@helix3/helix-cli 0.1.17-helix3.254 → 0.1.18-helix3.256

package/dist/character/importCharacter.d.ts

@@ -165,7 +165,14 @@ export interface CharacterGeometryBounds {
     max: [number, number, number];
     size: [number, number, number];
 }
-/** World-space geometry postcondition for runtime character packages. */
+/**
+ * World-space geometry postcondition for runtime character packages.
+ *
+ * Measures what a glTF renderer draws at rest: each vertex skinned by its joints
+ * (`Σ weight · jointWorld · IBM · position`). The skinned mesh node's own transform is ignored by
+ * glTF skinning, so measuring `nodeWorld · position` instead can report a correct character at the
+ * wrong scale — or pass one that renders at the wrong scale.
+ */
 export declare function assertCanonicalCharacterGeometry(doc: Document, scope: CharacterRigScope): CharacterGeometryBounds;
 /**
  * Converts an external biped character GLB into a helix-humanoid@1 drop-in, chaining the engine

package/dist/character/importCharacter.js

@@ -25,6 +25,7 @@ const meshyToHelixMap_1 = require("./meshyToHelixMap");
 const metahumanToHelixMap_1 = require("./metahumanToHelixMap");
 const retarget_1 = require("./stages/retarget");
 const conform_1 = require("./stages/conform");
+const mat4_1 = require("./mat4");
 const sanitizeMaterials_1 = require("./stages/sanitizeMaterials");
 const canonicalSkeleton_1 = require("./canonicalSkeleton");
 const retargetClip_1 = require("./stages/retargetClip");
@@ -428,28 +429,69 @@ function assertSkinnedLods(doc) {
             throw new Error(`package: LOD${i} decimated to 0 triangles — --lod-tris target is too aggressive`);
     });
 }
-/** World-space geometry postcondition for runtime character packages. */
+const IDENTITY_4 = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
+/**
+ * World-space geometry postcondition for runtime character packages.
+ *
+ * Measures what a glTF renderer draws at rest: each vertex skinned by its joints
+ * (`Σ weight · jointWorld · IBM · position`). The skinned mesh node's own transform is ignored by
+ * glTF skinning, so measuring `nodeWorld · position` instead can report a correct character at the
+ * wrong scale — or pass one that renders at the wrong scale.
+ */
 function assertCanonicalCharacterGeometry(doc, scope) {
     const min = [Infinity, Infinity, Infinity];
     const max = [-Infinity, -Infinity, -Infinity];
     let vertices = 0;
     const scratch = [];
+    const influence = [];
+    const weight = [];
     for (const scene of doc.getRoot().listScenes()) {
         scene.traverse((node) => {
-            if (node.getSkin() === null || node.getMesh() === null)
+            const skin = node.getSkin();
+            if (skin === null || node.getMesh() === null)
                 return;
-            const matrix = node.getWorldMatrix();
+            const nodeWorld = node.getWorldMatrix();
+            const inverseBinds = skin.getInverseBindMatrices();
+            const jointBinds = skin.listJoints().map((joint, index) => (0, mat4_1.mul4)(joint.getWorldMatrix(), inverseBinds === null ? IDENTITY_4 : inverseBinds.getElement(index, new Array(16).fill(0))));
             for (const primitive of node.getMesh().listPrimitives()) {
                 const position = primitive.getAttribute('POSITION');
                 if (position === null)
                     continue;
+                const sets = primitive.listSemantics().filter((semantic) => semantic.startsWith('JOINTS_'))
+                    .map((semantic) => [primitive.getAttribute(semantic), primitive.getAttribute(semantic.replace('JOINTS_', 'WEIGHTS_'))])
+                    .filter(([joints, weights]) => joints !== null && weights !== null);
                 for (let index = 0; index < position.getCount(); index++) {
                     position.getElement(index, scratch);
-                    const point = [
-                        matrix[0] * scratch[0] + matrix[4] * scratch[1] + matrix[8] * scratch[2] + matrix[12],
-                        matrix[1] * scratch[0] + matrix[5] * scratch[1] + matrix[9] * scratch[2] + matrix[13],
-                        matrix[2] * scratch[0] + matrix[6] * scratch[1] + matrix[10] * scratch[2] + matrix[14],
-                    ];
+                    const source = [scratch[0], scratch[1], scratch[2]];
+                    const point = [0, 0, 0];
+                    let total = 0;
+                    for (const [joints, weights] of sets) {
+                        joints.getElement(index, influence);
+                        weights.getElement(index, weight);
+                        for (let component = 0; component < influence.length; component++) {
+                            const w = weight[component];
+                            const bind = jointBinds[influence[component]];
+                            if (w <= 0 || bind === undefined)
+                                continue;
+                            const skinned = (0, mat4_1.transformPoint)(bind, source);
+                            point[0] += w * skinned[0];
+                            point[1] += w * skinned[1];
+                            point[2] += w * skinned[2];
+                            total += w;
+                        }
+                    }
+                    if (total > 0) {
+                        point[0] /= total;
+                        point[1] /= total;
+                        point[2] /= total;
+                    }
+                    else {
+                        // An unweighted vertex is malformed skin data; measure it where the node places it.
+                        const placed = (0, mat4_1.transformPoint)(nodeWorld, source);
+                        point[0] = placed[0];
+                        point[1] = placed[1];
+                        point[2] = placed[2];
+                    }
                     for (let axis = 0; axis < 3; axis++) {
                         min[axis] = Math.min(min[axis], point[axis]);
                         max[axis] = Math.max(max[axis], point[axis]);

package/dist/character/importCharacter.js.map

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package/dist/character/stages/conform.d.ts

@@ -1,4 +1,4 @@
-import { Document } from '@gltf-transform/core';
+import { Document, type Skin } from '@gltf-transform/core';
 import type { BoneMap } from './retarget';
 export interface SkelNodeDef {
     name: string;
@@ -15,6 +15,14 @@ export interface CanonicalSkeleton {
     worldByName: Map<string, number[]>;
     skeletonRootName: string;
 }
+/**
+ * The transform glTF skinning actually applies to a skin's vertices at rest: `jointWorld · IBM`.
+ * In a rig exported at its bind pose every joint yields the same matrix, and that matrix — not the
+ * skinned mesh node's own transform, which the glTF spec says is ignored — places the vertices in the
+ * joints' world. Returns null when the joints disagree (a posed or inconsistent bind), where there is
+ * no single answer to read.
+ */
+export declare function skinBindTransform(skin: Skin): number[] | null;
 /**
  * Reads the canonical helix-humanoid@1 rest skeleton out of a shipped body GLB (body-m-default): the
  * full bone subtree (local rest transforms + hierarchy) and the skin's joint order. World transforms

package/dist/character/stages/conform.js

@@ -1,5 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
+exports.skinBindTransform = skinBindTransform;
 exports.extractCanonicalSkeleton = extractCanonicalSkeleton;
 exports.conformToHelixRest = conformToHelixRest;
 const core_1 = require("@gltf-transform/core");
@@ -12,11 +13,48 @@ const applyRotT = (m, v) => [m[0] * v[0] + m[1] * v[1] + m[2] * v[2], m[4] * v[0
 function matrixIsIdentity(matrix) {
     return matrix.every((value, index) => Math.abs(value - IDENTITY[index]) <= 1e-9);
 }
+/** Two affine matrices describe the same transform, to a tolerance relative to their magnitude. */
+function matricesAgree(a, b) {
+    const scale = Math.max(1, ...a.map(Math.abs), ...b.map(Math.abs));
+    return a.every((value, index) => Math.abs(value - b[index]) <= 1e-3 * scale);
+}
+/**
+ * The transform glTF skinning actually applies to a skin's vertices at rest: `jointWorld · IBM`.
+ * In a rig exported at its bind pose every joint yields the same matrix, and that matrix — not the
+ * skinned mesh node's own transform, which the glTF spec says is ignored — places the vertices in the
+ * joints' world. Returns null when the joints disagree (a posed or inconsistent bind), where there is
+ * no single answer to read.
+ */
+function skinBindTransform(skin) {
+    const joints = skin.listJoints();
+    if (joints.length === 0)
+        return null;
+    const inverseBinds = skin.getInverseBindMatrices();
+    const element = new Array(16).fill(0);
+    let consensus = null;
+    for (const [index, joint] of joints.entries()) {
+        const ibm = inverseBinds === null ? IDENTITY : inverseBinds.getElement(index, element);
+        const bind = (0, mat4_1.mul4)(joint.getWorldMatrix(), ibm);
+        if (consensus === null)
+            consensus = bind;
+        else if (!matricesAgree(consensus, bind))
+            return null;
+    }
+    return consensus;
+}
 /**
  * Character stages operate in one canonical world space. glTF/FBX inputs may
  * carry their axis and unit conversion on ancestors of the skinned mesh;
  * conform later replaces those ancestors, so bake the world transform into
  * geometry first. Morph POSITION values are deltas and omit translation.
+ *
+ * Baked only when the skin agrees that the node's world transform IS the space its vertices live in
+ * (`jointWorld · IBM` equals it, as three's FBX export writes it). When the skin's bind says otherwise,
+ * the node transform is one glTF skinning never applies, and baking it scales the character a second
+ * time. That is the Meshy/Blender export: a 0.01 `Armature` over centimetre bones is the parent of both
+ * the joints and the mesh node, the IBMs already absorb it (`jointWorld · IBM = I`), and the vertices
+ * are metres. Baking the 0.01 shrank every Meshy-rigged Dreamer avatar to 1.8 cm, after which unit
+ * normalization scaled the metre joints down to match (helix-cli 0.1.15 through 0.1.17).
  */
 function bakeSkinnedMeshWorldTransforms(document) {
     const root = document.getRoot();
@@ -73,7 +111,9 @@ function bakeSkinnedMeshWorldTransforms(document) {
         if (mesh === null || node.getSkin() === null)
             continue;
         const world = node.getWorldMatrix();
-        if (!matrixIsIdentity(world)) {
+        const bind = skinBindTransform(node.getSkin());
+        const ignoredBySkinning = bind !== null && !matricesAgree(bind, world);
+        if (!matrixIsIdentity(world) && !ignoredBySkinning) {
             for (const primitive of mesh.listPrimitives()) {
                 apply(primitive.getAttribute('POSITION'), world, 'point');
                 apply(primitive.getAttribute('NORMAL'), world, 'normal');

package/dist/character/stages/conform.js.map

@@ -1 +1 @@
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package/dist/character/testutil/meshyRig.d.ts

@@ -0,0 +1,17 @@
+import { Document, type Node } from '@gltf-transform/core';
+type JointRow = [name: string, parent: string, translation: [number, number, number], rotation: [number, number, number, number]];
+export declare const MESHY_SKELETON: readonly JointRow[];
+export interface MeshyRig {
+    document: Document;
+    armature: Node;
+    meshNode: Node;
+    /** Joint name -> index in the skin, in Meshy's skin order. */
+    jointIndex: Map<string, number>;
+}
+/**
+ * One small triangle at every weighted joint (weighted fully to it), plus a crown vertex at 1.8 m on
+ * the head and a sole vertex at 0 m under the left toe, so the character's bind-pose height is exactly
+ * 1.8 m in metres.
+ */
+export declare function buildMeshyRig(): MeshyRig;
+export {};