reze-engine 0.1.3 → 0.1.5

package/dist/engine.js

@@ -24,14 +24,6 @@ export class Engine {
         this.stats = {
             fps: 0,
             frameTime: 0,
-            memoryUsed: 0,
-            vertices: 0,
-            drawCalls: 0,
-            triangles: 0,
-            materials: 0,
-            textures: 0,
-            textureMemory: 0,
-            bufferMemory: 0,
             gpuMemory: 0,
         };
         this.animationFrameId = null;
@@ -74,112 +66,112 @@ export class Engine {
         });
         const shaderModule = this.device.createShaderModule({
             label: "model shaders",
-            code: /* wgsl */ `
-        struct CameraUniforms {
-          view: mat4x4f,
-          projection: mat4x4f,
-          viewPos: vec3f,
-          _padding: f32,
-        };
-
-        struct Light {
-          direction: vec3f,
-          _padding1: f32,
-          color: vec3f,
-          intensity: f32,
-        };
-
-        struct LightUniforms {
-          ambient: f32,
-          lightCount: f32,
-          _padding1: f32,
-          _padding2: f32,
-          lights: array<Light, 4>,
-        };
-
-        struct MaterialUniforms {
-          alpha: f32,
-          _padding1: f32,
-          _padding2: f32,
-          _padding3: f32,
-        };
-
-        struct VertexOutput {
-          @builtin(position) position: vec4f,
-          @location(0) normal: vec3f,
-          @location(1) uv: vec2f,
-          @location(2) worldPos: vec3f,
-        };
-
-        @group(0) @binding(0) var<uniform> camera: CameraUniforms;
-        @group(0) @binding(1) var<uniform> light: LightUniforms;
-        @group(0) @binding(2) var diffuseTexture: texture_2d<f32>;
-        @group(0) @binding(3) var diffuseSampler: sampler;
-        @group(0) @binding(4) var<storage, read> skinMats: array<mat4x4f>;
-        @group(0) @binding(5) var toonTexture: texture_2d<f32>;
-        @group(0) @binding(6) var toonSampler: sampler;
-        @group(0) @binding(7) var<uniform> material: MaterialUniforms;
-
-        @vertex fn vs(
-          @location(0) position: vec3f,
-          @location(1) normal: vec3f,
-          @location(2) uv: vec2f,
-          @location(3) joints0: vec4<u32>,
-          @location(4) weights0: vec4<f32>
-        ) -> VertexOutput {
-          var output: VertexOutput;
-          let pos4 = vec4f(position, 1.0);
-          
-          // Normalize weights to ensure they sum to 1.0 (handles floating-point precision issues)
-          let weightSum = weights0.x + weights0.y + weights0.z + weights0.w;
-          var normalizedWeights: vec4f;
-          if (weightSum > 0.0001) {
-            normalizedWeights = weights0 / weightSum;
-          } else {
-            normalizedWeights = vec4f(1.0, 0.0, 0.0, 0.0);
-          }
-          
-          var skinnedPos = vec4f(0.0, 0.0, 0.0, 0.0);
-          var skinnedNrm = vec3f(0.0, 0.0, 0.0);
-          for (var i = 0u; i < 4u; i++) {
-            let j = joints0[i];
-            let w = normalizedWeights[i];
-            let m = skinMats[j];
-            skinnedPos += (m * pos4) * w;
-            let r3 = mat3x3f(m[0].xyz, m[1].xyz, m[2].xyz);
-            skinnedNrm += (r3 * normal) * w;
-          }
-          let worldPos = skinnedPos.xyz;
-          output.position = camera.projection * camera.view * vec4f(worldPos, 1.0);
-          output.normal = normalize(skinnedNrm);
-          output.uv = uv;
-          output.worldPos = worldPos;
-          return output;
-        }
-
-        @fragment fn fs(input: VertexOutput) -> @location(0) vec4f {
-          let n = normalize(input.normal);
-          let albedo = textureSample(diffuseTexture, diffuseSampler, input.uv).rgb;
-
-          var lightAccum = vec3f(light.ambient);
-          let numLights = u32(light.lightCount);
-          for (var i = 0u; i < numLights; i++) {
-            let l = -light.lights[i].direction;
-            let nDotL = max(dot(n, l), 0.0);
-            let toonUV = vec2f(nDotL, 0.5);
-            let toonFactor = textureSample(toonTexture, toonSampler, toonUV).rgb;
-            let radiance = light.lights[i].color * light.lights[i].intensity;
-            lightAccum += toonFactor * radiance * nDotL;
-          }
-          
-          let color = albedo * lightAccum;
-          let finalAlpha = material.alpha;
-          if (finalAlpha < 0.001) {
-            discard;
-          }
-          
-          return vec4f(clamp(color, vec3f(0.0), vec3f(1.0)), finalAlpha);
-        }
+            code: /* wgsl */ `
+        struct CameraUniforms {
+          view: mat4x4f,
+          projection: mat4x4f,
+          viewPos: vec3f,
+          _padding: f32,
+        };
+
+        struct Light {
+          direction: vec3f,
+          _padding1: f32,
+          color: vec3f,
+          intensity: f32,
+        };
+
+        struct LightUniforms {
+          ambient: f32,
+          lightCount: f32,
+          _padding1: f32,
+          _padding2: f32,
+          lights: array<Light, 4>,
+        };
+
+        struct MaterialUniforms {
+          alpha: f32,
+          _padding1: f32,
+          _padding2: f32,
+          _padding3: f32,
+        };
+
+        struct VertexOutput {
+          @builtin(position) position: vec4f,
+          @location(0) normal: vec3f,
+          @location(1) uv: vec2f,
+          @location(2) worldPos: vec3f,
+        };
+
+        @group(0) @binding(0) var<uniform> camera: CameraUniforms;
+        @group(0) @binding(1) var<uniform> light: LightUniforms;
+        @group(0) @binding(2) var diffuseTexture: texture_2d<f32>;
+        @group(0) @binding(3) var diffuseSampler: sampler;
+        @group(0) @binding(4) var<storage, read> skinMats: array<mat4x4f>;
+        @group(0) @binding(5) var toonTexture: texture_2d<f32>;
+        @group(0) @binding(6) var toonSampler: sampler;
+        @group(0) @binding(7) var<uniform> material: MaterialUniforms;
+
+        @vertex fn vs(
+          @location(0) position: vec3f,
+          @location(1) normal: vec3f,
+          @location(2) uv: vec2f,
+          @location(3) joints0: vec4<u32>,
+          @location(4) weights0: vec4<f32>
+        ) -> VertexOutput {
+          var output: VertexOutput;
+          let pos4 = vec4f(position, 1.0);
+          
+          // Normalize weights to ensure they sum to 1.0 (handles floating-point precision issues)
+          let weightSum = weights0.x + weights0.y + weights0.z + weights0.w;
+          var normalizedWeights: vec4f;
+          if (weightSum > 0.0001) {
+            normalizedWeights = weights0 / weightSum;
+          } else {
+            normalizedWeights = vec4f(1.0, 0.0, 0.0, 0.0);
+          }
+          
+          var skinnedPos = vec4f(0.0, 0.0, 0.0, 0.0);
+          var skinnedNrm = vec3f(0.0, 0.0, 0.0);
+          for (var i = 0u; i < 4u; i++) {
+            let j = joints0[i];
+            let w = normalizedWeights[i];
+            let m = skinMats[j];
+            skinnedPos += (m * pos4) * w;
+            let r3 = mat3x3f(m[0].xyz, m[1].xyz, m[2].xyz);
+            skinnedNrm += (r3 * normal) * w;
+          }
+          let worldPos = skinnedPos.xyz;
+          output.position = camera.projection * camera.view * vec4f(worldPos, 1.0);
+          output.normal = normalize(skinnedNrm);
+          output.uv = uv;
+          output.worldPos = worldPos;
+          return output;
+        }
+
+        @fragment fn fs(input: VertexOutput) -> @location(0) vec4f {
+          let n = normalize(input.normal);
+          let albedo = textureSample(diffuseTexture, diffuseSampler, input.uv).rgb;
+
+          var lightAccum = vec3f(light.ambient);
+          let numLights = u32(light.lightCount);
+          for (var i = 0u; i < numLights; i++) {
+            let l = -light.lights[i].direction;
+            let nDotL = max(dot(n, l), 0.0);
+            let toonUV = vec2f(nDotL, 0.5);
+            let toonFactor = textureSample(toonTexture, toonSampler, toonUV).rgb;
+            let radiance = light.lights[i].color * light.lights[i].intensity;
+            lightAccum += toonFactor * radiance * nDotL;
+          }
+          
+          let color = albedo * lightAccum;
+          let finalAlpha = material.alpha;
+          if (finalAlpha < 0.001) {
+            discard;
+          }
+          
+          return vec4f(clamp(color, vec3f(0.0), vec3f(1.0)), finalAlpha);
+        }
       `,
         });
         // Single pipeline for all materials with alpha blending
@@ -239,72 +231,72 @@ export class Engine {
         });
         const outlineShaderModule = this.device.createShaderModule({
             label: "outline shaders",
-            code: /* wgsl */ `
-        struct CameraUniforms {
-          view: mat4x4f,
-          projection: mat4x4f,
-          viewPos: vec3f,
-          _padding: f32,
-        };
-
-        struct MaterialUniforms {
-          edgeColor: vec4f,
-          edgeSize: f32,
-          _padding1: f32,
-          _padding2: f32,
-          _padding3: f32,
-        };
-
-        @group(0) @binding(0) var<uniform> camera: CameraUniforms;
-        @group(0) @binding(1) var<uniform> material: MaterialUniforms;
-        @group(0) @binding(2) var<storage, read> skinMats: array<mat4x4f>;
-
-        struct VertexOutput {
-          @builtin(position) position: vec4f,
-        };
-
-        @vertex fn vs(
-          @location(0) position: vec3f,
-          @location(1) normal: vec3f,
-          @location(2) uv: vec2f,
-          @location(3) joints0: vec4<u32>,
-          @location(4) weights0: vec4<f32>
-        ) -> VertexOutput {
-          var output: VertexOutput;
-          let pos4 = vec4f(position, 1.0);
-          
-          // Normalize weights to ensure they sum to 1.0 (handles floating-point precision issues)
-          let weightSum = weights0.x + weights0.y + weights0.z + weights0.w;
-          var normalizedWeights: vec4f;
-          if (weightSum > 0.0001) {
-            normalizedWeights = weights0 / weightSum;
-          } else {
-            normalizedWeights = vec4f(1.0, 0.0, 0.0, 0.0);
-          }
-          
-          var skinnedPos = vec4f(0.0, 0.0, 0.0, 0.0);
-          var skinnedNrm = vec3f(0.0, 0.0, 0.0);
-          for (var i = 0u; i < 4u; i++) {
-            let j = joints0[i];
-            let w = normalizedWeights[i];
-            let m = skinMats[j];
-            skinnedPos += (m * pos4) * w;
-            let r3 = mat3x3f(m[0].xyz, m[1].xyz, m[2].xyz);
-            skinnedNrm += (r3 * normal) * w;
-          }
-          let worldPos = skinnedPos.xyz;
-          let worldNormal = normalize(skinnedNrm);
-          
-          // MMD invert hull: expand vertices outward along normals
-          let scaleFactor = 0.01;
-          let expandedPos = worldPos + worldNormal * material.edgeSize * scaleFactor;
-          output.position = camera.projection * camera.view * vec4f(expandedPos, 1.0);
-          return output;
-        }
-
-        @fragment fn fs() -> @location(0) vec4f {
-          return material.edgeColor;
-        }
+            code: /* wgsl */ `
+        struct CameraUniforms {
+          view: mat4x4f,
+          projection: mat4x4f,
+          viewPos: vec3f,
+          _padding: f32,
+        };
+
+        struct MaterialUniforms {
+          edgeColor: vec4f,
+          edgeSize: f32,
+          _padding1: f32,
+          _padding2: f32,
+          _padding3: f32,
+        };
+
+        @group(0) @binding(0) var<uniform> camera: CameraUniforms;
+        @group(0) @binding(1) var<uniform> material: MaterialUniforms;
+        @group(0) @binding(2) var<storage, read> skinMats: array<mat4x4f>;
+
+        struct VertexOutput {
+          @builtin(position) position: vec4f,
+        };
+
+        @vertex fn vs(
+          @location(0) position: vec3f,
+          @location(1) normal: vec3f,
+          @location(2) uv: vec2f,
+          @location(3) joints0: vec4<u32>,
+          @location(4) weights0: vec4<f32>
+        ) -> VertexOutput {
+          var output: VertexOutput;
+          let pos4 = vec4f(position, 1.0);
+          
+          // Normalize weights to ensure they sum to 1.0 (handles floating-point precision issues)
+          let weightSum = weights0.x + weights0.y + weights0.z + weights0.w;
+          var normalizedWeights: vec4f;
+          if (weightSum > 0.0001) {
+            normalizedWeights = weights0 / weightSum;
+          } else {
+            normalizedWeights = vec4f(1.0, 0.0, 0.0, 0.0);
+          }
+          
+          var skinnedPos = vec4f(0.0, 0.0, 0.0, 0.0);
+          var skinnedNrm = vec3f(0.0, 0.0, 0.0);
+          for (var i = 0u; i < 4u; i++) {
+            let j = joints0[i];
+            let w = normalizedWeights[i];
+            let m = skinMats[j];
+            skinnedPos += (m * pos4) * w;
+            let r3 = mat3x3f(m[0].xyz, m[1].xyz, m[2].xyz);
+            skinnedNrm += (r3 * normal) * w;
+          }
+          let worldPos = skinnedPos.xyz;
+          let worldNormal = normalize(skinnedNrm);
+          
+          // MMD invert hull: expand vertices outward along normals
+          let scaleFactor = 0.01;
+          let expandedPos = worldPos + worldNormal * material.edgeSize * scaleFactor;
+          output.position = camera.projection * camera.view * vec4f(expandedPos, 1.0);
+          return output;
+        }
+
+        @fragment fn fs() -> @location(0) vec4f {
+          return material.edgeColor;
+        }
       `,
         });
         this.outlinePipeline = this.device.createRenderPipeline({
@@ -380,31 +372,31 @@ export class Engine {
     createSkinMatrixComputePipeline() {
         const computeShader = this.device.createShaderModule({
             label: "skin matrix compute",
-            code: /* wgsl */ `
-        struct BoneCountUniform {
-          count: u32,
-          _padding1: u32,
-          _padding2: u32,
-          _padding3: u32,
-          _padding4: vec4<u32>,
-        };
-        
-        @group(0) @binding(0) var<uniform> boneCount: BoneCountUniform;
-        @group(0) @binding(1) var<storage, read> worldMatrices: array<mat4x4f>;
-        @group(0) @binding(2) var<storage, read> inverseBindMatrices: array<mat4x4f>;
-        @group(0) @binding(3) var<storage, read_write> skinMatrices: array<mat4x4f>;
-        
-        @compute @workgroup_size(64)
-        fn main(@builtin(global_invocation_id) globalId: vec3<u32>) {
-          let boneIndex = globalId.x;
-          // Bounds check: we dispatch workgroups (64 threads each), so some threads may be out of range
-          if (boneIndex >= boneCount.count) {
-            return;
-          }
-          let worldMat = worldMatrices[boneIndex];
-          let invBindMat = inverseBindMatrices[boneIndex];
-          skinMatrices[boneIndex] = worldMat * invBindMat;
-        }
+            code: /* wgsl */ `
+        struct BoneCountUniform {
+          count: u32,
+          _padding1: u32,
+          _padding2: u32,
+          _padding3: u32,
+          _padding4: vec4<u32>,
+        };
+        
+        @group(0) @binding(0) var<uniform> boneCount: BoneCountUniform;
+        @group(0) @binding(1) var<storage, read> worldMatrices: array<mat4x4f>;
+        @group(0) @binding(2) var<storage, read> inverseBindMatrices: array<mat4x4f>;
+        @group(0) @binding(3) var<storage, read_write> skinMatrices: array<mat4x4f>;
+        
+        @compute @workgroup_size(64)
+        fn main(@builtin(global_invocation_id) globalId: vec3<u32>) {
+          let boneIndex = globalId.x;
+          // Bounds check: we dispatch workgroups (64 threads each), so some threads may be out of range
+          if (boneIndex >= boneCount.count) {
+            return;
+          }
+          let worldMat = worldMatrices[boneIndex];
+          let invBindMat = inverseBindMatrices[boneIndex];
+          skinMatrices[boneIndex] = worldMat * invBindMat;
+        }
       `,
         });
         this.skinMatrixComputePipeline = this.device.createComputePipeline({
@@ -557,8 +549,8 @@ export class Engine {
         this.physics = new Physics(model.getRigidbodies(), model.getJoints());
         await this.setupModelBuffers(model);
     }
-    rotateBones(bones, rotations, duration) {
-        this.currentModel?.rotateBones(bones, rotations, duration);
+    rotateBones(bones, rotations, durationMs) {
+        this.currentModel?.rotateBones(bones, rotations, durationMs);
     }
     // Step 7: Create vertex, index, and joint buffers
     async setupModelBuffers(model) {
@@ -646,7 +638,11 @@ export class Engine {
             const texture = await loadTextureByIndex(toonTextureIndex);
             if (texture)
                 return texture;
-            // Default toon texture fallback
+            // Default toon texture fallback - cache it
+            const defaultToonPath = "__default_toon__";
+            const cached = this.textureCache.get(defaultToonPath);
+            if (cached)
+                return cached;
             const defaultToonData = new Uint8Array(256 * 2 * 4);
             for (let i = 0; i < 256; i++) {
                 const factor = i / 255.0;
@@ -667,7 +663,8 @@ export class Engine {
                 usage: GPUTextureUsage.TEXTURE_BINDING | GPUTextureUsage.COPY_DST,
             });
             this.device.queue.writeTexture({ texture: defaultToonTexture }, defaultToonData, { bytesPerRow: 256 * 4 }, [256, 2]);
-            this.textureSizes.set("__default_toon__", { width: 256, height: 2 });
+            this.textureCache.set(defaultToonPath, defaultToonTexture);
+            this.textureSizes.set(defaultToonPath, { width: 256, height: 2 });
             return defaultToonTexture;
         };
         this.materialDraws = [];
@@ -752,8 +749,8 @@ export class Engine {
             runningFirstIndex += matCount;
         }
     }
-    // Helper: Load texture from file path
-    async createTextureFromPath(path) {
+    // Helper: Load texture from file path with optional max size limit
+    async createTextureFromPath(path, maxSize = 2048) {
         const cached = this.textureCache.get(path);
         if (cached) {
             return cached;
@@ -763,22 +760,34 @@ export class Engine {
             if (!response.ok) {
                 throw new Error(`HTTP ${response.status}: ${response.statusText}`);
             }
-            const imageBitmap = await createImageBitmap(await response.blob(), {
+            let imageBitmap = await createImageBitmap(await response.blob(), {
                 premultiplyAlpha: "none",
                 colorSpaceConversion: "none",
             });
+            // Downscale if texture is too large
+            let finalWidth = imageBitmap.width;
+            let finalHeight = imageBitmap.height;
+            if (finalWidth > maxSize || finalHeight > maxSize) {
+                const scale = Math.min(maxSize / finalWidth, maxSize / finalHeight);
+                finalWidth = Math.floor(finalWidth * scale);
+                finalHeight = Math.floor(finalHeight * scale);
+                // Create canvas to downscale
+                const canvas = new OffscreenCanvas(finalWidth, finalHeight);
+                const ctx = canvas.getContext("2d");
+                if (ctx) {
+                    ctx.drawImage(imageBitmap, 0, 0, finalWidth, finalHeight);
+                    imageBitmap = await createImageBitmap(canvas);
+                }
+            }
             const texture = this.device.createTexture({
                 label: `texture: ${path}`,
-                size: [imageBitmap.width, imageBitmap.height],
+                size: [finalWidth, finalHeight],
                 format: "rgba8unorm",
                 usage: GPUTextureUsage.TEXTURE_BINDING | GPUTextureUsage.COPY_DST | GPUTextureUsage.RENDER_ATTACHMENT,
             });
-            this.device.queue.copyExternalImageToTexture({ source: imageBitmap }, { texture }, [
-                imageBitmap.width,
-                imageBitmap.height,
-            ]);
+            this.device.queue.copyExternalImageToTexture({ source: imageBitmap }, { texture }, [finalWidth, finalHeight]);
             this.textureCache.set(path, texture);
-            this.textureSizes.set(path, { width: imageBitmap.width, height: imageBitmap.height });
+            this.textureSizes.set(path, { width: finalWidth, height: finalHeight });
             return texture;
         }
         catch {
@@ -914,41 +923,14 @@ export class Engine {
             this.stats.fps = Math.round((this.framesSinceLastUpdate / elapsed) * 1000);
             this.framesSinceLastUpdate = 0;
             this.lastFpsUpdate = now;
-            const perf = performance;
-            if (perf.memory) {
-                this.stats.memoryUsed = Math.round(perf.memory.usedJSHeapSize / 1024 / 1024);
-            }
-        }
-        this.stats.vertices = this.vertexCount;
-        this.stats.drawCalls = this.drawCallCount;
-        // Calculate triangles from index buffer
-        if (this.indexBuffer) {
-            const indexCount = this.currentModel?.getIndices()?.length || 0;
-            this.stats.triangles = Math.floor(indexCount / 3);
-        }
-        else {
-            this.stats.triangles = Math.floor(this.vertexCount / 3);
         }
-        // Material count
-        this.stats.materials = this.materialDraws.length;
-        // Texture stats
-        this.stats.textures = this.textureCache.size;
+        // Calculate GPU memory: textures + buffers + render targets
         let textureMemoryBytes = 0;
         for (const [path, size] of this.textureSizes.entries()) {
             if (this.textureCache.has(path)) {
-                // RGBA8 = 4 bytes per pixel
-                textureMemoryBytes += size.width * size.height * 4;
+                textureMemoryBytes += size.width * size.height * 4; // RGBA8 = 4 bytes per pixel
             }
         }
-        // Add render target textures (multisample + depth)
-        if (this.multisampleTexture) {
-            const width = this.canvas.width;
-            const height = this.canvas.height;
-            textureMemoryBytes += width * height * 4 * this.sampleCount; // multisample color
-            textureMemoryBytes += width * height * 4; // depth (depth24plus = 4 bytes)
-        }
-        this.stats.textureMemory = Math.round((textureMemoryBytes / 1024 / 1024) * 100) / 100;
-        // Buffer memory estimate
         let bufferMemoryBytes = 0;
         if (this.vertexBuffer) {
             const vertices = this.currentModel?.getVertices();
@@ -977,10 +959,15 @@ export class Engine {
         }
         bufferMemoryBytes += 40 * 4; // cameraUniformBuffer
         bufferMemoryBytes += 64 * 4; // lightUniformBuffer
-        // Material uniform buffers (estimate: 4 bytes per material)
-        bufferMemoryBytes += this.materialDraws.length * 4;
-        this.stats.bufferMemory = Math.round((bufferMemoryBytes / 1024 / 1024) * 100) / 100;
-        // Total GPU memory estimate
-        this.stats.gpuMemory = Math.round((this.stats.textureMemory + this.stats.bufferMemory) * 100) / 100;
+        bufferMemoryBytes += this.materialDraws.length * 4; // Material uniform buffers
+        let renderTargetMemoryBytes = 0;
+        if (this.multisampleTexture) {
+            const width = this.canvas.width;
+            const height = this.canvas.height;
+            renderTargetMemoryBytes += width * height * 4 * this.sampleCount; // multisample color
+            renderTargetMemoryBytes += width * height * 4; // depth
+        }
+        const totalGPUMemoryBytes = textureMemoryBytes + bufferMemoryBytes + renderTargetMemoryBytes;
+        this.stats.gpuMemory = Math.round((totalGPUMemoryBytes / 1024 / 1024) * 100) / 100;
     }
 }

package/dist/math.d.ts

@@ -1,3 +1,4 @@
+export declare function easeInOut(t: number): number;
 export declare class Vec3 {
     x: number;
     y: number;
@@ -28,6 +29,7 @@ export declare class Quat {
     rotate(v: Vec3): Vec3;
     static fromTo(from: Vec3, to: Vec3): Quat;
     toArray(): [number, number, number, number];
+    static slerp(a: Quat, b: Quat, t: number): Quat;
     static fromEuler(rotX: number, rotY: number, rotZ: number): Quat;
     toEuler(): Vec3;
 }

package/dist/math.d.ts.map

@@ -1 +1 @@
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package/dist/math.js

@@ -1,3 +1,7 @@
+// Easing function: ease-in-out quadratic
+export function easeInOut(t) {
+    return t < 0.5 ? 2 * t * t : 1 - Math.pow(-2 * t + 2, 2) / 2;
+}
 export class Vec3 {
     constructor(x, y, z) {
         this.x = x;
@@ -101,6 +105,35 @@ export class Quat {
     toArray() {
         return [this.x, this.y, this.z, this.w];
     }
+    // Spherical linear interpolation between two quaternions
+    static slerp(a, b, t) {
+        let cos = a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
+        let bx = b.x, by = b.y, bz = b.z, bw = b.w;
+        // If dot product is negative, negate one quaternion to take shorter path
+        if (cos < 0) {
+            cos = -cos;
+            bx = -bx;
+            by = -by;
+            bz = -bz;
+            bw = -bw;
+        }
+        // If quaternions are very close, use linear interpolation
+        if (cos > 0.9995) {
+            const x = a.x + t * (bx - a.x);
+            const y = a.y + t * (by - a.y);
+            const z = a.z + t * (bz - a.z);
+            const w = a.w + t * (bw - a.w);
+            const invLen = 1 / Math.hypot(x, y, z, w);
+            return new Quat(x * invLen, y * invLen, z * invLen, w * invLen);
+        }
+        // Standard SLERP
+        const theta0 = Math.acos(cos);
+        const sinTheta0 = Math.sin(theta0);
+        const theta = theta0 * t;
+        const s0 = Math.sin(theta0 - theta) / sinTheta0;
+        const s1 = Math.sin(theta) / sinTheta0;
+        return new Quat(s0 * a.x + s1 * bx, s0 * a.y + s1 * by, s0 * a.z + s1 * bz, s0 * a.w + s1 * bw);
+    }
     // Convert Euler angles to quaternion (ZXY order, left-handed, PMX format)
     static fromEuler(rotX, rotY, rotZ) {
         const cx = Math.cos(rotX * 0.5);