@ikijs/engine 0.1.1 → 0.3.0

package/dist/index.mjs.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/math.ts","../src/parameter-store.ts","../src/affine.ts","../src/deform.ts","../src/warp.ts","../src/warp-grid.ts","../src/player.ts","../src/idle-motion.ts","../src/frame-clock.ts","../src/physics-motion.ts","../src/hair-chain-motion.ts"],"sourcesContent":["/**\n * Clamp `value` into `[min, max]`.\n *\n * NaN in, NaN out — `Math.max(min, Math.min(max, NaN))` is `NaN`, so this\n * cannot be used to sanitize external input. Anything taking values from a\n * host must reject non-finite input itself before clamping (see\n * {@link ParameterStore.set}).\n */\nexport function clamp(value: number, min: number, max: number): number {\n  return Math.max(min, Math.min(max, value));\n}\n","import type { IkiParameter } from \"@ikijs/format\";\nimport { clamp } from \"./math\";\n\n/**\n * Holds the live value of every model parameter, clamped to its declared\n * range. This is the single surface a host drives (lip-sync, gaze, blink) and\n * the engine reads each frame to evaluate bindings.\n */\nexport class ParameterStore {\n  private readonly params = new Map<string, IkiParameter>();\n  private readonly values = new Map<string, number>();\n  /**\n   * Resting value per id: the declared default clamped into range, resolved\n   * ONCE here so `reset()` is a straight copy and a malformed descriptor is\n   * reported once rather than on every reset.\n   */\n  private readonly defaults = new Map<string, number>();\n\n  constructor(parameters: IkiParameter[]) {\n    for (const param of parameters) {\n      this.params.set(param.id, param);\n      // A non-finite default would survive `clamp` and poison every read, so it\n      // falls back to the neutral in-range value — but say so rather than\n      // repairing a broken descriptor silently. `parseIkiModel` requires a\n      // finite default, so this only reaches a host that skipped the validator.\n      if (!Number.isFinite(param.default)) {\n        console.error(\n          `Iki: parameter \"${param.id}\" has a non-finite default; resting at the neutral in-range value instead`,\n        );\n      }\n      const base = Number.isFinite(param.default) ? param.default : 0;\n      this.defaults.set(param.id, clamp(base, param.min, param.max));\n    }\n    for (const [id, value] of this.defaults) this.values.set(id, value);\n  }\n\n  /**\n   * Set a parameter's value, clamped to its range. Unknown ids are ignored, as\n   * are non-finite values: this is the boundary a host drives with live signals,\n   * and `clamp` cannot filter NaN (`Math.max(min, Math.min(max, NaN))` is NaN),\n   * so one bad lip-sync/gaze frame would otherwise poison every binding that\n   * reads the parameter. A dropped write holds the last good pose.\n   */\n  set(id: string, value: number): void {\n    const param = this.params.get(id);\n    if (!param) return;\n    if (!Number.isFinite(value)) return;\n    this.values.set(id, clamp(value, param.min, param.max));\n  }\n\n  /** Current value, or 0 if the id is unknown. */\n  get(id: string): number {\n    return this.values.get(id) ?? 0;\n  }\n\n  /** Position of a parameter within its range, 0..1. */\n  normalized(id: string): number {\n    const param = this.params.get(id);\n    if (!param || param.max === param.min) return 0;\n    return (this.get(id) - param.min) / (param.max - param.min);\n  }\n\n  /** Reset every parameter to its resting value (see `defaults`). */\n  reset(): void {\n    for (const [id, value] of this.defaults) this.values.set(id, value);\n  }\n\n  list(): IkiParameter[] {\n    return [...this.params.values()];\n  }\n}\n","// --- 2D affine helpers ------------------------------------------------------\n// Affine stored as [a, b, c, d, e, f] => | a c e |\n//                                        | b d f |\n//                                        | 0 0 1 |\nexport type Affine = [number, number, number, number, number, number];\n\nexport function translate(tx: number, ty: number): Affine {\n  return [1, 0, 0, 1, tx, ty];\n}\n\nexport function scale(sx: number, sy: number): Affine {\n  return [sx, 0, 0, sy, 0, 0];\n}\n\nexport function rotate(degrees: number): Affine {\n  const r = (degrees * Math.PI) / 180;\n  const c = Math.cos(r);\n  const s = Math.sin(r);\n  return [c, s, -s, c, 0, 0];\n}\n\nexport function multiply(a: Affine, b: Affine): Affine {\n  return [\n    a[0] * b[0] + a[2] * b[1],\n    a[1] * b[0] + a[3] * b[1],\n    a[0] * b[2] + a[2] * b[3],\n    a[1] * b[2] + a[3] * b[3],\n    a[0] * b[4] + a[2] * b[5] + a[4],\n    a[1] * b[4] + a[3] * b[5] + a[5],\n  ];\n}\n\n/** Expand a 2D affine into a column-major mat3 for `uniformMatrix3fv`. */\nexport function toMat3(a: Affine): Float32Array {\n  return new Float32Array([a[0], a[1], 0, a[2], a[3], 0, a[4], a[5], 1]);\n}\n","import type {\n  IkiBinding,\n  IkiDeformer,\n  IkiDeformerBinding,\n  IkiDeformerTransform,\n  IkiMatrixDeformer,\n  IkiTransform,\n} from \"@ikijs/format\";\nimport { type Affine, multiply, rotate, scale, translate } from \"./affine\";\nimport type { ParameterStore } from \"./parameter-store\";\n\n/** Resolved TRS + opacity from a transform + bindings at current parameter values. */\nexport interface ResolvedTransform {\n  x: number;\n  y: number;\n  rotation: number;\n  scaleX: number;\n  scaleY: number;\n  opacity: number;\n}\n\nconst IDENTITY_TRANSFORM: Required<IkiTransform> = {\n  x: 0,\n  y: 0,\n  rotation: 0,\n  scaleX: 1,\n  scaleY: 1,\n  opacity: 1,\n};\n\n/**\n * Shared transform evaluator: resolves the effective TRS + opacity from a\n * (possibly absent) base transform plus bindings at current parameter values.\n *\n * - Part callers pass `IkiTransform` (which may include opacity) and use all 6\n *   fields including `opacity`.\n * - Deformer callers pass `IkiDeformerTransform` (no opacity field) and\n *   `IkiDeformerBinding[]` (no opacity channel); the returned `opacity` is\n *   always 1 on the deformer path and should be ignored by the caller.\n */\nexport function evaluateTransform(\n  transform: IkiTransform | IkiDeformerTransform | undefined,\n  bindings: IkiBinding[] | IkiDeformerBinding[] | undefined,\n  params: ParameterStore,\n): ResolvedTransform {\n  const base = transform ?? IDENTITY_TRANSFORM;\n  const result: ResolvedTransform = {\n    x: base.x,\n    y: base.y,\n    rotation: base.rotation ?? 0,\n    scaleX: base.scaleX ?? 1,\n    scaleY: base.scaleY ?? 1,\n    opacity: (base as IkiTransform).opacity ?? 1,\n  };\n\n  for (const binding of bindings ?? []) {\n    const t = params.normalized(binding.parameter);\n    const value = binding.from + (binding.to - binding.from) * t;\n    switch (binding.channel) {\n      case \"translateX\":\n        result.x += value;\n        break;\n      case \"translateY\":\n        result.y += value;\n        break;\n      case \"rotate\":\n        result.rotation += value;\n        break;\n      case \"scaleX\":\n        result.scaleX += value;\n        break;\n      case \"scaleY\":\n        result.scaleY += value;\n        break;\n      case \"opacity\":\n        result.opacity *= value;\n        break;\n    }\n  }\n\n  return result;\n}\n\n/**\n * Build the local deformer matrix about its pivot:\n *   translate(pivot) · TRS · translate(-pivot)\n */\nfunction deformerLocalMatrix(\n  d: IkiMatrixDeformer,\n  params: ParameterStore,\n): Affine {\n  const t = evaluateTransform(d.transform, d.bindings, params);\n  const trs: Affine = multiply(\n    multiply(translate(t.x, t.y), rotate(t.rotation)),\n    scale(t.scaleX, t.scaleY),\n  );\n  return multiply(\n    multiply(translate(d.pivot.x, d.pivot.y), trs),\n    translate(-d.pivot.x, -d.pivot.y),\n  );\n}\n\n/**\n * Resolve every deformer's world matrix in topological order, regardless of\n * array ordering. Returns a Map from deformer id to world-space Affine.\n *\n * The validator guarantees the hierarchy is acyclic and that every `parent`\n * id exists; the engine resolves on-demand with memoization so any valid\n * array order is handled correctly.\n *\n * Throws a clear internal Error if a parent is unexpectedly absent (defense-\n * in-depth — indicates an unvalidated model was passed to the engine).\n */\nexport function resolveDeformerWorlds(\n  deformers: IkiDeformer[],\n  params: ParameterStore,\n): Map<string, Affine> {\n  // Warp deformers are non-affine; filter them out so matrix-only fields\n  // (pivot/transform/bindings) are accessible and warp deformers are never\n  // resolved as matrix deformers (which would produce NaN pivots).\n  // resolveWarpGrids (warp-grid.ts) handles warp deformers separately.\n  const matrixDeformers = deformers.filter(\n    (d): d is IkiMatrixDeformer => d.kind === \"matrix\" || d.kind === undefined,\n  );\n  const byId = new Map<string, IkiMatrixDeformer>(\n    matrixDeformers.map((d) => [d.id, d]),\n  );\n  const worldById = new Map<string, Affine>();\n\n  function resolve(d: IkiMatrixDeformer): Affine {\n    const cached = worldById.get(d.id);\n    if (cached) return cached;\n\n    const local = deformerLocalMatrix(d, params);\n    let world: Affine;\n    if (d.parent === undefined) {\n      world = local;\n    } else {\n      const parentDef = byId.get(d.parent);\n      if (!parentDef) {\n        throw new Error(\n          `unresolved deformer parent \"${d.parent}\" — model not validated?`,\n        );\n      }\n      world = multiply(resolve(parentDef), local);\n    }\n\n    worldById.set(d.id, world);\n    return world;\n  }\n\n  for (const d of matrixDeformers) {\n    resolve(d);\n  }\n\n  return worldById;\n}\n","import type { IkiGrid2DKeyform, IkiWarp } from \"@ikijs/format\";\nimport type { ParameterStore } from \"./parameter-store\";\n\n/**\n * Accumulate one keyform set's interpolated offsets into `out` (out += ...).\n * Clamps `value` to [keyforms[0].value, keyforms[last].value] (no extrapolation),\n * linearly interpolates the bracketing pair, and adds. `out.length` must be >=\n * each keyform's `offsets.length`. Shared by part-local mesh warps and grid warps.\n */\nexport function accumulateKeyformOffsets(\n  keyforms: { value: number; offsets: ArrayLike<number> }[],\n  value: number,\n  out: Float32Array,\n): void {\n  const ks = keyforms;\n\n  if (value <= ks[0].value) {\n    // Clamp to first keyform.\n    const { offsets } = ks[0];\n    for (let i = 0; i < offsets.length; i++) {\n      out[i] += offsets[i];\n    }\n  } else if (value >= ks[ks.length - 1].value) {\n    // Clamp to last keyform.\n    const { offsets } = ks[ks.length - 1];\n    for (let i = 0; i < offsets.length; i++) {\n      out[i] += offsets[i];\n    }\n  } else {\n    // Find bracketing pair with a linear scan (keyforms are small in practice).\n    let lo = ks[0];\n    let hi = ks[1];\n    for (let k = 1; k < ks.length - 1; k++) {\n      if (ks[k].value <= value) {\n        lo = ks[k];\n        hi = ks[k + 1];\n      }\n    }\n    const t = (value - lo.value) / (hi.value - lo.value);\n    const loOff = lo.offsets;\n    const hiOff = hi.offsets;\n    for (let i = 0; i < loOff.length; i++) {\n      out[i] += loOff[i] + (hiOff[i] - loOff[i]) * t;\n    }\n  }\n}\n\n/**\n * Accumulate a 2D keyform grid's bilinear-interpolated offsets into `out` (out += ...).\n *\n * This is PARAMETER bilinear interpolation driven by two live parameter values\n * (`vx` along `valuesX`, `vy` along `valuesY`). It is DISTINCT from\n * {@link sampleWarpGrid}'s spatial bilinear (which interpolates model-space\n * control-point positions). Name params `tx`/`ty` to avoid confusion with\n * the spatial `s`/`t` in sampleWarpGrid.\n *\n * Contract mirrors {@link accumulateKeyformOffsets}: `out += blended offsets`,\n * pure, deterministic, no allocation inside the function, O(points).\n *\n * Bracket rule (applied identically to X and Y; length ≥ 2 is validator-guaranteed):\n *   - v <= values[0]          → i = 0,          t = 0\n *   - v >= values[last]       → i = length - 2,  t = 1\n *   - interior                → i such that values[i] <= v < values[i+1], t = (v - values[i]) / (values[i+1] - values[i])\n * This keeps i ∈ [0, length-2] so i+1 is always in range.\n *\n * Corner index (row-major): k(i, j) = j * valuesX.length + i\n */\nexport function accumulate2DKeyformOffsets(\n  valuesX: number[],\n  valuesY: number[],\n  keyforms2d: IkiGrid2DKeyform[],\n  vx: number,\n  vy: number,\n  out: Float32Array,\n): void {\n  const lastX = valuesX.length - 1;\n  const lastY = valuesY.length - 1;\n\n  // Per-axis bracket: clamp at both ends, interior normal scan.\n  let ix: number;\n  let tx: number;\n  if (vx <= valuesX[0]) {\n    ix = 0;\n    tx = 0;\n  } else if (vx >= valuesX[lastX]) {\n    ix = lastX - 1;\n    tx = 1;\n  } else {\n    ix = 0;\n    for (let k = 0; k < lastX - 1; k++) {\n      if (valuesX[k + 1] <= vx) ix = k + 1;\n    }\n    tx = (vx - valuesX[ix]) / (valuesX[ix + 1] - valuesX[ix]);\n  }\n\n  let iy: number;\n  let ty: number;\n  if (vy <= valuesY[0]) {\n    iy = 0;\n    ty = 0;\n  } else if (vy >= valuesY[lastY]) {\n    iy = lastY - 1;\n    ty = 1;\n  } else {\n    iy = 0;\n    for (let k = 0; k < lastY - 1; k++) {\n      if (valuesY[k + 1] <= vy) iy = k + 1;\n    }\n    ty = (vy - valuesY[iy]) / (valuesY[iy + 1] - valuesY[iy]);\n  }\n\n  // Row-major corners: k(i, j) = j * valuesX.length + i.\n  const W = valuesX.length;\n  const c00 = keyforms2d[iy * W + ix];\n  const c10 = keyforms2d[iy * W + ix + 1];\n  const c01 = keyforms2d[(iy + 1) * W + ix];\n  const c11 = keyforms2d[(iy + 1) * W + ix + 1];\n\n  // Per-component bilinear: top/bot over tx, then ty into out.\n  const o00 = c00.offsets;\n  const o10 = c10.offsets;\n  const o01 = c01.offsets;\n  const o11 = c11.offsets;\n  for (let n = 0; n < o00.length; n++) {\n    const top = o00[n] + (o10[n] - o00[n]) * tx;\n    const bot = o01[n] + (o11[n] - o01[n]) * tx;\n    out[n] += top + (bot - top) * ty;\n  }\n}\n\n/**\n * Apply all warps to `rest`, accumulating per-vertex offsets into `out`.\n *\n * - Copies `rest` into `out` first (out = rest).\n * - For each warp: looks up the live parameter value (REAL range, not\n *   normalized), clamps to the keyform range (no extrapolation), linearly\n *   interpolates the bracketing pair, and ADDS the result to `out`.\n * - No allocation: writes into the caller-supplied `out`. `rest` is never\n *   mutated.\n * - `undefined` warps → identity copy (out equals rest).\n */\nexport function applyWarps(\n  rest: Float32Array,\n  warps: IkiWarp[] | undefined,\n  params: ParameterStore,\n  out: Float32Array,\n): void {\n  out.set(rest);\n\n  if (!warps || warps.length === 0) return;\n\n  for (const warp of warps) {\n    accumulateKeyformOffsets(warp.keyforms, params.get(warp.parameter), out);\n  }\n}\n","import type { IkiDeformer, IkiWarpGrid } from \"@ikijs/format\";\nimport type { Affine } from \"./affine\";\nimport type { ParameterStore } from \"./parameter-store\";\nimport { clamp } from \"./math\";\nimport { accumulate2DKeyformOffsets, accumulateKeyformOffsets } from \"./warp\";\n\n/** A warp deformer's deformed control grid for one frame. */\nexport interface ResolvedWarpGrid {\n  cols: number;\n  rows: number;\n  /** Deformed control points, MODEL space, length (cols+1)*(rows+1)*2. */\n  points: Float32Array;\n}\n\n/**\n * For each warp deformer: take its rest `grid.points`, ADD the interpolated\n * grid-keyform offsets (accumulateKeyformOffsets) in the deformer's own rest\n * frame, THEN apply the parent matrix deformer's resolved world affine (if any)\n * — i.e. `parentAffine · (rest + offsets)`. Returns a Map from warp-deformer id\n * to its deformed grid (model space).\n *\n * `matrixWorlds` is the output of resolveDeformerWorlds (matrix deformers only);\n * warp deformers are skipped by that resolver (they are non-affine).\n *\n * ORDER IS CRITICAL: keyform offsets FIRST (curvature added in the rest frame),\n * parent affine SECOND — so the curvature rotates WITH the parent head rather\n * than staying pinned to world axes. The reversed order (affine then offsets)\n * pushes the bend along world-x even when the head is turned (coordinate bug).\n */\nexport function resolveWarpGrids(\n  deformers: IkiDeformer[],\n  params: ParameterStore,\n  matrixWorlds: Map<string, Affine>,\n): Map<string, ResolvedWarpGrid> {\n  const resolved = new Map<string, ResolvedWarpGrid>();\n\n  for (const d of deformers) {\n    if (d.kind !== \"warp\") continue;\n\n    const { cols, rows, points: restPoints } = d.grid;\n    const points = Float32Array.from(restPoints);\n\n    // 1. Curvature in the rest frame: offsets += per-control-point deltas.\n    for (const warp of d.warps ?? []) {\n      accumulateKeyformOffsets(\n        warp.keyforms,\n        params.get(warp.parameter),\n        points,\n      );\n    }\n    // 1D xor 2D is validator-enforced; at most one branch contributes per deformer.\n    if (d.warp2d !== undefined) {\n      accumulate2DKeyformOffsets(\n        d.warp2d.valuesX,\n        d.warp2d.valuesY,\n        d.warp2d.keyforms2d,\n        params.get(d.warp2d.parameter),\n        params.get(d.warp2d.parameterY),\n        points,\n      );\n    }\n\n    // 2. Parent matrix deformer's world affine (if any): parentAffine · (rest + offsets).\n    if (d.parent !== undefined) {\n      const parentAffine = matrixWorlds.get(d.parent);\n      if (parentAffine) {\n        for (let i = 0; i < points.length; i += 2) {\n          const x = points[i];\n          const y = points[i + 1];\n          points[i] =\n            parentAffine[0] * x + parentAffine[2] * y + parentAffine[4];\n          points[i + 1] =\n            parentAffine[1] * x + parentAffine[3] * y + parentAffine[5];\n        }\n      }\n    }\n\n    resolved.set(d.id, { cols, rows, points });\n  }\n\n  return resolved;\n}\n\n/** A model-space point bound to a rest-grid cell with within-cell (s,t). */\nexport interface GridBinding {\n  /** row*cols + col index of the containing cell. */\n  cell: number;\n  /** [0,1] within-cell horizontal, 0 at the left (smaller-x) edge. */\n  s: number;\n  /** [0,1] within-cell vertical, 0 at the TOP (larger-y) edge. */\n  t: number;\n}\n\n/**\n * Bind a model-space point to the REST grid: computes the containing cell +\n * local (s,t) by linear mapping over the grid's actual column/row boundaries.\n * Out-of-bounds points clamp to an edge cell with s/t pinned to 0/1. Never\n * returns NaN. Do NOT call against a deformed grid.\n *\n * The rest grid is validated to be a regular axis-aligned lattice with EXACT\n * ordering, so boundaries are read DIRECTLY from `restGrid.points` (no sorting):\n *   - row-major, +y up; row 0 = TOP (LARGEST y, y DECREASES with row index);\n *   - column 0 = LEFT (smallest x, x INCREASES with column index).\n * Column x-boundaries are row 0's x values `points[col*2]`; row y-boundaries are\n * column 0's y values `points[(row*(cols+1))*2 + 1]`. Maps x left→right and y\n * top→bottom: `s = (x - xLeft)/(xRight - xLeft)`, `t = (yTop - y)/(yTop - yBottom)`\n * (numerator `yTop - y`, NOT `y - minY`, so rows are not vertically flipped).\n */\nexport function bindPointToRestGrid(\n  x: number,\n  y: number,\n  restGrid: IkiWarpGrid,\n): GridBinding {\n  const { cols, rows, points } = restGrid;\n  const stride = cols + 1;\n\n  // Column boundaries: row 0's x values, increasing with column index.\n  let col = cols - 1;\n  for (let c = 0; c < cols; c++) {\n    const xRight = points[(c + 1) * 2];\n    if (x < xRight) {\n      col = c;\n      break;\n    }\n  }\n  const xLeft = points[col * 2];\n  const xRight = points[(col + 1) * 2];\n  const s = clamp((x - xLeft) / (xRight - xLeft), 0, 1);\n\n  // Row boundaries: column 0's y values, decreasing with row index (top→bottom).\n  let row = rows - 1;\n  for (let r = 0; r < rows; r++) {\n    const yBottom = points[(r + 1) * stride * 2 + 1];\n    if (y > yBottom) {\n      row = r;\n      break;\n    }\n  }\n  const yTop = points[row * stride * 2 + 1];\n  const yBottom = points[(row + 1) * stride * 2 + 1];\n  const t = clamp((yTop - y) / (yTop - yBottom), 0, 1);\n\n  return { cell: row * cols + col, s, t };\n}\n\n/**\n * Compute model-space positions for a warp-deformer child's mesh vertices:\n * transform each LOCAL-space vertex by `partAffine`, rebind to the RAW rest\n * grid, and bilinear-sample the deformed grid. Writes `out` (length ===\n * localVerts.length). Affine layout [a,b,c,d,e,f]: x'=a*x+c*y+e, y'=b*x+d*y+f.\n */\nexport function applyWarpToChild(\n  localVerts: Float32Array | number[],\n  partAffine: Affine,\n  restGrid: IkiWarpGrid,\n  deformedGrid: ResolvedWarpGrid,\n  out: Float32Array,\n): void {\n  const n = localVerts.length / 2;\n  for (let v = 0; v < n; v++) {\n    const lx = localVerts[v * 2];\n    const ly = localVerts[v * 2 + 1];\n    const mx = partAffine[0] * lx + partAffine[2] * ly + partAffine[4];\n    const my = partAffine[1] * lx + partAffine[3] * ly + partAffine[5];\n    const binding = bindPointToRestGrid(mx, my, restGrid);\n    const [sx, sy] = sampleWarpGrid(deformedGrid, binding);\n    out[v * 2] = sx;\n    out[v * 2 + 1] = sy;\n  }\n}\n\n/**\n * Bilinear-sample a deformed grid at a binding, returning model-space [x, y].\n * Reads the 4 corner control points of `binding.cell` from `grid.points`, using\n * the SAME row/col convention as `bindPointToRestGrid` (s left→right between\n * col and col+1, t top→bottom between row and row+1).\n */\nexport function sampleWarpGrid(\n  grid: ResolvedWarpGrid,\n  binding: GridBinding,\n): [number, number] {\n  const { cols, points } = grid;\n  const stride = cols + 1;\n  const row = Math.floor(binding.cell / cols);\n  const col = binding.cell % cols;\n  const { s, t } = binding;\n\n  const i00 = (row * stride + col) * 2;\n  const i10 = (row * stride + col + 1) * 2;\n  const i01 = ((row + 1) * stride + col) * 2;\n  const i11 = ((row + 1) * stride + col + 1) * 2;\n\n  // Top edge: lerp p00→p10 by s; bottom edge: lerp p01→p11 by s.\n  const topX = points[i00] + (points[i10] - points[i00]) * s;\n  const topY = points[i00 + 1] + (points[i10 + 1] - points[i00 + 1]) * s;\n  const botX = points[i01] + (points[i11] - points[i01]) * s;\n  const botY = points[i01 + 1] + (points[i11 + 1] - points[i01 + 1]) * s;\n\n  // Vertical: lerp top→bottom by t.\n  return [topX + (botX - topX) * t, topY + (botY - topY) * t];\n}\n","import type {\n  IkiModel,\n  IkiParameter,\n  IkiPart,\n  IkiWarp,\n  IkiWarpDeformer,\n} from \"@ikijs/format\";\nimport { ParameterStore } from \"./parameter-store\";\nimport { multiply, rotate, scale, toMat3, translate } from \"./affine\";\nimport { evaluateTransform, resolveDeformerWorlds } from \"./deform\";\nimport { applyWarps } from \"./warp\";\nimport { applyWarpToChild, resolveWarpGrids } from \"./warp-grid\";\n\n/**\n * Alpha threshold used only during the stencil mask-write pass: a mask fragment\n * marks the stencil only where its coverage alpha is at least this. Keeps the\n * clip region to the mask's opaque body, not its anti-aliased fringe.\n */\nconst MASK_ALPHA_CUTOFF = 0.5;\n\n/**\n * Outcome of {@link IkiPlayer.load}: the indices into `model.textures` that\n * failed to decode or upload (empty = every declared texture loaded). The model\n * is still swapped in and rendered; parts using a failed texture are skipped.\n * A host can inspect this to detect and report a partial load.\n */\nexport interface IkiLoadResult {\n  failedTextures: number[];\n  /**\n   * True when a newer `load()` (or `destroy()`) superseded this call before it\n   * adopted anything — the model was NOT loaded and `failedTextures` is empty\n   * because nothing was attempted, not because everything succeeded. Without\n   * this flag a caller awaiting the losing promise cannot tell the two apart.\n   */\n  superseded: boolean;\n}\n\n/**\n * Engine-internal runtime representation of an uploaded mesh.\n *\n * `rest` is a copy of the authored vertices (Float32Array for direct GL upload);\n * `scratch` is a same-length preallocated buffer that the per-frame warp\n * pipeline writes morphed positions into before uploading.\n *\n * Index winding convention for an implicit-quad fixture: [0,1,2, 2,1,3]\n * (counter-clockwise from bottom-left). CULL_FACE is disabled, so winding\n * direction is not enforced, but mesh generators must match this.\n */\ninterface PartMesh {\n  position: WebGLBuffer;\n  uv: WebGLBuffer;\n  index: WebGLBuffer;\n  indexCount: number;\n  rest: Float32Array;\n  /** Preallocated warp output buffer; only present when `warps` is non-empty. */\n  scratch?: Float32Array;\n  warps?: IkiWarp[];\n  /** The warp deformer this mesh hangs off, if any (its part.deformer is kind:\"warp\"). */\n  warpDeformer?: IkiWarpDeformer;\n  /** Local-space scratch (same length as `rest`) for the per-frame warp pipeline. */\n  local?: Float32Array;\n}\n\n/**\n * Drives a single `.iki` model on a WebGL2 canvas.\n *\n * v1 scope: parts are solid-color or atlas-sampled textured quads or meshes,\n * transformed each frame by their base transform plus the sum of their parameter\n * bindings. `load()` is async — it decodes and uploads textures before swapping\n * the model in. Mesh parts additionally carry per-vertex UV and optional warp\n * keyforms, interpolated each frame on the CPU into a dynamic vertex buffer.\n */\nexport class IkiPlayer {\n  private readonly gl: WebGL2RenderingContext;\n  private readonly program: WebGLProgram;\n  private readonly quad: WebGLBuffer;\n  private readonly uMatrix: WebGLUniformLocation;\n  private readonly uColor: WebGLUniformLocation;\n  private readonly uUseTexture: WebGLUniformLocation;\n  private readonly uTex: WebGLUniformLocation;\n  private readonly uUvOffset: WebGLUniformLocation;\n  private readonly uUvScale: WebGLUniformLocation;\n  private readonly uUseMeshUv: WebGLUniformLocation;\n  private readonly uAlphaCutoff: WebGLUniformLocation;\n  private readonly aPos: number;\n  private readonly aUv: number;\n  /** True when the context granted a stencil buffer; clipping needs it. */\n  private readonly stencilAvailable: boolean;\n\n  private model?: IkiModel;\n  private parts: IkiPart[] = [];\n  private params = new ParameterStore([]);\n  private rafId?: number;\n  /** Uploaded textures, index-aligned with `model.textures`; `null` = unusable. */\n  private textures: (WebGLTexture | null)[] = [];\n  /** Bumped by every `load` and by `destroy`; lets a stale async load bail. */\n  private loadGeneration = 0;\n  /** True from the moment `load()` is entered until it resolves or throws. */\n  private loadPending = false;\n  /** Latches the un-awaited-load report, so a repeat caller says it once. */\n  private warnedLoadUnfinished = false;\n  private destroyed = false;\n  /**\n   * Engine-internal mesh buffers, keyed by the part's INDEX in `this.parts`\n   * (NOT by part id — duplicate ids must not swap buffers).\n   */\n  private partMeshes = new Map<number, PartMesh>();\n  /**\n   * Clip groups resolved once per `load()`: consumer part index (into `this.parts`)\n   * → its mask part indices. A part absent from this map is unclipped.\n   */\n  private partClipGroups = new Map<number, number[]>();\n\n  constructor(private readonly canvas: HTMLCanvasElement) {\n    const gl = canvas.getContext(\"webgl2\", {\n      alpha: true,\n      // The whole pipeline is premultiplied-alpha: the fragment shader\n      // multiplies rgb by alpha, the blend function is ONE /\n      // ONE_MINUS_SRC_ALPHA, and the page compositor reads the framebuffer\n      // as premultiplied. Straight-alpha (`premultipliedAlpha: false`) cannot\n      // be made consistent with SRC_ALPHA-style blending: semi-transparent\n      // pixels over a transparent background come out premultiplied anyway\n      // and composite too dark.\n      premultipliedAlpha: true,\n      // Stencil buffer backs clip masks (a part rendered only inside its masks'\n      // coverage). Granted by every modern browser; the load() guard reports if not.\n      stencil: true,\n    });\n    if (!gl) throw new Error(\"WebGL2 is not available in this browser\");\n    this.gl = gl;\n    this.stencilAvailable = gl.getContextAttributes()?.stencil ?? false;\n\n    this.program = createProgram(gl, VERTEX_SHADER, FRAGMENT_SHADER);\n    this.uMatrix = getUniform(gl, this.program, \"u_matrix\");\n    this.uColor = getUniform(gl, this.program, \"u_color\");\n    this.uUseTexture = getUniform(gl, this.program, \"u_useTexture\");\n    this.uTex = getUniform(gl, this.program, \"u_tex\");\n    this.uUvOffset = getUniform(gl, this.program, \"u_uvOffset\");\n    this.uUvScale = getUniform(gl, this.program, \"u_uvScale\");\n    this.uUseMeshUv = getUniform(gl, this.program, \"u_useMeshUv\");\n    this.uAlphaCutoff = getUniform(gl, this.program, \"u_alphaCutoff\");\n    // Fetch attribute locations here so renderFrame can set them explicitly\n    // per draw path (mesh vs quad), rather than hiding the wiring in createUnitQuad.\n    this.aPos = gl.getAttribLocation(this.program, \"a_pos\");\n    this.aUv = gl.getAttribLocation(this.program, \"a_uv\");\n\n    this.quad = createUnitQuad(gl);\n\n    gl.enable(gl.BLEND);\n    // Premultiplied-alpha \"over\": the shader already multiplied rgb by alpha.\n    // (See the premultipliedAlpha context note above — SRC_ALPHA blending into\n    // a straight-alpha canvas darkens semi-transparent parts.)\n    gl.blendFunc(gl.ONE, gl.ONE_MINUS_SRC_ALPHA);\n  }\n\n  /**\n   * Load a model and reset parameters to their defaults. All textures are\n   * decoded and uploaded before the model is swapped in — the swap is atomic,\n   * so you never see a partially-textured frame. `start()` may be called any\n   * time, but nothing renders until the first `load()` resolves. For an\n   * embedded `data:` atlas this is near-instant.\n   *\n   * Individual texture decode/upload failures are non-fatal: they are logged\n   * via `console.error`, the affected parts are skipped, and `load()` still\n   * resolves — the returned {@link IkiLoadResult} lists the indices of any\n   * textures that failed, so a host can detect and report a partial load. The\n   * model is assumed already validated by `@ikijs/format`.\n   *\n   * Mesh buffer allocation failure IS fatal (unlike per-texture skip) because\n   * textures have an `IkiLoadResult.failedTextures` reporting surface and mesh\n   * buffers have none — there is no partial-mesh concept in the format.\n   *\n   * AWAIT THIS before reading {@link getParameters}. The swap happens after\n   * texture decoding, so an un-awaited `load()` leaves the parameter store\n   * empty for the rest of the tick; `getParameters` reports that case rather\n   * than letting a host conclude the model drives nothing.\n   */\n  async load(model: IkiModel): Promise<IkiLoadResult> {\n    // `finally` rather than a reset before each `return`: a fatal mesh-buffer\n    // throw must not latch this on and make every later getParameters() a\n    // false alarm.\n    this.loadPending = true;\n    try {\n      return await this.adoptModel(model);\n    } finally {\n      this.loadPending = false;\n    }\n  }\n\n  private async adoptModel(model: IkiModel): Promise<IkiLoadResult> {\n    const { gl } = this;\n    const generation = ++this.loadGeneration;\n\n    // v1 decodes `data:` URIs only; external sources are skipped (resolver TBD).\n    const sources = model.textures ?? [];\n    const decoded = await Promise.allSettled(\n      sources.map((tex) => decodeTexture(tex.source)),\n    );\n\n    // A newer load() or destroy() superseded us while decoding — bail without\n    // creating GL textures or swapping any state.\n    if (generation !== this.loadGeneration || this.destroyed) {\n      for (const result of decoded) {\n        if (result.status === \"fulfilled\" && result.value) result.value.close();\n      }\n      return { failedTextures: [], superseded: true };\n    }\n\n    // Queried once per load, not per texture: a GL parameter read is a driver\n    // round-trip and this bound is constant for the context's lifetime.\n    // `getParameter` yields null on a LOST context — reachable here, because\n    // load() awaits decoding — and `width > null` coerces to `width > 0`, which\n    // would reject every texture and blame a \"nullpx limit\". Skip the bound\n    // instead when it is unavailable; the upload path below reports the real\n    // failure.\n    const maxTextureSizeRaw: unknown = gl.getParameter(gl.MAX_TEXTURE_SIZE);\n    const maxTextureSize =\n      typeof maxTextureSizeRaw === \"number\" ? maxTextureSizeRaw : undefined;\n    if (maxTextureSize === undefined) {\n      // A non-number here has one cause: the context is gone. Report it, because\n      // the drain below consumes the single CONTEXT_LOST_WEBGL the spec\n      // guarantees, and a model of implicit quads would otherwise adopt cleanly\n      // and blame \"textures failed to load\".\n      console.error(\"Iki: WebGL context lost during load()\");\n    }\n\n    // [7] getError returns the OLDEST latched error and says nothing about which\n    // call produced it, so anything the render loop left pending during the\n    // await would be pinned on the first texture. Start from a clean slate.\n    drainGlErrors(gl);\n\n    const uploaded: (WebGLTexture | null)[] = decoded.map((result, i) => {\n      if (result.status === \"rejected\") {\n        console.error(`Iki: failed to decode textures[${i}]`, result.reason);\n        return null;\n      }\n      const bitmap = result.value;\n      // External source was skipped during decode.\n      if (!bitmap) return null;\n\n      // An atlas wider than the driver's limit uploads as a GL error and leaves\n      // a non-null but unsamplable texture, which would then render as black\n      // rather than being reported. Reject it up front instead.\n      if (\n        maxTextureSize !== undefined &&\n        (bitmap.width > maxTextureSize || bitmap.height > maxTextureSize)\n      ) {\n        console.error(\n          `Iki: textures[${i}] is ${bitmap.width}x${bitmap.height}, over this device's ${maxTextureSize}px limit`,\n        );\n        bitmap.close();\n        return null;\n      }\n\n      const texture = gl.createTexture();\n      if (!texture) {\n        bitmap.close();\n        console.error(`Iki: failed to allocate GL texture for textures[${i}]`);\n        return null;\n      }\n      gl.bindTexture(gl.TEXTURE_2D, texture);\n      gl.pixelStorei(gl.UNPACK_PREMULTIPLY_ALPHA_WEBGL, false);\n      gl.pixelStorei(gl.UNPACK_FLIP_Y_WEBGL, false);\n      // Clear again so the check after texImage2D can only reflect texImage2D.\n      drainGlErrors(gl);\n      gl.texImage2D(\n        gl.TEXTURE_2D,\n        0,\n        gl.RGBA,\n        gl.RGBA,\n        gl.UNSIGNED_BYTE,\n        bitmap,\n      );\n      bitmap.close();\n      // Out-of-memory and other upload failures surface only here; without the\n      // check the slot stays non-null and is reported as a successful load.\n      const uploadError = gl.getError();\n      if (uploadError !== gl.NO_ERROR) {\n        gl.deleteTexture(texture);\n        console.error(\n          `Iki: failed to upload textures[${i}] (GL error 0x${uploadError.toString(16)})`,\n        );\n        return null;\n      }\n      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);\n      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);\n      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.LINEAR);\n      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.LINEAR);\n      return texture;\n    });\n\n    // Build the new model's render state into LOCAL variables BEFORE adopting\n    // anything. Do NOT read this.parts here — it still points at the PREVIOUS\n    // model until the adoption swap below; reading it would build buffers for\n    // old parts keyed by the new loop's indices.\n    const nextParts = [...model.parts].sort((a, b) => a.order - b.order);\n    const nextPartMeshes = new Map<number, PartMesh>();\n\n    for (let i = 0; i < nextParts.length; i++) {\n      const part = nextParts[i];\n      if (!part.mesh) continue;\n\n      const { mesh } = part;\n      // Collect buffers as they are created so we can clean up on partial failure.\n      const currentPartBuffers: WebGLBuffer[] = [];\n\n      const positionBuf = gl.createBuffer();\n      if (!positionBuf) {\n        // Nothing created yet for this part — clean up prior parts + textures.\n        deletePartMeshBuffers(gl, nextPartMeshes);\n        deleteUploadedTextures(gl, uploaded);\n        throw new Error(\"Iki: failed to allocate mesh buffer\");\n      }\n      currentPartBuffers.push(positionBuf);\n\n      const uvBuf = gl.createBuffer();\n      if (!uvBuf) {\n        // position VBO created but uv VBO failed — delete position to avoid leak.\n        for (const b of currentPartBuffers) gl.deleteBuffer(b);\n        deletePartMeshBuffers(gl, nextPartMeshes);\n        deleteUploadedTextures(gl, uploaded);\n        throw new Error(\"Iki: failed to allocate mesh buffer\");\n      }\n      currentPartBuffers.push(uvBuf);\n\n      const indexBuf = gl.createBuffer();\n      if (!indexBuf) {\n        // position + uv created but index failed — delete both.\n        for (const b of currentPartBuffers) gl.deleteBuffer(b);\n        deletePartMeshBuffers(gl, nextPartMeshes);\n        deleteUploadedTextures(gl, uploaded);\n        throw new Error(\"Iki: failed to allocate mesh buffer\");\n      }\n\n      // All three buffers allocated — upload data.\n      const rest = new Float32Array(mesh.vertices);\n      // A mesh part whose `deformer` references a kind:\"warp\" deformer is a warp\n      // child: it morphs every frame (bind→sample against the grid) even with no\n      // part-local warps, so it also needs DYNAMIC_DRAW + scratch + a local buffer.\n      const warpDeformer =\n        part.deformer !== undefined\n          ? model.deformers?.find(\n              (d): d is IkiWarpDeformer =>\n                d.kind === \"warp\" && d.id === part.deformer,\n            )\n          : undefined;\n      const isWarpChild = warpDeformer !== undefined;\n      // Only allocate scratch and use DYNAMIC_DRAW when this part has warps or is\n      // a warp child; warp-less static meshes never morph and skip per-frame upload.\n      const hasWarps = (part.warps?.length ?? 0) > 0;\n      const dynamic = hasWarps || isWarpChild;\n      const scratch = dynamic\n        ? new Float32Array(mesh.vertices.length)\n        : undefined;\n      // Warp children also need a second scratch for the part-local pipeline\n      // (applyWarps + TRS) before grid binding.\n      const local = isWarpChild\n        ? new Float32Array(mesh.vertices.length)\n        : undefined;\n\n      // Clear first so the check after the three uploads reflects only them.\n      drainGlErrors(gl);\n\n      gl.bindBuffer(gl.ARRAY_BUFFER, positionBuf);\n      gl.bufferData(\n        gl.ARRAY_BUFFER,\n        rest,\n        dynamic ? gl.DYNAMIC_DRAW : gl.STATIC_DRAW,\n      );\n\n      gl.bindBuffer(gl.ARRAY_BUFFER, uvBuf);\n      gl.bufferData(\n        gl.ARRAY_BUFFER,\n        new Float32Array(mesh.uvs),\n        gl.STATIC_DRAW,\n      );\n\n      // Vertex count is validator-capped at 65536, so Uint16 cannot wrap.\n      gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, indexBuf);\n      gl.bufferData(\n        gl.ELEMENT_ARRAY_BUFFER,\n        new Uint16Array(mesh.indices),\n        gl.STATIC_DRAW,\n      );\n\n      // Allocation was checked above, but `bufferData` can still raise\n      // OUT_OF_MEMORY and leave a valid-but-EMPTY buffer, which draws garbage or\n      // nothing at all. The contract on this class calls a mesh-buffer failure\n      // fatal precisely because it has no `failedTextures`-style reporting\n      // surface — which only holds if the failure is detected here.\n      const meshUploadError = gl.getError();\n      if (meshUploadError !== gl.NO_ERROR) {\n        for (const b of currentPartBuffers) gl.deleteBuffer(b);\n        gl.deleteBuffer(indexBuf);\n        deletePartMeshBuffers(gl, nextPartMeshes);\n        deleteUploadedTextures(gl, uploaded);\n        throw new Error(\n          `Iki: failed to upload mesh buffers for part \"${part.id}\" (GL error 0x${meshUploadError.toString(16)})`,\n        );\n      }\n\n      nextPartMeshes.set(i, {\n        position: positionBuf,\n        uv: uvBuf,\n        index: indexBuf,\n        indexCount: mesh.indices.length,\n        rest,\n        scratch,\n        warps: part.warps,\n        warpDeformer,\n        local,\n      });\n    }\n\n    // Resolve clip groups once: consumer part index → mask part indices. The\n    // model is already validated (every mask id maps to a unique mesh part), so\n    // this is a plain id→index lookup, not a per-frame reconstruction.\n    const nextClipGroups = new Map<number, number[]>();\n    const indexById = new Map<string, number>();\n    for (let i = 0; i < nextParts.length; i++) {\n      indexById.set(nextParts[i].id, i);\n    }\n    for (let i = 0; i < nextParts.length; i++) {\n      const clip = nextParts[i].clip;\n      if (!clip) continue;\n      const maskIndices = clip.masks\n        .map((maskId) => indexById.get(maskId))\n        .filter((mi): mi is number => mi !== undefined);\n      if (maskIndices.length > 0) nextClipGroups.set(i, maskIndices);\n    }\n    if (nextClipGroups.size > 0 && !this.stencilAvailable) {\n      console.error(\n        \"Iki: model uses clip masks but this WebGL2 context has no stencil buffer; rendering unclipped\",\n      );\n    }\n\n    // Atomic adoption: release the previous model's part-mesh buffers and textures,\n    // then adopt the new model's state in a single block so the render loop\n    // never sees a half-adopted model.\n    deletePartMeshBuffers(gl, this.partMeshes);\n    for (const texture of this.textures) {\n      if (texture) gl.deleteTexture(texture);\n    }\n\n    this.model = model;\n    this.params = new ParameterStore(model.parameters);\n    this.parts = nextParts;\n    this.partMeshes = nextPartMeshes;\n    this.partClipGroups = nextClipGroups;\n    this.textures = uploaded;\n\n    return {\n      failedTextures: uploaded.flatMap((t, i) => (t === null ? [i] : [])),\n      superseded: false,\n    };\n  }\n\n  /**\n   * Start the render loop. Safe to call more than once, and a no-op after\n   * {@link destroy} — the program and buffers the loop draws with are gone, so\n   * restarting would only spray GL errors.\n   */\n  start(): void {\n    if (this.rafId !== undefined || this.destroyed) return;\n    const loop = (): void => {\n      this.renderFrame();\n      this.rafId = requestAnimationFrame(loop);\n    };\n    this.rafId = requestAnimationFrame(loop);\n  }\n\n  stop(): void {\n    if (this.rafId === undefined) return;\n    cancelAnimationFrame(this.rafId);\n    this.rafId = undefined;\n  }\n\n  /**\n   * Set a parameter value (clamped to its range). Unknown ids and non-finite\n   * values are ignored — see {@link ParameterStore.set}.\n   */\n  setParameter(id: string, value: number): void {\n    this.params.set(id, value);\n  }\n\n  /**\n   * Current value of a parameter, or 0 for an unknown id.\n   *\n   * Hosts need this to avoid shadowing the engine's state: the motion drivers\n   * read the live pose to compute the next one, and without a read accessor\n   * every host has to keep its own mirror of what it last wrote — and keep that\n   * mirror's clamping in step with {@link ParameterStore} by hand.\n   */\n  getParameter(id: string): number {\n    return this.params.get(id);\n  }\n\n  /**\n   * The model's parameter descriptors, for building UI or host wiring.\n   *\n   * Empty until the first {@link load} resolves. Reaching it through an\n   * un-awaited `load()` is the one mistake in this class that produces no\n   * error and no motion: the caller gets `[]`, concludes the model has no\n   * parameters, and drives nothing — so that case is reported instead of\n   * being indistinguishable from a model that really declares none. A\n   * reload is deliberately NOT reported: those parameters are stale rather\n   * than absent, and warning there would fire on legitimate concurrent reads.\n   */\n  getParameters(): IkiParameter[] {\n    if (\n      this.loadPending &&\n      this.model === undefined &&\n      !this.warnedLoadUnfinished\n    ) {\n      this.warnedLoadUnfinished = true;\n      console.error(\n        \"Iki: getParameters() ran before load() finished, so it returned an empty list — await load() before reading parameters.\",\n      );\n    }\n    return this.params.list();\n  }\n\n  destroy(): void {\n    this.stop();\n    // Invalidate any in-flight load so it bails before touching GL state.\n    this.destroyed = true;\n    ++this.loadGeneration;\n    const { gl } = this;\n    for (const texture of this.textures) {\n      if (texture) gl.deleteTexture(texture);\n    }\n    this.textures = [];\n    deletePartMeshBuffers(gl, this.partMeshes);\n    this.partMeshes = new Map();\n    gl.deleteBuffer(this.quad);\n    gl.deleteProgram(this.program);\n  }\n\n  private renderFrame(): void {\n    const { gl, canvas } = this;\n\n    const dpr = window.devicePixelRatio || 1;\n    const width = Math.max(1, Math.floor(canvas.clientWidth * dpr));\n    const height = Math.max(1, Math.floor(canvas.clientHeight * dpr));\n    if (canvas.width !== width || canvas.height !== height) {\n      canvas.width = width;\n      canvas.height = height;\n    }\n\n    gl.viewport(0, 0, width, height);\n    gl.clearColor(0, 0, 0, 0);\n    gl.clear(gl.COLOR_BUFFER_BIT | gl.STENCIL_BUFFER_BIT);\n\n    if (!this.model) return;\n\n    // Fit the logical model canvas into the drawing buffer, preserving aspect,\n    // and convert model units to clip space.\n    const { width: modelW, height: modelH } = this.model.canvas;\n    const fit = Math.min(width / modelW, height / modelH);\n    const clipX = (fit * 2) / width;\n    const clipY = (fit * 2) / height;\n\n    gl.useProgram(this.program);\n\n    const deformerWorlds =\n      this.model.deformers && this.model.deformers.length > 0\n        ? resolveDeformerWorlds(this.model.deformers, this.params)\n        : undefined;\n\n    // Resolve each warp deformer's deformed control grid for this frame (parent\n    // matrix affine + grid keyforms). Warp-child mesh parts sample these grids\n    // instead of riding the affine dWorld·TRS chain.\n    const warpGrids = this.model.deformers?.some((d) => d.kind === \"warp\")\n      ? resolveWarpGrids(\n          this.model.deformers,\n          this.params,\n          deformerWorlds ?? new Map(),\n        )\n      : undefined;\n\n    // u_alphaCutoff defaults to 0 (no fragment is discarded) for normal parts;\n    // the mask-write pass raises it temporarily (see drawClipped).\n    gl.uniform1f(this.uAlphaCutoff, 0);\n    for (let index = 0; index < this.parts.length; index++) {\n      const maskIndices = this.partClipGroups.get(index);\n      if (maskIndices && this.stencilAvailable) {\n        this.drawClipped(\n          index,\n          maskIndices,\n          clipX,\n          clipY,\n          deformerWorlds,\n          warpGrids,\n        );\n      } else {\n        // Unclipped (or stencil unavailable — load() already reported it).\n        this.drawPart(index, clipX, clipY, deformerWorlds, warpGrids);\n      }\n    }\n  }\n\n  /**\n   * Draw a clipped part: stencil the union of its masks' alpha coverage, then\n   * draw the part only where the stencil was written. The mask parts also draw\n   * normally in their own `order` slot — this is an EXTRA, color-free pass over\n   * the same per-frame deformed geometry. All stencil/colorMask state the pass\n   * touches is restored before returning so later parts are unaffected.\n   */\n  private drawClipped(\n    index: number,\n    maskIndices: number[],\n    clipX: number,\n    clipY: number,\n    deformerWorlds: ReturnType<typeof resolveDeformerWorlds> | undefined,\n    warpGrids: ReturnType<typeof resolveWarpGrids> | undefined,\n  ): void {\n    const { gl } = this;\n\n    // 1. Write coverage into the stencil (REPLACE 1), no color. Each mask is\n    //    drawn with its per-frame deformed geometry; u_alphaCutoff discards the\n    //    transparent fringe so only opaque coverage marks the stencil. Multiple\n    //    masks union naturally (all write 1).\n    gl.clear(gl.STENCIL_BUFFER_BIT);\n    gl.enable(gl.STENCIL_TEST);\n    gl.colorMask(false, false, false, false);\n    gl.stencilMask(0xff);\n    gl.stencilFunc(gl.ALWAYS, 1, 0xff);\n    gl.stencilOp(gl.KEEP, gl.KEEP, gl.REPLACE);\n    gl.uniform1f(this.uAlphaCutoff, MASK_ALPHA_CUTOFF);\n    for (const maskIndex of maskIndices) {\n      this.drawPart(maskIndex, clipX, clipY, deformerWorlds, warpGrids);\n    }\n\n    // 2. Draw the consumer only where stencil == 1; restore color writes first.\n    gl.uniform1f(this.uAlphaCutoff, 0);\n    gl.colorMask(true, true, true, true);\n    gl.stencilMask(0x00);\n    gl.stencilFunc(gl.EQUAL, 1, 0xff);\n    gl.stencilOp(gl.KEEP, gl.KEEP, gl.KEEP);\n    this.drawPart(index, clipX, clipY, deformerWorlds, warpGrids);\n\n    // 3. Restore every stencil state this pass changed (colorMask + u_alphaCutoff\n    //    already restored above) so the next unmasked part renders normally.\n    gl.disable(gl.STENCIL_TEST);\n    gl.stencilMask(0xff);\n    gl.stencilFunc(gl.ALWAYS, 0, 0xff);\n    gl.stencilOp(gl.KEEP, gl.KEEP, gl.KEEP);\n  }\n\n  /**\n   * Draw a single part with its full per-part material + geometry state. Shared\n   * by the normal pass, the stencil mask-write pass, and the masked consumer\n   * draw — so every path prepares the SAME complete uniform/texture/VBO state\n   * (the caller only sets stencil/colorMask/u_alphaCutoff around it).\n   */\n  private drawPart(\n    index: number,\n    clipX: number,\n    clipY: number,\n    deformerWorlds: ReturnType<typeof resolveDeformerWorlds> | undefined,\n    warpGrids: ReturnType<typeof resolveWarpGrids> | undefined,\n  ): void {\n    const { gl } = this;\n    const part = this.parts[index];\n    const texture = part.texture\n      ? this.textures[part.texture.index]\n      : undefined;\n    // A textured part whose slot is null (skipped/failed) draws nothing.\n    if (part.texture && !texture) return;\n\n    const t = this.evaluate(part);\n    // Warp-child mesh parts bypass the affine dWorld·TRS chain entirely: their\n    // vertices are computed by the per-frame grid pipeline below (which bakes\n    // part TRS into model-space positions), so u_matrix carries ONLY clip-scale.\n    const warpChild = this.partMeshes.get(index)?.warpDeformer;\n    // clip <- project <- [deformer?] <- translate <- rotate <- scale(size)\n    let m: ReturnType<typeof multiply>;\n    if (warpChild) {\n      m = scale(clipX, clipY);\n    } else if (part.deformer !== undefined) {\n      const dWorld = deformerWorlds!.get(part.deformer);\n      if (!dWorld) {\n        throw new Error(\n          `part \"${part.id}\" references unknown deformer \"${part.deformer}\"`,\n        );\n      }\n      m = multiply(multiply(scale(clipX, clipY), dWorld), translate(t.x, t.y));\n      m = multiply(m, rotate(t.rotation));\n      m = multiply(m, scale(part.width * t.scaleX, part.height * t.scaleY));\n    } else {\n      m = multiply(scale(clipX, clipY), translate(t.x, t.y));\n      m = multiply(m, rotate(t.rotation));\n      m = multiply(m, scale(part.width * t.scaleX, part.height * t.scaleY));\n    }\n\n    const [r, g, b, a] = part.color;\n    gl.uniformMatrix3fv(this.uMatrix, false, toMat3(m));\n    gl.uniform4f(this.uColor, r, g, b, a * t.opacity);\n\n    if (part.texture && texture) {\n      const { uv } = part.texture;\n      gl.uniform1i(this.uUseTexture, 1);\n      gl.activeTexture(gl.TEXTURE0);\n      gl.bindTexture(gl.TEXTURE_2D, texture);\n      gl.uniform1i(this.uTex, 0);\n      gl.uniform2f(this.uUvOffset, uv.x, uv.y);\n      gl.uniform2f(this.uUvScale, uv.width, uv.height);\n    } else {\n      gl.uniform1i(this.uUseTexture, 0);\n    }\n\n    if (part.mesh) {\n      // --- Mesh draw path ---\n      const pm = this.partMeshes.get(index);\n      if (!pm) {\n        // Impossible after the fatal-allocation rule in load(); throwing rather\n        // than skipping matches the existing unknown-deformer-parent throw in\n        // deform.ts and ensures engine bugs are never silently hidden.\n        throw new Error(`Iki: mesh buffers missing for part \"${part.id}\"`);\n      }\n\n      gl.uniform1i(this.uUseMeshUv, 1);\n\n      // For warped meshes, compute morphed positions and upload to the\n      // DYNAMIC_DRAW VBO. Warp-less meshes skip this — their VBO already\n      // holds `rest` from load().\n      if (pm.warpDeformer) {\n        // --- Warp-deformer (group warp) child pipeline ---\n        // Coordinate invariant (top bug risk): BIND against the RAW rest grid\n        // (warpDeformer.grid — no keyform offsets, no parent affine), SAMPLE\n        // against the RESOLVED grid (resolveWarpGrids output: offsets added,\n        // THEN parent affine). Never bind against a resolved/deformed grid.\n        const warpDef = pm.warpDeformer;\n        const grid = warpGrids!.get(warpDef.id)!;\n        // 1. part-local mesh warps into the local scratch (no-op if none).\n        applyWarps(pm.rest, pm.warps, this.params, pm.local!);\n        // 2. live part TRS (eye/mouth open etc.), baked into the vertices.\n        const trs = evaluateTransform(\n          part.transform,\n          part.bindings,\n          this.params,\n        );\n        const partAffine = multiply(\n          multiply(translate(trs.x, trs.y), rotate(trs.rotation)),\n          scale(part.width * trs.scaleX, part.height * trs.scaleY),\n        );\n        // 2b+3+4. transform each local vertex by partAffine, rebind to the RAW\n        // rest grid, and sample the RESOLVED (deformed) grid.\n        applyWarpToChild(\n          pm.local!,\n          partAffine,\n          warpDef.grid,\n          grid,\n          pm.scratch!,\n        );\n        gl.bindBuffer(gl.ARRAY_BUFFER, pm.position);\n        gl.bufferSubData(gl.ARRAY_BUFFER, 0, pm.scratch!);\n      } else if (pm.warps && pm.warps.length > 0) {\n        // scratch is always allocated when warps is non-empty (see load())\n        applyWarps(pm.rest, pm.warps, this.params, pm.scratch!);\n        gl.bindBuffer(gl.ARRAY_BUFFER, pm.position);\n        gl.bufferSubData(gl.ARRAY_BUFFER, 0, pm.scratch!);\n      }\n\n      // Position VBO (DYNAMIC_DRAW — morphed for warped parts, rest otherwise).\n      gl.bindBuffer(gl.ARRAY_BUFFER, pm.position);\n      gl.enableVertexAttribArray(this.aPos);\n      gl.vertexAttribPointer(this.aPos, 2, gl.FLOAT, false, 0, 0);\n\n      // UV VBO (STATIC_DRAW — mesh UVs are passed straight through, no flip).\n      gl.bindBuffer(gl.ARRAY_BUFFER, pm.uv);\n      gl.enableVertexAttribArray(this.aUv);\n      gl.vertexAttribPointer(this.aUv, 2, gl.FLOAT, false, 0, 0);\n\n      gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, pm.index);\n      gl.drawElements(gl.TRIANGLES, pm.indexCount, gl.UNSIGNED_SHORT, 0);\n    } else {\n      // --- Implicit-quad draw path ---\n      // Disable a_uv so no stale mesh UV buffer from a preceding mesh part is\n      // sourced. The quad shader branch derives UV from a_pos, not a_uv.\n      gl.uniform1i(this.uUseMeshUv, 0);\n      gl.disableVertexAttribArray(this.aUv);\n\n      gl.bindBuffer(gl.ARRAY_BUFFER, this.quad);\n      gl.enableVertexAttribArray(this.aPos);\n      gl.vertexAttribPointer(this.aPos, 2, gl.FLOAT, false, 0, 0);\n\n      gl.drawArrays(gl.TRIANGLE_STRIP, 0, 4);\n    }\n  }\n\n  /** Resolve a part's effective transform from its base plus active bindings. */\n  private evaluate(part: IkiPart): ReturnType<typeof evaluateTransform> {\n    return evaluateTransform(part.transform, part.bindings, this.params);\n  }\n}\n\n// --- WebGL plumbing ---------------------------------------------------------\nconst VERTEX_SHADER = `#version 300 es\nin vec2 a_pos;\nin vec2 a_uv;\nuniform mat3 u_matrix;\nuniform vec2 u_uvOffset;\nuniform vec2 u_uvScale;\nuniform bool u_useMeshUv;\nout vec2 v_uv;\nvoid main() {\n  if (u_useMeshUv) {\n    // Mesh path: UVs are already top-left atlas-space; pass straight through,\n    // no flip (the only flip in the pipeline lives in the quad branch below).\n    v_uv = a_uv;\n  } else {\n    // Quad path: a_pos corners are +/-0.5; lift to 0..1 (y-up), then map into\n    // the atlas sub-rect with a single V flip so the result is top-left UVs.\n    vec2 uvLocal = a_pos + 0.5;\n    v_uv = vec2(\n      u_uvOffset.x + uvLocal.x * u_uvScale.x,\n      u_uvOffset.y + (1.0 - uvLocal.y) * u_uvScale.y\n    );\n  }\n  vec3 p = u_matrix * vec3(a_pos, 1.0);\n  gl_Position = vec4(p.xy, 0.0, 1.0);\n}`;\n\nconst FRAGMENT_SHADER = `#version 300 es\nprecision mediump float;\nuniform vec4 u_color;\nuniform bool u_useTexture;\nuniform sampler2D u_tex;\nuniform float u_alphaCutoff;\nin vec2 v_uv;\nout vec4 outColor;\nvoid main() {\n  vec4 base = u_useTexture ? texture(u_tex, v_uv) : vec4(1.0);\n  vec4 tinted = base * u_color;\n  // 0 for normal draws (no-op); raised during the stencil mask-write pass so\n  // only opaque mask coverage marks the stencil (the transparent fringe is cut).\n  if (tinted.a < u_alphaCutoff) discard;\n  // Premultiply: the blend function and the canvas compositing contract\n  // (premultipliedAlpha: true) both expect rgb already scaled by alpha.\n  outColor = vec4(tinted.rgb * tinted.a, tinted.a);\n}`;\n\n/**\n * Decode a texture source into an ImageBitmap, or `null` for an unsupported\n * (non-`data:`) source. v1 fetches `data:` URIs only — never arbitrary URLs.\n */\nasync function decodeTexture(source: string): Promise<ImageBitmap | null> {\n  if (!source.startsWith(\"data:\")) {\n    console.warn(\n      \"Iki: external texture sources are unsupported in v1; skipping\",\n      source.slice(0, 32),\n    );\n    return null;\n  }\n  const blob = await (await fetch(source)).blob();\n  return createImageBitmap(blob, {\n    imageOrientation: \"none\",\n    premultiplyAlpha: \"none\",\n  });\n}\n\n/** Create the shared unit-quad position VBO (centered, triangle-strip). */\nfunction createUnitQuad(gl: WebGL2RenderingContext): WebGLBuffer {\n  const buffer = gl.createBuffer();\n  if (!buffer) throw new Error(\"failed to allocate quad buffer\");\n  gl.bindBuffer(gl.ARRAY_BUFFER, buffer);\n  // Unit square centered on the origin, as a triangle strip.\n  gl.bufferData(\n    gl.ARRAY_BUFFER,\n    new Float32Array([-0.5, -0.5, 0.5, -0.5, -0.5, 0.5, 0.5, 0.5]),\n    gl.STATIC_DRAW,\n  );\n  // Attribute pointers are set explicitly in renderFrame per draw path;\n  // createUnitQuad only owns buffer allocation and data upload.\n  return buffer;\n}\n\n/**\n * Clear every latched GL error so the next `getError()` reflects only the call\n * that follows this one. A lost context reports CONTEXT_LOST_WEBGL once and\n * NO_ERROR after, so this terminates.\n */\nfunction drainGlErrors(gl: WebGL2RenderingContext): void {\n  // Bounded: the spec guarantees this terminates (a lost context reports\n  // CONTEXT_LOST_WEBGL once, then NO_ERROR), but this is the one file with no\n  // unit coverage, and an unbounded driver loop would hang the tab with no\n  // stack against a wedged or mocked context.\n  for (let i = 0; i < 32 && gl.getError() !== gl.NO_ERROR; i++) {\n    /* discard */\n  }\n}\n\n/** Delete all position/uv/index buffers stored in a PartMesh map. */\nfunction deletePartMeshBuffers(\n  gl: WebGL2RenderingContext,\n  meshes: Map<number, PartMesh>,\n): void {\n  for (const pm of meshes.values()) {\n    gl.deleteBuffer(pm.position);\n    gl.deleteBuffer(pm.uv);\n    gl.deleteBuffer(pm.index);\n  }\n}\n\n/** Delete all non-null textures from an uploaded texture array. */\nfunction deleteUploadedTextures(\n  gl: WebGL2RenderingContext,\n  textures: (WebGLTexture | null)[],\n): void {\n  for (const texture of textures) {\n    if (texture) gl.deleteTexture(texture);\n  }\n}\n\nfunction createProgram(\n  gl: WebGL2RenderingContext,\n  vertexSrc: string,\n  fragmentSrc: string,\n): WebGLProgram {\n  const program = gl.createProgram();\n  if (!program) throw new Error(\"failed to allocate WebGL program\");\n  gl.attachShader(program, compileShader(gl, gl.VERTEX_SHADER, vertexSrc));\n  gl.attachShader(program, compileShader(gl, gl.FRAGMENT_SHADER, fragmentSrc));\n  gl.linkProgram(program);\n  if (!gl.getProgramParameter(program, gl.LINK_STATUS)) {\n    const log = gl.getProgramInfoLog(program);\n    gl.deleteProgram(program);\n    throw new Error(`program link failed: ${log}`);\n  }\n  return program;\n}\n\nfunction compileShader(\n  gl: WebGL2RenderingContext,\n  type: number,\n  source: string,\n): WebGLShader {\n  const shader = gl.createShader(type);\n  if (!shader) throw new Error(\"failed to allocate shader\");\n  gl.shaderSource(shader, source);\n  gl.compileShader(shader);\n  if (!gl.getShaderParameter(shader, gl.COMPILE_STATUS)) {\n    const log = gl.getShaderInfoLog(shader);\n    gl.deleteShader(shader);\n    throw new Error(`shader compile failed: ${log}`);\n  }\n  return shader;\n}\n\nfunction getUniform(\n  gl: WebGL2RenderingContext,\n  program: WebGLProgram,\n  name: string,\n): WebGLUniformLocation {\n  const loc = gl.getUniformLocation(program, name);\n  if (!loc) throw new Error(`uniform not found: ${name}`);\n  return loc;\n}\n","import { StandardParameter } from \"@ikijs/format\";\nimport { MAX_DT_MS } from \"./frame-clock\";\nimport { clamp } from \"./math\";\n\n// --- Module-internal timing/easing constants -----------------------------------\n// These are intentionally private; tests assert observable behavior, not config.\n\nconst BLINK_INTERVAL_MIN_MS = 1500;\nconst BLINK_INTERVAL_MAX_MS = 6000;\nconst BLINK_DURATION_MS = 120; // full close+open cycle\n\nconst BREATH_PERIOD_MS = 3500;\n\nconst GAZE_RADIUS = 0.3;\nconst GAZE_RETARGET_MIN_MS = 1200;\nconst GAZE_RETARGET_MAX_MS = 3000;\n// Fraction of the gap to close each millisecond of clamped dt.\n// Chosen so a typical 16ms frame moves ~1.5 % of remaining distance.\nconst GAZE_EASE_RATE = 0.001;\n\n// Head sway: sums of slow sines with near-coprime periods, so the drift never\n// visibly repeats. Degrees — small against the ±30° standard AngleX/Y range,\n// but enough continuous head motion to keep hair physics from sleeping.\nconst SWAY_X_AMP_A_DEG = 2.2;\nconst SWAY_X_PERIOD_A_MS = 6100;\nconst SWAY_X_AMP_B_DEG = 1.3;\nconst SWAY_X_PERIOD_B_MS = 9700;\nconst SWAY_Y_AMP_DEG = 1.6;\nconst SWAY_Y_PERIOD_MS = 7300;\n\n// --- Small pure helpers -------------------------------------------------------\n\nfunction lerp(a: number, b: number, t: number): number {\n  return a + (b - a) * t;\n}\n\n/** Blink envelope: 1 at phase 0 and 1, 0 at the midpoint (triangle dip). */\nfunction blinkEnvelope(phase: number): number {\n  // phase in [0,1]; map to a symmetric triangle: 0→1, 0.5→0, 1→1\n  return 2 * Math.abs(phase - 0.5);\n}\n\n/** Pick a random point within a disk of `radius` using the injected rng. */\nfunction randomInDisk(rng: () => number, radius: number): [number, number] {\n  // Polar sampling: bounded, no rejection loop, safe with any [0,1) rng.\n  // r = sqrt(u) gives uniform area distribution; θ spans the full circle.\n  const r = Math.sqrt(rng()) * radius;\n  const theta = rng() * 2 * Math.PI;\n  return [r * Math.cos(theta), r * Math.sin(theta)];\n}\n\n// --- Public API ---------------------------------------------------------------\n\nexport interface IdleMotionOptions {\n  /** Inject a deterministic rng for testing. Defaults to Math.random. */\n  rng?: () => number;\n}\n\n/**\n * Pure-logic idle-animation driver. Animates the seven \"life\" parameters\n * (eyes, breath, gaze, head sway) on an internal clock so tab-backgrounding\n * or irregular frame delivery can't produce teleports or snap-close blinks.\n *\n * Usage:\n *   const idle = new IdleMotion(player.setParameter.bind(player));\n *   // inside your rAF loop:\n *   idle.update(performance.now());\n *\n * The host is responsible for scheduling; this class has no timers or rAF.\n */\nexport class IdleMotion {\n  private readonly sink: (id: string, value: number) => void;\n  private readonly rng: () => number;\n\n  // Internal clock: advances by clamped dt, NOT by raw wall-clock jumps.\n  // This is the only clock blink/breath/gaze scheduling reads.\n  private clockMs = 0;\n  private prevNowMs: number | undefined = undefined;\n\n  // Blink state\n  private nextBlinkAtMs: number;\n  private blinkStartMs = -1; // -1 means not currently blinking\n\n  // Gaze state\n  private gazeCurrentX = 0;\n  private gazeCurrentY = 0;\n  private gazeTargetX = 0;\n  private gazeTargetY = 0;\n  private nextGazeRetargetMs: number;\n\n  constructor(\n    sink: (id: string, value: number) => void,\n    options?: IdleMotionOptions,\n  ) {\n    this.sink = sink;\n    // Math.random is the single allowed default reference; all other uses go\n    // through this.rng so tests can inject a deterministic substitute.\n    this.rng = options?.rng ?? Math.random;\n\n    // Schedule the first blink and gaze retarget relative to clock zero.\n    this.nextBlinkAtMs = lerp(\n      BLINK_INTERVAL_MIN_MS,\n      BLINK_INTERVAL_MAX_MS,\n      this.rng(),\n    );\n    this.nextGazeRetargetMs = lerp(\n      GAZE_RETARGET_MIN_MS,\n      GAZE_RETARGET_MAX_MS,\n      this.rng(),\n    );\n  }\n\n  /**\n   * Advance the idle animation to the given wall-clock timestamp (milliseconds).\n   *\n   * On the first call: record prevNowMs, emit the resting pose, and return —\n   * no animation advance happens so there is no jump from time 0.\n   *\n   * On subsequent calls: compute dt = clamp(nowMs - prevNowMs, 0, MAX_DT_MS)\n   * and advance the internal clock by dt. A non-monotonic nowMs produces a\n   * negative raw delta that the clamp floors to 0 — no rewind.\n   */\n  update(nowMs: number): void {\n    // Host-supplied timestamp, same boundary rule as FixedStepClock.advance and\n    // ParameterStore.set: drop the frame, touch nothing. `clockMs += NaN` would\n    // stick, and every blink/gaze schedule reads clockMs — the face would go\n    // still permanently. A host driving from media time hands you NaN through an\n    // ordinary path (`duration * pct` before metadata loads).\n    if (!Number.isFinite(nowMs)) return;\n    if (this.prevNowMs === undefined) {\n      this.prevNowMs = nowMs;\n      // Emit resting pose so the host mirror stays in sync from frame 1.\n      this.emitRestingPose();\n      return;\n    }\n\n    // Clamp dt so a backgrounded tab or long GC pause advances the internal\n    // clock by at most MAX_DT_MS — blink can't snap shut, gaze can't teleport.\n    const rawDt = nowMs - this.prevNowMs;\n    const dt = clamp(rawDt, 0, MAX_DT_MS);\n    this.prevNowMs = nowMs;\n    this.clockMs += dt;\n\n    // Both eyes always carry the identical value (unified blink).\n    const eyeVal = this.advanceBlink();\n    this.sink(StandardParameter.EyeOpenLeft, eyeVal);\n    this.sink(StandardParameter.EyeOpenRight, eyeVal);\n\n    const breath = this.advanceBreath();\n    this.advanceGaze(dt);\n\n    this.sink(StandardParameter.Breath, breath);\n    this.sink(StandardParameter.EyeballX, this.gazeCurrentX);\n    this.sink(StandardParameter.EyeballY, this.gazeCurrentY);\n\n    // Head sway keeps the character (and any hair physics reading AngleX/Y)\n    // from freezing solid between blinks. Models without these parameters\n    // ignore the writes (ParameterStore drops unknown ids).\n    this.sink(StandardParameter.AngleX, this.swayX());\n    this.sink(StandardParameter.AngleY, this.swayY());\n  }\n\n  // ---------------------------------------------------------------------------\n  // Private helpers\n  // ---------------------------------------------------------------------------\n\n  private emitRestingPose(): void {\n    this.sink(StandardParameter.EyeOpenLeft, 1);\n    this.sink(StandardParameter.EyeOpenRight, 1);\n    // Breath at phase 0: sin(0) = 0 → 0.5 + 0.5*0 = 0.5\n    this.sink(StandardParameter.Breath, 0.5);\n    this.sink(StandardParameter.EyeballX, 0);\n    this.sink(StandardParameter.EyeballY, 0);\n    // Sway sines are all 0 at clock 0 — the head starts centered.\n    this.sink(StandardParameter.AngleX, 0);\n    this.sink(StandardParameter.AngleY, 0);\n  }\n\n  /** Returns the current eye-open value (0..1) and advances blink state. */\n  private advanceBlink(): number {\n    const { clockMs } = this;\n\n    // If a blink is in progress, evaluate the envelope.\n    if (this.blinkStartMs >= 0) {\n      const phase = (clockMs - this.blinkStartMs) / BLINK_DURATION_MS;\n      if (phase >= 1) {\n        // Blink finished — schedule the next one on the internal clock.\n        this.blinkStartMs = -1;\n        this.nextBlinkAtMs =\n          clockMs +\n          lerp(BLINK_INTERVAL_MIN_MS, BLINK_INTERVAL_MAX_MS, this.rng());\n        return 1;\n      }\n      return blinkEnvelope(phase);\n    }\n\n    // Check if it is time to start a new blink.\n    if (clockMs >= this.nextBlinkAtMs) {\n      this.blinkStartMs = clockMs;\n      // Return the first envelope sample (exactly 1 at phase 0).\n      return blinkEnvelope(0);\n    }\n\n    // Between blinks: eyes fully open.\n    return 1;\n  }\n\n  private advanceBreath(): number {\n    return (\n      0.5 + 0.5 * Math.sin((2 * Math.PI * this.clockMs) / BREATH_PERIOD_MS)\n    );\n  }\n\n  /** Horizontal head sway in degrees, pure function of the internal clock. */\n  private swayX(): number {\n    const t = 2 * Math.PI * this.clockMs;\n    return (\n      SWAY_X_AMP_A_DEG * Math.sin(t / SWAY_X_PERIOD_A_MS) +\n      SWAY_X_AMP_B_DEG * Math.sin(t / SWAY_X_PERIOD_B_MS)\n    );\n  }\n\n  /** Vertical head sway in degrees, pure function of the internal clock. */\n  private swayY(): number {\n    return (\n      SWAY_Y_AMP_DEG * Math.sin((2 * Math.PI * this.clockMs) / SWAY_Y_PERIOD_MS)\n    );\n  }\n\n  /** Ease gaze current toward target; pick a new target on the internal clock. */\n  private advanceGaze(dt: number): void {\n    // Retarget check reads clockMs so a clamped pause can't skip retargets.\n    if (this.clockMs >= this.nextGazeRetargetMs) {\n      const [tx, ty] = randomInDisk(this.rng, GAZE_RADIUS);\n      this.gazeTargetX = tx;\n      this.gazeTargetY = ty;\n      this.nextGazeRetargetMs =\n        this.clockMs +\n        lerp(GAZE_RETARGET_MIN_MS, GAZE_RETARGET_MAX_MS, this.rng());\n    }\n\n    // Exponential ease toward target. The ease factor is derived from the\n    // CLAMPED dt so a paused tab moves at most one normal step, never a teleport.\n    const factor = 1 - Math.pow(1 - GAZE_EASE_RATE, dt);\n    this.gazeCurrentX = lerp(this.gazeCurrentX, this.gazeTargetX, factor);\n    this.gazeCurrentY = lerp(this.gazeCurrentY, this.gazeTargetY, factor);\n  }\n}\n","import { clamp } from \"./math\";\n\n/** Per-frame dt ceiling: a backgrounded tab or a long GC pause must not snap state. */\nexport const MAX_DT_MS = 100;\n/** Fixed integration sub-step, in SECONDS. */\nexport const FIXED_DT_S = 1 / 60;\n/** Catch-up cap per frame (spiral-of-death guard). */\nexport const MAX_SUBSTEPS = 6;\n\n/**\n * Fixed-timestep accumulator shared by the physics drivers, so a stability fix\n * lands in one place instead of one of two near-identical copies.\n *\n * A driver calls {@link advance} once per frame and runs its integration body\n * that many times. Leftover time carries to the next frame, which is what keeps\n * the simulation frame-rate independent; the dt clamp and the sub-step cap keep\n * a hitch from either snapping the rig or spiralling into catch-up work.\n */\nexport class FixedStepClock {\n  private prevNowMs: number | undefined = undefined;\n  private accumulatorS = 0;\n\n  /**\n   * True until the first {@link advance}. Drivers seed their rest pose on that\n   * frame and integrate nothing, so a model loaded mid-motion does not kick.\n   */\n  get isSeedFrame(): boolean {\n    return this.prevNowMs === undefined;\n  }\n\n  /**\n   * Fold `nowMs` into the accumulator and return how many {@link FIXED_DT_S}\n   * sub-steps to run this frame. On the seed frame it only records the\n   * timestamp and returns 0. A non-monotonic `nowMs` floors to 0 — no rewind.\n   */\n  advance(nowMs: number): number {\n    // Host-supplied timestamp, so the same rule as ParameterStore.set: reject\n    // non-finite input at the boundary. `clamp(NaN, ...)` is NaN, which would\n    // make the accumulator NaN and every `NaN >= FIXED_DT_S` false FOREVER —\n    // the rig would freeze silently with no way back. Pre-existing; hardened\n    // here so both host entry points behave the same way.\n    if (!Number.isFinite(nowMs)) return 0;\n    if (this.prevNowMs === undefined) {\n      this.prevNowMs = nowMs;\n      return 0;\n    }\n    const dtMs = clamp(nowMs - this.prevNowMs, 0, MAX_DT_MS);\n    this.prevNowMs = nowMs;\n    this.accumulatorS += dtMs / 1000; // boundary ms->s conversion\n\n    let steps = 0;\n    while (this.accumulatorS >= FIXED_DT_S && steps < MAX_SUBSTEPS) {\n      this.accumulatorS -= FIXED_DT_S;\n      steps++;\n    }\n    return steps;\n  }\n}\n","import type { IkiParameter, IkiPhysics } from \"@ikijs/format\";\nimport { FIXED_DT_S, FixedStepClock } from \"./frame-clock\";\nimport { clamp } from \"./math\";\n\n// --- Small pure helpers ------------------------------------------------------\n\n/**\n * Map a parameter value to [-1, 1] around its engine-effective default. Portable\n * across param ranges: the wider side (rest→max vs min→rest) sets the unit, so\n * ±1 lands at the farther extreme. Returns 0 for a zero-width range.\n *\n * The rest center is `clamp(default, min, max)` to match ParameterStore, which\n * clamps an out-of-range default — so the spring rests where the model actually\n * renders, not at a raw out-of-range default.\n */\nfunction signedNormalized(\n  value: number,\n  param: { min: number; max: number; default: number },\n): number {\n  const rest = clamp(param.default, param.min, param.max);\n  const den = Math.max(Math.abs(param.max - rest), Math.abs(rest - param.min));\n  if (den === 0) return 0;\n  return clamp((value - rest) / den, -1, 1);\n}\n\n// --- Public API --------------------------------------------------------------\n\ninterface RigState {\n  x: number; // spring position (lagging, normalized-ish units)\n  v: number; // spring velocity\n}\n\n/**\n * Host-agnostic 1D spring-mass-damper secondary-motion driver — the physics\n * peer of {@link IdleMotion}. For each rig it reads the input parameter,\n * signed-normalizes it around the input's default × `weight` to form a spring\n * target, integrates a lagging spring position with semi-implicit (symplectic)\n * Euler on a fixed 1/60s sub-step accumulator, and writes\n * `outputDefault + x * scale` onto the output parameter — so the output lags\n * and overshoots the input (hair/accessory sway).\n *\n * Usage:\n *   const physics = new PhysicsMotion(\n *     model.physics ?? [],\n *     model.parameters,\n *     (id) => currentValue(id),\n *     player.setParameter.bind(player),\n *   );\n *   // inside your rAF loop, right AFTER idle.update(now):\n *   physics.update(performance.now());\n *\n * The host schedules updates; this class has no timers, rAF, DOM, or Date.now.\n * Writes go through the sink, exactly like IdleMotion; the player renders the\n * updated params on its own render loop (drivers and rendering are decoupled).\n */\nexport class PhysicsMotion {\n  private readonly rigs: readonly IkiPhysics[];\n  private readonly read: (id: string) => number;\n  private readonly sink: (id: string, value: number) => void;\n  private readonly params: Map<string, IkiParameter>;\n\n  // Integrator state, owned here — never stored in a ParameterStore.\n  private readonly state: RigState[];\n  private readonly clock = new FixedStepClock();\n\n  constructor(\n    rigs: IkiPhysics[],\n    params: IkiParameter[],\n    read: (id: string) => number,\n    sink: (id: string, value: number) => void,\n  ) {\n    this.rigs = rigs;\n    this.read = read;\n    this.sink = sink;\n    this.params = new Map(params.map((p) => [p.id, p]));\n    this.state = rigs.map(() => ({ x: 0, v: 0 }));\n  }\n\n  /**\n   * Advance every rig to the given wall-clock timestamp (milliseconds).\n   *\n   * First call: seed each spring to rest AT its current target (so a model\n   * loaded with a nonzero input does not kick), emit the resting output, and\n   * return without integrating — mirroring IdleMotion's first-frame behavior.\n   *\n   * Subsequent calls: {@link FixedStepClock} folds the clamped frame delta into\n   * its accumulator and returns how many {@link FIXED_DT_S} sub-steps are due;\n   * the spring advances that many semi-implicit Euler steps, then each rig emits\n   * its output once. The clock's dt clamp and sub-step cap plus the symplectic\n   * integrator are what keep it stable across hitches.\n   */\n  update(nowMs: number): void {\n    if (this.clock.isSeedFrame) {\n      this.clock.advance(nowMs);\n      for (let i = 0; i < this.rigs.length; i++) {\n        const st = this.state[i];\n        st.x = this.targetFor(this.rigs[i]);\n        st.v = 0;\n        this.emit(this.rigs[i], st);\n      }\n      return;\n    }\n\n    const steps = this.clock.advance(nowMs);\n\n    // update() is synchronous, so the input cannot change mid-loop — read each\n    // rig's target ONCE per frame and reuse it across the sub-steps.\n    const targets = this.rigs.map((rig) => this.targetFor(rig));\n\n    for (let s = 0; s < steps; s++) {\n      for (let i = 0; i < this.rigs.length; i++) {\n        this.step(this.rigs[i], this.state[i], targets[i]);\n      }\n    }\n\n    // Always emit (even when zero sub-steps ran) so the sink stays in sync.\n    for (let i = 0; i < this.rigs.length; i++) {\n      const st = this.state[i];\n      // The fixed 1/60s sub-step can diverge for an extreme-but-parse-valid rig\n      // (tiny mass / huge stiffness push ω·dt past the explicit-integrator\n      // stability limit). If state goes non-finite, snap back to rest at the\n      // current target: the store DROPS a non-finite write, so an un-reset rig\n      // would emit NaN every frame and silently freeze the part at its last\n      // good pose instead of visibly diverging.\n      if (!Number.isFinite(st.x) || !Number.isFinite(st.v)) {\n        st.x = Number.isFinite(targets[i]) ? targets[i] : 0;\n        st.v = 0;\n      }\n      this.emit(this.rigs[i], st);\n    }\n  }\n\n  /** Spring target = signed-normalized input value × weight. */\n  private targetFor(rig: IkiPhysics): number {\n    const param = this.params.get(rig.input.parameter);\n    const value = this.read(rig.input.parameter);\n    const norm = param ? signedNormalized(value, param) : 0;\n    return norm * rig.input.weight;\n  }\n\n  /** One semi-implicit (symplectic) Euler sub-step of FIXED_DT_S seconds. */\n  private step(rig: IkiPhysics, st: RigState, target: number): void {\n    const accel =\n      (rig.stiffness * (target - st.x) - rig.damping * st.v) / rig.mass;\n    st.v += accel * FIXED_DT_S;\n    st.x += st.v * FIXED_DT_S;\n  }\n\n  /** Write outputDefault + x * scale onto the output param via the sink. */\n  private emit(rig: IkiPhysics, st: RigState): void {\n    const outParam = this.params.get(rig.output.parameter);\n    // clamp to match ParameterStore's engine-effective default (see signedNormalized).\n    const outDefault = outParam\n      ? clamp(outParam.default, outParam.min, outParam.max)\n      : 0;\n    const value = outDefault + st.x * rig.output.scale;\n    // Final guard: even a finite-but-enormous `x` could overflow the product to\n    // ±Infinity. Emit the rest pose rather than hand a non-finite value to the\n    // sink, which would drop the write and leave the output stuck where it was.\n    this.sink(\n      rig.output.parameter,\n      Number.isFinite(value) ? value : outDefault,\n    );\n  }\n}\n","import type {\n  IkiDeformer,\n  IkiParameter,\n  IkiPhysicsChain,\n  IkiPhysicsChainSegment,\n} from \"@ikijs/format\";\nimport type { Affine } from \"./affine\";\nimport { resolveDeformerWorlds } from \"./deform\";\n// The two physics drivers stay independent of EACH OTHER; the timing primitives\n// they both need live in frame-clock.ts so a stability fix lands once.\nimport { FIXED_DT_S, FixedStepClock } from \"./frame-clock\";\nimport { clamp } from \"./math\";\nimport { ParameterStore } from \"./parameter-store\";\n\nconst DEG2RAD = Math.PI / 180;\nconst RAD2DEG = 180 / Math.PI;\n\n// --- Per-chain / per-segment state -------------------------------------------\n\n/** Integrator state for one segment. angle = θ displacement in RADIANS. */\ninterface SegmentState {\n  angle: number; // θ_i in radians (displacement from rest)\n  angularVelocity: number; // ω_i in radians/s\n}\n\n/** All precomputed per-chain data (rest angles already in radians). */\ninterface ChainData {\n  chain: IkiPhysicsChain;\n  restAnglesRad: number[]; // restAngle_j in radians; 0 when omitted\n  state: SegmentState[]; // preallocated, length = segments.length\n}\n\n// --- Public API --------------------------------------------------------------\n\n/**\n * Host-agnostic multi-segment angular-pendulum-chain secondary-motion driver.\n * Peer of {@link PhysicsMotion} and {@link IdleMotion}.\n *\n * Each chain anchors to a matrix deformer in the model hierarchy. The driver\n * self-computes the anchor's world rotation via `resolveDeformerWorlds` (a\n * private `ParameterStore` is filled from `read` ONCE per frame) and integrates\n * a per-segment angular pendulum with semi-implicit Euler on a fixed 1/60s\n * sub-step accumulator. Each segment's angular displacement θ (in radians\n * internally) is emitted in DEGREES on its output parameter, so `rotate = 0`\n * when the chain is at its authored rest pose.\n *\n * Usage:\n *   const chains = new HairChainMotion(\n *     model.physicsChains ?? [],\n *     model.parameters,\n *     model.deformers ?? [],\n *     (id) => currentValue(id),\n *     player.setParameter.bind(player),\n *   );\n *   // inside your rAF loop, right AFTER physics.update(now):\n *   chains.update(performance.now());\n *\n * The host schedules updates; this class has no timers, rAF, DOM, or Date.now.\n */\nexport class HairChainMotion {\n  private readonly chainData: ChainData[];\n  private readonly params: Map<string, IkiParameter>;\n  private readonly deformers: IkiDeformer[];\n  private readonly store: ParameterStore;\n  private readonly read: (id: string) => number;\n  private readonly sink: (id: string, value: number) => void;\n\n  private readonly clock = new FixedStepClock();\n\n  constructor(\n    chains: IkiPhysicsChain[],\n    params: IkiParameter[],\n    deformers: IkiDeformer[],\n    read: (id: string) => number,\n    sink: (id: string, value: number) => void,\n  ) {\n    this.params = new Map(params.map((p) => [p.id, p]));\n    this.deformers = deformers;\n    // Private ParameterStore reused every frame for anchor-world resolution.\n    this.store = new ParameterStore(params);\n    this.read = read;\n    this.sink = sink;\n\n    // Precompute rest angles in radians; preallocate segment state (no per-substep alloc).\n    this.chainData = chains.map((chain) => ({\n      chain,\n      restAnglesRad: chain.segments.map((seg) =>\n        seg.restAngle !== undefined ? seg.restAngle * DEG2RAD : 0,\n      ),\n      state: chain.segments.map(() => ({ angle: 0, angularVelocity: 0 })),\n    }));\n  }\n\n  /**\n   * Advance every chain to the given wall-clock timestamp (milliseconds).\n   *\n   * First call: seed every segment to θ=0/ω=0 (rest), emit the rest output\n   * (outDefault + 0), and return without integrating — mirrors PhysicsMotion's\n   * first-frame behavior so a model loaded in motion does not kick.\n   *\n   * Subsequent calls: dt = clamp(nowMs - prevNowMs, 0, MAX_DT_MS) → seconds into\n   * accumulator. The per-frame world snapshot (anchor world angles) is taken ONCE\n   * per update() — NOT per chain — so all chains share a consistent frame snapshot.\n   * Fixed FIXED_DT_S sub-steps are run root→tip, capped at MAX_SUBSTEPS; leftover\n   * time is carried to the next frame. Segments emit after substeps (even on zero\n   * substeps) with a non-finite guard.\n   */\n  update(nowMs: number): void {\n    if (this.clock.isSeedFrame) {\n      // FIRST FRAME: seed rest, emit outDefault for every segment, NO integration.\n      this.clock.advance(nowMs);\n      for (const cd of this.chainData) {\n        for (let i = 0; i < cd.chain.segments.length; i++) {\n          cd.state[i].angle = 0;\n          cd.state[i].angularVelocity = 0;\n          this.emitSegment(cd.chain.segments[i], cd.state[i]);\n        }\n      }\n      return;\n    }\n\n    const steps = this.clock.advance(nowMs);\n\n    // Take the per-frame world snapshot ONCE per update() — NOT per chain.\n    // Fill the private store from read, then resolve all deformer world matrices.\n    for (const param of this.params.values()) {\n      this.store.set(param.id, this.read(param.id));\n    }\n    const worldMap = resolveDeformerWorlds(this.deformers, this.store);\n\n    // Read each chain's anchor world angle ONCE per frame (consistent across substeps,\n    // like physics-motion.ts:122 `targets`).\n    const anchorAnglesRad = this.chainData.map((cd) =>\n      this.anchorWorldAngleRad(worldMap, cd.chain.anchorDeformer),\n    );\n\n    for (let s = 0; s < steps; s++) {\n      for (let c = 0; c < this.chainData.length; c++) {\n        this.stepChain(this.chainData[c], anchorAnglesRad[c]);\n      }\n    }\n\n    // Emit always (even on zero substeps) so the sink stays in sync.\n    for (const cd of this.chainData) {\n      for (let i = 0; i < cd.chain.segments.length; i++) {\n        const st = cd.state[i];\n        // FINITENESS GUARD (mirror physics-motion.ts:141): a pathological rig\n        // (tiny mass / huge stiffness) can push the fixed-substep integrator\n        // past its explicit-stability limit. Snap the segment back to rest so\n        // a validated model can never poison the sink with NaN/Infinity.\n        if (\n          !Number.isFinite(st.angle) ||\n          !Number.isFinite(st.angularVelocity)\n        ) {\n          st.angle = 0;\n          st.angularVelocity = 0;\n        }\n        this.emitSegment(cd.chain.segments[i], st);\n      }\n    }\n  }\n\n  /**\n   * Extract world rotation (radians) from the anchor's Affine tuple.\n   * Affine = [a,b,c,d,e,f]; rotation column = (a,b) → atan2(b,a).\n   *\n   * If the anchor id is absent from the map, THROWS an internal Error — the\n   * format validator guarantees the anchor exists, so absence is an invariant\n   * break (mirrors resolveDeformerWorlds' throw on an unresolved parent,\n   * deform.ts:141).\n   */\n  private anchorWorldAngleRad(\n    worldMap: Map<string, Affine>,\n    anchorId: string,\n  ): number {\n    const world = worldMap.get(anchorId);\n    if (!world) {\n      throw new Error(\n        `HairChainMotion: anchor deformer \"${anchorId}\" not found in resolved world map — model not validated?`,\n      );\n    }\n    // Affine [a,b,c,d,e,f]: the first column (a,b) is the x-axis direction\n    // after rotation, so atan2(b,a) gives the world rotation angle in radians.\n    return Math.atan2(world[1], world[0]);\n  }\n\n  /**\n   * One fixed sub-step of FIXED_DT_S seconds for all segments in a chain.\n   *\n   * Segments are integrated ROOT→TIP so each segment can read its upstream\n   * neighbor's current-substep state when computing the world angle Φ_i.\n   * (The chain is causal root-to-tip; reversing the order would use stale θ\n   * values from the previous substep for Φ_i computation.)\n   *\n   * Per-segment semi-implicit (symplectic) Euler:\n   *   Φ_i = anchorWorldAngleRad + Σ_{j≤i}(restAngle_j + θ_j)\n   *   α_i = (−stiffness_i·θ_i − strength·sin(Φ_i − gravityAngle_rad) − damping_i·ω_i) / mass_i\n   *   ω_i += α_i · FIXED_DT_S   (velocity updated FIRST = semi-implicit)\n   *   θ_i += ω_i · FIXED_DT_S   (position updated from NEW velocity)\n   *\n   * The spring term is −stiffness·θ (restoring θ→0); restAngle does NOT appear\n   * in the spring term, only in Φ_i for the gravity torque.\n   */\n  private stepChain(cd: ChainData, anchorAngleRad: number): void {\n    const { chain, restAnglesRad, state } = cd;\n    const gravityAngleRad = chain.gravity.angle * DEG2RAD;\n    const strength = chain.gravity.strength;\n\n    // Accumulate world angle root→tip as we go.\n    let worldAngleAccumRad = anchorAngleRad;\n\n    for (let i = 0; i < chain.segments.length; i++) {\n      const seg: IkiPhysicsChainSegment = chain.segments[i];\n      const st = state[i];\n\n      // World angle of this segment: anchor + sum of all segments 0..i.\n      worldAngleAccumRad += restAnglesRad[i] + st.angle;\n      const phi = worldAngleAccumRad;\n\n      const alpha =\n        (-seg.stiffness * st.angle -\n          strength * Math.sin(phi - gravityAngleRad) -\n          seg.damping * st.angularVelocity) /\n        seg.mass;\n\n      // Semi-implicit Euler: update velocity first, then position with new velocity.\n      st.angularVelocity += alpha * FIXED_DT_S;\n      st.angle += st.angularVelocity * FIXED_DT_S;\n    }\n  }\n\n  /** Emit outDefault + (θ_i · RAD2DEG) · scale for one segment. */\n  private emitSegment(seg: IkiPhysicsChainSegment, st: SegmentState): void {\n    const outParam = this.params.get(seg.output.parameter);\n    const outDefault = outParam\n      ? clamp(outParam.default, outParam.min, outParam.max)\n      : 0;\n    const value = outDefault + st.angle * RAD2DEG * seg.output.scale;\n    // Final guard: even a finite-but-enormous θ could overflow to ±Infinity.\n    this.sink(\n      seg.output.parameter,\n      Number.isFinite(value) ? value : outDefault,\n    );\n  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+{"version":3,"sources":["../src/math.ts","../src/parameter-store.ts","../src/affine.ts","../src/deform.ts","../src/warp.ts","../src/warp-grid.ts","../src/player.ts","../src/idle-motion.ts","../src/frame-clock.ts","../src/physics-motion.ts","../src/hair-chain-motion.ts","../src/iki-motion.ts"],"sourcesContent":["/**\n * Clamp `value` into `[min, max]`.\n *\n * NaN in, NaN out — `Math.max(min, Math.min(max, NaN))` is `NaN`, so this\n * cannot be used to sanitize external input. Anything taking values from a\n * host must reject non-finite input itself before clamping (see\n * {@link ParameterStore.set}).\n */\nexport function clamp(value: number, min: number, max: number): number {\n  return Math.max(min, Math.min(max, value));\n}\n","import type { IkiParameter } from \"@ikijs/format\";\nimport { clamp } from \"./math\";\n\n/**\n * Holds the live value of every model parameter, clamped to its declared\n * range. This is the single surface a host drives (lip-sync, gaze, blink) and\n * the engine reads each frame to evaluate bindings.\n */\nexport class ParameterStore {\n  private readonly params = new Map<string, IkiParameter>();\n  private readonly values = new Map<string, number>();\n  /**\n   * Resting value per id: the declared default clamped into range, resolved\n   * ONCE here so `reset()` is a straight copy and a malformed descriptor is\n   * reported once rather than on every reset.\n   */\n  private readonly defaults = new Map<string, number>();\n\n  constructor(parameters: IkiParameter[]) {\n    for (const param of parameters) {\n      this.params.set(param.id, param);\n      // A non-finite default would survive `clamp` and poison every read, so it\n      // falls back to the neutral in-range value — but say so rather than\n      // repairing a broken descriptor silently. `parseIkiModel` requires a\n      // finite default, so this only reaches a host that skipped the validator.\n      if (!Number.isFinite(param.default)) {\n        console.error(\n          `Iki: parameter \"${param.id}\" has a non-finite default; resting at the neutral in-range value instead`,\n        );\n      }\n      const base = Number.isFinite(param.default) ? param.default : 0;\n      this.defaults.set(param.id, clamp(base, param.min, param.max));\n    }\n    for (const [id, value] of this.defaults) this.values.set(id, value);\n  }\n\n  /**\n   * Set a parameter's value, clamped to its range. Unknown ids are ignored, as\n   * are non-finite values: this is the boundary a host drives with live signals,\n   * and `clamp` cannot filter NaN (`Math.max(min, Math.min(max, NaN))` is NaN),\n   * so one bad lip-sync/gaze frame would otherwise poison every binding that\n   * reads the parameter. A dropped write holds the last good pose.\n   */\n  set(id: string, value: number): void {\n    const param = this.params.get(id);\n    if (!param) return;\n    if (!Number.isFinite(value)) return;\n    this.values.set(id, clamp(value, param.min, param.max));\n  }\n\n  /** Current value, or 0 if the id is unknown. */\n  get(id: string): number {\n    return this.values.get(id) ?? 0;\n  }\n\n  /** Position of a parameter within its range, 0..1. */\n  normalized(id: string): number {\n    const param = this.params.get(id);\n    if (!param || param.max === param.min) return 0;\n    return (this.get(id) - param.min) / (param.max - param.min);\n  }\n\n  /** Reset every parameter to its resting value (see `defaults`). */\n  reset(): void {\n    for (const [id, value] of this.defaults) this.values.set(id, value);\n  }\n\n  list(): IkiParameter[] {\n    return [...this.params.values()];\n  }\n}\n","// --- 2D affine helpers ------------------------------------------------------\n// Affine stored as [a, b, c, d, e, f] => | a c e |\n//                                        | b d f |\n//                                        | 0 0 1 |\nexport type Affine = [number, number, number, number, number, number];\n\nexport function translate(tx: number, ty: number): Affine {\n  return [1, 0, 0, 1, tx, ty];\n}\n\nexport function scale(sx: number, sy: number): Affine {\n  return [sx, 0, 0, sy, 0, 0];\n}\n\nexport function rotate(degrees: number): Affine {\n  const r = (degrees * Math.PI) / 180;\n  const c = Math.cos(r);\n  const s = Math.sin(r);\n  return [c, s, -s, c, 0, 0];\n}\n\nexport function multiply(a: Affine, b: Affine): Affine {\n  return [\n    a[0] * b[0] + a[2] * b[1],\n    a[1] * b[0] + a[3] * b[1],\n    a[0] * b[2] + a[2] * b[3],\n    a[1] * b[2] + a[3] * b[3],\n    a[0] * b[4] + a[2] * b[5] + a[4],\n    a[1] * b[4] + a[3] * b[5] + a[5],\n  ];\n}\n\n/** Expand a 2D affine into a column-major mat3 for `uniformMatrix3fv`. */\nexport function toMat3(a: Affine): Float32Array {\n  return new Float32Array([a[0], a[1], 0, a[2], a[3], 0, a[4], a[5], 1]);\n}\n","import type {\n  IkiBinding,\n  IkiDeformer,\n  IkiDeformerBinding,\n  IkiDeformerTransform,\n  IkiMatrixDeformer,\n  IkiTransform,\n} from \"@ikijs/format\";\nimport { type Affine, multiply, rotate, scale, translate } from \"./affine\";\nimport type { ParameterStore } from \"./parameter-store\";\n\n/** Resolved TRS + opacity from a transform + bindings at current parameter values. */\nexport interface ResolvedTransform {\n  x: number;\n  y: number;\n  rotation: number;\n  scaleX: number;\n  scaleY: number;\n  opacity: number;\n}\n\nconst IDENTITY_TRANSFORM: Required<IkiTransform> = {\n  x: 0,\n  y: 0,\n  rotation: 0,\n  scaleX: 1,\n  scaleY: 1,\n  opacity: 1,\n};\n\n/**\n * Shared transform evaluator: resolves the effective TRS + opacity from a\n * (possibly absent) base transform plus bindings at current parameter values.\n *\n * - Part callers pass `IkiTransform` (which may include opacity) and use all 6\n *   fields including `opacity`.\n * - Deformer callers pass `IkiDeformerTransform` (no opacity field) and\n *   `IkiDeformerBinding[]` (no opacity channel); the returned `opacity` is\n *   always 1 on the deformer path and should be ignored by the caller.\n */\nexport function evaluateTransform(\n  transform: IkiTransform | IkiDeformerTransform | undefined,\n  bindings: IkiBinding[] | IkiDeformerBinding[] | undefined,\n  params: ParameterStore,\n): ResolvedTransform {\n  const base = transform ?? IDENTITY_TRANSFORM;\n  const result: ResolvedTransform = {\n    x: base.x,\n    y: base.y,\n    rotation: base.rotation ?? 0,\n    scaleX: base.scaleX ?? 1,\n    scaleY: base.scaleY ?? 1,\n    opacity: (base as IkiTransform).opacity ?? 1,\n  };\n\n  for (const binding of bindings ?? []) {\n    const t = params.normalized(binding.parameter);\n    const value = binding.from + (binding.to - binding.from) * t;\n    switch (binding.channel) {\n      case \"translateX\":\n        result.x += value;\n        break;\n      case \"translateY\":\n        result.y += value;\n        break;\n      case \"rotate\":\n        result.rotation += value;\n        break;\n      case \"scaleX\":\n        result.scaleX += value;\n        break;\n      case \"scaleY\":\n        result.scaleY += value;\n        break;\n      case \"opacity\":\n        result.opacity *= value;\n        break;\n    }\n  }\n\n  return result;\n}\n\n/**\n * Build the local deformer matrix about its pivot:\n *   translate(pivot) · TRS · translate(-pivot)\n */\nfunction deformerLocalMatrix(\n  d: IkiMatrixDeformer,\n  params: ParameterStore,\n): Affine {\n  const t = evaluateTransform(d.transform, d.bindings, params);\n  const trs: Affine = multiply(\n    multiply(translate(t.x, t.y), rotate(t.rotation)),\n    scale(t.scaleX, t.scaleY),\n  );\n  return multiply(\n    multiply(translate(d.pivot.x, d.pivot.y), trs),\n    translate(-d.pivot.x, -d.pivot.y),\n  );\n}\n\n/**\n * Resolve every deformer's world matrix in topological order, regardless of\n * array ordering. Returns a Map from deformer id to world-space Affine.\n *\n * The validator guarantees the hierarchy is acyclic and that every `parent`\n * id exists; the engine resolves on-demand with memoization so any valid\n * array order is handled correctly.\n *\n * Throws a clear internal Error if a parent is unexpectedly absent (defense-\n * in-depth — indicates an unvalidated model was passed to the engine).\n */\nexport function resolveDeformerWorlds(\n  deformers: IkiDeformer[],\n  params: ParameterStore,\n): Map<string, Affine> {\n  // Warp deformers are non-affine; filter them out so matrix-only fields\n  // (pivot/transform/bindings) are accessible and warp deformers are never\n  // resolved as matrix deformers (which would produce NaN pivots).\n  // resolveWarpGrids (warp-grid.ts) handles warp deformers separately.\n  const matrixDeformers = deformers.filter(\n    (d): d is IkiMatrixDeformer => d.kind === \"matrix\" || d.kind === undefined,\n  );\n  const byId = new Map<string, IkiMatrixDeformer>(\n    matrixDeformers.map((d) => [d.id, d]),\n  );\n  const worldById = new Map<string, Affine>();\n\n  function resolve(d: IkiMatrixDeformer): Affine {\n    const cached = worldById.get(d.id);\n    if (cached) return cached;\n\n    const local = deformerLocalMatrix(d, params);\n    let world: Affine;\n    if (d.parent === undefined) {\n      world = local;\n    } else {\n      const parentDef = byId.get(d.parent);\n      if (!parentDef) {\n        throw new Error(\n          `unresolved deformer parent \"${d.parent}\" — model not validated?`,\n        );\n      }\n      world = multiply(resolve(parentDef), local);\n    }\n\n    worldById.set(d.id, world);\n    return world;\n  }\n\n  for (const d of matrixDeformers) {\n    resolve(d);\n  }\n\n  return worldById;\n}\n","import type { IkiGrid2DKeyform, IkiWarp } from \"@ikijs/format\";\nimport type { ParameterStore } from \"./parameter-store\";\n\n/**\n * Accumulate one keyform set's interpolated offsets into `out` (out += ...).\n * Clamps `value` to [keyforms[0].value, keyforms[last].value] (no extrapolation),\n * linearly interpolates the bracketing pair, and adds. `out.length` must be >=\n * each keyform's `offsets.length`. Shared by part-local mesh warps and grid warps.\n */\nexport function accumulateKeyformOffsets(\n  keyforms: { value: number; offsets: ArrayLike<number> }[],\n  value: number,\n  out: Float32Array,\n): void {\n  const ks = keyforms;\n\n  if (value <= ks[0].value) {\n    // Clamp to first keyform.\n    const { offsets } = ks[0];\n    for (let i = 0; i < offsets.length; i++) {\n      out[i] += offsets[i];\n    }\n  } else if (value >= ks[ks.length - 1].value) {\n    // Clamp to last keyform.\n    const { offsets } = ks[ks.length - 1];\n    for (let i = 0; i < offsets.length; i++) {\n      out[i] += offsets[i];\n    }\n  } else {\n    // Find bracketing pair with a linear scan (keyforms are small in practice).\n    let lo = ks[0];\n    let hi = ks[1];\n    for (let k = 1; k < ks.length - 1; k++) {\n      if (ks[k].value <= value) {\n        lo = ks[k];\n        hi = ks[k + 1];\n      }\n    }\n    const t = (value - lo.value) / (hi.value - lo.value);\n    const loOff = lo.offsets;\n    const hiOff = hi.offsets;\n    for (let i = 0; i < loOff.length; i++) {\n      out[i] += loOff[i] + (hiOff[i] - loOff[i]) * t;\n    }\n  }\n}\n\n/**\n * Accumulate a 2D keyform grid's bilinear-interpolated offsets into `out` (out += ...).\n *\n * This is PARAMETER bilinear interpolation driven by two live parameter values\n * (`vx` along `valuesX`, `vy` along `valuesY`). It is DISTINCT from\n * {@link sampleWarpGrid}'s spatial bilinear (which interpolates model-space\n * control-point positions). Name params `tx`/`ty` to avoid confusion with\n * the spatial `s`/`t` in sampleWarpGrid.\n *\n * Contract mirrors {@link accumulateKeyformOffsets}: `out += blended offsets`,\n * pure, deterministic, no allocation inside the function, O(points).\n *\n * Bracket rule (applied identically to X and Y; length ≥ 2 is validator-guaranteed):\n *   - v <= values[0]          → i = 0,          t = 0\n *   - v >= values[last]       → i = length - 2,  t = 1\n *   - interior                → i such that values[i] <= v < values[i+1], t = (v - values[i]) / (values[i+1] - values[i])\n * This keeps i ∈ [0, length-2] so i+1 is always in range.\n *\n * Corner index (row-major): k(i, j) = j * valuesX.length + i\n */\nexport function accumulate2DKeyformOffsets(\n  valuesX: number[],\n  valuesY: number[],\n  keyforms2d: IkiGrid2DKeyform[],\n  vx: number,\n  vy: number,\n  out: Float32Array,\n): void {\n  const lastX = valuesX.length - 1;\n  const lastY = valuesY.length - 1;\n\n  // Per-axis bracket: clamp at both ends, interior normal scan.\n  let ix: number;\n  let tx: number;\n  if (vx <= valuesX[0]) {\n    ix = 0;\n    tx = 0;\n  } else if (vx >= valuesX[lastX]) {\n    ix = lastX - 1;\n    tx = 1;\n  } else {\n    ix = 0;\n    for (let k = 0; k < lastX - 1; k++) {\n      if (valuesX[k + 1] <= vx) ix = k + 1;\n    }\n    tx = (vx - valuesX[ix]) / (valuesX[ix + 1] - valuesX[ix]);\n  }\n\n  let iy: number;\n  let ty: number;\n  if (vy <= valuesY[0]) {\n    iy = 0;\n    ty = 0;\n  } else if (vy >= valuesY[lastY]) {\n    iy = lastY - 1;\n    ty = 1;\n  } else {\n    iy = 0;\n    for (let k = 0; k < lastY - 1; k++) {\n      if (valuesY[k + 1] <= vy) iy = k + 1;\n    }\n    ty = (vy - valuesY[iy]) / (valuesY[iy + 1] - valuesY[iy]);\n  }\n\n  // Row-major corners: k(i, j) = j * valuesX.length + i.\n  const W = valuesX.length;\n  const c00 = keyforms2d[iy * W + ix];\n  const c10 = keyforms2d[iy * W + ix + 1];\n  const c01 = keyforms2d[(iy + 1) * W + ix];\n  const c11 = keyforms2d[(iy + 1) * W + ix + 1];\n\n  // Per-component bilinear: top/bot over tx, then ty into out.\n  const o00 = c00.offsets;\n  const o10 = c10.offsets;\n  const o01 = c01.offsets;\n  const o11 = c11.offsets;\n  for (let n = 0; n < o00.length; n++) {\n    const top = o00[n] + (o10[n] - o00[n]) * tx;\n    const bot = o01[n] + (o11[n] - o01[n]) * tx;\n    out[n] += top + (bot - top) * ty;\n  }\n}\n\n/**\n * Apply all warps to `rest`, accumulating per-vertex offsets into `out`.\n *\n * - Copies `rest` into `out` first (out = rest).\n * - For each warp: looks up the live parameter value (REAL range, not\n *   normalized), clamps to the keyform range (no extrapolation), linearly\n *   interpolates the bracketing pair, and ADDS the result to `out`.\n * - No allocation: writes into the caller-supplied `out`. `rest` is never\n *   mutated.\n * - `undefined` warps → identity copy (out equals rest).\n */\nexport function applyWarps(\n  rest: Float32Array,\n  warps: IkiWarp[] | undefined,\n  params: ParameterStore,\n  out: Float32Array,\n): void {\n  out.set(rest);\n\n  if (!warps || warps.length === 0) return;\n\n  for (const warp of warps) {\n    accumulateKeyformOffsets(warp.keyforms, params.get(warp.parameter), out);\n  }\n}\n","import type { IkiDeformer, IkiWarpGrid } from \"@ikijs/format\";\nimport type { Affine } from \"./affine\";\nimport type { ParameterStore } from \"./parameter-store\";\nimport { clamp } from \"./math\";\nimport { accumulate2DKeyformOffsets, accumulateKeyformOffsets } from \"./warp\";\n\n/** A warp deformer's deformed control grid for one frame. */\nexport interface ResolvedWarpGrid {\n  cols: number;\n  rows: number;\n  /** Deformed control points, MODEL space, length (cols+1)*(rows+1)*2. */\n  points: Float32Array;\n}\n\n/**\n * For each warp deformer: take its rest `grid.points`, ADD the interpolated\n * grid-keyform offsets (accumulateKeyformOffsets) in the deformer's own rest\n * frame, THEN apply the parent matrix deformer's resolved world affine (if any)\n * — i.e. `parentAffine · (rest + offsets)`. Returns a Map from warp-deformer id\n * to its deformed grid (model space).\n *\n * `matrixWorlds` is the output of resolveDeformerWorlds (matrix deformers only);\n * warp deformers are skipped by that resolver (they are non-affine).\n *\n * ORDER IS CRITICAL: keyform offsets FIRST (curvature added in the rest frame),\n * parent affine SECOND — so the curvature rotates WITH the parent head rather\n * than staying pinned to world axes. The reversed order (affine then offsets)\n * pushes the bend along world-x even when the head is turned (coordinate bug).\n */\nexport function resolveWarpGrids(\n  deformers: IkiDeformer[],\n  params: ParameterStore,\n  matrixWorlds: Map<string, Affine>,\n): Map<string, ResolvedWarpGrid> {\n  const resolved = new Map<string, ResolvedWarpGrid>();\n\n  for (const d of deformers) {\n    if (d.kind !== \"warp\") continue;\n\n    const { cols, rows, points: restPoints } = d.grid;\n    const points = Float32Array.from(restPoints);\n\n    // 1. Curvature in the rest frame: offsets += per-control-point deltas.\n    for (const warp of d.warps ?? []) {\n      accumulateKeyformOffsets(\n        warp.keyforms,\n        params.get(warp.parameter),\n        points,\n      );\n    }\n    // 1D xor 2D is validator-enforced; at most one branch contributes per deformer.\n    if (d.warp2d !== undefined) {\n      accumulate2DKeyformOffsets(\n        d.warp2d.valuesX,\n        d.warp2d.valuesY,\n        d.warp2d.keyforms2d,\n        params.get(d.warp2d.parameter),\n        params.get(d.warp2d.parameterY),\n        points,\n      );\n    }\n\n    // 2. Parent matrix deformer's world affine (if any): parentAffine · (rest + offsets).\n    if (d.parent !== undefined) {\n      const parentAffine = matrixWorlds.get(d.parent);\n      if (parentAffine) {\n        for (let i = 0; i < points.length; i += 2) {\n          const x = points[i];\n          const y = points[i + 1];\n          points[i] =\n            parentAffine[0] * x + parentAffine[2] * y + parentAffine[4];\n          points[i + 1] =\n            parentAffine[1] * x + parentAffine[3] * y + parentAffine[5];\n        }\n      }\n    }\n\n    resolved.set(d.id, { cols, rows, points });\n  }\n\n  return resolved;\n}\n\n/** A model-space point bound to a rest-grid cell with within-cell (s,t). */\nexport interface GridBinding {\n  /** row*cols + col index of the containing cell. */\n  cell: number;\n  /** [0,1] within-cell horizontal, 0 at the left (smaller-x) edge. */\n  s: number;\n  /** [0,1] within-cell vertical, 0 at the TOP (larger-y) edge. */\n  t: number;\n}\n\n/**\n * Bind a model-space point to the REST grid: computes the containing cell +\n * local (s,t) by linear mapping over the grid's actual column/row boundaries.\n * Out-of-bounds points clamp to an edge cell with s/t pinned to 0/1. Never\n * returns NaN. Do NOT call against a deformed grid.\n *\n * The rest grid is validated to be a regular axis-aligned lattice with EXACT\n * ordering, so boundaries are read DIRECTLY from `restGrid.points` (no sorting):\n *   - row-major, +y up; row 0 = TOP (LARGEST y, y DECREASES with row index);\n *   - column 0 = LEFT (smallest x, x INCREASES with column index).\n * Column x-boundaries are row 0's x values `points[col*2]`; row y-boundaries are\n * column 0's y values `points[(row*(cols+1))*2 + 1]`. Maps x left→right and y\n * top→bottom: `s = (x - xLeft)/(xRight - xLeft)`, `t = (yTop - y)/(yTop - yBottom)`\n * (numerator `yTop - y`, NOT `y - minY`, so rows are not vertically flipped).\n */\nexport function bindPointToRestGrid(\n  x: number,\n  y: number,\n  restGrid: IkiWarpGrid,\n): GridBinding {\n  const { cols, rows, points } = restGrid;\n  const stride = cols + 1;\n\n  // Column boundaries: row 0's x values, increasing with column index.\n  let col = cols - 1;\n  for (let c = 0; c < cols; c++) {\n    const xRight = points[(c + 1) * 2];\n    if (x < xRight) {\n      col = c;\n      break;\n    }\n  }\n  const xLeft = points[col * 2];\n  const xRight = points[(col + 1) * 2];\n  const s = clamp((x - xLeft) / (xRight - xLeft), 0, 1);\n\n  // Row boundaries: column 0's y values, decreasing with row index (top→bottom).\n  let row = rows - 1;\n  for (let r = 0; r < rows; r++) {\n    const yBottom = points[(r + 1) * stride * 2 + 1];\n    if (y > yBottom) {\n      row = r;\n      break;\n    }\n  }\n  const yTop = points[row * stride * 2 + 1];\n  const yBottom = points[(row + 1) * stride * 2 + 1];\n  const t = clamp((yTop - y) / (yTop - yBottom), 0, 1);\n\n  return { cell: row * cols + col, s, t };\n}\n\n/**\n * Compute model-space positions for a warp-deformer child's mesh vertices:\n * transform each LOCAL-space vertex by `partAffine`, rebind to the RAW rest\n * grid, and bilinear-sample the deformed grid. Writes `out` (length ===\n * localVerts.length). Affine layout [a,b,c,d,e,f]: x'=a*x+c*y+e, y'=b*x+d*y+f.\n */\nexport function applyWarpToChild(\n  localVerts: Float32Array | number[],\n  partAffine: Affine,\n  restGrid: IkiWarpGrid,\n  deformedGrid: ResolvedWarpGrid,\n  out: Float32Array,\n): void {\n  const n = localVerts.length / 2;\n  for (let v = 0; v < n; v++) {\n    const lx = localVerts[v * 2];\n    const ly = localVerts[v * 2 + 1];\n    const mx = partAffine[0] * lx + partAffine[2] * ly + partAffine[4];\n    const my = partAffine[1] * lx + partAffine[3] * ly + partAffine[5];\n    const binding = bindPointToRestGrid(mx, my, restGrid);\n    const [sx, sy] = sampleWarpGrid(deformedGrid, binding);\n    out[v * 2] = sx;\n    out[v * 2 + 1] = sy;\n  }\n}\n\n/**\n * Bilinear-sample a deformed grid at a binding, returning model-space [x, y].\n * Reads the 4 corner control points of `binding.cell` from `grid.points`, using\n * the SAME row/col convention as `bindPointToRestGrid` (s left→right between\n * col and col+1, t top→bottom between row and row+1).\n */\nexport function sampleWarpGrid(\n  grid: ResolvedWarpGrid,\n  binding: GridBinding,\n): [number, number] {\n  const { cols, points } = grid;\n  const stride = cols + 1;\n  const row = Math.floor(binding.cell / cols);\n  const col = binding.cell % cols;\n  const { s, t } = binding;\n\n  const i00 = (row * stride + col) * 2;\n  const i10 = (row * stride + col + 1) * 2;\n  const i01 = ((row + 1) * stride + col) * 2;\n  const i11 = ((row + 1) * stride + col + 1) * 2;\n\n  // Top edge: lerp p00→p10 by s; bottom edge: lerp p01→p11 by s.\n  const topX = points[i00] + (points[i10] - points[i00]) * s;\n  const topY = points[i00 + 1] + (points[i10 + 1] - points[i00 + 1]) * s;\n  const botX = points[i01] + (points[i11] - points[i01]) * s;\n  const botY = points[i01 + 1] + (points[i11 + 1] - points[i01 + 1]) * s;\n\n  // Vertical: lerp top→bottom by t.\n  return [topX + (botX - topX) * t, topY + (botY - topY) * t];\n}\n","import type {\n  IkiModel,\n  IkiParameter,\n  IkiPart,\n  IkiWarp,\n  IkiWarpDeformer,\n} from \"@ikijs/format\";\nimport { ParameterStore } from \"./parameter-store\";\nimport { multiply, rotate, scale, toMat3, translate } from \"./affine\";\nimport { evaluateTransform, resolveDeformerWorlds } from \"./deform\";\nimport { applyWarps } from \"./warp\";\nimport { applyWarpToChild, resolveWarpGrids } from \"./warp-grid\";\n\n/**\n * Alpha threshold used only during the stencil mask-write pass: a mask fragment\n * marks the stencil only where its coverage alpha is at least this. Keeps the\n * clip region to the mask's opaque body, not its anti-aliased fringe.\n */\nconst MASK_ALPHA_CUTOFF = 0.5;\n\n/**\n * Outcome of {@link IkiPlayer.load}: the indices into `model.textures` that\n * failed to decode or upload (empty = every declared texture loaded). The model\n * is still swapped in and rendered; parts using a failed texture are skipped.\n * A host can inspect this to detect and report a partial load.\n */\nexport interface IkiLoadResult {\n  failedTextures: number[];\n  /**\n   * True when a newer `load()` (or `destroy()`) superseded this call before it\n   * adopted anything — the model was NOT loaded and `failedTextures` is empty\n   * because nothing was attempted, not because everything succeeded. Without\n   * this flag a caller awaiting the losing promise cannot tell the two apart.\n   */\n  superseded: boolean;\n}\n\n/**\n * Engine-internal runtime representation of an uploaded mesh.\n *\n * `rest` is a copy of the authored vertices (Float32Array for direct GL upload);\n * `scratch` is a same-length preallocated buffer that the per-frame warp\n * pipeline writes morphed positions into before uploading.\n *\n * Index winding convention for an implicit-quad fixture: [0,1,2, 2,1,3]\n * (counter-clockwise from bottom-left). CULL_FACE is disabled, so winding\n * direction is not enforced, but mesh generators must match this.\n */\ninterface PartMesh {\n  position: WebGLBuffer;\n  uv: WebGLBuffer;\n  index: WebGLBuffer;\n  indexCount: number;\n  rest: Float32Array;\n  /** Preallocated warp output buffer; only present when `warps` is non-empty. */\n  scratch?: Float32Array;\n  warps?: IkiWarp[];\n  /** The warp deformer this mesh hangs off, if any (its part.deformer is kind:\"warp\"). */\n  warpDeformer?: IkiWarpDeformer;\n  /** Local-space scratch (same length as `rest`) for the per-frame warp pipeline. */\n  local?: Float32Array;\n}\n\n/**\n * Drives a single `.iki` model on a WebGL2 canvas.\n *\n * v1 scope: parts are solid-color or atlas-sampled textured quads or meshes,\n * transformed each frame by their base transform plus the sum of their parameter\n * bindings. `load()` is async — it decodes and uploads textures before swapping\n * the model in. Mesh parts additionally carry per-vertex UV and optional warp\n * keyforms, interpolated each frame on the CPU into a dynamic vertex buffer.\n */\nexport class IkiPlayer {\n  private readonly gl: WebGL2RenderingContext;\n  private readonly program: WebGLProgram;\n  private readonly quad: WebGLBuffer;\n  private readonly uMatrix: WebGLUniformLocation;\n  private readonly uColor: WebGLUniformLocation;\n  private readonly uUseTexture: WebGLUniformLocation;\n  private readonly uTex: WebGLUniformLocation;\n  private readonly uUvOffset: WebGLUniformLocation;\n  private readonly uUvScale: WebGLUniformLocation;\n  private readonly uUseMeshUv: WebGLUniformLocation;\n  private readonly uAlphaCutoff: WebGLUniformLocation;\n  private readonly aPos: number;\n  private readonly aUv: number;\n  /** True when the context granted a stencil buffer; clipping needs it. */\n  private readonly stencilAvailable: boolean;\n\n  private model?: IkiModel;\n  private parts: IkiPart[] = [];\n  private params = new ParameterStore([]);\n  private rafId?: number;\n  /** Uploaded textures, index-aligned with `model.textures`; `null` = unusable. */\n  private textures: (WebGLTexture | null)[] = [];\n  /** Bumped by every `load` and by `destroy`; lets a stale async load bail. */\n  private loadGeneration = 0;\n  /** True from the moment `load()` is entered until it resolves or throws. */\n  private loadPending = false;\n  /** Latches the un-awaited-load report, so a repeat caller says it once. */\n  private warnedLoadUnfinished = false;\n  private destroyed = false;\n  /**\n   * Engine-internal mesh buffers, keyed by the part's INDEX in `this.parts`\n   * (NOT by part id — duplicate ids must not swap buffers).\n   */\n  private partMeshes = new Map<number, PartMesh>();\n  /**\n   * Clip groups resolved once per `load()`: consumer part index (into `this.parts`)\n   * → its mask part indices. A part absent from this map is unclipped.\n   */\n  private partClipGroups = new Map<number, number[]>();\n\n  constructor(private readonly canvas: HTMLCanvasElement) {\n    const gl = canvas.getContext(\"webgl2\", {\n      alpha: true,\n      // The whole pipeline is premultiplied-alpha: the fragment shader\n      // multiplies rgb by alpha, the blend function is ONE /\n      // ONE_MINUS_SRC_ALPHA, and the page compositor reads the framebuffer\n      // as premultiplied. Straight-alpha (`premultipliedAlpha: false`) cannot\n      // be made consistent with SRC_ALPHA-style blending: semi-transparent\n      // pixels over a transparent background come out premultiplied anyway\n      // and composite too dark.\n      premultipliedAlpha: true,\n      // Stencil buffer backs clip masks (a part rendered only inside its masks'\n      // coverage). Granted by every modern browser; the load() guard reports if not.\n      stencil: true,\n    });\n    if (!gl) throw new Error(\"WebGL2 is not available in this browser\");\n    this.gl = gl;\n    this.stencilAvailable = gl.getContextAttributes()?.stencil ?? false;\n\n    this.program = createProgram(gl, VERTEX_SHADER, FRAGMENT_SHADER);\n    this.uMatrix = getUniform(gl, this.program, \"u_matrix\");\n    this.uColor = getUniform(gl, this.program, \"u_color\");\n    this.uUseTexture = getUniform(gl, this.program, \"u_useTexture\");\n    this.uTex = getUniform(gl, this.program, \"u_tex\");\n    this.uUvOffset = getUniform(gl, this.program, \"u_uvOffset\");\n    this.uUvScale = getUniform(gl, this.program, \"u_uvScale\");\n    this.uUseMeshUv = getUniform(gl, this.program, \"u_useMeshUv\");\n    this.uAlphaCutoff = getUniform(gl, this.program, \"u_alphaCutoff\");\n    // Fetch attribute locations here so renderFrame can set them explicitly\n    // per draw path (mesh vs quad), rather than hiding the wiring in createUnitQuad.\n    this.aPos = gl.getAttribLocation(this.program, \"a_pos\");\n    this.aUv = gl.getAttribLocation(this.program, \"a_uv\");\n\n    this.quad = createUnitQuad(gl);\n\n    gl.enable(gl.BLEND);\n    // Premultiplied-alpha \"over\": the shader already multiplied rgb by alpha.\n    // (See the premultipliedAlpha context note above — SRC_ALPHA blending into\n    // a straight-alpha canvas darkens semi-transparent parts.)\n    gl.blendFunc(gl.ONE, gl.ONE_MINUS_SRC_ALPHA);\n  }\n\n  /**\n   * Load a model and reset parameters to their defaults. All textures are\n   * decoded and uploaded before the model is swapped in — the swap is atomic,\n   * so you never see a partially-textured frame. `start()` may be called any\n   * time, but nothing renders until the first `load()` resolves. For an\n   * embedded `data:` atlas this is near-instant.\n   *\n   * Individual texture decode/upload failures are non-fatal: they are logged\n   * via `console.error`, the affected parts are skipped, and `load()` still\n   * resolves — the returned {@link IkiLoadResult} lists the indices of any\n   * textures that failed, so a host can detect and report a partial load. The\n   * model is assumed already validated by `@ikijs/format`.\n   *\n   * Mesh buffer allocation failure IS fatal (unlike per-texture skip) because\n   * textures have an `IkiLoadResult.failedTextures` reporting surface and mesh\n   * buffers have none — there is no partial-mesh concept in the format.\n   *\n   * AWAIT THIS before reading {@link getParameters}. The swap happens after\n   * texture decoding, so an un-awaited `load()` leaves the parameter store\n   * empty for the rest of the tick; `getParameters` reports that case rather\n   * than letting a host conclude the model drives nothing.\n   */\n  async load(model: IkiModel): Promise<IkiLoadResult> {\n    // `finally` rather than a reset before each `return`: a fatal mesh-buffer\n    // throw must not latch this on and make every later getParameters() a\n    // false alarm.\n    this.loadPending = true;\n    try {\n      return await this.adoptModel(model);\n    } finally {\n      this.loadPending = false;\n    }\n  }\n\n  private async adoptModel(model: IkiModel): Promise<IkiLoadResult> {\n    const { gl } = this;\n    const generation = ++this.loadGeneration;\n\n    // v1 decodes `data:` URIs only; external sources are skipped (resolver TBD).\n    const sources = model.textures ?? [];\n    const decoded = await Promise.allSettled(\n      sources.map((tex) => decodeTexture(tex.source)),\n    );\n\n    // A newer load() or destroy() superseded us while decoding — bail without\n    // creating GL textures or swapping any state.\n    if (generation !== this.loadGeneration || this.destroyed) {\n      for (const result of decoded) {\n        if (result.status === \"fulfilled\" && result.value) result.value.close();\n      }\n      return { failedTextures: [], superseded: true };\n    }\n\n    // Queried once per load, not per texture: a GL parameter read is a driver\n    // round-trip and this bound is constant for the context's lifetime.\n    // `getParameter` yields null on a LOST context — reachable here, because\n    // load() awaits decoding — and `width > null` coerces to `width > 0`, which\n    // would reject every texture and blame a \"nullpx limit\". Skip the bound\n    // instead when it is unavailable; the upload path below reports the real\n    // failure.\n    const maxTextureSizeRaw: unknown = gl.getParameter(gl.MAX_TEXTURE_SIZE);\n    const maxTextureSize =\n      typeof maxTextureSizeRaw === \"number\" ? maxTextureSizeRaw : undefined;\n    if (maxTextureSize === undefined) {\n      // A non-number here has one cause: the context is gone. Report it, because\n      // the drain below consumes the single CONTEXT_LOST_WEBGL the spec\n      // guarantees, and a model of implicit quads would otherwise adopt cleanly\n      // and blame \"textures failed to load\".\n      console.error(\"Iki: WebGL context lost during load()\");\n    }\n\n    // [7] getError returns the OLDEST latched error and says nothing about which\n    // call produced it, so anything the render loop left pending during the\n    // await would be pinned on the first texture. Start from a clean slate.\n    drainGlErrors(gl);\n\n    const uploaded: (WebGLTexture | null)[] = decoded.map((result, i) => {\n      if (result.status === \"rejected\") {\n        console.error(`Iki: failed to decode textures[${i}]`, result.reason);\n        return null;\n      }\n      const bitmap = result.value;\n      // External source was skipped during decode.\n      if (!bitmap) return null;\n\n      // An atlas wider than the driver's limit uploads as a GL error and leaves\n      // a non-null but unsamplable texture, which would then render as black\n      // rather than being reported. Reject it up front instead.\n      if (\n        maxTextureSize !== undefined &&\n        (bitmap.width > maxTextureSize || bitmap.height > maxTextureSize)\n      ) {\n        console.error(\n          `Iki: textures[${i}] is ${bitmap.width}x${bitmap.height}, over this device's ${maxTextureSize}px limit`,\n        );\n        bitmap.close();\n        return null;\n      }\n\n      const texture = gl.createTexture();\n      if (!texture) {\n        bitmap.close();\n        console.error(`Iki: failed to allocate GL texture for textures[${i}]`);\n        return null;\n      }\n      gl.bindTexture(gl.TEXTURE_2D, texture);\n      gl.pixelStorei(gl.UNPACK_PREMULTIPLY_ALPHA_WEBGL, false);\n      gl.pixelStorei(gl.UNPACK_FLIP_Y_WEBGL, false);\n      // Clear again so the check after texImage2D can only reflect texImage2D.\n      drainGlErrors(gl);\n      gl.texImage2D(\n        gl.TEXTURE_2D,\n        0,\n        gl.RGBA,\n        gl.RGBA,\n        gl.UNSIGNED_BYTE,\n        bitmap,\n      );\n      bitmap.close();\n      // Out-of-memory and other upload failures surface only here; without the\n      // check the slot stays non-null and is reported as a successful load.\n      const uploadError = gl.getError();\n      if (uploadError !== gl.NO_ERROR) {\n        gl.deleteTexture(texture);\n        console.error(\n          `Iki: failed to upload textures[${i}] (GL error 0x${uploadError.toString(16)})`,\n        );\n        return null;\n      }\n      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);\n      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);\n      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.LINEAR);\n      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.LINEAR);\n      return texture;\n    });\n\n    // Build the new model's render state into LOCAL variables BEFORE adopting\n    // anything. Do NOT read this.parts here — it still points at the PREVIOUS\n    // model until the adoption swap below; reading it would build buffers for\n    // old parts keyed by the new loop's indices.\n    const nextParts = [...model.parts].sort((a, b) => a.order - b.order);\n    const nextPartMeshes = new Map<number, PartMesh>();\n\n    for (let i = 0; i < nextParts.length; i++) {\n      const part = nextParts[i];\n      if (!part.mesh) continue;\n\n      const { mesh } = part;\n      // Collect buffers as they are created so we can clean up on partial failure.\n      const currentPartBuffers: WebGLBuffer[] = [];\n\n      const positionBuf = gl.createBuffer();\n      if (!positionBuf) {\n        // Nothing created yet for this part — clean up prior parts + textures.\n        deletePartMeshBuffers(gl, nextPartMeshes);\n        deleteUploadedTextures(gl, uploaded);\n        throw new Error(\"Iki: failed to allocate mesh buffer\");\n      }\n      currentPartBuffers.push(positionBuf);\n\n      const uvBuf = gl.createBuffer();\n      if (!uvBuf) {\n        // position VBO created but uv VBO failed — delete position to avoid leak.\n        for (const b of currentPartBuffers) gl.deleteBuffer(b);\n        deletePartMeshBuffers(gl, nextPartMeshes);\n        deleteUploadedTextures(gl, uploaded);\n        throw new Error(\"Iki: failed to allocate mesh buffer\");\n      }\n      currentPartBuffers.push(uvBuf);\n\n      const indexBuf = gl.createBuffer();\n      if (!indexBuf) {\n        // position + uv created but index failed — delete both.\n        for (const b of currentPartBuffers) gl.deleteBuffer(b);\n        deletePartMeshBuffers(gl, nextPartMeshes);\n        deleteUploadedTextures(gl, uploaded);\n        throw new Error(\"Iki: failed to allocate mesh buffer\");\n      }\n\n      // All three buffers allocated — upload data.\n      const rest = new Float32Array(mesh.vertices);\n      // A mesh part whose `deformer` references a kind:\"warp\" deformer is a warp\n      // child: it morphs every frame (bind→sample against the grid) even with no\n      // part-local warps, so it also needs DYNAMIC_DRAW + scratch + a local buffer.\n      const warpDeformer =\n        part.deformer !== undefined\n          ? model.deformers?.find(\n              (d): d is IkiWarpDeformer =>\n                d.kind === \"warp\" && d.id === part.deformer,\n            )\n          : undefined;\n      const isWarpChild = warpDeformer !== undefined;\n      // Only allocate scratch and use DYNAMIC_DRAW when this part has warps or is\n      // a warp child; warp-less static meshes never morph and skip per-frame upload.\n      const hasWarps = (part.warps?.length ?? 0) > 0;\n      const dynamic = hasWarps || isWarpChild;\n      const scratch = dynamic\n        ? new Float32Array(mesh.vertices.length)\n        : undefined;\n      // Warp children also need a second scratch for the part-local pipeline\n      // (applyWarps + TRS) before grid binding.\n      const local = isWarpChild\n        ? new Float32Array(mesh.vertices.length)\n        : undefined;\n\n      // Clear first so the check after the three uploads reflects only them.\n      drainGlErrors(gl);\n\n      gl.bindBuffer(gl.ARRAY_BUFFER, positionBuf);\n      gl.bufferData(\n        gl.ARRAY_BUFFER,\n        rest,\n        dynamic ? gl.DYNAMIC_DRAW : gl.STATIC_DRAW,\n      );\n\n      gl.bindBuffer(gl.ARRAY_BUFFER, uvBuf);\n      gl.bufferData(\n        gl.ARRAY_BUFFER,\n        new Float32Array(mesh.uvs),\n        gl.STATIC_DRAW,\n      );\n\n      // Vertex count is validator-capped at 65536, so Uint16 cannot wrap.\n      gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, indexBuf);\n      gl.bufferData(\n        gl.ELEMENT_ARRAY_BUFFER,\n        new Uint16Array(mesh.indices),\n        gl.STATIC_DRAW,\n      );\n\n      // Allocation was checked above, but `bufferData` can still raise\n      // OUT_OF_MEMORY and leave a valid-but-EMPTY buffer, which draws garbage or\n      // nothing at all. The contract on this class calls a mesh-buffer failure\n      // fatal precisely because it has no `failedTextures`-style reporting\n      // surface — which only holds if the failure is detected here.\n      const meshUploadError = gl.getError();\n      if (meshUploadError !== gl.NO_ERROR) {\n        for (const b of currentPartBuffers) gl.deleteBuffer(b);\n        gl.deleteBuffer(indexBuf);\n        deletePartMeshBuffers(gl, nextPartMeshes);\n        deleteUploadedTextures(gl, uploaded);\n        throw new Error(\n          `Iki: failed to upload mesh buffers for part \"${part.id}\" (GL error 0x${meshUploadError.toString(16)})`,\n        );\n      }\n\n      nextPartMeshes.set(i, {\n        position: positionBuf,\n        uv: uvBuf,\n        index: indexBuf,\n        indexCount: mesh.indices.length,\n        rest,\n        scratch,\n        warps: part.warps,\n        warpDeformer,\n        local,\n      });\n    }\n\n    // Resolve clip groups once: consumer part index → mask part indices. The\n    // model is already validated (every mask id maps to a unique mesh part), so\n    // this is a plain id→index lookup, not a per-frame reconstruction.\n    const nextClipGroups = new Map<number, number[]>();\n    const indexById = new Map<string, number>();\n    for (let i = 0; i < nextParts.length; i++) {\n      indexById.set(nextParts[i].id, i);\n    }\n    for (let i = 0; i < nextParts.length; i++) {\n      const clip = nextParts[i].clip;\n      if (!clip) continue;\n      const maskIndices = clip.masks\n        .map((maskId) => indexById.get(maskId))\n        .filter((mi): mi is number => mi !== undefined);\n      if (maskIndices.length > 0) nextClipGroups.set(i, maskIndices);\n    }\n    if (nextClipGroups.size > 0 && !this.stencilAvailable) {\n      console.error(\n        \"Iki: model uses clip masks but this WebGL2 context has no stencil buffer; rendering unclipped\",\n      );\n    }\n\n    // Atomic adoption: release the previous model's part-mesh buffers and textures,\n    // then adopt the new model's state in a single block so the render loop\n    // never sees a half-adopted model.\n    deletePartMeshBuffers(gl, this.partMeshes);\n    for (const texture of this.textures) {\n      if (texture) gl.deleteTexture(texture);\n    }\n\n    this.model = model;\n    this.params = new ParameterStore(model.parameters);\n    this.parts = nextParts;\n    this.partMeshes = nextPartMeshes;\n    this.partClipGroups = nextClipGroups;\n    this.textures = uploaded;\n\n    return {\n      failedTextures: uploaded.flatMap((t, i) => (t === null ? [i] : [])),\n      superseded: false,\n    };\n  }\n\n  /**\n   * Start the render loop. Safe to call more than once, and a no-op after\n   * {@link destroy} — the program and buffers the loop draws with are gone, so\n   * restarting would only spray GL errors.\n   */\n  start(): void {\n    if (this.rafId !== undefined || this.destroyed) return;\n    const loop = (): void => {\n      this.renderFrame();\n      this.rafId = requestAnimationFrame(loop);\n    };\n    this.rafId = requestAnimationFrame(loop);\n  }\n\n  stop(): void {\n    if (this.rafId === undefined) return;\n    cancelAnimationFrame(this.rafId);\n    this.rafId = undefined;\n  }\n\n  /**\n   * Set a parameter value (clamped to its range). Unknown ids and non-finite\n   * values are ignored — see {@link ParameterStore.set}.\n   */\n  setParameter(id: string, value: number): void {\n    this.params.set(id, value);\n  }\n\n  /**\n   * Current value of a parameter, or 0 for an unknown id.\n   *\n   * Hosts need this to avoid shadowing the engine's state: the motion drivers\n   * read the live pose to compute the next one, and without a read accessor\n   * every host has to keep its own mirror of what it last wrote — and keep that\n   * mirror's clamping in step with {@link ParameterStore} by hand.\n   */\n  getParameter(id: string): number {\n    return this.params.get(id);\n  }\n\n  /**\n   * The model's parameter descriptors, for building UI or host wiring.\n   *\n   * Empty until the first {@link load} resolves. Reaching it through an\n   * un-awaited `load()` is the one mistake in this class that produces no\n   * error and no motion: the caller gets `[]`, concludes the model has no\n   * parameters, and drives nothing — so that case is reported instead of\n   * being indistinguishable from a model that really declares none. A\n   * reload is deliberately NOT reported: those parameters are stale rather\n   * than absent, and warning there would fire on legitimate concurrent reads.\n   */\n  getParameters(): IkiParameter[] {\n    if (\n      this.loadPending &&\n      this.model === undefined &&\n      !this.warnedLoadUnfinished\n    ) {\n      this.warnedLoadUnfinished = true;\n      console.error(\n        \"Iki: getParameters() ran before load() finished, so it returned an empty list — await load() before reading parameters.\",\n      );\n    }\n    return this.params.list();\n  }\n\n  destroy(): void {\n    this.stop();\n    // Invalidate any in-flight load so it bails before touching GL state.\n    this.destroyed = true;\n    ++this.loadGeneration;\n    const { gl } = this;\n    for (const texture of this.textures) {\n      if (texture) gl.deleteTexture(texture);\n    }\n    this.textures = [];\n    deletePartMeshBuffers(gl, this.partMeshes);\n    this.partMeshes = new Map();\n    gl.deleteBuffer(this.quad);\n    gl.deleteProgram(this.program);\n  }\n\n  private renderFrame(): void {\n    const { gl, canvas } = this;\n\n    const dpr = window.devicePixelRatio || 1;\n    const width = Math.max(1, Math.floor(canvas.clientWidth * dpr));\n    const height = Math.max(1, Math.floor(canvas.clientHeight * dpr));\n    if (canvas.width !== width || canvas.height !== height) {\n      canvas.width = width;\n      canvas.height = height;\n    }\n\n    gl.viewport(0, 0, width, height);\n    gl.clearColor(0, 0, 0, 0);\n    gl.clear(gl.COLOR_BUFFER_BIT | gl.STENCIL_BUFFER_BIT);\n\n    if (!this.model) return;\n\n    // Fit the logical model canvas into the drawing buffer, preserving aspect,\n    // and convert model units to clip space.\n    const { width: modelW, height: modelH } = this.model.canvas;\n    const fit = Math.min(width / modelW, height / modelH);\n    const clipX = (fit * 2) / width;\n    const clipY = (fit * 2) / height;\n\n    gl.useProgram(this.program);\n\n    const deformerWorlds =\n      this.model.deformers && this.model.deformers.length > 0\n        ? resolveDeformerWorlds(this.model.deformers, this.params)\n        : undefined;\n\n    // Resolve each warp deformer's deformed control grid for this frame (parent\n    // matrix affine + grid keyforms). Warp-child mesh parts sample these grids\n    // instead of riding the affine dWorld·TRS chain.\n    const warpGrids = this.model.deformers?.some((d) => d.kind === \"warp\")\n      ? resolveWarpGrids(\n          this.model.deformers,\n          this.params,\n          deformerWorlds ?? new Map(),\n        )\n      : undefined;\n\n    // u_alphaCutoff defaults to 0 (no fragment is discarded) for normal parts;\n    // the mask-write pass raises it temporarily (see drawClipped).\n    gl.uniform1f(this.uAlphaCutoff, 0);\n    for (let index = 0; index < this.parts.length; index++) {\n      const maskIndices = this.partClipGroups.get(index);\n      if (maskIndices && this.stencilAvailable) {\n        this.drawClipped(\n          index,\n          maskIndices,\n          clipX,\n          clipY,\n          deformerWorlds,\n          warpGrids,\n        );\n      } else {\n        // Unclipped (or stencil unavailable — load() already reported it).\n        this.drawPart(index, clipX, clipY, deformerWorlds, warpGrids);\n      }\n    }\n  }\n\n  /**\n   * Draw a clipped part: stencil the union of its masks' alpha coverage, then\n   * draw the part only where the stencil was written. The mask parts also draw\n   * normally in their own `order` slot — this is an EXTRA, color-free pass over\n   * the same per-frame deformed geometry. All stencil/colorMask state the pass\n   * touches is restored before returning so later parts are unaffected.\n   */\n  private drawClipped(\n    index: number,\n    maskIndices: number[],\n    clipX: number,\n    clipY: number,\n    deformerWorlds: ReturnType<typeof resolveDeformerWorlds> | undefined,\n    warpGrids: ReturnType<typeof resolveWarpGrids> | undefined,\n  ): void {\n    const { gl } = this;\n\n    // 1. Write coverage into the stencil (REPLACE 1), no color. Each mask is\n    //    drawn with its per-frame deformed geometry; u_alphaCutoff discards the\n    //    transparent fringe so only opaque coverage marks the stencil. Multiple\n    //    masks union naturally (all write 1).\n    gl.clear(gl.STENCIL_BUFFER_BIT);\n    gl.enable(gl.STENCIL_TEST);\n    gl.colorMask(false, false, false, false);\n    gl.stencilMask(0xff);\n    gl.stencilFunc(gl.ALWAYS, 1, 0xff);\n    gl.stencilOp(gl.KEEP, gl.KEEP, gl.REPLACE);\n    gl.uniform1f(this.uAlphaCutoff, MASK_ALPHA_CUTOFF);\n    for (const maskIndex of maskIndices) {\n      this.drawPart(maskIndex, clipX, clipY, deformerWorlds, warpGrids);\n    }\n\n    // 2. Draw the consumer only where stencil == 1; restore color writes first.\n    gl.uniform1f(this.uAlphaCutoff, 0);\n    gl.colorMask(true, true, true, true);\n    gl.stencilMask(0x00);\n    gl.stencilFunc(gl.EQUAL, 1, 0xff);\n    gl.stencilOp(gl.KEEP, gl.KEEP, gl.KEEP);\n    this.drawPart(index, clipX, clipY, deformerWorlds, warpGrids);\n\n    // 3. Restore every stencil state this pass changed (colorMask + u_alphaCutoff\n    //    already restored above) so the next unmasked part renders normally.\n    gl.disable(gl.STENCIL_TEST);\n    gl.stencilMask(0xff);\n    gl.stencilFunc(gl.ALWAYS, 0, 0xff);\n    gl.stencilOp(gl.KEEP, gl.KEEP, gl.KEEP);\n  }\n\n  /**\n   * Draw a single part with its full per-part material + geometry state. Shared\n   * by the normal pass, the stencil mask-write pass, and the masked consumer\n   * draw — so every path prepares the SAME complete uniform/texture/VBO state\n   * (the caller only sets stencil/colorMask/u_alphaCutoff around it).\n   */\n  private drawPart(\n    index: number,\n    clipX: number,\n    clipY: number,\n    deformerWorlds: ReturnType<typeof resolveDeformerWorlds> | undefined,\n    warpGrids: ReturnType<typeof resolveWarpGrids> | undefined,\n  ): void {\n    const { gl } = this;\n    const part = this.parts[index];\n    const texture = part.texture\n      ? this.textures[part.texture.index]\n      : undefined;\n    // A textured part whose slot is null (skipped/failed) draws nothing.\n    if (part.texture && !texture) return;\n\n    const t = this.evaluate(part);\n    // Warp-child mesh parts bypass the affine dWorld·TRS chain entirely: their\n    // vertices are computed by the per-frame grid pipeline below (which bakes\n    // part TRS into model-space positions), so u_matrix carries ONLY clip-scale.\n    const warpChild = this.partMeshes.get(index)?.warpDeformer;\n    // clip <- project <- [deformer?] <- translate <- rotate <- scale(size)\n    let m: ReturnType<typeof multiply>;\n    if (warpChild) {\n      m = scale(clipX, clipY);\n    } else if (part.deformer !== undefined) {\n      const dWorld = deformerWorlds!.get(part.deformer);\n      if (!dWorld) {\n        throw new Error(\n          `part \"${part.id}\" references unknown deformer \"${part.deformer}\"`,\n        );\n      }\n      m = multiply(multiply(scale(clipX, clipY), dWorld), translate(t.x, t.y));\n      m = multiply(m, rotate(t.rotation));\n      m = multiply(m, scale(part.width * t.scaleX, part.height * t.scaleY));\n    } else {\n      m = multiply(scale(clipX, clipY), translate(t.x, t.y));\n      m = multiply(m, rotate(t.rotation));\n      m = multiply(m, scale(part.width * t.scaleX, part.height * t.scaleY));\n    }\n\n    const [r, g, b, a] = part.color;\n    gl.uniformMatrix3fv(this.uMatrix, false, toMat3(m));\n    gl.uniform4f(this.uColor, r, g, b, a * t.opacity);\n\n    if (part.texture && texture) {\n      const { uv } = part.texture;\n      gl.uniform1i(this.uUseTexture, 1);\n      gl.activeTexture(gl.TEXTURE0);\n      gl.bindTexture(gl.TEXTURE_2D, texture);\n      gl.uniform1i(this.uTex, 0);\n      gl.uniform2f(this.uUvOffset, uv.x, uv.y);\n      gl.uniform2f(this.uUvScale, uv.width, uv.height);\n    } else {\n      gl.uniform1i(this.uUseTexture, 0);\n    }\n\n    if (part.mesh) {\n      // --- Mesh draw path ---\n      const pm = this.partMeshes.get(index);\n      if (!pm) {\n        // Impossible after the fatal-allocation rule in load(); throwing rather\n        // than skipping matches the existing unknown-deformer-parent throw in\n        // deform.ts and ensures engine bugs are never silently hidden.\n        throw new Error(`Iki: mesh buffers missing for part \"${part.id}\"`);\n      }\n\n      gl.uniform1i(this.uUseMeshUv, 1);\n\n      // For warped meshes, compute morphed positions and upload to the\n      // DYNAMIC_DRAW VBO. Warp-less meshes skip this — their VBO already\n      // holds `rest` from load().\n      if (pm.warpDeformer) {\n        // --- Warp-deformer (group warp) child pipeline ---\n        // Coordinate invariant (top bug risk): BIND against the RAW rest grid\n        // (warpDeformer.grid — no keyform offsets, no parent affine), SAMPLE\n        // against the RESOLVED grid (resolveWarpGrids output: offsets added,\n        // THEN parent affine). Never bind against a resolved/deformed grid.\n        const warpDef = pm.warpDeformer;\n        const grid = warpGrids!.get(warpDef.id)!;\n        // 1. part-local mesh warps into the local scratch (no-op if none).\n        applyWarps(pm.rest, pm.warps, this.params, pm.local!);\n        // 2. live part TRS (eye/mouth open etc.), baked into the vertices.\n        const trs = evaluateTransform(\n          part.transform,\n          part.bindings,\n          this.params,\n        );\n        const partAffine = multiply(\n          multiply(translate(trs.x, trs.y), rotate(trs.rotation)),\n          scale(part.width * trs.scaleX, part.height * trs.scaleY),\n        );\n        // 2b+3+4. transform each local vertex by partAffine, rebind to the RAW\n        // rest grid, and sample the RESOLVED (deformed) grid.\n        applyWarpToChild(\n          pm.local!,\n          partAffine,\n          warpDef.grid,\n          grid,\n          pm.scratch!,\n        );\n        gl.bindBuffer(gl.ARRAY_BUFFER, pm.position);\n        gl.bufferSubData(gl.ARRAY_BUFFER, 0, pm.scratch!);\n      } else if (pm.warps && pm.warps.length > 0) {\n        // scratch is always allocated when warps is non-empty (see load())\n        applyWarps(pm.rest, pm.warps, this.params, pm.scratch!);\n        gl.bindBuffer(gl.ARRAY_BUFFER, pm.position);\n        gl.bufferSubData(gl.ARRAY_BUFFER, 0, pm.scratch!);\n      }\n\n      // Position VBO (DYNAMIC_DRAW — morphed for warped parts, rest otherwise).\n      gl.bindBuffer(gl.ARRAY_BUFFER, pm.position);\n      gl.enableVertexAttribArray(this.aPos);\n      gl.vertexAttribPointer(this.aPos, 2, gl.FLOAT, false, 0, 0);\n\n      // UV VBO (STATIC_DRAW — mesh UVs are passed straight through, no flip).\n      gl.bindBuffer(gl.ARRAY_BUFFER, pm.uv);\n      gl.enableVertexAttribArray(this.aUv);\n      gl.vertexAttribPointer(this.aUv, 2, gl.FLOAT, false, 0, 0);\n\n      gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, pm.index);\n      gl.drawElements(gl.TRIANGLES, pm.indexCount, gl.UNSIGNED_SHORT, 0);\n    } else {\n      // --- Implicit-quad draw path ---\n      // Disable a_uv so no stale mesh UV buffer from a preceding mesh part is\n      // sourced. The quad shader branch derives UV from a_pos, not a_uv.\n      gl.uniform1i(this.uUseMeshUv, 0);\n      gl.disableVertexAttribArray(this.aUv);\n\n      gl.bindBuffer(gl.ARRAY_BUFFER, this.quad);\n      gl.enableVertexAttribArray(this.aPos);\n      gl.vertexAttribPointer(this.aPos, 2, gl.FLOAT, false, 0, 0);\n\n      gl.drawArrays(gl.TRIANGLE_STRIP, 0, 4);\n    }\n  }\n\n  /** Resolve a part's effective transform from its base plus active bindings. */\n  private evaluate(part: IkiPart): ReturnType<typeof evaluateTransform> {\n    return evaluateTransform(part.transform, part.bindings, this.params);\n  }\n}\n\n// --- WebGL plumbing ---------------------------------------------------------\nconst VERTEX_SHADER = `#version 300 es\nin vec2 a_pos;\nin vec2 a_uv;\nuniform mat3 u_matrix;\nuniform vec2 u_uvOffset;\nuniform vec2 u_uvScale;\nuniform bool u_useMeshUv;\nout vec2 v_uv;\nvoid main() {\n  if (u_useMeshUv) {\n    // Mesh path: UVs are already top-left atlas-space; pass straight through,\n    // no flip (the only flip in the pipeline lives in the quad branch below).\n    v_uv = a_uv;\n  } else {\n    // Quad path: a_pos corners are +/-0.5; lift to 0..1 (y-up), then map into\n    // the atlas sub-rect with a single V flip so the result is top-left UVs.\n    vec2 uvLocal = a_pos + 0.5;\n    v_uv = vec2(\n      u_uvOffset.x + uvLocal.x * u_uvScale.x,\n      u_uvOffset.y + (1.0 - uvLocal.y) * u_uvScale.y\n    );\n  }\n  vec3 p = u_matrix * vec3(a_pos, 1.0);\n  gl_Position = vec4(p.xy, 0.0, 1.0);\n}`;\n\nconst FRAGMENT_SHADER = `#version 300 es\nprecision mediump float;\nuniform vec4 u_color;\nuniform bool u_useTexture;\nuniform sampler2D u_tex;\nuniform float u_alphaCutoff;\nin vec2 v_uv;\nout vec4 outColor;\nvoid main() {\n  vec4 base = u_useTexture ? texture(u_tex, v_uv) : vec4(1.0);\n  vec4 tinted = base * u_color;\n  // 0 for normal draws (no-op); raised during the stencil mask-write pass so\n  // only opaque mask coverage marks the stencil (the transparent fringe is cut).\n  if (tinted.a < u_alphaCutoff) discard;\n  // Premultiply: the blend function and the canvas compositing contract\n  // (premultipliedAlpha: true) both expect rgb already scaled by alpha.\n  outColor = vec4(tinted.rgb * tinted.a, tinted.a);\n}`;\n\n/**\n * Decode a texture source into an ImageBitmap, or `null` for an unsupported\n * (non-`data:`) source. v1 fetches `data:` URIs only — never arbitrary URLs.\n */\nasync function decodeTexture(source: string): Promise<ImageBitmap | null> {\n  if (!source.startsWith(\"data:\")) {\n    console.warn(\n      \"Iki: external texture sources are unsupported in v1; skipping\",\n      source.slice(0, 32),\n    );\n    return null;\n  }\n  const blob = await (await fetch(source)).blob();\n  return createImageBitmap(blob, {\n    imageOrientation: \"none\",\n    premultiplyAlpha: \"none\",\n  });\n}\n\n/** Create the shared unit-quad position VBO (centered, triangle-strip). */\nfunction createUnitQuad(gl: WebGL2RenderingContext): WebGLBuffer {\n  const buffer = gl.createBuffer();\n  if (!buffer) throw new Error(\"failed to allocate quad buffer\");\n  gl.bindBuffer(gl.ARRAY_BUFFER, buffer);\n  // Unit square centered on the origin, as a triangle strip.\n  gl.bufferData(\n    gl.ARRAY_BUFFER,\n    new Float32Array([-0.5, -0.5, 0.5, -0.5, -0.5, 0.5, 0.5, 0.5]),\n    gl.STATIC_DRAW,\n  );\n  // Attribute pointers are set explicitly in renderFrame per draw path;\n  // createUnitQuad only owns buffer allocation and data upload.\n  return buffer;\n}\n\n/**\n * Clear every latched GL error so the next `getError()` reflects only the call\n * that follows this one. A lost context reports CONTEXT_LOST_WEBGL once and\n * NO_ERROR after, so this terminates.\n */\nfunction drainGlErrors(gl: WebGL2RenderingContext): void {\n  // Bounded: the spec guarantees this terminates (a lost context reports\n  // CONTEXT_LOST_WEBGL once, then NO_ERROR), but this is the one file with no\n  // unit coverage, and an unbounded driver loop would hang the tab with no\n  // stack against a wedged or mocked context.\n  for (let i = 0; i < 32 && gl.getError() !== gl.NO_ERROR; i++) {\n    /* discard */\n  }\n}\n\n/** Delete all position/uv/index buffers stored in a PartMesh map. */\nfunction deletePartMeshBuffers(\n  gl: WebGL2RenderingContext,\n  meshes: Map<number, PartMesh>,\n): void {\n  for (const pm of meshes.values()) {\n    gl.deleteBuffer(pm.position);\n    gl.deleteBuffer(pm.uv);\n    gl.deleteBuffer(pm.index);\n  }\n}\n\n/** Delete all non-null textures from an uploaded texture array. */\nfunction deleteUploadedTextures(\n  gl: WebGL2RenderingContext,\n  textures: (WebGLTexture | null)[],\n): void {\n  for (const texture of textures) {\n    if (texture) gl.deleteTexture(texture);\n  }\n}\n\nfunction createProgram(\n  gl: WebGL2RenderingContext,\n  vertexSrc: string,\n  fragmentSrc: string,\n): WebGLProgram {\n  const program = gl.createProgram();\n  if (!program) throw new Error(\"failed to allocate WebGL program\");\n  gl.attachShader(program, compileShader(gl, gl.VERTEX_SHADER, vertexSrc));\n  gl.attachShader(program, compileShader(gl, gl.FRAGMENT_SHADER, fragmentSrc));\n  gl.linkProgram(program);\n  if (!gl.getProgramParameter(program, gl.LINK_STATUS)) {\n    const log = gl.getProgramInfoLog(program);\n    gl.deleteProgram(program);\n    throw new Error(`program link failed: ${log}`);\n  }\n  return program;\n}\n\nfunction compileShader(\n  gl: WebGL2RenderingContext,\n  type: number,\n  source: string,\n): WebGLShader {\n  const shader = gl.createShader(type);\n  if (!shader) throw new Error(\"failed to allocate shader\");\n  gl.shaderSource(shader, source);\n  gl.compileShader(shader);\n  if (!gl.getShaderParameter(shader, gl.COMPILE_STATUS)) {\n    const log = gl.getShaderInfoLog(shader);\n    gl.deleteShader(shader);\n    throw new Error(`shader compile failed: ${log}`);\n  }\n  return shader;\n}\n\nfunction getUniform(\n  gl: WebGL2RenderingContext,\n  program: WebGLProgram,\n  name: string,\n): WebGLUniformLocation {\n  const loc = gl.getUniformLocation(program, name);\n  if (!loc) throw new Error(`uniform not found: ${name}`);\n  return loc;\n}\n","import { StandardParameter } from \"@ikijs/format\";\nimport { MAX_DT_MS } from \"./frame-clock\";\nimport { clamp } from \"./math\";\n\n// --- Module-internal timing/easing constants -----------------------------------\n// These are intentionally private; tests assert observable behavior, not config.\n\nconst BLINK_INTERVAL_MIN_MS = 1500;\nconst BLINK_INTERVAL_MAX_MS = 6000;\nconst BLINK_DURATION_MS = 120; // full close+open cycle\n\nconst BREATH_PERIOD_MS = 3500;\n\nconst GAZE_RADIUS = 0.3;\nconst GAZE_RETARGET_MIN_MS = 1200;\nconst GAZE_RETARGET_MAX_MS = 3000;\n// Fraction of the gap to close each millisecond of clamped dt.\n// Chosen so a typical 16ms frame moves ~1.5 % of remaining distance.\nconst GAZE_EASE_RATE = 0.001;\n\n// Head sway: sums of slow sines with near-coprime periods, so the drift never\n// visibly repeats. Degrees — small against the ±30° standard AngleX/Y/Z range,\n// but enough continuous head motion to keep hair physics from sleeping.\nconst SWAY_X_AMP_A_DEG = 2.2;\nconst SWAY_X_PERIOD_A_MS = 6100;\nconst SWAY_X_AMP_B_DEG = 1.3;\nconst SWAY_X_PERIOD_B_MS = 9700;\nconst SWAY_Y_AMP_DEG = 1.6;\nconst SWAY_Y_PERIOD_MS = 7300;\n// Roll is the smallest and slowest of the three: an idle head barely tilts,\n// and a tilt reads much larger than a turn of the same degrees.\nconst SWAY_Z_AMP_DEG = 1.1;\nconst SWAY_Z_PERIOD_MS = 11300;\n\n// --- Small pure helpers -------------------------------------------------------\n\nfunction lerp(a: number, b: number, t: number): number {\n  return a + (b - a) * t;\n}\n\n/** Blink envelope: 1 at phase 0 and 1, 0 at the midpoint (triangle dip). */\nfunction blinkEnvelope(phase: number): number {\n  // phase in [0,1]; map to a symmetric triangle: 0→1, 0.5→0, 1→1\n  return 2 * Math.abs(phase - 0.5);\n}\n\n/** Pick a random point within a disk of `radius` using the injected rng. */\nfunction randomInDisk(rng: () => number, radius: number): [number, number] {\n  // Polar sampling: bounded, no rejection loop, safe with any [0,1) rng.\n  // r = sqrt(u) gives uniform area distribution; θ spans the full circle.\n  const r = Math.sqrt(rng()) * radius;\n  const theta = rng() * 2 * Math.PI;\n  return [r * Math.cos(theta), r * Math.sin(theta)];\n}\n\n// --- Public API ---------------------------------------------------------------\n\nexport interface IdleMotionOptions {\n  /** Inject a deterministic rng for testing. Defaults to Math.random. */\n  rng?: () => number;\n}\n\n/**\n * Pure-logic idle-animation driver. Animates the eight \"life\" parameters\n * (eyes, breath, gaze, head sway) on an internal clock so tab-backgrounding\n * or irregular frame delivery can't produce teleports or snap-close blinks.\n *\n * Usage:\n *   const idle = new IdleMotion(player.setParameter.bind(player));\n *   // inside your rAF loop:\n *   idle.update(performance.now());\n *\n * The host is responsible for scheduling; this class has no timers or rAF.\n */\nexport class IdleMotion {\n  /**\n   * Every parameter id {@link update} and `emitRestingPose` write, in write\n   * order. Published so a host (or IkiMotion) can restore them after it\n   * stops driving — keep in step with those two methods; the test suite\n   * pins this list to the actual emissions.\n   */\n  readonly drivenParameterIds: readonly string[] = [\n    StandardParameter.EyeOpenLeft,\n    StandardParameter.EyeOpenRight,\n    StandardParameter.Breath,\n    StandardParameter.EyeballX,\n    StandardParameter.EyeballY,\n    StandardParameter.AngleX,\n    StandardParameter.AngleY,\n    StandardParameter.AngleZ,\n  ];\n  private readonly sink: (id: string, value: number) => void;\n  private readonly rng: () => number;\n\n  // Internal clock: advances by clamped dt, NOT by raw wall-clock jumps.\n  // This is the only clock blink/breath/gaze scheduling reads.\n  private clockMs = 0;\n  private prevNowMs: number | undefined = undefined;\n\n  // Blink state\n  private nextBlinkAtMs: number;\n  private blinkStartMs = -1; // -1 means not currently blinking\n\n  // Gaze state\n  private gazeCurrentX = 0;\n  private gazeCurrentY = 0;\n  private gazeTargetX = 0;\n  private gazeTargetY = 0;\n  private nextGazeRetargetMs: number;\n\n  constructor(\n    sink: (id: string, value: number) => void,\n    options?: IdleMotionOptions,\n  ) {\n    this.sink = sink;\n    // Math.random is the single allowed default reference; all other uses go\n    // through this.rng so tests can inject a deterministic substitute.\n    this.rng = options?.rng ?? Math.random;\n\n    // Schedule the first blink and gaze retarget relative to clock zero.\n    this.nextBlinkAtMs = lerp(\n      BLINK_INTERVAL_MIN_MS,\n      BLINK_INTERVAL_MAX_MS,\n      this.rng(),\n    );\n    this.nextGazeRetargetMs = lerp(\n      GAZE_RETARGET_MIN_MS,\n      GAZE_RETARGET_MAX_MS,\n      this.rng(),\n    );\n  }\n\n  /**\n   * Advance the idle animation to the given wall-clock timestamp (milliseconds).\n   *\n   * On the first call: record prevNowMs, emit the resting pose, and return —\n   * no animation advance happens so there is no jump from time 0.\n   *\n   * On subsequent calls: compute dt = clamp(nowMs - prevNowMs, 0, MAX_DT_MS)\n   * and advance the internal clock by dt. A non-monotonic nowMs produces a\n   * negative raw delta that the clamp floors to 0 — no rewind.\n   */\n  update(nowMs: number): void {\n    // Host-supplied timestamp, same boundary rule as FixedStepClock.advance and\n    // ParameterStore.set: drop the frame, touch nothing. `clockMs += NaN` would\n    // stick, and every blink/gaze schedule reads clockMs — the face would go\n    // still permanently. A host driving from media time hands you NaN through an\n    // ordinary path (`duration * pct` before metadata loads).\n    if (!Number.isFinite(nowMs)) return;\n    if (this.prevNowMs === undefined) {\n      this.prevNowMs = nowMs;\n      // Emit resting pose so the host mirror stays in sync from frame 1.\n      this.emitRestingPose();\n      return;\n    }\n\n    // Clamp dt so a backgrounded tab or long GC pause advances the internal\n    // clock by at most MAX_DT_MS — blink can't snap shut, gaze can't teleport.\n    const rawDt = nowMs - this.prevNowMs;\n    const dt = clamp(rawDt, 0, MAX_DT_MS);\n    this.prevNowMs = nowMs;\n    this.clockMs += dt;\n\n    // Both eyes always carry the identical value (unified blink).\n    const eyeVal = this.advanceBlink();\n    this.sink(StandardParameter.EyeOpenLeft, eyeVal);\n    this.sink(StandardParameter.EyeOpenRight, eyeVal);\n\n    const breath = this.advanceBreath();\n    this.advanceGaze(dt);\n\n    this.sink(StandardParameter.Breath, breath);\n    this.sink(StandardParameter.EyeballX, this.gazeCurrentX);\n    this.sink(StandardParameter.EyeballY, this.gazeCurrentY);\n\n    // Head sway keeps the character (and any hair physics reading AngleX/Y/Z)\n    // from freezing solid between blinks. Models without these parameters\n    // ignore the writes (ParameterStore drops unknown ids).\n    this.sink(StandardParameter.AngleX, this.swayX());\n    this.sink(StandardParameter.AngleY, this.swayY());\n    this.sink(StandardParameter.AngleZ, this.swayZ());\n  }\n\n  // ---------------------------------------------------------------------------\n  // Private helpers\n  // ---------------------------------------------------------------------------\n\n  private emitRestingPose(): void {\n    this.sink(StandardParameter.EyeOpenLeft, 1);\n    this.sink(StandardParameter.EyeOpenRight, 1);\n    // Breath at phase 0: sin(0) = 0 → 0.5 + 0.5*0 = 0.5\n    this.sink(StandardParameter.Breath, 0.5);\n    this.sink(StandardParameter.EyeballX, 0);\n    this.sink(StandardParameter.EyeballY, 0);\n    // Sway sines are all 0 at clock 0 — the head starts centered.\n    this.sink(StandardParameter.AngleX, 0);\n    this.sink(StandardParameter.AngleY, 0);\n    this.sink(StandardParameter.AngleZ, 0);\n  }\n\n  /** Returns the current eye-open value (0..1) and advances blink state. */\n  private advanceBlink(): number {\n    const { clockMs } = this;\n\n    // If a blink is in progress, evaluate the envelope.\n    if (this.blinkStartMs >= 0) {\n      const phase = (clockMs - this.blinkStartMs) / BLINK_DURATION_MS;\n      if (phase >= 1) {\n        // Blink finished — schedule the next one on the internal clock.\n        this.blinkStartMs = -1;\n        this.nextBlinkAtMs =\n          clockMs +\n          lerp(BLINK_INTERVAL_MIN_MS, BLINK_INTERVAL_MAX_MS, this.rng());\n        return 1;\n      }\n      return blinkEnvelope(phase);\n    }\n\n    // Check if it is time to start a new blink.\n    if (clockMs >= this.nextBlinkAtMs) {\n      this.blinkStartMs = clockMs;\n      // Return the first envelope sample (exactly 1 at phase 0).\n      return blinkEnvelope(0);\n    }\n\n    // Between blinks: eyes fully open.\n    return 1;\n  }\n\n  private advanceBreath(): number {\n    return (\n      0.5 + 0.5 * Math.sin((2 * Math.PI * this.clockMs) / BREATH_PERIOD_MS)\n    );\n  }\n\n  /** Horizontal head sway in degrees, pure function of the internal clock. */\n  private swayX(): number {\n    const t = 2 * Math.PI * this.clockMs;\n    return (\n      SWAY_X_AMP_A_DEG * Math.sin(t / SWAY_X_PERIOD_A_MS) +\n      SWAY_X_AMP_B_DEG * Math.sin(t / SWAY_X_PERIOD_B_MS)\n    );\n  }\n\n  /** Vertical head sway in degrees, pure function of the internal clock. */\n  private swayY(): number {\n    return (\n      SWAY_Y_AMP_DEG * Math.sin((2 * Math.PI * this.clockMs) / SWAY_Y_PERIOD_MS)\n    );\n  }\n\n  /** Head roll sway in degrees, pure function of the internal clock. */\n  private swayZ(): number {\n    return (\n      SWAY_Z_AMP_DEG * Math.sin((2 * Math.PI * this.clockMs) / SWAY_Z_PERIOD_MS)\n    );\n  }\n\n  /** Ease gaze current toward target; pick a new target on the internal clock. */\n  private advanceGaze(dt: number): void {\n    // Retarget check reads clockMs so a clamped pause can't skip retargets.\n    if (this.clockMs >= this.nextGazeRetargetMs) {\n      const [tx, ty] = randomInDisk(this.rng, GAZE_RADIUS);\n      this.gazeTargetX = tx;\n      this.gazeTargetY = ty;\n      this.nextGazeRetargetMs =\n        this.clockMs +\n        lerp(GAZE_RETARGET_MIN_MS, GAZE_RETARGET_MAX_MS, this.rng());\n    }\n\n    // Exponential ease toward target. The ease factor is derived from the\n    // CLAMPED dt so a paused tab moves at most one normal step, never a teleport.\n    const factor = 1 - Math.pow(1 - GAZE_EASE_RATE, dt);\n    this.gazeCurrentX = lerp(this.gazeCurrentX, this.gazeTargetX, factor);\n    this.gazeCurrentY = lerp(this.gazeCurrentY, this.gazeTargetY, factor);\n  }\n}\n","import { clamp } from \"./math\";\n\n/** Per-frame dt ceiling: a backgrounded tab or a long GC pause must not snap state. */\nexport const MAX_DT_MS = 100;\n/** Fixed integration sub-step, in SECONDS. */\nexport const FIXED_DT_S = 1 / 60;\n/** Catch-up cap per frame (spiral-of-death guard). */\nexport const MAX_SUBSTEPS = 6;\n\n/**\n * Fixed-timestep accumulator shared by the physics drivers, so a stability fix\n * lands in one place instead of one of two near-identical copies.\n *\n * A driver calls {@link advance} once per frame and runs its integration body\n * that many times. Leftover time carries to the next frame, which is what keeps\n * the simulation frame-rate independent; the dt clamp and the sub-step cap keep\n * a hitch from either snapping the rig or spiralling into catch-up work.\n */\nexport class FixedStepClock {\n  private prevNowMs: number | undefined = undefined;\n  private accumulatorS = 0;\n\n  /**\n   * True until the first {@link advance}. Drivers seed their rest pose on that\n   * frame and integrate nothing, so a model loaded mid-motion does not kick.\n   */\n  get isSeedFrame(): boolean {\n    return this.prevNowMs === undefined;\n  }\n\n  /**\n   * Fold `nowMs` into the accumulator and return how many {@link FIXED_DT_S}\n   * sub-steps to run this frame. On the seed frame it only records the\n   * timestamp and returns 0. A non-monotonic `nowMs` floors to 0 — no rewind.\n   */\n  advance(nowMs: number): number {\n    // Host-supplied timestamp, so the same rule as ParameterStore.set: reject\n    // non-finite input at the boundary. `clamp(NaN, ...)` is NaN, which would\n    // make the accumulator NaN and every `NaN >= FIXED_DT_S` false FOREVER —\n    // the rig would freeze silently with no way back. Pre-existing; hardened\n    // here so both host entry points behave the same way.\n    if (!Number.isFinite(nowMs)) return 0;\n    if (this.prevNowMs === undefined) {\n      this.prevNowMs = nowMs;\n      return 0;\n    }\n    const dtMs = clamp(nowMs - this.prevNowMs, 0, MAX_DT_MS);\n    this.prevNowMs = nowMs;\n    this.accumulatorS += dtMs / 1000; // boundary ms->s conversion\n\n    let steps = 0;\n    while (this.accumulatorS >= FIXED_DT_S && steps < MAX_SUBSTEPS) {\n      this.accumulatorS -= FIXED_DT_S;\n      steps++;\n    }\n    return steps;\n  }\n}\n","import type { IkiParameter, IkiPhysics } from \"@ikijs/format\";\nimport { FIXED_DT_S, FixedStepClock } from \"./frame-clock\";\nimport { clamp } from \"./math\";\n\n// --- Small pure helpers ------------------------------------------------------\n\n/**\n * Map a parameter value to [-1, 1] around its engine-effective default. Portable\n * across param ranges: the wider side (rest→max vs min→rest) sets the unit, so\n * ±1 lands at the farther extreme. Returns 0 for a zero-width range.\n *\n * The rest center is `clamp(default, min, max)` to match ParameterStore, which\n * clamps an out-of-range default — so the spring rests where the model actually\n * renders, not at a raw out-of-range default.\n */\nfunction signedNormalized(\n  value: number,\n  param: { min: number; max: number; default: number },\n): number {\n  const rest = clamp(param.default, param.min, param.max);\n  const den = Math.max(Math.abs(param.max - rest), Math.abs(rest - param.min));\n  if (den === 0) return 0;\n  return clamp((value - rest) / den, -1, 1);\n}\n\n// --- Public API --------------------------------------------------------------\n\ninterface RigState {\n  x: number; // spring position (lagging, normalized-ish units)\n  v: number; // spring velocity\n}\n\n/**\n * Host-agnostic 1D spring-mass-damper secondary-motion driver — the physics\n * peer of {@link IdleMotion}. For each rig it reads the input parameter,\n * signed-normalizes it around the input's default × `weight` to form a spring\n * target, integrates a lagging spring position with semi-implicit (symplectic)\n * Euler on a fixed 1/60s sub-step accumulator, and writes\n * `outputDefault + x * scale` onto the output parameter — so the output lags\n * and overshoots the input (hair/accessory sway).\n *\n * Usage:\n *   const physics = new PhysicsMotion(\n *     model.physics ?? [],\n *     model.parameters,\n *     (id) => currentValue(id),\n *     player.setParameter.bind(player),\n *   );\n *   // inside your rAF loop, right AFTER idle.update(now):\n *   physics.update(performance.now());\n *\n * The host schedules updates; this class has no timers, rAF, DOM, or Date.now.\n * Writes go through the sink, exactly like IdleMotion; the player renders the\n * updated params on its own render loop (drivers and rendering are decoupled).\n */\nexport class PhysicsMotion {\n  /** The output parameter of every rig, in rig order — what `emit` writes. */\n  readonly drivenParameterIds: readonly string[];\n  private readonly rigs: readonly IkiPhysics[];\n  private readonly read: (id: string) => number;\n  private readonly sink: (id: string, value: number) => void;\n  private readonly params: Map<string, IkiParameter>;\n\n  // Integrator state, owned here — never stored in a ParameterStore.\n  private readonly state: RigState[];\n  private readonly clock = new FixedStepClock();\n\n  constructor(\n    rigs: IkiPhysics[],\n    params: IkiParameter[],\n    read: (id: string) => number,\n    sink: (id: string, value: number) => void,\n  ) {\n    this.rigs = rigs;\n    this.read = read;\n    this.sink = sink;\n    this.params = new Map(params.map((p) => [p.id, p]));\n    this.state = rigs.map(() => ({ x: 0, v: 0 }));\n    this.drivenParameterIds = rigs.map((rig) => rig.output.parameter);\n  }\n\n  /**\n   * Advance every rig to the given wall-clock timestamp (milliseconds).\n   *\n   * First call: seed each spring to rest AT its current target (so a model\n   * loaded with a nonzero input does not kick), emit the resting output, and\n   * return without integrating — mirroring IdleMotion's first-frame behavior.\n   *\n   * Subsequent calls: {@link FixedStepClock} folds the clamped frame delta into\n   * its accumulator and returns how many {@link FIXED_DT_S} sub-steps are due;\n   * the spring advances that many semi-implicit Euler steps, then each rig emits\n   * its output once. The clock's dt clamp and sub-step cap plus the symplectic\n   * integrator are what keep it stable across hitches.\n   */\n  update(nowMs: number): void {\n    if (this.clock.isSeedFrame) {\n      this.clock.advance(nowMs);\n      for (let i = 0; i < this.rigs.length; i++) {\n        const st = this.state[i];\n        st.x = this.targetFor(this.rigs[i]);\n        st.v = 0;\n        this.emit(this.rigs[i], st);\n      }\n      return;\n    }\n\n    const steps = this.clock.advance(nowMs);\n\n    // update() is synchronous, so the input cannot change mid-loop — read each\n    // rig's target ONCE per frame and reuse it across the sub-steps.\n    const targets = this.rigs.map((rig) => this.targetFor(rig));\n\n    for (let s = 0; s < steps; s++) {\n      for (let i = 0; i < this.rigs.length; i++) {\n        this.step(this.rigs[i], this.state[i], targets[i]);\n      }\n    }\n\n    // Always emit (even when zero sub-steps ran) so the sink stays in sync.\n    for (let i = 0; i < this.rigs.length; i++) {\n      const st = this.state[i];\n      // The fixed 1/60s sub-step can diverge for an extreme-but-parse-valid rig\n      // (tiny mass / huge stiffness push ω·dt past the explicit-integrator\n      // stability limit). If state goes non-finite, snap back to rest at the\n      // current target: the store DROPS a non-finite write, so an un-reset rig\n      // would emit NaN every frame and silently freeze the part at its last\n      // good pose instead of visibly diverging.\n      if (!Number.isFinite(st.x) || !Number.isFinite(st.v)) {\n        st.x = Number.isFinite(targets[i]) ? targets[i] : 0;\n        st.v = 0;\n      }\n      this.emit(this.rigs[i], st);\n    }\n  }\n\n  /** Spring target = signed-normalized input value × weight. */\n  private targetFor(rig: IkiPhysics): number {\n    const param = this.params.get(rig.input.parameter);\n    const value = this.read(rig.input.parameter);\n    const norm = param ? signedNormalized(value, param) : 0;\n    return norm * rig.input.weight;\n  }\n\n  /** One semi-implicit (symplectic) Euler sub-step of FIXED_DT_S seconds. */\n  private step(rig: IkiPhysics, st: RigState, target: number): void {\n    const accel =\n      (rig.stiffness * (target - st.x) - rig.damping * st.v) / rig.mass;\n    st.v += accel * FIXED_DT_S;\n    st.x += st.v * FIXED_DT_S;\n  }\n\n  /** Write outputDefault + x * scale onto the output param via the sink. */\n  private emit(rig: IkiPhysics, st: RigState): void {\n    const outParam = this.params.get(rig.output.parameter);\n    // clamp to match ParameterStore's engine-effective default (see signedNormalized).\n    const outDefault = outParam\n      ? clamp(outParam.default, outParam.min, outParam.max)\n      : 0;\n    const value = outDefault + st.x * rig.output.scale;\n    // Final guard: even a finite-but-enormous `x` could overflow the product to\n    // ±Infinity. Emit the rest pose rather than hand a non-finite value to the\n    // sink, which would drop the write and leave the output stuck where it was.\n    this.sink(\n      rig.output.parameter,\n      Number.isFinite(value) ? value : outDefault,\n    );\n  }\n}\n","import type {\n  IkiDeformer,\n  IkiParameter,\n  IkiPhysicsChain,\n  IkiPhysicsChainSegment,\n} from \"@ikijs/format\";\nimport type { Affine } from \"./affine\";\nimport { resolveDeformerWorlds } from \"./deform\";\n// The two physics drivers stay independent of EACH OTHER; the timing primitives\n// they both need live in frame-clock.ts so a stability fix lands once.\nimport { FIXED_DT_S, FixedStepClock } from \"./frame-clock\";\nimport { clamp } from \"./math\";\nimport { ParameterStore } from \"./parameter-store\";\n\nconst DEG2RAD = Math.PI / 180;\nconst RAD2DEG = 180 / Math.PI;\n\n// --- Per-chain / per-segment state -------------------------------------------\n\n/** Integrator state for one segment. angle = θ displacement in RADIANS. */\ninterface SegmentState {\n  angle: number; // θ_i in radians (displacement from rest)\n  angularVelocity: number; // ω_i in radians/s\n}\n\n/** All precomputed per-chain data (rest angles already in radians). */\ninterface ChainData {\n  chain: IkiPhysicsChain;\n  restAnglesRad: number[]; // restAngle_j in radians; 0 when omitted\n  state: SegmentState[]; // preallocated, length = segments.length\n}\n\n// --- Public API --------------------------------------------------------------\n\n/**\n * Host-agnostic multi-segment angular-pendulum-chain secondary-motion driver.\n * Peer of {@link PhysicsMotion} and {@link IdleMotion}.\n *\n * Each chain anchors to a matrix deformer in the model hierarchy. The driver\n * self-computes the anchor's world rotation via `resolveDeformerWorlds` (a\n * private `ParameterStore` is filled from `read` ONCE per frame) and integrates\n * a per-segment angular pendulum with semi-implicit Euler on a fixed 1/60s\n * sub-step accumulator. Each segment's angular displacement θ (in radians\n * internally) is emitted in DEGREES on its output parameter, so `rotate = 0`\n * when the chain is at its authored rest pose.\n *\n * Usage:\n *   const chains = new HairChainMotion(\n *     model.physicsChains ?? [],\n *     model.parameters,\n *     model.deformers ?? [],\n *     (id) => currentValue(id),\n *     player.setParameter.bind(player),\n *   );\n *   // inside your rAF loop, right AFTER physics.update(now):\n *   chains.update(performance.now());\n *\n * The host schedules updates; this class has no timers, rAF, DOM, or Date.now.\n */\nexport class HairChainMotion {\n  /** Every segment's output, chain by chain — what `emitSegment` writes. */\n  readonly drivenParameterIds: readonly string[];\n  private readonly chainData: ChainData[];\n  private readonly params: Map<string, IkiParameter>;\n  private readonly deformers: IkiDeformer[];\n  private readonly store: ParameterStore;\n  private readonly read: (id: string) => number;\n  private readonly sink: (id: string, value: number) => void;\n\n  private readonly clock = new FixedStepClock();\n\n  constructor(\n    chains: IkiPhysicsChain[],\n    params: IkiParameter[],\n    deformers: IkiDeformer[],\n    read: (id: string) => number,\n    sink: (id: string, value: number) => void,\n  ) {\n    this.params = new Map(params.map((p) => [p.id, p]));\n    this.deformers = deformers;\n    // Private ParameterStore reused every frame for anchor-world resolution.\n    this.store = new ParameterStore(params);\n    this.read = read;\n    this.sink = sink;\n\n    // Precompute rest angles in radians; preallocate segment state (no per-substep alloc).\n    this.chainData = chains.map((chain) => ({\n      chain,\n      restAnglesRad: chain.segments.map((seg) =>\n        seg.restAngle !== undefined ? seg.restAngle * DEG2RAD : 0,\n      ),\n      state: chain.segments.map(() => ({ angle: 0, angularVelocity: 0 })),\n    }));\n    this.drivenParameterIds = chains.flatMap((c) =>\n      c.segments.map((s) => s.output.parameter),\n    );\n  }\n\n  /**\n   * Advance every chain to the given wall-clock timestamp (milliseconds).\n   *\n   * First call: seed every segment to θ=0/ω=0 (rest), emit the rest output\n   * (outDefault + 0), and return without integrating — mirrors PhysicsMotion's\n   * first-frame behavior so a model loaded in motion does not kick.\n   *\n   * Subsequent calls: dt = clamp(nowMs - prevNowMs, 0, MAX_DT_MS) → seconds into\n   * accumulator. The per-frame world snapshot (anchor world angles) is taken ONCE\n   * per update() — NOT per chain — so all chains share a consistent frame snapshot.\n   * Fixed FIXED_DT_S sub-steps are run root→tip, capped at MAX_SUBSTEPS; leftover\n   * time is carried to the next frame. Segments emit after substeps (even on zero\n   * substeps) with a non-finite guard.\n   */\n  update(nowMs: number): void {\n    if (this.clock.isSeedFrame) {\n      // FIRST FRAME: seed rest, emit outDefault for every segment, NO integration.\n      this.clock.advance(nowMs);\n      for (const cd of this.chainData) {\n        for (let i = 0; i < cd.chain.segments.length; i++) {\n          cd.state[i].angle = 0;\n          cd.state[i].angularVelocity = 0;\n          this.emitSegment(cd.chain.segments[i], cd.state[i]);\n        }\n      }\n      return;\n    }\n\n    const steps = this.clock.advance(nowMs);\n\n    // Take the per-frame world snapshot ONCE per update() — NOT per chain.\n    // Fill the private store from read, then resolve all deformer world matrices.\n    for (const param of this.params.values()) {\n      this.store.set(param.id, this.read(param.id));\n    }\n    const worldMap = resolveDeformerWorlds(this.deformers, this.store);\n\n    // Read each chain's anchor world angle ONCE per frame (consistent across substeps,\n    // like physics-motion.ts:122 `targets`).\n    const anchorAnglesRad = this.chainData.map((cd) =>\n      this.anchorWorldAngleRad(worldMap, cd.chain.anchorDeformer),\n    );\n\n    for (let s = 0; s < steps; s++) {\n      for (let c = 0; c < this.chainData.length; c++) {\n        this.stepChain(this.chainData[c], anchorAnglesRad[c]);\n      }\n    }\n\n    // Emit always (even on zero substeps) so the sink stays in sync.\n    for (const cd of this.chainData) {\n      for (let i = 0; i < cd.chain.segments.length; i++) {\n        const st = cd.state[i];\n        // FINITENESS GUARD (mirror physics-motion.ts:141): a pathological rig\n        // (tiny mass / huge stiffness) can push the fixed-substep integrator\n        // past its explicit-stability limit. Snap the segment back to rest so\n        // a validated model can never poison the sink with NaN/Infinity.\n        if (\n          !Number.isFinite(st.angle) ||\n          !Number.isFinite(st.angularVelocity)\n        ) {\n          st.angle = 0;\n          st.angularVelocity = 0;\n        }\n        this.emitSegment(cd.chain.segments[i], st);\n      }\n    }\n  }\n\n  /**\n   * Extract world rotation (radians) from the anchor's Affine tuple.\n   * Affine = [a,b,c,d,e,f]; rotation column = (a,b) → atan2(b,a).\n   *\n   * If the anchor id is absent from the map, THROWS an internal Error — the\n   * format validator guarantees the anchor exists, so absence is an invariant\n   * break (mirrors resolveDeformerWorlds' throw on an unresolved parent,\n   * deform.ts:141).\n   */\n  private anchorWorldAngleRad(\n    worldMap: Map<string, Affine>,\n    anchorId: string,\n  ): number {\n    const world = worldMap.get(anchorId);\n    if (!world) {\n      throw new Error(\n        `HairChainMotion: anchor deformer \"${anchorId}\" not found in resolved world map — model not validated?`,\n      );\n    }\n    // Affine [a,b,c,d,e,f]: the first column (a,b) is the x-axis direction\n    // after rotation, so atan2(b,a) gives the world rotation angle in radians.\n    return Math.atan2(world[1], world[0]);\n  }\n\n  /**\n   * One fixed sub-step of FIXED_DT_S seconds for all segments in a chain.\n   *\n   * Segments are integrated ROOT→TIP so each segment can read its upstream\n   * neighbor's current-substep state when computing the world angle Φ_i.\n   * (The chain is causal root-to-tip; reversing the order would use stale θ\n   * values from the previous substep for Φ_i computation.)\n   *\n   * Per-segment semi-implicit (symplectic) Euler:\n   *   Φ_i = anchorWorldAngleRad + Σ_{j≤i}(restAngle_j + θ_j)\n   *   α_i = (−stiffness_i·θ_i − strength·sin(Φ_i − gravityAngle_rad) − damping_i·ω_i) / mass_i\n   *   ω_i += α_i · FIXED_DT_S   (velocity updated FIRST = semi-implicit)\n   *   θ_i += ω_i · FIXED_DT_S   (position updated from NEW velocity)\n   *\n   * The spring term is −stiffness·θ (restoring θ→0); restAngle does NOT appear\n   * in the spring term, only in Φ_i for the gravity torque.\n   */\n  private stepChain(cd: ChainData, anchorAngleRad: number): void {\n    const { chain, restAnglesRad, state } = cd;\n    const gravityAngleRad = chain.gravity.angle * DEG2RAD;\n    const strength = chain.gravity.strength;\n\n    // Accumulate world angle root→tip as we go.\n    let worldAngleAccumRad = anchorAngleRad;\n\n    for (let i = 0; i < chain.segments.length; i++) {\n      const seg: IkiPhysicsChainSegment = chain.segments[i];\n      const st = state[i];\n\n      // World angle of this segment: anchor + sum of all segments 0..i.\n      worldAngleAccumRad += restAnglesRad[i] + st.angle;\n      const phi = worldAngleAccumRad;\n\n      const alpha =\n        (-seg.stiffness * st.angle -\n          strength * Math.sin(phi - gravityAngleRad) -\n          seg.damping * st.angularVelocity) /\n        seg.mass;\n\n      // Semi-implicit Euler: update velocity first, then position with new velocity.\n      st.angularVelocity += alpha * FIXED_DT_S;\n      st.angle += st.angularVelocity * FIXED_DT_S;\n    }\n  }\n\n  /** Emit outDefault + (θ_i · RAD2DEG) · scale for one segment. */\n  private emitSegment(seg: IkiPhysicsChainSegment, st: SegmentState): void {\n    const outParam = this.params.get(seg.output.parameter);\n    const outDefault = outParam\n      ? clamp(outParam.default, outParam.min, outParam.max)\n      : 0;\n    const value = outDefault + st.angle * RAD2DEG * seg.output.scale;\n    // Final guard: even a finite-but-enormous θ could overflow to ±Infinity.\n    this.sink(\n      seg.output.parameter,\n      Number.isFinite(value) ? value : outDefault,\n    );\n  }\n}\n","import type { IkiModel } from \"@ikijs/format\";\nimport { HairChainMotion } from \"./hair-chain-motion\";\nimport { IdleMotion } from \"./idle-motion\";\nimport { PhysicsMotion } from \"./physics-motion\";\n\n/**\n * Bundles the three motion drivers — {@link IdleMotion}, {@link PhysicsMotion},\n * {@link HairChainMotion} — into the one loop every host otherwise hand-builds:\n * construct all three from the model, step them in the order physics and\n * chains depend on, and know what they wrote.\n *\n * Usage:\n *   const motion = new IkiMotion(\n *     model,\n *     (id) => player.getParameter(id),\n *     (id, value) => player.setParameter(id, value),\n *   );\n *   // inside your rAF loop:\n *   motion.update(performance.now());\n *\n * The host schedules; this class has no timers, rAF, DOM, or Date.now.\n *\n * Stopping is the host's too: stop calling update(). The drivers leave the\n * pose where it was — a host that wants it back writes its own resting values\n * to `drivenParameterIds`.\n */\nexport class IkiMotion {\n  /**\n   * Idle ids, then rig outputs, then chain-segment outputs, deduplicated and\n   * insertion-ordered. May name ids the model lacks (the player silently\n   * drops writes to unknown ids) — intersect with the model's parameters if\n   * you mirror into your own store.\n   */\n  readonly drivenParameterIds: readonly string[];\n  private readonly idle: IdleMotion;\n  private readonly physics: PhysicsMotion;\n  private readonly chains: HairChainMotion;\n\n  constructor(\n    model: IkiModel,\n    read: (id: string) => number,\n    sink: (id: string, value: number) => void,\n  ) {\n    const rigs = model.physics ?? [];\n    const chains = model.physicsChains ?? [];\n    this.idle = new IdleMotion(sink);\n    this.physics = new PhysicsMotion(rigs, model.parameters, read, sink);\n    this.chains = new HairChainMotion(\n      chains,\n      model.parameters,\n      model.deformers ?? [],\n      read,\n      sink,\n    );\n    this.drivenParameterIds = [\n      ...new Set([\n        ...this.idle.drivenParameterIds,\n        ...this.physics.drivenParameterIds,\n        ...this.chains.drivenParameterIds,\n      ]),\n    ];\n  }\n\n  /**\n   * Advance idle, then physics, then chains to the same wall-clock timestamp\n   * (milliseconds). Order is load-bearing: `PhysicsMotion` reads its input\n   * parameters (typically `ParamAngleX/Z`) through `read`, and the head sway\n   * idle wrote THIS frame is what the springs must lag behind; `HairChainMotion`\n   * then resolves its anchor deformer's world rotation from that same\n   * just-written pose (which may include a physics output). One timestamp for\n   * all three keeps their dt in lockstep.\n   */\n  update(nowMs: number): void {\n    this.idle.update(nowMs);\n    this.physics.update(nowMs);\n    this.chains.update(nowMs);\n  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