@aura3d/engine 3.0.0 → 4.0.0

package/dist/animation/AnimationMixer.js

@@ -2,6 +2,8 @@ import { AnimationAction } from "./AnimationAction.js";
 import { cloneAnimationValue, normalizeQuat, slerpQuat } from "./Keyframe.js";
 import { DEFAULT_INERTIALIZATION_HALF_LIFE, inertializedTransitionWeight } from "./Inertialization.js";
 import { applyRootMotion, extractRootMotion } from "./RootMotion.js";
+import { additiveContributionValue, blendBaseValue } from "./pose/blendKernels.js";
+import { poseMixerBlendEnabled } from "./pose/poseMixerFlags.js";
 export class AnimationMixer {
     options;
     target;
@@ -123,8 +125,11 @@ export class AnimationMixer {
         this.advanceInertialTransition(delta * this.timeScale);
         const events = [];
         const accumulators = new Map();
+        const motion = new Map();
+        let motionSample;
         for (const action of this.actions) {
             const previousTime = action.time;
+            const advancedTime = action.playing && !action.paused ? delta * this.timeScale * action.timeScale : 0;
             const actionEvents = action.update(delta * this.timeScale);
             if (actionEvents.length > 0) {
                 events.push(...actionEvents);
@@ -132,9 +137,25 @@ export class AnimationMixer {
             if (!action.playing && action.weight <= 0) {
                 continue;
             }
-            this.applyActionRootMotion(action, previousTime);
+            const rootMotionTarget = this.options.rootMotionTrack ?? "root.position";
+            if (this.options.applyRootMotion && action.weight > 0 && action.clip.tracks.some(track => track.target === rootMotionTarget)) {
+                const sample = extractRootMotion(action.clip, {
+                    fromTime: previousTime,
+                    toTime: action.loopMode === "repeat" ? previousTime + advancedTime : action.time,
+                    loop: action.loopMode === "repeat",
+                    target: rootMotionTarget
+                });
+                motionSample = sample;
+                for (const layer of this.layersForAction(action)) {
+                    if (layer.capturesTarget(rootMotionTarget)) {
+                        blendInto(motion, rootMotionTarget, "vector3", sample.delta, action.weight * layer.weight, layer.additive);
+                    }
+                }
+            }
             for (const track of action.clip.tracks) {
-                const sample = track.sample(action.time);
+                const sample = this.options.applyRootMotion && this.options.consumeRootMotionTrack && track.target === rootMotionTarget
+                    ? track.sample(0)
+                    : track.sample(action.time);
                 for (const layer of this.layersForAction(action)) {
                     if (layer.capturesTarget(track.target)) {
                         blendInto(accumulators, track.target, track.valueType, sample, action.weight * layer.weight, layer.additive);
@@ -142,6 +163,21 @@ export class AnimationMixer {
                 }
             }
         }
+        if (motionSample) {
+            const accumulator = motion.get(motionSample.target);
+            if (accumulator) {
+                const delta = finalizeTargetBlend(accumulator);
+                const scale = this.options.rootMotionScale ?? 1;
+                if (!Number.isFinite(scale))
+                    throw new Error("Root motion scale must be finite.");
+                const sample = { ...motionSample, delta: delta.map(value => value * scale) };
+                this.target?.applyRootMotion?.(sample);
+                if (this.target?.consumeRootMotion)
+                    this.target.consumeRootMotion(sample);
+                else if (this.target?.position)
+                    applyRootMotion(this.target, sample);
+            }
+        }
         this.values.clear();
         this.applyErrors = [];
         for (const [target, accumulator] of accumulators) {
@@ -228,33 +264,6 @@ export class AnimationMixer {
             this.inertialTransition = undefined;
         }
     }
-    applyActionRootMotion(action, previousTime) {
-        if (!this.options.applyRootMotion || action.weight <= 0)
-            return;
-        const rootMotionTarget = this.options.rootMotionTrack ?? "root.position";
-        if (!action.clip.tracks.some((track) => track.target === rootMotionTarget))
-            return;
-        const sample = extractRootMotion(action.clip, {
-            fromTime: previousTime,
-            toTime: action.time,
-            loop: action.loopMode === "repeat",
-            target: rootMotionTarget
-        });
-        const scaledSample = action.weight === 1
-            ? sample
-            : {
-                ...sample,
-                delta: [
-                    sample.delta[0] * action.weight,
-                    sample.delta[1] * action.weight,
-                    sample.delta[2] * action.weight
-                ]
-            };
-        this.target?.applyRootMotion?.(scaledSample);
-        if (this.target?.position) {
-            applyRootMotion(this.target, scaledSample, this.options.rootMotionScale ?? 1);
-        }
-    }
     layersForAction(action) {
         if (this.layers.length === 0) {
             return UNMASKED_LAYERS;
@@ -305,6 +314,12 @@ function blendInto(accumulators, target, type, value, weight, additive) {
     blendBase(current.base, type, value, weight);
 }
 function blendBase(current, type, value, weight) {
+    // T1.11 — facade routes through the pose-mixer's kernels under the sub-flag;
+    // the legacy body below survives only for flag removal.
+    if (poseMixerBlendEnabled()) {
+        blendBaseValue(current, type, value, weight);
+        return;
+    }
     const total = current.weight + weight;
     const t = weight / total;
     if (type === "scalar") {
@@ -352,6 +367,9 @@ function finalizeBaseBlend(accumulator) {
     return cloneAnimationValue(accumulator.value);
 }
 function additiveContribution(type, value, weight) {
+    if (poseMixerBlendEnabled()) {
+        return additiveContributionValue(type, value, weight);
+    }
     if (type === "scalar") {
         return value * weight;
     }

package/dist/animation/AnimationMixer.js.map

@@ -1 +1 @@
-{"version":3,"file":"AnimationMixer.js","sourceRoot":"","sources":["../../../../packages/animation/src/AnimationMixer.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,eAAe,EAAgC,MAAM,sBAAsB,CAAC;AAIrF,OAAO,EAAE,mBAAmB,EAAE,aAAa,EAAE,SAAS,EAAuB,MAAM,eAAe,CAAC;AACnG,OAAO,EAAE,iCAAiC,EAAE,4BAA4B,EAAE,MAAM,sBAAsB,CAAC;AACvG,OAAO,EAAE,eAAe,EAAE,iBAAiB,EAAgD,MAAM,iBAAiB,CAAC;AAgCnH,MAAM,OAAO,cAAc;IAY8B;IAX9C,MAAM,CAA8B;IAC7C,SAAS,GAAG,CAAC,CAAC;IACG,OAAO,GAAsB,EAAE,CAAC;IAChC,MAAM,GAAqB,EAAE,CAAC;IAC9B,MAAM,GAAG,IAAI,GAAG,EAA0B,CAAC;IACpD,WAAW,GAA0B,EAAE,CAAC;IAC/B,cAAc,GAAG,IAAI,GAAG,EAAmC,CAAC;IACrE,QAAQ,GAAG,KAAK,CAAC;IACjB,iBAAiB,GAAG,KAAK,CAAC;IAC1B,kBAAkB,CAAgG;IAE1H,YAAY,MAAwB,EAAmB,UAAiC,EAAE;QAAnC,YAAO,GAAP,OAAO,CAA4B;QACxF,IAAI,CAAC,MAAM,GAAG,MAAM,CAAC;IACvB,CAAC;IAED,IAAI,CAAC,IAAmB;QACtB,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,MAAM,MAAM,GAAG,IAAI,eAAe,CAAC,IAAI,CAAC,CAAC,IAAI,EAAE,CAAC;QAChD,IAAI,CAAC,OAAO,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;QAC1B,IAAI,CAAC,iBAAiB,GAAG,KAAK,CAAC;QAC/B,OAAO,MAAM,CAAC;IAChB,CAAC;IAED,SAAS,CAAC,MAAuB;QAC/B,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,CAAC,MAAM,YAAY,eAAe,CAAC,EAAE,CAAC;YACzC,MAAM,IAAI,KAAK,CAAC,8DAA8D,CAAC,CAAC;QAClF,CAAC;QACD,IAAI,IAAI,CAAC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAC,EAAE,CAAC;YAClC,OAAO,CAAC,IAAI,CAAC,8CAA8C,MAAM,CAAC,IAAI,CAAC,IAAI,kDAAkD,CAAC,CAAC;YAC/H,OAAO;QACT,CAAC;QACD,IAAI,CAAC,OAAO,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;QAC1B,IAAI,CAAC,iBAAiB,GAAG,KAAK,CAAC;IACjC,CAAC;IAED,QAAQ,CAAC,KAAqB;QAC5B,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,CAAC,IAAI,KAAK,QAAQ,EAAE,CAAC;YAC7C,MAAM,IAAI,KAAK,CAAC,2DAA2D,CAAC,CAAC;QAC/E,CAAC;QACD,IAAI,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;YAChC,OAAO,CAAC,IAAI,CAAC,mCAAmC,KAAK,CAAC,IAAI,kDAAkD,CAAC,CAAC;YAC9G,OAAO;QACT,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IAC1B,CAAC;IAED,YAAY,CAAC,SAAiB;QAC5B,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,SAAS,CAAC,IAAI,SAAS,GAAG,CAAC,EAAE,CAAC;YACjD,MAAM,IAAI,KAAK,CAAC,yEAAyE,CAAC,CAAC;QAC7F,CAAC;QACD,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC;IAC7B,CAAC;IAED,OAAO;QACL,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,IAAI,CAAC,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAC9B,OAAO,CAAC,IAAI,CAAC,qEAAqE,CAAC,CAAC;YACpF,OAAO;QACT,CAAC;QACD,KAAK,MAAM,MAAM,IAAI,IAAI,CAAC,OAAO,EAAE,CAAC;YAClC,MAAM,CAAC,IAAI,EAAE,CAAC;QAChB,CAAC;IACH,CAAC;IAED,SAAS,CAAC,IAAqB,EAAE,EAAmB,EAAE,QAAgB;QACpE,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,mBAAmB,CAAC,0BAA0B,EAAE,IAAI,EAAE,EAAE,CAAC,CAAC;QAC/D,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,IAAI,QAAQ,GAAG,CAAC,EAAE,CAAC;YAC/C,MAAM,IAAI,KAAK,CAAC,qEAAqE,CAAC,CAAC;QACzF,CAAC;QACD,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAC;YACjC,OAAO,CAAC,IAAI,CAAC,kDAAkD,IAAI,CAAC,IAAI,CAAC,IAAI,oEAAoE,CAAC,CAAC;QACrJ,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC;QACzB,EAAE,CAAC,IAAI,EAAE,CAAC,MAAM,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC;QAC9B,IAAI,CAAC,SAAS,CAAC,EAAE,CAAC,CAAC;IACrB,CAAC;IAED;;;;;;OAMG;IACH,iBAAiB,CAAC,IAAqB,EAAE,EAAmB,EAAE,QAAQ,GAAG,iCAAiC;QACxG,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,mBAAmB,CAAC,kCAAkC,EAAE,IAAI,EAAE,EAAE,CAAC,CAAC;QACvE,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC;YAC/B,MAAM,IAAI,KAAK,CAAC,4DAA4D,CAAC,CAAC;QAChF,CAAC;QACD,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAC;YACjC,OAAO,CAAC,IAAI,CAAC,0DAA0D,IAAI,CAAC,IAAI,CAAC,IAAI,oEAAoE,CAAC,CAAC;QAC7J,CAAC;QACD,EAAE,CAAC,IAAI,EAAE,CAAC;QACV,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;QAChB,EAAE,CAAC,MAAM,GAAG,CAAC,CAAC;QACd,IAAI,CAAC,SAAS,CAAC,EAAE,CAAC,CAAC;QACnB,IAAI,CAAC,kBAAkB,GAAG,EAAE,IAAI,EAAE,EAAE,EAAE,OAAO,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC;IAC/D,CAAC;IAED,MAAM,CAAC,KAAa;QAClB,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,GAAG,CAAC,EAAE,CAAC;YACzC,MAAM,IAAI,KAAK,CAAC,+DAA+D,CAAC,CAAC;QACnF,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,CAAC,IAAI,IAAI,CAAC,SAAS,GAAG,CAAC,EAAE,CAAC;YAC3D,MAAM,IAAI,KAAK,CAAC,wHAAwH,CAAC,CAAC;QAC5I,CAAC;QACD,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YAChC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,MAAM,CAAC,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;gBACvD,MAAM,IAAI,KAAK,CAAC,iCAAiC,KAAK,CAAC,IAAI,sFAAsF,CAAC,CAAC;YACrJ,CAAC;QACH,CAAC;QACD,IAAI,IAAI,CAAC,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAC9B,IAAI,CAAC,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBAC5B,IAAI,CAAC,iBAAiB,GAAG,IAAI,CAAC;gBAC9B,OAAO,CAAC,IAAI,CAAC,+FAA+F,CAAC,CAAC;YAChH,CAAC;YACD,OAAO,EAAE,CAAC;QACZ,CAAC;QACD,IAAI,CAAC,yBAAyB,CAAC,KAAK,GAAG,IAAI,CAAC,SAAS,CAAC,CAAC;QACvD,MAAM,MAAM,GAAqB,EAAE,CAAC;QACpC,MAAM,YAAY,GAAG,IAAI,GAAG,EAA6B,CAAC;QAC1D,KAAK,MAAM,MAAM,IAAI,IAAI,CAAC,OAAO,EAAE,CAAC;YAClC,MAAM,YAAY,GAAG,MAAM,CAAC,IAAI,CAAC;YACjC,MAAM,YAAY,GAAG,MAAM,CAAC,MAAM,CAAC,KAAK,GAAG,IAAI,CAAC,SAAS,CAAC,CAAC;YAC3D,IAAI,YAAY,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;gBAC5B,MAAM,CAAC,IAAI,CAAC,GAAG,YAAY,CAAC,CAAC;YAC/B,CAAC;YACD,IAAI,CAAC,MAAM,CAAC,OAAO,IAAI,MAAM,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC;gBAC1C,SAAS;YACX,CAAC;YACD,IAAI,CAAC,qBAAqB,CAAC,MAAM,EAAE,YAAY,CAAC,CAAC;YACjD,KAAK,MAAM,KAAK,IAAI,MAAM,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;gBACvC,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;gBACzC,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,eAAe,CAAC,MAAM,CAAC,EAAE,CAAC;oBACjD,IAAI,KAAK,CAAC,cAAc,CAAC,KAAK,CAAC,MAAM,CAAC,EAAE,CAAC;wBACvC,SAAS,CAAC,YAAY,EAAE,KAAK,CAAC,MAAM,EAAE,KAAK,CAAC,SAAS,EAAE,MAAM,EAAE,MAAM,CAAC,MAAM,GAAG,KAAK,CAAC,MAAM,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;oBAC/G,CAAC;gBACH,CAAC;YACH,CAAC;QACH,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC;QACpB,IAAI,CAAC,WAAW,GAAG,EAAE,CAAC;QACtB,KAAK,MAAM,CAAC,MAAM,EAAE,WAAW,CAAC,IAAI,YAAY,EAAE,CAAC;YACjD,MAAM,KAAK,GAAG,mBAAmB,CAAC,WAAW,CAAC,CAAC;YAC/C,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,MAAM,EAAE,KAAK,CAAC,CAAC;YAC/B,IAAI,CAAC;gBACH,IAAI,CAAC,MAAM,EAAE,iBAAiB,EAAE,CAAC,MAAM,EAAE,KAAK,CAAC,CAAC;YAClD,CAAC;YAAC,OAAO,KAAK,EAAE,CAAC;gBACf,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC;oBACpB,MAAM;oBACN,OAAO,EAAE,KAAK,YAAY,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,KAAK,CAAC;iBAChE,CAAC,CAAC;YACL,CAAC;QACH,CAAC;QACD,KAAK,MAAM,KAAK,IAAI,MAAM,EAAE,CAAC;YAC3B,KAAK,MAAM,QAAQ,IAAI,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,cAAc,CAAC,EAAE,CAAC;gBACvD,QAAQ,CAAC,KAAK,CAAC,CAAC;YAClB,CAAC;QACH,CAAC;QACD,OAAO,MAAM,CAAC;IAChB,CAAC;IAED,QAAQ,CAAC,MAAc;QACrB,MAAM,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;QACtC,OAAO,KAAK,KAAK,SAAS,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,mBAAmB,CAAC,KAAK,CAAC,CAAC;IACtE,CAAC;IAED,OAAO,CAAC,QAAyC;QAC/C,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,OAAO,QAAQ,KAAK,UAAU,EAAE,CAAC;YACnC,MAAM,IAAI,KAAK,CAAC,sDAAsD,CAAC,CAAC;QAC1E,CAAC;QACD,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC;QAClC,OAAO,GAAG,EAAE,CAAC,IAAI,CAAC,cAAc,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;IACpD,CAAC;IAED,QAAQ;QACN,MAAM,MAAM,GAAmC,EAAE,CAAC;QAClD,KAAK,MAAM,CAAC,MAAM,EAAE,KAAK,CAAC,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YAC1C,MAAM,CAAC,MAAM,CAAC,GAAG,mBAAmB,CAAC,KAAK,CAAC,CAAC;QAC9C,CAAC;QACD,OAAO;YACL,SAAS,EAAE,IAAI,CAAC,SAAS;YACzB,WAAW,EAAE,IAAI,CAAC,OAAO,CAAC,MAAM;YAChC,OAAO,EAAE,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC,MAAM,EAAE,EAAE,CAAC,MAAM,CAAC,QAAQ,EAAE,CAAC;YACxD,MAAM,EAAE,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,QAAQ,EAAE,CAAC;YACpD,MAAM;YACN,WAAW,EAAE,IAAI,CAAC,WAAW,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,KAAK,EAAE,CAAC,CAAC;SAC7D,CAAC;IACJ,CAAC;IAED,OAAO;QACL,IAAI,CAAC,OAAO,CAAC,MAAM,GAAG,CAAC,CAAC;QACxB,IAAI,CAAC,MAAM,CAAC,MAAM,GAAG,CAAC,CAAC;QACvB,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC;QACpB,IAAI,CAAC,WAAW,GAAG,EAAE,CAAC;QACtB,IAAI,CAAC,cAAc,CAAC,KAAK,EAAE,CAAC;QAC5B,IAAI,CAAC,kBAAkB,GAAG,SAAS,CAAC;QACpC,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;IACvB,CAAC;IAEO,WAAW;QACjB,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAClB,MAAM,IAAI,KAAK,CAAC,mCAAmC,CAAC,CAAC;QACvD,CAAC;IACH,CAAC;IAEO,mBAAmB,CAAC,GAAW,EAAE,IAAqB,EAAE,EAAmB;QACjF,IAAI,CAAC,CAAC,IAAI,YAAY,eAAe,CAAC,IAAI,CAAC,CAAC,EAAE,YAAY,eAAe,CAAC,EAAE,CAAC;YAC3E,MAAM,IAAI,KAAK,CAAC,GAAG,GAAG,2DAA2D,CAAC,CAAC;QACrF,CAAC;QACD,IAAI,IAAI,KAAK,EAAE,EAAE,CAAC;YAChB,MAAM,IAAI,KAAK,CAAC,GAAG,GAAG,4FAA4F,CAAC,CAAC;QACtH,CAAC;IACH,CAAC;IAEO,yBAAyB,CAAC,WAAmB;QACnD,MAAM,UAAU,GAAG,IAAI,CAAC,kBAAkB,CAAC;QAC3C,IAAI,CAAC,UAAU;YAAE,OAAO;QACxB,UAAU,CAAC,OAAO,IAAI,WAAW,CAAC;QAClC,MAAM,UAAU,GAAG,4BAA4B,CAAC,UAAU,CAAC,OAAO,EAAE,UAAU,CAAC,QAAQ,CAAC,CAAC;QACzF,UAAU,CAAC,IAAI,CAAC,MAAM,GAAG,UAAU,CAAC;QACpC,UAAU,CAAC,EAAE,CAAC,MAAM,GAAG,CAAC,GAAG,UAAU,CAAC;QACtC,oFAAoF;QACpF,IAAI,UAAU,IAAI,IAAI,EAAE,CAAC;YACvB,UAAU,CAAC,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;YAC3B,UAAU,CAAC,EAAE,CAAC,MAAM,GAAG,CAAC,CAAC;YACzB,UAAU,CAAC,IAAI,CAAC,IAAI,EAAE,CAAC;YACvB,IAAI,CAAC,kBAAkB,GAAG,SAAS,CAAC;QACtC,CAAC;IACH,CAAC;IAEO,qBAAqB,CAAC,MAAuB,EAAE,YAAoB;QACzE,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,eAAe,IAAI,MAAM,CAAC,MAAM,IAAI,CAAC;YAAE,OAAO;QAChE,MAAM,gBAAgB,GAAG,IAAI,CAAC,OAAO,CAAC,eAAe,IAAI,eAAe,CAAC;QACzE,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,MAAM,KAAK,gBAAgB,CAAC;YAAE,OAAO;QACnF,MAAM,MAAM,GAAG,iBAAiB,CAAC,MAAM,CAAC,IAAI,EAAE;YAC5C,QAAQ,EAAE,YAAY;YACtB,MAAM,EAAE,MAAM,CAAC,IAAI;YACnB,IAAI,EAAE,MAAM,CAAC,QAAQ,KAAK,QAAQ;YAClC,MAAM,EAAE,gBAAgB;SACzB,CAAC,CAAC;QACH,MAAM,YAAY,GAAG,MAAM,CAAC,MAAM,KAAK,CAAC;YACtC,CAAC,CAAC,MAAM;YACR,CAAC,CAAC;gBACE,GAAG,MAAM;gBACT,KAAK,EAAE;oBACL,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,MAAM;oBAC/B,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,MAAM;oBAC/B,MAAM,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,MAAM;iBACJ;aAC9B,CAAC;QACN,IAAI,CAAC,MAAM,EAAE,eAAe,EAAE,CAAC,YAAY,CAAC,CAAC;QAC7C,IAAI,IAAI,CAAC,MAAM,EAAE,QAAQ,EAAE,CAAC;YAC1B,eAAe,CAAC,IAAI,CAAC,MAA0B,EAAE,YAAY,EAAE,IAAI,CAAC,OAAO,CAAC,eAAe,IAAI,CAAC,CAAC,CAAC;QACpG,CAAC;IACH,CAAC;IAEO,eAAe,CAAC,MAAuB;QAC7C,IAAI,IAAI,CAAC,MAAM,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAC7B,OAAO,eAAe,CAAC;QACzB,CAAC;QACD,MAAM,YAAY,GAAG,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC;QACnF,OAAO,YAAY,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,eAAe,CAAC;IAClE,CAAC;CACF;AAED,MAAM,cAAc,GAAe;IACjC,IAAI,EAAE,SAAS;IACf,MAAM,EAAE,CAAC;IACT,QAAQ,EAAE,KAAK;IACf,IAAI,EAAE,EAAE;IACR,OAAO,EAAE,EAAE;IACX,cAAc,EAAE,GAAG,EAAE,CAAC,IAAI;IAC1B,QAAQ,EAAE,GAAG,EAAE,CAAC,CAAC,EAAE,IAAI,EAAE,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,QAAQ,EAAE,KAAK,EAAE,IAAI,EAAE,EAAE,EAAE,OAAO,EAAE,EAAE,EAAE,CAAC;CACzF,CAAC;AACF,MAAM,eAAe,GAA0B,CAAC,cAAc,CAAC,CAAC;AAEhE,SAAS,SAAS,CAAC,YAA4C,EAAE,MAAc,EAAE,IAAY,EAAE,KAAqB,EAAE,MAAc,EAAE,QAAiB;IACrJ,IAAI,MAAM,IAAI,CAAC,EAAE,CAAC;QAChB,OAAO;IACT,CAAC;IACD,MAAM,OAAO,GAAG,YAAY,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IACzC,IAAI,CAAC,OAAO,EAAE,CAAC;QACb,MAAM,WAAW,GAAsB,EAAE,IAAI,EAAE,CAAC;QAChD,IAAI,QAAQ,EAAE,CAAC;YACb,WAAW,CAAC,QAAQ,GAAG,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;QACnE,CAAC;aAAM,CAAC;YACN,WAAW,CAAC,IAAI,GAAG,EAAE,KAAK,EAAE,mBAAmB,CAAC,KAAK,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC;QACzE,CAAC;QACD,YAAY,CAAC,GAAG,CAAC,MAAM,EAAE,WAAW,CAAC,CAAC;QACtC,OAAO;IACT,CAAC;IACD,IAAI,OAAO,CAAC,IAAI,KAAK,IAAI,EAAE,CAAC;QAC1B,MAAM,IAAI,KAAK,CAAC,gBAAgB,IAAI,kCAAkC,OAAO,CAAC,IAAI,WAAW,MAAM,GAAG,CAAC,CAAC;IAC1G,CAAC;IACD,IAAI,QAAQ,EAAE,CAAC;QACb,OAAO,CAAC,QAAQ,GAAG,OAAO,CAAC,QAAQ,KAAK,SAAS;YAC/C,CAAC,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC;YAC3C,CAAC,CAAC,eAAe,CAAC,IAAI,EAAE,OAAO,CAAC,QAAQ,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;QAC3D,OAAO;IACT,CAAC;IACD,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,CAAC;QAClB,OAAO,CAAC,IAAI,GAAG,EAAE,KAAK,EAAE,mBAAmB,CAAC,KAAK,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC;QACnE,OAAO;IACT,CAAC;IACD,SAAS,CAAC,OAAO,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;AAC/C,CAAC;AAED,SAAS,SAAS,CAAC,OAA4B,EAAE,IAAY,EAAE,KAAqB,EAAE,MAAc;IAClG,MAAM,KAAK,GAAG,OAAO,CAAC,MAAM,GAAG,MAAM,CAAC;IACtC,MAAM,CAAC,GAAG,MAAM,GAAG,KAAK,CAAC;IACzB,IAAI,IAAI,KAAK,QAAQ,EAAE,CAAC;QACtB,OAAO,CAAC,KAAK,GAAI,OAAO,CAAC,KAAgB,GAAG,CAAE,KAAgB,GAAI,OAAO,CAAC,KAAgB,CAAC,GAAG,CAAC,CAAC;IAClG,CAAC;SAAM,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QAC9B,MAAM,CAAC,GAAG,OAAO,CAAC,KAAiC,CAAC;QACpD,MAAM,CAAC,GAAG,KAAiC,CAAC;QAC5C,OAAO,CAAC,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IACjG,CAAC;SAAM,IAAI,IAAI,KAAK,YAAY,EAAE,CAAC;QACjC,OAAO,CAAC,KAAK,GAAG,SAAS,CAAC,OAAO,CAAC,KAAyC,EAAE,KAAyC,EAAE,CAAC,CAAC,CAAC;IAC7H,CAAC;SAAM,IAAI,IAAI,KAAK,cAAc,EAAE,CAAC;QACnC,MAAM,CAAC,GAAG,OAAO,CAAC,KAA0B,CAAC;QAC7C,MAAM,CAAC,GAAG,KAA0B,CAAC;QACrC,IAAI,CAAC,CAAC,MAAM,KAAK,CAAC,CAAC,MAAM,EAAE,CAAC;YAC1B,MAAM,IAAI,KAAK,CAAC,oEAAoE,CAAC,CAAC;QACxF,CAAC;QACD,OAAO,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,SAAS,EAAE,KAAK,EAAE,EAAE,CAAC,SAAS,GAAG,CAAC,CAAC,CAAC,KAAK,CAAE,GAAG,SAAS,CAAC,GAAG,CAAC,CAAC,CAAC;IACvF,CAAC;SAAM,CAAC;QACN,OAAO,CAAC,KAAK,GAAG,mBAAmB,CAAC,KAAK,CAAC,CAAC;IAC7C,CAAC;IACD,OAAO,CAAC,MAAM,GAAG,KAAK,CAAC;AACzB,CAAC;AAED,SAAS,mBAAmB,CAAC,WAA8B;IACzD,MAAM,IAAI,GAAG,WAAW,CAAC,IAAI;QAC3B,CAAC,CAAC,iBAAiB,CAAC,WAAW,CAAC,IAAI,CAAC;QACrC,CAAC,CAAC,WAAW,CAAC,QAAQ,KAAK,SAAS;YAClC,CAAC,CAAC,eAAe,CAAC,WAAW,CAAC,IAAI,EAAE,WAAW,CAAC,QAAQ,CAAC;YACzD,CAAC,CAAC,SAAS,CAAC;IAChB,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QACvB,MAAM,IAAI,KAAK,CAAC,oDAAoD,CAAC,CAAC;IACxE,CAAC;IACD,IAAI,WAAW,CAAC,QAAQ,KAAK,SAAS,EAAE,CAAC;QACvC,OAAO,IAAI,CAAC;IACd,CAAC;IACD,OAAO,aAAa,CAAC,WAAW,CAAC,IAAI,EAAE,IAAI,EAAE,WAAW,CAAC,QAAQ,CAAC,CAAC;AACrE,CAAC;AAED,SAAS,iBAAiB,CAAC,WAAgC;IACzD,IAAI,WAAW,CAAC,IAAI,KAAK,YAAY,EAAE,CAAC;QACtC,OAAO,aAAa,CAAC,WAAW,CAAC,KAAyC,CAAC,CAAC;IAC9E,CAAC;IACD,OAAO,mBAAmB,CAAC,WAAW,CAAC,KAAK,CAAC,CAAC;AAChD,CAAC;AAED,SAAS,oBAAoB,CAAC,IAAY,EAAE,KAAqB,EAAE,MAAc;IAC/E,IAAI,IAAI,KAAK,QAAQ,EAAE,CAAC;QACtB,OAAQ,KAAgB,GAAG,MAAM,CAAC;IACpC,CAAC;IACD,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QACvB,MAAM,MAAM,GAAG,KAAiC,CAAC;QACjD,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC;IACtE,CAAC;IACD,IAAI,IAAI,KAAK,cAAc,EAAE,CAAC;QAC5B,OAAQ,KAA2B,CAAC,GAAG,CAAC,CAAC,SAAS,EAAE,EAAE,CAAC,SAAS,GAAG,MAAM,CAAC,CAAC;IAC7E,CAAC;IACD,IAAI,IAAI,KAAK,YAAY,EAAE,CAAC;QAC1B,OAAO,SAAS,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,aAAa,CAAC,KAAyC,CAAC,EAAE,MAAM,CAAC,CAAC;IACnG,CAAC;IACD,MAAM,IAAI,KAAK,CAAC,wFAAwF,CAAC,CAAC;AAC5G,CAAC;AAED,SAAS,eAAe,CAAC,IAAY,EAAE,OAAuB,EAAE,KAAqB,EAAE,MAAc;IACnG,OAAO,aAAa,CAAC,IAAI,EAAE,OAAO,EAAE,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC;AACjF,CAAC;AAED,SAAS,aAAa,CAAC,IAAY,EAAE,IAAoB,EAAE,KAAqB;IAC9E,IAAI,IAAI,KAAK,QAAQ,EAAE,CAAC;QACtB,OAAQ,IAAe,GAAI,KAAgB,CAAC;IAC9C,CAAC;IACD,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QACvB,MAAM,CAAC,GAAG,IAAgC,CAAC;QAC3C,MAAM,CAAC,GAAG,KAAiC,CAAC;QAC5C,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACjD,CAAC;IACD,IAAI,IAAI,KAAK,cAAc,EAAE,CAAC;QAC5B,MAAM,CAAC,GAAG,IAAyB,CAAC;QACpC,MAAM,CAAC,GAAG,KAA0B,CAAC;QACrC,IAAI,CAAC,CAAC,MAAM,KAAK,CAAC,CAAC,MAAM,EAAE,CAAC;YAC1B,MAAM,IAAI,KAAK,CAAC,kEAAkE,CAAC,CAAC;QACtF,CAAC;QACD,OAAO,CAAC,CAAC,GAAG,CAAC,CAAC,SAAS,EAAE,KAAK,EAAE,EAAE,CAAC,SAAS,GAAG,CAAC,CAAC,KAAK,CAAE,CAAC,CAAC;IAC5D,CAAC;IACD,IAAI,IAAI,KAAK,YAAY,EAAE,CAAC;QAC1B,OAAO,aAAa,CAAC,YAAY,CAAC,IAAwC,EAAE,KAAyC,CAAC,CAAC,CAAC;IAC1H,CAAC;IACD,MAAM,IAAI,KAAK,CAAC,wFAAwF,CAAC,CAAC;AAC5G,CAAC;AAED,SAAS,eAAe,CAAC,IAAY,EAAE,KAAqB;IAC1D,IAAI,IAAI,KAAK,QAAQ,EAAE,CAAC;QACtB,OAAO,CAAC,CAAC;IACX,CAAC;IACD,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QACvB,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACnB,CAAC;IACD,IAAI,IAAI,KAAK,cAAc,EAAE,CAAC;QAC5B,OAAQ,KAA2B,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC;IACnD,CAAC;IACD,IAAI,IAAI,KAAK,YAAY,EAAE,CAAC;QAC1B,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACtB,CAAC;IACD,MAAM,IAAI,KAAK,CAAC,wFAAwF,CAAC,CAAC;AAC5G,CAAC;AAED,SAAS,YAAY,CAAC,CAAmC,EAAE,CAAmC;IAC5F,OAAO;QACL,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrD,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrD,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrD,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;KACtD,CAAC;AACJ,CAAC"}
+{"version":3,"file":"AnimationMixer.js","sourceRoot":"","sources":["../../../../packages/animation/src/AnimationMixer.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,eAAe,EAAgC,MAAM,sBAAsB,CAAC;AAIrF,OAAO,EAAE,mBAAmB,EAAE,aAAa,EAAE,SAAS,EAAuB,MAAM,eAAe,CAAC;AACnG,OAAO,EAAE,iCAAiC,EAAE,4BAA4B,EAAE,MAAM,sBAAsB,CAAC;AACvG,OAAO,EAAE,eAAe,EAAE,iBAAiB,EAAgD,MAAM,iBAAiB,CAAC;AACnH,OAAO,EAAE,yBAAyB,EAAE,cAAc,EAAE,MAAM,wBAAwB,CAAC;AACnF,OAAO,EAAE,qBAAqB,EAAE,MAAM,0BAA0B,CAAC;AAoCjE,MAAM,OAAO,cAAc;IAY8B;IAX9C,MAAM,CAA8B;IAC7C,SAAS,GAAG,CAAC,CAAC;IACG,OAAO,GAAsB,EAAE,CAAC;IAChC,MAAM,GAAqB,EAAE,CAAC;IAC9B,MAAM,GAAG,IAAI,GAAG,EAA0B,CAAC;IACpD,WAAW,GAA0B,EAAE,CAAC;IAC/B,cAAc,GAAG,IAAI,GAAG,EAAmC,CAAC;IACrE,QAAQ,GAAG,KAAK,CAAC;IACjB,iBAAiB,GAAG,KAAK,CAAC;IAC1B,kBAAkB,CAAgG;IAE1H,YAAY,MAAwB,EAAmB,UAAiC,EAAE;QAAnC,YAAO,GAAP,OAAO,CAA4B;QACxF,IAAI,CAAC,MAAM,GAAG,MAAM,CAAC;IACvB,CAAC;IAED,IAAI,CAAC,IAAmB;QACtB,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,MAAM,MAAM,GAAG,IAAI,eAAe,CAAC,IAAI,CAAC,CAAC,IAAI,EAAE,CAAC;QAChD,IAAI,CAAC,OAAO,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;QAC1B,IAAI,CAAC,iBAAiB,GAAG,KAAK,CAAC;QAC/B,OAAO,MAAM,CAAC;IAChB,CAAC;IAED,SAAS,CAAC,MAAuB;QAC/B,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,CAAC,MAAM,YAAY,eAAe,CAAC,EAAE,CAAC;YACzC,MAAM,IAAI,KAAK,CAAC,8DAA8D,CAAC,CAAC;QAClF,CAAC;QACD,IAAI,IAAI,CAAC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAC,EAAE,CAAC;YAClC,OAAO,CAAC,IAAI,CAAC,8CAA8C,MAAM,CAAC,IAAI,CAAC,IAAI,kDAAkD,CAAC,CAAC;YAC/H,OAAO;QACT,CAAC;QACD,IAAI,CAAC,OAAO,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;QAC1B,IAAI,CAAC,iBAAiB,GAAG,KAAK,CAAC;IACjC,CAAC;IAED,QAAQ,CAAC,KAAqB;QAC5B,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,CAAC,IAAI,KAAK,QAAQ,EAAE,CAAC;YAC7C,MAAM,IAAI,KAAK,CAAC,2DAA2D,CAAC,CAAC;QAC/E,CAAC;QACD,IAAI,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;YAChC,OAAO,CAAC,IAAI,CAAC,mCAAmC,KAAK,CAAC,IAAI,kDAAkD,CAAC,CAAC;YAC9G,OAAO;QACT,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IAC1B,CAAC;IAED,YAAY,CAAC,SAAiB;QAC5B,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,SAAS,CAAC,IAAI,SAAS,GAAG,CAAC,EAAE,CAAC;YACjD,MAAM,IAAI,KAAK,CAAC,yEAAyE,CAAC,CAAC;QAC7F,CAAC;QACD,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC;IAC7B,CAAC;IAED,OAAO;QACL,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,IAAI,CAAC,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAC9B,OAAO,CAAC,IAAI,CAAC,qEAAqE,CAAC,CAAC;YACpF,OAAO;QACT,CAAC;QACD,KAAK,MAAM,MAAM,IAAI,IAAI,CAAC,OAAO,EAAE,CAAC;YAClC,MAAM,CAAC,IAAI,EAAE,CAAC;QAChB,CAAC;IACH,CAAC;IAED,SAAS,CAAC,IAAqB,EAAE,EAAmB,EAAE,QAAgB;QACpE,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,mBAAmB,CAAC,0BAA0B,EAAE,IAAI,EAAE,EAAE,CAAC,CAAC;QAC/D,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,IAAI,QAAQ,GAAG,CAAC,EAAE,CAAC;YAC/C,MAAM,IAAI,KAAK,CAAC,qEAAqE,CAAC,CAAC;QACzF,CAAC;QACD,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAC;YACjC,OAAO,CAAC,IAAI,CAAC,kDAAkD,IAAI,CAAC,IAAI,CAAC,IAAI,oEAAoE,CAAC,CAAC;QACrJ,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC;QACzB,EAAE,CAAC,IAAI,EAAE,CAAC,MAAM,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC;QAC9B,IAAI,CAAC,SAAS,CAAC,EAAE,CAAC,CAAC;IACrB,CAAC;IAED;;;;;;OAMG;IACH,iBAAiB,CAAC,IAAqB,EAAE,EAAmB,EAAE,QAAQ,GAAG,iCAAiC;QACxG,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,mBAAmB,CAAC,kCAAkC,EAAE,IAAI,EAAE,EAAE,CAAC,CAAC;QACvE,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC;YAC/B,MAAM,IAAI,KAAK,CAAC,4DAA4D,CAAC,CAAC;QAChF,CAAC;QACD,IAAI,CAAC,IAAI,CAAC,OAAO,CAAC,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAC;YACjC,OAAO,CAAC,IAAI,CAAC,0DAA0D,IAAI,CAAC,IAAI,CAAC,IAAI,oEAAoE,CAAC,CAAC;QAC7J,CAAC;QACD,EAAE,CAAC,IAAI,EAAE,CAAC;QACV,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;QAChB,EAAE,CAAC,MAAM,GAAG,CAAC,CAAC;QACd,IAAI,CAAC,SAAS,CAAC,EAAE,CAAC,CAAC;QACnB,IAAI,CAAC,kBAAkB,GAAG,EAAE,IAAI,EAAE,EAAE,EAAE,OAAO,EAAE,CAAC,EAAE,QAAQ,EAAE,CAAC;IAC/D,CAAC;IAED,MAAM,CAAC,KAAa;QAClB,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,GAAG,CAAC,EAAE,CAAC;YACzC,MAAM,IAAI,KAAK,CAAC,+DAA+D,CAAC,CAAC;QACnF,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,CAAC,IAAI,IAAI,CAAC,SAAS,GAAG,CAAC,EAAE,CAAC;YAC3D,MAAM,IAAI,KAAK,CAAC,wHAAwH,CAAC,CAAC;QAC5I,CAAC;QACD,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YAChC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,MAAM,CAAC,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;gBACvD,MAAM,IAAI,KAAK,CAAC,iCAAiC,KAAK,CAAC,IAAI,sFAAsF,CAAC,CAAC;YACrJ,CAAC;QACH,CAAC;QACD,IAAI,IAAI,CAAC,OAAO,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAC9B,IAAI,CAAC,IAAI,CAAC,iBAAiB,EAAE,CAAC;gBAC5B,IAAI,CAAC,iBAAiB,GAAG,IAAI,CAAC;gBAC9B,OAAO,CAAC,IAAI,CAAC,+FAA+F,CAAC,CAAC;YAChH,CAAC;YACD,OAAO,EAAE,CAAC;QACZ,CAAC;QACD,IAAI,CAAC,yBAAyB,CAAC,KAAK,GAAG,IAAI,CAAC,SAAS,CAAC,CAAC;QACvD,MAAM,MAAM,GAAqB,EAAE,CAAC;QACpC,MAAM,YAAY,GAAG,IAAI,GAAG,EAA6B,CAAC;QAC1D,MAAM,MAAM,GAAG,IAAI,GAAG,EAA6B,CAAC;QACpD,IAAI,YAA0C,CAAC;QAC/C,KAAK,MAAM,MAAM,IAAI,IAAI,CAAC,OAAO,EAAE,CAAC;YAClC,MAAM,YAAY,GAAG,MAAM,CAAC,IAAI,CAAC;YACjC,MAAM,YAAY,GAAG,MAAM,CAAC,OAAO,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,CAAC,KAAK,GAAG,IAAI,CAAC,SAAS,GAAG,MAAM,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC;YACtG,MAAM,YAAY,GAAG,MAAM,CAAC,MAAM,CAAC,KAAK,GAAG,IAAI,CAAC,SAAS,CAAC,CAAC;YAC3D,IAAI,YAAY,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;gBAC5B,MAAM,CAAC,IAAI,CAAC,GAAG,YAAY,CAAC,CAAC;YAC/B,CAAC;YACD,IAAI,CAAC,MAAM,CAAC,OAAO,IAAI,MAAM,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC;gBAC1C,SAAS;YACX,CAAC;YACD,MAAM,gBAAgB,GAAG,IAAI,CAAC,OAAO,CAAC,eAAe,IAAI,eAAe,CAAC;YACzE,IAAI,IAAI,CAAC,OAAO,CAAC,eAAe,IAAI,MAAM,CAAC,MAAM,GAAG,CAAC,IAAI,MAAM,CAAC,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,EAAE,CAAC,KAAK,CAAC,MAAM,KAAK,gBAAgB,CAAC,EAAE,CAAC;gBAC7H,MAAM,MAAM,GAAG,iBAAiB,CAAC,MAAM,CAAC,IAAI,EAAE;oBAC5C,QAAQ,EAAE,YAAY;oBACtB,MAAM,EAAE,MAAM,CAAC,QAAQ,KAAK,QAAQ,CAAC,CAAC,CAAC,YAAY,GAAG,YAAY,CAAC,CAAC,CAAC,MAAM,CAAC,IAAI;oBAChF,IAAI,EAAE,MAAM,CAAC,QAAQ,KAAK,QAAQ;oBAClC,MAAM,EAAE,gBAAgB;iBACzB,CAAC,CAAC;gBACH,YAAY,GAAG,MAAM,CAAC;gBACtB,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,eAAe,CAAC,MAAM,CAAC,EAAE,CAAC;oBACjD,IAAI,KAAK,CAAC,cAAc,CAAC,gBAAgB,CAAC,EAAE,CAAC;wBAC3C,SAAS,CAAC,MAAM,EAAE,gBAAgB,EAAE,SAAS,EAAE,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,MAAM,GAAG,KAAK,CAAC,MAAM,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;oBAC7G,CAAC;gBACH,CAAC;YACH,CAAC;YACD,KAAK,MAAM,KAAK,IAAI,MAAM,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC;gBACvC,MAAM,MAAM,GAAG,IAAI,CAAC,OAAO,CAAC,eAAe,IAAI,IAAI,CAAC,OAAO,CAAC,sBAAsB,IAAI,KAAK,CAAC,MAAM,KAAK,gBAAgB;oBACrH,CAAC,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC;oBACjB,CAAC,CAAC,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;gBAC9B,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,eAAe,CAAC,MAAM,CAAC,EAAE,CAAC;oBACjD,IAAI,KAAK,CAAC,cAAc,CAAC,KAAK,CAAC,MAAM,CAAC,EAAE,CAAC;wBACvC,SAAS,CAAC,YAAY,EAAE,KAAK,CAAC,MAAM,EAAE,KAAK,CAAC,SAAS,EAAE,MAAM,EAAE,MAAM,CAAC,MAAM,GAAG,KAAK,CAAC,MAAM,EAAE,KAAK,CAAC,QAAQ,CAAC,CAAC;oBAC/G,CAAC;gBACH,CAAC;YACH,CAAC;QACH,CAAC;QACD,IAAI,YAAY,EAAE,CAAC;YACjB,MAAM,WAAW,GAAG,MAAM,CAAC,GAAG,CAAC,YAAY,CAAC,MAAM,CAAC,CAAC;YACpD,IAAI,WAAW,EAAE,CAAC;gBAChB,MAAM,KAAK,GAAG,mBAAmB,CAAC,WAAW,CAA6B,CAAC;gBAC3E,MAAM,KAAK,GAAG,IAAI,CAAC,OAAO,CAAC,eAAe,IAAI,CAAC,CAAC;gBAChD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC;oBAAE,MAAM,IAAI,KAAK,CAAC,mCAAmC,CAAC,CAAC;gBAClF,MAAM,MAAM,GAAG,EAAE,GAAG,YAAY,EAAE,KAAK,EAAE,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC,KAAK,GAAG,KAAK,CAA6B,EAAE,CAAC;gBACzG,IAAI,CAAC,MAAM,EAAE,eAAe,EAAE,CAAC,MAAM,CAAC,CAAC;gBACvC,IAAI,IAAI,CAAC,MAAM,EAAE,iBAAiB;oBAAE,IAAI,CAAC,MAAM,CAAC,iBAAiB,CAAC,MAAM,CAAC,CAAC;qBACrE,IAAI,IAAI,CAAC,MAAM,EAAE,QAAQ;oBAAE,eAAe,CAAC,IAAI,CAAC,MAA0B,EAAE,MAAM,CAAC,CAAC;YAC3F,CAAC;QACH,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC;QACpB,IAAI,CAAC,WAAW,GAAG,EAAE,CAAC;QACtB,KAAK,MAAM,CAAC,MAAM,EAAE,WAAW,CAAC,IAAI,YAAY,EAAE,CAAC;YACjD,MAAM,KAAK,GAAG,mBAAmB,CAAC,WAAW,CAAC,CAAC;YAC/C,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,MAAM,EAAE,KAAK,CAAC,CAAC;YAC/B,IAAI,CAAC;gBACH,IAAI,CAAC,MAAM,EAAE,iBAAiB,EAAE,CAAC,MAAM,EAAE,KAAK,CAAC,CAAC;YAClD,CAAC;YAAC,OAAO,KAAK,EAAE,CAAC;gBACf,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC;oBACpB,MAAM;oBACN,OAAO,EAAE,KAAK,YAAY,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,MAAM,CAAC,KAAK,CAAC;iBAChE,CAAC,CAAC;YACL,CAAC;QACH,CAAC;QACD,KAAK,MAAM,KAAK,IAAI,MAAM,EAAE,CAAC;YAC3B,KAAK,MAAM,QAAQ,IAAI,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,cAAc,CAAC,EAAE,CAAC;gBACvD,QAAQ,CAAC,KAAK,CAAC,CAAC;YAClB,CAAC;QACH,CAAC;QACD,OAAO,MAAM,CAAC;IAChB,CAAC;IAED,QAAQ,CAAC,MAAc;QACrB,MAAM,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;QACtC,OAAO,KAAK,KAAK,SAAS,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,mBAAmB,CAAC,KAAK,CAAC,CAAC;IACtE,CAAC;IAED,OAAO,CAAC,QAAyC;QAC/C,IAAI,CAAC,WAAW,EAAE,CAAC;QACnB,IAAI,OAAO,QAAQ,KAAK,UAAU,EAAE,CAAC;YACnC,MAAM,IAAI,KAAK,CAAC,sDAAsD,CAAC,CAAC;QAC1E,CAAC;QACD,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC;QAClC,OAAO,GAAG,EAAE,CAAC,IAAI,CAAC,cAAc,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;IACpD,CAAC;IAED,QAAQ;QACN,MAAM,MAAM,GAAmC,EAAE,CAAC;QAClD,KAAK,MAAM,CAAC,MAAM,EAAE,KAAK,CAAC,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YAC1C,MAAM,CAAC,MAAM,CAAC,GAAG,mBAAmB,CAAC,KAAK,CAAC,CAAC;QAC9C,CAAC;QACD,OAAO;YACL,SAAS,EAAE,IAAI,CAAC,SAAS;YACzB,WAAW,EAAE,IAAI,CAAC,OAAO,CAAC,MAAM;YAChC,OAAO,EAAE,IAAI,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC,MAAM,EAAE,EAAE,CAAC,MAAM,CAAC,QAAQ,EAAE,CAAC;YACxD,MAAM,EAAE,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,QAAQ,EAAE,CAAC;YACpD,MAAM;YACN,WAAW,EAAE,IAAI,CAAC,WAAW,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,KAAK,EAAE,CAAC,CAAC;SAC7D,CAAC;IACJ,CAAC;IAED,OAAO;QACL,IAAI,CAAC,OAAO,CAAC,MAAM,GAAG,CAAC,CAAC;QACxB,IAAI,CAAC,MAAM,CAAC,MAAM,GAAG,CAAC,CAAC;QACvB,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC;QACpB,IAAI,CAAC,WAAW,GAAG,EAAE,CAAC;QACtB,IAAI,CAAC,cAAc,CAAC,KAAK,EAAE,CAAC;QAC5B,IAAI,CAAC,kBAAkB,GAAG,SAAS,CAAC;QACpC,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC;IACvB,CAAC;IAEO,WAAW;QACjB,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAClB,MAAM,IAAI,KAAK,CAAC,mCAAmC,CAAC,CAAC;QACvD,CAAC;IACH,CAAC;IAEO,mBAAmB,CAAC,GAAW,EAAE,IAAqB,EAAE,EAAmB;QACjF,IAAI,CAAC,CAAC,IAAI,YAAY,eAAe,CAAC,IAAI,CAAC,CAAC,EAAE,YAAY,eAAe,CAAC,EAAE,CAAC;YAC3E,MAAM,IAAI,KAAK,CAAC,GAAG,GAAG,2DAA2D,CAAC,CAAC;QACrF,CAAC;QACD,IAAI,IAAI,KAAK,EAAE,EAAE,CAAC;YAChB,MAAM,IAAI,KAAK,CAAC,GAAG,GAAG,4FAA4F,CAAC,CAAC;QACtH,CAAC;IACH,CAAC;IAEO,yBAAyB,CAAC,WAAmB;QACnD,MAAM,UAAU,GAAG,IAAI,CAAC,kBAAkB,CAAC;QAC3C,IAAI,CAAC,UAAU;YAAE,OAAO;QACxB,UAAU,CAAC,OAAO,IAAI,WAAW,CAAC;QAClC,MAAM,UAAU,GAAG,4BAA4B,CAAC,UAAU,CAAC,OAAO,EAAE,UAAU,CAAC,QAAQ,CAAC,CAAC;QACzF,UAAU,CAAC,IAAI,CAAC,MAAM,GAAG,UAAU,CAAC;QACpC,UAAU,CAAC,EAAE,CAAC,MAAM,GAAG,CAAC,GAAG,UAAU,CAAC;QACtC,oFAAoF;QACpF,IAAI,UAAU,IAAI,IAAI,EAAE,CAAC;YACvB,UAAU,CAAC,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC;YAC3B,UAAU,CAAC,EAAE,CAAC,MAAM,GAAG,CAAC,CAAC;YACzB,UAAU,CAAC,IAAI,CAAC,IAAI,EAAE,CAAC;YACvB,IAAI,CAAC,kBAAkB,GAAG,SAAS,CAAC;QACtC,CAAC;IACH,CAAC;IAEO,eAAe,CAAC,MAAuB;QAC7C,IAAI,IAAI,CAAC,MAAM,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAC7B,OAAO,eAAe,CAAC;QACzB,CAAC;QACD,MAAM,YAAY,GAAG,IAAI,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC;QACnF,OAAO,YAAY,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,eAAe,CAAC;IAClE,CAAC;CACF;AAED,MAAM,cAAc,GAAe;IACjC,IAAI,EAAE,SAAS;IACf,MAAM,EAAE,CAAC;IACT,QAAQ,EAAE,KAAK;IACf,IAAI,EAAE,EAAE;IACR,OAAO,EAAE,EAAE;IACX,cAAc,EAAE,GAAG,EAAE,CAAC,IAAI;IAC1B,QAAQ,EAAE,GAAG,EAAE,CAAC,CAAC,EAAE,IAAI,EAAE,SAAS,EAAE,MAAM,EAAE,CAAC,EAAE,QAAQ,EAAE,KAAK,EAAE,IAAI,EAAE,EAAE,EAAE,OAAO,EAAE,EAAE,EAAE,CAAC;CACzF,CAAC;AACF,MAAM,eAAe,GAA0B,CAAC,cAAc,CAAC,CAAC;AAEhE,SAAS,SAAS,CAAC,YAA4C,EAAE,MAAc,EAAE,IAAY,EAAE,KAAqB,EAAE,MAAc,EAAE,QAAiB;IACrJ,IAAI,MAAM,IAAI,CAAC,EAAE,CAAC;QAChB,OAAO;IACT,CAAC;IACD,MAAM,OAAO,GAAG,YAAY,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IACzC,IAAI,CAAC,OAAO,EAAE,CAAC;QACb,MAAM,WAAW,GAAsB,EAAE,IAAI,EAAE,CAAC;QAChD,IAAI,QAAQ,EAAE,CAAC;YACb,WAAW,CAAC,QAAQ,GAAG,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;QACnE,CAAC;aAAM,CAAC;YACN,WAAW,CAAC,IAAI,GAAG,EAAE,KAAK,EAAE,mBAAmB,CAAC,KAAK,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC;QACzE,CAAC;QACD,YAAY,CAAC,GAAG,CAAC,MAAM,EAAE,WAAW,CAAC,CAAC;QACtC,OAAO;IACT,CAAC;IACD,IAAI,OAAO,CAAC,IAAI,KAAK,IAAI,EAAE,CAAC;QAC1B,MAAM,IAAI,KAAK,CAAC,gBAAgB,IAAI,kCAAkC,OAAO,CAAC,IAAI,WAAW,MAAM,GAAG,CAAC,CAAC;IAC1G,CAAC;IACD,IAAI,QAAQ,EAAE,CAAC;QACb,OAAO,CAAC,QAAQ,GAAG,OAAO,CAAC,QAAQ,KAAK,SAAS;YAC/C,CAAC,CAAC,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC;YAC3C,CAAC,CAAC,eAAe,CAAC,IAAI,EAAE,OAAO,CAAC,QAAQ,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;QAC3D,OAAO;IACT,CAAC;IACD,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,CAAC;QAClB,OAAO,CAAC,IAAI,GAAG,EAAE,KAAK,EAAE,mBAAmB,CAAC,KAAK,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC;QACnE,OAAO;IACT,CAAC;IACD,SAAS,CAAC,OAAO,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;AAC/C,CAAC;AAED,SAAS,SAAS,CAAC,OAA4B,EAAE,IAAY,EAAE,KAAqB,EAAE,MAAc;IAClG,6EAA6E;IAC7E,wDAAwD;IACxD,IAAI,qBAAqB,EAAE,EAAE,CAAC;QAC5B,cAAc,CAAC,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;QAC7C,OAAO;IACT,CAAC;IACD,MAAM,KAAK,GAAG,OAAO,CAAC,MAAM,GAAG,MAAM,CAAC;IACtC,MAAM,CAAC,GAAG,MAAM,GAAG,KAAK,CAAC;IACzB,IAAI,IAAI,KAAK,QAAQ,EAAE,CAAC;QACtB,OAAO,CAAC,KAAK,GAAI,OAAO,CAAC,KAAgB,GAAG,CAAE,KAAgB,GAAI,OAAO,CAAC,KAAgB,CAAC,GAAG,CAAC,CAAC;IAClG,CAAC;SAAM,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QAC9B,MAAM,CAAC,GAAG,OAAO,CAAC,KAAiC,CAAC;QACpD,MAAM,CAAC,GAAG,KAAiC,CAAC;QAC5C,OAAO,CAAC,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IACjG,CAAC;SAAM,IAAI,IAAI,KAAK,YAAY,EAAE,CAAC;QACjC,OAAO,CAAC,KAAK,GAAG,SAAS,CAAC,OAAO,CAAC,KAAyC,EAAE,KAAyC,EAAE,CAAC,CAAC,CAAC;IAC7H,CAAC;SAAM,IAAI,IAAI,KAAK,cAAc,EAAE,CAAC;QACnC,MAAM,CAAC,GAAG,OAAO,CAAC,KAA0B,CAAC;QAC7C,MAAM,CAAC,GAAG,KAA0B,CAAC;QACrC,IAAI,CAAC,CAAC,MAAM,KAAK,CAAC,CAAC,MAAM,EAAE,CAAC;YAC1B,MAAM,IAAI,KAAK,CAAC,oEAAoE,CAAC,CAAC;QACxF,CAAC;QACD,OAAO,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,SAAS,EAAE,KAAK,EAAE,EAAE,CAAC,SAAS,GAAG,CAAC,CAAC,CAAC,KAAK,CAAE,GAAG,SAAS,CAAC,GAAG,CAAC,CAAC,CAAC;IACvF,CAAC;SAAM,CAAC;QACN,OAAO,CAAC,KAAK,GAAG,mBAAmB,CAAC,KAAK,CAAC,CAAC;IAC7C,CAAC;IACD,OAAO,CAAC,MAAM,GAAG,KAAK,CAAC;AACzB,CAAC;AAED,SAAS,mBAAmB,CAAC,WAA8B;IACzD,MAAM,IAAI,GAAG,WAAW,CAAC,IAAI;QAC3B,CAAC,CAAC,iBAAiB,CAAC,WAAW,CAAC,IAAI,CAAC;QACrC,CAAC,CAAC,WAAW,CAAC,QAAQ,KAAK,SAAS;YAClC,CAAC,CAAC,eAAe,CAAC,WAAW,CAAC,IAAI,EAAE,WAAW,CAAC,QAAQ,CAAC;YACzD,CAAC,CAAC,SAAS,CAAC;IAChB,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QACvB,MAAM,IAAI,KAAK,CAAC,oDAAoD,CAAC,CAAC;IACxE,CAAC;IACD,IAAI,WAAW,CAAC,QAAQ,KAAK,SAAS,EAAE,CAAC;QACvC,OAAO,IAAI,CAAC;IACd,CAAC;IACD,OAAO,aAAa,CAAC,WAAW,CAAC,IAAI,EAAE,IAAI,EAAE,WAAW,CAAC,QAAQ,CAAC,CAAC;AACrE,CAAC;AAED,SAAS,iBAAiB,CAAC,WAAgC;IACzD,IAAI,WAAW,CAAC,IAAI,KAAK,YAAY,EAAE,CAAC;QACtC,OAAO,aAAa,CAAC,WAAW,CAAC,KAAyC,CAAC,CAAC;IAC9E,CAAC;IACD,OAAO,mBAAmB,CAAC,WAAW,CAAC,KAAK,CAAC,CAAC;AAChD,CAAC;AAED,SAAS,oBAAoB,CAAC,IAAY,EAAE,KAAqB,EAAE,MAAc;IAC/E,IAAI,qBAAqB,EAAE,EAAE,CAAC;QAC5B,OAAO,yBAAyB,CAAC,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC;IACxD,CAAC;IACD,IAAI,IAAI,KAAK,QAAQ,EAAE,CAAC;QACtB,OAAQ,KAAgB,GAAG,MAAM,CAAC;IACpC,CAAC;IACD,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QACvB,MAAM,MAAM,GAAG,KAAiC,CAAC;QACjD,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC;IACtE,CAAC;IACD,IAAI,IAAI,KAAK,cAAc,EAAE,CAAC;QAC5B,OAAQ,KAA2B,CAAC,GAAG,CAAC,CAAC,SAAS,EAAE,EAAE,CAAC,SAAS,GAAG,MAAM,CAAC,CAAC;IAC7E,CAAC;IACD,IAAI,IAAI,KAAK,YAAY,EAAE,CAAC;QAC1B,OAAO,SAAS,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,aAAa,CAAC,KAAyC,CAAC,EAAE,MAAM,CAAC,CAAC;IACnG,CAAC;IACD,MAAM,IAAI,KAAK,CAAC,wFAAwF,CAAC,CAAC;AAC5G,CAAC;AAED,SAAS,eAAe,CAAC,IAAY,EAAE,OAAuB,EAAE,KAAqB,EAAE,MAAc;IACnG,OAAO,aAAa,CAAC,IAAI,EAAE,OAAO,EAAE,oBAAoB,CAAC,IAAI,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC;AACjF,CAAC;AAED,SAAS,aAAa,CAAC,IAAY,EAAE,IAAoB,EAAE,KAAqB;IAC9E,IAAI,IAAI,KAAK,QAAQ,EAAE,CAAC;QACtB,OAAQ,IAAe,GAAI,KAAgB,CAAC;IAC9C,CAAC;IACD,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QACvB,MAAM,CAAC,GAAG,IAAgC,CAAC;QAC3C,MAAM,CAAC,GAAG,KAAiC,CAAC;QAC5C,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACjD,CAAC;IACD,IAAI,IAAI,KAAK,cAAc,EAAE,CAAC;QAC5B,MAAM,CAAC,GAAG,IAAyB,CAAC;QACpC,MAAM,CAAC,GAAG,KAA0B,CAAC;QACrC,IAAI,CAAC,CAAC,MAAM,KAAK,CAAC,CAAC,MAAM,EAAE,CAAC;YAC1B,MAAM,IAAI,KAAK,CAAC,kEAAkE,CAAC,CAAC;QACtF,CAAC;QACD,OAAO,CAAC,CAAC,GAAG,CAAC,CAAC,SAAS,EAAE,KAAK,EAAE,EAAE,CAAC,SAAS,GAAG,CAAC,CAAC,KAAK,CAAE,CAAC,CAAC;IAC5D,CAAC;IACD,IAAI,IAAI,KAAK,YAAY,EAAE,CAAC;QAC1B,OAAO,aAAa,CAAC,YAAY,CAAC,IAAwC,EAAE,KAAyC,CAAC,CAAC,CAAC;IAC1H,CAAC;IACD,MAAM,IAAI,KAAK,CAAC,wFAAwF,CAAC,CAAC;AAC5G,CAAC;AAED,SAAS,eAAe,CAAC,IAAY,EAAE,KAAqB;IAC1D,IAAI,IAAI,KAAK,QAAQ,EAAE,CAAC;QACtB,OAAO,CAAC,CAAC;IACX,CAAC;IACD,IAAI,IAAI,KAAK,SAAS,EAAE,CAAC;QACvB,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACnB,CAAC;IACD,IAAI,IAAI,KAAK,cAAc,EAAE,CAAC;QAC5B,OAAQ,KAA2B,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC;IACnD,CAAC;IACD,IAAI,IAAI,KAAK,YAAY,EAAE,CAAC;QAC1B,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACtB,CAAC;IACD,MAAM,IAAI,KAAK,CAAC,wFAAwF,CAAC,CAAC;AAC5G,CAAC;AAED,SAAS,YAAY,CAAC,CAAmC,EAAE,CAAmC;IAC5F,OAAO;QACL,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrD,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrD,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrD,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;KACtD,CAAC;AACJ,CAAC"}

package/dist/animation/FootIk.d.ts

@@ -44,6 +44,15 @@ export interface FootLegInput {
     readonly knee: Vec3;
     readonly ankle: Vec3;
     readonly pole?: Vec3;
+    /** Measured joint-to-sole offset for this leg; overrides the rig fallback. */
+    readonly ankleHeight?: number;
+    /** Authored contact phase. False always releases; true still requires a ground hit. */
+    readonly contact?: boolean;
+    /** Stable support identity plus its displacement since the preceding solve, in world units. */
+    readonly support?: {
+        readonly id: string;
+        readonly delta: Vec3;
+    };
 }
 export interface FootIkRigOptions {
     readonly legs: readonly FootLegInput[];
@@ -93,4 +102,45 @@ export interface FootIkRig {
 }
 /** Create a foot-IK rig. Foot-lock state persists across `solveFootPlacement` calls. */
 export declare function createFootIkRig(options: FootIkRigOptions): FootIkRig;
+import { type TwoBoneIkConstraintSpec } from "./IK.js";
+import type { PoseBuffer } from "./pose/PoseBuffer.js";
+import type { SkeletonBinding } from "./pose/SkeletonBinding.js";
+export interface FootIkConstraintSpec {
+    /** One two-bone leg spec per leg (root/mid/tip name the thigh/knee/ankle joints). */
+    readonly legs: readonly (TwoBoneIkConstraintSpec & {
+        /** Ankle joint height above the sole contact point (default 0.035 m). */
+        readonly ankleHeight?: number;
+    })[];
+    /** Scene-supplied ground query (C-26 interface). */
+    readonly ground: GroundRaycaster;
+    /** Optional pelvis bone — dropped by the deepest required correction. */
+    readonly pelvis?: string;
+    /** Maximum pelvis drop in metres (default 0.4). */
+    readonly maxPelvisDrop?: number;
+    /** Maximum sole-normal tilt toward the ground normal (default 35°). */
+    readonly maxFootTiltDeg?: number;
+    /** Feet already planted (within `plantThreshold`) keep their current pose when true. */
+    readonly lockOnContact?: boolean;
+    /** Foot is planted when its required vertical correction is ≤ this (default 0.02 m). */
+    readonly plantThreshold?: number;
+    /** Ray origin offset above the ankle and max ray distance (defaults 0.6 / 2). */
+    readonly rayStartHeight?: number;
+    readonly maxRayDistance?: number;
+}
+/**
+ * T3.2 — evaluate a foot-IK constraint on a pose: for each leg, raycast the
+ * ground under the ankle, drop the pelvis by the deepest required correction
+ * (min of per-foot deltas, clamped to `maxPelvisDrop`), solve each leg's
+ * rotations toward `ground.point + normal * ankleHeight`, then tilt each foot
+ * bone toward the ground normal capped at `maxFootTiltDeg`.
+ *
+ * Returns per-leg telemetry (grounded, correction applied, tilt degrees) for
+ * the §17.3 foot-surface diagnostic.
+ */
+export declare function solveFootIkConstraint(pose: PoseBuffer, skeleton: SkeletonBinding, modelMatrix: Float32Array | readonly number[], spec: FootIkConstraintSpec): readonly {
+    readonly leg: number;
+    readonly grounded: boolean;
+    readonly verticalCorrection: number;
+    readonly tiltDeg: number;
+}[];
 //# sourceMappingURL=FootIk.d.ts.map

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

@@ -1 +1 @@
-{"version":3,"file":"FootIk.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/FootIk.ts"],"names":[],"mappings":"AAYA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,eAAe,CAAC;AAE1C,oDAAoD;AACpD,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,QAAQ,CAAC,WAAW,EAAE,IAAI,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;IAC3B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;CAC9B;AAED,qFAAqF;AACrF,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;CAC3B;AAED,+FAA+F;AAC/F,MAAM,WAAW,eAAe;IAC9B,WAAW,CAAC,MAAM,EAAE,IAAI,EAAE,WAAW,EAAE,MAAM,GAAG,YAAY,GAAG,SAAS,CAAC;CAC1E;AAED;;;GAGG;AACH,wBAAgB,uBAAuB,CAAC,QAAQ,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK;IAAE,MAAM,EAAE,MAAM,CAAC;IAAC,MAAM,CAAC,EAAE,IAAI,CAAA;CAAE,GAAG,eAAe,CAS9H;AAED;;;;;;GAMG;AACH,wBAAgB,0BAA0B,CACxC,IAAI,EAAE,eAAe,EACrB,gBAAgB,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK,MAAM,GAAG,SAAS,GAC7D,eAAe,GAAG;IAAE,gBAAgB,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,GAAG,SAAS,CAAA;CAAE,CAiBlF;AAED,wFAAwF;AACxF,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;CACtB;AAED,MAAM,WAAW,gBAAgB;IAC/B,QAAQ,CAAC,IAAI,EAAE,SAAS,YAAY,EAAE,CAAC;IACvC,QAAQ,CAAC,SAAS,EAAE,eAAe,CAAC;IACpC,kFAAkF;IAClF,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,uEAAuE;IACvE,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,oCAAoC;IACpC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,kGAAkG;IAClG,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,kGAAkG;IAClG,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;CACjC;AAED,MAAM,WAAW,SAAS;IACxB,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,MAAM,EAAE,YAAY,CAAC;IAC9B,+DAA+D;IAC/D,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,kEAAkE;IAClE,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,OAAO,EAAE,OAAO,CAAC;CAC3B;AAED,MAAM,WAAW,iBAAiB;IAChC,QAAQ,CAAC,IAAI,EAAE,SAAS,SAAS,EAAE,CAAC;IACpC,gFAAgF;IAChF,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;CACrC;AAgBD,MAAM,WAAW,SAAS;IACxB;;;;OAIG;IACH,kBAAkB,CAAC,IAAI,CAAC,EAAE;QAAE,IAAI,CAAC,EAAE,SAAS,YAAY,EAAE,CAAA;KAAE,EAAE,WAAW,CAAC,EAAE,eAAe,GAAG,iBAAiB,CAAC;IAChH,qDAAqD;IACrD,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,GAAG,OAAO,CAAC;IAC1C,8DAA8D;IAC9D,KAAK,IAAI,IAAI,CAAC;CACf;AAED,wFAAwF;AACxF,wBAAgB,eAAe,CAAC,OAAO,EAAE,gBAAgB,GAAG,SAAS,CAiDpE"}
+{"version":3,"file":"FootIk.d.ts","sourceRoot":"","sources":["../../../../packages/animation/src/FootIk.ts"],"names":[],"mappings":"AAYA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,eAAe,CAAC;AAE1C,oDAAoD;AACpD,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,QAAQ,CAAC,WAAW,EAAE,IAAI,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;IAC3B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;CAC9B;AAED,qFAAqF;AACrF,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;CAC3B;AAED,+FAA+F;AAC/F,MAAM,WAAW,eAAe;IAC9B,WAAW,CAAC,MAAM,EAAE,IAAI,EAAE,WAAW,EAAE,MAAM,GAAG,YAAY,GAAG,SAAS,CAAC;CAC1E;AAED;;;GAGG;AACH,wBAAgB,uBAAuB,CAAC,QAAQ,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK;IAAE,MAAM,EAAE,MAAM,CAAC;IAAC,MAAM,CAAC,EAAE,IAAI,CAAA;CAAE,GAAG,eAAe,CAS9H;AAED;;;;;;GAMG;AACH,wBAAgB,0BAA0B,CACxC,IAAI,EAAE,eAAe,EACrB,gBAAgB,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,KAAK,MAAM,GAAG,SAAS,GAC7D,eAAe,GAAG;IAAE,gBAAgB,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,GAAG,SAAS,CAAA;CAAE,CAiBlF;AAED,wFAAwF;AACxF,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,QAAQ,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;IACrB,8EAA8E;IAC9E,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,uFAAuF;IACvF,QAAQ,CAAC,OAAO,CAAC,EAAE,OAAO,CAAC;IAC3B,+FAA+F;IAC/F,QAAQ,CAAC,OAAO,CAAC,EAAE;QAAE,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;QAAC,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAA;KAAE,CAAC;CAClE;AAED,MAAM,WAAW,gBAAgB;IAC/B,QAAQ,CAAC,IAAI,EAAE,SAAS,YAAY,EAAE,CAAC;IACvC,QAAQ,CAAC,SAAS,EAAE,eAAe,CAAC;IACpC,kFAAkF;IAClF,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,uEAAuE;IACvE,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,oCAAoC;IACpC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,kGAAkG;IAClG,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,kGAAkG;IAClG,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;CACjC;AAED,MAAM,WAAW,SAAS;IACxB,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC;IAChC,QAAQ,CAAC,MAAM,EAAE,YAAY,CAAC;IAC9B,+DAA+D;IAC/D,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB,kEAAkE;IAClE,QAAQ,CAAC,MAAM,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,OAAO,EAAE,OAAO,CAAC;CAC3B;AAED,MAAM,WAAW,iBAAiB;IAChC,QAAQ,CAAC,IAAI,EAAE,SAAS,SAAS,EAAE,CAAC;IACpC,gFAAgF;IAChF,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;CACrC;AAiBD,MAAM,WAAW,SAAS;IACxB;;;;OAIG;IACH,kBAAkB,CAAC,IAAI,CAAC,EAAE;QAAE,IAAI,CAAC,EAAE,SAAS,YAAY,EAAE,CAAA;KAAE,EAAE,WAAW,CAAC,EAAE,eAAe,GAAG,iBAAiB,CAAC;IAChH,qDAAqD;IACrD,QAAQ,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,GAAG,OAAO,CAAC;IAC1C,8DAA8D;IAC9D,KAAK,IAAI,IAAI,CAAC;CACf;AAED,wFAAwF;AACxF,wBAAgB,eAAe,CAAC,OAAO,EAAE,gBAAgB,GAAG,SAAS,CAiDpE;AAwLD,OAAO,EAA2B,KAAK,uBAAuB,EAAE,MAAM,SAAS,CAAC;AAChF,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,sBAAsB,CAAC;AACvD,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,2BAA2B,CAAC;AAEjE,MAAM,WAAW,oBAAoB;IACnC,qFAAqF;IACrF,QAAQ,CAAC,IAAI,EAAE,SAAS,CAAC,uBAAuB,GAAG;QACjD,yEAAyE;QACzE,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;KAC/B,CAAC,EAAE,CAAC;IACL,oDAAoD;IACpD,QAAQ,CAAC,MAAM,EAAE,eAAe,CAAC;IACjC,yEAAyE;IACzE,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,mDAAmD;IACnD,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,uEAAuE;IACvE,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,wFAAwF;IACxF,QAAQ,CAAC,aAAa,CAAC,EAAE,OAAO,CAAC;IACjC,wFAAwF;IACxF,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,iFAAiF;IACjF,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;CAClC;AAgFD;;;;;;;;;GASG;AACH,wBAAgB,qBAAqB,CACnC,IAAI,EAAE,UAAU,EAChB,QAAQ,EAAE,eAAe,EACzB,WAAW,EAAE,YAAY,GAAG,SAAS,MAAM,EAAE,EAC7C,IAAI,EAAE,oBAAoB,GACzB,SAAS;IAAE,QAAQ,CAAC,GAAG,EAAE,MAAM,CAAC;IAAC,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;IAAC,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IAAC,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAA;CAAE,EAAE,CAqHhI"}

package/dist/animation/FootIk.js

@@ -84,7 +84,7 @@ export function createFootIkRig(options) {
             let deepestCorrection = 0;
             for (const leg of legs) {
                 const lock = lockFor(leg.side);
-                const result = solveLeg(leg, lock, raycaster, { ankleHeight, rayStartHeight, maxRayDistance, plantThreshold });
+                const result = solveLeg(leg, lock, raycaster, { ankleHeight: leg.ankleHeight ?? ankleHeight, rayStartHeight, maxRayDistance, plantThreshold });
                 solved.push(result);
                 // 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.
@@ -134,7 +134,18 @@ function solveLeg(leg, lock, raycaster, params) {
     }
     const groundTargetY = ground.point[1] + params.ankleHeight;
     const heightAboveGround = sourceAnkle[1] - groundTargetY;
-    const inStance = heightAboveGround <= params.plantThreshold;
+    const inStance = leg.contact ?? (heightAboveGround <= params.plantThreshold);
+    if (lock.locked && lock.supportId !== leg.support?.id)
+        lock.locked = false;
+    if (lock.locked && leg.support) {
+        if (leg.support.delta.some(value => !Number.isFinite(value)))
+            throw new Error("Foot support displacement must be finite.");
+        lock.lockedPosition = [
+            lock.lockedPosition[0] + leg.support.delta[0],
+            lock.lockedPosition[1] + leg.support.delta[1],
+            lock.lockedPosition[2] + leg.support.delta[2]
+        ];
+    }
     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;
@@ -145,6 +156,7 @@ function solveLeg(leg, lock, raycaster, params) {
             lock.locked = true;
             lock.lockedPosition = [sourceAnkle[0], groundTargetY, sourceAnkle[2]];
             lock.onPlatform = overPlatform;
+            lock.supportId = leg.support?.id;
         }
         else if (lock.onPlatform) {
             if (overPlatform && platformTop !== undefined) {
@@ -171,9 +183,11 @@ function solveLeg(leg, lock, raycaster, params) {
         root: leg.hip,
         mid: leg.knee,
         end: leg.ankle,
-        target,
+        // Blend the target before solving; interpolating solved knee/ankle positions
+        // shortens the bones during swing blending.
+        target: [sourceAnkle[0] + (target[0] - sourceAnkle[0]) * weight, sourceAnkle[1] + (target[1] - sourceAnkle[1]) * weight, sourceAnkle[2] + (target[2] - sourceAnkle[2]) * weight],
         pole: leg.pole,
-        weight
+        weight: 1
     });
     const verticalCorrection = round(sourceAnkle[1] - target[1]);
     const targetError = round(solved.endDistanceToTarget);
@@ -199,8 +213,8 @@ function solveLeg(leg, lock, raycaster, params) {
  * 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
+ * several. Every leg is re-solved after a shared pelvis drop; leaving another knee
+ * at its pre-drop position would change its upper segment length. 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
@@ -213,14 +227,14 @@ function refineOverExtendedLegs(legs, solved, hipOffset) {
     for (let index = 0; index < solved.length; index += 1) {
         const result = solved[index];
         const leg = legs[index];
-        if (!result || !leg || result.sample.verticalCorrection <= 0)
+        if (!result || !leg)
             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,
+            target: result.locked ? result.sample.plantedFoot : result.ankle,
             pole: leg.pole,
             weight: 1
         });
@@ -236,10 +250,212 @@ function refineOverExtendedLegs(legs, solved, hipOffset) {
 function clamp(value, min, max) {
     return Math.max(min, Math.min(max, value));
 }
+/** Column-major affine mat4 × point (w divide for non-TRS safety). */
+function mulMat4Point(m, p) {
+    const x = p[0], y = p[1], z = p[2];
+    const w = m[3] * x + m[7] * y + m[11] * z + m[15] || 1;
+    return [
+        (m[0] * x + m[4] * y + m[8] * z + m[12]) / w,
+        (m[1] * x + m[5] * y + m[9] * z + m[13]) / w,
+        (m[2] * x + m[6] * y + m[10] * z + m[14]) / w
+    ];
+}
 function round(value) {
     return Number(value.toFixed(4));
 }
 function roundVec(value) {
     return [round(value[0]), round(value[1]), round(value[2])];
 }
+// ---------------------------------------------------------------------------
+// T3.2 — pose-space foot-IK constraint (`FootIkConstraintSpec`, PRD-06 §7.1):
+// consumes `solveTwoBoneIkRotations` directly on a PoseBuffer instead of the
+// legacy position-space leg input. Pelvis offset is the MINIMUM of the
+// per-foot ground deltas (each grounded foot's required vertical correction),
+// clamped to `maxPelvisDrop` — replaces the legacy fixed `hipDropFactor`
+// (0.72) on this path. Foot tilt aligns the foot bone's up axis to the ground
+// normal, capped at `maxFootTiltDeg` (default 35°).
+// ---------------------------------------------------------------------------
+import { solveTwoBoneIkRotations } from "./IK.js";
+function fkFrame(pose, skeleton, joint) {
+    const rot = [pose.rotations[joint * 4], pose.rotations[joint * 4 + 1], pose.rotations[joint * 4 + 2], pose.rotations[joint * 4 + 3]];
+    const scl = [pose.scales[joint * 3], pose.scales[joint * 3 + 1], pose.scales[joint * 3 + 2]];
+    const pos = [pose.positions[joint * 3], pose.positions[joint * 3 + 1], pose.positions[joint * 3 + 2]];
+    const parent = skeleton.parentIndices[joint] ?? -1;
+    if (parent < 0 || parent >= skeleton.boneCount || parent === joint) {
+        return { position: pos, rotation: rot, scale: scl };
+    }
+    const pf = fkFrame(pose, skeleton, parent);
+    const scaled = [pos[0] * pf.scale[0], pos[1] * pf.scale[1], pos[2] * pf.scale[2]];
+    const rotated = rotateVec3(pf.rotation, scaled);
+    return {
+        position: [pf.position[0] + rotated[0], pf.position[1] + rotated[1], pf.position[2] + rotated[2]],
+        rotation: multiplyQuat(pf.rotation, rot),
+        scale: [pf.scale[0] * scl[0], pf.scale[1] * scl[1], pf.scale[2] * scl[2]]
+    };
+}
+function rotateVec3(q, v) {
+    const [x, y, z, w] = q;
+    const tx = 2 * (y * v[2] - z * v[1]);
+    const ty = 2 * (z * v[0] - x * v[2]);
+    const tz = 2 * (x * v[1] - y * v[0]);
+    return [v[0] + w * tx + (y * tz - z * ty), v[1] + w * ty + (z * tx - x * tz), v[2] + w * tz + (x * ty - y * tx)];
+}
+function multiplyQuat(a, b) {
+    const [ax, ay, az, aw] = a;
+    const [bx, by, bz, bw] = b;
+    return [
+        ax * bw + aw * bx + ay * bz - az * by,
+        ay * bw + aw * by + az * bx - ax * bz,
+        az * bw + aw * bz + ax * by - ay * bx,
+        aw * bw - ax * bx - ay * by - az * bz
+    ];
+}
+function quatFromUnitVectors(from, to) {
+    const d = Math.max(-1, Math.min(1, from[0] * to[0] + from[1] * to[1] + from[2] * to[2]));
+    if (d > 1 - 1e-9)
+        return [0, 0, 0, 1];
+    if (d < -1 + 1e-9) {
+        const axis = Math.abs(from[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];
+        const c = [
+            from[1] * axis[2] - from[2] * axis[1],
+            from[2] * axis[0] - from[0] * axis[2],
+            from[0] * axis[1] - from[1] * axis[0]
+        ];
+        const l = Math.hypot(c[0], c[1], c[2]) || 1;
+        return [c[0] / l, c[1] / l, c[2] / l, 0];
+    }
+    const c = [
+        from[1] * to[2] - from[2] * to[1],
+        from[2] * to[0] - from[0] * to[2],
+        from[0] * to[1] - from[1] * to[0]
+    ];
+    const w = Math.sqrt((1 + d) / 2);
+    const s = 1 / (2 * w);
+    return [c[0] * s, c[1] * s, c[2] * s, w];
+}
+function axisAngle(axis, radians) {
+    const half = radians / 2;
+    const s = Math.sin(half);
+    return [axis[0] * s, axis[1] * s, axis[2] * s, Math.cos(half)];
+}
+function jointIndex(skeleton, name) {
+    const indices = skeleton.jointIndicesByName.get(name);
+    if (!indices || indices.length === 0)
+        throw new Error(`FootIkConstraint: unknown bone "${name}".`);
+    return indices[0];
+}
+/**
+ * T3.2 — evaluate a foot-IK constraint on a pose: for each leg, raycast the
+ * ground under the ankle, drop the pelvis by the deepest required correction
+ * (min of per-foot deltas, clamped to `maxPelvisDrop`), solve each leg's
+ * rotations toward `ground.point + normal * ankleHeight`, then tilt each foot
+ * bone toward the ground normal capped at `maxFootTiltDeg`.
+ *
+ * Returns per-leg telemetry (grounded, correction applied, tilt degrees) for
+ * the §17.3 foot-surface diagnostic.
+ */
+export function solveFootIkConstraint(pose, skeleton, modelMatrix, spec) {
+    const ankleHeightDefault = 0.035;
+    const rayStartHeight = spec.rayStartHeight ?? 0.6;
+    const maxRayDistance = spec.maxRayDistance ?? 2;
+    const plantThreshold = spec.plantThreshold ?? 0.02;
+    const maxPelvisDrop = spec.maxPelvisDrop ?? 0.4;
+    const maxFootTiltDeg = spec.maxFootTiltDeg ?? 35;
+    const plans = [];
+    for (const [index, leg] of spec.legs.entries()) {
+        const ankleIndex = jointIndex(skeleton, leg.tip);
+        const ankle = fkFrame(pose, skeleton, ankleIndex).position;
+        // Model matrix is applied inside the solver; raycast in MODEL space via
+        // world coords — the scene's GroundRaycaster is defined in world space and
+        // T3.9 supplies an analytic caster in world units, so keep model space for
+        // simple rigs (identity or translation-only model matrices).
+        const hit = spec.ground.raycastDown([ankle[0], ankle[1] + rayStartHeight, ankle[2]], rayStartHeight + maxRayDistance);
+        if (!hit)
+            continue;
+        const ankleHeight = leg.ankleHeight ?? ankleHeightDefault;
+        const target = [
+            hit.point[0] + hit.normal[0] * 0,
+            hit.point[1] + hit.normal[1] * ankleHeight,
+            hit.point[2] + hit.normal[2] * 0
+            // Sole offsets along X/Z by the normal's horizontal part are
+            // intentionally ignored — the ankle sits directly over the contact.
+        ];
+        const deltaY = target[1] - ankle[1];
+        const grounded = Math.abs(deltaY) <= plantThreshold;
+        plans.push({ spec: leg, index, ankleIndex, target, normal: hit.normal, deltaY, grounded });
+    }
+    if (plans.length === 0)
+        return [];
+    // Pelvis drop = MINIMUM per-foot delta (deepest needed correction), clamped.
+    // The correction is expressed in pose space; the pelvis node's local
+    // translation lives in its parent frame, whose up axis need not be +Y and
+    // whose units need not be pose units (e.g. cm under a scaled glTF root) —
+    // map (0, drop, 0) through the parent frame's inverse rotation and scale.
+    if (spec.pelvis) {
+        const pelvisIndex = jointIndex(skeleton, spec.pelvis);
+        const minDelta = Math.min(0, ...plans.map((plan) => plan.deltaY));
+        const drop = Math.max(-maxPelvisDrop, minDelta);
+        if (drop !== 0) {
+            const parentIndex = skeleton.parentIndices[pelvisIndex] ?? -1;
+            const parentFrame = parentIndex >= 0 && parentIndex < skeleton.boneCount ? fkFrame(pose, skeleton, parentIndex) : undefined;
+            if (parentFrame !== undefined) {
+                const invRot = [-parentFrame.rotation[0], -parentFrame.rotation[1], -parentFrame.rotation[2], parentFrame.rotation[3]];
+                const dir = rotateVec3(invRot, [0, drop, 0]);
+                const sx = parentFrame.scale[0] || 1, sy = parentFrame.scale[1] || 1, sz = parentFrame.scale[2] || 1;
+                pose.positions[pelvisIndex * 3] = pose.positions[pelvisIndex * 3] + dir[0] / sx;
+                pose.positions[pelvisIndex * 3 + 1] = pose.positions[pelvisIndex * 3 + 1] + dir[1] / sy;
+                pose.positions[pelvisIndex * 3 + 2] = pose.positions[pelvisIndex * 3 + 2] + dir[2] / sz;
+            }
+            else {
+                pose.positions[pelvisIndex * 3 + 1] = pose.positions[pelvisIndex * 3 + 1] + drop;
+            }
+        }
+    }
+    // Pass 2 — solve legs + tilt feet.
+    const results = [];
+    for (const plan of plans) {
+        if (spec.lockOnContact && plan.grounded) {
+            results.push({ leg: plan.index, grounded: true, verticalCorrection: 0, tiltDeg: 0 });
+            continue;
+        }
+        // `solveTwoBoneIkRotations` takes a WORLD-space target (it maps the target
+        // back to model space via invertTRS(modelMatrix)); `plan.target` is model
+        // space — lift it to world or the mount transform is applied twice and the
+        // ankle aims past the real terrain.
+        solveTwoBoneIkRotations(pose, skeleton, modelMatrix, plan.spec, mulMat4Point(modelMatrix, plan.target));
+        // Foot tilt: rotate the tip bone so its local +Y (sole normal) matches the
+        // ground normal, capped at maxFootTiltDeg — applied in the tip's parent frame.
+        const frame = fkFrame(pose, skeleton, plan.ankleIndex);
+        const up = rotateVec3(frame.rotation, [0, 1, 0]);
+        const tiltQ = quatFromUnitVectors(up, plan.normal);
+        const tiltAngle = Math.acos(Math.max(-1, Math.min(1, tiltQ[3]))) * 2 * (180 / Math.PI);
+        const capped = Math.min(tiltAngle, maxFootTiltDeg);
+        if (capped > 1e-4 && tiltAngle > 1e-4) {
+            const axis = [
+                up[1] * plan.normal[2] - up[2] * plan.normal[1],
+                up[2] * plan.normal[0] - up[0] * plan.normal[2],
+                up[0] * plan.normal[1] - up[1] * plan.normal[0]
+            ];
+            const axisLen = Math.hypot(axis[0], axis[1], axis[2]);
+            if (axisLen > 1e-6) {
+                const nAxis = [axis[0] / axisLen, axis[1] / axisLen, axis[2] / axisLen];
+                const applied = axisAngle(nAxis, (capped * Math.PI) / 180);
+                const newWorld = multiplyQuat(applied, frame.rotation);
+                const parent = skeleton.parentIndices[plan.ankleIndex] ?? -1;
+                const parentRot = parent >= 0
+                    ? fkFrame(pose, skeleton, parent).rotation
+                    : [0, 0, 0, 1];
+                const inv = [-parentRot[0], -parentRot[1], -parentRot[2], parentRot[3]];
+                const local = multiplyQuat(inv, newWorld);
+                const l = Math.hypot(local[0], local[1], local[2], local[3]) || 1;
+                pose.rotations[plan.ankleIndex * 4] = local[0] / l;
+                pose.rotations[plan.ankleIndex * 4 + 1] = local[1] / l;
+                pose.rotations[plan.ankleIndex * 4 + 2] = local[2] / l;
+                pose.rotations[plan.ankleIndex * 4 + 3] = local[3] / l;
+            }
+        }
+        results.push({ leg: plan.index, grounded: false, verticalCorrection: plan.deltaY, tiltDeg: Math.min(tiltAngle, maxFootTiltDeg) });
+    }
+    return results;
+}
 //# sourceMappingURL=FootIk.js.map