@zephyr3d/scene 0.9.0 → 0.9.2

package/dist/animation/fixed_geometry_cache_track.js

@@ -1,7 +1,11 @@
 import { AnimationTrack } from './animationtrack.js';
 import { createGeometryCacheState, mixGeometryCacheBoundingBox, ensureGeometryCacheMeshBinding } from './geometry_cache_utils.js';
 
-class FixedGeometryCacheTrack extends AnimationTrack {
+/**
+ * Geometry cache track backed by explicit per-frame vertex data.
+ *
+ * @public
+ */ class FixedGeometryCacheTrack extends AnimationTrack {
     _times;
     _frames;
     _state;

package/dist/animation/fixed_geometry_cache_track.js.map

@@ -1 +1 @@
-{"version":3,"file":"fixed_geometry_cache_track.js","sources":["../../src/animation/fixed_geometry_cache_track.ts"],"sourcesContent":["import { AnimationTrack } from './animationtrack';\r\nimport type { Mesh } from '../scene';\r\nimport type { Nullable } from '@zephyr3d/base';\r\nimport {\r\n  createGeometryCacheState,\r\n  ensureGeometryCacheMeshBinding,\r\n  mixGeometryCacheBoundingBox,\r\n  type GeometryCacheFrame,\r\n  type GeometryCacheMeshBinding,\r\n  type GeometryCacheState\r\n} from './geometry_cache_utils';\r\n\r\nexport type FixedGeometryCacheFrame = GeometryCacheFrame;\r\nexport type FixedGeometryCacheState = GeometryCacheState;\r\n\r\nexport class FixedGeometryCacheTrack extends AnimationTrack<FixedGeometryCacheState> {\r\n  private _times: Float32Array;\r\n  private _frames: FixedGeometryCacheFrame[];\r\n  private _state: Nullable<FixedGeometryCacheState>;\r\n  private readonly _meshBindings: WeakMap<Mesh, GeometryCacheMeshBinding>;\r\n\r\n  constructor(times?: Float32Array, frames?: FixedGeometryCacheFrame[], embedded?: boolean) {\r\n    super(embedded);\r\n    this._times = times ?? new Float32Array();\r\n    this._frames = frames ?? [];\r\n    this._state = this._frames.length > 0 ? createGeometryCacheState(this._frames[0]) : null;\r\n    this._meshBindings = new WeakMap();\r\n  }\r\n\r\n  get times() {\r\n    return this._times;\r\n  }\r\n\r\n  set times(value: Float32Array) {\r\n    this._times = value ?? new Float32Array();\r\n  }\r\n\r\n  get frames() {\r\n    return this._frames;\r\n  }\r\n\r\n  set frames(value: FixedGeometryCacheFrame[]) {\r\n    this._frames = value ?? [];\r\n    this._state = this._frames.length > 0 ? createGeometryCacheState(this._frames[0]) : null;\r\n  }\r\n\r\n  calculateState(_target: object, currentTime: number) {\r\n    if (this._frames.length === 0) {\r\n      throw new Error('FixedGeometryCacheTrack.calculateState(): no frames available');\r\n    }\r\n    if (this._frames.length === 1 || this._times.length <= 1) {\r\n      return this.copyFrameToState(this._frames[0]);\r\n    }\r\n    if (currentTime <= this._times[0]) {\r\n      return this.copyFrameToState(this._frames[0]);\r\n    }\r\n    const lastIndex = this._times.length - 1;\r\n    if (currentTime >= this._times[lastIndex]) {\r\n      return this.copyFrameToState(this._frames[lastIndex]);\r\n    }\r\n    let right = 1;\r\n    while (right < this._times.length && this._times[right] < currentTime) {\r\n      right++;\r\n    }\r\n    const left = Math.max(0, right - 1);\r\n    const start = this._times[left];\r\n    const end = this._times[right];\r\n    const t = end > start ? (currentTime - start) / (end - start) : 0;\r\n    return this.interpolateFrames(this._frames[left], this._frames[right], t);\r\n  }\r\n\r\n  applyState(target: object, state: FixedGeometryCacheState) {\r\n    const mesh = target as Mesh;\r\n    const binding = this.ensureMeshBinding(mesh, state);\r\n    binding.positionBuffer.bufferSubData(0, state.positions as unknown as Float32Array<ArrayBuffer>);\r\n    if (binding.normalBuffer && state.normals) {\r\n      binding.normalBuffer.bufferSubData(0, state.normals as unknown as Float32Array<ArrayBuffer>);\r\n    }\r\n    mesh.setAnimatedBoundingBox(state.boundingBox);\r\n  }\r\n\r\n  mixState(a: FixedGeometryCacheState, b: FixedGeometryCacheState, t: number) {\r\n    if (!this._state) {\r\n      throw new Error('FixedGeometryCacheTrack.mixState(): invalid state');\r\n    }\r\n    const positions = new Float32Array(a.positions.length);\r\n    for (let i = 0; i < positions.length; i++) {\r\n      positions[i] = a.positions[i] + (b.positions[i] - a.positions[i]) * t;\r\n    }\r\n    let normals: Nullable<Float32Array> = null;\r\n    if (a.normals && b.normals && a.normals.length === b.normals.length) {\r\n      normals = new Float32Array(a.normals.length);\r\n      for (let i = 0; i < normals.length; i++) {\r\n        normals[i] = a.normals[i] + (b.normals[i] - a.normals[i]) * t;\r\n      }\r\n    }\r\n    return {\r\n      positions,\r\n      normals,\r\n      boundingBox: mixGeometryCacheBoundingBox(a.boundingBox, b.boundingBox, t)\r\n    };\r\n  }\r\n\r\n  getBlendId() {\r\n    return 'fixed-geometry-cache';\r\n  }\r\n\r\n  getDuration() {\r\n    return this._times.length > 0 ? this._times[this._times.length - 1] : 0;\r\n  }\r\n\r\n  reset(target: object) {\r\n    if (this._frames.length > 0) {\r\n      this.applyState(target, this.copyFrameToState(this._frames[0]));\r\n    }\r\n  }\r\n\r\n  private copyFrameToState(frame: FixedGeometryCacheFrame) {\r\n    if (!this._state) {\r\n      this._state = createGeometryCacheState(frame);\r\n    }\r\n    this._state.positions.set(frame.positions);\r\n    if (frame.normals) {\r\n      if (!this._state.normals || this._state.normals.length !== frame.normals.length) {\r\n        this._state.normals = new Float32Array(frame.normals.length);\r\n      }\r\n      this._state.normals.set(frame.normals);\r\n    } else {\r\n      this._state.normals = null;\r\n    }\r\n    this._state.boundingBox.minPoint.set(frame.boundingBox.minPoint);\r\n    this._state.boundingBox.maxPoint.set(frame.boundingBox.maxPoint);\r\n    return this._state;\r\n  }\r\n\r\n  private interpolateFrames(a: FixedGeometryCacheFrame, b: FixedGeometryCacheFrame, t: number) {\r\n    if (!this._state) {\r\n      this._state = createGeometryCacheState(a);\r\n    }\r\n    for (let i = 0; i < this._state.positions.length; i++) {\r\n      this._state.positions[i] = a.positions[i] + (b.positions[i] - a.positions[i]) * t;\r\n    }\r\n    if (a.normals && b.normals && a.normals.length === b.normals.length) {\r\n      if (!this._state.normals || this._state.normals.length !== a.normals.length) {\r\n        this._state.normals = new Float32Array(a.normals.length);\r\n      }\r\n      for (let i = 0; i < this._state.normals.length; i++) {\r\n        this._state.normals[i] = a.normals[i] + (b.normals[i] - a.normals[i]) * t;\r\n      }\r\n    } else {\r\n      this._state.normals = null;\r\n    }\r\n    this._state.boundingBox.minPoint.setXYZ(\r\n      a.boundingBox.minPoint.x + (b.boundingBox.minPoint.x - a.boundingBox.minPoint.x) * t,\r\n      a.boundingBox.minPoint.y + (b.boundingBox.minPoint.y - a.boundingBox.minPoint.y) * t,\r\n      a.boundingBox.minPoint.z + (b.boundingBox.minPoint.z - a.boundingBox.minPoint.z) * t\r\n    );\r\n    this._state.boundingBox.maxPoint.setXYZ(\r\n      a.boundingBox.maxPoint.x + (b.boundingBox.maxPoint.x - a.boundingBox.maxPoint.x) * t,\r\n      a.boundingBox.maxPoint.y + (b.boundingBox.maxPoint.y - a.boundingBox.maxPoint.y) * t,\r\n      a.boundingBox.maxPoint.z + (b.boundingBox.maxPoint.z - a.boundingBox.maxPoint.z) * t\r\n    );\r\n    return this._state;\r\n  }\r\n\r\n  private ensureMeshBinding(mesh: Mesh, state: FixedGeometryCacheState) {\r\n    return ensureGeometryCacheMeshBinding(\r\n      this._meshBindings,\r\n      mesh,\r\n      state,\r\n      'FixedGeometryCacheTrack.applyState()'\r\n    );\r\n  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+{"version":3,"file":"fixed_geometry_cache_track.js","sources":["../../src/animation/fixed_geometry_cache_track.ts"],"sourcesContent":["import { AnimationTrack } from './animationtrack';\r\nimport type { Mesh } from '../scene';\r\nimport type { Nullable } from '@zephyr3d/base';\r\nimport {\r\n  createGeometryCacheState,\r\n  ensureGeometryCacheMeshBinding,\r\n  mixGeometryCacheBoundingBox,\r\n  type GeometryCacheFrame,\r\n  type GeometryCacheMeshBinding,\r\n  type GeometryCacheState\r\n} from './geometry_cache_utils';\r\n\r\n/** @public */\r\nexport type FixedGeometryCacheFrame = GeometryCacheFrame;\r\n/** @public */\r\nexport type FixedGeometryCacheState = GeometryCacheState;\r\n\r\n/**\r\n * Geometry cache track backed by explicit per-frame vertex data.\r\n *\r\n * @public\r\n */\r\nexport class FixedGeometryCacheTrack extends AnimationTrack<FixedGeometryCacheState> {\r\n  private _times: Float32Array;\r\n  private _frames: FixedGeometryCacheFrame[];\r\n  private _state: Nullable<FixedGeometryCacheState>;\r\n  private readonly _meshBindings: WeakMap<Mesh, GeometryCacheMeshBinding>;\r\n\r\n  constructor(times?: Float32Array, frames?: FixedGeometryCacheFrame[], embedded?: boolean) {\r\n    super(embedded);\r\n    this._times = times ?? new Float32Array();\r\n    this._frames = frames ?? [];\r\n    this._state = this._frames.length > 0 ? createGeometryCacheState(this._frames[0]) : null;\r\n    this._meshBindings = new WeakMap();\r\n  }\r\n\r\n  get times() {\r\n    return this._times;\r\n  }\r\n\r\n  set times(value: Float32Array) {\r\n    this._times = value ?? new Float32Array();\r\n  }\r\n\r\n  get frames() {\r\n    return this._frames;\r\n  }\r\n\r\n  set frames(value: FixedGeometryCacheFrame[]) {\r\n    this._frames = value ?? [];\r\n    this._state = this._frames.length > 0 ? createGeometryCacheState(this._frames[0]) : null;\r\n  }\r\n\r\n  calculateState(_target: object, currentTime: number) {\r\n    if (this._frames.length === 0) {\r\n      throw new Error('FixedGeometryCacheTrack.calculateState(): no frames available');\r\n    }\r\n    if (this._frames.length === 1 || this._times.length <= 1) {\r\n      return this.copyFrameToState(this._frames[0]);\r\n    }\r\n    if (currentTime <= this._times[0]) {\r\n      return this.copyFrameToState(this._frames[0]);\r\n    }\r\n    const lastIndex = this._times.length - 1;\r\n    if (currentTime >= this._times[lastIndex]) {\r\n      return this.copyFrameToState(this._frames[lastIndex]);\r\n    }\r\n    let right = 1;\r\n    while (right < this._times.length && this._times[right] < currentTime) {\r\n      right++;\r\n    }\r\n    const left = Math.max(0, right - 1);\r\n    const start = this._times[left];\r\n    const end = this._times[right];\r\n    const t = end > start ? (currentTime - start) / (end - start) : 0;\r\n    return this.interpolateFrames(this._frames[left], this._frames[right], t);\r\n  }\r\n\r\n  applyState(target: object, state: FixedGeometryCacheState) {\r\n    const mesh = target as Mesh;\r\n    const binding = this.ensureMeshBinding(mesh, state);\r\n    binding.positionBuffer.bufferSubData(0, state.positions as unknown as Float32Array<ArrayBuffer>);\r\n    if (binding.normalBuffer && state.normals) {\r\n      binding.normalBuffer.bufferSubData(0, state.normals as unknown as Float32Array<ArrayBuffer>);\r\n    }\r\n    mesh.setAnimatedBoundingBox(state.boundingBox);\r\n  }\r\n\r\n  mixState(a: FixedGeometryCacheState, b: FixedGeometryCacheState, t: number) {\r\n    if (!this._state) {\r\n      throw new Error('FixedGeometryCacheTrack.mixState(): invalid state');\r\n    }\r\n    const positions = new Float32Array(a.positions.length);\r\n    for (let i = 0; i < positions.length; i++) {\r\n      positions[i] = a.positions[i] + (b.positions[i] - a.positions[i]) * t;\r\n    }\r\n    let normals: Nullable<Float32Array> = null;\r\n    if (a.normals && b.normals && a.normals.length === b.normals.length) {\r\n      normals = new Float32Array(a.normals.length);\r\n      for (let i = 0; i < normals.length; i++) {\r\n        normals[i] = a.normals[i] + (b.normals[i] - a.normals[i]) * t;\r\n      }\r\n    }\r\n    return {\r\n      positions,\r\n      normals,\r\n      boundingBox: mixGeometryCacheBoundingBox(a.boundingBox, b.boundingBox, t)\r\n    };\r\n  }\r\n\r\n  getBlendId() {\r\n    return 'fixed-geometry-cache';\r\n  }\r\n\r\n  getDuration() {\r\n    return this._times.length > 0 ? this._times[this._times.length - 1] : 0;\r\n  }\r\n\r\n  reset(target: object) {\r\n    if (this._frames.length > 0) {\r\n      this.applyState(target, this.copyFrameToState(this._frames[0]));\r\n    }\r\n  }\r\n\r\n  private copyFrameToState(frame: FixedGeometryCacheFrame) {\r\n    if (!this._state) {\r\n      this._state = createGeometryCacheState(frame);\r\n    }\r\n    this._state.positions.set(frame.positions);\r\n    if (frame.normals) {\r\n      if (!this._state.normals || this._state.normals.length !== frame.normals.length) {\r\n        this._state.normals = new Float32Array(frame.normals.length);\r\n      }\r\n      this._state.normals.set(frame.normals);\r\n    } else {\r\n      this._state.normals = null;\r\n    }\r\n    this._state.boundingBox.minPoint.set(frame.boundingBox.minPoint);\r\n    this._state.boundingBox.maxPoint.set(frame.boundingBox.maxPoint);\r\n    return this._state;\r\n  }\r\n\r\n  private interpolateFrames(a: FixedGeometryCacheFrame, b: FixedGeometryCacheFrame, t: number) {\r\n    if (!this._state) {\r\n      this._state = createGeometryCacheState(a);\r\n    }\r\n    for (let i = 0; i < this._state.positions.length; i++) {\r\n      this._state.positions[i] = a.positions[i] + (b.positions[i] - a.positions[i]) * t;\r\n    }\r\n    if (a.normals && b.normals && a.normals.length === b.normals.length) {\r\n      if (!this._state.normals || this._state.normals.length !== a.normals.length) {\r\n        this._state.normals = new Float32Array(a.normals.length);\r\n      }\r\n      for (let i = 0; i < this._state.normals.length; i++) {\r\n        this._state.normals[i] = a.normals[i] + (b.normals[i] - a.normals[i]) * t;\r\n      }\r\n    } else {\r\n      this._state.normals = null;\r\n    }\r\n    this._state.boundingBox.minPoint.setXYZ(\r\n      a.boundingBox.minPoint.x + (b.boundingBox.minPoint.x - a.boundingBox.minPoint.x) * t,\r\n      a.boundingBox.minPoint.y + (b.boundingBox.minPoint.y - a.boundingBox.minPoint.y) * t,\r\n      a.boundingBox.minPoint.z + (b.boundingBox.minPoint.z - a.boundingBox.minPoint.z) * t\r\n    );\r\n    this._state.boundingBox.maxPoint.setXYZ(\r\n      a.boundingBox.maxPoint.x + (b.boundingBox.maxPoint.x - a.boundingBox.maxPoint.x) * t,\r\n      a.boundingBox.maxPoint.y + (b.boundingBox.maxPoint.y - a.boundingBox.maxPoint.y) * t,\r\n      a.boundingBox.maxPoint.z + (b.boundingBox.maxPoint.z - a.boundingBox.maxPoint.z) * t\r\n    );\r\n    return this._state;\r\n  }\r\n\r\n  private ensureMeshBinding(mesh: Mesh, state: FixedGeometryCacheState) {\r\n    return ensureGeometryCacheMeshBinding(\r\n      this._meshBindings,\r\n      mesh,\r\n      state,\r\n      'FixedGeometryCacheTrack.applyState()'\r\n    );\r\n  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package/dist/animation/geometry_cache_utils.js

@@ -3,17 +3,29 @@ import { BoundingBox } from '../utility/bounding_volume.js';
 import { Vector3 } from '@zephyr3d/base';
 
 const geometryCacheMeshStates = new WeakMap();
-function createGeometryCacheState(frame) {
+/**
+ * Creates a reusable geometry cache state buffer for a frame layout.
+ *
+ * @public
+ */ function createGeometryCacheState(frame) {
     return {
         positions: new Float32Array(frame.positions.length),
         normals: frame.normals ? new Float32Array(frame.normals.length) : null,
         boundingBox: new BoundingBox()
     };
 }
-function mixGeometryCacheBoundingBox(a, b, t) {
+/**
+ * Linearly interpolates two geometry-cache bounding boxes.
+ *
+ * @public
+ */ function mixGeometryCacheBoundingBox(a, b, t) {
     return new BoundingBox(new Vector3(a.minPoint.x + (b.minPoint.x - a.minPoint.x) * t, a.minPoint.y + (b.minPoint.y - a.minPoint.y) * t, a.minPoint.z + (b.minPoint.z - a.minPoint.z) * t), new Vector3(a.maxPoint.x + (b.maxPoint.x - a.maxPoint.x) * t, a.maxPoint.y + (b.maxPoint.y - a.maxPoint.y) * t, a.maxPoint.z + (b.maxPoint.z - a.maxPoint.z) * t));
 }
-function ensureGeometryCacheMeshBinding(meshBindings, mesh, state, errorPrefix) {
+/**
+ * Ensures the target mesh has GPU buffers compatible with the geometry cache state.
+ *
+ * @public
+ */ function ensureGeometryCacheMeshBinding(meshBindings, mesh, state, errorPrefix) {
     let binding = meshBindings.get(mesh);
     if (!binding) {
         const primitive = mesh.primitive;
@@ -38,7 +50,11 @@ function ensureGeometryCacheMeshBinding(meshBindings, mesh, state, errorPrefix)
     }
     return binding;
 }
-async function restoreGeometryCacheMeshBinding(mesh) {
+/**
+ * Restores a mesh primitive after geometry cache playback.
+ *
+ * @public
+ */ async function restoreGeometryCacheMeshBinding(mesh) {
     const meshState = geometryCacheMeshStates.get(mesh);
     if (!meshState) {
         return false;

package/dist/animation/geometry_cache_utils.js.map

@@ -1 +1 @@
-{"version":3,"file":"geometry_cache_utils.js","sources":["../../src/animation/geometry_cache_utils.ts"],"sourcesContent":["import { getDevice, getEngine } from '../app/api';\r\nimport type { Mesh } from '../scene';\r\nimport type { Primitive } from '../render/primitive';\r\nimport { BoundingBox } from '../utility/bounding_volume';\r\nimport type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { StructuredBuffer } from '@zephyr3d/device';\r\n\r\nexport type GeometryCacheFrame = {\r\n  positions: Float32Array;\r\n  normals?: Nullable<Float32Array>;\r\n  boundingBox: BoundingBox;\r\n};\r\n\r\nexport type GeometryCacheState = {\r\n  positions: Float32Array;\r\n  normals?: Nullable<Float32Array>;\r\n  boundingBox: BoundingBox;\r\n};\r\n\r\nexport type GeometryCacheMeshBinding = {\r\n  originalPrimitive: Primitive;\r\n  primitive: Primitive;\r\n  positionBuffer: StructuredBuffer;\r\n  normalBuffer: Nullable<StructuredBuffer>;\r\n};\r\n\r\ntype GeometryCacheMeshState = {\r\n  originalPrimitive: Primitive;\r\n  originalPrimitiveAssetId: string;\r\n  cachePrimitive: Primitive;\r\n  positionBuffer: StructuredBuffer;\r\n  normalBuffer: Nullable<StructuredBuffer>;\r\n};\r\n\r\nconst geometryCacheMeshStates = new WeakMap<Mesh, GeometryCacheMeshState>();\r\n\r\nexport function createGeometryCacheState(\r\n  frame: Pick<GeometryCacheFrame, 'positions' | 'normals'>\r\n): GeometryCacheState {\r\n  return {\r\n    positions: new Float32Array(frame.positions.length),\r\n    normals: frame.normals ? new Float32Array(frame.normals.length) : null,\r\n    boundingBox: new BoundingBox()\r\n  };\r\n}\r\n\r\nexport function mixGeometryCacheBoundingBox(a: BoundingBox, b: BoundingBox, t: number) {\r\n  return new BoundingBox(\r\n    new Vector3(\r\n      a.minPoint.x + (b.minPoint.x - a.minPoint.x) * t,\r\n      a.minPoint.y + (b.minPoint.y - a.minPoint.y) * t,\r\n      a.minPoint.z + (b.minPoint.z - a.minPoint.z) * t\r\n    ),\r\n    new Vector3(\r\n      a.maxPoint.x + (b.maxPoint.x - a.maxPoint.x) * t,\r\n      a.maxPoint.y + (b.maxPoint.y - a.maxPoint.y) * t,\r\n      a.maxPoint.z + (b.maxPoint.z - a.maxPoint.z) * t\r\n    )\r\n  );\r\n}\r\n\r\nexport function ensureGeometryCacheMeshBinding(\r\n  meshBindings: WeakMap<Mesh, GeometryCacheMeshBinding>,\r\n  mesh: Mesh,\r\n  state: GeometryCacheState,\r\n  errorPrefix: string\r\n) {\r\n  let binding = meshBindings.get(mesh);\r\n  if (!binding) {\r\n    const primitive = mesh.primitive;\r\n    const meshState = geometryCacheMeshStates.get(mesh);\r\n    const originalPrimitive = meshState?.originalPrimitive ?? primitive;\r\n    if (!originalPrimitive) {\r\n      throw new Error(`${errorPrefix}: target mesh has no primitive`);\r\n    }\r\n    validateGeometryCacheState(originalPrimitive, state, errorPrefix);\r\n    const ensuredState = meshState\r\n      ? ensureGeometryCacheNormalBuffer(meshState, originalPrimitive, state, errorPrefix)\r\n      : createGeometryCacheMeshState(originalPrimitive, state);\r\n    geometryCacheMeshStates.set(mesh, ensuredState);\r\n    if (mesh.primitive !== ensuredState.cachePrimitive) {\r\n      mesh.primitive = ensuredState.cachePrimitive;\r\n    }\r\n    binding = {\r\n      originalPrimitive,\r\n      primitive: ensuredState.cachePrimitive,\r\n      positionBuffer: ensuredState.positionBuffer,\r\n      normalBuffer: ensuredState.normalBuffer\r\n    };\r\n    meshBindings.set(mesh, binding);\r\n  }\r\n  return binding;\r\n}\r\n\r\nexport async function restoreGeometryCacheMeshBinding(mesh: Mesh) {\r\n  const meshState = geometryCacheMeshStates.get(mesh);\r\n  if (!meshState) {\r\n    return false;\r\n  }\r\n  const primitiveToRestore = await resolveOriginalPrimitive(meshState);\r\n  if (mesh.primitive === meshState.cachePrimitive) {\r\n    mesh.primitive = primitiveToRestore;\r\n  }\r\n  mesh.setAnimatedBoundingBox(null);\r\n  mesh.scene?.queueUpdateNode(mesh);\r\n  geometryCacheMeshStates.delete(mesh);\r\n  return true;\r\n}\r\n\r\nfunction validateGeometryCacheState(primitive: Primitive, state: GeometryCacheState, errorPrefix: string) {\r\n  const expectedPositionLength = primitive.getNumVertices() * 3;\r\n  if (state.positions.length !== expectedPositionLength) {\r\n    throw new Error(\r\n      `${errorPrefix}: position count mismatch, expected ${expectedPositionLength}, got ${state.positions.length}`\r\n    );\r\n  }\r\n  if (state.normals) {\r\n    const expectedNormalLength = primitive.getNumVertices() * 3;\r\n    if (state.normals.length !== expectedNormalLength) {\r\n      throw new Error(\r\n        `${errorPrefix}: normal count mismatch, expected ${expectedNormalLength}, got ${state.normals.length}`\r\n      );\r\n    }\r\n  }\r\n}\r\n\r\nfunction createGeometryCacheMeshState(\r\n  originalPrimitive: Primitive,\r\n  state: GeometryCacheState\r\n): GeometryCacheMeshState {\r\n  const cachePrimitive = originalPrimitive.clone();\r\n  cachePrimitive.setBoundingVolume(originalPrimitive.getBoundingVolume()!);\r\n  const primitiveAssetId = getEngine().resourceManager.getAssetId(originalPrimitive);\r\n  if (primitiveAssetId) {\r\n    getEngine().resourceManager.setAssetId(cachePrimitive, primitiveAssetId);\r\n  }\r\n  cachePrimitive.removeVertexBuffer('position');\r\n  const positionBuffer = getDevice().createVertexBuffer(\r\n    'position_f32x3',\r\n    state.positions as unknown as Float32Array<ArrayBuffer>,\r\n    {\r\n      dynamic: true\r\n    }\r\n  )!;\r\n  cachePrimitive.setVertexBuffer(positionBuffer);\r\n  let normalBuffer: Nullable<StructuredBuffer> = null;\r\n  if (state.normals) {\r\n    cachePrimitive.removeVertexBuffer('normal');\r\n    normalBuffer = getDevice().createVertexBuffer(\r\n      'normal_f32x3',\r\n      state.normals as unknown as Float32Array<ArrayBuffer>,\r\n      {\r\n        dynamic: true\r\n      }\r\n    )!;\r\n    cachePrimitive.setVertexBuffer(normalBuffer);\r\n  }\r\n  return {\r\n    originalPrimitive,\r\n    originalPrimitiveAssetId: primitiveAssetId ?? '',\r\n    cachePrimitive,\r\n    positionBuffer,\r\n    normalBuffer\r\n  };\r\n}\r\n\r\nfunction ensureGeometryCacheNormalBuffer(\r\n  meshState: GeometryCacheMeshState,\r\n  originalPrimitive: Primitive,\r\n  state: GeometryCacheState,\r\n  errorPrefix: string\r\n) {\r\n  if (state.normals && !meshState.normalBuffer) {\r\n    const expectedNormalLength = originalPrimitive.getNumVertices() * 3;\r\n    if (state.normals.length !== expectedNormalLength) {\r\n      throw new Error(\r\n        `${errorPrefix}: normal count mismatch, expected ${expectedNormalLength}, got ${state.normals.length}`\r\n      );\r\n    }\r\n    meshState.cachePrimitive.removeVertexBuffer('normal');\r\n    meshState.normalBuffer = getDevice().createVertexBuffer(\r\n      'normal_f32x3',\r\n      state.normals as unknown as Float32Array<ArrayBuffer>,\r\n      {\r\n        dynamic: true\r\n      }\r\n    )!;\r\n    meshState.cachePrimitive.setVertexBuffer(meshState.normalBuffer);\r\n  }\r\n  return meshState;\r\n}\r\n\r\nasync function resolveOriginalPrimitive(meshState: GeometryCacheMeshState) {\r\n  if (meshState.originalPrimitiveAssetId) {\r\n    const restoredPrimitive = await getEngine().resourceManager.fetchPrimitive(\r\n      meshState.originalPrimitiveAssetId\r\n    );\r\n    if (restoredPrimitive) {\r\n      return restoredPrimitive;\r\n    }\r\n  }\r\n  return 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+{"version":3,"file":"geometry_cache_utils.js","sources":["../../src/animation/geometry_cache_utils.ts"],"sourcesContent":["import { getDevice, getEngine } from '../app/api';\r\nimport type { Mesh } from '../scene';\r\nimport type { Primitive } from '../render/primitive';\r\nimport { BoundingBox } from '../utility/bounding_volume';\r\nimport type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { StructuredBuffer } from '@zephyr3d/device';\r\n\r\n/**\r\n * Geometry cache frame data for a single sampled time.\r\n *\r\n * @public\r\n */\r\nexport type GeometryCacheFrame = {\r\n  positions: Float32Array;\r\n  normals?: Nullable<Float32Array>;\r\n  boundingBox: BoundingBox;\r\n};\r\n\r\n/**\r\n * Mutable working state used while evaluating geometry cache tracks.\r\n *\r\n * @public\r\n */\r\nexport type GeometryCacheState = {\r\n  positions: Float32Array;\r\n  normals?: Nullable<Float32Array>;\r\n  boundingBox: BoundingBox;\r\n};\r\n\r\n/**\r\n * GPU resources bound to a mesh while a geometry cache track is active.\r\n *\r\n * @public\r\n */\r\nexport type GeometryCacheMeshBinding = {\r\n  originalPrimitive: Primitive;\r\n  primitive: Primitive;\r\n  positionBuffer: StructuredBuffer;\r\n  normalBuffer: Nullable<StructuredBuffer>;\r\n};\r\n\r\ntype GeometryCacheMeshState = {\r\n  originalPrimitive: Primitive;\r\n  originalPrimitiveAssetId: string;\r\n  cachePrimitive: Primitive;\r\n  positionBuffer: StructuredBuffer;\r\n  normalBuffer: Nullable<StructuredBuffer>;\r\n};\r\n\r\nconst geometryCacheMeshStates = new WeakMap<Mesh, GeometryCacheMeshState>();\r\n\r\n/**\r\n * Creates a reusable geometry cache state buffer for a frame layout.\r\n *\r\n * @public\r\n */\r\nexport function createGeometryCacheState(\r\n  frame: Pick<GeometryCacheFrame, 'positions' | 'normals'>\r\n): GeometryCacheState {\r\n  return {\r\n    positions: new Float32Array(frame.positions.length),\r\n    normals: frame.normals ? new Float32Array(frame.normals.length) : null,\r\n    boundingBox: new BoundingBox()\r\n  };\r\n}\r\n\r\n/**\r\n * Linearly interpolates two geometry-cache bounding boxes.\r\n *\r\n * @public\r\n */\r\nexport function mixGeometryCacheBoundingBox(a: BoundingBox, b: BoundingBox, t: number) {\r\n  return new BoundingBox(\r\n    new Vector3(\r\n      a.minPoint.x + (b.minPoint.x - a.minPoint.x) * t,\r\n      a.minPoint.y + (b.minPoint.y - a.minPoint.y) * t,\r\n      a.minPoint.z + (b.minPoint.z - a.minPoint.z) * t\r\n    ),\r\n    new Vector3(\r\n      a.maxPoint.x + (b.maxPoint.x - a.maxPoint.x) * t,\r\n      a.maxPoint.y + (b.maxPoint.y - a.maxPoint.y) * t,\r\n      a.maxPoint.z + (b.maxPoint.z - a.maxPoint.z) * t\r\n    )\r\n  );\r\n}\r\n\r\n/**\r\n * Ensures the target mesh has GPU buffers compatible with the geometry cache state.\r\n *\r\n * @public\r\n */\r\nexport function ensureGeometryCacheMeshBinding(\r\n  meshBindings: WeakMap<Mesh, GeometryCacheMeshBinding>,\r\n  mesh: Mesh,\r\n  state: GeometryCacheState,\r\n  errorPrefix: string\r\n) {\r\n  let binding = meshBindings.get(mesh);\r\n  if (!binding) {\r\n    const primitive = mesh.primitive;\r\n    const meshState = geometryCacheMeshStates.get(mesh);\r\n    const originalPrimitive = meshState?.originalPrimitive ?? primitive;\r\n    if (!originalPrimitive) {\r\n      throw new Error(`${errorPrefix}: target mesh has no primitive`);\r\n    }\r\n    validateGeometryCacheState(originalPrimitive, state, errorPrefix);\r\n    const ensuredState = meshState\r\n      ? ensureGeometryCacheNormalBuffer(meshState, originalPrimitive, state, errorPrefix)\r\n      : createGeometryCacheMeshState(originalPrimitive, state);\r\n    geometryCacheMeshStates.set(mesh, ensuredState);\r\n    if (mesh.primitive !== ensuredState.cachePrimitive) {\r\n      mesh.primitive = ensuredState.cachePrimitive;\r\n    }\r\n    binding = {\r\n      originalPrimitive,\r\n      primitive: ensuredState.cachePrimitive,\r\n      positionBuffer: ensuredState.positionBuffer,\r\n      normalBuffer: ensuredState.normalBuffer\r\n    };\r\n    meshBindings.set(mesh, binding);\r\n  }\r\n  return binding;\r\n}\r\n\r\n/**\r\n * Restores a mesh primitive after geometry cache playback.\r\n *\r\n * @public\r\n */\r\nexport async function restoreGeometryCacheMeshBinding(mesh: Mesh) {\r\n  const meshState = geometryCacheMeshStates.get(mesh);\r\n  if (!meshState) {\r\n    return false;\r\n  }\r\n  const primitiveToRestore = await resolveOriginalPrimitive(meshState);\r\n  if (mesh.primitive === meshState.cachePrimitive) {\r\n    mesh.primitive = primitiveToRestore;\r\n  }\r\n  mesh.setAnimatedBoundingBox(null);\r\n  mesh.scene?.queueUpdateNode(mesh);\r\n  geometryCacheMeshStates.delete(mesh);\r\n  return true;\r\n}\r\n\r\nfunction validateGeometryCacheState(primitive: Primitive, state: GeometryCacheState, errorPrefix: string) {\r\n  const expectedPositionLength = primitive.getNumVertices() * 3;\r\n  if (state.positions.length !== expectedPositionLength) {\r\n    throw new Error(\r\n      `${errorPrefix}: position count mismatch, expected ${expectedPositionLength}, got ${state.positions.length}`\r\n    );\r\n  }\r\n  if (state.normals) {\r\n    const expectedNormalLength = primitive.getNumVertices() * 3;\r\n    if (state.normals.length !== expectedNormalLength) {\r\n      throw new Error(\r\n        `${errorPrefix}: normal count mismatch, expected ${expectedNormalLength}, got ${state.normals.length}`\r\n      );\r\n    }\r\n  }\r\n}\r\n\r\nfunction createGeometryCacheMeshState(\r\n  originalPrimitive: Primitive,\r\n  state: GeometryCacheState\r\n): GeometryCacheMeshState {\r\n  const cachePrimitive = originalPrimitive.clone();\r\n  cachePrimitive.setBoundingVolume(originalPrimitive.getBoundingVolume()!);\r\n  const primitiveAssetId = getEngine().resourceManager.getAssetId(originalPrimitive);\r\n  if (primitiveAssetId) {\r\n    getEngine().resourceManager.setAssetId(cachePrimitive, primitiveAssetId);\r\n  }\r\n  cachePrimitive.removeVertexBuffer('position');\r\n  const positionBuffer = getDevice().createVertexBuffer(\r\n    'position_f32x3',\r\n    state.positions as unknown as Float32Array<ArrayBuffer>,\r\n    {\r\n      dynamic: true\r\n    }\r\n  )!;\r\n  cachePrimitive.setVertexBuffer(positionBuffer);\r\n  let normalBuffer: Nullable<StructuredBuffer> = null;\r\n  if (state.normals) {\r\n    cachePrimitive.removeVertexBuffer('normal');\r\n    normalBuffer = getDevice().createVertexBuffer(\r\n      'normal_f32x3',\r\n      state.normals as unknown as Float32Array<ArrayBuffer>,\r\n      {\r\n        dynamic: true\r\n      }\r\n    )!;\r\n    cachePrimitive.setVertexBuffer(normalBuffer);\r\n  }\r\n  return {\r\n    originalPrimitive,\r\n    originalPrimitiveAssetId: primitiveAssetId ?? '',\r\n    cachePrimitive,\r\n    positionBuffer,\r\n    normalBuffer\r\n  };\r\n}\r\n\r\nfunction ensureGeometryCacheNormalBuffer(\r\n  meshState: GeometryCacheMeshState,\r\n  originalPrimitive: Primitive,\r\n  state: GeometryCacheState,\r\n  errorPrefix: string\r\n) {\r\n  if (state.normals && !meshState.normalBuffer) {\r\n    const expectedNormalLength = originalPrimitive.getNumVertices() * 3;\r\n    if (state.normals.length !== expectedNormalLength) {\r\n      throw new Error(\r\n        `${errorPrefix}: normal count mismatch, expected ${expectedNormalLength}, got ${state.normals.length}`\r\n      );\r\n    }\r\n    meshState.cachePrimitive.removeVertexBuffer('normal');\r\n    meshState.normalBuffer = getDevice().createVertexBuffer(\r\n      'normal_f32x3',\r\n      state.normals as unknown as Float32Array<ArrayBuffer>,\r\n      {\r\n        dynamic: true\r\n      }\r\n    )!;\r\n    meshState.cachePrimitive.setVertexBuffer(meshState.normalBuffer);\r\n  }\r\n  return meshState;\r\n}\r\n\r\nasync function resolveOriginalPrimitive(meshState: GeometryCacheMeshState) {\r\n  if (meshState.originalPrimitiveAssetId) {\r\n    const restoredPrimitive = await getEngine().resourceManager.fetchPrimitive(\r\n      meshState.originalPrimitiveAssetId\r\n    );\r\n    if (restoredPrimitive) {\r\n      return restoredPrimitive;\r\n    }\r\n  }\r\n  return 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package/dist/animation/ik/ik_angle_constraint.js

@@ -34,9 +34,7 @@ import { IKConstraint } from './ik_constraint.js';
    */ get minAngle() {
         return this._minAngle;
     }
-    /**
-   * Set the minimum angle in degrees.
-   */ set minAngle(value) {
+    set minAngle(value) {
         this._minAngle = Math.max(0, Math.min(value, this._maxAngle));
     }
     /**
@@ -44,9 +42,7 @@ import { IKConstraint } from './ik_constraint.js';
    */ get maxAngle() {
         return this._maxAngle;
     }
-    /**
-   * Set the maximum angle in degrees.
-   */ set maxAngle(value) {
+    set maxAngle(value) {
         this._maxAngle = Math.min(180, Math.max(value, this._minAngle));
     }
     /**

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

@@ -1 +1 @@
-{"version":3,"file":"ik_angle_constraint.js","sources":["../../../src/animation/ik/ik_angle_constraint.ts"],"sourcesContent":["import { Vector3 } from '@zephyr3d/base';\r\nimport { IKConstraint } from './ik_constraint';\r\nimport type { IKJoint } from './ik_joint';\r\n\r\n/**\r\n * Angle constraint for IK joints.\r\n *\r\n * Limits the angle between the bone from parent to this joint\r\n * and the bone from this joint to child.\r\n *\r\n * @remarks\r\n * This is useful for joints like elbows and knees that have\r\n * limited range of motion.\r\n *\r\n * @public\r\n */\r\nexport class IKAngleConstraint extends IKConstraint {\r\n  /** Minimum angle in degrees */\r\n  private _minAngle: number;\r\n  /** Maximum angle in degrees */\r\n  private _maxAngle: number;\r\n\r\n  /**\r\n   * Create an angle constraint.\r\n   *\r\n   * @param jointIndex - Index of the joint in the chain\r\n   * @param minAngle - Minimum angle in degrees (0 = straight)\r\n   * @param maxAngle - Maximum angle in degrees (180 = fully bent)\r\n   */\r\n  constructor(jointIndex: number, minAngle: number, maxAngle: number) {\r\n    super(jointIndex);\r\n    this._minAngle = Math.max(0, minAngle);\r\n    this._maxAngle = Math.min(180, maxAngle);\r\n\r\n    if (this._minAngle > this._maxAngle) {\r\n      throw new Error('IKAngleConstraint: minAngle must be <= maxAngle');\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Get the minimum angle in degrees.\r\n   */\r\n  get minAngle(): number {\r\n    return this._minAngle;\r\n  }\r\n\r\n  /**\r\n   * Set the minimum angle in degrees.\r\n   */\r\n  set minAngle(value: number) {\r\n    this._minAngle = Math.max(0, Math.min(value, this._maxAngle));\r\n  }\r\n\r\n  /**\r\n   * Get the maximum angle in degrees.\r\n   */\r\n  get maxAngle(): number {\r\n    return this._maxAngle;\r\n  }\r\n\r\n  /**\r\n   * Set the maximum angle in degrees.\r\n   */\r\n  set maxAngle(value: number) {\r\n    this._maxAngle = Math.min(180, Math.max(value, this._minAngle));\r\n  }\r\n\r\n  /**\r\n   * Apply the angle constraint to limit joint bending.\r\n   */\r\n  apply(joints: IKJoint[]): void {\r\n    const index = this._jointIndex;\r\n\r\n    // For end effector (last joint), we constrain the angle between the last two bones\r\n    // For other joints, we constrain the angle at the joint itself\r\n    if (index === joints.length - 1) {\r\n      // End effector: constrain angle between (parent-1 -> parent) and (parent -> this)\r\n      if (index < 2) {\r\n        return; // Need at least 3 joints total\r\n      }\r\n      this._applyEndEffectorConstraint(joints, index);\r\n    } else {\r\n      // Regular joint: constrain angle between (parent -> this) and (this -> child)\r\n      if (index < 1) {\r\n        return; // Root joint cannot be constrained this way\r\n      }\r\n      this._applyRegularConstraint(joints, index);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply constraint to end effector joint.\r\n   */\r\n  private _applyEndEffectorConstraint(joints: IKJoint[], index: number): void {\r\n    const grandParentJoint = joints[index - 2];\r\n    const parentJoint = joints[index - 1];\r\n    const currentJoint = joints[index];\r\n\r\n    // Calculate bone vectors\r\n    const incomingBone = Vector3.sub(parentJoint.position, grandParentJoint.position, new Vector3());\r\n    const outgoingBone = Vector3.sub(currentJoint.position, parentJoint.position, new Vector3());\r\n\r\n    const incomingLen = incomingBone.magnitude;\r\n    const outgoingLen = outgoingBone.magnitude;\r\n\r\n    if (incomingLen < 0.000001 || outgoingLen < 0.000001) {\r\n      return;\r\n    }\r\n\r\n    // Normalize\r\n    const incomingNorm = Vector3.scale(incomingBone, 1 / incomingLen, new Vector3());\r\n    const outgoingNorm = Vector3.scale(outgoingBone, 1 / outgoingLen, new Vector3());\r\n\r\n    // Calculate current angle\r\n    const dot = Vector3.dot(incomingNorm, outgoingNorm);\r\n    const currentAngleDeg = Math.acos(Math.max(-1, Math.min(1, dot))) * (180 / Math.PI);\r\n\r\n    // Check if constraint is violated\r\n    let targetAngleDeg = currentAngleDeg;\r\n    if (currentAngleDeg < this._minAngle) {\r\n      targetAngleDeg = this._minAngle;\r\n    } else if (currentAngleDeg > this._maxAngle) {\r\n      targetAngleDeg = this._maxAngle;\r\n    } else {\r\n      return;\r\n    }\r\n\r\n    // Apply the same constraint logic as regular joints\r\n    this._adjustJointAngle(\r\n      incomingNorm,\r\n      outgoingNorm,\r\n      currentAngleDeg,\r\n      targetAngleDeg,\r\n      parentJoint,\r\n      currentJoint\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Apply constraint to regular joint.\r\n   */\r\n  private _applyRegularConstraint(joints: IKJoint[], index: number): void {\r\n    const parentJoint = joints[index - 1];\r\n    const currentJoint = joints[index];\r\n    const childJoint = joints[index + 1];\r\n\r\n    // Calculate bone vectors: incoming bone (parent->current) and outgoing bone (current->child)\r\n    const incomingBone = Vector3.sub(currentJoint.position, parentJoint.position, new Vector3());\r\n    const outgoingBone = Vector3.sub(childJoint.position, currentJoint.position, new Vector3());\r\n\r\n    const incomingLen = incomingBone.magnitude;\r\n    const outgoingLen = outgoingBone.magnitude;\r\n\r\n    if (incomingLen < 0.000001 || outgoingLen < 0.000001) {\r\n      return;\r\n    }\r\n\r\n    // Normalize\r\n    const incomingNorm = Vector3.scale(incomingBone, 1 / incomingLen, new Vector3());\r\n    const outgoingNorm = Vector3.scale(outgoingBone, 1 / outgoingLen, new Vector3());\r\n\r\n    // Calculate current angle between incoming and outgoing bones (interior angle)\r\n    const dot = Vector3.dot(incomingNorm, outgoingNorm);\r\n    const currentAngleDeg = Math.acos(Math.max(-1, Math.min(1, dot))) * (180 / Math.PI);\r\n\r\n    // Check if constraint is violated\r\n    let targetAngleDeg = currentAngleDeg;\r\n    if (currentAngleDeg < this._minAngle) {\r\n      targetAngleDeg = this._minAngle;\r\n    } else if (currentAngleDeg > this._maxAngle) {\r\n      targetAngleDeg = this._maxAngle;\r\n    } else {\r\n      return;\r\n    }\r\n\r\n    // Apply the constraint\r\n    this._adjustJointAngle(\r\n      incomingNorm,\r\n      outgoingNorm,\r\n      currentAngleDeg,\r\n      targetAngleDeg,\r\n      currentJoint,\r\n      childJoint\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Adjust joint angle by rotating the outgoing bone.\r\n   */\r\n  private _adjustJointAngle(\r\n    incomingNorm: Vector3,\r\n    outgoingNorm: Vector3,\r\n    currentAngleDeg: number,\r\n    targetAngleDeg: number,\r\n    pivotJoint: IKJoint,\r\n    targetJoint: IKJoint\r\n  ): void {\r\n    // Add a dead zone to prevent oscillation\r\n    const angleDifference = Math.abs(targetAngleDeg - currentAngleDeg);\r\n    const isHardConstraint = Math.abs(this._maxAngle - this._minAngle) < 0.01;\r\n    const deadZone = isHardConstraint ? 0.2 : 0.1;\r\n\r\n    if (angleDifference < deadZone) {\r\n      return; // Too close to target, avoid over-correction\r\n    }\r\n\r\n    // Calculate rotation axis (perpendicular to both bone vectors)\r\n    const axis = Vector3.cross(incomingNorm, outgoingNorm, new Vector3());\r\n    const axisLen = axis.magnitude;\r\n\r\n    // Use a smaller threshold to allow constraint to work at small angles\r\n    if (axisLen < 0.0001) {\r\n      return; // Vectors are too close to parallel or anti-parallel\r\n    }\r\n\r\n    axis.scaleBy(1 / axisLen);\r\n\r\n    // Calculate the angle we need to rotate\r\n    const targetAngleRad = targetAngleDeg * (Math.PI / 180);\r\n    const currentAngleRad = currentAngleDeg * (Math.PI / 180);\r\n    let deltaAngle = targetAngleRad - currentAngleRad;\r\n\r\n    // Apply full correction without damping to ensure constraints are enforced\r\n    // This is necessary because FABRIK will try to undo the constraint in the next iteration\r\n    // So we need strong constraint enforcement\r\n\r\n    // Rotate the outgoing bone vector around the axis by deltaAngle\r\n    const cos = Math.cos(deltaAngle);\r\n    const sin = Math.sin(deltaAngle);\r\n    const oneMinusCos = 1 - cos;\r\n\r\n    // Rodrigues' rotation formula\r\n    const rotated = new Vector3();\r\n    rotated.x =\r\n      outgoingNorm.x * (cos + axis.x * axis.x * oneMinusCos) +\r\n      outgoingNorm.y * (axis.x * axis.y * oneMinusCos - axis.z * sin) +\r\n      outgoingNorm.z * (axis.x * axis.z * oneMinusCos + axis.y * sin);\r\n\r\n    rotated.y =\r\n      outgoingNorm.x * (axis.y * axis.x * oneMinusCos + axis.z * sin) +\r\n      outgoingNorm.y * (cos + axis.y * axis.y * oneMinusCos) +\r\n      outgoingNorm.z * (axis.y * axis.z * oneMinusCos - axis.x * sin);\r\n\r\n    rotated.z =\r\n      outgoingNorm.x * (axis.z * axis.x * oneMinusCos - axis.y * sin) +\r\n      outgoingNorm.y * (axis.z * axis.y * oneMinusCos + axis.x * sin) +\r\n      outgoingNorm.z * (cos + axis.z * axis.z * oneMinusCos);\r\n\r\n    // Update target joint position using the rotated bone vector\r\n    const boneLength = pivotJoint.boneLength;\r\n    rotated.scaleBy(boneLength);\r\n    Vector3.add(pivotJoint.position, rotated, targetJoint.position);\r\n\r\n    // Note: We do NOT recursively update subsequent joints here.\r\n    // Instead, we let FABRIK algorithm handle the propagation in subsequent iterations.\r\n    // This ensures that each joint's constraint is properly applied.\r\n  }\r\n}\r\n"],"names":["IKAngleConstraint","IKConstraint","jointIndex","minAngle","maxAngle","_minAngle","Math","max","_maxAngle","min","Error","value","apply","joints","index","_jointIndex","length","_applyEndEffectorConstraint","_applyRegularConstraint","grandParentJoint","parentJoint","currentJoint","incomingBone","Vector3","sub","position","outgoingBone","incomingLen","magnitude","outgoingLen","incomingNorm","scale","outgoingNorm","dot","currentAngleDeg","acos","PI","targetAngleDeg","_adjustJointAngle","childJoint","pivotJoint","targetJoint","angleDifference","abs","isHardConstraint","deadZone","axis","cross","axisLen","scaleBy","targetAngleRad","currentAngleRad","deltaAngle","cos","sin","oneMinusCos","rotated","x","y","z","boneLength","add"],"mappings":";;;AAIA;;;;;;;;;;;IAYO,MAAMA,iBAA0BC,SAAAA,YAAAA,CAAAA;oCAErC,SAA0B;oCAE1B,SAA0B;AAE1B;;;;;;AAMC,MACD,YAAYC,UAAkB,EAAEC,QAAgB,EAAEC,QAAgB,CAAE;AAClE,QAAA,KAAK,CAACF,UAAAA,CAAAA;AACN,QAAA,IAAI,CAACG,SAAS,GAAGC,IAAKC,CAAAA,GAAG,CAAC,CAAGJ,EAAAA,QAAAA,CAAAA;AAC7B,QAAA,IAAI,CAACK,SAAS,GAAGF,IAAKG,CAAAA,GAAG,CAAC,GAAKL,EAAAA,QAAAA,CAAAA;AAE/B,QAAA,IAAI,IAAI,CAACC,SAAS,GAAG,IAAI,CAACG,SAAS,EAAE;AACnC,YAAA,MAAM,IAAIE,KAAM,CAAA,iDAAA,CAAA;AAClB;AACF;AAEA;;AAEC,MACD,IAAIP,QAAmB,GAAA;QACrB,OAAO,IAAI,CAACE,SAAS;AACvB;AAEA;;MAGA,IAAIF,QAASQ,CAAAA,KAAa,EAAE;AAC1B,QAAA,IAAI,CAACN,SAAS,GAAGC,IAAAA,CAAKC,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKG,GAAG,CAACE,KAAO,EAAA,IAAI,CAACH,SAAS,CAAA,CAAA;AAC7D;AAEA;;AAEC,MACD,IAAIJ,QAAmB,GAAA;QACrB,OAAO,IAAI,CAACI,SAAS;AACvB;AAEA;;MAGA,IAAIJ,QAASO,CAAAA,KAAa,EAAE;AAC1B,QAAA,IAAI,CAACH,SAAS,GAAGF,IAAAA,CAAKG,GAAG,CAAC,GAAKH,EAAAA,IAAAA,CAAKC,GAAG,CAACI,KAAO,EAAA,IAAI,CAACN,SAAS,CAAA,CAAA;AAC/D;AAEA;;MAGAO,KAAAA,CAAMC,MAAiB,EAAQ;QAC7B,MAAMC,KAAAA,GAAQ,IAAI,CAACC,WAAW;;;AAI9B,QAAA,IAAID,KAAUD,KAAAA,MAAAA,CAAOG,MAAM,GAAG,CAAG,EAAA;;AAE/B,YAAA,IAAIF,QAAQ,CAAG,EAAA;AACb,gBAAA,OAAA;AACF;YACA,IAAI,CAACG,2BAA2B,CAACJ,MAAQC,EAAAA,KAAAA,CAAAA;SACpC,MAAA;;AAEL,YAAA,IAAIA,QAAQ,CAAG,EAAA;AACb,gBAAA,OAAA;AACF;YACA,IAAI,CAACI,uBAAuB,CAACL,MAAQC,EAAAA,KAAAA,CAAAA;AACvC;AACF;AAEA;;AAEC,MACD,2BAAQG,CAA4BJ,MAAiB,EAAEC,KAAa,EAAQ;AAC1E,QAAA,MAAMK,gBAAmBN,GAAAA,MAAM,CAACC,KAAAA,GAAQ,CAAE,CAAA;AAC1C,QAAA,MAAMM,WAAcP,GAAAA,MAAM,CAACC,KAAAA,GAAQ,CAAE,CAAA;QACrC,MAAMO,YAAAA,GAAeR,MAAM,CAACC,KAAM,CAAA;;QAGlC,MAAMQ,YAAAA,GAAeC,OAAQC,CAAAA,GAAG,CAACJ,WAAAA,CAAYK,QAAQ,EAAEN,gBAAAA,CAAiBM,QAAQ,EAAE,IAAIF,OAAAA,EAAAA,CAAAA;QACtF,MAAMG,YAAAA,GAAeH,OAAQC,CAAAA,GAAG,CAACH,YAAAA,CAAaI,QAAQ,EAAEL,WAAAA,CAAYK,QAAQ,EAAE,IAAIF,OAAAA,EAAAA,CAAAA;QAElF,MAAMI,WAAAA,GAAcL,aAAaM,SAAS;QAC1C,MAAMC,WAAAA,GAAcH,aAAaE,SAAS;QAE1C,IAAID,WAAAA,GAAc,QAAYE,IAAAA,WAAAA,GAAc,QAAU,EAAA;AACpD,YAAA;AACF;;AAGA,QAAA,MAAMC,eAAeP,OAAQQ,CAAAA,KAAK,CAACT,YAAc,EAAA,CAAA,GAAIK,aAAa,IAAIJ,OAAAA,EAAAA,CAAAA;AACtE,QAAA,MAAMS,eAAeT,OAAQQ,CAAAA,KAAK,CAACL,YAAc,EAAA,CAAA,GAAIG,aAAa,IAAIN,OAAAA,EAAAA,CAAAA;;AAGtE,QAAA,MAAMU,GAAMV,GAAAA,OAAAA,CAAQU,GAAG,CAACH,YAAcE,EAAAA,YAAAA,CAAAA;AACtC,QAAA,MAAME,kBAAkB5B,IAAK6B,CAAAA,IAAI,CAAC7B,IAAKC,CAAAA,GAAG,CAAC,EAAC,EAAGD,IAAKG,CAAAA,GAAG,CAAC,CAAGwB,EAAAA,GAAAA,CAAAA,CAAAA,CAAAA,IAAU,GAAM3B,GAAAA,IAAAA,CAAK8B,EAAE,CAAD;;AAGjF,QAAA,IAAIC,cAAiBH,GAAAA,eAAAA;AACrB,QAAA,IAAIA,eAAkB,GAAA,IAAI,CAAC7B,SAAS,EAAE;YACpCgC,cAAiB,GAAA,IAAI,CAAChC,SAAS;AACjC,SAAA,MAAO,IAAI6B,eAAAA,GAAkB,IAAI,CAAC1B,SAAS,EAAE;YAC3C6B,cAAiB,GAAA,IAAI,CAAC7B,SAAS;SAC1B,MAAA;AACL,YAAA;AACF;;AAGA,QAAA,IAAI,CAAC8B,iBAAiB,CACpBR,cACAE,YACAE,EAAAA,eAAAA,EACAG,gBACAjB,WACAC,EAAAA,YAAAA,CAAAA;AAEJ;AAEA;;AAEC,MACD,uBAAQH,CAAwBL,MAAiB,EAAEC,KAAa,EAAQ;AACtE,QAAA,MAAMM,WAAcP,GAAAA,MAAM,CAACC,KAAAA,GAAQ,CAAE,CAAA;QACrC,MAAMO,YAAAA,GAAeR,MAAM,CAACC,KAAM,CAAA;AAClC,QAAA,MAAMyB,UAAa1B,GAAAA,MAAM,CAACC,KAAAA,GAAQ,CAAE,CAAA;;QAGpC,MAAMQ,YAAAA,GAAeC,OAAQC,CAAAA,GAAG,CAACH,YAAAA,CAAaI,QAAQ,EAAEL,WAAAA,CAAYK,QAAQ,EAAE,IAAIF,OAAAA,EAAAA,CAAAA;QAClF,MAAMG,YAAAA,GAAeH,OAAQC,CAAAA,GAAG,CAACe,UAAAA,CAAWd,QAAQ,EAAEJ,YAAAA,CAAaI,QAAQ,EAAE,IAAIF,OAAAA,EAAAA,CAAAA;QAEjF,MAAMI,WAAAA,GAAcL,aAAaM,SAAS;QAC1C,MAAMC,WAAAA,GAAcH,aAAaE,SAAS;QAE1C,IAAID,WAAAA,GAAc,QAAYE,IAAAA,WAAAA,GAAc,QAAU,EAAA;AACpD,YAAA;AACF;;AAGA,QAAA,MAAMC,eAAeP,OAAQQ,CAAAA,KAAK,CAACT,YAAc,EAAA,CAAA,GAAIK,aAAa,IAAIJ,OAAAA,EAAAA,CAAAA;AACtE,QAAA,MAAMS,eAAeT,OAAQQ,CAAAA,KAAK,CAACL,YAAc,EAAA,CAAA,GAAIG,aAAa,IAAIN,OAAAA,EAAAA,CAAAA;;AAGtE,QAAA,MAAMU,GAAMV,GAAAA,OAAAA,CAAQU,GAAG,CAACH,YAAcE,EAAAA,YAAAA,CAAAA;AACtC,QAAA,MAAME,kBAAkB5B,IAAK6B,CAAAA,IAAI,CAAC7B,IAAKC,CAAAA,GAAG,CAAC,EAAC,EAAGD,IAAKG,CAAAA,GAAG,CAAC,CAAGwB,EAAAA,GAAAA,CAAAA,CAAAA,CAAAA,IAAU,GAAM3B,GAAAA,IAAAA,CAAK8B,EAAE,CAAD;;AAGjF,QAAA,IAAIC,cAAiBH,GAAAA,eAAAA;AACrB,QAAA,IAAIA,eAAkB,GAAA,IAAI,CAAC7B,SAAS,EAAE;YACpCgC,cAAiB,GAAA,IAAI,CAAChC,SAAS;AACjC,SAAA,MAAO,IAAI6B,eAAAA,GAAkB,IAAI,CAAC1B,SAAS,EAAE;YAC3C6B,cAAiB,GAAA,IAAI,CAAC7B,SAAS;SAC1B,MAAA;AACL,YAAA;AACF;;AAGA,QAAA,IAAI,CAAC8B,iBAAiB,CACpBR,cACAE,YACAE,EAAAA,eAAAA,EACAG,gBACAhB,YACAkB,EAAAA,UAAAA,CAAAA;AAEJ;AAEA;;AAEC,MACD,iBAAQD,CACNR,YAAqB,EACrBE,YAAqB,EACrBE,eAAuB,EACvBG,cAAsB,EACtBG,UAAmB,EACnBC,WAAoB,EACd;;AAEN,QAAA,MAAMC,eAAkBpC,GAAAA,IAAAA,CAAKq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+{"version":3,"file":"ik_angle_constraint.js","sources":["../../../src/animation/ik/ik_angle_constraint.ts"],"sourcesContent":["import { Vector3 } from '@zephyr3d/base';\r\nimport { IKConstraint } from './ik_constraint';\r\nimport type { IKJoint } from './ik_joint';\r\n\r\n/**\r\n * Angle constraint for IK joints.\r\n *\r\n * Limits the angle between the bone from parent to this joint\r\n * and the bone from this joint to child.\r\n *\r\n * @remarks\r\n * This is useful for joints like elbows and knees that have\r\n * limited range of motion.\r\n *\r\n * @public\r\n */\r\nexport class IKAngleConstraint extends IKConstraint {\r\n  /** Minimum angle in degrees */\r\n  private _minAngle: number;\r\n  /** Maximum angle in degrees */\r\n  private _maxAngle: number;\r\n\r\n  /**\r\n   * Create an angle constraint.\r\n   *\r\n   * @param jointIndex - Index of the joint in the chain\r\n   * @param minAngle - Minimum angle in degrees (0 = straight)\r\n   * @param maxAngle - Maximum angle in degrees (180 = fully bent)\r\n   */\r\n  constructor(jointIndex: number, minAngle: number, maxAngle: number) {\r\n    super(jointIndex);\r\n    this._minAngle = Math.max(0, minAngle);\r\n    this._maxAngle = Math.min(180, maxAngle);\r\n\r\n    if (this._minAngle > this._maxAngle) {\r\n      throw new Error('IKAngleConstraint: minAngle must be <= maxAngle');\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Get the minimum angle in degrees.\r\n   */\r\n  get minAngle(): number {\r\n    return this._minAngle;\r\n  }\r\n\r\n  set minAngle(value: number) {\r\n    this._minAngle = Math.max(0, Math.min(value, this._maxAngle));\r\n  }\r\n\r\n  /**\r\n   * Get the maximum angle in degrees.\r\n   */\r\n  get maxAngle(): number {\r\n    return this._maxAngle;\r\n  }\r\n\r\n  set maxAngle(value: number) {\r\n    this._maxAngle = Math.min(180, Math.max(value, this._minAngle));\r\n  }\r\n\r\n  /**\r\n   * Apply the angle constraint to limit joint bending.\r\n   */\r\n  apply(joints: IKJoint[]): void {\r\n    const index = this._jointIndex;\r\n\r\n    // For end effector (last joint), we constrain the angle between the last two bones\r\n    // For other joints, we constrain the angle at the joint itself\r\n    if (index === joints.length - 1) {\r\n      // End effector: constrain angle between (parent-1 -> parent) and (parent -> this)\r\n      if (index < 2) {\r\n        return; // Need at least 3 joints total\r\n      }\r\n      this._applyEndEffectorConstraint(joints, index);\r\n    } else {\r\n      // Regular joint: constrain angle between (parent -> this) and (this -> child)\r\n      if (index < 1) {\r\n        return; // Root joint cannot be constrained this way\r\n      }\r\n      this._applyRegularConstraint(joints, index);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply constraint to end effector joint.\r\n   */\r\n  private _applyEndEffectorConstraint(joints: IKJoint[], index: number): void {\r\n    const grandParentJoint = joints[index - 2];\r\n    const parentJoint = joints[index - 1];\r\n    const currentJoint = joints[index];\r\n\r\n    // Calculate bone vectors\r\n    const incomingBone = Vector3.sub(parentJoint.position, grandParentJoint.position, new Vector3());\r\n    const outgoingBone = Vector3.sub(currentJoint.position, parentJoint.position, new Vector3());\r\n\r\n    const incomingLen = incomingBone.magnitude;\r\n    const outgoingLen = outgoingBone.magnitude;\r\n\r\n    if (incomingLen < 0.000001 || outgoingLen < 0.000001) {\r\n      return;\r\n    }\r\n\r\n    // Normalize\r\n    const incomingNorm = Vector3.scale(incomingBone, 1 / incomingLen, new Vector3());\r\n    const outgoingNorm = Vector3.scale(outgoingBone, 1 / outgoingLen, new Vector3());\r\n\r\n    // Calculate current angle\r\n    const dot = Vector3.dot(incomingNorm, outgoingNorm);\r\n    const currentAngleDeg = Math.acos(Math.max(-1, Math.min(1, dot))) * (180 / Math.PI);\r\n\r\n    // Check if constraint is violated\r\n    let targetAngleDeg = currentAngleDeg;\r\n    if (currentAngleDeg < this._minAngle) {\r\n      targetAngleDeg = this._minAngle;\r\n    } else if (currentAngleDeg > this._maxAngle) {\r\n      targetAngleDeg = this._maxAngle;\r\n    } else {\r\n      return;\r\n    }\r\n\r\n    // Apply the same constraint logic as regular joints\r\n    this._adjustJointAngle(\r\n      incomingNorm,\r\n      outgoingNorm,\r\n      currentAngleDeg,\r\n      targetAngleDeg,\r\n      parentJoint,\r\n      currentJoint\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Apply constraint to regular joint.\r\n   */\r\n  private _applyRegularConstraint(joints: IKJoint[], index: number): void {\r\n    const parentJoint = joints[index - 1];\r\n    const currentJoint = joints[index];\r\n    const childJoint = joints[index + 1];\r\n\r\n    // Calculate bone vectors: incoming bone (parent->current) and outgoing bone (current->child)\r\n    const incomingBone = Vector3.sub(currentJoint.position, parentJoint.position, new Vector3());\r\n    const outgoingBone = Vector3.sub(childJoint.position, currentJoint.position, new Vector3());\r\n\r\n    const incomingLen = incomingBone.magnitude;\r\n    const outgoingLen = outgoingBone.magnitude;\r\n\r\n    if (incomingLen < 0.000001 || outgoingLen < 0.000001) {\r\n      return;\r\n    }\r\n\r\n    // Normalize\r\n    const incomingNorm = Vector3.scale(incomingBone, 1 / incomingLen, new Vector3());\r\n    const outgoingNorm = Vector3.scale(outgoingBone, 1 / outgoingLen, new Vector3());\r\n\r\n    // Calculate current angle between incoming and outgoing bones (interior angle)\r\n    const dot = Vector3.dot(incomingNorm, outgoingNorm);\r\n    const currentAngleDeg = Math.acos(Math.max(-1, Math.min(1, dot))) * (180 / Math.PI);\r\n\r\n    // Check if constraint is violated\r\n    let targetAngleDeg = currentAngleDeg;\r\n    if (currentAngleDeg < this._minAngle) {\r\n      targetAngleDeg = this._minAngle;\r\n    } else if (currentAngleDeg > this._maxAngle) {\r\n      targetAngleDeg = this._maxAngle;\r\n    } else {\r\n      return;\r\n    }\r\n\r\n    // Apply the constraint\r\n    this._adjustJointAngle(\r\n      incomingNorm,\r\n      outgoingNorm,\r\n      currentAngleDeg,\r\n      targetAngleDeg,\r\n      currentJoint,\r\n      childJoint\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Adjust joint angle by rotating the outgoing bone.\r\n   */\r\n  private _adjustJointAngle(\r\n    incomingNorm: Vector3,\r\n    outgoingNorm: Vector3,\r\n    currentAngleDeg: number,\r\n    targetAngleDeg: number,\r\n    pivotJoint: IKJoint,\r\n    targetJoint: IKJoint\r\n  ): void {\r\n    // Add a dead zone to prevent oscillation\r\n    const angleDifference = Math.abs(targetAngleDeg - currentAngleDeg);\r\n    const isHardConstraint = Math.abs(this._maxAngle - this._minAngle) < 0.01;\r\n    const deadZone = isHardConstraint ? 0.2 : 0.1;\r\n\r\n    if (angleDifference < deadZone) {\r\n      return; // Too close to target, avoid over-correction\r\n    }\r\n\r\n    // Calculate rotation axis (perpendicular to both bone vectors)\r\n    const axis = Vector3.cross(incomingNorm, outgoingNorm, new Vector3());\r\n    const axisLen = axis.magnitude;\r\n\r\n    // Use a smaller threshold to allow constraint to work at small angles\r\n    if (axisLen < 0.0001) {\r\n      return; // Vectors are too close to parallel or anti-parallel\r\n    }\r\n\r\n    axis.scaleBy(1 / axisLen);\r\n\r\n    // Calculate the angle we need to rotate\r\n    const targetAngleRad = targetAngleDeg * (Math.PI / 180);\r\n    const currentAngleRad = currentAngleDeg * (Math.PI / 180);\r\n    let deltaAngle = targetAngleRad - currentAngleRad;\r\n\r\n    // Apply full correction without damping to ensure constraints are enforced\r\n    // This is necessary because FABRIK will try to undo the constraint in the next iteration\r\n    // So we need strong constraint enforcement\r\n\r\n    // Rotate the outgoing bone vector around the axis by deltaAngle\r\n    const cos = Math.cos(deltaAngle);\r\n    const sin = Math.sin(deltaAngle);\r\n    const oneMinusCos = 1 - cos;\r\n\r\n    // Rodrigues' rotation formula\r\n    const rotated = new Vector3();\r\n    rotated.x =\r\n      outgoingNorm.x * (cos + axis.x * axis.x * oneMinusCos) +\r\n      outgoingNorm.y * (axis.x * axis.y * oneMinusCos - axis.z * sin) +\r\n      outgoingNorm.z * (axis.x * axis.z * oneMinusCos + axis.y * sin);\r\n\r\n    rotated.y =\r\n      outgoingNorm.x * (axis.y * axis.x * oneMinusCos + axis.z * sin) +\r\n      outgoingNorm.y * (cos + axis.y * axis.y * oneMinusCos) +\r\n      outgoingNorm.z * (axis.y * axis.z * oneMinusCos - axis.x * sin);\r\n\r\n    rotated.z =\r\n      outgoingNorm.x * (axis.z * axis.x * oneMinusCos - axis.y * sin) +\r\n      outgoingNorm.y * (axis.z * axis.y * oneMinusCos + axis.x * sin) +\r\n      outgoingNorm.z * (cos + axis.z * axis.z * oneMinusCos);\r\n\r\n    // Update target joint position using the rotated bone vector\r\n    const boneLength = pivotJoint.boneLength;\r\n    rotated.scaleBy(boneLength);\r\n    Vector3.add(pivotJoint.position, rotated, targetJoint.position);\r\n\r\n    // Note: We do NOT recursively update subsequent joints here.\r\n    // Instead, we let FABRIK algorithm handle the propagation in subsequent iterations.\r\n    // This ensures that each joint's constraint is properly applied.\r\n  }\r\n}\r\n"],"names":["IKAngleConstraint","IKConstraint","jointIndex","minAngle","maxAngle","_minAngle","Math","max","_maxAngle","min","Error","value","apply","joints","index","_jointIndex","length","_applyEndEffectorConstraint","_applyRegularConstraint","grandParentJoint","parentJoint","currentJoint","incomingBone","Vector3","sub","position","outgoingBone","incomingLen","magnitude","outgoingLen","incomingNorm","scale","outgoingNorm","dot","currentAngleDeg","acos","PI","targetAngleDeg","_adjustJointAngle","childJoint","pivotJoint","targetJoint","angleDifference","abs","isHardConstraint","deadZone","axis","cross","axisLen","scaleBy","targetAngleRad","currentAngleRad","deltaAngle","cos","sin","oneMinusCos","rotated","x","y","z","boneLength","add"],"mappings":";;;AAIA;;;;;;;;;;;IAYO,MAAMA,iBAA0BC,SAAAA,YAAAA,CAAAA;oCAErC,SAA0B;oCAE1B,SAA0B;AAE1B;;;;;;AAMC,MACD,YAAYC,UAAkB,EAAEC,QAAgB,EAAEC,QAAgB,CAAE;AAClE,QAAA,KAAK,CAACF,UAAAA,CAAAA;AACN,QAAA,IAAI,CAACG,SAAS,GAAGC,IAAKC,CAAAA,GAAG,CAAC,CAAGJ,EAAAA,QAAAA,CAAAA;AAC7B,QAAA,IAAI,CAACK,SAAS,GAAGF,IAAKG,CAAAA,GAAG,CAAC,GAAKL,EAAAA,QAAAA,CAAAA;AAE/B,QAAA,IAAI,IAAI,CAACC,SAAS,GAAG,IAAI,CAACG,SAAS,EAAE;AACnC,YAAA,MAAM,IAAIE,KAAM,CAAA,iDAAA,CAAA;AAClB;AACF;AAEA;;AAEC,MACD,IAAIP,QAAmB,GAAA;QACrB,OAAO,IAAI,CAACE,SAAS;AACvB;IAEA,IAAIF,QAAAA,CAASQ,KAAa,EAAE;AAC1B,QAAA,IAAI,CAACN,SAAS,GAAGC,IAAAA,CAAKC,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKG,GAAG,CAACE,KAAO,EAAA,IAAI,CAACH,SAAS,CAAA,CAAA;AAC7D;AAEA;;AAEC,MACD,IAAIJ,QAAmB,GAAA;QACrB,OAAO,IAAI,CAACI,SAAS;AACvB;IAEA,IAAIJ,QAAAA,CAASO,KAAa,EAAE;AAC1B,QAAA,IAAI,CAACH,SAAS,GAAGF,IAAAA,CAAKG,GAAG,CAAC,GAAKH,EAAAA,IAAAA,CAAKC,GAAG,CAACI,KAAO,EAAA,IAAI,CAACN,SAAS,CAAA,CAAA;AAC/D;AAEA;;MAGAO,KAAAA,CAAMC,MAAiB,EAAQ;QAC7B,MAAMC,KAAAA,GAAQ,IAAI,CAACC,WAAW;;;AAI9B,QAAA,IAAID,KAAUD,KAAAA,MAAAA,CAAOG,MAAM,GAAG,CAAG,EAAA;;AAE/B,YAAA,IAAIF,QAAQ,CAAG,EAAA;AACb,gBAAA,OAAA;AACF;YACA,IAAI,CAACG,2BAA2B,CAACJ,MAAQC,EAAAA,KAAAA,CAAAA;SACpC,MAAA;;AAEL,YAAA,IAAIA,QAAQ,CAAG,EAAA;AACb,gBAAA,OAAA;AACF;YACA,IAAI,CAACI,uBAAuB,CAACL,MAAQC,EAAAA,KAAAA,CAAAA;AACvC;AACF;AAEA;;AAEC,MACD,2BAAQG,CAA4BJ,MAAiB,EAAEC,KAAa,EAAQ;AAC1E,QAAA,MAAMK,gBAAmBN,GAAAA,MAAM,CAACC,KAAAA,GAAQ,CAAE,CAAA;AAC1C,QAAA,MAAMM,WAAcP,GAAAA,MAAM,CAACC,KAAAA,GAAQ,CAAE,CAAA;QACrC,MAAMO,YAAAA,GAAeR,MAAM,CAACC,KAAM,CAAA;;QAGlC,MAAMQ,YAAAA,GAAeC,OAAQC,CAAAA,GAAG,CAACJ,WAAAA,CAAYK,QAAQ,EAAEN,gBAAAA,CAAiBM,QAAQ,EAAE,IAAIF,OAAAA,EAAAA,CAAAA;QACtF,MAAMG,YAAAA,GAAeH,OAAQC,CAAAA,GAAG,CAACH,YAAAA,CAAaI,QAAQ,EAAEL,WAAAA,CAAYK,QAAQ,EAAE,IAAIF,OAAAA,EAAAA,CAAAA;QAElF,MAAMI,WAAAA,GAAcL,aAAaM,SAAS;QAC1C,MAAMC,WAAAA,GAAcH,aAAaE,SAAS;QAE1C,IAAID,WAAAA,GAAc,QAAYE,IAAAA,WAAAA,GAAc,QAAU,EAAA;AACpD,YAAA;AACF;;AAGA,QAAA,MAAMC,eAAeP,OAAQQ,CAAAA,KAAK,CAACT,YAAc,EAAA,CAAA,GAAIK,aAAa,IAAIJ,OAAAA,EAAAA,CAAAA;AACtE,QAAA,MAAMS,eAAeT,OAAQQ,CAAAA,KAAK,CAACL,YAAc,EAAA,CAAA,GAAIG,aAAa,IAAIN,OAAAA,EAAAA,CAAAA;;AAGtE,QAAA,MAAMU,GAAMV,GAAAA,OAAAA,CAAQU,GAAG,CAACH,YAAcE,EAAAA,YAAAA,CAAAA;AACtC,QAAA,MAAME,kBAAkB5B,IAAK6B,CAAAA,IAAI,CAAC7B,IAAKC,CAAAA,GAAG,CAAC,EAAC,EAAGD,IAAKG,CAAAA,GAAG,CAAC,CAAGwB,EAAAA,GAAAA,CAAAA,CAAAA,CAAAA,IAAU,GAAM3B,GAAAA,IAAAA,CAAK8B,EAAE,CAAD;;AAGjF,QAAA,IAAIC,cAAiBH,GAAAA,eAAAA;AACrB,QAAA,IAAIA,eAAkB,GAAA,IAAI,CAAC7B,SAAS,EAAE;YACpCgC,cAAiB,GAAA,IAAI,CAAChC,SAAS;AACjC,SAAA,MAAO,IAAI6B,eAAAA,GAAkB,IAAI,CAAC1B,SAAS,EAAE;YAC3C6B,cAAiB,GAAA,IAAI,CAAC7B,SAAS;SAC1B,MAAA;AACL,YAAA;AACF;;AAGA,QAAA,IAAI,CAAC8B,iBAAiB,CACpBR,cACAE,YACAE,EAAAA,eAAAA,EACAG,gBACAjB,WACAC,EAAAA,YAAAA,CAAAA;AAEJ;AAEA;;AAEC,MACD,uBAAQH,CAAwBL,MAAiB,EAAEC,KAAa,EAAQ;AACtE,QAAA,MAAMM,WAAcP,GAAAA,MAAM,CAACC,KAAAA,GAAQ,CAAE,CAAA;QACrC,MAAMO,YAAAA,GAAeR,MAAM,CAACC,KAAM,CAAA;AAClC,QAAA,MAAMyB,UAAa1B,GAAAA,MAAM,CAACC,KAAAA,GAAQ,CAAE,CAAA;;QAGpC,MAAMQ,YAAAA,GAAeC,OAAQC,CAAAA,GAAG,CAACH,YAAAA,CAAaI,QAAQ,EAAEL,WAAAA,CAAYK,QAAQ,EAAE,IAAIF,OAAAA,EAAAA,CAAAA;QAClF,MAAMG,YAAAA,GAAeH,OAAQC,CAAAA,GAAG,CAACe,UAAAA,CAAWd,QAAQ,EAAEJ,YAAAA,CAAaI,QAAQ,EAAE,IAAIF,OAAAA,EAAAA,CAAAA;QAEjF,MAAMI,WAAAA,GAAcL,aAAaM,SAAS;QAC1C,MAAMC,WAAAA,GAAcH,aAAaE,SAAS;QAE1C,IAAID,WAAAA,GAAc,QAAYE,IAAAA,WAAAA,GAAc,QAAU,EAAA;AACpD,YAAA;AACF;;AAGA,QAAA,MAAMC,eAAeP,OAAQQ,CAAAA,KAAK,CAACT,YAAc,EAAA,CAAA,GAAIK,aAAa,IAAIJ,OAAAA,EAAAA,CAAAA;AACtE,QAAA,MAAMS,eAAeT,OAAQQ,CAAAA,KAAK,CAACL,YAAc,EAAA,CAAA,GAAIG,aAAa,IAAIN,OAAAA,EAAAA,CAAAA;;AAGtE,QAAA,MAAMU,GAAMV,GAAAA,OAAAA,CAAQU,GAAG,CAACH,YAAcE,EAAAA,YAAAA,CAAAA;AACtC,QAAA,MAAME,kBAAkB5B,IAAK6B,CAAAA,IAAI,CAAC7B,IAAKC,CAAAA,GAAG,CAAC,EAAC,EAAGD,IAAKG,CAAAA,GAAG,CAAC,CAAGwB,EAAAA,GAAAA,CAAAA,CAAAA,CAAAA,IAAU,GAAM3B,GAAAA,IAAAA,CAAK8B,EAAE,CAAD;;AAGjF,QAAA,IAAIC,cAAiBH,GAAAA,eAAAA;AACrB,QAAA,IAAIA,eAAkB,GAAA,IAAI,CAAC7B,SAAS,EAAE;YACpCgC,cAAiB,GAAA,IAAI,CAAChC,SAAS;AACjC,SAAA,MAAO,IAAI6B,eAAAA,GAAkB,IAAI,CAAC1B,SAAS,EAAE;YAC3C6B,cAAiB,GAAA,IAAI,CAAC7B,SAAS;SAC1B,MAAA;AACL,YAAA;AACF;;AAGA,QAAA,IAAI,CAAC8B,iBAAiB,CACpBR,cACAE,YACAE,EAAAA,eAAAA,EACAG,gBACAhB,YACAkB,EAAAA,UAAAA,CAAAA;AAEJ;AAEA;;AAEC,MACD,iBAAQD,CACNR,YAAqB,EACrBE,YAAqB,EACrBE,eAAuB,EACvBG,cAAsB,EACtBG,UAAmB,EACnBC,WAAoB,EACd;;AAEN,QAAA,MAAMC,eAAkBpC,GAAAA,IAAAA,CAAKqC,GAAG,CAACN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package/dist/animation/ik/two_bone_ik_solver.js

@@ -89,9 +89,7 @@ import { IKUtils } from './ik_utils.js';
    */ get poleVector() {
         return this._poleVector;
     }
-    /**
-   * Set the pole vector position.
-   */ set poleVector(value) {
+    set poleVector(value) {
         if (value) {
             if (!this._poleVector) {
                 this._poleVector = value.clone();
@@ -107,9 +105,7 @@ import { IKUtils } from './ik_utils.js';
    */ get poleWeight() {
         return this._poleWeight;
     }
-    /**
-   * Set the pole vector weight (0-1).
-   */ set poleWeight(value) {
+    set poleWeight(value) {
         this._poleWeight = Math.max(0, Math.min(1, value));
     }
     /**

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

@@ -1 +1 @@
-{"version":3,"file":"two_bone_ik_solver.js","sources":["../../../src/animation/ik/two_bone_ik_solver.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport { IKSolver } from './ik_solver';\r\nimport type { IKChain } from './ik_chain';\r\nimport { IKUtils } from './ik_utils';\r\nimport type { TwistConstraint } from './ik_constraint';\r\n\r\n/**\r\n * Two Bone IK solver for chains with exactly 3 joints (2 bones).\r\n *\r\n * @remarks\r\n * This solver uses an analytical solution specifically optimized for\r\n * two-bone chains like arms (shoulder-elbow-wrist) or legs (hip-knee-ankle).\r\n * It's faster and more stable than iterative methods like FABRIK for this case.\r\n *\r\n * The solver supports an optional pole vector to control the bending direction\r\n * of the middle joint (elbow/knee).\r\n *\r\n * @public\r\n */\r\nexport class TwoBoneIKSolver extends IKSolver {\r\n  /** Optional pole vector position in world space */\r\n  private _poleVector: Vector3 | null;\r\n  /** Weight of the pole vector constraint (0-1) */\r\n  private _poleWeight: number;\r\n  /** Twist constraints for each joint (indexed by joint index) */\r\n  private _twistConstraints: Map<number, TwistConstraint>;\r\n\r\n  /**\r\n   * Create a Two Bone IK solver.\r\n   *\r\n   * @param chain - The IK chain to solve (must have exactly 3 joints)\r\n   * @param poleVector - Optional pole vector position in world space\r\n   * @param poleWeight - Weight of the pole vector constraint (0-1, default: 1)\r\n   */\r\n  constructor(chain: IKChain, poleVector: Vector3 | null = null, poleWeight = 1) {\r\n    super(chain, 1, 0.001); // Two bone IK doesn't need iterations\r\n\r\n    if (chain.joints.length !== 3) {\r\n      throw new Error('Two Bone IK requires exactly 3 joints (2 bones)');\r\n    }\r\n\r\n    this._poleVector = poleVector ? poleVector.clone() : null;\r\n    this._poleWeight = Math.max(0, Math.min(1, poleWeight));\r\n    this._twistConstraints = new Map();\r\n\r\n    // Set default twist constraints\r\n    // Root joint (shoulder/hip) - moderate twist\r\n    this._twistConstraints.set(0, {\r\n      minTwist: -Math.PI * 0.25, // -45 degrees\r\n      maxTwist: Math.PI * 0.25, // +45 degrees\r\n      smoothFactor: 0.3\r\n    });\r\n\r\n    // Middle joint (elbow/knee) - very limited twist\r\n    this._twistConstraints.set(1, {\r\n      minTwist: -Math.PI * 0.15, // -27 degrees\r\n      maxTwist: Math.PI * 0.15, // +27 degrees\r\n      smoothFactor: 0.3\r\n    });\r\n  }\r\n\r\n  /**\r\n   * Set twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint (0 = root, 1 = middle)\r\n   * @param minTwist - Minimum twist angle in radians\r\n   * @param maxTwist - Maximum twist angle in radians\r\n   * @param smoothFactor - Smoothing factor [0-1] (default: 0.3)\r\n   */\r\n  setTwistConstraint(\r\n    jointIndex: number,\r\n    minTwist: number,\r\n    maxTwist: number,\r\n    smoothFactor: number = 0.3\r\n  ): void {\r\n    if (jointIndex < 0 || jointIndex >= this._chain.joints.length - 1) {\r\n      throw new Error(`Invalid joint index: ${jointIndex}`);\r\n    }\r\n\r\n    this._twistConstraints.set(jointIndex, {\r\n      minTwist,\r\n      maxTwist,\r\n      smoothFactor: Math.max(0, Math.min(1, smoothFactor))\r\n    });\r\n  }\r\n\r\n  /**\r\n   * Get twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns Twist constraint or undefined if not set\r\n   */\r\n  getTwistConstraint(jointIndex: number): TwistConstraint | undefined {\r\n    return this._twistConstraints.get(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Remove twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns True if a constraint was removed\r\n   */\r\n  removeTwistConstraint(jointIndex: number): boolean {\r\n    return this._twistConstraints.delete(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Clear all twist constraints.\r\n   */\r\n  clearTwistConstraints(): void {\r\n    this._twistConstraints.clear();\r\n  }\r\n\r\n  /**\r\n   * Get the pole vector position.\r\n   */\r\n  get poleVector(): Vector3 | null {\r\n    return this._poleVector;\r\n  }\r\n\r\n  /**\r\n   * Set the pole vector position.\r\n   */\r\n  set poleVector(value: Vector3 | null) {\r\n    if (value) {\r\n      if (!this._poleVector) {\r\n        this._poleVector = value.clone();\r\n      } else {\r\n        this._poleVector.set(value);\r\n      }\r\n    } else {\r\n      this._poleVector = null;\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Get the pole vector weight.\r\n   */\r\n  get poleWeight(): number {\r\n    return this._poleWeight;\r\n  }\r\n\r\n  /**\r\n   * Set the pole vector weight (0-1).\r\n   */\r\n  set poleWeight(value: number) {\r\n    this._poleWeight = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Solve the IK chain to reach the target position using Two Bone IK algorithm.\r\n   *\r\n   * @param target - Target position for the end effector\r\n   * @returns True if the target is reachable, false if stretched to maximum\r\n   */\r\n  solve(target: Vector3): boolean {\r\n    const joints = this._chain.joints;\r\n\r\n    // Update joint positions from scene nodes before solving\r\n    this._chain.updateFromNodes();\r\n\r\n    // Store original positions\r\n    this._chain.storeOriginalPositions();\r\n\r\n    const root = joints[0];\r\n    const middle = joints[1];\r\n    const end = joints[2];\r\n\r\n    const rootPos = root.position;\r\n    const upperLength = root.boneLength; // Length from root to middle\r\n    const lowerLength = middle.boneLength; // Length from middle to end\r\n    const totalLength = upperLength + lowerLength;\r\n\r\n    // Calculate direction and distance from root to target\r\n    const rootToTarget = Vector3.sub(target, rootPos, new Vector3());\r\n    const targetDistance = rootToTarget.magnitude;\r\n\r\n    // Check if target is reachable\r\n    if (targetDistance < 0.000001) {\r\n      // Target is at root position, keep original pose\r\n      return true;\r\n    }\r\n\r\n    let reachable = true;\r\n\r\n    // If target is unreachable, clamp to maximum distance\r\n    let effectiveTarget = target;\r\n    if (targetDistance >= totalLength - 0.0001) {\r\n      // Stretch to maximum length\r\n      const direction = Vector3.scale(rootToTarget, 1 / targetDistance, new Vector3());\r\n      effectiveTarget = Vector3.add(\r\n        rootPos,\r\n        Vector3.scale(direction, totalLength - 0.0001, new Vector3()),\r\n        new Vector3()\r\n      );\r\n      reachable = false;\r\n    }\r\n\r\n    // Calculate the distance from root to effective target\r\n    const rootToEffectiveTarget = Vector3.sub(effectiveTarget, rootPos, new Vector3());\r\n    const distance = rootToEffectiveTarget.magnitude;\r\n\r\n    // Use law of cosines to find the angle at the root joint\r\n    // cos(rootAngle) = (a² + c² - b²) / (2ac)\r\n    const cosRootAngle =\r\n      (upperLength * upperLength + distance * distance - lowerLength * lowerLength) /\r\n      (2 * upperLength * distance);\r\n    const clampedCosRootAngle = Math.max(-1, Math.min(1, cosRootAngle));\r\n    const rootAngle = Math.acos(clampedCosRootAngle);\r\n\r\n    // Determine the plane of bending\r\n    let bendNormal: Vector3;\r\n\r\n    if (this._poleVector && this._poleWeight > 0.001) {\r\n      // Use pole vector to determine bend direction\r\n      const rootToTargetDir = Vector3.normalize(rootToEffectiveTarget, new Vector3());\r\n      const rootToPole = Vector3.sub(this._poleVector, rootPos, new Vector3());\r\n\r\n      // Project pole vector onto plane perpendicular to root-target direction\r\n      const projectionLength = Vector3.dot(rootToPole, rootToTargetDir);\r\n      const projection = Vector3.scale(rootToTargetDir, projectionLength, new Vector3());\r\n      const perpendicular = Vector3.sub(rootToPole, projection, new Vector3());\r\n\r\n      const perpLength = perpendicular.magnitude;\r\n      if (perpLength > 0.000001) {\r\n        // Bend normal is perpendicular to both root-target and pole direction\r\n        bendNormal = Vector3.cross(rootToTargetDir, perpendicular, new Vector3()).inplaceNormalize();\r\n      } else {\r\n        // Pole is on the line, use default bend direction\r\n        bendNormal = this._getDefaultBendNormal(rootToEffectiveTarget);\r\n      }\r\n\r\n      // Apply pole weight\r\n      if (this._poleWeight < 0.999) {\r\n        const defaultNormal = this._getDefaultBendNormal(rootToEffectiveTarget);\r\n        // Slerp between default and pole-based normal\r\n        const angle = Math.acos(Math.max(-1, Math.min(1, Vector3.dot(defaultNormal, bendNormal))));\r\n        if (angle > 0.001) {\r\n          const axis = Vector3.cross(defaultNormal, bendNormal, new Vector3()).inplaceNormalize();\r\n          const rotation = new Quaternion().fromAxisAngle(axis, angle * this._poleWeight);\r\n          bendNormal = rotation.transform(defaultNormal, new Vector3());\r\n        }\r\n      }\r\n    } else {\r\n      // No pole vector, use default bend direction\r\n      bendNormal = this._getDefaultBendNormal(rootToEffectiveTarget);\r\n    }\r\n\r\n    // Calculate middle joint position\r\n    const rootToTargetDir = Vector3.normalize(rootToEffectiveTarget, new Vector3());\r\n\r\n    // Rotate root-to-target direction by rootAngle around bendNormal\r\n    const rotationToMiddle = new Quaternion().fromAxisAngle(bendNormal, rootAngle);\r\n    const rootToMiddleDir = rotationToMiddle.transform(rootToTargetDir, new Vector3());\r\n\r\n    // Place middle joint\r\n    middle.position.set(\r\n      Vector3.add(rootPos, Vector3.scale(rootToMiddleDir, upperLength, new Vector3()), new Vector3())\r\n    );\r\n\r\n    // Place end joint at target\r\n    end.position.set(effectiveTarget);\r\n\r\n    // Apply constraints after solving\r\n    // Note: Constraints may modify joint positions, which could affect bone lengths\r\n    // For Two Bone IK, we apply constraints and then restore bone lengths\r\n    this._applyConstraints();\r\n\r\n    return reachable;\r\n  }\r\n\r\n  /**\r\n   * Apply all constraints to the joint chain.\r\n   * After applying constraints, we need to restore bone lengths.\r\n   */\r\n  private _applyConstraints(): void {\r\n    const constraints = this._chain.constraints;\r\n    if (constraints.length === 0) {\r\n      return;\r\n    }\r\n\r\n    const joints = this._chain.joints;\r\n\r\n    // Apply each constraint\r\n    for (const constraint of constraints) {\r\n      constraint.apply(joints);\r\n    }\r\n\r\n    // After constraints are applied, we need to restore bone lengths\r\n    // because constraints may have moved joints in ways that change bone lengths\r\n    // For Two Bone IK, we fix this by adjusting positions while maintaining the constraint\r\n    this._restoreBoneLengths();\r\n  }\r\n\r\n  /**\r\n   * Restore bone lengths after constraints have been applied.\r\n   * This ensures that the chain maintains correct bone lengths.\r\n   */\r\n  private _restoreBoneLengths(): void {\r\n    const joints = this._chain.joints;\r\n    const root = joints[0];\r\n    const middle = joints[1];\r\n    const end = joints[2];\r\n\r\n    const upperLength = root.boneLength;\r\n    const lowerLength = middle.boneLength;\r\n\r\n    // Fix middle joint position to maintain upper bone length\r\n    const rootToMiddle = Vector3.sub(middle.position, root.position, new Vector3());\r\n    const rootToMiddleDist = rootToMiddle.magnitude;\r\n\r\n    if (rootToMiddleDist > 0.000001 && Math.abs(rootToMiddleDist - upperLength) > 0.0001) {\r\n      const rootToMiddleDir = Vector3.scale(rootToMiddle, 1 / rootToMiddleDist, new Vector3());\r\n      middle.position.set(\r\n        Vector3.add(root.position, Vector3.scale(rootToMiddleDir, upperLength, new Vector3()), new Vector3())\r\n      );\r\n    }\r\n\r\n    // Fix end joint position to maintain lower bone length\r\n    const middleToEnd = Vector3.sub(end.position, middle.position, new Vector3());\r\n    const middleToEndDist = middleToEnd.magnitude;\r\n\r\n    if (middleToEndDist > 0.000001 && Math.abs(middleToEndDist - lowerLength) > 0.0001) {\r\n      const middleToEndDir = Vector3.scale(middleToEnd, 1 / middleToEndDist, new Vector3());\r\n      end.position.set(\r\n        Vector3.add(middle.position, Vector3.scale(middleToEndDir, lowerLength, new Vector3()), new Vector3())\r\n      );\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply the solved joint positions to scene nodes as rotations.\r\n   *\r\n   * @param weight - Blend weight (0 = original, 1 = full IK, default: 1)\r\n   */\r\n  applyToNodes(weight = 1): void {\r\n    const joints = this._chain.joints;\r\n\r\n    // Apply rotation for root and middle joints (end joint doesn't need rotation)\r\n    for (let i = 0; i < joints.length - 1; i++) {\r\n      const joint = joints[i];\r\n      const nextJoint = joints[i + 1];\r\n\r\n      // Calculate direction from current joint to next joint in world space\r\n      const originalDir = Vector3.sub(nextJoint.originalPosition, joint.originalPosition, new Vector3());\r\n      const newDir = Vector3.sub(nextJoint.position, joint.position, new Vector3());\r\n\r\n      const originalDirNorm = Vector3.normalize(originalDir, new Vector3());\r\n      const newDirNorm = Vector3.normalize(newDir, new Vector3());\r\n\r\n      // Calculate basic rotation\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDirNorm, newDirNorm, deltaRotation);\r\n\r\n      // Calculate new world rotation\r\n      let worldRotation = Quaternion.multiply(deltaRotation, joint.originalRotation, new Quaternion());\r\n\r\n      // Apply swing-twist constraint to prevent over-rotation\r\n      // Decompose rotation around bone axis\r\n      const swing = new Quaternion();\r\n      const twist = new Quaternion();\r\n      worldRotation.decomposeSwingTwist(newDirNorm, swing, twist);\r\n\r\n      // Get twist angle\r\n      let twistAngle = twist.getTwistAngle(newDirNorm);\r\n\r\n      // Get twist constraint for this joint\r\n      const constraint = this._twistConstraints.get(i);\r\n      if (constraint) {\r\n        // Clamp and smooth twist\r\n        twistAngle = IKUtils.clampAndSmoothTwist(\r\n          twistAngle,\r\n          joint.previousTwist,\r\n          constraint.minTwist,\r\n          constraint.maxTwist,\r\n          constraint.smoothFactor\r\n        );\r\n      }\r\n\r\n      // Store for next frame\r\n      joint.previousTwist = twistAngle;\r\n\r\n      // Reconstruct rotation from clamped twist: Q = Twist * Swing\r\n      const clampedTwist = Quaternion.fromAxisAngle(newDirNorm, twistAngle);\r\n      worldRotation = Quaternion.multiply(clampedTwist, swing, worldRotation);\r\n\r\n      // Blend with original rotation based on weight\r\n      if (weight < 1) {\r\n        Quaternion.slerp(joint.originalRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      // Store this frame's world rotation for next frame's twist continuity\r\n      if (!joint.previousIKRotation) {\r\n        joint.previousIKRotation = worldRotation.clone();\r\n      } else {\r\n        joint.previousIKRotation.set(worldRotation);\r\n      }\r\n\r\n      // Convert world rotation to local rotation (relative to parent)\r\n      if (joint.node.parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        joint.node.parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n\r\n        // localRotation = conjugate(parentWorldRotation) * worldRotation\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n\r\n        joint.node.rotation = localRotation;\r\n      } else {\r\n        // Root node has no parent, world rotation is local rotation\r\n        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+{"version":3,"file":"two_bone_ik_solver.js","sources":["../../../src/animation/ik/two_bone_ik_solver.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport { IKSolver } from './ik_solver';\r\nimport type { IKChain } from './ik_chain';\r\nimport { IKUtils } from './ik_utils';\r\nimport type { TwistConstraint } from './ik_constraint';\r\n\r\n/**\r\n * Two Bone IK solver for chains with exactly 3 joints (2 bones).\r\n *\r\n * @remarks\r\n * This solver uses an analytical solution specifically optimized for\r\n * two-bone chains like arms (shoulder-elbow-wrist) or legs (hip-knee-ankle).\r\n * It's faster and more stable than iterative methods like FABRIK for this case.\r\n *\r\n * The solver supports an optional pole vector to control the bending direction\r\n * of the middle joint (elbow/knee).\r\n *\r\n * @public\r\n */\r\nexport class TwoBoneIKSolver extends IKSolver {\r\n  /** Optional pole vector position in world space */\r\n  private _poleVector: Vector3 | null;\r\n  /** Weight of the pole vector constraint (0-1) */\r\n  private _poleWeight: number;\r\n  /** Twist constraints for each joint (indexed by joint index) */\r\n  private _twistConstraints: Map<number, TwistConstraint>;\r\n\r\n  /**\r\n   * Create a Two Bone IK solver.\r\n   *\r\n   * @param chain - The IK chain to solve (must have exactly 3 joints)\r\n   * @param poleVector - Optional pole vector position in world space\r\n   * @param poleWeight - Weight of the pole vector constraint (0-1, default: 1)\r\n   */\r\n  constructor(chain: IKChain, poleVector: Vector3 | null = null, poleWeight = 1) {\r\n    super(chain, 1, 0.001); // Two bone IK doesn't need iterations\r\n\r\n    if (chain.joints.length !== 3) {\r\n      throw new Error('Two Bone IK requires exactly 3 joints (2 bones)');\r\n    }\r\n\r\n    this._poleVector = poleVector ? poleVector.clone() : null;\r\n    this._poleWeight = Math.max(0, Math.min(1, poleWeight));\r\n    this._twistConstraints = new Map();\r\n\r\n    // Set default twist constraints\r\n    // Root joint (shoulder/hip) - moderate twist\r\n    this._twistConstraints.set(0, {\r\n      minTwist: -Math.PI * 0.25, // -45 degrees\r\n      maxTwist: Math.PI * 0.25, // +45 degrees\r\n      smoothFactor: 0.3\r\n    });\r\n\r\n    // Middle joint (elbow/knee) - very limited twist\r\n    this._twistConstraints.set(1, {\r\n      minTwist: -Math.PI * 0.15, // -27 degrees\r\n      maxTwist: Math.PI * 0.15, // +27 degrees\r\n      smoothFactor: 0.3\r\n    });\r\n  }\r\n\r\n  /**\r\n   * Set twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint (0 = root, 1 = middle)\r\n   * @param minTwist - Minimum twist angle in radians\r\n   * @param maxTwist - Maximum twist angle in radians\r\n   * @param smoothFactor - Smoothing factor [0-1] (default: 0.3)\r\n   */\r\n  setTwistConstraint(\r\n    jointIndex: number,\r\n    minTwist: number,\r\n    maxTwist: number,\r\n    smoothFactor: number = 0.3\r\n  ): void {\r\n    if (jointIndex < 0 || jointIndex >= this._chain.joints.length - 1) {\r\n      throw new Error(`Invalid joint index: ${jointIndex}`);\r\n    }\r\n\r\n    this._twistConstraints.set(jointIndex, {\r\n      minTwist,\r\n      maxTwist,\r\n      smoothFactor: Math.max(0, Math.min(1, smoothFactor))\r\n    });\r\n  }\r\n\r\n  /**\r\n   * Get twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns Twist constraint or undefined if not set\r\n   */\r\n  getTwistConstraint(jointIndex: number): TwistConstraint | undefined {\r\n    return this._twistConstraints.get(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Remove twist constraint for a specific joint.\r\n   *\r\n   * @param jointIndex - Index of the joint\r\n   * @returns True if a constraint was removed\r\n   */\r\n  removeTwistConstraint(jointIndex: number): boolean {\r\n    return this._twistConstraints.delete(jointIndex);\r\n  }\r\n\r\n  /**\r\n   * Clear all twist constraints.\r\n   */\r\n  clearTwistConstraints(): void {\r\n    this._twistConstraints.clear();\r\n  }\r\n\r\n  /**\r\n   * Get the pole vector position.\r\n   */\r\n  get poleVector(): Vector3 | null {\r\n    return this._poleVector;\r\n  }\r\n\r\n  set poleVector(value: Vector3 | null) {\r\n    if (value) {\r\n      if (!this._poleVector) {\r\n        this._poleVector = value.clone();\r\n      } else {\r\n        this._poleVector.set(value);\r\n      }\r\n    } else {\r\n      this._poleVector = null;\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Get the pole vector weight.\r\n   */\r\n  get poleWeight(): number {\r\n    return this._poleWeight;\r\n  }\r\n\r\n  set poleWeight(value: number) {\r\n    this._poleWeight = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Solve the IK chain to reach the target position using Two Bone IK algorithm.\r\n   *\r\n   * @param target - Target position for the end effector\r\n   * @returns True if the target is reachable, false if stretched to maximum\r\n   */\r\n  solve(target: Vector3): boolean {\r\n    const joints = this._chain.joints;\r\n\r\n    // Update joint positions from scene nodes before solving\r\n    this._chain.updateFromNodes();\r\n\r\n    // Store original positions\r\n    this._chain.storeOriginalPositions();\r\n\r\n    const root = joints[0];\r\n    const middle = joints[1];\r\n    const end = joints[2];\r\n\r\n    const rootPos = root.position;\r\n    const upperLength = root.boneLength; // Length from root to middle\r\n    const lowerLength = middle.boneLength; // Length from middle to end\r\n    const totalLength = upperLength + lowerLength;\r\n\r\n    // Calculate direction and distance from root to target\r\n    const rootToTarget = Vector3.sub(target, rootPos, new Vector3());\r\n    const targetDistance = rootToTarget.magnitude;\r\n\r\n    // Check if target is reachable\r\n    if (targetDistance < 0.000001) {\r\n      // Target is at root position, keep original pose\r\n      return true;\r\n    }\r\n\r\n    let reachable = true;\r\n\r\n    // If target is unreachable, clamp to maximum distance\r\n    let effectiveTarget = target;\r\n    if (targetDistance >= totalLength - 0.0001) {\r\n      // Stretch to maximum length\r\n      const direction = Vector3.scale(rootToTarget, 1 / targetDistance, new Vector3());\r\n      effectiveTarget = Vector3.add(\r\n        rootPos,\r\n        Vector3.scale(direction, totalLength - 0.0001, new Vector3()),\r\n        new Vector3()\r\n      );\r\n      reachable = false;\r\n    }\r\n\r\n    // Calculate the distance from root to effective target\r\n    const rootToEffectiveTarget = Vector3.sub(effectiveTarget, rootPos, new Vector3());\r\n    const distance = rootToEffectiveTarget.magnitude;\r\n\r\n    // Use law of cosines to find the angle at the root joint\r\n    // cos(rootAngle) = (a² + c² - b²) / (2ac)\r\n    const cosRootAngle =\r\n      (upperLength * upperLength + distance * distance - lowerLength * lowerLength) /\r\n      (2 * upperLength * distance);\r\n    const clampedCosRootAngle = Math.max(-1, Math.min(1, cosRootAngle));\r\n    const rootAngle = Math.acos(clampedCosRootAngle);\r\n\r\n    // Determine the plane of bending\r\n    let bendNormal: Vector3;\r\n\r\n    if (this._poleVector && this._poleWeight > 0.001) {\r\n      // Use pole vector to determine bend direction\r\n      const rootToTargetDir = Vector3.normalize(rootToEffectiveTarget, new Vector3());\r\n      const rootToPole = Vector3.sub(this._poleVector, rootPos, new Vector3());\r\n\r\n      // Project pole vector onto plane perpendicular to root-target direction\r\n      const projectionLength = Vector3.dot(rootToPole, rootToTargetDir);\r\n      const projection = Vector3.scale(rootToTargetDir, projectionLength, new Vector3());\r\n      const perpendicular = Vector3.sub(rootToPole, projection, new Vector3());\r\n\r\n      const perpLength = perpendicular.magnitude;\r\n      if (perpLength > 0.000001) {\r\n        // Bend normal is perpendicular to both root-target and pole direction\r\n        bendNormal = Vector3.cross(rootToTargetDir, perpendicular, new Vector3()).inplaceNormalize();\r\n      } else {\r\n        // Pole is on the line, use default bend direction\r\n        bendNormal = this._getDefaultBendNormal(rootToEffectiveTarget);\r\n      }\r\n\r\n      // Apply pole weight\r\n      if (this._poleWeight < 0.999) {\r\n        const defaultNormal = this._getDefaultBendNormal(rootToEffectiveTarget);\r\n        // Slerp between default and pole-based normal\r\n        const angle = Math.acos(Math.max(-1, Math.min(1, Vector3.dot(defaultNormal, bendNormal))));\r\n        if (angle > 0.001) {\r\n          const axis = Vector3.cross(defaultNormal, bendNormal, new Vector3()).inplaceNormalize();\r\n          const rotation = new Quaternion().fromAxisAngle(axis, angle * this._poleWeight);\r\n          bendNormal = rotation.transform(defaultNormal, new Vector3());\r\n        }\r\n      }\r\n    } else {\r\n      // No pole vector, use default bend direction\r\n      bendNormal = this._getDefaultBendNormal(rootToEffectiveTarget);\r\n    }\r\n\r\n    // Calculate middle joint position\r\n    const rootToTargetDir = Vector3.normalize(rootToEffectiveTarget, new Vector3());\r\n\r\n    // Rotate root-to-target direction by rootAngle around bendNormal\r\n    const rotationToMiddle = new Quaternion().fromAxisAngle(bendNormal, rootAngle);\r\n    const rootToMiddleDir = rotationToMiddle.transform(rootToTargetDir, new Vector3());\r\n\r\n    // Place middle joint\r\n    middle.position.set(\r\n      Vector3.add(rootPos, Vector3.scale(rootToMiddleDir, upperLength, new Vector3()), new Vector3())\r\n    );\r\n\r\n    // Place end joint at target\r\n    end.position.set(effectiveTarget);\r\n\r\n    // Apply constraints after solving\r\n    // Note: Constraints may modify joint positions, which could affect bone lengths\r\n    // For Two Bone IK, we apply constraints and then restore bone lengths\r\n    this._applyConstraints();\r\n\r\n    return reachable;\r\n  }\r\n\r\n  /**\r\n   * Apply all constraints to the joint chain.\r\n   * After applying constraints, we need to restore bone lengths.\r\n   */\r\n  private _applyConstraints(): void {\r\n    const constraints = this._chain.constraints;\r\n    if (constraints.length === 0) {\r\n      return;\r\n    }\r\n\r\n    const joints = this._chain.joints;\r\n\r\n    // Apply each constraint\r\n    for (const constraint of constraints) {\r\n      constraint.apply(joints);\r\n    }\r\n\r\n    // After constraints are applied, we need to restore bone lengths\r\n    // because constraints may have moved joints in ways that change bone lengths\r\n    // For Two Bone IK, we fix this by adjusting positions while maintaining the constraint\r\n    this._restoreBoneLengths();\r\n  }\r\n\r\n  /**\r\n   * Restore bone lengths after constraints have been applied.\r\n   * This ensures that the chain maintains correct bone lengths.\r\n   */\r\n  private _restoreBoneLengths(): void {\r\n    const joints = this._chain.joints;\r\n    const root = joints[0];\r\n    const middle = joints[1];\r\n    const end = joints[2];\r\n\r\n    const upperLength = root.boneLength;\r\n    const lowerLength = middle.boneLength;\r\n\r\n    // Fix middle joint position to maintain upper bone length\r\n    const rootToMiddle = Vector3.sub(middle.position, root.position, new Vector3());\r\n    const rootToMiddleDist = rootToMiddle.magnitude;\r\n\r\n    if (rootToMiddleDist > 0.000001 && Math.abs(rootToMiddleDist - upperLength) > 0.0001) {\r\n      const rootToMiddleDir = Vector3.scale(rootToMiddle, 1 / rootToMiddleDist, new Vector3());\r\n      middle.position.set(\r\n        Vector3.add(root.position, Vector3.scale(rootToMiddleDir, upperLength, new Vector3()), new Vector3())\r\n      );\r\n    }\r\n\r\n    // Fix end joint position to maintain lower bone length\r\n    const middleToEnd = Vector3.sub(end.position, middle.position, new Vector3());\r\n    const middleToEndDist = middleToEnd.magnitude;\r\n\r\n    if (middleToEndDist > 0.000001 && Math.abs(middleToEndDist - lowerLength) > 0.0001) {\r\n      const middleToEndDir = Vector3.scale(middleToEnd, 1 / middleToEndDist, new Vector3());\r\n      end.position.set(\r\n        Vector3.add(middle.position, Vector3.scale(middleToEndDir, lowerLength, new Vector3()), new Vector3())\r\n      );\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply the solved joint positions to scene nodes as rotations.\r\n   *\r\n   * @param weight - Blend weight (0 = original, 1 = full IK, default: 1)\r\n   */\r\n  applyToNodes(weight = 1): void {\r\n    const joints = this._chain.joints;\r\n\r\n    // Apply rotation for root and middle joints (end joint doesn't need rotation)\r\n    for (let i = 0; i < joints.length - 1; i++) {\r\n      const joint = joints[i];\r\n      const nextJoint = joints[i + 1];\r\n\r\n      // Calculate direction from current joint to next joint in world space\r\n      const originalDir = Vector3.sub(nextJoint.originalPosition, joint.originalPosition, new Vector3());\r\n      const newDir = Vector3.sub(nextJoint.position, joint.position, new Vector3());\r\n\r\n      const originalDirNorm = Vector3.normalize(originalDir, new Vector3());\r\n      const newDirNorm = Vector3.normalize(newDir, new Vector3());\r\n\r\n      // Calculate basic rotation\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDirNorm, newDirNorm, deltaRotation);\r\n\r\n      // Calculate new world rotation\r\n      let worldRotation = Quaternion.multiply(deltaRotation, joint.originalRotation, new Quaternion());\r\n\r\n      // Apply swing-twist constraint to prevent over-rotation\r\n      // Decompose rotation around bone axis\r\n      const swing = new Quaternion();\r\n      const twist = new Quaternion();\r\n      worldRotation.decomposeSwingTwist(newDirNorm, swing, twist);\r\n\r\n      // Get twist angle\r\n      let twistAngle = twist.getTwistAngle(newDirNorm);\r\n\r\n      // Get twist constraint for this joint\r\n      const constraint = this._twistConstraints.get(i);\r\n      if (constraint) {\r\n        // Clamp and smooth twist\r\n        twistAngle = IKUtils.clampAndSmoothTwist(\r\n          twistAngle,\r\n          joint.previousTwist,\r\n          constraint.minTwist,\r\n          constraint.maxTwist,\r\n          constraint.smoothFactor\r\n        );\r\n      }\r\n\r\n      // Store for next frame\r\n      joint.previousTwist = twistAngle;\r\n\r\n      // Reconstruct rotation from clamped twist: Q = Twist * Swing\r\n      const clampedTwist = Quaternion.fromAxisAngle(newDirNorm, twistAngle);\r\n      worldRotation = Quaternion.multiply(clampedTwist, swing, worldRotation);\r\n\r\n      // Blend with original rotation based on weight\r\n      if (weight < 1) {\r\n        Quaternion.slerp(joint.originalRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      // Store this frame's world rotation for next frame's twist continuity\r\n      if (!joint.previousIKRotation) {\r\n        joint.previousIKRotation = worldRotation.clone();\r\n      } else {\r\n        joint.previousIKRotation.set(worldRotation);\r\n      }\r\n\r\n      // Convert world rotation to local rotation (relative to parent)\r\n      if (joint.node.parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        joint.node.parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n\r\n        // localRotation = conjugate(parentWorldRotation) * worldRotation\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n\r\n        joint.node.rotation = localRotation;\r\n      } else {\r\n        // Root node has no parent, world rotation is local rotation\r\n        joint.node.rotation = worldRotation;\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Get a default bend normal when no pole vector is specified.\r\n   * This tries to find a reasonable perpendicular direction.\r\n   *\r\n   * @param rootToTarget - Direction from root to target\r\n   * @returns A normalized perpendicular vector\r\n   */\r\n  private _getDefaultBendNormal(rootToTarget: Vector3): Vector3 {\r\n    const rootToTargetDir = Vector3.normalize(rootToTarget, new Vector3());\r\n\r\n    // Try to use world up (Y axis) as reference\r\n    let bendNormal = Vector3.cross(rootToTargetDir, Vector3.axisPY(), new Vector3());\r\n    const lenSq = bendNormal.x * bendNormal.x + bendNormal.y * bendNormal.y + bendNormal.z * bendNormal.z;\r\n\r\n    // If root-to-target is parallel to Y axis, use X axis instead\r\n    if (lenSq < 0.000001) {\r\n      bendNormal = Vector3.cross(rootToTargetDir, Vector3.axisPX(), new Vector3());\r\n    }\r\n\r\n    return bendNormal.inplaceNormalize();\r\n  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