@flighthq/skeleton3d 0.3.1-next.425.a3192ab → 0.3.1-next.493.539802d

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (17) hide show
  1. package/dist/getMeshSkinBounds.d.ts.map +1 -1
  2. package/dist/getMeshSkinBounds.js +1 -1
  3. package/dist/getMeshSkinBounds.js.map +1 -1
  4. package/dist/skeleton3d.d.ts.map +1 -1
  5. package/dist/skeleton3d.js +19 -2
  6. package/dist/skeleton3d.js.map +1 -1
  7. package/dist/skinMeshGeometry.d.ts.map +1 -1
  8. package/dist/skinMeshGeometry.js +1 -1
  9. package/dist/skinMeshGeometry.js.map +1 -1
  10. package/dist/skinVertices.d.ts +1 -1
  11. package/dist/skinVertices.d.ts.map +1 -1
  12. package/dist/skinVertices.js +17 -9
  13. package/dist/skinVertices.js.map +1 -1
  14. package/package.json +6 -6
  15. package/src/getMeshSkinBounds.test.ts +1 -0
  16. package/src/skeleton3d.test.ts +25 -0
  17. package/src/skinVertices.test.ts +148 -10
package/dist/getMeshSkinBounds.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"getMeshSkinBounds.d.ts","sourceRoot":"","sources":["../src/getMeshSkinBounds.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,QAAQ,EAAE,gBAAgB,EAAE,UAAU,EAAE,MAAM,0BAA0B,CAAC;AAoBvF,wBAAgB,6BAA6B,CAC3C,GAAG,EAAE,QAAQ,EACb,QAAQ,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EACpC,QAAQ,EAAE,QAAQ,CAAC,UAAU,CAAC,GAC7B,IAAI,CAgFN;AASD,wBAAgB,sBAAsB,CACpC,GAAG,EAAE,QAAQ,EACb,QAAQ,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EACpC,QAAQ,EAAE,QAAQ,CAAC,UAAU,CAAC,GAC7B,IAAI,CAwCN"}
1
+ {"version":3,"file":"getMeshSkinBounds.d.ts","sourceRoot":"","sources":["../src/getMeshSkinBounds.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,QAAQ,EAAE,gBAAgB,EAAE,UAAU,EAAE,MAAM,0BAA0B,CAAC;AAoBvF,wBAAgB,6BAA6B,CAC3C,GAAG,EAAE,QAAQ,EACb,QAAQ,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EACpC,QAAQ,EAAE,QAAQ,CAAC,UAAU,CAAC,GAC7B,IAAI,CAgFN;AASD,wBAAgB,sBAAsB,CACpC,GAAG,EAAE,QAAQ,EACb,QAAQ,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EACpC,QAAQ,EAAE,QAAQ,CAAC,UAAU,CAAC,GAC7B,IAAI,CAyCN"}
package/dist/getMeshSkinBounds.js CHANGED
@@ -92,7 +92,7 @@ export function getMeshSkinConservativeBounds(out, bindPose, skeleton) {
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  // yields the empty box (min = +Infinity, max = -Infinity). Overwrites bindPose.skinnedPositions /
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  // skinnedNormals as scratch (the same buffers a subsequent skinMeshGeometry would rewrite).
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  export function getMeshSkinExactBounds(out, bindPose, skeleton) {
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- skinVertices(bindPose.skinnedPositions, bindPose.skinnedNormals, bindPose.positions, bindPose.normals, bindPose.joints, bindPose.weights, skeleton.jointMatrices);
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+ skinVertices(bindPose.skinnedPositions, bindPose.skinnedNormals, bindPose.positions, bindPose.normals, bindPose.joints, bindPose.weights, skeleton.jointMatrices, skeleton.normalMatrices);
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  const skinned = bindPose.skinnedPositions;
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  const vertexCount = (skinned.length / 3) | 0;
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  let minX = Number.POSITIVE_INFINITY, minY = Number.POSITIVE_INFINITY, minZ = Number.POSITIVE_INFINITY;
package/dist/getMeshSkinBounds.js.map CHANGED
@@ -1 +1 @@
1
- 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+ 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package/dist/skeleton3d.d.ts.map CHANGED
@@ -1 +1 @@
1
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package/dist/skeleton3d.js CHANGED
@@ -1,5 +1,5 @@
1
1
  import { createEntity } from '@flighthq/entity/contract';
2
- import { copyMatrix4, createMatrix4, inverseMatrix4, multiplyMatrix4 } from '@flighthq/geometry/contract';
2
+ import { copyMatrix4, createMatrix3, createMatrix4, inverseMatrix4, multiplyMatrix4, setMatrix3NormalFromMatrix4, } from '@flighthq/geometry/contract';
3
3
  import { addNodeChild, getNodeParent, getNodeWorldMatrix4 } from '@flighthq/node/contract';
4
4
  export function cloneSkeleton3D(skeleton) {
5
5
  const clone = createEntity({
@@ -7,6 +7,7 @@ export function cloneSkeleton3D(skeleton) {
7
7
  jointMatrices: new Float32Array(skeleton.jointMatrices),
8
8
  joints: skeleton.joints.slice(),
9
9
  names: skeleton.names === undefined ? undefined : skeleton.names === null ? null : skeleton.names.slice(),
10
+ normalMatrices: new Float32Array(skeleton.normalMatrices),
10
11
  });
11
12
  return clone;
12
13
  }
@@ -38,16 +39,30 @@ export function cloneSkeleton3DJointHierarchy(skeleton, cloneJoint) {
38
39
  jointMatrices: new Float32Array(skeleton.jointMatrices),
39
40
  joints,
40
41
  names: skeleton.names === undefined ? undefined : skeleton.names === null ? null : skeleton.names.slice(),
42
+ normalMatrices: new Float32Array(skeleton.normalMatrices),
41
43
  });
42
44
  }
43
45
  export function computeSkeleton3DJointMatrices(skeleton) {
44
- const { inverseBindMatrices, jointMatrices, joints } = skeleton;
46
+ const { inverseBindMatrices, jointMatrices, joints, normalMatrices } = skeleton;
45
47
  for (let j = 0; j < joints.length; j++) {
46
48
  const base = j * 16;
47
49
  for (let i = 0; i < 16; i++)
48
50
  _invBind.m[i] = inverseBindMatrices[base + i];
49
51
  multiplyMatrix4(_result, getNodeWorldMatrix4(joints[j]), _invBind);
50
52
  jointMatrices.set(_result.m, base);
53
+ // The normal palette is filled here rather than in the skinning loop because it is per JOINT, not
54
+ // per vertex — a few dozen inversions a frame against tens of thousands of vertices.
55
+ setMatrix3NormalFromMatrix4(_normal, _result);
56
+ // Written as three padded vec4 columns rather than a tight 3x3, so the array can be handed to the
57
+ // GPU data texture unchanged; the fourth float of each column is unused.
58
+ const n = j * 12;
59
+ const m = _normal.m;
60
+ for (let c = 0; c < 3; c++) {
61
+ normalMatrices[n + c * 4] = m[c * 3];
62
+ normalMatrices[n + c * 4 + 1] = m[c * 3 + 1];
63
+ normalMatrices[n + c * 4 + 2] = m[c * 3 + 2];
64
+ normalMatrices[n + c * 4 + 3] = 0;
65
+ }
51
66
  }
52
67
  }
53
68
  export function createSkeleton3D(joints, inverseBindMatrices, names) {
@@ -57,6 +72,7 @@ export function createSkeleton3D(joints, inverseBindMatrices, names) {
57
72
  jointMatrices: new Float32Array(count * 16),
58
73
  joints,
59
74
  names: names ?? null,
75
+ normalMatrices: new Float32Array(count * 12),
60
76
  });
61
77
  if (inverseBindMatrices === undefined)
62
78
  setSkeleton3DBindPose(skeleton);
@@ -127,4 +143,5 @@ export function validateSkeleton3D(skeleton) {
127
143
  }
128
144
  const _invBind = createMatrix4();
129
145
  const _result = createMatrix4();
146
+ const _normal = createMatrix3();
130
147
  //# sourceMappingURL=skeleton3d.js.map
package/dist/skeleton3d.js.map CHANGED
@@ -1 +1 @@
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package/dist/skinMeshGeometry.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"skinMeshGeometry.d.ts","sourceRoot":"","sources":["../src/skinMeshGeometry.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,YAAY,EAAE,gBAAgB,EAAE,UAAU,EAAyB,MAAM,0BAA0B,CAAC;AAWlH,wBAAgB,uBAAuB,CAAC,QAAQ,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,gBAAgB,CA+D1F;AASD,wBAAgB,gBAAgB,CAC9B,QAAQ,EAAE,YAAY,EACtB,QAAQ,EAAE,QAAQ,CAAC,UAAU,CAAC,EAC9B,QAAQ,EAAE,QAAQ,CAAC,gBAAgB,CAAC,GACnC,IAAI,CA8CN;AAMD,wBAAgB,iCAAiC,CAAC,QAAQ,EAAE,gBAAgB,EAAE,QAAQ,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI,CAsBpH"}
1
+ {"version":3,"file":"skinMeshGeometry.d.ts","sourceRoot":"","sources":["../src/skinMeshGeometry.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,YAAY,EAAE,gBAAgB,EAAE,UAAU,EAAyB,MAAM,0BAA0B,CAAC;AAWlH,wBAAgB,uBAAuB,CAAC,QAAQ,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,gBAAgB,CA+D1F;AASD,wBAAgB,gBAAgB,CAC9B,QAAQ,EAAE,YAAY,EACtB,QAAQ,EAAE,QAAQ,CAAC,UAAU,CAAC,EAC9B,QAAQ,EAAE,QAAQ,CAAC,gBAAgB,CAAC,GACnC,IAAI,CA+CN;AAMD,wBAAgB,iCAAiC,CAAC,QAAQ,EAAE,gBAAgB,EAAE,QAAQ,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI,CAsBpH"}
package/dist/skinMeshGeometry.js CHANGED
@@ -76,7 +76,7 @@ export function captureMeshSkinBindPose(geometry) {
76
76
  // so tangent/uv0/joints0/weights0 stay intact. Scene3D-free by design — the node-level glue that owns
77
77
  // the runtime slot and drives the palette is updateMeshSkin, beside this file.
78
78
  export function skinMeshGeometry(geometry, skeleton, bindPose) {
79
- skinVertices(bindPose.skinnedPositions, bindPose.skinnedNormals, bindPose.positions, bindPose.normals, bindPose.joints, bindPose.weights, skeleton.jointMatrices);
79
+ skinVertices(bindPose.skinnedPositions, bindPose.skinnedNormals, bindPose.positions, bindPose.normals, bindPose.joints, bindPose.weights, skeleton.jointMatrices, skeleton.normalMatrices);
80
80
  skinTangents(bindPose.skinnedTangents, bindPose.tangents, bindPose.joints, bindPose.weights, skeleton.jointMatrices);
81
81
  const { layout, vertices } = geometry;
82
82
  const floatsPerVertex = layout.stride / 4;
package/dist/skinMeshGeometry.js.map CHANGED
@@ -1 +1 @@
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+ 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package/dist/skinVertices.d.ts CHANGED
@@ -1,3 +1,3 @@
1
1
  export declare function skinTangents(outTangents: Float32Array, tangents: Readonly<Float32Array>, joints: Readonly<ArrayLike<number>>, weights: Readonly<Float32Array>, jointMatrices: Readonly<Float32Array>): void;
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;
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>, normalMatrices: Readonly<Float32Array>): void;
3
3
  //# sourceMappingURL=skinVertices.d.ts.map
package/dist/skinVertices.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"skinVertices.d.ts","sourceRoot":"","sources":["../src/skinVertices.ts"],"names":[],"mappings":"AAeA,wBAAgB,YAAY,CAC1B,WAAW,EAAE,YAAY,EACzB,QAAQ,EAAE,QAAQ,CAAC,YAAY,CAAC,EAChC,MAAM,EAAE,QAAQ,CAAC,SAAS,CAAC,MAAM,CAAC,CAAC,EACnC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,EAC/B,aAAa,EAAE,QAAQ,CAAC,YAAY,CAAC,GACpC,IAAI,CAsCN;AAiBD,wBAAgB,YAAY,CAC1B,YAAY,EAAE,YAAY,EAC1B,UAAU,EAAE,YAAY,EACxB,SAAS,EAAE,QAAQ,CAAC,YAAY,CAAC,EACjC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,EAC/B,MAAM,EAAE,QAAQ,CAAC,SAAS,CAAC,MAAM,CAAC,CAAC,EACnC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,EAC/B,aAAa,EAAE,QAAQ,CAAC,YAAY,CAAC,GACpC,IAAI,CAkDN"}
1
+ {"version":3,"file":"skinVertices.d.ts","sourceRoot":"","sources":["../src/skinVertices.ts"],"names":[],"mappings":"AAkBA,wBAAgB,YAAY,CAC1B,WAAW,EAAE,YAAY,EACzB,QAAQ,EAAE,QAAQ,CAAC,YAAY,CAAC,EAChC,MAAM,EAAE,QAAQ,CAAC,SAAS,CAAC,MAAM,CAAC,CAAC,EACnC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,EAC/B,aAAa,EAAE,QAAQ,CAAC,YAAY,CAAC,GACpC,IAAI,CAsCN;AAiBD,wBAAgB,YAAY,CAC1B,YAAY,EAAE,YAAY,EAC1B,UAAU,EAAE,YAAY,EACxB,SAAS,EAAE,QAAQ,CAAC,YAAY,CAAC,EACjC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,EAC/B,MAAM,EAAE,QAAQ,CAAC,SAAS,CAAC,MAAM,CAAC,CAAC,EACnC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,EAC/B,aAAa,EAAE,QAAQ,CAAC,YAAY,CAAC,EACrC,cAAc,EAAE,QAAQ,CAAC,YAAY,CAAC,GACrC,IAAI,CAuDN"}
package/dist/skinVertices.js CHANGED
@@ -5,11 +5,14 @@
5
5
  // vector, or re-deriving it after skinning, flips the bitangent across whole regions of the surface.
6
6
  // That reaches the eye as inverted lighting rather than as a crash, so it is a defect that ships.
7
7
  //
8
- // ★ THE xyz TRANSFORM MUST STAY IDENTICAL TO THE ONE `skinVertices` APPLIES TO NORMALS — upper 3x3 of
9
- // each palette matrix, no translation, no renormalization. Orthogonality of N and T survives skinning
10
- // only because both go through the same transform; "improving" one side alone breaks N·T=0 for a
11
- // reason that has nothing to do with the improvement. `skinVertices` and this function are checked
12
- // against each other by a test that skins the same vector through both and requires equal results.
8
+ // ★ A TANGENT AND A NORMAL DELIBERATELY DIVERGE UNDER NON-UNIFORM SCALE, AND THAT IS NOT AN OVERSIGHT.
9
+ // A tangent is a TRUE VECTOR: it lies along the surface, so it follows the same matrix a position does —
10
+ // the plain upper 3x3 of each palette matrix, no translation, no renormalization. A normal is a
11
+ // COVECTOR: it is defined by being perpendicular to the surface, so it follows the inverse-transpose,
12
+ // which is why `skinVertices` reads the separate per-joint normal palette and this function does not.
13
+ // They coincide exactly for a rigid joint, which is why one shared transform looked correct for as long
14
+ // as it did. The two are still checked against each other, but only on RIGID input, where agreement is
15
+ // the right expectation.
13
16
  //
14
17
  // `outTangents` may alias `tangents`: each vertex's input is read into locals before any output is
15
18
  // written. Not renormalized, matching the normal path — a caller needing unit tangents does that after.
@@ -63,7 +66,7 @@ export function skinTangents(outTangents, tangents, joints, weights, jointMatric
63
66
  // palette matrix's upper 3×3 only (no translation) and are NOT renormalized — callers that need unit
64
67
  // normals (e.g. non-uniform scale in the palette) renormalize afterward. `out*` may alias `positions` /
65
68
  // `normals`: each vertex's inputs are read into locals before any output is written.
66
- export function skinVertices(outPositions, outNormals, positions, normals, joints, weights, jointMatrices) {
69
+ export function skinVertices(outPositions, outNormals, positions, normals, joints, weights, jointMatrices, normalMatrices) {
67
70
  const vertexCount = (positions.length / 3) | 0;
68
71
  for (let v = 0; v < vertexCount; v++) {
69
72
  const p = v * 3;
@@ -97,9 +100,14 @@ export function skinVertices(outPositions, outNormals, positions, normals, joint
97
100
  opx += weight * (m0 * px + m4 * py + m8 * pz + jointMatrices[m + 12]);
98
101
  opy += weight * (m1 * px + m5 * py + m9 * pz + jointMatrices[m + 13]);
99
102
  opz += weight * (m2 * px + m6 * py + m10 * pz + jointMatrices[m + 14]);
100
- onx += weight * (m0 * nx + m4 * ny + m8 * nz);
101
- ony += weight * (m1 * nx + m5 * ny + m9 * nz);
102
- onz += weight * (m2 * nx + m6 * ny + m10 * nz);
103
+ // Normals use the joint's NORMAL matrix, not the joint matrix. A normal is a covector: under
104
+ // non-uniform scale it transforms by the inverse-transpose, and using the position matrix tilts
105
+ // it off the surface. The two coincide for a rigid joint, which is why this was invisible.
106
+ // Columns are padded to four floats each, so column c starts at n + c*4.
107
+ const n = joints[w + k] * 12;
108
+ onx += weight * (normalMatrices[n] * nx + normalMatrices[n + 4] * ny + normalMatrices[n + 8] * nz);
109
+ ony += weight * (normalMatrices[n + 1] * nx + normalMatrices[n + 5] * ny + normalMatrices[n + 9] * nz);
110
+ onz += weight * (normalMatrices[n + 2] * nx + normalMatrices[n + 6] * ny + normalMatrices[n + 10] * nz);
103
111
  }
104
112
  outPositions[p] = opx;
105
113
  outPositions[p + 1] = opy;
package/dist/skinVertices.js.map CHANGED
@@ -1 +1 @@
1
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1
+ 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package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@flighthq/skeleton3d",
3
- "version": "0.3.1-next.425.a3192ab",
3
+ "version": "0.3.1-next.493.539802d",
4
4
  "author": "Joshua Granick and other contributors",
5
5
  "license": "MIT",
6
6
  "repository": {
@@ -38,11 +38,11 @@
38
38
  "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
39
39
  },
40
40
  "dependencies": {
41
- "@flighthq/entity": "0.3.1-next.425.a3192ab",
42
- "@flighthq/geometry": "0.3.1-next.425.a3192ab",
43
- "@flighthq/mesh": "0.3.1-next.425.a3192ab",
44
- "@flighthq/node": "0.3.1-next.425.a3192ab",
45
- "@flighthq/types": "0.3.1-next.425.a3192ab"
41
+ "@flighthq/entity": "0.3.1-next.493.539802d",
42
+ "@flighthq/geometry": "0.3.1-next.493.539802d",
43
+ "@flighthq/mesh": "0.3.1-next.493.539802d",
44
+ "@flighthq/node": "0.3.1-next.493.539802d",
45
+ "@flighthq/types": "0.3.1-next.493.539802d"
46
46
  },
47
47
  "devDependencies": {
48
48
  "@flighthq/scene3d": "*",
package/src/getMeshSkinBounds.test.ts CHANGED
@@ -50,6 +50,7 @@ function skeletonFor(palette: number[]): Skeleton3D {
50
50
  return createEntity({
51
51
  inverseBindMatrices: new Float32Array(palette.length),
52
52
  jointMatrices: new Float32Array(palette),
53
+ normalMatrices: new Float32Array(0),
53
54
  joints: [],
54
55
  });
55
56
  }
package/src/skeleton3d.test.ts CHANGED
@@ -162,6 +162,31 @@ describe('computeSkeleton3DJointMatrices', () => {
162
162
  });
163
163
  });
164
164
 
165
+ describe('computeSkeleton3DJointMatrices normal palette', () => {
166
+ // ★ THIS COVERS THE FILL, WHICH NOTHING ELSE DID. The skinning tests build palettes directly, so they
167
+ // are structurally blind to whether this function writes the layout the shader and the CPU both read.
168
+ // A mutation that wrote the columns tightly instead of padded passed the entire suite until this
169
+ // existed — the same "a unit test of the callee says nothing about the caller" gap as elsewhere.
170
+ it('writes each joint as three vec4-padded columns, twelve floats apart', () => {
171
+ const joint = createNode3D();
172
+ // The bind pose is captured at construction, so the scale must be applied AFTER it — otherwise the
173
+ // joint matrix is world times inverse-world, the identity, and the palette says nothing.
174
+ const skeleton = createSkeleton3D([joint]);
175
+ setVector3(joint.scale, 2, 1, 1);
176
+ invalidateNodeLocalTransform(joint);
177
+ computeSkeleton3DJointMatrices(skeleton);
178
+
179
+ expect(skeleton.normalMatrices.length).toBe(12);
180
+ // A 2x stretch in x gives a normal matrix scaling x by 1/2 — the inverse-transpose, not the matrix.
181
+ expect(skeleton.normalMatrices[0]).toBeCloseTo(0.5);
182
+ // Column 1 starts at float 4, not float 3. If the stride were tight this would hold the y column's
183
+ // first element at index 3 and this assertion would read padding instead.
184
+ expect(skeleton.normalMatrices[3]).toBe(0);
185
+ expect(skeleton.normalMatrices[5]).toBeCloseTo(1);
186
+ expect(skeleton.normalMatrices[10]).toBeCloseTo(1);
187
+ });
188
+ });
189
+
165
190
  describe('createSkeleton3D', () => {
166
191
  it('allocates a palette sized to the joint count when no inverse-bind is given', () => {
167
192
  const skeleton = createSkeleton3D([createNode3D(), createNode3D()]);
package/src/skinVertices.test.ts CHANGED
@@ -1,5 +1,27 @@
1
+ import { createMatrix3, createMatrix4, setMatrix3NormalFromMatrix4 } from '@flighthq/geometry/contract';
2
+
1
3
  import { skinTangents, skinVertices } from './skinVertices';
2
4
 
5
+ // The normal palette a real pose would carry: the inverse-transpose of each joint's upper 3x3. Derived
6
+ // here rather than hand-written so a test cannot accidentally assert against a palette that no pose
7
+ // could produce.
8
+ function normalPaletteFor(jointMatrices: readonly number[]): Float32Array {
9
+ const count = (jointMatrices.length / 16) | 0;
10
+ const out = new Float32Array(count * 12);
11
+ for (let j = 0; j < count; j += 1) {
12
+ const source = createMatrix4();
13
+ source.m.set(jointMatrices.slice(j * 16, j * 16 + 16));
14
+ const normal = createMatrix3();
15
+ setMatrix3NormalFromMatrix4(normal, source);
16
+ for (let c = 0; c < 3; c += 1) {
17
+ out[j * 12 + c * 4] = normal.m[c * 3]!;
18
+ out[j * 12 + c * 4 + 1] = normal.m[c * 3 + 1]!;
19
+ out[j * 12 + c * 4 + 2] = normal.m[c * 3 + 2]!;
20
+ }
21
+ }
22
+ return out;
23
+ }
24
+
3
25
  // A column-major 4x4 identity, then variants with translation/scale, laid out as the 16-float palette entry.
4
26
  function identity(): number[] {
5
27
  // prettier-ignore
@@ -80,17 +102,21 @@ describe('skinTangents', () => {
80
102
  singleJoint.joints,
81
103
  singleJoint.weights,
82
104
  palette,
105
+ normalPaletteFor([...palette]),
83
106
  );
84
107
  skinTangents(outTangents, new Float32Array([1, 0, 0, 1]), singleJoint.joints, singleJoint.weights, palette);
85
108
  const dot = outNormals[0] * outTangents[0] + outNormals[1] * outTangents[1] + outNormals[2] * outTangents[2];
86
109
  expect(dot).toBeCloseTo(0);
87
110
  });
88
111
 
89
- it('applies the SAME transform skinVertices applies to normals', () => {
90
- // ★ THIS IS THE ANTI-DIVERGENCE GUARD, NOT A DUPLICATE OF THE ORTHOGONALITY TEST. Orthogonality is
91
- // preserved only because both channels go through one transform; if a later change "improves" one
92
- // path alone the two silently stop matching, and N·T fails for a reason unrelated to that change.
93
- // Feeding the same vector through both and demanding equal xyz is what makes that divergence loud.
112
+ it('applies the same transform skinVertices applies to normals FOR A RIGID JOINT', () => {
113
+ // ★ NARROWED 2026-08-10, AND THE NARROWING IS THE POINT. This began as a blanket anti-divergence
114
+ // guard, written when normals and tangents shared one transform. They no longer do: a normal is a
115
+ // covector and now follows the per-joint inverse-transpose, while a tangent is a true vector and
116
+ // still follows the plain matrix. Under non-uniform scale they SHOULD disagree, so asserting
117
+ // equality there would now be asserting the bug back into existence. For a RIGID joint the two
118
+ // matrices coincide, so agreement remains the right expectation and the guard still catches an
119
+ // accidental divergence in the case that covers almost all authored content.
94
120
  const palette = new Float32Array(rotateZ90);
95
121
  const vector = [0.3, -0.7, 0.5];
96
122
  const outNormals = new Float32Array(3);
@@ -103,6 +129,7 @@ describe('skinTangents', () => {
103
129
  singleJoint.joints,
104
130
  singleJoint.weights,
105
131
  palette,
132
+ normalPaletteFor([...palette]),
106
133
  );
107
134
  skinTangents(outTangents, new Float32Array([...vector, 1]), singleJoint.joints, singleJoint.weights, palette);
108
135
  expect(outTangents[0]).toBeCloseTo(outNormals[0]);
@@ -137,7 +164,16 @@ describe('skinVertices', () => {
137
164
  const outPositions = new Float32Array(3);
138
165
  const outNormals = new Float32Array(3);
139
166
 
140
- skinVertices(outPositions, outNormals, positions, normals, joints, weights, palette);
167
+ skinVertices(
168
+ outPositions,
169
+ outNormals,
170
+ positions,
171
+ normals,
172
+ joints,
173
+ weights,
174
+ palette,
175
+ normalPaletteFor([...palette]),
176
+ );
141
177
 
142
178
  expect(Array.from(outPositions)).toEqual([2, 3, 4]);
143
179
  expect(Array.from(outNormals)).toEqual([0, 1, 0]);
@@ -152,7 +188,16 @@ describe('skinVertices', () => {
152
188
  const outPositions = new Float32Array(3);
153
189
  const outNormals = new Float32Array(3);
154
190
 
155
- skinVertices(outPositions, outNormals, positions, normals, joints, weights, palette);
191
+ skinVertices(
192
+ outPositions,
193
+ outNormals,
194
+ positions,
195
+ normals,
196
+ joints,
197
+ weights,
198
+ palette,
199
+ normalPaletteFor([...palette]),
200
+ );
156
201
 
157
202
  expect(outPositions[0]).toBeCloseTo(11);
158
203
  expect(outPositions[1]).toBeCloseTo(20);
@@ -174,7 +219,16 @@ describe('skinVertices', () => {
174
219
  const outPositions = new Float32Array(3);
175
220
  const outNormals = new Float32Array(3);
176
221
 
177
- skinVertices(outPositions, outNormals, positions, normals, joints, weights, palette);
222
+ skinVertices(
223
+ outPositions,
224
+ outNormals,
225
+ positions,
226
+ normals,
227
+ joints,
228
+ weights,
229
+ palette,
230
+ normalPaletteFor([...palette]),
231
+ );
178
232
 
179
233
  // 0.25 * (10,0,0) + 0.75 * (0,10,0) = (2.5, 7.5, 0)
180
234
  expect(outPositions[0]).toBeCloseTo(2.5);
@@ -191,7 +245,16 @@ describe('skinVertices', () => {
191
245
  const outPositions = new Float32Array(6);
192
246
  const outNormals = new Float32Array(6);
193
247
 
194
- skinVertices(outPositions, outNormals, positions, normals, joints, weights, palette);
248
+ skinVertices(
249
+ outPositions,
250
+ outNormals,
251
+ positions,
252
+ normals,
253
+ joints,
254
+ weights,
255
+ palette,
256
+ normalPaletteFor([...palette]),
257
+ );
195
258
 
196
259
  expect(Array.from(outPositions)).toEqual([6, 0, 0, 5, 1, 0]);
197
260
  });
@@ -203,8 +266,83 @@ describe('skinVertices', () => {
203
266
  const weights = new Float32Array([1, 0, 0, 0]);
204
267
  const palette = new Float32Array(translation(1, 1, 1));
205
268
 
206
- skinVertices(positions, normals, positions, normals, joints, weights, palette);
269
+ skinVertices(positions, normals, positions, normals, joints, weights, palette, normalPaletteFor([...palette]));
207
270
 
208
271
  expect(Array.from(positions)).toEqual([2, 3, 4]);
209
272
  });
210
273
  });
274
+
275
+ describe('skinVertices covector normals', () => {
276
+ const singleJoint = { joints: new Float32Array([0, 0, 0, 0]), weights: new Float32Array([1, 0, 0, 0]) };
277
+ // Non-uniform scale: 2x along x, 1x along y. A plane's normal must NOT follow this the way a position
278
+ // does — stretching a surface along x makes its normal lean the OTHER way.
279
+ // prettier-ignore
280
+ const scaleX2 = [
281
+ 2, 0, 0, 0,
282
+ 0, 1, 0, 0,
283
+ 0, 0, 1, 0,
284
+ 0, 0, 0, 1,
285
+ ];
286
+
287
+ it('leans a normal AGAINST a non-uniform stretch, not with it', () => {
288
+ // ★ THE DEFECT THIS FIXES. A 45-degree normal on a surface stretched 2x in x must come out with its
289
+ // x component HALVED relative to y (the inverse-transpose), not DOUBLED (the position matrix). The
290
+ // two answers differ by a factor of four in the ratio, so this cannot pass by accident.
291
+ const palette = new Float32Array(scaleX2);
292
+ const out = new Float32Array(3);
293
+ skinVertices(
294
+ new Float32Array(3),
295
+ out,
296
+ new Float32Array([0, 0, 0]),
297
+ new Float32Array([1, 1, 0]),
298
+ singleJoint.joints,
299
+ singleJoint.weights,
300
+ palette,
301
+ normalPaletteFor(scaleX2),
302
+ );
303
+ expect(out[0] / out[1]).toBeCloseTo(0.5);
304
+ });
305
+
306
+ it('leaves a RIGID joint bit-for-bit unchanged, which is what protects existing content', () => {
307
+ // ★ THE HALF THAT MATTERS MOST. For rotation+translation the inverse-transpose EQUALS the matrix in
308
+ // exact arithmetic — but it is computed via an inverse and a transpose in floating point, so it need
309
+ // not agree BIT-FOR-BIT. MD5 and most authored content is rigid, so any drift here would perturb
310
+ // every skinned scene in the repo for no benefit. Compared with toBe, not toBeCloseTo, deliberately:
311
+ // "close enough" is exactly the answer that would let a few ULPs through unnoticed.
312
+ // prettier-ignore
313
+ const rigid = [
314
+ 0, 1, 0, 0,
315
+ -1, 0, 0, 0,
316
+ 0, 0, 1, 0,
317
+ 3, 4, 5, 1,
318
+ ];
319
+ const palette = new Float32Array(rigid);
320
+ const viaNormalPalette = new Float32Array(3);
321
+ const viaJointMatrix = new Float32Array(3);
322
+ const normal = new Float32Array([0.3, -0.7, 0.5]);
323
+ skinVertices(
324
+ new Float32Array(3),
325
+ viaNormalPalette,
326
+ new Float32Array(3),
327
+ normal,
328
+ singleJoint.joints,
329
+ singleJoint.weights,
330
+ palette,
331
+ normalPaletteFor(rigid),
332
+ );
333
+ // The pre-fix behaviour: the joint matrix used as its own normal matrix.
334
+ skinVertices(
335
+ new Float32Array(3),
336
+ viaJointMatrix,
337
+ new Float32Array(3),
338
+ normal,
339
+ singleJoint.joints,
340
+ singleJoint.weights,
341
+ palette,
342
+ new Float32Array([0, 1, 0, 0, -1, 0, 0, 0, 0, 0, 1, 0]),
343
+ );
344
+ expect(viaNormalPalette[0]).toBe(viaJointMatrix[0]);
345
+ expect(viaNormalPalette[1]).toBe(viaJointMatrix[1]);
346
+ expect(viaNormalPalette[2]).toBe(viaJointMatrix[2]);
347
+ });
348
+ });