cozyclay 2.1.1 → 3.0.0

package/src/ardy/root-drop.js

@@ -1,369 +0,0 @@
-import { sliceMotion } from "./trim.js";
-
-// A vertical drop authored ONTO a take. ARDY generates motion on flat
-// ground — nothing in a generated clip can carry a body off a 14 m roof.
-// The plunge is previs staging, not motion synthesis, so it is applied to
-// the decoded clip as a rigid vertical offset: every joint of a frame moves
-// down by the same amount, and the amount follows a gravity curve.
-//
-// Seconds, not frames: a take crosses two clocks on its way in (ARDY's
-// 20 fps, the 24 fps production timeline), and a boundary in seconds means
-// the caller never has to know which side of the retime it is speaking to.
-
-/** Validated {fromS, toS, meters} or null — malformed input is no drop. */
-export function normalizeRootDrop(drop) {
-	if (!drop || typeof drop !== "object" || Array.isArray(drop)) return null;
-	const fromS = Number(drop.fromS ?? drop.from_s);
-	const toS = Number(drop.toS ?? drop.to_s);
-	const meters = Number(drop.meters);
-	if (!Number.isFinite(fromS) || !Number.isFinite(toS) || !Number.isFinite(meters)) return null;
-	if (fromS < 0 || toS <= fromS || meters <= 0) return null;
-	return { fromS, toS, meters };
-}
-
-/** Point-in-footprint on the floor plane, honouring the support's yaw. */
-function insideSupport(support, px, pz) {
-	const yaw = ((support.rotDeg ?? 0) * Math.PI) / 180;
-	const cos = Math.cos(yaw);
-	const sin = Math.sin(yaw);
-	const dx = px - support.x;
-	const dz = pz - support.z;
-	const lx = cos * dx - sin * dz;
-	const lz = sin * dx + cos * dz;
-	return Math.abs(lx) <= support.width / 2 && Math.abs(lz) <= support.depth / 2;
-}
-
-const SUPPORT_FEET = [21, 22, 25, 26];
-const smoothstep = (value) => {
-	const t = Math.max(0, Math.min(1, value));
-	return t * t * (3 - 2 * t);
-};
-
-/**
- * Lift a take onto an explicitly authored scene surface.  ARDY clips are
- * normally rooted on the deck, so a performer climbing onto a prop needs a
- * small, time-continuous offset while their root is inside that prop's
- * footprint.  We require a real upward root trend before applying anything;
- * a flat walk through a prop therefore stays untouched.
- *
- * `supports` are world-space rectangles with an explicit `supportY` (the top
- * of the surface). `subjectX/Y/Z` supply the character's scene anchor and
- * `worldScale` converts canonical clip units to scene metres, matching the
- * transform used by `autoRoofDrop`. The input motion is never mutated. The
- * returned object carries `surfaceRise` diagnostics.
- */
-export function applySupportRise(
-	motion,
-	supports,
-	{ subjectX = 0, subjectY = 0, subjectZ = 0, rotationDeg = 0, minRise = 0.08, minSlope = 0.04, lookbackFrames = 6, blendFrames = 6, maxOffset = 1.5, worldScale = 1 } = {},
-) {
-	if (!motion || !Number.isFinite(motion.fps) || motion.fps <= 0 || !motion.rootPos || !motion.posedJoints) return motion;
-	const frames = Number(motion.frames);
-	if (!Number.isInteger(frames) || frames < 2 || motion.rootPos.length < frames * 3) return motion;
-	const joints = motion.posedJoints.length / (frames * 3);
-	if (!Number.isInteger(joints) || joints <= 0) return motion;
-	const scale = Number.isFinite(Number(worldScale)) && Number(worldScale) > 0 ? Number(worldScale) : 1;
-	if (!Array.isArray(supports) || !supports.length) return motion;
-	const candidates = supports.filter((support) =>
-		support && Number.isFinite(Number(support.supportY)) && Number(support.width) > 0 && Number(support.depth) > 0,
-	);
-	if (!candidates.length) return motion;
-	const radians = (Number(rotationDeg) || 0) * Math.PI / 180;
-	const cos = Math.cos(radians), sin = Math.sin(radians);
-	const worldAt = (frame) => {
-		const dx = motion.rootPos[frame * 3] - motion.rootPos[0];
-		const dz = motion.rootPos[frame * 3 + 2] - motion.rootPos[2];
-		return { x: Number(subjectX) + (dx * cos + dz * sin) * scale, z: Number(subjectZ) + (-dx * sin + dz * cos) * scale };
-	};
-	const points = Array.from({ length: frames }, (_, frame) => worldAt(frame));
-	const feet = SUPPORT_FEET.filter((joint) => joint < joints);
-	const footWorldAt = (frame, joint) => {
-		const p = (frame * joints + joint) * 3;
-		// posedJoints and rootPos are both frame-local; subtract the root from
-		// the same frame before rotating into world space. Using frame zero here
-		// made a walking foot drift with the accumulated root travel and caused
-		// support detection to miss later chair/platform contacts.
-		const dx = motion.posedJoints[p] - motion.rootPos[frame * 3];
-		const dz = motion.posedJoints[p + 2] - motion.rootPos[frame * 3 + 2];
-		return { x: Number(subjectX) + (dx * cos + dz * sin) * scale, z: Number(subjectZ) + (-dx * sin + dz * cos) * scale };
-	};
-	const inside = candidates.map((support) => points.map((point, frame) => insideSupport({
-		x: Number(support.x) || 0, z: Number(support.z) || 0,
-		rotDeg: Number(support.rotDeg) || 0, width: Number(support.width), depth: Number(support.depth),
-	}, point.x, point.z) || feet.some((joint) => {
-		const foot = footWorldAt(frame, joint);
-		return insideSupport({
-			x: Number(support.x) || 0, z: Number(support.z) || 0,
-			rotDeg: Number(support.rotDeg) || 0, width: Number(support.width), depth: Number(support.depth),
-		}, foot.x, foot.z);
-	})));
-	let selected = null;
-	for (let si = 0; si < candidates.length; si += 1) {
-		const support = candidates[si];
-		// A performer often enters a prop's footprint before lifting a foot
-		// (approach, brace, then climb). Search the first second of continuous
-		// support occupancy instead of requiring the rise on the boundary frame.
-		let entry = -1;
-		for (let frame = 0; frame < frames; frame += 1) {
-			if (!inside[si][frame]) { entry = -1; continue; }
-			// A take can begin already standing on a platform. Treat frame 0 as
-			// an entry so the same evidence search handles both approaches and
-			// starts-on-support clips.
-			if (entry < 0 && (frame === 0 || !inside[si][frame - 1])) entry = frame;
-			if (entry < 0 || frame - entry > Math.round(motion.fps)) continue;
-			const from = Math.max(0, frame - Math.max(1, Math.round(lookbackFrames)));
-			// A foot can enter the footprint one or two frames before the body
-			// commits to the climb. Look a short distance ahead, while retaining
-			// the entry frame as the point where the blend begins.
-			const evidenceFrame = Math.min(frames - 1, frame + Math.max(1, Math.round(lookbackFrames)));
-			const rise = (motion.rootPos[evidenceFrame * 3 + 1] - motion.rootPos[from * 3 + 1]) * scale;
-			const slope = rise / ((evidenceFrame - from) / motion.fps);
-			if (rise < Number(minRise) || slope < Number(minSlope)) continue;
-			if (!feet.length) continue;
-			const supportRect = {
-				x: Number(support.x) || 0, z: Number(support.z) || 0,
-				rotDeg: Number(support.rotDeg) || 0, width: Number(support.width), depth: Number(support.depth),
-			};
-			const occupiedYs = [];
-			for (let probe = evidenceFrame; probe < frames && inside[si][probe] && probe <= evidenceFrame + Math.round(motion.fps * 0.75); probe += 1) {
-				// A climb often straddles the deck and the prop: one foot remains
-				// on the floor while the other is already on the seat. Measuring the
-				// minimum of *all* feet therefore used the deck foot as the seat
-				// datum and left the climbing foot below the authored support. Use
-				// only feet whose XZ footprint is actually on this support.
-				const onSupport = feet.filter((joint) => {
-					const foot = footWorldAt(probe, joint);
-					return insideSupport(supportRect, foot.x, foot.z);
-				});
-				// Root occupancy is valid evidence while the pelvis is over a support
-				// but the feet have not entered its rectangle yet. In that phase keep
-				// the legacy all-foot fallback; once a foot is actually on the support,
-				// use only those feet so a deck foot cannot set the seat datum.
-				const ys = (onSupport.length ? onSupport : feet)
-					.map((joint) => motion.posedJoints[(probe * joints + joint) * 3 + 1] * scale).filter(Number.isFinite);
-				// If a second foot is still on the deck but its footprint overlaps
-				// the prop edge, the lower sample is not the seat contact. The upper
-				// supported foot is the conservative datum; when both feet are on
-				// the same surface their heights agree.
-				if (ys.length) occupiedYs.push(Math.max(...ys));
-			}
-			occupiedYs.sort((a, b) => a - b);
-			const observedFootY = occupiedYs[Math.floor(occupiedYs.length * 0.7)];
-			const onSupportAtEvidence = feet.filter((joint) => {
-				const foot = footWorldAt(evidenceFrame, joint);
-				return insideSupport(supportRect, foot.x, foot.z);
-			});
-			const footYs = (onSupportAtEvidence.length ? onSupportAtEvidence : feet)
-				.map((joint) => motion.posedJoints[(evidenceFrame * joints + joint) * 3 + 1] * scale).filter(Number.isFinite);
-			if (!footYs.length) continue;
-			const baseY = Number(subjectY) || 0;
-			const offsetWorld = Number(support.supportY) - (baseY + (Number.isFinite(observedFootY) ? observedFootY : Math.min(...footYs)));
-			if (!(offsetWorld > 0.01) || offsetWorld > Number(maxOffset)) continue;
-			selected = {
-				si,
-				frame,
-				support,
-				offset: offsetWorld / scale,
-				offsetWorld,
-				rise,
-				slope,
-				baseRootY: motion.rootPos[from * 3 + 1],
-			};
-			break;
-		}
-		if (selected) break;
-	}
-	if (!selected) return motion;
-	const { si, frame: enter, offset, offsetWorld, support, rise, slope, baseRootY } = selected;
-	let exit = frames - 1;
-	for (let frame = enter + 1; frame < frames; frame += 1) {
-		if (!inside[si][frame]) { exit = frame; break; }
-	}
-	// Some shots climb and then step down while the root remains inside a
-	// generous footprint (a chair turn, a platform landing, or a jump in
-	// place). Release the lift when the root has come back near its pre-climb
-	// level; otherwise the rigid support offset would leave the performer
-	// floating even though the take has visibly descended.
-	let release = exit;
-	const descendThreshold = Math.max(Number(minRise), 0.08);
-	let peakRootY = motion.rootPos[enter * 3 + 1];
-	for (let frame = enter + 1; frame <= exit; frame += 1) {
-		peakRootY = Math.max(peakRootY, motion.rootPos[frame * 3 + 1]);
-		const current = motion.rootPos[frame * 3 + 1];
-		if (peakRootY - current >= descendThreshold && current <= baseRootY + descendThreshold * 0.5) {
-			release = frame;
-			break;
-		}
-	}
-	const blend = Math.max(1, Math.round(blendFrames));
-	const offsets = new Float32Array(frames);
-	for (let frame = enter; frame < frames; frame += 1) {
-		const up = smoothstep((frame - enter + 1) / blend);
-		const down = release < frames - 1 ? smoothstep((release - frame) / blend) : 1;
-		offsets[frame] = offset * Math.min(up, down);
-	}
-	const rootPos = Float32Array.from(motion.rootPos);
-	const posedJoints = Float32Array.from(motion.posedJoints);
-	const jointCount = Math.round(posedJoints.length / frames / 3);
-	for (let frame = 0; frame < frames; frame += 1) {
-		const dy = offsets[frame];
-		if (!dy) continue;
-		rootPos[frame * 3 + 1] += dy;
-		for (let joint = 0; joint < jointCount; joint += 1) posedJoints[(frame * jointCount + joint) * 3 + 1] += dy;
-	}
-	return {
-		...motion,
-		rootPos,
-		posedJoints,
-		surfaceRise: { applied: true, supportY: Number(support.supportY), offset, offsetWorld, worldScale: scale, enterFrame: enter, exitFrame: exit, releaseFrame: release, rise, slope },
-	};
-}
-
-/**
- * Stage a fall the author did not have to ask for: a character standing on a
- * raised support (a roof — place_character's y) whose take walks past the
- * support's edge should drop, because ARDY only generates flat-ground motion.
- *
- * `subject` is { x, z, y, rotationDeg } — the character's blocking, with the
- * take's root rotation. `supports` are world-space tops: { x, z, rotDeg,
- * topY, width, depth }. The walk is sampled with the same root convention
- * playback uses (frame-zero anchored, yaw-rotated into scene space).
- *
- * Returns a { fromS, toS, meters } drop, or null when the character is on
- * the ground, never stood on a support, or never leaves it — null means
- * "stage nothing", so this is safe to leave on the load path.
- */
-export function autoRoofDrop(motion, subject, supports, { gravity = 9.81, topTolerance = 0.3, fallTimeScale = 1.15, worldScale = 1 } = {}) {
-	if (!motion || !Number.isFinite(motion.fps) || motion.fps <= 0 || !motion.rootPos) return null;
-	const frames = motion.frames;
-	if (!Number.isFinite(frames) || frames < 2) return null;
-	const y = Number(subject?.y) || 0;
-	if (y <= 0.05 || !Array.isArray(supports) || supports.length === 0) return null;
-	const scale = Number.isFinite(Number(worldScale)) && Number(worldScale) > 0 ? Number(worldScale) : 1;
-
-	const radians = ((Number.isFinite(subject.rotationDeg) ? subject.rotationDeg : 0) * Math.PI) / 180;
-	const cos = Math.cos(radians);
-	const sin = Math.sin(radians);
-	const worldAt = (frame) => {
-		const dx = motion.rootPos[frame * 3] - motion.rootPos[0];
-		const dz = motion.rootPos[frame * 3 + 2] - motion.rootPos[2];
-		return {
-			x: subject.x + (dx * cos + dz * sin) * scale,
-			z: subject.z + (-dx * sin + dz * cos) * scale,
-		};
-	};
-
-	const start = worldAt(0);
-	const carriers = supports.filter((support) =>
-		support.width > 0 && support.depth > 0 &&
-		Math.abs(support.topY - y) <= topTolerance &&
-		insideSupport(support, start.x, start.z));
-	if (carriers.length === 0) return null;
-
-	for (let frame = 1; frame < frames; frame += 1) {
-		const point = worldAt(frame);
-		if (carriers.some((support) => insideSupport(support, point.x, point.z))) continue;
-		// Land on the tallest lower support under the exit point, else the street.
-		const landing = supports.reduce((top, support) =>
-			support.topY < y - topTolerance && support.topY > top && insideSupport(support, point.x, point.z)
-				? support.topY
-				: top, 0);
-		const meters = y - landing;
-		if (meters <= 0) return null;
-		const fromS = frame / motion.fps;
-		// Near-real gravity: a lightly stretched clock keeps weight without
-		// drifting into moon-fall. The readability comes from applyAutoFall's
-		// ballistic arc and impact cut, not from slowing the clock down.
-		return { fromS, toS: fromS + Math.sqrt((2 * meters) / gravity) * fallTimeScale, meters };
-	}
-	return null;
-}
-
-/**
- * Bake an auto-staged fall so it reads like a stunt, not a glitch:
- * - past the edge the root leaves the authored walk path and flies a true
- *   ballistic arc — the exit velocity carries, gravity owns the vertical;
- * - the horizontal drift stops at impact (bodies do not keep strolling);
- * - the take is cut just after the landing, because whatever the flat-ground
- *   clip does next (walking away twelve metres underground-level) is comedy.
- * Explicit MCP drops keep the rigid applyRootDrop bake below.
- */
-export function applyAutoFall(motion, spec, { landHoldS = 0.35, launchLookbackS = 0.15, worldScale = 1 } = {}) {
-	if (!spec || !motion || !Number.isFinite(motion.fps) || motion.fps <= 0) return motion;
-	const fps = motion.fps;
-	const scale = Number.isFinite(Number(worldScale)) && Number(worldScale) > 0 ? Number(worldScale) : 1;
-	const fExit = Math.max(0, Math.round(spec.fromS * fps));
-	if (fExit >= motion.frames - 1) return motion;
-	const fallS = Math.max(spec.toS - spec.fromS, 1 / fps);
-	const joints = Math.round(motion.posedJoints.length / motion.frames / 3);
-	const rootPos = Float32Array.from(motion.rootPos);
-	const posedJoints = Float32Array.from(motion.posedJoints);
-	const lookback = Math.max(1, Math.round(launchLookbackS * fps));
-	const f0 = Math.max(0, fExit - lookback);
-	const span = Math.max(1, fExit - f0);
-	const vx = ((rootPos[fExit * 3] - rootPos[f0 * 3]) / span) * fps;
-	const vz = ((rootPos[fExit * 3 + 2] - rootPos[f0 * 3 + 2]) / span) * fps;
-	const exitX = rootPos[fExit * 3];
-	const exitZ = rootPos[fExit * 3 + 2];
-	const fLand = Math.min(motion.frames - 1, Math.ceil(spec.toS * fps));
-	for (let f = fExit + 1; f < motion.frames; f += 1) {
-		const t = (f - fExit) / fps;
-		const progress = Math.min(t / fallS, 1);
-		const air = Math.min(t, fallS);
-		const dy = -(spec.meters / scale) * progress * progress;
-		const dx = exitX + vx * air - rootPos[f * 3];
-		const dz = exitZ + vz * air - rootPos[f * 3 + 2];
-		rootPos[f * 3] += dx;
-		rootPos[f * 3 + 1] += dy;
-		rootPos[f * 3 + 2] += dz;
-		for (let j = 0; j < joints; j += 1) {
-			const base = (f * joints + j) * 3;
-			posedJoints[base] += dx;
-			posedJoints[base + 1] += dy;
-			posedJoints[base + 2] += dz;
-		}
-	}
-	const rotMats = Float32Array.from(motion.rotMats);
-	for (let f = fLand + 1; f < motion.frames; f += 1) {
-		rootPos.set(rootPos.subarray(fLand * 3, fLand * 3 + 3), f * 3);
-		posedJoints.set(
-			posedJoints.subarray(fLand * joints * 3, (fLand + 1) * joints * 3),
-			f * joints * 3,
-		);
-		rotMats.set(
-			rotMats.subarray(fLand * joints * 9, (fLand + 1) * joints * 9),
-			f * joints * 9,
-		);
-	}
-	const baked = { ...motion, rootPos, posedJoints, rotMats };
-	const fEnd = Math.min(motion.frames - 1, Math.ceil((spec.toS + landHoldS) * fps));
-	return fEnd < motion.frames - 1 ? sliceMotion(baked, 0, fEnd) : baked;
-}
-
-/**
- * The clip with the drop applied. The input clip is never mutated — the
- * caller may hold it as a trim source — and an invalid drop returns the
- * clip untouched, so this is safe to leave on the load path unconditionally.
- *
- * The curve is t² (uniform acceleration): a body leaving a roof gathers
- * speed, and an eased-both-ends fall reads as a elevator, not gravity.
- */
-export function applyRootDrop(motion, drop, { worldScale = 1 } = {}) {
-	const spec = normalizeRootDrop(drop);
-	if (!spec || !motion || !Number.isFinite(motion.fps) || motion.fps <= 0) return motion;
-	const scale = Number.isFinite(Number(worldScale)) && Number(worldScale) > 0 ? Number(worldScale) : 1;
-	const frames = motion.frames;
-	if (!Number.isFinite(frames) || frames <= 0) return motion;
-
-	const posedJoints = Float32Array.from(motion.posedJoints);
-	const rootPos = Float32Array.from(motion.rootPos);
-	const joints = Math.round(posedJoints.length / frames / 3);
-	for (let f = 0; f < frames; f += 1) {
-		const t = Math.min(Math.max((f / motion.fps - spec.fromS) / (spec.toS - spec.fromS), 0), 1);
-		if (t === 0) continue;
-		const dy = -(spec.meters / scale) * t * t;
-		for (let j = 0; j < joints; j += 1) posedJoints[(f * joints + j) * 3 + 1] += dy;
-		rootPos[f * 3 + 1] += dy;
-	}
-	return { ...motion, posedJoints, rootPos };
-}

package/src/ardy/timeline-resize.js

@@ -1,13 +0,0 @@
-import { TIMELINE_FRAME_FPS } from "../scenes.js";
-
-const PROMPT_BLOCK_FRAMES = 2 * TIMELINE_FRAME_FPS;
-const PROMPT_RESIZE_BLOCK_PX = 120; // one deliberate drag step = one prompt block
-
-/** Resize from the immutable pointer-down frame. Keeping both the frame and
- * pixel origin fixed prevents a growing timeline from feeding its new frame
- * count back into the next pointermove and exploding exponentially. */
-export function promptResizeFrame(startFrame, startClientX, clientX) {
-	const blocks = (clientX - startClientX) / PROMPT_RESIZE_BLOCK_PX;
-	const blockDelta = Math.sign(blocks) * Math.round(Math.abs(blocks));
-	return startFrame + blockDelta * PROMPT_BLOCK_FRAMES;
-}

package/src/ardy/to-cskel27.js

@@ -1,225 +0,0 @@
-/**
- * CozyClayPoseV1 -> the two npz arrays cclay_constrained_generate.load_poses
- * reads (local_rot_mats 27x3x3, posed_joints 27x3; the generator then runs its
- * own FK, consulting only posed_joints[0] as the root).
- *
- * The 19 joints CozyClay authors map through each Mixamo bone's armature-space
- * rest rotation Rb (cskel27-rest.json): L = Rb @ basis @ Rb^T. ARDY has four
- * torso segments where Mixamo has three, so Mixamo Spine/Spine1 target ARDY
- * Spine1/Spine2, matching playback's map. The remaining joints get identity;
- * `filled_identity` records them and `rotation_constraint_indices` identifies
- * the rotations that are genuinely authored.
- *
- * Proportions are never hardcoded: bone offsets come from the reference frame
- * of the same base clip the pose will constrain (mirroring
- * motion_constraints.derive_bone_offsets), and the root rides on that frame's
- * own root. If ARDY ever reproportions cskel27, the clip proportions stay
- * correct by construction.
- */
-
-import {
-	COZYCLAY_BONES,
-	COZYCLAY_TO_CSKEL27,
-	CSKEL27_JOINTS,
-} from "./cskel27.js";
-import { CSKEL27_NEUTRAL } from "./cskel27-neutral.js";
-import {
-	basisQuaternionToLocalRotation,
-	deriveBoneOffsets,
-	forwardKinematics,
-} from "./convert.js";
-
-// Tolerance on |norm - 1| for pose quaternions, and on orthonormality /
-// determinant for emitted matrices. Float32-serialized source data is off by
-// ~1e-7 at worst, so 1e-6 is comfortably above input noise while still
-// catching real corruption.
-const UNIT_TOLERANCE = 1e-6;
-
-const IDENTITY = [
-	[1, 0, 0],
-	[0, 1, 0],
-	[0, 0, 1],
-];
-
-const SOURCE_BY_TARGET = new Map(
-	COZYCLAY_BONES.map((source) => [
-		CSKEL27_JOINTS[COZYCLAY_TO_CSKEL27[source]],
-		source,
-	])
-);
-
-const CANONICAL_ROOT_Y = -Math.min(...CSKEL27_NEUTRAL.map((joint) => joint[1]));
-
-/** Floor-aligned CoreSkeleton27 reference used when no clip reference is
- * supplied. A generated motion is not a skeleton definition: borrowing its
- * frame-zero root made a rolling clip lower every authored pose by 10 cm.
- * The neutral skeleton is stable, deterministic, and keeps both toes at Y=0. */
-export function canonicalCskel27Reference() {
-	return {
-		local_rot_mats: CSKEL27_JOINTS.map(() => IDENTITY.map((row) => row.slice())),
-		posed_joints: CSKEL27_NEUTRAL.map(([x, y, z]) => [x, y + CANONICAL_ROOT_Y, z]),
-	};
-}
-
-function isFiniteNumber(value) {
-	return typeof value === "number" && Number.isFinite(value);
-}
-
-function determinant3(m) {
-	return (
-		m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]) -
-		m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0]) +
-		m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0])
-	);
-}
-
-function requireUnitQuaternion(q, bone) {
-	if (!Array.isArray(q) || q.length !== 4 || !q.every(isFiniteNumber)) {
-		throw new Error(
-			`poseToCskel27: bone "${bone}" is not a [w, x, y, z] quaternion of four finite numbers`
-		);
-	}
-	const norm = Math.hypot(q[0], q[1], q[2], q[3]);
-	if (Math.abs(norm - 1) > UNIT_TOLERANCE) {
-		throw new Error(
-			`poseToCskel27: bone "${bone}" is not a unit quaternion (norm ${norm})`
-		);
-	}
-}
-
-// A matrix must stay inside the rotation group: rows orthonormal (unit
-// length, pairwise orthogonal) and right-handed.
-function requireRotationMatrix(m, label) {
-	for (let i = 0; i < 3; i += 1) {
-		const row = m[i];
-		const normSq = row[0] * row[0] + row[1] * row[1] + row[2] * row[2];
-		if (Math.abs(normSq - 1) > UNIT_TOLERANCE) {
-			throw new Error(
-				`poseToCskel27: ${label} is not orthonormal (row ${i} has squared length ${normSq})`
-			);
-		}
-		for (let j = i + 1; j < 3; j += 1) {
-			const other = m[j];
-			const dot = row[0] * other[0] + row[1] * other[1] + row[2] * other[2];
-			if (Math.abs(dot) > UNIT_TOLERANCE) {
-				throw new Error(
-					`poseToCskel27: ${label} is not orthonormal (rows ${i} and ${j} dot to ${dot})`
-				);
-			}
-		}
-	}
-	const det = determinant3(m);
-	if (Math.abs(det - 1) > UNIT_TOLERANCE) {
-		throw new Error(`poseToCskel27: ${label} has determinant ${det}, not +1`);
-	}
-}
-
-/**
- * Convert a CozyClayPoseV1 into the frame arrays the ARDY generator expects.
- * `rest` is the parsed public/ardy/cskel27-rest.json, `reference` a parsed
- * ardy.frame.v1 fixture from the base motion the pose will constrain.
- * Returns { local_rot_mats, posed_joints, filled_identity }.
- */
-export function poseToCskel27({ pose, rest, reference }) {
-	if (!pose || typeof pose !== "object") {
-		throw new Error(
-			`poseToCskel27: pose is ${pose === null ? "null" : typeof pose}, expected an object`
-		);
-	}
-	if (pose.schema !== "cozyclay.pose.v1") {
-		throw new Error(
-			`poseToCskel27: unsupported pose schema ${JSON.stringify(pose.schema)} — expected "cozyclay.pose.v1"`
-		);
-	}
-	if (!pose.bones || typeof pose.bones !== "object" || Array.isArray(pose.bones)) {
-		throw new Error("poseToCskel27: pose.bones must be an object keyed by mixamo bone name");
-	}
-	if (pose.root !== undefined) {
-		if (!Array.isArray(pose.root) || pose.root.length !== 3 || !pose.root.every(isFiniteNumber)) {
-			throw new Error("poseToCskel27: pose.root must be [x, y, z] finite metres when present");
-		}
-	}
-
-	for (const bone of COZYCLAY_BONES) {
-		if (!(bone in pose.bones)) {
-			throw new Error(`poseToCskel27: pose.bones is missing "${bone}"`);
-		}
-		requireUnitQuaternion(pose.bones[bone], bone);
-	}
-
-	if (!rest || !Array.isArray(rest.joints)) {
-		throw new Error("poseToCskel27: rest must be parsed cskel27-rest.json with a joints array");
-	}
-	const restByJoint = new Map();
-	for (const entry of rest.joints) {
-		if (!entry || typeof entry.name !== "string") {
-			throw new Error("poseToCskel27: rest.joints entries must carry a string name");
-		}
-		if (entry.rest !== null) {
-			if (
-				!Array.isArray(entry.rest) ||
-				entry.rest.length !== 3 ||
-				!entry.rest.every(
-					(row) => Array.isArray(row) && row.length === 3 && row.every(isFiniteNumber)
-				)
-			) {
-				throw new Error(
-					`poseToCskel27: rest for "${entry.name}" is neither null nor a 3x3 finite matrix`
-				);
-			}
-		}
-		restByJoint.set(entry.name, entry.rest);
-	}
-
-	const local_rot_mats = new Array(CSKEL27_JOINTS.length);
-	const filled_identity = [];
-	const rotation_constraint_indices = [];
-	for (let index = 0; index < CSKEL27_JOINTS.length; index += 1) {
-		const name = CSKEL27_JOINTS[index];
-		const sourceName = SOURCE_BY_TARGET.get(name);
-		const rb = sourceName ? restByJoint.get(sourceName) : null;
-		if (sourceName && rb !== null && rb !== undefined) {
-			// L = Rb @ basis @ Rb^T; basisQuaternionToLocalRotation is the
-			// quatToMat + basisToLocal composition from convert.js.
-			local_rot_mats[index] = basisQuaternionToLocalRotation(
-				pose.bones[sourceName],
-				rb
-			);
-			rotation_constraint_indices.push(index);
-		} else {
-			// Fresh identity per joint so callers can never alias a shared
-			// constant by mutating one row.
-			local_rot_mats[index] = IDENTITY.map((row) => row.slice());
-			filled_identity.push({
-				joint: name,
-				reason: sourceName ? "no rest rotation" : "not authored",
-			});
-		}
-	}
-
-	for (let index = 0; index < CSKEL27_JOINTS.length; index += 1) {
-		requireRotationMatrix(
-			local_rot_mats[index],
-			`${CSKEL27_JOINTS[index]} (local_rot_mats[${index}])`
-		);
-	}
-
-	// A reference may still supply different skeleton proportions, but its
-	// frame-zero root is never copied. Placement is authored explicitly in
-	// pose.root; otherwise the canonical floor-aligned neutral root is used.
-	// This decouples body shape from whichever motion happened to be selected.
-	const skeleton = reference ?? canonicalCskel27Reference();
-	if (!Array.isArray(skeleton.posed_joints) || !Array.isArray(skeleton.local_rot_mats)) {
-		throw new Error("poseToCskel27: reference must carry posed_joints and local_rot_mats");
-	}
-	const offsets = deriveBoneOffsets(skeleton.posed_joints, skeleton.local_rot_mats);
-	const canonicalRoot = canonicalCskel27Reference().posed_joints[0];
-	const posed_joints = forwardKinematics(local_rot_mats, offsets, pose.root ?? canonicalRoot);
-
-	return {
-		local_rot_mats,
-		posed_joints,
-		filled_identity,
-		rotation_constraint_indices,
-	};
-}

package/src/ardy/trim.js

@@ -1,33 +0,0 @@
-// trim.js — cut a loaded take to a frame range. The slice is a NEW motion
-// object in the exact npz-decoded shape; the caller keeps the original, so
-// trimming is non-destructive and re-trimming always cuts from the full
-// take. Frame 0 of the slice becomes the playback anchor: applyMotionFrame
-// re-anchors X/Z on the anchor frame, so a mid-clip cut plays at the
-// character's placement instead of teleporting to the original frame 0.
-// The spread carries every non-array field with the slice — `personScale`
-// included: a cut is the same performer, and a take that lost its stature
-// mid-edit would replay the remaining frames at the wrong stride length.
-
-import { CSKEL27_JOINTS } from "./cskel27.js";
-
-export function sliceMotion(motion, startFrame, endFrame) {
-	if (!motion || !Number.isInteger(motion.frames) || motion.frames < 1) {
-		throw new Error("sliceMotion: motion.frames must be a positive integer");
-	}
-	if (!Number.isInteger(startFrame) || !Number.isInteger(endFrame)) {
-		throw new Error("sliceMotion: startFrame and endFrame must be integers");
-	}
-	if (startFrame < 0 || endFrame >= motion.frames || startFrame > endFrame) {
-		throw new Error(`sliceMotion: range ${startFrame}..${endFrame} is outside 0..${motion.frames - 1}`);
-	}
-	const joints = CSKEL27_JOINTS.length;
-	const frames = endFrame - startFrame + 1;
-	return {
-		...motion,
-		frames,
-		rotMats: motion.rotMats.slice(startFrame * joints * 9, (endFrame + 1) * joints * 9),
-		rootPos: motion.rootPos.slice(startFrame * 3, (endFrame + 1) * 3),
-		posedJoints: motion.posedJoints.slice(startFrame * joints * 3, (endFrame + 1) * joints * 3),
-		anchorFrame: 0,
-	};
-}