@aura3d/engine 3.0.0 → 4.0.0

package/dist/animation/IK.js

@@ -82,4 +82,519 @@ function normalize(value) {
 function clamp(value, min, max) {
     return Math.max(min, Math.min(max, value));
 }
+import { multiplyQuatFlat, normalizeQuatFlat, slerpQuatFlat } from "./pose/quatFlat.js";
+function jointIndex(skeleton, name) {
+    const indices = skeleton.jointIndicesByName.get(name);
+    if (!indices || indices.length === 0) {
+        throw new Error(`solveTwoBoneIkRotations: unknown bone "${name}".`);
+    }
+    return indices[0];
+}
+/**
+ * T3.1 (PRD-06 §7.2): solve a two-bone chain in pose space — writes the local
+ * rotations of `spec.root` and `spec.mid` so `spec.tip` reaches `target`
+ * (world space). The solve is analytic: `solveTwoBoneIk` places the joints,
+ * then the new directions convert back to local rotations with pole-plane and
+ * twist distribution handled.
+ *
+ * - `pole`: "auto" (default) keeps the current bend plane; a world point or
+ *   `{ bone }` steers the plane through that point/bone.
+ * - `weight`: blends between the current pose and the solved pose (0 = no-op).
+ * - `twistBone`/`twistWeight`: distributes the plane-alignment twist onto an
+ *   extra joint (e.g. a forearm twist bone).
+ * - `allowStretch`: multiplier > 1 lets the tip reach beyond the limb length.
+ */
+// §13 — shared scratch for `solveTwoBoneIkRotations`. Grows once to the
+// largest skeleton seen; a generation mark lets each call reuse the arrays
+// without clearing them.
+const IK_SCRATCH = {
+    boneCount: 0,
+    pos: new Float32Array(0),
+    rot: new Float32Array(0),
+    scl: new Float32Array(0),
+    mark: new Uint32Array(0),
+    gen: 0
+};
+const ikQuatScratchA = new Float32Array(4);
+const ikQuatScratchB = new Float32Array(4);
+const ikQuatScratchC = new Float32Array(4);
+const ikQuatScratchD = new Float32Array(4);
+const ikQuatScratchE = new Float32Array(4);
+const ikQuatScratchF = new Float32Array(4);
+const ikQuatScratchG = new Float32Array(4);
+const ikQuatScratchH = new Float32Array(4);
+const ikQuatScratchI = new Float32Array(4);
+function ikScratch(boneCount) {
+    if (boneCount > IK_SCRATCH.boneCount) {
+        IK_SCRATCH.boneCount = boneCount;
+        IK_SCRATCH.pos = new Float32Array(boneCount * 3);
+        IK_SCRATCH.rot = new Float32Array(boneCount * 4);
+        IK_SCRATCH.scl = new Float32Array(boneCount * 3);
+        IK_SCRATCH.mark = new Uint32Array(boneCount);
+        IK_SCRATCH.gen = 0;
+    }
+    return IK_SCRATCH;
+}
+/** Scalar `quatFromUnitVectors`: minimal-arc rotation `from`→`to` into `out`. */
+function quatFromUnitVectorsInto(out, fx, fy, fz, tx, ty, tz) {
+    const d = clamp(fx * tx + fy * ty + fz * tz, -1, 1);
+    if (d > 1 - 1e-9) {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        out[3] = 1;
+        return;
+    }
+    if (d < -1 + 1e-9) {
+        // 180°: pick any perpendicular axis.
+        const ax = Math.abs(fx) < 0.9 ? 1 : 0;
+        const ay = Math.abs(fx) < 0.9 ? 0 : 1;
+        let cx = fy * 0 - fz * ay;
+        let cy = fz * ax - fx * 0;
+        let cz = fx * ay - fy * ax;
+        const l = Math.hypot(cx, cy, cz) || 1;
+        cx /= l;
+        cy /= l;
+        cz /= l;
+        out[0] = cx;
+        out[1] = cy;
+        out[2] = cz;
+        out[3] = 0;
+        return;
+    }
+    const cx = fy * tz - fz * ty;
+    const cy = fz * tx - fx * tz;
+    const cz = fx * ty - fy * tx;
+    const w = Math.sqrt((1 + d) / 2);
+    const s = 1 / (2 * w);
+    out[0] = cx * s;
+    out[1] = cy * s;
+    out[2] = cz * s;
+    out[3] = w;
+}
+/** Lazy world-frame resolve into IK_SCRATCH — mirrors the removed `jointFrames`. */
+function ikResolveFrame(pose, skeleton, s, gen, index) {
+    if (s.mark[index] === gen)
+        return;
+    const lp = index * 3;
+    const lr = index * 4;
+    const pPos = pose.positions;
+    const pRot = pose.rotations;
+    const pScl = pose.scales;
+    const parent = skeleton.parentIndices[index] ?? -1;
+    if (parent < 0 || parent >= skeleton.boneCount || parent === index) {
+        s.pos[lp] = pPos[lp];
+        s.pos[lp + 1] = pPos[lp + 1];
+        s.pos[lp + 2] = pPos[lp + 2];
+        s.rot[lr] = pRot[lr];
+        s.rot[lr + 1] = pRot[lr + 1];
+        s.rot[lr + 2] = pRot[lr + 2];
+        s.rot[lr + 3] = pRot[lr + 3];
+        s.scl[lp] = pScl[lp];
+        s.scl[lp + 1] = pScl[lp + 1];
+        s.scl[lp + 2] = pScl[lp + 2];
+        s.mark[index] = gen;
+        return;
+    }
+    ikResolveFrame(pose, skeleton, s, gen, parent);
+    const pp = parent * 3;
+    const pr = parent * 4;
+    const qx = s.rot[pr], qy = s.rot[pr + 1], qz = s.rot[pr + 2], qw = s.rot[pr + 3];
+    const sx = pPos[lp] * s.scl[pp];
+    const sy = pPos[lp + 1] * s.scl[pp + 1];
+    const sz = pPos[lp + 2] * s.scl[pp + 2];
+    const ix = qw * sx + qy * sz - qz * sy;
+    const iy = qw * sy + qz * sx - qx * sz;
+    const iz = qw * sz + qx * sy - qy * sx;
+    const iw = -qx * sx - qy * sy - qz * sz;
+    s.pos[lp] = s.pos[pp] + (ix * qw + iw * -qx + iy * -qz - iz * -qy);
+    s.pos[lp + 1] = s.pos[pp + 1] + (iy * qw + iw * -qy + iz * -qx - ix * -qz);
+    s.pos[lp + 2] = s.pos[pp + 2] + (iz * qw + iw * -qz + ix * -qy - iy * -qx);
+    multiplyQuatFlat(s.rot, lr, s.rot, pr, pRot, lr);
+    normalizeQuatFlat(s.rot, lr);
+    s.scl[lp] = s.scl[pp] * pScl[lp];
+    s.scl[lp + 1] = s.scl[pp + 1] * pScl[lp + 1];
+    s.scl[lp + 2] = s.scl[pp + 2] * pScl[lp + 2];
+    s.mark[index] = gen;
+}
+/** Parent's resolved world rotation into `out` (identity at the root). */
+function ikParentRot(pose, skeleton, s, gen, index, out) {
+    const parent = skeleton.parentIndices[index] ?? -1;
+    if (parent < 0 || parent >= skeleton.boneCount) {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        out[3] = 1;
+        return out;
+    }
+    ikResolveFrame(pose, skeleton, s, gen, parent);
+    const pr = parent * 4;
+    out[0] = s.rot[pr];
+    out[1] = s.rot[pr + 1];
+    out[2] = s.rot[pr + 2];
+    out[3] = s.rot[pr + 3];
+    return out;
+}
+/** Scalar form of the removed `mat3ToQuat` — same sign conventions, writes into `out`. */
+function mat3ToQuatInto(out, m00, m10, m20, m01, m11, m21, m02, m12, m22) {
+    const trace = m00 + m11 + m22;
+    let x, y, z, w;
+    if (trace > 0) {
+        const s = 0.5 / Math.sqrt(trace + 1);
+        x = (m21 - m12) * s;
+        y = (m02 - m20) * s;
+        z = (m10 - m01) * s;
+        w = 0.25 / s;
+    }
+    else if (m00 > m11 && m00 > m22) {
+        const s = 2 * Math.sqrt(1 + m00 - m11 - m22);
+        x = 0.25 * s;
+        y = (m01 + m10) / s;
+        z = (m02 + m20) / s;
+        w = (m21 - m12) / s;
+    }
+    else if (m11 > m22) {
+        const s = 2 * Math.sqrt(1 + m11 - m00 - m22);
+        x = (m01 + m10) / s;
+        y = 0.25 * s;
+        z = (m12 + m21) / s;
+        w = (m02 - m20) / s;
+    }
+    else {
+        const s = 2 * Math.sqrt(1 + m22 - m00 - m11);
+        x = (m02 + m20) / s;
+        y = (m12 + m21) / s;
+        z = 0.25 * s;
+        w = (m10 - m01) / s;
+    }
+    const l = Math.sqrt(x * x + y * y + z * z + w * w) || 1;
+    out[0] = x / l;
+    out[1] = y / l;
+    out[2] = z / l;
+    out[3] = w / l;
+}
+/** Flat `setLocalRotation`: `local = parent⁻¹·world` slerped into the pose at `weight`. */
+function setLocalRotationFlat(pose, joint, parentRotation, worldRotation, weight) {
+    const invP = ikQuatScratchI;
+    invP[0] = -parentRotation[0];
+    invP[1] = -parentRotation[1];
+    invP[2] = -parentRotation[2];
+    invP[3] = parentRotation[3];
+    const local = ikQuatScratchB;
+    multiplyQuatFlat(local, 0, invP, 0, worldRotation, 0);
+    normalizeQuatFlat(local, 0);
+    const out = ikQuatScratchA;
+    slerpQuatFlat(out, 0, pose.rotations, joint * 4, local, 0, weight);
+    pose.rotations[joint * 4] = out[0];
+    pose.rotations[joint * 4 + 1] = out[1];
+    pose.rotations[joint * 4 + 2] = out[2];
+    pose.rotations[joint * 4 + 3] = out[3];
+}
+export function solveTwoBoneIkRotations(pose, skeleton, modelMatrix, spec, target) {
+    const weight = clamp(spec.weight ?? 1, 0, 1);
+    if (weight <= 0)
+        return;
+    const rootIndex = jointIndex(skeleton, spec.root);
+    const midIndex = jointIndex(skeleton, spec.mid);
+    const tipIndex = jointIndex(skeleton, spec.tip);
+    // §13 — flat scratch + lazy frame resolution: the object-of-arrays
+    // `jointFrames` built ~boneCount objects and ~40 array literals per call
+    // (~6× over the 2µs two-bone budget). Frames resolve only for the joints
+    // this solve touches (chain + ancestors + pole/twist), into grow-once
+    // module scratch marked by a generation counter — zero per-call alloc.
+    const s = ikScratch(skeleton.boneCount);
+    const gen = ++s.gen;
+    ikResolveFrame(pose, skeleton, s, gen, rootIndex);
+    ikResolveFrame(pose, skeleton, s, gen, midIndex);
+    ikResolveFrame(pose, skeleton, s, gen, tipIndex);
+    const rp = rootIndex * 3;
+    const mp = midIndex * 3;
+    const tp = tipIndex * 3;
+    const rootX = s.pos[rp], rootY = s.pos[rp + 1], rootZ = s.pos[rp + 2];
+    const midX = s.pos[mp], midY = s.pos[mp + 1], midZ = s.pos[mp + 2];
+    const tipX = s.pos[tp], tipY = s.pos[tp + 1], tipZ = s.pos[tp + 2];
+    // invModel = invertTRS(modelMatrix) → scalars; targetLocal = S⁻¹·Rᵀ·(t − pos).
+    const m0c = modelMatrix[0], m1c = modelMatrix[1], m2c = modelMatrix[2];
+    const m4c = modelMatrix[4], m5c = modelMatrix[5], m6c = modelMatrix[6];
+    const m8c = modelMatrix[8], m9c = modelMatrix[9], m10c = modelMatrix[10];
+    const m12c = modelMatrix[12], m13c = modelMatrix[13], m14c = modelMatrix[14];
+    const msx = Math.sqrt(m0c * m0c + m1c * m1c + m2c * m2c) || 1;
+    const msy = Math.sqrt(m4c * m4c + m5c * m5c + m6c * m6c) || 1;
+    const msz = Math.sqrt(m8c * m8c + m9c * m9c + m10c * m10c) || 1;
+    const mRot = ikQuatScratchF;
+    mat3ToQuatInto(mRot, m0c / msx, m1c / msx, m2c / msx, m4c / msy, m5c / msy, m6c / msy, m8c / msz, m9c / msz, m10c / msz);
+    const tpx = target[0] - m12c, tpy = target[1] - m13c, tpz = target[2] - m14c;
+    // rotate by conjugate of mRot
+    const crx = -mRot[0], cry = -mRot[1], crz = -mRot[2], crw = mRot[3];
+    const tIx = crw * tpx + cry * tpz - crz * tpy;
+    const tIy = crw * tpy + crz * tpx - crx * tpz;
+    const tIz = crw * tpz + crx * tpy - cry * tpx;
+    const tIw = -crx * tpx - cry * tpy - crz * tpz;
+    const targetX = (tIx * crw + tIw * -crx + tIy * -crz - tIz * -cry) / msx;
+    const targetY = (tIy * crw + tIw * -cry + tIz * -crx - tIx * -crz) / msy;
+    const targetZ = (tIz * crw + tIw * -crz + tIx * -cry - tIy * -crx) / msz;
+    // polePoint (model space) — bone position or transformed world point.
+    let poleX = 0, poleY = 0, poleZ = 0;
+    let hasPole = false;
+    if (spec.pole && spec.pole !== "auto") {
+        if ("bone" in spec.pole) {
+            const poleJoint = jointIndex(skeleton, spec.pole.bone);
+            ikResolveFrame(pose, skeleton, s, gen, poleJoint);
+            const pp = poleJoint * 3;
+            poleX = s.pos[pp];
+            poleY = s.pos[pp + 1];
+            poleZ = s.pos[pp + 2];
+        }
+        else {
+            const ppx = spec.pole[0] - m12c, ppy = spec.pole[1] - m13c, ppz = spec.pole[2] - m14c;
+            const pIx = crw * ppx + cry * ppz - crz * ppy;
+            const pIy = crw * ppy + crz * ppx - crx * ppz;
+            const pIz = crw * ppz + crx * ppy - cry * ppx;
+            const pIw = -crx * ppx - cry * ppy - crz * ppz;
+            poleX = (pIx * crw + pIw * -crx + pIy * -crz - pIz * -cry) / msx;
+            poleY = (pIy * crw + pIw * -cry + pIz * -crx - pIx * -crz) / msy;
+            poleZ = (pIz * crw + pIw * -crz + pIx * -cry - pIy * -crx) / msz;
+        }
+        hasPole = true;
+    }
+    // solveTwoBoneIk inline — same math (chain lengths, pole-projected plane,
+    // adjacent/height), scalar form.
+    const udx = midX - rootX, udy = midY - rootY, udz = midZ - rootZ;
+    const upperLength = Math.sqrt(udx * udx + udy * udy + udz * udz);
+    const ldx = tipX - midX, ldy = tipY - midY, ldz = tipZ - midZ;
+    const lowerLength = Math.sqrt(ldx * ldx + ldy * ldy + ldz * ldz);
+    if (upperLength <= 1e-6 || lowerLength <= 1e-6) {
+        throw new Error("Two-bone IK requires non-zero upper and lower segment lengths.");
+    }
+    const tdx = targetX - rootX, tdy = targetY - rootY, tdz = targetZ - rootZ;
+    const targetDistance = Math.sqrt(tdx * tdx + tdy * tdy + tdz * tdz);
+    if (targetDistance <= 1e-6) {
+        throw new Error("Two-bone IK target must be distinct from the root.");
+    }
+    const maxReach = upperLength + lowerLength;
+    const minReach = Math.abs(upperLength - lowerLength) + 1e-5;
+    const allowStretch = (spec.allowStretch ?? 0) > 1;
+    const solveDistance = allowStretch ? targetDistance : clamp(targetDistance, minReach, maxReach - 1e-5);
+    const axisX = tdx / targetDistance, axisY = tdy / targetDistance, axisZ = tdz / targetDistance;
+    // projectedPoleDirection: pole = polePoint ?? mid
+    const plX = hasPole ? poleX : midX, plY = hasPole ? poleY : midY, plZ = hasPole ? poleZ : midZ;
+    const pdx = plX - rootX, pdy = plY - rootY, pdz = plZ - rootZ;
+    const pdDot = pdx * axisX + pdy * axisY + pdz * axisZ;
+    let prjX = pdx - axisX * pdDot, prjY = pdy - axisY * pdDot, prjZ = pdz - axisZ * pdDot;
+    const prjLen = Math.sqrt(prjX * prjX + prjY * prjY + prjZ * prjZ);
+    if (prjLen > 1e-6) {
+        prjX /= prjLen;
+        prjY /= prjLen;
+        prjZ /= prjLen;
+    }
+    else {
+        const fx = Math.abs(axisY) < 0.9 ? 0 : 1;
+        const fy = Math.abs(axisY) < 0.9 ? 1 : 0;
+        const fDot = fx * axisX + fy * axisY;
+        let fpx = fx - axisX * fDot, fpy = fy - axisY * fDot, fpz = -axisZ * fDot;
+        const fl = Math.sqrt(fpx * fpx + fpy * fpy + fpz * fpz) || 1;
+        prjX = fpx / fl;
+        prjY = fpy / fl;
+        prjZ = fpz / fl;
+    }
+    const adjacent = clamp((upperLength * upperLength + solveDistance * solveDistance - lowerLength * lowerLength) / (2 * solveDistance), 0, upperLength);
+    const height = Math.sqrt(Math.max(0, upperLength * upperLength - adjacent * adjacent));
+    const sEndX = rootX + axisX * solveDistance, sEndY = rootY + axisY * solveDistance, sEndZ = rootZ + axisZ * solveDistance;
+    const sMidX = rootX + axisX * adjacent + prjX * height;
+    const sMidY = rootY + axisY * adjacent + prjY * height;
+    const sMidZ = rootZ + axisZ * adjacent + prjZ * height;
+    // The solve itself is unblended — solveTwoBoneIk lerps mid/end at weight=1
+    // here (the caller never passed weight), and `setLocalRotation` applies the
+    // real blend when writing back into the pose.
+    const smX = sMidX, smY = sMidY, smZ = sMidZ;
+    const seX = sEndX, seY = sEndY, seZ = sEndZ;
+    // Root swing: minimal arc midDir0 → midDir1, then a residual roll about the
+    // new axis so the bend plane matches the pole plane (solvedMid sits on it).
+    let m0x = midX - rootX, m0y = midY - rootY, m0z = midZ - rootZ;
+    let m0l = Math.sqrt(m0x * m0x + m0y * m0y + m0z * m0z);
+    if (m0l <= 1e-6) {
+        m0x = 0;
+        m0y = 1;
+        m0z = 0;
+        m0l = 1;
+    }
+    const md0x = m0x / m0l, md0y = m0y / m0l, md0z = m0z / m0l;
+    let m1x = smX - rootX, m1y = smY - rootY, m1z = smZ - rootZ;
+    let m1l = Math.sqrt(m1x * m1x + m1y * m1y + m1z * m1z);
+    if (m1l <= 1e-6) {
+        m1x = 0;
+        m1y = 1;
+        m1z = 0;
+        m1l = 1;
+    }
+    const md1x = m1x / m1l, md1y = m1y / m1l, md1z = m1z / m1l;
+    const swing = ikQuatScratchA;
+    quatFromUnitVectorsInto(swing, md0x, md0y, md0z, md1x, md1y, md1z);
+    // poleDir0/1 = planeNormal(midDir, normalize(polePoint|mid - root))
+    let p0x = (hasPole ? poleX : midX) - rootX, p0y = (hasPole ? poleY : midY) - rootY, p0z = (hasPole ? poleZ : midZ) - rootZ;
+    const p0l = Math.sqrt(p0x * p0x + p0y * p0y + p0z * p0z);
+    if (p0l <= 1e-6) {
+        p0x = 0;
+        p0y = 1;
+        p0z = 0;
+    }
+    else {
+        p0x /= p0l;
+        p0y /= p0l;
+        p0z /= p0l;
+    }
+    let pd0x = md0y * p0z - md0z * p0y, pd0y = md0z * p0x - md0x * p0z, pd0z = md0x * p0y - md0y * p0x;
+    const pd0l = Math.sqrt(pd0x * pd0x + pd0y * pd0y + pd0z * pd0z);
+    if (pd0l <= 1e-6) {
+        const ux = Math.abs(md0x) < 0.9 ? 1 : 0, uy = Math.abs(md0x) < 0.9 ? 0 : 1;
+        pd0x = md0y * 0 - md0z * uy;
+        pd0y = md0z * ux - md0x * 0;
+        pd0z = md0x * uy - md0y * ux;
+        const ul = Math.sqrt(pd0x * pd0x + pd0y * pd0y + pd0z * pd0z) || 1;
+        pd0x /= ul;
+        pd0y /= ul;
+        pd0z /= ul;
+    }
+    else {
+        pd0x /= pd0l;
+        pd0y /= pd0l;
+        pd0z /= pd0l;
+    }
+    let p1x = (hasPole ? poleX : smX) - rootX, p1y = (hasPole ? poleY : smY) - rootY, p1z = (hasPole ? poleZ : smZ) - rootZ;
+    const p1l = Math.sqrt(p1x * p1x + p1y * p1y + p1z * p1z);
+    if (p1l <= 1e-6) {
+        p1x = 0;
+        p1y = 1;
+        p1z = 0;
+    }
+    else {
+        p1x /= p1l;
+        p1y /= p1l;
+        p1z /= p1l;
+    }
+    let pd1x = md1y * p1z - md1z * p1y, pd1y = md1z * p1x - md1x * p1z, pd1z = md1x * p1y - md1y * p1x;
+    const pd1l = Math.sqrt(pd1x * pd1x + pd1y * pd1y + pd1z * pd1z);
+    if (pd1l <= 1e-6) {
+        const ux = Math.abs(md1x) < 0.9 ? 1 : 0, uy = Math.abs(md1x) < 0.9 ? 0 : 1;
+        pd1x = md1y * 0 - md1z * uy;
+        pd1y = md1z * ux - md1x * 0;
+        pd1z = md1x * uy - md1y * ux;
+        const ul = Math.sqrt(pd1x * pd1x + pd1y * pd1y + pd1z * pd1z) || 1;
+        pd1x /= ul;
+        pd1y /= ul;
+        pd1z /= ul;
+    }
+    else {
+        pd1x /= pd1l;
+        pd1y /= pd1l;
+        pd1z /= pd1l;
+    }
+    // swungNormal = rotateVec3(swing, poleDir0)
+    const swx = swing[0], swy = swing[1], swz = swing[2], sww = swing[3];
+    const snIx = sww * pd0x + swy * pd0z - swz * pd0y;
+    const snIy = sww * pd0y + swz * pd0x - swx * pd0z;
+    const snIz = sww * pd0z + swx * pd0y - swy * pd0x;
+    const snIw = -swx * pd0x - swy * pd0y - swz * pd0z;
+    const snx = snIx * sww + snIw * -swx + snIy * -swz - snIz * -swy;
+    const sny = snIy * sww + snIw * -swy + snIz * -swx - snIx * -swz;
+    const snz = snIz * sww + snIw * -swz + snIx * -swy - snIy * -swx;
+    // twistAngle = signedAngleAbout(swungNormal, poleDir1, midDir1)
+    const tacx = sny * pd1z - snz * pd1y;
+    const tacy = snz * pd1x - snx * pd1z;
+    const tacz = snx * pd1y - sny * pd1x;
+    const twistAngle = Math.atan2(tacx * md1x + tacy * md1y + tacz * md1z, snx * pd1x + sny * pd1y + snz * pd1z);
+    // roll = axisAngleQuat(midDir1, twistAngle); q1 = roll * swing
+    const half = twistAngle / 2;
+    const sHalf = Math.sin(half);
+    const roll = ikQuatScratchB;
+    roll[0] = md1x * sHalf;
+    roll[1] = md1y * sHalf;
+    roll[2] = md1z * sHalf;
+    roll[3] = Math.cos(half);
+    const q1 = ikQuatScratchC;
+    multiplyQuatFlat(q1, 0, roll, 0, swing, 0);
+    // Mid swing: tip direction under the root's solved frame onto solved-end dir.
+    const tvx = tipX - rootX, tvy = tipY - rootY, tvz = tipZ - rootZ;
+    const q1x = q1[0], q1y = q1[1], q1z = q1[2], q1w = q1[3];
+    const tdIx = q1w * tvx + q1y * tvz - q1z * tvy;
+    const tdIy = q1w * tvy + q1z * tvx - q1x * tvz;
+    const tdIz = q1w * tvz + q1x * tvy - q1y * tvx;
+    const tdIw = -q1x * tvx - q1y * tvy - q1z * tvz;
+    const tipAfterX = rootX + tdIx * q1w + tdIw * -q1x + tdIy * -q1z - tdIz * -q1y;
+    const tipAfterY = rootY + tdIy * q1w + tdIw * -q1y + tdIz * -q1x - tdIx * -q1z;
+    const tipAfterZ = rootZ + tdIz * q1w + tdIw * -q1z + tdIx * -q1y - tdIy * -q1x;
+    let td1x = tipAfterX - smX, td1y = tipAfterY - smY, td1z = tipAfterZ - smZ;
+    const td1l = Math.sqrt(td1x * td1x + td1y * td1y + td1z * td1z);
+    if (td1l <= 1e-6) {
+        td1x = 0;
+        td1y = 1;
+        td1z = 0;
+    }
+    else {
+        td1x /= td1l;
+        td1y /= td1l;
+        td1z /= td1l;
+    }
+    let td2x = seX - smX, td2y = seY - smY, td2z = seZ - smZ;
+    const td2l = Math.sqrt(td2x * td2x + td2y * td2y + td2z * td2z);
+    if (td2l <= 1e-6) {
+        td2x = 0;
+        td2y = 1;
+        td2z = 0;
+    }
+    else {
+        td2x /= td2l;
+        td2y /= td2l;
+        td2z /= td2l;
+    }
+    const q2 = ikQuatScratchD;
+    quatFromUnitVectorsInto(q2, td1x, td1y, td1z, td2x, td2y, td2z);
+    const rootWorldSolved = ikQuatScratchE;
+    multiplyQuatFlat(rootWorldSolved, 0, q1, 0, s.rot, rootIndex * 4);
+    normalizeQuatFlat(rootWorldSolved, 0);
+    setLocalRotationFlat(pose, rootIndex, ikParentRot(pose, skeleton, s, gen, rootIndex, ikQuatScratchF), rootWorldSolved, weight);
+    const midWorldAfterRoot = ikQuatScratchG;
+    multiplyQuatFlat(midWorldAfterRoot, 0, q1, 0, s.rot, midIndex * 4);
+    const midWorldSolved = ikQuatScratchH;
+    multiplyQuatFlat(midWorldSolved, 0, q2, 0, midWorldAfterRoot, 0);
+    normalizeQuatFlat(midWorldSolved, 0);
+    // The mid's parent is the root in a strict two-bone chain; if a joint sits
+    // between them, its frame rode the root's rotation too.
+    const midParentSolved = ikQuatScratchI;
+    if (skeleton.parentIndices[midIndex] === rootIndex) {
+        midParentSolved.set(rootWorldSolved);
+    }
+    else {
+        const p = skeleton.parentIndices[midIndex] ?? -1;
+        if (p < 0) {
+            midParentSolved[0] = 0;
+            midParentSolved[1] = 0;
+            midParentSolved[2] = 0;
+            midParentSolved[3] = 1;
+        }
+        else {
+            ikResolveFrame(pose, skeleton, s, gen, p);
+            multiplyQuatFlat(midParentSolved, 0, q1, 0, s.rot, p * 4);
+            normalizeQuatFlat(midParentSolved, 0);
+        }
+    }
+    setLocalRotationFlat(pose, midIndex, midParentSolved, midWorldSolved, weight);
+    // Twist distribution: apply `twistWeight` of the plane-align roll to the
+    // twist bone's local rotation (twist bones sit between mid and tip).
+    if (spec.twistBone && (spec.twistWeight ?? 0) > 0) {
+        const twistIndex = jointIndex(skeleton, spec.twistBone);
+        ikResolveFrame(pose, skeleton, s, gen, twistIndex);
+        const tHalf = (twistAngle * (spec.twistWeight ?? 0)) / 2;
+        const tS = Math.sin(tHalf);
+        const twistQ = ikQuatScratchB;
+        twistQ[0] = md1x * tS;
+        twistQ[1] = md1y * tS;
+        twistQ[2] = md1z * tS;
+        twistQ[3] = Math.cos(tHalf);
+        const twistWorld = ikQuatScratchG;
+        multiplyQuatFlat(twistWorld, 0, twistQ, 0, s.rot, twistIndex * 4);
+        normalizeQuatFlat(twistWorld, 0);
+        setLocalRotationFlat(pose, twistIndex, ikParentRot(pose, skeleton, s, gen, twistIndex, ikQuatScratchF), twistWorld, weight);
+    }
+}
 //# sourceMappingURL=IK.js.map

package/dist/animation/IK.js.map

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

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

@@ -88,19 +88,20 @@ export function composeMat4(translation = [0, 0, 0], rotation = [0, 0, 0, 1], sc
     ];
 }
 export function multiplyMat4(a, b) {
+    // Column-major A·B — the convention `@aura3d/scene`'s multiplyMat4, every
+    // GLSL `mat4` consumer, and the palette writers read. The previous body
+    // indexed `a` row-major over column-major storage, computing B·A and
+    // leaving a non-affine row 3 in skinning palettes (06-QXX).
     const out = new Array(16).fill(0);
-    for (let row = 0; row < 4; row += 1) {
-        for (let col = 0; col < 4; col += 1) {
-            const a0 = a[row * 4];
-            const a1 = a[row * 4 + 1];
-            const a2 = a[row * 4 + 2];
-            const a3 = a[row * 4 + 3];
-            out[col + row * 4] =
-                a0 * b[col] +
-                    a1 * b[col + 4] +
-                    a2 * b[col + 8] +
-                    a3 * b[col + 12];
-        }
+    for (let col = 0; col < 4; col += 1) {
+        const b0 = b[col * 4];
+        const b1 = b[col * 4 + 1];
+        const b2 = b[col * 4 + 2];
+        const b3 = b[col * 4 + 3];
+        out[col * 4] = a[0] * b0 + a[4] * b1 + a[8] * b2 + a[12] * b3;
+        out[col * 4 + 1] = a[1] * b0 + a[5] * b1 + a[9] * b2 + a[13] * b3;
+        out[col * 4 + 2] = a[2] * b0 + a[6] * b1 + a[10] * b2 + a[14] * b3;
+        out[col * 4 + 3] = a[3] * b0 + a[7] * b1 + a[11] * b2 + a[15] * b3;
     }
     return out;
 }