@zephyr3d/scene 0.8.1 → 0.8.2

package/dist/animation/animationset.js

@@ -1,4 +1,4 @@
-import { Disposable, weightedAverage, Quaternion, Interpolator } 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';
@@ -355,45 +355,72 @@ import { Skeleton } from './skeleton.js';
             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();
-        for (const srcSkeletonId of sourceClip.skeletons){
-            const srcSkeleton = Skeleton.findSkeletonById(srcSkeletonId);
-            if (!srcSkeleton) {
-                console.error(`copyAnimationFrom: source skeleton '${srcSkeletonId}' not found`);
-                return null;
+        const jointsFiltered = srcSkeleton.joints.filter((j)=>!excludeJoint?.(j.name));
+        const srcRootNode = findRootJoint(jointsFiltered);
+        if (!srcRootNode) {
+            console.error(`copyAnimationFrom: cannot determine the root joint for source skeleton`);
+            return null;
+        }
+        // Build filtered joint lists for matching (exclude joints rejected by filterJoint)
+        const srcJointsFiltered = sortJoints(srcRootNode, jointsFiltered);
+        if (!srcJointsFiltered) {
+            console.error(`copyAnimationFrom: invalid source skeleton structure`);
+            return null;
+        }
+        let dstJointsFiltered = [];
+        const dstSkeleton = this._skeletons.map((ref)=>ref.get()).find((sk)=>{
+            if (!sk) {
+                return false;
             }
-            // Build filtered joint lists for matching (exclude joints rejected by filterJoint)
-            const srcJointsFiltered = srcSkeleton.joints.filter((j)=>!excludeJoint?.(j.name));
-            const dstSkeleton = this._skeletons.map((ref)=>ref.get()).find((sk)=>{
-                if (!sk) {
-                    return false;
-                }
-                const dstJointsFiltered = sk.joints.filter((j)=>!excludeJoint?.(j.name));
-                return dstJointsFiltered.length === srcJointsFiltered.length && srcJointsFiltered.every((j, i)=>j.name === dstJointsFiltered[i].name);
-            });
-            if (!dstSkeleton) {
-                console.error(`copyAnimationFrom: no matching skeleton in target set for '${srcSkeletonId}'`);
-                return null;
+            const jointsFiltered = sk.joints.filter((j)=>!excludeJoint?.(j.name));
+            if (jointsFiltered.length !== srcJointsFiltered.length) {
+                return false;
             }
-            // Build remap only for joints that pass the filter
-            const dstJointsFiltered = dstSkeleton.joints.filter((j)=>!excludeJoint?.(j.name));
-            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 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) {
@@ -402,30 +429,22 @@ import { Skeleton } from './skeleton.js';
         dstClip.timeDuration = sourceClip.timeDuration;
         dstClip.weight = sourceClip.weight;
         dstClip.autoPlay = sourceClip.autoPlay;
-        // Register destination skeleton ids
-        for (const srcSkeletonId of sourceClip.skeletons){
-            const srcSkeleton = Skeleton.findSkeletonById(srcSkeletonId);
-            const firstSrcJoint = srcSkeleton.joints[0];
-            const firstDstJoint = nodeMap.get(firstSrcJoint);
-            const dstSkeleton = this._skeletons.map((r)=>r.get()).find((sk)=>sk && sk.joints[0] === firstDstJoint);
-            if (dstSkeleton) {
-                dstClip.addSkeleton(dstSkeleton.persistentId);
+        // 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 tmpSrcBind = new Quaternion();
-        const tmpDstBindInv = new Quaternion();
-        for (const [srcNode, srcTracks] of sourceClip.tracks){
             const dstNode = nodeMap.get(srcNode);
-            if (!dstNode) {
-                continue;
-            }
             const remap = jointRemapBySrcNode.get(srcNode) ?? null;
             for (const srcTrack of srcTracks){
                 let dstTrack;
                 if (srcTrack instanceof NodeRotationTrack) {
-                    dstTrack = retargetRotationTrack(srcTrack, remap);
+                    dstTrack = retargetRotationTrack(srcTrack);
                 } else if (srcTrack instanceof NodeEulerRotationTrack) {
-                    dstTrack = retargetEulerToRotationTrack(srcTrack, remap);
+                    dstTrack = retargetEulerToRotationTrack(srcTrack);
                 } else if (srcTrack instanceof NodeTranslationTrack) {
                     dstTrack = retargetTranslationTrack(srcTrack, remap);
                 } else if (srcTrack instanceof NodeScaleTrack) {
@@ -441,6 +460,48 @@ import { Skeleton } from './skeleton.js';
             }
         }
         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));
@@ -460,65 +521,26 @@ import { Skeleton } from './skeleton.js';
                 ...src.outputs
             ]);
         }
-        function retargetRotationTrack(src, remap) {
-            if (!remap) {
-                return new NodeRotationTrack(cloneInterpolator(src.interpolator));
-            }
-            tmpSrcBind.set(remap.srcBindRot);
-            Quaternion.conjugate(remap.dstBindRot, tmpDstBindInv);
+        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);
-            const q = new Quaternion();
             for(let f = 0; f < numFrames; f++){
                 const base = f * frameStride;
-                if (isCubic) {
-                    // layout per frame: [inTangent×4, value×4, outTangent×4] — only retarget value
-                    newOutputs.set(srcOutputs.subarray(base, base + 4), base);
-                    q.set(srcOutputs.subarray(base + 4, base + 8));
-                    Quaternion.multiply(tmpSrcBind, q, q);
-                    Quaternion.multiply(tmpDstBindInv, q, q);
-                    newOutputs[base + 4] = q.x;
-                    newOutputs[base + 5] = q.y;
-                    newOutputs[base + 6] = q.z;
-                    newOutputs[base + 7] = q.w;
-                    newOutputs.set(srcOutputs.subarray(base + 8, base + 12), base + 8);
-                } else {
-                    q.set(srcOutputs.subarray(base, base + 4));
-                    Quaternion.multiply(tmpSrcBind, q, q);
-                    Quaternion.multiply(tmpDstBindInv, q, q);
-                    newOutputs[base] = q.x;
-                    newOutputs[base + 1] = q.y;
-                    newOutputs[base + 2] = q.z;
-                    newOutputs[base + 3] = q.w;
-                }
+                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, remap) {
+        function retargetEulerToRotationTrack(src) {
             const srcInputs = src.interpolator.inputs;
             const srcOutputs = src.interpolator.outputs;
             const numFrames = srcInputs.length;
-            const newOutputs = new Float32Array(numFrames * 4);
-            const q = new Quaternion();
-            if (remap) {
-                tmpSrcBind.set(remap.srcBindRot);
-                Quaternion.conjugate(remap.dstBindRot, tmpDstBindInv);
-            }
+            const newOutputs = new Float32Array(numFrames * 3);
             for(let f = 0; f < numFrames; f++){
-                const b3 = f * 3;
-                const b4 = f * 4;
-                q.fromEulerAngle(srcOutputs[b3], srcOutputs[b3 + 1], srcOutputs[b3 + 2]);
-                if (remap) {
-                    Quaternion.multiply(tmpSrcBind, q, q);
-                    Quaternion.multiply(tmpDstBindInv, q, q);
-                }
-                newOutputs[b4] = q.x;
-                newOutputs[b4 + 1] = q.y;
-                newOutputs[b4 + 2] = q.z;
-                newOutputs[b4 + 3] = q.w;
+                const base = f * 3;
+                newOutputs.set(srcOutputs.subarray(base, base + 3), base);
             }
             return new NodeRotationTrack(new Interpolator('linear', 'quat', new Float32Array(srcInputs), newOutputs));
         }

package/dist/animation/animationset.js.map

@@ -1 +1 @@
-{"version":3,"file":"animationset.js","sources":["../../src/animation/animationset.ts"],"sourcesContent":["import { weightedAverage, Disposable, Interpolator, Quaternion } 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 { 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 '${destName}' already exists in target set`);\r\n      return null;\r\n    }\r\n\r\n    // Per-joint retargeting info indexed by source joint node\r\n    type JointRemap = {\r\n      dstNode: SceneNode;\r\n      srcBindRot: Quaternion;\r\n      dstBindRot: Quaternion;\r\n      translationScale: number;\r\n    };\r\n    const nodeMap = new Map<object, SceneNode>();\r\n    const jointRemapBySrcNode = new Map<object, JointRemap>();\r\n\r\n    for (const srcSkeletonId of sourceClip.skeletons) {\r\n      const srcSkeleton = Skeleton.findSkeletonById(srcSkeletonId);\r\n      if (!srcSkeleton) {\r\n        console.error(`copyAnimationFrom: source skeleton '${srcSkeletonId}' not found`);\r\n        return null;\r\n      }\r\n      // Build filtered joint lists for matching (exclude joints rejected by filterJoint)\r\n      const srcJointsFiltered = srcSkeleton.joints.filter((j) => !excludeJoint?.(j.name));\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 dstJointsFiltered = sk.joints.filter((j) => !excludeJoint?.(j.name));\r\n          return (\r\n            dstJointsFiltered.length === srcJointsFiltered.length &&\r\n            srcJointsFiltered.every((j, i) => j.name === dstJointsFiltered[i].name)\r\n          );\r\n        });\r\n      if (!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      const dstJointsFiltered = dstSkeleton.joints.filter((j) => !excludeJoint?.(j.name));\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\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 ids\r\n    for (const srcSkeletonId of sourceClip.skeletons) {\r\n      const srcSkeleton = Skeleton.findSkeletonById(srcSkeletonId)!;\r\n      const firstSrcJoint = srcSkeleton.joints[0];\r\n      const firstDstJoint = nodeMap.get(firstSrcJoint);\r\n      const dstSkeleton = this._skeletons\r\n        .map((r) => r.get())\r\n        .find((sk) => sk && sk.joints[0] === firstDstJoint);\r\n      if (dstSkeleton) {\r\n        dstClip.addSkeleton(dstSkeleton.persistentId);\r\n      }\r\n    }\r\n\r\n    const tmpSrcBind = new Quaternion();\r\n    const tmpDstBindInv = new Quaternion();\r\n\r\n    for (const [srcNode, srcTracks] of sourceClip.tracks) {\r\n      const dstNode = nodeMap.get(srcNode);\r\n      if (!dstNode) {\r\n        continue;\r\n      }\r\n      const remap = jointRemapBySrcNode.get(srcNode) ?? null;\r\n\r\n      for (const srcTrack of srcTracks) {\r\n        let dstTrack: AnimationTrack;\r\n\r\n        if (srcTrack instanceof NodeRotationTrack) {\r\n          dstTrack = retargetRotationTrack(srcTrack, remap);\r\n        } else if (srcTrack instanceof NodeEulerRotationTrack) {\r\n          dstTrack = retargetEulerToRotationTrack(srcTrack, remap);\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 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, remap: JointRemap | null): NodeRotationTrack {\r\n      if (!remap) {\r\n        return new NodeRotationTrack(cloneInterpolator(src.interpolator));\r\n      }\r\n      tmpSrcBind.set(remap.srcBindRot);\r\n      Quaternion.conjugate(remap.dstBindRot, tmpDstBindInv);\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      const q = new Quaternion();\r\n      for (let f = 0; f < numFrames; f++) {\r\n        const base = f * frameStride;\r\n        if (isCubic) {\r\n          // layout per frame: [inTangent×4, value×4, outTangent×4] — only retarget value\r\n          newOutputs.set(srcOutputs.subarray(base, base + 4), base);\r\n          q.set(srcOutputs.subarray(base + 4, base + 8));\r\n          Quaternion.multiply(tmpSrcBind, q, q);\r\n          Quaternion.multiply(tmpDstBindInv, q, q);\r\n          newOutputs[base + 4] = q.x;\r\n          newOutputs[base + 5] = q.y;\r\n          newOutputs[base + 6] = q.z;\r\n          newOutputs[base + 7] = q.w;\r\n          newOutputs.set(srcOutputs.subarray(base + 8, base + 12), base + 8);\r\n        } else {\r\n          q.set(srcOutputs.subarray(base, base + 4));\r\n          Quaternion.multiply(tmpSrcBind, q, q);\r\n          Quaternion.multiply(tmpDstBindInv, q, q);\r\n          newOutputs[base] = q.x;\r\n          newOutputs[base + 1] = q.y;\r\n          newOutputs[base + 2] = q.z;\r\n          newOutputs[base + 3] = q.w;\r\n        }\r\n      }\r\n      return new NodeRotationTrack(\r\n        new Interpolator(\r\n          src.interpolator.mode,\r\n          'quat',\r\n          new Float32Array(src.interpolator.inputs as Float32Array),\r\n          newOutputs\r\n        )\r\n      );\r\n    }\r\n\r\n    function retargetEulerToRotationTrack(\r\n      src: NodeEulerRotationTrack,\r\n      remap: JointRemap | null\r\n    ): NodeRotationTrack {\r\n      const srcInputs = src.interpolator.inputs as Float32Array;\r\n      const srcOutputs = src.interpolator.outputs as Float32Array;\r\n      const numFrames = srcInputs.length;\r\n      const newOutputs = new Float32Array(numFrames * 4);\r\n      const q = new Quaternion();\r\n      if (remap) {\r\n        tmpSrcBind.set(remap.srcBindRot);\r\n        Quaternion.conjugate(remap.dstBindRot, tmpDstBindInv);\r\n      }\r\n      for (let f = 0; f < numFrames; f++) {\r\n        const b3 = f * 3;\r\n        const b4 = f * 4;\r\n        q.fromEulerAngle(srcOutputs[b3], srcOutputs[b3 + 1], srcOutputs[b3 + 2]);\r\n        if (remap) {\r\n          Quaternion.multiply(tmpSrcBind, q, q);\r\n          Quaternion.multiply(tmpDstBindInv, q, q);\r\n        }\r\n        newOutputs[b4] = q.x;\r\n        newOutputs[b4 + 1] = q.y;\r\n        newOutputs[b4 + 2] = q.z;\r\n        newOutputs[b4 + 3] = q.w;\r\n      }\r\n      return new NodeRotationTrack(\r\n        new Interpolator('linear', 'quat', new Float32Array(srcInputs), newOutputs)\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      this._animations[k]!.dispose();\r\n    }\r\n    this._animations = {};\r\n    this._activeAnimations.clear();\r\n    this._activeSkeletons.clear();\r\n    this._activeTracks.clear();\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 + (isCubic ? 12 : 4)), base);\r\n      }\r\n      return new NodeRotationTrack(\r\n        new Interpolator(\r\n          src.interpolator.mode,\r\n          'quat',\r\n          new Float32Array(src.interpolator.inputs as Float32Array),\r\n          newOutputs\r\n        )\r\n      );\r\n    }\r\n\r\n    function retargetEulerToRotationTrack(src: NodeEulerRotationTrack): NodeRotationTrack {\r\n      const srcInputs = src.interpolator.inputs as Float32Array;\r\n      const srcOutputs = src.interpolator.outputs as Float32Array;\r\n      const numFrames = srcInputs.length;\r\n      const newOutputs = new Float32Array(numFrames * 3);\r\n      for (let f = 0; f < numFrames; f++) {\r\n        const base = f * 3;\r\n        newOutputs.set(srcOutputs.subarray(base, base + 3), base);\r\n      }\r\n      return new NodeRotationTrack(\r\n        new Interpolator('linear', 'quat', new Float32Array(srcInputs), newOutputs)\r\n      );\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Dispose the animation set and 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package/dist/animation/skeleton.js

@@ -1,4 +1,4 @@
-import { Vector3, Disposable, randomUUID, DRef, DWeakRef, Matrix4x4, nextPowerOf2 } from '@zephyr3d/base';
+import { Vector3, Disposable, randomUUID, DRef, Matrix4x4, DWeakRef, nextPowerOf2 } from '@zephyr3d/base';
 import { BoundingBox } from '../utility/bounding_volume.js';
 import { getDevice } from '../app/api.js';
 
@@ -6,32 +6,33 @@ const tmpV0 = new Vector3();
 const tmpV1 = new Vector3();
 const tmpV2 = new Vector3();
 const tmpV3 = new Vector3();
-/**
- * Skeleton for skinned animation.
- *
- * Responsibilities:
- * - Maintains joint transforms: inverse bind, bind pose, and current skinning matrices.
- * - Provides a texture containing joint matrices for GPU skinning.
- * - Applies skinning state to associated meshes each frame.
- * - Computes animated axis-aligned bounding boxes using representative skinned vertices.
- *
- * Joint matrix texture layout:
- * - Texture format: `rgba32f`.
- * - Stored as a 2-layered ring buffer: current and previous joint transforms to support
- *   temporal addressing if needed. Offsets are tracked in `_jointOffsets[0]` (current)
- *   and `_jointOffsets[1]` (previous).
- *
- * Usage:
- * - Construct with joints, bind data, meshes and submesh bounding info.
- * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.
- * - Call `reset()` to clear skinning on meshes.
- *
- * @public
+/**
+ * Skeleton for skinned animation.
+ *
+ * Responsibilities:
+ * - Maintains joint transforms: inverse bind, bind pose, and current skinning matrices.
+ * - Provides a texture containing joint matrices for GPU skinning.
+ * - Applies skinning state to associated meshes each frame.
+ * - Computes animated axis-aligned bounding boxes using representative skinned vertices.
+ *
+ * Joint matrix texture layout:
+ * - Texture format: `rgba32f`.
+ * - Stored as a 2-layered ring buffer: current and previous joint transforms to support
+ *   temporal addressing if needed. Offsets are tracked in `_jointOffsets[0]` (current)
+ *   and `_jointOffsets[1]` (previous).
+ *
+ * Usage:
+ * - Construct with joints, bind data, meshes and submesh bounding info.
+ * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.
+ * - Call `reset()` to clear skinning on meshes.
+ *
+ * @public
  */ class Skeleton extends Disposable {
     /** @internal Global weak registry keyed by persistentId for serialization/lookup. */ static _registry = new Map();
     /** @internal */ _id;
     /** @internal */ _joints;
     /** @internal */ _inverseBindMatrices;
+    /** @internal */ _bindPoseModelSpace;
     /** @internal */ _bindPose;
     /** @internal */ _jointMatrices;
     /** @internal */ _jointOffsets;
@@ -40,12 +41,12 @@ const tmpV3 = new Vector3();
     /** @internal */ _playing;
     /** @internal */ _modifiers;
     /** @internal */ _lastUpdateTime;
-    /**
-   * Create a skeleton instance.
-   *
-   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.
-   * @param inverseBindMatrices - Inverse bind matrices for each joint.
-   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).
+    /**
+   * Create a skeleton instance.
+   *
+   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.
+   * @param inverseBindMatrices - Inverse bind matrices for each joint.
+   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).
    */ constructor(joints, inverseBindMatrices, bindPose){
         super();
         this._id = randomUUID();
@@ -56,16 +57,29 @@ const tmpV3 = new Vector3();
         this._playing = false;
         this._modifiers = [];
         this._lastUpdateTime = 0;
+        this._bindPoseModelSpace = [];
         this.computeBindPose();
         this.updateJointMatrices(0);
+        let skeletonRoot = this.findRootJoint(this._joints);
+        if (!skeletonRoot || !this._joints.includes(skeletonRoot)) {
+            throw new Error('Skeleton root must be included in the joint list');
+        }
+        while(skeletonRoot.parent && this._joints.includes(skeletonRoot.parent)){
+            skeletonRoot = skeletonRoot.parent;
+        }
+        const im = skeletonRoot.parent.invWorldMatrix;
+        for (const joint of this._joints){
+            const m = Matrix4x4.multiplyAffine(im, joint.worldMatrix);
+            this._bindPoseModelSpace.push(m);
+        }
         Skeleton._registry.set(this._id, new DWeakRef(this));
     }
-    /**
-   * Lookup a skeleton from the global registry by persistent id.
-   *
-   * @param id - The persistent UUID to search for.
-   * @returns The skeleton if alive, otherwise `null`.
-   * @internal
+    /**
+   * Lookup a skeleton from the global registry by persistent id.
+   *
+   * @param id - The persistent UUID to search for.
+   * @returns The skeleton if alive, otherwise `null`.
+   * @internal
    */ static findSkeletonById(id) {
         const m = this._registry.get(id);
         if (m && !m.get()) {
@@ -83,6 +97,9 @@ const tmpV3 = new Vector3();
     /** @internal */ get bindPose() {
         return this._bindPose;
     }
+    get bindPoseModelSpace() {
+        return this._bindPoseModelSpace;
+    }
     /** @internal */ get playing() {
         return this._playing;
     }
@@ -103,42 +120,42 @@ const tmpV3 = new Vector3();
             Skeleton._registry.set(this._id, m);
         }
     }
-    /**
-   * Texture containing joint matrices for GPU skinning.
-   *
-   * Each matrix is stored in 4 texels (one row per texel, RGBA = 4 floats).
+    /**
+   * Texture containing joint matrices for GPU skinning.
+   *
+   * Each matrix is stored in 4 texels (one row per texel, RGBA = 4 floats).
    */ get jointTexture() {
         return this._jointTexture.get();
     }
-    /**
-   * Get joint index by joint node
-   * @param joint - joint node
-   * @returns The index of the joint
+    /**
+   * Get joint index by joint node
+   * @param joint - joint node
+   * @returns The index of the joint
    */ getJointIndex(joint) {
         return this._joints.indexOf(joint);
     }
-    /**
-   * Get joint index by joint name
-   * @param jointName - joint name
-   * @returns The index of the joint
+    /**
+   * Get joint index by joint name
+   * @param jointName - joint name
+   * @returns The index of the joint
    */ getJointIndexByName(jointName) {
         return this._joints.findIndex((joint)=>joint.name === jointName);
     }
-    /**
-   * Update joint matrices from either provided transforms or the joints' world matrices.
-   *
-   * - Lazily creates the joint texture and its backing arrays on first call.
-   * - Advances the ring buffer offset in `_jointOffsets` to write a new "current" set.
-   * - For each joint:
-   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).
-   *   - Computes skinning matrix: ( M_\{skin\} = M_\{joint\} \\times M_\{inverseBind\} ).
-   *
-   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`
-   * update the GPU texture.
-   *
-   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.
-   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.
-   * @internal
+    /**
+   * Update joint matrices from either provided transforms or the joints' world matrices.
+   *
+   * - Lazily creates the joint texture and its backing arrays on first call.
+   * - Advances the ring buffer offset in `_jointOffsets` to write a new "current" set.
+   * - For each joint:
+   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).
+   *   - Computes skinning matrix: ( M_\{skin\} = M_\{joint\} \\times M_\{inverseBind\} ).
+   *
+   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`
+   * update the GPU texture.
+   *
+   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.
+   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.
+   * @internal
    */ updateJointMatrices(deltaTime) {
         this.applyModifiers(deltaTime);
         if (!this._jointTexture.get()) {
@@ -155,10 +172,10 @@ const tmpV3 = new Vector3();
             Matrix4x4.multiply(this._joints[i].worldMatrix, this._inverseBindMatrices[i], this._jointMatrices[i + this._jointOffsets[0] - 1]);
         }
     }
-    /**
-   * Reset skeleton to bind pose
-   *
-   * @internal
+    /**
+   * Reset skeleton to bind pose
+   *
+   * @internal
    */ computeBindPose() {
         for(let i = 0; i < this._joints.length; i++){
             const joint = this._joints[i];
@@ -168,54 +185,54 @@ const tmpV3 = new Vector3();
             joint.scale.set(bindpose.scale);
         }
     }
-    /**
-   * Compute current joint matrices from the nodes and upload them to the joint texture.
-   *
-   * @internal
+    /**
+   * Compute current joint matrices from the nodes and upload them to the joint texture.
+   *
+   * @internal
    */ apply(deltaTime) {
         this.updateJointMatrices(deltaTime);
         const tex = this.jointTexture;
         tex.update(this._jointMatrixArray, 0, 0, tex.width, tex.height);
     }
-    /**
-   * Apply all enabled modifiers.
-   *
-   * Modifiers are applied after the base animation/bind pose layer,
-   * allowing procedural modifications like IK, spring physics, or manual overrides.
-   *
-   * @param deltaTime - Time elapsed since last frame (in seconds)
-   * @internal
+    /**
+   * Apply all enabled modifiers.
+   *
+   * Modifiers are applied after the base animation/bind pose layer,
+   * allowing procedural modifications like IK, spring physics, or manual overrides.
+   *
+   * @param deltaTime - Time elapsed since last frame (in seconds)
+   * @internal
    */ applyModifiers(deltaTime) {
         for (const modifier of this._modifiers){
             modifier.apply(this, deltaTime);
         }
     }
-    /**
-   * Get all modifiers attached to this skeleton.
-   *
-   * @public
+    /**
+   * Get all modifiers attached to this skeleton.
+   *
+   * @public
    */ get modifiers() {
         return this._modifiers;
     }
-    /**
-   * Reset all meshes to an unskinned state and clear animated bounds.
-   *
-   * @internal
+    /**
+   * Reset all meshes to an unskinned state and clear animated bounds.
+   *
+   * @internal
    */ reset() {
         //this.updateJointMatrices(this._bindPoseMatrices);
         this._playing = false;
     }
-    /**
-   * Compute the animated bounding box for a single mesh using its representative vertices.
-   *
-   * For each representative vertex:
-   * - Blends the vertex by up to 4 joint matrices using provided weights.
-   * - Transforms to the mesh's local space using `invWorldMatrix`.
-   * - Expands the bounding box.
-   *
-   * @param info - Precomputed bounding data (representative vertices, indices, weights).
-   * @param invWorldMatrix - Mesh inverse world matrix to convert to model/local space.
-   * @internal
+    /**
+   * Compute the animated bounding box for a single mesh using its representative vertices.
+   *
+   * For each representative vertex:
+   * - Blends the vertex by up to 4 joint matrices using provided weights.
+   * - Transforms to the mesh's local space using `invWorldMatrix`.
+   * - Expands the bounding box.
+   *
+   * @param info - Precomputed bounding data (representative vertices, indices, weights).
+   * @param invWorldMatrix - Mesh inverse world matrix to convert to model/local space.
+   * @internal
    */ computeBoundingBox(info, invWorldMatrix) {
         info.boundingBox.beginExtend();
         for(let i = 0; i < info.boundingVertices.length; i++){
@@ -228,11 +245,11 @@ const tmpV3 = new Vector3();
             info.boundingBox.extend(tmpV0);
         }
     }
-    /**
-   * Dispose GPU resources and references held by the skeleton.
-   *
-   * - Disposes the joint texture.
-   * - Clears matrix arrays and joint references.
+    /**
+   * Dispose GPU resources and references held by the skeleton.
+   *
+   * - Disposes the joint texture.
+   * - Clears matrix arrays and joint references.
    */ onDispose() {
         super.onDispose();
         this._jointTexture.dispose();
@@ -242,17 +259,17 @@ const tmpV3 = new Vector3();
             m.dispose();
         }
     }
-    /**
-   * Initialize joint texture and CPU-side matrix storage.
-   *
-   * Layout details:
-   * - Texture size is the next power-of-two able to contain all matrices plus two offset texels.
-   * - `_jointMatrixArray` holds:
-   *   - First 2 vec4s: ring buffer offsets `[current, previous, 0, 0]`.
-   *   - Followed by 2×N matrices (current and previous), each as 16 floats.
-   * - `_jointMatrices` is a view into `_jointMatrixArray` providing Matrix4x4 objects per slot.
-   *
-   * @internal
+    /**
+   * Initialize joint texture and CPU-side matrix storage.
+   *
+   * Layout details:
+   * - Texture size is the next power-of-two able to contain all matrices plus two offset texels.
+   * - `_jointMatrixArray` holds:
+   *   - First 2 vec4s: ring buffer offsets `[current, previous, 0, 0]`.
+   *   - Followed by 2×N matrices (current and previous), each as 16 floats.
+   * - `_jointMatrices` is a view into `_jointMatrixArray` providing Matrix4x4 objects per slot.
+   *
+   * @internal
    */ _createJointTexture() {
         const textureWidth = nextPowerOf2(Math.max(4, Math.ceil(Math.sqrt((this._joints.length * 2 + 1) * 4))));
         const device = getDevice();
@@ -272,19 +289,19 @@ const tmpV3 = new Vector3();
             length: this._joints.length * 2
         }).map((val, index)=>new Matrix4x4(buffer, (index + 1) * 16 * Float32Array.BYTES_PER_ELEMENT));
     }
-    /**
-   * Build representative skinned bounding data for a submesh.
-   *
-   * Strategy:
-   * - For all vertices, compute their skinned position (using current ring buffer slot).
-   * - Track the indices of the min/max extents along x, y, z (6 indices total).
-   * - Store:
-   *   - The 6 representative positions in object space.
-   *   - Their 4 joint indices and weights (flattened).
-   *   - An empty BoundingBox to be filled during animation.
-   *
-   * @param meshData - Raw submesh attributes (positions, blend indices, weights).
-   * @returns Skinned bounding box info used during per-frame updates.
+    /**
+   * Build representative skinned bounding data for a submesh.
+   *
+   * Strategy:
+   * - For all vertices, compute their skinned position (using current ring buffer slot).
+   * - Track the indices of the min/max extents along x, y, z (6 indices total).
+   * - Store:
+   *   - The 6 representative positions in object space.
+   *   - Their 4 joint indices and weights (flattened).
+   *   - An empty BoundingBox to be filled during animation.
+   *
+   * @param meshData - Raw submesh attributes (positions, blend indices, weights).
+   * @returns Skinned bounding box info used during per-frame updates.
    */ getBoundingInfo(data) {
         const indices = [
             0,
@@ -353,6 +370,21 @@ const tmpV3 = new Vector3();
         };
         return info;
     }
+    findRootJoint(joints) {
+        let root = null;
+        for (const joint of joints){
+            if (!root) {
+                root = joint;
+            }
+            while(!root.isParentOf(joint)){
+                root = root.parent;
+            }
+            if (!root) {
+                break;
+            }
+        }
+        return root;
+    }
 }
 
 export { Skeleton };

package/dist/animation/skeleton.js.map

@@ -1 +1 @@
-{"version":3,"file":"skeleton.js","sources":["../../src/animation/skeleton.ts"],"sourcesContent":["import { DRef, randomUUID, DWeakRef } from '@zephyr3d/base';\r\nimport type { Quaternion, TypedArray } from '@zephyr3d/base';\r\nimport { Disposable, Matrix4x4, Vector3, nextPowerOf2 } from '@zephyr3d/base';\r\nimport type { Texture2D } from '@zephyr3d/device';\r\nimport type { SceneNode } from '../scene/scene_node';\r\nimport { BoundingBox } from '../utility/bounding_volume';\r\nimport { getDevice } from '../app/api';\r\nimport type { SkeletonModifier } from './skeleton_modifier';\r\n\r\n/**\r\n * Skinned bounding box information for a submesh.\r\n *\r\n * Used to compute animated AABB for skinned meshes.\r\n *\r\n * @public\r\n */\r\nexport interface SkinnedBoundingBox {\r\n  /**\r\n   * Representative vertices used to bound a skinned mesh (extreme points along axes).\r\n   */\r\n  boundingVertices: Vector3[];\r\n  /**\r\n   * Joint indices (up to 4 per vertex) for each representative vertex, flattened.\r\n   * Layout: [i0_0, i0_1, i0_2, i0_3, i1_0, ...] for 6 vertices.\r\n   */\r\n  boundingVertexBlendIndices: Float32Array;\r\n  /**\r\n   * Corresponding joint weights (up to 4 per vertex) for each representative vertex, flattened.\r\n   * Layout matches `boundingVertexBlendIndices`.\r\n   */\r\n  boundingVertexJointWeights: Float32Array;\r\n  /**\r\n   * Computed axis-aligned bounding box in model space for the current pose.\r\n   */\r\n  boundingBox: BoundingBox;\r\n}\r\n\r\nconst tmpV0 = new Vector3();\r\nconst tmpV1 = new Vector3();\r\nconst tmpV2 = new Vector3();\r\nconst tmpV3 = new Vector3();\r\n\r\n/**\r\n * Skeleton for skinned animation.\r\n *\r\n * Responsibilities:\r\n * - Maintains joint transforms: inverse bind, bind pose, and current skinning matrices.\r\n * - Provides a texture containing joint matrices for GPU skinning.\r\n * - Applies skinning state to associated meshes each frame.\r\n * - Computes animated axis-aligned bounding boxes using representative skinned vertices.\r\n *\r\n * Joint matrix texture layout:\r\n * - Texture format: `rgba32f`.\r\n * - Stored as a 2-layered ring buffer: current and previous joint transforms to support\r\n *   temporal addressing if needed. Offsets are tracked in `_jointOffsets[0]` (current)\r\n *   and `_jointOffsets[1]` (previous).\r\n *\r\n * Usage:\r\n * - Construct with joints, bind data, meshes and submesh bounding info.\r\n * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.\r\n * - Call `reset()` to clear skinning on meshes.\r\n *\r\n * @public\r\n */\r\nexport class Skeleton extends Disposable {\r\n  /** @internal Global weak registry keyed by persistentId for serialization/lookup. */\r\n  private static readonly _registry: Map<string, DWeakRef<Skeleton>> = new Map();\r\n  /** @internal */\r\n  protected _id: string;\r\n  /** @internal */\r\n  protected _joints: SceneNode[];\r\n  /** @internal */\r\n  protected _inverseBindMatrices: Matrix4x4[];\r\n  /** @internal */\r\n  protected _bindPose: { rotation: Quaternion; scale: Vector3; position: Vector3 }[];\r\n  /** @internal */\r\n  protected _jointMatrices!: Matrix4x4[];\r\n  /** @internal */\r\n  protected _jointOffsets!: Float32Array<ArrayBuffer>;\r\n  /** @internal */\r\n  protected _jointMatrixArray!: Float32Array<ArrayBuffer>;\r\n  /** @internal */\r\n  protected _jointTexture: DRef<Texture2D>;\r\n  /** @internal */\r\n  protected _playing: boolean;\r\n  /** @internal */\r\n  protected _modifiers: SkeletonModifier[];\r\n  /** @internal */\r\n  protected _lastUpdateTime: number;\r\n  /**\r\n   * Create a skeleton instance.\r\n   *\r\n   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.\r\n   * @param inverseBindMatrices - Inverse bind matrices for each joint.\r\n   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).\r\n   */\r\n  constructor(\r\n    joints: SceneNode[],\r\n    inverseBindMatrices: Matrix4x4[],\r\n    bindPose: { rotation: Quaternion; scale: Vector3; position: Vector3 }[]\r\n  ) {\r\n    super();\r\n    this._id = randomUUID();\r\n    this._joints = joints;\r\n    this._inverseBindMatrices = inverseBindMatrices;\r\n    this._bindPose = bindPose;\r\n    this._jointTexture = new DRef();\r\n    this._playing = false;\r\n    this._modifiers = [];\r\n    this._lastUpdateTime = 0;\r\n    this.computeBindPose();\r\n    this.updateJointMatrices(0);\r\n    Skeleton._registry.set(this._id, new DWeakRef(this));\r\n  }\r\n  /**\r\n   * Lookup a skeleton from the global registry by persistent id.\r\n   *\r\n   * @param id - The persistent UUID to search for.\r\n   * @returns The skeleton if alive, otherwise `null`.\r\n   * @internal\r\n   */\r\n  static findSkeletonById(id: string) {\r\n    const m = this._registry.get(id);\r\n    if (m && !m.get()) {\r\n      this._registry.delete(id);\r\n      return null;\r\n    }\r\n    return m ? m.get() : null;\r\n  }\r\n  /** @internal */\r\n  get joints() {\r\n    return this._joints;\r\n  }\r\n  /** @internal */\r\n  get inverseBindMatrices() {\r\n    return this._inverseBindMatrices;\r\n  }\r\n  /** @internal */\r\n  get bindPose() {\r\n    return this._bindPose;\r\n  }\r\n  /** @internal */\r\n  get playing() {\r\n    return this._playing;\r\n  }\r\n  set playing(b: boolean) {\r\n    this._playing = b;\r\n  }\r\n  /** @internal */\r\n  get persistentId() {\r\n    return this._id;\r\n  }\r\n  set persistentId(val) {\r\n    if (val !== this._id) {\r\n      const m = Skeleton._registry.get(this._id);\r\n      if (!m || m.get() !== this) {\r\n        throw new Error('Registry skeleton mismatch');\r\n      }\r\n      Skeleton._registry.delete(this._id);\r\n      this._id = val;\r\n      Skeleton._registry.set(this._id, m);\r\n    }\r\n  }\r\n  /**\r\n   * Texture containing joint matrices for GPU skinning.\r\n   *\r\n   * Each matrix is stored in 4 texels (one row per texel, RGBA = 4 floats).\r\n   */\r\n  get jointTexture() {\r\n    return this._jointTexture.get()!;\r\n  }\r\n  /**\r\n   * Get joint index by joint node\r\n   * @param joint - joint node\r\n   * @returns The index of the joint\r\n   */\r\n  getJointIndex(joint: SceneNode) {\r\n    return this._joints.indexOf(joint);\r\n  }\r\n  /**\r\n   * Get joint index by joint name\r\n   * @param jointName - joint name\r\n   * @returns The index of the joint\r\n   */\r\n  getJointIndexByName(jointName: string) {\r\n    return this._joints.findIndex((joint) => joint.name === jointName);\r\n  }\r\n  /**\r\n   * Update joint matrices from either provided transforms or the joints' world matrices.\r\n   *\r\n   * - Lazily creates the joint texture and its backing arrays on first call.\r\n   * - Advances the ring buffer offset in `_jointOffsets` to write a new \"current\" set.\r\n   * - For each joint:\r\n   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).\r\n   *   - Computes skinning matrix: ( M_\\{skin\\} = M_\\{joint\\} \\\\times M_\\{inverseBind\\} ).\r\n   *\r\n   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`\r\n   * update the GPU texture.\r\n   *\r\n   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.\r\n   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.\r\n   * @internal\r\n   */\r\n  updateJointMatrices(deltaTime: number) {\r\n    this.applyModifiers(deltaTime);\r\n    if (!this._jointTexture.get()) {\r\n      this._createJointTexture();\r\n    }\r\n    if (this._jointOffsets[0] === 0) {\r\n      this._jointOffsets[0] = 1;\r\n      this._jointOffsets[1] = 1;\r\n    } else {\r\n      this._jointOffsets[1] = this._jointOffsets[0];\r\n      this._jointOffsets[0] = this._joints.length - this._jointOffsets[0] + 2;\r\n    }\r\n    for (let i = 0; i < this._joints.length; i++) {\r\n      Matrix4x4.multiply(\r\n        this._joints[i].worldMatrix,\r\n        this._inverseBindMatrices[i],\r\n        this._jointMatrices[i + this._jointOffsets[0] - 1]\r\n      );\r\n    }\r\n  }\r\n  /**\r\n   * Reset skeleton to bind pose\r\n   *\r\n   * @internal\r\n   */\r\n  computeBindPose() {\r\n    for (let i = 0; i < this._joints.length; i++) {\r\n      const joint = this._joints[i];\r\n      const bindpose = this._bindPose[i];\r\n      joint.position.set(bindpose.position);\r\n      joint.rotation.set(bindpose.rotation);\r\n      joint.scale.set(bindpose.scale);\r\n    }\r\n  }\r\n  /**\r\n   * Compute current joint matrices from the nodes and upload them to the joint texture.\r\n   *\r\n   * @internal\r\n   */\r\n  apply(deltaTime: number) {\r\n    this.updateJointMatrices(deltaTime);\r\n    const tex = this.jointTexture;\r\n    tex.update(this._jointMatrixArray, 0, 0, tex.width, tex.height);\r\n  }\r\n  /**\r\n   * Apply all enabled modifiers.\r\n   *\r\n   * Modifiers are applied after the base animation/bind pose layer,\r\n   * allowing procedural modifications like IK, spring physics, or manual overrides.\r\n   *\r\n   * @param deltaTime - Time elapsed since last frame (in seconds)\r\n   * @internal\r\n   */\r\n  protected applyModifiers(deltaTime: number): void {\r\n    for (const modifier of this._modifiers) {\r\n      modifier.apply(this, deltaTime);\r\n    }\r\n  }\r\n  /**\r\n   * Get all modifiers attached to this skeleton.\r\n   *\r\n   * @public\r\n   */\r\n  get modifiers(): SkeletonModifier[] {\r\n    return this._modifiers;\r\n  }\r\n  /**\r\n   * Reset all meshes to an unskinned state and clear animated bounds.\r\n   *\r\n   * @internal\r\n   */\r\n  reset() {\r\n    //this.updateJointMatrices(this._bindPoseMatrices);\r\n    this._playing = false;\r\n  }\r\n  /**\r\n   * Compute the animated bounding box for a single mesh using its representative vertices.\r\n   *\r\n   * For each representative vertex:\r\n   * - Blends the vertex by up to 4 joint matrices using provided weights.\r\n   * - Transforms to the mesh's local space using `invWorldMatrix`.\r\n   * - Expands the bounding box.\r\n   *\r\n   * @param info - Precomputed bounding data (representative vertices, indices, weights).\r\n   * @param invWorldMatrix - Mesh inverse world matrix to convert to model/local space.\r\n   * @internal\r\n   */\r\n  computeBoundingBox(info: SkinnedBoundingBox, invWorldMatrix: Matrix4x4) {\r\n    info.boundingBox.beginExtend();\r\n    for (let i = 0; i < info.boundingVertices.length; i++) {\r\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 0] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(info.boundingVertices[i], tmpV0)\r\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 0]);\r\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 1] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(info.boundingVertices[i], tmpV1)\r\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 1]);\r\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 2] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(info.boundingVertices[i], tmpV2)\r\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 2]);\r\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 3] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(info.boundingVertices[i], tmpV3)\r\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 3]);\r\n      tmpV0.addBy(tmpV1).addBy(tmpV2).addBy(tmpV3);\r\n      invWorldMatrix.transformPointAffine(tmpV0, tmpV0);\r\n      info.boundingBox.extend(tmpV0);\r\n    }\r\n  }\r\n  /**\r\n   * Dispose GPU resources and references held by the skeleton.\r\n   *\r\n   * - Disposes the joint texture.\r\n   * - Clears matrix arrays and joint references.\r\n   */\r\n  protected onDispose() {\r\n    super.onDispose();\r\n    this._jointTexture.dispose();\r\n    const m = Skeleton._registry.get(this._id);\r\n    if (m?.get() === this) {\r\n      Skeleton._registry.delete(this._id);\r\n      m.dispose();\r\n    }\r\n  }\r\n  /**\r\n   * Initialize joint texture and CPU-side matrix storage.\r\n   *\r\n   * Layout details:\r\n   * - Texture size is the next power-of-two able to contain all matrices plus two offset texels.\r\n   * - `_jointMatrixArray` holds:\r\n   *   - First 2 vec4s: ring buffer offsets `[current, previous, 0, 0]`.\r\n   *   - Followed by 2×N matrices (current and previous), each as 16 floats.\r\n   * - `_jointMatrices` is a view into `_jointMatrixArray` providing Matrix4x4 objects per slot.\r\n   *\r\n   * @internal\r\n   */\r\n  private _createJointTexture() {\r\n    const textureWidth = nextPowerOf2(Math.max(4, Math.ceil(Math.sqrt((this._joints.length * 2 + 1) * 4))));\r\n    const device = getDevice();\r\n    this._jointTexture.set(\r\n      device.createTexture2D('rgba32f', textureWidth, textureWidth, {\r\n        mipmapping: false,\r\n        samplerOptions: {\r\n          magFilter: 'nearest',\r\n          minFilter: 'nearest'\r\n        }\r\n      })\r\n    );\r\n    this._jointMatrixArray = new Float32Array(textureWidth * textureWidth * 4);\r\n    const buffer = this._jointMatrixArray.buffer;\r\n    this._jointOffsets = new Float32Array(buffer);\r\n    this._jointOffsets[0] = 0;\r\n    this._jointOffsets[1] = 0;\r\n    this._jointMatrices = Array.from({ length: this._joints.length * 2 }).map(\r\n      (val, index) => new Matrix4x4(buffer, (index + 1) * 16 * Float32Array.BYTES_PER_ELEMENT)\r\n    );\r\n  }\r\n  /**\r\n   * Build representative skinned bounding data for a submesh.\r\n   *\r\n   * Strategy:\r\n   * - For all vertices, compute their skinned position (using current ring buffer slot).\r\n   * - Track the indices of the min/max extents along x, y, z (6 indices total).\r\n   * - Store:\r\n   *   - The 6 representative positions in object space.\r\n   *   - Their 4 joint indices and weights (flattened).\r\n   *   - An empty BoundingBox to be filled during animation.\r\n   *\r\n   * @param meshData - Raw submesh attributes (positions, blend indices, weights).\r\n   * @returns Skinned bounding box info used during per-frame updates.\r\n   */\r\n  getBoundingInfo(data: { positions: Float32Array; blendIndices: TypedArray; weights: TypedArray }) {\r\n    const indices = [0, 0, 0, 0, 0, 0];\r\n    let minx = Number.MAX_VALUE;\r\n    let maxx = -Number.MAX_VALUE;\r\n    let miny = Number.MAX_VALUE;\r\n    let maxy = -Number.MAX_VALUE;\r\n    let minz = Number.MAX_VALUE;\r\n    let maxz = -Number.MAX_VALUE;\r\n    const v = data.positions;\r\n    const vert = new Vector3();\r\n    const tmpV0 = new Vector3();\r\n    const tmpV1 = new Vector3();\r\n    const tmpV2 = new Vector3();\r\n    const tmpV3 = new Vector3();\r\n    const numVertices = Math.floor(v.length / 3);\r\n    for (let i = 0; i < numVertices; i++) {\r\n      vert.setXYZ(v[i * 3], v[i * 3 + 1], v[i * 3 + 2]);\r\n      this._jointMatrices[data.blendIndices[i * 4 + 0] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(vert, tmpV0)\r\n        .scaleBy(data.weights[i * 4 + 0]);\r\n      this._jointMatrices[data.blendIndices[i * 4 + 1] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(vert, tmpV1)\r\n        .scaleBy(data.weights[i * 4 + 1]);\r\n      this._jointMatrices[data.blendIndices[i * 4 + 2] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(vert, tmpV2)\r\n        .scaleBy(data.weights[i * 4 + 2]);\r\n      this._jointMatrices[data.blendIndices[i * 4 + 3] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(vert, tmpV3)\r\n        .scaleBy(data.weights[i * 4 + 3]);\r\n      tmpV0.addBy(tmpV1).addBy(tmpV2).addBy(tmpV3);\r\n      if (tmpV0.x < minx) {\r\n        minx = tmpV0.x;\r\n        indices[0] = i;\r\n      }\r\n      if (tmpV0.x > maxx) {\r\n        maxx = tmpV0.x;\r\n        indices[1] = i;\r\n      }\r\n      if (tmpV0.y < miny) {\r\n        miny = tmpV0.y;\r\n        indices[2] = i;\r\n      }\r\n      if (tmpV0.y > maxy) {\r\n        maxy = tmpV0.y;\r\n        indices[3] = i;\r\n      }\r\n      if (tmpV0.z < minz) {\r\n        minz = tmpV0.z;\r\n        indices[4] = i;\r\n      }\r\n      if (tmpV0.z > maxz) {\r\n        maxz = tmpV0.z;\r\n        indices[5] = i;\r\n      }\r\n    }\r\n    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+{"version":3,"file":"skeleton.js","sources":["../../src/animation/skeleton.ts"],"sourcesContent":["import { DRef, randomUUID, DWeakRef } from '@zephyr3d/base';\nimport type { Nullable, Quaternion, TypedArray } from '@zephyr3d/base';\nimport { Disposable, Matrix4x4, Vector3, nextPowerOf2 } from '@zephyr3d/base';\nimport type { Texture2D } from '@zephyr3d/device';\nimport type { SceneNode } from '../scene/scene_node';\nimport { BoundingBox } from '../utility/bounding_volume';\nimport { getDevice } from '../app/api';\nimport type { SkeletonModifier } from './skeleton_modifier';\n\n/**\n * Skinned bounding box information for a submesh.\n *\n * Used to compute animated AABB for skinned meshes.\n *\n * @public\n */\nexport interface SkinnedBoundingBox {\n  /**\n   * Representative vertices used to bound a skinned mesh (extreme points along axes).\n   */\n  boundingVertices: Vector3[];\n  /**\n   * Joint indices (up to 4 per vertex) for each representative vertex, flattened.\n   * Layout: [i0_0, i0_1, i0_2, i0_3, i1_0, ...] for 6 vertices.\n   */\n  boundingVertexBlendIndices: Float32Array;\n  /**\n   * Corresponding joint weights (up to 4 per vertex) for each representative vertex, flattened.\n   * Layout matches `boundingVertexBlendIndices`.\n   */\n  boundingVertexJointWeights: Float32Array;\n  /**\n   * Computed axis-aligned bounding box in model space for the current pose.\n   */\n  boundingBox: BoundingBox;\n}\n\nconst tmpV0 = new Vector3();\nconst tmpV1 = new Vector3();\nconst tmpV2 = new Vector3();\nconst tmpV3 = new Vector3();\n\n/**\n * Skeleton for skinned animation.\n *\n * Responsibilities:\n * - Maintains joint transforms: inverse bind, bind pose, and current skinning matrices.\n * - Provides a texture containing joint matrices for GPU skinning.\n * - Applies skinning state to associated meshes each frame.\n * - Computes animated axis-aligned bounding boxes using representative skinned vertices.\n *\n * Joint matrix texture layout:\n * - Texture format: `rgba32f`.\n * - Stored as a 2-layered ring buffer: current and previous joint transforms to support\n *   temporal addressing if needed. Offsets are tracked in `_jointOffsets[0]` (current)\n *   and `_jointOffsets[1]` (previous).\n *\n * Usage:\n * - Construct with joints, bind data, meshes and submesh bounding info.\n * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.\n * - Call `reset()` to clear skinning on meshes.\n *\n * @public\n */\nexport class Skeleton extends Disposable {\n  /** @internal Global weak registry keyed by persistentId for serialization/lookup. */\n  private static readonly _registry: Map<string, DWeakRef<Skeleton>> = new Map();\n  /** @internal */\n  protected _id: string;\n  /** @internal */\n  protected _joints: SceneNode[];\n  /** @internal */\n  protected _inverseBindMatrices: Matrix4x4[];\n  /** @internal */\n  protected _bindPoseModelSpace: Matrix4x4[];\n  /** @internal */\n  protected _bindPose: { rotation: Quaternion; scale: Vector3; position: Vector3 }[];\n  /** @internal */\n  protected _jointMatrices!: Matrix4x4[];\n  /** @internal */\n  protected _jointOffsets!: Float32Array<ArrayBuffer>;\n  /** @internal */\n  protected _jointMatrixArray!: Float32Array<ArrayBuffer>;\n  /** @internal */\n  protected _jointTexture: DRef<Texture2D>;\n  /** @internal */\n  protected _playing: boolean;\n  /** @internal */\n  protected _modifiers: SkeletonModifier[];\n  /** @internal */\n  protected _lastUpdateTime: number;\n  /**\n   * Create a skeleton instance.\n   *\n   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.\n   * @param inverseBindMatrices - Inverse bind matrices for each joint.\n   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).\n   */\n  constructor(\n    joints: SceneNode[],\n    inverseBindMatrices: Matrix4x4[],\n    bindPose: { rotation: Quaternion; scale: Vector3; position: Vector3 }[]\n  ) {\n    super();\n    this._id = randomUUID();\n    this._joints = joints;\n    this._inverseBindMatrices = inverseBindMatrices;\n    this._bindPose = bindPose;\n    this._jointTexture = new DRef();\n    this._playing = false;\n    this._modifiers = [];\n    this._lastUpdateTime = 0;\n    this._bindPoseModelSpace = [];\n    this.computeBindPose();\n    this.updateJointMatrices(0);\n    let skeletonRoot = this.findRootJoint(this._joints);\n    if (!skeletonRoot || !this._joints.includes(skeletonRoot)) {\n      throw new Error('Skeleton root must be included in the joint list');\n    }\n    while (skeletonRoot.parent && this._joints.includes(skeletonRoot.parent)) {\n      skeletonRoot = skeletonRoot.parent;\n    }\n    const im = skeletonRoot.parent!.invWorldMatrix;\n    for (const joint of this._joints) {\n      const m = Matrix4x4.multiplyAffine(im, joint.worldMatrix);\n      this._bindPoseModelSpace.push(m);\n    }\n    Skeleton._registry.set(this._id, new DWeakRef(this));\n  }\n  /**\n   * Lookup a skeleton from the global registry by persistent id.\n   *\n   * @param id - The persistent UUID to search for.\n   * @returns The skeleton if alive, otherwise `null`.\n   * @internal\n   */\n  static findSkeletonById(id: string) {\n    const m = this._registry.get(id);\n    if (m && !m.get()) {\n      this._registry.delete(id);\n      return null;\n    }\n    return m ? m.get() : null;\n  }\n  /** @internal */\n  get joints() {\n    return this._joints;\n  }\n  /** @internal */\n  get inverseBindMatrices() {\n    return this._inverseBindMatrices;\n  }\n  /** @internal */\n  get bindPose() {\n    return this._bindPose;\n  }\n  get bindPoseModelSpace() {\n    return this._bindPoseModelSpace;\n  }\n  /** @internal */\n  get playing() {\n    return this._playing;\n  }\n  set playing(b: boolean) {\n    this._playing = b;\n  }\n  /** @internal */\n  get persistentId() {\n    return this._id;\n  }\n  set persistentId(val) {\n    if (val !== this._id) {\n      const m = Skeleton._registry.get(this._id);\n      if (!m || m.get() !== this) {\n        throw new Error('Registry skeleton mismatch');\n      }\n      Skeleton._registry.delete(this._id);\n      this._id = val;\n      Skeleton._registry.set(this._id, m);\n    }\n  }\n  /**\n   * Texture containing joint matrices for GPU skinning.\n   *\n   * Each matrix is stored in 4 texels (one row per texel, RGBA = 4 floats).\n   */\n  get jointTexture() {\n    return this._jointTexture.get()!;\n  }\n  /**\n   * Get joint index by joint node\n   * @param joint - joint node\n   * @returns The index of the joint\n   */\n  getJointIndex(joint: SceneNode) {\n    return this._joints.indexOf(joint);\n  }\n  /**\n   * Get joint index by joint name\n   * @param jointName - joint name\n   * @returns The index of the joint\n   */\n  getJointIndexByName(jointName: string) {\n    return this._joints.findIndex((joint) => joint.name === jointName);\n  }\n  /**\n   * Update joint matrices from either provided transforms or the joints' world matrices.\n   *\n   * - Lazily creates the joint texture and its backing arrays on first call.\n   * - Advances the ring buffer offset in `_jointOffsets` to write a new \"current\" set.\n   * - For each joint:\n   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).\n   *   - Computes skinning matrix: ( M_\\{skin\\} = M_\\{joint\\} \\\\times M_\\{inverseBind\\} ).\n   *\n   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`\n   * update the GPU texture.\n   *\n   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.\n   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.\n   * @internal\n   */\n  updateJointMatrices(deltaTime: number) {\n    this.applyModifiers(deltaTime);\n    if (!this._jointTexture.get()) {\n      this._createJointTexture();\n    }\n    if (this._jointOffsets[0] === 0) {\n      this._jointOffsets[0] = 1;\n      this._jointOffsets[1] = 1;\n    } else {\n      this._jointOffsets[1] = this._jointOffsets[0];\n      this._jointOffsets[0] = this._joints.length - this._jointOffsets[0] + 2;\n    }\n    for (let i = 0; i < this._joints.length; i++) {\n      Matrix4x4.multiply(\n        this._joints[i].worldMatrix,\n        this._inverseBindMatrices[i],\n        this._jointMatrices[i + this._jointOffsets[0] - 1]\n      );\n    }\n  }\n  /**\n   * Reset skeleton to bind pose\n   *\n   * @internal\n   */\n  computeBindPose() {\n    for (let i = 0; i < this._joints.length; i++) {\n      const joint = this._joints[i];\n      const bindpose = this._bindPose[i];\n      joint.position.set(bindpose.position);\n      joint.rotation.set(bindpose.rotation);\n      joint.scale.set(bindpose.scale);\n    }\n  }\n  /**\n   * Compute current joint matrices from the nodes and upload them to the joint texture.\n   *\n   * @internal\n   */\n  apply(deltaTime: number) {\n    this.updateJointMatrices(deltaTime);\n    const tex = this.jointTexture;\n    tex.update(this._jointMatrixArray, 0, 0, tex.width, tex.height);\n  }\n  /**\n   * Apply all enabled modifiers.\n   *\n   * Modifiers are applied after the base animation/bind pose layer,\n   * allowing procedural modifications like IK, spring physics, or manual overrides.\n   *\n   * @param deltaTime - Time elapsed since last frame (in seconds)\n   * @internal\n   */\n  protected applyModifiers(deltaTime: number): void {\n    for (const modifier of this._modifiers) {\n      modifier.apply(this, deltaTime);\n    }\n  }\n  /**\n   * Get all modifiers attached to this skeleton.\n   *\n   * @public\n   */\n  get modifiers(): SkeletonModifier[] {\n    return this._modifiers;\n  }\n  /**\n   * Reset all meshes to an unskinned state and clear animated bounds.\n   *\n   * @internal\n   */\n  reset() {\n    //this.updateJointMatrices(this._bindPoseMatrices);\n    this._playing = false;\n  }\n  /**\n   * Compute the animated bounding box for a single mesh using its representative vertices.\n   *\n   * For each representative vertex:\n   * - Blends the vertex by up to 4 joint matrices using provided weights.\n   * - Transforms to the mesh's local space using `invWorldMatrix`.\n   * - Expands the bounding box.\n   *\n   * @param info - Precomputed bounding data (representative vertices, indices, weights).\n   * @param invWorldMatrix - Mesh inverse world matrix to convert to model/local space.\n   * @internal\n   */\n  computeBoundingBox(info: SkinnedBoundingBox, invWorldMatrix: Matrix4x4) {\n    info.boundingBox.beginExtend();\n    for (let i = 0; i < info.boundingVertices.length; i++) {\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 0] + this._jointOffsets[0] - 1]\n        .transformPointAffine(info.boundingVertices[i], tmpV0)\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 0]);\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 1] + this._jointOffsets[0] - 1]\n        .transformPointAffine(info.boundingVertices[i], tmpV1)\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 1]);\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 2] + this._jointOffsets[0] - 1]\n        .transformPointAffine(info.boundingVertices[i], tmpV2)\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 2]);\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 3] + this._jointOffsets[0] - 1]\n        .transformPointAffine(info.boundingVertices[i], tmpV3)\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 3]);\n      tmpV0.addBy(tmpV1).addBy(tmpV2).addBy(tmpV3);\n      invWorldMatrix.transformPointAffine(tmpV0, tmpV0);\n      info.boundingBox.extend(tmpV0);\n    }\n  }\n  /**\n   * Dispose GPU resources and references held by the skeleton.\n   *\n   * - Disposes the joint texture.\n   * - Clears matrix arrays and joint references.\n   */\n  protected onDispose() {\n    super.onDispose();\n    this._jointTexture.dispose();\n    const m = Skeleton._registry.get(this._id);\n    if (m?.get() === this) {\n      Skeleton._registry.delete(this._id);\n      m.dispose();\n    }\n  }\n  /**\n   * Initialize joint texture and CPU-side matrix storage.\n   *\n   * Layout details:\n   * - Texture size is the next power-of-two able to contain all matrices plus two offset texels.\n   * - `_jointMatrixArray` holds:\n   *   - First 2 vec4s: ring buffer offsets `[current, previous, 0, 0]`.\n   *   - Followed by 2×N matrices (current and previous), each as 16 floats.\n   * - `_jointMatrices` is a view into `_jointMatrixArray` providing Matrix4x4 objects per slot.\n   *\n   * @internal\n   */\n  private _createJointTexture() {\n    const textureWidth = nextPowerOf2(Math.max(4, Math.ceil(Math.sqrt((this._joints.length * 2 + 1) * 4))));\n    const device = getDevice();\n    this._jointTexture.set(\n      device.createTexture2D('rgba32f', textureWidth, textureWidth, {\n        mipmapping: false,\n        samplerOptions: {\n          magFilter: 'nearest',\n          minFilter: 'nearest'\n        }\n      })\n    );\n    this._jointMatrixArray = new Float32Array(textureWidth * textureWidth * 4);\n    const buffer = this._jointMatrixArray.buffer;\n    this._jointOffsets = new Float32Array(buffer);\n    this._jointOffsets[0] = 0;\n    this._jointOffsets[1] = 0;\n    this._jointMatrices = Array.from({ length: this._joints.length * 2 }).map(\n      (val, index) => new Matrix4x4(buffer, (index + 1) * 16 * Float32Array.BYTES_PER_ELEMENT)\n    );\n  }\n  /**\n   * Build representative skinned bounding data for a submesh.\n   *\n   * Strategy:\n   * - For all vertices, compute their skinned position (using current ring buffer slot).\n   * - Track the indices of the min/max extents along x, y, z (6 indices total).\n   * - Store:\n   *   - The 6 representative positions in object space.\n   *   - Their 4 joint indices and weights (flattened).\n   *   - An empty BoundingBox to be filled during animation.\n   *\n   * @param meshData - Raw submesh attributes (positions, blend indices, weights).\n   * @returns Skinned bounding box info used during per-frame updates.\n   */\n  getBoundingInfo(data: { positions: Float32Array; blendIndices: TypedArray; weights: TypedArray }) {\n    const indices = [0, 0, 0, 0, 0, 0];\n    let minx = Number.MAX_VALUE;\n    let maxx = -Number.MAX_VALUE;\n    let miny = Number.MAX_VALUE;\n    let maxy = -Number.MAX_VALUE;\n    let minz = Number.MAX_VALUE;\n    let maxz = -Number.MAX_VALUE;\n    const v = data.positions;\n    const vert = new Vector3();\n    const tmpV0 = new Vector3();\n    const tmpV1 = new Vector3();\n    const tmpV2 = new Vector3();\n    const tmpV3 = new Vector3();\n    const numVertices = Math.floor(v.length / 3);\n    for (let i = 0; i < numVertices; i++) {\n      vert.setXYZ(v[i * 3], v[i * 3 + 1], v[i * 3 + 2]);\n      this._jointMatrices[data.blendIndices[i * 4 + 0] + this._jointOffsets[0] - 1]\n        .transformPointAffine(vert, tmpV0)\n        .scaleBy(data.weights[i * 4 + 0]);\n      this._jointMatrices[data.blendIndices[i * 4 + 1] + this._jointOffsets[0] - 1]\n    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i;\n      }\n    }\n    const info: SkinnedBoundingBox = {\n      boundingVertexBlendIndices: new Float32Array(\n        Array.from({ length: 6 * 4 }).map(\n          (val, index) => data.blendIndices[indices[index >> 2] * 4 + (index % 4)]\n        )\n      ),\n      boundingVertexJointWeights: new Float32Array(\n        Array.from({ length: 6 * 4 }).map((val, index) => data.weights[indices[index >> 2] * 4 + (index % 4)])\n      ),\n      boundingVertices: Array.from({ length: 6 }).map(\n        (val, index) =>\n          new Vector3(\n            data.positions[indices[index] * 3],\n            data.positions[indices[index] * 3 + 1],\n            data.positions[indices[index] * 3 + 2]\n          )\n      ),\n      boundingBox: new BoundingBox()\n    };\n    return info;\n  }\n  private findRootJoint(joints: SceneNode[]) {\n    let root: Nullable<SceneNode> = null;\n    for (const joint of joints) {\n      if (!root) {\n        root = joint;\n      }\n      while 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package/dist/index.d.ts

@@ -12210,6 +12210,7 @@ declare class Skeleton extends Disposable {
         scale: Vector3;
         position: Vector3;
     }[]);
+    get bindPoseModelSpace(): Matrix4x4[];
     set playing(b: boolean);
     set persistentId(val: string);
     /**
@@ -12262,6 +12263,7 @@ declare class Skeleton extends Disposable {
         blendIndices: TypedArray;
         weights: TypedArray;
     }): SkinnedBoundingBox;
+    private findRootJoint;
 }
 
 /**

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@zephyr3d/scene",
-  "version": "0.8.1",
+  "version": "0.8.2",
   "description": "Scene API for zephyr3d",
   "homepage": "https://github.com/gavinyork/zephyr3d#readme",
   "type": "module",