@aura3d/engine 2.0.3 → 3.0.0

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

@@ -1 +1 @@
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package/dist/animation/FootIk.js

@@ -24,6 +24,40 @@ export function createHeightFieldGround(heightAt) {
         }
     };
 }
+/**
+ * Moving-platform ground adapter (E2): wraps any base `GroundRaycaster` (terrain heightfield,
+ * physics raycaster, …) and adds the platform's current vertical offset under feet standing
+ * on it. `platformHeightAt` returns the platform top height at (x, z), or `undefined` when no
+ * platform is under the query point — in which case the base ground answer is used unchanged.
+ * The platform offset is also reported so callers can carry a locked foot with the platform.
+ */
+export function createMovingPlatformGround(base, platformHeightAt) {
+    return {
+        raycastDown(origin, maxDistance) {
+            const platformHeight = platformHeightAt(origin[0], origin[2]);
+            const baseHit = base.raycastDown(origin, maxDistance);
+            if (platformHeight === undefined)
+                return baseHit;
+            const platformDistance = origin[1] - platformHeight;
+            if (platformDistance < 0 || platformDistance > maxDistance)
+                return baseHit;
+            if (!baseHit || platformDistance <= baseHit.distance) {
+                return { point: [origin[0], platformHeight, origin[2]], normal: [0, 1, 0], distance: platformDistance };
+            }
+            return baseHit;
+        },
+        platformOffsetAt(x, z) {
+            return platformHeightAt(x, z);
+        }
+    };
+}
+/** Platform-top height under the foot when the ground query is a platform adapter. */
+function readPlatformTop(raycaster, foot) {
+    const maybe = raycaster;
+    if (typeof maybe.platformOffsetAt !== "function")
+        return undefined;
+    return maybe.platformOffsetAt(foot[0], foot[2]);
+}
 /** Create a foot-IK rig. Foot-lock state persists across `solveFootPlacement` calls. */
 export function createFootIkRig(options) {
     const ankleHeight = options.ankleHeight ?? 0.035;
@@ -36,7 +70,7 @@ export function createFootIkRig(options) {
     function lockFor(side) {
         let state = locks.get(side);
         if (!state) {
-            state = { locked: false, lockedPosition: [0, 0, 0] };
+            state = { locked: false, lockedPosition: [0, 0, 0], onPlatform: false };
             locks.set(side, state);
         }
         return state;
@@ -52,9 +86,14 @@ export function createFootIkRig(options) {
                 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));
+                // Stance legs only: a swing foot hangs above its ground target by design, and its
+                // "correction" would inflate the pelvis drop and bury the planted feet.
+                if (result.sample.grounded) {
+                    deepestCorrection = Math.max(deepestCorrection, Math.max(0, result.sample.verticalCorrection));
+                }
             }
             const hipOffset = round(-deepestCorrection * hipDropFactor);
+            refineOverExtendedLegs(legs, solved, hipOffset);
             const groundedFeet = solved.filter((leg) => leg.sample.grounded).length;
             const averageTargetError = solved.length === 0
                 ? 0
@@ -96,15 +135,30 @@ function solveLeg(leg, lock, raycaster, params) {
     const groundTargetY = ground.point[1] + params.ankleHeight;
     const heightAboveGround = sourceAnkle[1] - groundTargetY;
     const inStance = heightAboveGround <= params.plantThreshold;
+    const platformTop = readPlatformTop(raycaster, sourceAnkle);
+    // The winning surface is the platform exactly when its top matches the raycast hit.
+    const overPlatform = platformTop !== undefined && platformTop >= ground.point[1] - 1e-6;
     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]];
+            lock.onPlatform = overPlatform;
+        }
+        else if (lock.onPlatform) {
+            if (overPlatform && platformTop !== undefined) {
+                // Carry a platform-locked foot with the platform top (E2 moving platforms).
+                lock.lockedPosition = [lock.lockedPosition[0], platformTop + params.ankleHeight, lock.lockedPosition[2]];
+            }
+            else {
+                // The platform left from under the foot: release so the foot is not dragged through air.
+                lock.locked = false;
+                lock.onPlatform = false;
+            }
         }
         // Hold the locked world position so the foot does not slide while it should be stationary.
-        target = lock.lockedPosition;
+        target = lock.locked ? lock.lockedPosition : [sourceAnkle[0], groundTargetY, sourceAnkle[2]];
     }
     else {
         // Swing phase: release the lock; the foot follows above the ground under it.
@@ -141,6 +195,44 @@ function solveLeg(leg, lock, raycaster, params) {
         reached: solved.reached
     };
 }
+/**
+ * Second IK pass for legs the pelvis drop serves. Phase one solves from the animated hip
+ * and reports its miss; the drop then lowers the pelvis, and re-solving from the dropped
+ * hip lands the foot measurably closer this frame instead of chasing the ground over
+ * several. Only legs that needed the drop (positive vertical correction) refine; the rest
+ * keep phase-one targets and let their knees absorb the pelvis motion by bending. The
+ * whole leg translates rigidly (root, mid, end all shift by the drop) so the solver
+ * derives the true bone lengths — dropping only the root would shorten the implied reach
+ * by exactly the drop and gain nothing. `hip` stays pre-drop — the caller applies
+ * `hipOffset` to the hip write-back — so only knee/ankle/reached/error refresh here.
+ * Lock state is untouched: this is pure IK.
+ */
+function refineOverExtendedLegs(legs, solved, hipOffset) {
+    if (hipOffset >= 0)
+        return;
+    for (let index = 0; index < solved.length; index += 1) {
+        const result = solved[index];
+        const leg = legs[index];
+        if (!result || !leg || result.sample.verticalCorrection <= 0)
+            continue;
+        const drop = (value) => [value[0], value[1] + hipOffset, value[2]];
+        const refined = solveTwoBoneIk({
+            root: drop(leg.hip),
+            mid: drop(leg.knee),
+            end: drop(leg.ankle),
+            target: result.sample.plantedFoot,
+            pole: leg.pole,
+            weight: 1
+        });
+        solved[index] = {
+            ...result,
+            knee: roundVec(refined.mid),
+            ankle: roundVec(refined.end),
+            reached: refined.reached,
+            sample: { ...result.sample, targetError: round(refined.endDistanceToTarget) }
+        };
+    }
+}
 function clamp(value, min, max) {
     return Math.max(min, Math.min(max, value));
 }

package/dist/animation/FootIk.js.map

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

@@ -48,7 +48,36 @@ export interface HumanoidRetargetingOptions {
     readonly expectedUnits?: HumanoidRigUnits;
     readonly requireRestPose?: boolean;
     readonly requireToes?: boolean;
+    /** Optional per-rig correction profile (shoulder/hip + per-bone scale). */
+    readonly profile?: HumanoidRetargetingProfile;
 }
+/**
+ * Per-certified-rig correction profile (E2): per-bone scale multipliers plus shoulder and
+ * hip corrections for rigs whose proportions deviate from the reference humanoid (wide
+ * shoulders, long legs, …). Profiles are keyed by rig id and land with rig certification —
+ * see `docs/rendering/animation.md` for the certified roster. The base length-ratio scale
+ * from `createHumanoidRetargetingMap` is multiplied by these corrections, never replaced,
+ * so an unprofiled rig behaves exactly as before.
+ */
+export interface HumanoidRetargetingProfile {
+    /** Rig id this profile corrects (`source` or `target` side — matched against either). */
+    readonly rigId: string;
+    /** Per-bone scale multipliers applied on top of the length-ratio scale. */
+    readonly perBoneScale?: Partial<Record<HumanoidBoneName, number>>;
+    /**
+     * Shoulder-width correction applied to shoulder + upper-arm bindings (e.g. 1.1 widens
+     * the retargeted shoulder line by 10%).
+     */
+    readonly shoulderWidthCorrection?: number;
+    /** Hip correction applied to hips + upper-leg bindings (leg-length / pelvis-width tweak). */
+    readonly hipCorrection?: number;
+}
+/**
+ * Registry of certified-rig correction profiles, keyed by rig id. Empty until rigs are
+ * certified with pixel proof — do not add entries for uncertified rigs.
+ */
+export declare const HUMANOID_RETARGETING_PROFILES: Record<string, HumanoidRetargetingProfile>;
+export declare function registerHumanoidRetargetingProfile(profile: HumanoidRetargetingProfile): void;
 export interface HumanoidBoneRetargetBinding {
     readonly bone: HumanoidBoneName;
     readonly source: HumanoidBoneBinding;

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

@@ -1 +1 @@
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package/dist/animation/HumanoidRetargeting.js

@@ -39,6 +39,46 @@ export const REQUIRED_HUMANOID_BONES = [
     "rightLowerLeg",
     "rightFoot"
 ];
+/**
+ * Registry of certified-rig correction profiles, keyed by rig id. Empty until rigs are
+ * certified with pixel proof — do not add entries for uncertified rigs.
+ */
+export const HUMANOID_RETARGETING_PROFILES = {};
+export function registerHumanoidRetargetingProfile(profile) {
+    if (!profile.rigId)
+        throw new Error("Humanoid retargeting profiles must have a rig id.");
+    HUMANOID_RETARGETING_PROFILES[profile.rigId] = profile;
+}
+const SHOULDER_PROFILE_BONES = [
+    "leftShoulder",
+    "rightShoulder",
+    "leftUpperArm",
+    "rightUpperArm"
+];
+const HIP_PROFILE_BONES = [
+    "hips",
+    "leftUpperLeg",
+    "rightUpperLeg"
+];
+function applyRetargetingProfileScale(bone, baseScale, profile) {
+    if (!profile)
+        return baseScale;
+    let scale = baseScale;
+    const perBone = profile.perBoneScale?.[bone];
+    if (perBone !== undefined) {
+        if (!Number.isFinite(perBone) || perBone <= 0) {
+            throw new Error(`Retargeting profile "${profile.rigId}" has an invalid scale for bone "${bone}".`);
+        }
+        scale *= perBone;
+    }
+    if (profile.shoulderWidthCorrection !== undefined && SHOULDER_PROFILE_BONES.includes(bone)) {
+        scale *= profile.shoulderWidthCorrection;
+    }
+    if (profile.hipCorrection !== undefined && HIP_PROFILE_BONES.includes(bone)) {
+        scale *= profile.hipCorrection;
+    }
+    return scale;
+}
 export function analyzeHumanoidRig(rig, options = {}) {
     const diagnostics = [];
     const requiredBones = options.requireToes
@@ -200,7 +240,7 @@ export function createHumanoidRetargetingMap(source, target, options = {}) {
             bone,
             source: sourceBinding,
             target: targetBinding,
-            scale: estimateBoneScale(sourceBinding, targetBinding, source.scale, target.scale),
+            scale: applyRetargetingProfileScale(bone, estimateBoneScale(sourceBinding, targetBinding, source.scale, target.scale), options.profile),
             sourceRest: restRotationFor(source, bone, sourceBinding),
             targetRest: restRotationFor(target, bone, targetBinding)
         };

package/dist/animation/HumanoidRetargeting.js.map

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

@@ -22,6 +22,12 @@ export interface LocomotionKitOptions<TClipId extends string = string> {
     readonly runningThreshold?: number;
     /** Optional foot-IK rig so locomotion can ground feet on uneven terrain (no foot sliding). */
     readonly footIkRig?: FootIkRig;
+    /**
+     * Half-life (seconds) of the inertialized idle↔walk↔run transition blend. Defaults to the
+     * state machine's critically-damped default — locomotion transitions are inertialized,
+     * never snapped or linearly ramped.
+     */
+    readonly transitionHalfLife?: number;
 }
 export interface LocomotionKitSample<TClipId extends string = string> {
     readonly speed: number;

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

@@ -1 +1 @@
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package/dist/animation/LocomotionKit.js

@@ -11,6 +11,12 @@ export function createLocomotionKit(options) {
         { value: options.runClip, threshold: runSpeed }
     ]);
     const graph = createLocomotionAnimationStateGraph();
+    if (options.transitionHalfLife !== undefined) {
+        if (!Number.isFinite(options.transitionHalfLife) || options.transitionHalfLife <= 0) {
+            throw new Error("LocomotionKit transitionHalfLife must be a finite positive number.");
+        }
+        graph.transitionHalfLife = options.transitionHalfLife;
+    }
     return {
         graph,
         footIk: options.footIkRig,

package/dist/animation/LocomotionKit.js.map

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package/dist/animation/RootMotion.d.ts

@@ -17,5 +17,32 @@ export type RootMotionTarget = {
     position: [number, number, number];
 };
 export declare function extractRootMotion(clip: AnimationClip, descriptor: RootMotionExtractionDescriptor): RootMotionSample;
+export interface RootMotionSlideReport {
+    /** Per-cycle displacement of the looping clip (the distance one walk cycle travels). */
+    readonly cycleDelta: Vec3;
+    /** Length of `cycleDelta` (0 for in-place clips). */
+    readonly cycleDistance: number;
+    /**
+     * Loop-closure error (units/second): magnitude of the root-velocity discontinuity at the
+     * loop point, `|v(0+) − v(duration−)|` via finite differences. Zero means the clip wraps
+     * seamlessly — no velocity snap at the seam, which is the quantitative form of "no foot
+     * sliding at turn".
+     */
+    readonly loopClosureError: number;
+    /**
+     * Peak mid-loop velocity deviation (units/second): the largest deviation of any sampled
+     * segment velocity from the cycle-average velocity `cycleDelta / duration`. Catches what
+     * `loopClosureError` cannot — a teleport or pop *inside* the loop (e.g. a walk cycle that
+     * snaps back mid-stride). A seamless constant-velocity loop reports ~0; a clip whose feet
+     * pop every cycle reports a large value here.
+     */
+    readonly maxVelocityDeviation: number;
+}
+/**
+ * Zero-slide metric for root-motion locomotion (E2): for a looping clip, verify the root
+ * advances by a stable per-cycle delta with (near-)zero loop-closure error. Pure and
+ * deterministic.
+ */
+export declare function measureRootMotionLoopClosure(clip: AnimationClip, target?: string): RootMotionSlideReport;
 export declare function applyRootMotion(target: RootMotionTarget, sample: RootMotionSample, scale?: number): RootMotionTarget;
 //# sourceMappingURL=RootMotion.d.ts.map

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

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package/dist/animation/RootMotion.js

@@ -23,6 +23,44 @@ export function extractRootMotion(clip, descriptor) {
         delta
     };
 }
+/**
+ * Zero-slide metric for root-motion locomotion (E2): for a looping clip, verify the root
+ * advances by a stable per-cycle delta with (near-)zero loop-closure error. Pure and
+ * deterministic.
+ */
+export function measureRootMotionLoopClosure(clip, target = "root.position") {
+    const track = clip.tracks.find((candidate) => candidate.target === target);
+    if (!track) {
+        throw new Error(`Root motion track "${target}" was not found.`);
+    }
+    if (track.valueType !== "vector3") {
+        throw new Error(`Root motion track "${target}" must be a vector3 track.`);
+    }
+    if (!Number.isFinite(clip.duration) || clip.duration <= 0) {
+        throw new Error("Loop-closure measurement requires a positive clip duration.");
+    }
+    const duration = clip.duration;
+    const start = sampleVec3(track, 0);
+    const end = sampleVec3(track, duration);
+    const cycleDelta = subtractVec3(end, start);
+    const cycleDistance = Math.hypot(cycleDelta[0], cycleDelta[1], cycleDelta[2]);
+    const epsilon = Math.min(1 / 60, duration / 10);
+    const velocityAtStart = scaleVec3(subtractVec3(sampleVec3(track, clampTime(epsilon, duration)), start), 1 / epsilon);
+    const velocityAtEnd = scaleVec3(subtractVec3(end, sampleVec3(track, clampTime(duration - epsilon, duration))), 1 / epsilon);
+    const loopClosureError = Math.hypot(velocityAtStart[0] - velocityAtEnd[0], velocityAtStart[1] - velocityAtEnd[1], velocityAtStart[2] - velocityAtEnd[2]);
+    const averageVelocity = scaleVec3(cycleDelta, 1 / duration);
+    let maxVelocityDeviation = 0;
+    const segments = 64;
+    let previous = sampleVec3(track, 0);
+    for (let segment = 1; segment <= segments; segment += 1) {
+        const current = sampleVec3(track, (segment / segments) * duration);
+        const step = duration / segments;
+        const deviation = Math.hypot((current[0] - previous[0]) / step - averageVelocity[0], (current[1] - previous[1]) / step - averageVelocity[1], (current[2] - previous[2]) / step - averageVelocity[2]);
+        maxVelocityDeviation = Math.max(maxVelocityDeviation, deviation);
+        previous = current;
+    }
+    return { cycleDelta, cycleDistance, loopClosureError, maxVelocityDeviation };
+}
 export function applyRootMotion(target, sample, scale = 1) {
     if (!Number.isFinite(scale)) {
         throw new Error("Root motion scale must be finite.");

package/dist/animation/RootMotion.js.map

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

@@ -57,4 +57,32 @@ export interface SpringChain {
  * {@link SpringChain.integrate} each frame; write {@link SpringChain.positions} back onto the bones.
  */
 export declare function createSpringChain(options: SpringChainOptions): SpringChain;
+/**
+ * Tuned spring-bone preset library (E2). Stiffness/damping pairs below were chosen for
+ * visibly different secondary-motion reads at 60 Hz with the default 2 substeps:
+ * hair swings freely, coats lag heavily, antennae wobble fast, tails sway slow.
+ */
+export interface SpringBonePreset {
+    readonly name: "hair" | "coat" | "antenna" | "tail";
+    /** Spring stiffness pulling each particle to its rest pose. */
+    readonly stiffness: number;
+    /** Velocity damping. Higher = settles faster. */
+    readonly damping: number;
+    /** Gravity scale applied to the default [0,-9.81,0] (antennae mostly ignore gravity). */
+    readonly gravityScale: number;
+    /** Integration substeps per `integrate` call for stiffness stability. */
+    readonly substeps: number;
+}
+export declare const SPRING_BONE_PRESETS: Record<SpringBonePreset["name"], SpringBonePreset>;
+/**
+ * Create a spring-bone chain from a named preset. `bones`/`colliders`/`name` still come from
+ * the caller (they describe the rig); the preset supplies the dynamics tuning. Per-field
+ * overrides win over the preset.
+ */
+export declare function createSpringChainFromPreset(preset: SpringBonePreset["name"], options: Omit<SpringChainOptions, "stiffness" | "damping" | "substeps" | "gravity"> & {
+    readonly stiffness?: number;
+    readonly damping?: number;
+    readonly substeps?: number;
+    readonly gravityScale?: number;
+}): SpringChain;
 //# sourceMappingURL=SpringBones.d.ts.map

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

@@ -1 +1 @@
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