# sourceMappingURL=Keyframe.js.map

package/dist/animation/Keyframe.js.map

@@ -0,0 +1 @@
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package/dist/animation/LocomotionController.d.ts

@@ -0,0 +1,47 @@
+import { AnimationClip } from "./AnimationClip.js";
+export interface LocomotionControllerState {
+    speed: number;
+    inPlace: boolean;
+    paused: boolean;
+    pathRadius: number;
+}
+export interface LocomotionControllerSample {
+    clipName: string;
+    clipTime: number;
+    worldX: number;
+    worldZ: number;
+    heading: number;
+    stride: number;
+    rootMotionDistance: number;
+}
+export interface LocomotionControllerOptions {
+    readonly clip: AnimationClip;
+    readonly rootMotionTrack?: string;
+    readonly speed?: number;
+    readonly inPlace?: boolean;
+    readonly paused?: boolean;
+    readonly pathRadius?: number;
+    readonly strideAmplitude?: number;
+    readonly rootMotionScale?: number;
+}
+export interface ProceduralWalkClipOptions {
+    readonly name?: string;
+    readonly duration?: number;
+    readonly distance?: number;
+    readonly rootMotionTrack?: string;
+}
+export declare class LocomotionController {
+    readonly clip: AnimationClip;
+    readonly rootMotionTrack: string;
+    readonly strideAmplitude: number;
+    readonly rootMotionScale: number;
+    readonly state: LocomotionControllerState;
+    constructor(options: LocomotionControllerOptions);
+    setSpeed(speed: number): this;
+    setInPlace(inPlace: boolean): this;
+    setPaused(paused: boolean): this;
+    setPathRadius(pathRadius: number): this;
+    sample(elapsedSeconds: number): LocomotionControllerSample;
+}
+export declare function createRootMotionWalkClip(options?: ProceduralWalkClipOptions): AnimationClip;
+//# sourceMappingURL=LocomotionController.d.ts.map

package/dist/animation/LocomotionController.d.ts.map

@@ -0,0 +1 @@
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