@aura3d/engine 4.2.0 → 4.3.1

package/dist/aura3d-cli/skin/rebuildLimbs.js

@@ -0,0 +1,326 @@
+/**
+ * `assets repair-skin --rebuild-limbs`: rebuilds the legs of a humanoid athlete in the straight pose its skeleton assumes.
+ *
+ * Generalised from the Aura FC fix. A mesh modelled mid-stride (knee bent, thigh swung forward, thigh surface made of a few huge
+ * triangles) but bound to a straight skeleton rotates the limbs about joints 10 to 20 cm off the limb, and the shorts and thighs tear
+ * into shards. This removes the leg geometry from the skin, shorts and socks meshes, straightens the boots (least-height search),
+ * and builds thigh and shin skin tubes, thigh shorts tubes, a pelvis skirt and ankle socks around the real bone axes with smooth
+ * hip / knee / ankle weights. Absolute lengths scale with the rig (the FC rig's hip joint sits at 0.8996 m). Only opt in for a
+ * recognised humanoid; anything else gets guidance from `repair-skin`.
+ */
+import { GlbEditor } from "./glbEdit.js";
+import { findHumanoidLegs } from "./analysis.js";
+import { buildHierarchy, forward, loadSkins, localPose, qalign, qmul, qrot, readAccessor } from "./gltf.js";
+const sub = (a, b) => [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+const add = (a, b) => [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
+const mul = (a, s) => [a[0] * s, a[1] * s, a[2] * s];
+const len = (a) => Math.hypot(a[0], a[1], a[2]);
+const unit = (a) => { const l = len(a) || 1; return [a[0] / l, a[1] / l, a[2] / l]; };
+const smooth = (a, b, x) => { const t = Math.max(0, Math.min(1, (x - a) / (b - a))); return t * t * (3 - 2 * t); };
+/** FC reference proportions (metres at hip height 0.8996). */
+const FC_HIP_JOINT_Y = 0.8996;
+const FC = {
+    ringSegments: 24, ringStep: 0.025, hipTop: 0.99, hipBlendBottom: 0.7, kneeHalf: 0.14, ankleTop: 0.31, ankleBottom: 0.15,
+    hemY: 0.62, sockTop: 0.34, sockBottom: 0.09, skirtTop: 1.075, skirtBottom: 0.8, armCut: 0.97, bootTop: 0.45,
+    thighHip: 0.084, thighKnee: 0.058, calf: 0.054, ankle: 0.034, shortsExtra: 0.014, skirtRz: 0.112, skirtRxExtra: 0.105
+};
+export class RebuildLimbsUnsupported extends Error {
+}
+export function rebuildLimbs(glb, options = {}) {
+    const hierarchy = buildHierarchy(glb);
+    const legs = findHumanoidLegs(hierarchy);
+    if (!legs)
+        throw new RebuildLimbsUnsupported("Not a recognised humanoid: --rebuild-limbs needs Left/Right UpperLeg (or UpLeg/Thigh), LowerLeg (or Leg/Shin/Calf) and Foot bones. Rebuild the limbs in your DCC tool, or regenerate/re-rig the model in the pose its skeleton assumes.");
+    const skins = loadSkins(glb, hierarchy);
+    const skin = skins[0];
+    if (!skin)
+        throw new RebuildLimbsUnsupported("No skinned mesh to rebuild.");
+    const hipsPattern = options.hips ?? /^(mixamorig:?)?hips$/i;
+    const hipsNode = hierarchy.names.findIndex((n) => hipsPattern.test(n));
+    if (hipsNode < 0)
+        throw new RebuildLimbsUnsupported("No pelvis bone matching /hips/ found; pass the pelvis joint name pattern.");
+    const rest = forward(localPose(glb, null, 0, hierarchy), hierarchy);
+    const [legL, legR] = legs;
+    const hipY = rest.pos[legL.up][1];
+    const s = hipY / FC_HIP_JOINT_Y;
+    const o = Object.fromEntries(Object.entries(FC).map(([k, v]) => [k, k === "ringSegments" ? v : v * s]));
+    const roles = {
+        skin: options.materials?.skin ?? /skin/i,
+        shorts: options.materials?.shorts ?? /short/i,
+        socks: options.materials?.socks ?? /sock/i,
+        boots: options.materials?.boots ?? /dark|boot|shoe/i
+    };
+    const jointIndex = new Map(skin.joints.map((node, k) => [node, k]));
+    const J = (node) => {
+        const k = jointIndex.get(node);
+        if (k === undefined)
+            throw new RebuildLimbsUnsupported(`Bone ${hierarchy.names[node]} is not a joint of the skin.`);
+        return k;
+    };
+    const P = (node) => rest.pos[node];
+    const hipL = P(legL.up), hipR = P(legR.up), kneeL = P(legL.knee), footL = P(legL.foot);
+    const midX = (hipL[0] + hipR[0]) / 2;
+    const half = Math.abs(hipL[0] - hipR[0]) / 2;
+    const axisX = { L: midX + half * 0.62, R: midX - half * 0.62 };
+    const kneeY = kneeL[1];
+    void footL;
+    // descendant sets per leg, for "which side / is this vertex a leg or arm vertex"
+    const descendants = (root) => {
+        const out = new Set([root]);
+        let grew = true;
+        while (grew) {
+            grew = false;
+            for (let i = 0; i < hierarchy.parent.length; i += 1) {
+                const p = hierarchy.parent[i];
+                if (p >= 0 && out.has(p) && !out.has(i)) {
+                    out.add(i);
+                    grew = true;
+                }
+            }
+        }
+        return out;
+    };
+    const legNodes = { L: descendants(legL.up), R: descendants(legR.up) };
+    const isArmName = (node) => /arm|hand|shoulder|clav|finger|thumb/i.test(hierarchy.names[node] ?? "");
+    const nodeOfJoint = (j) => skin.joints[j];
+    const dominant = (prim, v) => {
+        let best = 0, joint = 0;
+        const w = prim.weights[v] ?? [], jj = prim.joints[v] ?? [];
+        for (let k = 0; k < 4; k += 1)
+            if ((w[k] ?? 0) > best) {
+                best = w[k] ?? 0;
+                joint = jj[k] ?? 0;
+            }
+        return nodeOfJoint(joint);
+    };
+    const isLegNode = (n) => legNodes.L.has(n) || legNodes.R.has(n);
+    const sideOf = (n) => (legNodes.L.has(n) ? "L" : legNodes.R.has(n) ? "R" : null);
+    const prims = skin.primitives;
+    const roleOf = (p) => (roles.skin.test(p.materialName) ? "skin" : roles.shorts.test(p.materialName) ? "shorts" : roles.socks.test(p.materialName) ? "socks" : roles.boots.test(p.materialName) ? "boots" : null);
+    if (!prims.some((p) => roleOf(p) === "skin"))
+        throw new RebuildLimbsUnsupported(`No skin material matched ${roles.skin}; pass --material-map skin=<pattern>.`);
+    // 1. straighten the boots
+    const footFix = {};
+    const bootPrim = prims.find((p) => roleOf(p) === "boots");
+    if (bootPrim) {
+        for (const side of ["L", "R"]) {
+            const bootAll = [];
+            for (let v = 0; v < bootPrim.pos.length; v += 1) {
+                const n = dominant(bootPrim, v);
+                if (sideOf(n) === side && bootPrim.pos[v][1] < o.bootTop)
+                    bootAll.push(v);
+            }
+            if (bootAll.length < 12)
+                continue;
+            const boot = bootAll.map((v) => bootPrim.pos[v]);
+            const cen = (pts) => mul(pts.reduce((a, p) => add(a, p), [0, 0, 0]), 1 / pts.length);
+            const bc = cen(boot);
+            const M = [0, 0, 0, 0, 0, 0, 0, 0, 0];
+            for (const p of boot) {
+                const q = sub(p, bc);
+                for (let a = 0; a < 3; a += 1)
+                    for (let b = 0; b < 3; b += 1)
+                        M[a * 3 + b] = M[a * 3 + b] + q[a] * q[b];
+            }
+            let d = [0.1, 0.3, 0.9];
+            for (let i = 0; i < 80; i += 1)
+                d = unit([M[0] * d[0] + M[1] * d[1] + M[2] * d[2], M[3] * d[0] + M[4] * d[1] + M[5] * d[2], M[6] * d[0] + M[7] * d[1] + M[8] * d[2]]);
+            if (d[2] < 0)
+                d = mul(d, -1);
+            let R = qalign(d, [0, 0, 1]);
+            const spread = (q) => { let lo = 1e9, hi = -1e9; for (const p of boot) {
+                const y = qrot(q, sub(p, bc))[1];
+                lo = Math.min(lo, y);
+                hi = Math.max(hi, y);
+            } return hi - lo; };
+            let best = spread(R), bestR = R;
+            for (let pitch = -40; pitch <= 40; pitch += 4)
+                for (let roll = -60; roll <= 60; roll += 4) {
+                    const qp = [Math.sin((pitch * Math.PI) / 360), 0, 0, Math.cos((pitch * Math.PI) / 360)];
+                    const qr = [0, 0, Math.sin((roll * Math.PI) / 360), Math.cos((roll * Math.PI) / 360)];
+                    const q = qmul(qp, qmul(qr, R));
+                    const h = spread(q);
+                    if (h < best - 1e-5) {
+                        best = h;
+                        bestR = q;
+                    }
+                }
+            R = bestR;
+            const moved = boot.map((p) => qrot(R, sub(p, bc)));
+            let minY = 1e9, minZ = 1e9, maxZ = -1e9;
+            for (const p of moved) {
+                minY = Math.min(minY, p[1]);
+                minZ = Math.min(minZ, p[2]);
+                maxZ = Math.max(maxZ, p[2]);
+            }
+            const heel = moved.filter((p) => p[2] < minZ + (maxZ - minZ) * 0.33).sort((a, b) => b[1] - a[1]).slice(0, Math.max(10, Math.floor(moved.length * 0.03)));
+            const ankle = cen(heel);
+            const target = [axisX[side] - ankle[0], -minY, -ankle[2]];
+            const frozenR = R;
+            footFix[side] = { bootV: new Set(bootAll), apply: (p) => add(qrot(frozenR, sub(p, bc)), target), spread: best };
+        }
+    }
+    // 2. new geometry
+    const newVerts = { skin: [], shorts: [], socks: [] };
+    const newTris = { skin: [], shorts: [], socks: [] };
+    const wset = (pairs) => {
+        const top = pairs.filter(([, w]) => w > 1e-4).sort((a, b) => b[1] - a[1]).slice(0, 4);
+        const sum = top.reduce((a, [, w]) => a + w, 0) || 1;
+        return top.map(([j, w]) => [j, w / sum]);
+    };
+    const addTube = (target, rings, weightsAt) => {
+        const verts = newVerts[target], tris = newTris[target];
+        const base = verts.length;
+        const N = o.ringSegments;
+        for (const r of rings)
+            for (let k = 0; k < N; k += 1) {
+                const a = (k / N) * Math.PI * 2;
+                verts.push({ p: [r.cx + Math.cos(a) * r.rx, r.y, r.cz + Math.sin(a) * r.rz], w: wset(weightsAt(r.y)) });
+            }
+        for (let ri = 0; ri < rings.length - 1; ri += 1)
+            for (let k = 0; k < N; k += 1) {
+                const a = base + ri * N + k, b = base + ri * N + ((k + 1) % N), c = base + (ri + 1) * N + k, d = base + (ri + 1) * N + ((k + 1) % N);
+                tris.push([a, b, c], [b, d, c]);
+            }
+    };
+    const ringsFor = (fn, y0, y1) => {
+        const rings = [];
+        const n = Math.max(2, Math.ceil(Math.abs(y1 - y0) / o.ringStep));
+        for (let i = 0; i <= n; i += 1) {
+            const y = y0 + ((y1 - y0) * i) / n;
+            rings.push({ y, ...fn(y) });
+        }
+        return rings;
+    };
+    const weightsLeg = (leg) => (y) => {
+        const wHip = smooth(o.hipBlendBottom, o.hipTop, y) * 0.5;
+        const kneeT = smooth(kneeY - o.kneeHalf, kneeY + o.kneeHalf, y);
+        const ankleT = smooth(o.ankleBottom, o.ankleTop, y);
+        const wUp = (1 - wHip) * kneeT;
+        const wLow = (1 - wHip) * (1 - kneeT) * ankleT;
+        const wFoot = (1 - wHip) * (1 - kneeT) * (1 - ankleT);
+        return [[J(hipsNode), wHip], [J(leg.up), wUp], [J(leg.knee), wLow], [J(leg.foot), wFoot]];
+    };
+    const rSkin = (y) => {
+        if (y >= kneeY) {
+            const t = (y - kneeY) / (o.hipTop - kneeY);
+            return o.thighKnee + (o.thighHip - o.thighKnee) * Math.pow(t, 0.9);
+        }
+        const t = (y - o.ankleBottom) / (kneeY - o.ankleBottom);
+        return o.ankle + (o.calf - o.ankle) * Math.pow(Math.max(0, t), 0.8) + 0.008 * s * Math.sin(Math.PI * Math.min(1, Math.max(0, (t - 0.1) / 0.8)));
+    };
+    const rShorts = (y) => rSkin(y) + o.shortsExtra + 0.006 * s * smooth(o.hemY + 0.06 * s, o.hemY, y);
+    for (const side of ["L", "R"]) {
+        const leg = side === "L" ? legL : legR;
+        const x = axisX[side];
+        addTube("skin", ringsFor((y) => ({ cx: x, cz: 0, rx: rSkin(y) * 0.96, rz: rSkin(y) * 1.06 }), o.hipTop, o.ankleBottom), weightsLeg(leg));
+        addTube("shorts", ringsFor((y) => ({ cx: x, cz: 0, rx: rShorts(y) * 0.96, rz: rShorts(y) * 1.06 }), o.hipTop, o.hemY), weightsLeg(leg));
+        addTube("socks", ringsFor((y) => ({ cx: x, cz: 0, rx: rSkin(Math.max(y, o.ankleBottom)) * 0.96 + 0.007 * s, rz: rSkin(Math.max(y, o.ankleBottom)) * 1.06 + 0.007 * s }), o.sockTop, o.sockBottom), weightsLeg(leg));
+    }
+    addTube("shorts", ringsFor(() => ({ cx: midX, cz: 0, rx: half * 0.62 + o.skirtRxExtra, rz: o.skirtRz }), o.skirtTop, o.skirtBottom), () => [[J(hipsNode), 1]]);
+    // 3. rebuild each primitive
+    const editor = new GlbEditor(glb);
+    const report = [];
+    for (const prim of prims) {
+        const role = roleOf(prim);
+        if (!role)
+            continue;
+        const primitive = editor.primitive(prim.meshIndex, prim.primitiveIndex);
+        const dom = Array.from({ length: prim.pos.length }, (_, v) => dominant(prim, v));
+        const keepTri = [];
+        const centroidY = (t) => (prim.pos[prim.indices[t]][1] + prim.pos[prim.indices[t + 1]][1] + prim.pos[prim.indices[t + 2]][1]) / 3;
+        for (let t = 0; t < prim.indices.length; t += 3) {
+            const ids = [prim.indices[t], prim.indices[t + 1], prim.indices[t + 2]];
+            let drop = false;
+            if (role === "socks")
+                drop = true;
+            if (role === "skin" || role === "shorts") {
+                const arm = ids.some((v) => isArmName(dom[v]));
+                if (!arm && (role === "shorts" || centroidY(t) < o.armCut))
+                    drop = true;
+                if (role === "skin" && ids.every((v) => isLegNode(dom[v])))
+                    drop = true;
+            }
+            if (!drop)
+                keepTri.push(ids);
+        }
+        const positions = role === "boots"
+            ? prim.pos.map((p, v) => { for (const side of ["L", "R"]) {
+                const f = footFix[side];
+                if (f?.bootV.has(v))
+                    return f.apply(p);
+            } return p; })
+            : prim.pos;
+        const remap = new Map();
+        const outP = [], outJ = [], outW = [];
+        const srcOf = [];
+        const uvAccessor = editor.primitive(prim.meshIndex, prim.primitiveIndex).attributes.TEXCOORD_0;
+        const uvRows = uvAccessor !== undefined ? readAccessor(glb, uvAccessor).rows : null;
+        const useOld = (v) => {
+            let at = remap.get(v);
+            if (at === undefined) {
+                at = outP.length;
+                remap.set(v, at);
+                srcOf.push(v);
+                outP.push(positions[v]);
+                const pairs = [];
+                for (let k = 0; k < 4; k += 1)
+                    if (((prim.weights[v] ?? [])[k] ?? 0) > 0)
+                        pairs.push([prim.joints[v][k], prim.weights[v][k]]);
+                outJ.push(pairs.map((q) => q[0]));
+                outW.push(pairs.map((q) => q[1]));
+            }
+            return at;
+        };
+        const tris = keepTri.map((ids) => ids.map(useOld));
+        const nv = newVerts[role];
+        if (nv) {
+            const base = outP.length;
+            nv.forEach((v) => { srcOf.push(-1); outP.push(v.p); outJ.push(v.w.map((q) => q[0])); outW.push(v.w.map((q) => q[1])); });
+            for (const t of newTris[role])
+                tris.push([t[0] + base, t[1] + base, t[2] + base]);
+        }
+        const nV = outP.length;
+        const nrm = outP.map(() => [0, 0, 0]);
+        for (const [a, b, c] of tris) {
+            const u = sub(outP[b], outP[a]), w = sub(outP[c], outP[a]);
+            const fn = [u[1] * w[2] - u[2] * w[1], u[2] * w[0] - u[0] * w[2], u[0] * w[1] - u[1] * w[0]];
+            for (const v of [a, b, c]) {
+                const n = nrm[v];
+                n[0] += fn[0];
+                n[1] += fn[1];
+                n[2] += fn[2];
+            }
+        }
+        const flatJ = [], flatW = [], flatP = [], flatN = [];
+        for (let v = 0; v < nV; v += 1) {
+            for (let k = 0; k < 4; k += 1) {
+                flatJ.push(outJ[v][k] ?? 0);
+                flatW.push(outW[v][k] ?? 0);
+            }
+            flatP.push(...outP[v]);
+            flatN.push(...unit(nrm[v]));
+        }
+        primitive.attributes.POSITION = editor.addAccessor(flatP, 5126, "VEC3", 34962, true);
+        primitive.attributes.NORMAL = editor.addAccessor(flatN, 5126, "VEC3", 34962);
+        primitive.attributes.JOINTS_0 = editor.addAccessor(flatJ, 5123, "VEC4", 34962);
+        primitive.attributes.WEIGHTS_0 = editor.addAccessor(flatW, 5126, "VEC4", 34962);
+        // UVs follow the kept vertices (new tube vertices sample the middle of the map); other per-vertex attributes no longer match
+        for (const key of Object.keys(primitive.attributes))
+            if (/^(TEXCOORD_[1-9]|COLOR|TANGENT)/.test(key))
+                delete primitive.attributes[key];
+        if (uvRows) {
+            const flatUv = [];
+            for (let v = 0; v < nV; v += 1) {
+                const src = srcOf[v];
+                const row = src >= 0 ? uvRows[src] : undefined;
+                flatUv.push(row?.[0] ?? 0.5, row?.[1] ?? 0.5);
+            }
+            primitive.attributes.TEXCOORD_0 = editor.addAccessor(flatUv, 5126, "VEC2", 34962);
+        }
+        primitive.indices = editor.addAccessor(tris.flat(), 5125, "SCALAR", 34963);
+        report.push({ material: prim.materialName, vertices: nV, triangles: tris.length, removedTriangles: prim.indices.length / 3 - keepTri.length, addedTriangles: (newTris[role] ?? []).length });
+    }
+    return { glb: editor.finish(), report: { scale: Math.round(s * 1000) / 1000, primitives: report, bootHeights: Object.fromEntries(Object.entries(footFix).map(([k, f]) => [k, Math.round(f.spread * 1000) / 1000])) } };
+}
+//# sourceMappingURL=rebuildLimbs.js.map

package/dist/aura3d-cli/skin/rebuildLimbs.js.map

@@ -0,0 +1 @@
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package/dist/aura3d-cli/skin/refitSkeleton.d.ts

@@ -0,0 +1,23 @@
+import { type GlbData } from "./gltf.js";
+export declare class RefitUnsupported extends Error {
+}
+export interface RefitSkeletonOptions {
+    /** Seam edges a joint needs before its position is taken from the mesh (default 6). */
+    readonly minSeamEdges?: number;
+    /** Frames per second of the re-baked clips (default 30). */
+    readonly fps?: number;
+}
+export interface RefitSkeletonReport {
+    readonly moved: readonly {
+        readonly joint: string;
+        readonly offset: number;
+        readonly seamEdges: number;
+    }[];
+    readonly fallback: readonly string[];
+    readonly clips: number;
+}
+export declare function refitSkeleton(glb: GlbData, options?: RefitSkeletonOptions): {
+    glb: GlbData;
+    report: RefitSkeletonReport;
+};
+//# sourceMappingURL=refitSkeleton.d.ts.map

package/dist/aura3d-cli/skin/refitSkeleton.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"refitSkeleton.d.ts","sourceRoot":"","sources":["../../../../../packages/aura3d-cli/src/skin/refitSkeleton.ts"],"names":[],"mappings":"AAWA,OAAO,EAAiI,KAAK,OAAO,EAAiE,MAAM,WAAW,CAAC;AAEvO,qBAAa,gBAAiB,SAAQ,KAAK;CAAG;AAE9C,MAAM,WAAW,oBAAoB;IACnC,uFAAuF;IACvF,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,4DAA4D;IAC5D,QAAQ,CAAC,GAAG,CAAC,EAAE,MAAM,CAAC;CACvB;AACD,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,KAAK,EAAE,SAAS;QAAE,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;QAAC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;QAAC,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAA;KAAE,EAAE,CAAC;IAC3G,QAAQ,CAAC,QAAQ,EAAE,SAAS,MAAM,EAAE,CAAC;IACrC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;CACxB;AA8BD,wBAAgB,aAAa,CAAC,GAAG,EAAE,OAAO,EAAE,OAAO,GAAE,oBAAyB,GAAG;IAAE,GAAG,EAAE,OAAO,CAAC;IAAC,MAAM,EAAE,mBAAmB,CAAA;CAAE,CAiN7H"}