math 0.0.0 → 0.1.0

package/dist/ik/fabrik2.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"fabrik2.js","sources":["../../src/ik/fabrik2.ts"],"sourcesContent":["import { type Vec2, vec2 } from '../core';\n\n// FABRIK (Forward And Backward Reaching Inverse Kinematics) for 2D chains.\n//\n// The 2D counterpart of `fabrik3`, same shape and same two passes. What differs is the constraint\n// model: with no axis to hinge about, a joint is a wedge - how far the bone may swing clockwise and\n// anticlockwise of a baseline, either the previous bone (`LOCAL`) or a fixed world direction\n// (`GLOBAL`, which pins the bone's absolute heading).\n//\n// The constraint model follows Caliko, the reference implementation accompanying Aristidou &\n// Lasenby (2011), \"FABRIK: A fast, iterative solver for the Inverse Kinematics problem\".\n\n/** What a joint's clockwise and anticlockwise limits are measured from. */\nexport enum ConstraintCoordinateSystem {\n    /** The direction of the previous bone, so the limits bound how far this bone may bend. */\n    LOCAL = 0,\n    /** A fixed world direction, so the limits bound this bone's absolute heading. */\n    GLOBAL = 1,\n}\n\n/**\n * How the first bone in a chain is constrained.\n *\n * The first bone has no bone before it, so it is constrained against a direction held on the chain.\n * The `LOCAL_` types only mean anything for a chain in a {@link Structure2}, where\n * {@link solveStructure} resolves them against the bone the chain hangs off.\n */\nexport enum BaseboneConstraintType {\n    /** The first bone may point anywhere. */\n    NONE = 0,\n    /** Constrained against a fixed world direction. */\n    GLOBAL_ABSOLUTE = 1,\n    /** Constrained against the host bone's direction, so the chain bends relative to what it hangs off. */\n    LOCAL_RELATIVE = 2,\n    /**\n     * Constrained against a direction expressed in the host bone's frame, where **+Y** is the host\n     * bone's own direction. (`fabrik3`'s equivalent uses +Z, so a rig ported between the two needs\n     * its axes rotated.)\n     */\n    LOCAL_ABSOLUTE = 3,\n}\n\n/** Which end of a host bone a connected chain hangs off. */\nexport enum BoneConnectionPoint {\n    /** The host bone's start - the joint it shares with the bone before it. */\n    START = 0,\n    /** The host bone's end. */\n    END = 1,\n}\n\n/**\n * A joint's rotational limits: a wedge about a baseline.\n *\n * Angles are in radians, and a limit of PI means unconstrained in that direction. Anticlockwise is\n * positive, matching {@link vec2.signedAngle}.\n */\nexport type Joint2 = {\n    /** How far the bone may swing clockwise of the baseline, in [0, PI]. */\n    clockwise: number;\n    /** How far the bone may swing anticlockwise of the baseline, in [0, PI]. */\n    anticlockwise: number;\n    /** What `clockwise` and `anticlockwise` are measured from. */\n    coordinateSystem: ConstraintCoordinateSystem;\n    /** The baseline for a `GLOBAL` joint - a world direction. Unit length. Unused when `LOCAL`. */\n    globalAxis: Vec2;\n};\n\n/** A single bone: two points, the fixed distance between them, and how it may rotate. */\nexport type Bone2 = {\n    /** The joint shared with the previous bone; on the first bone, the base. */\n    start: Vec2;\n    /** The joint shared with the next bone; on the last bone, the end effector. */\n    end: Vec2;\n    /** The rest distance between `start` and `end`, preserved by every solve. */\n    length: number;\n    /** How far this bone may rotate away from the bone before it. */\n    joint: Joint2;\n};\n\n/**\n * A chain of bones, from the base (index 0) to the end effector (the last bone's `end`).\n *\n * Allocate one with {@link createChain2}, fill it with {@link addBone} or\n * {@link addConsecutiveBone}, then solve it every frame.\n *\n * `bones[0].joint` is unused - the first bone is governed by the chain's basebone fields instead,\n * so a joint's fields never change meaning with its index.\n */\nexport type Chain2 = {\n    /**\n     * The bones, base first and end effector last.\n     *\n     * Neighbours share a point - bone `i`'s end is bone `i + 1`'s start - and the solver keeps it\n     * that way, so moving one moves the other.\n     */\n    bones: Bone2[];\n    /** The sum of every bone length - the chain's reach. Maintained by {@link addBone}. */\n    length: number;\n    /** Where the base of the chain is pinned when `fixedBase` is set. */\n    base: Vec2;\n    /** Whether `backward` pins the base to `base`. Clear it to let the whole chain drift. Forced on for a chain connected in a structure. */\n    fixedBase: boolean;\n    /** How the first bone is held; see {@link BaseboneConstraintType}. */\n    baseboneConstraintType: BaseboneConstraintType;\n    /** The baseline direction, in the space named by `baseboneConstraintType`. Unit length. */\n    baseboneAxis: Vec2;\n    /** `baseboneAxis` in world space. Equal to it for `GLOBAL_ABSOLUTE`; resolved by {@link solveStructure} otherwise. */\n    baseboneWorldAxis: Vec2;\n    /** How far the first bone may swing clockwise of the baseline, in [0, PI]. */\n    baseboneClockwise: number;\n    /** How far the first bone may swing anticlockwise of the baseline, in [0, PI]. */\n    baseboneAnticlockwise: number;\n    /** The target this chain solves for inside a {@link Structure2} when `useEmbeddedTarget` is set. */\n    embeddedTarget: Vec2;\n    /**\n     * Whether this chain solves for its own `embeddedTarget` instead of the target passed to\n     * {@link solveStructure}. Ignored outside a {@link Structure2}.\n     */\n    useEmbeddedTarget: boolean;\n    /** The most iterations {@link solve} will run. */\n    maxIterations: number;\n    /** {@link solve} stops as soon as the effector is this close to the target. */\n    solveDistanceThreshold: number;\n    /**\n     * How still an iteration must be before {@link solve} treats the chain as stuck.\n     *\n     * Only consulted on an iteration that fails to beat the best distance so far, and compared\n     * against the previous iteration rather than the best - so a solve that is slowly getting worse\n     * runs its full budget. That is deliberate: FABRIK often worsens before it improves, and every\n     * stricter rule tried here bought fewer iterations at a disproportionate cost in final pose.\n     */\n    minIterationChange: number;\n    /** The distance from the effector to the target after the last {@link solve}. */\n    solveDistance: number;\n    /** Scratch holding the best pose {@link solve} has seen, four numbers per bone. Grown by {@link addBone}. */\n    bestSolution: number[];\n};\n\n/** A chain's attachment to a bone in another chain of the same structure. */\nexport type Connection = {\n    /** The index of the host chain in `structure.chains`, or -1 for a chain that hangs off nothing. */\n    hostChain: number;\n    /** The index of the host bone within that chain. */\n    hostBone: number;\n    /** Which end of the host bone this chain's base is pinned to. */\n    point: BoneConnectionPoint;\n};\n\n/** A set of chains, each optionally hanging off a bone of another. */\nexport type Structure2 = {\n    /** Solved in insertion order, so a connected chain always sees its host already posed. */\n    chains: Chain2[];\n    /** Parallel to `chains`. */\n    connections: Connection[];\n};\n\n// the most iterations a solve runs before giving up on reaching the target\nconst DEFAULT_MAX_ITERATIONS = 20;\n\n// how close the effector must get before a solve stops early. in world units, so scale it with the\n// scene - the default suits a chain a few units long\nconst DEFAULT_SOLVE_DISTANCE_THRESHOLD = 0.01;\n\n// how little an iteration may improve the solve distance before it counts as stalled. a constrained\n// chain can reach a pose no further iteration improves on while still short of the threshold, and\n// without this it would burn every remaining iteration going nowhere. two orders of magnitude below\n// the distance threshold, so a solve still closing in on the target is never mistaken for a stalled\n// one\nconst DEFAULT_MIN_ITERATION_CHANGE = 1e-4;\n\n// below this squared length a vector carries no usable direction - 1e-12 in length terms, well above\n// a normalize's noise floor and well below anything meaningful. every test against it also checks\n// for NaN, so a value poisoned upstream takes the same fallback instead of spreading down the chain\nconst DEGENERATE_SQUARED_LENGTH = 1e-24;\n\n/**\n * Normalizes `axis` into `out`, leaving `out` untouched if `axis` has no direction to give.\n *\n * A zero axis cannot be normalized, and storing one turns every constraint that reads it into NaN.\n * `out` always starts as a valid unit vector, so keeping it is the safe fallback.\n */\nfunction setUnitAxis(out: Vec2, axis: Vec2): Vec2 {\n    if (!hasDirection(vec2.squaredLength(axis))) return out;\n    return vec2.normalize(out, axis);\n}\n\n/**\n * Whether a squared length is a usable magnitude: a real number, and not effectively zero.\n *\n * NaN counts as unusable. A value poisoned upstream then takes the same fallback as a zero-length\n * one, instead of spreading down the chain and leaving it stuck.\n */\nfunction hasDirection(squaredLength: number): boolean {\n    if (Number.isNaN(squaredLength)) return false;\n    return squaredLength >= DEGENERATE_SQUARED_LENGTH;\n}\n\n/** Creates an unconstrained joint. */\nexport function createJoint2(): Joint2 {\n    return {\n        clockwise: Math.PI,\n        anticlockwise: Math.PI,\n        coordinateSystem: ConstraintCoordinateSystem.LOCAL,\n        globalAxis: [0, 1],\n    };\n}\n\n/** Creates an empty chain with a fixed base at the origin and no basebone constraint. */\nexport function createChain2(): Chain2 {\n    return {\n        bones: [],\n        length: 0,\n        base: [0, 0],\n        fixedBase: true,\n        baseboneConstraintType: BaseboneConstraintType.NONE,\n        baseboneAxis: [0, 1],\n        baseboneWorldAxis: [0, 1],\n        baseboneClockwise: Math.PI,\n        baseboneAnticlockwise: Math.PI,\n        embeddedTarget: [0, 0],\n        useEmbeddedTarget: false,\n        maxIterations: DEFAULT_MAX_ITERATIONS,\n        solveDistanceThreshold: DEFAULT_SOLVE_DISTANCE_THRESHOLD,\n        minIterationChange: DEFAULT_MIN_ITERATION_CHANGE,\n        solveDistance: Number.POSITIVE_INFINITY,\n        bestSolution: [],\n    };\n}\n\n/**\n * Appends a bone spanning `start` to `end`, copying both.\n *\n * The bone's length is taken from the distance between them. When this is the first bone the\n * chain's base is moved to `start`.\n *\n * @param chain the chain to append to\n * @param start the bone's start point\n * @param end the bone's end point\n * @param joint the bone's joint, or a fresh unconstrained one if omitted\n * @returns the appended bone\n */\nexport function addBone(chain: Chain2, start: Vec2, end: Vec2, joint: Joint2 = createJoint2()): Bone2 {\n    const bone: Bone2 = {\n        start: [start[0], start[1]],\n        end: [end[0], end[1]],\n        length: vec2.distance(start, end),\n        joint,\n    };\n\n    if (chain.bones.length === 0) {\n        chain.base[0] = start[0];\n        chain.base[1] = start[1];\n    }\n\n    chain.bones.push(bone);\n    chain.length += bone.length;\n\n    // four numbers of best-pose scratch per bone, so `solve` never allocates\n    chain.bestSolution.push(0, 0, 0, 0);\n\n    return bone;\n}\n\nconst _addConsecutive_end: Vec2 = [0, 0];\n\n/**\n * Appends a bone starting where the chain currently ends, running `length` along `direction`.\n *\n * @param chain the chain to append to, which must already have at least one bone\n * @param direction the direction to extend in, assumed to be unit length\n * @param length the length of the new bone\n * @param joint the bone's joint, or a fresh unconstrained one if omitted\n * @returns the appended bone\n */\nexport function addConsecutiveBone(chain: Chain2, direction: Vec2, length: number, joint: Joint2 = createJoint2()): Bone2 {\n    const previous = chain.bones[chain.bones.length - 1];\n\n    _addConsecutive_end[0] = previous.end[0] + direction[0] * length;\n    _addConsecutive_end[1] = previous.end[1] + direction[1] * length;\n\n    return addBone(chain, previous.end, _addConsecutive_end, joint);\n}\n\n/**\n * Prepends a bone at the base end, extending the chain backward.\n *\n * This is what a follower grows with: driven by {@link forward} alone the base end is the tail.\n *\n * `joint` becomes the joint of the bone that was previously first, because that is the junction the\n * new bone creates. The new first bone's own joint is unused, as always.\n *\n * @param chain the chain to prepend to, which must already have at least one bone\n * @param direction the direction the new bone points, from its own start toward the existing chain. Assumed to be unit length\n * @param length the length of the new bone\n * @param joint the joint for the junction this creates, or a fresh unconstrained one if omitted\n * @returns the prepended bone\n */\nexport function addBoneAtBase(chain: Chain2, direction: Vec2, length: number, joint: Joint2 = createJoint2()): Bone2 {\n    const first = chain.bones[0];\n\n    // the bone that was first now sits at index 1, so it is the one whose joint governs the new\n    // junction. its old joint was the unused basebone slot\n    first.joint = joint;\n\n    const bone: Bone2 = {\n        start: [first.start[0] - direction[0] * length, first.start[1] - direction[1] * length],\n        end: [first.start[0], first.start[1]],\n        length,\n        joint: createJoint2(),\n    };\n\n    chain.bones.unshift(bone);\n    chain.length += length;\n\n    chain.base[0] = bone.start[0];\n    chain.base[1] = bone.start[1];\n\n    chain.bestSolution.push(0, 0, 0, 0);\n\n    return bone;\n}\n\n/**\n * Sets a joint's limits relative to the previous bone's direction, which is the usual case.\n *\n * @param joint the joint to configure\n * @param clockwise how far the bone may swing clockwise of the previous bone, in radians, clamped to [0, PI]\n * @param anticlockwise how far it may swing anticlockwise, in radians, clamped to [0, PI]\n * @returns the joint\n */\nexport function setLocalJoint(joint: Joint2, clockwise: number, anticlockwise: number): Joint2 {\n    joint.coordinateSystem = ConstraintCoordinateSystem.LOCAL;\n    joint.clockwise = clampAngle(clockwise);\n    joint.anticlockwise = clampAngle(anticlockwise);\n    return joint;\n}\n\n/**\n * Sets a joint's limits relative to a fixed world direction, pinning the bone's absolute heading\n * however the bones before it move.\n *\n * @param joint the joint to configure\n * @param axis the world direction the limits are measured from, assumed to be unit length\n * @param clockwise how far the bone may swing clockwise of `axis`, in radians, clamped to [0, PI]\n * @param anticlockwise how far it may swing anticlockwise, in radians, clamped to [0, PI]\n * @returns the joint\n */\nexport function setGlobalJoint(joint: Joint2, axis: Vec2, clockwise: number, anticlockwise: number): Joint2 {\n    joint.coordinateSystem = ConstraintCoordinateSystem.GLOBAL;\n    joint.clockwise = clampAngle(clockwise);\n    joint.anticlockwise = clampAngle(anticlockwise);\n    setUnitAxis(joint.globalAxis, axis);\n    return joint;\n}\n\n/**\n * Constrains the first bone to a wedge about `axis`.\n *\n * @param chain the chain to configure\n * @param type which space `axis` is expressed in\n * @param axis the baseline direction, assumed to be unit length. Ignored for {@link BaseboneConstraintType.LOCAL_RELATIVE}, which uses the host bone's direction\n * @param clockwise how far the first bone may swing clockwise of the baseline, in radians, clamped to [0, PI]\n * @param anticlockwise how far it may swing anticlockwise, in radians, clamped to [0, PI]\n * @returns the chain\n */\nexport function setBaseboneConstraint(\n    chain: Chain2,\n    type: BaseboneConstraintType,\n    axis: Vec2,\n    clockwise: number,\n    anticlockwise: number,\n): Chain2 {\n    chain.baseboneConstraintType = type;\n    chain.baseboneClockwise = clampAngle(clockwise);\n    chain.baseboneAnticlockwise = clampAngle(anticlockwise);\n\n    setUnitAxis(chain.baseboneAxis, axis);\n    vec2.copy(chain.baseboneWorldAxis, chain.baseboneAxis);\n\n    return chain;\n}\n\n/**\n * Moves the chain's pinned base, without moving the bones.\n *\n * The next {@link backward} or {@link solve} pulls the chain to it.\n */\nexport function setBaseLocation(chain: Chain2, base: Vec2): Chain2 {\n    chain.base[0] = base[0];\n    chain.base[1] = base[1];\n    return chain;\n}\n\n/**\n * Lays the chain out straight from its base along `direction`, discarding the current pose.\n *\n * A dead-straight chain is the worst starting pose for {@link solve} - see the note there. Bend\n * `direction` slightly between bones instead if the chain will be solved cold.\n */\nexport function straighten(chain: Chain2, direction: Vec2): Chain2 {\n    const bones = chain.bones;\n\n    let x = chain.base[0];\n    let y = chain.base[1];\n\n    for (let i = 0; i < bones.length; i++) {\n        const bone = bones[i];\n\n        bone.start[0] = x;\n        bone.start[1] = y;\n\n        x += direction[0] * bone.length;\n        y += direction[1] * bone.length;\n\n        bone.end[0] = x;\n        bone.end[1] = y;\n    }\n\n    return chain;\n}\n\n/**\n * Writes the end effector's position - the last bone's end - into `out`.\n *\n * A chain with no bones has its base as its effector, matching {@link solve}, which treats an empty\n * chain as a supported state rather than an error.\n */\nexport function getEffector(out: Vec2, chain: Chain2): Vec2 {\n    const count = chain.bones.length;\n    return vec2.copy(out, count === 0 ? chain.base : chain.bones[count - 1].end);\n}\n\n/** Writes the unit direction of bone `index`, from its start toward its end, into `out`. */\nexport function getBoneDirection(out: Vec2, chain: Chain2, index: number): Vec2 {\n    const bone = chain.bones[index];\n\n    vec2.subtract(out, bone.end, bone.start);\n\n    if (!hasDirection(vec2.squaredLength(out))) {\n        return vec2.copy(out, UP);\n    }\n\n    return vec2.normalize(out, out);\n}\n\n/** The angle of bone `index`, in radians, measured counter-clockwise from the +X axis. */\nexport function getBoneAngle(chain: Chain2, index: number): number {\n    const bone = chain.bones[index];\n    return Math.atan2(bone.end[1] - bone.start[1], bone.end[0] - bone.start[0]);\n}\n\n/** Whether `target` is within reach of the chain's base, so a solve can place the effector exactly on it. */\nexport function isReachable(chain: Chain2, target: Vec2): boolean {\n    return vec2.squaredDistance(chain.base, target) <= chain.length * chain.length;\n}\n\n/**\n * The forward pass: snaps the end effector onto `target` and drags the rest of the chain after it.\n *\n * A non-finite target leaves the chain untouched rather than poisoning it.\n *\n * The base is not pinned, so the whole chain moves. Run alone once per frame this is a follower\n * rather than a solver - a rope or tentacle whose head leads. Pair it with {@link backward}, or use\n * {@link solve}, to keep the base put.\n *\n * @param chain the chain to move, mutated in place\n * @param target where the end effector should go\n * @returns the chain\n */\nexport function forward(chain: Chain2, target: Vec2): Chain2 {\n    const bones = chain.bones;\n    const count = bones.length;\n\n    if (count === 0) return chain;\n\n    // a non-finite target would be written straight into the effector and spread down the chain\n    if (!Number.isFinite(target[0]) || !Number.isFinite(target[1])) return chain;\n\n    // snap the effector onto the target. the rest of the pass follows from it\n    const effector = bones[count - 1];\n    effector.end[0] = target[0];\n    effector.end[1] = target[1];\n\n    // the outer-to-inner direction of the bone one step further out, which is what a joint on this\n    // bone is constrained against on this pass. undefined for the effector itself.\n    let hasReference = false;\n\n    for (let i = count - 1; i >= 0; i--) {\n        const bone = bones[i];\n        const start = bone.start;\n        const end = bone.end;\n\n        // this bone's outer-to-inner direction\n        let dx = start[0] - end[0];\n        let dy = start[1] - end[1];\n\n        const squaredLength = dx * dx + dy * dy;\n\n        if (!hasDirection(squaredLength)) {\n            // the two ends coincide, so there is no direction to preserve. carry on along the bone\n            // further out, or straight up if this is the effector\n            dx = hasReference ? _pass_reference[0] : UP[0];\n            dy = hasReference ? _pass_reference[1] : UP[1];\n        } else {\n            const inverseLength = 1 / Math.sqrt(squaredLength);\n            dx *= inverseLength;\n            dy *= inverseLength;\n        }\n\n        constrainForward(chain, i, dx, dy, hasReference);\n        dx = _pass_direction[0];\n        dy = _pass_direction[1];\n\n        const x = end[0] + dx * bone.length;\n        const y = end[1] + dy * bone.length;\n\n        start[0] = x;\n        start[1] = y;\n\n        // the previous bone shares this point\n        if (i > 0) {\n            const previousEnd = bones[i - 1].end;\n            previousEnd[0] = x;\n            previousEnd[1] = y;\n        }\n\n        _pass_reference[0] = dx;\n        _pass_reference[1] = dy;\n        hasReference = true;\n    }\n\n    return chain;\n}\n\n/**\n * The backward pass: pins the base and pushes each bone outward from it. The basebone constraint\n * is applied here.\n *\n * @param chain the chain to move, mutated in place\n * @param base where the base should go, used only when `chain.fixedBase` is set\n * @returns the chain\n */\nexport function backward(chain: Chain2, base: Vec2): Chain2 {\n    const bones = chain.bones;\n    const count = bones.length;\n\n    if (count === 0) return chain;\n    if (!Number.isFinite(base[0]) || !Number.isFinite(base[1])) return chain;\n\n    if (chain.fixedBase) {\n        const start = bones[0].start;\n        start[0] = base[0];\n        start[1] = base[1];\n    }\n\n    let hasReference = false;\n\n    for (let i = 0; i < count; i++) {\n        const bone = bones[i];\n        const start = bone.start;\n        const end = bone.end;\n\n        // this bone's inner-to-outer direction\n        let dx = end[0] - start[0];\n        let dy = end[1] - start[1];\n\n        const squaredLength = dx * dx + dy * dy;\n\n        if (!hasDirection(squaredLength)) {\n            dx = hasReference ? _pass_reference[0] : UP[0];\n            dy = hasReference ? _pass_reference[1] : UP[1];\n        } else {\n            const inverseLength = 1 / Math.sqrt(squaredLength);\n            dx *= inverseLength;\n            dy *= inverseLength;\n        }\n\n        constrainBackward(chain, i, dx, dy);\n        dx = _pass_direction[0];\n        dy = _pass_direction[1];\n\n        // when the base is free, the first bone swings about its end rather than its start\n        if (i === 0 && !chain.fixedBase) {\n            start[0] = end[0] - dx * bone.length;\n            start[1] = end[1] - dy * bone.length;\n        }\n\n        const x = start[0] + dx * bone.length;\n        const y = start[1] + dy * bone.length;\n\n        end[0] = x;\n        end[1] = y;\n\n        if (i < count - 1) {\n            const nextStart = bones[i + 1].start;\n            nextStart[0] = x;\n            nextStart[1] = y;\n        }\n\n        _pass_reference[0] = dx;\n        _pass_reference[1] = dy;\n        hasReference = true;\n    }\n\n    return chain;\n}\n\n/**\n * One full FABRIK iteration - {@link forward} then {@link backward}.\n *\n * @param chain the chain to move, mutated in place\n * @param target where the end effector should go\n * @returns the distance from the effector to `target` afterwards\n */\nexport function iterate(chain: Chain2, target: Vec2): number {\n    if (chain.bones.length === 0) return Number.POSITIVE_INFINITY;\n\n    forward(chain, target);\n    backward(chain, chain.base);\n\n    return vec2.distance(chain.bones[chain.bones.length - 1].end, target);\n}\n\n/**\n * Solves the chain for `target`, iterating until it is close enough, stops improving, or runs out\n * of attempts.\n *\n * A constrained chain does not converge monotonically, so the best pose seen is kept and restored.\n *\n * A dead-straight chain is the worst case to solve cold: every direction lies on one line, leaving\n * nothing sideways to bend it with. Give it a slight bend if the first solve matters.\n *\n * @param chain the chain to solve, mutated in place\n * @param target where the end effector should go\n * @returns the distance from the effector to `target`, also stored as `chain.solveDistance`\n */\nexport function solve(chain: Chain2, target: Vec2): number {\n    const count = chain.bones.length;\n\n    if (count === 0) {\n        chain.solveDistance = Number.POSITIVE_INFINITY;\n        return chain.solveDistance;\n    }\n\n    // in case bones were pushed onto the chain directly rather than through addBone\n    if (chain.bestSolution.length < count * 4) {\n        chain.bestSolution.length = count * 4;\n        chain.bestSolution.fill(0);\n    }\n\n    let best = Number.POSITIVE_INFINITY;\n    let previous = Number.POSITIVE_INFINITY;\n\n    for (let i = 0; i < chain.maxIterations; i++) {\n        const distance = iterate(chain, target);\n\n        if (distance < best) {\n            best = distance;\n            saveSolution(chain);\n\n            if (distance <= chain.solveDistanceThreshold) break;\n        } else if (Math.abs(distance - previous) < chain.minIterationChange) {\n            // ground to a halt - more iterations will not improve on what we already have\n            break;\n        }\n\n        previous = distance;\n    }\n\n    if (best !== Number.POSITIVE_INFINITY) {\n        restoreSolution(chain);\n    }\n\n    chain.solveDistance = best;\n\n    return best;\n}\n\n/** Creates an empty structure. */\nexport function createStructure2(): Structure2 {\n    return { chains: [], connections: [] };\n}\n\n/**\n * Adds a chain that hangs off nothing, solving directly for the structure's target.\n *\n * @returns the index of the added chain\n */\nexport function addChain(structure: Structure2, chain: Chain2): number {\n    structure.chains.push(chain);\n    structure.connections.push({ hostChain: -1, hostBone: 0, point: BoneConnectionPoint.END });\n    return structure.chains.length - 1;\n}\n\n/**\n * Adds a chain whose base is pinned to one end of a bone in a chain already in the structure.\n *\n * Add the host first: {@link solveStructure} walks chains in insertion order, so a chain always\n * sees its host already posed.\n *\n * @param structure the structure to add to\n * @param chain the chain to add\n * @param hostChain the index of the chain to hang off\n * @param hostBone the index of the bone within that chain\n * @param point which end of the host bone to attach to\n * @returns the index of the added chain\n */\nexport function connectChain(\n    structure: Structure2,\n    chain: Chain2,\n    hostChain: number,\n    hostBone: number,\n    point: BoneConnectionPoint,\n): number {\n    structure.chains.push(chain);\n    structure.connections.push({ hostChain, hostBone, point });\n    return structure.chains.length - 1;\n}\n\n/**\n * Solves every chain in the structure.\n *\n * A connected chain has its base moved onto its host bone's connection point and any `LOCAL_`\n * basebone constraint resolved against the host bone's direction first. A chain with\n * `useEmbeddedTarget` set solves for its own `embeddedTarget` instead.\n *\n * @param structure the structure to solve, mutated in place\n * @param target the target for every chain that does not use an embedded target\n */\nexport function solveStructure(structure: Structure2, target: Vec2): void {\n    const chains = structure.chains;\n\n    for (let i = 0; i < chains.length; i++) {\n        const chain = chains[i];\n        const connection = structure.connections[i];\n\n        if (connection.hostChain >= 0) {\n            const host = chains[connection.hostChain];\n            const hostBone = host.bones[connection.hostBone];\n\n            setBaseLocation(chain, connection.point === BoneConnectionPoint.START ? hostBone.start : hostBone.end);\n\n            // being connected IS what fixes this chain's base - a connected chain with a free base\n            // would drift away from the host it is supposed to hang off, so the flag is not the\n            // caller's to clear here\n            chain.fixedBase = true;\n\n            const type = chain.baseboneConstraintType;\n\n            if (type === BaseboneConstraintType.LOCAL_RELATIVE) {\n                // the baseline is the host bone itself, so the chain bends relative to what it hangs off\n                getBoneDirection(chain.baseboneWorldAxis, host, connection.hostBone);\n            } else if (type === BaseboneConstraintType.LOCAL_ABSOLUTE) {\n                // the baseline is expressed in the host bone's frame, so turn it by however far the\n                // host bone is turned from straight up\n                getBoneDirection(_structure_direction, host, connection.hostBone);\n                vec2.rotate(chain.baseboneWorldAxis, chain.baseboneAxis, ORIGIN, vec2.signedAngle(UP, _structure_direction));\n            }\n        }\n\n        solve(chain, chain.useEmbeddedTarget ? chain.embeddedTarget : target);\n    }\n}\n\n/* internals */\n\nconst UP: Vec2 = [0, 1];\nconst ORIGIN: Vec2 = [0, 0];\n\nconst _structure_direction: Vec2 = [0, 0];\n\n// the direction the current pass is constraining against - the previous bone's, whichever way the\n// pass is walking - and the constrained result handed back from `constrain*`\nconst _pass_reference: Vec2 = [0, 0];\nconst _pass_direction: Vec2 = [0, 0];\nconst _constrain_baseline: Vec2 = [0, 0];\n\nfunction clampAngle(radians: number): number {\n    return radians < 0 ? 0 : radians > Math.PI ? Math.PI : radians;\n}\n\n/**\n * Clamps the direction `(x, y)` into the wedge reaching `clockwise` one way and `anticlockwise` the\n * other from `baseline`. Writes `_pass_direction`.\n */\nfunction constrainToWedge(x: number, y: number, baseline: Vec2, clockwise: number, anticlockwise: number): void {\n    _pass_direction[0] = x;\n    _pass_direction[1] = y;\n\n    if (clockwise >= Math.PI && anticlockwise >= Math.PI) return;\n\n    // anticlockwise is positive\n    const signed = vec2.signedAngle(baseline, _pass_direction);\n\n    if (signed > anticlockwise) {\n        vec2.rotate(_pass_direction, baseline, ORIGIN, anticlockwise);\n    } else if (signed < -clockwise) {\n        vec2.rotate(_pass_direction, baseline, ORIGIN, -clockwise);\n    }\n}\n\n/**\n * Constrains a bone's outer-to-inner direction during the forward pass.\n *\n * A `GLOBAL` joint pins this bone's own heading. A `LOCAL` joint limits the bend between two bones,\n * and that angle belongs to the joint between the two, which walking inward is the next bone's.\n *\n * The effector needs none of its own: its pair is clamped when the bone behind it is processed.\n *\n * Writes the result into `_pass_direction`, which starts out holding the unconstrained direction,\n * so a branch that does not apply can simply return.\n */\nfunction constrainForward(chain: Chain2, index: number, x: number, y: number, hasReference: boolean): void {\n    // start from the unconstrained direction. each branch below narrows it if it applies\n    _pass_direction[0] = x;\n    _pass_direction[1] = y;\n\n    // a GLOBAL joint pins this bone's heading whatever its neighbours do. this pass works in\n    // outer-to-inner directions, so the baseline is flipped to match\n    if (index > 0) {\n        const joint = chain.bones[index].joint;\n\n        if (joint.coordinateSystem === ConstraintCoordinateSystem.GLOBAL) {\n            _constrain_baseline[0] = -joint.globalAxis[0];\n            _constrain_baseline[1] = -joint.globalAxis[1];\n            constrainToWedge(x, y, _constrain_baseline, joint.clockwise, joint.anticlockwise);\n            return;\n        }\n    }\n\n    // the wedge shared with the bone one step further out. the end effector has no such bone\n    if (!hasReference) return;\n\n    const outer = chain.bones[index + 1].joint;\n\n    if (outer.coordinateSystem !== ConstraintCoordinateSystem.LOCAL) return;\n    if (outer.clockwise >= Math.PI && outer.anticlockwise >= Math.PI) return;\n\n    // this pass measures the pair the other way round - from the outer bone back to this one - and a\n    // wedge is not symmetric, so the two limits trade places\n    constrainToWedge(x, y, _pass_reference, outer.anticlockwise, outer.clockwise);\n}\n\n/**\n * Constrains a bone's inner-to-outer direction during the backward pass.\n *\n * Writes the result into `_pass_direction`, which starts out holding the unconstrained direction,\n * so a branch that does not apply can simply return.\n */\nfunction constrainBackward(chain: Chain2, index: number, x: number, y: number): void {\n    // start from the unconstrained direction. each branch below narrows it if it applies\n    _pass_direction[0] = x;\n    _pass_direction[1] = y;\n\n    if (index === 0) {\n        if (chain.baseboneConstraintType === BaseboneConstraintType.NONE) return;\n\n        constrainToWedge(x, y, chain.baseboneWorldAxis, chain.baseboneClockwise, chain.baseboneAnticlockwise);\n        return;\n    }\n\n    const joint = chain.bones[index].joint;\n\n    if (joint.clockwise >= Math.PI && joint.anticlockwise >= Math.PI) return;\n\n    const baseline = joint.coordinateSystem === ConstraintCoordinateSystem.GLOBAL ? joint.globalAxis : _pass_reference;\n\n    constrainToWedge(x, y, baseline, joint.clockwise, joint.anticlockwise);\n}\n\nfunction saveSolution(chain: Chain2): void {\n    const bones = chain.bones;\n    const solution = chain.bestSolution;\n\n    for (let i = 0; i < bones.length; i++) {\n        const bone = bones[i];\n        const offset = i * 4;\n\n        solution[offset] = bone.start[0];\n        solution[offset + 1] = bone.start[1];\n        solution[offset + 2] = bone.end[0];\n        solution[offset + 3] = bone.end[1];\n    }\n}\n\nfunction restoreSolution(chain: Chain2): void {\n    const bones = chain.bones;\n    const solution = chain.bestSolution;\n\n    for (let i = 0; i < bones.length; i++) {\n        const bone = bones[i];\n        const offset = i * 4;\n\n        bone.start[0] = solution[offset];\n        bone.start[1] = solution[offset + 1];\n        bone.end[0] = solution[offset + 2];\n        bone.end[1] = solution[offset + 3];\n    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