@konitif/viewer-3d 0.284.1

package/dist/renderer/TemporalProjectionModel.js

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+const DEFAULT_CONFIG = {
+    bufferDelayMs: 1000 / 30,
+    maxSampleGapMs: 120,
+    maxSamples: 3
+};
+const EMPTY_STATUS = {
+    mode: 'raw',
+    state: 'empty',
+    fallbackReason: 'insufficient_samples',
+    sourceSampleIds: [],
+    sampleAgeMs: 0,
+    projectionLatencyMs: 0,
+    interpolationAlpha: 1,
+    bufferSize: 0
+};
+export class ViewerTemporalProjectionBuffer {
+    config;
+    samples = [];
+    mode = 'raw';
+    pendingFallbackReason = 'none';
+    status = EMPTY_STATUS;
+    constructor(config = {}) {
+        this.config = {
+            bufferDelayMs: finiteNonNegative(config.bufferDelayMs, DEFAULT_CONFIG.bufferDelayMs),
+            maxSampleGapMs: Math.max(1, finiteNonNegative(config.maxSampleGapMs, DEFAULT_CONFIG.maxSampleGapMs)),
+            maxSamples: Math.max(2, Math.floor(finiteNonNegative(config.maxSamples, DEFAULT_CONFIG.maxSamples)))
+        };
+    }
+    setMode(mode) {
+        if (this.mode === mode) {
+            return;
+        }
+        this.mode = mode;
+        this.reset('discontinuity');
+    }
+    getMode() {
+        return this.mode;
+    }
+    getStatus() {
+        return {
+            ...this.status,
+            sourceSampleIds: [...this.status.sourceSampleIds]
+        };
+    }
+    getConfig() {
+        return { ...this.config };
+    }
+    reset(reason = 'discontinuity') {
+        this.samples = [];
+        this.pendingFallbackReason = reason;
+        this.status = {
+            ...EMPTY_STATUS,
+            mode: this.mode,
+            fallbackReason: reason
+        };
+    }
+    ingest(sample) {
+        if (!isValidSample(sample)) {
+            this.reset('invalid_timestamp');
+            return false;
+        }
+        const normalized = cloneSample(sample);
+        const latest = this.samples[this.samples.length - 1];
+        if (latest?.sampleId === normalized.sampleId) {
+            return false;
+        }
+        if (latest && normalized.observedAtMs <= latest.observedAtMs) {
+            this.reset('invalid_timestamp');
+        }
+        else if (latest && normalized.discontinuityToken !== latest.discontinuityToken) {
+            this.reset('discontinuity');
+        }
+        else if (latest && !hasCompatibleTopology(latest, normalized)) {
+            this.reset('topology_change');
+        }
+        this.samples.push(normalized);
+        while (this.samples.length > this.config.maxSamples) {
+            this.samples.shift();
+        }
+        return true;
+    }
+    project(renderTimestampMs) {
+        const latest = this.samples[this.samples.length - 1];
+        if (!latest || !Number.isFinite(renderTimestampMs)) {
+            this.status = {
+                ...EMPTY_STATUS,
+                mode: this.mode,
+                fallbackReason: latest
+                    ? 'invalid_timestamp'
+                    : this.pendingFallbackReason === 'none'
+                        ? 'insufficient_samples'
+                        : this.pendingFallbackReason,
+                bufferSize: this.samples.length
+            };
+            return null;
+        }
+        if (this.mode === 'raw') {
+            return this.createRawFrame(latest, renderTimestampMs, 'none');
+        }
+        if (this.samples.length < 2) {
+            return this.createRawFrame(latest, renderTimestampMs, this.pendingFallbackReason === 'none' ? 'insufficient_samples' : this.pendingFallbackReason);
+        }
+        const previous = this.samples[this.samples.length - 2];
+        const sampleGapMs = latest.observedAtMs - previous.observedAtMs;
+        if (sampleGapMs <= 0 || sampleGapMs > this.config.maxSampleGapMs) {
+            return this.createRawFrame(latest, renderTimestampMs, 'sample_gap');
+        }
+        if (previous.discontinuityToken !== latest.discontinuityToken) {
+            return this.createRawFrame(latest, renderTimestampMs, 'discontinuity');
+        }
+        if (!hasCompatibleTopology(previous, latest)) {
+            return this.createRawFrame(latest, renderTimestampMs, 'topology_change');
+        }
+        const requestedTimestampMs = renderTimestampMs - this.config.bufferDelayMs;
+        const targetTimestampMs = clamp(requestedTimestampMs, previous.observedAtMs, latest.observedAtMs);
+        const alpha = clamp((targetTimestampMs - previous.observedAtMs) / sampleGapMs, 0, 1);
+        const bodyTransforms = interpolateBodyTransforms(previous.bodyTransforms, latest.bodyTransforms, alpha);
+        const jointAngles = interpolateJointAngles(previous.jointAngles, latest.jointAngles, alpha);
+        const centerOfMass = interpolateOptionalVector(previous.centerOfMass, latest.centerOfMass, alpha);
+        const projectedPhysicsTimestampMs = lerp(previous.physicsTimestampMs, latest.physicsTimestampMs, alpha);
+        const projectedObservedTimestampMs = lerp(previous.observedAtMs, latest.observedAtMs, alpha);
+        const metrics = createMetrics({
+            renderTimestampMs,
+            projectedObservedTimestampMs,
+            latest,
+            bodyTransforms,
+            jointAngles,
+            alpha
+        });
+        const frame = {
+            mode: this.mode,
+            state: 'reconstructed',
+            fallbackReason: 'none',
+            renderTimestampMs,
+            projectedPhysicsTimestampMs,
+            projectedObservedTimestampMs,
+            sourceSampleIds: [previous.sampleId, latest.sampleId],
+            discreteStateSourceSampleId: alpha < 1 ? previous.sampleId : latest.sampleId,
+            discontinuityToken: latest.discontinuityToken,
+            bodyTransforms,
+            jointAngles,
+            centerOfMass,
+            metrics,
+            bufferSize: this.samples.length
+        };
+        this.pendingFallbackReason = 'none';
+        this.status = createStatus(frame);
+        return frame;
+    }
+    createRawFrame(latest, renderTimestampMs, fallbackReason) {
+        const metrics = createMetrics({
+            renderTimestampMs,
+            projectedObservedTimestampMs: latest.observedAtMs,
+            latest,
+            bodyTransforms: latest.bodyTransforms,
+            jointAngles: latest.jointAngles,
+            alpha: 1
+        });
+        const frame = {
+            mode: this.mode,
+            state: fallbackReason === 'none' ? 'raw' : 'fallback',
+            fallbackReason,
+            renderTimestampMs,
+            projectedPhysicsTimestampMs: latest.physicsTimestampMs,
+            projectedObservedTimestampMs: latest.observedAtMs,
+            sourceSampleIds: [latest.sampleId],
+            discreteStateSourceSampleId: latest.sampleId,
+            discontinuityToken: latest.discontinuityToken,
+            bodyTransforms: cloneBodyTransforms(latest.bodyTransforms),
+            jointAngles: { ...latest.jointAngles },
+            centerOfMass: latest.centerOfMass ? { ...latest.centerOfMass } : null,
+            metrics,
+            bufferSize: this.samples.length
+        };
+        this.pendingFallbackReason = 'none';
+        this.status = createStatus(frame);
+        return frame;
+    }
+}
+export function interpolateJointAngle(previous, next, alpha) {
+    if (!Number.isFinite(previous) || !Number.isFinite(next)) {
+        return Number.isFinite(next) ? next : previous;
+    }
+    const delta = Math.atan2(Math.sin(next - previous), Math.cos(next - previous));
+    return previous + delta * clamp(alpha, 0, 1);
+}
+export function interpolateQuaternion(previous, next, alpha) {
+    const t = clamp(alpha, 0, 1);
+    let dot = previous.x * next.x + previous.y * next.y + previous.z * next.z + previous.w * next.w;
+    const target = dot < 0
+        ? { x: -next.x, y: -next.y, z: -next.z, w: -next.w }
+        : next;
+    dot = Math.abs(dot);
+    if (dot > 0.9995) {
+        return normalizeQuaternion({
+            x: lerp(previous.x, target.x, t),
+            y: lerp(previous.y, target.y, t),
+            z: lerp(previous.z, target.z, t),
+            w: lerp(previous.w, target.w, t)
+        });
+    }
+    const theta = Math.acos(clamp(dot, -1, 1));
+    const sinTheta = Math.sin(theta);
+    const previousWeight = Math.sin((1 - t) * theta) / sinTheta;
+    const nextWeight = Math.sin(t * theta) / sinTheta;
+    return normalizeQuaternion({
+        x: previous.x * previousWeight + target.x * nextWeight,
+        y: previous.y * previousWeight + target.y * nextWeight,
+        z: previous.z * previousWeight + target.z * nextWeight,
+        w: previous.w * previousWeight + target.w * nextWeight
+    });
+}
+function interpolateBodyTransforms(previous, next, alpha) {
+    const previousByName = new Map(previous.map((transform) => [transform.bodyName, transform]));
+    return next.map((nextTransform) => {
+        const previousTransform = previousByName.get(nextTransform.bodyName) ?? nextTransform;
+        return {
+            ...nextTransform,
+            position: {
+                x: lerp(previousTransform.position.x, nextTransform.position.x, alpha),
+                y: lerp(previousTransform.position.y, nextTransform.position.y, alpha),
+                z: lerp(previousTransform.position.z, nextTransform.position.z, alpha)
+            },
+            rotation: interpolateQuaternion(previousTransform.rotation, nextTransform.rotation, alpha),
+            scale: nextTransform.scale
+                ? {
+                    x: lerp(previousTransform.scale?.x ?? nextTransform.scale.x, nextTransform.scale.x, alpha),
+                    y: lerp(previousTransform.scale?.y ?? nextTransform.scale.y, nextTransform.scale.y, alpha),
+                    z: lerp(previousTransform.scale?.z ?? nextTransform.scale.z, nextTransform.scale.z, alpha)
+                }
+                : undefined,
+            metadata: alpha < 1
+                ? previousTransform.metadata
+                    ? { ...previousTransform.metadata }
+                    : undefined
+                : nextTransform.metadata
+                    ? { ...nextTransform.metadata }
+                    : undefined
+        };
+    });
+}
+function interpolateJointAngles(previous, next, alpha) {
+    return Object.fromEntries(Object.entries(next).map(([jointName, nextValue]) => [
+        jointName,
+        interpolateJointAngle(previous[jointName] ?? nextValue, nextValue, alpha)
+    ]));
+}
+function interpolateOptionalVector(previous, next, alpha) {
+    if (!next) {
+        return previous ? { ...previous } : null;
+    }
+    if (!previous) {
+        return { ...next };
+    }
+    return {
+        x: lerp(previous.x, next.x, alpha),
+        y: lerp(previous.y, next.y, alpha),
+        z: lerp(previous.z, next.z, alpha)
+    };
+}
+function createMetrics(input) {
+    const positionError = maxPositionError(input.bodyTransforms, input.latest.bodyTransforms);
+    const rotationErrorRadians = maxRotationError(input.bodyTransforms, input.latest.bodyTransforms);
+    const jointAngleErrorRadians = maxJointAngleError(input.jointAngles, input.latest.jointAngles);
+    return {
+        sampleAgeMs: Math.max(0, input.renderTimestampMs - input.latest.observedAtMs),
+        projectionLatencyMs: Math.max(0, input.renderTimestampMs - input.projectedObservedTimestampMs),
+        interpolationAlpha: input.alpha,
+        positionError,
+        rotationErrorRadians,
+        jointAngleErrorRadians,
+        correctionMagnitude: Math.max(positionError, rotationErrorRadians, jointAngleErrorRadians)
+    };
+}
+function maxPositionError(left, right) {
+    const rightByName = new Map(right.map((transform) => [transform.bodyName, transform]));
+    return left.reduce((maximum, transform) => {
+        const target = rightByName.get(transform.bodyName);
+        if (!target)
+            return maximum;
+        const dx = transform.position.x - target.position.x;
+        const dy = transform.position.y - target.position.y;
+        const dz = transform.position.z - target.position.z;
+        return Math.max(maximum, Math.hypot(dx, dy, dz));
+    }, 0);
+}
+function maxRotationError(left, right) {
+    const rightByName = new Map(right.map((transform) => [transform.bodyName, transform]));
+    return left.reduce((maximum, transform) => {
+        const target = rightByName.get(transform.bodyName);
+        if (!target)
+            return maximum;
+        const dot = Math.abs(transform.rotation.x * target.rotation.x +
+            transform.rotation.y * target.rotation.y +
+            transform.rotation.z * target.rotation.z +
+            transform.rotation.w * target.rotation.w);
+        return Math.max(maximum, 2 * Math.acos(clamp(dot, -1, 1)));
+    }, 0);
+}
+function maxJointAngleError(left, right) {
+    return Object.entries(left).reduce((maximum, [jointName, value]) => {
+        const target = right[jointName];
+        if (!Number.isFinite(target))
+            return maximum;
+        return Math.max(maximum, Math.abs(Math.atan2(Math.sin(target - value), Math.cos(target - value))));
+    }, 0);
+}
+function createStatus(frame) {
+    return {
+        mode: frame.mode,
+        state: frame.state,
+        fallbackReason: frame.fallbackReason,
+        sourceSampleIds: [...frame.sourceSampleIds],
+        sampleAgeMs: frame.metrics.sampleAgeMs,
+        projectionLatencyMs: frame.metrics.projectionLatencyMs,
+        interpolationAlpha: frame.metrics.interpolationAlpha,
+        bufferSize: frame.bufferSize
+    };
+}
+function isValidSample(sample) {
+    return Boolean(sample.sampleId &&
+        sample.discontinuityToken &&
+        Number.isFinite(sample.physicsTimestampMs) &&
+        Number.isFinite(sample.observedAtMs));
+}
+function hasCompatibleTopology(previous, next) {
+    const previousBodies = previous.bodyTransforms.map((transform) => transform.bodyName).sort().join('|');
+    const nextBodies = next.bodyTransforms.map((transform) => transform.bodyName).sort().join('|');
+    const previousJoints = Object.keys(previous.jointAngles).sort().join('|');
+    const nextJoints = Object.keys(next.jointAngles).sort().join('|');
+    return previousBodies === nextBodies && previousJoints === nextJoints;
+}
+function cloneSample(sample) {
+    return {
+        ...sample,
+        bodyTransforms: cloneBodyTransforms(sample.bodyTransforms),
+        jointAngles: { ...sample.jointAngles },
+        centerOfMass: sample.centerOfMass ? { ...sample.centerOfMass } : null
+    };
+}
+function cloneBodyTransforms(transforms) {
+    return transforms.map((transform) => ({
+        ...transform,
+        position: { ...transform.position },
+        rotation: { ...transform.rotation },
+        scale: transform.scale ? { ...transform.scale } : undefined,
+        metadata: transform.metadata ? { ...transform.metadata } : undefined
+    }));
+}
+function normalizeQuaternion(value) {
+    const length = Math.hypot(value.x, value.y, value.z, value.w) || 1;
+    return { x: value.x / length, y: value.y / length, z: value.z / length, w: value.w / length };
+}
+function finiteNonNegative(value, fallback) {
+    return typeof value === 'number' && Number.isFinite(value) && value >= 0 ? value : fallback;
+}
+function lerp(previous, next, alpha) {
+    return previous + (next - previous) * clamp(alpha, 0, 1);
+}
+function clamp(value, minimum, maximum) {
+    return Math.min(maximum, Math.max(minimum, value));
+}
+//# sourceMappingURL=TemporalProjectionModel.js.map

package/dist/renderer/TemporalProjectionModel.js.map

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