@genex-ai/cli-demo 0.11.0 → 0.14.2

package/templates/controllers/character/vrm/foot-ik.ts

@@ -0,0 +1,341 @@
+// SPDX-License-Identifier: MIT
+// Two-bone foot IK with raycast grounding + pelvis drop + foot-to-slope alignment
+// (Genex AG-747). Renderer/physics-agnostic: you inject a ground query (wrap your
+// Rapier `world.castRayAndGetNormal`) and it plants the feet — so on stairs and
+// slopes each sole sits FLAT on the step under it instead of clipping or floating
+// toes-down. OPT-IN: locomotion + punch work without it; enable after per-avatar QA.
+//
+// It does what a naive ankle-raise cannot, matching a good reference planter:
+//   1. lowers the PELVIS toward the lower foot so both legs can reach without
+//      over-stretching (essential on steps),
+//   2. two-bone-solves each leg so the ankle reaches its grounded target while the
+//      foot keeps its animated orientation, then
+//   3. tilts each PLANTED foot to lie flat on the ground normal (lifted/mid-stride
+//      feet keep the animation, weighted by how high off the ground they are).
+//
+// ORDER MATTERS: this poses the VRM's NORMALIZED bones, which `vrm.update(dt)` then
+// copies to the raw (rendered) rig. Run it AFTER the animation mixer has posed the
+// frame but BEFORE `vrm.update(dt)` — after the copy it has no visible effect until
+// the next frame, where the mixer overwrites it first.
+//
+//   const footIK = new FootIK(vrm, (foot) => {
+//     const hit = world.castRayAndGetNormal(
+//       new RAPIER.Ray({ x: foot.x, y: foot.y + 0.5, z: foot.z }, { x: 0, y: -1, z: 0 }),
+//       1.0, true, RAPIER.QueryFilterFlags.EXCLUDE_SENSORS, undefined, undefined, character.body);
+//     return hit ? { y: foot.y + 0.5 - hit.timeOfImpact, normal: hit.normal } : null;
+//   }, { isActive: () => character.isOnGround });
+//   // each frame, in this order:
+//   anims.update(character, dt); // mixer poses the normalized rig
+//   footIK.update(dt);           // plant the feet on the normalized rig
+//   vrm.update(dt);              // copy normalized -> raw, run spring bones
+import * as THREE from "three";
+import { VRMHumanBoneName } from "@pixiv/three-vrm";
+import type { VRM } from "@pixiv/three-vrm";
+
+/** A grounded contact under a foot: world-Y of the surface + (optional) its world normal. */
+export interface GroundSample {
+  /** Ground world-Y directly below the foot. */
+  y: number;
+  /** Surface normal (world, unit). Omit for flat-only grounding (feet stay level). */
+  normal?: THREE.Vector3;
+}
+
+/**
+ * Ground query below a foot. Return the contact ({@link GroundSample} — or a bare
+ * world-Y number for the simple flat case), or null when there's nothing to plant
+ * on (airborne, a gap, a too-far drop) so the foot keeps its animated pose.
+ */
+export type GroundQuery = (footWorldPos: THREE.Vector3) => GroundSample | number | null;
+
+export interface FootIKOptions {
+  /** Max metres an ankle is raised/lowered toward the ground. Default 0.4. */
+  maxOffset?: number;
+  /**
+   * Extra clearance between the sole and the ground contact (m). The grounding
+   * target is the TERRAIN under the foot relative to the body root, so 0 lands
+   * the sole flush; raise it a hair if a particular avatar's sole clips in.
+   * Default 0.
+   */
+  soleClearance?: number;
+  /** Per-frame offset smoothing rate (higher = snappier). Default 14. */
+  smoothing?: number;
+  /** Lower the pelvis toward the lower foot so both legs reach. Default true. */
+  pelvisDrop?: boolean;
+  /** Tilt planted feet to lie flat on the ground normal. Default true. */
+  alignFeet?: boolean;
+  /**
+   * Gate: return false to fade the effect out (e.g. `() => character.isOnGround`
+   * so airborne legs keep their jump pose). Default: always active.
+   */
+  isActive?: () => boolean;
+}
+
+// three-vrm's own node type — same THREE.Object3D at runtime, but using the
+// library's return type keeps this file's storage self-consistent under any
+// three typings the game happens to resolve.
+type BoneNode = NonNullable<ReturnType<VRM["humanoid"]["getNormalizedBoneNode"]>>;
+type VrmHumanBone = (typeof VRMHumanBoneName)[keyof typeof VRMHumanBoneName];
+
+interface Leg {
+  upper: BoneNode;
+  lower: BoneNode;
+  foot: BoneNode;
+  /** Smoothed vertical grounding offset (world-Y delta from the animated ankle). */
+  offset: number;
+  /** Smoothed world ground normal under this foot. */
+  normal: THREE.Vector3;
+  /** Animated ankle world position, captured before any IK this frame. */
+  animFootPos: THREE.Vector3;
+}
+
+const UP = new THREE.Vector3(0, 1, 0);
+
+// Foot-plant tuning (mirrors the reference planter's feel).
+const WEIGHT_DAMPING = 8; // global fade in/out when isActive flips
+const NORMAL_DAMPING = 12; // ground-normal smoothing
+const PLANTED_LIFT_MIN = 0.04; // below this lift the foot is fully planted (align at full weight)
+const PLANTED_LIFT_MAX = 0.16; // above this lift the foot is fully lifted (no align)
+const MAX_FOOT_TILT = 0.6; // clamp foot-to-slope tilt (rad)
+const MIN_BONE_LENGTH = 1e-4;
+const IK_EPSILON = 1e-4;
+
+const _a = new THREE.Vector3();
+const _b = new THREE.Vector3();
+const _c = new THREE.Vector3();
+const _target = new THREE.Vector3();
+const _rootPos = new THREE.Vector3();
+const _normalTarget = new THREE.Vector3();
+const _toTarget = new THREE.Vector3();
+const _kneeToHip = new THREE.Vector3();
+const _kneeToAnkle = new THREE.Vector3();
+const _bendAxis = new THREE.Vector3();
+const _fallbackAxis = new THREE.Vector3();
+const _currentDir = new THREE.Vector3();
+const _targetDir = new THREE.Vector3();
+const _tiltAxis = new THREE.Vector3();
+const _worldPos = new THREE.Vector3();
+const _footWorldQuat = new THREE.Quaternion();
+const _deltaQuat = new THREE.Quaternion();
+const _parentQuat = new THREE.Quaternion();
+const _localDelta = new THREE.Quaternion();
+const _modelQuat = new THREE.Quaternion();
+const _parentInverse = new THREE.Matrix4();
+
+/**
+ * Foot IK over a VRM's normalized leg bones. Constructed once; call `update()`
+ * each frame AFTER the animation mixer and BEFORE `vrm.update()` (see file header).
+ */
+export class FootIK {
+  #legs: Leg[] = [];
+  #hips: BoneNode | null;
+  #modelRoot: THREE.Object3D;
+  #query: GroundQuery;
+  #maxOffset: number;
+  #soleClearance: number;
+  #smoothing: number;
+  #pelvisDrop: boolean;
+  #alignFeet: boolean;
+  #isActive: (() => boolean) | undefined;
+  #enabled = true;
+  #weight = 0;
+  #restFootHeight = 0;
+
+  constructor(vrm: VRM, groundQuery: GroundQuery, options: FootIKOptions = {}) {
+    this.#query = groundQuery;
+    this.#maxOffset = options.maxOffset ?? 0.4;
+    this.#soleClearance = options.soleClearance ?? 0;
+    this.#smoothing = options.smoothing ?? 14;
+    this.#pelvisDrop = options.pelvisDrop ?? true;
+    this.#alignFeet = options.alignFeet ?? true;
+    this.#isActive = options.isActive;
+    this.#modelRoot = vrm.scene;
+
+    const h = vrm.humanoid;
+    this.#hips = h.getNormalizedBoneNode(VRMHumanBoneName.Hips);
+    const mk = (u: VrmHumanBone, l: VrmHumanBone, f: VrmHumanBone): Leg | null => {
+      const upper = h.getNormalizedBoneNode(u);
+      const lower = h.getNormalizedBoneNode(l);
+      const foot = h.getNormalizedBoneNode(f);
+      return upper && lower && foot
+        ? { upper, lower, foot, offset: 0, normal: new THREE.Vector3(0, 1, 0), animFootPos: new THREE.Vector3() }
+        : null;
+    };
+    const left = mk(VRMHumanBoneName.LeftUpperLeg, VRMHumanBoneName.LeftLowerLeg, VRMHumanBoneName.LeftFoot);
+    const right = mk(VRMHumanBoneName.RightUpperLeg, VRMHumanBoneName.RightLowerLeg, VRMHumanBoneName.RightFoot);
+    if (left) this.#legs.push(left);
+    if (right) this.#legs.push(right);
+    this.#restFootHeight = this.#measureRestFootHeight();
+  }
+
+  setEnabled(enabled: boolean): void {
+    this.#enabled = enabled;
+  }
+
+  update(dt = 1 / 60): void {
+    if (this.#legs.length === 0) return;
+
+    // Global weight fades the whole effect in/out (toggle or airborne) so nothing pops.
+    const active = this.#enabled && (this.#isActive?.() ?? true);
+    this.#weight += ((active ? 1 : 0) - this.#weight) * (1 - Math.exp(-WEIGHT_DAMPING * dt));
+    if (!active && this.#weight < 1e-3) {
+      for (const leg of this.#legs) {
+        leg.offset = 0;
+        leg.normal.copy(UP);
+      }
+      return;
+    }
+
+    this.#modelRoot.updateWorldMatrix(true, true);
+    this.#modelRoot.getWorldPosition(_rootPos);
+    this.#modelRoot.getWorldQuaternion(_modelQuat);
+    _fallbackAxis.set(1, 0, 0).applyQuaternion(_modelQuat); // knee hinge fallback (model X)
+
+    const k = 1 - Math.exp(-this.#smoothing * dt);
+    const kNormal = 1 - Math.exp(-NORMAL_DAMPING * dt);
+
+    // 1. Sample the ground under each ANIMATED foot; smooth offset + normal.
+    //    The offset is TERRAIN-relative — the ground height under the foot vs the
+    //    body root (the VRM origin = its floor/sole level), NOT vs the animated
+    //    foot. That's the load-bearing choice: it's independent of the foot's
+    //    stride phase, so a lifted swing foot keeps its animation (no dragging /
+    //    sinking while running) while a planted foot still lands on its step, and
+    //    it self-corrects any residual capsule-float gap (feet reach true ground).
+    for (const leg of this.#legs) {
+      leg.foot.getWorldPosition(leg.animFootPos);
+      const sample = active ? this.#query(leg.animFootPos) : null;
+      const groundY = sample === null ? null : typeof sample === "number" ? sample : sample.y;
+      _normalTarget.copy(
+        sample !== null && typeof sample !== "number" && sample.normal ? sample.normal : UP,
+      );
+      const desired =
+        groundY === null
+          ? 0
+          : THREE.MathUtils.clamp(
+              groundY + this.#soleClearance - _rootPos.y,
+              -this.#maxOffset,
+              this.#maxOffset,
+            );
+      leg.offset += (desired - leg.offset) * k;
+      leg.normal.lerp(_normalTarget, kNormal).normalize();
+    }
+
+    // 2. Pelvis drop: sink the hips toward the LOWER foot (most negative offset)
+    //    so the downhill leg reaches without the uphill one hyper-extending.
+    if (this.#pelvisDrop && this.#hips && this.#legs.length === 2) {
+      let minOffset = 0;
+      for (const leg of this.#legs) minOffset = Math.min(minOffset, leg.offset);
+      const pelvisOffset = minOffset * this.#weight;
+      if (Math.abs(pelvisOffset) > IK_EPSILON) this.#shiftWorldY(this.#hips, pelvisOffset);
+    }
+
+    // 3. Per-leg two-bone IK to the grounded target, then flatten planted feet.
+    for (const leg of this.#legs) {
+      _target.copy(leg.animFootPos);
+      _target.y += leg.offset * this.#weight;
+      leg.foot.getWorldPosition(_c);
+      if (_c.distanceToSquared(_target) > IK_EPSILON * IK_EPSILON) {
+        this.#solve(leg, _target);
+      }
+      if (this.#alignFeet) this.#alignFootToGround(leg, _rootPos.y);
+    }
+  }
+
+  /** Analytic two-bone IK: bend the knee + swing the hip so the ankle reaches
+   * `targetWorld`, preserving the foot's animated world orientation. */
+  #solve(leg: Leg, targetWorld: THREE.Vector3): void {
+    leg.upper.getWorldPosition(_a);
+    leg.lower.getWorldPosition(_b);
+    leg.foot.getWorldPosition(_c);
+    const upperLen = _a.distanceTo(_b);
+    const lowerLen = _b.distanceTo(_c);
+    _toTarget.subVectors(targetWorld, _a);
+    if (upperLen < MIN_BONE_LENGTH || lowerLen < MIN_BONE_LENGTH || _toTarget.lengthSq() < MIN_BONE_LENGTH ** 2) {
+      return;
+    }
+
+    // Preserve the animated foot orientation across the solve (we re-tilt it in step 3).
+    leg.foot.getWorldQuaternion(_footWorldQuat);
+
+    const dist = THREE.MathUtils.clamp(
+      _toTarget.length(),
+      Math.abs(upperLen - lowerLen) + IK_EPSILON,
+      upperLen + lowerLen - IK_EPSILON,
+    );
+    const cosKnee = (upperLen * upperLen + lowerLen * lowerLen - dist * dist) / (2 * upperLen * lowerLen);
+    const desiredKnee = Math.acos(THREE.MathUtils.clamp(cosKnee, -1, 1));
+
+    _kneeToHip.subVectors(_a, _b);
+    _kneeToAnkle.subVectors(_c, _b);
+    const currentKnee = _kneeToHip.angleTo(_kneeToAnkle);
+    _bendAxis.crossVectors(_kneeToAnkle, _kneeToHip);
+    if (_bendAxis.lengthSq() < 1e-10) _bendAxis.copy(_fallbackAxis);
+    _bendAxis.normalize();
+
+    const bendDelta = currentKnee - desiredKnee;
+    if (Math.abs(bendDelta) > 1e-6) {
+      _deltaQuat.setFromAxisAngle(_bendAxis, bendDelta);
+      this.#applyWorldRotationDelta(leg.lower, _deltaQuat);
+      leg.foot.getWorldPosition(_c);
+    }
+
+    // Swing the whole limb so the ankle points at the target.
+    _currentDir.subVectors(_c, _a).normalize();
+    _targetDir.copy(_toTarget).normalize();
+    _deltaQuat.setFromUnitVectors(_currentDir, _targetDir);
+    this.#applyWorldRotationDelta(leg.upper, _deltaQuat);
+
+    // Restore the animated foot orientation (step 3 tilts it onto the slope).
+    this.#setWorldQuaternion(leg.foot, _footWorldQuat);
+  }
+
+  /** Tilt a PLANTED foot to lie flat on its ground normal (skipped for lifted feet). */
+  #alignFootToGround(leg: Leg, rootY: number): void {
+    const lift = leg.animFootPos.y - rootY - this.#restFootHeight;
+    const planted = 1 - THREE.MathUtils.smoothstep(lift, PLANTED_LIFT_MIN, PLANTED_LIFT_MAX);
+    const tilt = Math.min(leg.normal.angleTo(UP), MAX_FOOT_TILT) * this.#weight * planted;
+    if (tilt < 1e-3) return;
+    _tiltAxis.crossVectors(UP, leg.normal);
+    if (_tiltAxis.lengthSq() < 1e-10) return;
+    _deltaQuat.setFromAxisAngle(_tiltAxis.normalize(), tilt);
+    this.#applyWorldRotationDelta(leg.foot, _deltaQuat);
+  }
+
+  #measureRestFootHeight(): number {
+    if (this.#legs.length === 0) return 0;
+    this.#modelRoot.updateWorldMatrix(true, true);
+    this.#modelRoot.getWorldPosition(_rootPos);
+    let total = 0;
+    for (const leg of this.#legs) total += leg.foot.getWorldPosition(_worldPos).y - _rootPos.y;
+    return total / this.#legs.length;
+  }
+
+  /** Rotate a bone by a WORLD-space quaternion delta, then refresh its subtree. */
+  #applyWorldRotationDelta(bone: BoneNode, worldDelta: THREE.Quaternion): void {
+    const parent = bone.parent;
+    if (!parent) return;
+    parent.getWorldQuaternion(_parentQuat);
+    _localDelta.copy(_parentQuat).invert().multiply(worldDelta).multiply(_parentQuat);
+    bone.quaternion.premultiply(_localDelta);
+    bone.updateWorldMatrix(false, true);
+  }
+
+  /** Set a bone's WORLD orientation, then refresh its subtree. */
+  #setWorldQuaternion(bone: BoneNode, worldQuat: THREE.Quaternion): void {
+    const parent = bone.parent;
+    if (!parent) return;
+    parent.getWorldQuaternion(_parentQuat);
+    bone.quaternion.copy(_parentQuat).invert().multiply(worldQuat);
+    bone.updateWorldMatrix(false, true);
+  }
+
+  /** Translate a bone vertically in WORLD space, then refresh its subtree. */
+  #shiftWorldY(bone: BoneNode, deltaY: number): void {
+    const parent = bone.parent;
+    if (!parent) return;
+    bone.getWorldPosition(_worldPos);
+    _worldPos.y += deltaY;
+    _parentInverse.copy(parent.matrixWorld).invert();
+    bone.position.copy(_worldPos.applyMatrix4(_parentInverse));
+    bone.updateWorldMatrix(false, true);
+  }
+}

package/templates/controllers/character/vrm/vrm-loader.ts

@@ -0,0 +1,44 @@
+// SPDX-License-Identifier: MIT
+// VRM loading for the character controller (Genex AG-747). Wraps three's
+// GLTFLoader with @pixiv/three-vrm's VRMLoaderPlugin, normalizes VRM 0.x
+// orientation, and runs the standard perf cleanup — so the rest of the
+// controller treats every avatar (VRM 0.x or 1.0) identically.
+//
+// Needs `npm i @pixiv/three-vrm` (peer of three, which the scaffold already has).
+import * as THREE from "three";
+import { GLTFLoader } from "three/addons/loaders/GLTFLoader.js";
+import { VRMLoaderPlugin, VRMUtils } from "@pixiv/three-vrm";
+import type { VRM } from "@pixiv/three-vrm";
+
+export interface LoadedVrm {
+  /** The renderable root — add THIS to your character root / the scene. */
+  scene: THREE.Group;
+  /** The VRM instance — call `vrm.update(dt)` once per frame (spring bones). */
+  vrm: VRM;
+}
+
+/**
+ * Load a `.vrm` and return its scene + VRM instance, ready to animate.
+ *
+ * `VRMUtils.rotateVRM0` bakes the VRM 0.x 180° flip into BOTH the model and its
+ * humanoid rig, so the avatar faces -Z (three's forward, same as every other
+ * model) and the UAL retargeter (vrm-retarget.ts) needs no per-version handling.
+ */
+export async function loadVrm(url: string): Promise<LoadedVrm> {
+  const loader = new GLTFLoader();
+  loader.register((parser) => new VRMLoaderPlugin(parser));
+
+  const gltf = await loader.loadAsync(url);
+  const vrm = gltf.userData.vrm as VRM;
+
+  VRMUtils.rotateVRM0(vrm);
+  VRMUtils.removeUnnecessaryVertices(vrm.scene);
+  VRMUtils.combineSkeletons(vrm.scene);
+
+  // Skinned avatars can pop out at glancing camera angles otherwise.
+  vrm.scene.traverse((obj) => {
+    obj.frustumCulled = false;
+  });
+
+  return { scene: vrm.scene, vrm };
+}

package/templates/controllers/character/vrm/vrm-retarget.ts

@@ -0,0 +1,195 @@
+// SPDX-License-Identifier: MIT
+// Retarget Quaternius Universal Animation Library clips (Blender Rigify `DEF-`
+// rig) onto a three-vrm normalized humanoid rig (Genex AG-747). Adapted from the
+// official three-vrm Mixamo retarget recipe (@pixiv/three-vrm examples, MIT):
+// rewrite each bone track into the VRM's normalized-bone local space using the
+// SOURCE rig's rest-pose world rotations, and scale the hips translation by the
+// height ratio. Because vrm-loader calls VRMUtils.rotateVRM0, VRM 0.x and 1.0
+// share this one path — no per-version flip.
+//
+// The HIPS POSITION track is kept (delta from the source rest pose, scaled by
+// the hips-height ratio, like the Mixamo recipe). Dropping it pins the hips at
+// bind height, so any pose that lowers the hips (idle stance, walk contact,
+// punches) lifts the feet off the floor instead — the UAL idle alone holds the
+// hips ~4.5 cm below rest. All other position tracks are still dropped: the
+// physics controller owns whole-body translation, and UAL clips are in-place,
+// so the hips delta is pure pose (crouch/bob/sway), not root motion.
+//
+// The output AnimationClips target the VRM's normalized bone nodes, so they feed
+// CharacterAnimations + buildClipMap unchanged:
+//
+//   const { scene, vrm } = await loadVrm("./assets/avatar.vrm");
+//   const lib = await new GLTFLoader().loadAsync("./assets/animation-library.glb");
+//   const clips = retargetClips(vrm, lib.scene, lib.animations);
+//   const anims = new CharacterAnimations(scene, clips);
+import * as THREE from "three";
+import { VRMHumanBoneName } from "@pixiv/three-vrm";
+import type { VRM } from "@pixiv/three-vrm";
+
+type VrmBone = (typeof VRMHumanBoneName)[keyof typeof VRMHumanBoneName];
+
+// Quaternius UAL Rigify deform bone -> VRM humanoid bone. Fingers are omitted
+// (the clips barely animate them and not every avatar rigs them); the body chain
+// is what locomotion + gestures need.
+const DEF_TO_VRM: Record<string, VrmBone> = {
+  "DEF-hips": VRMHumanBoneName.Hips,
+  "DEF-spine.001": VRMHumanBoneName.Spine,
+  "DEF-spine.002": VRMHumanBoneName.Chest,
+  "DEF-spine.003": VRMHumanBoneName.UpperChest,
+  "DEF-neck": VRMHumanBoneName.Neck,
+  "DEF-head": VRMHumanBoneName.Head,
+  "DEF-shoulder.L": VRMHumanBoneName.LeftShoulder,
+  "DEF-upper_arm.L": VRMHumanBoneName.LeftUpperArm,
+  "DEF-forearm.L": VRMHumanBoneName.LeftLowerArm,
+  "DEF-hand.L": VRMHumanBoneName.LeftHand,
+  "DEF-shoulder.R": VRMHumanBoneName.RightShoulder,
+  "DEF-upper_arm.R": VRMHumanBoneName.RightUpperArm,
+  "DEF-forearm.R": VRMHumanBoneName.RightLowerArm,
+  "DEF-hand.R": VRMHumanBoneName.RightHand,
+  "DEF-thigh.L": VRMHumanBoneName.LeftUpperLeg,
+  "DEF-shin.L": VRMHumanBoneName.LeftLowerLeg,
+  "DEF-foot.L": VRMHumanBoneName.LeftFoot,
+  "DEF-toe.L": VRMHumanBoneName.LeftToes,
+  "DEF-thigh.R": VRMHumanBoneName.RightUpperLeg,
+  "DEF-shin.R": VRMHumanBoneName.RightLowerLeg,
+  "DEF-foot.R": VRMHumanBoneName.RightFoot,
+  "DEF-toe.R": VRMHumanBoneName.RightToes,
+};
+
+/**
+ * Retarget UAL clips onto `vrm`.
+ * @param vrm           the loaded VRM (already through {@link loadVrm}).
+ * @param animationRoot the animation-library GLB's scene — its `DEF-` bones in
+ *                      rest pose supply the source frame the tracks are relative to.
+ * @param clips         that GLB's animations (all 46 UAL clips).
+ * @returns new clips whose tracks target the VRM's normalized humanoid bones.
+ */
+export function retargetClips(
+  vrm: VRM,
+  animationRoot: THREE.Object3D,
+  clips: THREE.AnimationClip[],
+): THREE.AnimationClip[] {
+  animationRoot.updateWorldMatrix(true, true);
+  vrm.scene.updateWorldMatrix(true, true);
+
+  // three's GLTFLoader SANITIZES node names in animation track targets
+  // (PropertyBinding strips `[].:/ ` and turns spaces into `_`), so a Rigify bone
+  // "DEF-upper_arm.L" shows up in tracks as "DEF-upper_armL". Map those sanitized
+  // names back to the real bones, whose actual names carry the dots DEF_TO_VRM
+  // keys on. (Mixamo names are dotless, so the upstream recipe never needed this.)
+  const sanitize = (name: string): string => name.replace(/\s/g, "_").replace(/[[\]./:]/g, "");
+  const sourceByTrackName = new Map<string, THREE.Object3D>();
+  animationRoot.traverse((o) => {
+    if (o.name) sourceByTrackName.set(sanitize(o.name), o);
+  });
+  // glTF load sanitizes bone names too, so `source.name` is already dot-stripped —
+  // key the VRM-bone lookup by the sanitized DEF name, matching the track's nodeName.
+  const sanitizedDefToVrm: Record<string, VrmBone> = {};
+  for (const [def, bone] of Object.entries(DEF_TO_VRM)) sanitizedDefToVrm[sanitize(def)] = bone;
+
+  // Reusable bind-pose quaternions. Both rigs are at rest here (nothing has
+  // animated them yet), so getWorldQuaternion reads the bind pose.
+  const srcParentBindWorld = new THREE.Quaternion();
+  const srcBindWorldInv = new THREE.Quaternion();
+  const tgtBindWorld = new THREE.Quaternion();
+  const tgtParentBindWorldInv = new THREE.Quaternion();
+  const q = new THREE.Quaternion();
+
+  // Hips-position retarget setup (see the header note). We reproduce the source
+  // hips' vertical bob/crouch on the target hips as a rest-relative DELTA, so
+  // the physics controller still owns the whole-body base translation while the
+  // pose keeps the pelvis (and therefore the feet) at the right height.
+  const HIPS_SANITIZED = sanitize("DEF-hips");
+  const srcHips = sourceByTrackName.get(HIPS_SANITIZED) ?? null;
+  const tgtHips = vrm.humanoid.getNormalizedBoneNode(VRMHumanBoneName.Hips);
+  const hipsSrcParentWorld = new THREE.Quaternion();
+  const hipsTgtParentWorldInv = new THREE.Quaternion();
+  const hipsSrcRestLocal = new THREE.Vector3();
+  const hipsTgtRestLocal = new THREE.Vector3();
+  let hipsHeightRatio = 1;
+  if (srcHips && tgtHips) {
+    if (srcHips.parent) srcHips.parent.getWorldQuaternion(hipsSrcParentWorld);
+    if (tgtHips.parent) tgtHips.parent.getWorldQuaternion(hipsTgtParentWorldInv).invert();
+    hipsSrcRestLocal.copy(srcHips.position);
+    hipsTgtRestLocal.copy(tgtHips.position);
+    // Scale the crouch/bob by leg-length proportion (hips rest height ratio) so
+    // a tall avatar bobs more than a short one, matching the source clip's feel.
+    const srcY = srcHips.getWorldPosition(new THREE.Vector3()).y;
+    const tgtY = tgtHips.getWorldPosition(new THREE.Vector3()).y;
+    if (Math.abs(srcY) > 1e-4) hipsHeightRatio = tgtY / srcY;
+  }
+  const hipsDelta = new THREE.Vector3();
+
+  const out: THREE.AnimationClip[] = [];
+  for (const clip of clips) {
+    const tracks: THREE.KeyframeTrack[] = [];
+    for (const track of clip.tracks) {
+      const lastDot = track.name.lastIndexOf(".");
+      const nodeName = track.name.slice(0, lastDot);
+      const prop = track.name.slice(lastDot + 1);
+      const source = sourceByTrackName.get(nodeName);
+      const vrmBone = sanitizedDefToVrm[nodeName];
+      if (!source || !vrmBone) continue;
+
+      const target = vrm.humanoid.getNormalizedBoneNode(vrmBone);
+      if (!target) continue;
+
+      // HIPS POSITION: keep it, as a rest-relative delta (see header note). Every
+      // OTHER position track is dropped — the physics controller owns whole-body
+      // translation, and the UAL clips are in-place, so only the hips carry pose
+      // height (crouch/bob) worth reproducing.
+      if (prop === "position" && track instanceof THREE.VectorKeyframeTrack) {
+        if (vrmBone !== VRMHumanBoneName.Hips || !srcHips || !tgtHips) continue;
+        const values = Array.from(track.values);
+        for (let i = 0; i < values.length; i += 3) {
+          // delta = (frameLocal - srcRestLocal) → world → scale → target-parent-local,
+          // then re-anchor on the target hips' own rest local position.
+          hipsDelta.fromArray(values, i).sub(hipsSrcRestLocal);
+          hipsDelta.applyQuaternion(hipsSrcParentWorld);
+          hipsDelta.multiplyScalar(hipsHeightRatio);
+          hipsDelta.applyQuaternion(hipsTgtParentWorldInv).add(hipsTgtRestLocal);
+          hipsDelta.toArray(values, i);
+        }
+        tracks.push(
+          new THREE.VectorKeyframeTrack(`${tgtHips.name}.position`, Array.from(track.times), values),
+        );
+        continue;
+      }
+
+      if (prop !== "quaternion" || !(track instanceof THREE.QuaternionKeyframeTrack)) continue;
+
+      // Full bind-pose retarget: reproduce the SOURCE bone's world-space motion
+      // on the TARGET bone, accounting for BOTH rigs' bind orientations, then
+      // express it in the target's local space. Unlike the simplified Mixamo
+      // recipe (source-rest only), this also uses the VRM normalized bone's bind
+      // world rotation — necessary because T-pose limbs are far from identity,
+      // which is what left arms pointing straight up before. Reduces to identity
+      // (the normalized rest pose) when the source is at its own bind pose.
+      source.getWorldQuaternion(srcBindWorldInv).invert();
+      if (source.parent) source.parent.getWorldQuaternion(srcParentBindWorld);
+      else srcParentBindWorld.identity();
+      target.getWorldQuaternion(tgtBindWorld);
+      if (target.parent) {
+        target.parent.getWorldQuaternion(tgtParentBindWorldInv);
+        tgtParentBindWorldInv.invert();
+      } else {
+        tgtParentBindWorldInv.identity();
+      }
+
+      const values = Array.from(track.values);
+      for (let i = 0; i < values.length; i += 4) {
+        // q_target_local = tgtParentBindWorld⁻¹ · srcParentBindWorld · q · srcBindWorld⁻¹ · tgtBindWorld
+        q.fromArray(values, i);
+        q.premultiply(srcParentBindWorld);
+        q.multiply(srcBindWorldInv).multiply(tgtBindWorld);
+        q.premultiply(tgtParentBindWorldInv);
+        q.toArray(values, i);
+      }
+      tracks.push(
+        new THREE.QuaternionKeyframeTrack(`${target.name}.quaternion`, Array.from(track.times), values),
+      );
+    }
+    if (tracks.length > 0) out.push(new THREE.AnimationClip(clip.name, clip.duration, tracks));
+  }
+  return out;
+}