@aura3d/engine 1.1.0 → 1.3.0

package/dist/animation/AnimationStateMachine.d.ts

@@ -42,13 +42,39 @@ export type AnimationStateMachineGraphSnapshot = {
     readonly states: readonly AnimationStateMachineGraphState[];
     readonly transitions: readonly AnimationStateMachineGraphTransition[];
 };
+/** Inertialized blend between the previously-active state and the current state. */
+export type AnimationStateBlend = {
+    /** State exited at the last transition (equals `to` when no transition is in flight). */
+    readonly from: string;
+    /** Currently-active state. */
+    readonly to: string;
+    /** [fromWeight, toWeight], summing to 1; fromWeight decays critically-damped after a switch. */
+    readonly weights: readonly [number, number];
+    /** Seconds since the last state change. */
+    readonly elapsed: number;
+    /** True once the previous state has effectively faded out. */
+    readonly done: boolean;
+};
 export declare class AnimationStateMachine {
     readonly states: Map<string, AnimationState>;
     readonly parameters: Record<string, number | boolean | string>;
     currentState: string;
     stateTime: number;
+    /** State active immediately before the most recent transition (for inertialized blending). */
+    previousState: string;
+    /** Seconds since the most recent state change. */
+    transitionElapsed: number;
+    /** Half-life (seconds) of the inertialized state-transition blend. */
+    transitionHalfLife: number;
     constructor(states: readonly AnimationState[], initialState: string);
     setParameter(name: string, value: number | boolean | string): void;
+    /**
+     * Inertialized blend between {@link previousState} and {@link currentState}. The previous
+     * state's weight decays critically-damped (zero initial slope, momentum-preserving) over
+     * {@link transitionHalfLife}; consumers crossfade the two states' clips by these weights instead
+     * of snapping or linearly ramping. Deterministic given the elapsed transition time.
+     */
+    stateBlend(halfLife?: number): AnimationStateBlend;
     update(delta?: number): string;
     graphSnapshot(): AnimationStateMachineGraphSnapshot;
     debugGraph(): string;

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

@@ -1 +1 @@
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+{"version":3,"file":"AnimationStateMachine.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/AnimationStateMachine.ts"],"names":[],"mappings":"AAEA,MAAM,MAAM,eAAe,GAAG;IAC5B,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,iBAAiB,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;IAC/C,QAAQ,CAAC,SAAS,EAAE,CAAC,UAAU,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,GAAG,MAAM,CAAC,CAAC,KAAK,OAAO,CAAC;CAClG,CAAC;AAEF,MAAM,MAAM,cAAc,GAAG;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,OAAO,CAAC,EAAE,OAAO,CAAC;IAC3B,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;IAC5B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,kBAAkB,CAAC,EAAE,MAAM,CAAC;IACrC,QAAQ,CAAC,sBAAsB,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;IACpD,QAAQ,CAAC,WAAW,CAAC,EAAE,SAAS,eAAe,EAAE,CAAC;CACnD,CAAC;AAEF,MAAM,MAAM,+BAA+B,GAAG;IAC5C,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,OAAO,EAAE,OAAO,CAAC;IAC1B,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,OAAO,CAAC,EAAE,OAAO,CAAC;IAC3B,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;IAC5B,QAAQ,CAAC,SAAS,CAAC,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;CAC9B,CAAC;AAEF,MAAM,MAAM,oCAAoC,GAAG;IACjD,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,iBAAiB,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;CAChD,CAAC;AAEF,MAAM,MAAM,kCAAkC,GAAG;IAC/C,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,UAAU,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,GAAG,MAAM,CAAC,CAAC,CAAC;IACzE,QAAQ,CAAC,MAAM,EAAE,SAAS,+BAA+B,EAAE,CAAC;IAC5D,QAAQ,CAAC,WAAW,EAAE,SAAS,oCAAoC,EAAE,CAAC;CACvE,CAAC;AAEF,oFAAoF;AACpF,MAAM,MAAM,mBAAmB,GAAG;IAChC,yFAAyF;IACzF,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,8BAA8B;IAC9B,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,gGAAgG;IAChG,QAAQ,CAAC,OAAO,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;IAC5C,2CAA2C;IAC3C,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,8DAA8D;IAC9D,QAAQ,CAAC,IAAI,EAAE,OAAO,CAAC;CACxB,CAAC;AAEF,qBAAa,qBAAqB;IAChC,QAAQ,CAAC,MAAM,8BAAqC;IACpD,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,GAAG,MAAM,CAAC,CAAM;IACpE,YAAY,EAAE,MAAM,CAAC;IACrB,SAAS,SAAK;IACd,8FAA8F;IAC9F,aAAa,EAAE,MAAM,CAAC;IACtB,kDAAkD;IAClD,iBAAiB,SAA4B;IAC7C,sEAAsE;IACtE,kBAAkB,SAAqC;gBAE3C,MAAM,EAAE,SAAS,cAAc,EAAE,EAAE,YAAY,EAAE,MAAM;IAyBnE,YAAY,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO,GAAG,MAAM,GAAG,IAAI;IAIlE;;;;;OAKG;IACH,UAAU,CAAC,QAAQ,SAA0B,GAAG,mBAAmB;IAgBnE,MAAM,CAAC,KAAK,SAAI,GAAG,MAAM;IAuCzB,aAAa,IAAI,kCAAkC;IAsCnD,UAAU,IAAI,MAAM;IAepB,OAAO,CAAC,YAAY;IAQpB,OAAO,CAAC,YAAY;IASpB,OAAO,CAAC,uBAAuB;CAGhC"}

package/dist/animation/AnimationStateMachine.js

@@ -1,8 +1,15 @@
+import { DEFAULT_INERTIALIZATION_HALF_LIFE, inertializedTransitionWeight } from "./Inertialization.js";
 export class AnimationStateMachine {
     states = new Map();
     parameters = {};
     currentState;
     stateTime = 0;
+    /** State active immediately before the most recent transition (for inertialized blending). */
+    previousState;
+    /** Seconds since the most recent state change. */
+    transitionElapsed = Number.POSITIVE_INFINITY;
+    /** Half-life (seconds) of the inertialized state-transition blend. */
+    transitionHalfLife = DEFAULT_INERTIALIZATION_HALF_LIFE;
     constructor(states, initialState) {
         for (const state of states) {
             if (state.duration !== undefined && (!Number.isFinite(state.duration) || state.duration < 0)) {
@@ -24,16 +31,39 @@ export class AnimationStateMachine {
             }
         }
         this.currentState = initialState;
+        this.previousState = initialState;
         this.resetParametersForState(this.requireState(initialState));
     }
     setParameter(name, value) {
         this.parameters[name] = value;
     }
+    /**
+     * Inertialized blend between {@link previousState} and {@link currentState}. The previous
+     * state's weight decays critically-damped (zero initial slope, momentum-preserving) over
+     * {@link transitionHalfLife}; consumers crossfade the two states' clips by these weights instead
+     * of snapping or linearly ramping. Deterministic given the elapsed transition time.
+     */
+    stateBlend(halfLife = this.transitionHalfLife) {
+        const elapsed = this.transitionElapsed;
+        if (this.previousState === this.currentState || !Number.isFinite(elapsed)) {
+            return { from: this.currentState, to: this.currentState, weights: [0, 1], elapsed: Number.isFinite(elapsed) ? elapsed : 0, done: true };
+        }
+        const fromWeight = inertializedTransitionWeight(elapsed, halfLife);
+        const done = fromWeight <= 1e-3;
+        return {
+            from: this.previousState,
+            to: this.currentState,
+            weights: [done ? 0 : fromWeight, done ? 1 : 1 - fromWeight],
+            elapsed,
+            done
+        };
+    }
     update(delta = 0) {
         if (!Number.isFinite(delta) || delta < 0) {
             throw new Error("AnimationStateMachine delta must be finite and non-negative.");
         }
         this.stateTime += delta;
+        this.transitionElapsed += delta;
         const state = this.requireState(this.currentState);
         if (isStateComplete(state, this.stateTime)) {
             if (state.completedParameter) {
@@ -123,8 +153,10 @@ export class AnimationStateMachine {
     }
     transitionTo(name) {
         const state = this.requireState(name);
+        this.previousState = this.currentState;
         this.currentState = name;
         this.stateTime = 0;
+        this.transitionElapsed = this.previousState === name ? Number.POSITIVE_INFINITY : 0;
         this.resetParametersForState(state);
     }
     resetParametersForState(state) {

package/dist/animation/AnimationStateMachine.js.map

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

@@ -6,6 +6,8 @@ export type BoneDescriptor = {
     readonly rotation?: Quat;
     readonly scale?: Vec3;
     readonly inverseBindMatrix?: Mat4;
+    /** Tag this bone as the start (or a member) of a spring-bone chain (secondary dynamics). */
+    readonly springChain?: boolean;
 };
 export declare class Bone {
     readonly name: string;
@@ -14,6 +16,8 @@ export declare class Bone {
     rotation: Quat;
     scale: Vec3;
     inverseBindMatrix: Mat4;
+    /** True when this bone participates in a spring-bone chain solved by `createSpringChain`. */
+    springChain: boolean;
     constructor(descriptor: BoneDescriptor);
     localMatrix(): Mat4;
 }

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

@@ -1 +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"}
+{"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;IAClC,4FAA4F;IAC5F,QAAQ,CAAC,WAAW,CAAC,EAAE,OAAO,CAAC;CAChC,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;IACxB,6FAA6F;IAC7F,WAAW,EAAE,OAAO,CAAC;gBAET,UAAU,EAAE,cAAc;IAatC,WAAW,IAAI,IAAI;CAGpB"}

package/dist/animation/Bone.js

@@ -6,6 +6,8 @@ export class Bone {
     rotation;
     scale;
     inverseBindMatrix;
+    /** True when this bone participates in a spring-bone chain solved by `createSpringChain`. */
+    springChain;
     constructor(descriptor) {
         if (descriptor.name.trim().length === 0) {
             throw new Error("Bone name cannot be empty.");
@@ -16,6 +18,7 @@ export class Bone {
         this.rotation = descriptor.rotation ?? [0, 0, 0, 1];
         this.scale = descriptor.scale ?? [1, 1, 1];
         this.inverseBindMatrix = descriptor.inverseBindMatrix ?? identityMat4();
+        this.springChain = descriptor.springChain ?? false;
     }
     localMatrix() {
         return composeMat4(this.translation, this.rotation, this.scale);

package/dist/animation/Bone.js.map

@@ -1 +1 @@
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package/dist/animation/FighterAnimationAdapter.d.ts

@@ -0,0 +1,49 @@
+import { DEFAULT_INERTIALIZATION_HALF_LIFE } from "./Inertialization.js";
+export type FighterClipKey = "idle" | "walk" | "run" | "air" | "down" | "guard" | "hurt" | "ko" | "light" | "heavy" | "special";
+export interface FighterAnimationStateInput {
+    /** High-level action label from the combat sim. */
+    readonly action: string;
+    /** Whether the fighter is on the ground (airborne overrides locomotion). */
+    readonly grounded: boolean;
+    /** Active attack clip key, if mid-attack (overrides everything except KO). */
+    readonly attackClipKey?: FighterClipKey | undefined;
+    /** KO takes precedence over all other states. */
+    readonly knockedOut?: boolean | undefined;
+}
+export interface FighterClipResolution {
+    readonly clipKey: FighterClipKey;
+    readonly speed: number;
+}
+export interface FighterAnimationSpeedTable {
+    readonly light?: number;
+    readonly heavy?: number;
+    readonly special?: number;
+    readonly run?: number;
+}
+/** Resolve the clip key + speed for a fighter state. Mirrors the Aura Clash arena cascade. */
+export declare function resolveFighterClip(input: FighterAnimationStateInput, speeds?: FighterAnimationSpeedTable): FighterClipResolution;
+export interface FighterCrossfade<TClip extends string = string> {
+    readonly from: TClip;
+    readonly to: TClip;
+    readonly weights: readonly [number, number];
+    readonly done: boolean;
+}
+/**
+ * Deterministic crossfade weights from a previous clip to the current clip over a transition
+ * window. `elapsed`/`duration` are in seconds. Returns clamped [fromWeight, toWeight] summing to 1.
+ * Generic over clip identifier so callers using clip keys OR raw clip names can both use it.
+ */
+export declare function fighterCrossfadeWeights<TClip extends string = string>(from: TClip, to: TClip, elapsed: number, duration: number): FighterCrossfade<TClip>;
+/**
+ * Inertialized transition weights from a previous clip to the current clip. This is the **default**
+ * fighter transition: the source weight follows a critically-damped decay (zero initial slope,
+ * momentum-preserving) instead of the straight linear ramp of {@link fighterCrossfadeWeights}, so
+ * move swaps carry through smoothly rather than dissolving. Weights still sum to 1, output is
+ * deterministic (pure function of `elapsed`/`duration`/`halfLife`), so deterministic combat replay
+ * is unaffected. `halfLife` defaults to ~40% of the transition window so the source has effectively
+ * faded by the time the window closes; the linear path remains available as a fallback.
+ */
+export declare function fighterInertializedWeights<TClip extends string = string>(from: TClip, to: TClip, elapsed: number, duration: number, halfLife?: number): FighterCrossfade<TClip>;
+/** Default transition half-life re-exported for callers that want to align their own timing. */
+export { DEFAULT_INERTIALIZATION_HALF_LIFE };
+//# sourceMappingURL=FighterAnimationAdapter.d.ts.map

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

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

@@ -0,0 +1,71 @@
+// Shared fighter animation adapter: maps a combat state to a clip key + playback speed, and
+// computes deterministic transition weights on state change. Pure (no engine/render import) so both
+// the Aura Clash arena and the fighting-game template can reuse the same mapping instead of each
+// re-deriving it inline. Transitions default to the inertialized (critically-damped) weight curve;
+// the linear crossfade is retained as an explicit fallback.
+import { inertializedTransitionWeight, DEFAULT_INERTIALIZATION_HALF_LIFE } from "./Inertialization.js";
+const defaultSpeeds = { light: 1.45, heavy: 1.06, special: 0.94, run: 1.18 };
+const locomotionByAction = {
+    idle: "idle",
+    walk: "walk",
+    run: "run",
+    dash: "run",
+    guard: "guard",
+    block: "guard",
+    down: "down",
+    crouch: "down",
+    hurt: "hurt",
+    hit: "hurt"
+};
+/** Resolve the clip key + speed for a fighter state. Mirrors the Aura Clash arena cascade. */
+export function resolveFighterClip(input, speeds = {}) {
+    const table = { ...defaultSpeeds, ...speeds };
+    if (input.knockedOut)
+        return { clipKey: "ko", speed: 1 };
+    if (input.attackClipKey) {
+        const speed = input.attackClipKey === "light" ? table.light : input.attackClipKey === "heavy" ? table.heavy : input.attackClipKey === "special" ? table.special : 1;
+        return { clipKey: input.attackClipKey, speed };
+    }
+    if (!input.grounded)
+        return { clipKey: "air", speed: 1 };
+    const action = input.action.toLowerCase();
+    const clipKey = locomotionByAction[action] ?? "idle";
+    const speed = clipKey === "run" ? table.run : 1;
+    return { clipKey, speed };
+}
+/**
+ * Deterministic crossfade weights from a previous clip to the current clip over a transition
+ * window. `elapsed`/`duration` are in seconds. Returns clamped [fromWeight, toWeight] summing to 1.
+ * Generic over clip identifier so callers using clip keys OR raw clip names can both use it.
+ */
+export function fighterCrossfadeWeights(from, to, elapsed, duration) {
+    if (from === to || duration <= 0) {
+        return { from, to, weights: [0, 1], done: true };
+    }
+    const t = Math.max(0, Math.min(1, elapsed / duration));
+    return { from, to, weights: [1 - t, t], done: t >= 1 };
+}
+/**
+ * Inertialized transition weights from a previous clip to the current clip. This is the **default**
+ * fighter transition: the source weight follows a critically-damped decay (zero initial slope,
+ * momentum-preserving) instead of the straight linear ramp of {@link fighterCrossfadeWeights}, so
+ * move swaps carry through smoothly rather than dissolving. Weights still sum to 1, output is
+ * deterministic (pure function of `elapsed`/`duration`/`halfLife`), so deterministic combat replay
+ * is unaffected. `halfLife` defaults to ~40% of the transition window so the source has effectively
+ * faded by the time the window closes; the linear path remains available as a fallback.
+ */
+export function fighterInertializedWeights(from, to, elapsed, duration, halfLife) {
+    if (from === to || duration <= 0) {
+        return { from, to, weights: [0, 1], done: true };
+    }
+    const done = elapsed >= duration;
+    if (done) {
+        return { from, to, weights: [0, 1], done: true };
+    }
+    const life = halfLife ?? Math.max(1e-4, duration * 0.4);
+    const fromWeight = inertializedTransitionWeight(Math.max(0, elapsed), life);
+    return { from, to, weights: [fromWeight, 1 - fromWeight], done: false };
+}
+/** Default transition half-life re-exported for callers that want to align their own timing. */
+export { DEFAULT_INERTIALIZATION_HALF_LIFE };
+//# sourceMappingURL=FighterAnimationAdapter.js.map

package/dist/animation/FighterAnimationAdapter.js.map

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package/dist/animation/FootIk.d.ts

@@ -0,0 +1,77 @@
+import type { Vec3 } from "./Keyframe.js";
+import type { FootIkSample } from "./SecondaryAnimationFixtures.js";
+/** Result of a downward ground query: where the ground is and its surface normal. */
+export interface GroundSample {
+    readonly point: Vec3;
+    readonly normal: Vec3;
+    readonly distance: number;
+}
+/** Minimal ground query the rig needs: cast a downward ray and report the first ground hit. */
+export interface GroundRaycaster {
+    raycastDown(origin: Vec3, maxDistance: number): GroundSample | undefined;
+}
+/**
+ * Analytic ground query from a height function — deterministic and physics-free, ideal for tests
+ * and procedural terrain. `heightAt` returns the ground height (and optional normal) at an (x, z).
+ */
+export declare function createHeightFieldGround(heightAt: (x: number, z: number) => {
+    height: number;
+    normal?: Vec3;
+}): GroundRaycaster;
+/** One leg: the hip (root), knee (mid), ankle (end), and an optional pole/knee hint. */
+export interface FootLegInput {
+    readonly side: "left" | "right";
+    readonly hip: Vec3;
+    readonly knee: Vec3;
+    readonly ankle: Vec3;
+    readonly pole?: Vec3;
+}
+export interface FootIkRigOptions {
+    readonly legs: readonly FootLegInput[];
+    readonly raycaster: GroundRaycaster;
+    /** Height the ankle joint sits above the ground contact point (default 0.035). */
+    readonly ankleHeight?: number;
+    /** How far above the ankle to start the downward ray (default 0.6). */
+    readonly rayStartHeight?: number;
+    /** Max ray distance (default 2). */
+    readonly maxRayDistance?: number;
+    /** Foot is in stance (locks) when its height above the ground target is ≤ this (default 0.02). */
+    readonly plantThreshold?: number;
+    /** Hip-drop factor applied to the deepest required correction (default 0.72, matches fixture). */
+    readonly hipDropFactor?: number;
+}
+export interface SolvedLeg {
+    readonly side: "left" | "right";
+    readonly sample: FootIkSample;
+    /** Solved joint chain (write these back onto the skeleton). */
+    readonly hip: Vec3;
+    readonly knee: Vec3;
+    readonly ankle: Vec3;
+    /** True while the foot is locked to a world position (stance). */
+    readonly locked: boolean;
+    readonly reached: boolean;
+}
+export interface FootIkSolveResult {
+    readonly feet: readonly SolvedLeg[];
+    /** Vertical hip offset (≤ 0) so the lower planted foot can reach the ground. */
+    readonly hipOffset: number;
+    readonly groundedFeet: number;
+    readonly averageTargetError: number;
+}
+export interface FootIkRig {
+    /**
+     * Solve foot placement for the current pose. Pass updated leg transforms (e.g. sampled from the
+     * animation) via `pose.legs`, or omit to reuse the legs the rig was created with. Optionally
+     * override the ground query for this frame.
+     */
+    solveFootPlacement(pose?: {
+        legs?: readonly FootLegInput[];
+    }, groundQuery?: GroundRaycaster): FootIkSolveResult;
+    /** Whether a given side is currently foot-locked. */
+    isLocked(side: "left" | "right"): boolean;
+    /** Clear all foot-lock state (e.g. on teleport / respawn). */
+    reset(): void;
+}
+/** Create a foot-IK rig. Foot-lock state persists across `solveFootPlacement` calls. */
+export declare function createFootIkRig(options: FootIkRigOptions): FootIkRig;
+//# sourceMappingURL=FootIk.d.ts.map

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

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package/dist/animation/FootIk.js

@@ -0,0 +1,153 @@
+// Runtime foot IK + foot-lock, built on the existing two-bone solver (`solveTwoBoneIk`) plus a
+// ground query (a downward ray). This is "wire up what we already have" — no new solver. It removes
+// foot sliding (foot-lock holds a planted foot in world space during stance and releases it on
+// lift) and grounds characters on uneven terrain (each ankle is pulled to the ground height under
+// it, the hip drops so the lower foot can reach).
+//
+// The animation package stays dependency-free of @aura3d/physics: callers inject a `GroundRaycaster`
+// (the physics package's `groundHeightRaycaster` adapter satisfies this interface, or use the
+// analytic `createHeightFieldGround` here). Pure and deterministic: given the same pose stream and
+// ground, the solved feet and lock state are identical every run.
+import { solveTwoBoneIk } from "./IK.js";
+/**
+ * Analytic ground query from a height function — deterministic and physics-free, ideal for tests
+ * and procedural terrain. `heightAt` returns the ground height (and optional normal) at an (x, z).
+ */
+export function createHeightFieldGround(heightAt) {
+    return {
+        raycastDown(origin, maxDistance) {
+            const { height, normal } = heightAt(origin[0], origin[2]);
+            const distance = origin[1] - height;
+            if (distance < 0 || distance > maxDistance)
+                return undefined;
+            return { point: [origin[0], height, origin[2]], normal: normal ?? [0, 1, 0], distance };
+        }
+    };
+}
+/** Create a foot-IK rig. Foot-lock state persists across `solveFootPlacement` calls. */
+export function createFootIkRig(options) {
+    const ankleHeight = options.ankleHeight ?? 0.035;
+    const rayStartHeight = options.rayStartHeight ?? 0.6;
+    const maxRayDistance = options.maxRayDistance ?? 2;
+    const plantThreshold = options.plantThreshold ?? 0.02;
+    const hipDropFactor = options.hipDropFactor ?? 0.72;
+    let legs = options.legs;
+    const locks = new Map();
+    function lockFor(side) {
+        let state = locks.get(side);
+        if (!state) {
+            state = { locked: false, lockedPosition: [0, 0, 0] };
+            locks.set(side, state);
+        }
+        return state;
+    }
+    return {
+        solveFootPlacement(pose, groundQuery) {
+            const raycaster = groundQuery ?? options.raycaster;
+            if (pose?.legs)
+                legs = pose.legs;
+            const solved = [];
+            let deepestCorrection = 0;
+            for (const leg of legs) {
+                const lock = lockFor(leg.side);
+                const result = solveLeg(leg, lock, raycaster, { ankleHeight, rayStartHeight, maxRayDistance, plantThreshold });
+                solved.push(result);
+                deepestCorrection = Math.max(deepestCorrection, Math.max(0, result.sample.verticalCorrection));
+            }
+            const hipOffset = round(-deepestCorrection * hipDropFactor);
+            const groundedFeet = solved.filter((leg) => leg.sample.grounded).length;
+            const averageTargetError = solved.length === 0
+                ? 0
+                : round(solved.reduce((sum, leg) => sum + leg.sample.targetError, 0) / solved.length);
+            return { feet: solved, hipOffset, groundedFeet, averageTargetError };
+        },
+        isLocked(side) {
+            return locks.get(side)?.locked ?? false;
+        },
+        reset() {
+            locks.clear();
+        }
+    };
+}
+function solveLeg(leg, lock, raycaster, params) {
+    const sourceAnkle = leg.ankle;
+    const ground = raycaster.raycastDown([sourceAnkle[0], sourceAnkle[1] + params.rayStartHeight, sourceAnkle[2]], params.rayStartHeight + params.maxRayDistance);
+    if (!ground) {
+        // No ground under the foot (airborne / off the edge): release the lock and pass the pose through.
+        lock.locked = false;
+        return {
+            side: leg.side,
+            sample: {
+                side: leg.side,
+                sourceFoot: sourceAnkle,
+                plantedFoot: sourceAnkle,
+                groundNormal: [0, 1, 0],
+                grounded: false,
+                verticalCorrection: 0,
+                targetError: 0
+            },
+            hip: leg.hip,
+            knee: leg.knee,
+            ankle: sourceAnkle,
+            locked: false,
+            reached: true
+        };
+    }
+    const groundTargetY = ground.point[1] + params.ankleHeight;
+    const heightAboveGround = sourceAnkle[1] - groundTargetY;
+    const inStance = heightAboveGround <= params.plantThreshold;
+    let target;
+    if (inStance) {
+        if (!lock.locked) {
+            // Just entered stance: plant the foot at the ground point under it.
+            lock.locked = true;
+            lock.lockedPosition = [sourceAnkle[0], groundTargetY, sourceAnkle[2]];
+        }
+        // Hold the locked world position so the foot does not slide while it should be stationary.
+        target = lock.lockedPosition;
+    }
+    else {
+        // Swing phase: release the lock; the foot follows above the ground under it.
+        lock.locked = false;
+        target = [sourceAnkle[0], Math.max(sourceAnkle[1], groundTargetY), sourceAnkle[2]];
+    }
+    // Blend IK in fully during stance, fade out across the swing so the leg returns to the clip pose.
+    const weight = inStance ? 1 : clamp(1 - heightAboveGround / 0.25, 0, 1);
+    const solved = solveTwoBoneIk({
+        root: leg.hip,
+        mid: leg.knee,
+        end: leg.ankle,
+        target,
+        pole: leg.pole,
+        weight
+    });
+    const verticalCorrection = round(sourceAnkle[1] - target[1]);
+    const targetError = round(solved.endDistanceToTarget);
+    return {
+        side: leg.side,
+        sample: {
+            side: leg.side,
+            sourceFoot: roundVec(sourceAnkle),
+            plantedFoot: roundVec(target),
+            groundNormal: roundVec(ground.normal),
+            grounded: inStance,
+            verticalCorrection,
+            targetError
+        },
+        hip: leg.hip,
+        knee: roundVec(solved.mid),
+        ankle: roundVec(solved.end),
+        locked: lock.locked,
+        reached: solved.reached
+    };
+}
+function clamp(value, min, max) {
+    return Math.max(min, Math.min(max, value));
+}
+function round(value) {
+    return Number(value.toFixed(4));
+}
+function roundVec(value) {
+    return [round(value[0]), round(value[1]), round(value[2])];
+}
+//# sourceMappingURL=FootIk.js.map

package/dist/animation/FootIk.js.map

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