@nakednous/tree 0.0.1 → 0.0.2

package/dist/index.js

@@ -907,16 +907,19 @@ function pixelRatio(proj, vpH, eyeZ, ndcZMin) {
  *    Fire exactly on playing transitions: false→true / true→false.
  *    Used by the addon to register/unregister from the draw-loop tick set.
  *
- *  onPlay / onEnd               — user-space (public, set by user)
- *    onPlay : fires in play()  when playback actually starts (transition).
- *    onEnd  : fires in tick()  when cursor reaches a natural boundary.
- *    onEnd does NOT fire on explicit stop() / reset().
+ *  onPlay / onEnd / onStop      — user-space (public, set by user)
+ *    onPlay : fires in play()  when playback starts   (false→true transition).
+ *    onEnd  : fires in tick()  when cursor reaches a natural boundary (once mode).
+ *    onStop : fires in stop()  and reset() — explicit, user-initiated deactivation.
+ *
+ *    onEnd and onStop are mutually exclusive per deactivation event.
+ *    To react to any deactivation, chain both.
  *
  *  Firing order:
- *    play()  → user onPlay → lib _onActivate
- *    tick()  → user onEnd  → lib _onDeactivate
- *    stop()  →               lib _onDeactivate  (no user hook)
- *    reset() →               lib _onDeactivate  (no user hook)
+ *    play()  → onPlay → _onActivate
+ *    tick()  → onEnd  → _onDeactivate   (natural boundary, once mode)
+ *    stop()  → onStop → _onDeactivate
+ *    reset() → onStop → _onDeactivate
  *
  * ── Playback semantics (rate) ─────────────────────────────────────────────────
  *  rate > 0   forward playback
@@ -1008,6 +1011,11 @@ const qSlerp = (out, a, b, t) => {
 /**
  * Build a quaternion from an axis-angle rotation.
  * The axis need not be normalised.
+ * @param {number[]} out
+ * @param {number} ax  Axis x.
+ * @param {number} ay  Axis y.
+ * @param {number} az  Axis z.
+ * @param {number} angle  Radians.
  * @returns {number[]} out
  */
 const qFromAxisAngle = (out, ax, ay, az, angle) => {
@@ -1100,13 +1108,12 @@ const qToMat4 = (out, q) => {
   out[0]  = 1-(yy+zz); out[1]  = xy+wz;     out[2]  = xz-wy;     out[3]  = 0;
   out[4]  = xy-wz;     out[5]  = 1-(xx+zz); out[6]  = yz+wx;     out[7]  = 0;
   out[8]  = xz+wy;     out[9]  = yz-wx;     out[10] = 1-(xx+yy); out[11] = 0;
-  out[12] = 0;         out[13] = 0;         out[14] = 0;         out[15] = 1;
+  out[12] = 0;         out[13] = 0;         out[14] = 0;          out[15] = 1;
   return out;
 };
 
 /**
  * Decompose a unit quaternion into { axis:[x,y,z], angle } (radians).
- * out is optional; a new object is returned if omitted.
  * @param {number[]} q  [x,y,z,w].
  * @param {Object}  [out]
  * @returns {{ axis: number[], angle: number }}
@@ -1132,13 +1139,12 @@ function _dist3(a, b) {
 
 /**
  * Centripetal Catmull-Rom interpolation (alpha = 0.5, Barry-Goldman).
- * out = interp(p0, p1, p2, p3, t) where t in [0,1] maps p1 -> p2.
- * When p0 === p1 or p2 === p3 (boundary), the chord is reused, giving
- * zero-tension clamped end tangents.
+ * out = interp(p0, p1, p2, p3, t) where t in [0,1] maps p1→p2.
+ * Boundary: when p0===p1 or p2===p3 the chord is reused (clamped end tangents).
  * @param {number[]} out  3-element result.
  * @param {number[]} p0   Control point before p1.
- * @param {number[]} p1   Start of this segment.
- * @param {number[]} p2   End of this segment.
+ * @param {number[]} p1   Segment start.
+ * @param {number[]} p2   Segment end.
  * @param {number[]} p3   Control point after p2.
  * @param {number}   t    Blend [0, 1].
  * @returns {number[]} out
@@ -1286,6 +1292,12 @@ function _sameTransform(a, b) {
  * One-keyframe behaviour:
  *   play() with exactly one keyframe snaps eval() to that keyframe
  *   without setting playing = true and without firing hooks.
+ *
+ * @example
+ * const track = new PoseTrack()
+ * track.add({ pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] })
+ * track.add({ pos:[0,100,0], rot:[0,0,0,1], scl:[1,1,1] })
+ * track.play({ loop: true, onStop: t => console.log('stopped at', t.time()) })
  */
 class PoseTrack {
   constructor() {
@@ -1317,11 +1329,13 @@ class PoseTrack {
     // Internal rate — assigning never touches playing
     this._rate = 1;
 
-    // User-space hooks
-    /** Called once when play() starts a false->true transition. @type {Function|null} */
+    // User-space hooks — fired on playback state transitions
+    /** Fires when play() starts a false→true transition. @type {Function|null} */
     this.onPlay = null;
-    /** Called once by tick() when cursor reaches a natural boundary (once mode). @type {Function|null} */
+    /** Fires in tick() when cursor hits a natural boundary (once mode only). @type {Function|null} */
     this.onEnd  = null;
+    /** Fires on explicit stop() or reset(). Mutually exclusive with onEnd per event. @type {Function|null} */
+    this.onStop = null;
 
     // Lib-space hooks (set by host layer — e.g. p5 bridge)
     /** @type {Function|null} */
@@ -1397,7 +1411,8 @@ class PoseTrack {
 
   /**
    * Start or update playback.
-   * Accepts a numeric rate or an options object: { rate, duration, loop, pingPong, onPlay, onEnd }.
+   * Accepts a numeric rate or an options object:
+   * { rate, duration, loop, pingPong, onPlay, onEnd, onStop }.
    *
    * Zero keyframes: no-op.
    * One keyframe: snaps cursor (seg=0, f=0); no playing=true, no hooks.
@@ -1425,6 +1440,7 @@ class PoseTrack {
       if ('pingPong' in o)                this.pingPong = !!o.pingPong;
       if (typeof o.onPlay === 'function') this.onPlay   = o.onPlay;
       if (typeof o.onEnd  === 'function') this.onEnd    = o.onEnd;
+      if (typeof o.onStop === 'function') this.onStop   = o.onStop;
       if (_isNum(o.rate))                 this._rate    = o.rate;
     }
 
@@ -1447,27 +1463,35 @@ class PoseTrack {
   }
 
   /**
-   * Stop playback. Does NOT reset time unless reset is true.
-   * @param {boolean} [reset=false]  If true, seek to start or end based on rate direction.
+   * Stop playback. No-op if already stopped.
+   * Fires `onStop` → `_onDeactivate`, then optionally seeks to the
+   * logical start (rate > 0 → t=0, rate < 0 → t=1).
+   * @param {boolean} [rewind=false]  Seek to playback origin after stopping.
    * @returns {PoseTrack} this
    */
-  stop(reset) {
+  stop(rewind) {
     const wasPlaying = this.playing;
     this.playing = false;
-    if (wasPlaying) this._onDeactivate?.();
-    if (!reset || this.keyframes.length <= 1) return this;
-    this.seek(this._rate < 0 ? 1 : 0);
+    if (wasPlaying) {
+      if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }
+      this._onDeactivate?.();
+      if (rewind && this.keyframes.length > 1) this.seek(this._rate < 0 ? 1 : 0);
+    }
     return this;
   }
 
   /**
-   * Clear all keyframes and stop. Fires _onDeactivate if was playing.
+   * Clear all keyframes and stop.
+   * Fires `onStop` then `_onDeactivate` if was playing.
    * @returns {PoseTrack} this
    */
   reset() {
     const wasPlaying = this.playing;
     this.playing = false;
-    if (wasPlaying) this._onDeactivate?.();
+    if (wasPlaying) {
+      if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }
+      this._onDeactivate?.();
+    }
     this.keyframes.length = 0;
     this.seg = 0; this.f = 0;
     return this;
@@ -1531,7 +1555,7 @@ class PoseTrack {
    * Advance the cursor by rate frames.
    *
    * rate === 0: frozen — returns this.playing without moving (no-op).
-   * Returns false and fires onEnd/_onDeactivate when a once-mode boundary is hit.
+   * Returns false and fires onEnd → _onDeactivate when a once-mode boundary is hit.
    * Returns true while playing and continuing.
    *
    * @returns {boolean}

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sources":["../src/constants.js","../src/math.js","../src/track.js","../src/visibility.js"],"sourcesContent":["/**\n * @file Core constants — zero dependencies.\n * @module tree/constants\n * @license GPL-3.0-only\n */\n\n// Coordinate spaces\nexport const WORLD  = 'WORLD';\nexport const EYE    = 'EYE';\nexport const NDC    = 'NDC';\nexport const SCREEN = 'SCREEN';\nexport const MODEL  = 'MODEL';\nexport const MATRIX = 'MATRIX';\n\n// NDC Z convention (only difference between backends)\nexport const WEBGL  = -1;   // z ∈ [−1, 1]\nexport const WEBGPU =  0;   // z ∈ [0, 1]\n\n// Visibility results\nexport const INVISIBLE   = 0;\nexport const VISIBLE     = 1;\nexport const SEMIVISIBLE = 2;\n\n// Basis vectors (frozen plain arrays — duck-typed Vec3)\nexport const ORIGIN = Object.freeze([0, 0, 0]);\nexport const i  = Object.freeze([1, 0, 0]);\nexport const j  = Object.freeze([0, 1, 0]);\nexport const k  = Object.freeze([0, 0, 1]);\nexport const _i = Object.freeze([-1, 0, 0]);\nexport const _j = Object.freeze([0, -1, 0]);\nexport const _k = Object.freeze([0, 0, -1]);\n","/**\n * @file Pure numeric math — mat4, mat3, projection queries, space transforms.\n * @module tree/math\n * @license GPL-3.0-only\n *\n * CONVENTIONS (all functions in this module follow these):\n *\n *   Storage:    Column-major Float32Array / ArrayLike<number>.\n *               Element [col*4 + row] = M[row, col].\n *\n *   Multiply:   mat4Mul(out, A, B) = A · B   (standard math order).\n *\n *   Pipeline:   clip = P · V · M · v\n *               P = projection (eye → clip)\n *               V = view       (world → eye)\n *               M = model      (local → world)\n *\n *   PV:         All functions expecting a \"pv\" matrix receive P · V.\n *               This is what _worldToScreen, _ensurePV, etc. compute.\n *\n *   Matrix stack (translate/rotate/scale in p5):\n *     Each call post-multiplies: M = M · T, so:\n *       translate(tx,ty,tz); rotateY(a); scale(s);\n *     yields M = T · R · S. A vertex v is transformed as M·v = T·R·S·v\n *     (scaled first, then rotated, then translated — last-written-first-applied).\n *\n *   p5 bridge note (for implementors of host layers):\n *     p5.Matrix.mult(B) computes  B · this  (pre-multiply, arg on LEFT).\n *     p5 translate/rotate/scale do this · T  (post-multiply, GL stack).\n *     So p5's pvMatrix() = V.clone().mult(P) = P · V — same as ours.\n *     The bridge extracts .mat4 (Float32Array) and feeds it directly,\n *     or uses mat4Mul(out, proj, view) for the non-cached path.\n *\n * Every function uses only stack locals for intermediates (zero shared state).\n * Every mutating function writes to a caller-provided `out` and returns `out`.\n */\n\nimport {\n  WORLD, EYE, NDC, SCREEN, MODEL, MATRIX, WEBGL\n} from './constants.js';\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 operations\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = identity 4×4 */\nexport function mat4Identity(out) {\n  out[0]=1;out[1]=0;out[2]=0;out[3]=0;\n  out[4]=0;out[5]=1;out[6]=0;out[7]=0;\n  out[8]=0;out[9]=0;out[10]=1;out[11]=0;\n  out[12]=0;out[13]=0;out[14]=0;out[15]=1;\n  return out;\n}\n\n/** out = a * b  (column-major) */\nexport function mat4Mul(out, a, b) {\n  const a0=a[0],a1=a[1],a2=a[2],a3=a[3],\n        a4=a[4],a5=a[5],a6=a[6],a7=a[7],\n        a8=a[8],a9=a[9],a10=a[10],a11=a[11],\n        a12=a[12],a13=a[13],a14=a[14],a15=a[15];\n  let b0,b1,b2,b3;\n  b0=b[0];b1=b[1];b2=b[2];b3=b[3];\n  out[0]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[1]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[2]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[3]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=b[4];b1=b[5];b2=b[6];b3=b[7];\n  out[4]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[5]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[6]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[7]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=b[8];b1=b[9];b2=b[10];b3=b[11];\n  out[8]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[9]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[10]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[11]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=b[12];b1=b[13];b2=b[14];b3=b[15];\n  out[12]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[13]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[14]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[15]=a3*b0+a7*b1+a11*b2+a15*b3;\n  return out;\n}\n\n/** out = inverse(src). Returns null if singular. */\nexport function mat4Invert(out, src) {\n  const s=src;\n  const a00=s[0],a01=s[1],a02=s[2],a03=s[3],\n        a10=s[4],a11=s[5],a12=s[6],a13=s[7],\n        a20=s[8],a21=s[9],a22=s[10],a23=s[11],\n        a30=s[12],a31=s[13],a32=s[14],a33=s[15];\n  const b00=a00*a11-a01*a10,b01=a00*a12-a02*a10,\n        b02=a00*a13-a03*a10,b03=a01*a12-a02*a11,\n        b04=a01*a13-a03*a11,b05=a02*a13-a03*a12,\n        b06=a20*a31-a21*a30,b07=a20*a32-a22*a30,\n        b08=a20*a33-a23*a30,b09=a21*a32-a22*a31,\n        b10=a21*a33-a23*a31,b11=a22*a33-a23*a32;\n  let det=b00*b11-b01*b10+b02*b09+b03*b08-b04*b07+b05*b06;\n  if (Math.abs(det) < 1e-12) return null;\n  det=1/det;\n  out[0]=(a11*b11-a12*b10+a13*b09)*det;\n  out[1]=(a02*b10-a01*b11-a03*b09)*det;\n  out[2]=(a31*b05-a32*b04+a33*b03)*det;\n  out[3]=(a22*b04-a21*b05-a23*b03)*det;\n  out[4]=(a12*b08-a10*b11-a13*b07)*det;\n  out[5]=(a00*b11-a02*b08+a03*b07)*det;\n  out[6]=(a32*b02-a30*b05-a33*b01)*det;\n  out[7]=(a20*b05-a22*b02+a23*b01)*det;\n  out[8]=(a10*b10-a11*b08+a13*b06)*det;\n  out[9]=(a01*b08-a00*b10-a03*b06)*det;\n  out[10]=(a30*b04-a31*b02+a33*b00)*det;\n  out[11]=(a21*b02-a20*b04-a23*b00)*det;\n  out[12]=(a11*b07-a10*b09-a12*b06)*det;\n  out[13]=(a00*b09-a01*b07+a02*b06)*det;\n  out[14]=(a31*b01-a30*b03-a32*b00)*det;\n  out[15]=(a20*b03-a21*b01+a22*b00)*det;\n  return out;\n}\n\n/** out = transpose(src) */\nexport function mat4Transpose(out, src) {\n  if (out === src) {\n    let t;\n    t=src[1];out[1]=src[4];out[4]=t;\n    t=src[2];out[2]=src[8];out[8]=t;\n    t=src[3];out[3]=src[12];out[12]=t;\n    t=src[6];out[6]=src[9];out[9]=t;\n    t=src[7];out[7]=src[13];out[13]=t;\n    t=src[11];out[11]=src[14];out[14]=t;\n  } else {\n    out[0]=src[0];out[1]=src[4];out[2]=src[8];out[3]=src[12];\n    out[4]=src[1];out[5]=src[5];out[6]=src[9];out[7]=src[13];\n    out[8]=src[2];out[9]=src[6];out[10]=src[10];out[11]=src[14];\n    out[12]=src[3];out[13]=src[7];out[14]=src[11];out[15]=src[15];\n  }\n  return out;\n}\n\n/** out[0..8] = inverseTranspose(upper3×3(src))  (normal matrix) */\nexport function mat3NormalFromMat4(out, src) {\n  const a00=src[0],a01=src[1],a02=src[2],\n        a10=src[4],a11=src[5],a12=src[6],\n        a20=src[8],a21=src[9],a22=src[10];\n  const b01=a22*a11-a12*a21,\n        b11=-a22*a01+a02*a21,\n        b21=a12*a01-a02*a11;\n  let det=a00*b01+a10*b11+a20*b21;\n  if (Math.abs(det) < 1e-12) { for(let i=0;i<9;i++)out[i]=0; return out; }\n  det=1/det;\n  out[0]=b01*det;\n  out[1]=(-a22*a10+a12*a20)*det;\n  out[2]=(a21*a10-a11*a20)*det;\n  out[3]=b11*det;\n  out[4]=(a22*a00-a02*a20)*det;\n  out[5]=(-a21*a00+a01*a20)*det;\n  out[6]=b21*det;\n  out[7]=(-a12*a00+a02*a10)*det;\n  out[8]=(a11*a00-a01*a10)*det;\n  return out;\n}\n\n/** out = mat4 * [x,y,z,1], perspective-divides, writes xyz */\nexport function mat4MulPoint(out, m, x, y, z) {\n  const rx = m[0]*x + m[4]*y + m[8]*z  + m[12];\n  const ry = m[1]*x + m[5]*y + m[9]*z  + m[13];\n  const rz = m[2]*x + m[6]*y + m[10]*z + m[14];\n  const rw = m[3]*x + m[7]*y + m[11]*z + m[15];\n  if (rw !== 0 && rw !== 1) {\n    out[0] = rx/rw; out[1] = ry/rw; out[2] = rz/rw;\n  } else {\n    out[0] = rx; out[1] = ry; out[2] = rz;\n  }\n  return out;\n}\n\n/** out = mat4 * [x,y,z,0]  (direction, no translation) */\nexport function mat4MulDir(out, m, x, y, z) {\n  out[0] = m[0]*x + m[4]*y + m[8]*z;\n  out[1] = m[1]*x + m[5]*y + m[9]*z;\n  out[2] = m[2]*x + m[6]*y + m[10]*z;\n  return out;\n}\n\n/** out = upper-left 3×3 transposed from mat4 (direction / dMatrix extraction) */\nexport function mat3FromMat4T(out, m) {\n  out[0]=m[0]; out[1]=m[4]; out[2]=m[8];\n  out[3]=m[1]; out[4]=m[5]; out[5]=m[9];\n  out[6]=m[2]; out[7]=m[6]; out[8]=m[10];\n  return out;\n}\n\n/** out = mat3 * vec3 */\nexport function mat3MulVec3(out, m, x, y, z) {\n  out[0] = m[0]*x + m[3]*y + m[6]*z;\n  out[1] = m[1]*x + m[4]*y + m[7]*z;\n  out[2] = m[2]*x + m[5]*y + m[8]*z;\n  return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Projection queries\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** @returns {boolean} true if orthographic */\nexport function projIsOrtho(p) { return p[15] !== 0; }\n\n/**\n * Near plane distance.\n * @param {ArrayLike<number>} p  Projection Mat4\n * @param {number} ndcZMin  WEBGL (−1) or WEBGPU (0)\n */\nexport function projNear(p, ndcZMin) {\n  return p[15] === 0\n    ? p[14] / (p[10] + ndcZMin)\n    : (p[14] - ndcZMin) / p[10];\n}\n\n/** Far plane distance (convention-independent: far always maps to NDC z=1). */\nexport function projFar(p) {\n  return p[15] === 0\n    ? p[14] / (1 + p[10])\n    : (p[14] - 1) / p[10];\n}\n\nexport function projLeft(p, ndcZMin) {\n  return p[15] === 1\n    ? -(1 + p[12]) / p[0]\n    : projNear(p, ndcZMin) * (p[8] - 1) / p[0];\n}\n\nexport function projRight(p, ndcZMin) {\n  return p[15] === 1\n    ? (1 - p[12]) / p[0]\n    : projNear(p, ndcZMin) * (1 + p[8]) / p[0];\n}\n\nexport function projTop(p, ndcZMin) {\n  return p[15] === 1\n    ? (p[13] - 1) / p[5]\n    : projNear(p, ndcZMin) * (p[9] - 1) / p[5];\n}\n\nexport function projBottom(p, ndcZMin) {\n  return p[15] === 1\n    ? (1 + p[13]) / p[5]\n    : projNear(p, ndcZMin) * (1 + p[9]) / p[5];\n}\n\n/** Vertical fov (radians, perspective only). */\nexport function projFov(p) {\n  return Math.abs(2 * Math.atan(1 / p[5]));\n}\n\n/** Horizontal fov (radians, perspective only). */\nexport function projHfov(p) {\n  return Math.abs(2 * Math.atan(1 / p[0]));\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices (convenience)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = proj * view = P · V  (standard GL) */\nexport function mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n\n/** out = view * model = V · M  (standard GL) */\nexport function mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n/** out = proj * view * model = P · V · M  (standard GL) */\nexport function mat4PMV(out, proj, model, view) {\n  // MV = view * model (V · M)\n  const t0=view[0],t1=view[1],t2=view[2],t3=view[3],\n        t4=view[4],t5=view[5],t6=view[6],t7=view[7],\n        t8=view[8],t9=view[9],t10=view[10],t11=view[11],\n        t12=view[12],t13=view[13],t14=view[14],t15=view[15];\n  let b0,b1,b2,b3;\n  b0=model[0];b1=model[1];b2=model[2];b3=model[3];\n  const mv0=t0*b0+t4*b1+t8*b2+t12*b3, mv1=t1*b0+t5*b1+t9*b2+t13*b3,\n        mv2=t2*b0+t6*b1+t10*b2+t14*b3, mv3=t3*b0+t7*b1+t11*b2+t15*b3;\n  b0=model[4];b1=model[5];b2=model[6];b3=model[7];\n  const mv4=t0*b0+t4*b1+t8*b2+t12*b3, mv5=t1*b0+t5*b1+t9*b2+t13*b3,\n        mv6=t2*b0+t6*b1+t10*b2+t14*b3, mv7=t3*b0+t7*b1+t11*b2+t15*b3;\n  b0=model[8];b1=model[9];b2=model[10];b3=model[11];\n  const mv8=t0*b0+t4*b1+t8*b2+t12*b3, mv9=t1*b0+t5*b1+t9*b2+t13*b3,\n        mv10=t2*b0+t6*b1+t10*b2+t14*b3, mv11=t3*b0+t7*b1+t11*b2+t15*b3;\n  b0=model[12];b1=model[13];b2=model[14];b3=model[15];\n  const mv12=t0*b0+t4*b1+t8*b2+t12*b3, mv13=t1*b0+t5*b1+t9*b2+t13*b3,\n        mv14=t2*b0+t6*b1+t10*b2+t14*b3, mv15=t3*b0+t7*b1+t11*b2+t15*b3;\n  // PMV = proj * MV  (P · V · M)\n  const p0=proj[0],p1=proj[1],p2=proj[2],p3=proj[3],\n        p4=proj[4],p5=proj[5],p6=proj[6],p7=proj[7],\n        p8=proj[8],p9=proj[9],p10=proj[10],p11=proj[11],\n        p12=proj[12],p13=proj[13],p14=proj[14],p15=proj[15];\n  out[0]=p0*mv0+p4*mv1+p8*mv2+p12*mv3;\n  out[1]=p1*mv0+p5*mv1+p9*mv2+p13*mv3;\n  out[2]=p2*mv0+p6*mv1+p10*mv2+p14*mv3;\n  out[3]=p3*mv0+p7*mv1+p11*mv2+p15*mv3;\n  out[4]=p0*mv4+p4*mv5+p8*mv6+p12*mv7;\n  out[5]=p1*mv4+p5*mv5+p9*mv6+p13*mv7;\n  out[6]=p2*mv4+p6*mv5+p10*mv6+p14*mv7;\n  out[7]=p3*mv4+p7*mv5+p11*mv6+p15*mv7;\n  out[8]=p0*mv8+p4*mv9+p8*mv10+p12*mv11;\n  out[9]=p1*mv8+p5*mv9+p9*mv10+p13*mv11;\n  out[10]=p2*mv8+p6*mv9+p10*mv10+p14*mv11;\n  out[11]=p3*mv8+p7*mv9+p11*mv10+p15*mv11;\n  out[12]=p0*mv12+p4*mv13+p8*mv14+p12*mv15;\n  out[13]=p1*mv12+p5*mv13+p9*mv14+p13*mv15;\n  out[14]=p2*mv12+p6*mv13+p10*mv14+p14*mv15;\n  out[15]=p3*mv12+p7*mv13+p11*mv14+p15*mv15;\n  return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Space transforms — mapLocation / mapDirection\n// ═══════════════════════════════════════════════════════════════════════════\n//\n// FLAT DISPATCH: every from→to pair is a self-contained leaf.\n// No path calls back into mapLocation/mapDirection (no reentrancy).\n// All intermediates are stack locals (zero shared state).\n//\n\n// ── Location Transform ───────────────────────────────────────────────────\n\n/**\n * Relative transform for locations (points).\n *\n * out = inv(to) · from\n *\n * Maps a point from the `from` frame into the `to` frame:\n *\n *   p_to = out · p_from\n *\n * @param {ArrayLike<number>} out Destination 4×4 matrix (length 16).\n * @param {ArrayLike<number>} from Source frame transform.\n * @param {ArrayLike<number>} to Destination frame transform.\n * @returns {ArrayLike<number>|null} `out`, or `null` if `to` is singular.\n */\nexport function mat4Location(out, from, to) {\n  return mat4Invert(out, to) && mat4Mul(out, out, from);\n}\n\n// ── Direction Transform ──────────────────────────────────────────────────\n\n/**\n * Relative transform for directions (vectors).\n *\n * Uses only the upper-left 3×3 blocks, ignoring translation.\n *\n * Corresponds to:\n *\n *   out = to₃ · inv(from₃)\n *\n * and maps directions as:\n *\n *   d_to = out · d_from\n *\n * Note: the final write is transposed so the result matches this module's\n * matrix layout and multiplication convention.\n *\n * @param {ArrayLike<number>} out Destination 3×3 matrix (length 9).\n * @param {ArrayLike<number>} from Source frame transform.\n * @param {ArrayLike<number>} to Destination frame transform.\n * @returns {ArrayLike<number>|null} `out`, or `null` if `from` is singular.\n */\nexport function mat3Direction(out, from, to) {\n  const a00=from[0], a01=from[1], a02=from[2],\n        a10=from[4], a11=from[5], a12=from[6],\n        a20=from[8], a21=from[9], a22=from[10];\n  const b01=a22*a11-a12*a21,\n        b11=a12*a20-a22*a10,\n        b21=a21*a10-a11*a20;\n  let det=a00*b01+a01*b11+a02*b21;\n  if (Math.abs(det) < 1e-12) return null;\n  det=1/det;\n  const i00=b01*det;\n  const i01=(a02*a21-a22*a01)*det;\n  const i02=(a12*a01-a02*a11)*det;\n  const i10=b11*det;\n  const i11=(a22*a00-a02*a20)*det;\n  const i12=(a02*a10-a12*a00)*det;\n  const i20=b21*det;\n  const i21=(a01*a20-a21*a00)*det;\n  const i22=(a11*a00-a01*a10)*det;\n  const t00=to[0], t01=to[1], t02=to[2],\n        t10=to[4], t11=to[5], t12=to[6],\n        t20=to[8], t21=to[9], t22=to[10];\n  const m00=t00*i00+t10*i01+t20*i02;\n  const m01=t01*i00+t11*i01+t21*i02;\n  const m02=t02*i00+t12*i01+t22*i02;\n  const m10=t00*i10+t10*i11+t20*i12;\n  const m11=t01*i10+t11*i11+t21*i12;\n  const m12=t02*i10+t12*i11+t22*i12;\n  const m20=t00*i20+t10*i21+t20*i22;\n  const m21=t01*i20+t11*i21+t21*i22;\n  const m22=t02*i20+t12*i21+t22*i22;\n  out[0]=m00; out[1]=m10; out[2]=m20;\n  out[3]=m01; out[4]=m11; out[5]=m21;\n  out[6]=m02; out[7]=m12; out[8]=m22;\n  return out;\n}\n\n// ── Location leaf helpers ────────────────────────────────────────────────\n\nfunction _worldToScreen(out, px, py, pz, pv, vp, ndcZMin) {\n  const x = pv[0]*px+pv[4]*py+pv[8]*pz+pv[12];\n  const y = pv[1]*px+pv[5]*py+pv[9]*pz+pv[13];\n  const z = pv[2]*px+pv[6]*py+pv[10]*pz+pv[14];\n  const w = pv[3]*px+pv[7]*py+pv[11]*pz+pv[15];\n  if (w === 0) { out[0]=px; out[1]=py; out[2]=pz; return out; }\n  const nx=x/w, ny=y/w, nz=z/w;\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = (nx*0.5+0.5)*vp[2]+vp[0];\n  out[1] = (ny*0.5+0.5)*vp[3]+vp[1];\n  out[2] = (nz - ndcZMin) / ndcZRange;\n  return out;\n}\n\nfunction _screenToWorld(out, px, py, pz, ipv, vp, ndcZMin) {\n  const sx=(px-vp[0])/vp[2], sy=(py-vp[1])/vp[3];\n  const nx=sx*2-1, ny=sy*2-1;\n  const ndcZRange = 1 - ndcZMin;\n  const nz = pz * ndcZRange + ndcZMin;\n  const x=ipv[0]*nx+ipv[4]*ny+ipv[8]*nz+ipv[12];\n  const y=ipv[1]*nx+ipv[5]*ny+ipv[9]*nz+ipv[13];\n  const z=ipv[2]*nx+ipv[6]*ny+ipv[10]*nz+ipv[14];\n  const w=ipv[3]*nx+ipv[7]*ny+ipv[11]*nz+ipv[15];\n  if (w === 0) { out[0]=px; out[1]=py; out[2]=pz; return out; }\n  out[0]=x/w; out[1]=y/w; out[2]=z/w;\n  return out;\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n  const x=pv[0]*px+pv[4]*py+pv[8]*pz+pv[12];\n  const y=pv[1]*px+pv[5]*py+pv[9]*pz+pv[13];\n  const z=pv[2]*px+pv[6]*py+pv[10]*pz+pv[14];\n  const w=pv[3]*px+pv[7]*py+pv[11]*pz+pv[15];\n  if (w === 0) { out[0]=px; out[1]=py; out[2]=pz; return out; }\n  out[0]=x/w; out[1]=y/w; out[2]=z/w;\n  return out;\n}\n\nfunction _ndcToWorld(out, px, py, pz, ipv) {\n  const x=ipv[0]*px+ipv[4]*py+ipv[8]*pz+ipv[12];\n  const y=ipv[1]*px+ipv[5]*py+ipv[9]*pz+ipv[13];\n  const z=ipv[2]*px+ipv[6]*py+ipv[10]*pz+ipv[14];\n  const w=ipv[3]*px+ipv[7]*py+ipv[11]*pz+ipv[15];\n  if (w === 0) { out[0]=px; out[1]=py; out[2]=pz; return out; }\n  out[0]=x/w; out[1]=y/w; out[2]=z/w;\n  return out;\n}\n\nfunction _screenToNDC(out, px, py, pz, vp, ndcZMin) {\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = ((px-vp[0])/vp[2])*2-1;\n  out[1] = ((py-vp[1])/vp[3])*2-1;\n  out[2] = pz * ndcZRange + ndcZMin;\n  return out;\n}\n\nfunction _ndcToScreen(out, px, py, pz, vp, ndcZMin) {\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = (px*0.5+0.5)*vp[2]+vp[0];\n  out[1] = (py*0.5+0.5)*vp[3]+vp[1];\n  out[2] = (pz - ndcZMin) / ndcZRange;\n  return out;\n}\n\n// ── Inline PV and IPV helpers (stack-local, for paths that need them) ────\n\nfunction _ensurePV(m) {\n  if (m.pv) return m.pv;\n  // Inline P · V (standard GL: clip = P · V · world_point)\n  const p = m.proj, v = m.view;\n  return [\n    p[0]*v[0]+p[4]*v[1]+p[8]*v[2]+p[12]*v[3],\n    p[1]*v[0]+p[5]*v[1]+p[9]*v[2]+p[13]*v[3],\n    p[2]*v[0]+p[6]*v[1]+p[10]*v[2]+p[14]*v[3],\n    p[3]*v[0]+p[7]*v[1]+p[11]*v[2]+p[15]*v[3],\n    p[0]*v[4]+p[4]*v[5]+p[8]*v[6]+p[12]*v[7],\n    p[1]*v[4]+p[5]*v[5]+p[9]*v[6]+p[13]*v[7],\n    p[2]*v[4]+p[6]*v[5]+p[10]*v[6]+p[14]*v[7],\n    p[3]*v[4]+p[7]*v[5]+p[11]*v[6]+p[15]*v[7],\n    p[0]*v[8]+p[4]*v[9]+p[8]*v[10]+p[12]*v[11],\n    p[1]*v[8]+p[5]*v[9]+p[9]*v[10]+p[13]*v[11],\n    p[2]*v[8]+p[6]*v[9]+p[10]*v[10]+p[14]*v[11],\n    p[3]*v[8]+p[7]*v[9]+p[11]*v[10]+p[15]*v[11],\n    p[0]*v[12]+p[4]*v[13]+p[8]*v[14]+p[12]*v[15],\n    p[1]*v[12]+p[5]*v[13]+p[9]*v[14]+p[13]*v[15],\n    p[2]*v[12]+p[6]*v[13]+p[10]*v[14]+p[14]*v[15],\n    p[3]*v[12]+p[7]*v[13]+p[11]*v[14]+p[15]*v[15],\n  ];\n}\n\n/**\n * Map a point between coordinate spaces.\n *\n * @param {Vec3}   out        Result written here.\n * @param {number} px,py,pz   Input point.\n * @param {string} from       Source space.\n * @param {string} to         Target space.\n * @param {object} m          Matrices bag { proj, view, eye?, pv?, ipv?, model?,\n *                             fromFrame?, toFrameInv? }.\n * @param {Vec4}   vp         Viewport [x, y, width, height].\n * @param {number} ndcZMin    WEBGL (−1) or WEBGPU (0).\n */\nexport function mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n  // WORLD ↔ SCREEN\n  if (from === WORLD && to === SCREEN)\n    return _worldToScreen(out, px,py,pz, _ensurePV(m), vp, ndcZMin);\n  if (from === SCREEN && to === WORLD)\n    return _screenToWorld(out, px,py,pz, m.ipv, vp, ndcZMin);\n\n  // WORLD ↔ NDC\n  if (from === WORLD && to === NDC)\n    return _worldToNDC(out, px,py,pz, _ensurePV(m));\n  if (from === NDC && to === WORLD)\n    return _ndcToWorld(out, px,py,pz, m.ipv);\n\n  // SCREEN ↔ NDC\n  if (from === SCREEN && to === NDC)\n    return _screenToNDC(out, px,py,pz, vp, ndcZMin);\n  if (from === NDC && to === SCREEN)\n    return _ndcToScreen(out, px,py,pz, vp, ndcZMin);\n\n  // WORLD ↔ EYE\n  if (from === WORLD && to === EYE)\n    return mat4MulPoint(out, m.view, px,py,pz);\n  if (from === EYE && to === WORLD)\n    return mat4MulPoint(out, m.eye, px,py,pz);\n\n  // EYE ↔ SCREEN (inline: eye→world→screen / screen→world→eye)\n  if (from === EYE && to === SCREEN) {\n    const ex=m.eye[0]*px+m.eye[4]*py+m.eye[8]*pz+m.eye[12],\n          ey=m.eye[1]*px+m.eye[5]*py+m.eye[9]*pz+m.eye[13],\n          ez=m.eye[2]*px+m.eye[6]*py+m.eye[10]*pz+m.eye[14];\n    return _worldToScreen(out, ex,ey,ez, _ensurePV(m), vp, ndcZMin);\n  }\n  if (from === SCREEN && to === EYE) {\n    _screenToWorld(out, px,py,pz, m.ipv, vp, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.view, wx,wy,wz);\n  }\n\n  // EYE ↔ NDC (inline: eye→world→ndc / ndc→world→eye)\n  if (from === EYE && to === NDC) {\n    const ex=m.eye[0]*px+m.eye[4]*py+m.eye[8]*pz+m.eye[12],\n          ey=m.eye[1]*px+m.eye[5]*py+m.eye[9]*pz+m.eye[13],\n          ez=m.eye[2]*px+m.eye[6]*py+m.eye[10]*pz+m.eye[14];\n    return _worldToNDC(out, ex,ey,ez, _ensurePV(m));\n  }\n  if (from === NDC && to === EYE) {\n    _ndcToWorld(out, px,py,pz, m.ipv);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.view, wx,wy,wz);\n  }\n\n  // MATRIX (custom frame) ↔ WORLD\n  if (from === MATRIX && to === WORLD)\n    return mat4MulPoint(out, m.fromFrame, px,py,pz);\n  if (from === WORLD && to === MATRIX)\n    return mat4MulPoint(out, m.toFrameInv, px,py,pz);\n\n  // MATRIX ↔ EYE\n  if (from === MATRIX && to === EYE) {\n    const fx=m.fromFrame[0]*px+m.fromFrame[4]*py+m.fromFrame[8]*pz+m.fromFrame[12],\n          fy=m.fromFrame[1]*px+m.fromFrame[5]*py+m.fromFrame[9]*pz+m.fromFrame[13],\n          fz=m.fromFrame[2]*px+m.fromFrame[6]*py+m.fromFrame[10]*pz+m.fromFrame[14];\n    return mat4MulPoint(out, m.view, fx,fy,fz);\n  }\n  if (from === EYE && to === MATRIX) {\n    const ex=m.eye[0]*px+m.eye[4]*py+m.eye[8]*pz+m.eye[12],\n          ey=m.eye[1]*px+m.eye[5]*py+m.eye[9]*pz+m.eye[13],\n          ez=m.eye[2]*px+m.eye[6]*py+m.eye[10]*pz+m.eye[14];\n    return mat4MulPoint(out, m.toFrameInv, ex,ey,ez);\n  }\n\n  // MATRIX ↔ SCREEN\n  if (from === MATRIX && to === SCREEN) {\n    const fx=m.fromFrame[0]*px+m.fromFrame[4]*py+m.fromFrame[8]*pz+m.fromFrame[12],\n          fy=m.fromFrame[1]*px+m.fromFrame[5]*py+m.fromFrame[9]*pz+m.fromFrame[13],\n          fz=m.fromFrame[2]*px+m.fromFrame[6]*py+m.fromFrame[10]*pz+m.fromFrame[14];\n    return _worldToScreen(out, fx,fy,fz, _ensurePV(m), vp, ndcZMin);\n  }\n  if (from === SCREEN && to === MATRIX) {\n    _screenToWorld(out, px,py,pz, m.ipv, vp, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ NDC\n  if (from === MATRIX && to === NDC) {\n    const fx=m.fromFrame[0]*px+m.fromFrame[4]*py+m.fromFrame[8]*pz+m.fromFrame[12],\n          fy=m.fromFrame[1]*px+m.fromFrame[5]*py+m.fromFrame[9]*pz+m.fromFrame[13],\n          fz=m.fromFrame[2]*px+m.fromFrame[6]*py+m.fromFrame[10]*pz+m.fromFrame[14];\n    return _worldToNDC(out, fx,fy,fz, _ensurePV(m));\n  }\n  if (from === NDC && to === MATRIX) {\n    _ndcToWorld(out, px,py,pz, m.ipv);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ MATRIX\n  if (from === MATRIX && to === MATRIX) {\n    const fx=m.fromFrame[0]*px+m.fromFrame[4]*py+m.fromFrame[8]*pz+m.fromFrame[12],\n          fy=m.fromFrame[1]*px+m.fromFrame[5]*py+m.fromFrame[9]*pz+m.fromFrame[13],\n          fz=m.fromFrame[2]*px+m.fromFrame[6]*py+m.fromFrame[10]*pz+m.fromFrame[14];\n    return mat4MulPoint(out, m.toFrameInv, fx,fy,fz);\n  }\n\n  // Fallback\n  out[0]=px; out[1]=py; out[2]=pz;\n  return out;\n}\n\n// ── Direction helpers ────────────────────────────────────────────────────\n\n/** Apply the 3×3 linear part of a mat4 (rotation/scale, no translation) */\nfunction _applyDir(out, mat, dx, dy, dz) {\n  out[0]=mat[0]*dx+mat[4]*dy+mat[8]*dz;\n  out[1]=mat[1]*dx+mat[5]*dy+mat[9]*dz;\n  out[2]=mat[2]*dx+mat[6]*dy+mat[10]*dz;\n  return out;\n}\n\n/**\n * World→Screen direction. Self-contained: reads proj scalars + view mat.\n * The existing p5.tree code nested _direction and _location calls here;\n * this version inlines all math with stack locals.\n */\nfunction _worldToScreenDir(out, dx, dy, dz, proj, view, vpW, vpH, ndcZMin) {\n  // 1. World → Eye direction: R · d (standard column-major mat × vec)\n  const edx = view[0]*dx + view[4]*dy + view[8]*dz;\n  const edy = view[1]*dx + view[5]*dy + view[9]*dz;\n  const edz = view[2]*dx + view[6]*dy + view[10]*dz;\n\n  const isPersp = proj[15] === 0;\n  let sdx = edx, sdy = edy;\n\n  if (isPersp) {\n    // Camera-eye Z of world origin (inline WORLD→EYE for [0,0,0]):\n    // view * [0,0,0,1] = column 3 of view\n    const zEye = view[8]*0 + view[9]*0 + view[10]*0 + view[14]; // = view[14]\n    const halfTan = Math.tan(projFov(proj) / 2);\n    const k = Math.abs(zEye * halfTan);\n    const pixPerUnit = vpH / (2 * k);\n    sdx *= pixPerUnit;\n    sdy *= pixPerUnit;\n  } else {\n    // Ortho: pixels per world unit along X/Y\n    const orthoW = Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin));\n    sdx *= vpW / orthoW;\n    sdy *= vpH / Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin));\n  }\n\n  // Z: map eye-space dz to screen-space dz\n  const near = projNear(proj, ndcZMin), far = projFar(proj);\n  const depthRange = near - far;\n  const ndcZRange = 1 - ndcZMin;\n  let sdz;\n  if (isPersp) {\n    sdz = edz / (depthRange / Math.tan(projFov(proj) / 2));\n  } else {\n    sdz = edz / (depthRange / (Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin)) / vpW));\n  }\n\n  out[0] = sdx; out[1] = sdy; out[2] = sdz;\n  return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, view, eye, vpW, vpH, ndcZMin) {\n  const isPersp = proj[15] === 0;\n  let edx = dx, edy = dy;\n\n  if (isPersp) {\n    const zEye = view[14];\n    const halfTan = Math.tan(projFov(proj) / 2);\n    const k = Math.abs(zEye * halfTan);\n    edx *= 2 * k / vpH;\n    edy *= 2 * k / vpH;\n  } else {\n    const orthoW = Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin));\n    edx *= orthoW / vpW;\n    edy *= Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n  }\n\n  const near = projNear(proj, ndcZMin), far = projFar(proj);\n  const depthRange = near - far;\n  let edz;\n  if (isPersp) {\n    edz = dz * (depthRange / Math.tan(projFov(proj) / 2));\n  } else {\n    edz = dz * (depthRange / (Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin)) / vpW));\n  }\n\n  // Eye → World direction (dMatrix = upper-left 3×3 of eye = inv(view))\n  _applyDir(out, eye, edx, edy, edz);\n  return out;\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = 2 * dx / vpW;\n  out[1] = 2 * dy / vpH;\n  out[2] = dz * ndcZRange;\n  return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = vpW * dx / 2;\n  out[1] = vpH * dy / 2;\n  out[2] = dz / ndcZRange;\n  return out;\n}\n\n/**\n * Map a direction between coordinate spaces.\n * Same flat-dispatch as mapLocation.\n */\nexport function mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n  const vpW = Math.abs(vp[2]), vpH = Math.abs(vp[3]);\n\n  // EYE ↔ WORLD (most common: dMatrix operation)\n  if (from === EYE && to === WORLD) return _applyDir(out, m.eye, dx, dy, dz);\n  if (from === WORLD && to === EYE) return _applyDir(out, m.view, dx, dy, dz);\n\n  // WORLD ↔ SCREEN\n  if (from === WORLD && to === SCREEN)\n    return _worldToScreenDir(out, dx,dy,dz, m.proj, m.view, vpW, vpH, ndcZMin);\n  if (from === SCREEN && to === WORLD)\n    return _screenToWorldDir(out, dx,dy,dz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n\n  // SCREEN ↔ NDC\n  if (from === SCREEN && to === NDC)\n    return _screenToNDCDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n  if (from === NDC && to === SCREEN)\n    return _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n\n  // WORLD ↔ NDC (chain: world→screen→ndc / ndc→screen→world)\n  if (from === WORLD && to === NDC) {\n    _worldToScreenDir(out, dx,dy,dz, m.proj, m.view, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === WORLD) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToWorldDir(out, sx,sy,sz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n  }\n\n  // EYE ↔ SCREEN\n  if (from === EYE && to === SCREEN) {\n    // eye→world→screen\n    _applyDir(out, m.eye, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _worldToScreenDir(out, wx,wy,wz, m.proj, m.view, vpW, vpH, ndcZMin);\n  }\n  if (from === SCREEN && to === EYE) {\n    _screenToWorldDir(out, dx,dy,dz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.view, wx,wy,wz);\n  }\n\n  // EYE ↔ NDC\n  if (from === EYE && to === NDC) {\n    _applyDir(out, m.eye, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    _worldToScreenDir(out, wx,wy,wz, m.proj, m.view, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === EYE) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    _screenToWorldDir(out, sx,sy,sz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.view, wx,wy,wz);\n  }\n\n  // MATRIX ↔ WORLD\n  if (from === MATRIX && to === WORLD) return _applyDir(out, m.fromFrame, dx,dy,dz);\n  if (from === WORLD && to === MATRIX) return _applyDir(out, m.toFrameInv, dx,dy,dz);\n\n  // MATRIX ↔ EYE\n  if (from === MATRIX && to === EYE) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.view, wx,wy,wz);\n  }\n  if (from === EYE && to === MATRIX) {\n    _applyDir(out, m.eye, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ SCREEN\n  if (from === MATRIX && to === SCREEN) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _worldToScreenDir(out, wx,wy,wz, m.proj, m.view, vpW, vpH, ndcZMin);\n  }\n  if (from === SCREEN && to === MATRIX) {\n    _screenToWorldDir(out, dx,dy,dz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ NDC\n  if (from === MATRIX && to === NDC) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    _worldToScreenDir(out, wx,wy,wz, m.proj, m.view, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === MATRIX) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    _screenToWorldDir(out, sx,sy,sz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ MATRIX\n  if (from === MATRIX && to === MATRIX) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // Fallback\n  out[0]=dx; out[1]=dy; out[2]=dz;\n  return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// pixelRatio\n// ═══════════════════════════════════════════════════════════════════════════\n\n/**\n * World-units-per-pixel at a given eye-space Z depth.\n * @param {ArrayLike<number>} proj  Projection Mat4.\n * @param {number} vpH      Viewport height (pixels).\n * @param {number} eyeZ     Eye-space Z of the point (negative for in-front-of camera).\n * @param {number} ndcZMin  WEBGL or WEBGPU.\n */\nexport function pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n  if (projIsOrtho(proj)) {\n    return Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n  }\n  return 2 * Math.abs(eyeZ) * Math.tan(projFov(proj) / 2) / vpH;\n}\n","/**\n * @file Pure quaternion/spline math + PoseTrack state machine.\n * @module tree/track\n * @license GPL-3.0-only\n *\n * Zero dependencies.  No p5, DOM, WebGL, or WebGPU usage.\n * All quaternion operations use flat [x,y,z,w] arrays (w-last = glTF layout).\n * PoseTrack is a pure state machine that stores {pos,rot,scl} keyframes\n * and advances a cursor via tick().\n *\n * ── Exports ──────────────────────────────────────────────────────────────────\n *  Quaternion helpers\n *    qSet qCopy qDot qNormalize qNegate qMul qSlerp\n *    qFromAxisAngle qFromLookDir qFromRotMat3x3 qFromMat4 qToMat4\n *    quatToAxisAngle\n *  Spline / vector helpers\n *    catmullRomVec3  lerpVec3\n *  Transform / mat4 helpers\n *    transformToMat4  mat4ToTransform\n *  Track\n *    PoseTrack\n *\n * ── Hook architecture ─────────────────────────────────────────────────────────\n *  _onActivate / _onDeactivate  — lib-space (underscore, set by host layer)\n *    Fire exactly on playing transitions: false→true / true→false.\n *    Used by the addon to register/unregister from the draw-loop tick set.\n *\n *  onPlay / onEnd               — user-space (public, set by user)\n *    onPlay : fires in play()  when playback actually starts (transition).\n *    onEnd  : fires in tick()  when cursor reaches a natural boundary.\n *    onEnd does NOT fire on explicit stop() / reset().\n *\n *  Firing order:\n *    play()  → user onPlay → lib _onActivate\n *    tick()  → user onEnd  → lib _onDeactivate\n *    stop()  →               lib _onDeactivate  (no user hook)\n *    reset() →               lib _onDeactivate  (no user hook)\n *\n * ── Playback semantics (rate) ─────────────────────────────────────────────────\n *  rate > 0   forward playback\n *  rate < 0   backward playback\n *  rate === 0 frozen: tick() is a no-op; the playing flag is NOT changed.\n *\n *  play()  is the sole method that sets playing = true.\n *  stop()  is the sole method that sets playing = false.\n *  Assigning rate never implicitly starts or stops playback.\n *\n * ── One-keyframe behaviour ────────────────────────────────────────────────────\n *  play() with exactly one keyframe snaps eval() to that keyframe without\n *  setting playing = true and without animating.\n */\n\n'use strict';\n\n// =========================================================================\n// S1  Quaternion helpers  (flat [x, y, z, w], w-last)\n// =========================================================================\n\n/** Set all four components. @returns {number[]} out */\nexport const qSet = (out, x, y, z, w) => {\n  out[0] = x; out[1] = y; out[2] = z; out[3] = w; return out;\n};\n\n/** Copy quaternion a into out. @returns {number[]} out */\nexport const qCopy = (out, a) => {\n  out[0] = a[0]; out[1] = a[1]; out[2] = a[2]; out[3] = a[3]; return out;\n};\n\n/** Dot product of two quaternions. */\nexport const qDot = (a, b) => a[0]*b[0] + a[1]*b[1] + a[2]*b[2] + a[3]*b[3];\n\n/** Normalise in-place. @returns {number[]} out */\nexport const qNormalize = (out) => {\n  const len = Math.sqrt(qDot(out, out)) || 1;\n  out[0] /= len; out[1] /= len; out[2] /= len; out[3] /= len;\n  return out;\n};\n\n/** Negate all components in-place. @returns {number[]} out */\nexport const qNegate = (out) => {\n  out[0] = -out[0]; out[1] = -out[1]; out[2] = -out[2]; out[3] = -out[3];\n  return out;\n};\n\n/** out = a * b (Hamilton product). @returns {number[]} out */\nexport const qMul = (out, a, b) => {\n  const ax = a[0], ay = a[1], az = a[2], aw = a[3];\n  const bx = b[0], by = b[1], bz = b[2], bw = b[3];\n  out[0] = aw*bx + ax*bw + ay*bz - az*by;\n  out[1] = aw*by - ax*bz + ay*bw + az*bx;\n  out[2] = aw*bz + ax*by - ay*bx + az*bw;\n  out[3] = aw*bw - ax*bx - ay*by - az*bz;\n  return out;\n};\n\n/**\n * SLERP between quaternions a and b at parameter t.\n * Shortest-arc: negates b when dot < 0.\n * Near-equal fallback: nlerp when dot ~= 1.\n * @param {number[]} out  4-element result array.\n * @param {number[]} a    Start quaternion [x,y,z,w].\n * @param {number[]} b    End quaternion [x,y,z,w].\n * @param {number}   t    Blend [0, 1].\n * @returns {number[]} out\n */\nexport const qSlerp = (out, a, b, t) => {\n  let d = qDot(a, b);\n  let bx = b[0], by = b[1], bz = b[2], bw = b[3];\n  if (d < 0) { d = -d; bx = -bx; by = -by; bz = -bz; bw = -bw; }\n  if (d > 0.9995) {\n    out[0] = a[0] + t*(bx - a[0]);\n    out[1] = a[1] + t*(by - a[1]);\n    out[2] = a[2] + t*(bz - a[2]);\n    out[3] = a[3] + t*(bw - a[3]);\n    return qNormalize(out);\n  }\n  const theta = Math.acos(d), sinT = Math.sin(theta);\n  const s0 = Math.sin((1 - t) * theta) / sinT;\n  const s1 = Math.sin(t * theta) / sinT;\n  out[0] = s0*a[0] + s1*bx;\n  out[1] = s0*a[1] + s1*by;\n  out[2] = s0*a[2] + s1*bz;\n  out[3] = s0*a[3] + s1*bw;\n  return out;\n};\n\n/**\n * Build a quaternion from an axis-angle rotation.\n * The axis need not be normalised.\n * @returns {number[]} out\n */\nexport const qFromAxisAngle = (out, ax, ay, az, angle) => {\n  const half = angle * 0.5;\n  const s    = Math.sin(half);\n  const len  = Math.sqrt(ax*ax + ay*ay + az*az) || 1;\n  out[0] = s * ax / len;\n  out[1] = s * ay / len;\n  out[2] = s * az / len;\n  out[3] = Math.cos(half);\n  return out;\n};\n\n/**\n * Build a quaternion from a look direction (negative-Z forward convention)\n * and an optional up vector (defaults to +Y).\n * @param {number[]} out\n * @param {number[]} dir  Forward direction [x,y,z].\n * @param {number[]} [up] Up vector [x,y,z].\n * @returns {number[]} out\n */\nexport const qFromLookDir = (out, dir, up) => {\n  let fx = dir[0], fy = dir[1], fz = dir[2];\n  const fLen = Math.sqrt(fx*fx + fy*fy + fz*fz) || 1;\n  fx /= fLen; fy /= fLen; fz /= fLen;\n  let ux = up ? up[0] : 0, uy = up ? up[1] : 1, uz = up ? up[2] : 0;\n  let rx = uy*fz - uz*fy, ry = uz*fx - ux*fz, rz = ux*fy - uy*fx;\n  const rLen = Math.sqrt(rx*rx + ry*ry + rz*rz) || 1;\n  rx /= rLen; ry /= rLen; rz /= rLen;\n  ux = fy*rz - fz*ry; uy = fz*rx - fx*rz; uz = fx*ry - fy*rx;\n  return qFromRotMat3x3(out, rx, ry, rz, ux, uy, uz, -fx, -fy, -fz);\n};\n\n/**\n * Build a quaternion from a 3x3 rotation matrix supplied as 9 row-major scalars.\n * @returns {number[]} out (normalised)\n */\nexport const qFromRotMat3x3 = (out, m00, m01, m02, m10, m11, m12, m20, m21, m22) => {\n  const tr = m00 + m11 + m22;\n  if (tr > 0) {\n    const s = 0.5 / Math.sqrt(tr + 1);\n    out[3] = 0.25 / s;\n    out[0] = (m21 - m12) * s;\n    out[1] = (m02 - m20) * s;\n    out[2] = (m10 - m01) * s;\n  } else if (m00 > m11 && m00 > m22) {\n    const s = 2 * Math.sqrt(1 + m00 - m11 - m22);\n    out[3] = (m21 - m12) / s;\n    out[0] = 0.25 * s;\n    out[1] = (m01 + m10) / s;\n    out[2] = (m02 + m20) / s;\n  } else if (m11 > m22) {\n    const s = 2 * Math.sqrt(1 + m11 - m00 - m22);\n    out[3] = (m02 - m20) / s;\n    out[0] = (m01 + m10) / s;\n    out[1] = 0.25 * s;\n    out[2] = (m12 + m21) / s;\n  } else {\n    const s = 2 * Math.sqrt(1 + m22 - m00 - m11);\n    out[3] = (m10 - m01) / s;\n    out[0] = (m02 + m20) / s;\n    out[1] = (m12 + m21) / s;\n    out[2] = 0.25 * s;\n  }\n  return qNormalize(out);\n};\n\n/**\n * Extract a unit quaternion from the upper-left 3x3 of a column-major mat4.\n * @param {number[]} out\n * @param {Float32Array|number[]} m  Column-major mat4.\n * @returns {number[]} out\n */\nexport const qFromMat4 = (out, m) =>\n  qFromRotMat3x3(out, m[0], m[4], m[8], m[1], m[5], m[9], m[2], m[6], m[10]);\n\n/**\n * Write a quaternion into a column-major mat4 (rotation block only;\n * translation and perspective rows/cols are set to identity values).\n * @param {Float32Array|number[]} out  16-element array.\n * @param {number[]} q  [x,y,z,w].\n * @returns {Float32Array|number[]} out\n */\nexport const qToMat4 = (out, q) => {\n  const x = q[0], y = q[1], z = q[2], w = q[3];\n  const x2 = x+x, y2 = y+y, z2 = z+z;\n  const xx = x*x2, xy = x*y2, xz = x*z2;\n  const yy = y*y2, yz = y*z2, zz = z*z2;\n  const wx = w*x2, wy = w*y2, wz = w*z2;\n  out[0]  = 1-(yy+zz); out[1]  = xy+wz;     out[2]  = xz-wy;     out[3]  = 0;\n  out[4]  = xy-wz;     out[5]  = 1-(xx+zz); out[6]  = yz+wx;     out[7]  = 0;\n  out[8]  = xz+wy;     out[9]  = yz-wx;     out[10] = 1-(xx+yy); out[11] = 0;\n  out[12] = 0;         out[13] = 0;         out[14] = 0;         out[15] = 1;\n  return out;\n};\n\n/**\n * Decompose a unit quaternion into { axis:[x,y,z], angle } (radians).\n * out is optional; a new object is returned if omitted.\n * @param {number[]} q  [x,y,z,w].\n * @param {Object}  [out]\n * @returns {{ axis: number[], angle: number }}\n */\nexport const quatToAxisAngle = (q, out) => {\n  out = out || {};\n  const x = q[0], y = q[1], z = q[2], w = q[3];\n  const sinHalf = Math.sqrt(x*x + y*y + z*z);\n  if (sinHalf < 1e-8) { out.axis = [0, 1, 0]; out.angle = 0; return out; }\n  out.angle = 2 * Math.atan2(sinHalf, w);\n  out.axis  = [x / sinHalf, y / sinHalf, z / sinHalf];\n  return out;\n};\n\n// =========================================================================\n// S2  Spline / vector helpers\n// =========================================================================\n\nfunction _dist3(a, b) {\n  const dx = a[0]-b[0], dy = a[1]-b[1], dz = a[2]-b[2];\n  return Math.sqrt(dx*dx + dy*dy + dz*dz);\n}\n\n/**\n * Centripetal Catmull-Rom interpolation (alpha = 0.5, Barry-Goldman).\n * out = interp(p0, p1, p2, p3, t) where t in [0,1] maps p1 -> p2.\n * When p0 === p1 or p2 === p3 (boundary), the chord is reused, giving\n * zero-tension clamped end tangents.\n * @param {number[]} out  3-element result.\n * @param {number[]} p0   Control point before p1.\n * @param {number[]} p1   Start of this segment.\n * @param {number[]} p2   End of this segment.\n * @param {number[]} p3   Control point after p2.\n * @param {number}   t    Blend [0, 1].\n * @returns {number[]} out\n */\nexport const catmullRomVec3 = (out, p0, p1, p2, p3, t) => {\n  const alpha = 0.5;\n  const dt0   = Math.pow(_dist3(p0, p1), alpha) || 1;\n  const dt1   = Math.pow(_dist3(p1, p2), alpha) || 1;\n  const dt2   = Math.pow(_dist3(p2, p3), alpha) || 1;\n  for (let i = 0; i < 3; i++) {\n    const t1_0 = (p1[i]-p0[i])/dt0 - (p2[i]-p0[i])/(dt0+dt1) + (p2[i]-p1[i])/dt1;\n    const t2_0 = (p2[i]-p1[i])/dt1 - (p3[i]-p1[i])/(dt1+dt2) + (p3[i]-p2[i])/dt2;\n    const m1   = t1_0 * dt1;\n    const m2   = t2_0 * dt1;\n    const a    =  2*p1[i] - 2*p2[i] + m1 + m2;\n    const b    = -3*p1[i] + 3*p2[i] - 2*m1 - m2;\n    out[i]     = a*t*t*t + b*t*t + m1*t + p1[i];\n  }\n  return out;\n};\n\n/**\n * Linear interpolation between two vec3s.\n * @param {number[]} out\n * @param {number[]} a\n * @param {number[]} b\n * @param {number}   t  Blend [0, 1].\n * @returns {number[]} out\n */\nexport const lerpVec3 = (out, a, b, t) => {\n  out[0] = a[0] + t*(b[0]-a[0]);\n  out[1] = a[1] + t*(b[1]-a[1]);\n  out[2] = a[2] + t*(b[2]-a[2]);\n  return out;\n};\n\n// =========================================================================\n// S3  Transform <-> Mat4\n// =========================================================================\n\n/**\n * Write a TRS transform into a column-major mat4.\n * Rotation is encoded as a quaternion; scale is baked into rotation columns.\n * @param {Float32Array|number[]} out  16-element column-major mat4.\n * @param {{ pos:number[], rot:number[], scl:number[] }} xform\n * @returns {Float32Array|number[]} out\n */\nexport const transformToMat4 = (out, xform) => {\n  qToMat4(out, xform.rot);\n  const sx = xform.scl[0], sy = xform.scl[1], sz = xform.scl[2];\n  out[0]  *= sx; out[1]  *= sx; out[2]  *= sx;\n  out[4]  *= sy; out[5]  *= sy; out[6]  *= sy;\n  out[8]  *= sz; out[9]  *= sz; out[10] *= sz;\n  out[12] = xform.pos[0];\n  out[13] = xform.pos[1];\n  out[14] = xform.pos[2];\n  return out;\n};\n\n/**\n * Decompose a column-major mat4 into a TRS transform.\n * Assumes no shear. Scale is extracted from column lengths.\n * @param {{ pos:number[], rot:number[], scl:number[] }} out\n * @param {Float32Array|number[]} m  Column-major mat4.\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n */\nexport const mat4ToTransform = (out, m) => {\n  out.pos[0] = m[12]; out.pos[1] = m[13]; out.pos[2] = m[14];\n  const sx = Math.sqrt(m[0]*m[0] + m[1]*m[1] + m[2]*m[2]);\n  const sy = Math.sqrt(m[4]*m[4] + m[5]*m[5] + m[6]*m[6]);\n  const sz = Math.sqrt(m[8]*m[8] + m[9]*m[9] + m[10]*m[10]);\n  out.scl[0] = sx; out.scl[1] = sy; out.scl[2] = sz;\n  qFromRotMat3x3(out.rot,\n    m[0]/sx, m[4]/sy, m[8]/sz,\n    m[1]/sx, m[5]/sy, m[9]/sz,\n    m[2]/sx, m[6]/sy, m[10]/sz);\n  return out;\n};\n\n// =========================================================================\n// S4  Spec parser (keyframe input normalisation)\n// =========================================================================\n\nconst _isNum   = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp01 = (x) => x < 0 ? 0 : (x > 1 ? 1 : x);\nconst _clampS  = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\n\nfunction _parseVec3(v) {\n  if (!v) return null;\n  if (Array.isArray(v) && v.length >= 3 && v.every(n => typeof n === 'number')) return [v[0], v[1], v[2]];\n  if (typeof v === 'object' && 'x' in v) return [v.x || 0, v.y || 0, v.z || 0];\n  return null;\n}\n\nfunction _parseQuat(v) {\n  if (!v) return null;\n  if (Array.isArray(v) && v.length === 4 && v.every(n => typeof n === 'number')) return [v[0], v[1], v[2], v[3]];\n  if (v.axis && typeof v.angle === 'number') {\n    const a = Array.isArray(v.axis) ? v.axis : [v.axis.x || 0, v.axis.y || 0, v.axis.z || 0];\n    return qFromAxisAngle([0, 0, 0, 1], a[0], a[1], a[2], v.angle);\n  }\n  if (v.dir) {\n    const d = Array.isArray(v.dir) ? v.dir : [v.dir.x || 0, v.dir.y || 0, v.dir.z || 0];\n    const u = v.up ? (Array.isArray(v.up) ? v.up : [v.up.x || 0, v.up.y || 0, v.up.z || 0]) : null;\n    return qFromLookDir([0, 0, 0, 1], d, u);\n  }\n  return null;\n}\n\nfunction _parseSpec(spec) {\n  if (!spec || typeof spec !== 'object') return null;\n  const pos = _parseVec3(spec.pos) || [0, 0, 0];\n  const rot = _parseQuat(spec.rot) || [0, 0, 0, 1];\n  const scl = _parseVec3(spec.scl) || [1, 1, 1];\n  return { pos, rot, scl };\n}\n\nfunction _sameTransform(a, b) {\n  for (let i = 0; i < 3; i++) if (a.pos[i] !== b.pos[i] || a.scl[i] !== b.scl[i]) return false;\n  for (let i = 0; i < 4; i++) if (a.rot[i] !== b.rot[i]) return false;\n  return true;\n}\n\n// =========================================================================\n// S5  PoseTrack\n// =========================================================================\n\n/**\n * Renderer-agnostic keyframe animation track.\n *\n * Keyframes are TRS pose objects: { pos:[x,y,z], rot:[x,y,z,w], scl:[x,y,z] }.\n * The track maintains a scalar cursor (seg, f) that advances each tick().\n *\n * Position uses centripetal Catmull-Rom spline by default (posInterp = 'catmullrom');\n * set posInterp = 'linear' to switch to lerp. Rotation uses SLERP. Scale uses LERP.\n *\n * Rate semantics:\n *   rate > 0   forward\n *   rate < 0   backward\n *   rate === 0 frozen: tick() is a no-op; playing is NOT changed\n *\n * Assigning rate never starts or stops playback.\n * Only play() sets playing = true. Only stop() / reset() set it to false.\n *\n * One-keyframe behaviour:\n *   play() with exactly one keyframe snaps eval() to that keyframe\n *   without setting playing = true and without firing hooks.\n */\nexport class PoseTrack {\n  constructor() {\n    /** @type {Array<{pos:number[],rot:number[],scl:number[]}>} */\n    this.keyframes = [];\n    /** Whether playback is active. @type {boolean} */\n    this.playing   = false;\n    /** Loop flag (overridden by pingPong). @type {boolean} */\n    this.loop      = false;\n    /** Ping-pong bounce mode (takes precedence over loop). @type {boolean} */\n    this.pingPong  = false;\n    /** Frames per segment (>=1). @type {number} */\n    this.duration  = 30;\n    /** Current segment index. @type {number} */\n    this.seg       = 0;\n    /** Frame offset within current segment (can be fractional). @type {number} */\n    this.f         = 0;\n    /**\n     * Position interpolation mode.\n     * @type {'catmullrom'|'linear'}\n     */\n    this.posInterp = 'catmullrom';\n\n    // Scratch arrays reused by eval() / toMatrix() — avoids hot-path allocations\n    this._pos = [0, 0, 0];\n    this._rot = [0, 0, 0, 1];\n    this._scl = [1, 1, 1];\n\n    // Internal rate — assigning never touches playing\n    this._rate = 1;\n\n    // User-space hooks\n    /** Called once when play() starts a false->true transition. @type {Function|null} */\n    this.onPlay = null;\n    /** Called once by tick() when cursor reaches a natural boundary (once mode). @type {Function|null} */\n    this.onEnd  = null;\n\n    // Lib-space hooks (set by host layer — e.g. p5 bridge)\n    /** @type {Function|null} */\n    this._onActivate   = null;\n    /** @type {Function|null} */\n    this._onDeactivate = null;\n  }\n\n  // ── rate ────────────────────────────────────────────────────────────────\n  // Getter/setter so future consumers get the right value from track.rate,\n  // while the setter intentionally has NO side effects on playing.\n\n  /** Playback rate. 0 = frozen (playing flag unchanged). @type {number} */\n  get rate()  { return this._rate; }\n  set rate(v) {\n    this._rate = (typeof v === 'number' && Number.isFinite(v)) ? v : 1;\n    // Intentionally does NOT start or stop playback.\n  }\n\n  /** Number of interpolatable segments (keyframes.length - 1, min 0). @type {number} */\n  get segments() { return Math.max(0, this.keyframes.length - 1); }\n\n  // ── Keyframe management ──────────────────────────────────────────────────\n\n  /**\n   * Append a keyframe. Adjacent duplicates are skipped by default.\n   * @param {{ pos?, rot?, scl? }} spec  pos/rot/scl arrays, {x,y,z}, axis-angle, look-dir.\n   * @param {{ deduplicate?: boolean }} [opts]\n   */\n  add(spec, opts) {\n    const kf = _parseSpec(spec);\n    if (!kf) return;\n    const dedup = !opts || opts.deduplicate !== false;\n    if (dedup && this.keyframes.length > 0) {\n      if (_sameTransform(this.keyframes[this.keyframes.length - 1], kf)) return;\n    }\n    this.keyframes.push(kf);\n  }\n\n  /**\n   * Replace (or append at end) the keyframe at index.\n   * @param {number} index  Existing index or keyframes.length to append.\n   * @param {{ pos?, rot?, scl? }} spec\n   * @returns {boolean}\n   */\n  set(index, spec) {\n    if (!_isNum(index)) return false;\n    const i  = index | 0;\n    const kf = _parseSpec(spec);\n    if (!kf || i < 0 || i > this.keyframes.length) return false;\n    if (i === this.keyframes.length) { this.keyframes.push(kf); }\n    else { this.keyframes[i] = kf; }\n    return true;\n  }\n\n  /**\n   * Remove the keyframe at index. Adjusts cursor if needed.\n   * @param {number} index\n   * @returns {boolean}\n   */\n  remove(index) {\n    if (!_isNum(index)) return false;\n    const i = index | 0;\n    if (i < 0 || i >= this.keyframes.length) return false;\n    this.keyframes.splice(i, 1);\n    const nSeg = this.segments;\n    if (nSeg === 0) { this.seg = 0; this.f = 0; }\n    else if (this.seg >= nSeg) { this.seg = nSeg - 1; }\n    return true;\n  }\n\n  // ── Transport ────────────────────────────────────────────────────────────\n\n  /**\n   * Start or update playback.\n   * Accepts a numeric rate or an options object: { rate, duration, loop, pingPong, onPlay, onEnd }.\n   *\n   * Zero keyframes: no-op.\n   * One keyframe: snaps cursor (seg=0, f=0); no playing=true, no hooks.\n   * Already playing: updates params in place; hooks are not re-fired.\n   * rate=0 is valid: track will be playing but frozen until rate changes.\n   *\n   * @param {number|Object} [rateOrOpts]\n   * @returns {PoseTrack} this\n   */\n  play(rateOrOpts) {\n    if (this.keyframes.length === 0) return this;\n\n    // One keyframe: snap only, no animation, no hooks\n    if (this.keyframes.length === 1) {\n      this.seg = 0; this.f = 0;\n      return this;\n    }\n\n    if (typeof rateOrOpts === 'number' && Number.isFinite(rateOrOpts)) {\n      this._rate = rateOrOpts;\n    } else if (rateOrOpts && typeof rateOrOpts === 'object') {\n      const o = rateOrOpts;\n      if (_isNum(o.duration))             this.duration = Math.max(1, o.duration | 0);\n      if ('loop'     in o)                this.loop     = !!o.loop;\n      if ('pingPong' in o)                this.pingPong = !!o.pingPong;\n      if (typeof o.onPlay === 'function') this.onPlay   = o.onPlay;\n      if (typeof o.onEnd  === 'function') this.onEnd    = o.onEnd;\n      if (_isNum(o.rate))                 this._rate    = o.rate;\n    }\n\n    // Clamp cursor into valid range\n    const nSeg = this.segments;\n    const dur  = Math.max(1, this.duration | 0);\n    if (this.seg < 0)     this.seg = 0;\n    if (this.seg >= nSeg) this.seg = nSeg - 1;\n    if (this.f   < 0)     this.f   = 0;\n    if (this.f   > dur)   this.f   = dur;\n\n    const wasPlaying = this.playing;\n    this.playing = true;\n\n    if (!wasPlaying) {\n      if (typeof this.onPlay === 'function') { try { this.onPlay(this); } catch (_) {} }\n      this._onActivate?.();\n    }\n    return this;\n  }\n\n  /**\n   * Stop playback. Does NOT reset time unless reset is true.\n   * @param {boolean} [reset=false]  If true, seek to start or end based on rate direction.\n   * @returns {PoseTrack} this\n   */\n  stop(reset) {\n    const wasPlaying = this.playing;\n    this.playing = false;\n    if (wasPlaying) this._onDeactivate?.();\n    if (!reset || this.keyframes.length <= 1) return this;\n    this.seek(this._rate < 0 ? 1 : 0);\n    return this;\n  }\n\n  /**\n   * Clear all keyframes and stop. Fires _onDeactivate if was playing.\n   * @returns {PoseTrack} this\n   */\n  reset() {\n    const wasPlaying = this.playing;\n    this.playing = false;\n    if (wasPlaying) this._onDeactivate?.();\n    this.keyframes.length = 0;\n    this.seg = 0; this.f = 0;\n    return this;\n  }\n\n  /**\n   * Seek to a normalised position [0,1] across the full path.\n   * Can optionally target a specific segment (t is then local to that segment).\n   * Does not change the playing flag.\n   * @param {number} t           Normalised time [0, 1].\n   * @param {number} [segIndex]  Optional segment override.\n   * @returns {PoseTrack} this\n   */\n  seek(t, segIndex) {\n    const nSeg = this.segments;\n    if (nSeg === 0) { this.seg = 0; this.f = 0; return this; }\n    const dur = Math.max(1, this.duration | 0);\n    if (_isNum(segIndex)) {\n      this.seg = _clampS(segIndex | 0, 0, nSeg - 1);\n      this.f   = _clamp01(t) * dur;\n    } else {\n      this._setCursorFromScalar(_clamp01(t) * nSeg * dur);\n    }\n    return this;\n  }\n\n  /**\n   * Normalised playback time across the full path [0, 1].\n   * Returns 0 when fewer than 2 keyframes exist.\n   * @returns {number}\n   */\n  time() {\n    const nSeg = this.segments;\n    if (nSeg === 0) return 0;\n    const dur = Math.max(1, this.duration | 0);\n    return _clamp01((this.seg * dur + this.f) / (nSeg * dur));\n  }\n\n  /**\n   * Snapshot of the current transport state.\n   * @returns {{ keyframes:number, segments:number, seg:number, f:number,\n   *             time:number, playing:boolean, loop:boolean, pingPong:boolean,\n   *             rate:number, duration:number }}\n   */\n  info() {\n    return {\n      keyframes: this.keyframes.length,\n      segments:  this.segments,\n      seg:       this.seg,\n      f:         this.f,\n      playing:   this.playing,\n      loop:      this.loop,\n      pingPong:  this.pingPong,\n      rate:      this._rate,\n      duration:  this.duration,\n      time:      this.segments > 0 ? this.time() : 0\n    };\n  }\n\n  /**\n   * Advance the cursor by rate frames.\n   *\n   * rate === 0: frozen — returns this.playing without moving (no-op).\n   * Returns false and fires onEnd/_onDeactivate when a once-mode boundary is hit.\n   * Returns true while playing and continuing.\n   *\n   * @returns {boolean}\n   */\n  tick() {\n    if (!this.playing) return false;\n    const nSeg = this.segments;\n    if (nSeg === 0) {\n      this.playing = false; this._onDeactivate?.(); return false;\n    }\n\n    // Frozen: position does not advance, playing stays true\n    if (this._rate === 0) return true;\n\n    const dur   = Math.max(1, this.duration | 0);\n    const total = nSeg * dur;\n    const s     = _clampS(this.seg * dur + this.f, 0, total);\n    const next  = s + this._rate;\n\n    // ── pingPong ──\n    if (this.pingPong) {\n      let pos = next, flips = 0;\n      while (pos < 0 || pos > total) {\n        if (pos < 0)     { pos = -pos;            flips++; }\n        else             { pos = 2 * total - pos; flips++; }\n      }\n      if (flips & 1) this._rate = -this._rate;\n      this._setCursorFromScalar(pos);\n      return true;\n    }\n\n    // ── loop ──\n    if (this.loop) {\n      this._setCursorFromScalar(((next % total) + total) % total);\n      return true;\n    }\n\n    // ── once — boundary check ──\n    if (next <= 0) {\n      this._setCursorFromScalar(0);\n      this.playing = false;\n      if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n      this._onDeactivate?.();\n      return false;\n    }\n    if (next >= total) {\n      this._setCursorFromScalar(total);\n      this.playing = false;\n      if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n      this._onDeactivate?.();\n      return false;\n    }\n\n    this._setCursorFromScalar(next);\n    return true;\n  }\n\n  /**\n   * Evaluate the interpolated pose at the current cursor into out.\n   * If out is omitted a new object is allocated (avoid in hot paths).\n   * Uses centripetal Catmull-Rom for position (posInterp === 'catmullrom') or lerp.\n   * @param {{ pos:number[], rot:number[], scl:number[] }} [out]\n   * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n   */\n  eval(out) {\n    out = out || { pos: [0, 0, 0], rot: [0, 0, 0, 1], scl: [1, 1, 1] };\n    const n = this.keyframes.length;\n    if (n === 0) return out;\n\n    if (n === 1) {\n      const k = this.keyframes[0];\n      out.pos[0]=k.pos[0]; out.pos[1]=k.pos[1]; out.pos[2]=k.pos[2];\n      out.rot[0]=k.rot[0]; out.rot[1]=k.rot[1]; out.rot[2]=k.rot[2]; out.rot[3]=k.rot[3];\n      out.scl[0]=k.scl[0]; out.scl[1]=k.scl[1]; out.scl[2]=k.scl[2];\n      return out;\n    }\n\n    const nSeg = n - 1;\n    const dur  = Math.max(1, this.duration | 0);\n    const seg  = _clampS(this.seg, 0, nSeg - 1);\n    const t    = _clamp01(this.f / dur);\n    const k0   = this.keyframes[seg];\n    const k1   = this.keyframes[seg + 1];\n\n    // Position\n    if (this.posInterp === 'catmullrom') {\n      const p0 = seg > 0     ? this.keyframes[seg - 1].pos : k0.pos;\n      const p3 = seg + 2 < n ? this.keyframes[seg + 2].pos : k1.pos;\n      catmullRomVec3(out.pos, p0, k0.pos, k1.pos, p3, t);\n    } else {\n      lerpVec3(out.pos, k0.pos, k1.pos, t);\n    }\n\n    // Rotation — SLERP\n    qSlerp(out.rot, k0.rot, k1.rot, t);\n\n    // Scale — LERP\n    lerpVec3(out.scl, k0.scl, k1.scl, t);\n\n    return out;\n  }\n\n  /**\n   * Evaluate the current cursor into an existing column-major mat4.\n   * Reuses internal scratch arrays — no allocation per call.\n   * @param {Float32Array|number[]} outMat4  16-element array.\n   * @returns {Float32Array|number[]} outMat4\n   */\n  toMatrix(outMat4) {\n    const xf = this.eval({ pos: this._pos, rot: this._rot, scl: this._scl });\n    return transformToMat4(outMat4, xf);\n  }\n\n  // ── Private ──────────────────────────────────────────────────────────────\n\n  /** @private */\n  _setCursorFromScalar(s) {\n    const dur  = Math.max(1, this.duration | 0);\n    const nSeg = this.segments;\n    this.seg = Math.floor(s / dur);\n    this.f   = s - this.seg * dur;\n    if (this.seg >= nSeg) { this.seg = nSeg - 1; this.f = dur; }\n    if (this.seg < 0)     { this.seg = 0;         this.f = 0;   }\n  }\n}\n","/**\n * @file Frustum planes and visibility tests — zero allocations.\n * @module tree/visibility\n * @license GPL-3.0-only\n *\n * Planes are a flat Float64Array(24): 6 planes × 4 floats [a, b, c, d].\n * All inputs are scalars. All outputs are INVISIBLE | VISIBLE | SEMIVISIBLE.\n */\n\nimport { INVISIBLE, VISIBLE, SEMIVISIBLE } from './constants.js';\n\n// Plane indices\nexport const PLANE_LEFT = 0, PLANE_RIGHT = 1, PLANE_NEAR = 2,\n             PLANE_FAR = 3, PLANE_TOP = 4, PLANE_BOTTOM = 5;\n\n/**\n * Compute 6 frustum planes from camera basis (world space) + projection params.\n * All inputs are scalars — the addon extracts them from the inverse view matrix\n * and projection queries before calling.\n *\n * @param {Float64Array} out  24-float output.\n * @param {number} posX,posY,posZ  Camera world position.\n * @param {number} vdX,vdY,vdZ    View direction (−Z in eye space, world).\n * @param {number} upX,upY,upZ    Camera up.\n * @param {number} rtX,rtY,rtZ    Camera right.\n * @param {boolean} ortho         true if orthographic.\n * @param {number} near,far,left,right,top,bottom  Projection plane values.\n */\nexport function frustumPlanes(\n  out,\n  posX, posY, posZ,\n  vdX, vdY, vdZ,\n  upX, upY, upZ,\n  rtX, rtY, rtZ,\n  ortho,\n  near, far, left, right, top, bottom\n) {\n  const posViewDir = posX*vdX + posY*vdY + posZ*vdZ;\n  const posRight   = posX*rtX + posY*rtY + posZ*rtZ;\n  const posUp      = posX*upX + posY*upY + posZ*upZ;\n\n  if (ortho) {\n    // Left: normal = −right\n    out[0] = -rtX; out[1] = -rtY; out[2] = -rtZ;\n    out[3] = -(posRight - left) * -1; // dot(pos - right*left, -right) ... simplified:\n    // Actually: d = dot(pointOnPlane, normal)\n    // pointOnPlane = pos + right*left (left is negative for standard ortho)\n    // normal = -right\n    // d = dot(pos + right*left, -right) = -posRight - left\n    out[3] = -posRight - left;\n\n    // Right: normal = right\n    out[4] = rtX; out[5] = rtY; out[6] = rtZ;\n    out[7] = posRight + right;\n\n    // Top: normal = up\n    out[16] = upX; out[17] = upY; out[18] = upZ;\n    out[19] = posUp - bottom; // note: p5 top/bottom are swapped in sign convention\n\n    // Bottom: normal = -up\n    out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n    out[23] = -posUp + top;\n  } else {\n    // Left\n    const hfovl = Math.atan2(left, near);\n    const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n    out[0] = vdX*shfovl - rtX*chfovl;\n    out[1] = vdY*shfovl - rtY*chfovl;\n    out[2] = vdZ*shfovl - rtZ*chfovl;\n    out[3] = shfovl*posViewDir - chfovl*posRight;\n\n    // Right\n    const hfovr = Math.atan2(right, near);\n    const shfovr = Math.sin(hfovr), chfovr = Math.cos(hfovr);\n    out[4] = -vdX*shfovr + rtX*chfovr;\n    out[5] = -vdY*shfovr + rtY*chfovr;\n    out[6] = -vdZ*shfovr + rtZ*chfovr;\n    out[7] = -shfovr*posViewDir + chfovr*posRight;\n\n    // Top\n    const fovt = Math.atan2(top, near);\n    const sfovt = Math.sin(fovt), cfovt = Math.cos(fovt);\n    out[16] = -vdX*sfovt + upX*cfovt;\n    out[17] = -vdY*sfovt + upY*cfovt;\n    out[18] = -vdZ*sfovt + upZ*cfovt;\n    out[19] = -sfovt*posViewDir + cfovt*posUp;\n\n    // Bottom\n    const fovb = Math.atan2(bottom, near);\n    const sfovb = Math.sin(fovb), cfovb = Math.cos(fovb);\n    out[20] = vdX*sfovb - upX*cfovb;\n    out[21] = vdY*sfovb - upY*cfovb;\n    out[22] = vdZ*sfovb - upZ*cfovb;\n    out[23] = sfovb*posViewDir - cfovb*posUp;\n  }\n\n  // Near plane: normal = −viewDir\n  out[8]  = -vdX; out[9]  = -vdY; out[10] = -vdZ;\n  out[11] = -posViewDir - near;\n\n  // Far plane: normal = viewDir\n  out[12] = vdX; out[13] = vdY; out[14] = vdZ;\n  out[15] = posViewDir + far;\n\n  return out;\n}\n\n/**\n * Signed distance from point to one frustum plane.\n * @param {Float64Array} planes  24-float planes buffer.\n * @param {number} planeIdx  0–5 (LEFT, RIGHT, NEAR, FAR, TOP, BOTTOM).\n * @param {number} px,py,pz  Point coordinates.\n * @returns {number}\n */\nexport function distanceToPlane(planes, planeIdx, px, py, pz) {\n  const b = planeIdx * 4;\n  return planes[b]*px + planes[b+1]*py + planes[b+2]*pz - planes[b+3];\n}\n\n/** @returns {number} INVISIBLE | VISIBLE | SEMIVISIBLE */\nexport function pointVisibility(planes, px, py, pz) {\n  for (let i = 0; i < 6; i++) {\n    if (distanceToPlane(planes, i, px, py, pz) > 0) return INVISIBLE;\n  }\n  return VISIBLE;\n}\n\n/** @returns {number} INVISIBLE | VISIBLE | SEMIVISIBLE */\nexport function sphereVisibility(planes, cx, cy, cz, radius) {\n  let allIn = true;\n  for (let i = 0; i < 6; i++) {\n    const d = distanceToPlane(planes, i, cx, cy, cz);\n    if (d > radius) return INVISIBLE;\n    if (d > 0 || -d < radius) allIn = false;\n  }\n  return allIn ? VISIBLE : SEMIVISIBLE;\n}\n\n/** @returns {number} INVISIBLE | VISIBLE | SEMIVISIBLE */\nexport function boxVisibility(planes, x0, y0, z0, x1, y1, z1) {\n  let allIn = true;\n  for (let i = 0; i < 6; i++) {\n    const b = i * 4;\n    const a = planes[b], bv = planes[b+1], c = planes[b+2], d = planes[b+3];\n    let allOut = true;\n    for (let corner = 0; corner < 8; corner++) {\n      const cx = (corner & 4) ? x0 : x1;\n      const cy = (corner & 2) ? y0 : y1;\n      const cz = (corner & 1) ? z0 : z1;\n      const dist = a*cx + bv*cy + c*cz - d;\n      if (dist > 0) { allIn = false; }\n      else { allOut = false; }\n    }\n    if (allOut) return INVISIBLE;\n  }\n  return allIn ? 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+{"version":3,"file":"index.js","sources":["../src/constants.js","../src/math.js","../src/track.js","../src/visibility.js"],"sourcesContent":["/**\n * @file Core constants — zero dependencies.\n * @module tree/constants\n * @license GPL-3.0-only\n */\n\n// Coordinate spaces\nexport const WORLD  = 'WORLD';\nexport const EYE    = 'EYE';\nexport const NDC    = 'NDC';\nexport const SCREEN = 'SCREEN';\nexport const MODEL  = 'MODEL';\nexport const MATRIX = 'MATRIX';\n\n// NDC Z convention (only difference between backends)\nexport const WEBGL  = -1;   // z ∈ [−1, 1]\nexport const WEBGPU =  0;   // z ∈ [0, 1]\n\n// Visibility results\nexport const INVISIBLE   = 0;\nexport const VISIBLE     = 1;\nexport const SEMIVISIBLE = 2;\n\n// Basis vectors (frozen plain arrays — duck-typed Vec3)\nexport const ORIGIN = Object.freeze([0, 0, 0]);\nexport const i  = Object.freeze([1, 0, 0]);\nexport const j  = Object.freeze([0, 1, 0]);\nexport const k  = Object.freeze([0, 0, 1]);\nexport const _i = Object.freeze([-1, 0, 0]);\nexport const _j = Object.freeze([0, -1, 0]);\nexport const _k = Object.freeze([0, 0, -1]);\n","/**\n * @file Pure numeric math — mat4, mat3, projection queries, space transforms.\n * @module tree/math\n * @license GPL-3.0-only\n *\n * CONVENTIONS (all functions in this module follow these):\n *\n *   Storage:    Column-major Float32Array / ArrayLike<number>.\n *               Element [col*4 + row] = M[row, col].\n *\n *   Multiply:   mat4Mul(out, A, B) = A · B   (standard math order).\n *\n *   Pipeline:   clip = P · V · M · v\n *               P = projection (eye → clip)\n *               V = view       (world → eye)\n *               M = model      (local → world)\n *\n *   PV:         All functions expecting a \"pv\" matrix receive P · V.\n *               This is what _worldToScreen, _ensurePV, etc. compute.\n *\n *   Matrix stack (translate/rotate/scale in p5):\n *     Each call post-multiplies: M = M · T, so:\n *       translate(tx,ty,tz); rotateY(a); scale(s);\n *     yields M = T · R · S. A vertex v is transformed as M·v = T·R·S·v\n *     (scaled first, then rotated, then translated — last-written-first-applied).\n *\n *   p5 bridge note (for implementors of host layers):\n *     p5.Matrix.mult(B) computes  B · this  (pre-multiply, arg on LEFT).\n *     p5 translate/rotate/scale do this · T  (post-multiply, GL stack).\n *     So p5's pvMatrix() = V.clone().mult(P) = P · V — same as ours.\n *     The bridge extracts .mat4 (Float32Array) and feeds it directly,\n *     or uses mat4Mul(out, proj, view) for the non-cached path.\n *\n * Every function uses only stack locals for intermediates (zero shared state).\n * Every mutating function writes to a caller-provided `out` and returns `out`.\n */\n\nimport {\n  WORLD, EYE, NDC, SCREEN, MODEL, MATRIX, WEBGL\n} from './constants.js';\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 operations\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = identity 4×4 */\nexport function mat4Identity(out) {\n  out[0]=1;out[1]=0;out[2]=0;out[3]=0;\n  out[4]=0;out[5]=1;out[6]=0;out[7]=0;\n  out[8]=0;out[9]=0;out[10]=1;out[11]=0;\n  out[12]=0;out[13]=0;out[14]=0;out[15]=1;\n  return out;\n}\n\n/** out = a * b  (column-major) */\nexport function mat4Mul(out, a, b) {\n  const a0=a[0],a1=a[1],a2=a[2],a3=a[3],\n        a4=a[4],a5=a[5],a6=a[6],a7=a[7],\n        a8=a[8],a9=a[9],a10=a[10],a11=a[11],\n        a12=a[12],a13=a[13],a14=a[14],a15=a[15];\n  let b0,b1,b2,b3;\n  b0=b[0];b1=b[1];b2=b[2];b3=b[3];\n  out[0]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[1]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[2]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[3]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=b[4];b1=b[5];b2=b[6];b3=b[7];\n  out[4]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[5]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[6]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[7]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=b[8];b1=b[9];b2=b[10];b3=b[11];\n  out[8]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[9]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[10]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[11]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=b[12];b1=b[13];b2=b[14];b3=b[15];\n  out[12]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[13]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[14]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[15]=a3*b0+a7*b1+a11*b2+a15*b3;\n  return out;\n}\n\n/** out = inverse(src). Returns null if singular. */\nexport function mat4Invert(out, src) {\n  const s=src;\n  const a00=s[0],a01=s[1],a02=s[2],a03=s[3],\n        a10=s[4],a11=s[5],a12=s[6],a13=s[7],\n        a20=s[8],a21=s[9],a22=s[10],a23=s[11],\n        a30=s[12],a31=s[13],a32=s[14],a33=s[15];\n  const b00=a00*a11-a01*a10,b01=a00*a12-a02*a10,\n        b02=a00*a13-a03*a10,b03=a01*a12-a02*a11,\n        b04=a01*a13-a03*a11,b05=a02*a13-a03*a12,\n        b06=a20*a31-a21*a30,b07=a20*a32-a22*a30,\n        b08=a20*a33-a23*a30,b09=a21*a32-a22*a31,\n        b10=a21*a33-a23*a31,b11=a22*a33-a23*a32;\n  let det=b00*b11-b01*b10+b02*b09+b03*b08-b04*b07+b05*b06;\n  if (Math.abs(det) < 1e-12) return null;\n  det=1/det;\n  out[0]=(a11*b11-a12*b10+a13*b09)*det;\n  out[1]=(a02*b10-a01*b11-a03*b09)*det;\n  out[2]=(a31*b05-a32*b04+a33*b03)*det;\n  out[3]=(a22*b04-a21*b05-a23*b03)*det;\n  out[4]=(a12*b08-a10*b11-a13*b07)*det;\n  out[5]=(a00*b11-a02*b08+a03*b07)*det;\n  out[6]=(a32*b02-a30*b05-a33*b01)*det;\n  out[7]=(a20*b05-a22*b02+a23*b01)*det;\n  out[8]=(a10*b10-a11*b08+a13*b06)*det;\n  out[9]=(a01*b08-a00*b10-a03*b06)*det;\n  out[10]=(a30*b04-a31*b02+a33*b00)*det;\n  out[11]=(a21*b02-a20*b04-a23*b00)*det;\n  out[12]=(a11*b07-a10*b09-a12*b06)*det;\n  out[13]=(a00*b09-a01*b07+a02*b06)*det;\n  out[14]=(a31*b01-a30*b03-a32*b00)*det;\n  out[15]=(a20*b03-a21*b01+a22*b00)*det;\n  return out;\n}\n\n/** out = transpose(src) */\nexport function mat4Transpose(out, src) {\n  if (out === src) {\n    let t;\n    t=src[1];out[1]=src[4];out[4]=t;\n    t=src[2];out[2]=src[8];out[8]=t;\n    t=src[3];out[3]=src[12];out[12]=t;\n    t=src[6];out[6]=src[9];out[9]=t;\n    t=src[7];out[7]=src[13];out[13]=t;\n    t=src[11];out[11]=src[14];out[14]=t;\n  } else {\n    out[0]=src[0];out[1]=src[4];out[2]=src[8];out[3]=src[12];\n    out[4]=src[1];out[5]=src[5];out[6]=src[9];out[7]=src[13];\n    out[8]=src[2];out[9]=src[6];out[10]=src[10];out[11]=src[14];\n    out[12]=src[3];out[13]=src[7];out[14]=src[11];out[15]=src[15];\n  }\n  return out;\n}\n\n/** out[0..8] = inverseTranspose(upper3×3(src))  (normal matrix) */\nexport function mat3NormalFromMat4(out, src) {\n  const a00=src[0],a01=src[1],a02=src[2],\n        a10=src[4],a11=src[5],a12=src[6],\n        a20=src[8],a21=src[9],a22=src[10];\n  const b01=a22*a11-a12*a21,\n        b11=-a22*a01+a02*a21,\n        b21=a12*a01-a02*a11;\n  let det=a00*b01+a10*b11+a20*b21;\n  if (Math.abs(det) < 1e-12) { for(let i=0;i<9;i++)out[i]=0; return out; }\n  det=1/det;\n  out[0]=b01*det;\n  out[1]=(-a22*a10+a12*a20)*det;\n  out[2]=(a21*a10-a11*a20)*det;\n  out[3]=b11*det;\n  out[4]=(a22*a00-a02*a20)*det;\n  out[5]=(-a21*a00+a01*a20)*det;\n  out[6]=b21*det;\n  out[7]=(-a12*a00+a02*a10)*det;\n  out[8]=(a11*a00-a01*a10)*det;\n  return out;\n}\n\n/** out = mat4 * [x,y,z,1], perspective-divides, writes xyz */\nexport function mat4MulPoint(out, m, x, y, z) {\n  const rx = m[0]*x + m[4]*y + m[8]*z  + m[12];\n  const ry = m[1]*x + m[5]*y + m[9]*z  + m[13];\n  const rz = m[2]*x + m[6]*y + m[10]*z + m[14];\n  const rw = m[3]*x + m[7]*y + m[11]*z + m[15];\n  if (rw !== 0 && rw !== 1) {\n    out[0] = rx/rw; out[1] = ry/rw; out[2] = rz/rw;\n  } else {\n    out[0] = rx; out[1] = ry; out[2] = rz;\n  }\n  return out;\n}\n\n/** out = mat4 * [x,y,z,0]  (direction, no translation) */\nexport function mat4MulDir(out, m, x, y, z) {\n  out[0] = m[0]*x + m[4]*y + m[8]*z;\n  out[1] = m[1]*x + m[5]*y + m[9]*z;\n  out[2] = m[2]*x + m[6]*y + m[10]*z;\n  return out;\n}\n\n/** out = upper-left 3×3 transposed from mat4 (direction / dMatrix extraction) */\nexport function mat3FromMat4T(out, m) {\n  out[0]=m[0]; out[1]=m[4]; out[2]=m[8];\n  out[3]=m[1]; out[4]=m[5]; out[5]=m[9];\n  out[6]=m[2]; out[7]=m[6]; out[8]=m[10];\n  return out;\n}\n\n/** out = mat3 * vec3 */\nexport function mat3MulVec3(out, m, x, y, z) {\n  out[0] = m[0]*x + m[3]*y + m[6]*z;\n  out[1] = m[1]*x + m[4]*y + m[7]*z;\n  out[2] = m[2]*x + m[5]*y + m[8]*z;\n  return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Projection queries\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** @returns {boolean} true if orthographic */\nexport function projIsOrtho(p) { return p[15] !== 0; }\n\n/**\n * Near plane distance.\n * @param {ArrayLike<number>} p  Projection Mat4\n * @param {number} ndcZMin  WEBGL (−1) or WEBGPU (0)\n */\nexport function projNear(p, ndcZMin) {\n  return p[15] === 0\n    ? p[14] / (p[10] + ndcZMin)\n    : (p[14] - ndcZMin) / p[10];\n}\n\n/** Far plane distance (convention-independent: far always maps to NDC z=1). */\nexport function projFar(p) {\n  return p[15] === 0\n    ? p[14] / (1 + p[10])\n    : (p[14] - 1) / p[10];\n}\n\nexport function projLeft(p, ndcZMin) {\n  return p[15] === 1\n    ? -(1 + p[12]) / p[0]\n    : projNear(p, ndcZMin) * (p[8] - 1) / p[0];\n}\n\nexport function projRight(p, ndcZMin) {\n  return p[15] === 1\n    ? (1 - p[12]) / p[0]\n    : projNear(p, ndcZMin) * (1 + p[8]) / p[0];\n}\n\nexport function projTop(p, ndcZMin) {\n  return p[15] === 1\n    ? (p[13] - 1) / p[5]\n    : projNear(p, ndcZMin) * (p[9] - 1) / p[5];\n}\n\nexport function projBottom(p, ndcZMin) {\n  return p[15] === 1\n    ? (1 + p[13]) / p[5]\n    : projNear(p, ndcZMin) * (1 + p[9]) / p[5];\n}\n\n/** Vertical fov (radians, perspective only). */\nexport function projFov(p) {\n  return Math.abs(2 * Math.atan(1 / p[5]));\n}\n\n/** Horizontal fov (radians, perspective only). */\nexport function projHfov(p) {\n  return Math.abs(2 * Math.atan(1 / p[0]));\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices (convenience)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = proj * view = P · V  (standard GL) */\nexport function mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n\n/** out = view * model = V · M  (standard GL) */\nexport function mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n/** out = proj * view * model = P · V · M  (standard GL) */\nexport function mat4PMV(out, proj, model, view) {\n  // MV = view * model (V · M)\n  const t0=view[0],t1=view[1],t2=view[2],t3=view[3],\n        t4=view[4],t5=view[5],t6=view[6],t7=view[7],\n        t8=view[8],t9=view[9],t10=view[10],t11=view[11],\n        t12=view[12],t13=view[13],t14=view[14],t15=view[15];\n  let b0,b1,b2,b3;\n  b0=model[0];b1=model[1];b2=model[2];b3=model[3];\n  const mv0=t0*b0+t4*b1+t8*b2+t12*b3, mv1=t1*b0+t5*b1+t9*b2+t13*b3,\n        mv2=t2*b0+t6*b1+t10*b2+t14*b3, mv3=t3*b0+t7*b1+t11*b2+t15*b3;\n  b0=model[4];b1=model[5];b2=model[6];b3=model[7];\n  const mv4=t0*b0+t4*b1+t8*b2+t12*b3, mv5=t1*b0+t5*b1+t9*b2+t13*b3,\n        mv6=t2*b0+t6*b1+t10*b2+t14*b3, mv7=t3*b0+t7*b1+t11*b2+t15*b3;\n  b0=model[8];b1=model[9];b2=model[10];b3=model[11];\n  const mv8=t0*b0+t4*b1+t8*b2+t12*b3, mv9=t1*b0+t5*b1+t9*b2+t13*b3,\n        mv10=t2*b0+t6*b1+t10*b2+t14*b3, mv11=t3*b0+t7*b1+t11*b2+t15*b3;\n  b0=model[12];b1=model[13];b2=model[14];b3=model[15];\n  const mv12=t0*b0+t4*b1+t8*b2+t12*b3, mv13=t1*b0+t5*b1+t9*b2+t13*b3,\n        mv14=t2*b0+t6*b1+t10*b2+t14*b3, mv15=t3*b0+t7*b1+t11*b2+t15*b3;\n  // PMV = proj * MV  (P · V · M)\n  const p0=proj[0],p1=proj[1],p2=proj[2],p3=proj[3],\n        p4=proj[4],p5=proj[5],p6=proj[6],p7=proj[7],\n        p8=proj[8],p9=proj[9],p10=proj[10],p11=proj[11],\n        p12=proj[12],p13=proj[13],p14=proj[14],p15=proj[15];\n  out[0]=p0*mv0+p4*mv1+p8*mv2+p12*mv3;\n  out[1]=p1*mv0+p5*mv1+p9*mv2+p13*mv3;\n  out[2]=p2*mv0+p6*mv1+p10*mv2+p14*mv3;\n  out[3]=p3*mv0+p7*mv1+p11*mv2+p15*mv3;\n  out[4]=p0*mv4+p4*mv5+p8*mv6+p12*mv7;\n  out[5]=p1*mv4+p5*mv5+p9*mv6+p13*mv7;\n  out[6]=p2*mv4+p6*mv5+p10*mv6+p14*mv7;\n  out[7]=p3*mv4+p7*mv5+p11*mv6+p15*mv7;\n  out[8]=p0*mv8+p4*mv9+p8*mv10+p12*mv11;\n  out[9]=p1*mv8+p5*mv9+p9*mv10+p13*mv11;\n  out[10]=p2*mv8+p6*mv9+p10*mv10+p14*mv11;\n  out[11]=p3*mv8+p7*mv9+p11*mv10+p15*mv11;\n  out[12]=p0*mv12+p4*mv13+p8*mv14+p12*mv15;\n  out[13]=p1*mv12+p5*mv13+p9*mv14+p13*mv15;\n  out[14]=p2*mv12+p6*mv13+p10*mv14+p14*mv15;\n  out[15]=p3*mv12+p7*mv13+p11*mv14+p15*mv15;\n  return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Space transforms — mapLocation / mapDirection\n// ═══════════════════════════════════════════════════════════════════════════\n//\n// FLAT DISPATCH: every from→to pair is a self-contained leaf.\n// No path calls back into mapLocation/mapDirection (no reentrancy).\n// All intermediates are stack locals (zero shared state).\n//\n\n// ── Location Transform ───────────────────────────────────────────────────\n\n/**\n * Relative transform for locations (points).\n *\n * out = inv(to) · from\n *\n * Maps a point from the `from` frame into the `to` frame:\n *\n *   p_to = out · p_from\n *\n * @param {ArrayLike<number>} out Destination 4×4 matrix (length 16).\n * @param {ArrayLike<number>} from Source frame transform.\n * @param {ArrayLike<number>} to Destination frame transform.\n * @returns {ArrayLike<number>|null} `out`, or `null` if `to` is singular.\n */\nexport function mat4Location(out, from, to) {\n  return mat4Invert(out, to) && mat4Mul(out, out, from);\n}\n\n// ── Direction Transform ──────────────────────────────────────────────────\n\n/**\n * Relative transform for directions (vectors).\n *\n * Uses only the upper-left 3×3 blocks, ignoring translation.\n *\n * Corresponds to:\n *\n *   out = to₃ · inv(from₃)\n *\n * and maps directions as:\n *\n *   d_to = out · d_from\n *\n * Note: the final write is transposed so the result matches this module's\n * matrix layout and multiplication convention.\n *\n * @param {ArrayLike<number>} out Destination 3×3 matrix (length 9).\n * @param {ArrayLike<number>} from Source frame transform.\n * @param {ArrayLike<number>} to Destination frame transform.\n * @returns {ArrayLike<number>|null} `out`, or `null` if `from` is singular.\n */\nexport function mat3Direction(out, from, to) {\n  const a00=from[0], a01=from[1], a02=from[2],\n        a10=from[4], a11=from[5], a12=from[6],\n        a20=from[8], a21=from[9], a22=from[10];\n  const b01=a22*a11-a12*a21,\n        b11=a12*a20-a22*a10,\n        b21=a21*a10-a11*a20;\n  let det=a00*b01+a01*b11+a02*b21;\n  if (Math.abs(det) < 1e-12) return null;\n  det=1/det;\n  const i00=b01*det;\n  const i01=(a02*a21-a22*a01)*det;\n  const i02=(a12*a01-a02*a11)*det;\n  const i10=b11*det;\n  const i11=(a22*a00-a02*a20)*det;\n  const i12=(a02*a10-a12*a00)*det;\n  const i20=b21*det;\n  const i21=(a01*a20-a21*a00)*det;\n  const i22=(a11*a00-a01*a10)*det;\n  const t00=to[0], t01=to[1], t02=to[2],\n        t10=to[4], t11=to[5], t12=to[6],\n        t20=to[8], t21=to[9], t22=to[10];\n  const m00=t00*i00+t10*i01+t20*i02;\n  const m01=t01*i00+t11*i01+t21*i02;\n  const m02=t02*i00+t12*i01+t22*i02;\n  const m10=t00*i10+t10*i11+t20*i12;\n  const m11=t01*i10+t11*i11+t21*i12;\n  const m12=t02*i10+t12*i11+t22*i12;\n  const m20=t00*i20+t10*i21+t20*i22;\n  const m21=t01*i20+t11*i21+t21*i22;\n  const m22=t02*i20+t12*i21+t22*i22;\n  out[0]=m00; out[1]=m10; out[2]=m20;\n  out[3]=m01; out[4]=m11; out[5]=m21;\n  out[6]=m02; out[7]=m12; out[8]=m22;\n  return out;\n}\n\n// ── Location leaf helpers ────────────────────────────────────────────────\n\nfunction _worldToScreen(out, px, py, pz, pv, vp, ndcZMin) {\n  const x = pv[0]*px+pv[4]*py+pv[8]*pz+pv[12];\n  const y = pv[1]*px+pv[5]*py+pv[9]*pz+pv[13];\n  const z = pv[2]*px+pv[6]*py+pv[10]*pz+pv[14];\n  const w = pv[3]*px+pv[7]*py+pv[11]*pz+pv[15];\n  if (w === 0) { out[0]=px; out[1]=py; out[2]=pz; return out; }\n  const nx=x/w, ny=y/w, nz=z/w;\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = (nx*0.5+0.5)*vp[2]+vp[0];\n  out[1] = (ny*0.5+0.5)*vp[3]+vp[1];\n  out[2] = (nz - ndcZMin) / ndcZRange;\n  return out;\n}\n\nfunction _screenToWorld(out, px, py, pz, ipv, vp, ndcZMin) {\n  const sx=(px-vp[0])/vp[2], sy=(py-vp[1])/vp[3];\n  const nx=sx*2-1, ny=sy*2-1;\n  const ndcZRange = 1 - ndcZMin;\n  const nz = pz * ndcZRange + ndcZMin;\n  const x=ipv[0]*nx+ipv[4]*ny+ipv[8]*nz+ipv[12];\n  const y=ipv[1]*nx+ipv[5]*ny+ipv[9]*nz+ipv[13];\n  const z=ipv[2]*nx+ipv[6]*ny+ipv[10]*nz+ipv[14];\n  const w=ipv[3]*nx+ipv[7]*ny+ipv[11]*nz+ipv[15];\n  if (w === 0) { out[0]=px; out[1]=py; out[2]=pz; return out; }\n  out[0]=x/w; out[1]=y/w; out[2]=z/w;\n  return out;\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n  const x=pv[0]*px+pv[4]*py+pv[8]*pz+pv[12];\n  const y=pv[1]*px+pv[5]*py+pv[9]*pz+pv[13];\n  const z=pv[2]*px+pv[6]*py+pv[10]*pz+pv[14];\n  const w=pv[3]*px+pv[7]*py+pv[11]*pz+pv[15];\n  if (w === 0) { out[0]=px; out[1]=py; out[2]=pz; return out; }\n  out[0]=x/w; out[1]=y/w; out[2]=z/w;\n  return out;\n}\n\nfunction _ndcToWorld(out, px, py, pz, ipv) {\n  const x=ipv[0]*px+ipv[4]*py+ipv[8]*pz+ipv[12];\n  const y=ipv[1]*px+ipv[5]*py+ipv[9]*pz+ipv[13];\n  const z=ipv[2]*px+ipv[6]*py+ipv[10]*pz+ipv[14];\n  const w=ipv[3]*px+ipv[7]*py+ipv[11]*pz+ipv[15];\n  if (w === 0) { out[0]=px; out[1]=py; out[2]=pz; return out; }\n  out[0]=x/w; out[1]=y/w; out[2]=z/w;\n  return out;\n}\n\nfunction _screenToNDC(out, px, py, pz, vp, ndcZMin) {\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = ((px-vp[0])/vp[2])*2-1;\n  out[1] = ((py-vp[1])/vp[3])*2-1;\n  out[2] = pz * ndcZRange + ndcZMin;\n  return out;\n}\n\nfunction _ndcToScreen(out, px, py, pz, vp, ndcZMin) {\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = (px*0.5+0.5)*vp[2]+vp[0];\n  out[1] = (py*0.5+0.5)*vp[3]+vp[1];\n  out[2] = (pz - ndcZMin) / ndcZRange;\n  return out;\n}\n\n// ── Inline PV and IPV helpers (stack-local, for paths that need them) ────\n\nfunction _ensurePV(m) {\n  if (m.pv) return m.pv;\n  // Inline P · V (standard GL: clip = P · V · world_point)\n  const p = m.proj, v = m.view;\n  return [\n    p[0]*v[0]+p[4]*v[1]+p[8]*v[2]+p[12]*v[3],\n    p[1]*v[0]+p[5]*v[1]+p[9]*v[2]+p[13]*v[3],\n    p[2]*v[0]+p[6]*v[1]+p[10]*v[2]+p[14]*v[3],\n    p[3]*v[0]+p[7]*v[1]+p[11]*v[2]+p[15]*v[3],\n    p[0]*v[4]+p[4]*v[5]+p[8]*v[6]+p[12]*v[7],\n    p[1]*v[4]+p[5]*v[5]+p[9]*v[6]+p[13]*v[7],\n    p[2]*v[4]+p[6]*v[5]+p[10]*v[6]+p[14]*v[7],\n    p[3]*v[4]+p[7]*v[5]+p[11]*v[6]+p[15]*v[7],\n    p[0]*v[8]+p[4]*v[9]+p[8]*v[10]+p[12]*v[11],\n    p[1]*v[8]+p[5]*v[9]+p[9]*v[10]+p[13]*v[11],\n    p[2]*v[8]+p[6]*v[9]+p[10]*v[10]+p[14]*v[11],\n    p[3]*v[8]+p[7]*v[9]+p[11]*v[10]+p[15]*v[11],\n    p[0]*v[12]+p[4]*v[13]+p[8]*v[14]+p[12]*v[15],\n    p[1]*v[12]+p[5]*v[13]+p[9]*v[14]+p[13]*v[15],\n    p[2]*v[12]+p[6]*v[13]+p[10]*v[14]+p[14]*v[15],\n    p[3]*v[12]+p[7]*v[13]+p[11]*v[14]+p[15]*v[15],\n  ];\n}\n\n/**\n * Map a point between coordinate spaces.\n *\n * @param {Vec3}   out        Result written here.\n * @param {number} px,py,pz   Input point.\n * @param {string} from       Source space.\n * @param {string} to         Target space.\n * @param {object} m          Matrices bag { proj, view, eye?, pv?, ipv?, model?,\n *                             fromFrame?, toFrameInv? }.\n * @param {Vec4}   vp         Viewport [x, y, width, height].\n * @param {number} ndcZMin    WEBGL (−1) or WEBGPU (0).\n */\nexport function mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n  // WORLD ↔ SCREEN\n  if (from === WORLD && to === SCREEN)\n    return _worldToScreen(out, px,py,pz, _ensurePV(m), vp, ndcZMin);\n  if (from === SCREEN && to === WORLD)\n    return _screenToWorld(out, px,py,pz, m.ipv, vp, ndcZMin);\n\n  // WORLD ↔ NDC\n  if (from === WORLD && to === NDC)\n    return _worldToNDC(out, px,py,pz, _ensurePV(m));\n  if (from === NDC && to === WORLD)\n    return _ndcToWorld(out, px,py,pz, m.ipv);\n\n  // SCREEN ↔ NDC\n  if (from === SCREEN && to === NDC)\n    return _screenToNDC(out, px,py,pz, vp, ndcZMin);\n  if (from === NDC && to === SCREEN)\n    return _ndcToScreen(out, px,py,pz, vp, ndcZMin);\n\n  // WORLD ↔ EYE\n  if (from === WORLD && to === EYE)\n    return mat4MulPoint(out, m.view, px,py,pz);\n  if (from === EYE && to === WORLD)\n    return mat4MulPoint(out, m.eye, px,py,pz);\n\n  // EYE ↔ SCREEN (inline: eye→world→screen / screen→world→eye)\n  if (from === EYE && to === SCREEN) {\n    const ex=m.eye[0]*px+m.eye[4]*py+m.eye[8]*pz+m.eye[12],\n          ey=m.eye[1]*px+m.eye[5]*py+m.eye[9]*pz+m.eye[13],\n          ez=m.eye[2]*px+m.eye[6]*py+m.eye[10]*pz+m.eye[14];\n    return _worldToScreen(out, ex,ey,ez, _ensurePV(m), vp, ndcZMin);\n  }\n  if (from === SCREEN && to === EYE) {\n    _screenToWorld(out, px,py,pz, m.ipv, vp, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.view, wx,wy,wz);\n  }\n\n  // EYE ↔ NDC (inline: eye→world→ndc / ndc→world→eye)\n  if (from === EYE && to === NDC) {\n    const ex=m.eye[0]*px+m.eye[4]*py+m.eye[8]*pz+m.eye[12],\n          ey=m.eye[1]*px+m.eye[5]*py+m.eye[9]*pz+m.eye[13],\n          ez=m.eye[2]*px+m.eye[6]*py+m.eye[10]*pz+m.eye[14];\n    return _worldToNDC(out, ex,ey,ez, _ensurePV(m));\n  }\n  if (from === NDC && to === EYE) {\n    _ndcToWorld(out, px,py,pz, m.ipv);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.view, wx,wy,wz);\n  }\n\n  // MATRIX (custom frame) ↔ WORLD\n  if (from === MATRIX && to === WORLD)\n    return mat4MulPoint(out, m.fromFrame, px,py,pz);\n  if (from === WORLD && to === MATRIX)\n    return mat4MulPoint(out, m.toFrameInv, px,py,pz);\n\n  // MATRIX ↔ EYE\n  if (from === MATRIX && to === EYE) {\n    const fx=m.fromFrame[0]*px+m.fromFrame[4]*py+m.fromFrame[8]*pz+m.fromFrame[12],\n          fy=m.fromFrame[1]*px+m.fromFrame[5]*py+m.fromFrame[9]*pz+m.fromFrame[13],\n          fz=m.fromFrame[2]*px+m.fromFrame[6]*py+m.fromFrame[10]*pz+m.fromFrame[14];\n    return mat4MulPoint(out, m.view, fx,fy,fz);\n  }\n  if (from === EYE && to === MATRIX) {\n    const ex=m.eye[0]*px+m.eye[4]*py+m.eye[8]*pz+m.eye[12],\n          ey=m.eye[1]*px+m.eye[5]*py+m.eye[9]*pz+m.eye[13],\n          ez=m.eye[2]*px+m.eye[6]*py+m.eye[10]*pz+m.eye[14];\n    return mat4MulPoint(out, m.toFrameInv, ex,ey,ez);\n  }\n\n  // MATRIX ↔ SCREEN\n  if (from === MATRIX && to === SCREEN) {\n    const fx=m.fromFrame[0]*px+m.fromFrame[4]*py+m.fromFrame[8]*pz+m.fromFrame[12],\n          fy=m.fromFrame[1]*px+m.fromFrame[5]*py+m.fromFrame[9]*pz+m.fromFrame[13],\n          fz=m.fromFrame[2]*px+m.fromFrame[6]*py+m.fromFrame[10]*pz+m.fromFrame[14];\n    return _worldToScreen(out, fx,fy,fz, _ensurePV(m), vp, ndcZMin);\n  }\n  if (from === SCREEN && to === MATRIX) {\n    _screenToWorld(out, px,py,pz, m.ipv, vp, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ NDC\n  if (from === MATRIX && to === NDC) {\n    const fx=m.fromFrame[0]*px+m.fromFrame[4]*py+m.fromFrame[8]*pz+m.fromFrame[12],\n          fy=m.fromFrame[1]*px+m.fromFrame[5]*py+m.fromFrame[9]*pz+m.fromFrame[13],\n          fz=m.fromFrame[2]*px+m.fromFrame[6]*py+m.fromFrame[10]*pz+m.fromFrame[14];\n    return _worldToNDC(out, fx,fy,fz, _ensurePV(m));\n  }\n  if (from === NDC && to === MATRIX) {\n    _ndcToWorld(out, px,py,pz, m.ipv);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ MATRIX\n  if (from === MATRIX && to === MATRIX) {\n    const fx=m.fromFrame[0]*px+m.fromFrame[4]*py+m.fromFrame[8]*pz+m.fromFrame[12],\n          fy=m.fromFrame[1]*px+m.fromFrame[5]*py+m.fromFrame[9]*pz+m.fromFrame[13],\n          fz=m.fromFrame[2]*px+m.fromFrame[6]*py+m.fromFrame[10]*pz+m.fromFrame[14];\n    return mat4MulPoint(out, m.toFrameInv, fx,fy,fz);\n  }\n\n  // Fallback\n  out[0]=px; out[1]=py; out[2]=pz;\n  return out;\n}\n\n// ── Direction helpers ────────────────────────────────────────────────────\n\n/** Apply the 3×3 linear part of a mat4 (rotation/scale, no translation) */\nfunction _applyDir(out, mat, dx, dy, dz) {\n  out[0]=mat[0]*dx+mat[4]*dy+mat[8]*dz;\n  out[1]=mat[1]*dx+mat[5]*dy+mat[9]*dz;\n  out[2]=mat[2]*dx+mat[6]*dy+mat[10]*dz;\n  return out;\n}\n\n/**\n * World→Screen direction. Self-contained: reads proj scalars + view mat.\n * The existing p5.tree code nested _direction and _location calls here;\n * this version inlines all math with stack locals.\n */\nfunction _worldToScreenDir(out, dx, dy, dz, proj, view, vpW, vpH, ndcZMin) {\n  // 1. World → Eye direction: R · d (standard column-major mat × vec)\n  const edx = view[0]*dx + view[4]*dy + view[8]*dz;\n  const edy = view[1]*dx + view[5]*dy + view[9]*dz;\n  const edz = view[2]*dx + view[6]*dy + view[10]*dz;\n\n  const isPersp = proj[15] === 0;\n  let sdx = edx, sdy = edy;\n\n  if (isPersp) {\n    // Camera-eye Z of world origin (inline WORLD→EYE for [0,0,0]):\n    // view * [0,0,0,1] = column 3 of view\n    const zEye = view[8]*0 + view[9]*0 + view[10]*0 + view[14]; // = view[14]\n    const halfTan = Math.tan(projFov(proj) / 2);\n    const k = Math.abs(zEye * halfTan);\n    const pixPerUnit = vpH / (2 * k);\n    sdx *= pixPerUnit;\n    sdy *= pixPerUnit;\n  } else {\n    // Ortho: pixels per world unit along X/Y\n    const orthoW = Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin));\n    sdx *= vpW / orthoW;\n    sdy *= vpH / Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin));\n  }\n\n  // Z: map eye-space dz to screen-space dz\n  const near = projNear(proj, ndcZMin), far = projFar(proj);\n  const depthRange = near - far;\n  const ndcZRange = 1 - ndcZMin;\n  let sdz;\n  if (isPersp) {\n    sdz = edz / (depthRange / Math.tan(projFov(proj) / 2));\n  } else {\n    sdz = edz / (depthRange / (Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin)) / vpW));\n  }\n\n  out[0] = sdx; out[1] = sdy; out[2] = sdz;\n  return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, view, eye, vpW, vpH, ndcZMin) {\n  const isPersp = proj[15] === 0;\n  let edx = dx, edy = dy;\n\n  if (isPersp) {\n    const zEye = view[14];\n    const halfTan = Math.tan(projFov(proj) / 2);\n    const k = Math.abs(zEye * halfTan);\n    edx *= 2 * k / vpH;\n    edy *= 2 * k / vpH;\n  } else {\n    const orthoW = Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin));\n    edx *= orthoW / vpW;\n    edy *= Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n  }\n\n  const near = projNear(proj, ndcZMin), far = projFar(proj);\n  const depthRange = near - far;\n  let edz;\n  if (isPersp) {\n    edz = dz * (depthRange / Math.tan(projFov(proj) / 2));\n  } else {\n    edz = dz * (depthRange / (Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin)) / vpW));\n  }\n\n  // Eye → World direction (dMatrix = upper-left 3×3 of eye = inv(view))\n  _applyDir(out, eye, edx, edy, edz);\n  return out;\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = 2 * dx / vpW;\n  out[1] = 2 * dy / vpH;\n  out[2] = dz * ndcZRange;\n  return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n  const ndcZRange = 1 - ndcZMin;\n  out[0] = vpW * dx / 2;\n  out[1] = vpH * dy / 2;\n  out[2] = dz / ndcZRange;\n  return out;\n}\n\n/**\n * Map a direction between coordinate spaces.\n * Same flat-dispatch as mapLocation.\n */\nexport function mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n  const vpW = Math.abs(vp[2]), vpH = Math.abs(vp[3]);\n\n  // EYE ↔ WORLD (most common: dMatrix operation)\n  if (from === EYE && to === WORLD) return _applyDir(out, m.eye, dx, dy, dz);\n  if (from === WORLD && to === EYE) return _applyDir(out, m.view, dx, dy, dz);\n\n  // WORLD ↔ SCREEN\n  if (from === WORLD && to === SCREEN)\n    return _worldToScreenDir(out, dx,dy,dz, m.proj, m.view, vpW, vpH, ndcZMin);\n  if (from === SCREEN && to === WORLD)\n    return _screenToWorldDir(out, dx,dy,dz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n\n  // SCREEN ↔ NDC\n  if (from === SCREEN && to === NDC)\n    return _screenToNDCDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n  if (from === NDC && to === SCREEN)\n    return _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n\n  // WORLD ↔ NDC (chain: world→screen→ndc / ndc→screen→world)\n  if (from === WORLD && to === NDC) {\n    _worldToScreenDir(out, dx,dy,dz, m.proj, m.view, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === WORLD) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToWorldDir(out, sx,sy,sz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n  }\n\n  // EYE ↔ SCREEN\n  if (from === EYE && to === SCREEN) {\n    // eye→world→screen\n    _applyDir(out, m.eye, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _worldToScreenDir(out, wx,wy,wz, m.proj, m.view, vpW, vpH, ndcZMin);\n  }\n  if (from === SCREEN && to === EYE) {\n    _screenToWorldDir(out, dx,dy,dz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.view, wx,wy,wz);\n  }\n\n  // EYE ↔ NDC\n  if (from === EYE && to === NDC) {\n    _applyDir(out, m.eye, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    _worldToScreenDir(out, wx,wy,wz, m.proj, m.view, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === EYE) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    _screenToWorldDir(out, sx,sy,sz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.view, wx,wy,wz);\n  }\n\n  // MATRIX ↔ WORLD\n  if (from === MATRIX && to === WORLD) return _applyDir(out, m.fromFrame, dx,dy,dz);\n  if (from === WORLD && to === MATRIX) return _applyDir(out, m.toFrameInv, dx,dy,dz);\n\n  // MATRIX ↔ EYE\n  if (from === MATRIX && to === EYE) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.view, wx,wy,wz);\n  }\n  if (from === EYE && to === MATRIX) {\n    _applyDir(out, m.eye, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ SCREEN\n  if (from === MATRIX && to === SCREEN) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _worldToScreenDir(out, wx,wy,wz, m.proj, m.view, vpW, vpH, ndcZMin);\n  }\n  if (from === SCREEN && to === MATRIX) {\n    _screenToWorldDir(out, dx,dy,dz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ NDC\n  if (from === MATRIX && to === NDC) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    _worldToScreenDir(out, wx,wy,wz, m.proj, m.view, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === MATRIX) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    _screenToWorldDir(out, sx,sy,sz, m.proj, m.view, m.eye, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ MATRIX\n  if (from === MATRIX && to === MATRIX) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // Fallback\n  out[0]=dx; out[1]=dy; out[2]=dz;\n  return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// pixelRatio\n// ═══════════════════════════════════════════════════════════════════════════\n\n/**\n * World-units-per-pixel at a given eye-space Z depth.\n * @param {ArrayLike<number>} proj  Projection Mat4.\n * @param {number} vpH      Viewport height (pixels).\n * @param {number} eyeZ     Eye-space Z of the point (negative for in-front-of camera).\n * @param {number} ndcZMin  WEBGL or WEBGPU.\n */\nexport function pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n  if (projIsOrtho(proj)) {\n    return Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n  }\n  return 2 * Math.abs(eyeZ) * Math.tan(projFov(proj) / 2) / vpH;\n}\n","/**\n * @file Pure quaternion/spline math + PoseTrack state machine.\n * @module tree/track\n * @license GPL-3.0-only\n *\n * Zero dependencies.  No p5, DOM, WebGL, or WebGPU usage.\n * All quaternion operations use flat [x,y,z,w] arrays (w-last = glTF layout).\n * PoseTrack is a pure state machine that stores {pos,rot,scl} keyframes\n * and advances a cursor via tick().\n *\n * ── Exports ──────────────────────────────────────────────────────────────────\n *  Quaternion helpers\n *    qSet qCopy qDot qNormalize qNegate qMul qSlerp\n *    qFromAxisAngle qFromLookDir qFromRotMat3x3 qFromMat4 qToMat4\n *    quatToAxisAngle\n *  Spline / vector helpers\n *    catmullRomVec3  lerpVec3\n *  Transform / mat4 helpers\n *    transformToMat4  mat4ToTransform\n *  Track\n *    PoseTrack\n *\n * ── Hook architecture ─────────────────────────────────────────────────────────\n *  _onActivate / _onDeactivate  — lib-space (underscore, set by host layer)\n *    Fire exactly on playing transitions: false→true / true→false.\n *    Used by the addon to register/unregister from the draw-loop tick set.\n *\n *  onPlay / onEnd / onStop      — user-space (public, set by user)\n *    onPlay : fires in play()  when playback starts   (false→true transition).\n *    onEnd  : fires in tick()  when cursor reaches a natural boundary (once mode).\n *    onStop : fires in stop()  and reset() — explicit, user-initiated deactivation.\n *\n *    onEnd and onStop are mutually exclusive per deactivation event.\n *    To react to any deactivation, chain both.\n *\n *  Firing order:\n *    play()  → onPlay → _onActivate\n *    tick()  → onEnd  → _onDeactivate   (natural boundary, once mode)\n *    stop()  → onStop → _onDeactivate\n *    reset() → onStop → _onDeactivate\n *\n * ── Playback semantics (rate) ─────────────────────────────────────────────────\n *  rate > 0   forward playback\n *  rate < 0   backward playback\n *  rate === 0 frozen: tick() is a no-op; the playing flag is NOT changed.\n *\n *  play()  is the sole method that sets playing = true.\n *  stop()  is the sole method that sets playing = false.\n *  Assigning rate never implicitly starts or stops playback.\n *\n * ── One-keyframe behaviour ────────────────────────────────────────────────────\n *  play() with exactly one keyframe snaps eval() to that keyframe without\n *  setting playing = true and without animating.\n */\n\n'use strict';\n\n// =========================================================================\n// S1  Quaternion helpers  (flat [x, y, z, w], w-last)\n// =========================================================================\n\n/** Set all four components. @returns {number[]} out */\nexport const qSet = (out, x, y, z, w) => {\n  out[0] = x; out[1] = y; out[2] = z; out[3] = w; return out;\n};\n\n/** Copy quaternion a into out. @returns {number[]} out */\nexport const qCopy = (out, a) => {\n  out[0] = a[0]; out[1] = a[1]; out[2] = a[2]; out[3] = a[3]; return out;\n};\n\n/** Dot product of two quaternions. */\nexport const qDot = (a, b) => a[0]*b[0] + a[1]*b[1] + a[2]*b[2] + a[3]*b[3];\n\n/** Normalise in-place. @returns {number[]} out */\nexport const qNormalize = (out) => {\n  const len = Math.sqrt(qDot(out, out)) || 1;\n  out[0] /= len; out[1] /= len; out[2] /= len; out[3] /= len;\n  return out;\n};\n\n/** Negate all components in-place. @returns {number[]} out */\nexport const qNegate = (out) => {\n  out[0] = -out[0]; out[1] = -out[1]; out[2] = -out[2]; out[3] = -out[3];\n  return out;\n};\n\n/** out = a * b (Hamilton product). @returns {number[]} out */\nexport const qMul = (out, a, b) => {\n  const ax = a[0], ay = a[1], az = a[2], aw = a[3];\n  const bx = b[0], by = b[1], bz = b[2], bw = b[3];\n  out[0] = aw*bx + ax*bw + ay*bz - az*by;\n  out[1] = aw*by - ax*bz + ay*bw + az*bx;\n  out[2] = aw*bz + ax*by - ay*bx + az*bw;\n  out[3] = aw*bw - ax*bx - ay*by - az*bz;\n  return out;\n};\n\n/**\n * SLERP between quaternions a and b at parameter t.\n * Shortest-arc: negates b when dot < 0.\n * Near-equal fallback: nlerp when dot ~= 1.\n * @param {number[]} out  4-element result array.\n * @param {number[]} a    Start quaternion [x,y,z,w].\n * @param {number[]} b    End quaternion [x,y,z,w].\n * @param {number}   t    Blend [0, 1].\n * @returns {number[]} out\n */\nexport const qSlerp = (out, a, b, t) => {\n  let d = qDot(a, b);\n  let bx = b[0], by = b[1], bz = b[2], bw = b[3];\n  if (d < 0) { d = -d; bx = -bx; by = -by; bz = -bz; bw = -bw; }\n  if (d > 0.9995) {\n    out[0] = a[0] + t*(bx - a[0]);\n    out[1] = a[1] + t*(by - a[1]);\n    out[2] = a[2] + t*(bz - a[2]);\n    out[3] = a[3] + t*(bw - a[3]);\n    return qNormalize(out);\n  }\n  const theta = Math.acos(d), sinT = Math.sin(theta);\n  const s0 = Math.sin((1 - t) * theta) / sinT;\n  const s1 = Math.sin(t * theta) / sinT;\n  out[0] = s0*a[0] + s1*bx;\n  out[1] = s0*a[1] + s1*by;\n  out[2] = s0*a[2] + s1*bz;\n  out[3] = s0*a[3] + s1*bw;\n  return out;\n};\n\n/**\n * Build a quaternion from an axis-angle rotation.\n * The axis need not be normalised.\n * @param {number[]} out\n * @param {number} ax  Axis x.\n * @param {number} ay  Axis y.\n * @param {number} az  Axis z.\n * @param {number} angle  Radians.\n * @returns {number[]} out\n */\nexport const qFromAxisAngle = (out, ax, ay, az, angle) => {\n  const half = angle * 0.5;\n  const s    = Math.sin(half);\n  const len  = Math.sqrt(ax*ax + ay*ay + az*az) || 1;\n  out[0] = s * ax / len;\n  out[1] = s * ay / len;\n  out[2] = s * az / len;\n  out[3] = Math.cos(half);\n  return out;\n};\n\n/**\n * Build a quaternion from a look direction (negative-Z forward convention)\n * and an optional up vector (defaults to +Y).\n * @param {number[]} out\n * @param {number[]} dir  Forward direction [x,y,z].\n * @param {number[]} [up] Up vector [x,y,z].\n * @returns {number[]} out\n */\nexport const qFromLookDir = (out, dir, up) => {\n  let fx = dir[0], fy = dir[1], fz = dir[2];\n  const fLen = Math.sqrt(fx*fx + fy*fy + fz*fz) || 1;\n  fx /= fLen; fy /= fLen; fz /= fLen;\n  let ux = up ? up[0] : 0, uy = up ? up[1] : 1, uz = up ? up[2] : 0;\n  let rx = uy*fz - uz*fy, ry = uz*fx - ux*fz, rz = ux*fy - uy*fx;\n  const rLen = Math.sqrt(rx*rx + ry*ry + rz*rz) || 1;\n  rx /= rLen; ry /= rLen; rz /= rLen;\n  ux = fy*rz - fz*ry; uy = fz*rx - fx*rz; uz = fx*ry - fy*rx;\n  return qFromRotMat3x3(out, rx, ry, rz, ux, uy, uz, -fx, -fy, -fz);\n};\n\n/**\n * Build a quaternion from a 3x3 rotation matrix supplied as 9 row-major scalars.\n * @returns {number[]} out (normalised)\n */\nexport const qFromRotMat3x3 = (out, m00, m01, m02, m10, m11, m12, m20, m21, m22) => {\n  const tr = m00 + m11 + m22;\n  if (tr > 0) {\n    const s = 0.5 / Math.sqrt(tr + 1);\n    out[3] = 0.25 / s;\n    out[0] = (m21 - m12) * s;\n    out[1] = (m02 - m20) * s;\n    out[2] = (m10 - m01) * s;\n  } else if (m00 > m11 && m00 > m22) {\n    const s = 2 * Math.sqrt(1 + m00 - m11 - m22);\n    out[3] = (m21 - m12) / s;\n    out[0] = 0.25 * s;\n    out[1] = (m01 + m10) / s;\n    out[2] = (m02 + m20) / s;\n  } else if (m11 > m22) {\n    const s = 2 * Math.sqrt(1 + m11 - m00 - m22);\n    out[3] = (m02 - m20) / s;\n    out[0] = (m01 + m10) / s;\n    out[1] = 0.25 * s;\n    out[2] = (m12 + m21) / s;\n  } else {\n    const s = 2 * Math.sqrt(1 + m22 - m00 - m11);\n    out[3] = (m10 - m01) / s;\n    out[0] = (m02 + m20) / s;\n    out[1] = (m12 + m21) / s;\n    out[2] = 0.25 * s;\n  }\n  return qNormalize(out);\n};\n\n/**\n * Extract a unit quaternion from the upper-left 3x3 of a column-major mat4.\n * @param {number[]} out\n * @param {Float32Array|number[]} m  Column-major mat4.\n * @returns {number[]} out\n */\nexport const qFromMat4 = (out, m) =>\n  qFromRotMat3x3(out, m[0], m[4], m[8], m[1], m[5], m[9], m[2], m[6], m[10]);\n\n/**\n * Write a quaternion into a column-major mat4 (rotation block only;\n * translation and perspective rows/cols are set to identity values).\n * @param {Float32Array|number[]} out  16-element array.\n * @param {number[]} q  [x,y,z,w].\n * @returns {Float32Array|number[]} out\n */\nexport const qToMat4 = (out, q) => {\n  const x = q[0], y = q[1], z = q[2], w = q[3];\n  const x2 = x+x, y2 = y+y, z2 = z+z;\n  const xx = x*x2, xy = x*y2, xz = x*z2;\n  const yy = y*y2, yz = y*z2, zz = z*z2;\n  const wx = w*x2, wy = w*y2, wz = w*z2;\n  out[0]  = 1-(yy+zz); out[1]  = xy+wz;     out[2]  = xz-wy;     out[3]  = 0;\n  out[4]  = xy-wz;     out[5]  = 1-(xx+zz); out[6]  = yz+wx;     out[7]  = 0;\n  out[8]  = xz+wy;     out[9]  = yz-wx;     out[10] = 1-(xx+yy); out[11] = 0;\n  out[12] = 0;         out[13] = 0;         out[14] = 0;          out[15] = 1;\n  return out;\n};\n\n/**\n * Decompose a unit quaternion into { axis:[x,y,z], angle } (radians).\n * @param {number[]} q  [x,y,z,w].\n * @param {Object}  [out]\n * @returns {{ axis: number[], angle: number }}\n */\nexport const quatToAxisAngle = (q, out) => {\n  out = out || {};\n  const x = q[0], y = q[1], z = q[2], w = q[3];\n  const sinHalf = Math.sqrt(x*x + y*y + z*z);\n  if (sinHalf < 1e-8) { out.axis = [0, 1, 0]; out.angle = 0; return out; }\n  out.angle = 2 * Math.atan2(sinHalf, w);\n  out.axis  = [x / sinHalf, y / sinHalf, z / sinHalf];\n  return out;\n};\n\n// =========================================================================\n// S2  Spline / vector helpers\n// =========================================================================\n\nfunction _dist3(a, b) {\n  const dx = a[0]-b[0], dy = a[1]-b[1], dz = a[2]-b[2];\n  return Math.sqrt(dx*dx + dy*dy + dz*dz);\n}\n\n/**\n * Centripetal Catmull-Rom interpolation (alpha = 0.5, Barry-Goldman).\n * out = interp(p0, p1, p2, p3, t) where t in [0,1] maps p1→p2.\n * Boundary: when p0===p1 or p2===p3 the chord is reused (clamped end tangents).\n * @param {number[]} out  3-element result.\n * @param {number[]} p0   Control point before p1.\n * @param {number[]} p1   Segment start.\n * @param {number[]} p2   Segment end.\n * @param {number[]} p3   Control point after p2.\n * @param {number}   t    Blend [0, 1].\n * @returns {number[]} out\n */\nexport const catmullRomVec3 = (out, p0, p1, p2, p3, t) => {\n  const alpha = 0.5;\n  const dt0   = Math.pow(_dist3(p0, p1), alpha) || 1;\n  const dt1   = Math.pow(_dist3(p1, p2), alpha) || 1;\n  const dt2   = Math.pow(_dist3(p2, p3), alpha) || 1;\n  for (let i = 0; i < 3; i++) {\n    const t1_0 = (p1[i]-p0[i])/dt0 - (p2[i]-p0[i])/(dt0+dt1) + (p2[i]-p1[i])/dt1;\n    const t2_0 = (p2[i]-p1[i])/dt1 - (p3[i]-p1[i])/(dt1+dt2) + (p3[i]-p2[i])/dt2;\n    const m1   = t1_0 * dt1;\n    const m2   = t2_0 * dt1;\n    const a    =  2*p1[i] - 2*p2[i] + m1 + m2;\n    const b    = -3*p1[i] + 3*p2[i] - 2*m1 - m2;\n    out[i]     = a*t*t*t + b*t*t + m1*t + p1[i];\n  }\n  return out;\n};\n\n/**\n * Linear interpolation between two vec3s.\n * @param {number[]} out\n * @param {number[]} a\n * @param {number[]} b\n * @param {number}   t  Blend [0, 1].\n * @returns {number[]} out\n */\nexport const lerpVec3 = (out, a, b, t) => {\n  out[0] = a[0] + t*(b[0]-a[0]);\n  out[1] = a[1] + t*(b[1]-a[1]);\n  out[2] = a[2] + t*(b[2]-a[2]);\n  return out;\n};\n\n// =========================================================================\n// S3  Transform <-> Mat4\n// =========================================================================\n\n/**\n * Write a TRS transform into a column-major mat4.\n * Rotation is encoded as a quaternion; scale is baked into rotation columns.\n * @param {Float32Array|number[]} out  16-element column-major mat4.\n * @param {{ pos:number[], rot:number[], scl:number[] }} xform\n * @returns {Float32Array|number[]} out\n */\nexport const transformToMat4 = (out, xform) => {\n  qToMat4(out, xform.rot);\n  const sx = xform.scl[0], sy = xform.scl[1], sz = xform.scl[2];\n  out[0]  *= sx; out[1]  *= sx; out[2]  *= sx;\n  out[4]  *= sy; out[5]  *= sy; out[6]  *= sy;\n  out[8]  *= sz; out[9]  *= sz; out[10] *= sz;\n  out[12] = xform.pos[0];\n  out[13] = xform.pos[1];\n  out[14] = xform.pos[2];\n  return out;\n};\n\n/**\n * Decompose a column-major mat4 into a TRS transform.\n * Assumes no shear. Scale is extracted from column lengths.\n * @param {{ pos:number[], rot:number[], scl:number[] }} out\n * @param {Float32Array|number[]} m  Column-major mat4.\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n */\nexport const mat4ToTransform = (out, m) => {\n  out.pos[0] = m[12]; out.pos[1] = m[13]; out.pos[2] = m[14];\n  const sx = Math.sqrt(m[0]*m[0] + m[1]*m[1] + m[2]*m[2]);\n  const sy = Math.sqrt(m[4]*m[4] + m[5]*m[5] + m[6]*m[6]);\n  const sz = Math.sqrt(m[8]*m[8] + m[9]*m[9] + m[10]*m[10]);\n  out.scl[0] = sx; out.scl[1] = sy; out.scl[2] = sz;\n  qFromRotMat3x3(out.rot,\n    m[0]/sx, m[4]/sy, m[8]/sz,\n    m[1]/sx, m[5]/sy, m[9]/sz,\n    m[2]/sx, m[6]/sy, m[10]/sz);\n  return out;\n};\n\n// =========================================================================\n// S4  Spec parser (keyframe input normalisation)\n// =========================================================================\n\nconst _isNum   = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp01 = (x) => x < 0 ? 0 : (x > 1 ? 1 : x);\nconst _clampS  = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\n\nfunction _parseVec3(v) {\n  if (!v) return null;\n  if (Array.isArray(v) && v.length >= 3 && v.every(n => typeof n === 'number')) return [v[0], v[1], v[2]];\n  if (typeof v === 'object' && 'x' in v) return [v.x || 0, v.y || 0, v.z || 0];\n  return null;\n}\n\nfunction _parseQuat(v) {\n  if (!v) return null;\n  if (Array.isArray(v) && v.length === 4 && v.every(n => typeof n === 'number')) return [v[0], v[1], v[2], v[3]];\n  if (v.axis && typeof v.angle === 'number') {\n    const a = Array.isArray(v.axis) ? v.axis : [v.axis.x || 0, v.axis.y || 0, v.axis.z || 0];\n    return qFromAxisAngle([0, 0, 0, 1], a[0], a[1], a[2], v.angle);\n  }\n  if (v.dir) {\n    const d = Array.isArray(v.dir) ? v.dir : [v.dir.x || 0, v.dir.y || 0, v.dir.z || 0];\n    const u = v.up ? (Array.isArray(v.up) ? v.up : [v.up.x || 0, v.up.y || 0, v.up.z || 0]) : null;\n    return qFromLookDir([0, 0, 0, 1], d, u);\n  }\n  return null;\n}\n\nfunction _parseSpec(spec) {\n  if (!spec || typeof spec !== 'object') return null;\n  const pos = _parseVec3(spec.pos) || [0, 0, 0];\n  const rot = _parseQuat(spec.rot) || [0, 0, 0, 1];\n  const scl = _parseVec3(spec.scl) || [1, 1, 1];\n  return { pos, rot, scl };\n}\n\nfunction _sameTransform(a, b) {\n  for (let i = 0; i < 3; i++) if (a.pos[i] !== b.pos[i] || a.scl[i] !== b.scl[i]) return false;\n  for (let i = 0; i < 4; i++) if (a.rot[i] !== b.rot[i]) return false;\n  return true;\n}\n\n// =========================================================================\n// S5  PoseTrack\n// =========================================================================\n\n/**\n * Renderer-agnostic keyframe animation track.\n *\n * Keyframes are TRS pose objects: { pos:[x,y,z], rot:[x,y,z,w], scl:[x,y,z] }.\n * The track maintains a scalar cursor (seg, f) that advances each tick().\n *\n * Position uses centripetal Catmull-Rom spline by default (posInterp = 'catmullrom');\n * set posInterp = 'linear' to switch to lerp. Rotation uses SLERP. Scale uses LERP.\n *\n * Rate semantics:\n *   rate > 0   forward\n *   rate < 0   backward\n *   rate === 0 frozen: tick() is a no-op; playing is NOT changed\n *\n * Assigning rate never starts or stops playback.\n * Only play() sets playing = true. Only stop() / reset() set it to false.\n *\n * One-keyframe behaviour:\n *   play() with exactly one keyframe snaps eval() to that keyframe\n *   without setting playing = true and without firing hooks.\n *\n * @example\n * const track = new PoseTrack()\n * track.add({ pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] })\n * track.add({ pos:[0,100,0], rot:[0,0,0,1], scl:[1,1,1] })\n * track.play({ loop: true, onStop: t => console.log('stopped at', t.time()) })\n */\nexport class PoseTrack {\n  constructor() {\n    /** @type {Array<{pos:number[],rot:number[],scl:number[]}>} */\n    this.keyframes = [];\n    /** Whether playback is active. @type {boolean} */\n    this.playing   = false;\n    /** Loop flag (overridden by pingPong). @type {boolean} */\n    this.loop      = false;\n    /** Ping-pong bounce mode (takes precedence over loop). @type {boolean} */\n    this.pingPong  = false;\n    /** Frames per segment (>=1). @type {number} */\n    this.duration  = 30;\n    /** Current segment index. @type {number} */\n    this.seg       = 0;\n    /** Frame offset within current segment (can be fractional). @type {number} */\n    this.f         = 0;\n    /**\n     * Position interpolation mode.\n     * @type {'catmullrom'|'linear'}\n     */\n    this.posInterp = 'catmullrom';\n\n    // Scratch arrays reused by eval() / toMatrix() — avoids hot-path allocations\n    this._pos = [0, 0, 0];\n    this._rot = [0, 0, 0, 1];\n    this._scl = [1, 1, 1];\n\n    // Internal rate — assigning never touches playing\n    this._rate = 1;\n\n    // User-space hooks — fired on playback state transitions\n    /** Fires when play() starts a false→true transition. @type {Function|null} */\n    this.onPlay = null;\n    /** Fires in tick() when cursor hits a natural boundary (once mode only). @type {Function|null} */\n    this.onEnd  = null;\n    /** Fires on explicit stop() or reset(). Mutually exclusive with onEnd per event. @type {Function|null} */\n    this.onStop = null;\n\n    // Lib-space hooks (set by host layer — e.g. p5 bridge)\n    /** @type {Function|null} */\n    this._onActivate   = null;\n    /** @type {Function|null} */\n    this._onDeactivate = null;\n  }\n\n  // ── rate ────────────────────────────────────────────────────────────────\n  // Getter/setter so future consumers get the right value from track.rate,\n  // while the setter intentionally has NO side effects on playing.\n\n  /** Playback rate. 0 = frozen (playing flag unchanged). @type {number} */\n  get rate()  { return this._rate; }\n  set rate(v) {\n    this._rate = (typeof v === 'number' && Number.isFinite(v)) ? v : 1;\n    // Intentionally does NOT start or stop playback.\n  }\n\n  /** Number of interpolatable segments (keyframes.length - 1, min 0). @type {number} */\n  get segments() { return Math.max(0, this.keyframes.length - 1); }\n\n  // ── Keyframe management ──────────────────────────────────────────────────\n\n  /**\n   * Append a keyframe. Adjacent duplicates are skipped by default.\n   * @param {{ pos?, rot?, scl? }} spec  pos/rot/scl arrays, {x,y,z}, axis-angle, look-dir.\n   * @param {{ deduplicate?: boolean }} [opts]\n   */\n  add(spec, opts) {\n    const kf = _parseSpec(spec);\n    if (!kf) return;\n    const dedup = !opts || opts.deduplicate !== false;\n    if (dedup && this.keyframes.length > 0) {\n      if (_sameTransform(this.keyframes[this.keyframes.length - 1], kf)) return;\n    }\n    this.keyframes.push(kf);\n  }\n\n  /**\n   * Replace (or append at end) the keyframe at index.\n   * @param {number} index  Existing index or keyframes.length to append.\n   * @param {{ pos?, rot?, scl? }} spec\n   * @returns {boolean}\n   */\n  set(index, spec) {\n    if (!_isNum(index)) return false;\n    const i  = index | 0;\n    const kf = _parseSpec(spec);\n    if (!kf || i < 0 || i > this.keyframes.length) return false;\n    if (i === this.keyframes.length) { this.keyframes.push(kf); }\n    else { this.keyframes[i] = kf; }\n    return true;\n  }\n\n  /**\n   * Remove the keyframe at index. Adjusts cursor if needed.\n   * @param {number} index\n   * @returns {boolean}\n   */\n  remove(index) {\n    if (!_isNum(index)) return false;\n    const i = index | 0;\n    if (i < 0 || i >= this.keyframes.length) return false;\n    this.keyframes.splice(i, 1);\n    const nSeg = this.segments;\n    if (nSeg === 0) { this.seg = 0; this.f = 0; }\n    else if (this.seg >= nSeg) { this.seg = nSeg - 1; }\n    return true;\n  }\n\n  // ── Transport ────────────────────────────────────────────────────────────\n\n  /**\n   * Start or update playback.\n   * Accepts a numeric rate or an options object:\n   * { rate, duration, loop, pingPong, onPlay, onEnd, onStop }.\n   *\n   * Zero keyframes: no-op.\n   * One keyframe: snaps cursor (seg=0, f=0); no playing=true, no hooks.\n   * Already playing: updates params in place; hooks are not re-fired.\n   * rate=0 is valid: track will be playing but frozen until rate changes.\n   *\n   * @param {number|Object} [rateOrOpts]\n   * @returns {PoseTrack} this\n   */\n  play(rateOrOpts) {\n    if (this.keyframes.length === 0) return this;\n\n    // One keyframe: snap only, no animation, no hooks\n    if (this.keyframes.length === 1) {\n      this.seg = 0; this.f = 0;\n      return this;\n    }\n\n    if (typeof rateOrOpts === 'number' && Number.isFinite(rateOrOpts)) {\n      this._rate = rateOrOpts;\n    } else if (rateOrOpts && typeof rateOrOpts === 'object') {\n      const o = rateOrOpts;\n      if (_isNum(o.duration))             this.duration = Math.max(1, o.duration | 0);\n      if ('loop'     in o)                this.loop     = !!o.loop;\n      if ('pingPong' in o)                this.pingPong = !!o.pingPong;\n      if (typeof o.onPlay === 'function') this.onPlay   = o.onPlay;\n      if (typeof o.onEnd  === 'function') this.onEnd    = o.onEnd;\n      if (typeof o.onStop === 'function') this.onStop   = o.onStop;\n      if (_isNum(o.rate))                 this._rate    = o.rate;\n    }\n\n    // Clamp cursor into valid range\n    const nSeg = this.segments;\n    const dur  = Math.max(1, this.duration | 0);\n    if (this.seg < 0)     this.seg = 0;\n    if (this.seg >= nSeg) this.seg = nSeg - 1;\n    if (this.f   < 0)     this.f   = 0;\n    if (this.f   > dur)   this.f   = dur;\n\n    const wasPlaying = this.playing;\n    this.playing = true;\n\n    if (!wasPlaying) {\n      if (typeof this.onPlay === 'function') { try { this.onPlay(this); } catch (_) {} }\n      this._onActivate?.();\n    }\n    return this;\n  }\n\n  /**\n   * Stop playback. No-op if already stopped.\n   * Fires `onStop` → `_onDeactivate`, then optionally seeks to the\n   * logical start (rate > 0 → t=0, rate < 0 → t=1).\n   * @param {boolean} [rewind=false]  Seek to playback origin after stopping.\n   * @returns {PoseTrack} this\n   */\n  stop(rewind) {\n    const wasPlaying = this.playing;\n    this.playing = false;\n    if (wasPlaying) {\n      if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n      this._onDeactivate?.();\n      if (rewind && this.keyframes.length > 1) this.seek(this._rate < 0 ? 1 : 0);\n    }\n    return this;\n  }\n\n  /**\n   * Clear all keyframes and stop.\n   * Fires `onStop` then `_onDeactivate` if was playing.\n   * @returns {PoseTrack} this\n   */\n  reset() {\n    const wasPlaying = this.playing;\n    this.playing = false;\n    if (wasPlaying) {\n      if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n      this._onDeactivate?.();\n    }\n    this.keyframes.length = 0;\n    this.seg = 0; this.f = 0;\n    return this;\n  }\n\n  /**\n   * Seek to a normalised position [0,1] across the full path.\n   * Can optionally target a specific segment (t is then local to that segment).\n   * Does not change the playing flag.\n   * @param {number} t           Normalised time [0, 1].\n   * @param {number} [segIndex]  Optional segment override.\n   * @returns {PoseTrack} this\n   */\n  seek(t, segIndex) {\n    const nSeg = this.segments;\n    if (nSeg === 0) { this.seg = 0; this.f = 0; return this; }\n    const dur = Math.max(1, this.duration | 0);\n    if (_isNum(segIndex)) {\n      this.seg = _clampS(segIndex | 0, 0, nSeg - 1);\n      this.f   = _clamp01(t) * dur;\n    } else {\n      this._setCursorFromScalar(_clamp01(t) * nSeg * dur);\n    }\n    return this;\n  }\n\n  /**\n   * Normalised playback time across the full path [0, 1].\n   * Returns 0 when fewer than 2 keyframes exist.\n   * @returns {number}\n   */\n  time() {\n    const nSeg = this.segments;\n    if (nSeg === 0) return 0;\n    const dur = Math.max(1, this.duration | 0);\n    return _clamp01((this.seg * dur + this.f) / (nSeg * dur));\n  }\n\n  /**\n   * Snapshot of the current transport state.\n   * @returns {{ keyframes:number, segments:number, seg:number, f:number,\n   *             time:number, playing:boolean, loop:boolean, pingPong:boolean,\n   *             rate:number, duration:number }}\n   */\n  info() {\n    return {\n      keyframes: this.keyframes.length,\n      segments:  this.segments,\n      seg:       this.seg,\n      f:         this.f,\n      playing:   this.playing,\n      loop:      this.loop,\n      pingPong:  this.pingPong,\n      rate:      this._rate,\n      duration:  this.duration,\n      time:      this.segments > 0 ? this.time() : 0\n    };\n  }\n\n  /**\n   * Advance the cursor by rate frames.\n   *\n   * rate === 0: frozen — returns this.playing without moving (no-op).\n   * Returns false and fires onEnd → _onDeactivate when a once-mode boundary is hit.\n   * Returns true while playing and continuing.\n   *\n   * @returns {boolean}\n   */\n  tick() {\n    if (!this.playing) return false;\n    const nSeg = this.segments;\n    if (nSeg === 0) {\n      this.playing = false; this._onDeactivate?.(); return false;\n    }\n\n    // Frozen: position does not advance, playing stays true\n    if (this._rate === 0) return true;\n\n    const dur   = Math.max(1, this.duration | 0);\n    const total = nSeg * dur;\n    const s     = _clampS(this.seg * dur + this.f, 0, total);\n    const next  = s + this._rate;\n\n    // ── pingPong ──\n    if (this.pingPong) {\n      let pos = next, flips = 0;\n      while (pos < 0 || pos > total) {\n        if (pos < 0)     { pos = -pos;            flips++; }\n        else             { pos = 2 * total - pos; flips++; }\n      }\n      if (flips & 1) this._rate = -this._rate;\n      this._setCursorFromScalar(pos);\n      return true;\n    }\n\n    // ── loop ──\n    if (this.loop) {\n      this._setCursorFromScalar(((next % total) + total) % total);\n      return true;\n    }\n\n    // ── once — boundary check ──\n    if (next <= 0) {\n      this._setCursorFromScalar(0);\n      this.playing = false;\n      if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n      this._onDeactivate?.();\n      return false;\n    }\n    if (next >= total) {\n      this._setCursorFromScalar(total);\n      this.playing = false;\n      if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n      this._onDeactivate?.();\n      return false;\n    }\n\n    this._setCursorFromScalar(next);\n    return true;\n  }\n\n  /**\n   * Evaluate the interpolated pose at the current cursor into out.\n   * If out is omitted a new object is allocated (avoid in hot paths).\n   * Uses centripetal Catmull-Rom for position (posInterp === 'catmullrom') or lerp.\n   * @param {{ pos:number[], rot:number[], scl:number[] }} [out]\n   * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n   */\n  eval(out) {\n    out = out || { pos: [0, 0, 0], rot: [0, 0, 0, 1], scl: [1, 1, 1] };\n    const n = this.keyframes.length;\n    if (n === 0) return out;\n\n    if (n === 1) {\n      const k = this.keyframes[0];\n      out.pos[0]=k.pos[0]; out.pos[1]=k.pos[1]; out.pos[2]=k.pos[2];\n      out.rot[0]=k.rot[0]; out.rot[1]=k.rot[1]; out.rot[2]=k.rot[2]; out.rot[3]=k.rot[3];\n      out.scl[0]=k.scl[0]; out.scl[1]=k.scl[1]; out.scl[2]=k.scl[2];\n      return out;\n    }\n\n    const nSeg = n - 1;\n    const dur  = Math.max(1, this.duration | 0);\n    const seg  = _clampS(this.seg, 0, nSeg - 1);\n    const t    = _clamp01(this.f / dur);\n    const k0   = this.keyframes[seg];\n    const k1   = this.keyframes[seg + 1];\n\n    // Position\n    if (this.posInterp === 'catmullrom') {\n      const p0 = seg > 0     ? this.keyframes[seg - 1].pos : k0.pos;\n      const p3 = seg + 2 < n ? this.keyframes[seg + 2].pos : k1.pos;\n      catmullRomVec3(out.pos, p0, k0.pos, k1.pos, p3, t);\n    } else {\n      lerpVec3(out.pos, k0.pos, k1.pos, t);\n    }\n\n    // Rotation — SLERP\n    qSlerp(out.rot, k0.rot, k1.rot, t);\n\n    // Scale — LERP\n    lerpVec3(out.scl, k0.scl, k1.scl, t);\n\n    return out;\n  }\n\n  /**\n   * Evaluate the current cursor into an existing column-major mat4.\n   * Reuses internal scratch arrays — no allocation per call.\n   * @param {Float32Array|number[]} outMat4  16-element array.\n   * @returns {Float32Array|number[]} outMat4\n   */\n  toMatrix(outMat4) {\n    const xf = this.eval({ pos: this._pos, rot: this._rot, scl: this._scl });\n    return transformToMat4(outMat4, xf);\n  }\n\n  // ── Private ──────────────────────────────────────────────────────────────\n\n  /** @private */\n  _setCursorFromScalar(s) {\n    const dur  = Math.max(1, this.duration | 0);\n    const nSeg = this.segments;\n    this.seg = Math.floor(s / dur);\n    this.f   = s - this.seg * dur;\n    if (this.seg >= nSeg) { this.seg = nSeg - 1; this.f = dur; }\n    if (this.seg < 0)     { this.seg = 0;         this.f = 0;   }\n  }\n}\n","/**\n * @file Frustum planes and visibility tests — zero allocations.\n * @module tree/visibility\n * @license GPL-3.0-only\n *\n * Planes are a flat Float64Array(24): 6 planes × 4 floats [a, b, c, d].\n * All inputs are scalars. All outputs are INVISIBLE | VISIBLE | SEMIVISIBLE.\n */\n\nimport { INVISIBLE, VISIBLE, SEMIVISIBLE } from './constants.js';\n\n// Plane indices\nexport const PLANE_LEFT = 0, PLANE_RIGHT = 1, PLANE_NEAR = 2,\n             PLANE_FAR = 3, PLANE_TOP = 4, PLANE_BOTTOM = 5;\n\n/**\n * Compute 6 frustum planes from camera basis (world space) + projection params.\n * All inputs are scalars — the addon extracts them from the inverse view matrix\n * and projection queries before calling.\n *\n * @param {Float64Array} out  24-float output.\n * @param {number} posX,posY,posZ  Camera world position.\n * @param {number} vdX,vdY,vdZ    View direction (−Z in eye space, world).\n * @param {number} upX,upY,upZ    Camera up.\n * @param {number} rtX,rtY,rtZ    Camera right.\n * @param {boolean} ortho         true if orthographic.\n * @param {number} near,far,left,right,top,bottom  Projection plane values.\n */\nexport function frustumPlanes(\n  out,\n  posX, posY, posZ,\n  vdX, vdY, vdZ,\n  upX, upY, upZ,\n  rtX, rtY, rtZ,\n  ortho,\n  near, far, left, right, top, bottom\n) {\n  const posViewDir = posX*vdX + posY*vdY + posZ*vdZ;\n  const posRight   = posX*rtX + posY*rtY + posZ*rtZ;\n  const posUp      = posX*upX + posY*upY + posZ*upZ;\n\n  if (ortho) {\n    // Left: normal = −right\n    out[0] = -rtX; out[1] = -rtY; out[2] = -rtZ;\n    out[3] = -(posRight - left) * -1; // dot(pos - right*left, -right) ... simplified:\n    // Actually: d = dot(pointOnPlane, normal)\n    // pointOnPlane = pos + right*left (left is negative for standard ortho)\n    // normal = -right\n    // d = dot(pos + right*left, -right) = -posRight - left\n    out[3] = -posRight - left;\n\n    // Right: normal = right\n    out[4] = rtX; out[5] = rtY; out[6] = rtZ;\n    out[7] = posRight + right;\n\n    // Top: normal = up\n    out[16] = upX; out[17] = upY; out[18] = upZ;\n    out[19] = posUp - bottom; // note: p5 top/bottom are swapped in sign convention\n\n    // Bottom: normal = -up\n    out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n    out[23] = -posUp + top;\n  } else {\n    // Left\n    const hfovl = Math.atan2(left, near);\n    const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n    out[0] = vdX*shfovl - rtX*chfovl;\n    out[1] = vdY*shfovl - rtY*chfovl;\n    out[2] = vdZ*shfovl - rtZ*chfovl;\n    out[3] = shfovl*posViewDir - chfovl*posRight;\n\n    // Right\n    const hfovr = Math.atan2(right, near);\n    const shfovr = Math.sin(hfovr), chfovr = Math.cos(hfovr);\n    out[4] = -vdX*shfovr + rtX*chfovr;\n    out[5] = -vdY*shfovr + rtY*chfovr;\n    out[6] = -vdZ*shfovr + rtZ*chfovr;\n    out[7] = -shfovr*posViewDir + chfovr*posRight;\n\n    // Top\n    const fovt = Math.atan2(top, near);\n    const sfovt = Math.sin(fovt), cfovt = Math.cos(fovt);\n    out[16] = -vdX*sfovt + upX*cfovt;\n    out[17] = -vdY*sfovt + upY*cfovt;\n    out[18] = -vdZ*sfovt + upZ*cfovt;\n    out[19] = -sfovt*posViewDir + cfovt*posUp;\n\n    // Bottom\n    const fovb = Math.atan2(bottom, near);\n    const sfovb = Math.sin(fovb), cfovb = Math.cos(fovb);\n    out[20] = vdX*sfovb - upX*cfovb;\n    out[21] = vdY*sfovb - upY*cfovb;\n    out[22] = vdZ*sfovb - upZ*cfovb;\n    out[23] = sfovb*posViewDir - cfovb*posUp;\n  }\n\n  // Near plane: normal = −viewDir\n  out[8]  = -vdX; out[9]  = -vdY; out[10] = -vdZ;\n  out[11] = -posViewDir - near;\n\n  // Far plane: normal = viewDir\n  out[12] = vdX; out[13] = vdY; out[14] = vdZ;\n  out[15] = posViewDir + far;\n\n  return out;\n}\n\n/**\n * Signed distance from point to one frustum plane.\n * @param {Float64Array} planes  24-float planes buffer.\n * @param {number} planeIdx  0–5 (LEFT, RIGHT, NEAR, FAR, TOP, BOTTOM).\n * @param {number} px,py,pz  Point coordinates.\n * @returns {number}\n */\nexport function distanceToPlane(planes, planeIdx, px, py, pz) {\n  const b = planeIdx * 4;\n  return planes[b]*px + planes[b+1]*py + planes[b+2]*pz - planes[b+3];\n}\n\n/** @returns {number} INVISIBLE | VISIBLE | SEMIVISIBLE */\nexport function pointVisibility(planes, px, py, pz) {\n  for (let i = 0; i < 6; i++) {\n    if (distanceToPlane(planes, i, px, py, pz) > 0) return INVISIBLE;\n  }\n  return VISIBLE;\n}\n\n/** @returns {number} INVISIBLE | VISIBLE | SEMIVISIBLE */\nexport function sphereVisibility(planes, cx, cy, cz, radius) {\n  let allIn = true;\n  for (let i = 0; i < 6; i++) {\n    const d = distanceToPlane(planes, i, cx, cy, cz);\n    if (d > radius) return INVISIBLE;\n    if (d > 0 || -d < radius) allIn = false;\n  }\n  return allIn ? VISIBLE : SEMIVISIBLE;\n}\n\n/** @returns {number} INVISIBLE | VISIBLE | SEMIVISIBLE */\nexport function boxVisibility(planes, x0, y0, z0, x1, y1, z1) {\n  let allIn = true;\n  for (let i = 0; i < 6; i++) {\n    const b = i * 4;\n    const a = planes[b], bv = planes[b+1], c = planes[b+2], d = planes[b+3];\n    let allOut = true;\n    for (let corner = 0; corner < 8; corner++) {\n      const cx = (corner & 4) ? x0 : x1;\n      const cy = (corner & 2) ? y0 : y1;\n      const cz = (corner & 1) ? z0 : z1;\n      const dist = a*cx + bv*cy + c*cz - d;\n      if (dist > 0) { allIn = false; }\n      else { allOut = false; }\n    }\n    if (allOut) return INVISIBLE;\n  }\n  return allIn ? VISIBLE : 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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@nakednous/tree",
-  "version": "0.0.1",
+  "version": "0.0.2",
   "description": "tree — pure numeric core. Zero dependencies.",
   "type": "module",
   "main": "dist/index.js",