@zephyr3d/scene 0.9.1 → 0.9.3

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  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package/dist/animation/ik/ik_chain_builder.js

@@ -0,0 +1,68 @@
+import { IKChain } from './ik_chain.js';
+
+/**
+ * Helper class for building IK chains from various sources.
+ *
+ * @public
+ */ class IKChainBuilder {
+    /**
+   * Create an IK chain from an array of scene nodes.
+   *
+   * @param nodes - Array of scene nodes from root to end effector
+   * @returns The created IK chain
+   */ static fromNodes(nodes) {
+        return new IKChain(nodes);
+    }
+    /**
+   * Create an IK chain from a skeleton using joint indices.
+   *
+   * @param skeleton - The skeleton containing the joints
+   * @param jointIndices - Array of joint indices from root to end effector
+   * @returns The created IK chain
+   */ static fromSkeleton(skeleton, jointIndices) {
+        if (jointIndices.length < 2) {
+            throw new Error('IK chain must have at least 2 joints');
+        }
+        const joints = skeleton.joints;
+        const nodes = [];
+        for (const index of jointIndices){
+            if (index < 0 || index >= joints.length) {
+                throw new Error(`Invalid joint index: ${index}`);
+            }
+            nodes.push(joints[index]);
+        }
+        return new IKChain(nodes);
+    }
+    /**
+   * Create an IK chain by traversing from a start node to an end node.
+   *
+   * @remarks
+   * This method walks up the parent chain from the end node until it
+   * reaches the start node, building the joint chain in the process.
+   *
+   * @param startNode - The root joint of the chain
+   * @param endNode - The end effector joint
+   * @returns The created IK chain
+   */ static fromNodeHierarchy(startNode, endNode) {
+        const nodes = [];
+        let current = endNode;
+        // Walk up the hierarchy from end to start
+        while(current){
+            nodes.unshift(current); // Add to front
+            if (current === startNode) {
+                break;
+            }
+            current = current.parent;
+        }
+        if (nodes[0] !== startNode) {
+            throw new Error('End node is not a descendant of start node');
+        }
+        if (nodes.length < 2) {
+            throw new Error('IK chain must have at least 2 joints');
+        }
+        return new IKChain(nodes);
+    }
+}
+
+export { IKChainBuilder };
+//# sourceMappingURL=ik_chain_builder.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"ik_chain_builder.js","sources":["../../../src/animation/ik/ik_chain_builder.ts"],"sourcesContent":["import { IKChain } from './ik_chain';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\nimport type { Skeleton } from '../skeleton';\r\n\r\n/**\r\n * Helper class for building IK chains from various sources.\r\n *\r\n * @public\r\n */\r\nexport class IKChainBuilder {\r\n  /**\r\n   * Create an IK chain from an array of scene nodes.\r\n   *\r\n   * @param nodes - Array of scene nodes from root to end effector\r\n   * @returns The created IK chain\r\n   */\r\n  static fromNodes(nodes: SceneNode[]): IKChain {\r\n    return new IKChain(nodes);\r\n  }\r\n\r\n  /**\r\n   * Create an IK chain from a skeleton using joint indices.\r\n   *\r\n   * @param skeleton - The skeleton containing the joints\r\n   * @param jointIndices - Array of joint indices from root to end effector\r\n   * @returns The created IK chain\r\n   */\r\n  static fromSkeleton(skeleton: Skeleton, jointIndices: number[]): IKChain {\r\n    if (jointIndices.length < 2) {\r\n      throw new Error('IK chain must have at least 2 joints');\r\n    }\r\n\r\n    const joints = skeleton.joints;\r\n    const nodes: SceneNode[] = [];\r\n\r\n    for (const index of jointIndices) {\r\n      if (index < 0 || index >= joints.length) {\r\n        throw new Error(`Invalid joint index: ${index}`);\r\n      }\r\n      nodes.push(joints[index]);\r\n    }\r\n\r\n    return new IKChain(nodes);\r\n  }\r\n\r\n  /**\r\n   * Create an IK chain by traversing from a start node to an end node.\r\n   *\r\n   * @remarks\r\n   * This method walks up the parent chain from the end node until it\r\n   * reaches the start node, building the joint chain in the process.\r\n   *\r\n   * @param startNode - The root joint of the chain\r\n   * @param endNode - The end effector joint\r\n   * @returns The created IK chain\r\n   */\r\n  static fromNodeHierarchy(startNode: SceneNode, endNode: SceneNode): IKChain {\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode | null = endNode;\r\n\r\n    // Walk up the hierarchy from end to start\r\n    while (current) {\r\n      nodes.unshift(current); // Add to front\r\n\r\n      if (current === startNode) {\r\n        break;\r\n      }\r\n\r\n      current = current.parent as SceneNode | null;\r\n    }\r\n\r\n    if (nodes[0] !== startNode) {\r\n      throw new Error('End node is not a descendant of start node');\r\n    }\r\n\r\n    if (nodes.length < 2) {\r\n      throw new Error('IK chain must have at least 2 joints');\r\n    }\r\n\r\n    return new IKChain(nodes);\r\n  }\r\n}\r\n"],"names":["IKChainBuilder","fromNodes","nodes","IKChain","fromSkeleton","skeleton","jointIndices","length","Error","joints","index","push","fromNodeHierarchy","startNode","endNode","current","unshift","parent"],"mappings":";;AAIA;;;;AAIC,IACM,MAAMA,cAAAA,CAAAA;AACX;;;;;MAMA,OAAOC,SAAUC,CAAAA,KAAkB,EAAW;AAC5C,QAAA,OAAO,IAAIC,OAAQD,CAAAA,KAAAA,CAAAA;AACrB;AAEA;;;;;;AAMC,MACD,OAAOE,YAAAA,CAAaC,QAAkB,EAAEC,YAAsB,EAAW;QACvE,IAAIA,YAAAA,CAAaC,MAAM,GAAG,CAAG,EAAA;AAC3B,YAAA,MAAM,IAAIC,KAAM,CAAA,sCAAA,CAAA;AAClB;QAEA,MAAMC,MAAAA,GAASJ,SAASI,MAAM;AAC9B,QAAA,MAAMP,QAAqB,EAAE;QAE7B,KAAK,MAAMQ,SAASJ,YAAc,CAAA;AAChC,YAAA,IAAII,KAAQ,GAAA,CAAA,IAAKA,KAASD,IAAAA,MAAAA,CAAOF,MAAM,EAAE;AACvC,gBAAA,MAAM,IAAIC,KAAAA,CAAM,CAAC,qBAAqB,EAAEE,KAAO,CAAA,CAAA,CAAA;AACjD;AACAR,YAAAA,KAAAA,CAAMS,IAAI,CAACF,MAAM,CAACC,KAAM,CAAA,CAAA;AAC1B;AAEA,QAAA,OAAO,IAAIP,OAAQD,CAAAA,KAAAA,CAAAA;AACrB;AAEA;;;;;;;;;;AAUC,MACD,OAAOU,iBAAAA,CAAkBC,SAAoB,EAAEC,OAAkB,EAAW;AAC1E,QAAA,MAAMZ,QAAqB,EAAE;AAC7B,QAAA,IAAIa,OAA4BD,GAAAA,OAAAA;;AAGhC,QAAA,MAAOC,OAAS,CAAA;YACdb,KAAMc,CAAAA,OAAO,CAACD,OAAAA,CAAAA,CAAAA;AAEd,YAAA,IAAIA,YAAYF,SAAW,EAAA;AACzB,gBAAA;AACF;AAEAE,YAAAA,OAAAA,GAAUA,QAAQE,MAAM;AAC1B;AAEA,QAAA,IAAIf,KAAK,CAAC,CAAE,CAAA,KAAKW,SAAW,EAAA;AAC1B,YAAA,MAAM,IAAIL,KAAM,CAAA,4CAAA,CAAA;AAClB;QAEA,IAAIN,KAAAA,CAAMK,MAAM,GAAG,CAAG,EAAA;AACpB,YAAA,MAAM,IAAIC,KAAM,CAAA,sCAAA,CAAA;AAClB;AAEA,QAAA,OAAO,IAAIL,OAAQD,CAAAA,KAAAA,CAAAA;AACrB;AACF;;;;"}

package/dist/animation/ik/ik_pole_constraint.js

@@ -4,13 +4,8 @@ import { IKConstraint } from './ik_constraint.js';
 /**
  * Pole vector constraint for IK chains.
  *
- * @deprecated Use the built-in pole vector methods on IK solvers instead:
- * - {@link FABRIKSolver.setPoleVector}
- * - {@link CCDSolver.setPoleVector}
- * - {@link TwoBoneIKSolver.poleVector}
- *
- * This class is deprecated and will be removed in a future version.
- * The built-in pole vector methods provide better performance and more control.
+ * Controls the twist/rotation of a joint chain by ensuring the middle joint
+ * bends toward a specified pole vector position.
  *
  * @remarks
  * This is commonly used for arms and legs to control which direction

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

@@ -1 +1 @@
-{"version":3,"file":"ik_pole_constraint.js","sources":["../../../src/animation/ik/ik_pole_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 * Pole vector constraint for IK chains.\r\n *\r\n * @deprecated Use the built-in pole vector methods on IK solvers instead:\r\n * - {@link FABRIKSolver.setPoleVector}\r\n * - {@link CCDSolver.setPoleVector}\r\n * - {@link TwoBoneIKSolver.poleVector}\r\n *\r\n * This class is deprecated and will be removed in a future version.\r\n * The built-in pole vector methods provide better performance and more control.\r\n *\r\n * @remarks\r\n * This is commonly used for arms and legs to control which direction\r\n * the elbow or knee points. For example, ensuring an elbow points\r\n * backward or a knee points forward.\r\n *\r\n * The pole vector defines a plane, and the middle joint is constrained\r\n * to lie on this plane.\r\n *\r\n * @public\r\n */\r\nexport class IKPoleVectorConstraint extends IKConstraint {\r\n  /** The pole vector position in world space */\r\n  private _poleVector: Vector3;\r\n  /** Weight of the constraint (0 = no effect, 1 = full effect) */\r\n  private _weight: number;\r\n\r\n  /**\r\n   * Create a pole vector constraint.\r\n   *\r\n   * @param jointIndex - Index of the middle joint to constrain (typically elbow or knee)\r\n   * @param poleVector - Position in world space that the joint should point toward\r\n   * @param weight - Constraint weight (0-1, default: 1)\r\n   */\r\n  constructor(jointIndex: number, poleVector: Vector3, weight = 1) {\r\n    super(jointIndex);\r\n    this._poleVector = poleVector.clone();\r\n    this._weight = Math.max(0, Math.min(1, weight));\r\n  }\r\n\r\n  /**\r\n   * Get the pole vector position.\r\n   */\r\n  get poleVector(): Vector3 {\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) {\r\n    this._poleVector.set(value);\r\n  }\r\n\r\n  /**\r\n   * Get the constraint weight.\r\n   */\r\n  get weight(): number {\r\n    return this._weight;\r\n  }\r\n\r\n  /**\r\n   * Set the constraint weight (0-1).\r\n   */\r\n  set weight(value: number) {\r\n    this._weight = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Apply the pole vector constraint.\r\n   *\r\n   * This adjusts the middle joint position to align with the pole vector\r\n   * while maintaining bone lengths.\r\n   */\r\n  apply(joints: IKJoint[]): void {\r\n    const index = this._jointIndex;\r\n\r\n    // Need at least 3 joints (parent, this, child)\r\n    if (index < 1 || index >= joints.length - 1) {\r\n      return;\r\n    }\r\n\r\n    if (this._weight < 0.001) {\r\n      return; // No effect\r\n    }\r\n\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 the plane defined by parent, child, and pole vector\r\n    const parentPos = parentJoint.position;\r\n    const childPos = childJoint.position;\r\n    const currentPos = currentJoint.position;\r\n\r\n    // Vector from parent to child (the \"line\" we're bending around)\r\n    const parentToChild = Vector3.sub(childPos, parentPos, new Vector3());\r\n    const lineLength = parentToChild.magnitude;\r\n\r\n    if (lineLength < 0.000001) {\r\n      return; // Parent and child are at same position\r\n    }\r\n\r\n    const lineDir = Vector3.scale(parentToChild, 1 / lineLength, new Vector3());\r\n\r\n    // Project current joint onto the parent-child line\r\n    const parentToCurrent = Vector3.sub(currentPos, parentPos, new Vector3());\r\n    const projectionLength = Vector3.dot(parentToCurrent, lineDir);\r\n    const projectionPoint = Vector3.scale(lineDir, projectionLength, new Vector3());\r\n    projectionPoint.addBy(parentPos);\r\n\r\n    // Vector from projection point to current joint (perpendicular to line)\r\n    const perpendicular = Vector3.sub(currentPos, projectionPoint, new Vector3());\r\n    const perpLength = perpendicular.magnitude;\r\n\r\n    if (perpLength < 0.000001) {\r\n      return; // Current joint is on the line\r\n    }\r\n\r\n    // Calculate desired direction toward pole vector\r\n    const parentToPole = Vector3.sub(this._poleVector, parentPos, new Vector3());\r\n    const poleProjectionLength = Vector3.dot(parentToPole, lineDir);\r\n    const poleProjectionPoint = Vector3.scale(lineDir, poleProjectionLength, new Vector3());\r\n    poleProjectionPoint.addBy(parentPos);\r\n\r\n    // Direction from projection to pole (perpendicular to line)\r\n    const poleDirection = Vector3.sub(this._poleVector, poleProjectionPoint, new Vector3());\r\n    const poleDirLength = poleDirection.magnitude;\r\n\r\n    if (poleDirLength < 0.000001) {\r\n      return; // Pole is on the line\r\n    }\r\n\r\n    poleDirection.scaleBy(1 / poleDirLength);\r\n\r\n    // Calculate new position for current joint\r\n    // Keep the same distance from the line, but rotate toward pole direction\r\n    const desiredPerpendicular = Vector3.scale(poleDirection, perpLength, new Vector3());\r\n    const newPosition = Vector3.add(projectionPoint, desiredPerpendicular, new Vector3());\r\n\r\n    // Apply weight (blend between original and constrained position)\r\n    if (this._weight < 0.999) {\r\n      // Manual lerp: result = a + (b - 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+{"version":3,"file":"ik_pole_constraint.js","sources":["../../../src/animation/ik/ik_pole_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 * Pole vector constraint for IK chains.\r\n *\r\n * Controls the twist/rotation of a joint chain by ensuring the middle joint\r\n * bends toward a specified pole vector position.\r\n *\r\n * @remarks\r\n * This is commonly used for arms and legs to control which direction\r\n * the elbow or knee points. For example, ensuring an elbow points\r\n * backward or a knee points forward.\r\n *\r\n * The pole vector defines a plane, and the middle joint is constrained\r\n * to lie on this plane.\r\n *\r\n * @public\r\n */\r\nexport class IKPoleVectorConstraint extends IKConstraint {\r\n  /** The pole vector position in world space */\r\n  private _poleVector: Vector3;\r\n  /** Weight of the constraint (0 = no effect, 1 = full effect) */\r\n  private _weight: number;\r\n\r\n  /**\r\n   * Create a pole vector constraint.\r\n   *\r\n   * @param jointIndex - Index of the middle joint to constrain (typically elbow or knee)\r\n   * @param poleVector - Position in world space that the joint should point toward\r\n   * @param weight - Constraint weight (0-1, default: 1)\r\n   */\r\n  constructor(jointIndex: number, poleVector: Vector3, weight = 1) {\r\n    super(jointIndex);\r\n    this._poleVector = poleVector.clone();\r\n    this._weight = Math.max(0, Math.min(1, weight));\r\n  }\r\n\r\n  /**\r\n   * Get the pole vector position.\r\n   */\r\n  get poleVector(): Vector3 {\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) {\r\n    this._poleVector.set(value);\r\n  }\r\n\r\n  /**\r\n   * Get the constraint weight.\r\n   */\r\n  get weight(): number {\r\n    return this._weight;\r\n  }\r\n\r\n  /**\r\n   * Set the constraint weight (0-1).\r\n   */\r\n  set weight(value: number) {\r\n    this._weight = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Apply the pole vector constraint.\r\n   *\r\n   * This adjusts the middle joint position to align with the pole vector\r\n   * while maintaining bone lengths.\r\n   */\r\n  apply(joints: IKJoint[]): void {\r\n    const index = this._jointIndex;\r\n\r\n    // Need at least 3 joints (parent, this, child)\r\n    if (index < 1 || index >= joints.length - 1) {\r\n      return;\r\n    }\r\n\r\n    if (this._weight < 0.001) {\r\n      return; // No effect\r\n    }\r\n\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 the plane defined by parent, child, and pole vector\r\n    const parentPos = parentJoint.position;\r\n    const childPos = childJoint.position;\r\n    const currentPos = currentJoint.position;\r\n\r\n    // Vector from parent to child (the \"line\" we're bending around)\r\n    const parentToChild = Vector3.sub(childPos, parentPos, new Vector3());\r\n    const lineLength = parentToChild.magnitude;\r\n\r\n    if (lineLength < 0.000001) {\r\n      return; // Parent and child are at same position\r\n    }\r\n\r\n    const lineDir = Vector3.scale(parentToChild, 1 / lineLength, new Vector3());\r\n\r\n    // Project current joint onto the parent-child line\r\n    const parentToCurrent = Vector3.sub(currentPos, parentPos, new Vector3());\r\n    const projectionLength = Vector3.dot(parentToCurrent, lineDir);\r\n    const projectionPoint = Vector3.scale(lineDir, projectionLength, new Vector3());\r\n    projectionPoint.addBy(parentPos);\r\n\r\n    // Vector from projection point to current joint (perpendicular to line)\r\n    const perpendicular = Vector3.sub(currentPos, projectionPoint, new Vector3());\r\n    const perpLength = perpendicular.magnitude;\r\n\r\n    if (perpLength < 0.000001) {\r\n      return; // Current joint is on the line\r\n    }\r\n\r\n    // Calculate desired direction toward pole vector\r\n    const parentToPole = Vector3.sub(this._poleVector, parentPos, new Vector3());\r\n    const poleProjectionLength = Vector3.dot(parentToPole, lineDir);\r\n    const poleProjectionPoint = Vector3.scale(lineDir, poleProjectionLength, new Vector3());\r\n    poleProjectionPoint.addBy(parentPos);\r\n\r\n    // Direction from projection to pole (perpendicular to line)\r\n    const poleDirection = Vector3.sub(this._poleVector, poleProjectionPoint, new Vector3());\r\n    const poleDirLength = poleDirection.magnitude;\r\n\r\n    if (poleDirLength < 0.000001) {\r\n      return; // Pole is on the line\r\n    }\r\n\r\n    poleDirection.scaleBy(1 / poleDirLength);\r\n\r\n    // Calculate new position for current joint\r\n    // Keep the same distance from the line, but rotate toward pole direction\r\n    const desiredPerpendicular = Vector3.scale(poleDirection, perpLength, new Vector3());\r\n    const newPosition = Vector3.add(projectionPoint, desiredPerpendicular, new Vector3());\r\n\r\n    // Apply weight (blend between original and constrained position)\r\n    if (this._weight < 0.999) {\r\n      // Manual lerp: result = a + (b - 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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));
     }
     /**