@helix3/helix-cli 0.1.4-helix3.24

package/dist/character/importCharacter.js

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+"use strict";
+// PORTED from helix-web-engine-new/tools/character-pipeline — the source of truth for the character
+// pipeline. SYNC OBLIGATION: fix bugs there first, then mirror the change here; do not diverge.
+// This file folds the engine tool's four drivers (retarget-cli, conform-cli, retarget-clip-cli,
+// package-cli) into the one `helix character import` flow; the stage code itself is ported verbatim.
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.CANONICAL_BODY_FILENAME = void 0;
+exports.findCanonicalBody = findCanonicalBody;
+exports.importCharacter = importCharacter;
+const node_fs_1 = require("node:fs");
+const node_path_1 = require("node:path");
+const core_1 = require("@gltf-transform/core");
+const extensions_1 = require("@gltf-transform/extensions");
+const functions_1 = require("@gltf-transform/functions");
+const install_1 = require("../install");
+const esm_1 = require("./esm");
+const meshyToHelixMap_1 = require("./meshyToHelixMap");
+const retarget_1 = require("./stages/retarget");
+const conform_1 = require("./stages/conform");
+const canonicalSkeleton_1 = require("./canonicalSkeleton");
+const retargetClip_1 = require("./stages/retargetClip");
+const simplifyMesh_1 = require("./stages/simplifyMesh");
+const weldedSimplify_1 = require("./stages/weldedSimplify");
+const bakeTexture_1 = require("./stages/bakeTexture");
+const splitFacePrimitive_1 = require("./stages/splitFacePrimitive");
+const mergeLods_1 = require("./stages/mergeLods");
+const resizeTextures_1 = require("./stages/resizeTextures");
+const ktx2_1 = require("./stages/ktx2");
+exports.CANONICAL_BODY_FILENAME = 'body-m-default.web.glb';
+const DEFAULT_CLIP_NAME = 'locomotion.warriorWalk';
+/** Canonical bones the conform cannot approximate from neighbours — the map must cover every one
+ * (plus at least one spine link) or the fitted skeleton loses whole limbs. Judged in canonical terms
+ * so a custom --map is held to the same bar as the bundled Meshy map. */
+const REQUIRED_TARGETS = [
+    'pelvis', 'head',
+    'upperarm_l', 'lowerarm_l', 'hand_l', 'upperarm_r', 'lowerarm_r', 'hand_r',
+    'thigh_l', 'calf_l', 'foot_l', 'thigh_r', 'calf_r', 'foot_r',
+];
+/** Throws a diagnosis-quality error when the source rig is not what the bone map expects. */
+function assertMapCoverage(body, boneMap, log) {
+    const coverage = (0, retarget_1.checkMapCoverage)(body, boneMap);
+    if (coverage.sourceJoints === 0) {
+        throw new Error('character import: the source GLB has no skinned character (no skin joints found) — export the character WITH its rig');
+    }
+    if (coverage.matched.length === 0) {
+        const sample = coverage.extra.slice(0, 8).join(', ') + (coverage.extra.length > 8 ? ', …' : '');
+        throw new Error(`character import: the source rig matches none of the '${boneMap.name}' bone map — ` +
+            (coverage.mixamoPrefixed
+                ? "this is a raw Mixamo download ('mixamorig:'-prefixed bones); re-export with bare bone names or pass a custom --map"
+                : 'this does not look like a Meshy/Mixamo-style rig; pass a custom --map describing it') +
+            `. Source joints: [${sample}]`);
+    }
+    const missing = REQUIRED_TARGETS.filter((t) => !coverage.coveredTargets.has(t));
+    const hasSpine = [...coverage.coveredTargets].some((t) => t.startsWith('spine_'));
+    if (missing.length > 0 || !hasSpine) {
+        throw new Error(`character import: the bone map covers too little of this rig to conform it — no source bone maps to ` +
+            `[${[...missing, ...(hasSpine ? [] : ['spine_*'])].join(', ')}]. Check the rig's naming or fix the --map.`);
+    }
+    if (coverage.extra.length > 0) {
+        log(`⚠ ${coverage.extra.length} source bone(s) not covered by the map (kept as-is; their deformation is unverified): [${coverage.extra.join(', ')}]`);
+    }
+}
+/**
+ * Finds the canonical helix body GLB inside the world's installed packs. First-party installs copy
+ * whole bundles (code AND assets) into <world>/helix_modules/<id>/; consumer installs are code-only
+ * under <world>/public/helix_modules/ (assets stream from the CDN), so only a first-party install of
+ * the humanoid-character pack can satisfy the default — otherwise the caller must pass --canonical.
+ */
+function findCanonicalBody(cwd) {
+    const roots = [(0, node_path_1.join)(cwd, install_1.MODULES_DIR), (0, node_path_1.join)(cwd, 'public', install_1.MODULES_DIR)];
+    const search = (dir, depth) => {
+        if (depth > 6 || !(0, node_fs_1.existsSync)(dir))
+            return null;
+        for (const entry of (0, node_fs_1.readdirSync)(dir, { withFileTypes: true })) {
+            if (entry.isFile() && entry.name === exports.CANONICAL_BODY_FILENAME)
+                return (0, node_path_1.join)(dir, entry.name);
+            if (entry.isDirectory() && entry.name !== 'node_modules') {
+                const hit = search((0, node_path_1.join)(dir, entry.name), depth + 1);
+                if (hit !== null)
+                    return hit;
+            }
+        }
+        return null;
+    };
+    for (const root of roots) {
+        const hit = search(root, 0);
+        if (hit !== null)
+            return hit;
+    }
+    return null;
+}
+function sceneTris(doc) {
+    return doc.getRoot().listScenes().map((scene) => {
+        let tris = 0;
+        scene.traverse((n) => { const m = n.getMesh?.(); if (m)
+            for (const p of m.listPrimitives()) {
+                const idx = p.getIndices();
+                tris += (idx ? idx.getCount() : p.getAttribute('POSITION').getCount()) / 3;
+            } });
+        return Math.round(tris);
+    });
+}
+/** Fail loud if any LOD lost its skin, has a malformed JOINTS_0, or decimated to nothing — so a level
+ * that would load but not deform (or render empty) becomes a build error, not a silent ship. */
+function assertSkinnedLods(doc) {
+    doc.getRoot().listScenes().forEach((scene, i) => {
+        let hasSkin = false, bad = false, tris = 0;
+        scene.traverse((n) => {
+            const mesh = n.getMesh?.();
+            const skin = n.getSkin?.();
+            if (!mesh || !skin)
+                return;
+            hasSkin = true;
+            const joints = skin.listJoints().length;
+            for (const p of mesh.listPrimitives()) {
+                const pos = p.getAttribute('POSITION');
+                const j0 = p.getAttribute('JOINTS_0');
+                const idx = p.getIndices();
+                tris += (idx ? idx.getCount() : pos.getCount()) / 3;
+                if (joints === 0 || j0 === null || j0.getCount() !== pos.getCount())
+                    bad = true;
+            }
+        });
+        if (!hasSkin)
+            throw new Error(`package: LOD${i} has no skinned mesh — skin was lost during decimate/merge`);
+        if (bad)
+            throw new Error(`package: LOD${i} skin is malformed (missing/short JOINTS_0)`);
+        if (tris < 1)
+            throw new Error(`package: LOD${i} decimated to 0 triangles — --lod-tris target is too aggressive`);
+    });
+}
+/**
+ * Converts an external biped character GLB into a helix-humanoid@1 drop-in, chaining the engine
+ * pipeline's stages: rename the rig (retargetSkeleton) -> embed the canonical skeleton at the source's
+ * proportions (conformToHelixRest) -> LODs (rebake route for micro-chart atlases) -> merge -> resize ->
+ * KTX2 -> <out>/<name>.web.glb. With `anim`, also retargets the clip -> <out>/anims/<clipName>.glb.
+ */
+async function importCharacter(opts) {
+    const log = opts.onProgress ?? ((message) => console.log(message));
+    const cwd = opts.cwd ?? process.cwd();
+    const lodTris = opts.lodTris ?? [10_000, 5000, 1500];
+    const texCap = opts.texSize ?? 1024;
+    const error = opts.simplifyError ?? 0.02;
+    const lockBorder = opts.lockBorder ?? false;
+    const weld = opts.weld ?? true;
+    if (lodTris.length === 0)
+        throw new Error('character import: --lod-tris needs at least one triangle target');
+    if (!(0, node_fs_1.existsSync)(opts.body))
+        throw new Error(`character import: body GLB not found: ${opts.body}`);
+    const boneMap = opts.map !== undefined ? JSON.parse((0, node_fs_1.readFileSync)(opts.map, 'utf8')) : meshyToHelixMap_1.MESHY_TO_HELIX_MAP;
+    // Canonical skeleton: explicit --canonical > the world's installed pack > the embedded
+    // helix-humanoid@1 snapshot. The snapshot makes the command fully STANDALONE (no engine checkout,
+    // no installed assets) — the skeleton is a frozen contract, so the embedded copy is authoritative
+    // whenever no on-disk body overrides it.
+    const canonicalPath = opts.canonical ?? findCanonicalBody(cwd);
+    if (opts.canonical !== undefined && !(0, node_fs_1.existsSync)(opts.canonical))
+        throw new Error(`character import: canonical body GLB not found: ${opts.canonical}`);
+    const outDir = (0, node_path_1.resolve)(cwd, opts.output ?? './character-out');
+    const name = opts.name ?? (0, node_path_1.basename)(opts.body).replace(/\.(glb|gltf)$/i, '');
+    (0, node_fs_1.mkdirSync)(outDir, { recursive: true });
+    const io = new core_1.NodeIO().registerExtensions(extensions_1.ALL_EXTENSIONS);
+    const canon = canonicalPath !== null ? (0, conform_1.extractCanonicalSkeleton)(await io.read(canonicalPath)) : (0, canonicalSkeleton_1.vendoredCanonicalSkeleton)();
+    const canonSource = canonicalPath !== null ? (0, node_path_1.basename)(canonicalPath) : 'embedded helix-humanoid@1 snapshot';
+    log(`canonical skeleton: ${canon.jointNames.length} joints, ${canon.nodes.length} subtree nodes, root '${canon.skeletonRootName}' (${canonSource})`);
+    log(`bone map: ${boneMap.name} (${Object.keys(boneMap.map).length} bones, drop [${(boneMap.drop ?? []).join(', ')}])`);
+    // 1. Rename the source rig onto helix bone names (drops the map's childless leaf helpers).
+    // Preflight FIRST: fail with a diagnosis while the rig still has its source names.
+    const body = await io.read(opts.body);
+    assertMapCoverage(body, boneMap, log);
+    const ret = (0, retarget_1.retargetSkeleton)(body, boneMap);
+    log(`retarget: renamed ${Object.keys(ret.renamed).length}, dropped [${ret.dropped.join(', ')}], unmapped [${ret.unmapped.join(', ')}]`);
+    // 2. Conform (embed): fit the canonical skeleton into the source proportions and rebind the mesh.
+    // conformToHelixRest resolves joints by their CURRENT names; after the rename those are helix names,
+    // so augment the map with identity entries over its own values (source-name entries stay for any
+    // joint the rename left untouched).
+    const conformMap = {
+        ...boneMap,
+        map: { ...boneMap.map, ...Object.fromEntries(Object.values(boneMap.map).map((helix) => [helix, helix])) },
+    };
+    const conf = (0, conform_1.conformToHelixRest)(body, canon, conformMap);
+    log(`conform: ${(0, node_path_1.basename)(opts.body)} [mode: ${conf.mode}]`);
+    log(`  ${conf.mode === 'embed' ? 'embedded canonical skeleton into' : 're-posed'} ${conf.verticesProcessed} verts · ${conf.jointsRebuilt} canonical joints`);
+    // 3. Package (the engine package-cli flow). The conformed doc is serialized once so each LOD level
+    // decimates a fresh copy, exactly like package-cli re-reading its --body input per level.
+    const conformedBytes = await io.writeBinary(body);
+    const source = await io.readBinary(conformedBytes);
+    const seams = (0, weldedSimplify_1.analyzeSeams)(source);
+    const bake = opts.bake ?? seams.microChartAtlas;
+    let watlas = null;
+    if (bake) {
+        log(`atlas: ${seams.charts} charts / ${seams.tris} tris (${seams.verts} verts, ${seams.positions} positions) -> ${opts.bake === true ? 'bake forced' : 'micro-chart, rebake route'}`);
+        watlas = (await (0, esm_1.importEsm)('watlas'));
+        await watlas.Initialize();
+    }
+    // Resize + KTX2 happen PER LEVEL so each LOD can carry its own codec (UASTC near, ETC1S far).
+    // On the plain (non-bake) route, levels sharing a mode produce byte-identical textures that
+    // merge-lods dedup still collapses; a mixed chain keeps one texture per distinct encoding.
+    const ktxModes = opts.ktxModes !== undefined && opts.ktxModes.length > 0 ? opts.ktxModes : ['uastc', 'etc1s'];
+    const modeFor = (level) => ktxModes[Math.min(level, ktxModes.length - 1)];
+    const kb = (n) => Math.round(n / 1024);
+    const textureSizes = [];
+    const lods = [];
+    let ktxBefore = 0, ktxAfter = 0;
+    let encoder = 'basis-wasm';
+    for (const [level, target] of lodTris.entries()) {
+        let doc = await io.readBinary(conformedBytes);
+        if (bake) {
+            const w = await (0, weldedSimplify_1.weldedSimplify)(doc, target, error);
+            await doc.transform((0, functions_1.unwrap)({ watlas: watlas, overwrite: true }));
+            const texSize = Math.max(128, texCap >> level); // halve per level, like a mip chain
+            const b = await (0, bakeTexture_1.bakeBaseColor)(doc, source, texSize);
+            log(`lod: ${w.before} -> ${w.after} tris (target ${target})  rebaked ${texSize}px (${b.sampled} texels, ${b.far} far)`);
+            textureSizes.push(texSize);
+        }
+        else {
+            const r = await (0, simplifyMesh_1.simplifyToTarget)(doc, target, error, lockBorder);
+            const missed = r.after > target * 1.15;
+            if (missed && weld && level > 0) {
+                doc = await io.readBinary(conformedBytes);
+                const w = await (0, weldedSimplify_1.weldedSimplify)(doc, target, error);
+                log(`lod: ${w.before} -> ${w.after} tris (target ${target})  seam-weld fallback, uv-coherent ${(w.uvCoherence * 100).toFixed(0)}%`);
+            }
+            else {
+                log(`lod: ${r.before} -> ${r.after} tris (target ${target})${missed ? '  ⚠ floored above target' : ''}`);
+                if (missed)
+                    log(`     seam-locked mesh (micro-chart atlas / disconnected islands). Try --bake, raise --simplify-error, or accept the floor.`);
+            }
+            const resized = await (0, resizeTextures_1.resizeTextures)(doc, texCap);
+            if (level === 0 && resized.resized.length > 0)
+                log(`resize-textures: ${resized.resized.join('; ')}`);
+        }
+        const ktx = await (0, ktx2_1.encodeKtx2)(doc, { mode: modeFor(level), ...(opts.ktxQuality !== undefined && { quality: opts.ktxQuality }) });
+        const before = ktx.encoded.reduce((s, e) => s + e.before, 0), after = ktx.encoded.reduce((s, e) => s + e.after, 0);
+        ktxBefore += before;
+        ktxAfter += after;
+        encoder = ktx.encoder;
+        log(`ktx2 lod${level} (${ktx.mode}, ${ktx.encoder}): ${ktx.encoded.length} texture(s), ${kb(before)}KB -> ${kb(after)}KB`);
+        lods.push(doc);
+    }
+    if (!bake)
+        textureSizes.push(texCap);
+    const merged = await (0, mergeLods_1.mergeLods)(lods);
+    log(`merge-lods: ${lods.length} LODs -> scenes [${merged.scenes.join(', ')}], textures ${merged.texturesBefore} -> ${merged.texturesAfter}`);
+    const out = merged.document;
+    // AFTER merge-lods: its material dedup would fold the face's cloned material back into the body's.
+    if (opts.splitFace ?? true) {
+        const s = (0, splitFacePrimitive_1.splitFacePrimitive)(out);
+        if (s.split)
+            log(`split-face: ${s.faceTris} head tris -> 'FaceMesh' per level (${s.headJoints} head-subtree joints), bodies keep ${s.bodyTris}`);
+        else
+            log(`⚠ split-face: no head-weighted triangles found — first-person mode cannot hide this character's head`);
+    }
+    assertSkinnedLods(out); // every LOD must still be a valid, non-empty skinned mesh
+    await out.transform((0, functions_1.prune)({ keepSolidTextures: true }));
+    const modes = lodTris.map((_, level) => modeFor(level));
+    const bodyPath = (0, node_path_1.join)(outDir, `${name}.web.glb`);
+    await io.write(bodyPath, out);
+    log(`\npackage: ${(0, node_path_1.basename)(opts.body)} -> ${bodyPath}  |  LOD tris ${sceneTris(out).join(' / ')}  |  ${texCap}px KTX2 (${modes.join('/')})`);
+    // 4. Optional clip retarget (the engine retarget-clip-cli flow) — works on the RAW source anim + map.
+    let clip = null;
+    if (opts.anim !== undefined) {
+        const clipName = opts.clipName ?? DEFAULT_CLIP_NAME;
+        const r = (0, retargetClip_1.retargetClip)(await io.read(opts.anim), canon, boneMap, clipName);
+        const animsDir = (0, node_path_1.join)(outDir, 'anims');
+        (0, node_fs_1.mkdirSync)(animsDir, { recursive: true });
+        const clipPath = (0, node_path_1.join)(animsDir, `${clipName}.glb`);
+        await io.write(clipPath, r.document);
+        log(`retarget-clip: ${(0, node_path_1.basename)(opts.anim)} -> ${clipPath}`);
+        log(`  ${r.frames} frames · ${r.meta.duration}s · ${r.animatedBones.length} animated bones: ${r.animatedBones.join(', ')}`);
+        // Merge into clip-meta.json (so it can be loaded like the platform clip set).
+        const metaPath = (0, node_path_1.join)(animsDir, 'clip-meta.json');
+        let metas = [];
+        try {
+            metas = JSON.parse((0, node_fs_1.readFileSync)(metaPath, 'utf8'));
+        }
+        catch { /* fresh */ }
+        metas = metas.filter((m) => m.name !== r.meta.name);
+        metas.push(r.meta);
+        (0, node_fs_1.writeFileSync)(metaPath, JSON.stringify(metas, null, 2));
+        log(`  clip-meta -> ${metaPath}`);
+        clip = { name: clipName, path: clipPath, metaPath, frames: r.frames, duration: r.meta.duration, animatedBones: r.animatedBones };
+    }
+    return {
+        bodyPath,
+        lodTris: sceneTris(out),
+        textureSizes,
+        retarget: { renamed: Object.keys(ret.renamed).length, unmapped: ret.unmapped, dropped: ret.dropped },
+        conform: { mode: conf.mode, verticesProcessed: conf.verticesProcessed, jointsRebuilt: conf.jointsRebuilt },
+        ktx2: { encoder, modes, before: ktxBefore, after: ktxAfter },
+        clip,
+    };
+}
+//# sourceMappingURL=importCharacter.js.map

package/dist/character/importCharacter.js.map

@@ -0,0 +1 @@
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package/dist/character/mat4.d.ts

@@ -0,0 +1,29 @@
+/** Column-major 4x4 multiply (glTF convention): out = a * b. */
+export declare function mul4(a: readonly number[], b: readonly number[]): number[];
+/** Full 4x4 inverse (column-major), via cofactor expansion (gl-matrix). Throws on a singular matrix. */
+export declare function invert4(m: readonly number[]): number[];
+/** Transform a point (w=1) by a column-major 4x4; returns [x,y,z] (affine, no perspective divide). */
+export declare function transformPoint(m: readonly number[], p: readonly [number, number, number]): [number, number, number];
+/** Transform a direction (w=0) by the upper 3x3 of a column-major 4x4 (no translation). */
+export declare function transformDir(m: readonly number[], d: readonly [number, number, number]): [number, number, number];
+/**
+ * Strips scale from a column-major TRS matrix: normalizes the three basis columns (leaving pure
+ * rotation) and keeps the translation. Used to build scale-free world frames for retargeting, so a
+ * rig authored at a non-unit armature scale (e.g. Meshy's 0.01) doesn't leak its scale into the
+ * rest-to-rest delta.
+ */
+export declare function rigidize(m: readonly number[]): number[];
+export type Vec3 = readonly [number, number, number];
+export declare const sub3: (a: Vec3, b: Vec3) => [number, number, number];
+export declare const dot3: (a: Vec3, b: Vec3) => number;
+export declare const cross3: (a: Vec3, b: Vec3) => [number, number, number];
+export declare function normalize3(a: Vec3): [number, number, number];
+/**
+ * Builds an orthonormal world frame (column-major 4x4) from a bone's geometric DIRECTION and position,
+ * NOT its stored local axes — the key to convention-free retargeting. The primary column X = `axis`
+ * (the bone's world direction); a roll reference (world-up, or world-forward when the axis is
+ * near-vertical) is Gram-Schmidt'd against X for Y; Z = X×Y. Building this identically for the source
+ * and target rigs makes frameDst·frameSrc⁻¹ cancel the bone-axis convention, leaving only the real
+ * direction/pose/position difference.
+ */
+export declare function frameFromAxis(axis: Vec3, pos: Vec3): number[];

package/dist/character/mat4.js

@@ -0,0 +1,103 @@
+"use strict";
+// PORTED from helix-web-engine-new/tools/character-pipeline — the source of truth for the character
+// pipeline. SYNC OBLIGATION: fix bugs there first, then mirror the change here; do not diverge.
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.cross3 = exports.dot3 = exports.sub3 = void 0;
+exports.mul4 = mul4;
+exports.invert4 = invert4;
+exports.transformPoint = transformPoint;
+exports.transformDir = transformDir;
+exports.rigidize = rigidize;
+exports.normalize3 = normalize3;
+exports.frameFromAxis = frameFromAxis;
+/** Column-major 4x4 multiply (glTF convention): out = a * b. */
+function mul4(a, b) {
+    const out = new Array(16);
+    for (let col = 0; col < 4; col++) {
+        for (let row = 0; row < 4; row++) {
+            let sum = 0;
+            for (let k = 0; k < 4; k++)
+                sum += a[k * 4 + row] * b[col * 4 + k];
+            out[col * 4 + row] = sum;
+        }
+    }
+    return out;
+}
+/** Full 4x4 inverse (column-major), via cofactor expansion (gl-matrix). Throws on a singular matrix. */
+function invert4(m) {
+    const a00 = m[0], a01 = m[1], a02 = m[2], a03 = m[3];
+    const a10 = m[4], a11 = m[5], a12 = m[6], a13 = m[7];
+    const a20 = m[8], a21 = m[9], a22 = m[10], a23 = m[11];
+    const a30 = m[12], a31 = m[13], a32 = m[14], a33 = m[15];
+    const b00 = a00 * a11 - a01 * a10, b01 = a00 * a12 - a02 * a10, b02 = a00 * a13 - a03 * a10;
+    const b03 = a01 * a12 - a02 * a11, b04 = a01 * a13 - a03 * a11, b05 = a02 * a13 - a03 * a12;
+    const b06 = a20 * a31 - a21 * a30, b07 = a20 * a32 - a22 * a30, b08 = a20 * a33 - a23 * a30;
+    const b09 = a21 * a32 - a22 * a31, b10 = a21 * a33 - a23 * a31, b11 = a22 * a33 - a23 * a32;
+    let det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
+    if (det === 0)
+        throw new Error('invert4: singular matrix');
+    det = 1 / det;
+    return [
+        (a11 * b11 - a12 * b10 + a13 * b09) * det, (a02 * b10 - a01 * b11 - a03 * b09) * det, (a31 * b05 - a32 * b04 + a33 * b03) * det, (a22 * b04 - a21 * b05 - a23 * b03) * det,
+        (a12 * b08 - a10 * b11 - a13 * b07) * det, (a00 * b11 - a02 * b08 + a03 * b07) * det, (a32 * b02 - a30 * b05 - a33 * b01) * det, (a20 * b05 - a22 * b02 + a23 * b01) * det,
+        (a10 * b10 - a11 * b08 + a13 * b06) * det, (a01 * b08 - a00 * b10 - a03 * b06) * det, (a30 * b04 - a31 * b02 + a33 * b00) * det, (a21 * b02 - a20 * b04 - a23 * b00) * det,
+        (a11 * b07 - a10 * b09 - a12 * b06) * det, (a00 * b09 - a01 * b07 + a02 * b06) * det, (a31 * b01 - a30 * b03 - a32 * b00) * det, (a20 * b03 - a21 * b01 + a22 * b00) * det,
+    ];
+}
+/** Transform a point (w=1) by a column-major 4x4; returns [x,y,z] (affine, no perspective divide). */
+function transformPoint(m, p) {
+    const [x, y, z] = p;
+    return [
+        m[0] * x + m[4] * y + m[8] * z + m[12],
+        m[1] * x + m[5] * y + m[9] * z + m[13],
+        m[2] * x + m[6] * y + m[10] * z + m[14],
+    ];
+}
+/** Transform a direction (w=0) by the upper 3x3 of a column-major 4x4 (no translation). */
+function transformDir(m, d) {
+    const [x, y, z] = d;
+    return [m[0] * x + m[4] * y + m[8] * z, m[1] * x + m[5] * y + m[9] * z, m[2] * x + m[6] * y + m[10] * z];
+}
+/**
+ * Strips scale from a column-major TRS matrix: normalizes the three basis columns (leaving pure
+ * rotation) and keeps the translation. Used to build scale-free world frames for retargeting, so a
+ * rig authored at a non-unit armature scale (e.g. Meshy's 0.01) doesn't leak its scale into the
+ * rest-to-rest delta.
+ */
+function rigidize(m) {
+    const norm = (a, b, c) => {
+        const len = Math.hypot(m[a], m[b], m[c]) || 1;
+        return [m[a] / len, m[b] / len, m[c] / len];
+    };
+    const [x0, x1, x2] = norm(0, 1, 2);
+    const [y0, y1, y2] = norm(4, 5, 6);
+    const [z0, z1, z2] = norm(8, 9, 10);
+    return [x0, x1, x2, 0, y0, y1, y2, 0, z0, z1, z2, 0, m[12], m[13], m[14], 1];
+}
+const sub3 = (a, b) => [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+exports.sub3 = sub3;
+const dot3 = (a, b) => a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+exports.dot3 = dot3;
+const cross3 = (a, b) => [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];
+exports.cross3 = cross3;
+function normalize3(a) {
+    const len = Math.hypot(a[0], a[1], a[2]) || 1;
+    return [a[0] / len, a[1] / len, a[2] / len];
+}
+/**
+ * Builds an orthonormal world frame (column-major 4x4) from a bone's geometric DIRECTION and position,
+ * NOT its stored local axes — the key to convention-free retargeting. The primary column X = `axis`
+ * (the bone's world direction); a roll reference (world-up, or world-forward when the axis is
+ * near-vertical) is Gram-Schmidt'd against X for Y; Z = X×Y. Building this identically for the source
+ * and target rigs makes frameDst·frameSrc⁻¹ cancel the bone-axis convention, leaving only the real
+ * direction/pose/position difference.
+ */
+function frameFromAxis(axis, pos) {
+    const x = normalize3(axis);
+    const ref = Math.abs(x[1]) > 0.9 ? [0, 0, 1] : [0, 1, 0];
+    const yRaw = (0, exports.sub3)(ref, [x[0] * (0, exports.dot3)(ref, x), x[1] * (0, exports.dot3)(ref, x), x[2] * (0, exports.dot3)(ref, x)]);
+    const y = normalize3(yRaw);
+    const z = (0, exports.cross3)(x, y);
+    return [x[0], x[1], x[2], 0, y[0], y[1], y[2], 0, z[0], z[1], z[2], 0, pos[0], pos[1], pos[2], 1];
+}
+//# sourceMappingURL=mat4.js.map

package/dist/character/mat4.js.map

@@ -0,0 +1 @@
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package/dist/character/meshyToHelixMap.d.ts

@@ -0,0 +1,2 @@
+import type { BoneMap } from './stages/retarget';
+export declare const MESHY_TO_HELIX_MAP: BoneMap;

package/dist/character/meshyToHelixMap.js

@@ -0,0 +1,40 @@
+"use strict";
+// PORTED from helix-web-engine-new/tools/character-pipeline — the source of truth for the character
+// pipeline. SYNC OBLIGATION: fix bugs there first, then mirror the change here; do not diverge.
+// Embedded copy of assets/meshy-to-helix.json as a typed module (the CLI ships no loose asset files).
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.MESHY_TO_HELIX_MAP = void 0;
+exports.MESHY_TO_HELIX_MAP = {
+    name: 'meshy-biped -> helix-humanoid@1',
+    version: '1.0.0',
+    comment: "Bone map for Meshy AI / Mixamo-style biped rigs (24-bone, Blender glTF export, no fingers, single-bone hands) onto the helix-humanoid@1 core skeleton. " +
+        "Mapped BY HIERARCHY ROLE, not by name: Meshy's spine numbering is INVERTED vs UE (its 'Spine02' is the bottom spine bone, child of Hips; its 'Spine' is " +
+        "the top, parent of the shoulders). Unmapped helix bones (spine_02/04, neck_02, twists, fingers, FACIAL_C_FacialRoot) have no source and are left at rest. " +
+        'head_end/headfront are Meshy leaf helpers with no target and are dropped.',
+    map: {
+        Hips: 'pelvis',
+        Spine02: 'spine_01',
+        Spine01: 'spine_03',
+        Spine: 'spine_05',
+        neck: 'neck_01',
+        Head: 'head',
+        LeftShoulder: 'clavicle_l',
+        LeftArm: 'upperarm_l',
+        LeftForeArm: 'lowerarm_l',
+        LeftHand: 'hand_l',
+        RightShoulder: 'clavicle_r',
+        RightArm: 'upperarm_r',
+        RightForeArm: 'lowerarm_r',
+        RightHand: 'hand_r',
+        LeftUpLeg: 'thigh_l',
+        LeftLeg: 'calf_l',
+        LeftFoot: 'foot_l',
+        LeftToeBase: 'ball_l',
+        RightUpLeg: 'thigh_r',
+        RightLeg: 'calf_r',
+        RightFoot: 'foot_r',
+        RightToeBase: 'ball_r',
+    },
+    drop: ['head_end', 'headfront'],
+};
+//# sourceMappingURL=meshyToHelixMap.js.map

package/dist/character/meshyToHelixMap.js.map

@@ -0,0 +1 @@
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package/dist/character/quat.d.ts

@@ -0,0 +1,15 @@
+export type Quat = readonly [number, number, number, number];
+export declare function mul(a: Quat, b: Quat): [number, number, number, number];
+/** Inverse of a unit quaternion (conjugate). */
+export declare const conj: (q: Quat) => [number, number, number, number];
+export declare function normalize(q: Quat): [number, number, number, number];
+/** Quaternion from the upper-3x3 of a column-major matrix (assumed a pure rotation). three.js algorithm. */
+export declare function fromMat(m: readonly number[]): [number, number, number, number];
+/** Rotate a 3-vector by a unit quaternion (q · v · q⁻¹). */
+export declare function rotateVec(q: Quat, v: readonly [number, number, number]): [number, number, number];
+/** Spherical linear interpolation with double-cover (shortest-arc) handling. */
+export declare function slerp(a: Quat, b: Quat, t: number): [number, number, number, number];
+/** Sample a rotation track (sorted `times`, flat VEC4 `quats`) at time `t` with slerp. */
+export declare function sampleQuat(times: ArrayLike<number>, quats: ArrayLike<number>, t: number): [number, number, number, number];
+/** Sample a VEC3 track (translation) at time `t` with linear interpolation. */
+export declare function sampleVec3(times: ArrayLike<number>, vals: ArrayLike<number>, t: number): [number, number, number];