@zephyr3d/scene 0.9.27 → 0.10.0

package/dist/animation/skeleton.js.map

@@ -1 +1 @@
-{"version":3,"file":"skeleton.js","sources":["../../src/animation/skeleton.ts"],"sourcesContent":["import { DRef, randomUUID, DWeakRef } from '@zephyr3d/base';\r\nimport type { Nullable, TypedArray } from '@zephyr3d/base';\r\nimport { Quaternion } from '@zephyr3d/base';\r\nimport { Disposable, Matrix4x4, Vector3, nextPowerOf2 } from '@zephyr3d/base';\r\nimport type { Texture2D } from '@zephyr3d/device';\r\nimport type { SceneNode } from '../scene/scene_node';\r\nimport { BoundingBox } from '../utility/bounding_volume';\r\nimport { getDevice } from '../app/api';\r\nimport type { SkeletonModifier } from './skeleton_modifier';\r\n\r\n/**\r\n * Standardized humanoid joint names for consistent skeleton mapping across models and animations.\r\n *\r\n * These names align with common conventions used in 3D modeling and animation tools, facilitating interoperability and reuse of assets.\r\n *\r\n * @public\r\n */\r\nexport enum HumanoidBodyRig {\r\n  Hips = 'Hips',\r\n  Spine = 'Spine',\r\n  Chest = 'Chest',\r\n  UpperChest = 'UpperChest',\r\n  Neck = 'Neck',\r\n  Head = 'Head',\r\n\r\n  LeftShoulder = 'LeftShoulder',\r\n  LeftUpperArm = 'LeftUpperArm',\r\n  LeftLowerArm = 'LeftLowerArm',\r\n  LeftHand = 'LeftHand',\r\n\r\n  RightShoulder = 'RightShoulder',\r\n  RightUpperArm = 'RightUpperArm',\r\n  RightLowerArm = 'RightLowerArm',\r\n  RightHand = 'RightHand',\r\n\r\n  LeftUpperLeg = 'LeftUpperLeg',\r\n  LeftLowerLeg = 'LeftLowerLeg',\r\n  LeftFoot = 'LeftFoot',\r\n  LeftToes = 'LeftToes',\r\n\r\n  RightUpperLeg = 'RightUpperLeg',\r\n  RightLowerLeg = 'RightLowerLeg',\r\n  RightFoot = 'RightFoot',\r\n  RightToes = 'RightToes'\r\n}\r\n\r\n/**\r\n * Standardized humanoid hand joint names for consistent skeleton mapping across models and animations.\r\n *\r\n * These names align with common conventions used in 3D modeling and animation tools, facilitating interoperability and reuse of assets.\r\n *\r\n * @public\r\n */\r\nexport enum HumanoidHandRig {\r\n  ThumbProximal = 'ThumbProximal',\r\n  ThumbIntermediate = 'ThumbIntermediate',\r\n  ThumbDistal = 'ThumbDistal',\r\n  IndexProximal = 'IndexProximal',\r\n  IndexIntermediate = 'IndexIntermediate',\r\n  IndexDistal = 'IndexDistal',\r\n  MiddleProximal = 'MiddleProximal',\r\n  MiddleIntermediate = 'MiddleIntermediate',\r\n  MiddleDistal = 'MiddleDistal',\r\n  RingProximal = 'RingProximal',\r\n  RingIntermediate = 'RingIntermediate',\r\n  RingDistal = 'RingDistal',\r\n  PinkyProximal = 'PinkyProximal',\r\n  PinkyIntermediate = 'PinkyIntermediate',\r\n  PinkyDistal = 'PinkyDistal'\r\n}\r\n\r\n/**\r\n * Skinned bounding box information for a submesh.\r\n *\r\n * Used to compute animated AABB for skinned meshes.\r\n *\r\n * @public\r\n */\r\nexport interface SkinnedBoundingBox {\r\n  /**\r\n   * Number of influences stored per representative vertex.\r\n   */\r\n  influenceCount?: number;\r\n  /**\r\n   * Representative vertices used to bound a skinned mesh (extreme points along axes).\r\n   */\r\n  boundingVertices: Vector3[];\r\n  /**\r\n   * Joint indices for each representative vertex, flattened.\r\n   */\r\n  boundingVertexBlendIndices: Float32Array;\r\n  /**\r\n   * Corresponding joint weights for each representative vertex, flattened.\r\n   * Layout matches `boundingVertexBlendIndices`.\r\n   */\r\n  boundingVertexJointWeights: Float32Array;\r\n  /**\r\n   * Computed axis-aligned bounding box in model space for the current pose.\r\n   */\r\n  boundingBox: BoundingBox;\r\n}\r\n\r\nconst tmpV0 = new Vector3();\r\nconst tmpV1 = new Vector3();\r\n\r\n/**\r\n * Humanoid joint mapping\r\n * @public\r\n */\r\nexport type HumanoidJointMapping<T extends { name: string; parent: Nullable<T>; children: T[] }> = {\r\n  body: Record<HumanoidBodyRig, T>;\r\n  leftHand?: Record<HumanoidHandRig, T>;\r\n  rightHand?: Record<HumanoidHandRig, T>;\r\n};\r\n\r\n/** @public */\r\nexport type SkeletonBindPose = { rotation: Quaternion; scale: Vector3; position: Vector3 };\r\n\r\n/** @public */\r\nexport type SkeletonRigOptions = {\r\n  rootJoint?: Nullable<SceneNode>;\r\n  rootBindPose?: SkeletonBindPose;\r\n  humanoidJointMapping?: Nullable<HumanoidJointMapping<SceneNode>>;\r\n  /**\r\n   * Optional humanoid retarget reference pose, ordered like `joints`.\r\n   * When omitted, the rig bind pose is used as the retarget reference.\r\n   */\r\n  retargetPose?: Nullable<SkeletonBindPose[]>;\r\n};\r\n\r\ntype HumanoidJointPattern = {\r\n  all?: string[];\r\n  any?: string[];\r\n  none?: string[];\r\n};\r\n\r\ntype HumanoidJointProfile<T extends string> = Record<T, HumanoidJointPattern[]>;\r\n\r\nconst humanoidHelperJointTokens = new Set(['end', 'nub', 'socket']);\r\n\r\ntype HumanoidJointNodeInfo<T extends { name: string; children: T[] }> = {\r\n  node: T;\r\n  depth: number;\r\n  tokens: string[];\r\n  tokenSet: Set<string>;\r\n};\r\n\r\ntype HumanoidJointMatchCandidate<T extends { name: string; children: T[] }> = {\r\n  node: T;\r\n  score: number;\r\n};\r\n\r\n/**\r\n * Shared joint rig for skeletal animation.\r\n *\r\n * A rig owns the animated joint nodes, bind pose, humanoid mapping and procedural\r\n * modifiers. Multiple skin bindings may reference the same rig with different\r\n * inverse bind matrices.\r\n *\r\n * @public\r\n */\r\nexport class SkeletonRig extends Disposable {\r\n  private static readonly _registry: Map<string, DWeakRef<SkeletonRig>> = new Map();\r\n  protected _id: string;\r\n  protected _joints: SceneNode[];\r\n  protected _bindPoseByJoint: Map<SceneNode, SkeletonBindPose>;\r\n  protected _bindPose: SkeletonBindPose[];\r\n  protected _retargetPoseByJoint: Nullable<Map<SceneNode, SkeletonBindPose>>;\r\n  protected _retargetPose: Nullable<SkeletonBindPose[]>;\r\n  protected _rootJoint: Nullable<SceneNode>;\r\n  protected _rootBindPose: SkeletonBindPose;\r\n  protected _playing: boolean;\r\n  protected _modifiers: SkeletonModifier[];\r\n  protected _humanoidJointMapping: Nullable<HumanoidJointMapping<SceneNode>>;\r\n  protected _humanoidRootRotation: Quaternion;\r\n\r\n  constructor(joints: SceneNode[], bindPose: SkeletonBindPose[], options?: SkeletonRigOptions) {\r\n    super();\r\n    this._id = randomUUID();\r\n    this._joints = joints;\r\n    this._bindPose = bindPose;\r\n    this._bindPoseByJoint = new Map();\r\n    for (let i = 0; i < joints.length; i++) {\r\n      this._bindPoseByJoint.set(joints[i], bindPose[i]);\r\n    }\r\n    if (options?.retargetPose && options.retargetPose.length !== joints.length) {\r\n      throw new Error('SkeletonRig(): retarget pose must contain one transform per joint');\r\n    }\r\n    this._retargetPose = options?.retargetPose ?? null;\r\n    this._retargetPoseByJoint = this._retargetPose\r\n      ? new Map(joints.map((joint, index) => [joint, this._retargetPose![index]]))\r\n      : null;\r\n    const skeletonRoot = this.findRootJoint(this._joints);\r\n    this._rootJoint = options?.rootJoint ?? skeletonRoot;\r\n    this._rootBindPose = options?.rootBindPose ?? this.getNodeBindPose(this._rootJoint);\r\n    this._playing = false;\r\n    this._modifiers = [];\r\n    this.computeBindPose();\r\n    this._humanoidJointMapping =\r\n      options?.humanoidJointMapping !== undefined\r\n        ? options.humanoidJointMapping\r\n        : skeletonRoot\r\n          ? Skeleton.tryExtractHumanoidJoints(skeletonRoot)\r\n          : null;\r\n    this._humanoidRootRotation = Quaternion.identity();\r\n    const hips = this._humanoidJointMapping?.body[HumanoidBodyRig.Hips];\r\n    if (hips) {\r\n      let p = hips;\r\n      while (this._joints.includes(p.parent!)) {\r\n        Quaternion.multiply(p.parent!.rotation, this._humanoidRootRotation, this._humanoidRootRotation);\r\n        p = p.parent!;\r\n      }\r\n    }\r\n    SkeletonRig._registry.set(this._id, new DWeakRef(this));\r\n  }\r\n\r\n  static getRigKey(joints: SceneNode[], rootJoint?: Nullable<SceneNode>) {\r\n    return [rootJoint?.persistentId ?? '', ...joints.map((joint) => joint.persistentId).sort()].join('|');\r\n  }\r\n\r\n  static findRigById(id: string) {\r\n    const m = this._registry.get(id);\r\n    if (m && !m.get()) {\r\n      this._registry.delete(id);\r\n      return null;\r\n    }\r\n    return m ? m.get() : null;\r\n  }\r\n\r\n  get persistentId() {\r\n    return this._id;\r\n  }\r\n\r\n  set persistentId(val) {\r\n    if (val !== this._id) {\r\n      const m = SkeletonRig._registry.get(this._id);\r\n      if (!m || m.get() !== this) {\r\n        throw new Error('Registry skeleton rig mismatch');\r\n      }\r\n      SkeletonRig._registry.delete(this._id);\r\n      this._id = val;\r\n      SkeletonRig._registry.set(this._id, m);\r\n    }\r\n  }\r\n\r\n  get joints() {\r\n    return this._joints;\r\n  }\r\n\r\n  get bindPose() {\r\n    return this._bindPose;\r\n  }\r\n\r\n  /** Effective humanoid retarget reference pose. */\r\n  get retargetPose() {\r\n    return this._retargetPose ?? this._bindPose;\r\n  }\r\n\r\n  /** Whether this rig has a reference pose that is distinct from its bind pose. */\r\n  get hasRetargetPose() {\r\n    return !!this._retargetPose;\r\n  }\r\n\r\n  get rootJoint(): Nullable<SceneNode> {\r\n    return this._rootJoint;\r\n  }\r\n\r\n  set rootJoint(joint: Nullable<SceneNode>) {\r\n    this._rootJoint = joint;\r\n    this._rootBindPose = this.getNodeBindPose(joint);\r\n  }\r\n\r\n  get rootBindPose(): SkeletonBindPose {\r\n    return this._rootBindPose;\r\n  }\r\n\r\n  getBindPoseForJoint(joint: SceneNode) {\r\n    return this._bindPoseByJoint.get(joint) ?? null;\r\n  }\r\n\r\n  getRetargetPoseForJoint(joint: SceneNode) {\r\n    return this._retargetPoseByJoint?.get(joint) ?? this.getBindPoseForJoint(joint);\r\n  }\r\n\r\n  get humanoidJointMapping(): Nullable<HumanoidJointMapping<SceneNode>> {\r\n    return this._humanoidJointMapping;\r\n  }\r\n\r\n  get humanoidRootRotation(): Quaternion {\r\n    return this._humanoidRootRotation;\r\n  }\r\n\r\n  get modifiers(): SkeletonModifier[] {\r\n    return this._modifiers;\r\n  }\r\n\r\n  get playing() {\r\n    return this._playing;\r\n  }\r\n\r\n  set playing(b: boolean) {\r\n    this._playing = b;\r\n  }\r\n\r\n  getJointIndex(joint: SceneNode) {\r\n    return this._joints.indexOf(joint);\r\n  }\r\n\r\n  getJointIndexByName(jointName: string) {\r\n    return this._joints.findIndex((joint) => joint.name === jointName);\r\n  }\r\n\r\n  computeBindPose() {\r\n    for (let i = 0; i < this._joints.length; i++) {\r\n      const joint = this._joints[i];\r\n      const bindpose = this._bindPose[i];\r\n      joint.position.set(bindpose.position);\r\n      joint.rotation.set(bindpose.rotation);\r\n      joint.scale.set(bindpose.scale);\r\n    }\r\n    if (this._rootJoint && !this._bindPoseByJoint.has(this._rootJoint)) {\r\n      this._rootJoint.position.set(this._rootBindPose.position);\r\n      this._rootJoint.rotation.set(this._rootBindPose.rotation);\r\n      this._rootJoint.scale.set(this._rootBindPose.scale);\r\n    }\r\n  }\r\n\r\n  apply(deltaTime: number): void {\r\n    for (const modifier of this._modifiers) {\r\n      modifier.apply(this, deltaTime);\r\n    }\r\n  }\r\n\r\n  reset() {\r\n    this._playing = false;\r\n  }\r\n\r\n  protected onDispose() {\r\n    super.onDispose();\r\n    const m = SkeletonRig._registry.get(this._id);\r\n    if (m?.get() === this) {\r\n      SkeletonRig._registry.delete(this._id);\r\n      m.dispose();\r\n    }\r\n  }\r\n\r\n  private findRootJoint(joints: SceneNode[]) {\r\n    let root: Nullable<SceneNode> = null;\r\n    for (const joint of joints) {\r\n      if (!root) {\r\n        root = joint;\r\n      }\r\n      while (!root!.isParentOf(joint)) {\r\n        root = root!.parent;\r\n      }\r\n      if (!root) {\r\n        break;\r\n      }\r\n    }\r\n    return root;\r\n  }\r\n\r\n  private getNodeBindPose(node: Nullable<SceneNode>): SkeletonBindPose {\r\n    const bindPose = node ? this._bindPoseByJoint.get(node) : null;\r\n    return bindPose\r\n      ? {\r\n          position: bindPose.position.clone(),\r\n          rotation: bindPose.rotation.clone(),\r\n          scale: bindPose.scale.clone()\r\n        }\r\n      : {\r\n          position: node?.position.clone() ?? Vector3.zero(),\r\n          rotation: node?.rotation.clone() ?? Quaternion.identity(),\r\n          scale: node?.scale.clone() ?? Vector3.one()\r\n        };\r\n  }\r\n}\r\n\r\nfunction jointPattern(all: string[], none?: string[], any?: string[]): HumanoidJointPattern {\r\n  return {\r\n    all,\r\n    any: any?.length ? any : undefined,\r\n    none: none?.length ? none : undefined\r\n  };\r\n}\r\n\r\nfunction sideJointPatterns(\r\n  side: 'left' | 'right',\r\n  patterns: Array<{ all: string[]; none?: string[]; any?: string[] }>\r\n): HumanoidJointPattern[] {\r\n  const sideTokens = side === 'left' ? ['left', 'l'] : ['right', 'r'];\r\n  return sideTokens.flatMap((sideToken) =>\r\n    patterns.map((pattern) => ({\r\n      all: [sideToken, ...pattern.all],\r\n      any: pattern.any?.length ? [...pattern.any] : undefined,\r\n      none: pattern.none?.length ? [...pattern.none] : undefined\r\n    }))\r\n  );\r\n}\r\n\r\n/**\r\n * Skin binding for skinned animation.\r\n *\r\n * Responsibilities:\r\n * - References a shared SkeletonRig.\r\n * - Maintains inverse bind and current skinning matrices for one skin.\r\n * - Provides a texture containing joint matrices for GPU skinning.\r\n * - Applies skinning state to associated meshes each frame.\r\n * - Computes animated axis-aligned bounding boxes using representative skinned vertices.\r\n *\r\n * Joint matrix texture layout:\r\n * - Texture format: `rgba32f`.\r\n * - Stored as a 2-layered ring buffer: current and previous joint transforms to support\r\n *   temporal addressing if needed. Offsets are tracked in `_jointOffsets[0]` (current)\r\n *   and `_jointOffsets[1]` (previous).\r\n *\r\n * Usage:\r\n * - Construct with a rig, bind data, meshes and submesh bounding info.\r\n * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.\r\n * - Call `reset()` to clear skinning on meshes.\r\n *\r\n * @public\r\n */\r\nexport class SkinBinding extends Disposable {\r\n  /** @internal Global weak registry keyed by persistentId for serialization/lookup. */\r\n  private static readonly _registry: Map<string, DWeakRef<SkinBinding>> = new Map();\r\n  /** @internal */\r\n  protected _id: string;\r\n  /** @internal */\r\n  protected _rig: SkeletonRig;\r\n  /** @internal */\r\n  protected _joints: SceneNode[];\r\n  /** @internal */\r\n  protected _inverseBindMatrices: Matrix4x4[];\r\n  /** @internal */\r\n  protected _jointMatrices!: Matrix4x4[];\r\n  /** @internal */\r\n  protected _jointOffsets!: Float32Array<ArrayBuffer>;\r\n  /** @internal */\r\n  protected _jointMatrixArray!: Float32Array<ArrayBuffer>;\r\n  /** @internal */\r\n  protected _jointTexture: DRef<Texture2D>;\r\n  /** @internal */\r\n  protected _playing: boolean;\r\n  /** @internal */\r\n  protected _lastUpdateTime: number;\r\n  /**\r\n   * Create a skin binding instance.\r\n   *\r\n   * @param rig - Shared skeleton rig that owns animated joint transforms.\r\n   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.\r\n   * @param inverseBindMatrices - Inverse bind matrices for each joint.\r\n   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).\r\n   */\r\n  constructor(\r\n    rig: SkeletonRig,\r\n    inverseBindMatrices: Matrix4x4[],\r\n    joints?: SceneNode[],\r\n    bindPose?: SkeletonBindPose[]\r\n  ) {\r\n    super();\r\n    this._id = randomUUID();\r\n    this._rig = rig;\r\n    this._joints = joints ?? rig.joints;\r\n    this._inverseBindMatrices = inverseBindMatrices;\r\n    this._jointTexture = new DRef();\r\n    this._playing = false;\r\n    this._lastUpdateTime = 0;\r\n    if (bindPose && bindPose !== rig.bindPose) {\r\n      // Legacy callers used Skeleton as both rig and binding. Keep the old bind\r\n      // pose visible by replacing the rig pose only when explicitly supplied.\r\n      this._rig = new SkeletonRig(rig.joints, bindPose, {\r\n        rootJoint: rig.rootJoint,\r\n        rootBindPose: rig.rootBindPose,\r\n        humanoidJointMapping: rig.humanoidJointMapping,\r\n        retargetPose: rig.hasRetargetPose ? rig.retargetPose : null\r\n      });\r\n    }\r\n    this.updateJointMatrices();\r\n    SkinBinding._registry.set(this._id, new DWeakRef(this));\r\n  }\r\n  /**\r\n   * Lookup a skeleton from the global registry by persistent id.\r\n   *\r\n   * @param id - The persistent UUID to search for.\r\n   * @returns The skeleton if alive, otherwise `null`.\r\n   * @internal\r\n   */\r\n  static findSkinBindingById(id: string) {\r\n    const m = this._registry.get(id);\r\n    if (m && !m.get()) {\r\n      this._registry.delete(id);\r\n      return null;\r\n    }\r\n    return m ? m.get() : null;\r\n  }\r\n  static findSkeletonById(id: string) {\r\n    return this.findSkinBindingById(id);\r\n  }\r\n  get rig() {\r\n    return this._rig;\r\n  }\r\n  /** Gets joint nodes */\r\n  get joints() {\r\n    return this._joints;\r\n  }\r\n  /** Gets the humanoid joint mapping */\r\n  get humanoidJointMapping(): Nullable<HumanoidJointMapping<SceneNode>> {\r\n    return this._rig.humanoidJointMapping;\r\n  }\r\n  /** Root rotation of humanoid hips bone */\r\n  get humanoidRootRotation(): Quaternion {\r\n    return this._rig.humanoidRootRotation;\r\n  }\r\n  /** @internal */\r\n  get inverseBindMatrices() {\r\n    return this._inverseBindMatrices;\r\n  }\r\n  /** @internal */\r\n  get bindPose() {\r\n    return this._joints.map((joint) => this._rig.getBindPoseForJoint(joint)!);\r\n  }\r\n  get playing() {\r\n    return this._playing;\r\n  }\r\n  set playing(b: boolean) {\r\n    this._playing = b;\r\n  }\r\n  get persistentId() {\r\n    return this._id;\r\n  }\r\n  set persistentId(val) {\r\n    if (val !== this._id) {\r\n      const m = SkinBinding._registry.get(this._id);\r\n      if (!m || m.get() !== this) {\r\n        throw new Error('Registry skin binding mismatch');\r\n      }\r\n      SkinBinding._registry.delete(this._id);\r\n      this._id = val;\r\n      SkinBinding._registry.set(this._id, m);\r\n    }\r\n  }\r\n  /**\r\n   * Texture containing joint matrices for GPU skinning.\r\n   *\r\n   * Each matrix is stored in 4 texels (one row per texel, RGBA = 4 floats).\r\n   */\r\n  get jointTexture() {\r\n    return this._jointTexture.get()!;\r\n  }\r\n  /**\r\n   * Get joint index by joint node\r\n   * @param joint - joint node\r\n   * @returns The index of the joint\r\n   */\r\n  getJointIndex(joint: SceneNode) {\r\n    return this._joints.indexOf(joint);\r\n  }\r\n  /**\r\n   * Get joint index by joint name\r\n   * @param jointName - joint name\r\n   * @returns The index of the joint\r\n   */\r\n  getJointIndexByName(jointName: string) {\r\n    return this._joints.findIndex((joint) => joint.name === jointName);\r\n  }\r\n  /**\r\n   * Update joint matrices from either provided transforms or the joints' world matrices.\r\n   *\r\n   * - Lazily creates the joint texture and its backing arrays on first call.\r\n   * - Advances the ring buffer offset in `_jointOffsets` to write a new \"current\" set.\r\n   * - For each joint:\r\n   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).\r\n   *   - Computes skinning matrix: ( M_\\{skin\\} = M_\\{joint\\} \\\\times M_\\{inverseBind\\} ).\r\n   *\r\n   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`\r\n   * update the GPU texture.\r\n   *\r\n   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.\r\n   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.\r\n   * @internal\r\n   */\r\n  updateJointMatrices() {\r\n    if (!this._jointTexture.get()) {\r\n      this._createJointTexture();\r\n    }\r\n    if (this._jointOffsets[0] === 0) {\r\n      this._jointOffsets[0] = 1;\r\n      this._jointOffsets[1] = 1;\r\n    } else {\r\n      this._jointOffsets[1] = this._jointOffsets[0];\r\n      this._jointOffsets[0] = this.joints.length - this._jointOffsets[0] + 2;\r\n    }\r\n    for (let i = 0; i < this.joints.length; i++) {\r\n      Matrix4x4.multiply(\r\n        this.joints[i].worldMatrix,\r\n        this._inverseBindMatrices[i],\r\n        this._jointMatrices[i + this._jointOffsets[0] - 1]\r\n      );\r\n    }\r\n  }\r\n  /**\r\n   * Reset skeleton to bind pose\r\n   *\r\n   * @internal\r\n   */\r\n  computeBindPose() {\r\n    this._rig.computeBindPose();\r\n  }\r\n  /**\r\n   * Compute current joint matrices from the nodes and upload them to the joint texture.\r\n   *\r\n   * @internal\r\n   */\r\n  apply() {\r\n    this.updateJointMatrices();\r\n    const tex = this.jointTexture;\r\n    this._syncJointMatrixArray();\r\n    tex.update(this._jointMatrixArray, 0, 0, tex.width, tex.height);\r\n  }\r\n  /**\r\n   * Apply all enabled modifiers.\r\n   *\r\n   * Modifiers are applied after the base animation/bind pose layer,\r\n   * allowing procedural modifications like IK, spring physics, or manual overrides.\r\n   *\r\n   * @param deltaTime - Time elapsed since last frame (in seconds)\r\n   * @internal\r\n   */\r\n  protected applyModifiers(deltaTime: number): void {\r\n    this._rig.apply(deltaTime);\r\n  }\r\n  /**\r\n   * Get all modifiers attached to this skeleton.\r\n   *\r\n   * @public\r\n   */\r\n  get modifiers(): SkeletonModifier[] {\r\n    return this._rig.modifiers;\r\n  }\r\n  /**\r\n   * Reset all meshes to an unskinned state and clear animated bounds.\r\n   *\r\n   * @internal\r\n   */\r\n  reset() {\r\n    //this.updateJointMatrices(this._bindPoseMatrices);\r\n    this._playing = false;\r\n  }\r\n  /**\r\n   * Compute the animated bounding box for a single mesh using its representative vertices.\r\n   *\r\n   * For each representative vertex:\r\n   * - Blends the vertex by up to 4 joint matrices using provided weights.\r\n   * - Transforms to the mesh's local space using `invWorldMatrix`.\r\n   * - Expands the bounding box.\r\n   *\r\n   * @param info - Precomputed bounding data (representative vertices, indices, weights).\r\n   * @param invWorldMatrix - Mesh inverse world matrix to convert to model/local space.\r\n   * @internal\r\n   */\r\n  computeBoundingBox(info: SkinnedBoundingBox, invWorldMatrix: Matrix4x4) {\r\n    info.boundingBox.beginExtend();\r\n    const influenceCount = Math.max(1, info.influenceCount ?? 4);\r\n    for (let i = 0; i < info.boundingVertices.length; i++) {\r\n      tmpV0.setXYZ(0, 0, 0);\r\n      const base = i * influenceCount;\r\n      for (let j = 0; j < influenceCount; j++) {\r\n        const weight = Number(info.boundingVertexJointWeights[base + j]) || 0;\r\n        if (weight <= 0) {\r\n          continue;\r\n        }\r\n        const matrix =\r\n          this._jointMatrices[\r\n            (Number(info.boundingVertexBlendIndices[base + j]) || 0) + this._jointOffsets[0] - 1\r\n          ];\r\n        if (!matrix) {\r\n          continue;\r\n        }\r\n        matrix.transformPointAffine(info.boundingVertices[i], tmpV1).scaleBy(weight);\r\n        tmpV0.addBy(tmpV1);\r\n      }\r\n      invWorldMatrix.transformPointAffine(tmpV0, tmpV0);\r\n      info.boundingBox.extend(tmpV0);\r\n    }\r\n  }\r\n  /**\r\n   * Dispose GPU resources and references held by the skeleton.\r\n   *\r\n   * - Disposes the joint texture.\r\n   * - Clears matrix arrays and joint references.\r\n   */\r\n  protected onDispose() {\r\n    super.onDispose();\r\n    this._jointTexture.dispose();\r\n    const m = SkinBinding._registry.get(this._id);\r\n    if (m?.get() === this) {\r\n      SkinBinding._registry.delete(this._id);\r\n      m.dispose();\r\n    }\r\n  }\r\n  /**\r\n   * Initialize joint texture and CPU-side matrix storage.\r\n   *\r\n   * Layout details:\r\n   * - Texture size is the next power-of-two able to contain all matrices plus two offset texels.\r\n   * - `_jointMatrixArray` holds:\r\n   *   - First 2 vec4s: ring buffer offsets `[current, previous, 0, 0]`.\r\n   *   - Followed by 2×N matrices (current and previous), each as 16 floats.\r\n   * - `_jointMatrices` is a view into `_jointMatrixArray` providing Matrix4x4 objects per slot.\r\n   *\r\n   * @internal\r\n   */\r\n  private _createJointTexture() {\r\n    const textureWidth = nextPowerOf2(Math.max(4, Math.ceil(Math.sqrt((this.joints.length * 2 + 1) * 4))));\r\n    const device = getDevice();\r\n    this._jointTexture.set(\r\n      device.createTexture2D('rgba32f', textureWidth, textureWidth, {\r\n        mipmapping: false,\r\n        samplerOptions: {\r\n          magFilter: 'nearest',\r\n          minFilter: 'nearest'\r\n        }\r\n      })\r\n    );\r\n    this._jointMatrixArray = new Float32Array(textureWidth * textureWidth * 4);\r\n    this._jointOffsets = this._jointMatrixArray.subarray(0, 2) as Float32Array<ArrayBuffer>;\r\n    this._jointOffsets[0] = 0;\r\n    this._jointOffsets[1] = 0;\r\n    this._jointMatrices = Array.from({ length: this.joints.length * 2 }).map(() => new Matrix4x4());\r\n  }\r\n  private _syncJointMatrixArray() {\r\n    for (let i = 0; i < this._jointMatrices.length; i++) {\r\n      this._jointMatrixArray.set(this._jointMatrices[i], (i + 1) * 16);\r\n    }\r\n  }\r\n  /**\r\n   * Build representative skinned bounding data for a submesh.\r\n   *\r\n   * Strategy:\r\n   * - For all vertices, compute their skinned position (using current ring buffer slot).\r\n   * - Track the indices of the min/max extents along x, y, z (6 indices total).\r\n   * - Store:\r\n   *   - The 6 representative positions in object space.\r\n   *   - Their 4 joint indices and weights (flattened).\r\n   *   - An empty BoundingBox to be filled during animation.\r\n   *\r\n   * @param meshData - Raw submesh attributes (positions, blend indices, weights).\r\n   * @returns Skinned bounding box info used during per-frame updates.\r\n   */\r\n  getBoundingInfo(data: {\r\n    positions: Float32Array;\r\n    blendIndices: TypedArray;\r\n    weights: TypedArray;\r\n    influenceCount?: number;\r\n  }) {\r\n    const indices = [0, 0, 0, 0, 0, 0];\r\n    let minx = Number.MAX_VALUE;\r\n    let maxx = -Number.MAX_VALUE;\r\n    let miny = Number.MAX_VALUE;\r\n    let maxy = -Number.MAX_VALUE;\r\n    let minz = Number.MAX_VALUE;\r\n    let maxz = -Number.MAX_VALUE;\r\n    const v = data.positions;\r\n    const vert = new Vector3();\r\n    const tmpV0 = new Vector3();\r\n    const tmpV1 = new Vector3();\r\n    const numVertices = Math.floor(v.length / 3);\r\n    const influenceCount = Math.max(1, data.influenceCount ?? 4);\r\n    for (let i = 0; i < numVertices; i++) {\r\n      vert.setXYZ(v[i * 3], v[i * 3 + 1], v[i * 3 + 2]);\r\n      tmpV0.setXYZ(0, 0, 0);\r\n      const base = i * influenceCount;\r\n      for (let j = 0; j < influenceCount; j++) {\r\n        const weight = Number(data.weights[base + j]) || 0;\r\n        if (weight <= 0) {\r\n          continue;\r\n        }\r\n        const matrix =\r\n          this._jointMatrices[(Number(data.blendIndices[base + j]) || 0) + this._jointOffsets[0] - 1];\r\n        if (!matrix) {\r\n          continue;\r\n        }\r\n        matrix.transformPointAffine(vert, tmpV1).scaleBy(weight);\r\n        tmpV0.addBy(tmpV1);\r\n      }\r\n      if (tmpV0.x < minx) {\r\n        minx = tmpV0.x;\r\n        indices[0] = i;\r\n      }\r\n      if (tmpV0.x > maxx) {\r\n        maxx = tmpV0.x;\r\n        indices[1] = i;\r\n      }\r\n      if (tmpV0.y < miny) {\r\n        miny = tmpV0.y;\r\n        indices[2] = i;\r\n      }\r\n      if (tmpV0.y > maxy) {\r\n        maxy = tmpV0.y;\r\n        indices[3] = i;\r\n      }\r\n      if (tmpV0.z < minz) {\r\n        minz = tmpV0.z;\r\n        indices[4] = i;\r\n      }\r\n      if (tmpV0.z > maxz) {\r\n        maxz = tmpV0.z;\r\n        indices[5] = i;\r\n      }\r\n    }\r\n    const info: SkinnedBoundingBox = {\r\n      influenceCount,\r\n      boundingVertexBlendIndices: new Float32Array(\r\n        Array.from({ length: 6 * influenceCount }).map(\r\n          (val, index) =>\r\n            data.blendIndices[\r\n              indices[Math.floor(index / influenceCount)] * influenceCount + (index % influenceCount)\r\n            ]\r\n        )\r\n      ),\r\n      boundingVertexJointWeights: new Float32Array(\r\n        Array.from({ length: 6 * influenceCount }).map(\r\n          (val, index) =>\r\n            data.weights[\r\n              indices[Math.floor(index / influenceCount)] * influenceCount + (index % influenceCount)\r\n            ]\r\n        )\r\n      ),\r\n      boundingVertices: Array.from({ length: 6 }).map(\r\n        (val, index) =>\r\n          new Vector3(\r\n            data.positions[indices[index] * 3],\r\n            data.positions[indices[index] * 3 + 1],\r\n            data.positions[indices[index] * 3 + 2]\r\n          )\r\n      ),\r\n      boundingBox: new BoundingBox()\r\n    };\r\n    return info;\r\n  }\r\n  /**\r\n   * Skin all vertices into mesh-local space for the current skeleton pose.\r\n   *\r\n   * This is used by systems like cloth that need the animated mesh pose on CPU,\r\n   * but render with GPU skinning disabled to avoid double deformation.\r\n   *\r\n   * @param positions - Bind-pose/object-space input positions, xyz packed.\r\n   * @param blendIndices - 4 joint indices per vertex.\r\n   * @param weights - 4 joint weights per vertex.\r\n   * @param invWorldMatrix - Mesh inverse world matrix to convert skinned world positions back to mesh-local space.\r\n   * @param out - Optional output array to reuse.\r\n   * @returns The skinned mesh-local positions.\r\n   * @internal\r\n   */\r\n  skinPositionsToLocal(\r\n    positions: Float32Array<ArrayBuffer>,\r\n    blendIndices: ArrayLike<number>,\r\n    weights: ArrayLike<number>,\r\n    invWorldMatrix: Matrix4x4,\r\n    out?: Float32Array<ArrayBuffer>,\r\n    influenceCount?: number\r\n  ) {\r\n    const result = out && out.length === positions.length ? out : new Float32Array(positions.length);\r\n    const matrixOffset = this._jointOffsets[0] - 1;\r\n    const effectiveInfluenceCount = Math.max(\r\n      1,\r\n      influenceCount ??\r\n        Math.max(1, Math.floor(weights.length / Math.max(1, Math.floor(positions.length / 3))))\r\n    );\r\n    for (let i = 0; i + 2 < positions.length; i += 3) {\r\n      const vertexIndex = (i / 3) >> 0;\r\n      const x = positions[i];\r\n      const y = positions[i + 1];\r\n      const z = positions[i + 2];\r\n      let skinnedX = 0;\r\n      let skinnedY = 0;\r\n      let skinnedZ = 0;\r\n      let weightSum = 0;\r\n      const base = vertexIndex * effectiveInfluenceCount;\r\n      for (let j = 0; j < effectiveInfluenceCount; j++) {\r\n        const weight = Number(weights[base + j]) || 0;\r\n        if (weight <= 0) {\r\n          continue;\r\n        }\r\n        const jointIndex = (Number(blendIndices[base + j]) || 0) + matrixOffset;\r\n        const matrix = this._jointMatrices[jointIndex];\r\n        if (!matrix) {\r\n          continue;\r\n        }\r\n        skinnedX += (matrix[0] * x + matrix[4] * y + matrix[8] * z + matrix[12]) * weight;\r\n        skinnedY += (matrix[1] * x + matrix[5] * y + matrix[9] * z + matrix[13]) * weight;\r\n        skinnedZ += (matrix[2] * x + matrix[6] * y + matrix[10] * z + matrix[14]) * weight;\r\n        weightSum += weight;\r\n      }\r\n      if (weightSum <= 1e-6) {\r\n        skinnedX = x;\r\n        skinnedY = y;\r\n        skinnedZ = z;\r\n      }\r\n      result[i] =\r\n        invWorldMatrix[0] * skinnedX +\r\n        invWorldMatrix[4] * skinnedY +\r\n        invWorldMatrix[8] * skinnedZ +\r\n        invWorldMatrix[12];\r\n      result[i + 1] =\r\n        invWorldMatrix[1] * skinnedX +\r\n        invWorldMatrix[5] * skinnedY +\r\n        invWorldMatrix[9] * skinnedZ +\r\n        invWorldMatrix[13];\r\n      result[i + 2] =\r\n        invWorldMatrix[2] * skinnedX +\r\n        invWorldMatrix[6] * skinnedY +\r\n        invWorldMatrix[10] * skinnedZ +\r\n        invWorldMatrix[14];\r\n    }\r\n    return result;\r\n  }\r\n  private static normalizeHumanoidJointName(name: string) {\r\n    return name\r\n      .slice(name.lastIndexOf(':') + 1)\r\n      .replace(/([A-Z]+)([A-Z][a-z])/g, '$1 $2')\r\n      .replace(/([a-z0-9])([A-Z])/g, '$1 $2')\r\n      .replace(/([a-zA-Z])(\\d+)/g, '$1 $2')\r\n      .replace(/(\\d+)([a-zA-Z])/g, '$1 $2')\r\n      .replace(/[_:\\/\\\\.-]+/g, ' ')\r\n      .replace(/[^a-zA-Z0-9]+/g, ' ')\r\n      .toLowerCase()\r\n      .replace(/\\bforearm\\b/g, 'fore arm')\r\n      .replace(/\\bupperarm\\b/g, 'upper arm')\r\n      .replace(/\\blowerarm\\b/g, 'lower arm')\r\n      .replace(/\\bupleg\\b/g, 'up leg')\r\n      .replace(/\\bupperleg\\b/g, 'upper leg')\r\n      .replace(/\\blowerleg\\b/g, 'lower leg')\r\n      .replace(/\\btoebase\\b/g, 'toe base')\r\n      .replace(/\\bupperchest\\b/g, 'upper chest')\r\n      .replace(/\\btoes\\b/g, 'toe')\r\n      .replace(/\\blittle\\b/g, 'pinky')\r\n      .replace(/\\bcollar\\b/g, 'clavicle')\r\n      .replace(/\\s+/g, ' ')\r\n      .trim();\r\n  }\r\n  private static getHumanoidJointNodeDepth<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T,\r\n    node: T\r\n  ) {\r\n    let depth = 0;\r\n    let current: Nullable<T> = node;\r\n    while (current && current !== root) {\r\n      depth++;\r\n      current = current.parent;\r\n    }\r\n    return depth;\r\n  }\r\n  private static collectHumanoidJointNodeInfos<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(root: T): HumanoidJointNodeInfo<T>[] {\r\n    const nodes: HumanoidJointNodeInfo<T>[] = [];\r\n    this.iterateNode(root, (node) => {\r\n      const normalizedName = this.normalizeHumanoidJointName(node.name || '');\r\n      if (!normalizedName) {\r\n        return false;\r\n      }\r\n      const tokens = normalizedName.split(' ').filter(Boolean);\r\n      if (!tokens.length || tokens.some((token) => humanoidHelperJointTokens.has(token))) {\r\n        return false;\r\n      }\r\n      nodes.push({\r\n        node,\r\n        depth: this.getHumanoidJointNodeDepth(root, node),\r\n        tokens,\r\n        tokenSet: new Set(tokens)\r\n      });\r\n      return false;\r\n    });\r\n    return nodes;\r\n  }\r\n  private static matchesHumanoidJointPattern<T extends { name: string; children: T[] }>(\r\n    info: HumanoidJointNodeInfo<T>,\r\n    pattern: HumanoidJointPattern\r\n  ) {\r\n    if (pattern.all?.some((token) => !info.tokenSet.has(token))) {\r\n      return false;\r\n    }\r\n    if (pattern.any?.length && !pattern.any.some((token) => info.tokenSet.has(token))) {\r\n      return false;\r\n    }\r\n    if (pattern.none?.some((token) => info.tokenSet.has(token))) {\r\n      return false;\r\n    }\r\n    return true;\r\n  }\r\n  private static scoreHumanoidJointPattern<T extends { name: string; children: T[] }>(\r\n    info: HumanoidJointNodeInfo<T>,\r\n    pattern: HumanoidJointPattern,\r\n    priority: number\r\n  ) {\r\n    const matchedTokens = new Set(pattern.all ?? []);\r\n    for (const token of pattern.any ?? []) {\r\n      if (info.tokenSet.has(token)) {\r\n        matchedTokens.add(token);\r\n      }\r\n    }\r\n    let extraTokenCount = 0;\r\n    for (const token of info.tokens) {\r\n      if (!matchedTokens.has(token)) {\r\n        extraTokenCount++;\r\n      }\r\n    }\r\n    return priority * 100000 + matchedTokens.size * 100 - extraTokenCount * 5 - info.depth;\r\n  }\r\n  private static collectHumanoidJointCandidates<T extends { name: string; children: T[] }>(\r\n    nodes: HumanoidJointNodeInfo<T>[],\r\n    patterns: HumanoidJointPattern[],\r\n    used: Set<T>\r\n  ): HumanoidJointMatchCandidate<T>[] {\r\n    const candidates = new Map<T, number>();\r\n    for (let index = 0; index < patterns.length; index++) {\r\n      const pattern = patterns[index];\r\n      const priority = patterns.length - index;\r\n      for (const info of nodes) {\r\n        if (used.has(info.node) || !this.matchesHumanoidJointPattern(info, pattern)) {\r\n          continue;\r\n        }\r\n        const score = this.scoreHumanoidJointPattern(info, pattern, priority);\r\n        const current = candidates.get(info.node);\r\n        if (current === undefined || score > current) {\r\n          candidates.set(info.node, score);\r\n        }\r\n      }\r\n    }\r\n    return Array.from(candidates, ([node, score]) => ({ node, score })).sort((a, b) => b.score - a.score);\r\n  }\r\n  private static findBestHumanoidJoint<T extends { name: string; children: T[] }>(\r\n    nodes: HumanoidJointNodeInfo<T>[],\r\n    patterns: HumanoidJointPattern[],\r\n    used: Set<T>\r\n  ) {\r\n    return this.collectHumanoidJointCandidates(nodes, patterns, used)[0]?.node ?? null;\r\n  }\r\n  private static matchHumanoidJointProfile<T extends string, U extends { name: string; children: U[] }>(\r\n    nodes: HumanoidJointNodeInfo<U>[],\r\n    profile: HumanoidJointProfile<T>,\r\n    used: Set<U>,\r\n    optional?: Set<T>\r\n  ): Partial<Record<T, U>> | null {\r\n    const result = {} as Partial<Record<T, U>>;\r\n    const reserved = new Set<U>();\r\n    for (const joint of Object.keys(profile) as T[]) {\r\n      const node = this.findBestHumanoidJoint(nodes, profile[joint], new Set<U>([...used, ...reserved]));\r\n      if (!node) {\r\n        if (optional?.has(joint)) {\r\n          continue;\r\n        }\r\n        return null;\r\n      }\r\n      result[joint] = node;\r\n      reserved.add(node);\r\n    }\r\n    for (const node of reserved) {\r\n      used.add(node);\r\n    }\r\n    return result;\r\n  }\r\n  private static validateHumanoidBodyPartial<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    body: Partial<Record<HumanoidBodyRig, T>>\r\n  ) {\r\n    const validateAncestor = (ancestor: HumanoidBodyRig, descendant: HumanoidBodyRig) =>\r\n      !body[ancestor] || !body[descendant] || this.isSameOrAncestor(body[ancestor]!, body[descendant]!);\r\n    return (\r\n      validateAncestor(HumanoidBodyRig.Hips, HumanoidBodyRig.Spine) &&\r\n      validateAncestor(HumanoidBodyRig.Hips, HumanoidBodyRig.Neck) &&\r\n      validateAncestor(HumanoidBodyRig.Hips, HumanoidBodyRig.LeftUpperLeg) &&\r\n      validateAncestor(HumanoidBodyRig.Hips, HumanoidBodyRig.RightUpperLeg) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.Chest) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.UpperChest) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.Neck) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.Head) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.LeftShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.RightShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.UpperChest) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.Neck) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.Head) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.LeftShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.RightShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.UpperChest, HumanoidBodyRig.Neck) &&\r\n      validateAncestor(HumanoidBodyRig.UpperChest, HumanoidBodyRig.Head) &&\r\n      validateAncestor(HumanoidBodyRig.UpperChest, HumanoidBodyRig.LeftShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.UpperChest, HumanoidBodyRig.RightShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.Neck, HumanoidBodyRig.Head) &&\r\n      validateAncestor(HumanoidBodyRig.LeftShoulder, HumanoidBodyRig.LeftUpperArm) &&\r\n      validateAncestor(HumanoidBodyRig.LeftUpperArm, HumanoidBodyRig.LeftLowerArm) &&\r\n      validateAncestor(HumanoidBodyRig.LeftLowerArm, HumanoidBodyRig.LeftHand) &&\r\n      validateAncestor(HumanoidBodyRig.RightShoulder, HumanoidBodyRig.RightUpperArm) &&\r\n      validateAncestor(HumanoidBodyRig.RightUpperArm, HumanoidBodyRig.RightLowerArm) &&\r\n      validateAncestor(HumanoidBodyRig.RightLowerArm, HumanoidBodyRig.RightHand) &&\r\n      validateAncestor(HumanoidBodyRig.LeftUpperLeg, HumanoidBodyRig.LeftLowerLeg) &&\r\n      validateAncestor(HumanoidBodyRig.LeftLowerLeg, HumanoidBodyRig.LeftFoot) &&\r\n      validateAncestor(HumanoidBodyRig.LeftFoot, HumanoidBodyRig.LeftToes) &&\r\n      validateAncestor(HumanoidBodyRig.RightUpperLeg, HumanoidBodyRig.RightLowerLeg) &&\r\n      validateAncestor(HumanoidBodyRig.RightLowerLeg, HumanoidBodyRig.RightFoot) &&\r\n      validateAncestor(HumanoidBodyRig.RightFoot, HumanoidBodyRig.RightToes)\r\n    );\r\n  }\r\n  private static matchHumanoidBodyProfile<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    nodes: HumanoidJointNodeInfo<T>[],\r\n    profile: HumanoidJointProfile<HumanoidBodyRig>,\r\n    used: Set<T>,\r\n    optional?: Set<HumanoidBodyRig>\r\n  ): Partial<Record<HumanoidBodyRig, T>> | null {\r\n    const joints = Object.keys(profile) as HumanoidBodyRig[];\r\n    const candidates = new Map<HumanoidBodyRig, HumanoidJointMatchCandidate<T>[]>();\r\n    for (const joint of joints) {\r\n      candidates.set(joint, this.collectHumanoidJointCandidates(nodes, profile[joint], used));\r\n    }\r\n    const current = {} as Partial<Record<HumanoidBodyRig, T>>;\r\n    const reserved = new Set<T>();\r\n    let bestScore = Number.NEGATIVE_INFINITY;\r\n    let bestResult: Partial<Record<HumanoidBodyRig, T>> | null = null;\r\n    const search = (index: number, score: number) => {\r\n      if (index >= joints.length) {\r\n        if (score > bestScore) {\r\n          bestScore = score;\r\n          bestResult = { ...current };\r\n        }\r\n        return;\r\n      }\r\n      const joint = joints[index];\r\n      let matched = false;\r\n      for (const candidate of candidates.get(joint) ?? []) {\r\n        if (reserved.has(candidate.node)) {\r\n          continue;\r\n        }\r\n        current[joint] = candidate.node;\r\n        reserved.add(candidate.node);\r\n        if (this.validateHumanoidBodyPartial(current)) {\r\n          matched = true;\r\n          search(index + 1, score + candidate.score);\r\n        }\r\n        reserved.delete(candidate.node);\r\n        delete current[joint];\r\n      }\r\n      if (optional?.has(joint)) {\r\n        search(index + 1, score);\r\n      } else if (!matched) {\r\n        return;\r\n      }\r\n    };\r\n    search(0, 0);\r\n    if (!bestResult) {\r\n      return null;\r\n    }\r\n    for (const node of Object.values(bestResult) as T[]) {\r\n      used.add(node);\r\n    }\r\n    return bestResult;\r\n  }\r\n  private static getHumanoidIntermediateChain<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    ancestor: T,\r\n    descendant: T\r\n  ) {\r\n    if (!this.isSameOrAncestor(ancestor, descendant)) {\r\n      return null;\r\n    }\r\n    const chain: T[] = [];\r\n    let current = descendant.parent;\r\n    while (current && current !== ancestor) {\r\n      chain.unshift(current);\r\n      current = current.parent;\r\n    }\r\n    return chain;\r\n  }\r\n  private static completeHumanoidBody<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    body: Partial<Record<HumanoidBodyRig, T>>\r\n  ): Record<HumanoidBodyRig, T> | null {\r\n    const requiredJoints = [\r\n      HumanoidBodyRig.Hips,\r\n      HumanoidBodyRig.Spine,\r\n      HumanoidBodyRig.Neck,\r\n      HumanoidBodyRig.Head,\r\n      HumanoidBodyRig.LeftShoulder,\r\n      HumanoidBodyRig.LeftUpperArm,\r\n      HumanoidBodyRig.LeftLowerArm,\r\n      HumanoidBodyRig.LeftHand,\r\n      HumanoidBodyRig.RightShoulder,\r\n      HumanoidBodyRig.RightUpperArm,\r\n      HumanoidBodyRig.RightLowerArm,\r\n      HumanoidBodyRig.RightHand,\r\n      HumanoidBodyRig.LeftUpperLeg,\r\n      HumanoidBodyRig.LeftLowerLeg,\r\n      HumanoidBodyRig.LeftFoot,\r\n      HumanoidBodyRig.LeftToes,\r\n      HumanoidBodyRig.RightUpperLeg,\r\n      HumanoidBodyRig.RightLowerLeg,\r\n      HumanoidBodyRig.RightFoot,\r\n      HumanoidBodyRig.RightToes\r\n    ];\r\n    for (const joint of requiredJoints) {\r\n      if (!body[joint]) {\r\n        return null;\r\n      }\r\n    }\r\n    const spine = body[HumanoidBodyRig.Spine]!;\r\n    const neck = body[HumanoidBodyRig.Neck]!;\r\n    let chest = body[HumanoidBodyRig.Chest];\r\n    let upperChest = body[HumanoidBodyRig.UpperChest];\r\n    if (!chest || !upperChest) {\r\n      const spineChain = this.getHumanoidIntermediateChain(spine, neck);\r\n      if (!spineChain || spineChain.length === 0) {\r\n        chest ||= spine;\r\n        upperChest ||= chest;\r\n      } else if (spineChain.length === 1) {\r\n        chest ||= spineChain[0];\r\n        upperChest ||= chest;\r\n      } else {\r\n        chest ||= spineChain[0];\r\n        upperChest ||= spineChain[spineChain.length - 1];\r\n      }\r\n    }\r\n    if (!chest || !upperChest) {\r\n      return null;\r\n    }\r\n    return {\r\n      [HumanoidBodyRig.Hips]: body[HumanoidBodyRig.Hips]!,\r\n      [HumanoidBodyRig.Spine]: spine,\r\n      [HumanoidBodyRig.Chest]: chest,\r\n      [HumanoidBodyRig.UpperChest]: upperChest,\r\n      [HumanoidBodyRig.Neck]: neck,\r\n      [HumanoidBodyRig.Head]: body[HumanoidBodyRig.Head]!,\r\n      [HumanoidBodyRig.LeftShoulder]: body[HumanoidBodyRig.LeftShoulder]!,\r\n      [HumanoidBodyRig.LeftUpperArm]: body[HumanoidBodyRig.LeftUpperArm]!,\r\n      [HumanoidBodyRig.LeftLowerArm]: body[HumanoidBodyRig.LeftLowerArm]!,\r\n      [HumanoidBodyRig.LeftHand]: body[HumanoidBodyRig.LeftHand]!,\r\n      [HumanoidBodyRig.RightShoulder]: body[HumanoidBodyRig.RightShoulder]!,\r\n      [HumanoidBodyRig.RightUpperArm]: body[HumanoidBodyRig.RightUpperArm]!,\r\n      [HumanoidBodyRig.RightLowerArm]: body[HumanoidBodyRig.RightLowerArm]!,\r\n      [HumanoidBodyRig.RightHand]: body[HumanoidBodyRig.RightHand]!,\r\n      [HumanoidBodyRig.LeftUpperLeg]: body[HumanoidBodyRig.LeftUpperLeg]!,\r\n      [HumanoidBodyRig.LeftLowerLeg]: body[HumanoidBodyRig.LeftLowerLeg]!,\r\n      [HumanoidBodyRig.LeftFoot]: body[HumanoidBodyRig.LeftFoot]!,\r\n      [HumanoidBodyRig.LeftToes]: body[HumanoidBodyRig.LeftToes]!,\r\n      [HumanoidBodyRig.RightUpperLeg]: body[HumanoidBodyRig.RightUpperLeg]!,\r\n      [HumanoidBodyRig.RightLowerLeg]: body[HumanoidBodyRig.RightLowerLeg]!,\r\n      [HumanoidBodyRig.RightFoot]: body[HumanoidBodyRig.RightFoot]!,\r\n      [HumanoidBodyRig.RightToes]: body[HumanoidBodyRig.RightToes]!\r\n    };\r\n  }\r\n  private static completeHumanoidHand<T extends { name: string; children: T[] }>(\r\n    hand: Partial<Record<HumanoidHandRig, T>>\r\n  ): Record<HumanoidHandRig, T> | null {\r\n    for (const joint of Object.values(HumanoidHandRig)) {\r\n      if (!hand[joint]) {\r\n        return null;\r\n      }\r\n    }\r\n    return {\r\n      [HumanoidHandRig.ThumbProximal]: hand[HumanoidHandRig.ThumbProximal]!,\r\n      [HumanoidHandRig.ThumbIntermediate]: hand[HumanoidHandRig.ThumbIntermediate]!,\r\n      [HumanoidHandRig.ThumbDistal]: hand[HumanoidHandRig.ThumbDistal]!,\r\n      [HumanoidHandRig.IndexProximal]: hand[HumanoidHandRig.IndexProximal]!,\r\n      [HumanoidHandRig.IndexIntermediate]: hand[HumanoidHandRig.IndexIntermediate]!,\r\n      [HumanoidHandRig.IndexDistal]: hand[HumanoidHandRig.IndexDistal]!,\r\n      [HumanoidHandRig.MiddleProximal]: hand[HumanoidHandRig.MiddleProximal]!,\r\n      [HumanoidHandRig.MiddleIntermediate]: hand[HumanoidHandRig.MiddleIntermediate]!,\r\n      [HumanoidHandRig.MiddleDistal]: hand[HumanoidHandRig.MiddleDistal]!,\r\n      [HumanoidHandRig.RingProximal]: hand[HumanoidHandRig.RingProximal]!,\r\n      [HumanoidHandRig.RingIntermediate]: hand[HumanoidHandRig.RingIntermediate]!,\r\n      [HumanoidHandRig.RingDistal]: hand[HumanoidHandRig.RingDistal]!,\r\n      [HumanoidHandRig.PinkyProximal]: hand[HumanoidHandRig.PinkyProximal]!,\r\n      [HumanoidHandRig.PinkyIntermediate]: hand[HumanoidHandRig.PinkyIntermediate]!,\r\n      [HumanoidHandRig.PinkyDistal]: hand[HumanoidHandRig.PinkyDistal]!\r\n    };\r\n  }\r\n  private static tryExtractOptionalHumanoidHand<T extends { name: string; children: T[] }>(\r\n    nodes: HumanoidJointNodeInfo<T>[],\r\n    side: 'left' | 'right',\r\n    used: Set<T>\r\n  ): Record<HumanoidHandRig, T> | undefined {\r\n    const handCandidates = this.matchHumanoidJointProfile(\r\n      nodes,\r\n      this.createCommonHumanoidHandProfile(side),\r\n      used\r\n    );\r\n    if (!handCandidates) {\r\n      return undefined;\r\n    }\r\n    return this.completeHumanoidHand(handCandidates) ?? undefined;\r\n  }\r\n  private static isSameOrAncestor<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    parent: T,\r\n    child: T\r\n  ) {\r\n    return parent === child || this.isParentOf(parent, child);\r\n  }\r\n  private static validateHumanoidHandHierarchy<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(hand: T, joints: Record<HumanoidHandRig, T>) {\r\n    const chains: [HumanoidHandRig, HumanoidHandRig, HumanoidHandRig][] = [\r\n      [HumanoidHandRig.ThumbProximal, HumanoidHandRig.ThumbIntermediate, HumanoidHandRig.ThumbDistal],\r\n      [HumanoidHandRig.IndexProximal, HumanoidHandRig.IndexIntermediate, HumanoidHandRig.IndexDistal],\r\n      [HumanoidHandRig.MiddleProximal, HumanoidHandRig.MiddleIntermediate, HumanoidHandRig.MiddleDistal],\r\n      [HumanoidHandRig.RingProximal, HumanoidHandRig.RingIntermediate, HumanoidHandRig.RingDistal],\r\n      [HumanoidHandRig.PinkyProximal, HumanoidHandRig.PinkyIntermediate, HumanoidHandRig.PinkyDistal]\r\n    ];\r\n    return chains.every(\r\n      ([proximal, intermediate, distal]) =>\r\n        this.isSameOrAncestor(hand, joints[proximal]) &&\r\n        this.isSameOrAncestor(joints[proximal], joints[intermediate]) &&\r\n        this.isSameOrAncestor(joints[intermediate], joints[distal])\r\n    );\r\n  }\r\n  private static validateHumanoidJointExtraction<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(result: HumanoidJointMapping<T>) {\r\n    const body = result.body;\r\n    return (\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Hips], body[HumanoidBodyRig.Spine]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Spine], body[HumanoidBodyRig.Chest]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Chest], body[HumanoidBodyRig.UpperChest]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.UpperChest], body[HumanoidBodyRig.Neck]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Neck], body[HumanoidBodyRig.Head]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.UpperChest], body[HumanoidBodyRig.LeftShoulder]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftShoulder], body[HumanoidBodyRig.LeftUpperArm]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftUpperArm], body[HumanoidBodyRig.LeftLowerArm]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftLowerArm], body[HumanoidBodyRig.LeftHand]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.UpperChest], body[HumanoidBodyRig.RightShoulder]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightShoulder], body[HumanoidBodyRig.RightUpperArm]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightUpperArm], body[HumanoidBodyRig.RightLowerArm]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightLowerArm], body[HumanoidBodyRig.RightHand]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Hips], body[HumanoidBodyRig.LeftUpperLeg]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftUpperLeg], body[HumanoidBodyRig.LeftLowerLeg]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftLowerLeg], body[HumanoidBodyRig.LeftFoot]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftFoot], body[HumanoidBodyRig.LeftToes]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Hips], body[HumanoidBodyRig.RightUpperLeg]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightUpperLeg], body[HumanoidBodyRig.RightLowerLeg]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightLowerLeg], body[HumanoidBodyRig.RightFoot]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightFoot], body[HumanoidBodyRig.RightToes]) &&\r\n      (!result.leftHand ||\r\n        this.validateHumanoidHandHierarchy(body[HumanoidBodyRig.LeftHand], result.leftHand)) &&\r\n      (!result.rightHand ||\r\n        this.validateHumanoidHandHierarchy(body[HumanoidBodyRig.RightHand], result.rightHand))\r\n    );\r\n  }\r\n  private static createCommonHumanoidHandProfile(\r\n    side: 'left' | 'right'\r\n  ): HumanoidJointProfile<HumanoidHandRig> {\r\n    return {\r\n      [HumanoidHandRig.ThumbProximal]: sideJointPatterns(side, [\r\n        { all: ['thumb', 'proximal'] },\r\n        { all: ['thumb', '1'] },\r\n        { all: ['finger', '0'] }\r\n      ]),\r\n      [HumanoidHandRig.ThumbIntermediate]: sideJointPatterns(side, [\r\n        { all: ['thumb', 'intermediate'] },\r\n        { all: ['thumb', '2'] },\r\n        { all: ['finger', '01'] }\r\n      ]),\r\n      [HumanoidHandRig.ThumbDistal]: sideJointPatterns(side, [\r\n        { all: ['thumb', 'distal'] },\r\n        { all: ['thumb', '3'] },\r\n        { all: ['finger', '02'] }\r\n      ]),\r\n      [HumanoidHandRig.IndexProximal]: sideJointPatterns(side, [\r\n        { all: ['index', 'proximal'] },\r\n        { all: ['index', '1'] },\r\n        { all: ['finger', '1'] }\r\n      ]),\r\n      [HumanoidHandRig.IndexIntermediate]: sideJointPatterns(side, [\r\n        { all: ['index', 'intermediate'] },\r\n        { all: ['index', '2'] },\r\n        { all: ['finger', '11'] }\r\n      ]),\r\n      [HumanoidHandRig.IndexDistal]: sideJointPatterns(side, [\r\n        { all: ['index', 'distal'] },\r\n        { all: ['index', '3'] },\r\n        { all: ['finger', '12'] }\r\n      ]),\r\n      [HumanoidHandRig.MiddleProximal]: sideJointPatterns(side, [\r\n        { all: ['middle', 'proximal'] },\r\n        { all: ['middle', '1'] },\r\n        { all: ['finger', '2'] }\r\n      ]),\r\n      [HumanoidHandRig.MiddleIntermediate]: sideJointPatterns(side, [\r\n        { all: ['middle', 'intermediate'] },\r\n        { all: ['middle', '2'] },\r\n        { all: ['finger', '21'] }\r\n      ]),\r\n      [HumanoidHandRig.MiddleDistal]: sideJointPatterns(side, [\r\n        { all: ['middle', 'distal'] },\r\n        { all: ['middle', '3'] },\r\n        { all: ['finger', '22'] }\r\n      ]),\r\n      [HumanoidHandRig.RingProximal]: sideJointPatterns(side, [\r\n        { all: ['ring', 'proximal'] },\r\n        { all: ['ring', '1'] },\r\n        { all: ['finger', '3'] }\r\n      ]),\r\n      [HumanoidHandRig.RingIntermediate]: sideJointPatterns(side, [\r\n        { all: ['ring', 'intermediate'] },\r\n        { all: ['ring', '2'] },\r\n        { all: ['finger', '31'] }\r\n      ]),\r\n      [HumanoidHandRig.RingDistal]: sideJointPatterns(side, [\r\n        { all: ['ring', 'distal'] },\r\n        { all: ['ring', '3'] },\r\n        { all: ['finger', '32'] }\r\n      ]),\r\n      [HumanoidHandRig.PinkyProximal]: sideJointPatterns(side, [\r\n        { all: ['pinky', 'proximal'] },\r\n        { all: ['pinky', '1'] },\r\n        { all: ['finger', '4'] }\r\n      ]),\r\n      [HumanoidHandRig.PinkyIntermediate]: sideJointPatterns(side, [\r\n        { all: ['pinky', 'intermediate'] },\r\n        { all: ['pinky', '2'] },\r\n        { all: ['finger', '41'] }\r\n      ]),\r\n      [HumanoidHandRig.PinkyDistal]: sideJointPatterns(side, [\r\n        { all: ['pinky', 'distal'] },\r\n        { all: ['pinky', '3'] },\r\n        { all: ['finger', '42'] }\r\n      ])\r\n    };\r\n  }\r\n  private static createStandardHumanoidBodyProfile(): HumanoidJointProfile<HumanoidBodyRig> {\r\n    return {\r\n      [HumanoidBodyRig.Hips]: [jointPattern(['hips']), jointPattern(['pelvis'])],\r\n      [HumanoidBodyRig.Spine]: [jointPattern(['spine'], ['1', '2', '3', 'chest', 'upper'])],\r\n      [HumanoidBodyRig.Chest]: [jointPattern(['chest'], ['upper']), jointPattern(['spine', '1'])],\r\n      [HumanoidBodyRig.UpperChest]: [\r\n        jointPattern(['upper', 'chest']),\r\n        jointPattern(['spine', '2']),\r\n        jointPattern(['spine', '3'])\r\n      ],\r\n      [HumanoidBodyRig.Neck]: [jointPattern(['neck'], ['1', '2'])],\r\n      [HumanoidBodyRig.Head]: [jointPattern(['head'], ['top', 'end', 'nub'])],\r\n      [HumanoidBodyRig.LeftShoulder]: sideJointPatterns('left', [\r\n        { all: ['shoulder'] },\r\n        { all: ['clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperArm]: sideJointPatterns('left', [\r\n        { all: ['upper', 'arm'], none: ['twist'] },\r\n        { all: ['arm'], none: ['fore', 'lower', 'hand', 'twist', 'shoulder'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerArm]: sideJointPatterns('left', [\r\n        { all: ['lower', 'arm'], none: ['twist'] },\r\n        { all: ['fore', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftHand]: sideJointPatterns('left', [\r\n        { all: ['hand'], none: ['thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightShoulder]: sideJointPatterns('right', [\r\n        { all: ['shoulder'] },\r\n        { all: ['clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperArm]: sideJointPatterns('right', [\r\n        { all: ['upper', 'arm'], none: ['twist'] },\r\n        { all: ['arm'], none: ['fore', 'lower', 'hand', 'twist', 'shoulder'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerArm]: sideJointPatterns('right', [\r\n        { all: ['lower', 'arm'], none: ['twist'] },\r\n        { all: ['fore', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightHand]: sideJointPatterns('right', [\r\n        { all: ['hand'], none: ['thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperLeg]: sideJointPatterns('left', [\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['up', 'leg'] },\r\n        { all: ['thigh'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerLeg]: sideJointPatterns('left', [\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] },\r\n        { all: ['calf'] },\r\n        { all: ['shin'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftFoot]: sideJointPatterns('left', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.LeftToes]: sideJointPatterns('left', [\r\n        { all: ['toe', 'base'] },\r\n        { all: ['toe'], none: ['end'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperLeg]: sideJointPatterns('right', [\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['up', 'leg'] },\r\n        { all: ['thigh'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerLeg]: sideJointPatterns('right', [\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] },\r\n        { all: ['calf'] },\r\n        { all: ['shin'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightFoot]: sideJointPatterns('right', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.RightToes]: sideJointPatterns('right', [\r\n        { all: ['toe', 'base'] },\r\n        { all: ['toe'], none: ['end'] }\r\n      ])\r\n    };\r\n  }\r\n  private static createMixamoHumanoidBodyProfile(): HumanoidJointProfile<HumanoidBodyRig> {\r\n    return {\r\n      [HumanoidBodyRig.Hips]: [jointPattern(['hips'])],\r\n      [HumanoidBodyRig.Spine]: [jointPattern(['spine'], ['1', '2', '3'])],\r\n      [HumanoidBodyRig.Chest]: [jointPattern(['spine', '1']), jointPattern(['chest'], ['upper'])],\r\n      [HumanoidBodyRig.UpperChest]: [\r\n        jointPattern(['spine', '2']),\r\n        jointPattern(['spine', '3']),\r\n        jointPattern(['upper', 'chest'])\r\n      ],\r\n      [HumanoidBodyRig.Neck]: [jointPattern(['neck'], ['1', '2'])],\r\n      [HumanoidBodyRig.Head]: [jointPattern(['head'], ['top', 'end', 'nub'])],\r\n      [HumanoidBodyRig.LeftShoulder]: sideJointPatterns('left', [\r\n        { all: ['shoulder'] },\r\n        { all: ['clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperArm]: sideJointPatterns('left', [\r\n        { all: ['arm'], none: ['upper', 'fore', 'lower', 'hand', 'twist', 'shoulder'] },\r\n        { all: ['upper', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerArm]: sideJointPatterns('left', [\r\n        { all: ['fore', 'arm'], none: ['twist'] },\r\n        { all: ['lower', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftHand]: sideJointPatterns('left', [\r\n        { all: ['hand'], none: ['thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightShoulder]: sideJointPatterns('right', [\r\n        { all: ['shoulder'] },\r\n        { all: ['clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperArm]: sideJointPatterns('right', [\r\n        { all: ['arm'], none: ['upper', 'fore', 'lower', 'hand', 'twist', 'shoulder'] },\r\n        { all: ['upper', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerArm]: sideJointPatterns('right', [\r\n        { all: ['fore', 'arm'], none: ['twist'] },\r\n        { all: ['lower', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightHand]: sideJointPatterns('right', [\r\n        { all: ['hand'], none: ['thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperLeg]: sideJointPatterns('left', [\r\n        { all: ['up', 'leg'] },\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['thigh'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerLeg]: sideJointPatterns('left', [\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] },\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['calf'] },\r\n        { all: ['shin'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftFoot]: sideJointPatterns('left', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.LeftToes]: sideJointPatterns('left', [\r\n        { all: ['toe', 'base'] },\r\n        { all: ['toe'], none: ['end'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperLeg]: sideJointPatterns('right', [\r\n        { all: ['up', 'leg'] },\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['thigh'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerLeg]: sideJointPatterns('right', [\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] },\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['calf'] },\r\n        { all: ['shin'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightFoot]: sideJointPatterns('right', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.RightToes]: sideJointPatterns('right', [\r\n        { all: ['toe', 'base'] },\r\n        { all: ['toe'], none: ['end'] }\r\n      ])\r\n    };\r\n  }\r\n  private static createBipedHumanoidBodyProfile(): HumanoidJointProfile<HumanoidBodyRig> {\r\n    return {\r\n      [HumanoidBodyRig.Hips]: [jointPattern(['pelvis']), jointPattern(['hips'])],\r\n      [HumanoidBodyRig.Spine]: [jointPattern(['spine'], ['1', '2', '3'])],\r\n      [HumanoidBodyRig.Chest]: [jointPattern(['spine', '1']), jointPattern(['chest'], ['upper'])],\r\n      [HumanoidBodyRig.UpperChest]: [\r\n        jointPattern(['spine', '2']),\r\n        jointPattern(['spine', '3']),\r\n        jointPattern(['upper', 'chest'])\r\n      ],\r\n      [HumanoidBodyRig.Neck]: [jointPattern(['neck'], ['1', '2'])],\r\n      [HumanoidBodyRig.Head]: [jointPattern(['head'], ['top', 'end', 'nub'])],\r\n      [HumanoidBodyRig.LeftShoulder]: sideJointPatterns('left', [\r\n        { all: ['clavicle'] },\r\n        { all: ['shoulder'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperArm]: sideJointPatterns('left', [\r\n        { all: ['upper', 'arm'], none: ['twist'] },\r\n        { all: ['arm'], none: ['fore', 'lower', 'hand', 'twist', 'shoulder', 'clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerArm]: sideJointPatterns('left', [\r\n        { all: ['fore', 'arm'], none: ['twist'] },\r\n        { all: ['lower', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftHand]: sideJointPatterns('left', [\r\n        { all: ['hand'], none: ['finger', 'thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightShoulder]: sideJointPatterns('right', [\r\n        { all: ['clavicle'] },\r\n        { all: ['shoulder'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperArm]: sideJointPatterns('right', [\r\n        { all: ['upper', 'arm'], none: ['twist'] },\r\n        { all: ['arm'], none: ['fore', 'lower', 'hand', 'twist', 'shoulder', 'clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerArm]: sideJointPatterns('right', [\r\n        { all: ['fore', 'arm'], none: ['twist'] },\r\n        { all: ['lower', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightHand]: sideJointPatterns('right', [\r\n        { all: ['hand'], none: ['finger', 'thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperLeg]: sideJointPatterns('left', [\r\n        { all: ['thigh'] },\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['up', 'leg'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerLeg]: sideJointPatterns('left', [\r\n        { all: ['calf'] },\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftFoot]: sideJointPatterns('left', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.LeftToes]: sideJointPatterns('left', [\r\n        { all: ['toe', '0'] },\r\n        { all: ['toe'], none: ['end'] },\r\n        { all: ['ball'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperLeg]: sideJointPatterns('right', [\r\n        { all: ['thigh'] },\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['up', 'leg'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerLeg]: sideJointPatterns('right', [\r\n        { all: ['calf'] },\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightFoot]: sideJointPatterns('right', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.RightToes]: sideJointPatterns('right', [\r\n        { all: ['toe', '0'] },\r\n        { all: ['toe'], none: ['end'] },\r\n        { all: ['ball'] }\r\n      ])\r\n    };\r\n  }\r\n  private static isParentOf<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    parent: T,\r\n    child: Nullable<T>\r\n  ) {\r\n    while (child && child !== parent) {\r\n      child = child.parent!;\r\n    }\r\n    return child === parent;\r\n  }\r\n\r\n  private static iterateNode<T extends { name: string; children: T[] }>(\r\n    root: T,\r\n    callback: (node: T) => boolean\r\n  ) {\r\n    if (callback(root)) {\r\n      return true;\r\n    }\r\n    for (const child of root.children) {\r\n      if (this.iterateNode(child, callback)) {\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  private static tryExtractHumanoidJointsByBodyProfile<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(root: T, bodyProfile: HumanoidJointProfile<HumanoidBodyRig>): HumanoidJointMapping<T> | null {\r\n    const nodes = this.collectHumanoidJointNodeInfos(root);\r\n    const used = new Set<T>();\r\n    const bodyCandidates = this.matchHumanoidBodyProfile(\r\n      nodes,\r\n      bodyProfile,\r\n      used,\r\n      new Set<HumanoidBodyRig>([HumanoidBodyRig.Chest, HumanoidBodyRig.UpperChest])\r\n    );\r\n    if (!bodyCandidates) {\r\n      return null;\r\n    }\r\n    const body = this.completeHumanoidBody(bodyCandidates);\r\n    if (!body) {\r\n      return null;\r\n    }\r\n    const leftHand = this.tryExtractOptionalHumanoidHand(nodes, 'left', used);\r\n    const rightHand = this.tryExtractOptionalHumanoidHand(nodes, 'right', used);\r\n    const result: HumanoidJointMapping<T> = {\r\n      body,\r\n      leftHand,\r\n      rightHand\r\n    };\r\n    return this.validateHumanoidJointExtraction(result) ? result : null;\r\n  }\r\n  /**\r\n   * Attempt to extract humanoid joint mappings from the skeleton's joints based on their names.\r\n   *\r\n   * This method looks for joints with names matching the standardized `HumanoidBodyRig` and `HumanoidHandRig` enums.\r\n   * If a complete mapping is found, it returns an object containing the mapped joints for the body and hands.\r\n   * If any required joint is missing, it returns `null`.\r\n   *\r\n   * This method tries to find the best match for humanoid rigs, designed to work with Mixamo, VRoid, Unity Humanoid,\r\n   * Biped, and similar skeletons. It is not guaranteed to work with all models, and may require manual adjustments or\r\n   * custom modifiers for non-standard rigs.\r\n   *\r\n   * @param root - The root scene node to search for humanoid joints.\r\n   * @returns An object containing the mapped body and hand joints if a complete humanoid rig is detected, otherwise `null`.\r\n   */\r\n  static tryExtractHumanoidJoints<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T\r\n  ): HumanoidJointMapping<T> | null {\r\n    return (\r\n      this.tryExtractHumanoidJointsMixamo(root) ??\r\n      this.tryExtractHumanoidJointsVRM(root) ??\r\n      this.tryExtractHumanoidJointsUnityHumanoid(root) ??\r\n      this.tryExtractHumanoidJointsBiped(root)\r\n    );\r\n  }\r\n  static tryExtractHumanoidJointsMixamo<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T\r\n  ): HumanoidJointMapping<T> | null {\r\n    return this.tryExtractHumanoidJointsByBodyProfile(root, this.createMixamoHumanoidBodyProfile());\r\n  }\r\n  static tryExtractHumanoidJointsVRM<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T\r\n  ): HumanoidJointMapping<T> | null {\r\n    return this.tryExtractHumanoidJointsByBodyProfile(root, this.createStandardHumanoidBodyProfile());\r\n  }\r\n  static tryExtractHumanoidJointsUnityHumanoid<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(root: T): HumanoidJointMapping<T> | null {\r\n    return this.tryExtractHumanoidJointsByBodyProfile(root, this.createStandardHumanoidBodyProfile());\r\n  }\r\n  static tryExtractHumanoidJointsBiped<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T\r\n  ): HumanoidJointMapping<T> | null {\r\n    return this.tryExtractHumanoidJointsByBodyProfile(root, this.createBipedHumanoidBodyProfile());\r\n  }\r\n}\r\n\r\n/**\r\n * Legacy compatibility name for a skin binding.\r\n *\r\n * New code should use {@link SkeletonRig} for the shared animated rig and\r\n * {@link SkinBinding} for per-skin inverse bind matrices.\r\n *\r\n * @public\r\n */\r\nexport class Skeleton extends SkinBinding {\r\n  constructor(joints: SceneNode[], inverseBindMatrices: Matrix4x4[], bindPose: SkeletonBindPose[]) {\r\n    super(new SkeletonRig(joints, bindPose), inverseBindMatrices, joints);\r\n  }\r\n\r\n  static tryExtractHumanoidJoints = SkinBinding.tryExtractHumanoidJoints;\r\n  static tryExtractHumanoidJointsMixamo = SkinBinding.tryExtractHumanoidJointsMixamo;\r\n  static tryExtractHumanoidJointsVRM = SkinBinding.tryExtractHumanoidJointsVRM;\r\n  static tryExtractHumanoidJointsUnityHumanoid = SkinBinding.tryExtractHumanoidJointsUnityHumanoid;\r\n  static tryExtractHumanoidJointsBiped = SkinBinding.tryExtractHumanoidJointsBiped;\r\n  static findSkeletonById(id: string) {\r\n    return SkinBinding.findSkinBindingById(id);\r\n  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+{"version":3,"file":"skeleton.js","sources":["../../src/animation/skeleton.ts"],"sourcesContent":["import { randomUUID, DWeakRef } from '@zephyr3d/base';\r\nimport type { Nullable, TypedArray } from '@zephyr3d/base';\r\nimport { Quaternion } from '@zephyr3d/base';\r\nimport { Disposable, Matrix4x4, Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../scene/scene_node';\r\nimport { BoundingBox } from '../utility/bounding_volume';\r\nimport { SkinPaletteAtlas } from './skin_palette_atlas';\r\nimport type { SkinPaletteBlock } from './skin_palette_atlas';\r\nimport type { SkeletonModifier } from './skeleton_modifier';\r\n\r\n/**\r\n * Standardized humanoid joint names for consistent skeleton mapping across models and animations.\r\n *\r\n * These names align with common conventions used in 3D modeling and animation tools, facilitating interoperability and reuse of assets.\r\n *\r\n * @public\r\n */\r\nexport enum HumanoidBodyRig {\r\n  Hips = 'Hips',\r\n  Spine = 'Spine',\r\n  Chest = 'Chest',\r\n  UpperChest = 'UpperChest',\r\n  Neck = 'Neck',\r\n  Head = 'Head',\r\n\r\n  LeftShoulder = 'LeftShoulder',\r\n  LeftUpperArm = 'LeftUpperArm',\r\n  LeftLowerArm = 'LeftLowerArm',\r\n  LeftHand = 'LeftHand',\r\n\r\n  RightShoulder = 'RightShoulder',\r\n  RightUpperArm = 'RightUpperArm',\r\n  RightLowerArm = 'RightLowerArm',\r\n  RightHand = 'RightHand',\r\n\r\n  LeftUpperLeg = 'LeftUpperLeg',\r\n  LeftLowerLeg = 'LeftLowerLeg',\r\n  LeftFoot = 'LeftFoot',\r\n  LeftToes = 'LeftToes',\r\n\r\n  RightUpperLeg = 'RightUpperLeg',\r\n  RightLowerLeg = 'RightLowerLeg',\r\n  RightFoot = 'RightFoot',\r\n  RightToes = 'RightToes'\r\n}\r\n\r\n/**\r\n * Standardized humanoid hand joint names for consistent skeleton mapping across models and animations.\r\n *\r\n * These names align with common conventions used in 3D modeling and animation tools, facilitating interoperability and reuse of assets.\r\n *\r\n * @public\r\n */\r\nexport enum HumanoidHandRig {\r\n  ThumbProximal = 'ThumbProximal',\r\n  ThumbIntermediate = 'ThumbIntermediate',\r\n  ThumbDistal = 'ThumbDistal',\r\n  IndexProximal = 'IndexProximal',\r\n  IndexIntermediate = 'IndexIntermediate',\r\n  IndexDistal = 'IndexDistal',\r\n  MiddleProximal = 'MiddleProximal',\r\n  MiddleIntermediate = 'MiddleIntermediate',\r\n  MiddleDistal = 'MiddleDistal',\r\n  RingProximal = 'RingProximal',\r\n  RingIntermediate = 'RingIntermediate',\r\n  RingDistal = 'RingDistal',\r\n  PinkyProximal = 'PinkyProximal',\r\n  PinkyIntermediate = 'PinkyIntermediate',\r\n  PinkyDistal = 'PinkyDistal'\r\n}\r\n\r\n/**\r\n * Skinned bounding box information for a submesh.\r\n *\r\n * Used to compute animated AABB for skinned meshes.\r\n *\r\n * @public\r\n */\r\nexport interface SkinnedBoundingBox {\r\n  /**\r\n   * Number of influences stored per representative vertex.\r\n   */\r\n  influenceCount?: number;\r\n  /**\r\n   * Representative vertices used to bound a skinned mesh (extreme points along axes).\r\n   */\r\n  boundingVertices: Vector3[];\r\n  /**\r\n   * Joint indices for each representative vertex, flattened.\r\n   */\r\n  boundingVertexBlendIndices: Float32Array;\r\n  /**\r\n   * Corresponding joint weights for each representative vertex, flattened.\r\n   * Layout matches `boundingVertexBlendIndices`.\r\n   */\r\n  boundingVertexJointWeights: Float32Array;\r\n  /**\r\n   * Computed axis-aligned bounding box in model space for the current pose.\r\n   */\r\n  boundingBox: BoundingBox;\r\n}\r\n\r\nconst tmpV0 = new Vector3();\r\nconst tmpMatrix = new Matrix4x4();\r\nconst tmpMatrix2 = new Matrix4x4();\r\n/** Palette header slot: absolute slot indices of the current and previous sets */\r\nconst tmpHeader = new Float32Array(16);\r\n\r\n/**\r\n * Humanoid joint mapping\r\n * @public\r\n */\r\nexport type HumanoidJointMapping<T extends { name: string; parent: Nullable<T>; children: T[] }> = {\r\n  body: Record<HumanoidBodyRig, T>;\r\n  leftHand?: Record<HumanoidHandRig, T>;\r\n  rightHand?: Record<HumanoidHandRig, T>;\r\n};\r\n\r\n/** @public */\r\nexport type SkeletonBindPose = { rotation: Quaternion; scale: Vector3; position: Vector3 };\r\n\r\n/** @public */\r\nexport type SkeletonRigOptions = {\r\n  rootJoint?: Nullable<SceneNode>;\r\n  rootBindPose?: SkeletonBindPose;\r\n  humanoidJointMapping?: Nullable<HumanoidJointMapping<SceneNode>>;\r\n  /**\r\n   * Optional humanoid retarget reference pose, ordered like `joints`.\r\n   * When omitted, the rig bind pose is used as the retarget reference.\r\n   */\r\n  retargetPose?: Nullable<SkeletonBindPose[]>;\r\n};\r\n\r\ntype HumanoidJointPattern = {\r\n  all?: string[];\r\n  any?: string[];\r\n  none?: string[];\r\n};\r\n\r\ntype HumanoidJointProfile<T extends string> = Record<T, HumanoidJointPattern[]>;\r\n\r\nconst humanoidHelperJointTokens = new Set(['end', 'nub', 'socket']);\r\n\r\ntype HumanoidJointNodeInfo<T extends { name: string; children: T[] }> = {\r\n  node: T;\r\n  depth: number;\r\n  tokens: string[];\r\n  tokenSet: Set<string>;\r\n};\r\n\r\ntype HumanoidJointMatchCandidate<T extends { name: string; children: T[] }> = {\r\n  node: T;\r\n  score: number;\r\n};\r\n\r\n/**\r\n * Shared joint rig for skeletal animation.\r\n *\r\n * A rig owns the animated joint nodes, bind pose, humanoid mapping and procedural\r\n * modifiers. Multiple skin bindings may reference the same rig with different\r\n * inverse bind matrices.\r\n *\r\n * @public\r\n */\r\nexport class SkeletonRig extends Disposable {\r\n  private static readonly _registry: Map<string, DWeakRef<SkeletonRig>> = new Map();\r\n  protected _id: string;\r\n  protected _joints: SceneNode[];\r\n  protected _bindPoseByJoint: Map<SceneNode, SkeletonBindPose>;\r\n  protected _bindPose: SkeletonBindPose[];\r\n  protected _retargetPoseByJoint: Nullable<Map<SceneNode, SkeletonBindPose>>;\r\n  protected _retargetPose: Nullable<SkeletonBindPose[]>;\r\n  protected _rootJoint: Nullable<SceneNode>;\r\n  protected _rootBindPose: SkeletonBindPose;\r\n  protected _playing: boolean;\r\n  protected _modifiers: SkeletonModifier[];\r\n  protected _humanoidJointMapping: Nullable<HumanoidJointMapping<SceneNode>>;\r\n  protected _humanoidRootRotation: Quaternion;\r\n\r\n  constructor(joints: SceneNode[], bindPose: SkeletonBindPose[], options?: SkeletonRigOptions) {\r\n    super();\r\n    this._id = randomUUID();\r\n    this._joints = joints;\r\n    this._bindPose = bindPose;\r\n    this._bindPoseByJoint = new Map();\r\n    for (let i = 0; i < joints.length; i++) {\r\n      this._bindPoseByJoint.set(joints[i], bindPose[i]);\r\n    }\r\n    if (options?.retargetPose && options.retargetPose.length !== joints.length) {\r\n      throw new Error('SkeletonRig(): retarget pose must contain one transform per joint');\r\n    }\r\n    this._retargetPose = options?.retargetPose ?? null;\r\n    this._retargetPoseByJoint = this._retargetPose\r\n      ? new Map(joints.map((joint, index) => [joint, this._retargetPose![index]]))\r\n      : null;\r\n    const skeletonRoot = this.findRootJoint(this._joints);\r\n    this._rootJoint = options?.rootJoint ?? skeletonRoot;\r\n    this._rootBindPose = options?.rootBindPose ?? this.getNodeBindPose(this._rootJoint);\r\n    this._playing = false;\r\n    this._modifiers = [];\r\n    this.computeBindPose();\r\n    this._humanoidJointMapping =\r\n      options?.humanoidJointMapping !== undefined\r\n        ? options.humanoidJointMapping\r\n        : skeletonRoot\r\n          ? Skeleton.tryExtractHumanoidJoints(skeletonRoot)\r\n          : null;\r\n    this._humanoidRootRotation = Quaternion.identity();\r\n    const hips = this._humanoidJointMapping?.body[HumanoidBodyRig.Hips];\r\n    if (hips) {\r\n      let p = hips;\r\n      while (this._joints.includes(p.parent!)) {\r\n        Quaternion.multiply(p.parent!.rotation, this._humanoidRootRotation, this._humanoidRootRotation);\r\n        p = p.parent!;\r\n      }\r\n    }\r\n    SkeletonRig._registry.set(this._id, new DWeakRef(this));\r\n  }\r\n\r\n  static getRigKey(joints: SceneNode[], rootJoint?: Nullable<SceneNode>) {\r\n    return [rootJoint?.persistentId ?? '', ...joints.map((joint) => joint.persistentId).sort()].join('|');\r\n  }\r\n\r\n  static findRigById(id: string) {\r\n    const m = this._registry.get(id);\r\n    if (m && !m.get()) {\r\n      this._registry.delete(id);\r\n      return null;\r\n    }\r\n    return m ? m.get() : null;\r\n  }\r\n\r\n  get persistentId() {\r\n    return this._id;\r\n  }\r\n\r\n  set persistentId(val) {\r\n    if (val !== this._id) {\r\n      const m = SkeletonRig._registry.get(this._id);\r\n      if (!m || m.get() !== this) {\r\n        throw new Error('Registry skeleton rig mismatch');\r\n      }\r\n      SkeletonRig._registry.delete(this._id);\r\n      this._id = val;\r\n      SkeletonRig._registry.set(this._id, m);\r\n    }\r\n  }\r\n\r\n  get joints() {\r\n    return this._joints;\r\n  }\r\n\r\n  get bindPose() {\r\n    return this._bindPose;\r\n  }\r\n\r\n  /** Effective humanoid retarget reference pose. */\r\n  get retargetPose() {\r\n    return this._retargetPose ?? this._bindPose;\r\n  }\r\n\r\n  /** Whether this rig has a reference pose that is distinct from its bind pose. */\r\n  get hasRetargetPose() {\r\n    return !!this._retargetPose;\r\n  }\r\n\r\n  get rootJoint(): Nullable<SceneNode> {\r\n    return this._rootJoint;\r\n  }\r\n\r\n  set rootJoint(joint: Nullable<SceneNode>) {\r\n    this._rootJoint = joint;\r\n    this._rootBindPose = this.getNodeBindPose(joint);\r\n  }\r\n\r\n  get rootBindPose(): SkeletonBindPose {\r\n    return this._rootBindPose;\r\n  }\r\n\r\n  getBindPoseForJoint(joint: SceneNode) {\r\n    return this._bindPoseByJoint.get(joint) ?? null;\r\n  }\r\n\r\n  getRetargetPoseForJoint(joint: SceneNode) {\r\n    return this._retargetPoseByJoint?.get(joint) ?? this.getBindPoseForJoint(joint);\r\n  }\r\n\r\n  get humanoidJointMapping(): Nullable<HumanoidJointMapping<SceneNode>> {\r\n    return this._humanoidJointMapping;\r\n  }\r\n\r\n  get humanoidRootRotation(): Quaternion {\r\n    return this._humanoidRootRotation;\r\n  }\r\n\r\n  get modifiers(): SkeletonModifier[] {\r\n    return this._modifiers;\r\n  }\r\n\r\n  get playing() {\r\n    return this._playing;\r\n  }\r\n\r\n  set playing(b: boolean) {\r\n    this._playing = b;\r\n  }\r\n\r\n  getJointIndex(joint: SceneNode) {\r\n    return this._joints.indexOf(joint);\r\n  }\r\n\r\n  getJointIndexByName(jointName: string) {\r\n    return this._joints.findIndex((joint) => joint.name === jointName);\r\n  }\r\n\r\n  computeBindPose() {\r\n    for (let i = 0; i < this._joints.length; i++) {\r\n      const joint = this._joints[i];\r\n      const bindpose = this._bindPose[i];\r\n      joint.position.set(bindpose.position);\r\n      joint.rotation.set(bindpose.rotation);\r\n      joint.scale.set(bindpose.scale);\r\n    }\r\n    if (this._rootJoint && !this._bindPoseByJoint.has(this._rootJoint)) {\r\n      this._rootJoint.position.set(this._rootBindPose.position);\r\n      this._rootJoint.rotation.set(this._rootBindPose.rotation);\r\n      this._rootJoint.scale.set(this._rootBindPose.scale);\r\n    }\r\n  }\r\n\r\n  apply(deltaTime: number): void {\r\n    for (const modifier of this._modifiers) {\r\n      modifier.apply(this, deltaTime);\r\n    }\r\n  }\r\n\r\n  reset() {\r\n    this._playing = false;\r\n  }\r\n\r\n  protected onDispose() {\r\n    super.onDispose();\r\n    const m = SkeletonRig._registry.get(this._id);\r\n    if (m?.get() === this) {\r\n      SkeletonRig._registry.delete(this._id);\r\n      m.dispose();\r\n    }\r\n  }\r\n\r\n  private findRootJoint(joints: SceneNode[]) {\r\n    let root: Nullable<SceneNode> = null;\r\n    for (const joint of joints) {\r\n      if (!root) {\r\n        root = joint;\r\n      }\r\n      while (!root!.isParentOf(joint)) {\r\n        root = root!.parent;\r\n      }\r\n      if (!root) {\r\n        break;\r\n      }\r\n    }\r\n    return root;\r\n  }\r\n\r\n  private getNodeBindPose(node: Nullable<SceneNode>): SkeletonBindPose {\r\n    const bindPose = node ? this._bindPoseByJoint.get(node) : null;\r\n    return bindPose\r\n      ? {\r\n          position: bindPose.position.clone(),\r\n          rotation: bindPose.rotation.clone(),\r\n          scale: bindPose.scale.clone()\r\n        }\r\n      : {\r\n          position: node?.position.clone() ?? Vector3.zero(),\r\n          rotation: node?.rotation.clone() ?? Quaternion.identity(),\r\n          scale: node?.scale.clone() ?? Vector3.one()\r\n        };\r\n  }\r\n}\r\n\r\nfunction jointPattern(all: string[], none?: string[], any?: string[]): HumanoidJointPattern {\r\n  return {\r\n    all,\r\n    any: any?.length ? any : undefined,\r\n    none: none?.length ? none : undefined\r\n  };\r\n}\r\n\r\nfunction sideJointPatterns(\r\n  side: 'left' | 'right',\r\n  patterns: Array<{ all: string[]; none?: string[]; any?: string[] }>\r\n): HumanoidJointPattern[] {\r\n  const sideTokens = side === 'left' ? ['left', 'l'] : ['right', 'r'];\r\n  return sideTokens.flatMap((sideToken) =>\r\n    patterns.map((pattern) => ({\r\n      all: [sideToken, ...pattern.all],\r\n      any: pattern.any?.length ? [...pattern.any] : undefined,\r\n      none: pattern.none?.length ? [...pattern.none] : undefined\r\n    }))\r\n  );\r\n}\r\n\r\n/**\r\n * Skin binding for skinned animation.\r\n *\r\n * Responsibilities:\r\n * - References a shared SkeletonRig.\r\n * - Maintains inverse bind and current skinning matrices for one skin.\r\n * - Provides a texture containing joint matrices for GPU skinning.\r\n * - Applies skinning state to associated meshes each frame.\r\n * - Computes animated axis-aligned bounding boxes using representative skinned vertices.\r\n *\r\n * Joint matrix palette layout:\r\n * - A block of slots in the shared {@link SkinPaletteAtlas}, one slot per 4x4 matrix.\r\n * - Slot 0 is a header holding the absolute slot indices of the current and previous sets.\r\n * - The rest is a 2-layered ring buffer: current and previous joint transforms to support\r\n *   temporal addressing. Offsets relative to the block are tracked in `_jointOffsets[0]`\r\n *   (current) and `_jointOffsets[1]` (previous).\r\n * - Palette matrices are relative to {@link SkinBinding.referenceNode}, so they do not change\r\n *   when the whole character moves and can be shared by instances of the same model.\r\n *\r\n * Usage:\r\n * - Construct with a rig, bind data, meshes and submesh bounding info.\r\n * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.\r\n * - Call `reset()` to clear skinning on meshes.\r\n *\r\n * @public\r\n */\r\nexport class SkinBinding extends Disposable {\r\n  /** @internal Global weak registry keyed by persistentId for serialization/lookup. */\r\n  private static readonly _registry: Map<string, DWeakRef<SkinBinding>> = new Map();\r\n  /** @internal */\r\n  protected _id: string;\r\n  /** @internal */\r\n  protected _rig: SkeletonRig;\r\n  /** @internal */\r\n  protected _joints: SceneNode[];\r\n  /** @internal */\r\n  protected _inverseBindMatrices: Matrix4x4[];\r\n  /** @internal */\r\n  protected _jointMatrices!: Matrix4x4[];\r\n  /** @internal */\r\n  protected _jointOffsets!: Float32Array<ArrayBuffer>;\r\n  /** @internal */\r\n  protected _paletteBlock: Nullable<SkinPaletteBlock>;\r\n  /** @internal Number of meshes skinned by other palettes in place of this binding's */\r\n  protected _paletteSuspendCount: number;\r\n  /** @internal Increased each time the pose relative to the reference node changes */\r\n  protected _paletteVersion: number;\r\n  /** @internal Whether both palette sets hold the current pose, so a still pose needs no write */\r\n  protected _paletteSettled: boolean;\r\n  /**\r\n   * @internal Joints and the nodes between them and the reference node, whose local transforms\r\n   * make up the pose\r\n   */\r\n  protected _poseNodes: Nullable<{ reference: Nullable<SceneNode>; nodes: SceneNode[] }>;\r\n  /** @internal Sum of the local transform tags of the pose nodes when the pose last changed */\r\n  protected _poseTag: number;\r\n  /** @internal Meshes waiting for the pose to change before updating again */\r\n  protected _sleepingMeshes: Set<SceneNode>;\r\n  /** @internal */\r\n  protected _paletteData!: Float32Array<ArrayBuffer>;\r\n  /** @internal */\r\n  protected _playing: boolean;\r\n  /** @internal */\r\n  protected _lastUpdateTime: number;\r\n  /**\r\n   * Create a skin binding instance.\r\n   *\r\n   * @param rig - Shared skeleton rig that owns animated joint transforms.\r\n   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.\r\n   * @param inverseBindMatrices - Inverse bind matrices for each joint.\r\n   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).\r\n   */\r\n  constructor(\r\n    rig: SkeletonRig,\r\n    inverseBindMatrices: Matrix4x4[],\r\n    joints?: SceneNode[],\r\n    bindPose?: SkeletonBindPose[]\r\n  ) {\r\n    super();\r\n    this._id = randomUUID();\r\n    this._rig = rig;\r\n    this._joints = joints ?? rig.joints;\r\n    this._inverseBindMatrices = inverseBindMatrices;\r\n    this._paletteBlock = null;\r\n    this._paletteSuspendCount = 0;\r\n    this._paletteVersion = 0;\r\n    this._paletteSettled = false;\r\n    this._poseNodes = null;\r\n    this._poseTag = -1;\r\n    this._sleepingMeshes = new Set();\r\n    this._playing = false;\r\n    this._lastUpdateTime = 0;\r\n    if (bindPose && bindPose !== rig.bindPose) {\r\n      // Legacy callers used Skeleton as both rig and binding. Keep the old bind\r\n      // pose visible by replacing the rig pose only when explicitly supplied.\r\n      this._rig = new SkeletonRig(rig.joints, bindPose, {\r\n        rootJoint: rig.rootJoint,\r\n        rootBindPose: rig.rootBindPose,\r\n        humanoidJointMapping: rig.humanoidJointMapping,\r\n        retargetPose: rig.hasRetargetPose ? rig.retargetPose : null\r\n      });\r\n    }\r\n    this.updateJointMatrices();\r\n    SkinBinding._registry.set(this._id, new DWeakRef(this));\r\n  }\r\n  /**\r\n   * Lookup a skeleton from the global registry by persistent id.\r\n   *\r\n   * @param id - The persistent UUID to search for.\r\n   * @returns The skeleton if alive, otherwise `null`.\r\n   * @internal\r\n   */\r\n  static findSkinBindingById(id: string) {\r\n    const m = this._registry.get(id);\r\n    if (m && !m.get()) {\r\n      this._registry.delete(id);\r\n      return null;\r\n    }\r\n    return m ? m.get() : null;\r\n  }\r\n  static findSkeletonById(id: string) {\r\n    return this.findSkinBindingById(id);\r\n  }\r\n  get rig() {\r\n    return this._rig;\r\n  }\r\n  /** Gets joint nodes */\r\n  get joints() {\r\n    return this._joints;\r\n  }\r\n  /** Gets the humanoid joint mapping */\r\n  get humanoidJointMapping(): Nullable<HumanoidJointMapping<SceneNode>> {\r\n    return this._rig.humanoidJointMapping;\r\n  }\r\n  /** Root rotation of humanoid hips bone */\r\n  get humanoidRootRotation(): Quaternion {\r\n    return this._rig.humanoidRootRotation;\r\n  }\r\n  /** @internal */\r\n  get inverseBindMatrices() {\r\n    return this._inverseBindMatrices;\r\n  }\r\n  /** @internal */\r\n  get bindPose() {\r\n    return this._joints.map((joint) => this._rig.getBindPoseForJoint(joint)!);\r\n  }\r\n  get playing() {\r\n    return this._playing;\r\n  }\r\n  set playing(b: boolean) {\r\n    this._playing = b;\r\n  }\r\n  get persistentId() {\r\n    return this._id;\r\n  }\r\n  set persistentId(val) {\r\n    if (val !== this._id) {\r\n      const m = SkinBinding._registry.get(this._id);\r\n      if (!m || m.get() !== this) {\r\n        throw new Error('Registry skin binding mismatch');\r\n      }\r\n      SkinBinding._registry.delete(this._id);\r\n      this._id = val;\r\n      SkinBinding._registry.set(this._id, m);\r\n    }\r\n  }\r\n  /**\r\n   * Texture containing joint matrices for GPU skinning.\r\n   *\r\n   * This is the shared {@link SkinPaletteAtlas} texture; the palette of this binding starts at\r\n   * slot {@link SkinBinding.paletteBase}. Each matrix is stored in 4 texels (one row per texel,\r\n   * RGBA = 4 floats).\r\n   */\r\n  get jointTexture() {\r\n    return SkinPaletteAtlas.instance.texture;\r\n  }\r\n  /**\r\n   * Index of the header slot of this binding's palette in the joint texture.\r\n   *\r\n   * @internal\r\n   */\r\n  get paletteBase() {\r\n    return this._paletteBlock?.base ?? 0;\r\n  }\r\n  /**\r\n   * Increased each time the pose relative to the reference node changes, so skinned meshes\r\n   * recompute their bounds only then. A model moving as a whole keeps its pose.\r\n   *\r\n   * @internal\r\n   */\r\n  get paletteVersion() {\r\n    return this._paletteVersion;\r\n  }\r\n  /**\r\n   * Have a skinned mesh queued for update the next time the pose changes, instead of every frame.\r\n   *\r\n   * @internal\r\n   */\r\n  sleepUntilPoseChanges(mesh: SceneNode) {\r\n    this._sleepingMeshes.add(mesh);\r\n  }\r\n  /**\r\n   * Node the palette matrices are relative to: the parent of the rig's root joint, or null\r\n   * for world space.\r\n   *\r\n   * @remarks\r\n   * A mesh skinned by this binding transforms palette output to its local space by\r\n   * `inverse(mesh.worldMatrix) * referenceNode.worldMatrix`.\r\n   */\r\n  get referenceNode(): Nullable<SceneNode> {\r\n    return this._rig.rootJoint?.parent ?? null;\r\n  }\r\n  /**\r\n   * Get joint index by joint node\r\n   * @param joint - joint node\r\n   * @returns The index of the joint\r\n   */\r\n  getJointIndex(joint: SceneNode) {\r\n    return this._joints.indexOf(joint);\r\n  }\r\n  /**\r\n   * Get joint index by joint name\r\n   * @param jointName - joint name\r\n   * @returns The index of the joint\r\n   */\r\n  getJointIndexByName(jointName: string) {\r\n    return this._joints.findIndex((joint) => joint.name === jointName);\r\n  }\r\n  /**\r\n   * Update joint matrices from either provided transforms or the joints' world matrices.\r\n   *\r\n   * - Lazily creates the joint texture and its backing arrays on first call.\r\n   * - Advances the ring buffer offset in `_jointOffsets` to write a new \"current\" set.\r\n   * - For each joint:\r\n   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).\r\n   *   - Computes skinning matrix: ( M_\\{skin\\} = M_\\{joint\\} \\\\times M_\\{inverseBind\\} ).\r\n   *\r\n   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`\r\n   * update the GPU texture.\r\n   *\r\n   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.\r\n   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.\r\n   * @internal\r\n   */\r\n  updateJointMatrices() {\r\n    if (!this._jointOffsets) {\r\n      this._createPalette();\r\n    } else if (!this._paletteBlock) {\r\n      this._paletteBlock = SkinPaletteAtlas.instance.allocate(this.joints.length * 2 + 1);\r\n    }\r\n    const first = this._jointOffsets[0] === 0;\r\n    if (first) {\r\n      this._jointOffsets[0] = 1;\r\n      this._jointOffsets[1] = 1;\r\n    } else {\r\n      this._jointOffsets[1] = this._jointOffsets[0];\r\n      this._jointOffsets[0] = this.joints.length - this._jointOffsets[0] + 2;\r\n    }\r\n    for (let i = 0; i < this.joints.length; i++) {\r\n      Matrix4x4.multiply(\r\n        this.joints[i].worldMatrix,\r\n        this._inverseBindMatrices[i],\r\n        this._jointMatrices[i + this._jointOffsets[0] - 1]\r\n      );\r\n    }\r\n    // CPU-side matrices are world space and always current; the palette and anything derived\r\n    // from the pose only change when the pose relative to the reference node does\r\n    const changed = this._poseChanged() || first;\r\n    if (changed) {\r\n      this._computePalette();\r\n      this._paletteSettled = false;\r\n      this._paletteVersion++;\r\n      for (const mesh of this._sleepingMeshes) {\r\n        mesh.scene?.queueUpdateNode(mesh);\r\n      }\r\n      this._sleepingMeshes.clear();\r\n    }\r\n    // The first still frame writes the pose once more so the previous set equals the current\r\n    // one; after that both sets hold it and the atlas is left alone\r\n    if (!this._paletteSettled) {\r\n      this._writePalette();\r\n      this._paletteSettled = !changed;\r\n    }\r\n  }\r\n  /**\r\n   * Reset skeleton to bind pose\r\n   *\r\n   * @internal\r\n   */\r\n  computeBindPose() {\r\n    this._rig.computeBindPose();\r\n  }\r\n  /**\r\n   * Compute current joint matrices from the nodes and write them to the joint texture.\r\n   *\r\n   * @remarks\r\n   * The joint texture is uploaded once per frame when the scene update completes.\r\n   *\r\n   * @internal\r\n   */\r\n  apply() {\r\n    if (this._paletteSuspendCount === 0) {\r\n      this.updateJointMatrices();\r\n    }\r\n  }\r\n  /**\r\n   * Stop or resume updating the palette, while meshes are skinned by other palettes in place of\r\n   * this binding's.\r\n   *\r\n   * @remarks\r\n   * Calls are counted; the palette updates again once every suspension is resumed. CPU-side joint\r\n   * matrices are not updated while suspended either.\r\n   *\r\n   * The atlas block of the palette is released while suspended, since no mesh reads it, and\r\n   * allocated again on resume, at a new base: meshes pick it up as their palette overrides are\r\n   * cleared.\r\n   *\r\n   * @param suspend - true to suspend, false to resume\r\n   * @internal\r\n   */\r\n  suspendPalette(suspend: boolean) {\r\n    const wasSuspended = this._paletteSuspendCount > 0;\r\n    this._paletteSuspendCount = Math.max(0, this._paletteSuspendCount + (suspend ? 1 : -1));\r\n    if (!wasSuspended && this._paletteSuspendCount > 0 && this._paletteBlock) {\r\n      SkinPaletteAtlas.instance.free(this._paletteBlock);\r\n      this._paletteBlock = null;\r\n    } else if (wasSuspended && this._paletteSuspendCount === 0 && this._jointOffsets) {\r\n      this._paletteBlock = SkinPaletteAtlas.instance.allocate(this.joints.length * 2 + 1);\r\n      // The previous set is as old as the suspension, so restart the history: the next update\r\n      // writes both sets, giving no motion for one frame rather than the motion since then\r\n      this._jointOffsets[0] = 0;\r\n      this._paletteSettled = false;\r\n    }\r\n  }\r\n  /**\r\n   * Apply all enabled modifiers.\r\n   *\r\n   * Modifiers are applied after the base animation/bind pose layer,\r\n   * allowing procedural modifications like IK, spring physics, or manual overrides.\r\n   *\r\n   * @param deltaTime - Time elapsed since last frame (in seconds)\r\n   * @internal\r\n   */\r\n  protected applyModifiers(deltaTime: number): void {\r\n    this._rig.apply(deltaTime);\r\n  }\r\n  /**\r\n   * Get all modifiers attached to this skeleton.\r\n   *\r\n   * @public\r\n   */\r\n  get modifiers(): SkeletonModifier[] {\r\n    return this._rig.modifiers;\r\n  }\r\n  /**\r\n   * Reset all meshes to an unskinned state and clear animated bounds.\r\n   *\r\n   * @internal\r\n   */\r\n  reset() {\r\n    //this.updateJointMatrices(this._bindPoseMatrices);\r\n    this._playing = false;\r\n  }\r\n  /**\r\n   * Compute the animated bounding box for a single mesh using its representative vertices.\r\n   *\r\n   * For each representative vertex:\r\n   * - Blends the vertex by up to 4 palette matrices using provided weights.\r\n   * - Transforms to the mesh's local space using `skinSpaceMatrix`.\r\n   * - Expands the bounding box.\r\n   *\r\n   * @remarks\r\n   * Reads the palette, which is relative to {@link SkinBinding.referenceNode} and changes together\r\n   * with {@link SkinBinding.paletteVersion}, rather than the world-space joint matrices: those are\r\n   * a snapshot of when the joints were last updated, and the model may have moved since without\r\n   * changing the pose, so combining them with the current mesh transform offsets the bounds.\r\n   *\r\n   * @param info - Precomputed bounding data (representative vertices, indices, weights).\r\n   * @param skinSpaceMatrix - Matrix transforming palette output to the mesh's local space,\r\n   *   see {@link Mesh.getSkinSpaceMatrix}.\r\n   * @internal\r\n   */\r\n  computeBoundingBox(info: SkinnedBoundingBox, skinSpaceMatrix: Matrix4x4) {\r\n    info.boundingBox.beginExtend();\r\n    const palette = this._paletteData;\r\n    if (!palette) {\r\n      return;\r\n    }\r\n    const numJoints = this.joints.length;\r\n    const influenceCount = Math.max(1, info.influenceCount ?? 4);\r\n    for (let i = 0; i < info.boundingVertices.length; i++) {\r\n      const v = info.boundingVertices[i];\r\n      let x = 0;\r\n      let y = 0;\r\n      let z = 0;\r\n      const base = i * influenceCount;\r\n      for (let j = 0; j < influenceCount; j++) {\r\n        const weight = Number(info.boundingVertexJointWeights[base + j]) || 0;\r\n        if (weight <= 0) {\r\n          continue;\r\n        }\r\n        const joint = Number(info.boundingVertexBlendIndices[base + j]) || 0;\r\n        if (joint < 0 || joint >= numJoints) {\r\n          continue;\r\n        }\r\n        const m = joint * 16;\r\n        x += weight * (palette[m] * v.x + palette[m + 4] * v.y + palette[m + 8] * v.z + palette[m + 12]);\r\n        y += weight * (palette[m + 1] * v.x + palette[m + 5] * v.y + palette[m + 9] * v.z + palette[m + 13]);\r\n        z += weight * (palette[m + 2] * v.x + palette[m + 6] * v.y + palette[m + 10] * v.z + palette[m + 14]);\r\n      }\r\n      tmpV0.setXYZ(x, y, z);\r\n      skinSpaceMatrix.transformPointAffine(tmpV0, tmpV0);\r\n      info.boundingBox.extend(tmpV0);\r\n    }\r\n  }\r\n  /**\r\n   * Dispose GPU resources and references held by the skeleton.\r\n   *\r\n   * - Disposes the joint texture.\r\n   * - Clears matrix arrays and joint references.\r\n   */\r\n  protected onDispose() {\r\n    super.onDispose();\r\n    if (this._paletteBlock) {\r\n      SkinPaletteAtlas.instance.free(this._paletteBlock);\r\n      this._paletteBlock = null;\r\n    }\r\n    this._sleepingMeshes.clear();\r\n    const m = SkinBinding._registry.get(this._id);\r\n    if (m?.get() === this) {\r\n      SkinBinding._registry.delete(this._id);\r\n      m.dispose();\r\n    }\r\n  }\r\n  /**\r\n   * Allocate the palette block and CPU-side matrix storage.\r\n   *\r\n   * Layout details:\r\n   * - The block holds a header slot followed by 2×N matrix slots (current and previous).\r\n   * - `_jointOffsets` holds the ring buffer offsets `[current, previous]` relative to the block.\r\n   * - `_jointMatrices` holds the world-space skinning matrices of both sets, which CPU-side\r\n   *   consumers (bounds, cloth) read.\r\n   *\r\n   * @internal\r\n   */\r\n  private _createPalette() {\r\n    this._paletteBlock = SkinPaletteAtlas.instance.allocate(this.joints.length * 2 + 1);\r\n    this._paletteData = new Float32Array(this.joints.length * 16);\r\n    this._paletteSettled = false;\r\n    this._jointOffsets = new Float32Array(2);\r\n    this._jointMatrices = Array.from({ length: this.joints.length * 2 }).map(() => new Matrix4x4());\r\n  }\r\n  /**\r\n   * Whether the pose may have changed since it last did: the local transform of a joint, or of a\r\n   * node between the joints and the reference node, has changed.\r\n   *\r\n   * @remarks\r\n   * Moving the whole model changes the world matrices of the joints but not the pose, so world\r\n   * matrices cannot tell; and comparing matrices taken back to the reference node trips over\r\n   * rounding far from the origin.\r\n   */\r\n  private _poseChanged() {\r\n    const reference = this.referenceNode;\r\n    if (!this._poseNodes || this._poseNodes.reference !== reference) {\r\n      const nodes = new Set<SceneNode>();\r\n      for (const joint of this.joints) {\r\n        for (let node: Nullable<SceneNode> = joint; node && node !== reference; node = node.parent) {\r\n          if (nodes.has(node)) {\r\n            break;\r\n          }\r\n          nodes.add(node);\r\n        }\r\n      }\r\n      this._poseNodes = { reference, nodes: [...nodes] };\r\n      this._poseTag = -1;\r\n    }\r\n    let tag = 0;\r\n    for (const node of this._poseNodes.nodes) {\r\n      tag += node.localTransformTag;\r\n    }\r\n    if (tag !== this._poseTag) {\r\n      this._poseTag = tag;\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n  /** Compute the current set of matrices relative to the reference node */\r\n  private _computePalette() {\r\n    const reference = this.referenceNode;\r\n    const invReference = reference ? Matrix4x4.invertAffine(reference.worldMatrix, tmpMatrix) : null;\r\n    const offset = this._jointOffsets[0] - 1;\r\n    for (let i = 0; i < this.joints.length; i++) {\r\n      const world = this._jointMatrices[i + offset];\r\n      this._paletteData.set(\r\n        invReference ? Matrix4x4.multiplyAffine(invReference, world, tmpMatrix2) : world,\r\n        i * 16\r\n      );\r\n    }\r\n  }\r\n  /** Write the header and the current set of matrices to the palette */\r\n  private _writePalette() {\r\n    const atlas = SkinPaletteAtlas.instance;\r\n    const base = this._paletteBlock!.base;\r\n    atlas.writeSlots(base + this._jointOffsets[0], this._paletteData);\r\n    tmpHeader[0] = base + this._jointOffsets[0];\r\n    tmpHeader[1] = base + this._jointOffsets[1];\r\n    atlas.writeSlots(base, tmpHeader);\r\n  }\r\n  /**\r\n   * Build representative skinned bounding data for a submesh.\r\n   *\r\n   * Strategy:\r\n   * - For all vertices, compute their skinned position (using current ring buffer slot).\r\n   * - Track the indices of the min/max extents along x, y, z (6 indices total).\r\n   * - Store:\r\n   *   - The 6 representative positions in object space.\r\n   *   - Their 4 joint indices and weights (flattened).\r\n   *   - An empty BoundingBox to be filled during animation.\r\n   *\r\n   * @param meshData - Raw submesh attributes (positions, blend indices, weights).\r\n   * @returns Skinned bounding box info used during per-frame updates.\r\n   */\r\n  getBoundingInfo(data: {\r\n    positions: Float32Array;\r\n    blendIndices: TypedArray;\r\n    weights: TypedArray;\r\n    influenceCount?: number;\r\n  }) {\r\n    const indices = [0, 0, 0, 0, 0, 0];\r\n    let minx = Number.MAX_VALUE;\r\n    let maxx = -Number.MAX_VALUE;\r\n    let miny = Number.MAX_VALUE;\r\n    let maxy = -Number.MAX_VALUE;\r\n    let minz = Number.MAX_VALUE;\r\n    let maxz = -Number.MAX_VALUE;\r\n    const v = data.positions;\r\n    const vert = new Vector3();\r\n    const tmpV0 = new Vector3();\r\n    const tmpV1 = new Vector3();\r\n    const numVertices = Math.floor(v.length / 3);\r\n    const influenceCount = Math.max(1, data.influenceCount ?? 4);\r\n    for (let i = 0; i < numVertices; i++) {\r\n      vert.setXYZ(v[i * 3], v[i * 3 + 1], v[i * 3 + 2]);\r\n      tmpV0.setXYZ(0, 0, 0);\r\n      const base = i * influenceCount;\r\n      for (let j = 0; j < influenceCount; j++) {\r\n        const weight = Number(data.weights[base + j]) || 0;\r\n        if (weight <= 0) {\r\n          continue;\r\n        }\r\n        const matrix =\r\n          this._jointMatrices[(Number(data.blendIndices[base + j]) || 0) + this._jointOffsets[0] - 1];\r\n        if (!matrix) {\r\n          continue;\r\n        }\r\n        matrix.transformPointAffine(vert, tmpV1).scaleBy(weight);\r\n        tmpV0.addBy(tmpV1);\r\n      }\r\n      if (tmpV0.x < minx) {\r\n        minx = tmpV0.x;\r\n        indices[0] = i;\r\n      }\r\n      if (tmpV0.x > maxx) {\r\n        maxx = tmpV0.x;\r\n        indices[1] = i;\r\n      }\r\n      if (tmpV0.y < miny) {\r\n        miny = tmpV0.y;\r\n        indices[2] = i;\r\n      }\r\n      if (tmpV0.y > maxy) {\r\n        maxy = tmpV0.y;\r\n        indices[3] = i;\r\n      }\r\n      if (tmpV0.z < minz) {\r\n        minz = tmpV0.z;\r\n        indices[4] = i;\r\n      }\r\n      if (tmpV0.z > maxz) {\r\n        maxz = tmpV0.z;\r\n        indices[5] = i;\r\n      }\r\n    }\r\n    const info: SkinnedBoundingBox = {\r\n      influenceCount,\r\n      boundingVertexBlendIndices: new Float32Array(\r\n        Array.from({ length: 6 * influenceCount }).map(\r\n          (val, index) =>\r\n            data.blendIndices[\r\n              indices[Math.floor(index / influenceCount)] * influenceCount + (index % influenceCount)\r\n            ]\r\n        )\r\n      ),\r\n      boundingVertexJointWeights: new Float32Array(\r\n        Array.from({ length: 6 * influenceCount }).map(\r\n          (val, index) =>\r\n            data.weights[\r\n              indices[Math.floor(index / influenceCount)] * influenceCount + (index % influenceCount)\r\n            ]\r\n        )\r\n      ),\r\n      boundingVertices: Array.from({ length: 6 }).map(\r\n        (val, index) =>\r\n          new Vector3(\r\n            data.positions[indices[index] * 3],\r\n            data.positions[indices[index] * 3 + 1],\r\n            data.positions[indices[index] * 3 + 2]\r\n          )\r\n      ),\r\n      boundingBox: new BoundingBox()\r\n    };\r\n    return info;\r\n  }\r\n  /**\r\n   * Skin all vertices into mesh-local space for the current skeleton pose.\r\n   *\r\n   * This is used by systems like cloth that need the animated mesh pose on CPU,\r\n   * but render with GPU skinning disabled to avoid double deformation.\r\n   *\r\n   * @param positions - Bind-pose/object-space input positions, xyz packed.\r\n   * @param blendIndices - 4 joint indices per vertex.\r\n   * @param weights - 4 joint weights per vertex.\r\n   * @param invWorldMatrix - Mesh inverse world matrix to convert skinned world positions back to mesh-local space.\r\n   * @param out - Optional output array to reuse.\r\n   * @returns The skinned mesh-local positions.\r\n   * @internal\r\n   */\r\n  skinPositionsToLocal(\r\n    positions: Float32Array<ArrayBuffer>,\r\n    blendIndices: ArrayLike<number>,\r\n    weights: ArrayLike<number>,\r\n    invWorldMatrix: Matrix4x4,\r\n    out?: Float32Array<ArrayBuffer>,\r\n    influenceCount?: number\r\n  ) {\r\n    const result = out && out.length === positions.length ? out : new Float32Array(positions.length);\r\n    const matrixOffset = this._jointOffsets[0] - 1;\r\n    const effectiveInfluenceCount = Math.max(\r\n      1,\r\n      influenceCount ??\r\n        Math.max(1, Math.floor(weights.length / Math.max(1, Math.floor(positions.length / 3))))\r\n    );\r\n    for (let i = 0; i + 2 < positions.length; i += 3) {\r\n      const vertexIndex = (i / 3) >> 0;\r\n      const x = positions[i];\r\n      const y = positions[i + 1];\r\n      const z = positions[i + 2];\r\n      let skinnedX = 0;\r\n      let skinnedY = 0;\r\n      let skinnedZ = 0;\r\n      let weightSum = 0;\r\n      const base = vertexIndex * effectiveInfluenceCount;\r\n      for (let j = 0; j < effectiveInfluenceCount; j++) {\r\n        const weight = Number(weights[base + j]) || 0;\r\n        if (weight <= 0) {\r\n          continue;\r\n        }\r\n        const jointIndex = (Number(blendIndices[base + j]) || 0) + matrixOffset;\r\n        const matrix = this._jointMatrices[jointIndex];\r\n        if (!matrix) {\r\n          continue;\r\n        }\r\n        skinnedX += (matrix[0] * x + matrix[4] * y + matrix[8] * z + matrix[12]) * weight;\r\n        skinnedY += (matrix[1] * x + matrix[5] * y + matrix[9] * z + matrix[13]) * weight;\r\n        skinnedZ += (matrix[2] * x + matrix[6] * y + matrix[10] * z + matrix[14]) * weight;\r\n        weightSum += weight;\r\n      }\r\n      if (weightSum <= 1e-6) {\r\n        skinnedX = x;\r\n        skinnedY = y;\r\n        skinnedZ = z;\r\n      }\r\n      result[i] =\r\n        invWorldMatrix[0] * skinnedX +\r\n        invWorldMatrix[4] * skinnedY +\r\n        invWorldMatrix[8] * skinnedZ +\r\n        invWorldMatrix[12];\r\n      result[i + 1] =\r\n        invWorldMatrix[1] * skinnedX +\r\n        invWorldMatrix[5] * skinnedY +\r\n        invWorldMatrix[9] * skinnedZ +\r\n        invWorldMatrix[13];\r\n      result[i + 2] =\r\n        invWorldMatrix[2] * skinnedX +\r\n        invWorldMatrix[6] * skinnedY +\r\n        invWorldMatrix[10] * skinnedZ +\r\n        invWorldMatrix[14];\r\n    }\r\n    return result;\r\n  }\r\n  /**\r\n   * Skin packed direction vectors into mesh-local space for the current skeleton pose.\r\n   *\r\n   * Unlike positions, directions ignore matrix translation and are normalized after\r\n   * conversion through the mesh inverse world matrix.\r\n   *\r\n   * @internal\r\n   */\r\n  skinDirectionsToLocal(\r\n    directions: Float32Array<ArrayBuffer>,\r\n    blendIndices: ArrayLike<number>,\r\n    weights: ArrayLike<number>,\r\n    invWorldMatrix: Matrix4x4,\r\n    out?: Float32Array<ArrayBuffer>,\r\n    influenceCount?: number\r\n  ) {\r\n    const result = out && out.length === directions.length ? out : new Float32Array(directions.length);\r\n    const matrixOffset = this._jointOffsets[0] - 1;\r\n    const effectiveInfluenceCount = Math.max(\r\n      1,\r\n      influenceCount ??\r\n        Math.max(1, Math.floor(weights.length / Math.max(1, Math.floor(directions.length / 3))))\r\n    );\r\n    for (let i = 0; i + 2 < directions.length; i += 3) {\r\n      const vertexIndex = (i / 3) >> 0;\r\n      const x = directions[i];\r\n      const y = directions[i + 1];\r\n      const z = directions[i + 2];\r\n      let skinnedX = 0;\r\n      let skinnedY = 0;\r\n      let skinnedZ = 0;\r\n      let weightSum = 0;\r\n      const base = vertexIndex * effectiveInfluenceCount;\r\n      for (let j = 0; j < effectiveInfluenceCount; j++) {\r\n        const weight = Number(weights[base + j]) || 0;\r\n        if (weight <= 0) {\r\n          continue;\r\n        }\r\n        const jointIndex = (Number(blendIndices[base + j]) || 0) + matrixOffset;\r\n        const matrix = this._jointMatrices[jointIndex];\r\n        if (!matrix) {\r\n          continue;\r\n        }\r\n        skinnedX += (matrix[0] * x + matrix[4] * y + matrix[8] * z) * weight;\r\n        skinnedY += (matrix[1] * x + matrix[5] * y + matrix[9] * z) * weight;\r\n        skinnedZ += (matrix[2] * x + matrix[6] * y + matrix[10] * z) * weight;\r\n        weightSum += weight;\r\n      }\r\n      if (weightSum <= 1e-6) {\r\n        skinnedX = x;\r\n        skinnedY = y;\r\n        skinnedZ = z;\r\n      }\r\n      const localX =\r\n        invWorldMatrix[0] * skinnedX + invWorldMatrix[4] * skinnedY + invWorldMatrix[8] * skinnedZ;\r\n      const localY =\r\n        invWorldMatrix[1] * skinnedX + invWorldMatrix[5] * skinnedY + invWorldMatrix[9] * skinnedZ;\r\n      const localZ =\r\n        invWorldMatrix[2] * skinnedX + invWorldMatrix[6] * skinnedY + invWorldMatrix[10] * skinnedZ;\r\n      const length = Math.hypot(localX, localY, localZ);\r\n      if (length > 1e-8) {\r\n        result[i] = localX / length;\r\n        result[i + 1] = localY / length;\r\n        result[i + 2] = localZ / length;\r\n      } else {\r\n        result[i] = 0;\r\n        result[i + 1] = 1;\r\n        result[i + 2] = 0;\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n  private static normalizeHumanoidJointName(name: string) {\r\n    return name\r\n      .slice(name.lastIndexOf(':') + 1)\r\n      .replace(/([A-Z]+)([A-Z][a-z])/g, '$1 $2')\r\n      .replace(/([a-z0-9])([A-Z])/g, '$1 $2')\r\n      .replace(/([a-zA-Z])(\\d+)/g, '$1 $2')\r\n      .replace(/(\\d+)([a-zA-Z])/g, '$1 $2')\r\n      .replace(/[_:\\/\\\\.-]+/g, ' ')\r\n      .replace(/[^a-zA-Z0-9]+/g, ' ')\r\n      .toLowerCase()\r\n      .replace(/\\bforearm\\b/g, 'fore arm')\r\n      .replace(/\\bupperarm\\b/g, 'upper arm')\r\n      .replace(/\\blowerarm\\b/g, 'lower arm')\r\n      .replace(/\\bupleg\\b/g, 'up leg')\r\n      .replace(/\\bupperleg\\b/g, 'upper leg')\r\n      .replace(/\\blowerleg\\b/g, 'lower leg')\r\n      .replace(/\\btoebase\\b/g, 'toe base')\r\n      .replace(/\\bupperchest\\b/g, 'upper chest')\r\n      .replace(/\\btoes\\b/g, 'toe')\r\n      .replace(/\\blittle\\b/g, 'pinky')\r\n      .replace(/\\bcollar\\b/g, 'clavicle')\r\n      .replace(/\\s+/g, ' ')\r\n      .trim();\r\n  }\r\n  private static getHumanoidJointNodeDepth<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T,\r\n    node: T\r\n  ) {\r\n    let depth = 0;\r\n    let current: Nullable<T> = node;\r\n    while (current && current !== root) {\r\n      depth++;\r\n      current = current.parent;\r\n    }\r\n    return depth;\r\n  }\r\n  private static collectHumanoidJointNodeInfos<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(root: T): HumanoidJointNodeInfo<T>[] {\r\n    const nodes: HumanoidJointNodeInfo<T>[] = [];\r\n    this.iterateNode(root, (node) => {\r\n      const normalizedName = this.normalizeHumanoidJointName(node.name || '');\r\n      if (!normalizedName) {\r\n        return false;\r\n      }\r\n      const tokens = normalizedName.split(' ').filter(Boolean);\r\n      if (!tokens.length || tokens.some((token) => humanoidHelperJointTokens.has(token))) {\r\n        return false;\r\n      }\r\n      nodes.push({\r\n        node,\r\n        depth: this.getHumanoidJointNodeDepth(root, node),\r\n        tokens,\r\n        tokenSet: new Set(tokens)\r\n      });\r\n      return false;\r\n    });\r\n    return nodes;\r\n  }\r\n  private static matchesHumanoidJointPattern<T extends { name: string; children: T[] }>(\r\n    info: HumanoidJointNodeInfo<T>,\r\n    pattern: HumanoidJointPattern\r\n  ) {\r\n    if (pattern.all?.some((token) => !info.tokenSet.has(token))) {\r\n      return false;\r\n    }\r\n    if (pattern.any?.length && !pattern.any.some((token) => info.tokenSet.has(token))) {\r\n      return false;\r\n    }\r\n    if (pattern.none?.some((token) => info.tokenSet.has(token))) {\r\n      return false;\r\n    }\r\n    return true;\r\n  }\r\n  private static scoreHumanoidJointPattern<T extends { name: string; children: T[] }>(\r\n    info: HumanoidJointNodeInfo<T>,\r\n    pattern: HumanoidJointPattern,\r\n    priority: number\r\n  ) {\r\n    const matchedTokens = new Set(pattern.all ?? []);\r\n    for (const token of pattern.any ?? []) {\r\n      if (info.tokenSet.has(token)) {\r\n        matchedTokens.add(token);\r\n      }\r\n    }\r\n    let extraTokenCount = 0;\r\n    for (const token of info.tokens) {\r\n      if (!matchedTokens.has(token)) {\r\n        extraTokenCount++;\r\n      }\r\n    }\r\n    return priority * 100000 + matchedTokens.size * 100 - extraTokenCount * 5 - info.depth;\r\n  }\r\n  private static collectHumanoidJointCandidates<T extends { name: string; children: T[] }>(\r\n    nodes: HumanoidJointNodeInfo<T>[],\r\n    patterns: HumanoidJointPattern[],\r\n    used: Set<T>\r\n  ): HumanoidJointMatchCandidate<T>[] {\r\n    const candidates = new Map<T, number>();\r\n    for (let index = 0; index < patterns.length; index++) {\r\n      const pattern = patterns[index];\r\n      const priority = patterns.length - index;\r\n      for (const info of nodes) {\r\n        if (used.has(info.node) || !this.matchesHumanoidJointPattern(info, pattern)) {\r\n          continue;\r\n        }\r\n        const score = this.scoreHumanoidJointPattern(info, pattern, priority);\r\n        const current = candidates.get(info.node);\r\n        if (current === undefined || score > current) {\r\n          candidates.set(info.node, score);\r\n        }\r\n      }\r\n    }\r\n    return Array.from(candidates, ([node, score]) => ({ node, score })).sort((a, b) => b.score - a.score);\r\n  }\r\n  private static findBestHumanoidJoint<T extends { name: string; children: T[] }>(\r\n    nodes: HumanoidJointNodeInfo<T>[],\r\n    patterns: HumanoidJointPattern[],\r\n    used: Set<T>\r\n  ) {\r\n    return this.collectHumanoidJointCandidates(nodes, patterns, used)[0]?.node ?? null;\r\n  }\r\n  private static matchHumanoidJointProfile<T extends string, U extends { name: string; children: U[] }>(\r\n    nodes: HumanoidJointNodeInfo<U>[],\r\n    profile: HumanoidJointProfile<T>,\r\n    used: Set<U>,\r\n    optional?: Set<T>\r\n  ): Partial<Record<T, U>> | null {\r\n    const result = {} as Partial<Record<T, U>>;\r\n    const reserved = new Set<U>();\r\n    for (const joint of Object.keys(profile) as T[]) {\r\n      const node = this.findBestHumanoidJoint(nodes, profile[joint], new Set<U>([...used, ...reserved]));\r\n      if (!node) {\r\n        if (optional?.has(joint)) {\r\n          continue;\r\n        }\r\n        return null;\r\n      }\r\n      result[joint] = node;\r\n      reserved.add(node);\r\n    }\r\n    for (const node of reserved) {\r\n      used.add(node);\r\n    }\r\n    return result;\r\n  }\r\n  private static validateHumanoidBodyPartial<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    body: Partial<Record<HumanoidBodyRig, T>>\r\n  ) {\r\n    const validateAncestor = (ancestor: HumanoidBodyRig, descendant: HumanoidBodyRig) =>\r\n      !body[ancestor] || !body[descendant] || this.isSameOrAncestor(body[ancestor]!, body[descendant]!);\r\n    return (\r\n      validateAncestor(HumanoidBodyRig.Hips, HumanoidBodyRig.Spine) &&\r\n      validateAncestor(HumanoidBodyRig.Hips, HumanoidBodyRig.Neck) &&\r\n      validateAncestor(HumanoidBodyRig.Hips, HumanoidBodyRig.LeftUpperLeg) &&\r\n      validateAncestor(HumanoidBodyRig.Hips, HumanoidBodyRig.RightUpperLeg) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.Chest) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.UpperChest) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.Neck) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.Head) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.LeftShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.Spine, HumanoidBodyRig.RightShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.UpperChest) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.Neck) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.Head) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.LeftShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.Chest, HumanoidBodyRig.RightShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.UpperChest, HumanoidBodyRig.Neck) &&\r\n      validateAncestor(HumanoidBodyRig.UpperChest, HumanoidBodyRig.Head) &&\r\n      validateAncestor(HumanoidBodyRig.UpperChest, HumanoidBodyRig.LeftShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.UpperChest, HumanoidBodyRig.RightShoulder) &&\r\n      validateAncestor(HumanoidBodyRig.Neck, HumanoidBodyRig.Head) &&\r\n      validateAncestor(HumanoidBodyRig.LeftShoulder, HumanoidBodyRig.LeftUpperArm) &&\r\n      validateAncestor(HumanoidBodyRig.LeftUpperArm, HumanoidBodyRig.LeftLowerArm) &&\r\n      validateAncestor(HumanoidBodyRig.LeftLowerArm, HumanoidBodyRig.LeftHand) &&\r\n      validateAncestor(HumanoidBodyRig.RightShoulder, HumanoidBodyRig.RightUpperArm) &&\r\n      validateAncestor(HumanoidBodyRig.RightUpperArm, HumanoidBodyRig.RightLowerArm) &&\r\n      validateAncestor(HumanoidBodyRig.RightLowerArm, HumanoidBodyRig.RightHand) &&\r\n      validateAncestor(HumanoidBodyRig.LeftUpperLeg, HumanoidBodyRig.LeftLowerLeg) &&\r\n      validateAncestor(HumanoidBodyRig.LeftLowerLeg, HumanoidBodyRig.LeftFoot) &&\r\n      validateAncestor(HumanoidBodyRig.LeftFoot, HumanoidBodyRig.LeftToes) &&\r\n      validateAncestor(HumanoidBodyRig.RightUpperLeg, HumanoidBodyRig.RightLowerLeg) &&\r\n      validateAncestor(HumanoidBodyRig.RightLowerLeg, HumanoidBodyRig.RightFoot) &&\r\n      validateAncestor(HumanoidBodyRig.RightFoot, HumanoidBodyRig.RightToes)\r\n    );\r\n  }\r\n  private static matchHumanoidBodyProfile<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    nodes: HumanoidJointNodeInfo<T>[],\r\n    profile: HumanoidJointProfile<HumanoidBodyRig>,\r\n    used: Set<T>,\r\n    optional?: Set<HumanoidBodyRig>\r\n  ): Partial<Record<HumanoidBodyRig, T>> | null {\r\n    const joints = Object.keys(profile) as HumanoidBodyRig[];\r\n    const candidates = new Map<HumanoidBodyRig, HumanoidJointMatchCandidate<T>[]>();\r\n    for (const joint of joints) {\r\n      candidates.set(joint, this.collectHumanoidJointCandidates(nodes, profile[joint], used));\r\n    }\r\n    const current = {} as Partial<Record<HumanoidBodyRig, T>>;\r\n    const reserved = new Set<T>();\r\n    let bestScore = Number.NEGATIVE_INFINITY;\r\n    let bestResult: Partial<Record<HumanoidBodyRig, T>> | null = null;\r\n    const search = (index: number, score: number) => {\r\n      if (index >= joints.length) {\r\n        if (score > bestScore) {\r\n          bestScore = score;\r\n          bestResult = { ...current };\r\n        }\r\n        return;\r\n      }\r\n      const joint = joints[index];\r\n      let matched = false;\r\n      for (const candidate of candidates.get(joint) ?? []) {\r\n        if (reserved.has(candidate.node)) {\r\n          continue;\r\n        }\r\n        current[joint] = candidate.node;\r\n        reserved.add(candidate.node);\r\n        if (this.validateHumanoidBodyPartial(current)) {\r\n          matched = true;\r\n          search(index + 1, score + candidate.score);\r\n        }\r\n        reserved.delete(candidate.node);\r\n        delete current[joint];\r\n      }\r\n      if (optional?.has(joint)) {\r\n        search(index + 1, score);\r\n      } else if (!matched) {\r\n        return;\r\n      }\r\n    };\r\n    search(0, 0);\r\n    if (!bestResult) {\r\n      return null;\r\n    }\r\n    for (const node of Object.values(bestResult) as T[]) {\r\n      used.add(node);\r\n    }\r\n    return bestResult;\r\n  }\r\n  private static getHumanoidIntermediateChain<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    ancestor: T,\r\n    descendant: T\r\n  ) {\r\n    if (!this.isSameOrAncestor(ancestor, descendant)) {\r\n      return null;\r\n    }\r\n    const chain: T[] = [];\r\n    let current = descendant.parent;\r\n    while (current && current !== ancestor) {\r\n      chain.unshift(current);\r\n      current = current.parent;\r\n    }\r\n    return chain;\r\n  }\r\n  private static completeHumanoidBody<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    body: Partial<Record<HumanoidBodyRig, T>>\r\n  ): Record<HumanoidBodyRig, T> | null {\r\n    const requiredJoints = [\r\n      HumanoidBodyRig.Hips,\r\n      HumanoidBodyRig.Spine,\r\n      HumanoidBodyRig.Neck,\r\n      HumanoidBodyRig.Head,\r\n      HumanoidBodyRig.LeftShoulder,\r\n      HumanoidBodyRig.LeftUpperArm,\r\n      HumanoidBodyRig.LeftLowerArm,\r\n      HumanoidBodyRig.LeftHand,\r\n      HumanoidBodyRig.RightShoulder,\r\n      HumanoidBodyRig.RightUpperArm,\r\n      HumanoidBodyRig.RightLowerArm,\r\n      HumanoidBodyRig.RightHand,\r\n      HumanoidBodyRig.LeftUpperLeg,\r\n      HumanoidBodyRig.LeftLowerLeg,\r\n      HumanoidBodyRig.LeftFoot,\r\n      HumanoidBodyRig.LeftToes,\r\n      HumanoidBodyRig.RightUpperLeg,\r\n      HumanoidBodyRig.RightLowerLeg,\r\n      HumanoidBodyRig.RightFoot,\r\n      HumanoidBodyRig.RightToes\r\n    ];\r\n    for (const joint of requiredJoints) {\r\n      if (!body[joint]) {\r\n        return null;\r\n      }\r\n    }\r\n    const spine = body[HumanoidBodyRig.Spine]!;\r\n    const neck = body[HumanoidBodyRig.Neck]!;\r\n    let chest = body[HumanoidBodyRig.Chest];\r\n    let upperChest = body[HumanoidBodyRig.UpperChest];\r\n    if (!chest || !upperChest) {\r\n      const spineChain = this.getHumanoidIntermediateChain(spine, neck);\r\n      if (!spineChain || spineChain.length === 0) {\r\n        chest ||= spine;\r\n        upperChest ||= chest;\r\n      } else if (spineChain.length === 1) {\r\n        chest ||= spineChain[0];\r\n        upperChest ||= chest;\r\n      } else {\r\n        chest ||= spineChain[0];\r\n        upperChest ||= spineChain[spineChain.length - 1];\r\n      }\r\n    }\r\n    if (!chest || !upperChest) {\r\n      return null;\r\n    }\r\n    return {\r\n      [HumanoidBodyRig.Hips]: body[HumanoidBodyRig.Hips]!,\r\n      [HumanoidBodyRig.Spine]: spine,\r\n      [HumanoidBodyRig.Chest]: chest,\r\n      [HumanoidBodyRig.UpperChest]: upperChest,\r\n      [HumanoidBodyRig.Neck]: neck,\r\n      [HumanoidBodyRig.Head]: body[HumanoidBodyRig.Head]!,\r\n      [HumanoidBodyRig.LeftShoulder]: body[HumanoidBodyRig.LeftShoulder]!,\r\n      [HumanoidBodyRig.LeftUpperArm]: body[HumanoidBodyRig.LeftUpperArm]!,\r\n      [HumanoidBodyRig.LeftLowerArm]: body[HumanoidBodyRig.LeftLowerArm]!,\r\n      [HumanoidBodyRig.LeftHand]: body[HumanoidBodyRig.LeftHand]!,\r\n      [HumanoidBodyRig.RightShoulder]: body[HumanoidBodyRig.RightShoulder]!,\r\n      [HumanoidBodyRig.RightUpperArm]: body[HumanoidBodyRig.RightUpperArm]!,\r\n      [HumanoidBodyRig.RightLowerArm]: body[HumanoidBodyRig.RightLowerArm]!,\r\n      [HumanoidBodyRig.RightHand]: body[HumanoidBodyRig.RightHand]!,\r\n      [HumanoidBodyRig.LeftUpperLeg]: body[HumanoidBodyRig.LeftUpperLeg]!,\r\n      [HumanoidBodyRig.LeftLowerLeg]: body[HumanoidBodyRig.LeftLowerLeg]!,\r\n      [HumanoidBodyRig.LeftFoot]: body[HumanoidBodyRig.LeftFoot]!,\r\n      [HumanoidBodyRig.LeftToes]: body[HumanoidBodyRig.LeftToes]!,\r\n      [HumanoidBodyRig.RightUpperLeg]: body[HumanoidBodyRig.RightUpperLeg]!,\r\n      [HumanoidBodyRig.RightLowerLeg]: body[HumanoidBodyRig.RightLowerLeg]!,\r\n      [HumanoidBodyRig.RightFoot]: body[HumanoidBodyRig.RightFoot]!,\r\n      [HumanoidBodyRig.RightToes]: body[HumanoidBodyRig.RightToes]!\r\n    };\r\n  }\r\n  private static completeHumanoidHand<T extends { name: string; children: T[] }>(\r\n    hand: Partial<Record<HumanoidHandRig, T>>\r\n  ): Record<HumanoidHandRig, T> | null {\r\n    for (const joint of Object.values(HumanoidHandRig)) {\r\n      if (!hand[joint]) {\r\n        return null;\r\n      }\r\n    }\r\n    return {\r\n      [HumanoidHandRig.ThumbProximal]: hand[HumanoidHandRig.ThumbProximal]!,\r\n      [HumanoidHandRig.ThumbIntermediate]: hand[HumanoidHandRig.ThumbIntermediate]!,\r\n      [HumanoidHandRig.ThumbDistal]: hand[HumanoidHandRig.ThumbDistal]!,\r\n      [HumanoidHandRig.IndexProximal]: hand[HumanoidHandRig.IndexProximal]!,\r\n      [HumanoidHandRig.IndexIntermediate]: hand[HumanoidHandRig.IndexIntermediate]!,\r\n      [HumanoidHandRig.IndexDistal]: hand[HumanoidHandRig.IndexDistal]!,\r\n      [HumanoidHandRig.MiddleProximal]: hand[HumanoidHandRig.MiddleProximal]!,\r\n      [HumanoidHandRig.MiddleIntermediate]: hand[HumanoidHandRig.MiddleIntermediate]!,\r\n      [HumanoidHandRig.MiddleDistal]: hand[HumanoidHandRig.MiddleDistal]!,\r\n      [HumanoidHandRig.RingProximal]: hand[HumanoidHandRig.RingProximal]!,\r\n      [HumanoidHandRig.RingIntermediate]: hand[HumanoidHandRig.RingIntermediate]!,\r\n      [HumanoidHandRig.RingDistal]: hand[HumanoidHandRig.RingDistal]!,\r\n      [HumanoidHandRig.PinkyProximal]: hand[HumanoidHandRig.PinkyProximal]!,\r\n      [HumanoidHandRig.PinkyIntermediate]: hand[HumanoidHandRig.PinkyIntermediate]!,\r\n      [HumanoidHandRig.PinkyDistal]: hand[HumanoidHandRig.PinkyDistal]!\r\n    };\r\n  }\r\n  private static tryExtractOptionalHumanoidHand<T extends { name: string; children: T[] }>(\r\n    nodes: HumanoidJointNodeInfo<T>[],\r\n    side: 'left' | 'right',\r\n    used: Set<T>\r\n  ): Record<HumanoidHandRig, T> | undefined {\r\n    const handCandidates = this.matchHumanoidJointProfile(\r\n      nodes,\r\n      this.createCommonHumanoidHandProfile(side),\r\n      used\r\n    );\r\n    if (!handCandidates) {\r\n      return undefined;\r\n    }\r\n    return this.completeHumanoidHand(handCandidates) ?? undefined;\r\n  }\r\n  private static isSameOrAncestor<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    parent: T,\r\n    child: T\r\n  ) {\r\n    return parent === child || this.isParentOf(parent, child);\r\n  }\r\n  private static validateHumanoidHandHierarchy<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(hand: T, joints: Record<HumanoidHandRig, T>) {\r\n    const chains: [HumanoidHandRig, HumanoidHandRig, HumanoidHandRig][] = [\r\n      [HumanoidHandRig.ThumbProximal, HumanoidHandRig.ThumbIntermediate, HumanoidHandRig.ThumbDistal],\r\n      [HumanoidHandRig.IndexProximal, HumanoidHandRig.IndexIntermediate, HumanoidHandRig.IndexDistal],\r\n      [HumanoidHandRig.MiddleProximal, HumanoidHandRig.MiddleIntermediate, HumanoidHandRig.MiddleDistal],\r\n      [HumanoidHandRig.RingProximal, HumanoidHandRig.RingIntermediate, HumanoidHandRig.RingDistal],\r\n      [HumanoidHandRig.PinkyProximal, HumanoidHandRig.PinkyIntermediate, HumanoidHandRig.PinkyDistal]\r\n    ];\r\n    return chains.every(\r\n      ([proximal, intermediate, distal]) =>\r\n        this.isSameOrAncestor(hand, joints[proximal]) &&\r\n        this.isSameOrAncestor(joints[proximal], joints[intermediate]) &&\r\n        this.isSameOrAncestor(joints[intermediate], joints[distal])\r\n    );\r\n  }\r\n  private static validateHumanoidJointExtraction<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(result: HumanoidJointMapping<T>) {\r\n    const body = result.body;\r\n    return (\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Hips], body[HumanoidBodyRig.Spine]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Spine], body[HumanoidBodyRig.Chest]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Chest], body[HumanoidBodyRig.UpperChest]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.UpperChest], body[HumanoidBodyRig.Neck]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Neck], body[HumanoidBodyRig.Head]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.UpperChest], body[HumanoidBodyRig.LeftShoulder]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftShoulder], body[HumanoidBodyRig.LeftUpperArm]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftUpperArm], body[HumanoidBodyRig.LeftLowerArm]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftLowerArm], body[HumanoidBodyRig.LeftHand]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.UpperChest], body[HumanoidBodyRig.RightShoulder]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightShoulder], body[HumanoidBodyRig.RightUpperArm]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightUpperArm], body[HumanoidBodyRig.RightLowerArm]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightLowerArm], body[HumanoidBodyRig.RightHand]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Hips], body[HumanoidBodyRig.LeftUpperLeg]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftUpperLeg], body[HumanoidBodyRig.LeftLowerLeg]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftLowerLeg], body[HumanoidBodyRig.LeftFoot]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.LeftFoot], body[HumanoidBodyRig.LeftToes]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.Hips], body[HumanoidBodyRig.RightUpperLeg]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightUpperLeg], body[HumanoidBodyRig.RightLowerLeg]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightLowerLeg], body[HumanoidBodyRig.RightFoot]) &&\r\n      this.isSameOrAncestor(body[HumanoidBodyRig.RightFoot], body[HumanoidBodyRig.RightToes]) &&\r\n      (!result.leftHand ||\r\n        this.validateHumanoidHandHierarchy(body[HumanoidBodyRig.LeftHand], result.leftHand)) &&\r\n      (!result.rightHand ||\r\n        this.validateHumanoidHandHierarchy(body[HumanoidBodyRig.RightHand], result.rightHand))\r\n    );\r\n  }\r\n  private static createCommonHumanoidHandProfile(\r\n    side: 'left' | 'right'\r\n  ): HumanoidJointProfile<HumanoidHandRig> {\r\n    return {\r\n      [HumanoidHandRig.ThumbProximal]: sideJointPatterns(side, [\r\n        { all: ['thumb', 'proximal'] },\r\n        { all: ['thumb', '1'] },\r\n        { all: ['finger', '0'] }\r\n      ]),\r\n      [HumanoidHandRig.ThumbIntermediate]: sideJointPatterns(side, [\r\n        { all: ['thumb', 'intermediate'] },\r\n        { all: ['thumb', '2'] },\r\n        { all: ['finger', '01'] }\r\n      ]),\r\n      [HumanoidHandRig.ThumbDistal]: sideJointPatterns(side, [\r\n        { all: ['thumb', 'distal'] },\r\n        { all: ['thumb', '3'] },\r\n        { all: ['finger', '02'] }\r\n      ]),\r\n      [HumanoidHandRig.IndexProximal]: sideJointPatterns(side, [\r\n        { all: ['index', 'proximal'] },\r\n        { all: ['index', '1'] },\r\n        { all: ['finger', '1'] }\r\n      ]),\r\n      [HumanoidHandRig.IndexIntermediate]: sideJointPatterns(side, [\r\n        { all: ['index', 'intermediate'] },\r\n        { all: ['index', '2'] },\r\n        { all: ['finger', '11'] }\r\n      ]),\r\n      [HumanoidHandRig.IndexDistal]: sideJointPatterns(side, [\r\n        { all: ['index', 'distal'] },\r\n        { all: ['index', '3'] },\r\n        { all: ['finger', '12'] }\r\n      ]),\r\n      [HumanoidHandRig.MiddleProximal]: sideJointPatterns(side, [\r\n        { all: ['middle', 'proximal'] },\r\n        { all: ['middle', '1'] },\r\n        { all: ['finger', '2'] }\r\n      ]),\r\n      [HumanoidHandRig.MiddleIntermediate]: sideJointPatterns(side, [\r\n        { all: ['middle', 'intermediate'] },\r\n        { all: ['middle', '2'] },\r\n        { all: ['finger', '21'] }\r\n      ]),\r\n      [HumanoidHandRig.MiddleDistal]: sideJointPatterns(side, [\r\n        { all: ['middle', 'distal'] },\r\n        { all: ['middle', '3'] },\r\n        { all: ['finger', '22'] }\r\n      ]),\r\n      [HumanoidHandRig.RingProximal]: sideJointPatterns(side, [\r\n        { all: ['ring', 'proximal'] },\r\n        { all: ['ring', '1'] },\r\n        { all: ['finger', '3'] }\r\n      ]),\r\n      [HumanoidHandRig.RingIntermediate]: sideJointPatterns(side, [\r\n        { all: ['ring', 'intermediate'] },\r\n        { all: ['ring', '2'] },\r\n        { all: ['finger', '31'] }\r\n      ]),\r\n      [HumanoidHandRig.RingDistal]: sideJointPatterns(side, [\r\n        { all: ['ring', 'distal'] },\r\n        { all: ['ring', '3'] },\r\n        { all: ['finger', '32'] }\r\n      ]),\r\n      [HumanoidHandRig.PinkyProximal]: sideJointPatterns(side, [\r\n        { all: ['pinky', 'proximal'] },\r\n        { all: ['pinky', '1'] },\r\n        { all: ['finger', '4'] }\r\n      ]),\r\n      [HumanoidHandRig.PinkyIntermediate]: sideJointPatterns(side, [\r\n        { all: ['pinky', 'intermediate'] },\r\n        { all: ['pinky', '2'] },\r\n        { all: ['finger', '41'] }\r\n      ]),\r\n      [HumanoidHandRig.PinkyDistal]: sideJointPatterns(side, [\r\n        { all: ['pinky', 'distal'] },\r\n        { all: ['pinky', '3'] },\r\n        { all: ['finger', '42'] }\r\n      ])\r\n    };\r\n  }\r\n  private static createStandardHumanoidBodyProfile(): HumanoidJointProfile<HumanoidBodyRig> {\r\n    return {\r\n      [HumanoidBodyRig.Hips]: [jointPattern(['hips']), jointPattern(['pelvis'])],\r\n      [HumanoidBodyRig.Spine]: [jointPattern(['spine'], ['1', '2', '3', 'chest', 'upper'])],\r\n      [HumanoidBodyRig.Chest]: [jointPattern(['chest'], ['upper']), jointPattern(['spine', '1'])],\r\n      [HumanoidBodyRig.UpperChest]: [\r\n        jointPattern(['upper', 'chest']),\r\n        jointPattern(['spine', '2']),\r\n        jointPattern(['spine', '3'])\r\n      ],\r\n      [HumanoidBodyRig.Neck]: [jointPattern(['neck'], ['1', '2'])],\r\n      [HumanoidBodyRig.Head]: [jointPattern(['head'], ['top', 'end', 'nub'])],\r\n      [HumanoidBodyRig.LeftShoulder]: sideJointPatterns('left', [\r\n        { all: ['shoulder'] },\r\n        { all: ['clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperArm]: sideJointPatterns('left', [\r\n        { all: ['upper', 'arm'], none: ['twist'] },\r\n        { all: ['arm'], none: ['fore', 'lower', 'hand', 'twist', 'shoulder'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerArm]: sideJointPatterns('left', [\r\n        { all: ['lower', 'arm'], none: ['twist'] },\r\n        { all: ['fore', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftHand]: sideJointPatterns('left', [\r\n        { all: ['hand'], none: ['thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightShoulder]: sideJointPatterns('right', [\r\n        { all: ['shoulder'] },\r\n        { all: ['clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperArm]: sideJointPatterns('right', [\r\n        { all: ['upper', 'arm'], none: ['twist'] },\r\n        { all: ['arm'], none: ['fore', 'lower', 'hand', 'twist', 'shoulder'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerArm]: sideJointPatterns('right', [\r\n        { all: ['lower', 'arm'], none: ['twist'] },\r\n        { all: ['fore', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightHand]: sideJointPatterns('right', [\r\n        { all: ['hand'], none: ['thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperLeg]: sideJointPatterns('left', [\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['up', 'leg'] },\r\n        { all: ['thigh'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerLeg]: sideJointPatterns('left', [\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] },\r\n        { all: ['calf'] },\r\n        { all: ['shin'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftFoot]: sideJointPatterns('left', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.LeftToes]: sideJointPatterns('left', [\r\n        { all: ['toe', 'base'] },\r\n        { all: ['toe'], none: ['end'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperLeg]: sideJointPatterns('right', [\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['up', 'leg'] },\r\n        { all: ['thigh'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerLeg]: sideJointPatterns('right', [\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] },\r\n        { all: ['calf'] },\r\n        { all: ['shin'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightFoot]: sideJointPatterns('right', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.RightToes]: sideJointPatterns('right', [\r\n        { all: ['toe', 'base'] },\r\n        { all: ['toe'], none: ['end'] }\r\n      ])\r\n    };\r\n  }\r\n  private static createMixamoHumanoidBodyProfile(): HumanoidJointProfile<HumanoidBodyRig> {\r\n    return {\r\n      [HumanoidBodyRig.Hips]: [jointPattern(['hips'])],\r\n      [HumanoidBodyRig.Spine]: [jointPattern(['spine'], ['1', '2', '3'])],\r\n      [HumanoidBodyRig.Chest]: [jointPattern(['spine', '1']), jointPattern(['chest'], ['upper'])],\r\n      [HumanoidBodyRig.UpperChest]: [\r\n        jointPattern(['spine', '2']),\r\n        jointPattern(['spine', '3']),\r\n        jointPattern(['upper', 'chest'])\r\n      ],\r\n      [HumanoidBodyRig.Neck]: [jointPattern(['neck'], ['1', '2'])],\r\n      [HumanoidBodyRig.Head]: [jointPattern(['head'], ['top', 'end', 'nub'])],\r\n      [HumanoidBodyRig.LeftShoulder]: sideJointPatterns('left', [\r\n        { all: ['shoulder'] },\r\n        { all: ['clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperArm]: sideJointPatterns('left', [\r\n        { all: ['arm'], none: ['upper', 'fore', 'lower', 'hand', 'twist', 'shoulder'] },\r\n        { all: ['upper', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerArm]: sideJointPatterns('left', [\r\n        { all: ['fore', 'arm'], none: ['twist'] },\r\n        { all: ['lower', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftHand]: sideJointPatterns('left', [\r\n        { all: ['hand'], none: ['thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightShoulder]: sideJointPatterns('right', [\r\n        { all: ['shoulder'] },\r\n        { all: ['clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperArm]: sideJointPatterns('right', [\r\n        { all: ['arm'], none: ['upper', 'fore', 'lower', 'hand', 'twist', 'shoulder'] },\r\n        { all: ['upper', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerArm]: sideJointPatterns('right', [\r\n        { all: ['fore', 'arm'], none: ['twist'] },\r\n        { all: ['lower', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightHand]: sideJointPatterns('right', [\r\n        { all: ['hand'], none: ['thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperLeg]: sideJointPatterns('left', [\r\n        { all: ['up', 'leg'] },\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['thigh'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerLeg]: sideJointPatterns('left', [\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] },\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['calf'] },\r\n        { all: ['shin'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftFoot]: sideJointPatterns('left', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.LeftToes]: sideJointPatterns('left', [\r\n        { all: ['toe', 'base'] },\r\n        { all: ['toe'], none: ['end'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperLeg]: sideJointPatterns('right', [\r\n        { all: ['up', 'leg'] },\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['thigh'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerLeg]: sideJointPatterns('right', [\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] },\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['calf'] },\r\n        { all: ['shin'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightFoot]: sideJointPatterns('right', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.RightToes]: sideJointPatterns('right', [\r\n        { all: ['toe', 'base'] },\r\n        { all: ['toe'], none: ['end'] }\r\n      ])\r\n    };\r\n  }\r\n  private static createBipedHumanoidBodyProfile(): HumanoidJointProfile<HumanoidBodyRig> {\r\n    return {\r\n      [HumanoidBodyRig.Hips]: [jointPattern(['pelvis']), jointPattern(['hips'])],\r\n      [HumanoidBodyRig.Spine]: [jointPattern(['spine'], ['1', '2', '3'])],\r\n      [HumanoidBodyRig.Chest]: [jointPattern(['spine', '1']), jointPattern(['chest'], ['upper'])],\r\n      [HumanoidBodyRig.UpperChest]: [\r\n        jointPattern(['spine', '2']),\r\n        jointPattern(['spine', '3']),\r\n        jointPattern(['upper', 'chest'])\r\n      ],\r\n      [HumanoidBodyRig.Neck]: [jointPattern(['neck'], ['1', '2'])],\r\n      [HumanoidBodyRig.Head]: [jointPattern(['head'], ['top', 'end', 'nub'])],\r\n      [HumanoidBodyRig.LeftShoulder]: sideJointPatterns('left', [\r\n        { all: ['clavicle'] },\r\n        { all: ['shoulder'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperArm]: sideJointPatterns('left', [\r\n        { all: ['upper', 'arm'], none: ['twist'] },\r\n        { all: ['arm'], none: ['fore', 'lower', 'hand', 'twist', 'shoulder', 'clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerArm]: sideJointPatterns('left', [\r\n        { all: ['fore', 'arm'], none: ['twist'] },\r\n        { all: ['lower', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftHand]: sideJointPatterns('left', [\r\n        { all: ['hand'], none: ['finger', 'thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightShoulder]: sideJointPatterns('right', [\r\n        { all: ['clavicle'] },\r\n        { all: ['shoulder'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperArm]: sideJointPatterns('right', [\r\n        { all: ['upper', 'arm'], none: ['twist'] },\r\n        { all: ['arm'], none: ['fore', 'lower', 'hand', 'twist', 'shoulder', 'clavicle'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerArm]: sideJointPatterns('right', [\r\n        { all: ['fore', 'arm'], none: ['twist'] },\r\n        { all: ['lower', 'arm'], none: ['twist'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightHand]: sideJointPatterns('right', [\r\n        { all: ['hand'], none: ['finger', 'thumb', 'index', 'middle', 'ring', 'pinky'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftUpperLeg]: sideJointPatterns('left', [\r\n        { all: ['thigh'] },\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['up', 'leg'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftLowerLeg]: sideJointPatterns('left', [\r\n        { all: ['calf'] },\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] }\r\n      ]),\r\n      [HumanoidBodyRig.LeftFoot]: sideJointPatterns('left', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.LeftToes]: sideJointPatterns('left', [\r\n        { all: ['toe', '0'] },\r\n        { all: ['toe'], none: ['end'] },\r\n        { all: ['ball'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightUpperLeg]: sideJointPatterns('right', [\r\n        { all: ['thigh'] },\r\n        { all: ['upper', 'leg'] },\r\n        { all: ['up', 'leg'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightLowerLeg]: sideJointPatterns('right', [\r\n        { all: ['calf'] },\r\n        { all: ['lower', 'leg'] },\r\n        { all: ['leg'], none: ['upper', 'up', 'thigh', 'foot', 'toe'] }\r\n      ]),\r\n      [HumanoidBodyRig.RightFoot]: sideJointPatterns('right', [{ all: ['foot'], none: ['toe'] }]),\r\n      [HumanoidBodyRig.RightToes]: sideJointPatterns('right', [\r\n        { all: ['toe', '0'] },\r\n        { all: ['toe'], none: ['end'] },\r\n        { all: ['ball'] }\r\n      ])\r\n    };\r\n  }\r\n  private static isParentOf<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    parent: T,\r\n    child: Nullable<T>\r\n  ) {\r\n    while (child && child !== parent) {\r\n      child = child.parent!;\r\n    }\r\n    return child === parent;\r\n  }\r\n\r\n  private static iterateNode<T extends { name: string; children: T[] }>(\r\n    root: T,\r\n    callback: (node: T) => boolean\r\n  ) {\r\n    if (callback(root)) {\r\n      return true;\r\n    }\r\n    for (const child of root.children) {\r\n      if (this.iterateNode(child, callback)) {\r\n        return true;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  private static tryExtractHumanoidJointsByBodyProfile<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(root: T, bodyProfile: HumanoidJointProfile<HumanoidBodyRig>): HumanoidJointMapping<T> | null {\r\n    const nodes = this.collectHumanoidJointNodeInfos(root);\r\n    const used = new Set<T>();\r\n    const bodyCandidates = this.matchHumanoidBodyProfile(\r\n      nodes,\r\n      bodyProfile,\r\n      used,\r\n      new Set<HumanoidBodyRig>([HumanoidBodyRig.Chest, HumanoidBodyRig.UpperChest])\r\n    );\r\n    if (!bodyCandidates) {\r\n      return null;\r\n    }\r\n    const body = this.completeHumanoidBody(bodyCandidates);\r\n    if (!body) {\r\n      return null;\r\n    }\r\n    const leftHand = this.tryExtractOptionalHumanoidHand(nodes, 'left', used);\r\n    const rightHand = this.tryExtractOptionalHumanoidHand(nodes, 'right', used);\r\n    const result: HumanoidJointMapping<T> = {\r\n      body,\r\n      leftHand,\r\n      rightHand\r\n    };\r\n    return this.validateHumanoidJointExtraction(result) ? result : null;\r\n  }\r\n  /**\r\n   * Attempt to extract humanoid joint mappings from the skeleton's joints based on their names.\r\n   *\r\n   * This method looks for joints with names matching the standardized `HumanoidBodyRig` and `HumanoidHandRig` enums.\r\n   * If a complete mapping is found, it returns an object containing the mapped joints for the body and hands.\r\n   * If any required joint is missing, it returns `null`.\r\n   *\r\n   * This method tries to find the best match for humanoid rigs, designed to work with Mixamo, VRoid, Unity Humanoid,\r\n   * Biped, and similar skeletons. It is not guaranteed to work with all models, and may require manual adjustments or\r\n   * custom modifiers for non-standard rigs.\r\n   *\r\n   * @param root - The root scene node to search for humanoid joints.\r\n   * @returns An object containing the mapped body and hand joints if a complete humanoid rig is detected, otherwise `null`.\r\n   */\r\n  static tryExtractHumanoidJoints<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T\r\n  ): HumanoidJointMapping<T> | null {\r\n    return (\r\n      this.tryExtractHumanoidJointsMixamo(root) ??\r\n      this.tryExtractHumanoidJointsVRM(root) ??\r\n      this.tryExtractHumanoidJointsUnityHumanoid(root) ??\r\n      this.tryExtractHumanoidJointsBiped(root)\r\n    );\r\n  }\r\n  static tryExtractHumanoidJointsMixamo<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T\r\n  ): HumanoidJointMapping<T> | null {\r\n    return this.tryExtractHumanoidJointsByBodyProfile(root, this.createMixamoHumanoidBodyProfile());\r\n  }\r\n  static tryExtractHumanoidJointsVRM<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T\r\n  ): HumanoidJointMapping<T> | null {\r\n    return this.tryExtractHumanoidJointsByBodyProfile(root, this.createStandardHumanoidBodyProfile());\r\n  }\r\n  static tryExtractHumanoidJointsUnityHumanoid<\r\n    T extends { name: string; parent: Nullable<T>; children: T[] }\r\n  >(root: T): HumanoidJointMapping<T> | null {\r\n    return this.tryExtractHumanoidJointsByBodyProfile(root, this.createStandardHumanoidBodyProfile());\r\n  }\r\n  static tryExtractHumanoidJointsBiped<T extends { name: string; parent: Nullable<T>; children: T[] }>(\r\n    root: T\r\n  ): HumanoidJointMapping<T> | null {\r\n    return this.tryExtractHumanoidJointsByBodyProfile(root, this.createBipedHumanoidBodyProfile());\r\n  }\r\n}\r\n\r\n/**\r\n * Legacy compatibility name for a skin binding.\r\n *\r\n * New code should use {@link SkeletonRig} 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