@carbonenginejs/runtime-resource 0.12.2 → 0.13.0

package/dist/formats/gr2/core/curves.js

@@ -1,1047 +1,1047 @@
-/**
- * Granny animation-curve decompression helpers
- * `decodeCurve(curveJson, dimension)` takes a GR2 JSON curve object in the
- * shape emitted by PrintCurve2 and returns explicit knots and controls.
- */
-
-/** Format id for raw float keyframes with implicit knots. */
-const FORMAT_DA_KEYFRAMES_32F = 0;
-
-/** Format id for uncompressed float knots and float controls. */
-const FORMAT_DA_K32F_C32F = 1;
-
-/** Format id for an identity transform curve. */
-const FORMAT_DA_IDENTITY = 2;
-
-/** Format id for a constant float control vector. */
-const FORMAT_DA_CONSTANT_32F = 3;
-
-/** Format id for a constant vec3 control. */
-const FORMAT_D3_CONSTANT_32F = 4;
-
-/** Format id for a constant quaternion control. */
-const FORMAT_D4_CONSTANT_32F = 5;
-
-/** Format id for uint16 DaK packed knots and controls. */
-const FORMAT_DA_K16U_C16U = 6;
-
-/** Format id for uint8 DaK packed knots and controls. */
-const FORMAT_DA_K8U_C8U = 7;
-
-/** Format id for uint16 normalized quaternion curves with 15-bit controls. */
-const FORMAT_D4N_K16U_C15U = 8;
-
-/** Format id for uint8 normalized quaternion curves with 7-bit controls. */
-const FORMAT_D4N_K8U_C7U = 9;
-
-/** Format id for uint16 vec3 position curves. */
-const FORMAT_D3_K16U_C16U = 10;
-
-/** Format id for uint8 vec3 position curves. */
-const FORMAT_D3_K8U_C8U = 11;
-
-/** Format id for uint16 uniform scale/shear curves. */
-const FORMAT_D9I1_K16U_C16U = 12;
-
-/** Format id for uint16 per-axis scale/shear curves. */
-const FORMAT_D9I3_K16U_C16U = 13;
-
-/** Format id for uint8 uniform scale/shear curves. */
-const FORMAT_D9I1_K8U_C8U = 14;
-
-/** Format id for uint8 per-axis scale/shear curves. */
-const FORMAT_D9I3_K8U_C8U = 15;
-
-/** Format id for float D3I1 line-parameterized vec3 curves. */
-const FORMAT_D3I1_K32F_C32F = 16;
-
-/** Format id for uint16 D3I1 line-parameterized vec3 curves. */
-const FORMAT_D3I1_K16U_C16U = 17;
-
-/** Format id for uint8 D3I1 line-parameterized vec3 curves. */
-const FORMAT_D3I1_K8U_C8U = 18;
-
-/**
- * Granny curve format ids keyed by descriptive uppercase names.
- */
-const CURVE_FORMATS = Object.freeze({
-  DA_KEYFRAMES_32F: FORMAT_DA_KEYFRAMES_32F,
-  DA_K32F_C32F: FORMAT_DA_K32F_C32F,
-  DA_IDENTITY: FORMAT_DA_IDENTITY,
-  DA_CONSTANT_32F: FORMAT_DA_CONSTANT_32F,
-  D3_CONSTANT_32F: FORMAT_D3_CONSTANT_32F,
-  D4_CONSTANT_32F: FORMAT_D4_CONSTANT_32F,
-  DA_K16U_C16U: FORMAT_DA_K16U_C16U,
-  DA_K8U_C8U: FORMAT_DA_K8U_C8U,
-  D4N_K16U_C15U: FORMAT_D4N_K16U_C15U,
-  D4N_K8U_C7U: FORMAT_D4N_K8U_C7U,
-  D3_K16U_C16U: FORMAT_D3_K16U_C16U,
-  D3_K8U_C8U: FORMAT_D3_K8U_C8U,
-  D9I1_K16U_C16U: FORMAT_D9I1_K16U_C16U,
-  D9I3_K16U_C16U: FORMAT_D9I3_K16U_C16U,
-  D9I1_K8U_C8U: FORMAT_D9I1_K8U_C8U,
-  D9I3_K8U_C8U: FORMAT_D9I3_K8U_C8U,
-  D3I1_K32F_C32F: FORMAT_D3I1_K32F_C32F,
-  D3I1_K16U_C16U: FORMAT_D3I1_K16U_C16U,
-  D3I1_K8U_C8U: FORMAT_D3I1_K8U_C8U
-});
-
-/**
- * Float32 rounding helper used to mirror the reference curve decoders.
- *
- * The reference implementation stores every decoded value into Float32Array
- * buffers, so this helper applies the same rounding at each write.
- */
-const fr = Math.fround;
-
-/**
- * Granny stores 1/knotScale as the top 16 bits of the float only
- * ("OneOverKnotScaleTrunc"). Reconstruct the float32.
- * @param {number} oneOverKnotScaleTrunc uint16
- * @returns {number}
- */
-function knotScaleFromTrunc(oneOverKnotScaleTrunc) {
-  const u = new Uint32Array([oneOverKnotScaleTrunc << 16]);
-  return new Float32Array(u.buffer)[0];
-}
-
-/**
- * Expand the leading `count` entries of a knotsControls array into knots.
- * @param {ArrayLike<number>} knotsControls
- * @param {number} count
- * @param {number} scale divisor (1/knotScale)
- * @returns {number[]}
- */
-function knotsFromControls(knotsControls, count, scale) {
-  const out = new Array(count);
-  for (let i = 0; i < count; i++) {
-    out[i] = fr(knotsControls[i] / scale);
-  }
-  return out;
-}
-
-/**
- * Knots via the truncated knot scale.
- *
- * @param {ArrayLike<number>} knotsControls Packed knot/control array.
- * @param {number} count Number of knots at the front of `knotsControls`.
- * @param {number} oneOverKnotScaleTrunc Truncated reciprocal knot scale.
- * @returns {number[]} Decoded knot times.
- */
-function knotsFromControlsTrunc(knotsControls, count, oneOverKnotScaleTrunc) {
-  return knotsFromControls(knotsControls, count, knotScaleFromTrunc(oneOverKnotScaleTrunc));
-}
-
-/**
- * Identity control vector for a track dimension.
- * @param {number} dimension 3 (position), 4 (quaternion) or 9 (mat3)
- * @returns {number[]}
- */
-function identityControls(dimension) {
-  switch (dimension) {
-    case 3:
-      return [0, 0, 0];
-    case 4:
-      return [0, 0, 0, 1];
-    case 9:
-      return [1, 0, 0, 0, 1, 0, 0, 0, 1];
-    default:
-      throw new Error(`gr2reader: invalid curve dimension ${dimension}`);
-  }
-}
-
-/**
- * Ensure a divisibility relation holds; throws with a descriptive error.
- *
- * @param {number} numerator Value expected to divide evenly.
- * @param {number} divisor Divisor to check against.
- * @param {string} what Human-readable operation name for the error message.
- * @returns {number} Exact quotient.
- * @throws {Error} If the quotient is not an integer.
- */
-function exactDiv(numerator, divisor, what) {
-  const v = numerator / divisor;
-  if (!Number.isInteger(v)) {
-    throw new Error(`gr2reader: curve ${what}: ${numerator} is not divisible by ${divisor}`);
-  }
-  return v;
-}
-
-/**
- * Decode raw keyframe controls with implicit knots `0..n-1`.
- *
- * @param {object} c Curve object with `controls` and optional `dimension`.
- * @param {number} dimension Fallback control-vector width.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeDaKeyframes32f(c, dimension) {
-  const dim = c.dimension || dimension,
-    controls = c.controls || [],
-    count = exactDiv(controls.length, dim, "DaKeyframes32f controls/dimension"),
-    knots = new Array(count);
-  for (let i = 0; i < count; i++) {
-    knots[i] = i;
-  }
-  return {
-    knots,
-    controls: controls.map(fr),
-    dimension: dim
-  };
-}
-
-/**
- * Decode uncompressed float knots and float controls.
- *
- * @param {object} c Curve object with `knots` and `controls`.
- * @param {number} dimension Fallback control-vector width when no knots exist.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeDaK32fC32f(c, dimension) {
-  const knots = (c.knots || []).map(fr),
-    controls = (c.controls || []).map(fr),
-    dim = knots.length ? exactDiv(controls.length, knots.length, "DaK32fC32f controls/knots") : dimension;
-  return {
-    knots,
-    controls,
-    dimension: dim
-  };
-}
-
-/**
- * Decode an identity transform curve for the requested track dimension.
- *
- * @param {object} c Curve object with optional `dimension`.
- * @param {number} dimension Fallback control-vector width.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeDaIdentity(c, dimension) {
-  const dim = c.dimension || dimension;
-  return {
-    knots: [0],
-    controls: identityControls(dim),
-    dimension: dim
-  };
-}
-
-/**
- * Decode a constant float control vector.
- *
- * @param {object} c Curve object with `controls`.
- * @param {number} dimension Fallback control-vector width.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeDaConstant32f(c, dimension) {
-  const controls = (c.controls || []).map(fr);
-  return {
-    knots: [0],
-    controls,
-    dimension: controls.length || dimension
-  };
-}
-
-/**
- * Decode a constant vec3 control.
- *
- * @param {object} c Curve object with optional `controls`.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD3Constant32f(c) {
-  const controls = (c.controls || [0, 0, 0]).slice(0, 3).map(fr);
-  return {
-    knots: [0],
-    controls,
-    dimension: 3
-  };
-}
-
-/**
- * Decode a constant quaternion control.
- *
- * @param {object} c Curve object with optional `controls`.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD4Constant32f(c) {
-  const controls = (c.controls || [0, 0, 0, 1]).slice(0, 4).map(fr);
-  return {
-    knots: [0],
-    controls,
-    dimension: 4
-  };
-}
-
-/**
- * Decode a DaK packed knot/control curve using uint16 payload values.
- *
- * @param {object} c Curve object with `knotsControls`, `controlScaleOffsets`,
- * and `oneOverKnotScaleTrunc`.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeDaK(c) {
-  const so = c.controlScaleOffsets || [],
-    kc = c.knotsControls || [],
-    dim = exactDiv(so.length, 2, "DaK controlScaleOffsets/2"),
-    count = exactDiv(kc.length, dim + 1, "DaK knotsControls/(dim+1)"),
-    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc),
-    controls = new Array(count * dim);
-  for (let i = 0; i < count; i++) {
-    for (let x = 0; x < dim; x++) {
-      controls[i * dim + x] = fr(kc[count + i * dim + x] * so[x] + so[dim + x]);
-    }
-  }
-  return {
-    knots,
-    controls,
-    dimension: dim
-  };
-}
-
-/** Scale lookup table for D4n normalized quaternion controls. */
-const D4N_SCALE_TABLE = new Float32Array([1.4142135, 0.70710677, 0.35355338, 0.35355338, 0.35355338, 0.17677669, 0.17677669, 0.17677669, -1.4142135, -0.70710677, -0.35355338, -0.35355338, -0.35355338, -0.17677669, -0.17677669, -0.17677669]);
-
-/** Offset lookup table for D4n normalized quaternion controls. */
-const D4N_OFFSET_TABLE = new Float32Array([-0.70710677, -0.35355338, -0.53033006, -0.17677669, 0.17677669, -0.17677669, -0.088388346, 0.0, 0.70710677, 0.35355338, 0.53033006, 0.17677669, -0.17677669, 0.17677669, 0.088388346, -0]);
-
-/**
- * Decode one 16-bit control triple into a quaternion (matches ccpwgl
- * Gr2CurveDataD4nK16uC15u.GetQuatFromControl).
- *
- * @param {number[]} out Mutable quaternion output buffer.
- * @param {number} a First packed control value.
- * @param {number} b Second packed control value.
- * @param {number} c Third packed control value.
- * @param {ArrayLike<number>} scales Four scale values selected from the table.
- * @param {ArrayLike<number>} offsets Four offset values selected from the table.
- * @returns {number[]} The same `out` quaternion buffer.
- */
-function quatFromControl16(out, a, b, c, scales, offsets) {
-  const swizzle1 = (b & 0x8000) >> 14 | c >> 15,
-    swizzle2 = swizzle1 + 1 & 3,
-    swizzle3 = swizzle2 + 1 & 3,
-    swizzle4 = swizzle3 + 1 & 3;
-  const dataA = (a & 0x7fff) * scales[swizzle2] + offsets[swizzle2],
-    dataB = (b & 0x7fff) * scales[swizzle3] + offsets[swizzle3],
-    dataC = (c & 0x7fff) * scales[swizzle4] + offsets[swizzle4];
-  let dataD = Math.sqrt(Math.max(0, 1 - (dataA * dataA + dataB * dataB + dataC * dataC)));
-  if ((a & 0x8000) !== 0) dataD = -dataD;
-  out[swizzle2] = fr(dataA);
-  out[swizzle3] = fr(dataB);
-  out[swizzle4] = fr(dataC);
-  out[swizzle1] = fr(dataD);
-  return out;
-}
-
-/** Scale-table multiplier for D4n 16-bit knot / 15-bit control curves. */
-const D4N_SCALE_TABLE_MULTIPLIER_16 = 0.000030518509;
-
-/**
- * Decode a D4n normalized quaternion curve using a supplied control decoder.
- *
- * @param {object} c Curve object with `knotsControls`, `scaleOffsetTableEntries`,
- * and `oneOverKnotScale`.
- * @param {Function} quatFromControl Function that expands one packed control
- * triple into a quaternion.
- * @param {number} scaleTableMultiplier Multiplier for selected scale table entries.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD4n(c, quatFromControl, scaleTableMultiplier) {
-  const kc = c.knotsControls || [],
-    count = exactDiv(kc.length, 4, "D4n knotsControls/4"),
-    knots = knotsFromControls(kc, count, c.oneOverKnotScale);
-  const selector = c.scaleOffsetTableEntries >>> 0,
-    scales = new Float32Array([D4N_SCALE_TABLE[selector >> 0 & 0x0f] * scaleTableMultiplier, D4N_SCALE_TABLE[selector >> 4 & 0x0f] * scaleTableMultiplier, D4N_SCALE_TABLE[selector >> 8 & 0x0f] * scaleTableMultiplier, D4N_SCALE_TABLE[selector >> 12 & 0x0f] * scaleTableMultiplier]),
-    offsets = new Float32Array([D4N_OFFSET_TABLE[selector >> 0 & 0x0f], D4N_OFFSET_TABLE[selector >> 4 & 0x0f], D4N_OFFSET_TABLE[selector >> 8 & 0x0f], D4N_OFFSET_TABLE[selector >> 12 & 0x0f]]);
-  const controls = new Array(count * 4),
-    quat = [0, 0, 0, 1];
-  for (let i = 0; i < count; i++) {
-    quatFromControl(quat, kc[count + i * 3], kc[count + i * 3 + 1], kc[count + i * 3 + 2], scales, offsets);
-    controls[i * 4] = quat[0];
-    controls[i * 4 + 1] = quat[1];
-    controls[i * 4 + 2] = quat[2];
-    controls[i * 4 + 3] = quat[3];
-  }
-  return {
-    knots,
-    controls,
-    dimension: 4
-  };
-}
-
-/**
- * Decode a D4n curve using 16-bit knots and 15-bit quaternion controls.
- *
- * @param {object} c Curve object with packed quaternion data.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD4nK16uC15u(c) {
-  return decodeD4n(c, quatFromControl16, D4N_SCALE_TABLE_MULTIPLIER_16);
-}
-
-/** Scale-table multiplier for D4n 8-bit knot / 7-bit control curves. */
-const D4N_SCALE_TABLE_MULTIPLIER_8 = 0.0078740157;
-
-/**
- * Decode one 8-bit control triple into a quaternion.
- *
- * @param {number[]} out Mutable quaternion output buffer.
- * @param {number} a First packed control value.
- * @param {number} b Second packed control value.
- * @param {number} c Third packed control value.
- * @param {ArrayLike<number>} scales Four scale values selected from the table.
- * @param {ArrayLike<number>} offsets Four offset values selected from the table.
- * @returns {number[]} The same `out` quaternion buffer.
- */
-function quatFromControl8(out, a, b, c, scales, offsets) {
-  const swizzle1 = (b & 0x80) >> 6 | (c & 0x80) >> 7,
-    swizzle2 = swizzle1 + 1 & 3,
-    swizzle3 = swizzle2 + 1 & 3,
-    swizzle4 = swizzle3 + 1 & 3;
-  const dataA = (a & 0x7f) * scales[swizzle2] + offsets[swizzle2],
-    dataB = (b & 0x7f) * scales[swizzle3] + offsets[swizzle3],
-    dataC = (c & 0x7f) * scales[swizzle4] + offsets[swizzle4];
-  let dataD = Math.sqrt(Math.max(0, 1 - (dataA * dataA + dataB * dataB + dataC * dataC)));
-  if ((a & 0x80) !== 0) dataD = -dataD;
-  out[swizzle2] = fr(dataA);
-  out[swizzle3] = fr(dataB);
-  out[swizzle4] = fr(dataC);
-  out[swizzle1] = fr(dataD);
-  return out;
-}
-
-/**
- * Decode a D4n curve using 8-bit knots and 7-bit quaternion controls.
- *
- * @param {object} c Curve object with packed quaternion data.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD4nK8uC7u(c) {
-  return decodeD4n(c, quatFromControl8, D4N_SCALE_TABLE_MULTIPLIER_8);
-}
-
-/**
- * Decode a D3K packed vec3 curve using uint16 payload values.
- *
- * @param {object} c Curve object with `knotsControls`, `controlScales`,
- * `controlOffsets`, and `oneOverKnotScaleTrunc`.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD3K(c) {
-  const kc = c.knotsControls || [],
-    count = exactDiv(kc.length, 4, "D3K knotsControls/4"),
-    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc),
-    scales = c.controlScales,
-    offsets = c.controlOffsets,
-    controls = new Array(count * 3);
-  for (let i = 0; i < count; i++) {
-    for (let x = 0; x < 3; x++) {
-      controls[i * 3 + x] = fr(kc[count + i * 3 + x] * scales[x] + offsets[x]);
-    }
-  }
-  return {
-    knots,
-    controls,
-    dimension: 3
-  };
-}
-
-/**
- * Decode a D9I1 uniform scale/shear curve.
- *
- * @param {object} c Curve object with `knotsControls`, scalar scale/offset
- * fields, and `oneOverKnotScaleTrunc`.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD9I1(c) {
-  const kc = c.knotsControls || [],
-    count = exactDiv(kc.length, 2, "D9I1 knotsControls/2"),
-    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc);
-  const scale = Array.isArray(c.controlScales) ? c.controlScales[0] : c.controlScale,
-    offset = Array.isArray(c.controlOffsets) ? c.controlOffsets[0] : c.controlOffset,
-    controls = new Array(count * 9).fill(0);
-  for (let i = 0; i < count; i++) {
-    const s = fr(kc[count + i] * scale + offset);
-    controls[i * 9] = s;
-    controls[i * 9 + 4] = s;
-    controls[i * 9 + 8] = s;
-  }
-  return {
-    knots,
-    controls,
-    dimension: 9
-  };
-}
-
-/**
- * Decode a D9I3 per-axis scale/shear curve.
- *
- * @param {object} c Curve object with `knotsControls`, `controlScales`,
- * `controlOffsets`, and `oneOverKnotScaleTrunc`.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD9I3(c) {
-  const kc = c.knotsControls || [],
-    count = exactDiv(kc.length, 4, "D9I3 knotsControls/4"),
-    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc),
-    scales = c.controlScales,
-    offsets = c.controlOffsets,
-    controls = new Array(count * 9).fill(0);
-  for (let i = 0; i < count; i++) {
-    controls[i * 9] = fr(kc[count + i * 3] * scales[0] + offsets[0]);
-    controls[i * 9 + 4] = fr(kc[count + i * 3 + 1] * scales[1] + offsets[1]);
-    controls[i * 9 + 8] = fr(kc[count + i * 3 + 2] * scales[2] + offsets[2]);
-  }
-  return {
-    knots,
-    controls,
-    dimension: 9
-  };
-}
-
-/**
- * Expand one scalar per knot into vec3 controls for the D3I1 family.
- *
- * @param {ArrayLike<number>} kc Packed knots followed by scalar controls.
- * @param {number} count Number of knots and scalar controls.
- * @param {ArrayLike<number>} scales vec3 component scales.
- * @param {ArrayLike<number>} offsets vec3 component offsets.
- * @returns {number[]} Flat vec3 controls.
- */
-function d3I1Controls(kc, count, scales, offsets) {
-  const controls = new Array(count * 3);
-  for (let i = 0; i < count; i++) {
-    const v = kc[count + i];
-    controls[i * 3] = fr(v * scales[0] + offsets[0]);
-    controls[i * 3 + 1] = fr(v * scales[1] + offsets[1]);
-    controls[i * 3 + 2] = fr(v * scales[2] + offsets[2]);
-  }
-  return controls;
-}
-
-/**
- * Decode a D3I1 curve with float knots and scalar float controls.
- *
- * @param {object} c Curve object with `knotsControls`, `controlScales`, and
- * `controlOffsets`.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD3I1K32fC32f(c) {
-  const kc = c.knotsControls || [],
-    count = exactDiv(kc.length, 2, "D3I1K32f knotsControls/2"),
-    knots = new Array(count);
-  for (let i = 0; i < count; i++) {
-    knots[i] = fr(kc[i]);
-  }
-  return {
-    knots,
-    controls: d3I1Controls(kc, count, c.controlScales, c.controlOffsets),
-    dimension: 3
-  };
-}
-
-/**
- * Decode a D3I1 curve with uint knots and scalar controls.
- *
- * @param {object} c Curve object with `knotsControls`, `controlScales`,
- * `controlOffsets`, and `oneOverKnotScaleTrunc`.
- * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
- */
-function decodeD3I1u(c) {
-  const kc = c.knotsControls || [],
-    count = exactDiv(kc.length, 2, "D3I1 knotsControls/2"),
-    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc);
-  return {
-    knots,
-    controls: d3I1Controls(kc, count, c.controlScales, c.controlOffsets),
-    dimension: 3
-  };
-}
-
-/**
- * Decode format 6, DaK16uC16u.
- *
- * @type {typeof decodeDaK}
- */
-const decodeDaK16uC16u = decodeDaK;
-
-/**
- * Decode format 7, DaK8uC8u.
- *
- * @type {typeof decodeDaK}
- */
-const decodeDaK8uC8u = decodeDaK;
-
-/**
- * Decode format 10, D3K16uC16u.
- *
- * @type {typeof decodeD3K}
- */
-const decodeD3K16uC16u = decodeD3K;
-
-/**
- * Decode format 11, D3K8uC8u.
- *
- * @type {typeof decodeD3K}
- */
-const decodeD3K8uC8u = decodeD3K;
-
-/**
- * Decode format 12, D9I1K16uC16u.
- *
- * @type {typeof decodeD9I1}
- */
-const decodeD9I1K16uC16u = decodeD9I1;
-
-/**
- * Decode format 14, D9I1K8uC8u.
- *
- * @type {typeof decodeD9I1}
- */
-const decodeD9I1K8uC8u = decodeD9I1;
-
-/**
- * Decode format 13, D9I3K16uC16u.
- *
- * @type {typeof decodeD9I3}
- */
-const decodeD9I3K16uC16u = decodeD9I3;
-
-/**
- * Decode format 15, D9I3K8uC8u.
- *
- * @type {typeof decodeD9I3}
- */
-const decodeD9I3K8uC8u = decodeD9I3;
-
-/**
- * Decode format 17, D3I1K16uC16u.
- *
- * @type {typeof decodeD3I1u}
- */
-const decodeD3I1K16uC16u = decodeD3I1u;
-
-/**
- * Decode format 18, D3I1K8uC8u.
- *
- * @type {typeof decodeD3I1u}
- */
-const decodeD3I1K8uC8u = decodeD3I1u;
-
-/**
- * Curve object as emitted inside GR2 JSON transform tracks.
- *
- * @typedef {object} CurveJson
- * @property {number} format Granny animation-curve format id.
- * @property {number} degree Curve degree from the Granny curve header.
- * @property {number[]} [knots] Explicit knot times when already decompressed.
- * @property {number[]} [controls] Explicit control values when already decoded.
- * @property {number} [dimension] Control vector width.
- * @property {string} [error] Emitter error marker for unsupported raw curves.
- */
-
-/**
- * Explicit curve data returned by {@link decodeCurve}.
- *
- * controls is a flat array in knot-major order:
- * controls[knotIndex * dimension + componentIndex].
- *
- * @typedef {object} DecodedCurve
- * @property {number[]} knots Knot times, non-decreasing.
- * @property {number[]} controls Flat control values.
- * @property {number} degree Curve degree.
- * @property {number} dimension Control vector width.
- */
-
-/**
- * Track dimension accepted by Granny transform curves.
- *
- * @typedef {1|3|4|9} TransformCurveDimension
- */
-
-/**
- * Decoder table ordered by Granny curve format id.
- *
- * Each entry exposes the numeric format and the function used by
- * {@link decodeCurve}.
- */
-const CURVE_DECODERS = Object.freeze([Object.freeze({
-  format: FORMAT_DA_KEYFRAMES_32F,
-  decode: decodeDaKeyframes32f
-}), Object.freeze({
-  format: FORMAT_DA_K32F_C32F,
-  decode: decodeDaK32fC32f
-}), Object.freeze({
-  format: FORMAT_DA_IDENTITY,
-  decode: decodeDaIdentity
-}), Object.freeze({
-  format: FORMAT_DA_CONSTANT_32F,
-  decode: decodeDaConstant32f
-}), Object.freeze({
-  format: FORMAT_D3_CONSTANT_32F,
-  decode: decodeD3Constant32f
-}), Object.freeze({
-  format: FORMAT_D4_CONSTANT_32F,
-  decode: decodeD4Constant32f
-}), Object.freeze({
-  format: FORMAT_DA_K16U_C16U,
-  decode: decodeDaK16uC16u
-}), Object.freeze({
-  format: FORMAT_DA_K8U_C8U,
-  decode: decodeDaK8uC8u
-}), Object.freeze({
-  format: FORMAT_D4N_K16U_C15U,
-  decode: decodeD4nK16uC15u
-}), Object.freeze({
-  format: FORMAT_D4N_K8U_C7U,
-  decode: decodeD4nK8uC7u
-}), Object.freeze({
-  format: FORMAT_D3_K16U_C16U,
-  decode: decodeD3K16uC16u
-}), Object.freeze({
-  format: FORMAT_D3_K8U_C8U,
-  decode: decodeD3K8uC8u
-}), Object.freeze({
-  format: FORMAT_D9I1_K16U_C16U,
-  decode: decodeD9I1K16uC16u
-}), Object.freeze({
-  format: FORMAT_D9I3_K16U_C16U,
-  decode: decodeD9I3K16uC16u
-}), Object.freeze({
-  format: FORMAT_D9I1_K8U_C8U,
-  decode: decodeD9I1K8uC8u
-}), Object.freeze({
-  format: FORMAT_D9I3_K8U_C8U,
-  decode: decodeD9I3K8uC8u
-}), Object.freeze({
-  format: FORMAT_D3I1_K32F_C32F,
-  decode: decodeD3I1K32fC32f
-}), Object.freeze({
-  format: FORMAT_D3I1_K16U_C16U,
-  decode: decodeD3I1K16uC16u
-}), Object.freeze({
-  format: FORMAT_D3I1_K8U_C8U,
-  decode: decodeD3I1K8uC8u
-})]);
-for (let i = 0; i < CURVE_DECODERS.length; i++) {
-  if (CURVE_DECODERS[i].format !== i) {
-    throw new Error(`gr2reader: curve decoder table corrupt at format ${i}`);
-  }
-}
-
-/**
- * Decode a GR2 JSON curve object into explicit knots/controls.
- *
- * @param {CurveJson} curveJson Curve as emitted in GR2 JSON.
- * @param {TransformCurveDimension} dimension Track dimension: position = 3, orientation = 4, scaleShear = 9.
- * @returns {DecodedCurve} Explicit knots and flat control values.
- * @throws {Error} If the curve is missing a numeric format, the format is not
- * supported, or the decoded dimension conflicts with the requested dimension.
- */
-function decodeCurve(curveJson, dimension) {
-  if (!curveJson || typeof curveJson.format !== "number") {
-    throw new Error("gr2reader: decodeCurve requires a curve object with a numeric format");
-  }
-  const dec = CURVE_DECODERS[curveJson.format];
-  if (!dec) {
-    throw new Error(`gr2reader: unsupported granny curve format ${curveJson.format}`);
-  }
-  const {
-    knots,
-    controls,
-    dimension: dim
-  } = dec.decode(curveJson, dimension);
-  if (dimension && dim && dim !== dimension) {
-    throw new Error(`gr2reader: curve format ${curveJson.format} decoded dimension ${dim} does not match track dimension ${dimension}`);
-  }
-  return {
-    knots,
-    controls,
-    degree: curveJson.degree | 0,
-    dimension: dim || dimension
-  };
-}
-
-/**
- * Copy one decoded control point into an output buffer.
- *
- * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
- * @param {DecodedCurve} curve Decoded curve.
- * @param {number} index Control point index.
- * @returns {ArrayLike<number>} The same output buffer.
- */
-function copyControl(out, curve, index) {
-  const dim = curve.dimension,
-    offset = index * dim;
-  for (let i = 0; i < dim; i++) {
-    out[i] = curve.controls[offset + i];
-  }
-  return out;
-}
-
-/**
- * Locate the first knot strictly greater than time, matching the existing
- * runtime curve evaluator's step/segment selection.
- *
- * @param {number[]} knots Decoded knot times.
- * @param {number} time Sample time.
- * @returns {number} Knot index.
- */
-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;
-}
-
-/**
- * Sample Carbon's raw keyframed Granny curves (`DaKeyframes32f`).
- *
- * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
- * @param {DecodedCurve} curve Decoded curve.
- * @param {number} time Sample time.
- * @param {number} duration Animation duration.
- * @returns {ArrayLike<number>} The same output buffer.
- */
-function sampleKeyframedCurve(out, curve, time, duration) {
-  const count = curve.controls.length / curve.dimension;
-  const frame = duration > 0 ? Math.trunc(count * time / duration) : 0;
-  return copyControl(out, curve, Math.max(0, Math.min(count - 1, frame)));
-}
-
-/**
- * Sample a decoded degree-one curve.
- *
- * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
- * @param {DecodedCurve} curve Decoded curve.
- * @param {number} time Sample time.
- * @param {boolean} cycle Whether the owning track cycles.
- * @param {number} duration Animation duration.
- * @param {number} knot Selected knot index.
- * @returns {ArrayLike<number>} The same output buffer.
- */
-function sampleLinearCurve(out, curve, time, cycle, duration, knot) {
-  const knots = curve.knots,
-    count = knots.length,
-    dim = curve.dimension,
-    knot0 = cycle ? (knot + count - 1) % count : knot === 0 ? 0 : knot - 1;
-  let start = knots[knot0],
-    end = knots[knot],
-    localTime = time;
-  if (cycle && end < start) {
-    end += duration;
-  }
-  if (cycle && localTime < start) {
-    localTime += duration;
-  }
-  const t = end !== start ? (localTime - start) / (end - start) : 0;
-  const p0 = knot0 * dim;
-  const p1 = knot * dim;
-  for (let i = 0; i < dim; i++) {
-    out[i] = curve.controls[p0 + i] * (1 - t) + curve.controls[p1 + i] * t;
-  }
-  return out;
-}
-
-/**
- * Sample the quadratic decoded curves emitted by modern Granny animation data.
- *
- * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
- * @param {DecodedCurve} curve Decoded curve.
- * @param {number} time Sample time.
- * @param {boolean} cycle Whether the owning track cycles.
- * @param {number} duration Animation duration.
- * @param {number} knot Selected knot index.
- * @returns {ArrayLike<number>} The same output buffer.
- */
-function sampleQuadraticCurve(out, curve, time, cycle, duration, knot) {
-  const knots = curve.knots,
-    count = knots.length,
-    dim = curve.dimension,
-    k2 = cycle ? (knot + count - 2) % count : knot === 0 ? 0 : Math.max(0, knot - 2),
-    k1 = cycle ? (knot + count - 1) % count : knot === 0 ? 0 : knot - 1;
-  let ti2 = knots[k2],
-    ti1 = knots[k1],
-    ti = knots[knot],
-    tiNext = knots[(knot + 1) % count],
-    localTime = time;
-  if (ti2 > ti) {
-    ti += duration;
-    tiNext += duration;
-    localTime += duration;
-  }
-  if (ti1 > ti) {
-    ti += duration;
-    tiNext += duration;
-    localTime += duration;
-  }
-  if (tiNext < ti) {
-    tiNext += duration;
-  }
-  const d0 = ti - ti1,
-    d1a = ti - ti2,
-    d1b = tiNext - ti1,
-    l0 = d0 !== 0 ? (localTime - ti1) / d0 : 0,
-    l1a = d1a !== 0 ? (localTime - ti2) / d1a : 0,
-    l1b = d1b !== 0 ? (localTime - ti1) / d1b : 0;
-  let c2 = l1a + l0 - l0 * l1a;
-  const ci = l0 * l1b,
-    c1 = c2 - ci;
-  c2 = 1 - c2;
-  const p0 = k2 * dim,
-    p1 = k1 * dim,
-    p2 = knot * dim;
-  for (let i = 0; i < dim; i++) {
-    out[i] = c2 * curve.controls[p0 + i] + c1 * curve.controls[p1 + i] + ci * curve.controls[p2 + i];
-  }
-  return out;
-}
-
-/**
- * Sample a decoded Granny curve into a caller-provided output buffer.
- *
- * This works only on decoded `{ knots, controls, degree, dimension }` data.
- * Packed Granny curve parsing remains the responsibility of `decodeCurve`.
- *
- * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
- * @param {DecodedCurve} curve Decoded curve.
- * @param {number} time Sample time.
- * @param {boolean} [cycle=false] Whether the owning track cycles.
- * @param {number} [duration=0] Animation duration.
- * @param {{ keyframed?: boolean }} [options] Sampling options.
- * @returns {ArrayLike<number>} The same output buffer.
- */
-function sampleDecodedCurve(out, curve, time, cycle = false, duration = 0, options = {}) {
-  if (!curve || !curve.knots || !curve.controls || !curve.dimension) {
-    return out;
-  }
-  const knots = curve.knots,
-    count = knots.length,
-    dim = curve.dimension,
-    controlCount = curve.controls.length / dim;
-  if (!count || !controlCount) {
-    return out;
-  }
-  if (options.keyframed) {
-    return sampleKeyframedCurve(out, curve, time, duration);
-  }
-  const knot = findKnotIndex(knots, time);
-  if (curve.degree <= 0 || count === 1 || controlCount === 1) {
-    return copyControl(out, curve, Math.min(knot, controlCount - 1));
-  }
-  if (curve.degree === 1) {
-    return sampleLinearCurve(out, curve, time, cycle, duration || knots[count - 1], knot);
-  }
-  return sampleQuadraticCurve(out, curve, time, cycle, duration || knots[count - 1], knot);
-}
-
-/**
- * Decode the three curves of every transform track of a GR2 JSON object in
- * place. Adds knots, controls and dimension to each curve object; all raw
- * compressed fields are left untouched.
- *
- * @param {object} json GR2 JSON root object to mutate.
- * @returns {object} The same object, for chaining.
- */
-function decompressAnimationCurves(json) {
-  for (const anim of json.animations || []) {
-    for (const tg of anim.trackGroups || []) {
-      for (const tt of tg.transformTracks || []) {
-        decorate(tt.orientation, 4);
-        decorate(tt.position, 3);
-        decorate(tt.scaleShear, 9);
-      }
-    }
-  }
-  return json;
-}
-
-/**
- * Decode and attach explicit curve data to a transform-track curve object.
- *
- * @param {CurveJson|undefined|null} curve Curve object to decorate in place.
- * @param {TransformCurveDimension} dimension Expected track dimension.
- * @returns {void}
- */
-function decorate(curve, dimension) {
-  if (!curve || typeof curve.format !== "number" || curve.error) return;
-  const d = decodeCurve(curve, dimension);
-  curve.knots = d.knots;
-  curve.controls = d.controls;
-  curve.dimension = d.dimension;
-}
-
-/**
- * Frozen convenience namespace for animation-curve decoding helpers.
- *
- * The same constants and functions are also exported directly from curves.js.
- */
-const curves = Object.freeze({
-  FORMAT_DA_KEYFRAMES_32F,
-  FORMAT_DA_K32F_C32F,
-  FORMAT_DA_IDENTITY,
-  FORMAT_DA_CONSTANT_32F,
-  FORMAT_D3_CONSTANT_32F,
-  FORMAT_D4_CONSTANT_32F,
-  FORMAT_DA_K16U_C16U,
-  FORMAT_DA_K8U_C8U,
-  FORMAT_D4N_K16U_C15U,
-  FORMAT_D4N_K8U_C7U,
-  FORMAT_D3_K16U_C16U,
-  FORMAT_D3_K8U_C8U,
-  FORMAT_D9I1_K16U_C16U,
-  FORMAT_D9I3_K16U_C16U,
-  FORMAT_D9I1_K8U_C8U,
-  FORMAT_D9I3_K8U_C8U,
-  FORMAT_D3I1_K32F_C32F,
-  FORMAT_D3I1_K16U_C16U,
-  FORMAT_D3I1_K8U_C8U,
-  FORMATS: CURVE_FORMATS,
-  DECODERS: CURVE_DECODERS,
-  D4N_SCALE_TABLE,
-  D4N_OFFSET_TABLE,
-  D4N_SCALE_TABLE_MULTIPLIER_16,
-  D4N_SCALE_TABLE_MULTIPLIER_8,
-  decode: decodeCurve,
-  decodeCurve,
-  sample: sampleDecodedCurve,
-  sampleDecodedCurve,
-  decompress: decompressAnimationCurves,
-  decompressAnimationCurves,
-  knotScaleFromTrunc,
-  knotsFromControls,
-  knotsFromControlsTrunc,
-  identityControls,
-  exactDiv,
-  decodeDaKeyframes32f,
-  decodeDaK32fC32f,
-  decodeDaIdentity,
-  decodeDaConstant32f,
-  decodeD3Constant32f,
-  decodeD4Constant32f,
-  decodeDaK,
-  decodeDaK16uC16u,
-  decodeDaK8uC8u,
-  quatFromControl16,
-  quatFromControl8,
-  decodeD4n,
-  decodeD4nK16uC15u,
-  decodeD4nK8uC7u,
-  decodeD3K,
-  decodeD3K16uC16u,
-  decodeD3K8uC8u,
-  decodeD9I1,
-  decodeD9I1K16uC16u,
-  decodeD9I1K8uC8u,
-  decodeD9I3,
-  decodeD9I3K16uC16u,
-  decodeD9I3K8uC8u,
-  d3I1Controls,
-  decodeD3I1K32fC32f,
-  decodeD3I1u,
-  decodeD3I1K16uC16u,
-  decodeD3I1K8uC8u
-});
-
-export { CURVE_DECODERS, CURVE_FORMATS, D4N_OFFSET_TABLE, D4N_SCALE_TABLE, D4N_SCALE_TABLE_MULTIPLIER_16, D4N_SCALE_TABLE_MULTIPLIER_8, FORMAT_D3I1_K16U_C16U, FORMAT_D3I1_K32F_C32F, FORMAT_D3I1_K8U_C8U, FORMAT_D3_CONSTANT_32F, FORMAT_D3_K16U_C16U, FORMAT_D3_K8U_C8U, FORMAT_D4N_K16U_C15U, FORMAT_D4N_K8U_C7U, FORMAT_D4_CONSTANT_32F, FORMAT_D9I1_K16U_C16U, FORMAT_D9I1_K8U_C8U, FORMAT_D9I3_K16U_C16U, FORMAT_D9I3_K8U_C8U, FORMAT_DA_CONSTANT_32F, FORMAT_DA_IDENTITY, FORMAT_DA_K16U_C16U, FORMAT_DA_K32F_C32F, FORMAT_DA_K8U_C8U, FORMAT_DA_KEYFRAMES_32F, curves, d3I1Controls, decodeCurve, decodeD3Constant32f, decodeD3I1K16uC16u, decodeD3I1K32fC32f, decodeD3I1K8uC8u, decodeD3I1u, decodeD3K, decodeD3K16uC16u, decodeD3K8uC8u, decodeD4Constant32f, decodeD4n, decodeD4nK16uC15u, decodeD4nK8uC7u, decodeD9I1, decodeD9I1K16uC16u, decodeD9I1K8uC8u, decodeD9I3, decodeD9I3K16uC16u, decodeD9I3K8uC8u, decodeDaConstant32f, decodeDaIdentity, decodeDaK, decodeDaK16uC16u, decodeDaK32fC32f, decodeDaK8uC8u, decodeDaKeyframes32f, decompressAnimationCurves, exactDiv, fr, identityControls, knotScaleFromTrunc, knotsFromControls, knotsFromControlsTrunc, quatFromControl16, quatFromControl8, sampleDecodedCurve };
-//# sourceMappingURL=curves.js.map
+/**
+ * Granny animation-curve decompression helpers
+ * `decodeCurve(curveJson, dimension)` takes a GR2 JSON curve object in the
+ * shape emitted by PrintCurve2 and returns explicit knots and controls.
+ */
+
+/** Format id for raw float keyframes with implicit knots. */
+const FORMAT_DA_KEYFRAMES_32F = 0;
+
+/** Format id for uncompressed float knots and float controls. */
+const FORMAT_DA_K32F_C32F = 1;
+
+/** Format id for an identity transform curve. */
+const FORMAT_DA_IDENTITY = 2;
+
+/** Format id for a constant float control vector. */
+const FORMAT_DA_CONSTANT_32F = 3;
+
+/** Format id for a constant vec3 control. */
+const FORMAT_D3_CONSTANT_32F = 4;
+
+/** Format id for a constant quaternion control. */
+const FORMAT_D4_CONSTANT_32F = 5;
+
+/** Format id for uint16 DaK packed knots and controls. */
+const FORMAT_DA_K16U_C16U = 6;
+
+/** Format id for uint8 DaK packed knots and controls. */
+const FORMAT_DA_K8U_C8U = 7;
+
+/** Format id for uint16 normalized quaternion curves with 15-bit controls. */
+const FORMAT_D4N_K16U_C15U = 8;
+
+/** Format id for uint8 normalized quaternion curves with 7-bit controls. */
+const FORMAT_D4N_K8U_C7U = 9;
+
+/** Format id for uint16 vec3 position curves. */
+const FORMAT_D3_K16U_C16U = 10;
+
+/** Format id for uint8 vec3 position curves. */
+const FORMAT_D3_K8U_C8U = 11;
+
+/** Format id for uint16 uniform scale/shear curves. */
+const FORMAT_D9I1_K16U_C16U = 12;
+
+/** Format id for uint16 per-axis scale/shear curves. */
+const FORMAT_D9I3_K16U_C16U = 13;
+
+/** Format id for uint8 uniform scale/shear curves. */
+const FORMAT_D9I1_K8U_C8U = 14;
+
+/** Format id for uint8 per-axis scale/shear curves. */
+const FORMAT_D9I3_K8U_C8U = 15;
+
+/** Format id for float D3I1 line-parameterized vec3 curves. */
+const FORMAT_D3I1_K32F_C32F = 16;
+
+/** Format id for uint16 D3I1 line-parameterized vec3 curves. */
+const FORMAT_D3I1_K16U_C16U = 17;
+
+/** Format id for uint8 D3I1 line-parameterized vec3 curves. */
+const FORMAT_D3I1_K8U_C8U = 18;
+
+/**
+ * Granny curve format ids keyed by descriptive uppercase names.
+ */
+const CURVE_FORMATS = Object.freeze({
+  DA_KEYFRAMES_32F: FORMAT_DA_KEYFRAMES_32F,
+  DA_K32F_C32F: FORMAT_DA_K32F_C32F,
+  DA_IDENTITY: FORMAT_DA_IDENTITY,
+  DA_CONSTANT_32F: FORMAT_DA_CONSTANT_32F,
+  D3_CONSTANT_32F: FORMAT_D3_CONSTANT_32F,
+  D4_CONSTANT_32F: FORMAT_D4_CONSTANT_32F,
+  DA_K16U_C16U: FORMAT_DA_K16U_C16U,
+  DA_K8U_C8U: FORMAT_DA_K8U_C8U,
+  D4N_K16U_C15U: FORMAT_D4N_K16U_C15U,
+  D4N_K8U_C7U: FORMAT_D4N_K8U_C7U,
+  D3_K16U_C16U: FORMAT_D3_K16U_C16U,
+  D3_K8U_C8U: FORMAT_D3_K8U_C8U,
+  D9I1_K16U_C16U: FORMAT_D9I1_K16U_C16U,
+  D9I3_K16U_C16U: FORMAT_D9I3_K16U_C16U,
+  D9I1_K8U_C8U: FORMAT_D9I1_K8U_C8U,
+  D9I3_K8U_C8U: FORMAT_D9I3_K8U_C8U,
+  D3I1_K32F_C32F: FORMAT_D3I1_K32F_C32F,
+  D3I1_K16U_C16U: FORMAT_D3I1_K16U_C16U,
+  D3I1_K8U_C8U: FORMAT_D3I1_K8U_C8U
+});
+
+/**
+ * Float32 rounding helper used to mirror the reference curve decoders.
+ *
+ * The reference implementation stores every decoded value into Float32Array
+ * buffers, so this helper applies the same rounding at each write.
+ */
+const fr = Math.fround;
+
+/**
+ * Granny stores 1/knotScale as the top 16 bits of the float only
+ * ("OneOverKnotScaleTrunc"). Reconstruct the float32.
+ * @param {number} oneOverKnotScaleTrunc uint16
+ * @returns {number}
+ */
+function knotScaleFromTrunc(oneOverKnotScaleTrunc) {
+  const u = new Uint32Array([oneOverKnotScaleTrunc << 16]);
+  return new Float32Array(u.buffer)[0];
+}
+
+/**
+ * Expand the leading `count` entries of a knotsControls array into knots.
+ * @param {ArrayLike<number>} knotsControls
+ * @param {number} count
+ * @param {number} scale divisor (1/knotScale)
+ * @returns {number[]}
+ */
+function knotsFromControls(knotsControls, count, scale) {
+  const out = new Array(count);
+  for (let i = 0; i < count; i++) {
+    out[i] = fr(knotsControls[i] / scale);
+  }
+  return out;
+}
+
+/**
+ * Knots via the truncated knot scale.
+ *
+ * @param {ArrayLike<number>} knotsControls Packed knot/control array.
+ * @param {number} count Number of knots at the front of `knotsControls`.
+ * @param {number} oneOverKnotScaleTrunc Truncated reciprocal knot scale.
+ * @returns {number[]} Decoded knot times.
+ */
+function knotsFromControlsTrunc(knotsControls, count, oneOverKnotScaleTrunc) {
+  return knotsFromControls(knotsControls, count, knotScaleFromTrunc(oneOverKnotScaleTrunc));
+}
+
+/**
+ * Identity control vector for a track dimension.
+ * @param {number} dimension 3 (position), 4 (quaternion) or 9 (mat3)
+ * @returns {number[]}
+ */
+function identityControls(dimension) {
+  switch (dimension) {
+    case 3:
+      return [0, 0, 0];
+    case 4:
+      return [0, 0, 0, 1];
+    case 9:
+      return [1, 0, 0, 0, 1, 0, 0, 0, 1];
+    default:
+      throw new Error(`gr2reader: invalid curve dimension ${dimension}`);
+  }
+}
+
+/**
+ * Ensure a divisibility relation holds; throws with a descriptive error.
+ *
+ * @param {number} numerator Value expected to divide evenly.
+ * @param {number} divisor Divisor to check against.
+ * @param {string} what Human-readable operation name for the error message.
+ * @returns {number} Exact quotient.
+ * @throws {Error} If the quotient is not an integer.
+ */
+function exactDiv(numerator, divisor, what) {
+  const v = numerator / divisor;
+  if (!Number.isInteger(v)) {
+    throw new Error(`gr2reader: curve ${what}: ${numerator} is not divisible by ${divisor}`);
+  }
+  return v;
+}
+
+/**
+ * Decode raw keyframe controls with implicit knots `0..n-1`.
+ *
+ * @param {object} c Curve object with `controls` and optional `dimension`.
+ * @param {number} dimension Fallback control-vector width.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeDaKeyframes32f(c, dimension) {
+  const dim = c.dimension || dimension,
+    controls = c.controls || [],
+    count = exactDiv(controls.length, dim, "DaKeyframes32f controls/dimension"),
+    knots = new Array(count);
+  for (let i = 0; i < count; i++) {
+    knots[i] = i;
+  }
+  return {
+    knots,
+    controls: controls.map(fr),
+    dimension: dim
+  };
+}
+
+/**
+ * Decode uncompressed float knots and float controls.
+ *
+ * @param {object} c Curve object with `knots` and `controls`.
+ * @param {number} dimension Fallback control-vector width when no knots exist.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeDaK32fC32f(c, dimension) {
+  const knots = (c.knots || []).map(fr),
+    controls = (c.controls || []).map(fr),
+    dim = knots.length ? exactDiv(controls.length, knots.length, "DaK32fC32f controls/knots") : dimension;
+  return {
+    knots,
+    controls,
+    dimension: dim
+  };
+}
+
+/**
+ * Decode an identity transform curve for the requested track dimension.
+ *
+ * @param {object} c Curve object with optional `dimension`.
+ * @param {number} dimension Fallback control-vector width.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeDaIdentity(c, dimension) {
+  const dim = c.dimension || dimension;
+  return {
+    knots: [0],
+    controls: identityControls(dim),
+    dimension: dim
+  };
+}
+
+/**
+ * Decode a constant float control vector.
+ *
+ * @param {object} c Curve object with `controls`.
+ * @param {number} dimension Fallback control-vector width.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeDaConstant32f(c, dimension) {
+  const controls = (c.controls || []).map(fr);
+  return {
+    knots: [0],
+    controls,
+    dimension: controls.length || dimension
+  };
+}
+
+/**
+ * Decode a constant vec3 control.
+ *
+ * @param {object} c Curve object with optional `controls`.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD3Constant32f(c) {
+  const controls = (c.controls || [0, 0, 0]).slice(0, 3).map(fr);
+  return {
+    knots: [0],
+    controls,
+    dimension: 3
+  };
+}
+
+/**
+ * Decode a constant quaternion control.
+ *
+ * @param {object} c Curve object with optional `controls`.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD4Constant32f(c) {
+  const controls = (c.controls || [0, 0, 0, 1]).slice(0, 4).map(fr);
+  return {
+    knots: [0],
+    controls,
+    dimension: 4
+  };
+}
+
+/**
+ * Decode a DaK packed knot/control curve using uint16 payload values.
+ *
+ * @param {object} c Curve object with `knotsControls`, `controlScaleOffsets`,
+ * and `oneOverKnotScaleTrunc`.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeDaK(c) {
+  const so = c.controlScaleOffsets || [],
+    kc = c.knotsControls || [],
+    dim = exactDiv(so.length, 2, "DaK controlScaleOffsets/2"),
+    count = exactDiv(kc.length, dim + 1, "DaK knotsControls/(dim+1)"),
+    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc),
+    controls = new Array(count * dim);
+  for (let i = 0; i < count; i++) {
+    for (let x = 0; x < dim; x++) {
+      controls[i * dim + x] = fr(kc[count + i * dim + x] * so[x] + so[dim + x]);
+    }
+  }
+  return {
+    knots,
+    controls,
+    dimension: dim
+  };
+}
+
+/** Scale lookup table for D4n normalized quaternion controls. */
+const D4N_SCALE_TABLE = new Float32Array([1.4142135, 0.70710677, 0.35355338, 0.35355338, 0.35355338, 0.17677669, 0.17677669, 0.17677669, -1.4142135, -0.70710677, -0.35355338, -0.35355338, -0.35355338, -0.17677669, -0.17677669, -0.17677669]);
+
+/** Offset lookup table for D4n normalized quaternion controls. */
+const D4N_OFFSET_TABLE = new Float32Array([-0.70710677, -0.35355338, -0.53033006, -0.17677669, 0.17677669, -0.17677669, -0.088388346, 0.0, 0.70710677, 0.35355338, 0.53033006, 0.17677669, -0.17677669, 0.17677669, 0.088388346, -0]);
+
+/**
+ * Decode one 16-bit control triple into a quaternion (matches ccpwgl
+ * Gr2CurveDataD4nK16uC15u.GetQuatFromControl).
+ *
+ * @param {number[]} out Mutable quaternion output buffer.
+ * @param {number} a First packed control value.
+ * @param {number} b Second packed control value.
+ * @param {number} c Third packed control value.
+ * @param {ArrayLike<number>} scales Four scale values selected from the table.
+ * @param {ArrayLike<number>} offsets Four offset values selected from the table.
+ * @returns {number[]} The same `out` quaternion buffer.
+ */
+function quatFromControl16(out, a, b, c, scales, offsets) {
+  const swizzle1 = (b & 0x8000) >> 14 | c >> 15,
+    swizzle2 = swizzle1 + 1 & 3,
+    swizzle3 = swizzle2 + 1 & 3,
+    swizzle4 = swizzle3 + 1 & 3;
+  const dataA = (a & 0x7fff) * scales[swizzle2] + offsets[swizzle2],
+    dataB = (b & 0x7fff) * scales[swizzle3] + offsets[swizzle3],
+    dataC = (c & 0x7fff) * scales[swizzle4] + offsets[swizzle4];
+  let dataD = Math.sqrt(Math.max(0, 1 - (dataA * dataA + dataB * dataB + dataC * dataC)));
+  if ((a & 0x8000) !== 0) dataD = -dataD;
+  out[swizzle2] = fr(dataA);
+  out[swizzle3] = fr(dataB);
+  out[swizzle4] = fr(dataC);
+  out[swizzle1] = fr(dataD);
+  return out;
+}
+
+/** Scale-table multiplier for D4n 16-bit knot / 15-bit control curves. */
+const D4N_SCALE_TABLE_MULTIPLIER_16 = 0.000030518509;
+
+/**
+ * Decode a D4n normalized quaternion curve using a supplied control decoder.
+ *
+ * @param {object} c Curve object with `knotsControls`, `scaleOffsetTableEntries`,
+ * and `oneOverKnotScale`.
+ * @param {Function} quatFromControl Function that expands one packed control
+ * triple into a quaternion.
+ * @param {number} scaleTableMultiplier Multiplier for selected scale table entries.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD4n(c, quatFromControl, scaleTableMultiplier) {
+  const kc = c.knotsControls || [],
+    count = exactDiv(kc.length, 4, "D4n knotsControls/4"),
+    knots = knotsFromControls(kc, count, c.oneOverKnotScale);
+  const selector = c.scaleOffsetTableEntries >>> 0,
+    scales = new Float32Array([D4N_SCALE_TABLE[selector >> 0 & 0x0f] * scaleTableMultiplier, D4N_SCALE_TABLE[selector >> 4 & 0x0f] * scaleTableMultiplier, D4N_SCALE_TABLE[selector >> 8 & 0x0f] * scaleTableMultiplier, D4N_SCALE_TABLE[selector >> 12 & 0x0f] * scaleTableMultiplier]),
+    offsets = new Float32Array([D4N_OFFSET_TABLE[selector >> 0 & 0x0f], D4N_OFFSET_TABLE[selector >> 4 & 0x0f], D4N_OFFSET_TABLE[selector >> 8 & 0x0f], D4N_OFFSET_TABLE[selector >> 12 & 0x0f]]);
+  const controls = new Array(count * 4),
+    quat = [0, 0, 0, 1];
+  for (let i = 0; i < count; i++) {
+    quatFromControl(quat, kc[count + i * 3], kc[count + i * 3 + 1], kc[count + i * 3 + 2], scales, offsets);
+    controls[i * 4] = quat[0];
+    controls[i * 4 + 1] = quat[1];
+    controls[i * 4 + 2] = quat[2];
+    controls[i * 4 + 3] = quat[3];
+  }
+  return {
+    knots,
+    controls,
+    dimension: 4
+  };
+}
+
+/**
+ * Decode a D4n curve using 16-bit knots and 15-bit quaternion controls.
+ *
+ * @param {object} c Curve object with packed quaternion data.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD4nK16uC15u(c) {
+  return decodeD4n(c, quatFromControl16, D4N_SCALE_TABLE_MULTIPLIER_16);
+}
+
+/** Scale-table multiplier for D4n 8-bit knot / 7-bit control curves. */
+const D4N_SCALE_TABLE_MULTIPLIER_8 = 0.0078740157;
+
+/**
+ * Decode one 8-bit control triple into a quaternion.
+ *
+ * @param {number[]} out Mutable quaternion output buffer.
+ * @param {number} a First packed control value.
+ * @param {number} b Second packed control value.
+ * @param {number} c Third packed control value.
+ * @param {ArrayLike<number>} scales Four scale values selected from the table.
+ * @param {ArrayLike<number>} offsets Four offset values selected from the table.
+ * @returns {number[]} The same `out` quaternion buffer.
+ */
+function quatFromControl8(out, a, b, c, scales, offsets) {
+  const swizzle1 = (b & 0x80) >> 6 | (c & 0x80) >> 7,
+    swizzle2 = swizzle1 + 1 & 3,
+    swizzle3 = swizzle2 + 1 & 3,
+    swizzle4 = swizzle3 + 1 & 3;
+  const dataA = (a & 0x7f) * scales[swizzle2] + offsets[swizzle2],
+    dataB = (b & 0x7f) * scales[swizzle3] + offsets[swizzle3],
+    dataC = (c & 0x7f) * scales[swizzle4] + offsets[swizzle4];
+  let dataD = Math.sqrt(Math.max(0, 1 - (dataA * dataA + dataB * dataB + dataC * dataC)));
+  if ((a & 0x80) !== 0) dataD = -dataD;
+  out[swizzle2] = fr(dataA);
+  out[swizzle3] = fr(dataB);
+  out[swizzle4] = fr(dataC);
+  out[swizzle1] = fr(dataD);
+  return out;
+}
+
+/**
+ * Decode a D4n curve using 8-bit knots and 7-bit quaternion controls.
+ *
+ * @param {object} c Curve object with packed quaternion data.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD4nK8uC7u(c) {
+  return decodeD4n(c, quatFromControl8, D4N_SCALE_TABLE_MULTIPLIER_8);
+}
+
+/**
+ * Decode a D3K packed vec3 curve using uint16 payload values.
+ *
+ * @param {object} c Curve object with `knotsControls`, `controlScales`,
+ * `controlOffsets`, and `oneOverKnotScaleTrunc`.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD3K(c) {
+  const kc = c.knotsControls || [],
+    count = exactDiv(kc.length, 4, "D3K knotsControls/4"),
+    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc),
+    scales = c.controlScales,
+    offsets = c.controlOffsets,
+    controls = new Array(count * 3);
+  for (let i = 0; i < count; i++) {
+    for (let x = 0; x < 3; x++) {
+      controls[i * 3 + x] = fr(kc[count + i * 3 + x] * scales[x] + offsets[x]);
+    }
+  }
+  return {
+    knots,
+    controls,
+    dimension: 3
+  };
+}
+
+/**
+ * Decode a D9I1 uniform scale/shear curve.
+ *
+ * @param {object} c Curve object with `knotsControls`, scalar scale/offset
+ * fields, and `oneOverKnotScaleTrunc`.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD9I1(c) {
+  const kc = c.knotsControls || [],
+    count = exactDiv(kc.length, 2, "D9I1 knotsControls/2"),
+    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc);
+  const scale = Array.isArray(c.controlScales) ? c.controlScales[0] : c.controlScale,
+    offset = Array.isArray(c.controlOffsets) ? c.controlOffsets[0] : c.controlOffset,
+    controls = new Array(count * 9).fill(0);
+  for (let i = 0; i < count; i++) {
+    const s = fr(kc[count + i] * scale + offset);
+    controls[i * 9] = s;
+    controls[i * 9 + 4] = s;
+    controls[i * 9 + 8] = s;
+  }
+  return {
+    knots,
+    controls,
+    dimension: 9
+  };
+}
+
+/**
+ * Decode a D9I3 per-axis scale/shear curve.
+ *
+ * @param {object} c Curve object with `knotsControls`, `controlScales`,
+ * `controlOffsets`, and `oneOverKnotScaleTrunc`.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD9I3(c) {
+  const kc = c.knotsControls || [],
+    count = exactDiv(kc.length, 4, "D9I3 knotsControls/4"),
+    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc),
+    scales = c.controlScales,
+    offsets = c.controlOffsets,
+    controls = new Array(count * 9).fill(0);
+  for (let i = 0; i < count; i++) {
+    controls[i * 9] = fr(kc[count + i * 3] * scales[0] + offsets[0]);
+    controls[i * 9 + 4] = fr(kc[count + i * 3 + 1] * scales[1] + offsets[1]);
+    controls[i * 9 + 8] = fr(kc[count + i * 3 + 2] * scales[2] + offsets[2]);
+  }
+  return {
+    knots,
+    controls,
+    dimension: 9
+  };
+}
+
+/**
+ * Expand one scalar per knot into vec3 controls for the D3I1 family.
+ *
+ * @param {ArrayLike<number>} kc Packed knots followed by scalar controls.
+ * @param {number} count Number of knots and scalar controls.
+ * @param {ArrayLike<number>} scales vec3 component scales.
+ * @param {ArrayLike<number>} offsets vec3 component offsets.
+ * @returns {number[]} Flat vec3 controls.
+ */
+function d3I1Controls(kc, count, scales, offsets) {
+  const controls = new Array(count * 3);
+  for (let i = 0; i < count; i++) {
+    const v = kc[count + i];
+    controls[i * 3] = fr(v * scales[0] + offsets[0]);
+    controls[i * 3 + 1] = fr(v * scales[1] + offsets[1]);
+    controls[i * 3 + 2] = fr(v * scales[2] + offsets[2]);
+  }
+  return controls;
+}
+
+/**
+ * Decode a D3I1 curve with float knots and scalar float controls.
+ *
+ * @param {object} c Curve object with `knotsControls`, `controlScales`, and
+ * `controlOffsets`.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD3I1K32fC32f(c) {
+  const kc = c.knotsControls || [],
+    count = exactDiv(kc.length, 2, "D3I1K32f knotsControls/2"),
+    knots = new Array(count);
+  for (let i = 0; i < count; i++) {
+    knots[i] = fr(kc[i]);
+  }
+  return {
+    knots,
+    controls: d3I1Controls(kc, count, c.controlScales, c.controlOffsets),
+    dimension: 3
+  };
+}
+
+/**
+ * Decode a D3I1 curve with uint knots and scalar controls.
+ *
+ * @param {object} c Curve object with `knotsControls`, `controlScales`,
+ * `controlOffsets`, and `oneOverKnotScaleTrunc`.
+ * @returns {{knots: number[], controls: number[], dimension: number}} Decoded curve.
+ */
+function decodeD3I1u(c) {
+  const kc = c.knotsControls || [],
+    count = exactDiv(kc.length, 2, "D3I1 knotsControls/2"),
+    knots = knotsFromControlsTrunc(kc, count, c.oneOverKnotScaleTrunc);
+  return {
+    knots,
+    controls: d3I1Controls(kc, count, c.controlScales, c.controlOffsets),
+    dimension: 3
+  };
+}
+
+/**
+ * Decode format 6, DaK16uC16u.
+ *
+ * @type {typeof decodeDaK}
+ */
+const decodeDaK16uC16u = decodeDaK;
+
+/**
+ * Decode format 7, DaK8uC8u.
+ *
+ * @type {typeof decodeDaK}
+ */
+const decodeDaK8uC8u = decodeDaK;
+
+/**
+ * Decode format 10, D3K16uC16u.
+ *
+ * @type {typeof decodeD3K}
+ */
+const decodeD3K16uC16u = decodeD3K;
+
+/**
+ * Decode format 11, D3K8uC8u.
+ *
+ * @type {typeof decodeD3K}
+ */
+const decodeD3K8uC8u = decodeD3K;
+
+/**
+ * Decode format 12, D9I1K16uC16u.
+ *
+ * @type {typeof decodeD9I1}
+ */
+const decodeD9I1K16uC16u = decodeD9I1;
+
+/**
+ * Decode format 14, D9I1K8uC8u.
+ *
+ * @type {typeof decodeD9I1}
+ */
+const decodeD9I1K8uC8u = decodeD9I1;
+
+/**
+ * Decode format 13, D9I3K16uC16u.
+ *
+ * @type {typeof decodeD9I3}
+ */
+const decodeD9I3K16uC16u = decodeD9I3;
+
+/**
+ * Decode format 15, D9I3K8uC8u.
+ *
+ * @type {typeof decodeD9I3}
+ */
+const decodeD9I3K8uC8u = decodeD9I3;
+
+/**
+ * Decode format 17, D3I1K16uC16u.
+ *
+ * @type {typeof decodeD3I1u}
+ */
+const decodeD3I1K16uC16u = decodeD3I1u;
+
+/**
+ * Decode format 18, D3I1K8uC8u.
+ *
+ * @type {typeof decodeD3I1u}
+ */
+const decodeD3I1K8uC8u = decodeD3I1u;
+
+/**
+ * Curve object as emitted inside GR2 JSON transform tracks.
+ *
+ * @typedef {object} CurveJson
+ * @property {number} format Granny animation-curve format id.
+ * @property {number} degree Curve degree from the Granny curve header.
+ * @property {number[]} [knots] Explicit knot times when already decompressed.
+ * @property {number[]} [controls] Explicit control values when already decoded.
+ * @property {number} [dimension] Control vector width.
+ * @property {string} [error] Emitter error marker for unsupported raw curves.
+ */
+
+/**
+ * Explicit curve data returned by {@link decodeCurve}.
+ *
+ * controls is a flat array in knot-major order:
+ * controls[knotIndex * dimension + componentIndex].
+ *
+ * @typedef {object} DecodedCurve
+ * @property {number[]} knots Knot times, non-decreasing.
+ * @property {number[]} controls Flat control values.
+ * @property {number} degree Curve degree.
+ * @property {number} dimension Control vector width.
+ */
+
+/**
+ * Track dimension accepted by Granny transform curves.
+ *
+ * @typedef {1|3|4|9} TransformCurveDimension
+ */
+
+/**
+ * Decoder table ordered by Granny curve format id.
+ *
+ * Each entry exposes the numeric format and the function used by
+ * {@link decodeCurve}.
+ */
+const CURVE_DECODERS = Object.freeze([Object.freeze({
+  format: FORMAT_DA_KEYFRAMES_32F,
+  decode: decodeDaKeyframes32f
+}), Object.freeze({
+  format: FORMAT_DA_K32F_C32F,
+  decode: decodeDaK32fC32f
+}), Object.freeze({
+  format: FORMAT_DA_IDENTITY,
+  decode: decodeDaIdentity
+}), Object.freeze({
+  format: FORMAT_DA_CONSTANT_32F,
+  decode: decodeDaConstant32f
+}), Object.freeze({
+  format: FORMAT_D3_CONSTANT_32F,
+  decode: decodeD3Constant32f
+}), Object.freeze({
+  format: FORMAT_D4_CONSTANT_32F,
+  decode: decodeD4Constant32f
+}), Object.freeze({
+  format: FORMAT_DA_K16U_C16U,
+  decode: decodeDaK16uC16u
+}), Object.freeze({
+  format: FORMAT_DA_K8U_C8U,
+  decode: decodeDaK8uC8u
+}), Object.freeze({
+  format: FORMAT_D4N_K16U_C15U,
+  decode: decodeD4nK16uC15u
+}), Object.freeze({
+  format: FORMAT_D4N_K8U_C7U,
+  decode: decodeD4nK8uC7u
+}), Object.freeze({
+  format: FORMAT_D3_K16U_C16U,
+  decode: decodeD3K16uC16u
+}), Object.freeze({
+  format: FORMAT_D3_K8U_C8U,
+  decode: decodeD3K8uC8u
+}), Object.freeze({
+  format: FORMAT_D9I1_K16U_C16U,
+  decode: decodeD9I1K16uC16u
+}), Object.freeze({
+  format: FORMAT_D9I3_K16U_C16U,
+  decode: decodeD9I3K16uC16u
+}), Object.freeze({
+  format: FORMAT_D9I1_K8U_C8U,
+  decode: decodeD9I1K8uC8u
+}), Object.freeze({
+  format: FORMAT_D9I3_K8U_C8U,
+  decode: decodeD9I3K8uC8u
+}), Object.freeze({
+  format: FORMAT_D3I1_K32F_C32F,
+  decode: decodeD3I1K32fC32f
+}), Object.freeze({
+  format: FORMAT_D3I1_K16U_C16U,
+  decode: decodeD3I1K16uC16u
+}), Object.freeze({
+  format: FORMAT_D3I1_K8U_C8U,
+  decode: decodeD3I1K8uC8u
+})]);
+for (let i = 0; i < CURVE_DECODERS.length; i++) {
+  if (CURVE_DECODERS[i].format !== i) {
+    throw new Error(`gr2reader: curve decoder table corrupt at format ${i}`);
+  }
+}
+
+/**
+ * Decode a GR2 JSON curve object into explicit knots/controls.
+ *
+ * @param {CurveJson} curveJson Curve as emitted in GR2 JSON.
+ * @param {TransformCurveDimension} dimension Track dimension: position = 3, orientation = 4, scaleShear = 9.
+ * @returns {DecodedCurve} Explicit knots and flat control values.
+ * @throws {Error} If the curve is missing a numeric format, the format is not
+ * supported, or the decoded dimension conflicts with the requested dimension.
+ */
+function decodeCurve(curveJson, dimension) {
+  if (!curveJson || typeof curveJson.format !== "number") {
+    throw new Error("gr2reader: decodeCurve requires a curve object with a numeric format");
+  }
+  const dec = CURVE_DECODERS[curveJson.format];
+  if (!dec) {
+    throw new Error(`gr2reader: unsupported granny curve format ${curveJson.format}`);
+  }
+  const {
+    knots,
+    controls,
+    dimension: dim
+  } = dec.decode(curveJson, dimension);
+  if (dimension && dim && dim !== dimension) {
+    throw new Error(`gr2reader: curve format ${curveJson.format} decoded dimension ${dim} does not match track dimension ${dimension}`);
+  }
+  return {
+    knots,
+    controls,
+    degree: curveJson.degree | 0,
+    dimension: dim || dimension
+  };
+}
+
+/**
+ * Copy one decoded control point into an output buffer.
+ *
+ * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
+ * @param {DecodedCurve} curve Decoded curve.
+ * @param {number} index Control point index.
+ * @returns {ArrayLike<number>} The same output buffer.
+ */
+function copyControl(out, curve, index) {
+  const dim = curve.dimension,
+    offset = index * dim;
+  for (let i = 0; i < dim; i++) {
+    out[i] = curve.controls[offset + i];
+  }
+  return out;
+}
+
+/**
+ * Locate the first knot strictly greater than time, matching the existing
+ * runtime curve evaluator's step/segment selection.
+ *
+ * @param {number[]} knots Decoded knot times.
+ * @param {number} time Sample time.
+ * @returns {number} Knot index.
+ */
+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;
+}
+
+/**
+ * Sample Carbon's raw keyframed Granny curves (`DaKeyframes32f`).
+ *
+ * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
+ * @param {DecodedCurve} curve Decoded curve.
+ * @param {number} time Sample time.
+ * @param {number} duration Animation duration.
+ * @returns {ArrayLike<number>} The same output buffer.
+ */
+function sampleKeyframedCurve(out, curve, time, duration) {
+  const count = curve.controls.length / curve.dimension;
+  const frame = duration > 0 ? Math.trunc(count * time / duration) : 0;
+  return copyControl(out, curve, Math.max(0, Math.min(count - 1, frame)));
+}
+
+/**
+ * Sample a decoded degree-one curve.
+ *
+ * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
+ * @param {DecodedCurve} curve Decoded curve.
+ * @param {number} time Sample time.
+ * @param {boolean} cycle Whether the owning track cycles.
+ * @param {number} duration Animation duration.
+ * @param {number} knot Selected knot index.
+ * @returns {ArrayLike<number>} The same output buffer.
+ */
+function sampleLinearCurve(out, curve, time, cycle, duration, knot) {
+  const knots = curve.knots,
+    count = knots.length,
+    dim = curve.dimension,
+    knot0 = cycle ? (knot + count - 1) % count : knot === 0 ? 0 : knot - 1;
+  let start = knots[knot0],
+    end = knots[knot],
+    localTime = time;
+  if (cycle && end < start) {
+    end += duration;
+  }
+  if (cycle && localTime < start) {
+    localTime += duration;
+  }
+  const t = end !== start ? (localTime - start) / (end - start) : 0;
+  const p0 = knot0 * dim;
+  const p1 = knot * dim;
+  for (let i = 0; i < dim; i++) {
+    out[i] = curve.controls[p0 + i] * (1 - t) + curve.controls[p1 + i] * t;
+  }
+  return out;
+}
+
+/**
+ * Sample the quadratic decoded curves emitted by modern Granny animation data.
+ *
+ * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
+ * @param {DecodedCurve} curve Decoded curve.
+ * @param {number} time Sample time.
+ * @param {boolean} cycle Whether the owning track cycles.
+ * @param {number} duration Animation duration.
+ * @param {number} knot Selected knot index.
+ * @returns {ArrayLike<number>} The same output buffer.
+ */
+function sampleQuadraticCurve(out, curve, time, cycle, duration, knot) {
+  const knots = curve.knots,
+    count = knots.length,
+    dim = curve.dimension,
+    k2 = cycle ? (knot + count - 2) % count : knot === 0 ? 0 : Math.max(0, knot - 2),
+    k1 = cycle ? (knot + count - 1) % count : knot === 0 ? 0 : knot - 1;
+  let ti2 = knots[k2],
+    ti1 = knots[k1],
+    ti = knots[knot],
+    tiNext = knots[(knot + 1) % count],
+    localTime = time;
+  if (ti2 > ti) {
+    ti += duration;
+    tiNext += duration;
+    localTime += duration;
+  }
+  if (ti1 > ti) {
+    ti += duration;
+    tiNext += duration;
+    localTime += duration;
+  }
+  if (tiNext < ti) {
+    tiNext += duration;
+  }
+  const d0 = ti - ti1,
+    d1a = ti - ti2,
+    d1b = tiNext - ti1,
+    l0 = d0 !== 0 ? (localTime - ti1) / d0 : 0,
+    l1a = d1a !== 0 ? (localTime - ti2) / d1a : 0,
+    l1b = d1b !== 0 ? (localTime - ti1) / d1b : 0;
+  let c2 = l1a + l0 - l0 * l1a;
+  const ci = l0 * l1b,
+    c1 = c2 - ci;
+  c2 = 1 - c2;
+  const p0 = k2 * dim,
+    p1 = k1 * dim,
+    p2 = knot * dim;
+  for (let i = 0; i < dim; i++) {
+    out[i] = c2 * curve.controls[p0 + i] + c1 * curve.controls[p1 + i] + ci * curve.controls[p2 + i];
+  }
+  return out;
+}
+
+/**
+ * Sample a decoded Granny curve into a caller-provided output buffer.
+ *
+ * This works only on decoded `{ knots, controls, degree, dimension }` data.
+ * Packed Granny curve parsing remains the responsibility of `decodeCurve`.
+ *
+ * @param {ArrayLike<number> & { [index: number]: number }} out Mutable output buffer.
+ * @param {DecodedCurve} curve Decoded curve.
+ * @param {number} time Sample time.
+ * @param {boolean} [cycle=false] Whether the owning track cycles.
+ * @param {number} [duration=0] Animation duration.
+ * @param {{ keyframed?: boolean }} [options] Sampling options.
+ * @returns {ArrayLike<number>} The same output buffer.
+ */
+function sampleDecodedCurve(out, curve, time, cycle = false, duration = 0, options = {}) {
+  if (!curve || !curve.knots || !curve.controls || !curve.dimension) {
+    return out;
+  }
+  const knots = curve.knots,
+    count = knots.length,
+    dim = curve.dimension,
+    controlCount = curve.controls.length / dim;
+  if (!count || !controlCount) {
+    return out;
+  }
+  if (options.keyframed) {
+    return sampleKeyframedCurve(out, curve, time, duration);
+  }
+  const knot = findKnotIndex(knots, time);
+  if (curve.degree <= 0 || count === 1 || controlCount === 1) {
+    return copyControl(out, curve, Math.min(knot, controlCount - 1));
+  }
+  if (curve.degree === 1) {
+    return sampleLinearCurve(out, curve, time, cycle, duration || knots[count - 1], knot);
+  }
+  return sampleQuadraticCurve(out, curve, time, cycle, duration || knots[count - 1], knot);
+}
+
+/**
+ * Decode the three curves of every transform track of a GR2 JSON object in
+ * place. Adds knots, controls and dimension to each curve object; all raw
+ * compressed fields are left untouched.
+ *
+ * @param {object} json GR2 JSON root object to mutate.
+ * @returns {object} The same object, for chaining.
+ */
+function decompressAnimationCurves(json) {
+  for (const anim of json.animations || []) {
+    for (const tg of anim.trackGroups || []) {
+      for (const tt of tg.transformTracks || []) {
+        decorate(tt.orientation, 4);
+        decorate(tt.position, 3);
+        decorate(tt.scaleShear, 9);
+      }
+    }
+  }
+  return json;
+}
+
+/**
+ * Decode and attach explicit curve data to a transform-track curve object.
+ *
+ * @param {CurveJson|undefined|null} curve Curve object to decorate in place.
+ * @param {TransformCurveDimension} dimension Expected track dimension.
+ * @returns {void}
+ */
+function decorate(curve, dimension) {
+  if (!curve || typeof curve.format !== "number" || curve.error) return;
+  const d = decodeCurve(curve, dimension);
+  curve.knots = d.knots;
+  curve.controls = d.controls;
+  curve.dimension = d.dimension;
+}
+
+/**
+ * Frozen convenience namespace for animation-curve decoding helpers.
+ *
+ * The same constants and functions are also exported directly from curves.js.
+ */
+const curves = Object.freeze({
+  FORMAT_DA_KEYFRAMES_32F,
+  FORMAT_DA_K32F_C32F,
+  FORMAT_DA_IDENTITY,
+  FORMAT_DA_CONSTANT_32F,
+  FORMAT_D3_CONSTANT_32F,
+  FORMAT_D4_CONSTANT_32F,
+  FORMAT_DA_K16U_C16U,
+  FORMAT_DA_K8U_C8U,
+  FORMAT_D4N_K16U_C15U,
+  FORMAT_D4N_K8U_C7U,
+  FORMAT_D3_K16U_C16U,
+  FORMAT_D3_K8U_C8U,
+  FORMAT_D9I1_K16U_C16U,
+  FORMAT_D9I3_K16U_C16U,
+  FORMAT_D9I1_K8U_C8U,
+  FORMAT_D9I3_K8U_C8U,
+  FORMAT_D3I1_K32F_C32F,
+  FORMAT_D3I1_K16U_C16U,
+  FORMAT_D3I1_K8U_C8U,
+  FORMATS: CURVE_FORMATS,
+  DECODERS: CURVE_DECODERS,
+  D4N_SCALE_TABLE,
+  D4N_OFFSET_TABLE,
+  D4N_SCALE_TABLE_MULTIPLIER_16,
+  D4N_SCALE_TABLE_MULTIPLIER_8,
+  decode: decodeCurve,
+  decodeCurve,
+  sample: sampleDecodedCurve,
+  sampleDecodedCurve,
+  decompress: decompressAnimationCurves,
+  decompressAnimationCurves,
+  knotScaleFromTrunc,
+  knotsFromControls,
+  knotsFromControlsTrunc,
+  identityControls,
+  exactDiv,
+  decodeDaKeyframes32f,
+  decodeDaK32fC32f,
+  decodeDaIdentity,
+  decodeDaConstant32f,
+  decodeD3Constant32f,
+  decodeD4Constant32f,
+  decodeDaK,
+  decodeDaK16uC16u,
+  decodeDaK8uC8u,
+  quatFromControl16,
+  quatFromControl8,
+  decodeD4n,
+  decodeD4nK16uC15u,
+  decodeD4nK8uC7u,
+  decodeD3K,
+  decodeD3K16uC16u,
+  decodeD3K8uC8u,
+  decodeD9I1,
+  decodeD9I1K16uC16u,
+  decodeD9I1K8uC8u,
+  decodeD9I3,
+  decodeD9I3K16uC16u,
+  decodeD9I3K8uC8u,
+  d3I1Controls,
+  decodeD3I1K32fC32f,
+  decodeD3I1u,
+  decodeD3I1K16uC16u,
+  decodeD3I1K8uC8u
+});
+
+export { CURVE_DECODERS, CURVE_FORMATS, D4N_OFFSET_TABLE, D4N_SCALE_TABLE, D4N_SCALE_TABLE_MULTIPLIER_16, D4N_SCALE_TABLE_MULTIPLIER_8, FORMAT_D3I1_K16U_C16U, FORMAT_D3I1_K32F_C32F, FORMAT_D3I1_K8U_C8U, FORMAT_D3_CONSTANT_32F, FORMAT_D3_K16U_C16U, FORMAT_D3_K8U_C8U, FORMAT_D4N_K16U_C15U, FORMAT_D4N_K8U_C7U, FORMAT_D4_CONSTANT_32F, FORMAT_D9I1_K16U_C16U, FORMAT_D9I1_K8U_C8U, FORMAT_D9I3_K16U_C16U, FORMAT_D9I3_K8U_C8U, FORMAT_DA_CONSTANT_32F, FORMAT_DA_IDENTITY, FORMAT_DA_K16U_C16U, FORMAT_DA_K32F_C32F, FORMAT_DA_K8U_C8U, FORMAT_DA_KEYFRAMES_32F, curves, d3I1Controls, decodeCurve, decodeD3Constant32f, decodeD3I1K16uC16u, decodeD3I1K32fC32f, decodeD3I1K8uC8u, decodeD3I1u, decodeD3K, decodeD3K16uC16u, decodeD3K8uC8u, decodeD4Constant32f, decodeD4n, decodeD4nK16uC15u, decodeD4nK8uC7u, decodeD9I1, decodeD9I1K16uC16u, decodeD9I1K8uC8u, decodeD9I3, decodeD9I3K16uC16u, decodeD9I3K8uC8u, decodeDaConstant32f, decodeDaIdentity, decodeDaK, decodeDaK16uC16u, decodeDaK32fC32f, decodeDaK8uC8u, decodeDaKeyframes32f, decompressAnimationCurves, exactDiv, fr, identityControls, knotScaleFromTrunc, knotsFromControls, knotsFromControlsTrunc, quatFromControl16, quatFromControl8, sampleDecodedCurve };
+//# sourceMappingURL=curves.js.map