@aura3d/engine 1.1.0 → 1.3.0

package/dist/animation/HumanoidRetargeting.js

@@ -200,7 +200,9 @@ export function createHumanoidRetargetingMap(source, target, options = {}) {
             bone,
             source: sourceBinding,
             target: targetBinding,
-            scale: estimateBoneScale(sourceBinding, targetBinding, source.scale, target.scale)
+            scale: estimateBoneScale(sourceBinding, targetBinding, source.scale, target.scale),
+            sourceRest: restRotationFor(source, bone, sourceBinding),
+            targetRest: restRotationFor(target, bone, targetBinding)
         };
     }
     const coverage = mappedBones / HUMANOID_BONES.length;
@@ -221,9 +223,43 @@ export function createHumanoidRetargetingMap(source, target, options = {}) {
         coverage,
         requiredCoverage,
         bindings,
-        diagnostics
+        diagnostics,
+        sourceFacingAxis: source.facingAxis ?? "z",
+        targetFacingAxis: target.facingAxis ?? "z"
     };
 }
+/**
+ * Retarget a source-rig {@link AnimationPose} onto the target rig described by `map`.
+ *
+ * This is NOT a 1:1 rotation copy. For each bone we reconcile differing rest/bind orientations and
+ * a differing facing axis, and scale translations by the per-bone length ratio:
+ *
+ *   1. Rest-pose reconciliation (per bone, local space). Let `Rs0` be the source rest local
+ *      rotation and `Rt0` the target rest local rotation (both from the rigs' `restPose`/binding
+ *      `rotation`, identity when unknown). An animation expresses a source local rotation `Ra`.
+ *      The motion *away from rest* in the source's local frame is the delta `D = Rs0⁻¹ · Ra`. We
+ *      re-anchor that delta onto the target rest: `Rt = Rt0 · D = Rt0 · Rs0⁻¹ · Ra`.
+ *      When both rests are identity (or equal) this collapses to a straight copy, and an identity
+ *      map (source rig === target rig) is therefore a no-op.
+ *
+ *   2. Facing-axis / coordinate-frame conversion. If the source faces a different cardinal axis
+ *      than the target, the hips (root) rotation is pre-multiplied by the frame-alignment rotation
+ *      `F` that carries the source facing axis onto the target facing axis: `Rt_hips = F · Rt_hips`.
+ *      This only touches the root so child bones inherit the reframe through the hierarchy.
+ *
+ *   3. Position / hip-height scaling (unchanged from before): translations are scaled by the
+ *      bone's length ratio (`binding.scale`), and optional root motion by the average bone scale.
+ *
+ * The signature and return type are unchanged.
+ *
+ * Honesty note: step 1 is the well-known "rest-delta" reconciliation. It is exact when the source
+ * and target rest orientations are the bones' true local bind rotations and the bones are mapped
+ * one-to-one (the common case for humanoid GLBs). It does NOT model differing bone *roll* beyond
+ * what the rest rotations capture, nor parent-chain reparametrization when intermediate bones
+ * (e.g. chest/upperChest) are present on one rig and absent on the other — those remain
+ * approximate. Step 2 corrects whole-body facing only via the root; per-limb axis remaps that
+ * aren't expressible as a single root rotation are not handled.
+ */
 export function retargetHumanoidPose(sourcePose, map, options = {}) {
     const bones = {};
     if (options.includeUnmappedSourceBones) {
@@ -231,6 +267,7 @@ export function retargetHumanoidPose(sourcePose, map, options = {}) {
             bones[boneName] = cloneTransform(transform);
         }
     }
+    const facing = facingAlignmentQuat(map.sourceFacingAxis ?? "z", map.targetFacingAxis ?? "z");
     for (const bone of HUMANOID_BONES) {
         const binding = map.bindings[bone];
         if (!binding)
@@ -238,7 +275,7 @@ export function retargetHumanoidPose(sourcePose, map, options = {}) {
         const sourceTransform = sourcePose.bones[binding.source.name] ?? sourcePose.bones[bone];
         if (!sourceTransform)
             continue;
-        const retargeted = scaleTransform(sourceTransform, binding.scale);
+        const retargeted = retargetBoneTransform(sourceTransform, binding, bone === "hips" ? facing : undefined);
         bones[binding.target.name] = retargeted;
         if (options.includeSemanticBoneNames) {
             bones[bone] = retargeted;
@@ -266,7 +303,7 @@ export function retargetHumanoidPose(sourcePose, map, options = {}) {
 export function humanoidRetargetingDiagnostics(source, target, options = {}) {
     return createHumanoidRetargetingMap(source, target, options).diagnostics;
 }
-export function analyzeCartoonHumanoidRetargeting(rig, options = {}) {
+export function analyzeAnimationHumanoidRetargeting(rig, options = {}) {
     const base = analyzeHumanoidRig(rig, { minRequiredCoverage: 0.9, requireRestPose: true, ...options });
     const diagnostics = [...base.diagnostics];
     const requiredClips = options.requiredClips ?? ["Idle", "Talk", "Gesture", "Walk"];
@@ -278,29 +315,29 @@ export function analyzeCartoonHumanoidRetargeting(rig, options = {}) {
     if (!mouthReady) {
         diagnostics.push({
             severity: "error",
-            code: "CARTOON_MOUTH_METADATA_MISSING",
-            message: "Cartoon retargeting requires mouth blendshape or mouth-card metadata.",
+            code: "ANIMATION_MOUTH_METADATA_MISSING",
+            message: "Animation retargeting requires mouth blendshape or mouth-card metadata.",
             rigId: rig.id
         });
     }
     for (const clip of missingClips) {
         diagnostics.push({
             severity: "error",
-            code: "CARTOON_REQUIRED_CLIP_MISSING",
-            message: `Cartoon retargeting requires clip "${clip}".`,
+            code: "ANIMATION_REQUIRED_CLIP_MISSING",
+            message: `Animation retargeting requires clip "${clip}".`,
             rigId: rig.id
         });
     }
     if (!retargetMapProvided) {
         diagnostics.push({
             severity: "error",
-            code: "CARTOON_RETARGET_MAP_MISSING",
-            message: "Cartoon retargeting requires external bone-map/retarget metadata.",
+            code: "ANIMATION_RETARGET_MAP_MISSING",
+            message: "Animation retargeting requires external bone-map/retarget metadata.",
             rigId: rig.id
         });
     }
     return {
-        kind: "cartoon-humanoid-retargeting-diagnostics",
+        kind: "animation-humanoid-retargeting-diagnostics",
         ...base,
         ok: !diagnostics.some((diagnostic) => diagnostic.severity === "error"),
         diagnostics,
@@ -347,13 +384,111 @@ function averageBindingScale(map) {
         return 1;
     return scales.reduce((sum, scale) => sum + scale, 0) / scales.length;
 }
-function scaleTransform(transform, scale) {
+const IDENTITY_QUAT = { x: 0, y: 0, z: 0, w: 1 };
+/**
+ * Extract the rest local rotation for a bone, preferring the rig's explicit `restPose` entry and
+ * falling back to the binding's own `rotation`. Returns identity when neither is present.
+ */
+function restRotationFor(rig, bone, binding) {
+    const fromRestPose = rig.restPose?.[bone]?.rotation;
+    if (fromRestPose)
+        return normalizeQuatObj(fromRestPose);
+    if (binding.rotation)
+        return normalizeQuatObj(binding.rotation);
+    return IDENTITY_QUAT;
+}
+/**
+ * Apply rest-pose reconciliation + (root-only) facing alignment + length scaling to one bone.
+ * See {@link retargetHumanoidPose} for the math derivation.
+ */
+function retargetBoneTransform(transform, binding, facing) {
+    const sourceRest = binding.sourceRest ?? IDENTITY_QUAT;
+    const targetRest = binding.targetRest ?? IDENTITY_QUAT;
+    let rotation = transform.rotation;
+    if (rotation) {
+        // Rt = Rt0 · Rs0⁻¹ · Ra
+        const delta = multiplyQuat(invertQuat(sourceRest), normalizeQuatObj(rotation));
+        rotation = multiplyQuat(targetRest, delta);
+        if (facing) {
+            // Whole-body facing correction, applied on the root before its local rotation.
+            rotation = multiplyQuat(facing, rotation);
+        }
+        rotation = normalizeQuatObj(rotation);
+    }
+    else if (facing) {
+        // No animated rotation but a facing delta still needs to reframe the root.
+        rotation = normalizeQuatObj(multiplyQuat(facing, targetRest));
+    }
     return {
-        position: transform.position ? scaleVector(transform.position, scale) : undefined,
-        rotation: transform.rotation,
+        position: transform.position ? scaleVector(transform.position, binding.scale) : undefined,
+        rotation,
         scale: transform.scale
     };
 }
+/**
+ * Rotation that carries `from` cardinal axis onto `to` cardinal axis (shortest arc). Used to
+ * reconcile rigs that face different world axes (e.g. +Z forward vs -Z forward, or +X vs +Z).
+ */
+function facingAlignmentQuat(from, to) {
+    if (from === to)
+        return undefined;
+    const a = axisVector(from);
+    const b = axisVector(to);
+    return shortestArcQuat(a, b);
+}
+function axisVector(axis) {
+    switch (axis) {
+        case "x": return { x: 1, y: 0, z: 0 };
+        case "-x": return { x: -1, y: 0, z: 0 };
+        case "y": return { x: 0, y: 1, z: 0 };
+        case "-y": return { x: 0, y: -1, z: 0 };
+        case "z": return { x: 0, y: 0, z: 1 };
+        case "-z": return { x: 0, y: 0, z: -1 };
+        default: return { x: 0, y: 0, z: 1 };
+    }
+}
+/** Quaternion of the shortest rotation from unit vector `a` to unit vector `b`. */
+function shortestArcQuat(a, b) {
+    const dot = a.x * b.x + a.y * b.y + a.z * b.z;
+    if (dot >= 1 - 1e-8)
+        return IDENTITY_QUAT;
+    if (dot <= -1 + 1e-8) {
+        // Opposite vectors: rotate 180° about any axis orthogonal to a.
+        let ortho = Math.abs(a.x) < 0.9 ? { x: 1, y: 0, z: 0 } : { x: 0, y: 1, z: 0 };
+        ortho = crossVec(a, ortho);
+        const len = Math.hypot(ortho.x, ortho.y, ortho.z) || 1;
+        return normalizeQuatObj({ x: ortho.x / len, y: ortho.y / len, z: ortho.z / len, w: 0 });
+    }
+    const c = crossVec(a, b);
+    const w = 1 + dot;
+    return normalizeQuatObj({ x: c.x, y: c.y, z: c.z, w });
+}
+function crossVec(a, b) {
+    return {
+        x: a.y * b.z - a.z * b.y,
+        y: a.z * b.x - a.x * b.z,
+        z: a.x * b.y - a.y * b.x
+    };
+}
+function multiplyQuat(a, b) {
+    return {
+        x: a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
+        y: a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x,
+        z: a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w,
+        w: a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z
+    };
+}
+function invertQuat(q) {
+    // Unit quaternion inverse is its conjugate; normalize defensively first.
+    const n = normalizeQuatObj(q);
+    return { x: -n.x, y: -n.y, z: -n.z, w: n.w };
+}
+function normalizeQuatObj(q) {
+    const len = Math.hypot(q.x, q.y, q.z, q.w);
+    if (len <= 1e-9)
+        return IDENTITY_QUAT;
+    return { x: q.x / len, y: q.y / len, z: q.z / len, w: q.w / len };
+}
 function cloneTransform(transform) {
     return {
         position: transform.position ? { ...transform.position } : undefined,

package/dist/animation/HumanoidRetargeting.js.map

@@ -1 +1 @@
-{"version":3,"file":"HumanoidRetargeting.js","sourceRoot":"","sources":["../../../../packages/animation/src/HumanoidRetargeting.ts"],"names":[],"mappings":"AAOA,MAAM,CAAC,MAAM,cAAc,GAAG;IAC5B,MAAM;IACN,OAAO;IACP,OAAO;IACP,YAAY;IACZ,MAAM;IACN,MAAM;IACN,cAAc;IACd,cAAc;IACd,cAAc;IACd,UAAU;IACV,eAAe;IACf,eAAe;IACf,eAAe;IACf,WAAW;IACX,cAAc;IACd,cAAc;IACd,UAAU;IACV,UAAU;IACV,eAAe;IACf,eAAe;IACf,WAAW;IACX,WAAW;CACH,CAAC;AAMX,MAAM,CAAC,MAAM,uBAAuB,GAAgC;IAClE,MAAM;IACN,OAAO;IACP,MAAM;IACN,cAAc;IACd,cAAc;IACd,UAAU;IACV,eAAe;IACf,eAAe;IACf,WAAW;IACX,cAAc;IACd,cAAc;IACd,UAAU;IACV,eAAe;IACf,eAAe;IACf,WAAW;CACZ,CAAC;AA0FF,MAAM,UAAU,kBAAkB,CAChC,GAA0B,EAC1B,UAAsC,EAAE;IAExC,MAAM,WAAW,GAAoC,EAAE,CAAC;IACxD,MAAM,aAAa,GAAgC,OAAO,CAAC,WAAW;QACpE,CAAC,CAAC,CAAC,GAAG,uBAAuB,EAAE,UAAU,EAAE,WAAW,CAAC;QACvD,CAAC,CAAC,uBAAuB,CAAC;IAC5B,IAAI,oBAAoB,GAAG,CAAC,CAAC;IAE7B,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,CAAC;QACZ,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,yBAAyB;YAC/B,OAAO,EAAE,sCAAsC;SAChD,CAAC,CAAC;IACL,CAAC;IAED,KAAK,MAAM,IAAI,IAAI,aAAa,EAAE,CAAC;QACjC,IAAI,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,EAAE,CAAC;YACpB,oBAAoB,IAAI,CAAC,CAAC;YAC1B,SAAS;QACX,CAAC;QAED,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,gCAAgC;YACtC,OAAO,EAAE,2BAA2B,IAAI,eAAe;YACvD,KAAK,EAAE,GAAG,CAAC,EAAE;YACb,IAAI;SACL,CAAC,CAAC;IACL,CAAC;IAED,KAAK,MAAM,IAAI,IAAI,mBAAmB,EAAE,CAAC;QACvC,MAAM,IAAI,GAAG,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QAClC,MAAM,KAAK,GAAG,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QACpC,IAAI,CAAC,IAAI,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,IAAI,IAAI,KAAK,CAAC,EAAE,CAAC;YACzC,WAAW,CAAC,IAAI,CAAC;gBACf,QAAQ,EAAE,SAAS;gBACnB,IAAI,EAAE,yBAAyB;gBAC/B,OAAO,EAAE,uBAAuB,IAAI,CAAC,IAAI,UAAU,IAAI,CAAC,KAAK,kBAAkB;gBAC/E,KAAK,EAAE,GAAG,CAAC,EAAE;gBACb,IAAI,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI;aACpC,CAAC,CAAC;QACL,CAAC;IACH,CAAC;IAED,MAAM,cAAc,GAAG,sBAAsB,CAAC,GAAG,CAAC,CAAC;IACnD,KAAK,MAAM,IAAI,IAAI,cAAc,EAAE,CAAC;QAClC,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,SAAS;YACnB,IAAI,EAAE,8BAA8B;YACpC,OAAO,EAAE,cAAc,IAAI,2CAA2C;YACtE,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,KAAK,MAAM,IAAI,IAAI,cAAc,EAAE,CAAC;QAClC,MAAM,OAAO,GAAG,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAChC,IAAI,CAAC,OAAO;YAAE,SAAS;QAEvB,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,CAAC;YAClB,WAAW,CAAC,IAAI,CAAC;gBACf,QAAQ,EAAE,OAAO;gBACjB,IAAI,EAAE,iCAAiC;gBACvC,OAAO,EAAE,kBAAkB,IAAI,+BAA+B;gBAC9D,KAAK,EAAE,GAAG,CAAC,EAAE;gBACb,IAAI;aACL,CAAC,CAAC;QACL,CAAC;QAED,IAAI,OAAO,CAAC,MAAM,KAAK,SAAS,IAAI,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,OAAO,CAAC,MAAM,IAAI,CAAC,CAAC,EAAE,CAAC;YAC9F,WAAW,CAAC,IAAI,CAAC;gBACf,QAAQ,EAAE,SAAS;gBACnB,IAAI,EAAE,8BAA8B;gBACpC,OAAO,EAAE,kBAAkB,IAAI,0BAA0B;gBACzD,KAAK,EAAE,GAAG,CAAC,EAAE;gBACb,IAAI;aACL,CAAC,CAAC;QACL,CAAC;QAED,IAAI,OAAO,CAAC,eAAe,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;YACrD,WAAW,CAAC,IAAI,CAAC;gBACf,QAAQ,EAAE,SAAS;gBACnB,IAAI,EAAE,iCAAiC;gBACvC,OAAO,EAAE,uCAAuC,IAAI,IAAI;gBACxD,KAAK,EAAE,GAAG,CAAC,EAAE;gBACb,IAAI;aACL,CAAC,CAAC;QACL,CAAC;IACH,CAAC;IAED,IAAI,GAAG,CAAC,KAAK,KAAK,SAAS,IAAI,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,GAAG,CAAC,KAAK,IAAI,CAAC,CAAC,EAAE,CAAC;QAC/E,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,wBAAwB;YAC9B,OAAO,EAAE,sDAAsD;YAC/D,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,IAAI,OAAO,CAAC,kBAAkB,IAAI,GAAG,CAAC,UAAU,IAAI,GAAG,CAAC,UAAU,KAAK,OAAO,CAAC,kBAAkB,EAAE,CAAC;QAClG,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,SAAS;YACnB,IAAI,EAAE,+BAA+B;YACrC,OAAO,EAAE,uBAAuB,GAAG,CAAC,UAAU,gBAAgB,OAAO,CAAC,kBAAkB,IAAI;YAC5F,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,IAAI,OAAO,CAAC,aAAa,IAAI,GAAG,CAAC,KAAK,IAAI,GAAG,CAAC,KAAK,KAAK,OAAO,CAAC,aAAa,EAAE,CAAC;QAC9E,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,MAAM;YAChB,IAAI,EAAE,yBAAyB;YAC/B,OAAO,EAAE,sBAAsB,GAAG,CAAC,KAAK,gBAAgB,OAAO,CAAC,aAAa,6CAA6C;YAC1H,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,MAAM,gBAAgB,GAAG,aAAa,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,oBAAoB,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;IACpG,MAAM,QAAQ,GAAG,cAAc,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,MAAM,GAAG,cAAc,CAAC,MAAM,CAAC;IACjG,MAAM,WAAW,GAAG,OAAO,CAAC,mBAAmB,IAAI,IAAI,CAAC;IAExD,IAAI,gBAAgB,GAAG,WAAW,EAAE,CAAC;QACnC,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,gCAAgC;YACtC,OAAO,EAAE,0CAA0C,KAAK,CAAC,gBAAgB,CAAC,uBAAuB,KAAK,CAAC,WAAW,CAAC,GAAG;YACtH,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,OAAO;QACL,KAAK,EAAE,GAAG,CAAC,EAAE;QACb,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,QAAQ,KAAK,OAAO,CAAC;QACtE,QAAQ;QACR,gBAAgB;QAChB,oBAAoB;QACpB,aAAa,EAAE,aAAa,CAAC,MAAM;QACnC,WAAW;KACZ,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,4BAA4B,CAC1C,MAA6B,EAC7B,MAA6B,EAC7B,UAAsC,EAAE;IAExC,MAAM,WAAW,GAAoC;QACnD,GAAG,kBAAkB,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC,WAAW;QAClD,GAAG,kBAAkB,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC,WAAW;KACnD,CAAC;IACF,MAAM,QAAQ,GAAmE,EAAE,CAAC;IACpF,MAAM,aAAa,GAAG,OAAO,CAAC,WAAW;QACvC,CAAC,CAAC,CAAC,GAAG,uBAAuB,EAAE,UAAU,EAAE,WAAW,CAAC;QACvD,CAAC,CAAC,uBAAuB,CAAC;IAC5B,IAAI,mBAAmB,GAAG,CAAC,CAAC;IAC5B,IAAI,WAAW,GAAG,CAAC,CAAC;IAEpB,KAAK,MAAM,IAAI,IAAI,cAAc,EAAE,CAAC;QAClC,MAAM,aAAa,GAAG,MAAM,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QACzC,MAAM,aAAa,GAAG,MAAM,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAEzC,IAAI,CAAC,aAAa,IAAI,CAAC,aAAa,EAAE,CAAC;YACrC,IAAI,aAAa,CAAC,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAC;gBACjC,WAAW,CAAC,IAAI,CAAC;oBACf,QAAQ,EAAE,OAAO;oBACjB,IAAI,EAAE,4CAA4C;oBAClD,OAAO,EAAE,kCAAkC,IAAI,eAAe;oBAC9D,KAAK,EAAE,MAAM,CAAC,EAAE;oBAChB,IAAI;oBACJ,UAAU,EAAE,aAAa,EAAE,IAAI;oBAC/B,UAAU,EAAE,aAAa,EAAE,IAAI;iBAChC,CAAC,CAAC;YACL,CAAC;YACD,SAAS;QACX,CAAC;QAED,WAAW,IAAI,CAAC,CAAC;QACjB,IAAI,aAAa,CAAC,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAC;YACjC,mBAAmB,IAAI,CAAC,CAAC;QAC3B,CAAC;QAED,QAAQ,CAAC,IAAI,CAAC,GAAG;YACf,IAAI;YACJ,MAAM,EAAE,aAAa;YACrB,MAAM,EAAE,aAAa;YACrB,KAAK,EAAE,iBAAiB,CAAC,aAAa,EAAE,aAAa,EAAE,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,KAAK,CAAC;SACnF,CAAC;IACJ,CAAC;IAED,MAAM,QAAQ,GAAG,WAAW,GAAG,cAAc,CAAC,MAAM,CAAC;IACrD,MAAM,gBAAgB,GAAG,aAAa,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,mBAAmB,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;IACnG,MAAM,WAAW,GAAG,OAAO,CAAC,mBAAmB,IAAI,IAAI,CAAC;IAExD,IAAI,gBAAgB,GAAG,WAAW,EAAE,CAAC;QACnC,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,gCAAgC;YACtC,OAAO,EAAE,mDAAmD,KAAK,CAAC,gBAAgB,CAAC,uBAAuB,KAAK,CAAC,WAAW,CAAC,GAAG;YAC/H,KAAK,EAAE,MAAM,CAAC,EAAE;SACjB,CAAC,CAAC;IACL,CAAC;IAED,OAAO;QACL,WAAW,EAAE,MAAM,CAAC,EAAE;QACtB,WAAW,EAAE,MAAM,CAAC,EAAE;QACtB,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,QAAQ,KAAK,OAAO,CAAC;QACtE,QAAQ;QACR,gBAAgB;QAChB,QAAQ;QACR,WAAW;KACZ,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,oBAAoB,CAClC,UAAyB,EACzB,GAA2B,EAC3B,UAAuC,EAAE;IAEzC,MAAM,KAAK,GAA2C,EAAE,CAAC;IAEzD,IAAI,OAAO,CAAC,0BAA0B,EAAE,CAAC;QACvC,KAAK,MAAM,CAAC,QAAQ,EAAE,SAAS,CAAC,IAAI,MAAM,CAAC,OAAO,CAAC,UAAU,CAAC,KAAK,CAAC,EAAE,CAAC;YACrE,KAAK,CAAC,QAAQ,CAAC,GAAG,cAAc,CAAC,SAAS,CAAC,CAAC;QAC9C,CAAC;IACH,CAAC;IAED,KAAK,MAAM,IAAI,IAAI,cAAc,EAAE,CAAC;QAClC,MAAM,OAAO,GAAG,GAAG,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;QACnC,IAAI,CAAC,OAAO;YAAE,SAAS;QAEvB,MAAM,eAAe,GAAG,UAAU,CAAC,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,IAAI,UAAU,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QACxF,IAAI,CAAC,eAAe;YAAE,SAAS;QAE/B,MAAM,UAAU,GAAG,cAAc,CAAC,eAAe,EAAE,OAAO,CAAC,KAAK,CAAC,CAAC;QAClE,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,UAAU,CAAC;QAExC,IAAI,OAAO,CAAC,wBAAwB,EAAE,CAAC;YACrC,KAAK,CAAC,IAAI,CAAC,GAAG,UAAU,CAAC;QAC3B,CAAC;IACH,CAAC;IAED,OAAO;QACL,KAAK;QACL,YAAY,EAAE,UAAU,CAAC,YAAY,CAAC,CAAC,CAAC,EAAE,GAAG,UAAU,CAAC,YAAY,EAAE,CAAC,CAAC,CAAC,SAAS;QAClF,UAAU,EAAE,UAAU,CAAC,UAAU,IAAI,OAAO,CAAC,eAAe;YAC1D,CAAC,CAAC;gBACE,WAAW,EAAE,UAAU,CAAC,UAAU,CAAC,WAAW;oBAC5C,CAAC,CAAC,WAAW,CAAC,UAAU,CAAC,UAAU,CAAC,WAAW,EAAE,mBAAmB,CAAC,GAAG,CAAC,CAAC;oBAC1E,CAAC,CAAC,SAAS;gBACb,QAAQ,EAAE,UAAU,CAAC,UAAU,CAAC,QAAQ;aACzC;YACH,CAAC,CAAC,UAAU,CAAC,UAAU;QACzB,QAAQ,EAAE;YACR,GAAG,UAAU,CAAC,QAAQ;YACtB,cAAc,EAAE,GAAG,CAAC,WAAW;YAC/B,YAAY,EAAE,GAAG,CAAC,WAAW;YAC7B,mBAAmB,EAAE,GAAG,CAAC,gBAAgB;SAC1C;KACF,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,8BAA8B,CAC5C,MAA6B,EAC7B,MAA6B,EAC7B,UAAsC,EAAE;IAExC,OAAO,4BAA4B,CAAC,MAAM,EAAE,MAAM,EAAE,OAAO,CAAC,CAAC,WAAW,CAAC;AAC3E,CAAC;AAED,MAAM,UAAU,iCAAiC,CAC/C,GAA0B,EAC1B,UAA6C,EAAE;IAE/C,MAAM,IAAI,GAAG,kBAAkB,CAAC,GAAG,EAAE,EAAE,mBAAmB,EAAE,GAAG,EAAE,eAAe,EAAE,IAAI,EAAE,GAAG,OAAO,EAAE,CAAC,CAAC;IACtG,MAAM,WAAW,GAAoC,CAAC,GAAG,IAAI,CAAC,WAAW,CAAC,CAAC;IAC3E,MAAM,aAAa,GAAG,OAAO,CAAC,aAAa,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,EAAE,MAAM,CAAC,CAAC;IACnF,MAAM,cAAc,GAAG,IAAI,GAAG,CAAC,OAAO,CAAC,cAAc,IAAI,EAAE,CAAC,CAAC;IAC7D,MAAM,YAAY,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,CAAC,cAAc,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC;IAC/E,MAAM,UAAU,GAAG,CAAC,OAAO,CAAC,oBAAoB,EAAE,MAAM,IAAI,CAAC,CAAC,GAAG,CAAC;WAC7D,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC,QAAQ,EAAE,oBAAoB,CAAC,IAAK,GAAG,CAAC,QAAQ,CAAC,oBAAkC,CAAC,MAAM,GAAG,CAAC,CAAC;IACtH,MAAM,mBAAmB,GAAG,OAAO,CAAC,mBAAmB,IAAI,OAAO,CAAC,GAAG,CAAC,QAAQ,EAAE,mBAAmB,CAAC,CAAC;IAEtG,IAAI,CAAC,UAAU,EAAE,CAAC;QAChB,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,gCAAgC;YACtC,OAAO,EAAE,uEAAuE;YAChF,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IACD,KAAK,MAAM,IAAI,IAAI,YAAY,EAAE,CAAC;QAChC,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,+BAA+B;YACrC,OAAO,EAAE,sCAAsC,IAAI,IAAI;YACvD,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IACD,IAAI,CAAC,mBAAmB,EAAE,CAAC;QACzB,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,8BAA8B;YACpC,OAAO,EAAE,mEAAmE;YAC5E,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,OAAO;QACL,IAAI,EAAE,0CAA0C;QAChD,GAAG,IAAI;QACP,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,QAAQ,KAAK,OAAO,CAAC;QACtE,WAAW;QACX,UAAU;QACV,SAAS,EAAE,YAAY,CAAC,MAAM,KAAK,CAAC;QACpC,mBAAmB;KACpB,CAAC;AACJ,CAAC;AAED,MAAM,mBAAmB,GAAqF;IAC5G,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,UAAU,EAAE,KAAK,EAAE,WAAW,EAAE;IACxC,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,UAAU,EAAE,KAAK,EAAE,WAAW,EAAE;IACxC,EAAE,IAAI,EAAE,UAAU,EAAE,KAAK,EAAE,WAAW,EAAE;CACzC,CAAC;AAEF,SAAS,sBAAsB,CAAC,GAA0B;IACxD,MAAM,MAAM,GAAG,IAAI,GAAG,EAAkB,CAAC;IAEzC,KAAK,MAAM,OAAO,IAAI,MAAM,CAAC,MAAM,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC;QAC/C,IAAI,CAAC,OAAO,EAAE,IAAI;YAAE,SAAS;QAC7B,MAAM,CAAC,GAAG,CAAC,OAAO,CAAC,IAAI,EAAE,CAAC,MAAM,CAAC,GAAG,CAAC,OAAO,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IAChE,CAAC;IAED,OAAO,CAAC,GAAG,MAAM,CAAC,OAAO,EAAE,CAAC;SACzB,MAAM,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,EAAE,EAAE,CAAC,KAAK,GAAG,CAAC,CAAC;SAChC,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,IAAI,CAAC,CAAC;AAC3B,CAAC;AAED,SAAS,iBAAiB,CACxB,MAA2B,EAC3B,MAA2B,EAC3B,cAAc,GAAG,CAAC,EAClB,cAAc,GAAG,CAAC;IAElB,MAAM,WAAW,GAAG,MAAM,CAAC,QAAQ,CAAC,cAAc,CAAC,IAAI,cAAc,GAAG,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC,CAAC;IAC/F,MAAM,WAAW,GAAG,MAAM,CAAC,QAAQ,CAAC,cAAc,CAAC,IAAI,cAAc,GAAG,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC,CAAC;IAC/F,MAAM,QAAQ,GAAG,WAAW,GAAG,WAAW,CAAC;IAE3C,IAAI,MAAM,CAAC,MAAM,IAAI,MAAM,CAAC,MAAM,IAAI,MAAM,CAAC,MAAM,GAAG,CAAC,IAAI,MAAM,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QAC7E,OAAO,CAAC,MAAM,CAAC,MAAM,GAAG,MAAM,CAAC,MAAM,CAAC,GAAG,QAAQ,CAAC;IACpD,CAAC;IAED,OAAO,QAAQ,CAAC;AAClB,CAAC;AAED,SAAS,mBAAmB,CAAC,GAA2B;IACtD,MAAM,MAAM,GAAG,MAAM,CAAC,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC;SACvC,GAAG,CAAC,CAAC,OAAO,EAAE,EAAE,CAAC,OAAO,EAAE,KAAK,CAAC;SAChC,MAAM,CAAC,CAAC,KAAK,EAAmB,EAAE,CAAC,OAAO,KAAK,KAAK,QAAQ,IAAI,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,GAAG,CAAC,CAAC,CAAC;IAExG,IAAI,MAAM,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,CAAC,CAAC;IAClC,OAAO,MAAM,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,KAAK,EAAE,EAAE,CAAC,GAAG,GAAG,KAAK,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,MAAM,CAAC;AACvE,CAAC;AAED,SAAS,cAAc,CAAC,SAAiC,EAAE,KAAa;IACtE,OAAO;QACL,QAAQ,EAAE,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC,WAAW,CAAC,SAAS,CAAC,QAAQ,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,SAAS;QACjF,QAAQ,EAAE,SAAS,CAAC,QAAQ;QAC5B,KAAK,EAAE,SAAS,CAAC,KAAK;KACvB,CAAC;AACJ,CAAC;AAED,SAAS,cAAc,CAAC,SAAiC;IACvD,OAAO;QACL,QAAQ,EAAE,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,GAAG,SAAS,CAAC,QAAQ,EAAE,CAAC,CAAC,CAAC,SAAS;QACpE,QAAQ,EAAE,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,GAAG,SAAS,CAAC,QAAQ,EAAE,CAAC,CAAC,CAAC,SAAS;QACpE,KAAK,EAAE,SAAS,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,GAAG,SAAS,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,SAAS;KAC5D,CAAC;AACJ,CAAC;AAED,SAAS,WAAW,CAAC,MAAwB,EAAE,KAAa;IAC1D,OAAO;QACL,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,KAAK;QACnB,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,KAAK;QACnB,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,KAAK;KACpB,CAAC;AACJ,CAAC;AAED,SAAS,KAAK,CAAC,KAAa;IAC1B,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC;AACzC,CAAC"}
+{"version":3,"file":"HumanoidRetargeting.js","sourceRoot":"","sources":["../../../../packages/animation/src/HumanoidRetargeting.ts"],"names":[],"mappings":"AAOA,MAAM,CAAC,MAAM,cAAc,GAAG;IAC5B,MAAM;IACN,OAAO;IACP,OAAO;IACP,YAAY;IACZ,MAAM;IACN,MAAM;IACN,cAAc;IACd,cAAc;IACd,cAAc;IACd,UAAU;IACV,eAAe;IACf,eAAe;IACf,eAAe;IACf,WAAW;IACX,cAAc;IACd,cAAc;IACd,UAAU;IACV,UAAU;IACV,eAAe;IACf,eAAe;IACf,WAAW;IACX,WAAW;CACH,CAAC;AAMX,MAAM,CAAC,MAAM,uBAAuB,GAAgC;IAClE,MAAM;IACN,OAAO;IACP,MAAM;IACN,cAAc;IACd,cAAc;IACd,UAAU;IACV,eAAe;IACf,eAAe;IACf,WAAW;IACX,cAAc;IACd,cAAc;IACd,UAAU;IACV,eAAe;IACf,eAAe;IACf,WAAW;CACZ,CAAC;AAsGF,MAAM,UAAU,kBAAkB,CAChC,GAA0B,EAC1B,UAAsC,EAAE;IAExC,MAAM,WAAW,GAAoC,EAAE,CAAC;IACxD,MAAM,aAAa,GAAgC,OAAO,CAAC,WAAW;QACpE,CAAC,CAAC,CAAC,GAAG,uBAAuB,EAAE,UAAU,EAAE,WAAW,CAAC;QACvD,CAAC,CAAC,uBAAuB,CAAC;IAC5B,IAAI,oBAAoB,GAAG,CAAC,CAAC;IAE7B,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,CAAC;QACZ,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,yBAAyB;YAC/B,OAAO,EAAE,sCAAsC;SAChD,CAAC,CAAC;IACL,CAAC;IAED,KAAK,MAAM,IAAI,IAAI,aAAa,EAAE,CAAC;QACjC,IAAI,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,EAAE,CAAC;YACpB,oBAAoB,IAAI,CAAC,CAAC;YAC1B,SAAS;QACX,CAAC;QAED,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,gCAAgC;YACtC,OAAO,EAAE,2BAA2B,IAAI,eAAe;YACvD,KAAK,EAAE,GAAG,CAAC,EAAE;YACb,IAAI;SACL,CAAC,CAAC;IACL,CAAC;IAED,KAAK,MAAM,IAAI,IAAI,mBAAmB,EAAE,CAAC;QACvC,MAAM,IAAI,GAAG,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QAClC,MAAM,KAAK,GAAG,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QACpC,IAAI,CAAC,IAAI,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,IAAI,IAAI,KAAK,CAAC,EAAE,CAAC;YACzC,WAAW,CAAC,IAAI,CAAC;gBACf,QAAQ,EAAE,SAAS;gBACnB,IAAI,EAAE,yBAAyB;gBAC/B,OAAO,EAAE,uBAAuB,IAAI,CAAC,IAAI,UAAU,IAAI,CAAC,KAAK,kBAAkB;gBAC/E,KAAK,EAAE,GAAG,CAAC,EAAE;gBACb,IAAI,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI;aACpC,CAAC,CAAC;QACL,CAAC;IACH,CAAC;IAED,MAAM,cAAc,GAAG,sBAAsB,CAAC,GAAG,CAAC,CAAC;IACnD,KAAK,MAAM,IAAI,IAAI,cAAc,EAAE,CAAC;QAClC,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,SAAS;YACnB,IAAI,EAAE,8BAA8B;YACpC,OAAO,EAAE,cAAc,IAAI,2CAA2C;YACtE,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,KAAK,MAAM,IAAI,IAAI,cAAc,EAAE,CAAC;QAClC,MAAM,OAAO,GAAG,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAChC,IAAI,CAAC,OAAO;YAAE,SAAS;QAEvB,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,CAAC;YAClB,WAAW,CAAC,IAAI,CAAC;gBACf,QAAQ,EAAE,OAAO;gBACjB,IAAI,EAAE,iCAAiC;gBACvC,OAAO,EAAE,kBAAkB,IAAI,+BAA+B;gBAC9D,KAAK,EAAE,GAAG,CAAC,EAAE;gBACb,IAAI;aACL,CAAC,CAAC;QACL,CAAC;QAED,IAAI,OAAO,CAAC,MAAM,KAAK,SAAS,IAAI,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,OAAO,CAAC,MAAM,IAAI,CAAC,CAAC,EAAE,CAAC;YAC9F,WAAW,CAAC,IAAI,CAAC;gBACf,QAAQ,EAAE,SAAS;gBACnB,IAAI,EAAE,8BAA8B;gBACpC,OAAO,EAAE,kBAAkB,IAAI,0BAA0B;gBACzD,KAAK,EAAE,GAAG,CAAC,EAAE;gBACb,IAAI;aACL,CAAC,CAAC;QACL,CAAC;QAED,IAAI,OAAO,CAAC,eAAe,IAAI,CAAC,GAAG,CAAC,QAAQ,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;YACrD,WAAW,CAAC,IAAI,CAAC;gBACf,QAAQ,EAAE,SAAS;gBACnB,IAAI,EAAE,iCAAiC;gBACvC,OAAO,EAAE,uCAAuC,IAAI,IAAI;gBACxD,KAAK,EAAE,GAAG,CAAC,EAAE;gBACb,IAAI;aACL,CAAC,CAAC;QACL,CAAC;IACH,CAAC;IAED,IAAI,GAAG,CAAC,KAAK,KAAK,SAAS,IAAI,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,GAAG,CAAC,KAAK,IAAI,CAAC,CAAC,EAAE,CAAC;QAC/E,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,wBAAwB;YAC9B,OAAO,EAAE,sDAAsD;YAC/D,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,IAAI,OAAO,CAAC,kBAAkB,IAAI,GAAG,CAAC,UAAU,IAAI,GAAG,CAAC,UAAU,KAAK,OAAO,CAAC,kBAAkB,EAAE,CAAC;QAClG,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,SAAS;YACnB,IAAI,EAAE,+BAA+B;YACrC,OAAO,EAAE,uBAAuB,GAAG,CAAC,UAAU,gBAAgB,OAAO,CAAC,kBAAkB,IAAI;YAC5F,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,IAAI,OAAO,CAAC,aAAa,IAAI,GAAG,CAAC,KAAK,IAAI,GAAG,CAAC,KAAK,KAAK,OAAO,CAAC,aAAa,EAAE,CAAC;QAC9E,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,MAAM;YAChB,IAAI,EAAE,yBAAyB;YAC/B,OAAO,EAAE,sBAAsB,GAAG,CAAC,KAAK,gBAAgB,OAAO,CAAC,aAAa,6CAA6C;YAC1H,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,MAAM,gBAAgB,GAAG,aAAa,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,oBAAoB,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;IACpG,MAAM,QAAQ,GAAG,cAAc,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,MAAM,GAAG,cAAc,CAAC,MAAM,CAAC;IACjG,MAAM,WAAW,GAAG,OAAO,CAAC,mBAAmB,IAAI,IAAI,CAAC;IAExD,IAAI,gBAAgB,GAAG,WAAW,EAAE,CAAC;QACnC,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,gCAAgC;YACtC,OAAO,EAAE,0CAA0C,KAAK,CAAC,gBAAgB,CAAC,uBAAuB,KAAK,CAAC,WAAW,CAAC,GAAG;YACtH,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,OAAO;QACL,KAAK,EAAE,GAAG,CAAC,EAAE;QACb,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,QAAQ,KAAK,OAAO,CAAC;QACtE,QAAQ;QACR,gBAAgB;QAChB,oBAAoB;QACpB,aAAa,EAAE,aAAa,CAAC,MAAM;QACnC,WAAW;KACZ,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,4BAA4B,CAC1C,MAA6B,EAC7B,MAA6B,EAC7B,UAAsC,EAAE;IAExC,MAAM,WAAW,GAAoC;QACnD,GAAG,kBAAkB,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC,WAAW;QAClD,GAAG,kBAAkB,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC,WAAW;KACnD,CAAC;IACF,MAAM,QAAQ,GAAmE,EAAE,CAAC;IACpF,MAAM,aAAa,GAAG,OAAO,CAAC,WAAW;QACvC,CAAC,CAAC,CAAC,GAAG,uBAAuB,EAAE,UAAU,EAAE,WAAW,CAAC;QACvD,CAAC,CAAC,uBAAuB,CAAC;IAC5B,IAAI,mBAAmB,GAAG,CAAC,CAAC;IAC5B,IAAI,WAAW,GAAG,CAAC,CAAC;IAEpB,KAAK,MAAM,IAAI,IAAI,cAAc,EAAE,CAAC;QAClC,MAAM,aAAa,GAAG,MAAM,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QACzC,MAAM,aAAa,GAAG,MAAM,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAEzC,IAAI,CAAC,aAAa,IAAI,CAAC,aAAa,EAAE,CAAC;YACrC,IAAI,aAAa,CAAC,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAC;gBACjC,WAAW,CAAC,IAAI,CAAC;oBACf,QAAQ,EAAE,OAAO;oBACjB,IAAI,EAAE,4CAA4C;oBAClD,OAAO,EAAE,kCAAkC,IAAI,eAAe;oBAC9D,KAAK,EAAE,MAAM,CAAC,EAAE;oBAChB,IAAI;oBACJ,UAAU,EAAE,aAAa,EAAE,IAAI;oBAC/B,UAAU,EAAE,aAAa,EAAE,IAAI;iBAChC,CAAC,CAAC;YACL,CAAC;YACD,SAAS;QACX,CAAC;QAED,WAAW,IAAI,CAAC,CAAC;QACjB,IAAI,aAAa,CAAC,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAC;YACjC,mBAAmB,IAAI,CAAC,CAAC;QAC3B,CAAC;QAED,QAAQ,CAAC,IAAI,CAAC,GAAG;YACf,IAAI;YACJ,MAAM,EAAE,aAAa;YACrB,MAAM,EAAE,aAAa;YACrB,KAAK,EAAE,iBAAiB,CAAC,aAAa,EAAE,aAAa,EAAE,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,KAAK,CAAC;YAClF,UAAU,EAAE,eAAe,CAAC,MAAM,EAAE,IAAI,EAAE,aAAa,CAAC;YACxD,UAAU,EAAE,eAAe,CAAC,MAAM,EAAE,IAAI,EAAE,aAAa,CAAC;SACzD,CAAC;IACJ,CAAC;IAED,MAAM,QAAQ,GAAG,WAAW,GAAG,cAAc,CAAC,MAAM,CAAC;IACrD,MAAM,gBAAgB,GAAG,aAAa,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,mBAAmB,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;IACnG,MAAM,WAAW,GAAG,OAAO,CAAC,mBAAmB,IAAI,IAAI,CAAC;IAExD,IAAI,gBAAgB,GAAG,WAAW,EAAE,CAAC;QACnC,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,gCAAgC;YACtC,OAAO,EAAE,mDAAmD,KAAK,CAAC,gBAAgB,CAAC,uBAAuB,KAAK,CAAC,WAAW,CAAC,GAAG;YAC/H,KAAK,EAAE,MAAM,CAAC,EAAE;SACjB,CAAC,CAAC;IACL,CAAC;IAED,OAAO;QACL,WAAW,EAAE,MAAM,CAAC,EAAE;QACtB,WAAW,EAAE,MAAM,CAAC,EAAE;QACtB,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,QAAQ,KAAK,OAAO,CAAC;QACtE,QAAQ;QACR,gBAAgB;QAChB,QAAQ;QACR,WAAW;QACX,gBAAgB,EAAE,MAAM,CAAC,UAAU,IAAI,GAAG;QAC1C,gBAAgB,EAAE,MAAM,CAAC,UAAU,IAAI,GAAG;KAC3C,CAAC;AACJ,CAAC;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA+BG;AACH,MAAM,UAAU,oBAAoB,CAClC,UAAyB,EACzB,GAA2B,EAC3B,UAAuC,EAAE;IAEzC,MAAM,KAAK,GAA2C,EAAE,CAAC;IAEzD,IAAI,OAAO,CAAC,0BAA0B,EAAE,CAAC;QACvC,KAAK,MAAM,CAAC,QAAQ,EAAE,SAAS,CAAC,IAAI,MAAM,CAAC,OAAO,CAAC,UAAU,CAAC,KAAK,CAAC,EAAE,CAAC;YACrE,KAAK,CAAC,QAAQ,CAAC,GAAG,cAAc,CAAC,SAAS,CAAC,CAAC;QAC9C,CAAC;IACH,CAAC;IAED,MAAM,MAAM,GAAG,mBAAmB,CAAC,GAAG,CAAC,gBAAgB,IAAI,GAAG,EAAE,GAAG,CAAC,gBAAgB,IAAI,GAAG,CAAC,CAAC;IAE7F,KAAK,MAAM,IAAI,IAAI,cAAc,EAAE,CAAC;QAClC,MAAM,OAAO,GAAG,GAAG,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;QACnC,IAAI,CAAC,OAAO;YAAE,SAAS;QAEvB,MAAM,eAAe,GAAG,UAAU,CAAC,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,IAAI,UAAU,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QACxF,IAAI,CAAC,eAAe;YAAE,SAAS;QAE/B,MAAM,UAAU,GAAG,qBAAqB,CAAC,eAAe,EAAE,OAAO,EAAE,IAAI,KAAK,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC;QACzG,KAAK,CAAC,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,UAAU,CAAC;QAExC,IAAI,OAAO,CAAC,wBAAwB,EAAE,CAAC;YACrC,KAAK,CAAC,IAAI,CAAC,GAAG,UAAU,CAAC;QAC3B,CAAC;IACH,CAAC;IAED,OAAO;QACL,KAAK;QACL,YAAY,EAAE,UAAU,CAAC,YAAY,CAAC,CAAC,CAAC,EAAE,GAAG,UAAU,CAAC,YAAY,EAAE,CAAC,CAAC,CAAC,SAAS;QAClF,UAAU,EAAE,UAAU,CAAC,UAAU,IAAI,OAAO,CAAC,eAAe;YAC1D,CAAC,CAAC;gBACE,WAAW,EAAE,UAAU,CAAC,UAAU,CAAC,WAAW;oBAC5C,CAAC,CAAC,WAAW,CAAC,UAAU,CAAC,UAAU,CAAC,WAAW,EAAE,mBAAmB,CAAC,GAAG,CAAC,CAAC;oBAC1E,CAAC,CAAC,SAAS;gBACb,QAAQ,EAAE,UAAU,CAAC,UAAU,CAAC,QAAQ;aACzC;YACH,CAAC,CAAC,UAAU,CAAC,UAAU;QACzB,QAAQ,EAAE;YACR,GAAG,UAAU,CAAC,QAAQ;YACtB,cAAc,EAAE,GAAG,CAAC,WAAW;YAC/B,YAAY,EAAE,GAAG,CAAC,WAAW;YAC7B,mBAAmB,EAAE,GAAG,CAAC,gBAAgB;SAC1C;KACF,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,8BAA8B,CAC5C,MAA6B,EAC7B,MAA6B,EAC7B,UAAsC,EAAE;IAExC,OAAO,4BAA4B,CAAC,MAAM,EAAE,MAAM,EAAE,OAAO,CAAC,CAAC,WAAW,CAAC;AAC3E,CAAC;AAED,MAAM,UAAU,mCAAmC,CACjD,GAA0B,EAC1B,UAA+C,EAAE;IAEjD,MAAM,IAAI,GAAG,kBAAkB,CAAC,GAAG,EAAE,EAAE,mBAAmB,EAAE,GAAG,EAAE,eAAe,EAAE,IAAI,EAAE,GAAG,OAAO,EAAE,CAAC,CAAC;IACtG,MAAM,WAAW,GAAoC,CAAC,GAAG,IAAI,CAAC,WAAW,CAAC,CAAC;IAC3E,MAAM,aAAa,GAAG,OAAO,CAAC,aAAa,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,EAAE,MAAM,CAAC,CAAC;IACnF,MAAM,cAAc,GAAG,IAAI,GAAG,CAAC,OAAO,CAAC,cAAc,IAAI,EAAE,CAAC,CAAC;IAC7D,MAAM,YAAY,GAAG,aAAa,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,CAAC,cAAc,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC;IAC/E,MAAM,UAAU,GAAG,CAAC,OAAO,CAAC,oBAAoB,EAAE,MAAM,IAAI,CAAC,CAAC,GAAG,CAAC;WAC7D,KAAK,CAAC,OAAO,CAAC,GAAG,CAAC,QAAQ,EAAE,oBAAoB,CAAC,IAAK,GAAG,CAAC,QAAQ,CAAC,oBAAkC,CAAC,MAAM,GAAG,CAAC,CAAC;IACtH,MAAM,mBAAmB,GAAG,OAAO,CAAC,mBAAmB,IAAI,OAAO,CAAC,GAAG,CAAC,QAAQ,EAAE,mBAAmB,CAAC,CAAC;IAEtG,IAAI,CAAC,UAAU,EAAE,CAAC;QAChB,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,kCAAkC;YACxC,OAAO,EAAE,yEAAyE;YAClF,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IACD,KAAK,MAAM,IAAI,IAAI,YAAY,EAAE,CAAC;QAChC,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,iCAAiC;YACvC,OAAO,EAAE,wCAAwC,IAAI,IAAI;YACzD,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IACD,IAAI,CAAC,mBAAmB,EAAE,CAAC;QACzB,WAAW,CAAC,IAAI,CAAC;YACf,QAAQ,EAAE,OAAO;YACjB,IAAI,EAAE,gCAAgC;YACtC,OAAO,EAAE,qEAAqE;YAC9E,KAAK,EAAE,GAAG,CAAC,EAAE;SACd,CAAC,CAAC;IACL,CAAC;IAED,OAAO;QACL,IAAI,EAAE,4CAA4C;QAClD,GAAG,IAAI;QACP,EAAE,EAAE,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,QAAQ,KAAK,OAAO,CAAC;QACtE,WAAW;QACX,UAAU;QACV,SAAS,EAAE,YAAY,CAAC,MAAM,KAAK,CAAC;QACpC,mBAAmB;KACpB,CAAC;AACJ,CAAC;AAED,MAAM,mBAAmB,GAAqF;IAC5G,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,UAAU,EAAE,KAAK,EAAE,WAAW,EAAE;IACxC,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,cAAc,EAAE,KAAK,EAAE,eAAe,EAAE;IAChD,EAAE,IAAI,EAAE,UAAU,EAAE,KAAK,EAAE,WAAW,EAAE;IACxC,EAAE,IAAI,EAAE,UAAU,EAAE,KAAK,EAAE,WAAW,EAAE;CACzC,CAAC;AAEF,SAAS,sBAAsB,CAAC,GAA0B;IACxD,MAAM,MAAM,GAAG,IAAI,GAAG,EAAkB,CAAC;IAEzC,KAAK,MAAM,OAAO,IAAI,MAAM,CAAC,MAAM,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC;QAC/C,IAAI,CAAC,OAAO,EAAE,IAAI;YAAE,SAAS;QAC7B,MAAM,CAAC,GAAG,CAAC,OAAO,CAAC,IAAI,EAAE,CAAC,MAAM,CAAC,GAAG,CAAC,OAAO,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IAChE,CAAC;IAED,OAAO,CAAC,GAAG,MAAM,CAAC,OAAO,EAAE,CAAC;SACzB,MAAM,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,EAAE,EAAE,CAAC,KAAK,GAAG,CAAC,CAAC;SAChC,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,IAAI,CAAC,CAAC;AAC3B,CAAC;AAED,SAAS,iBAAiB,CACxB,MAA2B,EAC3B,MAA2B,EAC3B,cAAc,GAAG,CAAC,EAClB,cAAc,GAAG,CAAC;IAElB,MAAM,WAAW,GAAG,MAAM,CAAC,QAAQ,CAAC,cAAc,CAAC,IAAI,cAAc,GAAG,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC,CAAC;IAC/F,MAAM,WAAW,GAAG,MAAM,CAAC,QAAQ,CAAC,cAAc,CAAC,IAAI,cAAc,GAAG,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,CAAC,CAAC,CAAC;IAC/F,MAAM,QAAQ,GAAG,WAAW,GAAG,WAAW,CAAC;IAE3C,IAAI,MAAM,CAAC,MAAM,IAAI,MAAM,CAAC,MAAM,IAAI,MAAM,CAAC,MAAM,GAAG,CAAC,IAAI,MAAM,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QAC7E,OAAO,CAAC,MAAM,CAAC,MAAM,GAAG,MAAM,CAAC,MAAM,CAAC,GAAG,QAAQ,CAAC;IACpD,CAAC;IAED,OAAO,QAAQ,CAAC;AAClB,CAAC;AAED,SAAS,mBAAmB,CAAC,GAA2B;IACtD,MAAM,MAAM,GAAG,MAAM,CAAC,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC;SACvC,GAAG,CAAC,CAAC,OAAO,EAAE,EAAE,CAAC,OAAO,EAAE,KAAK,CAAC;SAChC,MAAM,CAAC,CAAC,KAAK,EAAmB,EAAE,CAAC,OAAO,KAAK,KAAK,QAAQ,IAAI,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,GAAG,CAAC,CAAC,CAAC;IAExG,IAAI,MAAM,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,CAAC,CAAC;IAClC,OAAO,MAAM,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,KAAK,EAAE,EAAE,CAAC,GAAG,GAAG,KAAK,EAAE,CAAC,CAAC,GAAG,MAAM,CAAC,MAAM,CAAC;AACvE,CAAC;AAED,MAAM,aAAa,GAAwB,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;AAEtE;;;GAGG;AACH,SAAS,eAAe,CACtB,GAA0B,EAC1B,IAAsB,EACtB,OAA4B;IAE5B,MAAM,YAAY,GAAG,GAAG,CAAC,QAAQ,EAAE,CAAC,IAAI,CAAC,EAAE,QAAQ,CAAC;IACpD,IAAI,YAAY;QAAE,OAAO,gBAAgB,CAAC,YAAY,CAAC,CAAC;IACxD,IAAI,OAAO,CAAC,QAAQ;QAAE,OAAO,gBAAgB,CAAC,OAAO,CAAC,QAAQ,CAAC,CAAC;IAChE,OAAO,aAAa,CAAC;AACvB,CAAC;AAED;;;GAGG;AACH,SAAS,qBAAqB,CAC5B,SAAiC,EACjC,OAAoC,EACpC,MAA4B;IAE5B,MAAM,UAAU,GAAG,OAAO,CAAC,UAAU,IAAI,aAAa,CAAC;IACvD,MAAM,UAAU,GAAG,OAAO,CAAC,UAAU,IAAI,aAAa,CAAC;IAEvD,IAAI,QAAQ,GAAG,SAAS,CAAC,QAAQ,CAAC;IAClC,IAAI,QAAQ,EAAE,CAAC;QACb,wBAAwB;QACxB,MAAM,KAAK,GAAG,YAAY,CAAC,UAAU,CAAC,UAAU,CAAC,EAAE,gBAAgB,CAAC,QAAQ,CAAC,CAAC,CAAC;QAC/E,QAAQ,GAAG,YAAY,CAAC,UAAU,EAAE,KAAK,CAAC,CAAC;QAC3C,IAAI,MAAM,EAAE,CAAC;YACX,+EAA+E;YAC/E,QAAQ,GAAG,YAAY,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;QAC5C,CAAC;QACD,QAAQ,GAAG,gBAAgB,CAAC,QAAQ,CAAC,CAAC;IACxC,CAAC;SAAM,IAAI,MAAM,EAAE,CAAC;QAClB,2EAA2E;QAC3E,QAAQ,GAAG,gBAAgB,CAAC,YAAY,CAAC,MAAM,EAAE,UAAU,CAAC,CAAC,CAAC;IAChE,CAAC;IAED,OAAO;QACL,QAAQ,EAAE,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC,WAAW,CAAC,SAAS,CAAC,QAAQ,EAAE,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,SAAS;QACzF,QAAQ;QACR,KAAK,EAAE,SAAS,CAAC,KAAK;KACvB,CAAC;AACJ,CAAC;AAED;;;GAGG;AACH,SAAS,mBAAmB,CAAC,IAAkB,EAAE,EAAgB;IAC/D,IAAI,IAAI,KAAK,EAAE;QAAE,OAAO,SAAS,CAAC;IAClC,MAAM,CAAC,GAAG,UAAU,CAAC,IAAI,CAAC,CAAC;IAC3B,MAAM,CAAC,GAAG,UAAU,CAAC,EAAE,CAAC,CAAC;IACzB,OAAO,eAAe,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;AAC/B,CAAC;AAED,SAAS,UAAU,CAAC,IAAkB;IACpC,QAAQ,IAAI,EAAE,CAAC;QACb,KAAK,GAAG,CAAC,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;QACtC,KAAK,IAAI,CAAC,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;QACxC,KAAK,GAAG,CAAC,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;QACtC,KAAK,IAAI,CAAC,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;QACxC,KAAK,GAAG,CAAC,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;QACtC,KAAK,IAAI,CAAC,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC;QACxC,OAAO,CAAC,CAAC,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;IACvC,CAAC;AACH,CAAC;AAED,mFAAmF;AACnF,SAAS,eAAe,CAAC,CAAmB,EAAE,CAAmB;IAC/D,MAAM,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IAC9C,IAAI,GAAG,IAAI,CAAC,GAAG,IAAI;QAAE,OAAO,aAAa,CAAC;IAC1C,IAAI,GAAG,IAAI,CAAC,CAAC,GAAG,IAAI,EAAE,CAAC;QACrB,gEAAgE;QAChE,IAAI,KAAK,GAAqB,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC;QAChG,KAAK,GAAG,QAAQ,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;QAC3B,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;QACvD,OAAO,gBAAgB,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;IAC1F,CAAC;IACD,MAAM,CAAC,GAAG,QAAQ,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACzB,MAAM,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC;IAClB,OAAO,gBAAgB,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;AACzD,CAAC;AAED,SAAS,QAAQ,CAAC,CAAmB,EAAE,CAAmB;IACxD,OAAO;QACL,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QACxB,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QACxB,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;KACzB,CAAC;AACJ,CAAC;AAED,SAAS,YAAY,CAAC,CAAsB,EAAE,CAAsB;IAClE,OAAO;QACL,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QAChD,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QAChD,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QAChD,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;KACjD,CAAC;AACJ,CAAC;AAED,SAAS,UAAU,CAAC,CAAsB;IACxC,yEAAyE;IACzE,MAAM,CAAC,GAAG,gBAAgB,CAAC,CAAC,CAAC,CAAC;IAC9B,OAAO,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;AAC/C,CAAC;AAED,SAAS,gBAAgB,CAAC,CAAsB;IAC9C,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;IAC3C,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,aAAa,CAAC;IACtC,OAAO,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,GAAG,EAAE,CAAC;AACpE,CAAC;AAED,SAAS,cAAc,CAAC,SAAiC;IACvD,OAAO;QACL,QAAQ,EAAE,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,GAAG,SAAS,CAAC,QAAQ,EAAE,CAAC,CAAC,CAAC,SAAS;QACpE,QAAQ,EAAE,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,GAAG,SAAS,CAAC,QAAQ,EAAE,CAAC,CAAC,CAAC,SAAS;QACpE,KAAK,EAAE,SAAS,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,GAAG,SAAS,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,SAAS;KAC5D,CAAC;AACJ,CAAC;AAED,SAAS,WAAW,CAAC,MAAwB,EAAE,KAAa;IAC1D,OAAO;QACL,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,KAAK;QACnB,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,KAAK;QACnB,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,KAAK;KACpB,CAAC;AACJ,CAAC;AAED,SAAS,KAAK,CAAC,KAAa;IAC1B,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC;AACzC,CAAC"}

package/dist/animation/IK.d.ts

@@ -21,4 +21,9 @@ export interface TwoBoneIkResult {
     readonly poleInfluence: number;
 }
 export declare function solveTwoBoneIk(input: TwoBoneIkInput): TwoBoneIkResult;
+/**
+ * Convenience knee/elbow pole hint: a point offset from the mid-joint along a forward direction,
+ * giving {@link solveTwoBoneIk} a stable bend plane (knees point forward, elbows back). Pure.
+ */
+export declare function kneePoleHint(root: Vec3, mid: Vec3, forward: Vec3, distance?: number): Vec3;
 //# sourceMappingURL=IK.d.ts.map

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

@@ -1 +1 @@
-{"version":3,"file":"IK.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/IK.ts"],"names":[],"mappings":"AAAA,OAAO,EAAY,KAAK,IAAI,EAAE,MAAM,eAAe,CAAC;AAEpD,MAAM,WAAW,cAAc;IAC7B,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,YAAY,CAAC,EAAE,OAAO,CAAC;CACjC;AAED,MAAM,WAAW,eAAe;IAC9B,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,OAAO,EAAE,OAAO,CAAC;IAC1B,QAAQ,CAAC,SAAS,EAAE,OAAO,CAAC;IAC5B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,mBAAmB,EAAE,MAAM,CAAC;IACrC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;CAChC;AAED,wBAAgB,cAAc,CAAC,KAAK,EAAE,cAAc,GAAG,eAAe,CAqCrE"}
+{"version":3,"file":"IK.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/IK.ts"],"names":[],"mappings":"AAAA,OAAO,EAAY,KAAK,IAAI,EAAE,MAAM,eAAe,CAAC;AAEpD,MAAM,WAAW,cAAc;IAC7B,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,YAAY,CAAC,EAAE,OAAO,CAAC;CACjC;AAED,MAAM,WAAW,eAAe;IAC9B,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,OAAO,EAAE,OAAO,CAAC;IAC1B,QAAQ,CAAC,SAAS,EAAE,OAAO,CAAC;IAC5B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,mBAAmB,EAAE,MAAM,CAAC;IACrC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;CAChC;AAED,wBAAgB,cAAc,CAAC,KAAK,EAAE,cAAc,GAAG,eAAe,CAqCrE;AAED;;;GAGG;AACH,wBAAgB,YAAY,CAAC,IAAI,EAAE,IAAI,EAAE,GAAG,EAAE,IAAI,EAAE,OAAO,EAAE,IAAI,EAAE,QAAQ,SAAI,GAAG,IAAI,CAIrF"}

package/dist/animation/IK.js

@@ -36,6 +36,15 @@ export function solveTwoBoneIk(input) {
         poleInfluence: Math.abs(dot(normalize(subtract(mid, input.root)), poleDirection))
     };
 }
+/**
+ * Convenience knee/elbow pole hint: a point offset from the mid-joint along a forward direction,
+ * giving {@link solveTwoBoneIk} a stable bend plane (knees point forward, elbows back). Pure.
+ */
+export function kneePoleHint(root, mid, forward, distance = 1) {
+    const dir = normalize(forward);
+    const center = [(root[0] + mid[0]) / 2, (root[1] + mid[1]) / 2, (root[2] + mid[2]) / 2];
+    return [center[0] + dir[0] * distance, center[1] + dir[1] * distance, center[2] + dir[2] * distance];
+}
 function projectedPoleDirection(root, axis, pole) {
     const poleDelta = subtract(pole, root);
     const projected = subtract(poleDelta, scale(axis, dot(poleDelta, axis)));

package/dist/animation/IK.js.map

@@ -1 +1 @@
-{"version":3,"file":"IK.js","sourceRoot":"","sources":["../../../../packages/animation/src/IK.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,QAAQ,EAAa,MAAM,eAAe,CAAC;AAyBpD,MAAM,UAAU,cAAc,CAAC,KAAqB;IAClD,MAAM,MAAM,GAAG,KAAK,CAAC,KAAK,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9C,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,GAAG,CAAC,CAAC;IACpD,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,CAAC,CAAC;IACnD,IAAI,WAAW,IAAI,IAAI,IAAI,WAAW,IAAI,IAAI,EAAE,CAAC;QAC/C,MAAM,IAAI,KAAK,CAAC,gEAAgE,CAAC,CAAC;IACpF,CAAC;IACD,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC;IACvD,MAAM,cAAc,GAAG,MAAM,CAAC,WAAW,CAAC,CAAC;IAC3C,IAAI,cAAc,IAAI,IAAI,EAAE,CAAC;QAC3B,MAAM,IAAI,KAAK,CAAC,oDAAoD,CAAC,CAAC;IACxE,CAAC;IAED,MAAM,QAAQ,GAAG,WAAW,GAAG,WAAW,CAAC;IAC3C,MAAM,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,WAAW,GAAG,WAAW,CAAC,GAAG,IAAI,CAAC;IAC5D,MAAM,aAAa,GAAG,KAAK,CAAC,YAAY,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,CAAC,KAAK,CAAC,cAAc,EAAE,QAAQ,EAAE,QAAQ,GAAG,IAAI,CAAC,CAAC;IAC7G,MAAM,IAAI,GAAG,SAAS,CAAC,WAAW,CAAC,CAAC;IACpC,MAAM,aAAa,GAAG,sBAAsB,CAAC,KAAK,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,CAAC,IAAI,IAAI,KAAK,CAAC,GAAG,CAAC,CAAC;IACxF,MAAM,QAAQ,GAAG,KAAK,CAAC,CAAC,WAAW,GAAG,WAAW,GAAG,aAAa,GAAG,aAAa,GAAG,WAAW,GAAG,WAAW,CAAC,GAAG,CAAC,CAAC,GAAG,aAAa,CAAC,EAAE,CAAC,EAAE,WAAW,CAAC,CAAC;IACtJ,MAAM,MAAM,GAAG,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,WAAW,GAAG,WAAW,GAAG,QAAQ,GAAG,QAAQ,CAAC,CAAC,CAAC;IACvF,MAAM,SAAS,GAAG,GAAG,CAAC,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC,CAAC;IAC9D,MAAM,SAAS,GAAG,GAAG,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC,EAAE,KAAK,CAAC,aAAa,EAAE,MAAM,CAAC,CAAC,CAAC;IAC5F,MAAM,GAAG,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,EAAE,SAAS,EAAE,MAAM,CAAC,CAAC;IACnD,MAAM,GAAG,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,EAAE,SAAS,EAAE,MAAM,CAAC,CAAC;IACnD,MAAM,mBAAmB,GAAG,QAAQ,CAAC,GAAG,EAAE,KAAK,CAAC,MAAM,CAAC,CAAC;IACxD,OAAO;QACL,IAAI,EAAE,KAAK,CAAC,IAAI;QAChB,GAAG;QACH,GAAG;QACH,OAAO,EAAE,mBAAmB,IAAI,IAAI;QACpC,SAAS,EAAE,cAAc,GAAG,QAAQ,IAAI,KAAK,CAAC,YAAY,KAAK,IAAI;QACnE,WAAW;QACX,WAAW;QACX,cAAc;QACd,mBAAmB;QACnB,aAAa,EAAE,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,SAAS,CAAC,QAAQ,CAAC,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC,EAAE,aAAa,CAAC,CAAC;KAClF,CAAC;AACJ,CAAC;AAED,SAAS,sBAAsB,CAAC,IAAU,EAAE,IAAU,EAAE,IAAU;IAChE,MAAM,SAAS,GAAG,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IACvC,MAAM,SAAS,GAAG,QAAQ,CAAC,SAAS,EAAE,KAAK,CAAC,IAAI,EAAE,GAAG,CAAC,SAAS,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC;IACzE,MAAM,eAAe,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC1C,IAAI,eAAe,GAAG,IAAI;QAAE,OAAO,KAAK,CAAC,SAAS,EAAE,CAAC,GAAG,eAAe,CAAC,CAAC;IACzE,MAAM,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAU,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAU,CAAC;IACnF,MAAM,iBAAiB,GAAG,QAAQ,CAAC,QAAQ,EAAE,KAAK,CAAC,IAAI,EAAE,GAAG,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC;IAC/E,OAAO,SAAS,CAAC,iBAAiB,CAAC,CAAC;AACtC,CAAC;AAED,SAAS,GAAG,CAAC,IAAU,EAAE,KAAW;IAClC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AACtE,CAAC;AAED,SAAS,QAAQ,CAAC,IAAU,EAAE,KAAW;IACvC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AACtE,CAAC;AAED,SAAS,KAAK,CAAC,KAAW,EAAE,MAAc;IACxC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC;AACnE,CAAC;AAED,SAAS,GAAG,CAAC,IAAU,EAAE,KAAW;IAClC,OAAO,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC;AACtE,CAAC;AAED,SAAS,MAAM,CAAC,KAAW;IACzB,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AAClD,CAAC;AAED,SAAS,QAAQ,CAAC,IAAU,EAAE,KAAW;IACvC,OAAO,MAAM,CAAC,QAAQ,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;AACvC,CAAC;AAED,SAAS,SAAS,CAAC,KAAW;IAC5B,MAAM,WAAW,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC;IAClC,IAAI,WAAW,IAAI,IAAI;QAAE,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC1C,OAAO,KAAK,CAAC,KAAK,EAAE,CAAC,GAAG,WAAW,CAAC,CAAC;AACvC,CAAC;AAED,SAAS,KAAK,CAAC,KAAa,EAAE,GAAW,EAAE,GAAW;IACpD,OAAO,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC,CAAC;AAC7C,CAAC"}
+{"version":3,"file":"IK.js","sourceRoot":"","sources":["../../../../packages/animation/src/IK.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,QAAQ,EAAa,MAAM,eAAe,CAAC;AAyBpD,MAAM,UAAU,cAAc,CAAC,KAAqB;IAClD,MAAM,MAAM,GAAG,KAAK,CAAC,KAAK,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9C,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,GAAG,CAAC,CAAC;IACpD,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,EAAE,KAAK,CAAC,GAAG,CAAC,CAAC;IACnD,IAAI,WAAW,IAAI,IAAI,IAAI,WAAW,IAAI,IAAI,EAAE,CAAC;QAC/C,MAAM,IAAI,KAAK,CAAC,gEAAgE,CAAC,CAAC;IACpF,CAAC;IACD,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,MAAM,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC;IACvD,MAAM,cAAc,GAAG,MAAM,CAAC,WAAW,CAAC,CAAC;IAC3C,IAAI,cAAc,IAAI,IAAI,EAAE,CAAC;QAC3B,MAAM,IAAI,KAAK,CAAC,oDAAoD,CAAC,CAAC;IACxE,CAAC;IAED,MAAM,QAAQ,GAAG,WAAW,GAAG,WAAW,CAAC;IAC3C,MAAM,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,WAAW,GAAG,WAAW,CAAC,GAAG,IAAI,CAAC;IAC5D,MAAM,aAAa,GAAG,KAAK,CAAC,YAAY,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,CAAC,KAAK,CAAC,cAAc,EAAE,QAAQ,EAAE,QAAQ,GAAG,IAAI,CAAC,CAAC;IAC7G,MAAM,IAAI,GAAG,SAAS,CAAC,WAAW,CAAC,CAAC;IACpC,MAAM,aAAa,GAAG,sBAAsB,CAAC,KAAK,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,CAAC,IAAI,IAAI,KAAK,CAAC,GAAG,CAAC,CAAC;IACxF,MAAM,QAAQ,GAAG,KAAK,CAAC,CAAC,WAAW,GAAG,WAAW,GAAG,aAAa,GAAG,aAAa,GAAG,WAAW,GAAG,WAAW,CAAC,GAAG,CAAC,CAAC,GAAG,aAAa,CAAC,EAAE,CAAC,EAAE,WAAW,CAAC,CAAC;IACtJ,MAAM,MAAM,GAAG,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,WAAW,GAAG,WAAW,GAAG,QAAQ,GAAG,QAAQ,CAAC,CAAC,CAAC;IACvF,MAAM,SAAS,GAAG,GAAG,CAAC,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC,CAAC;IAC9D,MAAM,SAAS,GAAG,GAAG,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC,EAAE,KAAK,CAAC,aAAa,EAAE,MAAM,CAAC,CAAC,CAAC;IAC5F,MAAM,GAAG,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,EAAE,SAAS,EAAE,MAAM,CAAC,CAAC;IACnD,MAAM,GAAG,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,EAAE,SAAS,EAAE,MAAM,CAAC,CAAC;IACnD,MAAM,mBAAmB,GAAG,QAAQ,CAAC,GAAG,EAAE,KAAK,CAAC,MAAM,CAAC,CAAC;IACxD,OAAO;QACL,IAAI,EAAE,KAAK,CAAC,IAAI;QAChB,GAAG;QACH,GAAG;QACH,OAAO,EAAE,mBAAmB,IAAI,IAAI;QACpC,SAAS,EAAE,cAAc,GAAG,QAAQ,IAAI,KAAK,CAAC,YAAY,KAAK,IAAI;QACnE,WAAW;QACX,WAAW;QACX,cAAc;QACd,mBAAmB;QACnB,aAAa,EAAE,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,SAAS,CAAC,QAAQ,CAAC,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC,EAAE,aAAa,CAAC,CAAC;KAClF,CAAC;AACJ,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,YAAY,CAAC,IAAU,EAAE,GAAS,EAAE,OAAa,EAAE,QAAQ,GAAG,CAAC;IAC7E,MAAM,GAAG,GAAG,SAAS,CAAC,OAAO,CAAC,CAAC;IAC/B,MAAM,MAAM,GAAS,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IAC9F,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,QAAQ,EAAE,MAAM,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,QAAQ,EAAE,MAAM,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC;AACvG,CAAC;AAED,SAAS,sBAAsB,CAAC,IAAU,EAAE,IAAU,EAAE,IAAU;IAChE,MAAM,SAAS,GAAG,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IACvC,MAAM,SAAS,GAAG,QAAQ,CAAC,SAAS,EAAE,KAAK,CAAC,IAAI,EAAE,GAAG,CAAC,SAAS,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC;IACzE,MAAM,eAAe,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC;IAC1C,IAAI,eAAe,GAAG,IAAI;QAAE,OAAO,KAAK,CAAC,SAAS,EAAE,CAAC,GAAG,eAAe,CAAC,CAAC;IACzE,MAAM,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAU,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAU,CAAC;IACnF,MAAM,iBAAiB,GAAG,QAAQ,CAAC,QAAQ,EAAE,KAAK,CAAC,IAAI,EAAE,GAAG,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAC,CAAC,CAAC;IAC/E,OAAO,SAAS,CAAC,iBAAiB,CAAC,CAAC;AACtC,CAAC;AAED,SAAS,GAAG,CAAC,IAAU,EAAE,KAAW;IAClC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AACtE,CAAC;AAED,SAAS,QAAQ,CAAC,IAAU,EAAE,KAAW;IACvC,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AACtE,CAAC;AAED,SAAS,KAAK,CAAC,KAAW,EAAE,MAAc;IACxC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC;AACnE,CAAC;AAED,SAAS,GAAG,CAAC,IAAU,EAAE,KAAW;IAClC,OAAO,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC;AACtE,CAAC;AAED,SAAS,MAAM,CAAC,KAAW;IACzB,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AAClD,CAAC;AAED,SAAS,QAAQ,CAAC,IAAU,EAAE,KAAW;IACvC,OAAO,MAAM,CAAC,QAAQ,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC;AACvC,CAAC;AAED,SAAS,SAAS,CAAC,KAAW;IAC5B,MAAM,WAAW,GAAG,MAAM,CAAC,KAAK,CAAC,CAAC;IAClC,IAAI,WAAW,IAAI,IAAI;QAAE,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC1C,OAAO,KAAK,CAAC,KAAK,EAAE,CAAC,GAAG,WAAW,CAAC,CAAC;AACvC,CAAC;AAED,SAAS,KAAK,CAAC,KAAa,EAAE,GAAW,EAAE,GAAW;IACpD,OAAO,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC,CAAC;AAC7C,CAAC"}

package/dist/animation/Inertialization.d.ts

@@ -0,0 +1,65 @@
+import { type AnimationValue, type Quat, type Vec3 } from "./Keyframe.js";
+/** Default transition half-life in seconds. ~0.12s reads as a snappy-but-smooth swap. */
+export declare const DEFAULT_INERTIALIZATION_HALF_LIFE = 0.12;
+/**
+ * Decay rate `k` (1/seconds) for a given half-life. The critically-damped envelope used here is
+ * `(1 + k·t)·e^(−k·t)`; because of the `(1 + k·t)` term the offset is not exactly halved at
+ * `t = halfLife` (it crosses 0.5 a little later) — `halfLife` parameterizes the e-folding decay
+ * rate, not a literal 50%-crossing time. A non-positive half-life means an instant snap (rate ∞).
+ */
+export declare function inertializationDecayRate(halfLife: number): number;
+/**
+ * Critically-damped decay of a scalar offset `offset0` with initial velocity `velocity0`,
+ * sampled at time `t` (seconds) since the transition. Decays smoothly to zero; preserves the
+ * initial velocity at `t = 0` (so momentum carries through). Deterministic.
+ */
+export declare function inertializedScalar(offset0: number, velocity0: number, t: number, halfLife: number): number;
+/**
+ * Source-clip weight for an inertialized transition, decaying from 1 → 0 with zero initial slope
+ * (critically damped, monotonic). The destination weight is `1 − thisWeight`. A drop-in,
+ * smoother replacement for a linear `1 − t/duration` ramp. `elapsed`/`halfLife` in seconds.
+ */
+export declare function inertializedTransitionWeight(elapsed: number, halfLife: number): number;
+/** Vector3 offset decay (per-component critically-damped). `velocity0` defaults to zero. */
+export declare function inertializedVec3(offset0: Vec3, t: number, halfLife: number, velocity0?: Vec3): Vec3;
+/**
+ * Critically-damped decay of the rotational offset `source · target⁻¹`, re-applied to `target`.
+ * At `t = 0` returns `source`; as `t → ∞` returns `target`. `angularSpeed0` (rad/s, about the
+ * offset axis) optionally carries rotational momentum through the transition. Deterministic.
+ */
+export declare function inertializedQuat(source: Quat, target: Quat, t: number, halfLife: number, angularSpeed0?: number): Quat;
+/** A pose is a map of animation target → value (scalar / vec3 / quaternion supported for decay). */
+export type InertializationPose = Readonly<Record<string, AnimationValue>>;
+/**
+ * Optional per-target velocities at transition time. Scalars → number (units/s), vec3 → Vec3
+ * (units/s), quaternions → number (rad/s about the offset axis). Targets absent here decay from
+ * rest (velocity 0).
+ */
+export type InertializationVelocities = Readonly<Record<string, number | Vec3>>;
+export interface InertializerOptions {
+    /** Transition half-life in seconds (default {@link DEFAULT_INERTIALIZATION_HALF_LIFE}). */
+    readonly halfLife?: number;
+}
+export interface Inertializer {
+    readonly halfLife: number;
+    /**
+     * Record a transition from `previousPose` to `targetPose` (the destination clip's pose at the
+     * transition instant), with optional per-target velocities. Resets the transition clock.
+     */
+    recordTransition(previousPose: InertializationPose, targetPose: InertializationPose, velocities?: InertializationVelocities): void;
+    /**
+     * Sample the inertialized pose `t` seconds after the recorded transition. At `t = 0` equals the
+     * source pose for every recorded target; as `t` grows it converges to the target pose.
+     */
+    sampleInertialized(t: number): InertializationPose;
+    /** True once the offset has decayed to within `epsilon` of the target across all targets. */
+    settled(t: number, epsilon?: number): boolean;
+    /** Clear the recorded transition. */
+    reset(): void;
+}
+/**
+ * Create a pose-space inertializer. Pure/deterministic given fixed `t`. Use it to replace a
+ * linear state-transition crossfade with a momentum-preserving decay of the pose difference.
+ */
+export declare function createInertializer(options?: InertializerOptions): Inertializer;
+//# sourceMappingURL=Inertialization.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"Inertialization.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/Inertialization.ts"],"names":[],"mappings":"AAmBA,OAAO,EAGL,KAAK,cAAc,EACnB,KAAK,IAAI,EACT,KAAK,IAAI,EACV,MAAM,eAAe,CAAC;AAIvB,yFAAyF;AACzF,eAAO,MAAM,iCAAiC,OAAO,CAAC;AAEtD;;;;;GAKG;AACH,wBAAgB,wBAAwB,CAAC,QAAQ,EAAE,MAAM,GAAG,MAAM,CAGjE;AAED;;;;GAIG;AACH,wBAAgB,kBAAkB,CAAC,OAAO,EAAE,MAAM,EAAE,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,GAAG,MAAM,CAM1G;AAED;;;;GAIG;AACH,wBAAgB,4BAA4B,CAAC,OAAO,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,GAAG,MAAM,CAMtF;AAED,4FAA4F;AAC5F,wBAAgB,gBAAgB,CAAC,OAAO,EAAE,IAAI,EAAE,CAAC,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,SAAS,GAAE,IAAgB,GAAG,IAAI,CAM9G;AAmCD;;;;GAIG;AACH,wBAAgB,gBAAgB,CAAC,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,aAAa,SAAI,GAAG,IAAI,CAOjH;AAID,oGAAoG;AACpG,MAAM,MAAM,mBAAmB,GAAG,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,cAAc,CAAC,CAAC,CAAC;AAE3E;;;;GAIG;AACH,MAAM,MAAM,yBAAyB,GAAG,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,IAAI,CAAC,CAAC,CAAC;AAEhF,MAAM,WAAW,mBAAmB;IAClC,2FAA2F;IAC3F,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;CAC5B;AASD,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B;;;OAGG;IACH,gBAAgB,CAAC,YAAY,EAAE,mBAAmB,EAAE,UAAU,EAAE,mBAAmB,EAAE,UAAU,CAAC,EAAE,yBAAyB,GAAG,IAAI,CAAC;IACnI;;;OAGG;IACH,kBAAkB,CAAC,CAAC,EAAE,MAAM,GAAG,mBAAmB,CAAC;IACnD,6FAA6F;IAC7F,OAAO,CAAC,CAAC,EAAE,MAAM,EAAE,OAAO,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC;IAC9C,qCAAqC;IACrC,KAAK,IAAI,IAAI,CAAC;CACf;AAWD;;;GAGG;AACH,wBAAgB,kBAAkB,CAAC,OAAO,GAAE,mBAAwB,GAAG,YAAY,CAuClF"}

package/dist/animation/Inertialization.js

@@ -0,0 +1,211 @@
+// Inertialization: a critically-damped decay of the *pose offset* captured at the moment a
+// transition begins, added on top of the destination pose. Unlike a linear crossfade (which
+// interpolates two clips by a straight ramp and visibly "snaps" its slope at both ends), an
+// inertialized transition starts the destination pose already offset by the source pose's
+// difference (and optionally its velocity), then lets that offset decay smoothly to zero. The
+// result is C1-continuous at the transition boundary: no velocity discontinuity, so motion
+// "carries through" the swap instead of dissolving.
+//
+// This module is pure and deterministic: no `Date.now()`, no `Math.random()`, no engine/render
+// imports. Given the same inputs and the same `t` it always returns the same result, so it is
+// safe inside deterministic replay (combat sims) and reproducible tests.
+//
+// Two layers are provided:
+//   1. Scalar / vector / quaternion offset primitives (`inertializedScalar`, ...).
+//   2. A pose-space `Inertializer` that records a transition between two `AnimationValue` poses
+//      and samples the inertialized pose at a given time.
+// Plus a weight-domain helper (`inertializedTransitionWeight`) for consumers that blend two
+// clips by weight (e.g. the fighter adapter / `applyClips` call sites) rather than by pose.
+import { cloneAnimationValue, normalizeQuat } from "./Keyframe.js";
+const LN2 = Math.log(2);
+/** Default transition half-life in seconds. ~0.12s reads as a snappy-but-smooth swap. */
+export const DEFAULT_INERTIALIZATION_HALF_LIFE = 0.12;
+/**
+ * Decay rate `k` (1/seconds) for a given half-life. The critically-damped envelope used here is
+ * `(1 + k·t)·e^(−k·t)`; because of the `(1 + k·t)` term the offset is not exactly halved at
+ * `t = halfLife` (it crosses 0.5 a little later) — `halfLife` parameterizes the e-folding decay
+ * rate, not a literal 50%-crossing time. A non-positive half-life means an instant snap (rate ∞).
+ */
+export function inertializationDecayRate(halfLife) {
+    if (!Number.isFinite(halfLife) || halfLife <= 0)
+        return Number.POSITIVE_INFINITY;
+    return LN2 / halfLife;
+}
+/**
+ * Critically-damped decay of a scalar offset `offset0` with initial velocity `velocity0`,
+ * sampled at time `t` (seconds) since the transition. Decays smoothly to zero; preserves the
+ * initial velocity at `t = 0` (so momentum carries through). Deterministic.
+ */
+export function inertializedScalar(offset0, velocity0, t, halfLife) {
+    if (!(t > 0))
+        return offset0;
+    const k = inertializationDecayRate(halfLife);
+    if (!Number.isFinite(k))
+        return 0; // instant snap
+    // x(t) = (x0 + (v0 + k·x0)·t)·e^(−k·t);  x(0)=x0, x'(0)=v0, x(∞)=0.
+    return (offset0 + (velocity0 + k * offset0) * t) * Math.exp(-k * t);
+}
+/**
+ * Source-clip weight for an inertialized transition, decaying from 1 → 0 with zero initial slope
+ * (critically damped, monotonic). The destination weight is `1 − thisWeight`. A drop-in,
+ * smoother replacement for a linear `1 − t/duration` ramp. `elapsed`/`halfLife` in seconds.
+ */
+export function inertializedTransitionWeight(elapsed, halfLife) {
+    if (!(elapsed > 0))
+        return 1;
+    const k = inertializationDecayRate(halfLife);
+    if (!Number.isFinite(k))
+        return 0; // instant snap
+    const w = (1 + k * elapsed) * Math.exp(-k * elapsed);
+    return w < 0 ? 0 : w > 1 ? 1 : w;
+}
+/** Vector3 offset decay (per-component critically-damped). `velocity0` defaults to zero. */
+export function inertializedVec3(offset0, t, halfLife, velocity0 = [0, 0, 0]) {
+    return [
+        inertializedScalar(offset0[0], velocity0[0], t, halfLife),
+        inertializedScalar(offset0[1], velocity0[1], t, halfLife),
+        inertializedScalar(offset0[2], velocity0[2], t, halfLife)
+    ];
+}
+// ---- quaternion helpers (local; unit-quaternion algebra) -------------------------------------
+function quatConjugate(q) {
+    return [-q[0], -q[1], -q[2], q[3]];
+}
+function quatMultiply(a, b) {
+    return [
+        a[3] * b[0] + a[0] * b[3] + a[1] * b[2] - a[2] * b[1],
+        a[3] * b[1] - a[0] * b[2] + a[1] * b[3] + a[2] * b[0],
+        a[3] * b[2] + a[0] * b[1] - a[1] * b[0] + a[2] * b[3],
+        a[3] * b[3] - a[0] * b[0] - a[1] * b[1] - a[2] * b[2]
+    ];
+}
+/** Shortest-arc axis/angle of a unit quaternion; angle in [0, π], axis normalized (or +X). */
+function quatToAxisAngle(q) {
+    const n = normalizeQuat(q);
+    // Force the shorter arc (w >= 0) so the decayed rotation never takes the long way around.
+    const w = n[3] < 0 ? -n[3] : n[3];
+    const sign = n[3] < 0 ? -1 : 1;
+    const angle = 2 * Math.acos(Math.min(1, w));
+    const s = Math.sqrt(Math.max(0, 1 - w * w));
+    if (s < 1e-8)
+        return { axis: [1, 0, 0], angle: 0 };
+    return { axis: [(sign * n[0]) / s, (sign * n[1]) / s, (sign * n[2]) / s], angle };
+}
+function quatFromAxisAngle(axis, angle) {
+    const half = angle / 2;
+    const s = Math.sin(half);
+    return [axis[0] * s, axis[1] * s, axis[2] * s, Math.cos(half)];
+}
+/**
+ * Critically-damped decay of the rotational offset `source · target⁻¹`, re-applied to `target`.
+ * At `t = 0` returns `source`; as `t → ∞` returns `target`. `angularSpeed0` (rad/s, about the
+ * offset axis) optionally carries rotational momentum through the transition. Deterministic.
+ */
+export function inertializedQuat(source, target, t, halfLife, angularSpeed0 = 0) {
+    const offset = quatMultiply(normalizeQuat(source), quatConjugate(normalizeQuat(target)));
+    const { axis, angle } = quatToAxisAngle(offset);
+    if (angle === 0 && angularSpeed0 === 0)
+        return normalizeQuat(target);
+    const decayedAngle = inertializedScalar(angle, angularSpeed0, t, halfLife);
+    const decayedOffset = quatFromAxisAngle(axis, decayedAngle);
+    return normalizeQuat(quatMultiply(decayedOffset, normalizeQuat(target)));
+}
+function classify(value) {
+    if (typeof value === "number")
+        return "scalar";
+    if (Array.isArray(value)) {
+        if (value.length === 3)
+            return "vector3";
+        if (value.length === 4)
+            return "quaternion";
+    }
+    return "snap";
+}
+/**
+ * Create a pose-space inertializer. Pure/deterministic given fixed `t`. Use it to replace a
+ * linear state-transition crossfade with a momentum-preserving decay of the pose difference.
+ */
+export function createInertializer(options = {}) {
+    const halfLife = options.halfLife ?? DEFAULT_INERTIALIZATION_HALF_LIFE;
+    let offsets = new Map();
+    return {
+        halfLife,
+        recordTransition(previousPose, targetPose, velocities) {
+            const next = new Map();
+            for (const [target, targetValue] of Object.entries(targetPose)) {
+                const sourceValue = previousPose[target];
+                if (sourceValue === undefined)
+                    continue;
+                const type = classify(targetValue);
+                const velocity = velocities?.[target] ?? (type === "vector3" ? [0, 0, 0] : 0);
+                next.set(target, {
+                    type,
+                    source: cloneAnimationValue(sourceValue),
+                    target: cloneAnimationValue(targetValue),
+                    velocity
+                });
+            }
+            offsets = next;
+        },
+        sampleInertialized(t) {
+            const pose = {};
+            for (const [target, rec] of offsets) {
+                pose[target] = sampleOffset(rec, t, halfLife);
+            }
+            return pose;
+        },
+        settled(t, epsilon = 1e-3) {
+            for (const [, rec] of offsets) {
+                if (!offsetSettled(rec, t, halfLife, epsilon))
+                    return false;
+            }
+            return true;
+        },
+        reset() {
+            offsets = new Map();
+        }
+    };
+}
+function sampleOffset(rec, t, halfLife) {
+    switch (rec.type) {
+        case "scalar": {
+            const target = rec.target;
+            const offset0 = rec.source - target;
+            return target + inertializedScalar(offset0, rec.velocity, t, halfLife);
+        }
+        case "vector3": {
+            const target = rec.target;
+            const source = rec.source;
+            const offset0 = [source[0] - target[0], source[1] - target[1], source[2] - target[2]];
+            const decayed = inertializedVec3(offset0, t, halfLife, rec.velocity);
+            return [target[0] + decayed[0], target[1] + decayed[1], target[2] + decayed[2]];
+        }
+        case "quaternion":
+            return inertializedQuat(rec.source, rec.target, t, halfLife, rec.velocity);
+        default:
+            // Non-interpolable (boolean/string/other array length): snap to target immediately.
+            return cloneAnimationValue(rec.target);
+    }
+}
+function offsetSettled(rec, t, halfLife, epsilon) {
+    switch (rec.type) {
+        case "scalar": {
+            const offset0 = rec.source - rec.target;
+            return Math.abs(inertializedScalar(offset0, rec.velocity, t, halfLife)) <= epsilon;
+        }
+        case "vector3": {
+            const target = rec.target;
+            const source = rec.source;
+            const decayed = inertializedVec3([source[0] - target[0], source[1] - target[1], source[2] - target[2]], t, halfLife, rec.velocity);
+            return Math.hypot(decayed[0], decayed[1], decayed[2]) <= epsilon;
+        }
+        case "quaternion": {
+            const offset = quatMultiply(normalizeQuat(rec.source), quatConjugate(normalizeQuat(rec.target)));
+            const { angle } = quatToAxisAngle(offset);
+            return Math.abs(inertializedScalar(angle, rec.velocity, t, halfLife)) <= epsilon;
+        }
+        default:
+            return true;
+    }
+}
+//# sourceMappingURL=Inertialization.js.map