@carbonenginejs/runtime-resource 0.1.0 → 0.8.0

package/dist/formats/cmf/core/gr2Anim.js

@@ -1,453 +1,453 @@
-/**
- * GR2-shaped skeleton/animation conversion into CMF-native data.
- *
- * Input is the GR2 JSON shape emitted by the GR2 reader with curves already
- * decompressed to explicit `{ knots, controls, dimension, degree }` (enable
- * `decompressCurves` when reading); this module never parses packed Granny
- * curve data, keeping the MIT runtime free of the separate GR2 package.
- *
- * CMF curves support Step/Linear interpolation only, so Granny curves of
- * degree 2 are resampled (non-uniform quadratic B-spline evaluated via de
- * Boor) at a uniform rate; degree ≤ 1 knots/controls convert exactly.
- * Granny 3x3 scale/shear collapses to the vec3 diagonal (shear is dropped);
- * inverse bind matrices are rebuilt from the rest pose hierarchy in the
- * row-major, translation-in-elements-12..14 layout Granny uses.
- */
-
-function convertError(message) {
-  const error = new Error(`CMF gr2 convert: ${message}`);
-  error.code = "CJS_FORMAT_WRITE_ERROR";
-  return error;
-}
-
-/**
- * Test for a GR2-shaped skeleton (bones as objects with name/parentIndex).
- *
- * @param {object} skeleton Candidate skeleton.
- * @returns {boolean} True when GR2-shaped.
- */
-function isGr2Skeleton(skeleton) {
-  return !!skeleton && Array.isArray(skeleton.bones) && skeleton.bones.length > 0 && typeof skeleton.bones[0] === "object" && skeleton.bones[0] !== null && typeof skeleton.bones[0].name === "string";
-}
-
-/**
- * Test for a GR2-shaped animation (carries trackGroups).
- *
- * @param {object} animation Candidate animation.
- * @returns {boolean} True when GR2-shaped.
- */
-function isGr2Animation(animation) {
-  return !!animation && Array.isArray(animation.trackGroups);
-}
-function composeTrs(position, rotation, scale) {
-  const [x, y, z, w] = rotation;
-  const x2 = x + x,
-    y2 = y + y,
-    z2 = z + z;
-  const xx = x * x2,
-    xy = x * y2,
-    xz = x * z2;
-  const yy = y * y2,
-    yz = y * z2,
-    zz = z * z2;
-  const wx = w * x2,
-    wy = w * y2,
-    wz = w * z2;
-  const [sx, sy, sz] = scale;
-
-  // row-major, row-vector convention: rows scaled, translation in 12..14
-  return [(1 - (yy + zz)) * sx, (xy + wz) * sx, (xz - wy) * sx, 0, (xy - wz) * sy, (1 - (xx + zz)) * sy, (yz + wx) * sy, 0, (xz + wy) * sz, (yz - wx) * sz, (1 - (xx + yy)) * sz, 0, position[0], position[1], position[2], 1];
-}
-function multiplyMatrices(a, b) {
-  // row-vector convention: result = a * b (a applied first)
-  const out = new Array(16);
-  for (let row = 0; row < 4; row++) {
-    for (let column = 0; column < 4; column++) {
-      out[row * 4 + column] = a[row * 4] * b[column] + a[row * 4 + 1] * b[4 + column] + a[row * 4 + 2] * b[8 + column] + a[row * 4 + 3] * b[12 + column];
-    }
-  }
-  return out;
-}
-function invertAffine(m) {
-  // invert the 3x3 block, then the translation row
-  const a = m[0],
-    b = m[1],
-    c = m[2],
-    d = m[4],
-    e = m[5],
-    f = m[6],
-    g = m[8],
-    h = m[9],
-    i = m[10];
-  const coA = e * i - f * h,
-    coB = f * g - d * i,
-    coC = d * h - e * g;
-  const det = a * coA + b * coB + c * coC;
-  if (!det) throw convertError("rest pose matrix is singular");
-  const r = 1 / det;
-  const i00 = coA * r,
-    i01 = (c * h - b * i) * r,
-    i02 = (b * f - c * e) * r,
-    i10 = coB * r,
-    i11 = (a * i - c * g) * r,
-    i12 = (c * d - a * f) * r,
-    i20 = coC * r,
-    i21 = (b * g - a * h) * r,
-    i22 = (a * e - b * d) * r;
-  const tx = m[12],
-    ty = m[13],
-    tz = m[14];
-  return [i00, i01, i02, 0, i10, i11, i12, 0, i20, i21, i22, 0, -(tx * i00 + ty * i10 + tz * i20) + 0, -(tx * i01 + ty * i11 + tz * i21) + 0, -(tx * i02 + ty * i12 + tz * i22) + 0, 1];
-}
-function boneRestTransform(bone) {
-  const scaleShear = bone.scaleShear || [1, 0, 0, 0, 1, 0, 0, 0, 1];
-  return {
-    position: (bone.position || [0, 0, 0]).slice(0, 3),
-    rotation: (bone.orientation || [0, 0, 0, 1]).slice(0, 4),
-    scale: [scaleShear[0], scaleShear[4], scaleShear[8]]
-  };
-}
-
-/**
- * Convert a GR2-shaped skeleton into a CMF-native skeleton.
- *
- * @param {object} skeleton GR2 skeleton `{ name, bones: [{ name, parentIndex, position?, orientation?, scaleShear? }] }`.
- * @returns {object} CMF-native skeleton with rebuilt inverse bind matrices.
- */
-function convertGr2Skeleton(skeleton) {
-  const bones = skeleton.bones || [];
-  const worldTransforms = new Array(bones.length);
-  const restTransforms = new Array(bones.length);
-  const parents = new Array(bones.length);
-  for (let i = 0; i < bones.length; i++) {
-    const bone = bones[i];
-    const parentIndex = typeof bone.parentIndex === "number" ? bone.parentIndex : -1;
-    if (parentIndex >= i && parentIndex !== 0xffffffff) {
-      throw convertError(`bone ${i} (${bone.name}) has forward parent index ${parentIndex}`);
-    }
-    parents[i] = parentIndex < 0 || parentIndex === 0xffffffff ? 0xffffffff : parentIndex;
-    const rest = boneRestTransform(bone);
-    restTransforms[i] = rest;
-    const local = composeTrs(rest.position, rest.rotation, rest.scale);
-    worldTransforms[i] = parents[i] === 0xffffffff ? local : multiplyMatrices(local, worldTransforms[parents[i]]);
-  }
-  return {
-    name: skeleton.name || "",
-    bones: bones.map(bone => bone.name || ""),
-    parents,
-    restTransforms,
-    invBindTransforms: worldTransforms.map(world => invertAffine(world)),
-    boneMasks: []
-  };
-}
-function findKnotIndex(knots, time) {
-  let low = 0;
-  let high = knots.length - 1;
-  while (low < high) {
-    const mid = low + high >> 1;
-    if (knots[mid] > time) high = mid;else low = mid + 1;
-  }
-  return low;
-}
-
-/**
- * Evaluate a decoded Granny curve at `time` (clamped, non-cycling).
- *
- * Degree ≤ 0 steps, degree 1 lerps, degree 2 evaluates the non-uniform
- * quadratic B-spline via de Boor over the Granny knot convention, including
- * the reference evaluator's next-knot wrap at the final segment (the segment
- * after the last knot borrows the first knot advanced by `duration`).
- *
- * @param {object} curve Decoded curve `{ knots, controls, dimension, degree }`.
- * @param {number} time Sample time.
- * @param {Array<number>} out Output vector (dimension entries).
- * @param {number} [duration] Animation duration for the final-segment wrap;
- *   defaults to the last knot.
- * @returns {Array<number>} The `out` vector.
- */
-function evaluateDecodedCurve(curve, time, out, duration = 0) {
-  const {
-    knots,
-    controls,
-    dimension
-  } = curve;
-  const count = knots.length;
-  const controlCount = controls.length / dimension;
-  const copy = index => {
-    const clamped = Math.max(0, Math.min(controlCount - 1, index));
-    for (let i = 0; i < dimension; i++) out[i] = controls[clamped * dimension + i];
-    return out;
-  };
-  if (!count || controlCount <= 1 || (curve.degree | 0) <= 0) {
-    return copy(count ? Math.min(findKnotIndex(knots, time), controlCount - 1) : 0);
-  }
-
-  // the reference evaluator does not clamp the sample time: past the last
-  // knot the final segment extrapolates, and baked samples must match the
-  // motion the GR2 runtime actually produces
-  const knot = findKnotIndex(knots, time);
-  if ((curve.degree | 0) === 1) {
-    const k0 = knot === 0 ? 0 : knot - 1;
-    const start = knots[k0];
-    const end = knots[knot];
-    const t = end !== start ? (time - start) / (end - start) : 0;
-    for (let i = 0; i < dimension; i++) {
-      out[i] = controls[k0 * dimension + i] * (1 - t) + controls[knot * dimension + i] * t;
-    }
-    return out;
-  }
-
-  // degree 2: de Boor for a quadratic over Granny's knot convention —
-  // the segment ending at knots[knot] blends controls knot-2, knot-1, knot
-  const wrapDuration = duration || knots[count - 1];
-  const k2 = Math.max(0, knot - 2);
-  const k1 = Math.max(0, knot - 1);
-  const t2 = knots[k2];
-  const t1 = knots[k1];
-  const t0 = knots[knot];
-  let tNext = knots[(knot + 1) % count];
-  if (tNext < t0) tNext += wrapDuration;
-  const d0 = t0 - t1;
-  const d1a = t0 - t2;
-  const d1b = tNext - t1;
-  const l0 = d0 !== 0 ? (time - t1) / d0 : 0;
-  const l1a = d1a !== 0 ? (time - t2) / d1a : 0;
-  const l1b = d1b !== 0 ? (time - t1) / d1b : 0;
-  const cI = l0 * l1b;
-  const c2 = (1 - l0) * (1 - l1a);
-  const c1 = 1 - c2 - cI;
-  for (let i = 0; i < dimension; i++) {
-    out[i] = c2 * controls[k2 * dimension + i] + c1 * controls[k1 * dimension + i] + cI * controls[knot * dimension + i];
-  }
-  return out;
-}
-function floatBytes(values) {
-  return Array.from(new Uint8Array(new Float32Array(values).buffer));
-}
-function isIdentityValue(values, dimension) {
-  const identity = [0, 0, 0, 1] ;
-  if (!identity) return false;
-  return values.every((value, index) => Math.abs(value - identity[index % 4]) < 1e-7);
-}
-function diagonalFromScaleShear(controls, knotIndex) {
-  return [controls[knotIndex * 9], controls[knotIndex * 9 + 4], controls[knotIndex * 9 + 8]];
-}
-function requireDecoded(curve, track, kind) {
-  if (!curve) return null;
-  if (Array.isArray(curve.knots) && Array.isArray(curve.controls) && curve.dimension) {
-    return curve;
-  }
-  if (typeof curve.format === "number" && curve.format !== undefined) {
-    throw convertError(`track "${track}" ${kind} curve is not decoded — read the GR2 with decompressCurves enabled`);
-  }
-  return null;
-}
-function convertCurve(curve, targetDimension, duration, sampleRate) {
-  const dimension = curve.dimension;
-  const degree = curve.degree | 0;
-  const knotCount = curve.knots.length;
-  const controlCount = curve.controls.length / dimension;
-  const extract = targetDimension === 3 && dimension === 9 ? index => diagonalFromScaleShear(curve.controls, index) : index => curve.controls.slice(index * dimension, index * dimension + targetDimension);
-  if (knotCount <= 1 || controlCount <= 1) {
-    const values = extract(0);
-    return {
-      valueDimension: targetDimension,
-      interpolation: "Step",
-      knotType: "Float32",
-      valueType: "Float32",
-      knotCount: 1,
-      knots: floatBytes([curve.knots[0] ?? 0]),
-      values: floatBytes(values),
-      plainValues: values
-    };
-  }
-  if (degree <= 1) {
-    const values = [];
-    for (let i = 0; i < knotCount; i++) values.push(...extract(i));
-    return {
-      valueDimension: targetDimension,
-      interpolation: degree === 0 ? "Step" : "Linear",
-      knotType: "Float32",
-      valueType: "Float32",
-      knotCount,
-      knots: floatBytes(curve.knots),
-      values: floatBytes(values),
-      plainValues: values
-    };
-  }
-
-  // degree 2: adaptive resample — seed with the original knots plus a
-  // uniform grid, recursively subdividing each interval until linear
-  // interpolation tracks the quadratic within `tolerance`; intervals that
-  // never converge are true discontinuities and snap to one float32 ULP
-  // before the jump knot
-  const start = curve.knots[0];
-  const end = Math.max(curve.knots[knotCount - 1], duration || 0);
-  const span = Math.max(end - start, 0);
-  const tolerance = 1e-3;
-  const minStep = 4e-6;
-  const maxDepth = 24;
-  const seedTimes = new Set(curve.knots.map(knot => Math.min(Math.max(knot, start), end)));
-  const gridCount = Math.max(1, Math.ceil(span * sampleRate));
-  for (let i = 0; i <= gridCount; i++) seedTimes.add(start + span * i / gridCount);
-  const seeds = [...seedTimes].sort((a, b) => a - b);
-  const sample = new Array(dimension).fill(0);
-  const evaluateAt = time => {
-    evaluateDecodedCurve(curve, time, sample, duration);
-    return targetDimension === 3 && dimension === 9 ? [sample[0], sample[4], sample[8]] : sample.slice(0, targetDimension);
-  };
-  const outTimes = [];
-  const outValues = [];
-  const emit = (time, value) => {
-    outTimes.push(time);
-    outValues.push(value);
-  };
-  const fitsLinear = (v0, v1, actual) => {
-    for (let c = 0; c < targetDimension; c++) {
-      if (Math.abs(actual[c] - (v0[c] + v1[c]) / 2) > tolerance) return false;
-    }
-    return true;
-  };
-  const refine = (t0, v0, t1, v1, depth) => {
-    if (t1 - t0 <= minStep || depth >= maxDepth) {
-      let differs = false;
-      for (let c = 0; c < targetDimension; c++) {
-        if (Math.abs(v0[c] - v1[c]) > tolerance) differs = true;
-      }
-      if (differs) {
-        // discontinuity at the right endpoint (an original knot):
-        // hold the left value until one float32 ULP before the jump
-        const snapped = float32UlpBefore(t1);
-        if (snapped > t0) emit(snapped, v0.slice());
-      }
-      return;
-    }
-    const mid = (t0 + t1) / 2;
-    const vm = evaluateAt(mid);
-    if (fitsLinear(v0, v1, vm)) return;
-    refine(t0, v0, mid, vm, depth + 1);
-    emit(mid, vm);
-    refine(mid, vm, t1, v1, depth + 1);
-  };
-  let previousValue = evaluateAt(seeds[0]);
-  emit(seeds[0], previousValue);
-  for (let i = 1; i < seeds.length; i++) {
-    const value = evaluateAt(seeds[i]);
-    refine(seeds[i - 1], previousValue, seeds[i], value, 0);
-    emit(seeds[i], value);
-    previousValue = value;
-  }
-  const values = [];
-  for (const entry of outValues) values.push(...entry);
-  return {
-    valueDimension: targetDimension,
-    interpolation: "Linear",
-    knotType: "Float32",
-    valueType: "Float32",
-    knotCount: outTimes.length,
-    knots: floatBytes(outTimes),
-    values: floatBytes(values),
-    plainValues: values
-  };
-}
-const ulpScratch = new Float32Array(1);
-const ulpScratchBits = new Uint32Array(ulpScratch.buffer);
-function float32UlpBefore(value) {
-  if (!(value > 0)) return value;
-  ulpScratch[0] = value;
-  ulpScratchBits[0] -= 1;
-  return ulpScratch[0];
-}
-
-/**
- * Convert a GR2-shaped animation into a CMF-native animation.
- *
- * @param {object} animation GR2 animation with decoded curves.
- * @param {object} [options] `sampleRate` (Hz, default 30) for degree-2 resampling.
- * @returns {object} CMF-native animation with channels and curves.
- */
-function convertGr2Animation(animation, options = {}) {
-  const sampleRate = options.sampleRate || 30;
-  const duration = animation.duration || 0;
-  const channels = [];
-  const curves = [];
-  const addChannel = (target, targetType, decoded, targetDimension) => {
-    const converted = convertCurve(decoded, targetDimension, duration, sampleRate);
-    // constant identity channels carry no information
-    if (converted.knotCount === 1 && targetType === "BoneRotation" && isIdentityValue(converted.plainValues)) return;
-    if (converted.knotCount === 1 && targetType === "BoneScale" && converted.plainValues.every(value => Math.abs(value - 1) < 1e-7)) return;
-    delete converted.plainValues;
-    channels.push({
-      target,
-      targetType,
-      curveIndex: curves.length
-    });
-    curves.push(converted);
-  };
-  for (const trackGroup of animation.trackGroups || []) {
-    for (const track of trackGroup.transformTracks || []) {
-      const position = requireDecoded(track.position, track.name, "position");
-      const orientation = requireDecoded(track.orientation, track.name, "orientation");
-      const scaleShear = requireDecoded(track.scaleShear, track.name, "scaleShear");
-      if (position) addChannel(track.name, "BonePosition", position, 3);
-      if (orientation) addChannel(track.name, "BoneRotation", orientation, 4);
-      if (scaleShear) addChannel(track.name, "BoneScale", scaleShear, 3);
-    }
-  }
-  return {
-    name: animation.name || "",
-    channels,
-    curves,
-    duration
-  };
-}
-
-/**
- * Convert any GR2-shaped skeletons/animations in a shared root, leaving
- * CMF-native ones untouched.
- *
- * GR2 files frequently carry their skeleton under `models[].skeleton` rather
- * than a root skeleton list; those are collected (deduplicated by name) when
- * the root list is empty. With exactly one skeleton, skinned meshes (those
- * with bone bindings) that declare no skeleton index are bound to it.
- *
- * @param {object} root Shared geometry root.
- * @param {object} [options] Conversion options (`sampleRate`).
- * @returns {object} Root with converted skeletons/animations.
- */
-function convertGr2SkeletonsAndAnimations(root, options = {}) {
-  let sourceSkeletons = root.skeletons || [];
-  if (!sourceSkeletons.length && Array.isArray(root.models)) {
-    const byName = new Map();
-    for (const model of root.models) {
-      const skeleton = model?.skeleton;
-      if (skeleton && Array.isArray(skeleton.bones) && skeleton.bones.length && !byName.has(skeleton.name)) {
-        byName.set(skeleton.name, skeleton);
-      }
-    }
-    sourceSkeletons = [...byName.values()];
-  }
-  const skeletons = sourceSkeletons.map(skeleton => isGr2Skeleton(skeleton) ? convertGr2Skeleton(skeleton) : skeleton);
-  const animations = (root.animations || []).map(animation => isGr2Animation(animation) ? convertGr2Animation(animation, options) : animation);
-  let meshes = root.meshes;
-  if (skeletons.length === 1 && Array.isArray(meshes)) {
-    meshes = meshes.map(mesh => {
-      if (mesh && (mesh.skeleton === null || mesh.skeleton === undefined) && (mesh.boneBindings || []).length) {
-        return {
-          ...mesh,
-          skeleton: 0
-        };
-      }
-      return mesh;
-    });
-  }
-  return {
-    ...root,
-    meshes,
-    skeletons,
-    animations
-  };
-}
-
-export { convertGr2Animation, convertGr2Skeleton, convertGr2SkeletonsAndAnimations, evaluateDecodedCurve, isGr2Animation, isGr2Skeleton };
-//# sourceMappingURL=gr2Anim.js.map
+/**
+ * GR2-shaped skeleton/animation conversion into CMF-native data.
+ *
+ * Input is the GR2 JSON shape emitted by the GR2 reader with curves already
+ * decompressed to explicit `{ knots, controls, dimension, degree }` (enable
+ * `decompressCurves` when reading); this module never parses packed Granny
+ * curve data, keeping the MIT runtime free of the separate GR2 package.
+ *
+ * CMF curves support Step/Linear interpolation only, so Granny curves of
+ * degree 2 are resampled (non-uniform quadratic B-spline evaluated via de
+ * Boor) at a uniform rate; degree ≤ 1 knots/controls convert exactly.
+ * Granny 3x3 scale/shear collapses to the vec3 diagonal (shear is dropped);
+ * inverse bind matrices are rebuilt from the rest pose hierarchy in the
+ * row-major, translation-in-elements-12..14 layout Granny uses.
+ */
+
+function convertError(message) {
+  const error = new Error(`CMF gr2 convert: ${message}`);
+  error.code = "CJS_FORMAT_WRITE_ERROR";
+  return error;
+}
+
+/**
+ * Test for a GR2-shaped skeleton (bones as objects with name/parentIndex).
+ *
+ * @param {object} skeleton Candidate skeleton.
+ * @returns {boolean} True when GR2-shaped.
+ */
+function isGr2Skeleton(skeleton) {
+  return !!skeleton && Array.isArray(skeleton.bones) && skeleton.bones.length > 0 && typeof skeleton.bones[0] === "object" && skeleton.bones[0] !== null && typeof skeleton.bones[0].name === "string";
+}
+
+/**
+ * Test for a GR2-shaped animation (carries trackGroups).
+ *
+ * @param {object} animation Candidate animation.
+ * @returns {boolean} True when GR2-shaped.
+ */
+function isGr2Animation(animation) {
+  return !!animation && Array.isArray(animation.trackGroups);
+}
+function composeTrs(position, rotation, scale) {
+  const [x, y, z, w] = rotation;
+  const x2 = x + x,
+    y2 = y + y,
+    z2 = z + z;
+  const xx = x * x2,
+    xy = x * y2,
+    xz = x * z2;
+  const yy = y * y2,
+    yz = y * z2,
+    zz = z * z2;
+  const wx = w * x2,
+    wy = w * y2,
+    wz = w * z2;
+  const [sx, sy, sz] = scale;
+
+  // row-major, row-vector convention: rows scaled, translation in 12..14
+  return [(1 - (yy + zz)) * sx, (xy + wz) * sx, (xz - wy) * sx, 0, (xy - wz) * sy, (1 - (xx + zz)) * sy, (yz + wx) * sy, 0, (xz + wy) * sz, (yz - wx) * sz, (1 - (xx + yy)) * sz, 0, position[0], position[1], position[2], 1];
+}
+function multiplyMatrices(a, b) {
+  // row-vector convention: result = a * b (a applied first)
+  const out = new Array(16);
+  for (let row = 0; row < 4; row++) {
+    for (let column = 0; column < 4; column++) {
+      out[row * 4 + column] = a[row * 4] * b[column] + a[row * 4 + 1] * b[4 + column] + a[row * 4 + 2] * b[8 + column] + a[row * 4 + 3] * b[12 + column];
+    }
+  }
+  return out;
+}
+function invertAffine(m) {
+  // invert the 3x3 block, then the translation row
+  const a = m[0],
+    b = m[1],
+    c = m[2],
+    d = m[4],
+    e = m[5],
+    f = m[6],
+    g = m[8],
+    h = m[9],
+    i = m[10];
+  const coA = e * i - f * h,
+    coB = f * g - d * i,
+    coC = d * h - e * g;
+  const det = a * coA + b * coB + c * coC;
+  if (!det) throw convertError("rest pose matrix is singular");
+  const r = 1 / det;
+  const i00 = coA * r,
+    i01 = (c * h - b * i) * r,
+    i02 = (b * f - c * e) * r,
+    i10 = coB * r,
+    i11 = (a * i - c * g) * r,
+    i12 = (c * d - a * f) * r,
+    i20 = coC * r,
+    i21 = (b * g - a * h) * r,
+    i22 = (a * e - b * d) * r;
+  const tx = m[12],
+    ty = m[13],
+    tz = m[14];
+  return [i00, i01, i02, 0, i10, i11, i12, 0, i20, i21, i22, 0, -(tx * i00 + ty * i10 + tz * i20) + 0, -(tx * i01 + ty * i11 + tz * i21) + 0, -(tx * i02 + ty * i12 + tz * i22) + 0, 1];
+}
+function boneRestTransform(bone) {
+  const scaleShear = bone.scaleShear || [1, 0, 0, 0, 1, 0, 0, 0, 1];
+  return {
+    position: (bone.position || [0, 0, 0]).slice(0, 3),
+    rotation: (bone.orientation || [0, 0, 0, 1]).slice(0, 4),
+    scale: [scaleShear[0], scaleShear[4], scaleShear[8]]
+  };
+}
+
+/**
+ * Convert a GR2-shaped skeleton into a CMF-native skeleton.
+ *
+ * @param {object} skeleton GR2 skeleton `{ name, bones: [{ name, parentIndex, position?, orientation?, scaleShear? }] }`.
+ * @returns {object} CMF-native skeleton with rebuilt inverse bind matrices.
+ */
+function convertGr2Skeleton(skeleton) {
+  const bones = skeleton.bones || [];
+  const worldTransforms = new Array(bones.length);
+  const restTransforms = new Array(bones.length);
+  const parents = new Array(bones.length);
+  for (let i = 0; i < bones.length; i++) {
+    const bone = bones[i];
+    const parentIndex = typeof bone.parentIndex === "number" ? bone.parentIndex : -1;
+    if (parentIndex >= i && parentIndex !== 0xffffffff) {
+      throw convertError(`bone ${i} (${bone.name}) has forward parent index ${parentIndex}`);
+    }
+    parents[i] = parentIndex < 0 || parentIndex === 0xffffffff ? 0xffffffff : parentIndex;
+    const rest = boneRestTransform(bone);
+    restTransforms[i] = rest;
+    const local = composeTrs(rest.position, rest.rotation, rest.scale);
+    worldTransforms[i] = parents[i] === 0xffffffff ? local : multiplyMatrices(local, worldTransforms[parents[i]]);
+  }
+  return {
+    name: skeleton.name || "",
+    bones: bones.map(bone => bone.name || ""),
+    parents,
+    restTransforms,
+    invBindTransforms: worldTransforms.map(world => invertAffine(world)),
+    boneMasks: []
+  };
+}
+function findKnotIndex(knots, time) {
+  let low = 0;
+  let high = knots.length - 1;
+  while (low < high) {
+    const mid = low + high >> 1;
+    if (knots[mid] > time) high = mid;else low = mid + 1;
+  }
+  return low;
+}
+
+/**
+ * Evaluate a decoded Granny curve at `time` (clamped, non-cycling).
+ *
+ * Degree ≤ 0 steps, degree 1 lerps, degree 2 evaluates the non-uniform
+ * quadratic B-spline via de Boor over the Granny knot convention, including
+ * the reference evaluator's next-knot wrap at the final segment (the segment
+ * after the last knot borrows the first knot advanced by `duration`).
+ *
+ * @param {object} curve Decoded curve `{ knots, controls, dimension, degree }`.
+ * @param {number} time Sample time.
+ * @param {Array<number>} out Output vector (dimension entries).
+ * @param {number} [duration] Animation duration for the final-segment wrap;
+ *   defaults to the last knot.
+ * @returns {Array<number>} The `out` vector.
+ */
+function evaluateDecodedCurve(curve, time, out, duration = 0) {
+  const {
+    knots,
+    controls,
+    dimension
+  } = curve;
+  const count = knots.length;
+  const controlCount = controls.length / dimension;
+  const copy = index => {
+    const clamped = Math.max(0, Math.min(controlCount - 1, index));
+    for (let i = 0; i < dimension; i++) out[i] = controls[clamped * dimension + i];
+    return out;
+  };
+  if (!count || controlCount <= 1 || (curve.degree | 0) <= 0) {
+    return copy(count ? Math.min(findKnotIndex(knots, time), controlCount - 1) : 0);
+  }
+
+  // the reference evaluator does not clamp the sample time: past the last
+  // knot the final segment extrapolates, and baked samples must match the
+  // motion the GR2 runtime actually produces
+  const knot = findKnotIndex(knots, time);
+  if ((curve.degree | 0) === 1) {
+    const k0 = knot === 0 ? 0 : knot - 1;
+    const start = knots[k0];
+    const end = knots[knot];
+    const t = end !== start ? (time - start) / (end - start) : 0;
+    for (let i = 0; i < dimension; i++) {
+      out[i] = controls[k0 * dimension + i] * (1 - t) + controls[knot * dimension + i] * t;
+    }
+    return out;
+  }
+
+  // degree 2: de Boor for a quadratic over Granny's knot convention —
+  // the segment ending at knots[knot] blends controls knot-2, knot-1, knot
+  const wrapDuration = duration || knots[count - 1];
+  const k2 = Math.max(0, knot - 2);
+  const k1 = Math.max(0, knot - 1);
+  const t2 = knots[k2];
+  const t1 = knots[k1];
+  const t0 = knots[knot];
+  let tNext = knots[(knot + 1) % count];
+  if (tNext < t0) tNext += wrapDuration;
+  const d0 = t0 - t1;
+  const d1a = t0 - t2;
+  const d1b = tNext - t1;
+  const l0 = d0 !== 0 ? (time - t1) / d0 : 0;
+  const l1a = d1a !== 0 ? (time - t2) / d1a : 0;
+  const l1b = d1b !== 0 ? (time - t1) / d1b : 0;
+  const cI = l0 * l1b;
+  const c2 = (1 - l0) * (1 - l1a);
+  const c1 = 1 - c2 - cI;
+  for (let i = 0; i < dimension; i++) {
+    out[i] = c2 * controls[k2 * dimension + i] + c1 * controls[k1 * dimension + i] + cI * controls[knot * dimension + i];
+  }
+  return out;
+}
+function floatBytes(values) {
+  return Array.from(new Uint8Array(new Float32Array(values).buffer));
+}
+function isIdentityValue(values, dimension) {
+  const identity = [0, 0, 0, 1] ;
+  if (!identity) return false;
+  return values.every((value, index) => Math.abs(value - identity[index % 4]) < 1e-7);
+}
+function diagonalFromScaleShear(controls, knotIndex) {
+  return [controls[knotIndex * 9], controls[knotIndex * 9 + 4], controls[knotIndex * 9 + 8]];
+}
+function requireDecoded(curve, track, kind) {
+  if (!curve) return null;
+  if (Array.isArray(curve.knots) && Array.isArray(curve.controls) && curve.dimension) {
+    return curve;
+  }
+  if (typeof curve.format === "number" && curve.format !== undefined) {
+    throw convertError(`track "${track}" ${kind} curve is not decoded — read the GR2 with decompressCurves enabled`);
+  }
+  return null;
+}
+function convertCurve(curve, targetDimension, duration, sampleRate) {
+  const dimension = curve.dimension;
+  const degree = curve.degree | 0;
+  const knotCount = curve.knots.length;
+  const controlCount = curve.controls.length / dimension;
+  const extract = targetDimension === 3 && dimension === 9 ? index => diagonalFromScaleShear(curve.controls, index) : index => curve.controls.slice(index * dimension, index * dimension + targetDimension);
+  if (knotCount <= 1 || controlCount <= 1) {
+    const values = extract(0);
+    return {
+      valueDimension: targetDimension,
+      interpolation: "Step",
+      knotType: "Float32",
+      valueType: "Float32",
+      knotCount: 1,
+      knots: floatBytes([curve.knots[0] ?? 0]),
+      values: floatBytes(values),
+      plainValues: values
+    };
+  }
+  if (degree <= 1) {
+    const values = [];
+    for (let i = 0; i < knotCount; i++) values.push(...extract(i));
+    return {
+      valueDimension: targetDimension,
+      interpolation: degree === 0 ? "Step" : "Linear",
+      knotType: "Float32",
+      valueType: "Float32",
+      knotCount,
+      knots: floatBytes(curve.knots),
+      values: floatBytes(values),
+      plainValues: values
+    };
+  }
+
+  // degree 2: adaptive resample — seed with the original knots plus a
+  // uniform grid, recursively subdividing each interval until linear
+  // interpolation tracks the quadratic within `tolerance`; intervals that
+  // never converge are true discontinuities and snap to one float32 ULP
+  // before the jump knot
+  const start = curve.knots[0];
+  const end = Math.max(curve.knots[knotCount - 1], duration || 0);
+  const span = Math.max(end - start, 0);
+  const tolerance = 1e-3;
+  const minStep = 4e-6;
+  const maxDepth = 24;
+  const seedTimes = new Set(curve.knots.map(knot => Math.min(Math.max(knot, start), end)));
+  const gridCount = Math.max(1, Math.ceil(span * sampleRate));
+  for (let i = 0; i <= gridCount; i++) seedTimes.add(start + span * i / gridCount);
+  const seeds = [...seedTimes].sort((a, b) => a - b);
+  const sample = new Array(dimension).fill(0);
+  const evaluateAt = time => {
+    evaluateDecodedCurve(curve, time, sample, duration);
+    return targetDimension === 3 && dimension === 9 ? [sample[0], sample[4], sample[8]] : sample.slice(0, targetDimension);
+  };
+  const outTimes = [];
+  const outValues = [];
+  const emit = (time, value) => {
+    outTimes.push(time);
+    outValues.push(value);
+  };
+  const fitsLinear = (v0, v1, actual) => {
+    for (let c = 0; c < targetDimension; c++) {
+      if (Math.abs(actual[c] - (v0[c] + v1[c]) / 2) > tolerance) return false;
+    }
+    return true;
+  };
+  const refine = (t0, v0, t1, v1, depth) => {
+    if (t1 - t0 <= minStep || depth >= maxDepth) {
+      let differs = false;
+      for (let c = 0; c < targetDimension; c++) {
+        if (Math.abs(v0[c] - v1[c]) > tolerance) differs = true;
+      }
+      if (differs) {
+        // discontinuity at the right endpoint (an original knot):
+        // hold the left value until one float32 ULP before the jump
+        const snapped = float32UlpBefore(t1);
+        if (snapped > t0) emit(snapped, v0.slice());
+      }
+      return;
+    }
+    const mid = (t0 + t1) / 2;
+    const vm = evaluateAt(mid);
+    if (fitsLinear(v0, v1, vm)) return;
+    refine(t0, v0, mid, vm, depth + 1);
+    emit(mid, vm);
+    refine(mid, vm, t1, v1, depth + 1);
+  };
+  let previousValue = evaluateAt(seeds[0]);
+  emit(seeds[0], previousValue);
+  for (let i = 1; i < seeds.length; i++) {
+    const value = evaluateAt(seeds[i]);
+    refine(seeds[i - 1], previousValue, seeds[i], value, 0);
+    emit(seeds[i], value);
+    previousValue = value;
+  }
+  const values = [];
+  for (const entry of outValues) values.push(...entry);
+  return {
+    valueDimension: targetDimension,
+    interpolation: "Linear",
+    knotType: "Float32",
+    valueType: "Float32",
+    knotCount: outTimes.length,
+    knots: floatBytes(outTimes),
+    values: floatBytes(values),
+    plainValues: values
+  };
+}
+const ulpScratch = new Float32Array(1);
+const ulpScratchBits = new Uint32Array(ulpScratch.buffer);
+function float32UlpBefore(value) {
+  if (!(value > 0)) return value;
+  ulpScratch[0] = value;
+  ulpScratchBits[0] -= 1;
+  return ulpScratch[0];
+}
+
+/**
+ * Convert a GR2-shaped animation into a CMF-native animation.
+ *
+ * @param {object} animation GR2 animation with decoded curves.
+ * @param {object} [options] `sampleRate` (Hz, default 30) for degree-2 resampling.
+ * @returns {object} CMF-native animation with channels and curves.
+ */
+function convertGr2Animation(animation, options = {}) {
+  const sampleRate = options.sampleRate || 30;
+  const duration = animation.duration || 0;
+  const channels = [];
+  const curves = [];
+  const addChannel = (target, targetType, decoded, targetDimension) => {
+    const converted = convertCurve(decoded, targetDimension, duration, sampleRate);
+    // constant identity channels carry no information
+    if (converted.knotCount === 1 && targetType === "BoneRotation" && isIdentityValue(converted.plainValues)) return;
+    if (converted.knotCount === 1 && targetType === "BoneScale" && converted.plainValues.every(value => Math.abs(value - 1) < 1e-7)) return;
+    delete converted.plainValues;
+    channels.push({
+      target,
+      targetType,
+      curveIndex: curves.length
+    });
+    curves.push(converted);
+  };
+  for (const trackGroup of animation.trackGroups || []) {
+    for (const track of trackGroup.transformTracks || []) {
+      const position = requireDecoded(track.position, track.name, "position");
+      const orientation = requireDecoded(track.orientation, track.name, "orientation");
+      const scaleShear = requireDecoded(track.scaleShear, track.name, "scaleShear");
+      if (position) addChannel(track.name, "BonePosition", position, 3);
+      if (orientation) addChannel(track.name, "BoneRotation", orientation, 4);
+      if (scaleShear) addChannel(track.name, "BoneScale", scaleShear, 3);
+    }
+  }
+  return {
+    name: animation.name || "",
+    channels,
+    curves,
+    duration
+  };
+}
+
+/**
+ * Convert any GR2-shaped skeletons/animations in a shared root, leaving
+ * CMF-native ones untouched.
+ *
+ * GR2 files frequently carry their skeleton under `models[].skeleton` rather
+ * than a root skeleton list; those are collected (deduplicated by name) when
+ * the root list is empty. With exactly one skeleton, skinned meshes (those
+ * with bone bindings) that declare no skeleton index are bound to it.
+ *
+ * @param {object} root Shared geometry root.
+ * @param {object} [options] Conversion options (`sampleRate`).
+ * @returns {object} Root with converted skeletons/animations.
+ */
+function convertGr2SkeletonsAndAnimations(root, options = {}) {
+  let sourceSkeletons = root.skeletons || [];
+  if (!sourceSkeletons.length && Array.isArray(root.models)) {
+    const byName = new Map();
+    for (const model of root.models) {
+      const skeleton = model?.skeleton;
+      if (skeleton && Array.isArray(skeleton.bones) && skeleton.bones.length && !byName.has(skeleton.name)) {
+        byName.set(skeleton.name, skeleton);
+      }
+    }
+    sourceSkeletons = [...byName.values()];
+  }
+  const skeletons = sourceSkeletons.map(skeleton => isGr2Skeleton(skeleton) ? convertGr2Skeleton(skeleton) : skeleton);
+  const animations = (root.animations || []).map(animation => isGr2Animation(animation) ? convertGr2Animation(animation, options) : animation);
+  let meshes = root.meshes;
+  if (skeletons.length === 1 && Array.isArray(meshes)) {
+    meshes = meshes.map(mesh => {
+      if (mesh && (mesh.skeleton === null || mesh.skeleton === undefined) && (mesh.boneBindings || []).length) {
+        return {
+          ...mesh,
+          skeleton: 0
+        };
+      }
+      return mesh;
+    });
+  }
+  return {
+    ...root,
+    meshes,
+    skeletons,
+    animations
+  };
+}
+
+export { convertGr2Animation, convertGr2Skeleton, convertGr2SkeletonsAndAnimations, evaluateDecodedCurve, isGr2Animation, isGr2Skeleton };
+//# sourceMappingURL=gr2Anim.js.map