@zephyr3d/scene 0.8.0 → 0.8.2

package/dist/animation/animationset.js

@@ -1,5 +1,10 @@
-import { Disposable, weightedAverage } from '@zephyr3d/base';
+import { Disposable, weightedAverage, Interpolator } from '@zephyr3d/base';
 import { AnimationClip } from './animation.js';
+import { NodeRotationTrack } from './rotationtrack.js';
+import { NodeEulerRotationTrack } from './eulerrotationtrack.js';
+import { NodeTranslationTrack } from './translationtrack.js';
+import { NodeScaleTrack } from './scaletrack.js';
+import { Skeleton } from './skeleton.js';
 
 /**
  * Animation set
@@ -327,6 +332,220 @@ import { AnimationClip } from './animation.js';
         }
     }
     /**
+   * Copy an animation clip from another AnimationSet into this one.
+   *
+   * Prerequisites:
+   * - Both sets must reference skeletons with identical joint names and counts.
+   * - The source clip must exist in `sourceSet`.
+   *
+   * @param sourceSet - The AnimationSet to copy from.
+   * @param animationName - Name of the clip to copy.
+   * @param targetName - Name for the new clip in this set. Defaults to `animationName`.
+   * @param excludeJoint - Optional predicate; joints whose name returns true are excluded from
+   *   skeleton structure matching.
+   * @returns The newly created AnimationClip, or null on failure.
+   */ copyAnimationFrom(sourceSet, animationName, targetName, excludeJoint) {
+        const destName = targetName ?? animationName;
+        const sourceClip = sourceSet.get(animationName);
+        if (!sourceClip) {
+            console.error(`copyAnimationFrom: animation '${animationName}' not found in source set`);
+            return null;
+        }
+        if (this._animations[destName]) {
+            console.error(`copyAnimationFrom: animation '${destName}' already exists in target set`);
+            return null;
+        }
+        if (sourceClip.skeletons.size !== 1) {
+            console.error(`copyAnimationFrom: source animation clip must be affected by exactly one skeleton`);
+            return null;
+        }
+        const srcSkeletonId = [
+            ...sourceClip.skeletons
+        ][0];
+        const srcSkeleton = Skeleton.findSkeletonById(srcSkeletonId);
+        if (!srcSkeleton) {
+            console.error(`copyAnimationFrom: source skeleton '${srcSkeletonId}' not found`);
+            return null;
+        }
+        const nodeMap = new Map();
+        const jointRemapBySrcNode = new Map();
+        const jointsFiltered = srcSkeleton.joints.filter((j)=>!excludeJoint?.(j.name));
+        const srcRootNode = findRootJoint(jointsFiltered);
+        if (!srcRootNode) {
+            console.error(`copyAnimationFrom: cannot determine the root joint for source skeleton`);
+            return null;
+        }
+        // Build filtered joint lists for matching (exclude joints rejected by filterJoint)
+        const srcJointsFiltered = sortJoints(srcRootNode, jointsFiltered);
+        if (!srcJointsFiltered) {
+            console.error(`copyAnimationFrom: invalid source skeleton structure`);
+            return null;
+        }
+        let dstJointsFiltered = [];
+        const dstSkeleton = this._skeletons.map((ref)=>ref.get()).find((sk)=>{
+            if (!sk) {
+                return false;
+            }
+            const jointsFiltered = sk.joints.filter((j)=>!excludeJoint?.(j.name));
+            if (jointsFiltered.length !== srcJointsFiltered.length) {
+                return false;
+            }
+            const rootNode = findRootJoint(jointsFiltered);
+            if (!rootNode) {
+                return false;
+            }
+            const sortedJointsFiltered = sortJoints(rootNode, jointsFiltered);
+            if (sortedJointsFiltered && srcJointsFiltered.every((j, i)=>j.name === sortedJointsFiltered[i].name)) {
+                dstJointsFiltered = sortedJointsFiltered;
+                return true;
+            }
+            return false;
+        });
+        if (!dstJointsFiltered || !dstSkeleton) {
+            console.error(`copyAnimationFrom: no matching skeleton in target set for '${srcSkeletonId}'`);
+            return null;
+        }
+        // Build remap only for joints that pass the filter
+        for(let fi = 0; fi < srcJointsFiltered.length; fi++){
+            const srcJoint = srcJointsFiltered[fi];
+            const dstJoint = dstJointsFiltered[fi];
+            const si = srcSkeleton.joints.indexOf(srcJoint);
+            const di = dstSkeleton.joints.indexOf(dstJoint);
+            const srcLen = srcSkeleton.bindPose[si].position.magnitude;
+            const dstLen = dstSkeleton.bindPose[di].position.magnitude;
+            const translationScale = srcLen > 1e-6 ? dstLen / srcLen : 1;
+            nodeMap.set(srcJoint, dstJoint);
+            jointRemapBySrcNode.set(srcJoint, {
+                dstNode: dstJoint,
+                srcBindRot: srcSkeleton.bindPose[si].rotation,
+                dstBindRot: dstSkeleton.bindPose[di].rotation,
+                translationScale
+            });
+        }
+        const dstClip = this.createAnimation(destName);
+        if (!dstClip) {
+            return null;
+        }
+        dstClip.timeDuration = sourceClip.timeDuration;
+        dstClip.weight = sourceClip.weight;
+        dstClip.autoPlay = sourceClip.autoPlay;
+        // Register destination skeleton
+        dstClip.addSkeleton(dstSkeleton.persistentId);
+        for (const srcNode of srcJointsFiltered){
+            const srcTracks = sourceClip.tracks.get(srcNode);
+            if (!srcTracks) {
+                console.error(`copyAnimationFrom: no track for joint: ${srcNode.name}`);
+                return null;
+            }
+            const dstNode = nodeMap.get(srcNode);
+            const remap = jointRemapBySrcNode.get(srcNode) ?? null;
+            for (const srcTrack of srcTracks){
+                let dstTrack;
+                if (srcTrack instanceof NodeRotationTrack) {
+                    dstTrack = retargetRotationTrack(srcTrack);
+                } else if (srcTrack instanceof NodeEulerRotationTrack) {
+                    dstTrack = retargetEulerToRotationTrack(srcTrack);
+                } else if (srcTrack instanceof NodeTranslationTrack) {
+                    dstTrack = retargetTranslationTrack(srcTrack, remap);
+                } else if (srcTrack instanceof NodeScaleTrack) {
+                    dstTrack = new NodeScaleTrack(cloneInterpolator(srcTrack.interpolator));
+                } else {
+                    console.warn(`copyAnimationFrom: unsupported track type '${srcTrack.constructor.name}', skipping`);
+                    continue;
+                }
+                dstTrack.name = srcTrack.name;
+                dstTrack.target = srcTrack.target;
+                dstTrack.jointIndex = srcTrack.jointIndex;
+                dstClip.addTrack(dstNode, dstTrack);
+            }
+        }
+        return dstClip;
+        function findRootJoint(joints) {
+            let root = null;
+            for (const joint of joints){
+                if (!root) {
+                    root = joint;
+                }
+                while(!root.isParentOf(joint)){
+                    root = root.parent;
+                }
+                if (!root) {
+                    break;
+                }
+            }
+            if (!root || !joints.includes(root)) {
+                return null;
+            }
+            return root;
+        }
+        function sortJoints(root, joints) {
+            const ordered = [];
+            const visited = new Set();
+            function visit(joint) {
+                if (visited.has(joint)) {
+                    return true;
+                }
+                if (!joints.includes(joint)) {
+                    return false;
+                }
+                if (joint !== root) {
+                    visit(joint.parent);
+                }
+                visited.add(joint);
+                ordered.push(joint);
+                return true;
+            }
+            for (const joint of joints){
+                if (!visit(joint)) {
+                    return null;
+                }
+            }
+            return ordered;
+        }
+        function retargetTranslationTrack(src, remap) {
+            if (!remap || Math.abs(remap.translationScale - 1) < 1e-6) {
+                return new NodeTranslationTrack(cloneInterpolator(src.interpolator));
+            }
+            const scale = remap.translationScale;
+            const srcOutputs = src.interpolator.outputs;
+            const newOutputs = new Float32Array(srcOutputs.length);
+            for(let i = 0; i < newOutputs.length; i++){
+                newOutputs[i] = srcOutputs[i] * scale;
+            }
+            return new NodeTranslationTrack(new Interpolator(src.interpolator.mode, 'vec3', new Float32Array(src.interpolator.inputs), newOutputs));
+        }
+        function cloneInterpolator(src) {
+            return new Interpolator(src.mode, src.target, src.inputs instanceof Float32Array ? new Float32Array(src.inputs) : [
+                ...src.inputs
+            ], src.outputs instanceof Float32Array ? new Float32Array(src.outputs) : [
+                ...src.outputs
+            ]);
+        }
+        function retargetRotationTrack(src) {
+            const isCubic = src.interpolator.mode === 'cubicspline';
+            const frameStride = isCubic ? 12 : 4;
+            const numFrames = src.interpolator.inputs.length;
+            const srcOutputs = src.interpolator.outputs;
+            const newOutputs = new Float32Array(srcOutputs.length);
+            for(let f = 0; f < numFrames; f++){
+                const base = f * frameStride;
+                newOutputs.set(srcOutputs.subarray(base, base + (isCubic ? 12 : 4)), base);
+            }
+            return new NodeRotationTrack(new Interpolator(src.interpolator.mode, 'quat', new Float32Array(src.interpolator.inputs), newOutputs));
+        }
+        function retargetEulerToRotationTrack(src) {
+            const srcInputs = src.interpolator.inputs;
+            const srcOutputs = src.interpolator.outputs;
+            const numFrames = srcInputs.length;
+            const newOutputs = new Float32Array(numFrames * 3);
+            for(let f = 0; f < numFrames; f++){
+                const base = f * 3;
+                newOutputs.set(srcOutputs.subarray(base, base + 3), base);
+            }
+            return new NodeRotationTrack(new Interpolator('linear', 'quat', new Float32Array(srcInputs), newOutputs));
+        }
+    }
+    /**
    * Dispose the animation set and release owned resources.
    *
    * - Disposes the weak reference to the model.

package/dist/animation/animationset.js.map

@@ -1 +1 @@
-{"version":3,"file":"animationset.js","sources":["../../src/animation/animationset.ts"],"sourcesContent":["import { weightedAverage, Disposable } from '@zephyr3d/base';\r\nimport type { DRef, IDisposable } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../scene';\r\nimport { AnimationClip } from './animation';\r\nimport type { AnimationTrack } from './animationtrack';\r\nimport type { Skeleton } from './skeleton';\r\n\r\n/**\r\n * Options for playing an animation.\r\n *\r\n * Controls looping, playback speed (including reverse), and fade-in blending.\r\n * @public\r\n **/\r\nexport type PlayAnimationOptions = {\r\n  /**\r\n   * Number of loops to play.\r\n   *\r\n   * - 0: infinite looping (default).\r\n   * - n \\> 0: play exactly n loops (each loop is one full duration of the clip).\r\n   */\r\n  repeat?: number;\r\n  /**\r\n   * Playback speed multiplier.\r\n   *\r\n   * - 1: normal speed (default).\r\n   * - \\>1: faster; \\<1: slower.\r\n   * - Negative values play the clip in reverse. The initial `currentTime` will be set to the end.\r\n   */\r\n  speedRatio?: number;\r\n  /**\r\n   * Fade-in duration in seconds.\r\n   *\r\n   * Interpolates the animation weight from 0 to the clip's configured weight over this time.\r\n   * Use together with `stopAnimation(..., { fadeOut })` for smooth cross-fading.\r\n   * Default is 0 (no fade-in).\r\n   */\r\n  fadeIn?: number;\r\n  /**\r\n   * Weight of the animation clip.\r\n   *\r\n   * Used during blending when multiple animations affect the same property.\r\n   * Default is the clip's configured weight.\r\n   */\r\n  weight?: number;\r\n};\r\n\r\n/**\r\n * Options for stopping an animation.\r\n *\r\n * Allows a graceful fade-out instead of abrupt stop.\r\n * @public\r\n */\r\nexport type StopAnimationOptions = {\r\n  /**\r\n   * Fade-out duration in seconds.\r\n   *\r\n   * Interpolates the current animation weight down to 0 over this time.\r\n   * Default is 0 (immediate stop).\r\n   */\r\n  fadeOut?: number;\r\n};\r\n\r\n/**\r\n * Animation set\r\n *\r\n * Manages a collection of named animation clips for a model and orchestrates:\r\n * - Playback state (time, loops, speed, weights, fade-in/out).\r\n * - Blending across multiple tracks targeting the same property via weighted averages.\r\n * - Skeleton usage and application for clips that drive skeletal animation.\r\n * - Active track registration and cleanup as clips start/stop.\r\n *\r\n * Usage:\r\n * - Create or retrieve `AnimationClip`s by name.\r\n * - Start playback with `playAnimation(name, options)`.\r\n * - Advance animation with `update(deltaSeconds)`.\r\n * - Optionally adjust weight while playing with `setAnimationWeight(name, weight)`.\r\n *\r\n * Lifetime:\r\n * - Disposing the set releases references to the model, clips, and clears active state.\r\n *\r\n * @public\r\n */\r\nexport class AnimationSet extends Disposable implements IDisposable {\r\n  /** @internal */\r\n  private _model: SceneNode;\r\n  /** @internal */\r\n  private _animations: Partial<Record<string, AnimationClip>>;\r\n  /** @internal */\r\n  private _skeletons: DRef<Skeleton>[];\r\n  /** @internal */\r\n  private readonly _activeTracks: Map<object, Map<unknown, AnimationTrack[]>>;\r\n  /** @internal */\r\n  private readonly _activeSkeletons: Map<Skeleton, number>;\r\n  /** @internal */\r\n  private readonly _activeAnimations: Map<\r\n    AnimationClip,\r\n    {\r\n      currentTime: number;\r\n      repeat: number;\r\n      repeatCounter: number;\r\n      weight: number;\r\n      speedRatio: number;\r\n      firstFrame: boolean;\r\n      fadeIn: number;\r\n      fadeOut: number;\r\n      fadeOutStart: number;\r\n      animateTime: number;\r\n    }\r\n  >;\r\n  /**\r\n   * Create an AnimationSet controlling the provided model.\r\n   *\r\n   * @param model - The SceneNode (model root) controlled by this animation set.\r\n   */\r\n  constructor(model: SceneNode) {\r\n    super();\r\n    this._model = model;\r\n    this._animations = {};\r\n    this._activeTracks = new Map();\r\n    this._activeSkeletons = new Map();\r\n    this._activeAnimations = new Map();\r\n    this._skeletons = [];\r\n  }\r\n  /**\r\n   * The model (SceneNode) controlled by this animation set.\r\n   */\r\n  get model() {\r\n    return this._model;\r\n  }\r\n  /**\r\n   * Number of animation clips registered in this set.\r\n   */\r\n  get numAnimations() {\r\n    return Object.getOwnPropertyNames(this._animations).length;\r\n  }\r\n  /**\r\n   * The skeletons used by animations in this set.\r\n   */\r\n  get skeletons() {\r\n    return this._skeletons;\r\n  }\r\n  /**\r\n   * Retrieve an animation clip by name.\r\n   *\r\n   * @param name - Name of the animation.\r\n   * @returns The clip if present; otherwise null.\r\n   */\r\n  get(name: string) {\r\n    return this._animations[name] ?? null;\r\n  }\r\n  /**\r\n   * Create and register a new animation clip.\r\n   *\r\n   * @param name - Unique name for the animation clip.\r\n   * @param embedded - Whether the clip is embedded/owned (implementation-specific). Default false.\r\n   * @returns The created clip, or null if the name is empty or not unique.\r\n   */\r\n  createAnimation(name: string, embedded = false) {\r\n    if (!name || this._animations[name]) {\r\n      console.error('Animation must have unique name');\r\n      return null;\r\n    } else {\r\n      const animation = new AnimationClip(name, this, embedded);\r\n      this._animations[name] = animation;\r\n      this._model.scene?.queueUpdateNode(this._model);\r\n      return animation;\r\n    }\r\n  }\r\n  /**\r\n   * Delete and dispose an animation clip by name.\r\n   *\r\n   * - If the animation is currently playing, it is first stopped (immediately).\r\n   *\r\n   * @param name - Name of the animation to remove.\r\n   */\r\n  deleteAnimation(name: string) {\r\n    const animation = this._animations[name];\r\n    if (animation) {\r\n      this.stopAnimation(name);\r\n      delete this._animations[name];\r\n      animation.dispose();\r\n    }\r\n  }\r\n  /**\r\n   * Get the list of all registered animation names.\r\n   *\r\n   * @returns An array of clip names.\r\n   */\r\n  getAnimationNames() {\r\n    return Object.keys(this._animations);\r\n  }\r\n  /**\r\n   * Advance and apply active animations.\r\n   *\r\n   * Responsibilities per call:\r\n   * - Update time cursor for each active clip (respecting speedRatio and looping).\r\n   * - Enforce repeat limits and apply fade-out termination if configured.\r\n   * - For each animated target, blend active tracks (weighted by clip weight × fade-in × fade-out)\r\n   *   and apply the resulting state to the target.\r\n   * - Apply all active skeletons to update skinning transforms.\r\n   *\r\n   * @param deltaInSeconds - Time step in seconds since last update.\r\n   */\r\n  update(deltaInSeconds: number) {\r\n    this._activeAnimations.forEach((v, k) => {\r\n      if (v.fadeOut > 0 && v.fadeOutStart < 0) {\r\n        v.fadeOutStart = v.animateTime;\r\n      }\r\n      // Update animation time\r\n      if (v.firstFrame) {\r\n        v.firstFrame = false;\r\n      } else {\r\n        const timeAdvance = deltaInSeconds * v.speedRatio;\r\n        v.currentTime += timeAdvance;\r\n        v.animateTime += timeAdvance;\r\n        if (v.currentTime > k.timeDuration) {\r\n          v.repeatCounter++;\r\n          v.currentTime = 0;\r\n        } else if (v.currentTime < 0) {\r\n          v.repeatCounter++;\r\n          v.currentTime = k.timeDuration;\r\n        }\r\n        if (v.repeat !== 0 && v.repeatCounter >= v.repeat) {\r\n          this.stopAnimation(k.name);\r\n        } else if (v.fadeOut > 0) {\r\n          if (v.animateTime - v.fadeOutStart >= v.fadeOut) {\r\n            this.stopAnimation(k.name);\r\n          }\r\n        }\r\n      }\r\n    });\r\n    // Update tracks\r\n    this._activeTracks.forEach((v, k) => {\r\n      v.forEach((alltracks) => {\r\n        // Only deal with tracks which have not been removed\r\n        const tracks = alltracks.filter(\r\n          (track) => track.animation && this.isPlayingAnimation(track.animation.name)\r\n        );\r\n        if (tracks.length > 0) {\r\n          const weights = tracks.map((track) => {\r\n            const info = this._activeAnimations.get(track.animation!)!;\r\n            const weight = info.weight;\r\n            const fadeIn = info.fadeIn === 0 ? 1 : Math.min(1, info.animateTime / info.fadeIn);\r\n            let fadeOut = 1;\r\n            if (info.fadeOut !== 0) {\r\n              fadeOut = 1 - (info.animateTime - info.fadeOutStart) / info.fadeOut;\r\n            }\r\n            return weight * fadeIn * fadeOut;\r\n          });\r\n          const states = tracks.map((track) => {\r\n            const info = this._activeAnimations.get(track.animation!)!;\r\n            const t = (info.currentTime / track.animation!.timeDuration) * track.getDuration();\r\n            return track.calculateState(k, t);\r\n          });\r\n          const state = weightedAverage(weights, states, (a, b, t) => {\r\n            return tracks[0].mixState(a, b, t);\r\n          });\r\n          tracks[0].applyState(k, state);\r\n        }\r\n      });\r\n    });\r\n    // Update skeletons\r\n    this._skeletons.forEach((v) => {\r\n      v.get()?.apply(deltaInSeconds);\r\n    });\r\n  }\r\n  /**\r\n   * Check whether an animation is currently playing.\r\n   *\r\n   * @param name - Optional animation name. If omitted, returns true if any animation is playing.\r\n   * @returns True if playing; otherwise false.\r\n   */\r\n  isPlayingAnimation(name?: string) {\r\n    if (name) {\r\n      const animation = this._animations[name];\r\n      return !!animation && this._activeAnimations.has(animation);\r\n    }\r\n    return this._activeAnimations.size > 0;\r\n  }\r\n  /**\r\n   * Get an animation clip by name.\r\n   *\r\n   * Alias of `get(name)` returning a nullable type.\r\n   *\r\n   * @param name - Name of the animation.\r\n   * @returns The clip if present; otherwise null.\r\n   */\r\n  getAnimationClip(name: string) {\r\n    return this._animations[name] ?? null;\r\n  }\r\n  /**\r\n   * Set the runtime blend weight for a currently playing animation.\r\n   *\r\n   * Has no effect if the clip is not active.\r\n   *\r\n   * @param name - Name of the playing animation.\r\n   * @param weight - New weight value used during blending.\r\n   */\r\n  setAnimationWeight(name: string, weight: number) {\r\n    const ani = this._animations[name];\r\n    if (!ani) {\r\n      console.error(`Animation ${name} not exists`);\r\n      return;\r\n    }\r\n    const info = this._activeAnimations.get(ani);\r\n    if (info) {\r\n      info.weight = weight;\r\n    }\r\n  }\r\n  /**\r\n   * Start (or update) playback of an animation clip.\r\n   *\r\n   * Behavior:\r\n   * - If the clip is already playing, updates its fade-in (resets fade-out).\r\n   * - Otherwise initializes playback state (repeat counter, speed, weight, initial time).\r\n   * - Registers clip tracks and skeletons into the active sets for blending and application.\r\n   *\r\n   * @param name - Name of the animation to play.\r\n   * @param options - Playback options (repeat, speedRatio, fadeIn).\r\n   */\r\n  playAnimation(name: string, options?: PlayAnimationOptions) {\r\n    const ani = this._animations[name];\r\n    if (!ani) {\r\n      console.error(`Animation ${name} not exists`);\r\n      return;\r\n    }\r\n    const fadeIn = Math.max(options?.fadeIn ?? 0, 0);\r\n    const info = this._activeAnimations.get(ani);\r\n    if (info) {\r\n      info.fadeOut = 0;\r\n      info.fadeIn = fadeIn;\r\n    } else {\r\n      const repeat = options?.repeat ?? 0;\r\n      const speedRatio = options?.speedRatio ?? 1;\r\n      const weight = options?.weight ?? ani.weight ?? 1;\r\n      this._activeAnimations.set(ani, {\r\n        repeat,\r\n        weight,\r\n        speedRatio,\r\n        fadeIn,\r\n        fadeOut: 0,\r\n        repeatCounter: 0,\r\n        currentTime: speedRatio < 0 ? ani.timeDuration : 0,\r\n        animateTime: 0,\r\n        fadeOutStart: 0,\r\n        firstFrame: true\r\n      });\r\n      ani.tracks?.forEach((v, k) => {\r\n        let nodeTracks = this._activeTracks.get(k);\r\n        if (!nodeTracks) {\r\n          nodeTracks = new Map();\r\n          this._activeTracks.set(k, nodeTracks);\r\n        }\r\n        for (const track of v) {\r\n          const blendId = track.getBlendId();\r\n          let blendedTracks = nodeTracks.get(blendId);\r\n          if (!blendedTracks) {\r\n            blendedTracks = [];\r\n            nodeTracks.set(blendId, blendedTracks);\r\n          }\r\n          blendedTracks.push(track);\r\n        }\r\n      });\r\n      ani.skeletons?.forEach((v, k) => {\r\n        const skeleton = this.model.findSkeletonById(k);\r\n        if (skeleton) {\r\n          const refcount = this._activeSkeletons.get(skeleton);\r\n          if (refcount) {\r\n            this._activeSkeletons.set(skeleton, refcount + 1);\r\n          } else {\r\n            this._activeSkeletons.set(skeleton, 1);\r\n          }\r\n          skeleton.playing = true;\r\n        }\r\n      });\r\n    }\r\n  }\r\n  /**\r\n   * Stop playback of an animation clip.\r\n   *\r\n   * Behavior:\r\n   * - If `options.fadeOut > 0`, marks the clip for fade-out; actual removal occurs after fade completes.\r\n   * - If `fadeOut` is 0 or omitted, immediately:\r\n   *   - Removes the clip from active animations.\r\n   *   - Unregisters its tracks from active track maps.\r\n   *   - Decrements skeleton reference counts; resets and removes skeletons when refcount reaches 0.\r\n   *\r\n   * @param name - Name of the animation to stop.\r\n   * @param options - Optional fade-out configuration.\r\n   */\r\n  stopAnimation(name: string, options?: StopAnimationOptions) {\r\n    const ani = this._animations[name];\r\n    if (!ani) {\r\n      console.error(`Animation ${name} not exists`);\r\n      return;\r\n    }\r\n    const info = this._activeAnimations.get(ani);\r\n    if (info) {\r\n      const fadeOut = Math.max(options?.fadeOut ?? 0, 0);\r\n      if (fadeOut !== 0) {\r\n        info.fadeOut = fadeOut;\r\n        info.fadeOutStart = -1;\r\n      } else {\r\n        this._activeAnimations.delete(ani);\r\n        this._activeTracks.forEach((v) => {\r\n          v.forEach((tracks, id) => {\r\n            v.set(\r\n              id,\r\n              tracks.filter((track) => track.animation !== ani)\r\n            );\r\n          });\r\n        });\r\n        ani.skeletons?.forEach((v, k) => {\r\n          const skeleton = this.model.findSkeletonById(k);\r\n          if (skeleton) {\r\n            const refcount = this._activeSkeletons.get(skeleton)!;\r\n            if (refcount === 1) {\r\n              skeleton.reset();\r\n              this._activeSkeletons.delete(skeleton);\r\n            } else {\r\n              this._activeSkeletons.set(skeleton, refcount - 1);\r\n            }\r\n          }\r\n        });\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Dispose the animation set and release owned resources.\r\n   *\r\n   * - Disposes the weak reference to the model.\r\n   * - Disposes all registered animation clips.\r\n   * - Clears active animations, tracks, and skeleton references.\r\n   */\r\n  protected onDispose() {\r\n    super.onDispose();\r\n    for (const k in this._animations) {\r\n      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+{"version":3,"file":"animationset.js","sources":["../../src/animation/animationset.ts"],"sourcesContent":["import { weightedAverage, Disposable, Interpolator } from '@zephyr3d/base';\r\nimport type { DRef, IDisposable, Nullable, Quaternion } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../scene';\r\nimport { AnimationClip } from './animation';\r\nimport type { AnimationTrack } from './animationtrack';\r\nimport { NodeRotationTrack } from './rotationtrack';\r\nimport { NodeEulerRotationTrack } from './eulerrotationtrack';\r\nimport { NodeTranslationTrack } from './translationtrack';\r\nimport { NodeScaleTrack } from './scaletrack';\r\nimport { Skeleton } from './skeleton';\r\n\r\n/**\r\n * Options for playing an animation.\r\n *\r\n * Controls looping, playback speed (including reverse), and fade-in blending.\r\n * @public\r\n **/\r\nexport type PlayAnimationOptions = {\r\n  /**\r\n   * Number of loops to play.\r\n   *\r\n   * - 0: infinite looping (default).\r\n   * - n \\> 0: play exactly n loops (each loop is one full duration of the clip).\r\n   */\r\n  repeat?: number;\r\n  /**\r\n   * Playback speed multiplier.\r\n   *\r\n   * - 1: normal speed (default).\r\n   * - \\>1: faster; \\<1: slower.\r\n   * - Negative values play the clip in reverse. The initial `currentTime` will be set to the end.\r\n   */\r\n  speedRatio?: number;\r\n  /**\r\n   * Fade-in duration in seconds.\r\n   *\r\n   * Interpolates the animation weight from 0 to the clip's configured weight over this time.\r\n   * Use together with `stopAnimation(..., { fadeOut })` for smooth cross-fading.\r\n   * Default is 0 (no fade-in).\r\n   */\r\n  fadeIn?: number;\r\n  /**\r\n   * Weight of the animation clip.\r\n   *\r\n   * Used during blending when multiple animations affect the same property.\r\n   * Default is the clip's configured weight.\r\n   */\r\n  weight?: number;\r\n};\r\n\r\n/**\r\n * Options for stopping an animation.\r\n *\r\n * Allows a graceful fade-out instead of abrupt stop.\r\n * @public\r\n */\r\nexport type StopAnimationOptions = {\r\n  /**\r\n   * Fade-out duration in seconds.\r\n   *\r\n   * Interpolates the current animation weight down to 0 over this time.\r\n   * Default is 0 (immediate stop).\r\n   */\r\n  fadeOut?: number;\r\n};\r\n\r\n/**\r\n * Animation set\r\n *\r\n * Manages a collection of named animation clips for a model and orchestrates:\r\n * - Playback state (time, loops, speed, weights, fade-in/out).\r\n * - Blending across multiple tracks targeting the same property via weighted averages.\r\n * - Skeleton usage and application for clips that drive skeletal animation.\r\n * - Active track registration and cleanup as clips start/stop.\r\n *\r\n * Usage:\r\n * - Create or retrieve `AnimationClip`s by name.\r\n * - Start playback with `playAnimation(name, options)`.\r\n * - Advance animation with `update(deltaSeconds)`.\r\n * - Optionally adjust weight while playing with `setAnimationWeight(name, weight)`.\r\n *\r\n * Lifetime:\r\n * - Disposing the set releases references to the model, clips, and clears active state.\r\n *\r\n * @public\r\n */\r\nexport class AnimationSet extends Disposable implements IDisposable {\r\n  /** @internal */\r\n  private _model: SceneNode;\r\n  /** @internal */\r\n  private _animations: Partial<Record<string, AnimationClip>>;\r\n  /** @internal */\r\n  private _skeletons: DRef<Skeleton>[];\r\n  /** @internal */\r\n  private readonly _activeTracks: Map<object, Map<unknown, AnimationTrack[]>>;\r\n  /** @internal */\r\n  private readonly _activeSkeletons: Map<Skeleton, number>;\r\n  /** @internal */\r\n  private readonly _activeAnimations: Map<\r\n    AnimationClip,\r\n    {\r\n      currentTime: number;\r\n      repeat: number;\r\n      repeatCounter: number;\r\n      weight: number;\r\n      speedRatio: number;\r\n      firstFrame: boolean;\r\n      fadeIn: number;\r\n      fadeOut: number;\r\n      fadeOutStart: number;\r\n      animateTime: number;\r\n    }\r\n  >;\r\n  /**\r\n   * Create an AnimationSet controlling the provided model.\r\n   *\r\n   * @param model - The SceneNode (model root) controlled by this animation set.\r\n   */\r\n  constructor(model: SceneNode) {\r\n    super();\r\n    this._model = model;\r\n    this._animations = {};\r\n    this._activeTracks = new Map();\r\n    this._activeSkeletons = new Map();\r\n    this._activeAnimations = new Map();\r\n    this._skeletons = [];\r\n  }\r\n  /**\r\n   * The model (SceneNode) controlled by this animation set.\r\n   */\r\n  get model() {\r\n    return this._model;\r\n  }\r\n  /**\r\n   * Number of animation clips registered in this set.\r\n   */\r\n  get numAnimations() {\r\n    return Object.getOwnPropertyNames(this._animations).length;\r\n  }\r\n  /**\r\n   * The skeletons used by animations in this set.\r\n   */\r\n  get skeletons() {\r\n    return this._skeletons;\r\n  }\r\n  /**\r\n   * Retrieve an animation clip by name.\r\n   *\r\n   * @param name - Name of the animation.\r\n   * @returns The clip if present; otherwise null.\r\n   */\r\n  get(name: string) {\r\n    return this._animations[name] ?? null;\r\n  }\r\n  /**\r\n   * Create and register a new animation clip.\r\n   *\r\n   * @param name - Unique name for the animation clip.\r\n   * @param embedded - Whether the clip is embedded/owned (implementation-specific). Default false.\r\n   * @returns The created clip, or null if the name is empty or not unique.\r\n   */\r\n  createAnimation(name: string, embedded = false) {\r\n    if (!name || this._animations[name]) {\r\n      console.error('Animation must have unique name');\r\n      return null;\r\n    } else {\r\n      const animation = new AnimationClip(name, this, embedded);\r\n      this._animations[name] = animation;\r\n      this._model.scene?.queueUpdateNode(this._model);\r\n      return animation;\r\n    }\r\n  }\r\n  /**\r\n   * Delete and dispose an animation clip by name.\r\n   *\r\n   * - If the animation is currently playing, it is first stopped (immediately).\r\n   *\r\n   * @param name - Name of the animation to remove.\r\n   */\r\n  deleteAnimation(name: string) {\r\n    const animation = this._animations[name];\r\n    if (animation) {\r\n      this.stopAnimation(name);\r\n      delete this._animations[name];\r\n      animation.dispose();\r\n    }\r\n  }\r\n  /**\r\n   * Get the list of all registered animation names.\r\n   *\r\n   * @returns An array of clip names.\r\n   */\r\n  getAnimationNames() {\r\n    return Object.keys(this._animations);\r\n  }\r\n  /**\r\n   * Advance and apply active animations.\r\n   *\r\n   * Responsibilities per call:\r\n   * - Update time cursor for each active clip (respecting speedRatio and looping).\r\n   * - Enforce repeat limits and apply fade-out termination if configured.\r\n   * - For each animated target, blend active tracks (weighted by clip weight × fade-in × fade-out)\r\n   *   and apply the resulting state to the target.\r\n   * - Apply all active skeletons to update skinning transforms.\r\n   *\r\n   * @param deltaInSeconds - Time step in seconds since last update.\r\n   */\r\n  update(deltaInSeconds: number) {\r\n    this._activeAnimations.forEach((v, k) => {\r\n      if (v.fadeOut > 0 && v.fadeOutStart < 0) {\r\n        v.fadeOutStart = v.animateTime;\r\n      }\r\n      // Update animation time\r\n      if (v.firstFrame) {\r\n        v.firstFrame = false;\r\n      } else {\r\n        const timeAdvance = deltaInSeconds * v.speedRatio;\r\n        v.currentTime += timeAdvance;\r\n        v.animateTime += timeAdvance;\r\n        if (v.currentTime > k.timeDuration) {\r\n          v.repeatCounter++;\r\n          v.currentTime = 0;\r\n        } else if (v.currentTime < 0) {\r\n          v.repeatCounter++;\r\n          v.currentTime = k.timeDuration;\r\n        }\r\n        if (v.repeat !== 0 && v.repeatCounter >= v.repeat) {\r\n          this.stopAnimation(k.name);\r\n        } else if (v.fadeOut > 0) {\r\n          if (v.animateTime - v.fadeOutStart >= v.fadeOut) {\r\n            this.stopAnimation(k.name);\r\n          }\r\n        }\r\n      }\r\n    });\r\n    // Update tracks\r\n    this._activeTracks.forEach((v, k) => {\r\n      v.forEach((alltracks) => {\r\n        // Only deal with tracks which have not been removed\r\n        const tracks = alltracks.filter(\r\n          (track) => track.animation && this.isPlayingAnimation(track.animation.name)\r\n        );\r\n        if (tracks.length > 0) {\r\n          const weights = tracks.map((track) => {\r\n            const info = this._activeAnimations.get(track.animation!)!;\r\n            const weight = info.weight;\r\n            const fadeIn = info.fadeIn === 0 ? 1 : Math.min(1, info.animateTime / info.fadeIn);\r\n            let fadeOut = 1;\r\n            if (info.fadeOut !== 0) {\r\n              fadeOut = 1 - (info.animateTime - info.fadeOutStart) / info.fadeOut;\r\n            }\r\n            return weight * fadeIn * fadeOut;\r\n          });\r\n          const states = tracks.map((track) => {\r\n            const info = this._activeAnimations.get(track.animation!)!;\r\n            const t = (info.currentTime / track.animation!.timeDuration) * track.getDuration();\r\n            return track.calculateState(k, t);\r\n          });\r\n          const state = weightedAverage(weights, states, (a, b, t) => {\r\n            return tracks[0].mixState(a, b, t);\r\n          });\r\n          tracks[0].applyState(k, state);\r\n        }\r\n      });\r\n    });\r\n    // Update skeletons\r\n    this._skeletons.forEach((v) => {\r\n      v.get()?.apply(deltaInSeconds);\r\n    });\r\n  }\r\n  /**\r\n   * Check whether an animation is currently playing.\r\n   *\r\n   * @param name - Optional animation name. If omitted, returns true if any animation is playing.\r\n   * @returns True if playing; otherwise false.\r\n   */\r\n  isPlayingAnimation(name?: string) {\r\n    if (name) {\r\n      const animation = this._animations[name];\r\n      return !!animation && this._activeAnimations.has(animation);\r\n    }\r\n    return this._activeAnimations.size > 0;\r\n  }\r\n  /**\r\n   * Get an animation clip by name.\r\n   *\r\n   * Alias of `get(name)` returning a nullable type.\r\n   *\r\n   * @param name - Name of the animation.\r\n   * @returns The clip if present; otherwise null.\r\n   */\r\n  getAnimationClip(name: string) {\r\n    return this._animations[name] ?? null;\r\n  }\r\n  /**\r\n   * Set the runtime blend weight for a currently playing animation.\r\n   *\r\n   * Has no effect if the clip is not active.\r\n   *\r\n   * @param name - Name of the playing animation.\r\n   * @param weight - New weight value used during blending.\r\n   */\r\n  setAnimationWeight(name: string, weight: number) {\r\n    const ani = this._animations[name];\r\n    if (!ani) {\r\n      console.error(`Animation ${name} not exists`);\r\n      return;\r\n    }\r\n    const info = this._activeAnimations.get(ani);\r\n    if (info) {\r\n      info.weight = weight;\r\n    }\r\n  }\r\n  /**\r\n   * Start (or update) playback of an animation clip.\r\n   *\r\n   * Behavior:\r\n   * - If the clip is already playing, updates its fade-in (resets fade-out).\r\n   * - Otherwise initializes playback state (repeat counter, speed, weight, initial time).\r\n   * - Registers clip tracks and skeletons into the active sets for blending and application.\r\n   *\r\n   * @param name - Name of the animation to play.\r\n   * @param options - Playback options (repeat, speedRatio, fadeIn).\r\n   */\r\n  playAnimation(name: string, options?: PlayAnimationOptions) {\r\n    const ani = this._animations[name];\r\n    if (!ani) {\r\n      console.error(`Animation ${name} not exists`);\r\n      return;\r\n    }\r\n    const fadeIn = Math.max(options?.fadeIn ?? 0, 0);\r\n    const info = this._activeAnimations.get(ani);\r\n    if (info) {\r\n      info.fadeOut = 0;\r\n      info.fadeIn = fadeIn;\r\n    } else {\r\n      const repeat = options?.repeat ?? 0;\r\n      const speedRatio = options?.speedRatio ?? 1;\r\n      const weight = options?.weight ?? ani.weight ?? 1;\r\n      this._activeAnimations.set(ani, {\r\n        repeat,\r\n        weight,\r\n        speedRatio,\r\n        fadeIn,\r\n        fadeOut: 0,\r\n        repeatCounter: 0,\r\n        currentTime: speedRatio < 0 ? ani.timeDuration : 0,\r\n        animateTime: 0,\r\n        fadeOutStart: 0,\r\n        firstFrame: true\r\n      });\r\n      ani.tracks?.forEach((v, k) => {\r\n        let nodeTracks = this._activeTracks.get(k);\r\n        if (!nodeTracks) {\r\n          nodeTracks = new Map();\r\n          this._activeTracks.set(k, nodeTracks);\r\n        }\r\n        for (const track of v) {\r\n          const blendId = track.getBlendId();\r\n          let blendedTracks = nodeTracks.get(blendId);\r\n          if (!blendedTracks) {\r\n            blendedTracks = [];\r\n            nodeTracks.set(blendId, blendedTracks);\r\n          }\r\n          blendedTracks.push(track);\r\n        }\r\n      });\r\n      ani.skeletons?.forEach((v, k) => {\r\n        const skeleton = this.model.findSkeletonById(k);\r\n        if (skeleton) {\r\n          const refcount = this._activeSkeletons.get(skeleton);\r\n          if (refcount) {\r\n            this._activeSkeletons.set(skeleton, refcount + 1);\r\n          } else {\r\n            this._activeSkeletons.set(skeleton, 1);\r\n          }\r\n          skeleton.playing = true;\r\n        }\r\n      });\r\n    }\r\n  }\r\n  /**\r\n   * Stop playback of an animation clip.\r\n   *\r\n   * Behavior:\r\n   * - If `options.fadeOut > 0`, marks the clip for fade-out; actual removal occurs after fade completes.\r\n   * - If `fadeOut` is 0 or omitted, immediately:\r\n   *   - Removes the clip from active animations.\r\n   *   - Unregisters its tracks from active track maps.\r\n   *   - Decrements skeleton reference counts; resets and removes skeletons when refcount reaches 0.\r\n   *\r\n   * @param name - Name of the animation to stop.\r\n   * @param options - Optional fade-out configuration.\r\n   */\r\n  stopAnimation(name: string, options?: StopAnimationOptions) {\r\n    const ani = this._animations[name];\r\n    if (!ani) {\r\n      console.error(`Animation ${name} not exists`);\r\n      return;\r\n    }\r\n    const info = this._activeAnimations.get(ani);\r\n    if (info) {\r\n      const fadeOut = Math.max(options?.fadeOut ?? 0, 0);\r\n      if (fadeOut !== 0) {\r\n        info.fadeOut = fadeOut;\r\n        info.fadeOutStart = -1;\r\n      } else {\r\n        this._activeAnimations.delete(ani);\r\n        this._activeTracks.forEach((v) => {\r\n          v.forEach((tracks, id) => {\r\n            v.set(\r\n              id,\r\n              tracks.filter((track) => track.animation !== ani)\r\n            );\r\n          });\r\n        });\r\n        ani.skeletons?.forEach((v, k) => {\r\n          const skeleton = this.model.findSkeletonById(k);\r\n          if (skeleton) {\r\n            const refcount = this._activeSkeletons.get(skeleton)!;\r\n            if (refcount === 1) {\r\n              skeleton.reset();\r\n              this._activeSkeletons.delete(skeleton);\r\n            } else {\r\n              this._activeSkeletons.set(skeleton, refcount - 1);\r\n            }\r\n          }\r\n        });\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Copy an animation clip from another AnimationSet into this one.\r\n   *\r\n   * Prerequisites:\r\n   * - Both sets must reference skeletons with identical joint names and counts.\r\n   * - The source clip must exist in `sourceSet`.\r\n   *\r\n   * @param sourceSet - The AnimationSet to copy from.\r\n   * @param animationName - Name of the clip to copy.\r\n   * @param targetName - Name for the new clip in this set. Defaults to `animationName`.\r\n   * @param excludeJoint - Optional predicate; joints whose name returns true are excluded from\r\n   *   skeleton structure matching.\r\n   * @returns The newly created AnimationClip, or null on failure.\r\n   */\r\n  copyAnimationFrom(\r\n    sourceSet: AnimationSet,\r\n    animationName: string,\r\n    targetName?: string,\r\n    excludeJoint?: (jointName: string) => boolean\r\n  ): AnimationClip | null {\r\n    const destName = targetName ?? animationName;\r\n    const sourceClip = sourceSet.get(animationName);\r\n    if (!sourceClip) {\r\n      console.error(`copyAnimationFrom: animation '${animationName}' not found in source set`);\r\n      return null;\r\n    }\r\n    if (this._animations[destName]) {\r\n      console.error(`copyAnimationFrom: animation '${destName}' already exists in target set`);\r\n      return null;\r\n    }\r\n\r\n    // Per-joint retargeting info indexed by source joint node\r\n    type JointRemap = {\r\n      dstNode: SceneNode;\r\n      srcBindRot: Quaternion;\r\n      dstBindRot: Quaternion;\r\n      translationScale: number;\r\n    };\r\n    if (sourceClip.skeletons.size !== 1) {\r\n      console.error(`copyAnimationFrom: source animation clip must be affected by exactly one skeleton`);\r\n      return null;\r\n    }\r\n    const srcSkeletonId = [...sourceClip.skeletons][0];\r\n    const srcSkeleton = Skeleton.findSkeletonById(srcSkeletonId);\r\n    if (!srcSkeleton) {\r\n      console.error(`copyAnimationFrom: source skeleton '${srcSkeletonId}' not found`);\r\n      return null;\r\n    }\r\n    const nodeMap = new Map<object, SceneNode>();\r\n    const jointRemapBySrcNode = new Map<object, JointRemap>();\r\n\r\n    const jointsFiltered = srcSkeleton.joints.filter((j) => !excludeJoint?.(j.name));\r\n    const srcRootNode = findRootJoint(jointsFiltered);\r\n    if (!srcRootNode) {\r\n      console.error(`copyAnimationFrom: cannot determine the root joint for source skeleton`);\r\n      return null;\r\n    }\r\n    // Build filtered joint lists for matching (exclude joints rejected by filterJoint)\r\n    const srcJointsFiltered = sortJoints(srcRootNode, jointsFiltered);\r\n    if (!srcJointsFiltered) {\r\n      console.error(`copyAnimationFrom: invalid source skeleton structure`);\r\n      return null;\r\n    }\r\n    let dstJointsFiltered: SceneNode[] = [];\r\n    const dstSkeleton = this._skeletons\r\n      .map((ref) => ref.get())\r\n      .find((sk) => {\r\n        if (!sk) {\r\n          return false;\r\n        }\r\n        const jointsFiltered = sk.joints.filter((j) => !excludeJoint?.(j.name));\r\n        if (jointsFiltered.length !== srcJointsFiltered.length) {\r\n          return false;\r\n        }\r\n        const rootNode = findRootJoint(jointsFiltered);\r\n        if (!rootNode) {\r\n          return false;\r\n        }\r\n        const sortedJointsFiltered = sortJoints(rootNode, jointsFiltered);\r\n        if (\r\n          sortedJointsFiltered &&\r\n          srcJointsFiltered.every((j, i) => j.name === sortedJointsFiltered[i].name)\r\n        ) {\r\n          dstJointsFiltered = sortedJointsFiltered;\r\n          return true;\r\n        }\r\n        return false;\r\n      });\r\n    if (!dstJointsFiltered || !dstSkeleton) {\r\n      console.error(`copyAnimationFrom: no matching skeleton in target set for '${srcSkeletonId}'`);\r\n      return null;\r\n    }\r\n    // Build remap only for joints that pass the filter\r\n    for (let fi = 0; fi < srcJointsFiltered.length; fi++) {\r\n      const srcJoint = srcJointsFiltered[fi];\r\n      const dstJoint = dstJointsFiltered[fi];\r\n      const si = srcSkeleton.joints.indexOf(srcJoint);\r\n      const di = dstSkeleton.joints.indexOf(dstJoint);\r\n      const srcLen = srcSkeleton.bindPose[si].position.magnitude;\r\n      const dstLen = dstSkeleton.bindPose[di].position.magnitude;\r\n      const translationScale = srcLen > 1e-6 ? dstLen / srcLen : 1;\r\n      nodeMap.set(srcJoint, dstJoint);\r\n      jointRemapBySrcNode.set(srcJoint, {\r\n        dstNode: dstJoint,\r\n        srcBindRot: srcSkeleton.bindPose[si].rotation,\r\n        dstBindRot: dstSkeleton.bindPose[di].rotation,\r\n        translationScale\r\n      });\r\n    }\r\n\r\n    const dstClip = this.createAnimation(destName);\r\n    if (!dstClip) {\r\n      return null;\r\n    }\r\n    dstClip.timeDuration = sourceClip.timeDuration;\r\n    dstClip.weight = sourceClip.weight;\r\n    dstClip.autoPlay = sourceClip.autoPlay;\r\n\r\n    // Register destination skeleton\r\n    dstClip.addSkeleton(dstSkeleton.persistentId);\r\n\r\n    for (const srcNode of srcJointsFiltered) {\r\n      const srcTracks = sourceClip.tracks.get(srcNode);\r\n      if (!srcTracks) {\r\n        console.error(`copyAnimationFrom: no track for joint: ${srcNode.name}`);\r\n        return null;\r\n      }\r\n      const dstNode = nodeMap.get(srcNode)!;\r\n      const remap = jointRemapBySrcNode.get(srcNode) ?? null;\r\n\r\n      for (const srcTrack of srcTracks) {\r\n        let dstTrack: AnimationTrack;\r\n        if (srcTrack instanceof NodeRotationTrack) {\r\n          dstTrack = retargetRotationTrack(srcTrack);\r\n        } else if (srcTrack instanceof NodeEulerRotationTrack) {\r\n          dstTrack = retargetEulerToRotationTrack(srcTrack);\r\n        } else if (srcTrack instanceof NodeTranslationTrack) {\r\n          dstTrack = retargetTranslationTrack(srcTrack, remap);\r\n        } else if (srcTrack instanceof NodeScaleTrack) {\r\n          dstTrack = new NodeScaleTrack(cloneInterpolator(srcTrack.interpolator));\r\n        } else {\r\n          console.warn(`copyAnimationFrom: unsupported track type '${srcTrack.constructor.name}', skipping`);\r\n          continue;\r\n        }\r\n\r\n        dstTrack.name = srcTrack.name;\r\n        dstTrack.target = srcTrack.target;\r\n        dstTrack.jointIndex = srcTrack.jointIndex;\r\n        dstClip.addTrack(dstNode, dstTrack);\r\n      }\r\n    }\r\n\r\n    return dstClip;\r\n\r\n    function findRootJoint(joints: SceneNode[]) {\r\n      let root: Nullable<SceneNode> = null;\r\n      for (const joint of joints) {\r\n        if (!root) {\r\n          root = joint;\r\n        }\r\n        while (!root!.isParentOf(joint)) {\r\n          root = root!.parent;\r\n        }\r\n        if (!root) {\r\n          break;\r\n        }\r\n      }\r\n      if (!root || !joints.includes(root)) {\r\n        return null;\r\n      }\r\n      return root;\r\n    }\r\n\r\n    function sortJoints(root: SceneNode, joints: SceneNode[]): Nullable<SceneNode[]> {\r\n      const ordered: SceneNode[] = [];\r\n      const visited = new Set<SceneNode>();\r\n      function visit(joint: SceneNode) {\r\n        if (visited.has(joint)) {\r\n          return true;\r\n        }\r\n        if (!joints.includes(joint)) {\r\n          return false;\r\n        }\r\n        if (joint !== root) {\r\n          visit(joint.parent!);\r\n        }\r\n        visited.add(joint);\r\n        ordered.push(joint);\r\n        return true;\r\n      }\r\n      for (const joint of joints) {\r\n        if (!visit(joint)) {\r\n          return null;\r\n        }\r\n      }\r\n      return ordered;\r\n    }\r\n    function retargetTranslationTrack(\r\n      src: NodeTranslationTrack,\r\n      remap: JointRemap | null\r\n    ): NodeTranslationTrack {\r\n      if (!remap || Math.abs(remap.translationScale - 1) < 1e-6) {\r\n        return new NodeTranslationTrack(cloneInterpolator(src.interpolator));\r\n      }\r\n      const scale = remap.translationScale;\r\n      const srcOutputs = src.interpolator.outputs as Float32Array;\r\n      const newOutputs = new Float32Array(srcOutputs.length);\r\n      for (let i = 0; i < newOutputs.length; i++) {\r\n        newOutputs[i] = srcOutputs[i] * scale;\r\n      }\r\n      return new NodeTranslationTrack(\r\n        new Interpolator(\r\n          src.interpolator.mode,\r\n          'vec3',\r\n          new Float32Array(src.interpolator.inputs as Float32Array),\r\n          newOutputs\r\n        )\r\n      );\r\n    }\r\n\r\n    function cloneInterpolator(src: Interpolator): Interpolator {\r\n      return new Interpolator(\r\n        src.mode,\r\n        src.target,\r\n        src.inputs instanceof Float32Array ? new Float32Array(src.inputs) : [...src.inputs],\r\n        src.outputs instanceof Float32Array ? new Float32Array(src.outputs) : [...src.outputs]\r\n      );\r\n    }\r\n\r\n    function retargetRotationTrack(src: NodeRotationTrack): NodeRotationTrack {\r\n      const isCubic = src.interpolator.mode === 'cubicspline';\r\n      const frameStride = isCubic ? 12 : 4;\r\n      const numFrames = (src.interpolator.inputs as Float32Array).length;\r\n      const srcOutputs = src.interpolator.outputs as Float32Array;\r\n      const newOutputs = new Float32Array(srcOutputs.length);\r\n      for (let f = 0; f < numFrames; f++) {\r\n        const base = f * frameStride;\r\n        newOutputs.set(srcOutputs.subarray(base, base + 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package/dist/animation/ik/ccd_solver.js

@@ -327,9 +327,9 @@ import { IKUtils } from './ik_utils.js';
             // Apply swing-twist constraint to prevent over-rotation
             const swing = new Quaternion();
             const twist = new Quaternion();
-            IKUtils.decomposeSwingTwist(worldRotation, newDirNorm, swing, twist);
+            worldRotation.decomposeSwingTwist(newDirNorm, swing, twist);
             // Get twist angle
-            let twistAngle = IKUtils.getTwistAngle(twist, newDirNorm);
+            let twistAngle = twist.getTwistAngle(newDirNorm);
             // Get twist constraint for this joint
             const constraint = this._twistConstraints.get(i);
             if (constraint) {
@@ -339,8 +339,7 @@ import { IKUtils } from './ik_utils.js';
             // Store for next frame
             joint.previousTwist = twistAngle;
             // Reconstruct rotation from clamped twist: Q = Twist * Swing
-            const clampedTwist = new Quaternion();
-            IKUtils.createTwist(twistAngle, newDirNorm, clampedTwist);
+            const clampedTwist = Quaternion.fromAxisAngle(newDirNorm, twistAngle);
             worldRotation = Quaternion.multiply(clampedTwist, swing, worldRotation);
             // Blend with original rotation based on weight
             if (weight < 1) {

package/dist/animation/ik/ccd_solver.js.map

@@ -1 +1 @@
-{"version":3,"file":"ccd_solver.js","sources":["../../../src/animation/ik/ccd_solver.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport { IKSolver } from './ik_solver';\r\nimport type { IKChain } from './ik_chain';\r\nimport { IKUtils } from './ik_utils';\r\nimport type { TwistConstraint } from './ik_constraint';\r\n\r\n/**\r\n * Pole vector configuration for a specific joint.\r\n */\r\ninterface PoleVectorConfig {\r\n  /** Pole vector position in world space */\r\n  position: Vector3;\r\n  /** Weight of the pole vector constraint (0-1) */\r\n  weight: number;\r\n}\r\n\r\n/**\r\n * CCD (Cyclic Coordinate Descent) IK solver.\r\n *\r\n * @remarks\r\n * CCD is an iterative IK algorithm that works by:\r\n * 1. Starting from the joint closest to the end effector\r\n * 2. Rotating each joint to point the end effector toward the target\r\n * 3. Moving backward through the chain to the root\r\n * 4. Repeating until convergence or max iterations\r\n *\r\n * CCD is generally faster than FABRIK and works well for chains of any length.\r\n * It's particularly good for tentacles, tails, and other flexible chains.\r\n *\r\n * Supports multiple pole vectors to control the bending direction of different joints.\r\n *\r\n * @public\r\n */\r\nexport class CCDSolver extends IKSolver {\r\n  /** Map of joint index to pole vector configuration */\r\n  private _poleVectors: Map<number, PoleVectorConfig>;\r\n  /** Twist constraints for each joint (indexed by joint index) */\r\n  private _twistConstraints: Map<number, TwistConstraint>;\r\n\r\n  /**\r\n   * Create a CCD solver.\r\n   *\r\n   * @param chain - The IK chain to solve\r\n   * @param maxIterations - Maximum number of iterations (default: 10)\r\n   * @param tolerance - Convergence tolerance in world units (default: 0.001)\r\n   */\r\n  constructor(chain: IKChain, maxIterations = 10, tolerance = 0.001) {\r\n    super(chain, maxIterations, tolerance);\r\n    this._poleVectors = new Map();\r\n    this._twistConstraints = new Map();\r\n\r\n    // Set default twist constraints for all joints\r\n    for (let i = 0; i < chain.joints.length - 1; i++) {\r\n      // Middle joints have more restrictive twist limits\r\n      const isMiddleJoint = i > 0 && i < chain.joints.length - 2;\r\n      this._twistConstraints.set(i, {\r\n        minTwist: isMiddleJoint ? -Math.PI * 0.2 : -Math.PI * 0.3,\r\n        maxTwist: isMiddleJoint ? Math.PI * 0.2 : Math.PI * 0.3,\r\n        smoothFactor: 0.3\r\n      });\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Set twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @param minTwist - Minimum twist angle in radians\r\n   * @param maxTwist - Maximum twist angle in radians\r\n   * @param smoothFactor - Smoothing factor [0-1] (default: 0.3)\r\n   */\r\n  setTwistConstraint(\r\n    jointIndex: number,\r\n    minTwist: number,\r\n    maxTwist: number,\r\n    smoothFactor: number = 0.3\r\n  ): void {\r\n    if (jointIndex < 0 || jointIndex >= this._chain.joints.length - 1) {\r\n      throw new Error(`Invalid joint index: ${jointIndex}`);\r\n    }\r\n\r\n    this._twistConstraints.set(jointIndex, {\r\n      minTwist,\r\n      maxTwist,\r\n      smoothFactor: Math.max(0, Math.min(1, smoothFactor))\r\n    });\r\n  }\r\n\r\n  /**\r\n   * Get twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns Twist constraint or undefined if not set\r\n   */\r\n  getTwistConstraint(jointIndex: number): TwistConstraint | undefined {\r\n    return this._twistConstraints.get(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Remove twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns True if a constraint was removed\r\n   */\r\n  removeTwistConstraint(jointIndex: number): boolean {\r\n    return this._twistConstraints.delete(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Clear all twist constraints.\r\n   */\r\n  clearTwistConstraints(): void {\r\n    this._twistConstraints.clear();\r\n  }\r\n\r\n  /**\r\n   * Set pole vector for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint to apply pole vector to\r\n   * @param poleVector - Pole vector position in world space\r\n   * @param weight - Weight of the pole vector constraint (0-1, default: 1)\r\n   */\r\n  setPoleVector(jointIndex: number, poleVector: Vector3, weight = 1): void {\r\n    if (jointIndex < 0 || jointIndex >= this._chain.joints.length) {\r\n      throw new Error(`Invalid joint index: ${jointIndex}`);\r\n    }\r\n\r\n    this._poleVectors.set(jointIndex, {\r\n      position: poleVector.clone(),\r\n      weight: Math.max(0, Math.min(1, weight))\r\n    });\r\n  }\r\n\r\n  /**\r\n   * Remove pole vector for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint to remove pole vector from\r\n   * @returns True if a pole vector was removed, false if none existed\r\n   */\r\n  removePoleVector(jointIndex: number): boolean {\r\n    return this._poleVectors.delete(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Clear all pole vectors.\r\n   */\r\n  clearPoleVectors(): void {\r\n    this._poleVectors.clear();\r\n  }\r\n\r\n  /**\r\n   * Get pole vector configuration for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns Pole vector configuration or undefined if not set\r\n   */\r\n  getPoleVector(jointIndex: number): { position: Vector3; weight: number } | undefined {\r\n    const config = this._poleVectors.get(jointIndex);\r\n    if (config) {\r\n      return {\r\n        position: config.position.clone(),\r\n        weight: config.weight\r\n      };\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Check if a joint has a pole vector.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns True if the joint has a pole vector\r\n   */\r\n  hasPoleVector(jointIndex: number): boolean {\r\n    return this._poleVectors.has(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Solve the IK chain to reach the target position using CCD algorithm.\r\n   *\r\n   * @param target - Target position for the end effector\r\n   * @returns True if converged within tolerance, false otherwise\r\n   */\r\n  solve(target: Vector3): boolean {\r\n    const joints = this._chain.joints;\r\n\r\n    // Update joint positions from scene nodes before solving\r\n    this._chain.updateFromNodes();\r\n\r\n    // Store original positions\r\n    this._chain.storeOriginalPositions();\r\n\r\n    let converged = false;\r\n\r\n    for (let iteration = 0; iteration < this._maxIterations; iteration++) {\r\n      // Check convergence\r\n      const endEffector = joints[joints.length - 1];\r\n      const distToTarget = Vector3.distance(endEffector.position, target);\r\n\r\n      if (distToTarget < this._tolerance) {\r\n        converged = true;\r\n        break;\r\n      }\r\n\r\n      // Iterate backward through joints (from second-to-last to root)\r\n      // We skip the end effector itself since it doesn't have a child to rotate toward\r\n      for (let i = joints.length - 2; i >= 0; i--) {\r\n        const joint = joints[i];\r\n\r\n        // Vector from current joint to end effector\r\n        const toEnd = Vector3.sub(endEffector.position, joint.position, new Vector3());\r\n        const toEndDist = toEnd.magnitude;\r\n\r\n        // Vector from current joint to target\r\n        const toTarget = Vector3.sub(target, joint.position, new Vector3());\r\n        const toTargetDist = toTarget.magnitude;\r\n\r\n        // Skip if either vector is too small\r\n        if (toEndDist < 0.000001 || toTargetDist < 0.000001) {\r\n          continue;\r\n        }\r\n\r\n        // Normalize vectors\r\n        const toEndDir = Vector3.scale(toEnd, 1 / toEndDist, new Vector3());\r\n        const toTargetDir = Vector3.scale(toTarget, 1 / toTargetDist, new Vector3());\r\n\r\n        // Calculate rotation needed to align end effector toward target\r\n        let rotation = new Quaternion();\r\n        IKUtils.fromToRotation(toEndDir, toTargetDir, rotation);\r\n\r\n        // Apply rotation to all joints from current to end effector\r\n        this._rotateJointsFromIndex(i, rotation, joint.position);\r\n\r\n        // Apply constraints after rotating this joint\r\n        this._applyConstraintsForJoint(i);\r\n      }\r\n\r\n      // Apply all pole vector constraints after each full iteration\r\n      // This is more stable than applying them during the CCD loop\r\n      this._applyAllPoleVectors();\r\n    }\r\n\r\n    return converged;\r\n  }\r\n\r\n  /**\r\n   * Rotate all joints from the given index to the end effector around a pivot point.\r\n   *\r\n   * @param startIndex - Index of the joint to start rotating from\r\n   * @param rotation - Rotation to apply\r\n   * @param pivot - Pivot point for rotation (position of the joint being adjusted)\r\n   */\r\n  private _rotateJointsFromIndex(startIndex: number, rotation: Quaternion, pivot: Vector3): void {\r\n    const joints = this._chain.joints;\r\n\r\n    // Rotate all joints from startIndex+1 to end effector\r\n    for (let i = startIndex + 1; i < joints.length; i++) {\r\n      const joint = joints[i];\r\n\r\n      // Translate to pivot\r\n      const offset = Vector3.sub(joint.position, pivot, new Vector3());\r\n\r\n      // Rotate around pivot\r\n      const rotated = rotation.transform(offset, new Vector3());\r\n\r\n      // Translate back\r\n      joint.position.set(Vector3.add(pivot, rotated, new Vector3()));\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply all pole vector constraints.\r\n   *\r\n   * @remarks\r\n   * This method applies all configured pole vectors to their respective joints.\r\n   * Pole vectors are applied in reverse order (from end to root) to minimize\r\n   * interference between multiple pole vectors. This ensures that pole vectors\r\n   * closer to the end effector are not affected by pole vectors closer to the root.\r\n   */\r\n  private _applyAllPoleVectors(): void {\r\n    if (this._poleVectors.size === 0) {\r\n      return;\r\n    }\r\n\r\n    // Apply pole vectors in reverse order (from end to root)\r\n    // This prevents earlier pole vectors from affecting later ones\r\n    const sortedIndices = Array.from(this._poleVectors.keys()).sort((a, b) => b - a);\r\n\r\n    for (const jointIndex of sortedIndices) {\r\n      const config = this._poleVectors.get(jointIndex);\r\n      if (config && config.weight > 0.001) {\r\n        this._applyPoleVectorTwist(jointIndex, config.position, config.weight);\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply pole vector twist to a specific joint.\r\n   *\r\n   * @remarks\r\n   * This method is called after the base CCD rotation has been applied.\r\n   * It adds an additional twist rotation around the joint-to-end axis\r\n   * to make the next joint (child) bend toward the pole vector.\r\n   *\r\n   * @param jointIndex - Index of the pole joint\r\n   * @param poleVector - Pole vector position in world space\r\n   * @param weight - Weight of the pole vector constraint (0-1)\r\n   */\r\n  private _applyPoleVectorTwist(jointIndex: number, poleVector: Vector3, weight: number): void {\r\n    const joints = this._chain.joints;\r\n\r\n    // We need at least 3 joints to apply pole vector (parent, pole joint, child)\r\n    if (jointIndex < 1 || jointIndex >= joints.length - 1) {\r\n      return;\r\n    }\r\n\r\n    const parentJoint = joints[jointIndex - 1];\r\n    const currentJoint = joints[jointIndex];\r\n    const childJoint = joints[jointIndex + 1];\r\n\r\n    const parentPos = parentJoint.position;\r\n    const currentPos = currentJoint.position;\r\n    const childPos = childJoint.position;\r\n\r\n    // Calculate the plane defined by parent, child, and pole vector\r\n    // Vector from parent to child (the \"line\" we're bending around)\r\n    const parentToChild = Vector3.sub(childPos, parentPos, new Vector3());\r\n    const lineLength = parentToChild.magnitude;\r\n\r\n    if (lineLength < 0.000001) {\r\n      return; // Parent and child are at same position\r\n    }\r\n\r\n    const lineDir = Vector3.scale(parentToChild, 1 / lineLength, new Vector3());\r\n\r\n    // Project current joint onto the parent-child line\r\n    const parentToCurrent = Vector3.sub(currentPos, parentPos, new Vector3());\r\n    const projectionLength = Vector3.dot(parentToCurrent, lineDir);\r\n    const projectionPoint = Vector3.scale(lineDir, projectionLength, new Vector3());\r\n    Vector3.add(parentPos, projectionPoint, projectionPoint);\r\n\r\n    // Vector from projection point to current joint (perpendicular to line)\r\n    const perpendicular = Vector3.sub(currentPos, projectionPoint, new Vector3());\r\n    const perpLength = perpendicular.magnitude;\r\n\r\n    if (perpLength < 0.000001) {\r\n      return; // Current joint is on the line\r\n    }\r\n\r\n    // Calculate desired direction toward pole vector\r\n    const parentToPole = Vector3.sub(poleVector, parentPos, new Vector3());\r\n    const poleProjectionLength = Vector3.dot(parentToPole, lineDir);\r\n    const poleProjectionPoint = Vector3.scale(lineDir, poleProjectionLength, new Vector3());\r\n    Vector3.add(parentPos, poleProjectionPoint, poleProjectionPoint);\r\n\r\n    // Direction from projection to pole (perpendicular to line)\r\n    const poleDirection = Vector3.sub(poleVector, poleProjectionPoint, new Vector3());\r\n    const poleDirLength = poleDirection.magnitude;\r\n\r\n    if (poleDirLength < 0.000001) {\r\n      return; // Pole is on the line\r\n    }\r\n\r\n    poleDirection.scaleBy(1 / poleDirLength);\r\n\r\n    // Calculate new position for current joint\r\n    // Keep the same distance from the line, but rotate toward pole direction\r\n    const desiredPerpendicular = Vector3.scale(poleDirection, perpLength, new Vector3());\r\n    const newPosition = Vector3.add(projectionPoint, desiredPerpendicular, new Vector3());\r\n\r\n    // Apply weight (blend between original and constrained position)\r\n    if (weight < 0.999) {\r\n      const blended = new Vector3();\r\n      blended.x = currentPos.x + (newPosition.x - currentPos.x) * weight;\r\n      blended.y = currentPos.y + (newPosition.y - currentPos.y) * weight;\r\n      blended.z = currentPos.z + (newPosition.z - currentPos.z) * weight;\r\n      currentJoint.position.set(blended);\r\n    } else {\r\n      currentJoint.position.set(newPosition);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply constraints for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint to apply constraints to\r\n   */\r\n  private _applyConstraintsForJoint(jointIndex: number): void {\r\n    const constraints = this._chain.constraints;\r\n    for (const constraint of constraints) {\r\n      if (constraint.jointIndex === jointIndex) {\r\n        constraint.apply(this._chain.joints);\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply the solved joint positions to scene nodes as rotations.\r\n   *\r\n   * @param weight - Blend weight (0 = original, 1 = full IK, default: 1)\r\n   */\r\n  applyToNodes(weight = 1): void {\r\n    const joints = this._chain.joints;\r\n\r\n    // Apply rotation for all joints except the end effector\r\n    for (let i = 0; i < joints.length - 1; i++) {\r\n      const joint = joints[i];\r\n      const nextJoint = joints[i + 1];\r\n\r\n      // Calculate direction from current joint to next joint in world space\r\n      const originalDir = Vector3.sub(nextJoint.originalPosition, joint.originalPosition, new Vector3());\r\n      const newDir = Vector3.sub(nextJoint.position, joint.position, new Vector3());\r\n\r\n      const originalDirNorm = Vector3.normalize(originalDir, new Vector3());\r\n      const newDirNorm = Vector3.normalize(newDir, new Vector3());\r\n\r\n      // Calculate basic rotation\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDirNorm, newDirNorm, deltaRotation);\r\n\r\n      // Calculate new world rotation\r\n      let worldRotation = Quaternion.multiply(deltaRotation, joint.originalRotation, new Quaternion());\r\n\r\n      // Apply swing-twist constraint to prevent over-rotation\r\n      const swing = new Quaternion();\r\n      const twist = new Quaternion();\r\n      IKUtils.decomposeSwingTwist(worldRotation, newDirNorm, swing, twist);\r\n\r\n      // Get twist angle\r\n      let twistAngle = IKUtils.getTwistAngle(twist, newDirNorm);\r\n\r\n      // Get twist constraint for this joint\r\n      const constraint = this._twistConstraints.get(i);\r\n      if (constraint) {\r\n        // Clamp and smooth twist\r\n        twistAngle = IKUtils.clampAndSmoothTwist(\r\n          twistAngle,\r\n          joint.previousTwist,\r\n          constraint.minTwist,\r\n          constraint.maxTwist,\r\n          constraint.smoothFactor\r\n        );\r\n      }\r\n\r\n      // Store for next frame\r\n      joint.previousTwist = twistAngle;\r\n\r\n      // Reconstruct rotation from clamped twist: Q = Twist * Swing\r\n      const clampedTwist = new Quaternion();\r\n      IKUtils.createTwist(twistAngle, newDirNorm, clampedTwist);\r\n      worldRotation = Quaternion.multiply(clampedTwist, swing, worldRotation);\r\n\r\n      // Blend with original rotation based on weight\r\n      if (weight < 1) {\r\n        Quaternion.slerp(joint.originalRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      // Store this frame's world rotation for next frame's twist continuity\r\n      if (!joint.previousIKRotation) {\r\n        joint.previousIKRotation = worldRotation.clone();\r\n      } else {\r\n        joint.previousIKRotation.set(worldRotation);\r\n      }\r\n\r\n      // Convert world rotation to local rotation (relative to parent)\r\n      if (joint.node.parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        joint.node.parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n\r\n        // localRotation = conjugate(parentWorldRotation) * worldRotation\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n\r\n        joint.node.rotation = localRotation;\r\n      } else {\r\n        // Root node has no parent, world rotation is local rotation\r\n        joint.node.rotation = worldRotation;\r\n      }\r\n    }\r\n  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+{"version":3,"file":"ccd_solver.js","sources":["../../../src/animation/ik/ccd_solver.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport { IKSolver } from './ik_solver';\r\nimport type { IKChain } from './ik_chain';\r\nimport { IKUtils } from './ik_utils';\r\nimport type { TwistConstraint } from './ik_constraint';\r\n\r\n/**\r\n * Pole vector configuration for a specific joint.\r\n */\r\ninterface PoleVectorConfig {\r\n  /** Pole vector position in world space */\r\n  position: Vector3;\r\n  /** Weight of the pole vector constraint (0-1) */\r\n  weight: number;\r\n}\r\n\r\n/**\r\n * CCD (Cyclic Coordinate Descent) IK solver.\r\n *\r\n * @remarks\r\n * CCD is an iterative IK algorithm that works by:\r\n * 1. Starting from the joint closest to the end effector\r\n * 2. Rotating each joint to point the end effector toward the target\r\n * 3. Moving backward through the chain to the root\r\n * 4. Repeating until convergence or max iterations\r\n *\r\n * CCD is generally faster than FABRIK and works well for chains of any length.\r\n * It's particularly good for tentacles, tails, and other flexible chains.\r\n *\r\n * Supports multiple pole vectors to control the bending direction of different joints.\r\n *\r\n * @public\r\n */\r\nexport class CCDSolver extends IKSolver {\r\n  /** Map of joint index to pole vector configuration */\r\n  private _poleVectors: Map<number, PoleVectorConfig>;\r\n  /** Twist constraints for each joint (indexed by joint index) */\r\n  private _twistConstraints: Map<number, TwistConstraint>;\r\n\r\n  /**\r\n   * Create a CCD solver.\r\n   *\r\n   * @param chain - The IK chain to solve\r\n   * @param maxIterations - Maximum number of iterations (default: 10)\r\n   * @param tolerance - Convergence tolerance in world units (default: 0.001)\r\n   */\r\n  constructor(chain: IKChain, maxIterations = 10, tolerance = 0.001) {\r\n    super(chain, maxIterations, tolerance);\r\n    this._poleVectors = new Map();\r\n    this._twistConstraints = new Map();\r\n\r\n    // Set default twist constraints for all joints\r\n    for (let i = 0; i < chain.joints.length - 1; i++) {\r\n      // Middle joints have more restrictive twist limits\r\n      const isMiddleJoint = i > 0 && i < chain.joints.length - 2;\r\n      this._twistConstraints.set(i, {\r\n        minTwist: isMiddleJoint ? -Math.PI * 0.2 : -Math.PI * 0.3,\r\n        maxTwist: isMiddleJoint ? Math.PI * 0.2 : Math.PI * 0.3,\r\n        smoothFactor: 0.3\r\n      });\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Set twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @param minTwist - Minimum twist angle in radians\r\n   * @param maxTwist - Maximum twist angle in radians\r\n   * @param smoothFactor - Smoothing factor [0-1] (default: 0.3)\r\n   */\r\n  setTwistConstraint(\r\n    jointIndex: number,\r\n    minTwist: number,\r\n    maxTwist: number,\r\n    smoothFactor: number = 0.3\r\n  ): void {\r\n    if (jointIndex < 0 || jointIndex >= this._chain.joints.length - 1) {\r\n      throw new Error(`Invalid joint index: ${jointIndex}`);\r\n    }\r\n\r\n    this._twistConstraints.set(jointIndex, {\r\n      minTwist,\r\n      maxTwist,\r\n      smoothFactor: Math.max(0, Math.min(1, smoothFactor))\r\n    });\r\n  }\r\n\r\n  /**\r\n   * Get twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns Twist constraint or undefined if not set\r\n   */\r\n  getTwistConstraint(jointIndex: number): TwistConstraint | undefined {\r\n    return this._twistConstraints.get(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Remove twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns True if a constraint was removed\r\n   */\r\n  removeTwistConstraint(jointIndex: number): boolean {\r\n    return this._twistConstraints.delete(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Clear all twist constraints.\r\n   */\r\n  clearTwistConstraints(): void {\r\n    this._twistConstraints.clear();\r\n  }\r\n\r\n  /**\r\n   * Set pole vector for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint to apply pole vector to\r\n   * @param poleVector - Pole vector position in world space\r\n   * @param weight - Weight of the pole vector constraint (0-1, default: 1)\r\n   */\r\n  setPoleVector(jointIndex: number, poleVector: Vector3, weight = 1): void {\r\n    if (jointIndex < 0 || jointIndex >= this._chain.joints.length) {\r\n      throw new Error(`Invalid joint index: ${jointIndex}`);\r\n    }\r\n\r\n    this._poleVectors.set(jointIndex, {\r\n      position: poleVector.clone(),\r\n      weight: Math.max(0, Math.min(1, weight))\r\n    });\r\n  }\r\n\r\n  /**\r\n   * Remove pole vector for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint to remove pole vector from\r\n   * @returns True if a pole vector was removed, false if none existed\r\n   */\r\n  removePoleVector(jointIndex: number): boolean {\r\n    return this._poleVectors.delete(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Clear all pole vectors.\r\n   */\r\n  clearPoleVectors(): void {\r\n    this._poleVectors.clear();\r\n  }\r\n\r\n  /**\r\n   * Get pole vector configuration for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns Pole vector configuration or undefined if not set\r\n   */\r\n  getPoleVector(jointIndex: number): { position: Vector3; weight: number } | undefined {\r\n    const config = this._poleVectors.get(jointIndex);\r\n    if (config) {\r\n      return {\r\n        position: config.position.clone(),\r\n        weight: config.weight\r\n      };\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  /**\r\n   * Check if a joint has a pole vector.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns True if the joint has a pole vector\r\n   */\r\n  hasPoleVector(jointIndex: number): boolean {\r\n    return this._poleVectors.has(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Solve the IK chain to reach the target position using CCD algorithm.\r\n   *\r\n   * @param target - Target position for the end effector\r\n   * @returns True if converged within tolerance, false otherwise\r\n   */\r\n  solve(target: Vector3): boolean {\r\n    const joints = this._chain.joints;\r\n\r\n    // Update joint positions from scene nodes before solving\r\n    this._chain.updateFromNodes();\r\n\r\n    // Store original positions\r\n    this._chain.storeOriginalPositions();\r\n\r\n    let converged = false;\r\n\r\n    for (let iteration = 0; iteration < this._maxIterations; iteration++) {\r\n      // Check convergence\r\n      const endEffector = joints[joints.length - 1];\r\n      const distToTarget = Vector3.distance(endEffector.position, target);\r\n\r\n      if (distToTarget < this._tolerance) {\r\n        converged = true;\r\n        break;\r\n      }\r\n\r\n      // Iterate backward through joints (from second-to-last to root)\r\n      // We skip the end effector itself since it doesn't have a child to rotate toward\r\n      for (let i = joints.length - 2; i >= 0; i--) {\r\n        const joint = joints[i];\r\n\r\n        // Vector from current joint to end effector\r\n        const toEnd = Vector3.sub(endEffector.position, joint.position, new Vector3());\r\n        const toEndDist = toEnd.magnitude;\r\n\r\n        // Vector from current joint to target\r\n        const toTarget = Vector3.sub(target, joint.position, new Vector3());\r\n        const toTargetDist = toTarget.magnitude;\r\n\r\n        // Skip if either vector is too small\r\n        if (toEndDist < 0.000001 || toTargetDist < 0.000001) {\r\n          continue;\r\n        }\r\n\r\n        // Normalize vectors\r\n        const toEndDir = Vector3.scale(toEnd, 1 / toEndDist, new Vector3());\r\n        const toTargetDir = Vector3.scale(toTarget, 1 / toTargetDist, new Vector3());\r\n\r\n        // Calculate rotation needed to align end effector toward target\r\n        let rotation = new Quaternion();\r\n        IKUtils.fromToRotation(toEndDir, toTargetDir, rotation);\r\n\r\n        // Apply rotation to all joints from current to end effector\r\n        this._rotateJointsFromIndex(i, rotation, joint.position);\r\n\r\n        // Apply constraints after rotating this joint\r\n        this._applyConstraintsForJoint(i);\r\n      }\r\n\r\n      // Apply all pole vector constraints after each full iteration\r\n      // This is more stable than applying them during the CCD loop\r\n      this._applyAllPoleVectors();\r\n    }\r\n\r\n    return converged;\r\n  }\r\n\r\n  /**\r\n   * Rotate all joints from the given index to the end effector around a pivot point.\r\n   *\r\n   * @param startIndex - Index of the joint to start rotating from\r\n   * @param rotation - Rotation to apply\r\n   * @param pivot - Pivot point for rotation (position of the joint being adjusted)\r\n   */\r\n  private _rotateJointsFromIndex(startIndex: number, rotation: Quaternion, pivot: Vector3): void {\r\n    const joints = this._chain.joints;\r\n\r\n    // Rotate all joints from startIndex+1 to end effector\r\n    for (let i = startIndex + 1; i < joints.length; i++) {\r\n      const joint = joints[i];\r\n\r\n      // Translate to pivot\r\n      const offset = Vector3.sub(joint.position, pivot, new Vector3());\r\n\r\n      // Rotate around pivot\r\n      const rotated = rotation.transform(offset, new Vector3());\r\n\r\n      // Translate back\r\n      joint.position.set(Vector3.add(pivot, rotated, new Vector3()));\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply all pole vector constraints.\r\n   *\r\n   * @remarks\r\n   * This method applies all configured pole vectors to their respective joints.\r\n   * Pole vectors are applied in reverse order (from end to root) to minimize\r\n   * interference between multiple pole vectors. This ensures that pole vectors\r\n   * closer to the end effector are not affected by pole vectors closer to the root.\r\n   */\r\n  private _applyAllPoleVectors(): void {\r\n    if (this._poleVectors.size === 0) {\r\n      return;\r\n    }\r\n\r\n    // Apply pole vectors in reverse order (from end to root)\r\n    // This prevents earlier pole vectors from affecting later ones\r\n    const sortedIndices = Array.from(this._poleVectors.keys()).sort((a, b) => b - a);\r\n\r\n    for (const jointIndex of sortedIndices) {\r\n      const config = this._poleVectors.get(jointIndex);\r\n      if (config && config.weight > 0.001) {\r\n        this._applyPoleVectorTwist(jointIndex, config.position, config.weight);\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply pole vector twist to a specific joint.\r\n   *\r\n   * @remarks\r\n   * This method is called after the base CCD rotation has been applied.\r\n   * It adds an additional twist rotation around the joint-to-end axis\r\n   * to make the next joint (child) bend toward the pole vector.\r\n   *\r\n   * @param jointIndex - Index of the pole joint\r\n   * @param poleVector - Pole vector position in world space\r\n   * @param weight - Weight of the pole vector constraint (0-1)\r\n   */\r\n  private _applyPoleVectorTwist(jointIndex: number, poleVector: Vector3, weight: number): void {\r\n    const joints = this._chain.joints;\r\n\r\n    // We need at least 3 joints to apply pole vector (parent, pole joint, child)\r\n    if (jointIndex < 1 || jointIndex >= joints.length - 1) {\r\n      return;\r\n    }\r\n\r\n    const parentJoint = joints[jointIndex - 1];\r\n    const currentJoint = joints[jointIndex];\r\n    const childJoint = joints[jointIndex + 1];\r\n\r\n    const parentPos = parentJoint.position;\r\n    const currentPos = currentJoint.position;\r\n    const childPos = childJoint.position;\r\n\r\n    // Calculate the plane defined by parent, child, and pole vector\r\n    // Vector from parent to child (the \"line\" we're bending around)\r\n    const parentToChild = Vector3.sub(childPos, parentPos, new Vector3());\r\n    const lineLength = parentToChild.magnitude;\r\n\r\n    if (lineLength < 0.000001) {\r\n      return; // Parent and child are at same position\r\n    }\r\n\r\n    const lineDir = Vector3.scale(parentToChild, 1 / lineLength, new Vector3());\r\n\r\n    // Project current joint onto the parent-child line\r\n    const parentToCurrent = Vector3.sub(currentPos, parentPos, new Vector3());\r\n    const projectionLength = Vector3.dot(parentToCurrent, lineDir);\r\n    const projectionPoint = Vector3.scale(lineDir, projectionLength, new Vector3());\r\n    Vector3.add(parentPos, projectionPoint, projectionPoint);\r\n\r\n    // Vector from projection point to current joint (perpendicular to line)\r\n    const perpendicular = Vector3.sub(currentPos, projectionPoint, new Vector3());\r\n    const perpLength = perpendicular.magnitude;\r\n\r\n    if (perpLength < 0.000001) {\r\n      return; // Current joint is on the line\r\n    }\r\n\r\n    // Calculate desired direction toward pole vector\r\n    const parentToPole = Vector3.sub(poleVector, parentPos, new Vector3());\r\n    const poleProjectionLength = Vector3.dot(parentToPole, lineDir);\r\n    const poleProjectionPoint = Vector3.scale(lineDir, poleProjectionLength, new Vector3());\r\n    Vector3.add(parentPos, poleProjectionPoint, poleProjectionPoint);\r\n\r\n    // Direction from projection to pole (perpendicular to line)\r\n    const poleDirection = Vector3.sub(poleVector, poleProjectionPoint, new Vector3());\r\n    const poleDirLength = poleDirection.magnitude;\r\n\r\n    if (poleDirLength < 0.000001) {\r\n      return; // Pole is on the line\r\n    }\r\n\r\n    poleDirection.scaleBy(1 / poleDirLength);\r\n\r\n    // Calculate new position for current joint\r\n    // Keep the same distance from the line, but rotate toward pole direction\r\n    const desiredPerpendicular = Vector3.scale(poleDirection, perpLength, new Vector3());\r\n    const newPosition = Vector3.add(projectionPoint, desiredPerpendicular, new Vector3());\r\n\r\n    // Apply weight (blend between original and constrained position)\r\n    if (weight < 0.999) {\r\n      const blended = new Vector3();\r\n      blended.x = currentPos.x + (newPosition.x - currentPos.x) * weight;\r\n      blended.y = currentPos.y + (newPosition.y - currentPos.y) * weight;\r\n      blended.z = currentPos.z + (newPosition.z - currentPos.z) * weight;\r\n      currentJoint.position.set(blended);\r\n    } else {\r\n      currentJoint.position.set(newPosition);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply constraints for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint to apply constraints to\r\n   */\r\n  private _applyConstraintsForJoint(jointIndex: number): void {\r\n    const constraints = this._chain.constraints;\r\n    for (const constraint of constraints) {\r\n      if (constraint.jointIndex === jointIndex) {\r\n        constraint.apply(this._chain.joints);\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply the solved joint positions to scene nodes as rotations.\r\n   *\r\n   * @param weight - Blend weight (0 = original, 1 = full IK, default: 1)\r\n   */\r\n  applyToNodes(weight = 1): void {\r\n    const joints = this._chain.joints;\r\n\r\n    // Apply rotation for all joints except the end effector\r\n    for (let i = 0; i < joints.length - 1; i++) {\r\n      const joint = joints[i];\r\n      const nextJoint = joints[i + 1];\r\n\r\n      // Calculate direction from current joint to next joint in world space\r\n      const originalDir = Vector3.sub(nextJoint.originalPosition, joint.originalPosition, new Vector3());\r\n      const newDir = Vector3.sub(nextJoint.position, joint.position, new Vector3());\r\n\r\n      const originalDirNorm = Vector3.normalize(originalDir, new Vector3());\r\n      const newDirNorm = Vector3.normalize(newDir, new Vector3());\r\n\r\n      // Calculate basic rotation\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDirNorm, newDirNorm, deltaRotation);\r\n\r\n      // Calculate new world rotation\r\n      let worldRotation = Quaternion.multiply(deltaRotation, joint.originalRotation, new Quaternion());\r\n\r\n      // Apply swing-twist constraint to prevent over-rotation\r\n      const swing = new Quaternion();\r\n      const twist = new Quaternion();\r\n      worldRotation.decomposeSwingTwist(newDirNorm, swing, twist);\r\n\r\n      // Get twist angle\r\n      let twistAngle = twist.getTwistAngle(newDirNorm);\r\n\r\n      // Get twist constraint for this joint\r\n      const constraint = this._twistConstraints.get(i);\r\n      if (constraint) {\r\n        // Clamp and smooth twist\r\n        twistAngle = IKUtils.clampAndSmoothTwist(\r\n          twistAngle,\r\n          joint.previousTwist,\r\n          constraint.minTwist,\r\n          constraint.maxTwist,\r\n          constraint.smoothFactor\r\n        );\r\n      }\r\n\r\n      // Store for next frame\r\n      joint.previousTwist = twistAngle;\r\n\r\n      // Reconstruct rotation from clamped twist: Q = Twist * Swing\r\n      const clampedTwist = Quaternion.fromAxisAngle(newDirNorm, twistAngle);\r\n      worldRotation = Quaternion.multiply(clampedTwist, swing, worldRotation);\r\n\r\n      // Blend with original rotation based on weight\r\n      if (weight < 1) {\r\n        Quaternion.slerp(joint.originalRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      // Store this frame's world rotation for next frame's twist continuity\r\n      if (!joint.previousIKRotation) {\r\n        joint.previousIKRotation = worldRotation.clone();\r\n      } else {\r\n        joint.previousIKRotation.set(worldRotation);\r\n      }\r\n\r\n      // Convert world rotation to local rotation (relative to parent)\r\n      if (joint.node.parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        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package/dist/animation/ik/fabrik_solver.js

@@ -182,9 +182,9 @@ import { IKUtils } from './ik_utils.js';
             // Apply swing-twist constraint to prevent over-rotation
             const swing = new Quaternion();
             const twist = new Quaternion();
-            IKUtils.decomposeSwingTwist(worldRotation, newDirNorm, swing, twist);
+            worldRotation.decomposeSwingTwist(newDirNorm, swing, twist);
             // Get twist angle
-            let twistAngle = IKUtils.getTwistAngle(twist, newDirNorm);
+            let twistAngle = twist.getTwistAngle(newDirNorm);
             // Get twist constraint for this joint
             const constraint = this._twistConstraints.get(i);
             if (constraint) {
@@ -194,8 +194,7 @@ import { IKUtils } from './ik_utils.js';
             // Store for next frame
             joint.previousTwist = twistAngle;
             // Reconstruct rotation from clamped twist: Q = Twist * Swing
-            const clampedTwist = new Quaternion();
-            IKUtils.createTwist(twistAngle, newDirNorm, clampedTwist);
+            const clampedTwist = Quaternion.fromAxisAngle(newDirNorm, twistAngle);
             worldRotation = Quaternion.multiply(clampedTwist, swing, worldRotation);
             // Blend with original rotation based on weight
             if (weight < 1) {