@gmvjs/xray-v1 0.0.0-stage → 0.1.1

package/dist/scene.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"scene.js","sources":["../src/scene.ts"],"sourcesContent":["// X-Ray SDK 0.7 level scene (CoP): text .level files and rawdata/levels/<level>/*.part parts (ini format).\n// scene_object.part: [object_N] objects with reference_name (a path in rawdata/objects without .object), position, rotation, scale.\nimport { boundsOf } from '@gmvjs/core/geometry';\nimport type { LoadContext } from '@gmvjs/core/plugin';\nimport type { Mesh, Model, VFile } from '@gmvjs/core/types';\nimport { objectMeshes, parseObject, type XrObjectMesh } from './object';\n\nexport type Ini = Map<string, Map<string, string>>;\n\n/** X-Ray ini parsing (sections, \"key = value\", \";\" comments). */\nexport function parseIni(text: string): Ini {\n  const out: Ini = new Map();\n  let cur: Map<string, string> | null = null;\n  for (const raw of text.split(/\\r?\\n/)) {\n    const line = raw.replace(/;.*$/, '').trim();\n    if (!line) continue;\n    const sec = /^\\[([^\\]]+)\\]/.exec(line);\n    if (sec) { cur = new Map(); out.set(sec[1]!.trim(), cur); continue; }\n    const eq = line.indexOf('=');\n    if (cur && eq > 0) cur.set(line.slice(0, eq).trim(), line.slice(eq + 1).trim());\n  }\n  return out;\n}\n\nexport interface SceneObjectRef { name: string; reference: string; position: number[]; rotation: number[]; scale: number[]; flags: number }\n\nconst vec = (s: string | undefined, d: number[]) => (s ? s.split(',').map((x) => +x.trim()) : d);\n\n/** Objects from scene_object.part. */\nexport function sceneObjects(ini: Ini): SceneObjectRef[] {\n  const out: SceneObjectRef[] = [];\n  for (const [name, sec] of ini) {\n    if (!/^object_\\d+$/.test(name) || !sec.get('reference_name')) continue;\n    out.push({\n      name: sec.get('name') ?? name, reference: sec.get('reference_name')!, flags: +(sec.get('flags') ?? 0),\n      position: vec(sec.get('position'), [0, 0, 0]), rotation: vec(sec.get('rotation'), [0, 0, 0]), scale: vec(sec.get('scale'), [1, 1, 1]),\n    });\n  }\n  return out;\n}\n\n/**\n * Scene object rotation matrix (row vectors: v' = v·R). Verified on labx8 (CoP): the vertices of 40 out of 40 rotated scene objects\n * matched the compiled level geometry exactly with R = transpose(setHPB(y, x, z)); other angle interpretations did not.\n */\nexport function sceneRotation(rot: number[]): number[] {\n  const h = rot[1]!, p = rot[0]!, b = rot[2]!;\n  const sh = Math.sin(h), ch = Math.cos(h), sp = Math.sin(p), cp = Math.cos(p), sb = Math.sin(b), cb = Math.cos(b);\n  const cc = ch * cb, cs = ch * sb, sc = sh * cb, ss = sh * sb;\n  const m = [cc - sp * ss, cs + sp * sc, -cp * sh, -cp * sb, cp * cb, sp, sc + sp * cs, ss - sp * cc, cp * ch];\n  return [m[0]!, m[3]!, m[6]!, m[1]!, m[4]!, m[7]!, m[2]!, m[5]!, m[8]!];\n}\n\n/** Object mesh vertices into the scene world: v·S·R + P (row vectors). */\nexport function placeMesh(m: XrObjectMesh, ref: SceneObjectRef): { pos: Float32Array; nor: Float32Array } {\n  const R = sceneRotation(ref.rotation), [sx, sy, sz] = ref.scale as [number, number, number], [px, py, pz] = ref.position as [number, number, number];\n  const n = m.pos.length / 3, pos = new Float32Array(n * 3), nor = new Float32Array(n * 3);\n  for (let i = 0; i < n; i++) {\n    const x = m.pos[i * 3]! * sx, y = m.pos[i * 3 + 1]! * sy, z = m.pos[i * 3 + 2]! * sz;\n    pos[i * 3] = x * R[0]! + y * R[3]! + z * R[6]! + px;\n    pos[i * 3 + 1] = x * R[1]! + y * R[4]! + z * R[7]! + py;\n    pos[i * 3 + 2] = x * R[2]! + y * R[5]! + z * R[8]! + pz;\n    // normal: with non-uniform scale, through the inverse scale\n    const a = m.nor[i * 3]! / sx, b = m.nor[i * 3 + 1]! / sy, c = m.nor[i * 3 + 2]! / sz;\n    let nx = a * R[0]! + b * R[3]! + c * R[6]!, ny = a * R[1]! + b * R[4]! + c * R[7]!, nz = a * R[2]! + b * R[5]! + c * R[8]!;\n    const l = Math.hypot(nx, ny, nz) || 1; nx /= l; ny /= l; nz /= l;\n    nor[i * 3] = nx; nor[i * 3 + 1] = ny; nor[i * 3 + 2] = nz;\n  }\n  return { pos, nor };\n}\n\n/** Find a file by a rawdata/… path (in open folders/archives the path may start higher: editors/rawdata, sdk/editors/rawdata). */\nasync function readRaw(ctx: LoadContext, rel: string): Promise<Uint8Array | null> {\n  const want = rel.toLowerCase().replace(/\\\\/g, '/');\n  for (const a of ctx.archives) {\n    const e = a.lookup(want) ?? a.entries.find((x) => x.path.endsWith('/' + want));\n    if (e) return a.read(e);\n  }\n  return null;\n}\n\n/** SDK level: .level + scene_object.part + objects. Meshes are merged by texture and shader. */\nexport async function loadSceneLevel(main: VFile, ctx: LoadContext): Promise<Model> {\n  const level = parseIni(new TextDecoder('windows-1251').decode(await main.arrayBuffer()));\n  const opts = level.get('level_options'), name = main.name.replace(/\\.level$/i, '');\n  const dir = (main.path ?? '').replace(/[^/]*$/, '');\n  const partPath = `${dir}${name}/scene_object.part`;\n  let part = await ctx.readPath(partPath).catch(() => null);\n  if (!part) part = await readRaw(ctx, `rawdata/levels/${name}/scene_object.part`);\n  if (!part) throw new Error(`Нет ${name}/scene_object.part рядом с ${main.name}: откройте папку SDK (editors/rawdata) целиком`);\n  const refs = sceneObjects(parseIni(new TextDecoder('windows-1251').decode(part)));\n  const cache = new Map<string, XrObjectMesh[] | null>(), missing = new Set<string>();\n  const groups = new Map<string, { texture: string; shader: string; material?: string; pos: number[]; nor: number[]; uv: number[]; idx: number[] }>();\n  let placed = 0;\n  for (const ref of refs) {\n    let list = cache.get(ref.reference);\n    if (list === undefined) {\n      const raw = await readRaw(ctx, `rawdata/objects/${ref.reference}.object`);\n      try { list = raw ? objectMeshes(parseObject(raw.buffer.slice(raw.byteOffset, raw.byteOffset + raw.byteLength) as ArrayBuffer)) : null; } catch { list = null; }\n      cache.set(ref.reference, list);\n    }\n    if (!list) { missing.add(ref.reference); continue; }\n    placed++;\n    for (const m of list) {\n      const s = m.surface, key = `${s?.texture ?? ''}|${s?.eshader ?? ''}`;\n      let g = groups.get(key);\n      if (!g) groups.set(key, (g = { texture: s?.texture ?? '', shader: s?.eshader ?? '', material: s?.gamemtl, pos: [], nor: [], uv: [], idx: [] }));\n      const { pos, nor } = placeMesh(m, ref), base = g.pos.length / 3;\n      for (let i = 0; i < pos.length; i++) { g.pos.push(pos[i]!); g.nor.push(nor[i]!); }\n      for (let i = 0; i < m.uv.length; i++) g.uv.push(m.uv[i]!);\n      for (let i = 0; i < m.indices.length; i++) g.idx.push(m.indices[i]! + base);\n    }\n  }\n  const meshes: Mesh[] = [...groups.values()].map((g) => {\n    const n = g.pos.length / 3;\n    return {\n      name: `${g.texture || '(без текстуры)'} · ${g.shader}`, texture: g.texture, shader: g.shader, material: g.material, vertexCount: n,\n      pos: Float32Array.from(g.pos), nor: Float32Array.from(g.nor), uv: Float32Array.from(g.uv),\n      bone: new Float32Array(n * 4), weight: new Float32Array(n * 4).map((_, i) => (i % 4 === 0 ? 1 : 0)), indices: Uint32Array.from(g.idx), skinned: false,\n    };\n  });\n  if (!meshes.length) throw new Error(`Объекты уровня не найдены (${missing.size} ссылок): откройте папку SDK с rawdata/objects`);\n  const info = [`Уровень SDK: ${opts?.get('level_path') ?? name}, объектов ${refs.length}, показано ${placed}, мешей (по текстурам) ${meshes.length}`];\n  if (missing.size) info.push(`Нет файлов объектов (${missing.size}): ${[...missing].slice(0, 6).join(', ')}${missing.size > 6 ? '…' : ''}`);\n  return { meshes, skeleton: null, motions: [], bounds: boundsOf(meshes), flipZ: true, info 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package/dist/skeleton.d.ts

@@ -0,0 +1,34 @@
+import type { Mesh, Motion, SkeletonRuntime } from '@gmvjs/core/types';
+import type { XrayMotion } from './motion';
+import { type OgfBone } from './ogf';
+type M16 = Float32Array;
+export declare class XraySkeleton implements SkeletonRuntime {
+    readonly transposeBind: boolean;
+    readonly n: number;
+    readonly parent: number[];
+    readonly order: number[];
+    readonly bindLocal: Float32Array;
+    readonly bindWorld: Float32Array;
+    readonly invBind: Float32Array;
+    readonly world: Float32Array;
+    readonly skin: Float32Array;
+    readonly bindLocalV: M16[];
+    readonly bindWorldV: M16[];
+    readonly invV: M16[];
+    readonly worldV: M16[];
+    readonly skinV: M16[];
+    private readonly scratch;
+    bindVariant: string;
+    bindErr: [number, number];
+    constructor(bones: OgfBone[], transposeBind?: boolean);
+    /** Bone matrix from setXYZi angles and position, interpreted the same way as the bind pose (for SDK animations). */
+    local(rot: number[], pos: number[], o: Float32Array): void;
+    /** Choose the angle interpretation: vertices must lie near their bones. */
+    static auto(bones: OgfBone[], meshes: readonly Mesh[]): XraySkeleton;
+    pose(motion: Motion | null, time: number, loop: boolean, invQ?: boolean): void;
+    /** Automatic quaternion sign selection: with the right variant, mesh edge lengths barely change. */
+    detectInvert(meshes: readonly Mesh[], motion: XrayMotion): boolean;
+    /** Mesh distortion by an animation: the mean relative edge length error over three frames (0 = edges do not stretch). */
+    motionError(meshes: readonly Mesh[], motion: XrayMotion, inv: boolean): number;
+}
+export {};

package/dist/skeleton.js

@@ -0,0 +1,252 @@
+import { FPS } from "./ogf.js";
+const Q = 1 / 32767;
+function mulRow(a, b, o) {
+  for (let r = 0; r < 4; r++)
+    for (let c = 0; c < 4; c++)
+      o[r * 4 + c] = a[r * 4] * b[c] + a[r * 4 + 1] * b[4 + c] + a[r * 4 + 2] * b[8 + c] + a[r * 4 + 3] * b[12 + c];
+}
+function rigidInv(a, o) {
+  for (let r = 0; r < 3; r++) for (let c = 0; c < 3; c++) o[r * 4 + c] = a[c * 4 + r];
+  for (let c = 0; c < 3; c++) o[12 + c] = -(a[12] * a[c * 4] + a[13] * a[c * 4 + 1] + a[14] * a[c * 4 + 2]);
+  o[3] = o[7] = o[11] = 0;
+  o[15] = 1;
+}
+function eulerLocal(rot, pos, o, transpose) {
+  const cx = Math.cos(rot[0]), sx = Math.sin(rot[0]), cy = Math.cos(rot[1]), sy = Math.sin(rot[1]), cz = Math.cos(rot[2]), sz = Math.sin(rot[2]);
+  const m = [cz * cy + sz * sx * sy, sz * cx, -cz * sy + sz * sx * cy, -sz * cy + cz * sx * sy, cz * cx, sz * sy + cz * sx * cy, cx * sy, -sx, cx * cy];
+  for (let r = 0; r < 3; r++) for (let c = 0; c < 3; c++) o[r * 4 + c] = transpose ? m[c * 3 + r] : m[r * 3 + c];
+  o[3] = o[7] = o[11] = 0;
+  o[12] = pos[0];
+  o[13] = pos[1];
+  o[14] = pos[2];
+  o[15] = 1;
+}
+function quatLocal(x, y, z, w, tx, ty, tz, o) {
+  const xx = x * x, yy = y * y, zz = z * z, xy = x * y, xz = x * z, yz = y * z, wx = w * x, wy = w * y, wz = w * z;
+  o[0] = 1 - 2 * (yy + zz);
+  o[1] = 2 * (xy - wz);
+  o[2] = 2 * (xz + wy);
+  o[3] = 0;
+  o[4] = 2 * (xy + wz);
+  o[5] = 1 - 2 * (xx + zz);
+  o[6] = 2 * (yz - wx);
+  o[7] = 0;
+  o[8] = 2 * (xz - wy);
+  o[9] = 2 * (yz + wx);
+  o[10] = 1 - 2 * (xx + yy);
+  o[11] = 0;
+  o[12] = tx;
+  o[13] = ty;
+  o[14] = tz;
+  o[15] = 1;
+}
+function trackLocal(t, f0, f1, a, invQ, o) {
+  const R = t.rot;
+  let x, y, z, w;
+  if (R.length === 4) {
+    x = R[0] * Q;
+    y = R[1] * Q;
+    z = R[2] * Q;
+    w = R[3] * Q;
+  } else {
+    const i = f0 * 4, j = f1 * 4;
+    const x0 = R[i] * Q, y0 = R[i + 1] * Q, z0 = R[i + 2] * Q, w0 = R[i + 3] * Q;
+    let x1 = R[j] * Q, y1 = R[j + 1] * Q, z1 = R[j + 2] * Q, w1 = R[j + 3] * Q;
+    if (x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1 < 0) {
+      x1 = -x1;
+      y1 = -y1;
+      z1 = -z1;
+      w1 = -w1;
+    }
+    x = x0 + (x1 - x0) * a;
+    y = y0 + (y1 - y0) * a;
+    z = z0 + (z1 - z0) * a;
+    w = w0 + (w1 - w0) * a;
+  }
+  const l = Math.hypot(x, y, z, w) || 1;
+  x /= l;
+  y /= l;
+  z /= l;
+  w /= l;
+  if (invQ) {
+    x = -x;
+    y = -y;
+    z = -z;
+  }
+  const T = t.trans;
+  let tx, ty, tz;
+  if (T.length === 3) {
+    tx = T[0];
+    ty = T[1];
+    tz = T[2];
+  } else {
+    const i = f0 * 3, j = f1 * 3;
+    tx = T[i] + (T[j] - T[i]) * a;
+    ty = T[i + 1] + (T[j + 1] - T[i + 1]) * a;
+    tz = T[i + 2] + (T[j + 2] - T[i + 2]) * a;
+  }
+  quatLocal(x, y, z, w, tx, ty, tz, o);
+}
+class XraySkeleton {
+  constructor(bones, transposeBind = false) {
+    this.transposeBind = transposeBind;
+    const n = this.n = bones.length;
+    this.parent = bones.map((b) => b.parent);
+    const order = [], seen = new Uint8Array(n);
+    const visit = (i) => {
+      if (seen[i]) return;
+      seen[i] = 1;
+      if (this.parent[i] >= 0) visit(this.parent[i]);
+      order.push(i);
+    };
+    for (let i = 0; i < n; i++) visit(i);
+    this.order = order;
+    const mk = () => new Float32Array(16 * n), view = (arr) => Array.from({ length: n }, (_, i) => arr.subarray(16 * i, 16 * i + 16));
+    this.bindLocal = mk();
+    this.bindWorld = mk();
+    this.invBind = mk();
+    this.world = mk();
+    this.skin = mk();
+    this.bindLocalV = view(this.bindLocal);
+    this.bindWorldV = view(this.bindWorld);
+    this.invV = view(this.invBind);
+    this.worldV = view(this.world);
+    this.skinV = view(this.skin);
+    for (const i of order) {
+      eulerLocal(bones[i].rot, bones[i].pos, this.bindLocalV[i], transposeBind);
+      const p = this.parent[i];
+      if (p < 0) this.bindWorldV[i].set(this.bindLocalV[i]);
+      else mulRow(this.bindLocalV[i], this.bindWorldV[p], this.bindWorldV[i]);
+      rigidInv(this.bindWorldV[i], this.invV[i]);
+    }
+    for (let k = 0; k < 16 * n; k++) this.skin[k] = k % 16 % 5 === 0 ? 1 : 0;
+    this.world.set(this.bindWorld);
+  }
+  transposeBind;
+  n;
+  parent;
+  order;
+  bindLocal;
+  bindWorld;
+  invBind;
+  world;
+  skin;
+  bindLocalV;
+  bindWorldV;
+  invV;
+  worldV;
+  skinV;
+  scratch = new Float32Array(16);
+  bindVariant = "";
+  bindErr = [0, 0];
+  /** Bone matrix from setXYZi angles and position, interpreted the same way as the bind pose (for SDK animations). */
+  local(rot, pos, o) {
+    eulerLocal(rot, pos, o, this.transposeBind);
+  }
+  /** Choose the angle interpretation: vertices must lie near their bones. */
+  static auto(bones, meshes) {
+    const a = new XraySkeleton(bones, false);
+    if (!a.n) return a;
+    const b = new XraySkeleton(bones, true);
+    const err = (s2) => {
+      let e = 0, c = 0;
+      for (const m of meshes) {
+        if (!m.skinned) continue;
+        const step = Math.max(1, Math.floor(m.vertexCount / 1500));
+        for (let v = 0; v < m.vertexCount; v += step) {
+          let bi = m.bone[v * 4], bw = m.weight[v * 4];
+          for (let k = 1; k < 4; k++) if (m.weight[v * 4 + k] > bw) {
+            bw = m.weight[v * 4 + k];
+            bi = m.bone[v * 4 + k];
+          }
+          const W = s2.bindWorldV[bi];
+          e += Math.hypot(m.pos[v * 3] - W[12], m.pos[v * 3 + 1] - W[13], m.pos[v * 3 + 2] - W[14]);
+          c++;
+        }
+      }
+      return c ? e / c : 0;
+    };
+    const ea = err(a), eb = err(b);
+    const s = eb < ea * 0.98 ? b : a;
+    s.bindVariant = s === b ? "B (транспонированный)" : "A";
+    s.bindErr = [ea, eb];
+    return s;
+  }
+  pose(motion, time, loop, invQ = false) {
+    if (!this.n) return;
+    const m = motion && motion.kind === "xray" ? motion : null;
+    const frame = (x, lp) => {
+      const F = x.frames;
+      let fr = time * FPS;
+      fr = lp ? (fr % F + F) % F : Math.min(Math.max(fr, 0), F - 1);
+      const f0 = Math.floor(fr);
+      return [f0, lp ? (f0 + 1) % F : Math.min(f0 + 1, F - 1), fr - f0];
+    };
+    const list = m ? [[m, ...frame(m, loop)], ...(m.layers ?? []).map((x) => [x, ...frame(x, true)])] : [];
+    for (const i of this.order) {
+      const L = this.scratch;
+      let done = false;
+      for (const [x, f0, f1, a] of list) {
+        const tr = x.tracks[i];
+        if (tr) {
+          trackLocal(tr, f0, f1, a, invQ, L);
+          done = true;
+          break;
+        }
+      }
+      if (!done) L.set(this.bindLocalV[i]);
+      const p = this.parent[i];
+      if (p < 0) this.worldV[i].set(L);
+      else mulRow(L, this.worldV[p], this.worldV[i]);
+      mulRow(this.invV[i], this.worldV[i], this.skinV[i]);
+    }
+  }
+  /** Automatic quaternion sign selection: with the right variant, mesh edge lengths barely change. */
+  detectInvert(meshes, motion) {
+    const s0 = this.motionError(meshes, motion, false), s1 = this.motionError(meshes, motion, true);
+    return s1 < s0 * 0.9;
+  }
+  /** Mesh distortion by an animation: the mean relative edge length error over three frames (0 = edges do not stretch). */
+  motionError(meshes, motion, inv) {
+    const edges = [];
+    for (const m of meshes) {
+      if (!m.skinned) continue;
+      const tc = m.indices.length / 3, step = Math.max(1, Math.floor(tc / 1500));
+      for (let t = 0; t < tc; t += step) edges.push([m, m.indices[t * 3], m.indices[t * 3 + 1]]);
+    }
+    if (!edges.length) return 0;
+    const sk = (m, v, o) => {
+      const x = m.pos[v * 3], y = m.pos[v * 3 + 1], z = m.pos[v * 3 + 2];
+      o[0] = o[1] = o[2] = 0;
+      for (let k = 0; k < 4; k++) {
+        const w = m.weight[v * 4 + k];
+        if (!w) continue;
+        const M = this.skinV[m.bone[v * 4 + k]];
+        o[0] += w * (x * M[0] + y * M[4] + z * M[8] + M[12]);
+        o[1] += w * (x * M[1] + y * M[5] + z * M[9] + M[13]);
+        o[2] += w * (x * M[2] + y * M[6] + z * M[10] + M[14]);
+      }
+    };
+    const A = [0, 0, 0], B = [0, 0, 0];
+    const score = (inv2) => {
+      let d = 0, l = 0;
+      for (const fr of [0, Math.floor(motion.frames / 2), motion.frames - 1]) {
+        this.pose(motion, fr / FPS, false, inv2);
+        for (const [m, a, b] of edges) {
+          sk(m, a, A);
+          sk(m, b, B);
+          const l1 = Math.hypot(A[0] - B[0], A[1] - B[1], A[2] - B[2]);
+          const l0 = Math.hypot(m.pos[a * 3] - m.pos[b * 3], m.pos[a * 3 + 1] - m.pos[b * 3 + 1], m.pos[a * 3 + 2] - m.pos[b * 3 + 2]);
+          d += Math.abs(l1 - l0);
+          l += l0;
+        }
+      }
+      return d / (l || 1);
+    };
+    return score(inv);
+  }
+}
+export {
+  XraySkeleton
+};
+//# sourceMappingURL=skeleton.js.map

package/dist/skeleton.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"skeleton.js","sources":["../src/skeleton.ts"],"sourcesContent":["// X-Ray skeleton: bind pose angles from IK data, animations as quantized quaternions (row-vector matrices, as in the engine).\nimport type { Mesh, Motion, SkeletonRuntime } from '@gmvjs/core/types';\nimport type { XrayMotion, XrayTrack } from './motion';\nimport { FPS, type OgfBone } from './ogf';\n\nconst Q = 1 / 32767;\ntype M16 = Float32Array;\n\nfunction mulRow(a: M16, b: M16, o: M16): void { // row vectors: a first, then b\n  for (let r = 0; r < 4; r++)\n    for (let c = 0; c < 4; c++)\n      o[r * 4 + c] = a[r * 4]! * b[c]! + a[r * 4 + 1]! * b[4 + c]! + a[r * 4 + 2]! * b[8 + c]! + a[r * 4 + 3]! * b[12 + c]!;\n}\nfunction rigidInv(a: M16, o: M16): void {\n  for (let r = 0; r < 3; r++) for (let c = 0; c < 3; c++) o[r * 4 + c] = a[c * 4 + r]!;\n  for (let c = 0; c < 3; c++) o[12 + c] = -(a[12]! * a[c * 4]! + a[13]! * a[c * 4 + 1]! + a[14]! * a[c * 4 + 2]!);\n  o[3] = o[7] = o[11] = 0; o[15] = 1;\n}\nfunction eulerLocal(rot: number[], pos: number[], o: M16, transpose: boolean): void {\n  // Fmatrix::setXYZi(x, y, z) = setHPB(−y, −x, −z): for a row vector, rotation about Z first, then X, then Y\n  // (roll, pitch, heading). Verified on CoP skinning: mesh edge lengths are preserved in animations only with this order.\n  const cx = Math.cos(rot[0]!), sx = Math.sin(rot[0]!), cy = Math.cos(rot[1]!), sy = Math.sin(rot[1]!), cz = Math.cos(rot[2]!), sz = Math.sin(rot[2]!);\n  const m = [cz * cy + sz * sx * sy, sz * cx, -cz * sy + sz * sx * cy, -sz * cy + cz * sx * sy, cz * cx, sz * sy + cz * sx * cy, cx * sy, -sx, cx * cy];\n  for (let r = 0; r < 3; r++) for (let c = 0; c < 3; c++) o[r * 4 + c] = transpose ? m[c * 3 + r]! : m[r * 3 + c]!;\n  o[3] = o[7] = o[11] = 0; o[12] = pos[0]!; o[13] = pos[1]!; o[14] = pos[2]!; o[15] = 1;\n}\nfunction quatLocal(x: number, y: number, z: number, w: number, tx: number, ty: number, tz: number, o: M16): void { // Fmatrix::rotation(Fquaternion) + translate_over\n  const xx = x * x, yy = y * y, zz = z * z, xy = x * y, xz = x * z, yz = y * z, wx = w * x, wy = w * y, wz = w * z;\n  o[0] = 1 - 2 * (yy + zz); o[1] = 2 * (xy - wz); o[2] = 2 * (xz + wy); o[3] = 0;\n  o[4] = 2 * (xy + wz); o[5] = 1 - 2 * (xx + zz); o[6] = 2 * (yz - wx); o[7] = 0;\n  o[8] = 2 * (xz - wy); o[9] = 2 * (yz + wx); o[10] = 1 - 2 * (xx + yy); o[11] = 0;\n  o[12] = tx; o[13] = ty; o[14] = tz; o[15] = 1;\n}\nfunction trackLocal(t: XrayTrack, f0: number, f1: number, a: number, invQ: boolean, o: M16): void {\n  const R = t.rot;\n  let x: number, y: number, z: number, w: number;\n  if (R.length === 4) { x = R[0]! * Q; y = R[1]! * Q; z = R[2]! * Q; w = R[3]! * Q; }\n  else {\n    const i = f0 * 4, j = f1 * 4;\n    const x0 = R[i]! * Q, y0 = R[i + 1]! * Q, z0 = R[i + 2]! * Q, w0 = R[i + 3]! * Q;\n    let x1 = R[j]! * Q, y1 = R[j + 1]! * Q, z1 = R[j + 2]! * Q, w1 = R[j + 3]! * Q;\n    if (x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1 < 0) { x1 = -x1; y1 = -y1; z1 = -z1; w1 = -w1; }\n    x = x0 + (x1 - x0) * a; y = y0 + (y1 - y0) * a; z = z0 + (z1 - z0) * a; w = w0 + (w1 - w0) * a;\n  }\n  const l = Math.hypot(x, y, z, w) || 1;\n  x /= l; y /= l; z /= l; w /= l;\n  if (invQ) { x = -x; y = -y; z = -z; }\n  const T = t.trans;\n  let tx: number, ty: number, tz: number;\n  if (T.length === 3) { tx = T[0]!; ty = T[1]!; tz = T[2]!; }\n  else { const i = f0 * 3, j = f1 * 3; tx = T[i]! + (T[j]! - T[i]!) * a; ty = T[i + 1]! + (T[j + 1]! - T[i + 1]!) * a; tz = T[i + 2]! + (T[j + 2]! - T[i + 2]!) * a; }\n  quatLocal(x, y, z, w, tx, ty, tz, o);\n}\n\nexport class XraySkeleton implements SkeletonRuntime {\n  readonly n: number;\n  readonly parent: number[];\n  readonly order: number[];\n  readonly bindLocal: Float32Array; readonly bindWorld: Float32Array; readonly invBind: Float32Array;\n  readonly world: Float32Array; readonly skin: Float32Array;\n  readonly bindLocalV: M16[]; readonly bindWorldV: M16[]; readonly invV: M16[]; readonly worldV: M16[]; readonly skinV: M16[];\n  private readonly scratch = new Float32Array(16);\n  bindVariant = '';\n  bindErr: [number, number] = [0, 0];\n\n  constructor(bones: OgfBone[], readonly transposeBind = false) {\n    const n = (this.n = bones.length);\n    this.parent = bones.map((b) => b.parent);\n    const order: number[] = [], seen = new Uint8Array(n);\n    const visit = (i: number) => { if (seen[i]) return; seen[i] = 1; if (this.parent[i]! >= 0) visit(this.parent[i]!); order.push(i); };\n    for (let i = 0; i < n; i++) visit(i);\n    this.order = order;\n    const mk = () => new Float32Array(16 * n), view = (arr: Float32Array) => Array.from({ length: n }, (_, i) => arr.subarray(16 * i, 16 * i + 16));\n    this.bindLocal = mk(); this.bindWorld = mk(); this.invBind = mk(); this.world = mk(); this.skin = mk();\n    this.bindLocalV = view(this.bindLocal); this.bindWorldV = view(this.bindWorld); this.invV = view(this.invBind);\n    this.worldV = view(this.world); this.skinV = view(this.skin);\n    for (const i of order) {\n      eulerLocal(bones[i]!.rot, bones[i]!.pos, this.bindLocalV[i]!, transposeBind);\n      const p = this.parent[i]!;\n      if (p < 0) this.bindWorldV[i]!.set(this.bindLocalV[i]!); else mulRow(this.bindLocalV[i]!, this.bindWorldV[p]!, this.bindWorldV[i]!);\n      rigidInv(this.bindWorldV[i]!, this.invV[i]!);\n    }\n    for (let k = 0; k < 16 * n; k++) this.skin[k] = (k % 16) % 5 === 0 ? 1 : 0;\n    this.world.set(this.bindWorld);\n  }\n\n  /** Bone matrix from setXYZi angles and position, interpreted the same way as the bind pose (for SDK animations). */\n  local(rot: number[], pos: number[], o: Float32Array): void { eulerLocal(rot, pos, o, this.transposeBind); }\n\n  /** Choose the angle interpretation: vertices must lie near their bones. */\n  static auto(bones: OgfBone[], meshes: readonly Mesh[]): XraySkeleton {\n    const a = new XraySkeleton(bones, false);\n    if (!a.n) return a;\n    const b = new XraySkeleton(bones, true);\n    const err = (s: XraySkeleton) => {\n      let e = 0, c = 0;\n      for (const m of meshes) {\n        if (!m.skinned) continue;\n        const step = Math.max(1, Math.floor(m.vertexCount / 1500));\n        for (let v = 0; v < m.vertexCount; v += step) {\n          let bi = m.bone[v * 4]!, bw = m.weight[v * 4]!;\n          for (let k = 1; k < 4; k++) if (m.weight[v * 4 + k]! > bw) { bw = m.weight[v * 4 + k]!; bi = m.bone[v * 4 + k]!; }\n          const W = s.bindWorldV[bi]!;\n          e += Math.hypot(m.pos[v * 3]! - W[12]!, m.pos[v * 3 + 1]! - W[13]!, m.pos[v * 3 + 2]! - W[14]!);\n          c++;\n        }\n      }\n      return c ? e / c : 0;\n    };\n    const ea = err(a), eb = err(b);\n    const s = eb < ea * 0.98 ? b : a;\n    s.bindVariant = s === b ? 'B (транспонированный)' : 'A';\n    s.bindErr = [ea, eb];\n    return s;\n  }\n\n  pose(motion: Motion | null, time: number, loop: boolean, invQ = false): void {\n    if (!this.n) return;\n    const m = motion && motion.kind === 'xray' ? motion : null;\n    // frames of the main animation and of the layers (each has its own length; layers always loop)\n    const frame = (x: XrayMotion, lp: boolean): [number, number, number] => {\n      const F = x.frames;\n      let fr = time * FPS;\n      fr = lp ? ((fr % F) + F) % F : Math.min(Math.max(fr, 0), F - 1);\n      const f0 = Math.floor(fr);\n      return [f0, lp ? (f0 + 1) % F : Math.min(f0 + 1, F - 1), fr - f0];\n    };\n    const list: Array<[XrayMotion, number, number, number]> = m ? [[m, ...frame(m, loop)], ...(m.layers ?? []).map((x): [XrayMotion, number, number, number] => [x, ...frame(x, true)])] : [];\n    for (const i of this.order) {\n      const L = this.scratch;\n      let done = false;\n      for (const [x, f0, f1, a] of list) { const tr = x.tracks[i]; if (tr) { trackLocal(tr, f0, f1, a, invQ, L); done = true; break; } }\n      if (!done) L.set(this.bindLocalV[i]!);\n      const p = this.parent[i]!;\n      if (p < 0) this.worldV[i]!.set(L); else mulRow(L, this.worldV[p]!, this.worldV[i]!);\n      mulRow(this.invV[i]!, this.worldV[i]!, this.skinV[i]!);\n    }\n  }\n\n  /** Automatic quaternion sign selection: with the right variant, mesh edge lengths barely change. */\n  detectInvert(meshes: readonly Mesh[], motion: XrayMotion): boolean {\n    const s0 = this.motionError(meshes, motion, false), s1 = this.motionError(meshes, motion, true);\n    return s1 < s0 * 0.9;\n  }\n\n  /** Mesh distortion by an animation: the mean relative edge length error over three frames (0 = edges do not stretch). */\n  motionError(meshes: readonly Mesh[], motion: XrayMotion, inv: boolean): number {\n    const edges: Array<[Mesh, number, number]> = [];\n    for (const m of meshes) {\n      if (!m.skinned) continue;\n      const tc = m.indices.length / 3, step = Math.max(1, Math.floor(tc / 1500));\n      for (let t = 0; t < tc; t += step) edges.push([m, m.indices[t * 3]!, m.indices[t * 3 + 1]!]);\n    }\n    if (!edges.length) return 0;\n    const sk = (m: Mesh, v: number, o: number[]) => {\n      const x = m.pos[v * 3]!, y = m.pos[v * 3 + 1]!, z = m.pos[v * 3 + 2]!;\n      o[0] = o[1] = o[2] = 0;\n      for (let k = 0; k < 4; k++) {\n        const w = m.weight[v * 4 + k]!;\n        if (!w) continue;\n        const M = this.skinV[m.bone[v * 4 + k]!]!;\n        o[0] += w * (x * M[0]! + y * M[4]! + z * M[8]! + M[12]!); o[1] += w * (x * M[1]! + y * M[5]! + z * M[9]! + M[13]!); o[2] += w * (x * M[2]! + y * M[6]! + z * M[10]! + M[14]!);\n      }\n    };\n    const A = [0, 0, 0], B = [0, 0, 0];\n    const score = (inv: boolean) => {\n      let d = 0, l = 0;\n      for (const fr of [0, Math.floor(motion.frames / 2), motion.frames - 1]) {\n        this.pose(motion, fr / FPS, false, inv);\n        for (const [m, a, b] of edges) {\n          sk(m, a, A); sk(m, b, B);\n          const l1 = Math.hypot(A[0]! - B[0]!, A[1]! - B[1]!, A[2]! - B[2]!);\n          const l0 = Math.hypot(m.pos[a * 3]! - m.pos[b * 3]!, m.pos[a * 3 + 1]! - m.pos[b * 3 + 1]!, m.pos[a * 3 + 2]! - m.pos[b * 3 + 2]!);\n          d += Math.abs(l1 - l0); l += l0;\n        }\n      }\n      return d / (l || 1);\n    };\n    return score(inv);\n  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package/dist/smotion.d.ts

@@ -0,0 +1,44 @@
+import type { XrayMotion } from './motion';
+export interface EnvKey {
+    value: number;
+    time: number;
+    shape: number;
+    tension: number;
+    continuity: number;
+    bias: number;
+    param: number[];
+}
+export interface Envelope {
+    behavior: [number, number];
+    keys: EnvKey[];
+}
+export interface SMotion {
+    name: string;
+    frameStart: number;
+    frameEnd: number;
+    fps: number;
+    version: number;
+    flags: number;
+    boneOrPart: number;
+    speed: number;
+    bones: Array<{
+        name: string;
+        flags: number;
+        envs: Envelope[];
+    }>;
+}
+/** Animation list: u32 count + animations (.skls, .object chunk 0x0916). */
+export declare function parseSMotions(u: Uint8Array): SMotion[];
+/** .skl: chunk 0x1200 with one animation. */
+export declare function parseSkl(u: Uint8Array): SMotion;
+export declare function evalEnvelope(env: Envelope, time: number): number;
+/** Quaternion from a rotation matrix (rows, as in the X-Ray skeleton's quatLocal). */
+export declare function quatOfRows(o: ArrayLike<number>): [number, number, number, number];
+/**
+ * SDK animation → X-Ray tracks per model bone (by name): envelopes are evaluated at every frame, the rotation (setXYZi)
+ * is converted to a quaternion. local(rot, pos, out) is the bone matrix from angles, as for this skeleton's bind pose.
+ */
+export declare function smotionToXray(sm: SMotion, boneNames: readonly string[], local: (rot: number[], pos: number[], o: Float32Array) => void, parts?: Array<{
+    name: string;
+    bones: string[];
+}>): XrayMotion;