@aura3d/engine 4.2.0 → 4.3.1

package/dist/game/motion/handBounce.js

@@ -0,0 +1,315 @@
+import { resolveBone } from "./boneAttach.js";
+const lerp = (a, b, t) => a + (b - a) * t;
+const smoothstep = (t) => (t <= 0 ? 0 : t >= 1 ? 1 : t * t * (3 - 2 * t));
+export function resolveHandBounceConfig(options = {}) {
+    const ballRadius = options.ballRadius ?? 0.13;
+    const floorY = options.floorY ?? 0;
+    return {
+        hand: options.hand ?? "right",
+        ballRadius,
+        floorY,
+        armReach: options.armReach ?? 0.55,
+        ballGap: options.ballGap ?? 0.09,
+        standing: { period: 0.46, palmTop: 1.02, palmPush: 0.5, ...options.standing },
+        running: { period: 0.3, palmTop: 0.88, palmPush: 0.54, ...options.running },
+        runSpeed: options.runSpeed ?? 0.45,
+        maxOffset: options.maxOffset ?? 0.25,
+        leadGain: options.leadGain ?? 0.02,
+        leadMax: options.leadMax ?? 0.1,
+        phases: { rideEnd: 0.35, palmTurn: 0.6, floorAt: 0.66, catchFrom: 0.92, ...options.phases },
+        floorBallY: floorY + ballRadius
+    };
+}
+/** Palm height, ball height and body effort for phase `t` (0..1). `shoulderY` is the live world Y of the dribbling shoulder. */
+export function handBounceCycle(config, t, shoulderY, moving = false) {
+    const gait = moving ? config.running : config.standing;
+    const { rideEnd, palmTurn, floorAt } = config.phases;
+    const top = Math.min(config.floorY + gait.palmTop, shoulderY - 0.3);
+    const push = Math.max(config.floorY + gait.palmPush, shoulderY - config.armReach);
+    const low = push - 0.06;
+    let palmY;
+    let effort;
+    if (t < rideEnd) {
+        const s = t / rideEnd;
+        effort = Math.pow(s, 1.6);
+        palmY = lerp(top, push, effort);
+    }
+    else if (t < palmTurn) {
+        const s = (t - rideEnd) / (palmTurn - rideEnd);
+        effort = 1;
+        palmY = lerp(push, low, 1 - (1 - s) * (1 - s));
+    }
+    else {
+        // The palm stays at its lowest until the ball has met the floor, then rises with it (it receives the ball on the way up).
+        const s = Math.max(0, (t - floorAt) / (1 - floorAt));
+        // The body stays sunk a little past the floor contact (the arm cannot follow the ball down without it), then comes up.
+        const e = Math.max(0, (t - floorAt - 0.08) / (1 - floorAt - 0.08));
+        effort = 1 - smoothstep(e);
+        palmY = lerp(low, top, smoothstep(s));
+    }
+    return { palmY, ballY: handBounceBallY(config, t, palmY, push - config.ballGap, top - config.ballGap), effort };
+}
+/**
+ * Ball centre height for phase `t`. `palmY` is the palm the ball rides while in contact (pass the RENDERED palm so the ball
+ * cannot leave a hand that could not follow its target); `releaseY` is the ball height when it leaves the palm and `catchY`
+ * the height of the palm that receives it. In the air the ball falls to the floor and rebounds, so the bounce point is always
+ * `config.floorBallY`.
+ */
+export function handBounceBallY(config, t, palmY, releaseY, catchY) {
+    const { rideEnd, floorAt, catchFrom } = config.phases;
+    if (t < rideEnd)
+        return palmY - config.ballGap;
+    if (t < floorAt) {
+        const s = (t - rideEnd) / (floorAt - rideEnd);
+        return lerp(releaseY, config.floorBallY, Math.pow(s, 1.2));
+    }
+    if (t >= catchFrom)
+        return palmY - config.ballGap;
+    const s = (t - floorAt) / (catchFrom - floorAt);
+    return lerp(config.floorBallY, catchY, 1 - Math.pow(1 - s, 1.7));
+}
+/**
+ * 1 while the palm is on the ball (riding down, and the catch at the top), 0 while the ball is free in the air. Anything that
+ * offsets the ball from the palm (stride lead, outward nudge) is scaled by `1 - weight`, so the ball is glued to the palm at the
+ * contact points however fast the handler runs.
+ */
+export function handBounceContactWeight(config, phase) {
+    const { rideEnd, floorAt, catchFrom } = config.phases;
+    const t = ((phase % 1) + 1) % 1;
+    if (t < rideEnd)
+        return 1;
+    if (t < floorAt)
+        return 1 - smoothstep((t - rideEnd) / 0.1);
+    if (t < catchFrom)
+        return smoothstep((t - floorAt - 0.1) / (catchFrom - floorAt - 0.1));
+    return 1;
+}
+/**
+ * Horizontal ball position: directly under the palm. While the ball is in the air a runner's ball lands a little ahead of the
+ * hand, only along the direction of travel and at most `leadMax`; a stationary handler gets no lead. The result is never more
+ * than `maxOffset` from the palm.
+ */
+export function handBounceBallXZ(config, palm, holder, phase) {
+    const free = 1 - handBounceContactWeight(config, phase);
+    const speed = Math.hypot(holder.vx, holder.vz);
+    let lx = 0;
+    let lz = 0;
+    if (speed > config.runSpeed) {
+        const lead = Math.min(speed * config.leadGain, config.leadMax) * free;
+        lx = (holder.vx / speed) * lead;
+        lz = (holder.vz / speed) * lead;
+    }
+    const len = Math.hypot(lx, lz);
+    const k = len > config.maxOffset ? config.maxOffset / len : 1;
+    return { x: palm[0] + lx * k, z: palm[2] + lz * k };
+}
+/** Clamp a palm target into the arm's reach sphere around the shoulder (a target the arm cannot reach makes the hand miss the ball). */
+export function clampPalmReach(shoulder, target, reach) {
+    const dx = target[0] - shoulder[0];
+    const dy = target[1] - shoulder[1];
+    const dz = target[2] - shoulder[2];
+    const d = Math.hypot(dx, dy, dz);
+    if (d <= reach || d < 1e-9)
+        return [target[0], target[1], target[2]];
+    const k = reach / d;
+    return [shoulder[0] + dx * k, shoulder[1] + dy * k, shoulder[2] + dz * k];
+}
+/** Upper-body pitch angles (radians, forward positive) for a handler bouncing the ball: stationary handlers crouch into the push, runners bend at the waist. */
+export function handBounceOverlayAngles(effort, moving, leanScale = 1) {
+    if (moving) {
+        const lean = (1.28 + 0.77 * effort) * leanScale;
+        return { spine: lean * 0.55, chest: lean * 0.45, head: -lean * 0.6 };
+    }
+    return { spine: (0.3 + 0.55 * effort) * leanScale, chest: (0.2 + 0.4 * effort) * leanScale, head: -0.22 };
+}
+const SIDE_PREFIX = { left: "left", right: "right" };
+export function createHandBounce(options = {}) {
+    const config = resolveHandBounceConfig(options);
+    const side = SIDE_PREFIX[config.hand];
+    const names = options.boneNames;
+    const pick = (role, fallback) => (names ? resolveBone(names, role) ?? fallback : fallback);
+    const spineName = pick("spine", "Spine");
+    const chestName = names ? names.find((n) => /chest/i.test(n) && !/upper/i.test(n)) ?? spineName : "Chest";
+    const headName = pick("head", "Head");
+    const armUpper = pick(`${side}UpperArm`, config.hand === "left" ? "LeftUpperArm" : "RightUpperArm");
+    const armFore = pick(`${side}Forearm`, config.hand === "left" ? "LeftForearm" : "RightForearm");
+    let phase = 0;
+    let moving = false;
+    let releaseY = config.floorBallY + 0.4;
+    let active = false;
+    let contact = 1;
+    let effort = 0;
+    let palmY = config.floorY + config.standing.palmTop;
+    let ball = [0, config.floorBallY, 0];
+    let prevBall;
+    let lastDt = 1 / 60;
+    let floorContact = false;
+    const placeOnPalm = (palm, holder, hold) => {
+        if (hold) {
+            ball = [palm[0], palm[1], palm[2]];
+        }
+        else {
+            const at = handBounceBallXZ(config, palm, holder, phase);
+            if (phase < config.phases.rideEnd)
+                releaseY = palm[1] - config.ballGap;
+            ball = [at.x, handBounceBallY(config, phase, palm[1], releaseY, palm[1] - config.ballGap), at.z];
+        }
+        palmY = palm[1];
+        floorContact = ball[1] <= config.floorBallY + 0.02;
+    };
+    const frame = () => ({ phase, moving, contact, effort, palmY, ball: [ball[0], ball[1], ball[2]], floorContact });
+    return {
+        config,
+        step(dt, input) {
+            if (!(dt > 0))
+                throw new Error("createHandBounce.step: dt must be a positive fixed step");
+            moving = input.moving ?? (input.speed ?? 0) > config.runSpeed;
+            const gait = moving ? config.running : config.standing;
+            if (!active) {
+                active = true;
+                phase = 0;
+                prevBall = undefined;
+            }
+            phase = input.hold ? 0 : (phase + dt / gait.period) % 1;
+            const cyc = handBounceCycle(config, phase, input.shoulderY, moving);
+            effort = input.hold ? 0 : cyc.effort;
+            contact = handBounceContactWeight(config, phase);
+            prevBall = [ball[0], ball[1], ball[2]];
+            lastDt = dt;
+            if (input.palm) {
+                placeOnPalm(input.palm, input.holder, Boolean(input.hold));
+            }
+            else {
+                palmY = cyc.palmY;
+                ball = [input.holder.x, cyc.ballY, input.holder.z];
+            }
+            floorContact = ball[1] <= config.floorBallY + 0.02;
+            return frame();
+        },
+        place(input) {
+            placeOnPalm(input.palm, input.holder, false);
+            return frame();
+        },
+        state() {
+            return { phase, moving, contact, effort, palmY, ball: [ball[0], ball[1], ball[2]], releaseY, floorContact, active };
+        },
+        overlay(leanScale = 1) {
+            const a = handBounceOverlayAngles(effort, moving, leanScale);
+            return {
+                mode: moving ? "overlay" : "pose",
+                effort,
+                bones: { [spineName]: { pitch: a.spine }, [chestName]: { pitch: a.chest }, [headName]: { pitch: a.head } },
+                arm: { upper: armUpper, forearm: armFore }
+            };
+        },
+        release() {
+            const dt = Math.max(lastDt, 1e-6);
+            const p = prevBall ?? ball;
+            active = false;
+            return {
+                position: [ball[0], ball[1], ball[2]],
+                velocity: [(ball[0] - p[0]) / dt, (ball[1] - p[1]) / dt, (ball[2] - p[2]) / dt]
+            };
+        },
+        pickup(at) {
+            active = true;
+            phase = config.phases.catchFrom;
+            releaseY = at[1];
+            ball = [at[0], at[1], at[2]];
+            prevBall = undefined;
+        },
+        reset() {
+            phase = 0;
+            active = false;
+            moving = false;
+            prevBall = undefined;
+            ball = [0, config.floorBallY, 0];
+        }
+    };
+}
+/** Limits for a stationary handler (the Aura Hoops dribble is held to these). The meet limit is ball radius + 0.05 m: `measureHandBall` replaces it with the configured radius. */
+export const DEFAULT_HAND_BOUNCE_LIMITS = {
+    meet: 0.18, floorContact: 0.6, floorXZ: 0.12, floorPalmHeight: 0.5, floorError: 0.02, maxXZ: 0.25, maxDistance: 0.9
+};
+/** Limits for a running handler: the ball may land up to 0.2 m ahead of the hand, and the hand may stay up to 0.6 m above the floor. */
+export const RUNNING_HAND_BOUNCE_LIMITS = {
+    meet: 0.18, floorContact: 0.65, floorXZ: 0.2, floorPalmHeight: 0.6, floorError: 0.02, maxXZ: 0.25, maxDistance: 0.9
+};
+/** Probe: feed per-frame palm and ball world positions of a dribble; returns the distances the game must keep small. Call it from QA hooks and tools/game-checks. */
+export function measureHandBall(samples, options = {}) {
+    const config = resolveHandBounceConfig(options);
+    const meetDefault = config.ballRadius + 0.05;
+    const floorWindow = options.floorWindow ?? 0.02;
+    const standingLimits = { ...DEFAULT_HAND_BOUNCE_LIMITS, meet: meetDefault, ...options.limits };
+    const runningLimits = { ...RUNNING_HAND_BOUNCE_LIMITS, meet: meetDefault, ...options.runningLimits };
+    let meetMax = 0;
+    let floorMax = Number.NaN;
+    let floorXZMax = Number.NaN;
+    let floorPalm = Number.NaN;
+    let maxDistance = 0;
+    let maxXZ = 0;
+    let lowest = Infinity;
+    let floorSamples = 0;
+    let meetSamples = 0;
+    let used = 0;
+    const failures = [];
+    const fail = (message) => { if (!failures.includes(message))
+        failures.push(message); };
+    const worst = (cur, v) => (Number.isNaN(cur) ? v : Math.max(cur, v));
+    for (const s of samples) {
+        if (s.dribbling === false)
+            continue;
+        used += 1;
+        const lim = s.moving ? runningLimits : standingLimits;
+        const mode = s.moving ? "running" : "standing";
+        const d = Math.hypot(s.palm[0] - s.ball[0], s.palm[1] - s.ball[1], s.palm[2] - s.ball[2]);
+        const xz = Math.hypot(s.palm[0] - s.ball[0], s.palm[2] - s.ball[2]);
+        maxDistance = Math.max(maxDistance, d);
+        maxXZ = Math.max(maxXZ, xz);
+        lowest = Math.min(lowest, s.ball[1]);
+        if (xz > lim.maxXZ)
+            fail(`${mode}: ball strays ${xz.toFixed(3)} m horizontally from the palm > ${lim.maxXZ} m`);
+        if (d > lim.maxDistance)
+            fail(`${mode}: ball strays ${d.toFixed(3)} m from the hand > ${lim.maxDistance} m`);
+        const t = ((s.phase % 1) + 1) % 1;
+        if (t < 0.04 || t > config.phases.catchFrom + 0.01) {
+            meetMax = Math.max(meetMax, d);
+            meetSamples += 1;
+            if (d > lim.meet)
+                fail(`${mode}: palm to ball at the meet ${d.toFixed(3)} m > ${lim.meet.toFixed(2)} m`);
+        }
+        if (s.ball[1] <= config.floorBallY + floorWindow) {
+            const h = s.palm[1] - config.floorY;
+            floorMax = worst(floorMax, d);
+            floorXZMax = worst(floorXZMax, xz);
+            floorPalm = worst(floorPalm, h);
+            floorSamples += 1;
+            if (d > lim.floorContact)
+                fail(`${mode}: palm to ball at the floor contact ${d.toFixed(3)} m > ${lim.floorContact} m`);
+            if (xz > lim.floorXZ)
+                fail(`${mode}: horizontal palm to ball at the floor contact ${xz.toFixed(3)} m > ${lim.floorXZ} m`);
+            if (h > lim.floorPalmHeight)
+                fail(`${mode}: palm ${h.toFixed(3)} m above the floor at the floor contact > ${lim.floorPalmHeight} m`);
+        }
+    }
+    const floorError = used === 0 ? Number.NaN : Math.abs(lowest - config.floorBallY);
+    if (used === 0)
+        fail("no dribble samples");
+    if (used > 0 && floorError > standingLimits.floorError)
+        fail(`ball centre misses the floor by ${floorError.toFixed(3)} m > ${standingLimits.floorError} m`);
+    return {
+        samples: used,
+        meetMax,
+        floorContactMax: floorMax,
+        floorContactXZMax: floorXZMax,
+        floorContactPalmHeightMax: floorPalm,
+        floorError,
+        maxDistance,
+        maxXZ,
+        floorSamples,
+        meetSamples,
+        ok: failures.length === 0,
+        failures
+    };
+}
+//# sourceMappingURL=handBounce.js.map

package/dist/game/motion/handBounce.js.map

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package/dist/game/motion/index.d.ts

@@ -16,4 +16,10 @@ export { runMotionGate } from "./motionGate.js";
 export type { MotionGateOptions, MotionGateReport } from "./motionGate.js";
 export { clearCameraEye, createCameraClearance } from "./cameraClear.js";
 export type { CameraVec3, ClearEyeOptions, ClearEye, CameraClearanceOptions, CameraClearance } from "./cameraClear.js";
+export { createHandBounce, resolveHandBounceConfig, handBounceCycle, handBounceBallY, handBounceContactWeight, handBounceBallXZ, clampPalmReach, handBounceOverlayAngles, measureHandBall, DEFAULT_HAND_BOUNCE_LIMITS, RUNNING_HAND_BOUNCE_LIMITS } from "./handBounce.js";
+export type { HandBounceVec3, HandBounceGait, HandBounceOptions, HandBouncePhases, HandBounceConfig, HandBounceCycle, HandBounceOverlayBone, HandBounceOverlay, HandBounceInput, HandBounceFrame, HandBounceState, HandBounceRelease, HandBounce, HandBounceSample, HandBounceReport, HandBounceLimits } from "./handBounce.js";
+export { createTwoHandGrip, solveTwoHandGrip, calibrateGripSocket, mirrorTwoHandGripBodyRig, twoHandGripBonesForEngine, relaxedTopHand, measureGrip, handCentroid, DEFAULT_GRIP_LIMITS, DEFAULT_GRIP_BONE_NAMES, solveGripTwoBone, orbitGripElbow, gripAzimuthTwist, gripQNorm, gripQMul, gripQConj, gripQAxis, gripQRot, gripQFromTo, gripQToEulerXYZ, gripQToEulerZYX, gripUnit, gripRotY, GRIP_Q_ID } from "./twoHandGrip.js";
+export type { GripVec3, GripQuat, TwoHandGripBoneNames, TwoHandGripBodyRig, TwoHandGripRig, TwoHandGripTarget, TwoHandGripPrev, TwoHandGripBone, TwoHandGripPose, SolveTwoHandGripOptions, TwoHandGripState, TwoHandGrip, GripSample, GripLimits, GripPhaseReport, GripReport } from "./twoHandGrip.js";
+export { wrapAngle, yawToFace, visualHeading, facingError, faceTowards } from "./facing.js";
+export type { ForwardAxis, FacingTarget, FaceTowardsOptions } from "./facing.js";
 //# sourceMappingURL=index.d.ts.map

package/dist/game/motion/index.d.ts.map

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package/dist/game/motion/index.js

@@ -7,4 +7,7 @@ export { checkDoubleFrame, detectSharedSkeleton, detectCoincidentModels, detectD
 export { createFixedStepPresenter, createRecordBlend } from "./presenter.js";
 export { runMotionGate } from "./motionGate.js";
 export { clearCameraEye, createCameraClearance } from "./cameraClear.js";
+export { createHandBounce, resolveHandBounceConfig, handBounceCycle, handBounceBallY, handBounceContactWeight, handBounceBallXZ, clampPalmReach, handBounceOverlayAngles, measureHandBall, DEFAULT_HAND_BOUNCE_LIMITS, RUNNING_HAND_BOUNCE_LIMITS } from "./handBounce.js";
+export { createTwoHandGrip, solveTwoHandGrip, calibrateGripSocket, mirrorTwoHandGripBodyRig, twoHandGripBonesForEngine, relaxedTopHand, measureGrip, handCentroid, DEFAULT_GRIP_LIMITS, DEFAULT_GRIP_BONE_NAMES, solveGripTwoBone, orbitGripElbow, gripAzimuthTwist, gripQNorm, gripQMul, gripQConj, gripQAxis, gripQRot, gripQFromTo, gripQToEulerXYZ, gripQToEulerZYX, gripUnit, gripRotY, GRIP_Q_ID } from "./twoHandGrip.js";
+export { wrapAngle, yawToFace, visualHeading, facingError, faceTowards } from "./facing.js";
 //# sourceMappingURL=index.js.map

package/dist/game/motion/index.js.map

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package/dist/game/motion/twoHandGrip.d.ts

@@ -0,0 +1,229 @@
+/**
+ * Two-handed grip: a held object (bat, club, racket, staff, sword, tool) with a bottom hand at its grip point and a top hand a fixed
+ * spread up its axis. Two-bone IK puts both drawn palms on the handle, a forearm twist rolls the object onto the wanted direction,
+ * and the elbow swings around its circle of solutions until the forearm sits at the grip's own angle to that direction.
+ *
+ * Pure maths, no engine calls and no wall clock: the game feeds a pose target per fixed step and applies the returned bone
+ * rotations (`poseBonesForEngine`) and object transform itself. All vectors are in the actor's local frame (+Y up). The "R" hand
+ * is the bottom hand (at the grip point), "L" the top hand; a left-handed stance uses `mirrorTwoHandGripRig`.
+ */
+export type GripVec3 = [number, number, number];
+export type GripQuat = [number, number, number, number];
+export declare const GRIP_Q_ID: GripQuat;
+export declare const gripQNorm: (q: GripQuat) => GripQuat;
+export declare const gripQMul: (a: GripQuat, b: GripQuat) => GripQuat;
+export declare const gripQConj: (q: GripQuat) => GripQuat;
+export declare const gripQAxis: (axis: GripVec3, angle: number) => GripQuat;
+export declare const gripQRot: (q: GripQuat, v: GripVec3) => GripVec3;
+/** Robust rotation taking normalized vector a to normalized vector b. */
+export declare const gripQFromTo: (a: GripVec3, b: GripVec3) => GripQuat;
+/** Quaternion to XYZ-intrinsic Euler radians (the engine's `eulerXYZFromQuat` convention). */
+export declare const gripQToEulerXYZ: (q: GripQuat) => GripVec3;
+/** Quaternion to Euler radians for the engine's default node rotation order "ZYX" (matrix Rz*Ry*Rx), which `setRotation(x, y, z)` on a route node uses. Applying XYZ angles to a ZYX node tilts the object the wrong way. */
+export declare const gripQToEulerZYX: (q: GripQuat) => GripVec3;
+export declare const gripUnit: (v: GripVec3) => GripVec3;
+/** Rotate about +Y (positive angle turns +X toward -Z, the chest-yaw convention of the solver). */
+export declare const gripRotY: (angle: number, v: GripVec3) => GripVec3;
+/** Two-bone IK: elbow position for shoulder to target with an elbow-hint pole direction; targets past the arm's reach are clamped to it. */
+export declare function solveGripTwoBone(shoulder: GripVec3, target: GripVec3, pole: GripVec3, l1: number, l2: number): GripVec3;
+/** Elbow for shoulder to target with the hint pole rotated by `gamma` about the shoulder-to-target axis (the elbow's circle of solutions). */
+export declare function orbitGripElbow(shoulder: GripVec3, target: GripVec3, pole: GripVec3, l1: number, l2: number, gamma: number): GripVec3;
+/** Twist (radians) about `axis` that rolls the rotated grip axis `a` onto `d`, compared as azimuths about `axis` and unwrapped against `prev`. */
+export declare function gripAzimuthTwist(a: GripVec3, axis: GripVec3, d: GripVec3, prev: number): number;
+export interface TwoHandGripBoneNames {
+    readonly hips: string;
+    readonly spine: string;
+    readonly chest: string;
+    readonly rightUpperArm: string;
+    readonly rightForearm: string;
+    readonly leftUpperArm: string;
+    readonly leftForearm: string;
+}
+export declare const DEFAULT_GRIP_BONE_NAMES: TwoHandGripBoneNames;
+/** The body half of the rig: bind skeleton measurements in the actor's local frame (+X = the character's left, +Z forward). */
+export interface TwoHandGripBodyRig {
+    /** Chest bone position at bind (hip shifts add onto it). */
+    readonly chestBind: GripVec3;
+    /** Shoulder offsets from the chest bone at bind. */
+    readonly shoulderR: GripVec3;
+    readonly shoulderL: GripVec3;
+    /** Grip point in FOREARM bone space: where the drawn hand's skinned vertices actually centre in pose (measure it with the CPU skin of the solved poses, not the bind-pose centroid). */
+    readonly palmR: GripVec3;
+    readonly palmL: GripVec3;
+    /** Bind bone directions (shoulder to elbow, elbow to palm), unit length; the left arm's are the mirror of the right's. */
+    readonly bindDirUA: GripVec3;
+    readonly bindDirFA: GripVec3;
+    readonly bindDirUAL: GripVec3;
+    readonly bindDirFAL: GripVec3;
+    /** Upper arm length and elbow-to-palm length. */
+    readonly upperArm: number;
+    readonly foreHand: number;
+    /** Hips bone translation at bind (hip shifts add onto it). */
+    readonly hipsBind: GripVec3;
+    /** Elbow hint for the top arm (hangs down and slightly back). */
+    readonly poleL: GripVec3;
+    readonly boneNames?: TwoHandGripBoneNames;
+}
+/** Everything the solver needs: the body, the object's calibrated socket and the grip geometry. */
+export interface TwoHandGripRig extends TwoHandGripBodyRig {
+    /** Rotation of the object's local grip axis (+X from the grip point toward the far end) in forearm bone space at the calibration stance. */
+    readonly socketRot: GripQuat;
+    /** Cosine of the angle between the forearm and the object axis at the calibration stance; the elbow orbits until the forearm sits at it. */
+    readonly coneCos: number;
+    /** How far up the object's axis the top hand grips (metres in actor units). */
+    readonly gripSpread: number;
+    /** Object length from the grip point and the sweet-spot distance along it (for `sweetPoint` and `tipPoint`). */
+    readonly objectLength: number;
+    readonly sweetSpot: number;
+}
+/** One pose target: the grip point, the object's direction, chest yaw, hip shift and the elbow hint of the bottom arm. */
+export interface TwoHandGripTarget {
+    readonly K: GripVec3;
+    readonly D: GripVec3;
+    readonly phi: number;
+    readonly hip: GripVec3;
+    readonly pole: GripVec3;
+}
+export interface TwoHandGripPrev {
+    readonly tau?: number;
+    readonly tauL?: number;
+    readonly gamma?: number;
+}
+export interface TwoHandGripBone {
+    position?: GripVec3;
+    rotation?: GripQuat;
+}
+export interface TwoHandGripPose {
+    /** Bone transforms keyed by the rig's bone names; feed them to `poseBonesForEngine`. */
+    readonly bones: Readonly<Record<string, TwoHandGripBone>>;
+    readonly tau: number;
+    readonly tauL: number;
+    readonly gamma: number;
+    readonly qFa: GripQuat;
+    /** Object orientation in the actor frame (forearm rotation times the socket): its +X is `objectDir`. */
+    readonly objectRot: GripQuat;
+    readonly objectDir: GripVec3;
+    /** The bottom palm (the object's grip point), the top palm and the top hand's target. */
+    readonly palm: GripVec3;
+    readonly palmL: GripVec3;
+    readonly targetL: GripVec3;
+    readonly elbow: GripVec3;
+    readonly elbowL: GripVec3;
+    readonly chest: GripVec3;
+    readonly shoulder: GripVec3;
+    readonly shoulderL: GripVec3;
+    readonly sweetPoint: GripVec3;
+    readonly tipPoint: GripVec3;
+    /** Elbow flexion in radians (0 = straight). */
+    readonly flexR: number;
+    readonly flexL: number;
+}
+export interface SolveTwoHandGripOptions {
+    /** 0 to 1: the top hand lets go and relaxes toward its rest position (follow-through of a one-handed finish). Default 0. */
+    readonly release?: number;
+}
+/** Where the relaxed top hand hangs (actor frame), relative to its shoulder: down the arm, slightly forward. */
+export declare function relaxedTopHand(rig: TwoHandGripBodyRig, shoulderL: GripVec3): GripVec3;
+/**
+ * Calibrate the object socket from a stance: the rotation that puts the object's axis along `stanceDir` while the bottom hand holds `stanceK`
+ * with the given elbow hint, and the forearm-to-axis cosine the elbow orbit then holds for every other pose.
+ */
+export declare function calibrateGripSocket(body: TwoHandGripBodyRig, stance: {
+    readonly K: GripVec3;
+    readonly D: GripVec3;
+    readonly phi: number;
+    readonly pole: GripVec3;
+}): {
+    socketRot: GripQuat;
+    coneCos: number;
+};
+/**
+ * Solve one pose. The bottom hand IKs onto `K`; the elbow is swung round its circle of solutions until the forearm sits at the grip's
+ * fixed angle to the wanted object direction `D` (preferring the elbow nearest the previous frame's, `prev.gamma`); a forearm twist rolls
+ * the socketed object onto `D`; the top hand then IKs onto the point `gripSpread` up the object's real axis and rolls onto it the same way.
+ */
+export declare function solveTwoHandGrip(rig: TwoHandGripRig, target: TwoHandGripTarget, prev?: TwoHandGripPrev, options?: SolveTwoHandGripOptions): TwoHandGripPose;
+/** The same grip for the mirror-image stance (left-handed batter, golfer, hitter): x is flipped and the two arms swap roles. */
+export declare function mirrorTwoHandGripBodyRig(rig: TwoHandGripBodyRig): TwoHandGripBodyRig;
+/** The engine's animation pose reads `{x,y,z}` and `{x,y,z,w}` objects: tuple arrays would leave every bone untouched. */
+export declare function twoHandGripBonesForEngine(bones: Readonly<Record<string, {
+    position?: readonly number[];
+    rotation?: readonly number[];
+}>>): Record<string, {
+    position?: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    rotation?: {
+        x: number;
+        y: number;
+        z: number;
+        w: number;
+    };
+}>;
+export interface TwoHandGripState {
+    readonly tau: number;
+    readonly tauL: number;
+    readonly gamma: number;
+    readonly release: number;
+    readonly steps: number;
+    readonly pose: TwoHandGripPose | null;
+}
+export interface TwoHandGrip {
+    readonly rig: TwoHandGripRig;
+    /** Solve one fixed step, carrying the elbow and twist continuity between steps. `release` (0 to 1) lets the top hand go. */
+    step(target: TwoHandGripTarget, release?: number): TwoHandGripPose;
+    state(): TwoHandGripState;
+    /** Forget the continuity (a new swing from the stance). */
+    reset(): void;
+}
+export declare function createTwoHandGrip(rig: TwoHandGripRig): TwoHandGrip;
+/** Where the drawn palm centres: the mean of the hand's skinned vertices (a flat xyz array or a list of points). Use it so grip is measured against what the screen shows. */
+export declare function handCentroid(vertices: ArrayLike<number> | ReadonlyArray<readonly [number, number, number]>): GripVec3;
+export interface GripSample {
+    /** Label used to group samples ("stance", "load", "swing", "follow-through"). */
+    readonly phase?: string;
+    /** The object's grip point (the knob of a bat, the butt of a club) and its unit axis toward the far end; `length` is the handle length the top hand may use. */
+    readonly knob: readonly [number, number, number];
+    readonly axis: readonly [number, number, number];
+    readonly length?: number;
+    /** Palm positions: from the solver, or from `handCentroid` of the CPU-skinned hand vertices. */
+    readonly bottomPalm: readonly [number, number, number];
+    readonly topPalm: readonly [number, number, number];
+}
+export interface GripLimits {
+    /** Bottom palm to the grip point. Default 0.06 m. */
+    readonly knobToBottomPalm: number;
+    /** Top palm to the object axis. Default 0.06 m. */
+    readonly topPalmToAxis: number;
+    /** Phases allowed the looser tail limit (follow-through). */
+    readonly tailPhases: readonly string[];
+    /** The looser limit for those phases. Default 0.08 m. */
+    readonly tail: number;
+}
+export declare const DEFAULT_GRIP_LIMITS: GripLimits;
+export interface GripPhaseReport {
+    readonly phase: string;
+    readonly samples: number;
+    readonly knobToBottomPalmMax: number;
+    readonly knobToBottomPalmP95: number;
+    readonly topPalmToAxisMax: number;
+    readonly topPalmToAxisP95: number;
+    /** Top palm distance along the axis from the knob (should sit about `gripSpread`, inside the handle). */
+    readonly topAlongMin: number;
+    readonly topAlongMax: number;
+    readonly limit: number;
+    readonly ok: boolean;
+}
+export interface GripReport {
+    readonly samples: number;
+    readonly phases: readonly GripPhaseReport[];
+    readonly knobToBottomPalmMax: number;
+    readonly topPalmToAxisMax: number;
+    readonly ok: boolean;
+    readonly failures: readonly string[];
+}
+/** Per-phase grip numbers for a recorded plate appearance, round of golf, tennis point or sword exchange: palms against the object's axis. */
+export declare function measureGrip(samples: readonly GripSample[], limits?: Partial<GripLimits>): GripReport;
+//# sourceMappingURL=twoHandGrip.d.ts.map

package/dist/game/motion/twoHandGrip.d.ts.map

@@ -0,0 +1 @@
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