@aura3d/engine 4.2.0 → 4.3.1

package/dist/game/motion/twoHandGrip.js

@@ -0,0 +1,413 @@
+/**
+ * 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`.
+ */
+const clamp = (v, lo, hi) => Math.max(lo, Math.min(hi, v));
+const lerp = (a, b, t) => a + (b - a) * t;
+const smoothstep = (t) => (t <= 0 ? 0 : t >= 1 ? 1 : t * t * (3 - 2 * t));
+export const GRIP_Q_ID = [0, 0, 0, 1];
+export const gripQNorm = (q) => {
+    const l = Math.hypot(q[0], q[1], q[2], q[3]) || 1;
+    return [q[0] / l, q[1] / l, q[2] / l, q[3] / l];
+};
+export const gripQMul = (a, b) => {
+    const [ax, ay, az, aw] = a;
+    const [bx, by, bz, bw] = b;
+    return [aw * bx + ax * bw + ay * bz - az * by, aw * by - ax * bz + ay * bw + az * bx, aw * bz + ax * by - ay * bx + az * bw, aw * bw - ax * bx - ay * by - az * bz];
+};
+export const gripQConj = (q) => [-q[0], -q[1], -q[2], q[3]];
+export const gripQAxis = (axis, angle) => {
+    const l = Math.hypot(axis[0], axis[1], axis[2]) || 1;
+    const h = angle / 2;
+    const s = Math.sin(h);
+    return gripQNorm([(axis[0] / l) * s, (axis[1] / l) * s, (axis[2] / l) * s, Math.cos(h)]);
+};
+export const gripQRot = (q, v) => {
+    const t = [2 * (q[1] * v[2] - q[2] * v[1]), 2 * (q[2] * v[0] - q[0] * v[2]), 2 * (q[0] * v[1] - q[1] * v[0])];
+    const c = [q[1] * t[2] - q[2] * t[1], q[2] * t[0] - q[0] * t[2], q[0] * t[1] - q[1] * t[0]];
+    return [v[0] + t[0] * q[3] + c[0], v[1] + t[1] * q[3] + c[1], v[2] + t[2] * q[3] + c[2]];
+};
+/** Robust rotation taking normalized vector a to normalized vector b. */
+export const gripQFromTo = (a, b) => {
+    const d = a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+    if (d > 0.99999)
+        return GRIP_Q_ID;
+    if (d < -0.99999) {
+        const axis = [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];
+        const alt = Math.hypot(axis[0], axis[2]) < 1e-6 ? [0, 0, 1] : [1, 0, 0];
+        const c = [a[1] * alt[2] - a[2] * alt[1], a[2] * alt[0] - a[0] * alt[2], a[0] * alt[1] - a[1] * alt[0]];
+        return gripQAxis(c, Math.PI);
+    }
+    return gripQNorm([a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0], 1 + d]);
+};
+/** Quaternion to XYZ-intrinsic Euler radians (the engine's `eulerXYZFromQuat` convention). */
+export const gripQToEulerXYZ = (q) => {
+    const [x, y, z, w] = gripQNorm(q);
+    const m13 = 2 * (x * z + y * w);
+    const pitch = Math.asin(clamp(m13, -1, 1));
+    if (Math.abs(m13) >= 0.9999999) {
+        const m32 = 2 * (y * z + x * w);
+        const m22 = 2 * (x * x + w * w);
+        return [Math.atan2(m32, m22), pitch, 0];
+    }
+    const m11 = 1 - 2 * (y * y + z * z);
+    const m12 = 2 * (x * y - z * w);
+    const m23 = 2 * (y * z - x * w);
+    const m33 = 1 - 2 * (x * x + y * y);
+    return [Math.atan2(-m23, m33), pitch, Math.atan2(-m12, m11)];
+};
+/** 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 const gripQToEulerZYX = (q) => {
+    const [x, y, z, w] = gripQNorm(q);
+    const m11 = 1 - 2 * (y * y + z * z);
+    const m21 = 2 * (x * y + z * w);
+    const m31 = 2 * (x * z - y * w);
+    const m32 = 2 * (y * z + x * w);
+    const m33 = 1 - 2 * (x * x + y * y);
+    const m12 = 2 * (x * y - z * w);
+    const m22 = 1 - 2 * (x * x + z * z);
+    const ry = Math.asin(clamp(-m31, -1, 1));
+    if (Math.abs(m31) < 0.9999999)
+        return [Math.atan2(m32, m33), ry, Math.atan2(m21, m11)];
+    return [0, ry, Math.atan2(-m12, m22)];
+};
+export const gripUnit = (v) => {
+    const l = Math.hypot(v[0], v[1], v[2]) || 1;
+    return [v[0] / l, v[1] / l, v[2] / l];
+};
+/** Rotate about +Y (positive angle turns +X toward -Z, the chest-yaw convention of the solver). */
+export const gripRotY = (angle, v) => {
+    const c = Math.cos(angle);
+    const s = Math.sin(angle);
+    return [v[0] * c + v[2] * s, v[1], -v[0] * s + v[2] * c];
+};
+/** 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 function solveGripTwoBone(shoulder, target, pole, l1, l2) {
+    const to = [target[0] - shoulder[0], target[1] - shoulder[1], target[2] - shoulder[2]];
+    const dRaw = Math.hypot(to[0], to[1], to[2]);
+    const d = clamp(dRaw, Math.abs(l1 - l2) + 1e-4, l1 + l2 - 1e-4);
+    const n = dRaw < 1e-6 ? [0, 0, 1] : [to[0] / dRaw, to[1] / dRaw, to[2] / dRaw];
+    const a = (l1 * l1 - l2 * l2 + d * d) / (2 * d);
+    const h = Math.sqrt(Math.max(0, l1 * l1 - a * a));
+    const pd = pole[0] * n[0] + pole[1] * n[1] + pole[2] * n[2];
+    let b = [pole[0] - n[0] * pd, pole[1] - n[1] * pd, pole[2] - n[2] * pd];
+    const bl = Math.hypot(b[0], b[1], b[2]);
+    b = bl < 1e-5 ? gripUnit([n[1], n[2], n[0]]) : [b[0] / bl, b[1] / bl, b[2] / bl];
+    return [shoulder[0] + n[0] * a + b[0] * h, shoulder[1] + n[1] * a + b[1] * h, shoulder[2] + n[2] * a + b[2] * h];
+}
+/** 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 function orbitGripElbow(shoulder, target, pole, l1, l2, gamma) {
+    const e0 = solveGripTwoBone(shoulder, target, pole, l1, l2);
+    if (gamma === 0)
+        return e0;
+    const to = [target[0] - shoulder[0], target[1] - shoulder[1], target[2] - shoulder[2]];
+    const n = gripUnit(to);
+    const r = [e0[0] - shoulder[0], e0[1] - shoulder[1], e0[2] - shoulder[2]];
+    const rn = r[0] * n[0] + r[1] * n[1] + r[2] * n[2];
+    const along = [n[0] * rn, n[1] * rn, n[2] * rn];
+    const perp = [r[0] - along[0], r[1] - along[1], r[2] - along[2]];
+    const cr = [n[1] * perp[2] - n[2] * perp[1], n[2] * perp[0] - n[0] * perp[2], n[0] * perp[1] - n[1] * perp[0]];
+    const c = Math.cos(gamma);
+    const sn = Math.sin(gamma);
+    return [
+        shoulder[0] + along[0] + perp[0] * c + cr[0] * sn,
+        shoulder[1] + along[1] + perp[1] * c + cr[1] * sn,
+        shoulder[2] + along[2] + perp[2] * c + cr[2] * sn
+    ];
+}
+/** Twist (radians) about `axis` that rolls the rotated grip axis `a` onto `d`, compared as azimuths about `axis` and unwrapped against `prev`. */
+export function gripAzimuthTwist(a, axis, d, prev) {
+    const aDot = a[0] * axis[0] + a[1] * axis[1] + a[2] * axis[2];
+    const dDot = d[0] * axis[0] + d[1] * axis[1] + d[2] * axis[2];
+    const aPerp = [a[0] - axis[0] * aDot, a[1] - axis[1] * aDot, a[2] - axis[2] * aDot];
+    const dPerp = [d[0] - axis[0] * dDot, d[1] - axis[1] * dDot, d[2] - axis[2] * dDot];
+    const cr = [aPerp[1] * dPerp[2] - aPerp[2] * dPerp[1], aPerp[2] * dPerp[0] - aPerp[0] * dPerp[2], aPerp[0] * dPerp[1] - aPerp[1] * dPerp[0]];
+    let tau = Math.atan2(cr[0] * axis[0] + cr[1] * axis[1] + cr[2] * axis[2], aPerp[0] * dPerp[0] + aPerp[1] * dPerp[1] + aPerp[2] * dPerp[2]);
+    while (tau - prev > Math.PI)
+        tau -= 2 * Math.PI;
+    while (tau - prev < -Math.PI)
+        tau += 2 * Math.PI;
+    return tau;
+}
+export const DEFAULT_GRIP_BONE_NAMES = {
+    hips: "Hips",
+    spine: "Spine",
+    chest: "Chest",
+    rightUpperArm: "RightUpperArm",
+    rightForearm: "RightForearm",
+    leftUpperArm: "LeftUpperArm",
+    leftForearm: "LeftForearm"
+};
+const flexOf = (sh, el, hand) => {
+    const ua = gripUnit([el[0] - sh[0], el[1] - sh[1], el[2] - sh[2]]);
+    const fa = gripUnit([hand[0] - el[0], hand[1] - el[1], hand[2] - el[2]]);
+    return Math.acos(clamp(ua[0] * fa[0] + ua[1] * fa[1] + ua[2] * fa[2], -1, 1));
+};
+/** Where the relaxed top hand hangs (actor frame), relative to its shoulder: down the arm, slightly forward. */
+export function relaxedTopHand(rig, shoulderL) {
+    const reach = (rig.upperArm + rig.foreHand) * 0.85;
+    return [shoulderL[0] + 0.04, shoulderL[1] - reach, shoulderL[2] + 0.1];
+}
+/**
+ * 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 function calibrateGripSocket(body, stance) {
+    const sr = gripRotY(stance.phi, body.shoulderR);
+    const shoulder = [body.chestBind[0] + sr[0], body.chestBind[1] + sr[1], body.chestBind[2] + sr[2]];
+    const elbow = solveGripTwoBone(shoulder, stance.K, stance.pole, body.upperArm, body.foreHand);
+    const faDir = gripUnit([stance.K[0] - elbow[0], stance.K[1] - elbow[1], stance.K[2] - elbow[2]]);
+    const qFa = gripQFromTo(body.bindDirFA, faDir);
+    const socketRot = gripQMul(gripQConj(qFa), gripQFromTo([1, 0, 0], stance.D));
+    const coneCos = faDir[0] * stance.D[0] + faDir[1] * stance.D[1] + faDir[2] * stance.D[2];
+    return { socketRot, coneCos };
+}
+/**
+ * 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 function solveTwoHandGrip(rig, target, prev = {}, options = {}) {
+    const { K, D, phi, hip, pole: poleR } = target;
+    const prevTau = prev.tau ?? 0;
+    const prevTauL = prev.tauL ?? 0;
+    const prevGamma = prev.gamma ?? 0;
+    const names = rig.boneNames ?? DEFAULT_GRIP_BONE_NAMES;
+    const chest = [rig.chestBind[0] + hip[0], rig.chestBind[1] + hip[1], rig.chestBind[2] + hip[2]];
+    const sr = gripRotY(phi, rig.shoulderR);
+    const sl = gripRotY(phi, rig.shoulderL);
+    const shRt = [chest[0] + sr[0], chest[1] + sr[1], chest[2] + sr[2]];
+    const shLt = [chest[0] + sl[0], chest[1] + sl[1], chest[2] + sl[2]];
+    let gamma = prevGamma;
+    let bestCost = Infinity;
+    for (let i = 0; i < 96; i++) {
+        const g = -Math.PI + (2 * Math.PI * i) / 96;
+        const e = orbitGripElbow(shRt, K, poleR, rig.upperArm, rig.foreHand, g);
+        const f = gripUnit([K[0] - e[0], K[1] - e[1], K[2] - e[2]]);
+        const cosA = f[0] * D[0] + f[1] * D[1] + f[2] * D[2];
+        let dg = g - prevGamma;
+        while (dg > Math.PI)
+            dg -= 2 * Math.PI;
+        while (dg < -Math.PI)
+            dg += 2 * Math.PI;
+        const cost = (cosA - rig.coneCos) * (cosA - rig.coneCos) + 0.004 * dg * dg;
+        if (cost < bestCost) {
+            bestCost = cost;
+            gamma = g;
+        }
+    }
+    const eR = orbitGripElbow(shRt, K, poleR, rig.upperArm, rig.foreHand, gamma);
+    const faDir = gripUnit([K[0] - eR[0], K[1] - eR[1], K[2] - eR[2]]);
+    const qUaR = gripQFromTo(rig.bindDirUA, gripUnit([eR[0] - shRt[0], eR[1] - shRt[1], eR[2] - shRt[2]]));
+    const qFaZt = gripQFromTo(rig.bindDirFA, faDir);
+    const tau = gripAzimuthTwist(gripQRot(gripQMul(qFaZt, rig.socketRot), [1, 0, 0]), faDir, D, prevTau);
+    const qFa = gripQMul(gripQAxis(faDir, tau), qFaZt);
+    const objectRot = gripQMul(qFa, rig.socketRot);
+    const objectDir = gripQRot(objectRot, [1, 0, 0]);
+    const palmOff = gripQRot(qFa, rig.palmR);
+    const palm = [eR[0] + palmOff[0], eR[1] + palmOff[1], eR[2] + palmOff[2]];
+    // The top hand grips the object where it really is (palm plus the socketed object's own direction), not where D asked for it.
+    const gripped = [palm[0] + objectDir[0] * rig.gripSpread, palm[1] + objectDir[1] * rig.gripSpread, palm[2] + objectDir[2] * rig.gripSpread];
+    const release = clamp(options.release ?? 0, 0, 1);
+    let targetL = gripped;
+    if (release > 0) {
+        const rest = relaxedTopHand(rig, shLt);
+        const u = smoothstep(release);
+        targetL = [lerp(gripped[0], rest[0], u), lerp(gripped[1], rest[1], u), lerp(gripped[2], rest[2], u)];
+    }
+    const eL = solveGripTwoBone(shLt, targetL, rig.poleL, rig.upperArm, rig.foreHand);
+    const faDirL = gripUnit([targetL[0] - eL[0], targetL[1] - eL[1], targetL[2] - eL[2]]);
+    const qFaLZt = gripQFromTo(rig.bindDirFAL, faDirL);
+    // Top hand: the mirror of the bottom hand's grip axis, rolled onto the object the same way (free-hanging when released).
+    const gripR = gripQRot(rig.socketRot, [1, 0, 0]);
+    const gripL = [-gripR[0], gripR[1], gripR[2]];
+    const tauL = release >= 1 ? prevTauL : gripAzimuthTwist(gripQRot(qFaLZt, gripL), faDirL, objectDir, prevTauL);
+    const qFaL = gripQMul(gripQAxis(faDirL, tauL), qFaLZt);
+    const qChest = gripQAxis([0, 1, 0], phi);
+    const qUaL = gripQFromTo(rig.bindDirUAL, gripUnit([eL[0] - shLt[0], eL[1] - shLt[1], eL[2] - shLt[2]]));
+    const palmLOff = gripQRot(qFaL, rig.palmL);
+    const palmL = [eL[0] + palmLOff[0], eL[1] + palmLOff[1], eL[2] + palmLOff[2]];
+    const bones = {
+        [names.hips]: { position: [rig.hipsBind[0] + hip[0], rig.hipsBind[1] + hip[1], rig.hipsBind[2] + hip[2]] },
+        // Pin the spine so the chest forward kinematics the socket was calibrated against is exact.
+        [names.spine]: { rotation: GRIP_Q_ID },
+        [names.chest]: { rotation: qChest },
+        [names.rightUpperArm]: { rotation: gripQMul(gripQConj(qChest), qUaR) },
+        [names.rightForearm]: { rotation: gripQMul(gripQConj(qUaR), qFa) },
+        [names.leftUpperArm]: { rotation: gripQMul(gripQConj(qChest), qUaL) },
+        [names.leftForearm]: { rotation: gripQMul(gripQConj(qUaL), qFaL) }
+    };
+    return {
+        bones,
+        tau,
+        tauL,
+        gamma,
+        qFa,
+        objectRot,
+        objectDir,
+        palm,
+        palmL,
+        targetL,
+        elbow: eR,
+        elbowL: eL,
+        chest,
+        shoulder: shRt,
+        shoulderL: shLt,
+        sweetPoint: [palm[0] + objectDir[0] * rig.sweetSpot, palm[1] + objectDir[1] * rig.sweetSpot, palm[2] + objectDir[2] * rig.sweetSpot],
+        tipPoint: [palm[0] + objectDir[0] * rig.objectLength, palm[1] + objectDir[1] * rig.objectLength, palm[2] + objectDir[2] * rig.objectLength],
+        flexR: flexOf(shRt, eR, palm),
+        flexL: flexOf(shLt, eL, palmL)
+    };
+}
+/** The same grip for the mirror-image stance (left-handed batter, golfer, hitter): x is flipped and the two arms swap roles. */
+export function mirrorTwoHandGripBodyRig(rig) {
+    const m = (v) => [-v[0], v[1], v[2]];
+    const n = rig.boneNames ?? DEFAULT_GRIP_BONE_NAMES;
+    return {
+        ...rig,
+        chestBind: m(rig.chestBind),
+        shoulderR: m(rig.shoulderL),
+        shoulderL: m(rig.shoulderR),
+        palmR: m(rig.palmL),
+        palmL: m(rig.palmR),
+        bindDirUA: m(rig.bindDirUAL),
+        bindDirFA: m(rig.bindDirFAL),
+        bindDirUAL: m(rig.bindDirUA),
+        bindDirFAL: m(rig.bindDirFA),
+        poleL: m(rig.poleL),
+        boneNames: {
+            ...n,
+            rightUpperArm: n.leftUpperArm,
+            rightForearm: n.leftForearm,
+            leftUpperArm: n.rightUpperArm,
+            leftForearm: n.rightForearm
+        }
+    };
+}
+/** The engine's animation pose reads `{x,y,z}` and `{x,y,z,w}` objects: tuple arrays would leave every bone untouched. */
+export function twoHandGripBonesForEngine(bones) {
+    const out = {};
+    for (const [name, b] of Object.entries(bones)) {
+        out[name] = {
+            ...(b.position ? { position: { x: b.position[0], y: b.position[1], z: b.position[2] } } : {}),
+            ...(b.rotation ? { rotation: { x: b.rotation[0], y: b.rotation[1], z: b.rotation[2], w: b.rotation[3] } } : {})
+        };
+    }
+    return out;
+}
+export function createTwoHandGrip(rig) {
+    let tau = 0;
+    let tauL = 0;
+    let gamma = 0;
+    let release = 0;
+    let steps = 0;
+    let pose = null;
+    return {
+        rig,
+        step(target, rel = 0) {
+            release = clamp(rel, 0, 1);
+            pose = solveTwoHandGrip(rig, target, { tau, tauL, gamma }, { release });
+            tau = pose.tau;
+            tauL = pose.tauL;
+            gamma = pose.gamma;
+            steps += 1;
+            return pose;
+        },
+        state: () => ({ tau, tauL, gamma, release, steps, pose }),
+        reset() {
+            tau = 0;
+            tauL = 0;
+            gamma = 0;
+            release = 0;
+            steps = 0;
+            pose = null;
+        }
+    };
+}
+/** 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 function handCentroid(vertices) {
+    const flat = vertices.length > 0 && typeof vertices[0] === "number";
+    let x = 0;
+    let y = 0;
+    let z = 0;
+    let n = 0;
+    if (flat) {
+        const f = vertices;
+        for (let i = 0; i + 2 < f.length; i += 3) {
+            x += f[i];
+            y += f[i + 1];
+            z += f[i + 2];
+            n += 1;
+        }
+    }
+    else {
+        for (const p of vertices) {
+            x += p[0];
+            y += p[1];
+            z += p[2];
+            n += 1;
+        }
+    }
+    return n === 0 ? [0, 0, 0] : [x / n, y / n, z / n];
+}
+export const DEFAULT_GRIP_LIMITS = { knobToBottomPalm: 0.06, topPalmToAxis: 0.06, tailPhases: ["follow-through"], tail: 0.08 };
+const p95 = (xs) => (xs.length === 0 ? Number.NaN : [...xs].sort((a, b) => a - b)[Math.min(xs.length - 1, Math.floor(xs.length * 0.95))]);
+/** Per-phase grip numbers for a recorded plate appearance, round of golf, tennis point or sword exchange: palms against the object's axis. */
+export function measureGrip(samples, limits = {}) {
+    const lim = { ...DEFAULT_GRIP_LIMITS, ...limits };
+    const groups = new Map();
+    for (const s of samples) {
+        const phase = s.phase ?? "all";
+        const g = groups.get(phase) ?? { k: [], a: [], along: [] };
+        groups.set(phase, g);
+        const ax = gripUnit([s.axis[0], s.axis[1], s.axis[2]]);
+        g.k.push(Math.hypot(s.bottomPalm[0] - s.knob[0], s.bottomPalm[1] - s.knob[1], s.bottomPalm[2] - s.knob[2]));
+        const rel = [s.topPalm[0] - s.knob[0], s.topPalm[1] - s.knob[1], s.topPalm[2] - s.knob[2]];
+        const along = rel[0] * ax[0] + rel[1] * ax[1] + rel[2] * ax[2];
+        const perp = [rel[0] - ax[0] * along, rel[1] - ax[1] * along, rel[2] - ax[2] * along];
+        g.a.push(Math.hypot(perp[0], perp[1], perp[2]));
+        g.along.push(along);
+    }
+    const phases = [];
+    const failures = [];
+    for (const [phase, g] of groups) {
+        const limit = lim.tailPhases.includes(phase) ? lim.tail : Math.max(lim.knobToBottomPalm, lim.topPalmToAxis);
+        const kLimit = lim.tailPhases.includes(phase) ? lim.tail : lim.knobToBottomPalm;
+        const aLimit = lim.tailPhases.includes(phase) ? lim.tail : lim.topPalmToAxis;
+        const kMax = Math.max(...g.k);
+        const aMax = Math.max(...g.a);
+        const ok = kMax <= kLimit && aMax <= aLimit;
+        if (kMax > kLimit)
+            failures.push(`${phase}: bottom palm ${kMax.toFixed(3)} m from the grip point > ${kLimit} m`);
+        if (aMax > aLimit)
+            failures.push(`${phase}: top palm ${aMax.toFixed(3)} m from the object axis > ${aLimit} m`);
+        phases.push({
+            phase,
+            samples: g.k.length,
+            knobToBottomPalmMax: kMax,
+            knobToBottomPalmP95: p95(g.k),
+            topPalmToAxisMax: aMax,
+            topPalmToAxisP95: p95(g.a),
+            topAlongMin: Math.min(...g.along),
+            topAlongMax: Math.max(...g.along),
+            limit,
+            ok
+        });
+    }
+    if (samples.length === 0)
+        failures.push("no grip samples");
+    return {
+        samples: samples.length,
+        phases,
+        knobToBottomPalmMax: phases.length === 0 ? Number.NaN : Math.max(...phases.map((p) => p.knobToBottomPalmMax)),
+        topPalmToAxisMax: phases.length === 0 ? Number.NaN : Math.max(...phases.map((p) => p.topPalmToAxisMax)),
+        ok: failures.length === 0,
+        failures
+    };
+}
+//# sourceMappingURL=twoHandGrip.js.map

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

@@ -0,0 +1 @@
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package/dist/game/session/warmPrograms.d.ts

@@ -13,6 +13,10 @@
  *  5. A requested environment HDRI that is still loading is waited for (bounded), and steps 3 and 4 run again:
  *     when the HDRI lands, every material switches to its image-based-lighting program variant at once, which
  *     recompiles the whole scene and drops frames after the game believed it was settled.
+ *  6. Textures upgrade one material at a time after mount (`renderer.runtime.texturedMaterials`, status `pending` until the
+ *     upload lands). A material that gains its texture switches to a textured program variant, which compiles
+ *     asynchronously too, so the ground, the road or a facade can drop out for frames after the game believed it was
+ *     settled. Pending upgrades are waited for (bounded) and steps 3 and 4 run again.
  *
  * Call it again after a large jump (a teleport) before capturing a frame.
  */
@@ -25,6 +29,11 @@ export interface WarmableApp {
             readonly environment?: {
                 readonly hdriStatus?: string;
             };
+            readonly runtime?: {
+                readonly texturedMaterials?: readonly {
+                    readonly status?: string;
+                }[];
+            };
         };
     };
 }
@@ -39,6 +48,10 @@ export interface WarmProgramsOptions {
     readonly waitForEnvironment?: boolean;
     /** Upper bound on that wait, in milliseconds. Default 20000. */
     readonly environmentTimeoutMs?: number;
+    /** Wait for materials whose texture upgrade is still `pending` (`renderer.runtime.texturedMaterials`) before settling. Default true. Needs `app.diagnostics`. */
+    readonly waitForTextures?: boolean;
+    /** Upper bound on that wait, in milliseconds. Default 20000. */
+    readonly textureTimeoutMs?: number;
 }
 export interface WarmProgramsResult {
     /** Precompile passes that ran (0 when the app has no `precompile`). */
@@ -52,6 +65,10 @@ export interface WarmProgramsResult {
     readonly environmentFrames: number;
     /** False only when an HDRI was still pending when the wait timed out. */
     readonly environmentReady: boolean;
+    /** Frames stepped while waiting for pending texture upgrades (0 when none was pending). */
+    readonly textureFrames: number;
+    /** False only when an upgrade was still pending when the wait timed out. */
+    readonly texturesReady: boolean;
     readonly durationMs: number;
 }
 export declare function warmPrograms(app: WarmableApp, options?: WarmProgramsOptions): Promise<WarmProgramsResult>;

package/dist/game/session/warmPrograms.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"warmPrograms.d.ts","sourceRoot":"","sources":["../../../../../packages/game/src/session/warmPrograms.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;GAqBG;AACH,MAAM,WAAW,WAAW;IAC1B,UAAU,CAAC,IAAI,OAAO,CAAC,OAAO,CAAC,CAAC;IAChC,IAAI,CAAC,EAAE,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC;IAC3B,WAAW,CAAC,IAAI;QACd,QAAQ,CAAC,SAAS,CAAC,EAAE,MAAM,CAAC;QAC5B,QAAQ,CAAC,QAAQ,CAAC,EAAE;YAClB,QAAQ,CAAC,WAAW,CAAC,EAAE;gBAAE,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAA;aAAE,CAAC;YACxD,QAAQ,CAAC,OAAO,CAAC,EAAE;gBAAE,QAAQ,CAAC,iBAAiB,CAAC,EAAE,SAAS;oBAAE,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAA;iBAAE,EAAE,CAAA;aAAE,CAAC;SAC7F,CAAC;KACH,CAAC;CACH;AAED,MAAM,WAAW,mBAAmB;IAClC,wEAAwE;IACxE,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,kHAAkH;IAClH,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,2GAA2G;IAC3G,QAAQ,CAAC,SAAS,CAAC,EAAE,MAAM,CAAC;IAC5B,sJAAsJ;IACtJ,QAAQ,CAAC,kBAAkB,CAAC,EAAE,OAAO,CAAC;IACtC,gEAAgE;IAChE,QAAQ,CAAC,oBAAoB,CAAC,EAAE,MAAM,CAAC;IACvC,iKAAiK;IACjK,QAAQ,CAAC,eAAe,CAAC,EAAE,OAAO,CAAC;IACnC,gEAAgE;IAChE,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;CACpC;AAED,MAAM,WAAW,kBAAkB;IACjC,uEAAuE;IACvE,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,8DAA8D;IAC9D,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,oHAAoH;IACpH,QAAQ,CAAC,OAAO,EAAE,OAAO,CAAC;IAC1B,uFAAuF;IACvF,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,yEAAyE;IACzE,QAAQ,CAAC,gBAAgB,EAAE,OAAO,CAAC;IACnC,2FAA2F;IAC3F,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,4EAA4E;IAC5E,QAAQ,CAAC,aAAa,EAAE,OAAO,CAAC;IAChC,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;CAC7B;AAID,wBAAsB,YAAY,CAAC,GAAG,EAAE,WAAW,EAAE,OAAO,GAAE,mBAAwB,GAAG,OAAO,CAAC,kBAAkB,CAAC,CAyEnH"}

package/dist/game/session/warmPrograms.js

@@ -58,6 +58,23 @@ export async function warmPrograms(app, options = {}) {
         }
         await settleCounts();
     }
-    return { passes, frames, settleFrames, settled, environmentFrames, environmentReady, durationMs: now() - startedAt };
+    let textureFrames = 0;
+    const texturesPending = () => (app.diagnostics?.().renderer?.runtime?.texturedMaterials ?? []).some((row) => row.status === "pending");
+    let texturesReady = true;
+    if (options.waitForTextures !== false && typeof app.diagnostics === "function" && texturesPending()) {
+        const deadline = now() + Math.max(0, options.textureTimeoutMs ?? 20_000);
+        while (texturesPending() && now() < deadline) {
+            await new Promise((resolve) => setTimeout(resolve, 40));
+            app.step(0);
+            textureFrames += 1;
+        }
+        texturesReady = !texturesPending();
+        if (typeof app.precompile === "function") {
+            await app.precompile();
+            passes += 1;
+        }
+        await settleCounts();
+    }
+    return { passes, frames, settleFrames, settled, environmentFrames, environmentReady, textureFrames, texturesReady, durationMs: now() - startedAt };
 }
 //# sourceMappingURL=warmPrograms.js.map

package/dist/game/session/warmPrograms.js.map

@@ -1 +1 @@
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package/dist/physics/ensure.d.ts

@@ -0,0 +1,2 @@
+export { ensurePhysics, physicsInitMode } from "../physics-rapier/index.js";
+//# sourceMappingURL=ensure.d.ts.map

package/dist/physics/ensure.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ensure.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/ensure.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,aAAa,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC"}

package/dist/physics/ensure.js

@@ -0,0 +1,4 @@
+// Initialises the Rapier solver. A no-op in the default build (initialised at module load); required before the first world in the
+// `aura3d-no-tla` build, which has no top-level await.
+export { ensurePhysics, physicsInitMode } from "../physics-rapier/index.js";
+//# sourceMappingURL=ensure.js.map

package/dist/physics/ensure.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ensure.js","sourceRoot":"","sources":["../../../../packages/physics/src/ensure.ts"],"names":[],"mappings":"AAAA,mIAAmI;AACnI,uDAAuD;AACvD,OAAO,EAAE,aAAa,EAAE,eAAe,EAAE,MAAM,wBAAwB,CAAC"}

package/dist/physics/index.d.ts

@@ -51,6 +51,7 @@
  * and the ECS/scene bridges. Navigation and crowd ownership moved to the optional
  * Recast/Detour adapter at the major-version boundary.
  */
+export { ensurePhysics, physicsInitMode } from "./ensure.js";
 export * from "./Shape.js";
 export * from "./RigidBody.js";
 export * from "./Collider.js";

package/dist/physics/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAoDG;AAEH,OAAO,EAAE,aAAa,EAAE,eAAe,EAAE,MAAM,aAAa,CAAC;AAG7D,cAAc,YAAY,CAAC;AAC3B,cAAc,gBAAgB,CAAC;AAG/B,cAAc,eAAe,CAAC;AAC9B,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AAGtC,cAAc,iBAAiB,CAAC;AAChC,cAAc,kBAAkB,CAAC;AAGjC,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAClC,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAGlC,cAAc,kCAAkC,CAAC;AACjD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,kCAAkC,CAAC;AACjD,cAAc,oBAAoB,CAAC;AACnC,cAAc,qBAAqB,CAAC;AACpC,cAAc,kBAAkB,CAAC;AAGjC,cAAc,gCAAgC,CAAC;AAC/C,cAAc,6BAA6B,CAAC;AAG5C,cAAc,mBAAmB,CAAC;AAClC,cAAc,qBAAqB,CAAC;AAGpC,cAAc,yBAAyB,CAAC;AACxC,cAAc,uBAAuB,CAAC;AACtC,cAAc,uBAAuB,CAAC"}

package/dist/physics/index.js

@@ -51,6 +51,7 @@
  * and the ECS/scene bridges. Navigation and crowd ownership moved to the optional
  * Recast/Detour adapter at the major-version boundary.
  */
+export { ensurePhysics, physicsInitMode } from "./ensure.js";
 // --- 1. Bodies, and the shared math/shape vocabulary the whole contract speaks in ---
 export * from "./Shape.js";
 export * from "./RigidBody.js";

package/dist/physics/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../packages/physics/src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAoDG;AAEH,uFAAuF;AACvF,cAAc,YAAY,CAAC;AAC3B,cAAc,gBAAgB,CAAC;AAE/B,iFAAiF;AACjF,cAAc,eAAe,CAAC;AAC9B,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AAEtC,oBAAoB;AACpB,cAAc,iBAAiB,CAAC;AAChC,cAAc,kBAAkB,CAAC;AAEjC,4DAA4D;AAC5D,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAClC,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAElC,mCAAmC;AACnC,cAAc,kCAAkC,CAAC;AACjD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,kCAAkC,CAAC;AACjD,cAAc,oBAAoB,CAAC;AACnC,cAAc,qBAAqB,CAAC;AACpC,cAAc,kBAAkB,CAAC;AAEjC,4DAA4D;AAC5D,cAAc,gCAAgC,CAAC;AAC/C,cAAc,6BAA6B,CAAC;AAE5C,oCAAoC;AACpC,cAAc,mBAAmB,CAAC;AAClC,cAAc,qBAAqB,CAAC;AAEpC,oDAAoD;AACpD,cAAc,yBAAyB,CAAC;AACxC,cAAc,uBAAuB,CAAC;AACtC,cAAc,uBAAuB,CAAC"}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../packages/physics/src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAoDG;AAEH,OAAO,EAAE,aAAa,EAAE,eAAe,EAAE,MAAM,aAAa,CAAC;AAE7D,uFAAuF;AACvF,cAAc,YAAY,CAAC;AAC3B,cAAc,gBAAgB,CAAC;AAE/B,iFAAiF;AACjF,cAAc,eAAe,CAAC;AAC9B,cAAc,sBAAsB,CAAC;AACrC,cAAc,uBAAuB,CAAC;AAEtC,oBAAoB;AACpB,cAAc,iBAAiB,CAAC;AAChC,cAAc,kBAAkB,CAAC;AAEjC,4DAA4D;AAC5D,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAClC,cAAc,cAAc,CAAC;AAC7B,cAAc,mBAAmB,CAAC;AAElC,mCAAmC;AACnC,cAAc,kCAAkC,CAAC;AACjD,cAAc,gCAAgC,CAAC;AAC/C,cAAc,kCAAkC,CAAC;AACjD,cAAc,oBAAoB,CAAC;AACnC,cAAc,qBAAqB,CAAC;AACpC,cAAc,kBAAkB,CAAC;AAEjC,4DAA4D;AAC5D,cAAc,gCAAgC,CAAC;AAC/C,cAAc,6BAA6B,CAAC;AAE5C,oCAAoC;AACpC,cAAc,mBAAmB,CAAC;AAClC,cAAc,qBAAqB,CAAC;AAEpC,oDAAoD;AACpD,cAAc,yBAAyB,CAAC;AACxC,cAAc,uBAAuB,CAAC;AACtC,cAAc,uBAAuB,CAAC"}

package/dist/physics/world.d.ts

@@ -14,5 +14,6 @@
  * adapter module's one-time WASM initialization without pulling unrelated arcade or query APIs.
  */
 export { PhysicsWorld } from "./PhysicsWorld.js";
+export { ensurePhysics, physicsInitMode } from "./ensure.js";
 export type { PhysicsBackend, PhysicsBackendPreference, PhysicsBackendSelection, PhysicsContinuousCollisionDescriptor, PhysicsContinuousCollisionSelection, PhysicsSnapshot, PhysicsStepStats, PhysicsWorldDescriptor } from "./PhysicsWorld.js";
 //# sourceMappingURL=world.d.ts.map