@yali-engine/animation 0.0.0-stage → 0.4.0

package/dist/plugin.js.map

@@ -0,0 +1 @@
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package/dist/ragdoll.d.ts

@@ -0,0 +1,72 @@
+import { type Component, type ComponentValues, type Entity, type World } from '@yali-engine/core';
+import type { Animation } from './animation.ts';
+import type { AnimatedGltf } from './gltf.ts';
+/**
+ * What a ragdoll needs of `@yali-engine/physics` (duck-typed: this package does not depend on it). Pass
+ * its components and value builders: `{ ...physicsComponents, rigidBody, collider, joint }`.
+ */
+export interface RagdollPhysics {
+    readonly RigidBody: Component;
+    readonly Collider: Component;
+    readonly Joint: Component;
+    rigidBody(o?: {
+        kind?: 0 | 1 | 2;
+    }): ComponentValues;
+    collider(shape: {
+        capsule: {
+            halfHeight: number;
+            radius: number;
+        };
+    }, o?: {
+        layer?: number;
+        mask?: number;
+        density?: number;
+    }): ComponentValues;
+    joint(type: 'spherical', o?: {
+        other?: Entity;
+        anchorA?: readonly [number, number, number];
+        anchorB?: readonly [number, number, number];
+        axis?: readonly [number, number, number];
+        cone?: number;
+    }): ComponentValues;
+}
+/** `buildRagdoll`'s options. */
+export interface RagdollOptions {
+    /** Capsule radius as a share of its bone's length (default 0.2), at least `minRadius`. */
+    readonly thickness?: number;
+    /** Smallest capsule radius in metres (default 0.02). */
+    readonly minRadius?: number;
+    /** Bones shorter than this (metres) get no body (default 0.03). */
+    readonly minLength?: number;
+    /** Each ball joint's swing cone, radians (default 0.7). */
+    readonly cone?: number;
+    /** The collision layer bit its bodies use; they do not collide with each other (default 1 << 15). */
+    readonly layer?: number;
+}
+/** A built ragdoll: its bodies (one per bone) and whether physics drives the pose. */
+export interface Ragdoll {
+    readonly root: Entity;
+    readonly bodies: readonly {
+        readonly entity: Entity;
+        readonly joint: number;
+    }[];
+    active: boolean;
+}
+/**
+ * A ragdoll for a spawned model (ADR-0091): a capsule body for every skinned joint with a
+ * skinned child (from the joint to its child, `thickness` of its length thick), ball joints with
+ * a swing cone between neighbouring bodies, on one collision layer that does not collide with
+ * itself. Built kinematic, following the animation (`anim.Bone` follow); `setRagdoll(…, true)`
+ * hands it to physics. Call after the model's first animation update (it reads the joints'
+ * poses).
+ *
+ * @example
+ * const ragdoll = buildRagdoll(world, animation, { ...physicsComponents, rigidBody, collider, joint }, fox);
+ * setRagdoll(world, ragdoll, physicsComponents, rigidBody, true); // it falls
+ */
+export declare function buildRagdoll(world: World, animation: Animation, physics: RagdollPhysics, model: AnimatedGltf, o?: RagdollOptions): Ragdoll;
+/**
+ * Hands a ragdoll to physics (`active`: its bodies dynamic, driving the skeleton) or back to the
+ * animation (kinematic, following it). Bodies start from rest when activated.
+ */
+export declare function setRagdoll(world: World, ragdoll: Ragdoll, physics: Pick<RagdollPhysics, 'RigidBody' | 'rigidBody'>, active: boolean): void;

package/dist/ragdoll.js

@@ -0,0 +1,192 @@
+import { registerTransforms, YaliError } from '@yali-engine/core';
+import { BONE_DRIVE, BONE_FOLLOW, registerAnimation } from "./components.js";
+const col = (m, c) => [m[c * 4], m[c * 4 + 1], m[c * 4 + 2]];
+const sub = (a, b) => [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+const len = (a) => Math.hypot(a[0], a[1], a[2]);
+/** `q · v` for a unit quaternion. */
+function rotate(q, v) {
+    const [x, y, z, w] = q;
+    const tx = 2 * (y * v[2] - z * v[1]);
+    const ty = 2 * (z * v[0] - x * v[2]);
+    const tz = 2 * (x * v[1] - y * v[0]);
+    return [v[0] + w * tx + (y * tz - z * ty), v[1] + w * ty + (z * tx - x * tz), v[2] + w * tz + (x * ty - y * tx)];
+}
+/** The shortest rotation taking unit `a` to unit `b`. */
+function arc(a, b) {
+    const d = a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+    if (d < -0.99999) {
+        // Opposite: half a turn about an axis perpendicular to `a`.
+        const p = Math.abs(a[0]) < 0.9 ? [0, -a[2], a[1]] : [a[2], 0, -a[0]];
+        const l = len(p);
+        return [p[0] / l, p[1] / l, p[2] / l, 0];
+    }
+    const c = [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];
+    const q = [c[0], c[1], c[2], 1 + d];
+    const l = Math.hypot(...q);
+    return q.map((v) => v / l);
+}
+const qmul = (a, b) => [
+    a[3] * b[0] + a[0] * b[3] + a[1] * b[2] - a[2] * b[1],
+    a[3] * b[1] - a[0] * b[2] + a[1] * b[3] + a[2] * b[0],
+    a[3] * b[2] + a[0] * b[1] - a[1] * b[0] + a[2] * b[3],
+    a[3] * b[3] - a[0] * b[0] - a[1] * b[1] - a[2] * b[2],
+];
+const conj = (q) => [-q[0], -q[1], -q[2], q[3]];
+/** A column-major rotation matrix's quaternion (its columns normalized: scale removed). */
+function quatOf(m) {
+    const c0 = col(m, 0);
+    const c1 = col(m, 1);
+    const c2 = col(m, 2);
+    const [s0, s1, s2] = [len(c0), len(c1), len(c2)];
+    const [m00, m10, m20] = c0.map((v) => v / s0);
+    const [m01, m11, m21] = c1.map((v) => v / s1);
+    const [m02, m12, m22] = c2.map((v) => v / s2);
+    const t = m00 + m11 + m22;
+    let q;
+    if (t > 0) {
+        const s = Math.sqrt(t + 1) * 2;
+        q = [(m21 - m12) / s, (m02 - m20) / s, (m10 - m01) / s, 0.25 * s];
+    }
+    else if (m00 > m11 && m00 > m22) {
+        const s = Math.sqrt(1 + m00 - m11 - m22) * 2;
+        q = [0.25 * s, (m01 + m10) / s, (m02 + m20) / s, (m21 - m12) / s];
+    }
+    else if (m11 > m22) {
+        const s = Math.sqrt(1 + m11 - m00 - m22) * 2;
+        q = [(m01 + m10) / s, 0.25 * s, (m12 + m21) / s, (m02 - m20) / s];
+    }
+    else {
+        const s = Math.sqrt(1 + m22 - m00 - m11) * 2;
+        q = [(m02 + m20) / s, (m12 + m21) / s, 0.25 * s, (m10 - m01) / s];
+    }
+    const l = Math.hypot(...q);
+    return q.map((v) => v / l);
+}
+/**
+ * A ragdoll for a spawned model (ADR-0091): a capsule body for every skinned joint with a
+ * skinned child (from the joint to its child, `thickness` of its length thick), ball joints with
+ * a swing cone between neighbouring bodies, on one collision layer that does not collide with
+ * itself. Built kinematic, following the animation (`anim.Bone` follow); `setRagdoll(…, true)`
+ * hands it to physics. Call after the model's first animation update (it reads the joints'
+ * poses).
+ *
+ * @example
+ * const ragdoll = buildRagdoll(world, animation, { ...physicsComponents, rigidBody, collider, joint }, fox);
+ * setRagdoll(world, ragdoll, physicsComponents, rigidBody, true); // it falls
+ */
+export function buildRagdoll(world, animation, physics, model, o = {}) {
+    const { Transform, GlobalTransform } = registerTransforms(world);
+    const { Bone } = registerAnimation(world);
+    const thickness = o.thickness ?? 0.2;
+    const minRadius = o.minRadius ?? 0.02;
+    const minLength = o.minLength ?? 0.03;
+    const layer = o.layer ?? 1 << 15;
+    // The root's world pose (a root-level entity).
+    const rootT = readTransform(world, Transform, model.root);
+    // Skinned joints (skeleton indices); each one's first skinned child makes its bone.
+    const skinned = new Set();
+    for (const slots of model.assets.skinJoints)
+        for (const j of slots)
+            skinned.add(j);
+    const parentJoint = (j) => model.assets.parents[j] ?? -1;
+    const childOf = new Map();
+    for (const j of [...skinned].sort((a, b) => a - b)) {
+        const p = parentJoint(j);
+        if (p >= 0 && skinned.has(p) && !childOf.has(p))
+            childOf.set(p, j);
+    }
+    const bodies = [];
+    const bodyOf = new Map();
+    const s = rootT.s;
+    const world3 = (m) => {
+        // A model-space point → world.
+        const p = rotate(rootT.r, col(m, 3).map((v) => v * s));
+        return [rootT.t[0] + p[0], rootT.t[1] + p[1], rootT.t[2] + p[2]];
+    };
+    const order = [...childOf.keys()].sort((a, b) => a - b);
+    for (const j of order) {
+        const c = childOf.get(j);
+        const mj = animation.jointModel(model.root, j);
+        const mc = animation.jointModel(model.root, c);
+        if (!mj || !mc)
+            throw new YaliError('ANIM_INVALID', 'buildRagdoll needs the model animated once (no joint poses yet).', 'Step the app once after spawnAnimatedGltf, then build the ragdoll.');
+        const pj = world3(mj);
+        const pc = world3(mc);
+        const lengthW = len(sub(pc, pj));
+        if (lengthW < minLength)
+            continue;
+        const radius = Math.max(minRadius, thickness * lengthW);
+        // The bone's direction in the joint's frame (model units), and the body's offset: halfway, Y along it.
+        const qj = quatOf(mj);
+        const dModel = sub(col(mc, 3), col(mj, 3));
+        const sj = len(col(mj, 0)) || 1;
+        const local = rotate(conj(qj), dModel).map((v) => v / sj);
+        const ll = len(local) || 1;
+        const offsetR = arc([0, 1, 0], local.map((v) => v / ll));
+        const offsetT = local.map((v) => v * 0.5);
+        // The body's world pose (what the follow pass will write).
+        const centerW = pj.map((v, i) => (v + pc[i]) * 0.5);
+        const rW = qmul(qmul(rootT.r, qj), offsetR);
+        const e = world.spawn([Transform, GlobalTransform, physics.RigidBody, physics.Collider, Bone]);
+        world.insert(e, Transform, { t: centerW, r: rW, s: 1 });
+        world.insert(e, physics.RigidBody, physics.rigidBody({ kind: 1 }));
+        world.insert(e, physics.Collider, physics.collider({ capsule: { halfHeight: Math.max(0, lengthW / 2 - radius), radius } }, { layer, mask: ~layer >>> 0, density: 985 }));
+        world.insert(e, Bone, { animator: model.root, joint: j, mode: BONE_FOLLOW, offsetT, offsetR });
+        bodies.push({ entity: e, joint: j });
+        bodyOf.set(j, { entity: e, pose: { t: centerW, r: rW } });
+    }
+    // Ball joints: each body to the body of its nearest ancestor bone, at its joint.
+    const toLocal = (pose, p) => rotate(conj(pose.r), sub(p, pose.t));
+    for (const { entity, joint } of bodies) {
+        let a = parentJoint(joint);
+        while (a >= 0 && !bodyOf.has(a))
+            a = parentJoint(a);
+        const me = bodyOf.get(joint);
+        const at = world3(animation.jointModel(model.root, joint));
+        if (a < 0)
+            continue; // the topmost bone: free (its joint is the pelvis)
+        const other = bodyOf.get(a);
+        const jv = physics.joint('spherical', { other: other.entity, anchorA: toLocal(other.pose, at), anchorB: toLocal(me.pose, at), axis: [0, 1, 0], cone: o.cone ?? 0.7 });
+        world.insert(entity, physics.Joint, jv);
+    }
+    return { root: model.root, bodies, active: false };
+}
+/**
+ * Hands a ragdoll to physics (`active`: its bodies dynamic, driving the skeleton) or back to the
+ * animation (kinematic, following it). Bodies start from rest when activated.
+ */
+export function setRagdoll(world, ragdoll, physics, active) {
+    const { Bone } = registerAnimation(world);
+    for (const { entity, joint } of ragdoll.bodies) {
+        world.insert(entity, physics.RigidBody, physics.rigidBody({ kind: active ? 0 : 1 }));
+        const q = world.query({ with: [Bone], columns: [[Bone, 'offsetT'], [Bone, 'offsetR']] });
+        let offsetT = [0, 0, 0];
+        let offsetR = [0, 0, 0, 1];
+        const n = q.run();
+        for (let c = 0; c < n; c++) {
+            const k = q.chunk(c);
+            for (let i = 0; i < k.length; i++) {
+                if (k.entity(i) !== entity)
+                    continue;
+                offsetT = Array.from(k.f32(0).subarray(i * 3, i * 3 + 3));
+                offsetR = Array.from(k.f32(1).subarray(i * 4, i * 4 + 4));
+            }
+        }
+        world.insert(entity, Bone, { animator: ragdoll.root, joint, mode: active ? BONE_DRIVE : BONE_FOLLOW, offsetT, offsetR });
+    }
+    ragdoll.active = active;
+}
+function readTransform(world, Transform, e) {
+    const q = world.query({ with: [Transform], columns: [[Transform, 't'], [Transform, 'r'], [Transform, 's']] });
+    const n = q.run();
+    for (let c = 0; c < n; c++) {
+        const k = q.chunk(c);
+        for (let i = 0; i < k.length; i++) {
+            if (k.entity(i) !== e)
+                continue;
+            return { t: Array.from(k.f64(0).subarray(i * 3, i * 3 + 3)), r: Array.from(k.f32(1).subarray(i * 4, i * 4 + 4)), s: k.f32(2)[i] || 1 };
+        }
+    }
+    throw new YaliError('MISSING_COMPONENT', `Entity ${e} has no Transform.`, 'Pass a model spawnAnimatedGltf returned.');
+}
+//# sourceMappingURL=ragdoll.js.map

package/dist/ragdoll.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -1,6 +1,31 @@
 {
   "name": "@yali-engine/animation",
-  "version": "0.0.0-stage",
-  "stub": true,
-  "description": "Temporary package placeholder for staged publishing"
+  "version": "0.4.0",
+  "description": "Yali animation: skeletons, clips and skinned meshes from glTF, sampled and skinned by the core's anim variant (ADR-0083, ADR-0088).",
+  "license": "MIT OR Apache-2.0",
+  "type": "module",
+  "sideEffects": false,
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    }
+  },
+  "publishConfig": {
+    "access": "public"
+  },
+  "files": [
+    "dist"
+  ],
+  "devDependencies": {
+    "@yali-engine/physics": "0.4.0"
+  },
+  "dependencies": {
+    "@yali-engine/core": "0.4.0",
+    "@yali-engine/gltf": "0.4.0"
+  },
+  "scripts": {
+    "typecheck": "tsc -p tsconfig.json",
+    "test": "node --experimental-strip-types --no-warnings --test \"test/*.test.ts\""
+  }
 }

package/README.md

@@ -1,3 +0,0 @@
-# Temporary Holding Version
-
-This version is a temporary placeholder for this package. An operational version to replace this has been submitted for review and is awaiting a staged release.