human2ai 0.1.0

package/dist/domain/spatial/index.js

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+import { Ajv2020 } from "ajv/dist/2020.js";
+import maleRig from "./assets/quaternius-rig.json" with { type: "json" };
+import femaleRig from "./assets/quaternius-female-rig.json" with { type: "json" };
+import schema from "../../../schemas/spatial-draft.schema.json" with { type: "json" };
+import { canonicalJson, fingerprintText } from "../fingerprint.js";
+import { jointWorldTransforms, solveJoint, vector, quaternion, angles, boneQuaternion, isRigidBodyConnector } from "./kinematics.js";
+import { appendFingers, completeCharacterHands, completeThumbLimits, fingerPart, fingerCurlAngles, fingerSpreadAngles, handJointIds, SPATIAL_FINGERS } from "./hands.js";
+export * from "./types.js";
+export * from "./kinematics.js";
+export * from "./hands.js";
+export { BODY_SHAPE_LIMITS } from "./proportions.js";
+import { BODY_SHAPE_LIMITS } from "./proportions.js";
+import { fitSpatialCameraBox } from "./camera-box.js";
+export * from "./camera-box.js";
+import operationsSchema from "../../../schemas/spatial-operations.schema.json" with { type: "json" };
+const validateOperations = new Ajv2020({ allErrors: true }).compile(operationsSchema);
+const validateSchema = new Ajv2020({ allErrors: true }).compile(schema);
+export const TORSO_RATIO_LIMITS = { min: 0.3, max: 0.7 };
+const rigTorsoRatio = (rig) => 1 - (rig.parts[0].start[1] - rig.bottom) / (rig.parts.find(p => p.id === "head").start[1] - rig.bottom);
+export const DEFAULT_TORSO_RATIO = rigTorsoRatio(maleRig);
+export class SpatialConstraintError extends Error {
+    code = "SPATIAL_CONSTRAINT";
+}
+export function createSpatialCamera(id = "camera-1", name = "Camera 1") {
+    return { id, name, position: [3, 2.2, 5], target: [0, 0.9, 0], projection: "perspective", fov: 40, span: 3.2, width: 1200, height: 900, background: null };
+}
+export function createSpatialDraft() {
+    return { version: 2, kind: "spatial-draft", lightingEnabled: false, characters: [], objects: [], cameras: [createSpatialCamera()] };
+}
+export function createHumanoid(id, name, height = 1.8, headRatio = 7, torsoRatio = DEFAULT_TORSO_RATIO, bodyType = "male", bodyShape = {}) {
+    const modelRig = bodyType === "female" ? femaleRig : maleRig;
+    const naturalTorsoRatio = rigTorsoRatio(modelRig);
+    const h = height - height / headRatio;
+    const joints = [{ id: "pelvis", name: "pelvis", parentId: null, offset: [0, 0, 0], radius: height * .027, lockPosition: false, terminal: false }];
+    const bones = [];
+    const add = (id, parentId, offset, min, max, terminal = false) => {
+        joints.push({ id, name: id, parentId, offset, radius: height * .025, lockPosition: false, terminal });
+        bones.push({ id, name: id, startJointId: parentId, endJointId: id, rotation: [0, 0, 0], restRotation: [0, 0, 0], limits: { min, max }, lockRotation: false, modelPart: id });
+    };
+    add("spine", "pelvis", [0, h * .16, 0], [-35, -35, -30], [45, 35, 30]);
+    add("chest", "spine", [0, h * .17, 0], [-25, -40, -25], [25, 40, 25]);
+    add("neck", "chest", [0, h * .15, 0], [-35, -45, -30], [35, 45, 30]);
+    add("head", "neck", [0, height / headRatio, 0], [-30, -45, -20], [30, 45, 20], true);
+    for (const [side, sign] of [["left", 1], ["right", -1]]) {
+        add(`${side}-shoulder`, "chest", [sign * h * .14, 0, 0], [0, 0, 0], [0, 0, 0]);
+        add(`${side}-elbow`, `${side}-shoulder`, [sign * h * .07, -h * .20, 0], [-160, -90, -100], [160, 90, 100]);
+        add(`${side}-wrist`, `${side}-elbow`, [sign * h * .03, -h * .20, 0], [-150, -10, -10], [0, 10, 10]);
+        add(`${side}-hand`, `${side}-wrist`, [sign * h * .02, -h * .09, 0], [-70, -80, -30], [70, 80, 30]);
+        add(`${side}-hip`, "pelvis", [sign * h * .085, 0, 0], [0, 0, 0], [0, 0, 0]);
+        add(`${side}-knee`, `${side}-hip`, [0, -h * .25, 0], [-120, -45, -45], [40, 45, 45]);
+        add(`${side}-ankle`, `${side}-knee`, [0, -h * .25, 0], [0, -10, -10], [150, 10, 10]);
+        add(`${side}-foot`, `${side}-ankle`, [0, -h * .02, h * .09], [-35, -25, -20], [45, 25, 20], true);
+    }
+    // Use the model's anatomical landmarks, scaled below the head. Arms rest
+    // in a relaxed A pose; the source mesh itself was supplied in a T pose.
+    const bodyScale = h / (modelRig.parts.find(p => p.id === "head").start[1] - modelRig.bottom);
+    for (const joint of joints.filter(j => j.parentId)) {
+        const part = modelRig.parts.find(p => p.id === joint.id);
+        joint.offset = part.end.map((v, i) => (v - part.start[i]) * bodyScale);
+        if (joint.id === "head")
+            joint.offset = [0, height / headRatio, 0];
+        if (/-(elbow|wrist|hand)$/.test(joint.id)) {
+            const sign = joint.id.startsWith("left") ? 1 : -1;
+            joint.offset = [sign * vector(joint.offset).length() * .342, -vector(joint.offset).length() * .9397, 0];
+        }
+    }
+    const leg = vector(joints.find(j => j.id === "left-knee").offset).add(vector(joints.find(j => j.id === "left-ankle").offset));
+    const legScale = 1 + h * (naturalTorsoRatio - torsoRatio) / -leg.y;
+    const torsoScale = 1 + h * (torsoRatio - naturalTorsoRatio) / (joints.find(j => j.id === "spine").offset[1] + joints.find(j => j.id === "chest").offset[1]);
+    const position = vector([0, (modelRig.parts[0].start[1] - modelRig.bottom) * bodyScale, 0]).addScaledVector(leg, 1 - legScale);
+    for (const joint of joints) {
+        const scale = ["spine", "chest"].includes(joint.id) ? torsoScale : /-(knee|ankle)$/.test(joint.id) ? legScale : 1;
+        joint.offset = joint.offset.map(v => v * scale);
+    }
+    const actor = { id, name, kind: "humanoid", position: position.toArray(), rotation: [0, 0, 0], height, headRatio, torsoRatio, bodyType, thumbLimitsVersion: 2, color: "#b2a090", joints, bones, appearance: bodyShape.appearance ?? "quaternius" };
+    for (const key of Object.keys(BODY_SHAPE_LIMITS))
+        if (bodyShape[key] !== undefined)
+            actor[key] = bodyShape[key];
+    for (const hand of [...bones].filter(b => b.modelPart.endsWith("-hand"))) {
+        joints.find(j => j.id === hand.endJointId).radius = height * .01;
+        appendFingers(actor, hand);
+    }
+    return actor;
+}
+export function validateSpatialDraft(input) {
+    if (!validateSchema(input))
+        throw new Error(`SPATIAL_INVALID: ${validateSchema.errors?.map(e => `${e.instancePath} ${e.message}`).join("; ")}`);
+    const draft = structuredClone(input);
+    const ids = [...draft.characters, ...draft.objects, ...draft.cameras, ...(draft.cameraBoxes ?? [])].map(item => item.id);
+    if (new Set(ids).size !== ids.length)
+        throw new Error("SPATIAL_INVALID: duplicate object id");
+    for (const character of draft.characters) {
+        completeCharacterHands(character);
+        completeThumbLimits(character);
+        if (new Set(character.joints.map(j => j.id)).size !== character.joints.length || character.joints.filter(j => j.parentId === null).length !== 1)
+            throw new Error("SPATIAL_INVALID: skeleton must have unique joints and one root");
+        const children = character.joints.filter(j => j.parentId);
+        if (character.bones.length !== children.length || new Set(character.bones.map(b => b.id)).size !== character.bones.length || new Set(character.bones.map(b => b.endJointId)).size !== children.length)
+            throw new Error("SPATIAL_INVALID: each non-root joint requires one unique incoming bone");
+        for (const bone of character.bones) {
+            const end = character.joints.find(j => j.id === bone.endJointId);
+            if (!end || !end.parentId || end.parentId !== bone.startJointId)
+                throw new Error("SPATIAL_INVALID: bone endpoints differ from joint hierarchy");
+            for (const axis of [0, 1, 2]) {
+                if (bone.limits.min[axis] > bone.limits.max[axis] || [bone.rotation[axis], bone.restRotation[axis]].some(v => v < bone.limits.min[axis] - 1e-7 || v > bone.limits.max[axis] + 1e-7))
+                    throw new SpatialConstraintError(`Bone angle outside limits: ${bone.id}`);
+            }
+        }
+        const world = jointWorldTransforms(character);
+        for (const joint of character.joints) {
+            if (joint.parentId && vector(joint.offset).length() < .0001)
+                throw new Error("SPATIAL_INVALID: zero bone length");
+            if (!world[joint.id].position.toArray().every(Number.isFinite))
+                throw new Error("SPATIAL_INVALID: non-finite transform");
+        }
+        if (character.kind === "humanoid") {
+            const standard = createHumanoid(character.id, character.name, character.height, character.headRatio, character.torsoRatio, character.bodyType);
+            if (character.joints.length !== standard.joints.length)
+                throw new Error("SPATIAL_INVALID: humanoid structure changed without custom morphology");
+            for (const expected of standard.bones) {
+                const actual = character.bones.find(b => b.id === expected.id);
+                if (!actual || actual.endJointId !== expected.endJointId || actual.modelPart !== expected.modelPart || canonicalJson(actual.restRotation) !== canonicalJson(expected.restRotation))
+                    throw new Error("SPATIAL_INVALID: modified standard bone anatomy");
+            }
+            for (const expected of standard.joints) {
+                const actual = character.joints.find(j => j.id === expected.id);
+                if (!actual || actual.parentId !== expected.parentId || actual.offset.some((v, i) => Math.abs(v - expected.offset[i]) > 1e-10))
+                    throw new Error("SPATIAL_INVALID: modified standard humanoid anatomy");
+            }
+        }
+    }
+    for (const object of draft.objects)
+        if (object.size.some(v => v <= 0))
+            throw new Error("SPATIAL_INVALID: positive object dimensions required");
+    for (const camera of draft.cameras)
+        if (vector(camera.position).distanceTo(vector(camera.target)) < 0.01)
+            throw new Error("SPATIAL_INVALID: camera target equals position");
+    return draft;
+}
+export function validateSpatialTransition(before, after, options = {}) {
+    for (const old of before.characters) {
+        const next = after.characters.find(c => c.id === old.id);
+        if (!next)
+            continue;
+        const oldWorld = jointWorldTransforms(old), nextWorld = jointWorldTransforms(next);
+        for (const joint of old.joints) {
+            const current = next.joints.find(j => j.id === joint.id);
+            if (!current)
+                continue;
+            if (joint.lockPosition && current.lockPosition && oldWorld[joint.id].position.distanceTo(nextWorld[joint.id].position) > 0.00001)
+                throw new SpatialConstraintError(`Fixed world position changed: ${joint.id}`);
+        }
+        for (const bone of old.bones) {
+            const current = next.bones.find(b => b.id === bone.id);
+            if (current && isRigidBodyConnector(bone)) {
+                const reset = options.resetPoseCharacterId === old.id && canonicalJson(current.rotation) === canonicalJson(bone.restRotation);
+                if (current.modelPart !== bone.modelPart || canonicalJson(current.restRotation) !== canonicalJson(bone.restRotation) || (!reset && canonicalJson(current.rotation) !== canonicalJson(bone.rotation)))
+                    throw new SpatialConstraintError(`Rigid connector rotation changed: ${bone.id}`);
+                if (canonicalJson(current.limits) !== canonicalJson(bone.limits))
+                    throw new SpatialConstraintError(`Rigid connector angle bounds changed: ${bone.id}`);
+            }
+            if (current && !options.allowLimitChanges && canonicalJson(current.limits) !== canonicalJson(bone.limits))
+                throw new SpatialConstraintError(`Use set-bone-limits to change angle bounds: ${bone.id}`);
+            if (bone.lockRotation && current?.lockRotation && oldWorld[bone.endJointId].rotation.angleTo(nextWorld[current.endJointId].rotation) > .00001)
+                throw new SpatialConstraintError(`Fixed world rotation changed: ${bone.id}`);
+        }
+    }
+}
+export function spatialDraftFingerprint(input) {
+    return fingerprintText(canonicalJson(validateSpatialDraft(input)));
+}
+export function applySpatialOperations(input, operations) {
+    if (!validateOperations(operations))
+        throw new Error("SPATIAL_INVALID: invalid operations");
+    let draft = validateSpatialDraft(input);
+    let constrained = false;
+    if (!Array.isArray(operations) || operations.length > 100)
+        throw new Error("SPATIAL_INVALID: operations must be a bounded array");
+    for (const operation of operations) {
+        const before = structuredClone(draft);
+        const character = "characterId" in operation ? draft.characters.find(c => c.id === operation.characterId) : undefined;
+        if ("characterId" in operation && !character)
+            throw new Error("SPATIAL_INVALID: unknown character");
+        switch (operation.type) {
+            case "set-lighting":
+                draft.lightingEnabled = operation.enabled;
+                break;
+            case "add-character":
+                draft.characters.push(createHumanoid(operation.id, operation.name, operation.height, operation.headRatio, operation.torsoRatio, operation.bodyType, operation));
+                break;
+            case "put-character": {
+                const index = draft.characters.findIndex(c => c.id === operation.character.id);
+                if (index < 0)
+                    draft.characters.push(structuredClone(operation.character));
+                else
+                    draft.characters[index] = structuredClone(operation.character);
+                break;
+            }
+            case "add-limb": {
+                const actor = character;
+                if (!actor.joints.some(j => j.id === operation.parentId))
+                    throw new Error("SPATIAL_INVALID: unknown limb attachment");
+                const source = actor.joints.find(j => j.id === operation.sourceJointId);
+                if (!source || !source.parentId)
+                    throw new Error("SPATIAL_INVALID: source limb must have an upstream joint");
+                const descendants = [source];
+                for (let i = 0; i < descendants.length; i++)
+                    descendants.push(...actor.joints.filter(j => j.parentId === descendants[i].id));
+                actor.kind = "custom";
+                const clonedIds = new Set(descendants.map(j => j.id));
+                const incoming = actor.bones.filter(b => clonedIds.has(b.endJointId));
+                actor.joints.push(...descendants.map((joint, i) => ({ ...structuredClone(joint), id: `${operation.idPrefix}-${joint.id}`, name: `${operation.idPrefix} ${joint.name}`, parentId: i === 0 ? operation.parentId : `${operation.idPrefix}-${joint.parentId}`, offset: i === 0 ? operation.offset : [...joint.offset], lockPosition: false })));
+                actor.bones.push(...incoming.map(bone => ({ ...structuredClone(bone), id: `${operation.idPrefix}-${bone.id}`, name: `${operation.idPrefix} ${bone.name}`, startJointId: bone.endJointId === source.id ? operation.parentId : `${operation.idPrefix}-${bone.startJointId}`, endJointId: `${operation.idPrefix}-${bone.endJointId}`, lockRotation: false })));
+                break;
+            }
+            case "set-proportions": {
+                const actor = character;
+                const torsoRatio = operation.torsoRatio ?? actor.torsoRatio ?? DEFAULT_TORSO_RATIO;
+                const bodyType = operation.bodyType ?? actor.bodyType ?? "male";
+                const previous = createHumanoid(actor.id, actor.name, actor.height, actor.headRatio, actor.torsoRatio, actor.bodyType);
+                const scaled = createHumanoid(actor.id, actor.name, operation.height, operation.headRatio, torsoRatio, bodyType);
+                if (actor.kind === "humanoid") {
+                    actor.joints = scaled.joints.map(j => ({ ...actor.joints.find(old => old.id === j.id), offset: j.offset, radius: j.radius }));
+                }
+                else {
+                    for (const joint of actor.joints) {
+                        const role = actor.bones.find(b => b.endJointId === joint.id)?.modelPart;
+                        const oldPart = previous.joints.find(j => j.id === role), newPart = scaled.joints.find(j => j.id === role);
+                        const scale = oldPart?.parentId && newPart ? vector(newPart.offset).length() / vector(oldPart.offset).length() : operation.height / actor.height;
+                        joint.offset = joint.offset.map(v => v * scale);
+                        joint.radius *= operation.height / actor.height;
+                    }
+                }
+                actor.position = vector(actor.position).add(vector(scaled.position).sub(vector(previous.position)).applyQuaternion(quaternion(actor.rotation))).toArray();
+                actor.height = operation.height;
+                actor.headRatio = operation.headRatio;
+                actor.torsoRatio = torsoRatio;
+                actor.bodyType = bodyType;
+                for (const key of Object.keys(BODY_SHAPE_LIMITS))
+                    if (operation[key] !== undefined)
+                        actor[key] = operation[key];
+                break;
+            }
+            case "lock-joint": {
+                const joint = character.joints.find(j => j.id === operation.jointId);
+                if (!joint)
+                    throw new Error("SPATIAL_INVALID: unknown joint");
+                if (operation.position !== undefined)
+                    joint.lockPosition = operation.position;
+                break;
+            }
+            case "reset-pose":
+                character.joints.forEach(j => { j.lockPosition = false; });
+                character.bones.forEach(b => { b.rotation = [...b.restRotation]; b.lockRotation = false; });
+                break;
+            case "pose-hand":
+            case "reset-hand": {
+                const actor = character, hand = actor.bones.find(b => b.id === operation.handBoneId && b.modelPart.endsWith("-hand"));
+                if (!hand)
+                    throw new Error("SPATIAL_INVALID: unknown hand");
+                const ids = handJointIds(actor, hand);
+                if (operation.type === "reset-hand") {
+                    actor.joints.filter(j => ids.has(j.id)).forEach(j => { j.lockPosition = false; });
+                    actor.bones.filter(b => ids.has(b.endJointId)).forEach(b => { b.rotation = [...b.restRotation]; b.lockRotation = false; });
+                }
+                else {
+                    for (const finger of SPATIAL_FINGERS) {
+                        if (operation.curl?.[finger] === undefined && !(operation.spread !== undefined && finger !== "thumb") && !(operation.thumbOpposition !== undefined && finger === "thumb"))
+                            continue;
+                        const chain = actor.bones.filter(b => ids.has(b.endJointId) && fingerPart(b.modelPart)?.finger === finger);
+                        if (chain.length !== 4)
+                            throw new Error("SPATIAL_INVALID: incomplete finger");
+                        for (const bone of chain) {
+                            const segment = fingerPart(bone.modelPart).segment;
+                            if (!segment)
+                                continue;
+                            const rotation = [...bone.rotation], curl = operation.curl?.[finger];
+                            const side = hand.modelPart.startsWith("left") ? 1 : -1;
+                            if (curl !== undefined) {
+                                if (finger === "thumb" && segment === 3) {
+                                    rotation[0] = 0;
+                                    rotation[2] = -side * curl * fingerCurlAngles(finger)[segment - 1];
+                                }
+                                else
+                                    rotation[0] = curl * fingerCurlAngles(finger)[segment - 1];
+                            }
+                            if (segment === 1 && operation.spread !== undefined && finger !== "thumb")
+                                rotation[2] = operation.spread * fingerSpreadAngles[finger] * side;
+                            if (segment === 1 && operation.thumbOpposition !== undefined && finger === "thumb") {
+                                rotation[1] = operation.thumbOpposition * 60 * side;
+                                rotation[2] = operation.thumbOpposition * -30 * side;
+                            }
+                            const clamped = rotation.map((v, i) => Math.max(bone.limits.min[i], Math.min(bone.limits.max[i], v)));
+                            constrained ||= clamped.some((v, i) => v !== rotation[i]);
+                            bone.rotation = clamped;
+                        }
+                    }
+                }
+                break;
+            }
+            case "lock-bone":
+            case "set-bone-limits": {
+                const bone = character.bones.find(b => b.id === operation.boneId);
+                if (!bone)
+                    throw new Error("SPATIAL_INVALID: unknown bone");
+                if (operation.type === "lock-bone")
+                    bone.lockRotation = operation.rotation;
+                else
+                    bone.limits = structuredClone(operation.limits);
+                break;
+            }
+            case "move-joint":
+            case "rotate-bone": {
+                const bone = operation.type === "rotate-bone" ? character.bones.find(b => b.id === operation.boneId) : undefined;
+                if (operation.type === "rotate-bone" && !bone)
+                    throw new Error("SPATIAL_INVALID: unknown bone");
+                if (bone && isRigidBodyConnector(bone) && operation.type === "rotate-bone") {
+                    constrained ||= operation.rotation.some((v, i) => v !== bone.rotation[i]);
+                    break;
+                }
+                const clamped = operation.type === "rotate-bone" ? operation.rotation.map((v, i) => Math.max(bone.limits.min[i], Math.min(bone.limits.max[i], v))) : undefined;
+                if (clamped && operation.type === "rotate-bone")
+                    constrained ||= clamped.some((v, i) => v !== operation.rotation[i]);
+                const world = bone ? jointWorldTransforms(character) : undefined;
+                const goal = operation.type === "move-joint" ? { position: operation.position } : { rotation: angles(world[bone.startJointId].rotation.clone().multiply(boneQuaternion(character, bone, clamped))) };
+                const solved = solveJoint(character, operation.type === "move-joint" ? operation.jointId : bone.endJointId, goal);
+                draft.characters[draft.characters.indexOf(character)] = solved.character;
+                constrained ||= solved.constrained;
+                if (bone && clamped) {
+                    const result = solved.character.bones.find(b => b.id === bone.id);
+                    constrained ||= quaternion(result.rotation).angleTo(quaternion(clamped)) > .005;
+                }
+                break;
+            }
+            case "put-object": {
+                const index = draft.objects.findIndex(o => o.id === operation.object.id);
+                if (index < 0)
+                    draft.objects.push(structuredClone(operation.object));
+                else
+                    draft.objects[index] = structuredClone(operation.object);
+                break;
+            }
+            case "put-camera": {
+                const index = draft.cameras.findIndex(c => c.id === operation.camera.id);
+                if (index < 0)
+                    draft.cameras.push(structuredClone(operation.camera));
+                else
+                    draft.cameras[index] = structuredClone(operation.camera);
+                break;
+            }
+            case "put-camera-box": {
+                const boxes = draft.cameraBoxes ??= [];
+                const index = boxes.findIndex(box => box.id === operation.box.id);
+                if (index < 0)
+                    boxes.push(structuredClone(operation.box));
+                else
+                    boxes[index] = structuredClone(operation.box);
+                break;
+            }
+            case "fit-camera-box": {
+                const index = draft.cameraBoxes?.findIndex(box => box.id === operation.id) ?? -1;
+                if (index < 0)
+                    throw new Error("SPATIAL_INVALID: camera box not found");
+                draft.cameraBoxes[index] = fitSpatialCameraBox(draft.cameraBoxes[index], draft, operation.region);
+                break;
+            }
+            case "remove":
+                draft.characters = draft.characters.filter(c => c.id !== operation.id);
+                draft.objects = draft.objects.filter(o => o.id !== operation.id);
+                draft.cameras = draft.cameras.filter(c => c.id !== operation.id);
+                if (draft.cameraBoxes)
+                    draft.cameraBoxes = draft.cameraBoxes.filter(box => box.id !== operation.id);
+                break;
+            default: throw new Error("SPATIAL_INVALID: unknown operation");
+        }
+        draft = validateSpatialDraft(draft);
+        validateSpatialTransition(before, draft, { allowLimitChanges: operation.type === "set-bone-limits", resetPoseCharacterId: operation.type === "reset-pose" ? operation.characterId : undefined });
+    }
+    return { draft, constrained };
+}
+//# sourceMappingURL=index.js.map

package/dist/domain/spatial/index.js.map

@@ -0,0 +1 @@
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package/dist/domain/spatial/kinematics.d.ts

@@ -0,0 +1,27 @@
+import { Quaternion, Vector3 } from "three";
+import type { SpatialBone, SpatialCharacter, SpatialJoint, Vec3 } from "./types.ts";
+export declare const vector: (value: Vec3) => Vector3;
+export declare const quaternion: (value: Vec3) => Quaternion;
+export declare const angles: (value: Quaternion) => Vec3;
+export interface JointTransform {
+    position: Vector3;
+    rotation: Quaternion;
+}
+export declare const isRigidBodyConnector: (bone: SpatialBone) => boolean;
+export declare function boneQuaternion(actor: SpatialCharacter, bone: SpatialBone, rotation?: Vec3): Quaternion;
+export declare function boneAngles(actor: SpatialCharacter, bone: SpatialBone, rotation: Quaternion): Vec3;
+export declare function proportionedJointOffset(character: SpatialCharacter, joint: SpatialJoint): Vector3;
+type RestTransforms = Record<string, {
+    offset: Vector3;
+    basis: Quaternion;
+}>;
+export declare function jointWorldTransforms(character: SpatialCharacter, rest?: RestTransforms): Record<string, JointTransform>;
+export declare function boneWorldTransforms(character: SpatialCharacter): Record<string, JointTransform>;
+export declare function solveJoint(source: SpatialCharacter, jointId: string, goal: {
+    position?: Vec3;
+    rotation?: Vec3;
+}, isolated?: boolean): {
+    character: SpatialCharacter;
+    constrained: boolean;
+};
+export {};