@solidrt/3d 0.0.54 → 0.0.56

package/examples/skybox.tsx

@@ -0,0 +1,128 @@
+// A skybox and its reflections: the scene's background sampled from a
+// cube map along each pixel's view ray - `<Scene background={{ cube,
+// intensity?, rotation? }}>`, Three's `scene.background = cubeTexture` -
+// and the same cube as the scene's environment (`environment={{ cube,
+// rotation }}`, Three's `scene.environment`), which every lit material
+// with `reflectivity` mirrors: the chrome sphere sharply, the brass knot
+// blurred by its shininess. The cube map is baked in JS at startup (a
+// horizon gradient, a sun disc and its glow), so the example ships no
+// image assets; a photographed sky is the same createCubeTexture call
+// with six decoded faces in Three's px, nx, py, ny, pz, nz order, or
+// equirectToCube on a panorama. The sky turns slowly and the sun light
+// turns with it: `rotation` is a reactive prop the scene updates in
+// place, no recompile. Drag to look around, wheel to zoom.
+import { createSignal, onFrame, pct, render } from "@solidrt/core"
+import { createCubeTexture } from "@solidrt/core/gpu"
+import { box, DirectionalLight, HemisphereLight, lit, Mesh, OrbitCamera, plane, Scene, sphere, torusKnot } from "@solidrt/3d"
+import { normalize } from "@solidrt/3d/math"
+import type { Vec3 } from "@solidrt/3d/math"
+
+// Face edge in texels; the sun disc is the finest feature, and mipmaps
+// keep the horizon smooth when it shrinks toward a screen pixel.
+const FACE = 128
+// The sun's direction in the unrotated sky.
+const SUN: Vec3 = normalize([0.6, 0.35, -0.7])
+// Cosine of the disc's angular radius (1.5 degrees).
+const SUN_DISC = Math.cos((1.5 * Math.PI) / 180)
+// Glow falloff exponent around the disc (higher = tighter).
+const SUN_GLOW = 40
+// How fast the sky turns about y, radians per second.
+const TURN_SPEED = 0.06
+// How quickly the ground band darkens below the horizon (per unit of -y).
+const GROUND_FALL = 4
+
+type Rgb = [number, number, number]
+const ZENITH: Rgb = [0.16, 0.34, 0.74]
+const HORIZON: Rgb = [0.8, 0.87, 0.95]
+const GROUND: Rgb = [0.3, 0.27, 0.24]
+const SUN_COLOR: Rgb = [1, 0.95, 0.82]
+
+let mix = (a: Rgb, b: Rgb, t: number): Rgb => [a[0] + (b[0] - a[0]) * t, a[1] + (b[1] - a[1]) * t, a[2] + (b[2] - a[2]) * t]
+
+// The sky's color along a world direction.
+function sky(d: Vec3): Rgb {
+  let y = d[1]
+  let rgb = y >= 0 ? mix(HORIZON, ZENITH, Math.sqrt(y)) : mix(HORIZON, GROUND, Math.min(1, -y * GROUND_FALL))
+  let s = d[0] * SUN[0] + d[1] * SUN[1] + d[2] * SUN[2]
+  if (s > 0) {
+    // The disc is the glow at full strength: added to the sky it clamps
+    // to white, and the warm tint shows in the halo around it.
+    let g = s > SUN_DISC ? 1 : Math.pow(s, SUN_GLOW)
+    rgb = [rgb[0] + SUN_COLOR[0] * g, rgb[1] + SUN_COLOR[1] * g, rgb[2] + SUN_COLOR[2] * g]
+  }
+  return [Math.min(1, rgb[0]), Math.min(1, rgb[1]), Math.min(1, rgb[2])]
+}
+
+// The world direction whose lookup lands on face i's texel (s, t), t = 0
+// the first row: the GL cube-map table, which is also what the library
+// samples with (no flip) - so the texel holds the sky in that direction.
+function texelDirection(face: number, s: number, t: number): Vec3 {
+  let a = 2 * s - 1
+  let b = 2 * t - 1
+  let d: Vec3 =
+    face === 0 ? [1, -b, -a] : face === 1 ? [-1, -b, a] : face === 2 ? [a, 1, b] : face === 3 ? [a, -1, -b] : face === 4 ? [a, -b, 1] : [-a, -b, -1]
+  return normalize(d)
+}
+
+function bakeSky(): Uint8Array[] {
+  let faces: Uint8Array[] = []
+  for (let face = 0; face < 6; face++) {
+    let px = new Uint8Array(FACE * FACE * 4)
+    for (let row = 0; row < FACE; row++) {
+      for (let col = 0; col < FACE; col++) {
+        let rgb = sky(texelDirection(face, (col + 0.5) / FACE, (row + 0.5) / FACE))
+        let i = (row * FACE + col) * 4
+        px[i] = Math.round(rgb[0] * 255)
+        px[i + 1] = Math.round(rgb[1] * 255)
+        px[i + 2] = Math.round(rgb[2] * 255)
+        px[i + 3] = 255
+      }
+    }
+    faces.push(px)
+  }
+  return faces
+}
+
+// The sun's direction once the sky has turned by `angle` about y (the same
+// turn a node with rotation [0, angle, 0] applies).
+function turnedSun(angle: number): Vec3 {
+  let c = Math.cos(angle)
+  let s = Math.sin(angle)
+  return [SUN[0] * c + SUN[2] * s, SUN[1], -SUN[0] * s + SUN[2] * c]
+}
+
+function App() {
+  let cube = createCubeTexture(bakeSky(), FACE, { format: "rgba8-srgb", mipmap: true, label: "sky" })
+  let [turn, setTurn] = createSignal(0)
+  let last = 0
+  onFrame(tick => {
+    if (last !== 0) setTurn(turn() + ((tick - last) / 1000) * TURN_SPEED)
+    last = tick
+  })
+  let sun = () => turnedSun(turn())
+
+  let ground = lit({ color: [0.36, 0.4, 0.3] })
+  // Glossy: a blurred reflection (shininess 48) at a dielectric's face-on
+  // weight, rising toward the silhouette.
+  let brass = lit({ color: [0.85, 0.6, 0.3], specular: 0.6, shininess: 48, reflectivity: 0.15 })
+  let stone = lit({ color: [0.6, 0.6, 0.62] })
+  // Chrome: the environment itself, sharp.
+  let chrome = lit({ color: [1, 1, 1], specular: 1, shininess: 400, reflectivity: 1 })
+  return (
+    <window>
+      <view width={pct(100)} height={pct(100)}>
+        <Scene background={{ cube, rotation: turn() }} environment={{ cube, rotation: turn() }} label="skybox-demo">
+          <OrbitCamera azimuth={0.4} elevation={0.12} distance={7} />
+          <HemisphereLight sky={[0.5, 0.6, 0.8]} ground={[0.3, 0.27, 0.24]} />
+          <DirectionalLight direction={[-sun()[0], -sun()[1], -sun()[2]]} color={SUN_COLOR} intensity={0.9} />
+          <Mesh geometry={plane({ width: 12, height: 12 })} material={ground} rotation={[-Math.PI / 2, 0, 0]} />
+          <Mesh geometry={torusKnot({ radius: 0.7, tube: 0.22, tubularSegments: 128, radialSegments: 16 })} material={brass} position={[0, 1.2, 0]} />
+          <Mesh geometry={box()} material={stone} position={[-2, 0.5, -0.5]} />
+          <Mesh geometry={sphere({ radius: 0.6, widthSegments: 48, heightSegments: 32 })} material={chrome} position={[2, 0.6, -0.5]} />
+        </Scene>
+      </view>
+    </window>
+  )
+}
+
+render(() => <App />)

package/examples/sprites.tsx

@@ -9,8 +9,6 @@ import { createSignal, onFrame, pct, render } from "@solidrt/core"
 import { createTexture } from "@solidrt/core/gpu"
 import { box, Group, Mesh, PerspectiveCamera, plane, Scene, sprite, Sprite, unlit } from "@solidrt/3d"
 
-const SIZE = 720
-
 // A soft disc, alpha falling off from the center; premultiplied like every
 // texture the engine samples.
 function glow(): ReturnType<typeof createTexture> {
@@ -25,7 +23,7 @@ function glow(): ReturnType<typeof createTexture> {
       data.set([255 * a, 240 * a, 200 * a, 255 * a], (y * n + x) * 4)
     }
   }
-  return createTexture(data, n, n)
+  return createTexture(data, n, n, { format: "rgba8-srgb" })
 }
 
 // A cutout tree: green triangle over a brown trunk, transparent elsewhere.
@@ -43,7 +41,7 @@ function tree(): ReturnType<typeof createTexture> {
       data.set([rgb[0]!, rgb[1]!, rgb[2]!, a], (y * n + x) * 4)
     }
   }
-  return createTexture(data, n, n)
+  return createTexture(data, n, n, { format: "rgba8-srgb" })
 }
 
 function App() {
@@ -68,8 +66,8 @@ function App() {
 
   return (
     <window>
-      <view width={pct(100)} height={pct(100)} designSize={[SIZE, SIZE]}>
-        <Scene width={SIZE} height={SIZE} clearColor={[0.07, 0.07, 0.1, 1]} label="sprites">
+      <view width={pct(100)} height={pct(100)}>
+        <Scene clearColor={[0.07, 0.07, 0.1, 1]} label="sprites">
           <PerspectiveCamera fov={50} position={eye()} lookAt={[0, 0.6, 0]} />
           <Mesh
             geometry={plane({ width: 8, height: 8 })}

package/examples/standard.tsx

@@ -0,0 +1,132 @@
+// The standard material: the sphere grid every PBR engine's docs open
+// with - metalness down the rows, roughness across the columns - under a
+// baked sky as background and environment (the skybox example's bake) and
+// a warm sun casting shadows. What to look for: the bare-metal row IS the
+// environment, sharp at the left and blurred toward the right, tinted by
+// the base color and dark wherever the sky is; the dielectric row keeps
+// its diffuse color and shows the sky as a faint gloss, a mirror highlight
+// at the left that widens to the right and brightens toward every
+// silhouette; the rows between blend the two. standard takes lit's base,
+// maps, cutout, shadow, emissive and fog options - only the Blinn-Phong
+// knobs are gone, replaced by metalness/roughness and their packed maps.
+// Light intensities read as lit's: 1 lights a white matte surface to 1.
+// Drag to look around.
+
+import { pct, render } from "@solidrt/core"
+import { createCubeTexture } from "@solidrt/core/gpu"
+import { DirectionalLight, HemisphereLight, Mesh, OrbitCamera, plane, Scene, sphere, standard } from "@solidrt/3d"
+import { normalize } from "@solidrt/3d/math"
+import type { Vec3 } from "@solidrt/3d/math"
+
+// Metalness steps down the rows, roughness across the columns.
+const ROWS = 4
+const COLS = 6
+// Sphere radius and grid pitch, world units.
+const RADIUS = 0.42
+const PITCH = 1.05
+// The spheres' base color, sRGB: a warm red that reads as paint and as metal.
+const COLOR: [number, number, number] = [0.8, 0.25, 0.2]
+// Height of the bottom row's centers above the ground.
+const LIFT = 0.6
+// Face edge of the baked sky in texels.
+const FACE = 128
+// The sun's direction (toward it).
+const SUN: Vec3 = normalize([0.6, 0.45, -0.7])
+// How far out the sun light sits, so its shadow camera covers the grid.
+const SUN_DISTANCE = 12
+// Cosine of the sun disc's angular radius (1.5 degrees).
+const SUN_DISC = Math.cos((1.5 * Math.PI) / 180)
+// Glow falloff exponent around the disc (higher = tighter).
+const SUN_GLOW = 40
+// How quickly the ground band darkens below the horizon (per unit of -y).
+const GROUND_FALL = 4
+
+type Rgb = [number, number, number]
+const ZENITH: Rgb = [0.16, 0.34, 0.74]
+const HORIZON: Rgb = [0.8, 0.87, 0.95]
+const GROUND: Rgb = [0.3, 0.27, 0.24]
+const SUN_COLOR: Rgb = [1, 0.95, 0.82]
+
+let mix = (a: Rgb, b: Rgb, t: number): Rgb => [a[0] + (b[0] - a[0]) * t, a[1] + (b[1] - a[1]) * t, a[2] + (b[2] - a[2]) * t]
+
+// The sky's color along a world direction.
+function sky(d: Vec3): Rgb {
+  let y = d[1]
+  let rgb = y >= 0 ? mix(HORIZON, ZENITH, Math.sqrt(y)) : mix(HORIZON, GROUND, Math.min(1, -y * GROUND_FALL))
+  let s = d[0] * SUN[0] + d[1] * SUN[1] + d[2] * SUN[2]
+  if (s > 0) {
+    let g = s > SUN_DISC ? 1 : Math.pow(s, SUN_GLOW)
+    rgb = [rgb[0] + SUN_COLOR[0] * g, rgb[1] + SUN_COLOR[1] * g, rgb[2] + SUN_COLOR[2] * g]
+  }
+  return [Math.min(1, rgb[0]), Math.min(1, rgb[1]), Math.min(1, rgb[2])]
+}
+
+// The world direction whose lookup lands on face i's texel (s, t) - the
+// GL cube-map table, no flip (see skybox.tsx).
+function texelDirection(face: number, s: number, t: number): Vec3 {
+  let a = 2 * s - 1
+  let b = 2 * t - 1
+  let d: Vec3 =
+    face === 0 ? [1, -b, -a] : face === 1 ? [-1, -b, a] : face === 2 ? [a, 1, b] : face === 3 ? [a, -1, -b] : face === 4 ? [a, -b, 1] : [-a, -b, -1]
+  return normalize(d)
+}
+
+function bakeSky(): Uint8Array[] {
+  let faces: Uint8Array[] = []
+  for (let face = 0; face < 6; face++) {
+    let px = new Uint8Array(FACE * FACE * 4)
+    for (let row = 0; row < FACE; row++) {
+      for (let col = 0; col < FACE; col++) {
+        let rgb = sky(texelDirection(face, (col + 0.5) / FACE, (row + 0.5) / FACE))
+        let i = (row * FACE + col) * 4
+        px[i] = Math.round(rgb[0] * 255)
+        px[i + 1] = Math.round(rgb[1] * 255)
+        px[i + 2] = Math.round(rgb[2] * 255)
+        px[i + 3] = 255
+      }
+    }
+    faces.push(px)
+  }
+  return faces
+}
+
+function App() {
+  let cube = createCubeTexture(bakeSky(), FACE, { format: "rgba8-srgb", mipmap: true, label: "sky" })
+  let ball = sphere({ radius: RADIUS, widthSegments: 48, heightSegments: 32 })
+  let ground = standard({ color: [0.32, 0.33, 0.3], roughness: 0.9 })
+  // One material per cell: metalness by row (top row bare metal, bottom
+  // row dielectric), roughness by column (mirror at the left).
+  let cells: { material: ReturnType<typeof standard>; position: Vec3 }[] = []
+  for (let r = 0; r < ROWS; r++) {
+    for (let c = 0; c < COLS; c++) {
+      cells.push({
+        material: standard({ color: COLOR, metalness: 1 - r / (ROWS - 1), roughness: c / (COLS - 1) }),
+        position: [(c - (COLS - 1) / 2) * PITCH, LIFT + (ROWS - 1 - r) * PITCH, 0],
+      })
+    }
+  }
+  let center: Vec3 = [0, LIFT + ((ROWS - 1) * PITCH) / 2, 0]
+  return (
+    <window>
+      <view width={pct(100)} height={pct(100)}>
+        <Scene background={{ cube }} environment={{ cube }} samples={4} label="standard-demo">
+          <OrbitCamera target={center} azimuth={0.25} elevation={0.15} distance={9} />
+          <HemisphereLight sky={[0.5, 0.6, 0.8]} ground={[0.3, 0.27, 0.24]} intensity={0.5} />
+          <DirectionalLight
+            position={[SUN[0] * SUN_DISTANCE, SUN[1] * SUN_DISTANCE, SUN[2] * SUN_DISTANCE]}
+            direction={[-SUN[0], -SUN[1], -SUN[2]]}
+            color={SUN_COLOR}
+            intensity={1}
+            castShadow
+          />
+          <Mesh geometry={plane({ width: 16, height: 16 })} material={ground} rotation={[-Math.PI / 2, 0, 0]} />
+          {cells.map(cell => (
+            <Mesh geometry={ball} material={cell.material} position={cell.position} castShadow />
+          ))}
+        </Scene>
+      </view>
+    </window>
+  )
+}
+
+render(() => <App />)

package/examples/sweep-paths.tsx

@@ -10,8 +10,6 @@ import { createSignal, onFrame, pct, render } from "@solidrt/core"
 import { box, DirectionalLight, Group, HemisphereLight, lit, Mesh, PerspectiveCamera, plane, roundRect, Scene, sweep, tube, unlit } from "@solidrt/3d"
 import type { SweepPath } from "@solidrt/3d"
 
-const SIZE = 720
-
 function App() {
   let [spin, setSpin] = createSignal(0)
   onFrame(tick => setSpin(tick / 4000))
@@ -39,8 +37,8 @@ function App() {
 
   return (
     <window>
-      <view width={pct(100)} height={pct(100)} designSize={[SIZE, SIZE]}>
-        <Scene width={SIZE} height={SIZE} clearColor={[0.07, 0.07, 0.1, 1]} label="sweep-paths">
+      <view width={pct(100)} height={pct(100)}>
+        <Scene clearColor={[0.07, 0.07, 0.1, 1]} label="sweep-paths">
           <PerspectiveCamera fov={55} position={[0, 1.9, 3.9]} lookAt={[0, 0.35, 0]} />
           <HemisphereLight sky={[0.45, 0.45, 0.45]} ground={[0.22, 0.22, 0.22]} />
           <DirectionalLight direction={[-0.5, -0.8, -0.4]} intensity={0.8} />

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@solidrt/3d",
-  "version": "0.0.54",
+  "version": "0.0.56",
   "license": "MIT",
   "funding": "https://github.com/sponsors/wellawaretech",
   "author": "Antoine van Wel",
@@ -18,7 +18,7 @@
     "AGENTS.md"
   ],
   "peerDependencies": {
-    "@solidjs/signals": "2.0.0-rc.3",
-    "@solidrt/core": "0.0.54"
+    "@solidjs/signals": "2.0.0-rc.6",
+    "@solidrt/core": "0.0.56"
   }
 }

package/src/camera.ts

@@ -0,0 +1,148 @@
+// The camera record: one per scene target and one per view (the shadow
+// views included), the same state and the same one-shared-write contract
+// everywhere. Split out of scene.ts so the shadow system can place its
+// map cameras through the exact code the scene uses for its own.
+
+import { invert, lookAt as lookAtMatrix, mat4, multiply, orthographic, perspective } from "./math.ts"
+import type { Mat4, Vec3 } from "./math.ts"
+import type { ShaderParams } from "@solidrt/core/gpu"
+
+/** An orthographic projection's view-space extents, in world units (the
+ * same box at every depth). */
+export type OrthoExtent = { left: number; right: number; top: number; bottom: number }
+
+/** A camera snapshot (Scene/View `camera()`): CameraUpdate's fields, all
+ * present. Arrays are copies of the internal state. */
+export type CameraState = {
+  fov: number
+  near: number
+  far: number
+  position: Vec3
+  target: Vec3
+  up: Vec3
+  ortho: OrthoExtent | null
+}
+
+export type CameraUpdate = {
+  /** Vertical field of view in DEGREES (default 60). */
+  fov?: number
+  near?: number
+  far?: number
+  position?: Vec3
+  target?: Vec3
+  up?: Vec3
+  /** An orthographic projection with these extents (`fov` is then
+   * ignored); null returns to perspective. Three's OrthographicCamera as
+   * a camera option: a top-down map, an isometric view, a shadow-map
+   * light. */
+  ortho?: OrthoExtent | null
+}
+
+// `dirty` = the matrices need recomputing (a setCamera or a resize),
+// `pending` = the GPU write is owed to the next sync. The recompute is
+// split from the sync so project()/viewProj() see a fresh matrix right
+// after setCamera, before the microtask runs.
+export type Camera = {
+  fov: number
+  near: number
+  far: number
+  eye: Vec3
+  target: Vec3
+  up: Vec3
+  ortho: OrthoExtent | null
+  /** Mirror the projection's x: the image comes out flipped left to
+   * right. A reflection probe's face cameras set it - a GL cube face is
+   * seen from outside, the x mirror of what a camera sees - and the cube
+   * draw target's pass inverts the winding to match. */
+  mirror: boolean
+  dirty: boolean
+  pending: boolean
+  proj: Mat4
+  view: Mat4
+  viewProj: Mat4
+  invViewProj: Mat4
+}
+
+export function makeCamera(): Camera {
+  return {
+    fov: 60,
+    near: 0.1,
+    far: 100,
+    eye: [0, 0, 3],
+    target: [0, 0, 0],
+    up: [0, 1, 0],
+    ortho: null,
+    mirror: false,
+    dirty: true,
+    pending: false,
+    proj: mat4(),
+    view: mat4(),
+    viewProj: mat4(),
+    invViewProj: mat4(),
+  }
+}
+
+export function cameraState(cam: Camera): CameraState {
+  return {
+    fov: cam.fov,
+    near: cam.near,
+    far: cam.far,
+    position: [cam.eye[0], cam.eye[1], cam.eye[2]],
+    target: [cam.target[0], cam.target[1], cam.target[2]],
+    up: [cam.up[0], cam.up[1], cam.up[2]],
+    ortho: cam.ortho === null ? null : { left: cam.ortho.left, right: cam.ortho.right, top: cam.ortho.top, bottom: cam.ortho.bottom },
+  }
+}
+
+export function updateCamera(cam: Camera, update: CameraUpdate): void {
+  if (update.fov !== undefined) cam.fov = update.fov
+  if (update.near !== undefined) cam.near = update.near
+  if (update.far !== undefined) cam.far = update.far
+  if (update.position) cam.eye = [update.position[0], update.position[1], update.position[2]]
+  if (update.target) cam.target = [update.target[0], update.target[1], update.target[2]]
+  if (update.up) cam.up = [update.up[0], update.up[1], update.up[2]]
+  if (update.ortho !== undefined) {
+    let o = update.ortho
+    cam.ortho = o === null ? null : { left: o.left, right: o.right, top: o.top, bottom: o.bottom }
+  }
+  cam.dirty = true
+}
+
+export function ensureCamera(cam: Camera, width: number, height: number): void {
+  if (!cam.dirty) return
+  cam.dirty = false
+  cam.pending = true
+  let o = cam.ortho
+  if (o === null) perspective(cam.proj, (cam.fov * Math.PI) / 180, width / height, cam.near, cam.far)
+  else orthographic(cam.proj, o.left, o.right, o.top, o.bottom, cam.near, cam.far)
+  if (cam.mirror) {
+    // Negate the clip x row (column-major: elements 0, 4, 8, 12).
+    cam.proj[0] = -cam.proj[0]!
+    cam.proj[4] = -cam.proj[4]!
+    cam.proj[8] = -cam.proj[8]!
+    cam.proj[12] = -cam.proj[12]!
+  }
+  lookAtMatrix(cam.view, cam.eye, cam.target, cam.up)
+  multiply(cam.viewProj, cam.proj, cam.view)
+  invert(cam.invViewProj, cam.viewProj)
+}
+
+// The camera is target state: one shared write, whatever the target holds.
+// Entries are untouched - uModel is camera-independent, and uCamPos is
+// stored even when no current material declares it. The camera basis rides
+// along: the view matrix's first two rows are the camera's world-space
+// right and up (no clip flip - that lives in the projection), so a
+// billboard needs no reconstruction from uViewProj. The inverse rides too:
+// uInvViewProj carries a clip position back to world, which is how the
+// background slot (and any shader declaring it) gets a world-space ray
+// per pixel without knowing the projection.
+export function cameraParams(cam: Camera): ShaderParams {
+  let v = cam.view
+  return {
+    uViewProj: cam.viewProj,
+    uInvViewProj: cam.invViewProj,
+    uCamPos: cam.eye,
+    uCamRight: [v[0], v[4], v[8]],
+    uCamUp: [v[1], v[5], v[9]],
+  }
+}

package/src/clip.ts

@@ -0,0 +1,96 @@
+// Pure clip sampling - the mixer's core, split out so it runs with no
+// scene or engine (checks under flux, custom drivers, a future bake-side
+// resample). Everything here is plain array math over ModelChannel data.
+
+import { quatNormalize, quatSlerp } from "./math.ts"
+import type { Quat } from "./math.ts"
+import type { ModelChannel } from "./gltf.ts"
+
+/**
+ * Sample one channel at `time` (seconds, clamped to the key range) into
+ * `out` - 3 floats for position/scale, 4 for rotation. Pure array math:
+ * step holds the earlier key, linear lerps (rotation slerps the shortest
+ * path), cubic evaluates the glTF CUBICSPLINE Hermite (rotation
+ * renormalized, per spec).
+ */
+export function sampleChannel(channel: ModelChannel, time: number, out: number[]): void {
+  let times = channel.times
+  let values = channel.values
+  let keys = times.length
+  let elements = channel.path === "rotation" ? 4 : 3
+  let stride = channel.interpolation === "cubic" ? elements * 3 : elements
+  // The value element offset within a key: cubic keys are [in, value, out].
+  let mid = channel.interpolation === "cubic" ? elements : 0
+  if (keys === 0) return
+  if (time <= times[0]! || keys === 1) {
+    for (let e = 0; e < elements; e++) out[e] = values[mid + e]!
+    return
+  }
+  if (time >= times[keys - 1]!) {
+    let at = (keys - 1) * stride + mid
+    for (let e = 0; e < elements; e++) out[e] = values[at + e]!
+    return
+  }
+  // The key pair around `time`: binary search for the last key at or
+  // before it.
+  let lo = 0
+  let hi = keys - 1
+  while (hi - lo > 1) {
+    let m = (lo + hi) >> 1
+    if (times[m]! <= time) lo = m
+    else hi = m
+  }
+  let t0 = times[lo]!
+  let t1 = times[hi]!
+  let span = t1 - t0
+  let s = span > 0 ? (time - t0) / span : 0
+  let a = lo * stride + mid
+  let b = hi * stride + mid
+  switch (channel.interpolation) {
+    case "step":
+      for (let e = 0; e < elements; e++) out[e] = values[a + e]!
+      return
+    case "linear":
+      if (channel.path === "rotation") {
+        readQuat(SAMPLE_A, values, a)
+        readQuat(SAMPLE_B, values, b)
+        quatSlerp(SAMPLE_A, SAMPLE_A, SAMPLE_B, s)
+        for (let e = 0; e < 4; e++) out[e] = SAMPLE_A[e]!
+      } else {
+        for (let e = 0; e < elements; e++) out[e] = values[a + e]! + (values[b + e]! - values[a + e]!) * s
+      }
+      return
+    case "cubic": {
+      // glTF's Hermite: p(s) = h00 v0 + h10 d b0 + h01 v1 + h11 d a1,
+      // where b0 is key lo's OUT-tangent and a1 key hi's IN-tangent
+      // (per-second, so they scale by the span d).
+      let s2 = s * s
+      let s3 = s2 * s
+      let h00 = 2 * s3 - 3 * s2 + 1
+      let h10 = s3 - 2 * s2 + s
+      let h01 = -2 * s3 + 3 * s2
+      let h11 = s3 - s2
+      let outTan = lo * stride + elements * 2
+      let inTan = hi * stride
+      for (let e = 0; e < elements; e++) {
+        out[e] = h00 * values[a + e]! + h10 * span * values[outTan + e]! + h01 * values[b + e]! + h11 * span * values[inTan + e]!
+      }
+      if (channel.path === "rotation") {
+        readQuat(SAMPLE_A, out, 0)
+        quatNormalize(SAMPLE_A, SAMPLE_A)
+        for (let e = 0; e < 4; e++) out[e] = SAMPLE_A[e]!
+      }
+      return
+    }
+  }
+}
+
+const SAMPLE_A: Quat = [0, 0, 0, 1]
+const SAMPLE_B: Quat = [0, 0, 0, 1]
+
+function readQuat(out: Quat, values: ArrayLike<number>, at: number): void {
+  out[0] = values[at]!
+  out[1] = values[at + 1]!
+  out[2] = values[at + 2]!
+  out[3] = values[at + 3]!
+}