@flighthq/skeleton3d 0.2.1-next.410.a23f189

package/dist/getMeshSkinBounds.d.ts

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+import type { AabbLike, MeshSkinBindPose, Skeleton3D } from '@flighthq/types';
+export declare function getMeshSkinConservativeBounds(out: AabbLike, bindPose: Readonly<MeshSkinBindPose>, skeleton: Readonly<Skeleton3D>): void;
+export declare function getMeshSkinExactBounds(out: AabbLike, bindPose: Readonly<MeshSkinBindPose>, skeleton: Readonly<Skeleton3D>): void;
+//# sourceMappingURL=getMeshSkinBounds.d.ts.map

package/dist/getMeshSkinBounds.d.ts.map

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package/dist/getMeshSkinBounds.js

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+import { skinVertices } from './skinVertices';
+// Skinned-mesh local-space bounds. Two functions, same signature, trading tightness for cost:
+// getMeshSkinConservativeBounds is the cheap culling default (no per-vertex skinning — expands the
+// rest-pose box by the palette's per-joint motion), getMeshSkinExactBounds is the opt-in accurate
+// path (skins every vertex on the CPU). Both operate on the captured bind pose and the skeleton's
+// already-computed palette (call computeSkeleton3DJointMatrices first), and both write into `out`.
+// Writes a CONSERVATIVE axis-aligned bound of the skinned mesh into `out` without skinning any
+// vertex — the cheap default for culling. Each skinned vertex position is a convex combination
+// (non-negative weights summing to ≤ 1) of its influencing joints' palette-transformed rest
+// positions, so it lies inside the union of {Mⱼ · restBounds} over the referenced joints j; the
+// AABB of that union (this function's result) therefore encloses every skinned vertex. Loose but
+// never wrong: getMeshSkinExactBounds's result is always contained in this one. Cost is the
+// rest-pose box (one pass over bindPose.positions, computed once conceptually) plus one box-transform
+// per referenced joint — no matrix multiply per vertex. Reads the rest bounds into locals before
+// writing, so it is safe when `out` aliases nothing it reads (it holds no input reference to `out`).
+// An empty mesh (no rest positions) yields the empty box (min = +Infinity, max = -Infinity).
+export function getMeshSkinConservativeBounds(out, bindPose, skeleton) {
+    const positions = bindPose.positions;
+    const restVertexCount = (positions.length / 3) | 0;
+    let restMinX = Number.POSITIVE_INFINITY, restMinY = Number.POSITIVE_INFINITY, restMinZ = Number.POSITIVE_INFINITY;
+    let restMaxX = Number.NEGATIVE_INFINITY, restMaxY = Number.NEGATIVE_INFINITY, restMaxZ = Number.NEGATIVE_INFINITY;
+    for (let v = 0; v < restVertexCount; v++) {
+        const p = v * 3;
+        const px = positions[p], py = positions[p + 1], pz = positions[p + 2];
+        if (px < restMinX)
+            restMinX = px;
+        if (py < restMinY)
+            restMinY = py;
+        if (pz < restMinZ)
+            restMinZ = pz;
+        if (px > restMaxX)
+            restMaxX = px;
+        if (py > restMaxY)
+            restMaxY = py;
+        if (pz > restMaxZ)
+            restMaxZ = pz;
+    }
+    // Empty rest pose → empty box, no joints to sweep.
+    if (restVertexCount === 0) {
+        out.min.x = Number.POSITIVE_INFINITY;
+        out.min.y = Number.POSITIVE_INFINITY;
+        out.min.z = Number.POSITIVE_INFINITY;
+        out.max.x = Number.NEGATIVE_INFINITY;
+        out.max.y = Number.NEGATIVE_INFINITY;
+        out.max.z = Number.NEGATIVE_INFINITY;
+        return;
+    }
+    // Rest-box center + half-extents, transformed per joint via center + |M|·extent (the same
+    // affine-box-transform used by transformAabbByMatrix4), then unioned.
+    const cx = (restMinX + restMaxX) * 0.5, cy = (restMinY + restMaxY) * 0.5, cz = (restMinZ + restMaxZ) * 0.5;
+    const ex = (restMaxX - restMinX) * 0.5, ey = (restMaxY - restMinY) * 0.5, ez = (restMaxZ - restMinZ) * 0.5;
+    const palette = skeleton.jointMatrices;
+    const jointCount = (palette.length / 16) | 0;
+    const referenced = getReferencedJoints(bindPose.joints, bindPose.weights, jointCount);
+    let minX = Number.POSITIVE_INFINITY, minY = Number.POSITIVE_INFINITY, minZ = Number.POSITIVE_INFINITY;
+    let maxX = Number.NEGATIVE_INFINITY, maxY = Number.NEGATIVE_INFINITY, maxZ = Number.NEGATIVE_INFINITY;
+    for (let j = 0; j < jointCount; j++) {
+        if (!referenced[j])
+            continue;
+        const m = j * 16;
+        const tcx = palette[m] * cx + palette[m + 4] * cy + palette[m + 8] * cz + palette[m + 12];
+        const tcy = palette[m + 1] * cx + palette[m + 5] * cy + palette[m + 9] * cz + palette[m + 13];
+        const tcz = palette[m + 2] * cx + palette[m + 6] * cy + palette[m + 10] * cz + palette[m + 14];
+        const tex = Math.abs(palette[m]) * ex + Math.abs(palette[m + 4]) * ey + Math.abs(palette[m + 8]) * ez;
+        const tey = Math.abs(palette[m + 1]) * ex + Math.abs(palette[m + 5]) * ey + Math.abs(palette[m + 9]) * ez;
+        const tez = Math.abs(palette[m + 2]) * ex + Math.abs(palette[m + 6]) * ey + Math.abs(palette[m + 10]) * ez;
+        if (tcx - tex < minX)
+            minX = tcx - tex;
+        if (tcy - tey < minY)
+            minY = tcy - tey;
+        if (tcz - tez < minZ)
+            minZ = tcz - tez;
+        if (tcx + tex > maxX)
+            maxX = tcx + tex;
+        if (tcy + tey > maxY)
+            maxY = tcy + tey;
+        if (tcz + tez > maxZ)
+            maxZ = tcz + tez;
+    }
+    out.min.x = minX;
+    out.min.y = minY;
+    out.min.z = minZ;
+    out.max.x = maxX;
+    out.max.y = maxY;
+    out.max.z = maxZ;
+}
+// Writes the EXACT (tight) axis-aligned bound of the skinned mesh into `out` — the opt-in accurate
+// path. Linear-blend-skins every vertex on the CPU via the same kernel skinMeshGeometry uses
+// (writing through bindPose.skinnedPositions scratch, so it allocates nothing), then takes the tight
+// AABB of the skinned positions. Use for precise picking or a leaf-level bound where the conservative
+// sweep is too loose; prefer getMeshSkinConservativeBounds for per-frame culling. An empty mesh
+// yields the empty box (min = +Infinity, max = -Infinity). Overwrites bindPose.skinnedPositions /
+// skinnedNormals as scratch (the same buffers a subsequent skinMeshGeometry would rewrite).
+export function getMeshSkinExactBounds(out, bindPose, skeleton) {
+    skinVertices(bindPose.skinnedPositions, bindPose.skinnedNormals, bindPose.positions, bindPose.normals, bindPose.joints, bindPose.weights, skeleton.jointMatrices);
+    const skinned = bindPose.skinnedPositions;
+    const vertexCount = (skinned.length / 3) | 0;
+    let minX = Number.POSITIVE_INFINITY, minY = Number.POSITIVE_INFINITY, minZ = Number.POSITIVE_INFINITY;
+    let maxX = Number.NEGATIVE_INFINITY, maxY = Number.NEGATIVE_INFINITY, maxZ = Number.NEGATIVE_INFINITY;
+    for (let v = 0; v < vertexCount; v++) {
+        const p = v * 3;
+        const px = skinned[p], py = skinned[p + 1], pz = skinned[p + 2];
+        if (px < minX)
+            minX = px;
+        if (py < minY)
+            minY = py;
+        if (pz < minZ)
+            minZ = pz;
+        if (px > maxX)
+            maxX = px;
+        if (py > maxY)
+            maxY = py;
+        if (pz > maxZ)
+            maxZ = pz;
+    }
+    out.min.x = minX;
+    out.min.y = minY;
+    out.min.z = minZ;
+    out.max.x = maxX;
+    out.max.y = maxY;
+    out.max.z = maxZ;
+}
+// Marks which palette joints an actual influence references (nonzero weight), so the conservative
+// sweep unions only the joints that can move a vertex — not every joint in the palette. One pass over
+// the static 4-influence binding; out-of-range or zero-weight influences are skipped.
+function getReferencedJoints(joints, weights, jointCount) {
+    const referenced = new Uint8Array(jointCount);
+    const influenceCount = joints.length;
+    for (let k = 0; k < influenceCount; k++) {
+        if (weights[k] === 0)
+            continue;
+        const j = joints[k] | 0;
+        if (j >= 0 && j < jointCount)
+            referenced[j] = 1;
+    }
+    return referenced;
+}
+//# sourceMappingURL=getMeshSkinBounds.js.map

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package/dist/index.d.ts

@@ -0,0 +1,6 @@
+export * from './getMeshSkinBounds';
+export * from './skeleton3d';
+export * from './skinMeshGeometry';
+export * from './skinVertices';
+export * from './updateMeshSkin';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -0,0 +1,6 @@
+export * from './getMeshSkinBounds';
+export * from './skeleton3d';
+export * from './skinMeshGeometry';
+export * from './skinVertices';
+export * from './updateMeshSkin';
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
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package/dist/skeleton3d.d.ts

@@ -0,0 +1,12 @@
+import type { Matrix4Like, SceneNode, Skeleton3D, Skeleton3DValidationDiagnostic } from '@flighthq/types';
+export declare function cloneSkeleton3D(skeleton: Readonly<Skeleton3D>): Skeleton3D;
+export declare function computeSkeleton3DJointMatrices(skeleton: Readonly<Skeleton3D>): void;
+export declare function createSkeleton3D(joints: SceneNode[], inverseBindMatrices?: Float32Array, names?: readonly string[] | null): Skeleton3D;
+export declare function disposeSkeleton3D(skeleton: Skeleton3D): void;
+export declare function equalsSkeleton3D(a: Readonly<Skeleton3D>, b: Readonly<Skeleton3D>): boolean;
+export declare function getSkeleton3DJointIndexByName(skeleton: Readonly<Skeleton3D>, name: string): number;
+export declare function getSkeleton3DJointWorldMatrix(out: Matrix4Like, skeleton: Readonly<Skeleton3D>, jointIndex: number): boolean;
+export declare function getSkeleton3DJointWorldMatrixByName(out: Matrix4Like, skeleton: Readonly<Skeleton3D>, name: string): boolean;
+export declare function setSkeleton3DBindPose(skeleton: Readonly<Skeleton3D>): void;
+export declare function validateSkeleton3D(skeleton: Readonly<Skeleton3D>): Skeleton3DValidationDiagnostic | null;
+//# sourceMappingURL=skeleton3d.d.ts.map

package/dist/skeleton3d.d.ts.map

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package/dist/skeleton3d.js

@@ -0,0 +1,102 @@
+import { copyMatrix4, createMatrix4, inverseMatrix4, multiplyMatrix4 } from '@flighthq/geometry';
+import { getNodeWorldMatrix4 } from '@flighthq/node';
+export function cloneSkeleton3D(skeleton) {
+    const clone = {
+        inverseBindMatrices: new Float32Array(skeleton.inverseBindMatrices),
+        jointMatrices: new Float32Array(skeleton.jointMatrices),
+        joints: skeleton.joints.slice(),
+    };
+    if (skeleton.names != null)
+        clone.names = skeleton.names.slice();
+    else if (skeleton.names === null)
+        clone.names = null;
+    return clone;
+}
+export function computeSkeleton3DJointMatrices(skeleton) {
+    const { inverseBindMatrices, jointMatrices, joints } = skeleton;
+    for (let j = 0; j < joints.length; j++) {
+        const base = j * 16;
+        for (let i = 0; i < 16; i++)
+            _invBind.m[i] = inverseBindMatrices[base + i];
+        multiplyMatrix4(_result, getNodeWorldMatrix4(joints[j]), _invBind);
+        jointMatrices.set(_result.m, base);
+    }
+}
+export function createSkeleton3D(joints, inverseBindMatrices, names) {
+    const count = joints.length;
+    const skeleton = {
+        inverseBindMatrices: inverseBindMatrices ?? new Float32Array(count * 16),
+        jointMatrices: new Float32Array(count * 16),
+        joints,
+        names: names ?? null,
+    };
+    if (inverseBindMatrices === undefined)
+        setSkeleton3DBindPose(skeleton);
+    return skeleton;
+}
+export function disposeSkeleton3D(skeleton) {
+    skeleton.joints.length = 0;
+    skeleton.names = null;
+}
+export function equalsSkeleton3D(a, b) {
+    if (a === b)
+        return true;
+    if (a.joints.length !== b.joints.length)
+        return false;
+    if (a.inverseBindMatrices.length !== b.inverseBindMatrices.length)
+        return false;
+    for (let i = 0; i < a.inverseBindMatrices.length; i++) {
+        if (a.inverseBindMatrices[i] !== b.inverseBindMatrices[i])
+            return false;
+    }
+    const aNames = a.names ?? null;
+    const bNames = b.names ?? null;
+    if (aNames === null || bNames === null)
+        return aNames === bNames;
+    if (aNames.length !== bNames.length)
+        return false;
+    for (let i = 0; i < aNames.length; i++) {
+        if (aNames[i] !== bNames[i])
+            return false;
+    }
+    return true;
+}
+export function getSkeleton3DJointIndexByName(skeleton, name) {
+    const { names } = skeleton;
+    if (names == null)
+        return -1;
+    return names.indexOf(name);
+}
+export function getSkeleton3DJointWorldMatrix(out, skeleton, jointIndex) {
+    const { joints } = skeleton;
+    if (jointIndex < 0 || jointIndex >= joints.length)
+        return false;
+    copyMatrix4(out, getNodeWorldMatrix4(joints[jointIndex]));
+    return true;
+}
+export function getSkeleton3DJointWorldMatrixByName(out, skeleton, name) {
+    return getSkeleton3DJointWorldMatrix(out, skeleton, getSkeleton3DJointIndexByName(skeleton, name));
+}
+export function setSkeleton3DBindPose(skeleton) {
+    const { inverseBindMatrices, joints } = skeleton;
+    for (let j = 0; j < joints.length; j++) {
+        inverseMatrix4(_result, getNodeWorldMatrix4(joints[j]));
+        inverseBindMatrices.set(_result.m, j * 16);
+    }
+}
+export function validateSkeleton3D(skeleton) {
+    const jointCount = skeleton.joints.length;
+    const expectedInverseBindMatricesLength = jointCount * 16;
+    const inverseBindMatricesLength = skeleton.inverseBindMatrices.length;
+    if (inverseBindMatricesLength === expectedInverseBindMatricesLength)
+        return null;
+    return {
+        expectedInverseBindMatricesLength,
+        inverseBindMatricesLength,
+        jointCount,
+        message: `Skeleton3D inverseBindMatrices length ${inverseBindMatricesLength} does not match jointCount ${jointCount} * 16 = ${expectedInverseBindMatricesLength}.`,
+    };
+}
+const _invBind = createMatrix4();
+const _result = createMatrix4();
+//# sourceMappingURL=skeleton3d.js.map

package/dist/skeleton3d.js.map

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package/dist/skinMeshGeometry.d.ts

@@ -0,0 +1,4 @@
+import type { MeshGeometry, MeshSkinBindPose, Skeleton3D } from '@flighthq/types';
+export declare function captureMeshSkinBindPose(geometry: Readonly<MeshGeometry>): MeshSkinBindPose;
+export declare function skinMeshGeometry(geometry: MeshGeometry, skeleton: Readonly<Skeleton3D>, bindPose: Readonly<MeshSkinBindPose>): void;
+//# sourceMappingURL=skinMeshGeometry.d.ts.map

package/dist/skinMeshGeometry.d.ts.map

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package/dist/skinMeshGeometry.js

@@ -0,0 +1,98 @@
+import { skinVertices } from './skinVertices';
+// Captures the de-interleaved CPU-skinning inputs for one skinned MeshGeometry: the bind-pose
+// positions/normals and the static joints0/weights0 influences, read out of the interleaved
+// `geometry.vertices` through `geometry.layout` (any offsets, any layout carrying the four
+// semantics). Allocates the SoA arrays plus the reusable skinned-output scratch skinMeshGeometry
+// writes each frame, so the per-frame deform allocates nothing. Call once, before the first deform,
+// and store the result on the geometry's runtime (MeshGeometryRuntime.skinBindPose). Missing
+// joints0/weights0 default those influences to zero (an unskinned vertex stays at its bind pose).
+export function captureMeshSkinBindPose(geometry) {
+    const { layout, vertices } = geometry;
+    const floatsPerVertex = layout.stride / 4;
+    const vertexCount = floatsPerVertex > 0 ? (vertices.length / floatsPerVertex) | 0 : 0;
+    const positionOffset = floatOffsetForSemantic(layout, 'position');
+    const normalOffset = floatOffsetForSemantic(layout, 'normal');
+    const jointsOffset = floatOffsetForSemantic(layout, 'joints0');
+    const weightsOffset = floatOffsetForSemantic(layout, 'weights0');
+    const positions = new Float32Array(vertexCount * 3);
+    const normals = new Float32Array(vertexCount * 3);
+    const joints = new Float32Array(vertexCount * 4);
+    const weights = new Float32Array(vertexCount * 4);
+    for (let v = 0; v < vertexCount; v++) {
+        const base = v * floatsPerVertex;
+        const p = v * 3;
+        const w = v * 4;
+        if (positionOffset >= 0) {
+            positions[p] = vertices[base + positionOffset];
+            positions[p + 1] = vertices[base + positionOffset + 1];
+            positions[p + 2] = vertices[base + positionOffset + 2];
+        }
+        if (normalOffset >= 0) {
+            normals[p] = vertices[base + normalOffset];
+            normals[p + 1] = vertices[base + normalOffset + 1];
+            normals[p + 2] = vertices[base + normalOffset + 2];
+        }
+        if (jointsOffset >= 0) {
+            joints[w] = vertices[base + jointsOffset];
+            joints[w + 1] = vertices[base + jointsOffset + 1];
+            joints[w + 2] = vertices[base + jointsOffset + 2];
+            joints[w + 3] = vertices[base + jointsOffset + 3];
+        }
+        if (weightsOffset >= 0) {
+            weights[w] = vertices[base + weightsOffset];
+            weights[w + 1] = vertices[base + weightsOffset + 1];
+            weights[w + 2] = vertices[base + weightsOffset + 2];
+            weights[w + 3] = vertices[base + weightsOffset + 3];
+        }
+    }
+    return {
+        joints,
+        normals,
+        positions,
+        skinnedNormals: new Float32Array(vertexCount * 3),
+        skinnedPositions: new Float32Array(vertexCount * 3),
+        weights,
+    };
+}
+// Deforms a skinned MeshGeometry in place for the current pose: linear-blend-skins the bind pose by
+// the skeleton's already-computed palette (skeleton.jointMatrices — call computeSkeleton3DJointMatrices
+// first) into the bind pose's scratch, writes the skinned positions/normals back into the interleaved
+// `geometry.vertices`, and bumps `geometry.version` so the backends re-upload. `bindPose` is the
+// capture the caller holds on the geometry runtime; only the position/normal channels are rewritten,
+// so tangent/uv0/joints0/weights0 stay intact. Scene-free by design — the mesh-level glue that owns
+// the runtime slot and drives the palette lives in @flighthq/scene (updateMeshSkin).
+export function skinMeshGeometry(geometry, skeleton, bindPose) {
+    skinVertices(bindPose.skinnedPositions, bindPose.skinnedNormals, bindPose.positions, bindPose.normals, bindPose.joints, bindPose.weights, skeleton.jointMatrices);
+    const { layout, vertices } = geometry;
+    const floatsPerVertex = layout.stride / 4;
+    const positionOffset = floatOffsetForSemantic(layout, 'position');
+    const normalOffset = floatOffsetForSemantic(layout, 'normal');
+    const { skinnedNormals, skinnedPositions } = bindPose;
+    const vertexCount = (skinnedPositions.length / 3) | 0;
+    for (let v = 0; v < vertexCount; v++) {
+        const base = v * floatsPerVertex;
+        const s = v * 3;
+        if (positionOffset >= 0) {
+            vertices[base + positionOffset] = skinnedPositions[s];
+            vertices[base + positionOffset + 1] = skinnedPositions[s + 1];
+            vertices[base + positionOffset + 2] = skinnedPositions[s + 2];
+        }
+        if (normalOffset >= 0) {
+            vertices[base + normalOffset] = skinnedNormals[s];
+            vertices[base + normalOffset + 1] = skinnedNormals[s + 1];
+            vertices[base + normalOffset + 2] = skinnedNormals[s + 2];
+        }
+    }
+    geometry.version++;
+}
+// The float (not byte) offset of a semantic within an interleaved vertex record, or -1 when the
+// layout does not carry it. byteOffset is a multiple of 4 for the float32 channels skinning reads.
+function floatOffsetForSemantic(layout, semantic) {
+    const attributes = layout.attributes;
+    for (let i = 0; i < attributes.length; i++) {
+        if (attributes[i].semantic === semantic)
+            return attributes[i].byteOffset / 4;
+    }
+    return -1;
+}
+//# sourceMappingURL=skinMeshGeometry.js.map

package/dist/skinMeshGeometry.js.map

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

@@ -0,0 +1,2 @@
+export declare function skinVertices(outPositions: Float32Array, outNormals: Float32Array, positions: Readonly<Float32Array>, normals: Readonly<Float32Array>, joints: Readonly<ArrayLike<number>>, weights: Readonly<Float32Array>, jointMatrices: Readonly<Float32Array>): void;
+//# sourceMappingURL=skinVertices.d.ts.map

package/dist/skinVertices.d.ts.map

@@ -0,0 +1 @@
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package/dist/skinVertices.js

@@ -0,0 +1,62 @@
+// CPU linear-blend skinning (a.k.a. smooth/matrix-palette skinning). Deforms each vertex on the CPU by the
+// weighted sum of its influencing joints' palette matrices — the same math a GPU vertex shader runs, kept
+// here as a deterministic, GPU-free path for offscreen bakes, physics proxies, and jsdom tests.
+//
+// Buffer layout (all flat typed arrays, tightly packed, vertex-major):
+//   positions / outPositions : 3 floats per vertex  (x, y, z)
+//   normals   / outNormals   : 3 floats per vertex  (x, y, z)
+//   joints                   : 4 joint indices per vertex (the standard 4-influence LBS)
+//   weights                  : 4 blend weights per vertex, aligned with `joints`
+//   jointMatrices            : the skin palette — 16 column-major floats per joint
+//
+// Positions are transformed as affine points (including translation); normals are transformed by the
+// palette matrix's upper 3×3 only (no translation) and are NOT renormalized — callers that need unit
+// normals (e.g. non-uniform scale in the palette) renormalize afterward. `out*` may alias `positions` /
+// `normals`: each vertex's inputs are read into locals before any output is written.
+export function skinVertices(outPositions, outNormals, positions, normals, joints, weights, jointMatrices) {
+    const vertexCount = (positions.length / 3) | 0;
+    for (let v = 0; v < vertexCount; v++) {
+        const p = v * 3;
+        const px = positions[p];
+        const py = positions[p + 1];
+        const pz = positions[p + 2];
+        const nx = normals[p];
+        const ny = normals[p + 1];
+        const nz = normals[p + 2];
+        let opx = 0;
+        let opy = 0;
+        let opz = 0;
+        let onx = 0;
+        let ony = 0;
+        let onz = 0;
+        const w = v * 4;
+        for (let k = 0; k < 4; k++) {
+            const weight = weights[w + k];
+            if (weight === 0)
+                continue;
+            const m = joints[w + k] * 16;
+            const m0 = jointMatrices[m];
+            const m1 = jointMatrices[m + 1];
+            const m2 = jointMatrices[m + 2];
+            const m4 = jointMatrices[m + 4];
+            const m5 = jointMatrices[m + 5];
+            const m6 = jointMatrices[m + 6];
+            const m8 = jointMatrices[m + 8];
+            const m9 = jointMatrices[m + 9];
+            const m10 = jointMatrices[m + 10];
+            opx += weight * (m0 * px + m4 * py + m8 * pz + jointMatrices[m + 12]);
+            opy += weight * (m1 * px + m5 * py + m9 * pz + jointMatrices[m + 13]);
+            opz += weight * (m2 * px + m6 * py + m10 * pz + jointMatrices[m + 14]);
+            onx += weight * (m0 * nx + m4 * ny + m8 * nz);
+            ony += weight * (m1 * nx + m5 * ny + m9 * nz);
+            onz += weight * (m2 * nx + m6 * ny + m10 * nz);
+        }
+        outPositions[p] = opx;
+        outPositions[p + 1] = opy;
+        outPositions[p + 2] = opz;
+        outNormals[p] = onx;
+        outNormals[p + 1] = ony;
+        outNormals[p + 2] = onz;
+    }
+}
+//# sourceMappingURL=skinVertices.js.map

package/dist/skinVertices.js.map

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package/dist/updateMeshSkin.d.ts

@@ -0,0 +1,3 @@
+import type { Mesh } from '@flighthq/types';
+export declare function updateMeshSkin(mesh: Readonly<Mesh>): void;
+//# sourceMappingURL=updateMeshSkin.d.ts.map

package/dist/updateMeshSkin.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"updateMeshSkin.d.ts","sourceRoot":"","sources":["../src/updateMeshSkin.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,iBAAiB,CAAC;AAiB5C,wBAAgB,cAAc,CAAC,IAAI,EAAE,QAAQ,CAAC,IAAI,CAAC,GAAG,IAAI,CAczD"}

package/dist/updateMeshSkin.js

@@ -0,0 +1,29 @@
+import { getMeshGeometrySkinBindPose, setMeshGeometrySkinBindPose } from '@flighthq/mesh';
+import { computeSkeleton3DJointMatrices } from './skeleton3d';
+import { captureMeshSkinBindPose, skinMeshGeometry } from './skinMeshGeometry';
+// Deforms a skinned mesh into its geometry for the current joint pose — the explicit per-frame
+// skinning call. Run it after the pose is set (an animation clip applied to the joint nodes, or
+// manual joint transforms) and before rendering: it recomputes the skeleton's palette from the
+// joints' current world transforms, then linear-blend-skins the geometry's bind pose into
+// geometry.vertices and bumps the version so the backends re-upload. A mesh with no skin is a
+// no-op, so calling it over a whole scene's meshes is safe. The bind pose is captured once (lazily)
+// onto the geometry runtime and reused every frame, so steady-state skinning allocates nothing. The
+// version bump alone drives the backend re-upload — no per-frame destroy* of GPU data is needed.
+//
+// Lives here (with a mesh dep) rather than in @flighthq/scene: its only dependencies are the skinning
+// primitives above and mesh's runtime-slot accessors — it never touches the scene graph or animation,
+// so pairing it with the skinning it drives keeps skeleton3d below scene with no cycle.
+export function updateMeshSkin(mesh) {
+    const skin = mesh.skin;
+    if (skin == null)
+        return;
+    computeSkeleton3DJointMatrices(skin.skeleton);
+    const geometry = mesh.geometry;
+    let bindPose = getMeshGeometrySkinBindPose(geometry);
+    if (bindPose === null) {
+        bindPose = captureMeshSkinBindPose(geometry);
+        setMeshGeometrySkinBindPose(geometry, bindPose);
+    }
+    skinMeshGeometry(geometry, skin.skeleton, bindPose);
+}
+//# sourceMappingURL=updateMeshSkin.js.map

package/dist/updateMeshSkin.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -0,0 +1,46 @@
+{
+  "name": "@flighthq/skeleton3d",
+  "version": "0.2.1-next.410.a23f189",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/flighthq/flight.git",
+    "directory": "packages/skeleton3d"
+  },
+  "type": "module",
+  "main": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    }
+  },
+  "files": [
+    "dist",
+    "src/**/*.test.ts",
+    "!dist/**/*.test.js",
+    "!dist/**/*.test.d.ts",
+    "!dist/**/*.test.js.map",
+    "!dist/**/*.test.d.ts.map"
+  ],
+  "scripts": {
+    "build": "tsc -b",
+    "clean": "tsc -b --clean",
+    "test": "vitest run --config vitest.config.ts",
+    "test:watch": "vitest --watch --config vitest.config.ts",
+    "prepack": "npm run clean && npm run clean:dist && npm run build",
+    "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
+  },
+  "dependencies": {
+    "@flighthq/geometry": "0.2.1-next.410.a23f189",
+    "@flighthq/mesh": "0.2.1-next.410.a23f189",
+    "@flighthq/node": "0.2.1-next.410.a23f189",
+    "@flighthq/types": "0.2.1-next.410.a23f189"
+  },
+  "devDependencies": {
+    "@flighthq/scene": "*",
+    "typescript": "^5.3.0"
+  },
+  "description": "3D skeleton: joint bind poses and skin-palette (jointWorld * inverseBind) computation over animated SceneNode bones",
+  "sideEffects": false
+}

package/src/getMeshSkinBounds.test.ts

@@ -0,0 +1,145 @@
+import { createAabb } from '@flighthq/geometry';
+import type { MeshSkinBindPose, Skeleton3D } from '@flighthq/types';
+
+import { getMeshSkinConservativeBounds, getMeshSkinExactBounds } from './getMeshSkinBounds';
+
+// A column-major 4x4 identity / translation, laid out as a 16-float palette entry.
+function identity(): number[] {
+  // prettier-ignore
+  return [
+    1, 0, 0, 0,
+    0, 1, 0, 0,
+    0, 0, 1, 0,
+    0, 0, 0, 1,
+  ];
+}
+
+function translation(tx: number, ty: number, tz: number): number[] {
+  const m = identity();
+  m[12] = tx;
+  m[13] = ty;
+  m[14] = tz;
+  return m;
+}
+
+// A minimal bind pose: `count` vertices with the given flat rest positions, each fully weighted to
+// the joint indices in `jointIndices` (aligned by vertex, one influence slot filled). Normals are
+// zero; skinned scratch is allocated to match.
+function bindPoseFor(positions: number[], jointIndices: number[]): MeshSkinBindPose {
+  const count = (positions.length / 3) | 0;
+  const joints = new Float32Array(count * 4);
+  const weights = new Float32Array(count * 4);
+  for (let v = 0; v < count; v++) {
+    joints[v * 4] = jointIndices[v];
+    weights[v * 4] = 1;
+  }
+  return {
+    joints,
+    normals: new Float32Array(count * 3),
+    positions: new Float32Array(positions),
+    skinnedNormals: new Float32Array(count * 3),
+    skinnedPositions: new Float32Array(count * 3),
+    weights,
+  };
+}
+
+function skeletonFor(palette: number[]): Skeleton3D {
+  return {
+    inverseBindMatrices: new Float32Array(palette.length),
+    jointMatrices: new Float32Array(palette),
+    joints: [],
+  };
+}
+
+describe('getMeshSkinConservativeBounds', () => {
+  it('sweeps the rest box by each referenced joint and unions the results', () => {
+    // Two vertices at the origin, one bound to joint 0 (+x by 10), one to joint 1 (+y by 20).
+    // The rest box is a single point at the origin, so each joint-transformed box is a point; the
+    // union of the two joint translations is the box spanning (0,0,0)..(10,20,0).
+    const bindPose = bindPoseFor([0, 0, 0, 0, 0, 0], [0, 1]);
+    const skeleton = skeletonFor([...translation(10, 0, 0), ...translation(0, 20, 0)]);
+    const out = createAabb();
+
+    getMeshSkinConservativeBounds(out, bindPose, skeleton);
+
+    expect(out.min.x).toBeCloseTo(0);
+    expect(out.min.y).toBeCloseTo(0);
+    expect(out.min.z).toBeCloseTo(0);
+    expect(out.max.x).toBeCloseTo(10);
+    expect(out.max.y).toBeCloseTo(20);
+    expect(out.max.z).toBeCloseTo(0);
+  });
+
+  it('ignores unreferenced palette joints (a far joint no vertex weights does not inflate the box)', () => {
+    // Only joint 0 is referenced; joint 1 sits far away but is never weighted.
+    const bindPose = bindPoseFor([1, 0, 0], [0]);
+    const skeleton = skeletonFor([...translation(0, 0, 0), ...translation(1000, 1000, 1000)]);
+    const out = createAabb();
+
+    getMeshSkinConservativeBounds(out, bindPose, skeleton);
+
+    expect(out.max.x).toBeCloseTo(1);
+    expect(out.max.y).toBeCloseTo(0);
+    expect(out.max.z).toBeCloseTo(0);
+  });
+
+  it('yields the empty box for an empty rest pose', () => {
+    const bindPose = bindPoseFor([], []);
+    const skeleton = skeletonFor(identity());
+    const out = createAabb();
+
+    getMeshSkinConservativeBounds(out, bindPose, skeleton);
+
+    expect(out.min.x).toBe(Number.POSITIVE_INFINITY);
+    expect(out.max.x).toBe(Number.NEGATIVE_INFINITY);
+  });
+});
+
+describe('getMeshSkinExactBounds', () => {
+  it('takes the tight AABB of every CPU-skinned vertex (hand-computed)', () => {
+    // A rest box from (0,0,0) to (2,2,0), each corner bound to a different joint.
+    // Joint 0 translates +(0,0,0) (identity), joint 1 translates +(10,0,0). The skinned corners are
+    // (0,0,0),(2,2,0) under joint 0 and (10,0,0),(12,2,0) under joint 1 → tight box (0,0,0)..(12,2,0).
+    const bindPose = bindPoseFor([0, 0, 0, 2, 2, 0, 0, 0, 0, 2, 2, 0], [0, 0, 1, 1]);
+    const skeleton = skeletonFor([...identity(), ...translation(10, 0, 0)]);
+    const out = createAabb();
+
+    getMeshSkinExactBounds(out, bindPose, skeleton);
+
+    expect(out.min.x).toBeCloseTo(0);
+    expect(out.min.y).toBeCloseTo(0);
+    expect(out.min.z).toBeCloseTo(0);
+    expect(out.max.x).toBeCloseTo(12);
+    expect(out.max.y).toBeCloseTo(2);
+    expect(out.max.z).toBeCloseTo(0);
+  });
+
+  it('is contained within the conservative bound (conservative >= exact containment invariant)', () => {
+    // A spread of vertices across two rotating/translating joints; the exact box must sit inside the
+    // conservative sweep for every referenced joint.
+    const positions = [-1, -1, -1, 1, 1, 1, 0.5, -0.5, 0.25, -0.75, 0.6, -0.4];
+    const bindPose = bindPoseFor(positions, [0, 1, 0, 1]);
+    // Joint 0: scale 2 + translate (3,0,0); joint 1: translate (0,-5,2). Non-trivial so the boxes differ.
+    // prettier-ignore
+    const palette = [
+      2, 0, 0, 0,
+      0, 2, 0, 0,
+      0, 0, 2, 0,
+      3, 0, 0, 1,
+      ...translation(0, -5, 2),
+    ];
+    const skeleton = skeletonFor(palette);
+
+    const exact = createAabb();
+    const conservative = createAabb();
+    getMeshSkinExactBounds(exact, bindPose, skeleton);
+    getMeshSkinConservativeBounds(conservative, bindPose, skeleton);
+
+    expect(conservative.min.x).toBeLessThanOrEqual(exact.min.x + 1e-5);
+    expect(conservative.min.y).toBeLessThanOrEqual(exact.min.y + 1e-5);
+    expect(conservative.min.z).toBeLessThanOrEqual(exact.min.z + 1e-5);
+    expect(conservative.max.x).toBeGreaterThanOrEqual(exact.max.x - 1e-5);
+    expect(conservative.max.y).toBeGreaterThanOrEqual(exact.max.y - 1e-5);
+    expect(conservative.max.z).toBeGreaterThanOrEqual(exact.max.z - 1e-5);
+  });
+});

package/src/skeleton3d.test.ts

@@ -0,0 +1,254 @@
+import { createMatrix4, getMatrix4Element, setVector3 } from '@flighthq/geometry';
+import { invalidateNodeLocalTransform } from '@flighthq/node';
+import { createSceneNode } from '@flighthq/scene';
+import type { Skeleton3D } from '@flighthq/types';
+
+import {
+  cloneSkeleton3D,
+  computeSkeleton3DJointMatrices,
+  createSkeleton3D,
+  disposeSkeleton3D,
+  equalsSkeleton3D,
+  getSkeleton3DJointIndexByName,
+  getSkeleton3DJointWorldMatrix,
+  getSkeleton3DJointWorldMatrixByName,
+  setSkeleton3DBindPose,
+  validateSkeleton3D,
+} from './skeleton3d';
+
+describe('cloneSkeleton3D', () => {
+  it('copies buffers and arrays into a new identity while sharing joint nodes', () => {
+    const joint = createSceneNode();
+    setVector3(joint.position, 5, 0, 0);
+    invalidateNodeLocalTransform(joint);
+    const skeleton = createSkeleton3D([joint], undefined, ['root']);
+
+    const clone = cloneSkeleton3D(skeleton);
+
+    expect(clone).not.toBe(skeleton);
+    expect(clone.inverseBindMatrices).not.toBe(skeleton.inverseBindMatrices);
+    expect(clone.jointMatrices).not.toBe(skeleton.jointMatrices);
+    expect(clone.joints).not.toBe(skeleton.joints);
+    expect(clone.joints[0]).toBe(joint); // node shared by reference
+    expect(Array.from(clone.inverseBindMatrices)).toEqual(Array.from(skeleton.inverseBindMatrices));
+    expect(clone.names).toEqual(['root']);
+    expect(clone.names).not.toBe(skeleton.names);
+  });
+
+  it('preserves a null names field', () => {
+    const clone = cloneSkeleton3D(createSkeleton3D([createSceneNode()]));
+    expect(clone.names).toBeNull();
+  });
+});
+
+describe('computeSkeleton3DJointMatrices', () => {
+  it('encodes the joint delta from its bind pose', () => {
+    const joint = createSceneNode();
+    setVector3(joint.position, 5, 0, 0);
+    invalidateNodeLocalTransform(joint);
+    const skeleton = createSkeleton3D([joint]); // binds at (5, 0, 0)
+    setVector3(joint.position, 5, 3, 0); // move +3 in y
+    invalidateNodeLocalTransform(joint);
+
+    computeSkeleton3DJointMatrices(skeleton);
+
+    expect(skeleton.jointMatrices[12]).toBeCloseTo(0); // x delta
+    expect(skeleton.jointMatrices[13]).toBeCloseTo(3); // y delta
+  });
+
+  it('is alias-safe when jointMatrices and inverseBindMatrices share the same buffer', () => {
+    const joint0 = createSceneNode();
+    const joint1 = createSceneNode();
+    setVector3(joint0.position, 0, 0, 0);
+    invalidateNodeLocalTransform(joint0);
+    setVector3(joint1.position, 3, 0, 0);
+    invalidateNodeLocalTransform(joint1);
+
+    const temp = createSkeleton3D([joint0, joint1]);
+    const shared = new Float32Array(32);
+    shared.set(temp.inverseBindMatrices);
+
+    const aliasSkeleton: Skeleton3D = {
+      inverseBindMatrices: shared,
+      jointMatrices: shared,
+      joints: [joint0, joint1],
+    };
+
+    computeSkeleton3DJointMatrices(aliasSkeleton);
+
+    expect(shared[12]).toBeCloseTo(0); // joint0 tx
+    expect(shared[13]).toBeCloseTo(0); // joint0 ty
+    expect(shared[28]).toBeCloseTo(0); // joint1 tx
+    expect(shared[29]).toBeCloseTo(0); // joint1 ty
+  });
+
+  it('propagates correctly through a 3-joint chain', () => {
+    const joint0 = createSceneNode();
+    const joint1 = createSceneNode();
+    const joint2 = createSceneNode();
+    setVector3(joint0.position, 1, 0, 0);
+    invalidateNodeLocalTransform(joint0);
+    setVector3(joint1.position, 0, 1, 0);
+    invalidateNodeLocalTransform(joint1);
+    setVector3(joint2.position, 0, 0, 1);
+    invalidateNodeLocalTransform(joint2);
+    const skeleton = createSkeleton3D([joint0, joint1, joint2]);
+
+    setVector3(joint1.position, 0, 2, 0);
+    invalidateNodeLocalTransform(joint1);
+
+    computeSkeleton3DJointMatrices(skeleton);
+
+    expect(skeleton.jointMatrices[12]).toBeCloseTo(0);
+    expect(skeleton.jointMatrices[13]).toBeCloseTo(0);
+    expect(skeleton.jointMatrices[14]).toBeCloseTo(0);
+
+    expect(skeleton.jointMatrices[28]).toBeCloseTo(0);
+    expect(skeleton.jointMatrices[29]).toBeCloseTo(1);
+    expect(skeleton.jointMatrices[30]).toBeCloseTo(0);
+
+    expect(skeleton.jointMatrices[44]).toBeCloseTo(0);
+    expect(skeleton.jointMatrices[45]).toBeCloseTo(0);
+    expect(skeleton.jointMatrices[46]).toBeCloseTo(0);
+  });
+
+  it('yields identity when a joint is at its bind pose', () => {
+    const joint = createSceneNode();
+    setVector3(joint.position, 5, 0, 0);
+    invalidateNodeLocalTransform(joint);
+    const skeleton = createSkeleton3D([joint]);
+
+    computeSkeleton3DJointMatrices(skeleton);
+
+    expect(skeleton.jointMatrices[0]).toBeCloseTo(1);
+    expect(skeleton.jointMatrices[12]).toBeCloseTo(0);
+    expect(skeleton.jointMatrices[13]).toBeCloseTo(0);
+  });
+});
+
+describe('createSkeleton3D', () => {
+  it('allocates a palette sized to the joint count when no inverse-bind is given', () => {
+    const skeleton = createSkeleton3D([createSceneNode(), createSceneNode()]);
+    expect(skeleton.jointMatrices.length).toBe(32);
+    expect(skeleton.inverseBindMatrices.length).toBe(32);
+  });
+});
+
+describe('disposeSkeleton3D', () => {
+  it('drops joint references and clears names', () => {
+    const skeleton = createSkeleton3D([createSceneNode(), createSceneNode()], undefined, ['a', 'b']);
+    disposeSkeleton3D(skeleton);
+    expect(skeleton.joints.length).toBe(0);
+    expect(skeleton.names).toBeNull();
+  });
+});
+
+describe('equalsSkeleton3D', () => {
+  it('is reflexive and compares clones as equal', () => {
+    const joint = createSceneNode();
+    setVector3(joint.position, 2, 0, 0);
+    invalidateNodeLocalTransform(joint);
+    const skeleton = createSkeleton3D([joint], undefined, ['root']);
+    expect(equalsSkeleton3D(skeleton, skeleton)).toBe(true);
+    expect(equalsSkeleton3D(skeleton, cloneSkeleton3D(skeleton))).toBe(true);
+  });
+
+  it('differs on joint count, inverse-bind contents, and names', () => {
+    const j0 = createSceneNode();
+    setVector3(j0.position, 1, 0, 0);
+    invalidateNodeLocalTransform(j0);
+    const a = createSkeleton3D([j0]);
+
+    const j1 = createSceneNode();
+    setVector3(j1.position, 9, 0, 0);
+    invalidateNodeLocalTransform(j1);
+    const differentBind = createSkeleton3D([j1]);
+    expect(equalsSkeleton3D(a, differentBind)).toBe(false);
+
+    const extra = createSkeleton3D([createSceneNode(), createSceneNode()]);
+    expect(equalsSkeleton3D(a, extra)).toBe(false);
+
+    const named = createSkeleton3D([j0], a.inverseBindMatrices, ['root']);
+    const unnamed = createSkeleton3D([j0], a.inverseBindMatrices);
+    expect(equalsSkeleton3D(named, unnamed)).toBe(false);
+    expect(equalsSkeleton3D(named, createSkeleton3D([j0], a.inverseBindMatrices, ['other']))).toBe(false);
+  });
+});
+
+describe('getSkeleton3DJointIndexByName', () => {
+  it('returns the joint index or -1 when unnamed or missing', () => {
+    const skeleton = createSkeleton3D([createSceneNode(), createSceneNode()], undefined, ['hip', 'spine']);
+    expect(getSkeleton3DJointIndexByName(skeleton, 'spine')).toBe(1);
+    expect(getSkeleton3DJointIndexByName(skeleton, 'missing')).toBe(-1);
+    expect(getSkeleton3DJointIndexByName(createSkeleton3D([createSceneNode()]), 'hip')).toBe(-1);
+  });
+});
+
+describe('getSkeleton3DJointWorldMatrix', () => {
+  it('reads the joint world matrix into out and returns true', () => {
+    const joint = createSceneNode();
+    setVector3(joint.position, 5, 3, 0);
+    invalidateNodeLocalTransform(joint);
+    const skeleton = createSkeleton3D([joint]);
+    const out = createMatrix4();
+
+    expect(getSkeleton3DJointWorldMatrix(out, skeleton, 0)).toBe(true);
+    expect(getMatrix4Element(out, 0, 3)).toBeCloseTo(5);
+    expect(getMatrix4Element(out, 1, 3)).toBeCloseTo(3);
+  });
+
+  it('returns false and leaves out untouched for an out-of-range index', () => {
+    const skeleton = createSkeleton3D([createSceneNode()]);
+    const out = createMatrix4();
+    expect(getSkeleton3DJointWorldMatrix(out, skeleton, 5)).toBe(false);
+    expect(getSkeleton3DJointWorldMatrix(out, skeleton, -1)).toBe(false);
+    expect(getMatrix4Element(out, 0, 3)).toBeCloseTo(0);
+  });
+});
+
+describe('getSkeleton3DJointWorldMatrixByName', () => {
+  it('resolves the joint by name and reads its world matrix', () => {
+    const hip = createSceneNode();
+    const hand = createSceneNode();
+    setVector3(hand.position, 7, 0, 0);
+    invalidateNodeLocalTransform(hand);
+    const skeleton = createSkeleton3D([hip, hand], undefined, ['hip', 'hand']);
+    const out = createMatrix4();
+
+    expect(getSkeleton3DJointWorldMatrixByName(out, skeleton, 'hand')).toBe(true);
+    expect(getMatrix4Element(out, 0, 3)).toBeCloseTo(7);
+    expect(getSkeleton3DJointWorldMatrixByName(out, skeleton, 'missing')).toBe(false);
+  });
+});
+
+describe('setSkeleton3DBindPose', () => {
+  it('rebinds so the current pose becomes the rest pose', () => {
+    const joint = createSceneNode();
+    const skeleton = createSkeleton3D([joint]);
+    setVector3(joint.position, 2, 0, 0);
+    invalidateNodeLocalTransform(joint);
+    setSkeleton3DBindPose(skeleton);
+
+    computeSkeleton3DJointMatrices(skeleton);
+
+    expect(skeleton.jointMatrices[12]).toBeCloseTo(0);
+  });
+});
+
+describe('validateSkeleton3D', () => {
+  it('returns null for a well-formed skeleton', () => {
+    expect(validateSkeleton3D(createSkeleton3D([createSceneNode(), createSceneNode()]))).toBeNull();
+  });
+
+  it('returns a diagnostic when inverseBindMatrices length does not match jointCount * 16', () => {
+    const skeleton = createSkeleton3D([createSceneNode(), createSceneNode()]);
+    skeleton.inverseBindMatrices = new Float32Array(16);
+
+    const diagnostic = validateSkeleton3D(skeleton);
+    expect(diagnostic).not.toBeNull();
+    expect(diagnostic!.jointCount).toBe(2);
+    expect(diagnostic!.expectedInverseBindMatricesLength).toBe(32);
+    expect(diagnostic!.inverseBindMatricesLength).toBe(16);
+    expect(diagnostic!.message).toContain('does not match');
+  });
+});

package/src/skinMeshGeometry.test.ts

@@ -0,0 +1,82 @@
+import { setVector3 } from '@flighthq/geometry';
+import { CANONICAL_SKINNED_MESH_GEOMETRY_LAYOUT, createMeshGeometry } from '@flighthq/mesh';
+import { invalidateNodeLocalTransform } from '@flighthq/node';
+import { createSceneNode } from '@flighthq/scene';
+import type { MeshGeometry } from '@flighthq/types';
+import { describe, expect, it } from 'vitest';
+
+import { computeSkeleton3DJointMatrices, createSkeleton3D } from './skeleton3d';
+import { captureMeshSkinBindPose, skinMeshGeometry } from './skinMeshGeometry';
+
+// Builds a single-vertex geometry in the canonical skinned layout (20 floats): position, normal,
+// tangent(0), uv0(0), joints0, weights0.
+function createOneVertexSkinnedGeometry(
+  position: readonly [number, number, number],
+  normal: readonly [number, number, number],
+  joints: readonly [number, number, number, number],
+  weights: readonly [number, number, number, number],
+): MeshGeometry {
+  const vertices = new Float32Array(20);
+  vertices[0] = position[0];
+  vertices[1] = position[1];
+  vertices[2] = position[2];
+  vertices[3] = normal[0];
+  vertices[4] = normal[1];
+  vertices[5] = normal[2];
+  vertices.set(joints, 12);
+  vertices.set(weights, 16);
+  return createMeshGeometry({ layout: CANONICAL_SKINNED_MESH_GEOMETRY_LAYOUT, vertices });
+}
+
+describe('captureMeshSkinBindPose', () => {
+  it('de-interleaves positions, normals, joints and weights from the skinned layout', () => {
+    const geometry = createOneVertexSkinnedGeometry([1, 2, 3], [0, 1, 0], [2, 0, 0, 0], [1, 0, 0, 0]);
+
+    const bindPose = captureMeshSkinBindPose(geometry);
+
+    expect(Array.from(bindPose.positions)).toEqual([1, 2, 3]);
+    expect(Array.from(bindPose.normals)).toEqual([0, 1, 0]);
+    expect(bindPose.joints[0]).toBe(2);
+    expect(bindPose.weights[0]).toBe(1);
+    expect(bindPose.skinnedPositions.length).toBe(3);
+    expect(bindPose.skinnedNormals.length).toBe(3);
+  });
+});
+
+describe('skinMeshGeometry', () => {
+  it('leaves the vertex at its bind position when the palette is identity', () => {
+    const geometry = createOneVertexSkinnedGeometry([1, 0, 0], [0, 1, 0], [0, 0, 0, 0], [1, 0, 0, 0]);
+    const joint = createSceneNode();
+    const skeleton = createSkeleton3D([joint]);
+    const bindPose = captureMeshSkinBindPose(geometry);
+    const versionBefore = geometry.version;
+
+    computeSkeleton3DJointMatrices(skeleton);
+    skinMeshGeometry(geometry, skeleton, bindPose);
+
+    expect(geometry.vertices[0]).toBeCloseTo(1);
+    expect(geometry.vertices[1]).toBeCloseTo(0);
+    expect(geometry.vertices[2]).toBeCloseTo(0);
+    expect(geometry.version).toBe(versionBefore + 1);
+  });
+
+  it('translates the vertex by a translated joint and preserves the untouched channels', () => {
+    const geometry = createOneVertexSkinnedGeometry([1, 0, 0], [0, 1, 0], [0, 0, 0, 0], [1, 0, 0, 0]);
+    const joint = createSceneNode();
+    // Bind pose is captured with the joint at the origin (inverse-bind = identity), then the joint moves.
+    const skeleton = createSkeleton3D([joint]);
+    const bindPose = captureMeshSkinBindPose(geometry);
+    setVector3(joint.position, 0, 5, 0);
+    invalidateNodeLocalTransform(joint);
+
+    computeSkeleton3DJointMatrices(skeleton);
+    skinMeshGeometry(geometry, skeleton, bindPose);
+
+    expect(geometry.vertices[0]).toBeCloseTo(1);
+    expect(geometry.vertices[1]).toBeCloseTo(5);
+    expect(geometry.vertices[2]).toBeCloseTo(0);
+    // Normal (translation leaves it), and the static joints0/weights0 channels are untouched.
+    expect(geometry.vertices[4]).toBeCloseTo(1);
+    expect(geometry.vertices[16]).toBe(1);
+  });
+});

package/src/skinVertices.test.ts

@@ -0,0 +1,102 @@
+import { skinVertices } from './skinVertices';
+
+// A column-major 4x4 identity, then variants with translation/scale, laid out as the 16-float palette entry.
+function identity(): number[] {
+  // prettier-ignore
+  return [
+    1, 0, 0, 0,
+    0, 1, 0, 0,
+    0, 0, 1, 0,
+    0, 0, 0, 1,
+  ];
+}
+
+function translation(tx: number, ty: number, tz: number): number[] {
+  const m = identity();
+  m[12] = tx;
+  m[13] = ty;
+  m[14] = tz;
+  return m;
+}
+
+describe('skinVertices', () => {
+  it('passes vertices through unchanged when the only weighted joint is identity', () => {
+    const positions = new Float32Array([2, 3, 4]);
+    const normals = new Float32Array([0, 1, 0]);
+    const joints = new Uint16Array([0, 0, 0, 0]);
+    const weights = new Float32Array([1, 0, 0, 0]);
+    const palette = new Float32Array(identity());
+    const outPositions = new Float32Array(3);
+    const outNormals = new Float32Array(3);
+
+    skinVertices(outPositions, outNormals, positions, normals, joints, weights, palette);
+
+    expect(Array.from(outPositions)).toEqual([2, 3, 4]);
+    expect(Array.from(outNormals)).toEqual([0, 1, 0]);
+  });
+
+  it('applies a single-joint translation to the position but not the normal', () => {
+    const positions = new Float32Array([1, 0, 0]);
+    const normals = new Float32Array([0, 0, 1]);
+    const joints = new Uint16Array([0, 0, 0, 0]);
+    const weights = new Float32Array([1, 0, 0, 0]);
+    const palette = new Float32Array(translation(10, 20, 30));
+    const outPositions = new Float32Array(3);
+    const outNormals = new Float32Array(3);
+
+    skinVertices(outPositions, outNormals, positions, normals, joints, weights, palette);
+
+    expect(outPositions[0]).toBeCloseTo(11);
+    expect(outPositions[1]).toBeCloseTo(20);
+    expect(outPositions[2]).toBeCloseTo(30);
+    // Normals ignore the translation column.
+    expect(outPositions).not.toBe(outNormals);
+    expect(outNormals[0]).toBeCloseTo(0);
+    expect(outNormals[1]).toBeCloseTo(0);
+    expect(outNormals[2]).toBeCloseTo(1);
+  });
+
+  it('blends two joints by their weights', () => {
+    const positions = new Float32Array([0, 0, 0]);
+    const normals = new Float32Array([0, 0, 0]);
+    // Joint 0 at palette base 0 translates +(10,0,0); joint 1 at base 16 translates +(0,10,0).
+    const palette = new Float32Array([...translation(10, 0, 0), ...translation(0, 10, 0)]);
+    const joints = new Uint16Array([0, 1, 0, 0]);
+    const weights = new Float32Array([0.25, 0.75, 0, 0]);
+    const outPositions = new Float32Array(3);
+    const outNormals = new Float32Array(3);
+
+    skinVertices(outPositions, outNormals, positions, normals, joints, weights, palette);
+
+    // 0.25 * (10,0,0) + 0.75 * (0,10,0) = (2.5, 7.5, 0)
+    expect(outPositions[0]).toBeCloseTo(2.5);
+    expect(outPositions[1]).toBeCloseTo(7.5);
+    expect(outPositions[2]).toBeCloseTo(0);
+  });
+
+  it('skins every vertex in a multi-vertex buffer', () => {
+    const positions = new Float32Array([1, 0, 0, 0, 1, 0]);
+    const normals = new Float32Array([0, 0, 1, 0, 0, 1]);
+    const joints = new Uint16Array([0, 0, 0, 0, 0, 0, 0, 0]);
+    const weights = new Float32Array([1, 0, 0, 0, 1, 0, 0, 0]);
+    const palette = new Float32Array(translation(5, 0, 0));
+    const outPositions = new Float32Array(6);
+    const outNormals = new Float32Array(6);
+
+    skinVertices(outPositions, outNormals, positions, normals, joints, weights, palette);
+
+    expect(Array.from(outPositions)).toEqual([6, 0, 0, 5, 1, 0]);
+  });
+
+  it('is safe when out aliases the input positions', () => {
+    const positions = new Float32Array([1, 2, 3]);
+    const normals = new Float32Array([1, 0, 0]);
+    const joints = new Uint16Array([0, 0, 0, 0]);
+    const weights = new Float32Array([1, 0, 0, 0]);
+    const palette = new Float32Array(translation(1, 1, 1));
+
+    skinVertices(positions, normals, positions, normals, joints, weights, palette);
+
+    expect(Array.from(positions)).toEqual([2, 3, 4]);
+  });
+});

package/src/updateMeshSkin.test.ts

@@ -0,0 +1,62 @@
+import { setVector3 } from '@flighthq/geometry';
+import {
+  CANONICAL_SKINNED_MESH_GEOMETRY_LAYOUT,
+  createMeshGeometry,
+  getMeshGeometrySkinBindPose,
+} from '@flighthq/mesh';
+import { invalidateNodeLocalTransform } from '@flighthq/node';
+import { createMesh, createSceneNode } from '@flighthq/scene';
+import { describe, expect, it } from 'vitest';
+
+import { createSkeleton3D } from './skeleton3d';
+import { updateMeshSkin } from './updateMeshSkin';
+
+function createOneVertexSkinnedMesh() {
+  const vertices = new Float32Array(20);
+  vertices[0] = 1; // position x
+  vertices[4] = 1; // normal y
+  vertices[16] = 1; // weights0[0]
+  const geometry = createMeshGeometry({ layout: CANONICAL_SKINNED_MESH_GEOMETRY_LAYOUT, vertices });
+  return createMesh(geometry, []);
+}
+
+describe('updateMeshSkin', () => {
+  it('deforms the mesh, bumps the version, and lazily captures the bind pose onto the runtime', () => {
+    const mesh = createOneVertexSkinnedMesh();
+    const joint = createSceneNode();
+    mesh.skin = { skeleton: createSkeleton3D([joint]) };
+    setVector3(joint.position, 0, 5, 0);
+    invalidateNodeLocalTransform(joint);
+    const versionBefore = mesh.geometry.version;
+
+    expect(getMeshGeometrySkinBindPose(mesh.geometry)).toBeNull();
+
+    updateMeshSkin(mesh);
+
+    expect(mesh.geometry.vertices[1]).toBeCloseTo(5);
+    expect(mesh.geometry.version).toBe(versionBefore + 1);
+    expect(getMeshGeometrySkinBindPose(mesh.geometry)).not.toBeNull();
+  });
+
+  it('reuses the captured bind pose across frames rather than recapturing', () => {
+    const mesh = createOneVertexSkinnedMesh();
+    const joint = createSceneNode();
+    mesh.skin = { skeleton: createSkeleton3D([joint]) };
+
+    updateMeshSkin(mesh);
+    const bindPose = getMeshGeometrySkinBindPose(mesh.geometry);
+    updateMeshSkin(mesh);
+
+    expect(getMeshGeometrySkinBindPose(mesh.geometry)).toBe(bindPose);
+  });
+
+  it('is a no-op for a mesh with no skin', () => {
+    const mesh = createOneVertexSkinnedMesh();
+    const versionBefore = mesh.geometry.version;
+
+    updateMeshSkin(mesh);
+
+    expect(mesh.geometry.version).toBe(versionBefore);
+    expect(getMeshGeometrySkinBindPose(mesh.geometry)).toBeNull();
+  });
+});