human2ai 0.1.0

package/dist/domain/spatial/kinematics.js

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+import { Euler, Quaternion, Vector3 } from "three";
+import { footHeightScale, partWidth, spatialShape } from "./proportions.js";
+import { fingerPart, fingerBasis, fingerOffset, owningHand } from "./hands.js";
+import maleRig from "./assets/quaternius-rig.json" with { type: "json" };
+import femaleRig from "./assets/quaternius-female-rig.json" with { type: "json" };
+const DEG = Math.PI / 180;
+export const vector = (value) => new Vector3(...value);
+export const quaternion = (value) => new Quaternion().setFromEuler(new Euler(...value.map(v => v * DEG), "XYZ"));
+export const angles = (value) => {
+    const e = new Euler().setFromQuaternion(value, "XYZ");
+    return [e.x / DEG, e.y / DEG, e.z / DEG];
+};
+// These attachment segments follow their parent, without a local rotational DOF.
+// Match the source part so duplicated limbs obey the same rule.
+export const isRigidBodyConnector = (bone) => /^(left|right)-(shoulder|hip)$/.test(bone.modelPart);
+export function boneQuaternion(actor, bone, rotation = bone.rotation) {
+    const basis = fingerBasis(actor, bone);
+    return basis.clone().multiply(quaternion(rotation)).multiply(basis.invert());
+}
+export function boneAngles(actor, bone, rotation) {
+    const basis = fingerBasis(actor, bone);
+    return angles(basis.clone().invert().multiply(rotation).multiply(basis));
+}
+// Stored offsets describe the anatomical rig. Apply the head-count width at
+// torso and shoulder/hip attachments before posing so mesh and controls align.
+export function proportionedJointOffset(character, joint) {
+    const offset = vector(joint.offset);
+    const part = character.bones.find(b => b.endJointId === joint.id)?.modelPart;
+    if (part && fingerPart(part)) {
+        const bone = character.bones.find(b => b.endJointId === joint.id);
+        const hand = owningHand(character, bone);
+        if (hand)
+            return fingerOffset(character, joint, hand);
+    }
+    const shape = spatialShape(character.headRatio);
+    if (part && (["spine", "chest", "neck"].includes(part) || /-(shoulder|hip)$/.test(part))) {
+        const width = partWidth(shape, part) * 6 * character.headRatio / (7 * (character.headRatio - 1));
+        offset.x *= width;
+        // Thickness describes a skin cross-section. Scaling the rest spine's
+        // sagittal offsets by it would exaggerate the curve as height shrinks.
+        const depth = shape.torsoDepth * 6 * character.headRatio / (7 * (character.headRatio - 1));
+        offset.z *= 1 + (depth - 1) * (1 - shape.softness);
+    }
+    const neckLength = character.neckLength ?? 1;
+    if (part === "neck")
+        offset.multiplyScalar(shape.neck * neckLength);
+    if (part === "spine" || part === "chest") {
+        const neck = character.joints.find(j => j.id === "neck");
+        if (neck) {
+            offset.y += neck.offset[1] * (1 - shape.neck) / 2;
+            offset.z += neck.offset[2] * (1 - shape.neck) * shape.torsoDepth * 6 * character.headRatio / (7 * (character.headRatio - 1)) / 2 * (1 - shape.softness);
+        }
+    }
+    if (part && /-(elbow|wrist)$/.test(part))
+        offset.multiplyScalar(shape.armLength);
+    if (part?.endsWith("-hand"))
+        offset.multiplyScalar(shape.handLength * (character.palmSize ?? 1));
+    const footHeight = footHeightScale(character.footSize);
+    if (part?.endsWith("-ankle") && footHeight !== 1) {
+        const foot = character.bones.find(b => b.startJointId === joint.id && b.modelPart.endsWith("-foot"));
+        if (foot) {
+            const rig = character.bodyType === "female" ? femaleRig : maleRig;
+            const source = rig.parts.find(p => p.id === foot.modelPart);
+            const end = character.joints.find(j => j.id === foot.endJointId);
+            const scale = vector(end.offset).length() / vector(source.end).sub(vector(source.start)).length();
+            // Raise the ankle within the leg, keeping the knee/body in place. The
+            // same anatomical sole height anchors the foot's mild vertical growth.
+            offset.y += (source.start[1] - rig.bottom) * scale * (footHeight - 1);
+        }
+    }
+    if (part?.endsWith("-foot")) {
+        offset.x *= character.footSize ?? 1;
+        offset.y *= footHeight;
+        offset.z *= shape.footLength * (character.footSize ?? 1);
+    }
+    return offset;
+}
+export function jointWorldTransforms(character, rest) {
+    const result = Object.create(null);
+    const joints = new Map(character.joints.map(joint => [joint.id, joint]));
+    const incoming = new Map(character.bones.map(bone => [bone.endJointId, bone]));
+    const visiting = new Set();
+    const resolve = (id) => {
+        if (result[id])
+            return result[id];
+        if (visiting.has(id))
+            throw new Error("SPATIAL_INVALID: cyclic skeleton");
+        visiting.add(id);
+        const joint = joints.get(id);
+        if (!joint)
+            throw new Error("SPATIAL_INVALID: missing parent joint");
+        const parent = joint.parentId ? resolve(joint.parentId) : { position: vector(character.position), rotation: quaternion(character.rotation) };
+        const bone = incoming.get(id);
+        const basis = rest?.[id].basis;
+        const local = bone ? basis ? basis.clone().multiply(quaternion(bone.rotation)).multiply(basis.clone().invert()) : boneQuaternion(character, bone) : new Quaternion();
+        const rotation = parent.rotation.clone().multiply(local).normalize();
+        const position = (rest?.[id].offset.clone() ?? proportionedJointOffset(character, joint)).applyQuaternion(rotation).add(parent.position);
+        visiting.delete(id);
+        return result[id] = { position, rotation };
+    };
+    character.joints.forEach(joint => resolve(joint.id));
+    return result;
+}
+export function boneWorldTransforms(character) {
+    const world = jointWorldTransforms(character);
+    return Object.fromEntries(character.bones.map(b => [b.id, { position: world[b.startJointId].position.clone(), rotation: world[b.endJointId].rotation.clone() }]));
+}
+// Damped least squares over the articulated hierarchy. Limits are projected after
+// every step; pinned targets receive a separate final solve and hard validation.
+export function solveJoint(source, jointId, goal, isolated = true) {
+    const character = structuredClone(source);
+    const selected = character.joints.find(j => j.id === jointId);
+    if (!selected)
+        throw new Error("SPATIAL_INVALID: unknown joint");
+    const selectedBone = character.bones.find(b => b.endJointId === jointId);
+    const fingerOnly = Boolean(selectedBone && fingerPart(selectedBone.modelPart));
+    const rest = Object.fromEntries(character.joints.map(j => {
+        const b = character.bones.find(b => b.endJointId === j.id);
+        return [j.id, { offset: proportionedJointOffset(character, j), basis: b ? fingerBasis(character, b) : new Quaternion() }];
+    }));
+    const worldNow = () => jointWorldTransforms(character, rest);
+    const initial = jointWorldTransforms(source);
+    if ((goal.position && selected.lockPosition) || (goal.rotation && selectedBone && (selectedBone.lockRotation || isRigidBodyConnector(selectedBone)))) {
+        return { character: source, constrained: true };
+    }
+    const pins = [
+        ...source.joints.filter(j => j.lockPosition).map(j => ({ id: j.id, weight: 100, position: initial[j.id].position })),
+        ...source.bones.filter(b => b.lockRotation).map(b => ({ id: b.endJointId, weight: 100, rotation: initial[b.endJointId].rotation })),
+    ];
+    const desired = { id: jointId, weight: 1,
+        ...(goal.position ? { position: vector(goal.position) } : {}),
+        ...(goal.rotation ? { rotation: quaternion(goal.rotation) } : {}),
+    };
+    if (desired.rotation && selectedBone) {
+        const parent = selected.parentId ? initial[selected.parentId].rotation : quaternion(source.rotation);
+        const local = boneAngles(character, selectedBone, parent.clone().invert().multiply(desired.rotation));
+        if (local.every((v, axis) => v >= selectedBone.limits.min[axis] && v <= selectedBone.limits.max[axis])) {
+            selectedBone.rotation = local;
+            const world = worldNow();
+            if (pins.every(pin => (!pin.position || pin.position.distanceTo(world[pin.id].position) < 0.00001)
+                && (!pin.rotation || pin.rotation.angleTo(world[pin.id].rotation) < 0.00001)))
+                return { character, constrained: false };
+            selectedBone.rotation = [...source.bones.find(b => b.endJointId === jointId).rotation];
+        }
+    }
+    const chain = new Set();
+    let ancestor = jointId;
+    while (ancestor) {
+        chain.add(ancestor);
+        const joint = character.joints.find(j => j.id === ancestor);
+        ancestor = joint.parentId;
+        if (ancestor && character.joints.filter(j => j.parentId === ancestor).length > 1)
+            break;
+    }
+    const rotationChain = new Set([jointId]);
+    for (const id of rotationChain)
+        for (const child of character.joints.filter(j => j.parentId === id))
+            rotationChain.add(child.id);
+    const variables = [];
+    for (const joint of character.bones) {
+        if (joint.lockRotation || isRigidBodyConnector(joint) || (desired.rotation ? !rotationChain.has(joint.endJointId) : isolated && !chain.has(joint.endJointId)))
+            continue;
+        for (const axis of [0, 1, 2]) {
+            if (joint.limits.max[axis] - joint.limits.min[axis] < 0.0001)
+                continue;
+            variables.push({ get: () => joint.rotation[axis], set: v => { joint.rotation[axis] = Math.max(joint.limits.min[axis], Math.min(joint.limits.max[axis], v)); }, step: 0.05 });
+        }
+    }
+    if (!selected.parentId)
+        for (const axis of [0, 1, 2]) {
+            variables.push({ get: () => character.position[axis], set: v => { character.position[axis] = v; }, step: 0.001 });
+        }
+    const residual = (targets) => {
+        // A locked world orientation determines this joint's local orientation from
+        // its parent; eliminate those degrees instead of balancing a soft penalty.
+        const pending = new Set(character.bones.filter(b => b.lockRotation && !isRigidBodyConnector(b)).map(b => b.id));
+        const applyRotationPin = (id) => {
+            const bone = character.bones.find(b => b.id === id);
+            const parentBone = character.bones.find(b => b.endJointId === bone.startJointId);
+            if (parentBone && pending.has(parentBone.id))
+                applyRotationPin(parentBone.id);
+            const world = worldNow();
+            const parent = world[bone.startJointId].rotation;
+            bone.rotation = boneAngles(character, bone, parent.clone().invert().multiply(initial[bone.endJointId].rotation)).map((v, axis) => Math.max(bone.limits.min[axis], Math.min(bone.limits.max[axis], v)));
+            pending.delete(id);
+        };
+        for (const id of pending)
+            applyRotationPin(id);
+        const world = worldNow();
+        const values = [];
+        for (const target of targets) {
+            if (target.position)
+                values.push(...target.position.clone().sub(world[target.id].position).multiplyScalar(target.weight).toArray());
+            if (target.rotation) {
+                const delta = target.rotation.clone().multiply(world[target.id].rotation.clone().invert()).normalize();
+                const sign = delta.w < 0 ? -1 : 1;
+                values.push(delta.x * 2 * sign * target.weight, delta.y * 2 * sign * target.weight, delta.z * 2 * sign * target.weight);
+            }
+        }
+        return values;
+    };
+    const energy = (values) => values.reduce((sum, value) => sum + value * value, 0);
+    const optimize = (targets, iterations) => {
+        for (let iteration = 0; iteration < iterations; iteration++) {
+            const error = residual(targets);
+            const score = energy(error);
+            if (score < 1e-12)
+                break;
+            const base = variables.map(v => v.get());
+            const jacobian = variables.map((variable, i) => {
+                variable.set(base[i] + variable.step);
+                let actual = variable.get() - base[i];
+                if (Math.abs(actual) < 1e-10) {
+                    variable.set(base[i] - variable.step);
+                    actual = variable.get() - base[i];
+                }
+                const changed = residual(targets);
+                variable.set(base[i]);
+                return changed.map((value, row) => actual === 0 ? 0 : (error[row] - value) / actual);
+            });
+            // Solve in constraint space (J Jᵀ + λI), keeping sparse rig degrees free.
+            const matrix = error.map((_, row) => error.map((__, column) => jacobian.reduce((sum, derivative) => sum + derivative[row] * derivative[column], 0) + (row === column ? (fingerOnly ? 1e-7 * (character.height / 1.8) ** 2 : .00001) : 0)));
+            const multipliers = solveLinear(matrix, error);
+            const delta = jacobian.map(column => column.reduce((sum, value, i) => sum + value * multipliers[i], 0));
+            let accepted = false;
+            for (const scale of [1, 0.5, 0.2, 0.05]) {
+                variables.forEach((variable, i) => variable.set(base[i] + Math.max(-15, Math.min(15, delta[i])) * scale));
+                if (energy(residual(targets)) < score - 1e-14) {
+                    accepted = true;
+                    break;
+                }
+            }
+            if (!accepted) {
+                variables.forEach((variable, i) => variable.set(base[i]));
+                break;
+            }
+        }
+    };
+    optimize([...pins, desired], 65);
+    if (pins.length)
+        optimize(pins, 25);
+    residual(pins);
+    const final = worldNow();
+    const validPins = pins.every(pin => (!pin.position || pin.position.distanceTo(final[pin.id].position) < 0.00001)
+        && (!pin.rotation || pin.rotation.angleTo(final[pin.id].rotation) < 0.00001));
+    if (!validPins)
+        return isolated && !fingerOnly ? solveJoint(source, jointId, goal, false) : { character: source, constrained: true };
+    const constrained = (desired.position ? desired.position.distanceTo(final[jointId].position) > (fingerOnly ? character.height * .0005 : .005) : false)
+        || (desired.rotation ? desired.rotation.angleTo(final[jointId].rotation) > 0.005 : false);
+    if (constrained && isolated && !fingerOnly) {
+        const full = solveJoint(source, jointId, goal, false);
+        const error = (actor) => {
+            const final = jointWorldTransforms(actor)[jointId];
+            return (desired.position?.distanceTo(final.position) ?? 0) + (desired.rotation?.angleTo(final.rotation) ?? 0);
+        };
+        if (error(full.character) < error(character))
+            return full;
+    }
+    return { character, constrained };
+}
+function solveLinear(matrix, values) {
+    const rows = matrix.map((row, i) => [...row, values[i]]);
+    const n = rows.length;
+    for (let column = 0; column < n; column++) {
+        let pivot = column;
+        for (let row = column + 1; row < n; row++)
+            if (Math.abs(rows[row][column]) > Math.abs(rows[pivot][column]))
+                pivot = row;
+        [rows[pivot], rows[column]] = [rows[column], rows[pivot]];
+        const divisor = rows[column][column];
+        if (Math.abs(divisor) < 1e-14)
+            continue;
+        for (let k = column; k <= n; k++)
+            rows[column][k] /= divisor;
+        for (let row = 0; row < n; row++) {
+            if (row === column)
+                continue;
+            const factor = rows[row][column];
+            for (let k = column; k <= n; k++)
+                rows[row][k] -= factor * rows[column][k];
+        }
+    }
+    return rows.map(row => row[n]);
+}
+//# sourceMappingURL=kinematics.js.map

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

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package/dist/domain/spatial/lighting.d.ts

@@ -0,0 +1,35 @@
+import { DirectionalLight, Group, Mesh, Vector3 } from "three";
+import type { SpatialDraft } from "./types.ts";
+export declare const SPATIAL_LIGHTING: {
+    readonly ambient: 0.3;
+    readonly key: 0.85;
+    readonly direction: readonly [-0.65, 0.6, 1.3];
+    readonly shadowSize: 2048;
+    readonly shadowRadius: 2;
+    readonly shadowStrength: 0.65;
+};
+export declare const getSpatialLighting: (draft: SpatialDraft) => {
+    readonly ambient: 0.3;
+    readonly key: 0.85;
+    readonly direction: readonly [-0.65, 0.6, 1.3];
+    readonly shadowSize: 2048;
+    readonly shadowRadius: 2;
+    readonly shadowStrength: 0.65;
+} | {
+    ambient: number;
+    key: number;
+    shadowStrength: number;
+    direction: readonly [-0.65, 0.6, 1.3];
+    shadowSize: 2048;
+    shadowRadius: 2;
+};
+export declare const spatialSurfaces: (scene: Group) => Mesh[];
+/** Fit all authored surfaces, excluding the editor grid and articulation helpers. */
+export declare function fitSpatialLight(light: DirectionalLight, scene: Group): void;
+/** Short hemisphere rays darken nearby contacts, on the same posed skin in both renderers. */
+export declare function applySpatialContactShading(scene: Group, draft: SpatialDraft, cached?: Float32Array[]): Float32Array[];
+/** CPU equivalent of the editor's fitted directional shadow map. */
+export declare function spatialShadowSampler(scene: Group): {
+    slope(normal: Vector3): [number, number];
+    sample(point: Vector3, slopeX: number, slopeY: number): number;
+};

package/dist/domain/spatial/lighting.js

@@ -0,0 +1,173 @@
+import { Box3, DirectionalLight, DoubleSide, Float32BufferAttribute, Matrix3, Matrix4, Mesh, Ray, Vector3 } from "three";
+// Linear diffuse contributions. Three's Lambert lights use intensity / PI.
+export const SPATIAL_LIGHTING = { ambient: .3, key: .85, direction: [-.65, .6, 1.3], shadowSize: 2048, shadowRadius: 2, shadowStrength: .65 };
+export const getSpatialLighting = (draft) => draft.lightingEnabled
+    ? SPATIAL_LIGHTING : { ...SPATIAL_LIGHTING, ambient: 1, key: 0, shadowStrength: 0 };
+export const spatialSurfaces = (scene) => {
+    const meshes = [];
+    scene.traverse(object => { if (object instanceof Mesh && !object.userData.rig)
+        meshes.push(object); });
+    return meshes;
+};
+/** Fit all authored surfaces, excluding the editor grid and articulation helpers. */
+export function fitSpatialLight(light, scene) {
+    const bounds = new Box3();
+    for (const mesh of spatialSurfaces(scene))
+        bounds.union(new Box3().setFromObject(mesh));
+    const center = bounds.isEmpty() ? new Vector3() : bounds.getCenter(new Vector3());
+    const extent = Math.max(.1, bounds.getSize(new Vector3()).length());
+    light.position.copy(center).addScaledVector(new Vector3(...SPATIAL_LIGHTING.direction).normalize(), extent);
+    light.target.position.copy(center);
+    light.target.updateMatrixWorld();
+    light.updateMatrixWorld();
+    const camera = light.shadow.camera;
+    camera.position.copy(light.position);
+    camera.lookAt(center);
+    camera.updateMatrixWorld();
+    const viewBounds = bounds.isEmpty() ? new Box3(new Vector3(-.5, -.5, -.5), new Vector3(.5, .5, .5)) : bounds.clone().applyMatrix4(camera.matrixWorldInverse);
+    const pad = extent * .02;
+    camera.left = viewBounds.min.x - pad;
+    camera.right = viewBounds.max.x + pad;
+    camera.bottom = viewBounds.min.y - pad;
+    camera.top = viewBounds.max.y + pad;
+    camera.near = Math.max(.001, -viewBounds.max.z - pad);
+    camera.far = Math.max(camera.near + .1, -viewBounds.min.z + pad);
+    camera.updateProjectionMatrix();
+    const texel = Math.max(camera.right - camera.left, camera.top - camera.bottom) / SPATIAL_LIGHTING.shadowSize;
+    light.castShadow = true;
+    light.shadow.mapSize.setScalar(SPATIAL_LIGHTING.shadowSize);
+    light.shadow.radius = SPATIAL_LIGHTING.shadowRadius;
+    light.shadow.intensity = SPATIAL_LIGHTING.shadowStrength;
+    light.shadow.normalBias = texel * 2;
+    light.shadow.bias = -texel * 2 / (camera.far - camera.near);
+    light.shadow.needsUpdate = true;
+}
+function occlusionTree(triangles) {
+    const bounds = new Box3();
+    for (const triangle of triangles)
+        bounds.union(triangle.bounds);
+    if (triangles.length <= 12)
+        return { bounds, triangles };
+    const size = bounds.getSize(new Vector3()), axis = size.x > size.y && size.x > size.z ? "x" : size.y > size.z ? "y" : "z";
+    triangles.sort((a, b) => a.center[axis] - b.center[axis]);
+    const middle = Math.floor(triangles.length / 2);
+    return { bounds, left: occlusionTree(triangles.slice(0, middle)), right: occlusionTree(triangles.slice(middle)) };
+}
+/** Short hemisphere rays darken nearby contacts, on the same posed skin in both renderers. */
+export function applySpatialContactShading(scene, draft, cached) {
+    const meshes = spatialSurfaces(scene), triangles = [];
+    const apply = (mesh, colors) => {
+        mesh.geometry.setAttribute("color", new Float32BufferAttribute(colors, 3));
+        const material = mesh.material;
+        material.vertexColors = true;
+        material.shadowSide = DoubleSide;
+        mesh.castShadow = true;
+        mesh.receiveShadow = true;
+    };
+    if (cached) {
+        meshes.forEach((mesh, i) => apply(mesh, cached[i]));
+        return cached;
+    }
+    for (const mesh of meshes) {
+        const positions = mesh.geometry.getAttribute("position"), indices = mesh.geometry.index;
+        for (let i = 0; i < (indices?.count ?? positions.count); i += 3) {
+            const [a, b, c] = [0, 1, 2].map(j => new Vector3().fromBufferAttribute(positions, indices ? indices.getX(i + j) : i + j).applyMatrix4(mesh.matrixWorld));
+            triangles.push({ a, b, c, bounds: new Box3().setFromPoints([a, b, c]), center: a.clone().add(b).add(c).multiplyScalar(1 / 3) });
+        }
+    }
+    if (!triangles.length)
+        return [];
+    const result = [];
+    const tree = occlusionTree(triangles), ray = new Ray(), hit = new Vector3();
+    const blocked = (node, radius) => {
+        if (node.bounds.distanceToPoint(ray.origin) > radius || !ray.intersectsBox(node.bounds))
+            return false;
+        if (node.triangles)
+            return node.triangles.some(t => ray.intersectTriangle(t.a, t.b, t.c, false, hit) !== null && hit.distanceToSquared(ray.origin) < radius * radius);
+        return blocked(node.left, radius) || blocked(node.right, radius);
+    };
+    const point = new Vector3(), normal = new Vector3(), tangent = new Vector3(), bitangent = new Vector3();
+    const samples = Array.from({ length: 8 }, (_, i) => { const z = Math.sqrt(1 - (i + .5) / 8), r = Math.sqrt(1 - z * z), angle = i * 2.399963229728653; return [r * Math.cos(angle), r * Math.sin(angle), z]; });
+    for (const mesh of meshes) {
+        const positions = mesh.geometry.getAttribute("position"), normals = mesh.geometry.getAttribute("normal");
+        const normalMatrix = new Matrix3().getNormalMatrix(mesh.matrixWorld);
+        const actor = draft.characters.find(c => c.id === mesh.userData.characterId);
+        const radius = (actor?.height ?? Math.max(...(draft.objects.find(o => o.id === mesh.userData.objectId)?.size ?? [1]))) * .025;
+        const colors = new Float32Array(positions.count * 3);
+        for (let i = 0; i < positions.count; i++) {
+            point.fromBufferAttribute(positions, i).applyMatrix4(mesh.matrixWorld);
+            normal.fromBufferAttribute(normals, i).applyNormalMatrix(normalMatrix);
+            tangent.set(Math.abs(normal.y) < .9 ? 0 : 1, Math.abs(normal.y) < .9 ? 1 : 0, 0).cross(normal).normalize();
+            bitangent.crossVectors(normal, tangent);
+            ray.origin.copy(point).addScaledVector(normal, radius * .025);
+            let occluded = 0;
+            for (const [x, y, z] of samples) {
+                ray.direction.copy(normal).multiplyScalar(z).addScaledVector(tangent, x).addScaledVector(bitangent, y);
+                if (blocked(tree, radius))
+                    occluded++;
+            }
+            colors.fill(1 - .5 * occluded / samples.length, i * 3, i * 3 + 3);
+        }
+        apply(mesh, colors);
+        result.push(colors);
+    }
+    return result;
+}
+/** CPU equivalent of the editor's fitted directional shadow map. */
+export function spatialShadowSampler(scene) {
+    const light = new DirectionalLight();
+    fitSpatialLight(light, scene);
+    const camera = light.shadow.camera, size = SPATIAL_LIGHTING.shadowSize;
+    const matrix = new Matrix4().multiplyMatrices(camera.projectionMatrix, camera.matrixWorldInverse);
+    const depths = new Float32Array(size * size).fill(Infinity);
+    for (const mesh of spatialSurfaces(scene)) {
+        const geometry = mesh.geometry, positions = geometry.getAttribute("position"), indices = geometry.index;
+        const transform = matrix.clone().multiply(mesh.matrixWorld);
+        for (let i = 0; i < (indices?.count ?? positions.count); i += 3) {
+            const p = [0, 1, 2].map(j => new Vector3().fromBufferAttribute(positions, indices ? indices.getX(i + j) : i + j).applyMatrix4(transform));
+            for (const v of p) {
+                v.x = (v.x + 1) * size / 2;
+                v.y = (v.y + 1) * size / 2;
+            }
+            const [a, b, c] = p, area = (b.x - a.x) * (c.y - a.y) - (b.y - a.y) * (c.x - a.x);
+            if (Math.abs(area) < 1e-9)
+                continue;
+            const x0 = Math.max(0, Math.floor(Math.min(a.x, b.x, c.x))), x1 = Math.min(size - 1, Math.ceil(Math.max(a.x, b.x, c.x)));
+            const y0 = Math.max(0, Math.floor(Math.min(a.y, b.y, c.y))), y1 = Math.min(size - 1, Math.ceil(Math.max(a.y, b.y, c.y)));
+            for (let y = y0; y <= y1; y++)
+                for (let x = x0; x <= x1; x++) {
+                    const u = ((b.x - x - .5) * (c.y - y - .5) - (b.y - y - .5) * (c.x - x - .5)) / area;
+                    const v = ((c.x - x - .5) * (a.y - y - .5) - (c.y - y - .5) * (a.x - x - .5)) / area, w = 1 - u - v;
+                    if (u < 0 || v < 0 || w < 0)
+                        continue;
+                    const index = y * size + x;
+                    depths[index] = Math.min(depths[index], u * a.z + v * b.z + w * c.z);
+                }
+        }
+    }
+    const projected = new Vector3(), viewNormal = new Vector3();
+    const normalMatrix = new Matrix3().getNormalMatrix(camera.matrixWorldInverse);
+    const bias = -2 * light.shadow.bias;
+    return {
+        slope(normal) {
+            viewNormal.copy(normal).applyNormalMatrix(normalMatrix);
+            const z = Math.abs(viewNormal.z) < .001 ? (viewNormal.z < 0 ? -.001 : .001) : viewNormal.z;
+            const scale = 2 / ((camera.far - camera.near) * size * z);
+            return [viewNormal.x * (camera.right - camera.left) * scale, viewNormal.y * (camera.top - camera.bottom) * scale];
+        },
+        sample(point, slopeX, slopeY) {
+            projected.copy(point).applyMatrix4(matrix);
+            const x = (projected.x + 1) * size / 2 - .5, y = (projected.y + 1) * size / 2 - .5;
+            const radius = SPATIAL_LIGHTING.shadowRadius * .75;
+            let visible = 0;
+            for (const [dx, dy] of [[0, 0], [-radius, 0], [radius, 0], [0, -radius], [0, radius]]) {
+                const sx = Math.round(x + dx), sy = Math.round(y + dy);
+                // Compare at each tap's receiver-plane depth, avoiding stripes on sloped skin.
+                const receiver = projected.z + slopeX * (sx - x) + slopeY * (sy - y);
+                visible += sx < 0 || sy < 0 || sx >= size || sy >= size || receiver <= depths[sy * size + sx] + bias ? 1 : 0;
+            }
+            return visible / 5;
+        }
+    };
+}
+//# sourceMappingURL=lighting.js.map

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

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package/dist/domain/spatial/model.d.ts

@@ -0,0 +1,5 @@
+import { Group } from "three";
+import type { SpatialCharacter } from "./types.ts";
+export declare function createCharacterModel(actor: SpatialCharacter, options?: {
+    handCreases?: boolean;
+}): Group;