@aura3d/rendering 3.0.1 → 4.0.2

package/dist/SkinningUniforms.js

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+/**
+ * PRD-06 T0.10: skinning uniform application, shared by the forward pass and the
+ * skinned depth/velocity variant feature (T0.13 `bindUniforms` reuses these).
+ *
+ * `applySkinningUniforms` and `createSkinningPaletteTexture` are the verbatim
+ * pre-rebuild path (moved out of `forward/Deform.ts`, re-exported there for
+ * existing callers). `applySkinningUniformsCached` is the `A3D_QR_ANIMATION`
+ * path: the palette texture, sampler, bindings and zero-fill uniform block are
+ * kept per `skinning.paletteKey` in a `SkinningPaletteTextureCache`, so a
+ * >96-joint rig uploads one `texSubImage2D` per frame instead of allocating a
+ * fresh RGBA32F texture, sampler and zero array per draw (E21).
+ */
+import { MAX_SKINNING_JOINTS, MAX_UNIFORM_SKINNING_JOINTS, isFiniteArrayLike } from "./ForwardPass.js";
+import { Material } from "./Material.js";
+import { RenderDeviceError } from "./RenderDevice.js";
+import { Sampler } from "./Sampler.js";
+import { Texture } from "./Texture.js";
+import { TextureBinding } from "./TextureBinding.js";
+export const SKINNING_PALETTE_TEXTURE_MAX_WIDTH = 1024;
+export function ceilToMultiple(value, multiple) {
+    return Math.ceil(value / multiple) * multiple;
+}
+export function applySkinningUniforms(skinning, material, shader, uniforms) {
+    if (!shader.reflection.uniforms.has("u_jointMatrices") || !shader.reflection.uniforms.has("u_jointCount")) {
+        throw new RenderDeviceError("Skinned render item requires a shader with joint palette uniforms", "SKINNING_SHADER_CONTRACT", {
+            material: material.name
+        });
+    }
+    if (!Number.isInteger(skinning.jointCount) || skinning.jointCount <= 0 || skinning.jointCount > MAX_SKINNING_JOINTS) {
+        throw new RenderDeviceError(`Skinning jointCount must be an integer in [1, ${MAX_SKINNING_JOINTS}]`, "INVALID_SKINNING_PALETTE", {
+            jointCount: skinning.jointCount,
+            maxUniformJoints: MAX_UNIFORM_SKINNING_JOINTS,
+            maxJoints: MAX_SKINNING_JOINTS
+        });
+    }
+    if (skinning.matrices.length !== skinning.jointCount * 16) {
+        throw new RenderDeviceError("Skinning matrix palette length must equal jointCount * 16", "INVALID_SKINNING_PALETTE", {
+            jointCount: skinning.jointCount,
+            matrixScalars: skinning.matrices.length
+        });
+    }
+    if (!isFiniteArrayLike(skinning.matrices)) {
+        throw new RenderDeviceError("Skinning matrix palette must contain finite values", "INVALID_SKINNING_PALETTE", {
+            jointCount: skinning.jointCount
+        });
+    }
+    uniforms.set("u_jointCount", skinning.jointCount);
+    // Over the uniform-array limit the palette travels as an RGBA32F data texture, four
+    // texels per matrix. A mat4 uniform costs four vec4 slots, so a uniform array cannot
+    // be grown far enough for large rigs without exhausting MAX_VERTEX_UNIFORM_VECTORS.
+    const path = skinning.jointCount > MAX_UNIFORM_SKINNING_JOINTS ? "data-texture" : "uniform-array";
+    if (path === "data-texture") {
+        if (!shader.reflection.uniforms.has("u_jointPaletteTexture") || !shader.reflection.uniforms.has("u_jointPaletteMode")) {
+            throw new RenderDeviceError(`Skinning palettes above ${MAX_UNIFORM_SKINNING_JOINTS} joints require a shader with data-texture palette uniforms`, "SKINNING_SHADER_CONTRACT", { material: material.name, jointCount: skinning.jointCount });
+        }
+        const texture = createSkinningPaletteTexture(skinning, material.name);
+        uniforms.set("u_jointPaletteMode", 1);
+        uniforms.set("u_jointPaletteTexture", new TextureBinding({
+            name: "u_jointPaletteTexture",
+            texture,
+            sampler: new Sampler({ minFilter: "nearest", magFilter: "nearest", addressU: "clamp-to-edge", addressV: "clamp-to-edge" }),
+            required: true
+        }));
+        uniforms.set("u_jointPaletteTextureSize", [texture.width, texture.height]);
+        // The uniform array is still declared by the shader, so give it a valid value.
+        uniforms.set("u_jointMatrices", new Float32Array(MAX_UNIFORM_SKINNING_JOINTS * 16));
+        return path;
+    }
+    if (shader.reflection.uniforms.has("u_jointPaletteMode")) {
+        uniforms.set("u_jointPaletteMode", 0);
+        if (shader.reflection.uniforms.has("u_jointPaletteTextureSize"))
+            uniforms.set("u_jointPaletteTextureSize", [1, 1]);
+        if (shader.reflection.uniforms.has("u_jointPaletteTexture")) {
+            uniforms.set("u_jointPaletteTexture", new TextureBinding({ name: "u_jointPaletteTexture", required: false }));
+        }
+    }
+    uniforms.set("u_jointMatrices", skinning.matrices);
+    return path;
+}
+export function createSkinningPaletteTexture(skinning, materialName) {
+    const texelsPerMatrix = 4;
+    const totalTexels = skinning.jointCount * texelsPerMatrix;
+    const width = Math.min(SKINNING_PALETTE_TEXTURE_MAX_WIDTH, Math.max(texelsPerMatrix, ceilToMultiple(Math.ceil(Math.sqrt(totalTexels)), texelsPerMatrix)));
+    const height = Math.ceil(totalTexels / width);
+    const data = new Float32Array(width * height * 4);
+    data.set(skinning.matrices.subarray(0, Math.min(skinning.matrices.length, data.length)));
+    if (skinning.matrices.length > data.length) {
+        throw new RenderDeviceError("Skinning palette does not fit the data texture", "INVALID_SKINNING_PALETTE", {
+            material: materialName,
+            jointCount: skinning.jointCount
+        });
+    }
+    return new Texture({
+        width,
+        height,
+        format: "rgba32f",
+        colorSpace: "linear",
+        label: `aura3d-skinning-palette-${skinning.jointCount}-joints`,
+        data
+    });
+}
+/**
+ * The `skinning.paletteKey` field arrives via a structural stamp from
+ * `GLTFAnimationRuntime` (PRD-06 T0.11/§9.2) — the declared `SkinningPaletteBinding`
+ * type in `contracts/renderItem.ts` does not carry it yet (CCR-06-4). Returns the
+ * key only when the producer stamped an object identity.
+ */
+export function paletteKeyOf(skinning) {
+    const key = skinning.paletteKey;
+    return typeof key === "object" && key !== null ? key : null;
+}
+/**
+ * C-18 real path (`A3D_QR_ANIMATION` on + `paletteKey` stamped). Same contract
+ * checks as `applySkinningUniforms`, but the >96-joint branch reuses the cache's
+ * texture pair, sampler, bindings and zero block; the palette upload goes
+ * through `SkinningPaletteTextureCache.upload` (one `texture.update` per key
+ * per frame — `texSubImage2D`, no new WebGLTexture). The first upload per key
+ * still runs the finite scan; later frames trust the runtime's dirty flag.
+ */
+export function applySkinningUniformsCached(skinning, material, shader, uniforms, cache, device) {
+    // T1.12 — a program that includes `a3d_prd06_skinning_common` declares
+    // `u_boneTexture`/`u_boneTextureWidth` and never `u_jointMatrices`/
+    // `u_jointPaletteMode`: the cached bone texture binds for EVERY joint count
+    // (65- and 191-joint alike). `u_jointMatrices` is still uploaded only when
+    // the device is WebGPU, which consumes it until Q-11-1.
+    if (shader.reflection.uniforms.has("u_boneTexture")) {
+        return applyBoneTextureSkinningUniforms(skinning, material, shader, uniforms, cache, device);
+    }
+    if (!shader.reflection.uniforms.has("u_jointMatrices") || !shader.reflection.uniforms.has("u_jointCount")) {
+        throw new RenderDeviceError("Skinned render item requires a shader with joint palette uniforms", "SKINNING_SHADER_CONTRACT", {
+            material: material.name
+        });
+    }
+    if (!Number.isInteger(skinning.jointCount) || skinning.jointCount <= 0 || skinning.jointCount > MAX_SKINNING_JOINTS) {
+        throw new RenderDeviceError(`Skinning jointCount must be an integer in [1, ${MAX_SKINNING_JOINTS}]`, "INVALID_SKINNING_PALETTE", {
+            jointCount: skinning.jointCount,
+            maxUniformJoints: MAX_UNIFORM_SKINNING_JOINTS,
+            maxJoints: MAX_SKINNING_JOINTS
+        });
+    }
+    if (skinning.matrices.length !== skinning.jointCount * 16) {
+        throw new RenderDeviceError("Skinning matrix palette length must equal jointCount * 16", "INVALID_SKINNING_PALETTE", {
+            jointCount: skinning.jointCount,
+            matrixScalars: skinning.matrices.length
+        });
+    }
+    const key = paletteKeyOf(skinning);
+    const path = skinning.jointCount > MAX_UNIFORM_SKINNING_JOINTS ? "data-texture" : "uniform-array";
+    if (path === "data-texture" && key) {
+        if (!shader.reflection.uniforms.has("u_jointPaletteTexture") || !shader.reflection.uniforms.has("u_jointPaletteMode")) {
+            throw new RenderDeviceError(`Skinning palettes above ${MAX_UNIFORM_SKINNING_JOINTS} joints require a shader with data-texture palette uniforms`, "SKINNING_SHADER_CONTRACT", { material: material.name, jointCount: skinning.jointCount });
+        }
+        const palette = cache.paletteUniformSet(key, skinning.jointCount);
+        // The once-per-key finite scan: the runtime reuses the same backing buffer, so
+        // a palette that validated finite on its first frame keeps that guarantee while
+        // the buffer contents are overwritten only by finite joint writes (T0.10).
+        if (!palette.finiteValidated) {
+            if (!isFiniteArrayLike(skinning.matrices)) {
+                throw new RenderDeviceError("Skinning matrix palette must contain finite values", "INVALID_SKINNING_PALETTE", {
+                    jointCount: skinning.jointCount
+                });
+            }
+            palette.markFiniteValidated();
+        }
+        cache.upload(key, skinning.matrices);
+        uniforms.set("u_jointCount", skinning.jointCount);
+        uniforms.set("u_jointPaletteMode", 1);
+        uniforms.set("u_jointPaletteTexture", palette.currentBinding);
+        uniforms.set("u_jointPaletteTextureSize", [palette.textureSize[0], palette.textureSize[1]]);
+        uniforms.set("u_jointMatrices", palette.zeroJointUniforms);
+        return path;
+    }
+    // ≤96-joint rigs and unstamped producers keep the legacy semantics exactly.
+    return applySkinningUniforms(skinning, material, shader, uniforms);
+}
+/**
+ * T0.13 — the shared bone-texture binder for the `prd06.deform` depth/velocity
+ * variants (and any other pass whose shader carries `a3d_prd06_skinning_common`).
+ * Binds the texture pair the forward bind already uploaded this frame — no
+ * second upload, no allocation after the first bind per key.
+ *
+ * `set` is the feature's uniform setter (`ShaderFeature.bindUniforms`), so this
+ * never materialises a uniforms Map. Returns false when the item has no
+ * stamped palette (`select` already gates on `item.skinning`).
+ */
+export function bindBoneTexture(set, cache, item) {
+    const skinning = item.skinning;
+    if (!skinning)
+        return false;
+    return bindBoneTextureForSkinning(set, cache, skinning);
+}
+/**
+ * T1.12 — the bone-texture bind shared by the depth-feature setter and the
+ * forward `uniforms` map path. Same cache entry, same dedupe semantics as
+ * `bindBoneTexture`.
+ */
+export function bindBoneTextureForSkinning(set, cache, skinning) {
+    const stamped = paletteKeyOf(skinning);
+    // Unstamped producers (glTF loader rest palette before any clip apply,
+    // SkinnedMesh.setSkinning) still need the bone texture: the prd06.deform
+    // program declares no u_jointMatrices, so returning here left u_boneTexture
+    // unbound and the skin sampled texture unit 0 (GPU promote run 38198435735).
+    const key = stamped ?? skinning;
+    if (!stamped)
+        cache.markUnstamped(key);
+    // paletteUniformSet materialises the per-key entry (first bind only); upload()
+    // dedupes per cache frame id, so it is a no-op when the forward bind already
+    // ran this frame and a one-shot upload when depth binds first.
+    const palette = cache.paletteUniformSet(key, skinning.jointCount);
+    cache.upload(key, skinning.matrices);
+    set("u_boneTexture", palette.currentBinding);
+    set("u_boneTextureWidth", palette.textureSize[0]);
+    set("u_prevBoneTexture", palette.previousBinding);
+    return true;
+}
+/**
+ * T1.12 — the `a3d_prd06_skinning_common` program bind: bone texture for every
+ * joint count; `u_jointMatrices` only on WebGPU until Q-11-1. Unstamped
+ * producers keep the verbatim path (flag-off byte-identical).
+ */
+function applyBoneTextureSkinningUniforms(skinning, material, shader, uniforms, cache, device) {
+    if (!Number.isInteger(skinning.jointCount) || skinning.jointCount <= 0 || skinning.jointCount > MAX_SKINNING_JOINTS) {
+        throw new RenderDeviceError(`Skinning jointCount must be an integer in [1, ${MAX_SKINNING_JOINTS}]`, "INVALID_SKINNING_PALETTE", {
+            jointCount: skinning.jointCount,
+            maxUniformJoints: MAX_UNIFORM_SKINNING_JOINTS,
+            maxJoints: MAX_SKINNING_JOINTS
+        });
+    }
+    if (skinning.matrices.length !== skinning.jointCount * 16) {
+        throw new RenderDeviceError("Skinning matrix palette length must equal jointCount * 16", "INVALID_SKINNING_PALETTE", {
+            jointCount: skinning.jointCount,
+            matrixScalars: skinning.matrices.length
+        });
+    }
+    const key = paletteKeyOf(skinning);
+    if (!key) {
+        return applySkinningUniforms(skinning, material, shader, uniforms);
+    }
+    const palette = cache.paletteUniformSet(key, skinning.jointCount);
+    if (!palette.finiteValidated) {
+        if (!isFiniteArrayLike(skinning.matrices)) {
+            throw new RenderDeviceError("Skinning matrix palette must contain finite values", "INVALID_SKINNING_PALETTE", {
+                jointCount: skinning.jointCount
+            });
+        }
+        palette.markFiniteValidated();
+    }
+    bindBoneTextureForSkinning((name, value) => uniforms.set(name, value), cache, skinning);
+    if (shader.reflection.uniforms.has("u_jointCount")) {
+        uniforms.set("u_jointCount", skinning.jointCount);
+    }
+    if (!shader.reflection.uniforms.has("u_prevBoneTexture")) {
+        uniforms.delete("u_prevBoneTexture");
+    }
+    // WebGPU still consumes u_jointMatrices until Q-11-1 — the uniform array is
+    // uploaded only there (the chunk program never declares it on WebGL).
+    if (device?.kind === "webgpu" && shader.reflection.uniforms.has("u_jointMatrices")) {
+        uniforms.set("u_jointMatrices", skinning.matrices);
+    }
+    return "data-texture";
+}
+//# sourceMappingURL=SkinningUniforms.js.map

package/dist/SkinningUniforms.js.map

@@ -0,0 +1 @@
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package/dist/TemporalHistory.d.ts

@@ -4,6 +4,8 @@ export interface TemporalFrameOptions {
     readonly sceneKey?: string;
     readonly reset?: boolean;
     readonly jitter?: boolean;
+    /** §8.8: measured frame delta in seconds; scales the S7 shutter (C-23). */
+    readonly frameTime?: number;
 }
 /** GPU-only bindings. RG velocity is current UV minus previous UV; BA are current/previous depth. */
 export interface TemporalGpuBindings {
@@ -12,10 +14,31 @@ export interface TemporalGpuBindings {
     readonly historyOutput: RenderTarget;
     readonly historyValid: boolean;
     readonly historyFrames?: number;
+    /** PRD-03 Phase 4 (flag `A3D_QR_POST`): the C-14 camera history + the
+     * linear-depth ping-pong the S5 disocclusion test and S1 camera-velocity
+     * pass consume. Absent on the legacy re-draw path. */
+    readonly v2?: TemporalV2Frame;
+}
+export interface TemporalV2Frame {
+    /** Jittered view-projection used for rasterization this frame. */
+    readonly jittered: Float32Array;
+    /** Jitter-free view-projection — the velocity/reprojection reference. */
+    readonly unjittered: Float32Array;
+    /** Last frame's unjittered view-projection. */
+    readonly previous: Float32Array;
+    /** Previous frame's linear-depth target (valid only when historyValid). */
+    readonly linZ: RenderTarget;
+    /** S1-A writes this frame's linear depth here; swaps on commit(). */
+    readonly linZOutput: RenderTarget;
+    /** Jitter in full-pixel units (u_jitterClip = jitter / {w, h}). */
+    readonly jitterClip: readonly [number, number];
+    /** Measured frame delta in seconds (S7 shutter scale; 1/60 when unknown). */
+    readonly frameTime: number;
 }
 /** Renderer-lifetime owner; histories only advance after successful presentation. */
 export declare class TemporalHistory {
     private targets;
+    private linZTargets;
     private previous;
     private pending;
     private valid;
@@ -32,6 +55,16 @@ export declare class TemporalHistory {
     /** Aperiodic pixel quadrature; deliberately zero for the seed frame. */
     jitter(width: number, height: number): readonly [number, number];
     prepare(device: RenderDevice, width: number, height: number, items: readonly RenderItem[], viewProjection: Float32Array | readonly number[] | undefined, options: TemporalFrameOptions): TemporalGpuBindings;
+    /**
+     * PRD-03 Phase 4 (flag `A3D_QR_POST`): the per-item velocity re-draw and
+     * the rigid-only geometry gate are superseded — S1 pass C derives camera
+     * velocity from depth reprojection, per-object MRT velocity lands with
+     * Q-01-2, and TAA/motion-blur run as v2 post stages. prepare() here only
+     * owns GPU surfaces (velocity, history ping-pong, linear-depth ping-pong),
+     * the C-14 camera matrices, and the per-item jittered MVP the forward
+     * raster needs for TAA convergence. No ForwardPass is constructed.
+     */
+    private prepareV2;
     commit(): void;
 }
 //# sourceMappingURL=TemporalHistory.d.ts.map

package/dist/TemporalHistory.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"TemporalHistory.d.ts","sourceRoot":"","sources":["../../../../packages/rendering/src/TemporalHistory.ts"],"names":[],"mappings":"AACA,OAAO,EAAe,KAAK,UAAU,EAAE,MAAM,eAAe,CAAC;AAG7D,OAAO,EAAqB,KAAK,YAAY,EAAE,KAAK,YAAY,EAAE,MAAM,gBAAgB,CAAC;AAKzF,MAAM,WAAW,oBAAoB;IACnC,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,KAAK,CAAC,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,MAAM,CAAC,EAAE,OAAO,CAAC;IAC1B,2EAA2E;IAC3E,QAAQ,CAAC,SAAS,CAAC,EAAE,MAAM,CAAC;CAC7B;AAED,qGAAqG;AACrG,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,QAAQ,EAAE,YAAY,CAAC;IAChC,QAAQ,CAAC,OAAO,EAAE,YAAY,CAAC;IAC/B,QAAQ,CAAC,aAAa,EAAE,YAAY,CAAC;IACrC,QAAQ,CAAC,YAAY,EAAE,OAAO,CAAC;IAC/B,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC;;0DAEsD;IACtD,QAAQ,CAAC,EAAE,CAAC,EAAE,eAAe,CAAC;CAC/B;AAED,MAAM,WAAW,eAAe;IAC9B,kEAAkE;IAClE,QAAQ,CAAC,QAAQ,EAAE,YAAY,CAAC;IAChC,yEAAyE;IACzE,QAAQ,CAAC,UAAU,EAAE,YAAY,CAAC;IAClC,+CAA+C;IAC/C,QAAQ,CAAC,QAAQ,EAAE,YAAY,CAAC;IAChC,2EAA2E;IAC3E,QAAQ,CAAC,IAAI,EAAE,YAAY,CAAC;IAC5B,qEAAqE;IACrE,QAAQ,CAAC,UAAU,EAAE,YAAY,CAAC;IAClC,mEAAmE;IACnE,QAAQ,CAAC,UAAU,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;IAC/C,6EAA6E;IAC7E,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;CAC5B;AAED,qFAAqF;AACrF,qBAAa,eAAe;IAC1B,OAAO,CAAC,OAAO,CAAyD;IACxE,OAAO,CAAC,WAAW,CAA2C;IAC9D,OAAO,CAAC,QAAQ,CAAmC;IACnD,OAAO,CAAC,OAAO,CAAmC;IAClD,OAAO,CAAC,KAAK,CAAS;IACtB,OAAO,CAAC,QAAQ,CAAqB;IACrC,OAAO,CAAC,KAAK,CAAK;IAClB,OAAO,CAAC,aAAa,CAAS;IAC9B,OAAO,CAAC,QAAQ,CAAC,OAAO,CAAuB;IAC/C,OAAO,CAAC,IAAI,CAA0B;IACtC,WAAW,EAAE,SAAS,UAAU,EAAE,CAAM;IACxC,OAAO,CAAC,SAAS,CAAkB;;IAGnC,KAAK,IAAI,IAAI;IASb,OAAO,IAAI,IAAI;IAWf,wEAAwE;IACxE,MAAM,CAAC,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC;IAQhE,OAAO,CAAC,MAAM,EAAE,YAAY,EAAE,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,SAAS,UAAU,EAAE,EAAE,cAAc,EAAE,YAAY,GAAG,SAAS,MAAM,EAAE,GAAG,SAAS,EAAE,OAAO,EAAE,oBAAoB,GAAG,mBAAmB;IA0C5M;;;;;;;;OAQG;IACH,OAAO,CAAC,SAAS;IAiDjB,MAAM,IAAI,IAAI;CAMf"}

package/dist/TemporalHistory.js

@@ -4,9 +4,12 @@ import { Material } from "./Material.js";
 import { MaterialInstance } from "./MaterialInstance.js";
 import { RenderDeviceError } from "./RenderDevice.js";
 import { ShaderLibrary } from "./ShaderLibraryCore.js";
+import { rendererQrFlags } from "./renderer/FrameGraph.js";
+import { velocityHistorySlot } from "./forward/Velocity.js";
 /** Renderer-lifetime owner; histories only advance after successful presentation. */
 export class TemporalHistory {
     targets;
+    linZTargets;
     previous = new Map();
     pending = new Map();
     valid = false;
@@ -18,7 +21,15 @@ export class TemporalHistory {
     renderItems = [];
     materials = [];
     constructor() { this.library.register(velocityShader); }
-    reset() { this.valid = false; this.previous.clear(); this.pending.clear(); this.frame = 0; }
+    reset() {
+        this.valid = false;
+        this.previous.clear();
+        this.pending.clear();
+        this.frame = 0;
+        // C-14: the camera-level history (velocity MRT binder + S1 pass C) shares
+        // the same invalidation — a cut/resize/scene-swap discards both.
+        velocityHistorySlot.get(rendererQrFlags()).history.reset("camera-cut");
+    }
     dispose() {
         this.pass = undefined;
         for (const material of this.materials)
@@ -27,6 +38,9 @@ export class TemporalHistory {
         for (const target of this.targets ?? [])
             target.dispose();
         this.targets = undefined;
+        for (const target of this.linZTargets ?? [])
+            target.dispose();
+        this.linZTargets = undefined;
         this.reset();
     }
     /** Aperiodic pixel quadrature; deliberately zero for the seed frame. */
@@ -46,6 +60,9 @@ export class TemporalHistory {
             this.reset();
             this.sceneKey = options.sceneKey;
         }
+        if (rendererQrFlags().on("A3D_QR_POST")) {
+            return this.prepareV2(device, width, height, items, viewProjection, options);
+        }
         if (!this.targets || this.targets.some(target => target.disposed || target.width !== width || target.height !== height)) {
             this.dispose();
             const made = [];
@@ -95,10 +112,76 @@ export class TemporalHistory {
         this.pass.execute({ device, width, height });
         return { velocity: this.targets[0], history: this.targets[1], historyOutput: this.targets[2], historyValid: this.valid, historyFrames: this.valid ? this.frame : 0 };
     }
+    /**
+     * PRD-03 Phase 4 (flag `A3D_QR_POST`): the per-item velocity re-draw and
+     * the rigid-only geometry gate are superseded — S1 pass C derives camera
+     * velocity from depth reprojection, per-object MRT velocity lands with
+     * Q-01-2, and TAA/motion-blur run as v2 post stages. prepare() here only
+     * owns GPU surfaces (velocity, history ping-pong, linear-depth ping-pong),
+     * the C-14 camera matrices, and the per-item jittered MVP the forward
+     * raster needs for TAA convergence. No ForwardPass is constructed.
+     */
+    prepareV2(device, width, height, items, viewProjection, options) {
+        if (!this.targets || this.targets.some(target => target.disposed || target.width !== width || target.height !== height)
+            || !this.linZTargets || this.linZTargets.some(target => target.disposed || target.width !== width || target.height !== height)) {
+            this.dispose();
+            const made = [];
+            try {
+                for (const label of ["velocity", "history-a", "history-b"])
+                    made.push(device.createRenderTarget({ width, height, format: "rgba16f", depth: false, sampleCount: 1, label: `renderer-temporal-${label}` }));
+                for (const label of ["linz-a", "linz-b"])
+                    made.push(device.createRenderTarget({ width, height, format: "rgba32f", depth: false, sampleCount: 1, label: `renderer-temporal-${label}` }));
+                this.targets = made.slice(0, 3);
+                this.linZTargets = made.slice(3);
+            }
+            catch (error) {
+                for (const target of made)
+                    target.dispose();
+                throw error;
+            }
+        }
+        const vp = Float32Array.from(viewProjection ?? identityMat4());
+        const jitter = options.jitter ? this.jitter(width, height) : [0, 0];
+        // C-14: the registered camera history produces {jittered, unjittered,
+        // previous} and arms the velocity-MRT binder for this frame's draws. The
+        // jitter it reprojects by must match what the raster below applies.
+        const cam = velocityHistorySlot.get(rendererQrFlags()).history.prepare(vp, jitter);
+        this.renderItems = items.map((item) => {
+            const unjittered = Float32Array.from(item.modelViewProjectionMatrix
+                ?? multiplyMat4(Array.from(vp), Array.from(item.modelMatrix ?? identityMat4())));
+            const current = new Float32Array(unjittered);
+            if (jitter[0] !== 0 || jitter[1] !== 0) {
+                for (let col = 0; col < 4; col += 1) {
+                    current[col * 4] = current[col * 4] + jitter[0] * current[col * 4 + 3];
+                    current[col * 4 + 1] = current[col * 4 + 1] + jitter[1] * current[col * 4 + 3];
+                }
+            }
+            return { ...item, modelViewProjectionMatrix: current };
+        });
+        const linZTargets = this.linZTargets;
+        return {
+            velocity: this.targets[0],
+            history: this.targets[1],
+            historyOutput: this.targets[2],
+            historyValid: this.valid,
+            historyFrames: this.valid ? this.frame : 0,
+            v2: {
+                jittered: cam.jittered,
+                unjittered: cam.unjittered,
+                previous: cam.previous,
+                linZ: linZTargets[0],
+                linZOutput: linZTargets[1],
+                jitterClip: jitter,
+                frameTime: options.frameTime ?? 1 / 60
+            }
+        };
+    }
     commit() {
         if (!this.targets)
             return;
         [this.targets[1], this.targets[2]] = [this.targets[2], this.targets[1]];
+        if (this.linZTargets)
+            [this.linZTargets[0], this.linZTargets[1]] = [this.linZTargets[1], this.linZTargets[0]];
         this.previous = new Map(this.pending);
         this.valid = true;
         this.frame++;

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package/dist/TerrainHeightfield.d.ts

@@ -56,5 +56,17 @@ export interface TerrainHeightfieldGeometry {
 }
 export declare function createTerrainHeightfieldFixture(options?: TerrainHeightfieldFixtureOptions): TerrainHeightfieldFixture;
 export declare function sampleTerrainHeightfield(fixture: TerrainHeightfieldFixture, u: number, v: number): TerrainHeightfieldSample;
+export interface TerrainHeightTexture {
+    /** R32F height payload, row-major, `width * height` entries. A copy of the fixture data. */
+    readonly data: Float32Array;
+    readonly width: number;
+    readonly height: number;
+}
+/**
+ * Returns the R32F height texture payload that the terrain material samples in
+ * the vertex stage (PRD-10 §7.2: displacement must come from the same field the
+ * CPU-side queries read, or colliders and pixels disagree).
+ */
+export declare function toHeightTexture(fixture: TerrainHeightfieldFixture): TerrainHeightTexture;
 export declare function createTerrainHeightfieldGeometry(fixture: TerrainHeightfieldFixture, options?: TerrainHeightfieldGeometryOptions): TerrainHeightfieldGeometry;
 //# sourceMappingURL=TerrainHeightfield.d.ts.map

package/dist/TerrainHeightfield.d.ts.map

@@ -1 +1 @@
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package/dist/TerrainHeightfield.js

@@ -69,13 +69,36 @@ export function createTerrainHeightfieldFixture(options = {}) {
     };
 }
 export function sampleTerrainHeightfield(fixture, u, v) {
-    const x = Math.max(0, Math.min(fixture.width - 1, Math.round(clamp(u, 0, 1) * (fixture.width - 1))));
-    const y = Math.max(0, Math.min(fixture.height - 1, Math.round(clamp(v, 0, 1) * (fixture.height - 1))));
-    const height = fixture.data[y * fixture.width + x] ?? 0;
+    // Bilinear height sample (PRD-10 T2 correctness fix, unflagged): the previous
+    // nearest-texel `Math.round` pick could jump ~0.5 m between adjacent texels,
+    // which broke every raycast/collision/vegetation/placement caller that treats
+    // the heightfield as continuous. The four surrounding texels are blended here
+    // so `queryTerrainHeight` and the C-26 `AuraHeightQuery` see a continuous field.
+    const px = clamp(u, 0, 1) * (fixture.width - 1);
+    const py = clamp(v, 0, 1) * (fixture.height - 1);
+    const x0 = Math.floor(px);
+    const y0 = Math.floor(py);
+    const x1 = Math.min(x0 + 1, fixture.width - 1);
+    const y1 = Math.min(y0 + 1, fixture.height - 1);
+    const fx = px - x0;
+    const fy = py - y0;
+    const h00 = fixture.data[y0 * fixture.width + x0] ?? 0;
+    const h10 = fixture.data[y0 * fixture.width + x1] ?? 0;
+    const h01 = fixture.data[y1 * fixture.width + x0] ?? 0;
+    const h11 = fixture.data[y1 * fixture.width + x1] ?? 0;
+    const height = lerp(lerp(h00, h10, fx), lerp(h01, h11, fx), fy);
     const normalized = (height - fixture.minHeight) / Math.max(0.0001, fixture.maxHeight - fixture.minHeight);
-    const moisture = clamp(fractalNoise((x / fixture.width) * 2.4 + 7.2, (y / fixture.height) * 2.4 - 1.8, fixture.seed ^ 0x9ab1, 4), 0, 1);
-    const temperature = clamp((1 - y / fixture.height) * 0.78 + fractalNoise((x / fixture.width) * 1.8 - 3.2, (y / fixture.height) * 1.8 + 5.8, fixture.seed ^ 0x1c0d, 3) * 0.22 - normalized * 0.38, 0, 1);
-    return { x, y, height: Number(height.toFixed(4)), moisture: Number(moisture.toFixed(4)), temperature: Number(temperature.toFixed(4)), biome: biomeFor(normalized, moisture, temperature, 0) };
+    const moisture = clamp(fractalNoise((px / fixture.width) * 2.4 + 7.2, (py / fixture.height) * 2.4 - 1.8, fixture.seed ^ 0x9ab1, 4), 0, 1);
+    const temperature = clamp((1 - py / fixture.height) * 0.78 + fractalNoise((px / fixture.width) * 1.8 - 3.2, (py / fixture.height) * 1.8 + 5.8, fixture.seed ^ 0x1c0d, 3) * 0.22 - normalized * 0.38, 0, 1);
+    return { x: px, y: py, height: Number(height.toFixed(4)), moisture: Number(moisture.toFixed(4)), temperature: Number(temperature.toFixed(4)), biome: biomeFor(normalized, moisture, temperature, 0) };
+}
+/**
+ * Returns the R32F height texture payload that the terrain material samples in
+ * the vertex stage (PRD-10 §7.2: displacement must come from the same field the
+ * CPU-side queries read, or colliders and pixels disagree).
+ */
+export function toHeightTexture(fixture) {
+    return { data: new Float32Array(fixture.data), width: fixture.width, height: fixture.height };
 }
 export function createTerrainHeightfieldGeometry(fixture, options = {}) {
     validateFixture(fixture);