@onerjs/core 8.56.4 → 9.0.0

package/Animations/rootMotion.js.map

@@ -0,0 +1 @@
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{\n    type Animatable,\n    type AnimationGroup,\n    type Bone,\n    type IAnimationKey,\n    type IDisposable,\n    type Node,\n    type Nullable,\n    type Observer,\n    type RuntimeAnimation,\n    type Scene,\n} from \"core/index\";\nimport { Animation } from \"./animation.pure\";\nimport { Matrix, Quaternion, TmpVectors, Vector3 } from \"../Maths/math.vector.pure\";\nimport { Observable } from \"../Misc/observable.pure\";\nimport { Logger } from \"../Misc/logger\";\nimport { TransformNode } from \"../Meshes/transformNode.pure\";\nimport { AbstractMesh } from \"../Meshes/abstractMesh.pure\";\n\n/**\n * Where the travel of a {@link RootMotionClip} comes from.\n */\nexport const enum RootMotionSource {\n    /**\n     * No motion was found: the clip neither moves its root nor walks its contact nodes.\n     */\n    None = 0,\n    /**\n     * The root node's own animation - the clip's ground truth. Its travel (and turning, when extracted) is left out of\n     * the in-place animation group and applied to the character node instead.\n     */\n    Root = 1,\n    /**\n     * Deduced from the contact nodes (usually the feet) of an in-place clip: whatever a planted contact gives up in\n     * character space, the character travels. The travel is not in the clip, so nothing is left out of it.\n     */\n    FootContact = 2,\n}\n\n/**\n * Options for {@link RootMotionClip}.\n */\nexport interface IRootMotionClipOptions {\n    /**\n     * The root node, usually the hips or a dedicated root bone, whose own travel is tried first. A bone is resolved to\n     * its linked transform node. Defaults to the position-animated node with the most animated descendants in the group.\n     * A node the group does not animate is accepted as the base of the animated hierarchy: the travel then comes from\n     * the contact nodes under it, and {@link RootMotionSource.Root} cannot be forced.\n     */\n    rootNode?: TransformNode | Bone;\n    /**\n     * The node that receives the motion and whose local space the motion is measured in. Defaults to the topmost\n     * ancestor of the root node (the \"__root__\" node of a glTF asset). The group must not animate its position or\n     * rotation, since the motion applied to it would be overwritten.\n     */\n    characterNode?: TransformNode;\n    /**\n     * The nodes that touch the ground, used when the root does not travel. A bone is resolved to its linked\n     * transform node. Defaults to the leaf nodes under the root that come closest to the ground during the clip.\n     */\n    contactNodes?: Array<TransformNode | Bone>;\n    /**\n     * Forces the source of the travel instead of trying {@link RootMotionSource.Root} first and falling back to\n     * {@link RootMotionSource.FootContact}.\n     */\n    source?: RootMotionSource;\n    /**\n     * Whether the root's turning about the up axis is extracted and applied to the character. By default it is when\n     * a cycle leaves the character facing at least {@link IRootMotionClipOptions.minimumTurn} away from where it\n     * started, so a walk's hip twist - or a dance that spins round to face the front again - stays in the pose while a\n     * turning clip turns the character.\n     */\n    extractRotation?: boolean;\n    /**\n     * How densely the clip is sampled during analysis. Default is 60 samples per second of animation.\n     */\n    samplesPerSecond?: number;\n    /**\n     * Travel below this share of the character's height over a cycle is treated as the clip standing still: root\n     * sway rather than root motion. Default is 0.1.\n     */\n    minimumTravel?: number;\n    /**\n     * Turning below this angle over a cycle, in radians, is treated as twist rather than a turn. Default is 10 degrees.\n     */\n    minimumTurn?: number;\n    /**\n     * A straight clip whose direction of travel is within this angle of a character space axis, in radians, travels\n     * along that axis; 0 keeps the measured direction. Ignored when lateral motion is extracted.\n     *\n     * By default a root clip keeps its direction (0): its travel is authored or captured, and a deliberate veer is data.\n     * Travel deduced from contacts snaps within 10 degrees: an in-place clip is meant to travel straight, and the\n     * deduced direction is an estimate - Xbot's run deduces 3.5 degrees off straight from feet that slide 1 degree off.\n     */\n    directionSnapAngle?: number;\n    /**\n     * When false (the default) only the travel along the clip's direction of travel is extracted, leaving the\n     * side-to-side sway of the root in the animation. Set to true to extract all horizontal motion, for strafing\n     * clips. Turning clips always extract all horizontal motion, since their direction of travel changes.\n     */\n    extractLateralMotion?: boolean;\n    /**\n     * The up axis in character space. Default is +Y.\n     */\n    upAxis?: Vector3;\n    /**\n     * The name of the in-place animation group. Defaults to the source group's name followed by \" (in place)\".\n     */\n    name?: string;\n    /**\n     * Whether every animation is cloned into the in-place animation group. By default (false) only the root channels\n     * the extraction rewrites are cloned, and the animations it leaves untouched are shared with the source group, as\n     * {@link AnimationGroup.clone} shares them. Set it to true before changing the in-place group's animations in place\n     * - with {@link AnimationGroup.MakeAnimationAdditive} or {@link AnimationGroup.normalize} for example - so the\n     * source group's animations are not changed with them.\n     */\n    cloneAnimations?: boolean;\n}\n\ninterface INodeChannels {\n    position?: Animation;\n    rotationQuaternion?: Animation;\n    rotation?: Animation;\n    scaling?: Animation;\n}\n\n/**\n * What the animation mixer wrote to a root channel in the last animation step - the writes its late bindings read,\n * those made after them belonging to the step that follows - gathered for every clip that follows that channel.\n */\ninterface IChannelWriters {\n    /** The property of the channel. */\n    property: string;\n    /** The weights of the weighted animatables writing the channel, additive ones aside. */\n    total: number;\n    /** Whether any weighted animatable writes the channel. */\n    weighted: boolean;\n    /** The last runtime animation writing the channel unweighted, whose value is the pose unless a weighted one replaces it. */\n    lastDirect: Nullable<RuntimeAnimation>;\n    /** The writes to the channel this step, in order: the runtime animation of each, which may write more than once. */\n    current: RuntimeAnimation[];\n    /** The weight of each write, -1 for a direct one. */\n    currentWeights: number[];\n    /** Whether each write was additive. */\n    currentAdditive: boolean[];\n    /** The factor each write blended in with, one once the animation writing it has blended in. */\n    currentBlending: number[];\n}\n\n/**\n * The channel of a node to run a clip's motion on: the one of its position, rotation and scaling channels preferred by\n * {@link ClockBeats}.\n * @param channels defines the node's channels\n * @param fromFrame defines the first frame of the range played\n * @param toFrame defines the last frame of the range played\n * @returns the channel and the frames its keys span\n */\nfunction ClockChannel(channels: INodeChannels, fromFrame: number, toFrame: number): IClockCandidate {\n    let best: Nullable<IClockCandidate> = null;\n    for (const animation of [channels.position, channels.rotationQuaternion, channels.rotation, channels.scaling]) {\n        if (!animation) {\n            continue;\n        }\n        const keys = animation.getKeys();\n        const first = keys.length ? keys[0].frame : 0;\n        const last = keys.length ? keys[keys.length - 1].frame : 0;\n        const candidate = { animation, span: last - first, covers: last > first && first <= fromFrame && last >= toFrame };\n        if (!best || ClockBeats(candidate, best)) {\n            best = candidate;\n        }\n    }\n    return best!;\n}\n\n/** A channel a clip's motion could run on. */\ninterface IClockCandidate {\n    /** The channel. */\n    animation: Animation;\n    /** The frames its keys span. */\n    span: number;\n    /** Whether its keys cover the range played. */\n    covers: boolean;\n}\n\n/**\n * Whether one channel is to run a clip's motion rather than another: one whose keys cover the range played before one\n * whose keys do not; among channels that cover it a position channel first, the channel the mixer weighs linearly, then\n * the widest; among channels that do not, the widest, since a channel keyed shorter clamps the analysis to its keys,\n * then a position channel.\n * @param candidate defines the channel considered\n * @param other defines the channel preferred so far\n * @returns whether the channel considered is preferred\n */\nfunction ClockBeats(candidate: IClockCandidate, other: IClockCandidate): boolean {\n    if (candidate.covers !== other.covers) {\n        return candidate.covers;\n    }\n    const position = candidate.animation.targetProperty === \"position\";\n    const otherPosition = other.animation.targetProperty === \"position\";\n    if (candidate.covers && position !== otherPosition) {\n        return position;\n    }\n    if (candidate.span !== other.span) {\n        return candidate.span > other.span;\n    }\n    return position && !otherPosition;\n}\n\n/** Contact candidates must come this close to the lowest one during the clip, as a share of the character's height. */\nconst ContactHeightBand = 0.1;\n/** A contact counts as on the ground within this share of the character's height above its own lowest point. */\nconst PlantedHeightBand = 0.05;\n/** Values per sample in the motion track: translation x, y, z and the turn about the up axis. */\nconst TrackStride = 4;\n/**\n * Deduced travel counts only if its steps mostly head the same way: net travel over the length of the path stepped.\n * Walks and runs measure 0.99 and more; a dance or an idle that shuffles about on the spot measures under 0.3.\n */\nconst MinimumStraightness = 0.8;\n/** Default snap of a direction of travel deduced from contacts, in radians. */\nconst DeducedDirectionSnapAngle = Math.PI / 18;\n/** Frame step for the numeric tangents of rewritten cubic spline keys. */\nconst TangentDelta = 1e-3;\n/** The root motion of each scene, updating the scene's controllers in one pass after animations. */\nconst SceneRootMotions = new WeakMap<Scene, SceneRootMotion>();\n\n/**\n * The root motion of an animation group: how far the clip carries the character over a cycle, and how far it turns it,\n * so that the character can be moved by it and its feet stay planted instead of skating.\n *\n * The clip is analyzed once, when the RootMotionClip is created, without playing the group or changing it:\n * 1. The root node's own animation is tried first, as the ground truth. If the root ends a cycle a meaningful distance\n *    from where it started, that travel is the root motion. Turning is read from the root the same way.\n * 2. Otherwise the clip is treated as an in-place cycle and the travel is deduced from its contact nodes: a planted\n *    contact stays put in the world, so in character space it moves opposite to the character, and whatever it gives\n *    up the character gains. The direction of travel falls out of the same measurement, so the forward axis of\n *    the rig does not have to be known.\n *\n * The source group is never changed. The clip owns {@link RootMotionClip.animationGroup}, a clone of the source in\n * which the root's travel and turning are left out, so it plays and loops in place: play that group, and give the clip\n * to the {@link RootMotionController} of the character so the motion is applied to the character node instead.\n *\n * ```ts\n * const walk = new RootMotionClip(walkGroup);\n * const controller = new RootMotionController(walk.characterNode, [walk]);\n * walk.animationGroup.start(true);\n * ```\n *\n * The in-place group is a group of the scene, not of the source's asset container, so dispose the clip when it is done\n * with; disposing the container does not. To play a clip additively, build it from the source as it is and make the\n * in-place group additive: `AnimationGroup.MakeAnimationAdditive(clip.animationGroup, { referenceFrame: 0 })`, with\n * {@link IRootMotionClipOptions.cloneAnimations} set so the source keeps its keys.\n */\nexport class RootMotionClip implements IDisposable {\n    /**\n     * @internal\n     * The node of the clip's clock: the channel whose runtime animation the controller reads the evaluated progress\n     * from and turns into motion. It is the root node, or the first animated transform node when the group animates\n     * no position.\n     */\n    public _clockNode: Nullable<TransformNode> = null;\n    /** @internal The property of the clock's channel. */\n    public _clockProperty = \"position\";\n    /** @internal The very channel of the in-place group the analysis ran on, which another of the same property must not be taken for. */\n    public _clockAnimation: Nullable<Animation> = null;\n    /** @internal The runtime animation of the clock the controller followed last. */\n    public _clockRuntime: Nullable<RuntimeAnimation> = null;\n    /** @internal The animatable of the clock the controller followed last. */\n    public _clockAnimatable: Nullable<Animatable> = null;\n    /** @internal The animatable the last search for the clock found. */\n    public _foundAnimatable: Nullable<Animatable> = null;\n    /** @internal The animatable the clock's playback was synchronized with last, and the runtime animation of that root. */\n    public _syncRoot: Nullable<Animatable> = null;\n    /** @internal The runtime animation the clock was synchronized with last. */\n    public _syncRuntime: Nullable<RuntimeAnimation> = null;\n    /** @internal The progress of the clock the controller consumed last. */\n    public _lastProgress: Nullable<number> = null;\n    /** @internal Whether the clock has been left unevaluated at a weight of zero since the progress consumed last. */\n    public _parked = false;\n    /** @internal The clock's runtime animation at the last reset, whose evaluation of then is not where the playback carries on from. */\n    public _staleRuntime: Nullable<RuntimeAnimation> = null;\n    /** @internal Its progress then. */\n    public _staleProgress: Nullable<number> = null;\n    /** @internal What the mixer wrote to the clock's channel this frame. */\n    public _writers: Nullable<IChannelWriters> = null;\n    /** @internal The controller the clip belongs to. */\n    public _controller: Nullable<RootMotionController> = null;\n\n    private readonly _sourceGroup: AnimationGroup;\n    private readonly _group: AnimationGroup;\n    private readonly _characterNode: TransformNode;\n    private readonly _upAxis: Vector3;\n    private readonly _extractLateral: boolean;\n    private readonly _directionSnapAngle: number | undefined;\n    /** Sideways travel over a cycle left in the root's keys after snapping the direction, removed without being applied. */\n    private readonly _lateralDrift = Vector3.Zero();\n    private readonly _channels = new Map<Node, INodeChannels>();\n    private _source = RootMotionSource.None;\n    private _rootNode: Nullable<TransformNode> = null;\n    private _contactNodes: TransformNode[] = [];\n    private readonly _travelDirection = new Vector3(0, 0, 1);\n    private readonly _cycleOffset = Vector3.Zero();\n    private _cycleRotation = 0;\n    private _turns = false;\n    private _duration = 0;\n    private _characterHeight = 0;\n    private _fromFrame = 0;\n    private _toFrame = 0;\n    private _sampleCount = 1;\n    private _track = new Float32Array(2 * TrackStride);\n    /** Whether the root's own travel is left out of the in-place group - not so for a clip that only turns on the spot. */\n    private _removesRootTravel = false;\n    /** Whether the motion is a turn about the root's starting point: a clip that only turns on the spot. */\n    private _pivots = false;\n    /** The root's position before the clip, when the in-place group animates a position the source leaves alone. */\n    private _restoredPosition: Nullable<Vector3> = null;\n    private _clockIndex = -1;\n    private _sampleBlend = 0;\n    private readonly _lastOffset = Vector3.Zero();\n    private readonly _rangeStart = Vector3.Zero();\n    private readonly _rangeCycle = Vector3.Zero();\n    private readonly _cyclesOffset = Vector3.Zero();\n    private readonly _planarStep = Vector3.Zero();\n    private readonly _yawQuaternion = new Quaternion();\n    private readonly _yawMatrix = new Matrix();\n\n    /**\n     * The animation group the clip was analyzed from. It is never changed.\n     */\n    public get sourceAnimationGroup(): AnimationGroup {\n        return this._sourceGroup;\n    }\n\n    /**\n     * The in-place animation group to play: a clone of the source with the root motion left out of the root's keys.\n     * Animations the extraction does not rewrite are shared with the source unless the clip was created with\n     * {@link IRootMotionClipOptions.cloneAnimations}. It belongs to the scene, and is disposed with the clip.\n     */\n    public get animationGroup(): AnimationGroup {\n        return this._group;\n    }\n\n    /**\n     * The controller the clip was added to, if any.\n     */\n    public get controller(): Nullable<RootMotionController> {\n        return this._controller;\n    }\n\n    /**\n     * Where the travel comes from. {@link RootMotionSource.None} when no motion was found.\n     */\n    public get source(): RootMotionSource {\n        return this._source;\n    }\n\n    /**\n     * The root node the clip was analyzed with, or null when the group animates no position. It carries the motion\n     * only when {@link RootMotionClip.source} is {@link RootMotionSource.Root}.\n     */\n    public get rootNode(): Nullable<TransformNode> {\n        return this._rootNode;\n    }\n\n    /**\n     * The node the motion is measured in the local space of, and that a controller moves.\n     */\n    public get characterNode(): TransformNode {\n        return this._characterNode;\n    }\n\n    /**\n     * The contact nodes used to deduce the travel. Empty unless the source is {@link RootMotionSource.FootContact}.\n     */\n    public get contactNodes(): ReadonlyArray<TransformNode> {\n        return this._contactNodes;\n    }\n\n    /**\n     * The up axis in character space (unit length).\n     */\n    public get upAxis(): Vector3 {\n        return this._upAxis;\n    }\n\n    /**\n     * The first frame of the range the clip is analyzed over: the group's range, with a bound outside the clock\n     * channel's keys replaced by that channel's first or last key, as playback does.\n     */\n    public get fromFrame(): number {\n        return this._fromFrame;\n    }\n\n    /**\n     * The last frame of the range the clip is analyzed over.\n     */\n    public get toFrame(): number {\n        return this._toFrame;\n    }\n\n    /**\n     * The direction the clip travels in over a cycle, in character space (unit length).\n     */\n    public get travelDirection(): Vector3 {\n        return this._travelDirection;\n    }\n\n    /**\n     * The travel covered by one cycle of the clip, in character space.\n     */\n    public get cycleOffset(): Vector3 {\n        return this._cycleOffset;\n    }\n\n    /**\n     * The distance covered by one cycle of the clip along the direction of travel, in character space units.\n     */\n    public get cycleDistance(): number {\n        return Vector3.Dot(this._cycleOffset, this._travelDirection);\n    }\n\n    /**\n     * The turn covered by one cycle of the clip about the up axis, in radians. Zero unless rotation is extracted.\n     */\n    public get cycleRotation(): number {\n        return this._cycleRotation;\n    }\n\n    /**\n     * Whether the root's turning is extracted and applied to the character.\n     */\n    public get extractsRotation(): boolean {\n        return this._turns;\n    }\n\n    /**\n     * The length of one cycle of the clip in seconds, at a speed ratio of 1.\n     */\n    public get duration(): number {\n        return this._duration;\n    }\n\n    /**\n     * The speed the clip implies at a speed ratio of 1, in character space units per second.\n     */\n    public get averageSpeed(): number {\n        return this._duration > 0 ? this.cycleDistance / this._duration : 0;\n    }\n\n    /**\n     * The vertical extent of the animated hierarchy at the first frame, in character space units. Thresholds are\n     * relative to it.\n     */\n    public get characterHeight(): number {\n        return this._characterHeight;\n    }\n\n    /**\n     * Analyzes an animation group and builds the in-place animation group to play instead of it.\n     * @param animationGroup defines the animation group to extract the root motion of; it is not changed\n     * @param options defines how the root motion is extracted\n     * @throws when the group has nothing to analyze, is additive, or animates the character node itself\n     */\n    public constructor(animationGroup: AnimationGroup, options: IRootMotionClipOptions = {}) {\n        this._sourceGroup = animationGroup;\n        this._upAxis = (options.upAxis ?? Vector3.UpReadOnly).normalizeToNew();\n        this._extractLateral = !!options.extractLateralMotion;\n        this._directionSnapAngle = options.directionSnapAngle;\n        const name = options.name ?? `${animationGroup.name} (in place)`;\n\n        if (animationGroup.isAdditive) {\n            throw new Error(\n                `RootMotionClip: animation group \"${animationGroup.name}\" is additive. Build the clip from the group it was made additive from, then make the clip's in-place group additive.`\n            );\n        }\n        const targetedAnimations = animationGroup.targetedAnimations;\n        if (!targetedAnimations.length) {\n            throw new Error(`RootMotionClip: animation group \"${animationGroup.name}\" has no animations.`);\n        }\n        for (const targetedAnimation of targetedAnimations) {\n            const target = targetedAnimation.target;\n            const property = targetedAnimation.animation.targetProperty;\n            if (!(target instanceof TransformNode)) {\n                continue;\n            }\n            if (property === \"position\" || property === \"rotationQuaternion\" || property === \"rotation\" || property === \"scaling\") {\n                let channels = this._channels.get(target);\n                if (!channels) {\n                    channels = {};\n                    this._channels.set(target, channels);\n                }\n                channels[property] = targetedAnimation.animation;\n            }\n        }\n\n        // The character node is where the motion goes; an animation of its position or rotation, or of a part of them,\n        // would overwrite it every frame.\n        const refuseAnimatedReceiver = (node: TransformNode) => {\n            if (\n                targetedAnimations.some(\n                    (targetedAnimation) => targetedAnimation.target === node && /^(position|rotationQuaternion|rotation)(\\.|$)/.test(targetedAnimation.animation.targetProperty)\n                )\n            ) {\n                throw new Error(\n                    `RootMotionClip: animation group \"${animationGroup.name}\" animates the character node \"${node.name}\", which is to receive the motion. Parent the character under a node the group does not animate, or pass such an ancestor as characterNode.`\n                );\n            }\n        };\n        if (options.characterNode) {\n            refuseAnimatedReceiver(options.characterNode);\n        }\n        this._rootNode = options.rootNode ? this._resolveNode(options.rootNode) : this._findRootNode();\n        const anchor = this._rootNode ?? this._firstAnimatedNode();\n        if (!anchor) {\n            throw new Error(`RootMotionClip: animation group \"${animationGroup.name}\" does not animate any transform node.`);\n        }\n        let character = options.characterNode ?? null;\n        if (!character || character === anchor || !anchor.isDescendantOf(character)) {\n            if (character) {\n                Logger.Warn(`RootMotionClip: the character node \"${character.name}\" is not an ancestor of the root node \"${anchor.name}\"; using the topmost ancestor instead.`);\n            }\n            character = this._topmostAncestor(anchor);\n        }\n        if (character === anchor) {\n            throw new Error(`RootMotionClip: the root node \"${anchor.name}\" has no parent to carry its motion. Parent the character under a node of its own.`);\n        }\n        refuseAnimatedReceiver(character);\n        this._characterNode = character;\n\n        // The motion runs on the root's own animation - its frame rate, its range and at runtime its playback - rather than\n        // whichever track happens to be first in the group, which could be a morph target at another frame rate: the\n        // channel of the root that covers the range played, since one keyed shorter would clamp the analysis to its own\n        // keys. A root the group does not animate, passed as the base of the hierarchy, runs on such a channel of an\n        // animated descendant: a position channel before any other, the channel the mixer weighs linearly, and the\n        // widest among those.\n        const playedFrom = animationGroup.from;\n        const playedTo = animationGroup.to;\n        let clockNode: Nullable<TransformNode> = null;\n        let clock: Nullable<Animation> = null;\n        const anchorChannels = this._channels.get(anchor);\n        const anchorClock = anchorChannels ? ClockChannel(anchorChannels, playedFrom, playedTo) : null;\n        if (anchorClock && anchorClock.span > 0) {\n            clockNode = anchor;\n            clock = anchorClock.animation;\n        } else {\n            // The root has nothing to run on - it is not animated at all, or only by channels of a single key - so the\n            // clip runs on a channel of the hierarchy under it, itself as the last resort, chosen across those nodes by\n            // the same preference as among the channels of one.\n            let best: Nullable<IClockCandidate> = null;\n            for (const [node, channels] of this._channels) {\n                if (node !== anchor && !node.isDescendantOf(anchor)) {\n                    continue;\n                }\n                const candidate = ClockChannel(channels, playedFrom, playedTo);\n                if (!best || ClockBeats(candidate, best)) {\n                    best = candidate;\n                    clockNode = node as TransformNode;\n                    clock = candidate.animation;\n                }\n            }\n        }\n        if (!clockNode || !clock) {\n            throw new Error(`RootMotionClip: animation group \"${animationGroup.name}\" animates neither the root node \"${anchor.name}\" nor any node under it.`);\n        }\n        this._clockNode = clockNode;\n        this._clockProperty = clock.targetProperty;\n        // The group's range clamped to the clock's keys, the way playback clamps it: another track may run longer.\n        const keys = clock.getKeys();\n        const firstKey = keys[0].frame;\n        const lastKey = keys[keys.length - 1].frame;\n        this._fromFrame = animationGroup.from < firstKey || animationGroup.from > lastKey ? firstKey : animationGroup.from;\n        this._toFrame = animationGroup.to < firstKey || animationGroup.to > lastKey ? lastKey : animationGroup.to;\n        const framePerSecond = clock.framePerSecond;\n        this._duration = framePerSecond > 0 ? (this._toFrame - this._fromFrame) / framePerSecond : 0;\n        this._sampleCount = Math.max(2, Math.ceil(this._duration * (options.samplesPerSecond ?? 60)));\n\n        this._characterHeight = this._measureHeight(this._rootNode ?? this._characterNode);\n        const scale = this._characterHeight > 0 ? this._characterHeight : 1;\n        const minimumTravel = (options.minimumTravel ?? 0.1) * scale;\n        const minimumTurn = options.minimumTurn ?? Math.PI / 18;\n        const source = options.source;\n        const root = this._rootNode;\n        const rootChannels = root ? this._channels.get(root) : undefined;\n        const samples = this._sampleCount;\n\n        // Turning is only ever in the root's own rotation.\n        let yaw: Nullable<Float32Array> = null;\n        if (root && options.extractRotation !== false && (rootChannels?.rotationQuaternion || rootChannels?.rotation)) {\n            const measured = this._measureRootYaw();\n            // By the turn a loop leaves the character facing: a dance that spins twice ends facing the way it began and\n            // loops seamlessly as it is, while a 90 degree turn has to carry the character round.\n            if (options.extractRotation === true || Math.abs(WrapAngle(measured[samples])) >= minimumTurn) {\n                yaw = measured;\n            }\n        }\n        this._turns = !!yaw;\n\n        if (source === RootMotionSource.Root && !rootChannels?.position) {\n            throw new Error(\n                `RootMotionClip: the root node \"${root!.name}\" has no position animation to take the travel from. Omit the source to deduce it from the contact nodes, or pass another rootNode.`\n            );\n        }\n        let translation: Nullable<Float32Array> = null;\n        if ((source === undefined || source === RootMotionSource.Root) && root && rootChannels?.position) {\n            translation = this._measureRootTravel(yaw, minimumTravel, source === RootMotionSource.Root);\n            if (translation) {\n                this._source = RootMotionSource.Root;\n                this._removesRootTravel = true;\n            }\n        }\n        if (!translation && (source === undefined || source === RootMotionSource.FootContact)) {\n            translation = this._measureContactTravel(yaw, options.contactNodes, minimumTravel, source === RootMotionSource.FootContact);\n            if (translation) {\n                this._source = RootMotionSource.FootContact;\n            }\n        }\n        if (!translation && yaw) {\n            // Turning on the spot: the root keeps its travel, sway included; only the turn is taken out.\n            translation = new Float32Array((samples + 1) * 3);\n            this._source = RootMotionSource.Root;\n        }\n        if (translation && yaw && !this._removesRootTravel) {\n            // A turn that is not in the root's travel turns the character about the root's starting point, so a root off\n            // the character's axis stays where the clip has it, in place from one cycle to the next.\n            const start = this._positionInCharacter(root!, this._fromFrame, new Vector3());\n            const pivot = new Vector3();\n            for (let i = 0; i <= samples; i++) {\n                this._rootTravelAt(start, start, yaw[i], true, pivot);\n                translation[i * 3] += pivot.x;\n                translation[i * 3 + 1] += pivot.y;\n                translation[i * 3 + 2] += pivot.z;\n            }\n            this._pivots = true;\n        }\n        if (translation) {\n            this._track = new Float32Array((samples + 1) * TrackStride);\n            for (let i = 0; i <= samples; i++) {\n                this._track[i * TrackStride] = translation[i * 3];\n                this._track[i * TrackStride + 1] = translation[i * 3 + 1];\n                this._track[i * TrackStride + 2] = translation[i * 3 + 2];\n                this._track[i * TrackStride + 3] = yaw ? yaw[i] : 0;\n            }\n            this._cycleOffset.fromArray(translation, samples * 3);\n            this._cycleRotation = yaw ? yaw[samples] : 0;\n        } else {\n            this._turns = false;\n            this._travelDirection.set(0, 0, 1);\n            this._lateralDrift.setAll(0);\n        }\n\n        this._group = this._buildInPlaceGroup(name, !!options.cloneAnimations);\n        // The very channel of the in-place group the motion runs on - the last of that node and property, as the\n        // analysis took it - so that another channel of the same property is not followed in its place.\n        for (const targetedAnimation of this._group.targetedAnimations) {\n            if (targetedAnimation.target === this._clockNode && targetedAnimation.animation.targetProperty === this._clockProperty) {\n                this._clockAnimation = targetedAnimation.animation;\n            }\n        }\n    }\n\n    /**\n     * Gets the travel reached at a frame of the clip, relative to its first frame, in character space.\n     * @param frame defines the frame to sample\n     * @param result defines the vector receiving the travel\n     * @returns the result vector\n     */\n    public getOffsetAtFrame(frame: number, result: Vector3): Vector3 {\n        const a = this._sampleAt(frame) * TrackStride;\n        const b = a + TrackStride;\n        const blend = this._sampleBlend;\n        const track = this._track;\n        return result.set(track[a] + (track[b] - track[a]) * blend, track[a + 1] + (track[b + 1] - track[a + 1]) * blend, track[a + 2] + (track[b + 2] - track[a + 2]) * blend);\n    }\n\n    /**\n     * Gets the turn reached at a frame of the clip about the up axis, relative to its first frame, in radians.\n     * @param frame defines the frame to sample\n     * @returns the turn in radians\n     */\n    public getRotationAtFrame(frame: number): number {\n        const a = this._sampleAt(frame) * TrackStride + 3;\n        return this._track[a] + (this._track[a + TrackStride] - this._track[a]) * this._sampleBlend;\n    }\n\n    /**\n     * Removes the clip from its controller and disposes the in-place animation group. The source group is untouched.\n     * When the in-place group animates the root's position although the source does not (a root that only turns), the\n     * root's position is put back to what it was when the clip was created.\n     */\n    public dispose(): void {\n        this._controller?.removeClip(this);\n        this._group.dispose();\n        if (this._restoredPosition && this._rootNode) {\n            this._rootNode.position = this._restoredPosition.clone();\n        }\n    }\n\n    /**\n     * @internal\n     * Finds the runtime animation of the clock in the in-place group's current playback, leaving its animatable in\n     * _foundAnimatable.\n     * @returns the runtime animation once it has been evaluated, or null when the group is not playing the clock\n     */\n    public _findClock(): Nullable<RuntimeAnimation> {\n        const animatables = this._group.animatables;\n        const cached = this._clockAnimatable;\n        if (cached && this._clockRuntime && animatables[this._clockIndex] === cached) {\n            this._foundAnimatable = cached;\n            return this._clockRuntime;\n        }\n        for (let i = 0; i < animatables.length; i++) {\n            const animatable = animatables[i];\n            if (animatable.target !== this._clockNode) {\n                continue;\n            }\n            const runtimes = animatable.getAnimations();\n            for (let j = 0; j < runtimes.length; j++) {\n                const runtime = runtimes[j];\n                if (runtime.target && (this._clockAnimation ? runtime.animation === this._clockAnimation : runtime.animation.targetProperty === this._clockProperty)) {\n                    this._foundAnimatable = animatable;\n                    this._clockIndex = i;\n                    return runtime;\n                }\n            }\n        }\n        this._foundAnimatable = null;\n        return null;\n    }\n\n    /**\n     * @internal\n     * Forgets the playback the controller was following.\n     */\n    public _forgetPlayback(): void {\n        this._clockRuntime = null;\n        this._clockAnimatable = null;\n        this._syncRoot = null;\n        this._syncRuntime = null;\n        this._lastProgress = null;\n        this._parked = false;\n        this._staleRuntime = null;\n        this._staleProgress = null;\n    }\n\n    /**\n     * @internal\n     * The motion between two progresses of a playback over a range, as a turn and then a translation in the character\n     * space of the earlier progress. Progress is unwrapped: whole cycles are in it, however many passed.\n     * @param from defines the first frame of the played range\n     * @param to defines the last frame of the played range\n     * @param lastProgress defines the earlier progress, in frames from the first frame\n     * @param progress defines the later progress, in frames from the first frame\n     * @param result defines the vector receiving the translation\n     * @returns the turn in radians\n     */\n    public _motionBetween(from: number, to: number, lastProgress: number, progress: number, result: Vector3): number {\n        const range = to - from;\n        if (range === 0 || (this._source === RootMotionSource.None && !this._turns)) {\n            result.setAll(0);\n            return 0;\n        }\n        const lastCycle = Math.floor(lastProgress / range);\n        const cycle = Math.floor(progress / range);\n        const lastFrame = from + lastProgress - lastCycle * range;\n        const frame = from + progress - cycle * range;\n        const cycles = cycle - lastCycle;\n\n        // The motion within the played range, relative to its start - a range played on its own loops by its own stride,\n        // not the whole clip's.\n        const startYaw = this.getRotationAtFrame(from);\n        const startOffset = this.getOffsetAtFrame(from, this._rangeStart);\n        const lastYaw = this._motionInRange(lastFrame, startYaw, startOffset, this._lastOffset);\n        let yaw = this._motionInRange(frame, startYaw, startOffset, result);\n\n        if (cycles !== 0) {\n            // Whole cycles passed: now = cycle^cycles, then the motion within the range.\n            const stepYaw = this._motionInRange(to, startYaw, startOffset, this._rangeCycle);\n            const cyclesYaw = this._cyclePower(cycles, this._rangeCycle, stepYaw, this._cyclesOffset);\n            this._rotateAboutUp(result, cyclesYaw, result).addInPlace(this._cyclesOffset);\n            yaw += cyclesYaw;\n        }\n\n        // Relative to where the character was: undo the turn it had already made.\n        this._rotateAboutUp(result.subtractInPlace(this._lastOffset), -lastYaw, result);\n        return yaw - lastYaw;\n    }\n\n    /**\n     * The motion at a frame relative to the motion at the start of the played range.\n     * @param frame defines the frame\n     * @param startYaw defines the turn at the start of the range\n     * @param startOffset defines the travel at the start of the range\n     * @param result defines the vector receiving the travel\n     * @returns the turn\n     */\n    private _motionInRange(frame: number, startYaw: number, startOffset: Vector3, result: Vector3): number {\n        this._rotateAboutUp(this.getOffsetAtFrame(frame, result).subtractInPlace(startOffset), -startYaw, result);\n        return this.getRotationAtFrame(frame) - startYaw;\n    }\n\n    /**\n     * A whole number of cycles of a planar motion - a turn about the up axis and then a translation - in closed form,\n     * for any number of cycles, forwards or back: the sum of the horizontal translation turned 0, 1, ... n-1 times is\n     * the translation turned (n - 1) / 2 times, sin(n * turn / 2) / sin(turn / 2) times as long, and n times the\n     * translation when there is no turn. The vertical part adds up. Nothing here is a matter of precision: no series\n     * is summed and no small angle is divided by.\n     * @param cycles defines the number of cycles, negative to go back\n     * @param step defines the translation of one cycle\n     * @param stepYaw defines the turn of one cycle\n     * @param result defines the vector receiving the translation of all the cycles\n     * @returns the turn of all the cycles\n     */\n    private _cyclePower(cycles: number, step: Vector3, stepYaw: number, result: Vector3): number {\n        // The turn only matters modulo a revolution; wrapped, whole revolutions read as no turn at all.\n        const turn = WrapAngle(stepYaw);\n        const halfSine = Math.sin(turn / 2);\n        const length = halfSine === 0 ? cycles : Math.sin((cycles * turn) / 2) / halfSine;\n        const up = this._upAxis;\n        const rise = Vector3.Dot(step, up) * cycles;\n        this._rotateAboutUp(this._horizontal(step, this._planarStep), ((cycles - 1) * turn) / 2, result).scaleInPlace(length);\n        result.addInPlace(up.scale(rise));\n        return cycles * stepYaw;\n    }\n\n    private _measureRootYaw(): Float32Array {\n        const root = this._rootNode!;\n        const samples = this._sampleCount;\n        const reference = this._rotationInCharacter(root, this._fromFrame, new Quaternion());\n        reference.conjugateInPlace();\n        const rotation = new Quaternion();\n        const yaw = new Float32Array(samples + 1);\n        let previous = 0;\n        for (let i = 0; i <= samples; i++) {\n            const wrapped = this._twist(this._rotationInCharacter(root, this._frameAt(i), rotation), reference);\n            // Unwrap, so a clip that turns past half a revolution keeps counting instead of jumping back.\n            previous = i === 0 ? wrapped : previous + WrapAngle(wrapped - WrapAngle(previous));\n            yaw[i] = previous;\n        }\n        return yaw;\n    }\n\n    private _measureRootTravel(yaw: Nullable<Float32Array>, minimumTravel: number, forced: boolean): Nullable<Float32Array> {\n        const root = this._rootNode!;\n        const samples = this._sampleCount;\n        const positions: Vector3[] = [];\n        for (let i = 0; i <= samples; i++) {\n            positions.push(this._positionInCharacter(root, this._frameAt(i), new Vector3()));\n        }\n\n        const start = positions[0];\n        // Net travel over the cycle, not how far the root strays: an in-place loop returns to where it started however\n        // much its hips surge and sway (a lurching walk can surge a fifth of the character's height), while a clip that\n        // really travels ends a stride or more away. A clip that travels and comes back, like a circle, reads as in place,\n        // which is safe: its feet do not slide either, so nothing is applied twice.\n        const net = this._horizontal(positions[samples].subtract(start), new Vector3());\n        if (!forced && net.length() < minimumTravel) {\n            return null;\n        }\n        if (net.lengthSquared() > 0) {\n            this._travelDirection.copyFrom(net).normalize();\n        }\n        if (!yaw && !this._extractLateral) {\n            this._snapTravelDirection(0);\n            // Whatever the root still drifts sideways of a snapped direction over a cycle would stay in the pose and pop\n            // back at every loop, so it is removed from the keys too, evenly over the cycle - but not applied.\n            this._horizontal(net, this._lateralDrift).subtractInPlace(this._travelDirection.scale(Vector3.Dot(net, this._travelDirection)));\n        }\n\n        const translation = new Float32Array((samples + 1) * 3);\n        const offset = new Vector3();\n        for (let i = 0; i <= samples; i++) {\n            this._rootTravelAt(positions[i], start, yaw ? yaw[i] : 0, !!yaw, offset).toArray(translation, i * 3);\n        }\n        return translation;\n    }\n\n    /**\n     * The travel removed from the root at a pose, so that the in-place root keeps the start position (turning) or its\n     * sway (straight).\n     * @param position defines the root position in character space\n     * @param start defines the root position in character space at the first frame\n     * @param yaw defines the turn at this pose\n     * @param turning defines whether turning is extracted\n     * @param result defines the vector receiving the travel\n     * @returns the result vector\n     */\n    private _rootTravelAt(position: Vector3, start: Vector3, yaw: number, turning: boolean, result: Vector3): Vector3 {\n        if (turning) {\n            // Every horizontal move, since the direction of travel is turning with the character.\n            const pivot = this._rotateAboutUp(this._horizontal(start, TmpVectors.Vector3[3]), yaw, TmpVectors.Vector3[3]);\n            return this._horizontal(position, result).subtractInPlace(pivot);\n        }\n        return this._project(position.subtractToRef(start, result), result);\n    }\n\n    private _measureContactTravel(\n        yaw: Nullable<Float32Array>,\n        explicitContacts: Array<TransformNode | Bone> | undefined,\n        minimumTravel: number,\n        forced: boolean\n    ): Nullable<Float32Array> {\n        const samples = this._sampleCount;\n        const up = this._upAxis;\n        let contacts: TransformNode[];\n        if (explicitContacts) {\n            contacts = explicitContacts.map((node) => this._resolveNode(node)).filter((node): node is TransformNode => !!node);\n        } else {\n            const base = this._rootNode ?? this._characterNode;\n            contacts = base.getDescendants(false, IsJoint).filter((node) => !node.getChildren(IsJoint, true).length) as TransformNode[];\n        }\n        if (!contacts.length) {\n            return null;\n        }\n\n        // Every candidate across the whole clip: a run starts with a foot in the air, so one frame cannot tell which\n        // nodes ever reach the ground.\n        const positions = contacts.map(() => [] as Vector3[]);\n        const lowest = contacts.map(() => Number.POSITIVE_INFINITY);\n        for (let i = 0; i <= samples; i++) {\n            const frame = this._frameAt(i);\n            for (let c = 0; c < contacts.length; c++) {\n                const position = this._positionInCharacter(contacts[c], frame, new Vector3());\n                positions[c].push(position);\n                lowest[c] = Math.min(lowest[c], Vector3.Dot(position, up));\n            }\n        }\n        if (!explicitContacts) {\n            const ground = Math.min(...lowest);\n            const kept = contacts.map((_, c) => lowest[c] <= ground + ContactHeightBand * this._characterHeight);\n            contacts = contacts.filter((_, c) => kept[c]);\n            const keptPositions = positions.filter((_, c) => kept[c]);\n            const keptLowest = lowest.filter((_, c) => kept[c]);\n            positions.length = 0;\n            positions.push(...keptPositions);\n            lowest.length = 0;\n            lowest.push(...keptLowest);\n        }\n\n        // A planted contact does not move in the world, so in character space it moves at exactly the opposite of the\n        // character's own velocity - and that velocity changes smoothly. A swinging contact sweeps forwards, even while\n        // touching down, when it can already be the lowest; a contact of a clip whose root carries the travel stands\n        // still. So each interval takes the contact on the ground whose step is closest to the ground speed of the\n        // interval before, starting from the clip's average ground speed measured with the slowest contact on the\n        // ground. With no contact on the ground - the flight of a run - the ground speed carries on.\n        // Steps are compared with the turn so far undone, so a turning path keeps a steady ground speed.\n        const tolerance = PlantedHeightBand * this._characterHeight;\n        const step = new Vector3();\n        const unturned = new Vector3();\n        const reference = new Vector3();\n        const translation = new Float32Array((samples + 1) * 3);\n        const travelled = Vector3.Zero();\n        const heading = Vector3.Zero();\n        let pathLength = 0;\n        const walk = (tracking: boolean) => {\n            const previous = reference.clone();\n            const sum = Vector3.Zero();\n            let grounded = 0;\n            travelled.setAll(0);\n            heading.setAll(0);\n            pathLength = 0;\n            for (let i = 1; i <= samples; i++) {\n                const turn = yaw ? yaw[i] : 0;\n                let best = Number.POSITIVE_INFINITY;\n                const chosen = new Vector3();\n                for (let c = 0; c < contacts.length; c++) {\n                    const before = positions[c][i - 1];\n                    const after = positions[c][i];\n                    if (Vector3.Dot(before, up) > lowest[c] + tolerance || Vector3.Dot(after, up) > lowest[c] + tolerance) {\n                        continue;\n                    }\n                    this._rotateAboutUp(this._horizontal(before.subtractToRef(after, step), step), -turn, unturned);\n                    const score = tracking ? Vector3.DistanceSquared(unturned, previous) : unturned.lengthSquared();\n                    if (score < best) {\n                        best = score;\n                        chosen.copyFrom(unturned);\n                    }\n                }\n                if (best === Number.POSITIVE_INFINITY) {\n                    chosen.copyFrom(previous);\n                } else {\n                    sum.addInPlace(chosen);\n                    grounded++;\n                }\n                if (tracking) {\n                    previous.copyFrom(chosen);\n                }\n                heading.addInPlace(chosen);\n                pathLength += chosen.length();\n                travelled.addInPlace(this._rotateAboutUp(chosen, turn, step)).toArray(translation, i * 3);\n            }\n            if (!tracking && grounded > 0) {\n                reference.copyFrom(sum).scaleInPlace(1 / grounded);\n            }\n        };\n        walk(false);\n        walk(true);\n        const straightness = pathLength > 0 ? heading.length() / pathLength : 0;\n\n        if (travelled.lengthSquared() > 0) {\n            this._travelDirection.copyFrom(travelled).normalize();\n        }\n        const distance = Vector3.Dot(travelled, this._travelDirection);\n        if (!forced && (distance < minimumTravel || straightness < MinimumStraightness)) {\n            return null;\n        }\n        if (!yaw) {\n            // Straight: only the travel along the direction, like the root path.\n            if (!this._extractLateral) {\n                this._snapTravelDirection(DeducedDirectionSnapAngle);\n            }\n            for (let i = 0; i <= samples; i++) {\n                step.fromArray(translation, i * 3);\n                this._travelDirection.scaleToRef(Vector3.Dot(step, this._travelDirection), step).toArray(translation, i * 3);\n            }\n        }\n        this._contactNodes = contacts;\n        return translation;\n    }\n\n    /**\n     * Clones the source group into the in-place group. When the root motion is in the root's keys, the root's channels\n     * are cloned with the motion left out: each key's pose, in character space, has the motion at its frame undone. The\n     * motion is the root's travel for a {@link RootMotionSource.Root} clip, plus the turn when rotation is extracted.\n     * Everything is computed from the source keys, which are not touched.\n     * @param name defines the name of the in-place group\n     * @param cloneAnimations defines whether every animation is cloned rather than only the rewritten root channels\n     * @returns the in-place group\n     */\n    private _buildInPlaceGroup(name: string, cloneAnimations: boolean): AnimationGroup {\n        const group = this._sourceGroup.clone(name);\n        // Cloning widens the range to the keys again; the in-place group plays what the source plays.\n        group.from = this._sourceGroup.from;\n        group.to = this._sourceGroup.to;\n        if (cloneAnimations) {\n            for (const targetedAnimation of group.targetedAnimations) {\n                targetedAnimation.animation = CloneAnimation(targetedAnimation.animation, true);\n            }\n        }\n        const root = this._rootNode;\n        if (!root || (!this._removesRootTravel && !this._turns)) {\n            return group;\n        }\n\n        const channels = this._channels.get(root)!;\n        const parent = root.parent;\n        const removesTravel = this._removesRootTravel;\n        const range = Math.max(this._toFrame - this._fromFrame, 1e-6);\n        const start = this._positionInCharacter(root, this._fromFrame, new Vector3());\n        const reference = this._rotationInCharacter(root, this._fromFrame, new Quaternion());\n        reference.conjugateInPlace();\n\n        const motionMatrix = new Matrix();\n        const rootMatrix = new Matrix();\n        const parentMatrix = new Matrix();\n        const localMatrix = new Matrix();\n        const yawQuaternion = new Quaternion();\n        const scratchPosition = new Vector3();\n        const scratchRotation = new Quaternion();\n        const travel = new Vector3();\n\n        // The in-place local transform of the root at any frame, from the source keys.\n        const inPlaceAt = (frame: number, position: Vector3, rotation: Quaternion) => {\n            this._matrixToCharacter(root, frame, rootMatrix);\n            this._matrixToCharacter(parent, frame, parentMatrix);\n            let yaw = 0;\n            if (this._turns) {\n                // Exact at this frame; the track only settles which whole turn the angle is on.\n                const wrapped = this._twist(this._rotationInCharacter(root, frame, scratchRotation), reference);\n                const tracked = this.getRotationAtFrame(frame);\n                yaw = wrapped + Math.round((tracked - wrapped) / (2 * Math.PI)) * 2 * Math.PI;\n            }\n            if (removesTravel) {\n                rootMatrix.getTranslationToRef(scratchPosition);\n                this._rootTravelAt(scratchPosition, start, yaw, this._turns, travel);\n                if (!this._turns) {\n                    travel.addInPlace(this._lateralDrift.scale(Math.min(1, Math.max(0, (frame - this._fromFrame) / range))));\n                }\n            } else if (this._pivots) {\n                this._rootTravelAt(start, start, yaw, true, travel);\n            } else {\n                travel.setAll(0);\n            }\n            // The motion maps the in-place pose onto the clip's pose: turn, then travel.\n            Matrix.FromQuaternionToRef(Quaternion.RotationAxisToRef(this._upAxis, yaw, yawQuaternion), motionMatrix);\n            motionMatrix.setTranslation(travel);\n            motionMatrix.invertToRef(motionMatrix);\n            rootMatrix.multiplyToRef(motionMatrix, localMatrix);\n            parentMatrix.invertToRef(parentMatrix);\n            localMatrix.multiplyToRef(parentMatrix, localMatrix);\n            localMatrix.decompose(undefined, rotation, position);\n        };\n\n        const position = new Vector3();\n        const rotation = new Quaternion();\n        const before = { position: new Vector3(), rotation: new Quaternion() };\n        const after = { position: new Vector3(), rotation: new Quaternion() };\n\n        // The keys of a channel with the motion left out, at the frames of the source keys.\n        const inPlaceKeys = (sourceKeys: IAnimationKey[], kind: \"position\" | \"rotationQuaternion\" | \"rotation\"): IAnimationKey[] => {\n            const keys: IAnimationKey[] = [];\n            let previousRotation: Nullable<Quaternion> = null;\n            let previousEuler: Nullable<Vector3> = null;\n            for (const key of sourceKeys) {\n                inPlaceAt(key.frame, position, rotation);\n                let value: any;\n                if (kind === \"position\") {\n                    value = position.clone();\n                } else {\n                    // Stay in the same hemisphere as the previous key, so interpolation does not take the long way round.\n                    if (previousRotation && Quaternion.Dot(previousRotation, rotation) < 0) {\n                        rotation.scaleInPlace(-1);\n                    }\n                    previousRotation = rotation.clone();\n                    if (kind === \"rotationQuaternion\") {\n                        value = previousRotation;\n                    } else {\n                        // Each angle continues from the previous key, so interpolation does not swing the long way round\n                        // where the conversion from a quaternion jumps between +PI and -PI.\n                        const euler = previousRotation.toEulerAngles();\n                        if (previousEuler) {\n                            euler.x += Math.round((previousEuler.x - euler.x) / (2 * Math.PI)) * 2 * Math.PI;\n                            euler.y += Math.round((previousEuler.y - euler.y) / (2 * Math.PI)) * 2 * Math.PI;\n                            euler.z += Math.round((previousEuler.z - euler.z) / (2 * Math.PI)) * 2 * Math.PI;\n                        }\n                        previousEuler = euler;\n                        value = euler;\n                    }\n                }\n\n                // Cubic spline tangents follow the rewritten curve. Straight travel is a linear removal, so the key's own\n                // tangent is transformed exactly; a turn is not, so the tangents are measured from the curve either side.\n                const tangent = (original: any, direction: number): any => {\n                    if (!original) {\n                        return original;\n                    }\n                    if (kind === \"position\" && !this._turns) {\n                        this._matrixToCharacter(parent, key.frame, parentMatrix);\n                        const inCharacter = Vector3.TransformNormal(original, parentMatrix);\n                        const removed = removesTravel ? this._project(inCharacter.clone(), new Vector3()).addInPlace(this._lateralDrift.scale(1 / range)) : Vector3.Zero();\n                        parentMatrix.invertToRef(parentMatrix);\n                        return original.subtract(Vector3.TransformNormal(removed, parentMatrix));\n                    }\n                    inPlaceAt(key.frame - TangentDelta, before.position, before.rotation);\n                    inPlaceAt(key.frame + TangentDelta, after.position, after.rotation);\n                    const low = direction < 0 ? before : { position, rotation };\n                    const high = direction < 0 ? { position, rotation } : after;\n                    if (kind === \"position\") {\n                        return high.position.subtract(low.position).scaleInPlace(1 / TangentDelta);\n                    }\n                    if (Quaternion.Dot(low.rotation, high.rotation) < 0) {\n                        high.rotation.scaleInPlace(-1);\n                    }\n                    const rate = high.rotation.subtract(low.rotation).scaleInPlace(1 / TangentDelta);\n                    return kind === \"rotationQuaternion\"\n                        ? rate\n                        : high.rotation\n                              .toEulerAngles()\n                              .subtract(low.rotation.toEulerAngles())\n                              .scaleInPlace(1 / TangentDelta);\n                };\n\n                keys.push({\n                    frame: key.frame,\n                    value,\n                    inTangent: tangent(key.inTangent, -1),\n                    outTangent: tangent(key.outTangent, 1),\n                    interpolation: key.interpolation,\n                    lockedTangent: key.lockedTangent,\n                    easingFunction: key.easingFunction,\n                });\n            }\n            return keys;\n        };\n\n        // A rewritten channel replaces the source's in the in-place group; the source animation is not touched.\n        const replace = (source: Animation, kind: \"position\" | \"rotationQuaternion\" | \"rotation\"): void => {\n            const animation = CloneAnimation(source);\n            animation.setKeys(inPlaceKeys(source.getKeys(), kind), true);\n            // By animation and target both: the same animation may drive other nodes earlier in the group.\n            const index = this._sourceGroup.targetedAnimations.findIndex((targetedAnimation) => targetedAnimation.animation === source && targetedAnimation.target === root);\n            group.targetedAnimations[index].animation = animation;\n        };\n\n        if (channels.position) {\n            replace(channels.position, \"position\");\n        } else {\n            // A root that only turns gets a position channel of its own, holding it at its starting point while the\n            // character turns about that point. It is the clip's clock, the channel the mixer weighs every clip of the\n            // character on, and it keeps the root in place when another clip animates the position. Its keys are as\n            // dense as the analysis: an animated ancestor between the root and the character makes the position vary.\n            const rotationChannel = (channels.rotationQuaternion ?? channels.rotation)!;\n            const staticKeys: IAnimationKey[] = [];\n            for (let i = 0; i <= this._sampleCount; i++) {\n                staticKeys.push({ frame: this._frameAt(i), value: root.position });\n            }\n            const animation = new Animation(`${root.name} position`, \"position\", rotationChannel.framePerSecond, Animation.ANIMATIONTYPE_VECTOR3, rotationChannel.loopMode);\n            animation.enableBlending = rotationChannel.enableBlending;\n            animation.blendingSpeed = rotationChannel.blendingSpeed;\n            animation.setKeys(inPlaceKeys(staticKeys, \"position\"), true);\n            group.addTargetedAnimation(animation, root);\n            this._restoredPosition = root.position.clone();\n            this._clockProperty = \"position\";\n        }\n        if (this._turns) {\n            if (channels.rotationQuaternion) {\n                replace(channels.rotationQuaternion, \"rotationQuaternion\");\n            } else if (channels.rotation) {\n                replace(channels.rotation, \"rotation\");\n            }\n        }\n        return group;\n    }\n\n    private _findRootNode(): Nullable<TransformNode> {\n        const nodes = Array.from(this._channels.keys());\n        let best: Nullable<TransformNode> = null;\n        let bestCount = -1;\n        for (const [node, channels] of this._channels) {\n            if (!channels.position) {\n                continue;\n            }\n            const count = nodes.filter((other) => other !== node && other.isDescendantOf(node)).length;\n            if (count > bestCount || (count === bestCount && best && best.isDescendantOf(node))) {\n                best = node as TransformNode;\n                bestCount = count;\n            }\n        }\n        return best;\n    }\n\n    private _measureHeight(base: TransformNode): number {\n        const position = new Vector3();\n        let lowest = Number.POSITIVE_INFINITY;\n        let highest = Number.NEGATIVE_INFINITY;\n        for (const node of [base, ...(base.getDescendants(false, IsJoint) as TransformNode[])]) {\n            const height = Vector3.Dot(this._positionInCharacter(node, this._fromFrame, position), this._upAxis);\n            lowest = Math.min(lowest, height);\n            highest = Math.max(highest, height);\n        }\n        return highest - lowest;\n    }\n\n    /**\n     * The track sample before a frame; the blend towards the next one is left in _sampleBlend.\n     * @param frame defines the frame\n     * @returns the sample index\n     */\n    private _sampleAt(frame: number): number {\n        const range = this._toFrame - this._fromFrame;\n        const samples = this._sampleCount;\n        if (range <= 0 || (this._source === RootMotionSource.None && !this._turns)) {\n            this._sampleBlend = 0;\n            return 0;\n        }\n        const exact = Math.min(samples, Math.max(0, ((frame - this._fromFrame) / range) * samples));\n        const index = Math.min(samples - 1, Math.floor(exact));\n        this._sampleBlend = exact - index;\n        return index;\n    }\n\n    private _frameAt(sample: number): number {\n        return this._fromFrame + ((this._toFrame - this._fromFrame) * sample) / this._sampleCount;\n    }\n\n    private _horizontal(vector: Vector3, result: Vector3): Vector3 {\n        const up = this._upAxis;\n        const height = Vector3.Dot(vector, up);\n        return result.set(vector.x - up.x * height, vector.y - up.y * height, vector.z - up.z * height);\n    }\n\n    private _project(vector: Vector3, result: Vector3): Vector3 {\n        this._horizontal(vector, result);\n        if (!this._extractLateral) {\n            this._travelDirection.scaleToRef(Vector3.Dot(result, this._travelDirection), result);\n        }\n        return result;\n    }\n\n    /**\n     * Snaps the direction of travel onto the nearest horizontal character space axis within the snap angle.\n     * @param defaultAngle defines the snap angle when none was given in the options\n     */\n    private _snapTravelDirection(defaultAngle: number): void {\n        const angle = this._directionSnapAngle ?? defaultAngle;\n        if (angle <= 0) {\n            return;\n        }\n        const up = this._upAxis;\n        const axis = new Vector3();\n        let best: Nullable<Vector3> = null;\n        let bestDot = Math.cos(angle);\n        for (const candidate of [Vector3.RightReadOnly, Vector3.UpReadOnly, Vector3.Forward(false)]) {\n            if (Math.abs(Vector3.Dot(candidate, up)) > 0.5) {\n                continue;\n            }\n            this._horizontal(candidate, axis).normalize();\n            for (const sign of [1, -1]) {\n                const dot = sign * Vector3.Dot(axis, this._travelDirection);\n                if (dot >= bestDot) {\n                    bestDot = dot;\n                    best = axis.scale(sign);\n                }\n            }\n        }\n        if (best) {\n            this._travelDirection.copyFrom(best);\n        }\n    }\n\n    private _rotateAboutUp(vector: Vector3, angle: number, result: Vector3): Vector3 {\n        if (angle === 0) {\n            return result.copyFrom(vector);\n        }\n        Matrix.FromQuaternionToRef(Quaternion.RotationAxisToRef(this._upAxis, angle, this._yawQuaternion), this._yawMatrix);\n        return Vector3.TransformNormalToRef(vector, this._yawMatrix, result);\n    }\n\n    /**\n     * The turn about the up axis from a reference orientation to a rotation, both in character space: the angle of the\n     * rotation about the up axis that best matches the change of orientation. Unlike the twist of a swing-twist split,\n     * it stays well defined while the root pitches and rolls - a dancer's hips tilting through the vertical made the\n     * twist jump by half turns.\n     * @param rotation defines the rotation\n     * @param referenceConjugate defines the conjugate of the reference rotation\n     * @returns the angle in radians, between -PI and PI\n     */\n    private _twist(rotation: Quaternion, referenceConjugate: Quaternion): number {\n        const delta = Matrix.FromQuaternionToRef(rotation.multiplyToRef(referenceConjugate, TmpVectors.Quaternion[1]), TmpVectors.Matrix[2]);\n        const up = this._upAxis;\n        // Two horizontal axes, right-handed with up the way +X, +Z are with +Y.\n        const first = this._horizontal(Math.abs(up.x) < 0.9 ? Vector3.RightReadOnly : Vector3.Forward(false), TmpVectors.Vector3[5]).normalize();\n        const second = Vector3.CrossToRef(first, up, TmpVectors.Vector3[6]);\n        const turnedFirst = Vector3.TransformNormalToRef(first, delta, TmpVectors.Vector3[7]);\n        const turnedSecond = Vector3.TransformNormalToRef(second, delta, TmpVectors.Vector3[8]);\n        return WrapAngle(Math.atan2(Vector3.Dot(turnedSecond, first) - Vector3.Dot(turnedFirst, second), Vector3.Dot(turnedFirst, first) + Vector3.Dot(turnedSecond, second)));\n    }\n\n    private _positionInCharacter(node: TransformNode, frame: number, result: Vector3): Vector3 {\n        const matrix = this._matrixToCharacter(node, frame, TmpVectors.Matrix[1]);\n        return result.set(matrix.m[12], matrix.m[13], matrix.m[14]);\n    }\n\n    private _rotationInCharacter(node: TransformNode, frame: number, result: Quaternion): Quaternion {\n        this._matrixToCharacter(node, frame, TmpVectors.Matrix[1]).decompose(undefined, result);\n        return result;\n    }\n\n    /**\n     * Composes a node's transform into character space at a frame of the clip, from the evaluated keys of animated\n     * nodes and the current transform of the others. Nothing is played or written.\n     * @param node defines the node, or null for the character space itself\n     * @param frame defines the frame to evaluate\n     * @param result defines the matrix receiving the transform\n     * @returns the result matrix\n     */\n    private _matrixToCharacter(node: Nullable<Node>, frame: number, result: Matrix): Matrix {\n        Matrix.IdentityToRef(result);\n        const local = TmpVectors.Matrix[0];\n        let current = node;\n        while (current && current !== this._characterNode) {\n            if (current instanceof TransformNode) {\n                this._localMatrix(current, frame, local);\n                result.multiplyToRef(local, result);\n            }\n            current = current.parent;\n        }\n        return result;\n    }\n\n    private _localMatrix(node: TransformNode, frame: number, result: Matrix): Matrix {\n        const channels = this._channels.get(node);\n        const scaling: Vector3 = channels?.scaling ? channels.scaling.evaluate(frame) : node.scaling;\n        const position: Vector3 = channels?.position ? channels.position.evaluate(frame) : node.position;\n        let rotation: Quaternion;\n        if (channels?.rotationQuaternion) {\n            rotation = channels.rotationQuaternion.evaluate(frame);\n        } else if (channels?.rotation) {\n            rotation = Quaternion.FromEulerVectorToRef(channels.rotation.evaluate(frame), TmpVectors.Quaternion[0]);\n        } else {\n            rotation = node.rotationQuaternion ?? Quaternion.FromEulerVectorToRef(node.rotation, TmpVectors.Quaternion[0]);\n        }\n        return Matrix.ComposeToRef(scaling, rotation, position, result);\n    }\n\n    private _resolveNode(node: TransformNode | Bone): Nullable<TransformNode> {\n        if (node instanceof TransformNode) {\n            return node;\n        }\n        const linked = node.getTransformNode();\n        if (!linked) {\n            throw new Error(`RootMotionClip: bone \"${node.name}\" has no linked transform node; pass the transform node the bone drives instead.`);\n        }\n        return linked;\n    }\n\n    private _firstAnimatedNode(): Nullable<TransformNode> {\n        for (const node of this._channels.keys()) {\n            return node as TransformNode;\n        }\n        return null;\n    }\n\n    private _topmostAncestor(node: TransformNode): TransformNode {\n        let top = node;\n        let current = node.parent;\n        while (current) {\n            if (current instanceof TransformNode) {\n                top = current;\n            }\n            current = current.parent;\n        }\n        return top;\n    }\n}\n\n/**\n * Moves and turns a character node by the root motion of the clips playing on it, once per animation step - from the\n * scene's onAfterAnimationsObservable, so after animations are evaluated and before the world matrices are computed.\n *\n * The motion of each clip follows the playback of its in-place group's root animation: the progress of the pose it\n * evaluated, so pausing, speed ratio changes, looping in every loop mode, forwards and backwards, playing a range,\n * synchronizing with another animatable and running to the end all move the character exactly as far as the pose went.\n * Clips playing together are blended the way the animation mixer blends their root pose: weighted animation groups\n * contribute their share, normalized once their weights add up to more than one, additive groups add theirs on top,\n * an unweighted group contributes its whole pose only while no weighted group animates the root (among unweighted\n * groups the last to write wins), and a group blending in contributes as much as it is blended in, so the character\n * moves with the blended pose whatever the clips do. The turn is blended as a weighted sum of the clips' turns.\n *\n * ```ts\n * const controller = new RootMotionController(character, [walk, run]);\n * walk.animationGroup.start(true);\n * run.animationGroup.start(true);\n * walk.animationGroup.weight = 0.3;\n * run.animationGroup.weight = 0.7;\n * ```\n */\nexport class RootMotionController implements IDisposable {\n    /**\n     * Gets or sets whether the motion is applied to the character node every frame. Set it to false to consume\n     * {@link RootMotionController.deltaPosition} and {@link RootMotionController.deltaRotation} yourself, for example\n     * to drive a physics character controller.\n     */\n    public applyToCharacter = true;\n\n    /**\n     * Notified every animation step the clips produce motion, after {@link RootMotionController.deltaPosition} and\n     * {@link RootMotionController.deltaRotation} are updated.\n     */\n    public readonly onRootMotionObservable = new Observable<RootMotionController>();\n\n    private readonly _characterNode: TransformNode;\n    private readonly _clips: RootMotionClip[] = [];\n    private readonly _sceneRootMotion: SceneRootMotion;\n    private _upAxis: Nullable<Vector3> = null;\n    private readonly _deltaPosition = Vector3.Zero();\n    private _deltaRotation = 0;\n    private readonly _frameDelta = Vector3.Zero();\n    private _frameYaw = 0;\n    private readonly _clipDelta = Vector3.Zero();\n\n    /**\n     * The node the motion is applied to.\n     */\n    public get characterNode(): TransformNode {\n        return this._characterNode;\n    }\n\n    /**\n     * The clips whose motion moves the character.\n     */\n    public get clips(): ReadonlyArray<RootMotionClip> {\n        return this._clips;\n    }\n\n    /**\n     * The travel of the last animation step, in world space; applied to the character unless\n     * {@link RootMotionController.applyToCharacter} is false.\n     */\n    public get deltaPosition(): Vector3 {\n        return this._deltaPosition;\n    }\n\n    /**\n     * The turn of the last animation step about the up axis, in radians; applied to the character unless\n     * {@link RootMotionController.applyToCharacter} is false.\n     */\n    public get deltaRotation(): number {\n        return this._deltaRotation;\n    }\n\n    /**\n     * Creates a controller for a character node.\n     * @param characterNode defines the node to move: the character node of the clips\n     * @param clips defines the clips to add\n     */\n    public constructor(characterNode: TransformNode, clips: RootMotionClip[] = []) {\n        this._characterNode = characterNode;\n        this._sceneRootMotion = SceneRootMotion.Get(characterNode.getScene());\n        this._sceneRootMotion.add(this);\n        for (const clip of clips) {\n            this.addClip(clip);\n        }\n    }\n\n    /**\n     * Adds a clip, so the character moves while its in-place group plays.\n     * @param clip defines the clip; its character node must be the controller's\n     * @throws when the clip belongs to another controller, moves another node, or has another up axis than the clips\n     * already added\n     */\n    public addClip(clip: RootMotionClip): void {\n        if (clip._controller === this) {\n            return;\n        }\n        if (clip._controller) {\n            throw new Error(`RootMotionController: clip \"${clip.animationGroup.name}\" already belongs to another controller.`);\n        }\n        if (clip.characterNode !== this._characterNode) {\n            throw new Error(\n                `RootMotionController: clip \"${clip.animationGroup.name}\" moves \"${clip.characterNode.name}\", not \"${this._characterNode.name}\". Pass the controller's node as the clip's characterNode.`\n            );\n        }\n        if (this._upAxis && !this._upAxis.equalsWithEpsilon(clip.upAxis)) {\n            throw new Error(`RootMotionController: clip \"${clip.animationGroup.name}\" has another up axis than the clips already added.`);\n        }\n        this._upAxis = this._upAxis ?? clip.upAxis.clone();\n        clip._controller = this;\n        clip._forgetPlayback();\n        this._clips.push(clip);\n        this._sceneRootMotion.refresh();\n    }\n\n    /**\n     * Removes a clip. Its in-place group keeps playing, in place.\n     * @param clip defines the clip\n     */\n    public removeClip(clip: RootMotionClip): void {\n        const index = this._clips.indexOf(clip);\n        if (index < 0) {\n            return;\n        }\n        this._clips.splice(index, 1);\n        clip._controller = null;\n        clip._writers = null;\n        clip._forgetPlayback();\n        if (!this._clips.length) {\n            this._upAxis = null;\n        }\n        this._sceneRootMotion.refresh();\n    }\n\n    /**\n     * Forgets where the playbacks were last measured. Call after jumping a group with goToFrame or resetting it, so the\n     * jump is not read as motion. Starting a group again needs no reset.\n     */\n    public reset(): void {\n        for (const clip of this._clips) {\n            // Reset from an animation event, after the clock wrote the step: that evaluation predates the jump, and the\n            // next one is the first to say where the playback carries on from.\n            const runtime = clip._clockRuntime;\n            clip._forgetPlayback();\n            clip._staleRuntime = runtime;\n            clip._staleProgress = runtime ? runtime._evaluatedProgress : null;\n        }\n        this._deltaPosition.setAll(0);\n        this._deltaRotation = 0;\n    }\n\n    /**\n     * Stops applying the motion and lets the clips go. The clips and their groups are not disposed.\n     */\n    public dispose(): void {\n        for (const clip of this._clips) {\n            clip._controller = null;\n            clip._writers = null;\n            clip._forgetPlayback();\n        }\n        this._clips.length = 0;\n        this._upAxis = null;\n        this._sceneRootMotion.remove(this);\n        this.onRootMotionObservable.clear();\n    }\n\n    /**\n     * @internal\n     * Applies the motion of this frame, once the mixer's writers of the clips' channels are gathered.\n     * @param animated defines whether the scene animated this step at all; when it did not, nothing moved and nothing\n     * is read into the clips' playbacks\n     */\n    public _update(animated: boolean): void {\n        const delta = this._frameDelta.setAll(0);\n        this._frameYaw = 0;\n        let moved = false;\n\n        for (const clip of animated ? this._clips : []) {\n            const writers = clip._writers;\n            const previous = clip._clockRuntime;\n            const found = clip._findClock();\n            if (found !== previous) {\n                // A runtime animation belongs to one playback. The previous playback's last evaluation is still to be\n                // consumed if it wrote this step - it ran to its end, or a callback stopped it after it wrote - weighed\n                // among the writers of this step like any other. One that did not write this step is forgotten: its\n                // last evaluation was consumed in the step it wrote.\n                if (previous && writers && clip._lastProgress !== null && !clip._parked && writers.current.indexOf(previous) >= 0) {\n                    moved = this._accumulate(clip, previous, clip._lastProgress, previous._evaluatedProgress) || moved;\n                }\n                clip._clockRuntime = found;\n                clip._clockAnimatable = found ? clip._foundAnimatable : null;\n                clip._syncRuntime = null;\n                clip._lastProgress = null;\n                clip._parked = false;\n            }\n            if (!found || !writers) {\n                continue;\n            }\n            const animatable = clip._clockAnimatable!;\n            if (writers.current.indexOf(found) < 0) {\n                // Did not write this step. Paused, its clock stands still too, and carries on from here when it resumes.\n                // Parked at a weight of zero, the scene skips it while its clock runs on: it starts again from wherever\n                // it resumes. Passed over for any other reason - by the scene's loop after a callback removed the\n                // animatable before it, or restarted after being passed over as paused - its next evaluation catches up,\n                // and the character with it.\n                if (!animatable.paused && animatable.weight === 0) {\n                    clip._parked = true;\n                }\n                continue;\n            }\n            if (clip._parked) {\n                clip._parked = false;\n                clip._lastProgress = null;\n            }\n            // The root the evaluation was actually clocked by, as it was made: a callback of this very step may have\n            // synchronized the group afterwards, and this step's pose is still the one the old clock gave.\n            const syncRoot = found._evaluatedSyncRoot;\n            const syncRuntime = syncRoot ? (syncRoot.getAnimations()[0] ?? null) : null;\n            if (syncRoot !== clip._syncRoot || syncRuntime !== clip._syncRuntime || found._evaluatedJump) {\n                // Synchronized with another root, no longer synchronized at all and back on its own clock, or snapped\n                // back by a root that cannot carry it to its end: the pose jumps, which is not travel.\n                clip._syncRoot = syncRoot;\n                clip._syncRuntime = syncRuntime;\n                clip._lastProgress = null;\n            }\n            // The first evaluation of a playback only establishes where it began - unless the playback was reset since\n            // that evaluation, by a callback in this step, in which case the next one does.\n            const progress = found._evaluatedProgress;\n            const lastProgress = clip._lastProgress;\n            if (lastProgress === null && found === clip._staleRuntime && progress === clip._staleProgress) {\n                continue;\n            }\n            clip._staleRuntime = null;\n            clip._staleProgress = null;\n            clip._lastProgress = progress;\n            if (lastProgress !== null && progress !== lastProgress) {\n                moved = this._accumulate(clip, found, lastProgress, progress) || moved;\n            }\n        }\n\n        if (!moved) {\n            this._deltaPosition.setAll(0);\n            this._deltaRotation = 0;\n            return;\n        }\n        const deltaYaw = this._frameYaw;\n        this._deltaRotation = deltaYaw;\n\n        const character = this._characterNode;\n        const up = this._upAxis!;\n        // Into the character's parent space through its own local rotation and scaling, not its world matrix: world\n        // matrices are cached per render, so with fixed animation steps every step after the first in a frame would read\n        // the facing from before the previous step's turn.\n        const rotation = character.rotationQuaternion ?? Quaternion.FromEulerVectorToRef(character.rotation, TmpVectors.Quaternion[2]);\n        Matrix.ComposeToRef(character.scaling, rotation, Vector3.ZeroReadOnly, TmpVectors.Matrix[3]);\n        const parentDelta = Vector3.TransformNormalToRef(delta, TmpVectors.Matrix[3], TmpVectors.Vector3[4]);\n        const parent = character.parent;\n        if (parent) {\n            // Computed now, not read from the cache: with several animation steps in a render the parent may have moved.\n            Vector3.TransformNormalToRef(parentDelta, parent.computeWorldMatrix(true), this._deltaPosition);\n        } else {\n            this._deltaPosition.copyFrom(parentDelta);\n        }\n\n        if (this.applyToCharacter) {\n            // Assigned rather than changed in place, so the node is marked dirty and renders where it now is.\n            character.position = character.position.addInPlace(parentDelta);\n            if (deltaYaw !== 0) {\n                // The turn happens in character space, before the character's own scaling. A mirroring scale (the\n                // handedness flip on a glTF __root__) reverses the sense of a turn once it is past that scaling.\n                const scaling = character.scaling;\n                const mirrored = scaling.x * scaling.y * scaling.z * (up.x * up.x * scaling.x + up.y * up.y * scaling.y + up.z * up.z * scaling.z) < 0;\n                if (!character.rotationQuaternion) {\n                    character.rotationQuaternion = Quaternion.FromEulerVector(character.rotation);\n                }\n                const turned = character.rotationQuaternion;\n                turned.multiplyToRef(Quaternion.RotationAxisToRef(up, mirrored ? -deltaYaw : deltaYaw, TmpVectors.Quaternion[2]), turned);\n                character.rotationQuaternion = turned;\n            }\n        }\n\n        if (this.onRootMotionObservable.hasObservers()) {\n            this.onRootMotionObservable.notifyObservers(this);\n        }\n    }\n\n    /**\n     * Adds a clip's motion between two progresses of a playback into this frame's motion, weighted the way the mixer\n     * weighs the pose of the playback.\n     * @param clip defines the clip\n     * @param runtime defines the runtime animation of the clip's clock\n     * @param lastProgress defines the progress consumed before\n     * @param progress defines the progress to consume\n     * @returns whether anything was added\n     */\n    private _accumulate(clip: RootMotionClip, runtime: RuntimeAnimation, lastProgress: number, progress: number): boolean {\n        if ((clip.source === RootMotionSource.None && !clip.extractsRotation) || !clip._writers) {\n            return false;\n        }\n        const weight = this._effectiveWeight(clip._writers, runtime);\n        if (weight === 0) {\n            return false;\n        }\n        const yaw = clip._motionBetween(runtime._evaluatedFrom, runtime._evaluatedTo, lastProgress, progress, this._clipDelta);\n        this._frameDelta.addInPlace(this._clipDelta.scaleInPlace(weight));\n        this._frameYaw += yaw * weight;\n        return true;\n    }\n\n    /**\n     * The share of a playback in the pose the mixer wrote to its channel this step, following the late animation\n     * bindings of the scene: an unweighted animatable writes directly and the last one wins, unless a weighted animatable\n     * also animates the channel, in which case the weighted ones replace it - normalized once their weights add up to\n     * more than one - and additive ones add their weight on top. A playback that ran to its end this step is among the\n     * writers like any other, from its place in the order they wrote; one that did not write this step has no share;\n     * one that wrote more than once - re-evaluated by an animation event, say - has the share of all its writes, as the\n     * bindings add them up. A playback still blending in wrote that much of its pose, so the share follows the factor\n     * its last write blended in with, taken from the record of that write rather than from the animation, whose own\n     * factor a write made since the step may have moved on.\n     * @param writers defines what the mixer wrote to the clip's channel this step\n     * @param runtime defines the runtime animation of the clip's clock\n     * @returns the share, between 0 and 1\n     */\n    private _effectiveWeight(writers: IChannelWriters, runtime: RuntimeAnimation): number {\n        const runtimes = writers.current;\n        let overrides = 0;\n        let additives = 0;\n        let direct = false;\n        let weight = 0;\n        let blending = 1;\n        for (let i = 0; i < runtimes.length; i++) {\n            if (runtimes[i] !== runtime) {\n                continue;\n            }\n            // The bindings hold one entry per write, added up from the weights as written, but each entry is read with\n            // the weight the runtime animation carries when the bindings are processed: that of its last write.\n            weight = writers.currentWeights[i];\n            blending = writers.currentBlending[i];\n            if (weight < 0) {\n                direct = true;\n            } else if (writers.currentAdditive[i]) {\n                additives++;\n            } else {\n                overrides++;\n            }\n        }\n        let share = (overrides / Math.max(1, writers.total) + additives) * weight;\n        if (direct && !writers.weighted && writers.lastDirect === runtime) {\n            share += 1;\n        }\n        return share * blending;\n    }\n}\n\n/**\n * The root motion controllers of a scene. After the scene's animations, one pass over the writes of the step - the\n * runtime animations that wrote, in that order, with the weights they wrote with, recorded as they did - gathers what\n * the mixer wrote to every channel a clip follows, then each controller applies its frame.\n */\nclass SceneRootMotion {\n    private readonly _scene: Scene;\n    private readonly _controllers: RootMotionController[] = [];\n    private readonly _writers: IChannelWriters[] = [];\n    private readonly _writersByNode = new Map<TransformNode, IChannelWriters[]>();\n    private _observer: Nullable<Observer<Scene>>;\n\n    /**\n     * Gets the root motion of a scene, creating it if needed.\n     * @param scene defines the scene\n     * @returns the root motion of the scene\n     */\n    public static Get(scene: Scene): SceneRootMotion {\n        let sceneRootMotion = SceneRootMotions.get(scene);\n        if (!sceneRootMotion) {\n            sceneRootMotion = new SceneRootMotion(scene);\n            SceneRootMotions.set(scene, sceneRootMotion);\n        }\n        return sceneRootMotion;\n    }\n\n    private constructor(scene: Scene) {\n        this._scene = scene;\n        this._observer = scene.onAfterAnimationsObservable.add(() => this._update());\n    }\n\n    /**\n     * Adds a controller, updated after those added before.\n     * @param controller defines the controller\n     */\n    public add(controller: RootMotionController): void {\n        this._controllers.push(controller);\n        this.refresh();\n    }\n\n    /**\n     * Removes a controller. The scene's root motion goes with its last controller.\n     * @param controller defines the controller\n     */\n    public remove(controller: RootMotionController): void {\n        const index = this._controllers.indexOf(controller);\n        if (index >= 0) {\n            this._controllers.splice(index, 1);\n        }\n        this.refresh();\n        if (!this._controllers.length) {\n            this._observer?.remove();\n            this._observer = null;\n            SceneRootMotions.delete(this._scene);\n        }\n    }\n\n    /**\n     * Gathers the channels the controllers' clips follow, once the clips of a controller change.\n     */\n    public refresh(): void {\n        this._writers.length = 0;\n        this._writersByNode.clear();\n        for (const controller of this._controllers) {\n            for (const clip of controller.clips) {\n                const node = clip._clockNode;\n                if (!node) {\n                    clip._writers = null;\n                    continue;\n                }\n                let entries = this._writersByNode.get(node);\n                if (!entries) {\n                    entries = [];\n                    this._writersByNode.set(node, entries);\n                }\n                let entry = entries.find((candidate) => candidate.property === clip._clockProperty);\n                if (!entry) {\n                    entry = {\n                        property: clip._clockProperty,\n                        total: 0,\n                        weighted: false,\n                        lastDirect: null,\n                        current: [],\n                        currentWeights: [],\n                        currentAdditive: [],\n                        currentBlending: [],\n                    };\n                    entries.push(entry);\n                    this._writers.push(entry);\n                }\n                clip._writers = entry;\n            }\n        }\n    }\n\n    private _update(): void {\n        // A step the scene did not evaluate - its animations disabled when it began - wrote nothing and moved nothing,\n        // and the clips' playbacks stand where they are: unlike a playback parked at a weight of zero, which an\n        // evaluated step skips while its clock runs on. Whether the step evaluated is recorded by the step itself: a\n        // callback may disable the animations after the step's writes, and the step still completes.\n        const scene = this._scene;\n        const animated = scene._animationStepEvaluated;\n        const writers = this._writers;\n        for (let i = 0; i < writers.length; i++) {\n            const entry = writers[i];\n            entry.total = 0;\n            entry.weighted = false;\n            entry.lastDirect = null;\n            entry.current.length = 0;\n            entry.currentWeights.length = 0;\n            entry.currentAdditive.length = 0;\n            entry.currentBlending.length = 0;\n        }\n        // What the mixer wrote this step: every write of a runtime animation to a target, in order, with the weight and\n        // the mode it was made with, recorded as it was made rather than read back afterwards - one whose playback ran\n        // to its end has left the active animatables, one stopped by a callback in the same step has lost its runtime\n        // animations, one turned additive since was bound as it wrote, and an animation of several targets wrote each\n        // of them. A paused animatable, one not started yet and one parked at a weight of zero wrote nothing.\n        //\n        // Only the writes the step's late bindings read: those of the step itself, up to the point the bindings were\n        // processed. A write made after them - by an observer of this very notification, such as the one an animation\n        // group started on a virtual timeline samples from, or by a callback between steps - reached no binding of this\n        // step, so it says nothing about the pose the step blended. The scene holds such a write over to the front of\n        // the next step's records, where it is read in its place: before that step's writes, which is where it stands\n        // in the order the bindings resolve. Reading it here instead would make the frame's motion depend on whether\n        // the controller was constructed before or after the observer that made it.\n        const writes = scene._animationWrites;\n        const count = animated ? scene._animationStepWriteCount : 0;\n        for (let i = 0; i < count; i++) {\n            const write = writes[i];\n            const entries = this._writersByNode.get(write.target);\n            if (!entries) {\n                continue;\n            }\n            const runtime = write.runtimeAnimation!;\n            const weight = write.weight;\n            for (let k = 0; k < entries.length; k++) {\n                const entry = entries[k];\n                if (entry.property !== runtime.targetPath) {\n                    continue;\n                }\n                entry.current.push(runtime);\n                entry.currentWeights.push(weight);\n                entry.currentAdditive.push(write.additive);\n                entry.currentBlending.push(write.blendingFactor);\n                if (weight < 0) {\n                    // Direct writers overwrite one another in order, so the last one is the pose.\n                    entry.lastDirect = runtime;\n                } else {\n                    entry.weighted = true;\n                    if (!write.additive) {\n                        entry.total += weight;\n                    }\n                }\n            }\n        }\n        for (let i = 0; i < this._controllers.length; i++) {\n            this._controllers[i]._update(animated);\n        }\n    }\n}\n\n/**\n * Clones an animation as {@link Animation.clone} does, keeping the easing function and events with it.\n * @param source defines the animation to clone\n * @param cloneKeys defines whether the keys and their values are cloned too, rather than shared until replaced\n * @returns the clone\n */\nfunction CloneAnimation(source: Animation, cloneKeys = false): Animation {\n    const animation = source.clone(cloneKeys);\n    const easingFunction = source.getEasingFunction();\n    if (easingFunction) {\n        animation.setEasingFunction(easingFunction);\n    }\n    for (const event of source.getEvents()) {\n        animation.addEvent(event);\n    }\n    return animation;\n}\n\nfunction IsJoint(node: Node): node is TransformNode {\n    return node instanceof TransformNode && !(node instanceof AbstractMesh);\n}\n\nfunction WrapAngle(angle: number): number {\n    return angle - 2 * Math.PI * Math.floor((angle + Math.PI) / (2 * Math.PI));\n}\n"]}

package/Animations/runtimeAnimation.d.ts

@@ -1,6 +1,25 @@
+import { type Nullable } from "../types.js";
 import { type _IAnimationState, Animation } from "./animation.pure.js";
 import { type Animatable } from "./animatable.js";
 import { type Scene } from "../scene.js";
+/**
+ * @internal
+ * A write of a runtime animation to one of its targets in an animation step, recorded as it is made.
+ */
+export interface IRuntimeAnimationWrite {
+    /** The runtime animation that wrote; null once the record is emptied, after its step. */
+    runtimeAnimation: Nullable<RuntimeAnimation>;
+    /** The object it wrote a property of; null once the record is emptied. */
+    target: any;
+    /** The weight it wrote with, -1 for a direct write. */
+    weight: number;
+    /** Whether it wrote additively. */
+    additive: boolean;
+    /** The factor the value it wrote was blended in with, one once the animation has blended in. */
+    blendingFactor: number;
+    /** Whether a step prologue has already held the record over; a direct write is held over one step and no more. */
+    carried: boolean;
+}
 /**
  * Defines a runtime animation
  */
@@ -83,6 +102,14 @@ export declare class RuntimeAnimation {
      * The previous absolute frame of the runtime animation (meaning, without taking into account the from/to values, only the elapsed time and the fps)
      */
     private _previousAbsoluteFrame;
+    private _playbackFrom;
+    private _playbackTo;
+    private _playbackFrames;
+    private _playbackProgress;
+    private _playbackSyncRoot;
+    private _playbackJumped;
+    private _playbackSyncMasterPlayed;
+    private _playbackSyncMasterFrame;
     private _enableBlending;
     private _keys;
     private _minFrame;
@@ -94,6 +121,36 @@ export declare class RuntimeAnimation {
      * Gets the current frame of the runtime animation
      */
     get currentFrame(): number;
+    /**
+     * @internal
+     * The first frame of the range the animation was last evaluated over: the requested range, clamped to its keys.
+     */
+    get _evaluatedFrom(): number;
+    /**
+     * @internal
+     * The last frame of the range the animation was last evaluated over.
+     */
+    get _evaluatedTo(): number;
+    /**
+     * @internal
+     * How far the pose last evaluated had played from _evaluatedFrom, in frames, unwrapped across loops: folding it into
+     * the range gives the frame that was evaluated, and dividing it by the range counts the whole cycles the pose has been
+     * through. It follows a synchronization root, swings with a yoyo loop and holds where a constant loop or a playback
+     * that does not loop holds its pose, so it always describes the pose that was evaluated.
+     */
+    get _evaluatedProgress(): number;
+    /**
+     * @internal
+     * The animatable the evaluation was clocked by, captured as it was made: the pose of a step stays that of the root
+     * it was synchronized with then, whatever the host has been synchronized with since.
+     */
+    get _evaluatedSyncRoot(): Nullable<Animatable>;
+    /**
+     * @internal
+     * Whether the evaluated progress jumped rather than playing on from the one before: the pose of a follower snapped
+     * back to the start of its range by a root whose own clock cannot carry it to the end.
+     */
+    get _evaluatedJump(): boolean;
     /**
      * Gets the weight of the runtime animation
      */