@franzenzenhofer/asanakit 0.1.0 → 0.2.0

package/dist/core/rig.js

@@ -2,96 +2,67 @@
  * Bone lengths are fractions of stature (1.0 = sole to crown) and follow the
  * classic 7.5-heads canon used in anatomical drawing, with hip height at ~0.53
  * of stature. The rig is authored for the figure's LEFT side and the center
- * chain; the right side is generated by mirroring, so a symmetric pose needs
- * the same joint angles on both sides.
+ * chain; the right side is generated by mirroring.
  *
- * `restAngle` is the bone's angle relative to its parent bone in the neutral
- * standing pose. A pose therefore expresses joint rotations the way anatomy
- * does: as a deviation from anatomical neutral.
+ * The figure stands at the origin facing +z, with +x its anatomical left and
+ * +y up. Every bone carries its rest direction and its two anatomical rotation
+ * axes as explicit vectors - the whole sign convention of the pose format is
+ * data in this file, not logic in the solver.
  */
+const UP = [0, 1, 0];
+const DOWN = [0, -1, 0];
+const LEFT = [1, 0, 0];
+const FORWARD = [0, 0, 1];
+/** Feet rest pointing forward, dropped a little toward the floor. */
+const FOOT_DROP_DEG = 20;
+const FOOT_DIR = [0, -Math.sin((FOOT_DROP_DEG * Math.PI) / 180), Math.cos((FOOT_DROP_DEG * Math.PI) / 180)];
 const CENTER_BONES = [
-    { id: 'pelvis', parent: null, attach: 'end', length: 0.1, restAngle: 0, side: 'center', group: 'torso' },
-    { id: 'spine', parent: 'pelvis', attach: 'end', length: 0.17, restAngle: 0, side: 'center', group: 'torso' },
-    { id: 'neck', parent: 'spine', attach: 'end', length: 0.06, restAngle: 0, side: 'center', group: 'torso' },
-    { id: 'head', parent: 'neck', attach: 'end', length: 0.13, restAngle: 0, side: 'center', group: 'head' },
+    // Positive flex bends forward, positive abduct leans toward the figure's left.
+    { id: 'pelvis', parent: null, attach: 'end', length: 0.1, dir: UP, flexAxis: LEFT, abductAxis: [0, 0, -1], twistAxis: UP, side: 'center', group: 'torso' },
+    { id: 'spine', parent: 'pelvis', attach: 'end', length: 0.17, dir: UP, flexAxis: LEFT, abductAxis: [0, 0, -1], twistAxis: UP, side: 'center', group: 'torso' },
+    { id: 'neck', parent: 'spine', attach: 'end', length: 0.06, dir: UP, flexAxis: LEFT, abductAxis: [0, 0, -1], twistAxis: UP, side: 'center', group: 'torso' },
+    { id: 'head', parent: 'neck', attach: 'end', length: 0.13, dir: UP, flexAxis: LEFT, abductAxis: [0, 0, -1], twistAxis: UP, side: 'center', group: 'head' },
 ];
 const LEFT_BONES = [
-    {
-        id: 'clavicleL',
-        parent: 'spine',
-        attach: 'end',
-        length: 0.1,
-        restAngle: -90,
-        side: 'left',
-        group: 'torso',
-        lateral: true,
-    },
-    {
-        id: 'upperArmL',
-        parent: 'clavicleL',
-        attach: 'end',
-        angleParent: 'spine',
-        length: 0.165,
-        restAngle: 180,
-        side: 'left',
-        group: 'arm',
-    },
-    { id: 'forearmL', parent: 'upperArmL', attach: 'end', length: 0.145, restAngle: 0, side: 'left', group: 'arm' },
-    { id: 'handL', parent: 'forearmL', attach: 'end', length: 0.055, restAngle: 0, side: 'left', group: 'arm' },
-    {
-        id: 'hipL',
-        parent: 'pelvis',
-        attach: 'start',
-        length: 0.085,
-        restAngle: -90,
-        side: 'left',
-        group: 'torso',
-        lateral: true,
-    },
-    {
-        id: 'thighL',
-        parent: 'hipL',
-        attach: 'end',
-        angleParent: 'pelvis',
-        length: 0.245,
-        restAngle: 180,
-        side: 'left',
-        group: 'leg',
-    },
-    { id: 'shinL', parent: 'thighL', attach: 'end', length: 0.245, restAngle: 0, side: 'left', group: 'leg', flexSign: -1 },
-    {
-        id: 'footL',
-        parent: 'shinL',
-        attach: 'end',
-        length: 0.09,
-        restAngle: 70,
-        side: 'left',
-        group: 'leg',
-        foot: true,
-    },
+    // Shoulder girdle: flex swings the shoulder forward, abduct shrugs it up.
+    { id: 'clavicleL', parent: 'spine', attach: 'end', length: 0.1, dir: LEFT, flexAxis: [0, -1, 0], abductAxis: FORWARD, twistAxis: LEFT, side: 'left', group: 'torso' },
+    // Arm: flex raises it forward, abduct lifts it sideways away from the body,
+    // positive twist rotates it externally.
+    { id: 'upperArmL', parent: 'clavicleL', attach: 'end', length: 0.165, dir: DOWN, flexAxis: [-1, 0, 0], abductAxis: FORWARD, twistAxis: UP, side: 'left', group: 'arm' },
+    { id: 'forearmL', parent: 'upperArmL', attach: 'end', length: 0.145, dir: DOWN, flexAxis: [-1, 0, 0], abductAxis: FORWARD, twistAxis: UP, side: 'left', group: 'arm' },
+    { id: 'handL', parent: 'forearmL', attach: 'end', length: 0.055, dir: DOWN, flexAxis: [-1, 0, 0], abductAxis: FORWARD, twistAxis: UP, side: 'left', group: 'arm' },
+    // Pelvic girdle, mirroring the shoulder girdle one storey down.
+    { id: 'hipL', parent: 'pelvis', attach: 'start', length: 0.085, dir: LEFT, flexAxis: [0, -1, 0], abductAxis: FORWARD, twistAxis: LEFT, side: 'left', group: 'torso' },
+    // Leg: hip flex swings the thigh forward; the knee's flex axis points the
+    // other way, because a knee bends backward - that is anatomy, stated as data.
+    { id: 'thighL', parent: 'hipL', attach: 'end', length: 0.245, dir: DOWN, flexAxis: [-1, 0, 0], abductAxis: FORWARD, twistAxis: UP, side: 'left', group: 'leg' },
+    { id: 'shinL', parent: 'thighL', attach: 'end', length: 0.245, dir: DOWN, flexAxis: [1, 0, 0], abductAxis: FORWARD, twistAxis: UP, side: 'left', group: 'leg' },
+    // Foot: positive flex is dorsiflexion (toes up), positive abduct turns the toes out.
+    { id: 'footL', parent: 'shinL', attach: 'end', length: 0.09, dir: FOOT_DIR, flexAxis: [-1, 0, 0], abductAxis: UP, twistAxis: FOOT_DIR, side: 'left', group: 'leg' },
 ];
 const RIGHT_SUFFIX = /L$/;
 const mirrorId = (id) => (RIGHT_SUFFIX.test(id) ? id.replace(RIGHT_SUFFIX, 'R') : id);
+/** Plain directions reflect across the sagittal plane: negate x. */
+const mirrorDir = (v) => [-v[0], v[1], v[2]];
+/**
+ * Rotation axes are pseudovectors: reflecting a rotation flips its sense, so
+ * the mirrored axis keeps x and negates y and z. This is exactly what makes
+ * "abduct = away from the midline" hold on both sides with no code branch.
+ */
+const mirrorAxis = (v) => [v[0], -v[1], -v[2]];
 const mirrorBone = (bone) => ({
     ...bone,
     id: mirrorId(bone.id),
     parent: bone.parent === null ? null : mirrorId(bone.parent),
-    ...(bone.angleParent === undefined ? {} : { angleParent: mirrorId(bone.angleParent) }),
+    dir: mirrorDir(bone.dir),
+    flexAxis: mirrorAxis(bone.flexAxis),
+    abductAxis: mirrorAxis(bone.abductAxis),
+    twistAxis: mirrorAxis(bone.twistAxis),
     side: 'right',
 });
 export const DEFAULT_RIG = {
-    name: 'humanoid-2d',
+    name: 'humanoid',
     // Parents precede children, so a single forward pass solves the chain.
     bones: [...CENTER_BONES, ...LEFT_BONES, ...LEFT_BONES.map(mirrorBone)],
 };
-/**
- * Views are 2D projections of a 3D body, so they only need two foreshortening
- * factors plus a rule for which way the feet point.
- */
-export const VIEWS = {
-    front: { lateralScale: 1, footScale: 0.45, mirrorLimbs: true },
-    back: { lateralScale: 1, footScale: 0.45, mirrorLimbs: true },
-    side: { lateralScale: 0.18, footScale: 1, mirrorLimbs: false },
-    'three-quarter': { lateralScale: 0.7, footScale: 0.8, mirrorLimbs: false },
-};
 //# sourceMappingURL=rig.js.map

package/dist/core/rig.js.map

@@ -1 +1 @@
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+{"version":3,"file":"rig.js","sourceRoot":"","sources":["../../src/core/rig.ts"],"names":[],"mappings":"AAGA;;;;;;;;;;GAUG;AACH,MAAM,EAAE,GAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC3B,MAAM,IAAI,GAAS,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;AAC9B,MAAM,IAAI,GAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC7B,MAAM,OAAO,GAAS,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAEhC,qEAAqE;AACrE,MAAM,aAAa,GAAG,EAAE,CAAC;AACzB,MAAM,QAAQ,GAAS,CAAC,CAAC,EAAE,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,aAAa,GAAG,IAAI,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,aAAa,GAAG,IAAI,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;AAElH,MAAM,YAAY,GAAuB;IACvC,+EAA+E;IAC/E,EAAE,EAAE,EAAE,QAAQ,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE,QAAQ,EAAE,IAAI,EAAE,UAAU,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,SAAS,EAAE,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,OAAO,EAAE;IAC1J,EAAE,EAAE,EAAE,OAAO,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,EAAE,QAAQ,EAAE,IAAI,EAAE,UAAU,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,SAAS,EAAE,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,OAAO,EAAE;IAC9J,EAAE,EAAE,EAAE,MAAM,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,EAAE,QAAQ,EAAE,IAAI,EAAE,UAAU,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,SAAS,EAAE,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,OAAO,EAAE;IAC5J,EAAE,EAAE,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,EAAE,QAAQ,EAAE,IAAI,EAAE,UAAU,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,SAAS,EAAE,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,MAAM,EAAE;CAC3J,CAAC;AAEF,MAAM,UAAU,GAAuB;IACrC,0EAA0E;IAC1E,EAAE,EAAE,EAAE,WAAW,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,UAAU,EAAE,OAAO,EAAE,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,OAAO,EAAE;IACrK,4EAA4E;IAC5E,wCAAwC;IACxC,EAAE,EAAE,EAAE,WAAW,EAAE,MAAM,EAAE,WAAW,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,GAAG,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,UAAU,EAAE,OAAO,EAAE,SAAS,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE;IACvK,EAAE,EAAE,EAAE,UAAU,EAAE,MAAM,EAAE,WAAW,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,GAAG,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,UAAU,EAAE,OAAO,EAAE,SAAS,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE;IACtK,EAAE,EAAE,EAAE,OAAO,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,GAAG,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,UAAU,EAAE,OAAO,EAAE,SAAS,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE;IAClK,gEAAgE;IAChE,EAAE,EAAE,EAAE,MAAM,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,GAAG,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,UAAU,EAAE,OAAO,EAAE,SAAS,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,OAAO,EAAE;IACrK,0EAA0E;IAC1E,8EAA8E;IAC9E,EAAE,EAAE,EAAE,QAAQ,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,GAAG,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,UAAU,EAAE,OAAO,EAAE,SAAS,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE;IAC/J,EAAE,EAAE,EAAE,OAAO,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,GAAG,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,UAAU,EAAE,OAAO,EAAE,SAAS,EAAE,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE;IAC/J,qFAAqF;IACrF,EAAE,EAAE,EAAE,OAAO,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,GAAG,EAAE,QAAQ,EAAE,QAAQ,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,UAAU,EAAE,EAAE,EAAE,SAAS,EAAE,QAAQ,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE;CACpK,CAAC;AAEF,MAAM,YAAY,GAAG,IAAI,CAAC;AAE1B,MAAM,QAAQ,GAAG,CAAC,EAAU,EAAU,EAAE,CAAC,CAAC,YAAY,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,OAAO,CAAC,YAAY,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC;AAEtG,oEAAoE;AACpE,MAAM,SAAS,GAAG,CAAC,CAAO,EAAQ,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AAEzD;;;;GAIG;AACH,MAAM,UAAU,GAAG,CAAC,CAAO,EAAQ,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AAE3D,MAAM,UAAU,GAAG,CAAC,IAAa,EAAW,EAAE,CAAC,CAAC;IAC9C,GAAG,IAAI;IACP,EAAE,EAAE,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAkB;IACtC,MAAM,EAAE,IAAI,CAAC,MAAM,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAE,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAmB;IAC9E,GAAG,EAAE,SAAS,CAAC,IAAI,CAAC,GAAG,CAAC;IACxB,QAAQ,EAAE,UAAU,CAAC,IAAI,CAAC,QAAQ,CAAC;IACnC,UAAU,EAAE,UAAU,CAAC,IAAI,CAAC,UAAU,CAAC;IACvC,SAAS,EAAE,UAAU,CAAC,IAAI,CAAC,SAAS,CAAC;IACrC,IAAI,EAAE,OAAO;CACd,CAAC,CAAC;AAEH,MAAM,CAAC,MAAM,WAAW,GAAQ;IAC9B,IAAI,EAAE,UAAU;IAChB,uEAAuE;IACvE,KAAK,EAAE,CAAC,GAAG,YAAY,EAAE,GAAG,UAAU,EAAE,GAAG,UAAU,CAAC,GAAG,CAAC,UAAU,CAAC,CAAC;CACvE,CAAC"}

package/dist/core/skeleton.d.ts

@@ -1,17 +1,8 @@
-import type { BoneDef, KinematicPose, Rig, Skeleton, ViewId } from './types.js';
+import type { KinematicPose, Rig, Skeleton } from './types.js';
 /**
- * Which way a positive angle turns a right-side bone.
- *
- * Lateral bones (clavicle, hip) always mirror - that is what puts the right
- * shoulder on the other side of the spine. Limbs only mirror when the figure
- * faces us; in profile both arms swing the same way, because we are looking at
- * both of them from the same side.
- */
-export declare const sideSign: (bone: BoneDef, view: ViewId) => number;
-/**
- * Forward kinematics: turn a pose (joint angles) into world-space bone segments,
- * named landmarks and bounds. Pure and deterministic - the same pose always
- * yields byte-identical geometry.
+ * Forward kinematics: turn a pose (joint rotations about anatomical axes) into
+ * world-space bone segments, named landmarks and bounds. Pure and
+ * deterministic - the same pose always yields byte-identical geometry.
  */
 export declare const solveSkeleton: (pose: KinematicPose, rig: Rig) => Skeleton;
 //# sourceMappingURL=skeleton.d.ts.map

package/dist/core/skeleton.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"skeleton.d.ts","sourceRoot":"","sources":["../../src/core/skeleton.ts"],"names":[],"mappings":"AAEA,OAAO,KAAK,EAKV,aAAa,EAEb,GAAG,EACH,QAAQ,EACT,MAAM,YAAY,CAAC;AAwGpB;;;;GAIG;AACH,eAAO,MAAM,aAAa,GAAI,MAAM,aAAa,EAAE,KAAK,GAAG,KAAG,QAyB7D,CAAC"}

package/dist/core/skeleton.js

@@ -1,43 +1,9 @@
-import { VIEWS } from './rig.js';
-import { add, fromPolar, midpoint } from './vec2.js';
-const boneLength = (bone, pose) => {
-    const view = VIEWS[pose.view];
-    const foreshorten = (bone.lateral ? view.lateralScale : 1) * (bone.foot ? view.footScale : 1);
-    return bone.length * foreshorten * pose.root.scale;
-};
-/**
- * Which way a positive angle turns a right-side bone.
- *
- * Lateral bones (clavicle, hip) always mirror - that is what puts the right
- * shoulder on the other side of the spine. Limbs only mirror when the figure
- * faces us; in profile both arms swing the same way, because we are looking at
- * both of them from the same side.
- */
-export const sideSign = (bone, view) => {
-    if (bone.side !== 'right')
-        return 1;
-    if (bone.lateral === true)
-        return -1;
-    return VIEWS[view].mirrorLimbs ? -1 : 1;
-};
-/**
- * Where the left/right offset points on screen.
- *
- * Facing the viewer it lies in the picture plane, so it swings with the torso: a
- * tilted chest tilts the shoulder line. Seen from the side it points into the
- * screen, so it must project as a small sideways nudge and nothing else - if it
- * rotated with the torso, a figure in a horizontal plank would end up with one
- * shoulder above the other and one hand hovering off the floor.
- */
-const isDepthAxis = (bone, view) => bone.lateral === true && VIEWS[view].lateralScale < 1;
-const relativeAngle = (bone, pose, parentAngle, joint) => {
-    if (isDepthAxis(bone, pose.view))
-        return bone.side === 'right' ? 180 : 0;
-    return parentAngle + sideSign(bone, pose.view) * (bone.restAngle + joint);
-};
+import { jointQuat, sphereDir } from './joints.js';
+import { axisAngleDeg, mulQuat, rotateVec3, rotationTo, yawPitchRollDeg } from './quat.js';
+import { add3, midpoint3, scale3 } from './vec3.js';
 const assertKnownJoints = (pose, rig) => {
     const known = new Set(rig.bones.map((b) => b.id));
-    const names = [...Object.keys(pose.joints), ...Object.keys(pose.world ?? {})];
+    const names = [...Object.keys(pose.joints), ...Object.keys(pose.world)];
     for (const joint of names) {
         if (!known.has(joint)) {
             throw new Error(`Unknown bone "${joint}". Known bones: ${[...known].sort().join(', ')}`);
@@ -50,42 +16,47 @@ const originOf = (bone, parent, pose) => {
         return pose.root.position;
     return bone.attach === 'start' ? parent.start : parent.end;
 };
-/** Which direction this bone's rest angle is measured against. */
-const aimOf = (bone, parent, solved, pose) => {
-    const aimedAt = bone.angleParent === undefined ? parent : solved[bone.angleParent];
-    return aimedAt === null || aimedAt === undefined ? pose.root.rotation : aimedAt.worldAngle;
+/**
+ * A `world` override aims the bone at an absolute direction, whatever its
+ * parent does - which is how a human (or a model) actually thinks about a
+ * posture: "the front thigh points down and forward", not "rotate the hip 60
+ * degrees from neutral". The orientation is the shortest arc from rest, plus
+ * any requested twist about the target direction; children hang off it.
+ */
+const worldOrientation = (bone, target) => {
+    const dir = sphereDir(target);
+    const swing = rotationTo(bone.dir, dir);
+    const twist = target.twist ?? 0;
+    return twist === 0 ? swing : mulQuat(axisAngleDeg(dir, twist), swing);
 };
-const solveBone = (bone, solved, pose) => {
+const solveBone = (bone, solved, pose, rootQuat) => {
     const parent = bone.parent === null ? null : solved[bone.parent];
     if (bone.parent !== null && parent === undefined) {
         throw new Error(`Bone "${bone.id}" is listed before its parent "${bone.parent}"`);
     }
-    const joint = (pose.joints[bone.id] ?? 0) * (bone.flexSign ?? 1);
-    const worldAngle = pose.world?.[bone.id] ?? relativeAngle(bone, pose, aimOf(bone, parent ?? null, solved, pose), joint);
+    const override = pose.world[bone.id];
+    const parentQuat = parent === null || parent === undefined ? rootQuat : parent.orientation;
+    const orientation = override === undefined
+        ? mulQuat(parentQuat, jointQuat(bone, pose.joints[bone.id] ?? 0))
+        : worldOrientation(bone, override);
     const start = originOf(bone, parent ?? null, pose);
-    const length = boneLength(bone, pose);
+    const length = bone.length * pose.root.scale;
     return {
         id: bone.id,
         start,
-        end: add(start, fromPolar(worldAngle, length)),
-        worldAngle,
+        end: add3(start, rotateVec3(orientation, scale3(bone.dir, length))),
+        orientation,
         length,
         side: bone.side,
         group: bone.group,
     };
 };
-const solveBones = (pose, rig) => {
-    const solved = {};
-    for (const bone of rig.bones)
-        solved[bone.id] = solveBone(bone, solved, pose);
-    return solved;
-};
 const landmarksOf = (b) => ({
     hipCenter: b.pelvis.start,
     waist: b.pelvis.end,
     chest: b.spine.end,
     neckBase: b.neck.start,
-    headCenter: midpoint(b.head.start, b.head.end),
+    headCenter: midpoint3(b.head.start, b.head.end),
     headTop: b.head.end,
     shoulderL: b.clavicleL.end,
     elbowL: b.upperArmL.end,
@@ -109,31 +80,30 @@ const boundsOf = (points) => ({
     maxX: Math.max(...points.map((p) => p[0])),
     minY: Math.min(...points.map((p) => p[1])),
     maxY: Math.max(...points.map((p) => p[1])),
+    minZ: Math.min(...points.map((p) => p[2])),
+    maxZ: Math.max(...points.map((p) => p[2])),
 });
-const transformPoint = (p, dy, flip) => [flip ? -p[0] : p[0], p[1] + dy];
-const transformBone = (bone, dy, flip) => ({
-    ...bone,
-    start: transformPoint(bone.start, dy, flip),
-    end: transformPoint(bone.end, dy, flip),
-    worldAngle: flip ? 180 - bone.worldAngle : bone.worldAngle,
-});
+const lift = (bone, dy) => dy === 0
+    ? bone
+    : { ...bone, start: add3(bone.start, [0, dy, 0]), end: add3(bone.end, [0, dy, 0]) };
 /**
- * Forward kinematics: turn a pose (joint angles) into world-space bone segments,
- * named landmarks and bounds. Pure and deterministic - the same pose always
- * yields byte-identical geometry.
+ * Forward kinematics: turn a pose (joint rotations about anatomical axes) into
+ * world-space bone segments, named landmarks and bounds. Pure and
+ * deterministic - the same pose always yields byte-identical geometry.
  */
 export const solveSkeleton = (pose, rig) => {
     assertKnownJoints(pose, rig);
-    const raw = solveBones(pose, rig);
+    const rootQuat = yawPitchRollDeg(pose.root.yaw, pose.root.pitch, pose.root.roll);
+    const raw = {};
+    for (const bone of rig.bones)
+        raw[bone.id] = solveBone(bone, raw, pose, rootQuat);
     const rawPoints = Object.values(raw).flatMap((b) => [b.start, b.end]);
     const dy = pose.grounded ? -boundsOf(rawPoints).minY : 0;
-    const flip = pose.flip ?? false;
-    const bones = Object.fromEntries(Object.entries(raw).map(([id, bone]) => [id, transformBone(bone, dy, flip)]));
+    const bones = Object.fromEntries(Object.entries(raw).map(([id, bone]) => [id, lift(bone, dy)]));
     const landmarks = landmarksOf(bones);
     const bounds = boundsOf(Object.values(bones).flatMap((b) => [b.start, b.end]));
     return {
         rig,
-        view: pose.view,
         scale: pose.root.scale,
         bones,
         landmarks,

package/dist/core/skeleton.js.map

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package/dist/core/types.d.ts

@@ -1,4 +1,5 @@
-import type { Vec2 } from './vec2.js';
+import type { Quat } from './quat.js';
+import type { Vec3 } from './vec3.js';
 export type Side = 'left' | 'right' | 'center';
 export type BoneGroup = 'torso' | 'head' | 'arm' | 'leg';
 export declare const BONE_IDS: readonly ["pelvis", "spine", "neck", "head", "clavicleL", "upperArmL", "forearmL", "handL", "clavicleR", "upperArmR", "forearmR", "handR", "hipL", "thighL", "shinL", "footL", "hipR", "thighR", "shinR", "footR"];
@@ -7,98 +8,104 @@ export type BoneId = (typeof BONE_IDS)[number];
 export type JointId = BoneId;
 export declare const LANDMARK_IDS: readonly ["hipCenter", "waist", "chest", "neckBase", "headCenter", "headTop", "shoulderL", "elbowL", "wristL", "handTipL", "shoulderR", "elbowR", "wristR", "handTipR", "hipJointL", "kneeL", "ankleL", "toeL", "hipJointR", "kneeR", "ankleR", "toeR"];
 export type LandmarkId = (typeof LANDMARK_IDS)[number];
+/**
+ * A bone in anatomical neutral (standing, arms down, facing +z). The three
+ * axes carry the whole sign convention of the format, as data:
+ *
+ *  - `dir` - the direction the bone points at rest (unit vector)
+ *  - `flexAxis` - positive `flex` rotates about this: anatomical flexion
+ *    (a knee bends backward, a hip swings forward - each bone's axis says so)
+ *  - `abductAxis` - positive `abduct` moves the bone away from the midline
+ *    (for center bones: toward the figure's left)
+ *  - `twistAxis` - positive `twist` turns about this, along the bone: external
+ *    rotation for limbs, turning toward the figure's left for center bones
+ *
+ * Because the signs live in the axes - and axes mirror as the pseudovectors
+ * they are - the right side is an exact mirror of the left and swapping L/R
+ * joint values mirrors a pose. No code branches on side anywhere.
+ */
 export interface BoneDef {
     readonly id: BoneId;
     readonly parent: BoneId | null;
     /** Which end of the parent bone this bone hangs off. */
     readonly attach: 'start' | 'end';
-    /**
-     * The bone whose direction this bone's rest angle is measured against, when
-     * that differs from the bone it hangs off. An upper arm *attaches* to the
-     * clavicle (which points sideways) but *aims* relative to the spine - keeping
-     * the two apart is what stops a profile figure's right arm pointing skyward.
-     */
-    readonly angleParent?: BoneId;
     /** Bone length as a fraction of the figure's stature (1.0 = full height). */
     readonly length: number;
-    /** Angle in degrees relative to the parent bone's direction, in the neutral standing pose. */
-    readonly restAngle: number;
+    readonly dir: Vec3;
+    readonly flexAxis: Vec3;
+    readonly abductAxis: Vec3;
+    readonly twistAxis: Vec3;
     readonly side: Side;
     readonly group: BoneGroup;
-    /** Lateral bones (clavicle, hip) foreshorten as the figure turns away from the viewer. */
-    readonly lateral?: boolean;
-    /** Foot bones foreshorten in front/back views. */
-    readonly foot?: boolean;
-    /**
-     * Which way a positive joint value bends this bone. -1 for the shin, so that
-     * "shinL: 90" means the knee is flexed 90 degrees - the way a knee actually
-     * bends - rather than hyperextended by 90.
-     */
-    readonly flexSign?: number;
 }
 export interface Rig {
     readonly name: string;
     readonly bones: readonly BoneDef[];
 }
-export type ViewId = 'front' | 'back' | 'side' | 'three-quarter';
-export interface ViewConfig {
-    /** Foreshortening applied to lateral bones: 1 = full width, 0 = perfectly edge-on. */
-    readonly lateralScale: number;
-    /** Foreshortening applied to feet. */
-    readonly footScale: number;
-    /**
-     * Whether the right limbs mirror the left ones.
-     *
-     * Facing the viewer, they do: a raised right arm goes one way and a raised
-     * left arm goes the other. Seen from the side, they do not - both arms swing
-     * the same way, because you are looking at both of them from the same side.
-     */
-    readonly mirrorLimbs: boolean;
+/** A joint rotation in degrees about the bone's anatomical axes, applied twist, then abduct, then flex. */
+export interface JointRotation {
+    readonly flex: number;
+    readonly abduct: number;
+    readonly twist: number;
+}
+/** A scalar is pure flexion - the common case reads like anatomy: "forearmL: 90" bends the elbow. */
+export type JointValue = number | Partial<JointRotation>;
+/**
+ * An absolute bone direction: where the bone points in world space, whatever
+ * its parent does. `azimuth` turns from +z (the figure's facing direction)
+ * toward +x (the figure's left); `elevation` rises from horizontal (90 = up).
+ */
+export interface WorldDirection {
+    readonly azimuth: number;
+    readonly elevation: number;
+    readonly twist?: number | undefined;
 }
 export interface KinematicPose {
-    readonly view: ViewId;
     readonly root: {
-        readonly position: Vec2;
-        /** World angle of the pelvis in degrees; 90 = upright. */
-        readonly rotation: number;
+        readonly position: Vec3;
+        /** Degrees. Yaw turns the figure (+ = toward its left), pitch tips it forward, roll cartwheels it. */
+        readonly yaw: number;
+        readonly pitch: number;
+        readonly roll: number;
         readonly scale: number;
     };
-    readonly joints: Partial<Record<JointId, number>>;
-    /**
-     * Absolute bone directions in degrees. A bone listed here points exactly this
-     * way in world space, whatever its parent does - which is how a human (or a
-     * model) actually thinks about a posture: "the front thigh points down-left at
-     * -150 degrees", not "rotate the hip 60 degrees from neutral".
-     */
-    readonly world?: Partial<Record<JointId, number>>;
+    readonly joints: Partial<Record<JointId, JointValue>>;
+    readonly world: Partial<Record<JointId, WorldDirection>>;
     /** Translate the solved figure so its lowest point sits on y = 0. */
     readonly grounded: boolean;
-    /** Mirror the solved figure across the vertical axis (a figure facing the other way). */
-    readonly flip?: boolean;
 }
 export interface BoneSegment {
     readonly id: BoneId;
-    readonly start: Vec2;
-    readonly end: Vec2;
-    /** Absolute direction of the bone in degrees. */
-    readonly worldAngle: number;
+    readonly start: Vec3;
+    readonly end: Vec3;
+    /** World orientation of the bone's rest frame. */
+    readonly orientation: Quat;
     readonly length: number;
     readonly side: Side;
     readonly group: BoneGroup;
 }
+/** 2D extent in a projected picture plane. */
 export interface Bounds {
     readonly minX: number;
     readonly minY: number;
     readonly maxX: number;
     readonly maxY: number;
 }
+/** 3D extent of a solved skeleton. */
+export interface Bounds3 {
+    readonly minX: number;
+    readonly minY: number;
+    readonly minZ: number;
+    readonly maxX: number;
+    readonly maxY: number;
+    readonly maxZ: number;
+}
 export interface Skeleton {
     readonly rig: Rig;
-    readonly view: ViewId;
     readonly scale: number;
     readonly bones: Record<BoneId, BoneSegment>;
-    readonly landmarks: Record<LandmarkId, Vec2>;
-    readonly bounds: Bounds;
+    readonly landmarks: Record<LandmarkId, Vec3>;
+    readonly bounds: Bounds3;
     /** Sole-to-crown extent of the solved figure. */
     readonly height: number;
 }

package/dist/core/types.d.ts.map

@@ -1 +1 @@
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package/dist/core/types.js.map

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package/dist/core/vec3.d.ts

@@ -0,0 +1,13 @@
+export type Vec3 = readonly [number, number, number];
+export declare const vec3: (x: number, y: number, z: number) => Vec3;
+export declare const add3: (a: Vec3, b: Vec3) => Vec3;
+export declare const sub3: (a: Vec3, b: Vec3) => Vec3;
+export declare const scale3: (a: Vec3, k: number) => Vec3;
+export declare const len3: (a: Vec3) => number;
+export declare const dist3: (a: Vec3, b: Vec3) => number;
+export declare const dot3: (a: Vec3, b: Vec3) => number;
+export declare const cross3: (a: Vec3, b: Vec3) => Vec3;
+export declare const lerp3: (a: Vec3, b: Vec3, t: number) => Vec3;
+export declare const midpoint3: (a: Vec3, b: Vec3) => Vec3;
+export declare const normalize3: (a: Vec3) => Vec3;
+//# sourceMappingURL=vec3.d.ts.map

package/dist/core/vec3.d.ts.map

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