reze-engine 0.2.18 → 0.3.0

package/dist/ik-solver.js

@@ -0,0 +1,372 @@
+/**
+ * IK Solver implementation
+ * Based on reference from babylon-mmd and Saba MMD library
+ * https://github.com/benikabocha/saba/blob/master/src/Saba/Model/MMD/MMDIkSolver.cpp
+ */
+import { Mat4, Quat, Vec3 } from "./math";
+var InternalEulerRotationOrder;
+(function (InternalEulerRotationOrder) {
+    InternalEulerRotationOrder[InternalEulerRotationOrder["YXZ"] = 0] = "YXZ";
+    InternalEulerRotationOrder[InternalEulerRotationOrder["ZYX"] = 1] = "ZYX";
+    InternalEulerRotationOrder[InternalEulerRotationOrder["XZY"] = 2] = "XZY";
+})(InternalEulerRotationOrder || (InternalEulerRotationOrder = {}));
+var InternalSolveAxis;
+(function (InternalSolveAxis) {
+    InternalSolveAxis[InternalSolveAxis["None"] = 0] = "None";
+    InternalSolveAxis[InternalSolveAxis["Fixed"] = 1] = "Fixed";
+    InternalSolveAxis[InternalSolveAxis["X"] = 2] = "X";
+    InternalSolveAxis[InternalSolveAxis["Y"] = 3] = "Y";
+    InternalSolveAxis[InternalSolveAxis["Z"] = 4] = "Z";
+})(InternalSolveAxis || (InternalSolveAxis = {}));
+class IKChain {
+    constructor(boneIndex, link) {
+        this.boneIndex = boneIndex;
+        if (link.hasLimit && link.minAngle && link.maxAngle) {
+            // Normalize min/max angles
+            const minX = Math.min(link.minAngle.x, link.maxAngle.x);
+            const minY = Math.min(link.minAngle.y, link.maxAngle.y);
+            const minZ = Math.min(link.minAngle.z, link.maxAngle.z);
+            const maxX = Math.max(link.minAngle.x, link.maxAngle.x);
+            const maxY = Math.max(link.minAngle.y, link.maxAngle.y);
+            const maxZ = Math.max(link.minAngle.z, link.maxAngle.z);
+            this.minimumAngle = new Vec3(minX, minY, minZ);
+            this.maximumAngle = new Vec3(maxX, maxY, maxZ);
+            // Determine rotation order based on constraint ranges
+            const halfPi = Math.PI * 0.5;
+            if (-halfPi < minX && maxX < halfPi) {
+                this.rotationOrder = InternalEulerRotationOrder.YXZ;
+            }
+            else if (-halfPi < minY && maxY < halfPi) {
+                this.rotationOrder = InternalEulerRotationOrder.ZYX;
+            }
+            else {
+                this.rotationOrder = InternalEulerRotationOrder.XZY;
+            }
+            // Determine solve axis optimization
+            if (minX === 0 && maxX === 0 && minY === 0 && maxY === 0 && minZ === 0 && maxZ === 0) {
+                this.solveAxis = InternalSolveAxis.Fixed;
+            }
+            else if (minY === 0 && maxY === 0 && minZ === 0 && maxZ === 0) {
+                this.solveAxis = InternalSolveAxis.X;
+            }
+            else if (minX === 0 && maxX === 0 && minZ === 0 && maxZ === 0) {
+                this.solveAxis = InternalSolveAxis.Y;
+            }
+            else if (minX === 0 && maxX === 0 && minY === 0 && maxY === 0) {
+                this.solveAxis = InternalSolveAxis.Z;
+            }
+            else {
+                this.solveAxis = InternalSolveAxis.None;
+            }
+        }
+        else {
+            this.minimumAngle = null;
+            this.maximumAngle = null;
+            this.rotationOrder = InternalEulerRotationOrder.XZY; // not used
+            this.solveAxis = InternalSolveAxis.None;
+        }
+    }
+}
+/**
+ * Solve IK chains for a model
+ */
+export class IKSolverSystem {
+    /**
+     * Solve all IK chains
+     */
+    static solve(ikSolvers, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, usePhysics = false) {
+        for (const solver of ikSolvers) {
+            if (usePhysics && solver.canSkipWhenPhysicsEnabled) {
+                continue;
+            }
+            this.solveIK(solver, bones, localRotations, localTranslations, worldMatrices, ikChainInfo);
+        }
+    }
+    static solveIK(solver, bones, localRotations, localTranslations, worldMatrices, ikChainInfo) {
+        if (solver.links.length === 0)
+            return;
+        const ikBoneIndex = solver.ikBoneIndex;
+        const targetBoneIndex = solver.targetBoneIndex;
+        // Reset IK rotations
+        for (const link of solver.links) {
+            const chainInfo = ikChainInfo[link.boneIndex];
+            if (chainInfo) {
+                chainInfo.ikRotation = new Quat(0, 0, 0, 1);
+            }
+        }
+        // Get IK bone and target positions
+        const ikPosition = this.getWorldTranslation(ikBoneIndex, worldMatrices);
+        const targetPosition = this.getWorldTranslation(targetBoneIndex, worldMatrices);
+        if (ikPosition.subtract(targetPosition).length() < this.EPSILON)
+            return;
+        // Build IK chains
+        const chains = [];
+        for (const link of solver.links) {
+            chains.push(new IKChain(link.boneIndex, link));
+        }
+        // Update chain bones and target bone world matrices (initial state, no IK yet)
+        for (let i = chains.length - 1; i >= 0; i--) {
+            this.updateWorldMatrix(chains[i].boneIndex, bones, localRotations, localTranslations, worldMatrices);
+        }
+        this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices);
+        // Re-read positions after initial update
+        const updatedIkPosition = this.getWorldTranslation(ikBoneIndex, worldMatrices);
+        const updatedTargetPosition = this.getWorldTranslation(targetBoneIndex, worldMatrices);
+        if (updatedIkPosition.subtract(updatedTargetPosition).length() < this.EPSILON)
+            return;
+        // Solve iteratively
+        const iteration = Math.min(solver.iterationCount, 256);
+        const halfIteration = iteration >> 1;
+        for (let i = 0; i < iteration; i++) {
+            for (let chainIndex = 0; chainIndex < chains.length; chainIndex++) {
+                const chain = chains[chainIndex];
+                if (chain.solveAxis !== InternalSolveAxis.Fixed) {
+                    this.solveChain(chain, chainIndex, solver, ikBoneIndex, targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, i < halfIteration);
+                }
+            }
+            // Re-read positions after this iteration
+            const currentIkPosition = this.getWorldTranslation(ikBoneIndex, worldMatrices);
+            const currentTargetPosition = this.getWorldTranslation(targetBoneIndex, worldMatrices);
+            const distance = currentIkPosition.subtract(currentTargetPosition).length();
+            if (distance < this.EPSILON)
+                break;
+        }
+        // Apply IK rotations to local rotations
+        for (const link of solver.links) {
+            const chainInfo = ikChainInfo[link.boneIndex];
+            if (chainInfo && chainInfo.ikRotation) {
+                const qi = link.boneIndex * 4;
+                const localRot = new Quat(localRotations[qi], localRotations[qi + 1], localRotations[qi + 2], localRotations[qi + 3]);
+                const finalRot = chainInfo.ikRotation.multiply(localRot).normalize();
+                localRotations[qi] = finalRot.x;
+                localRotations[qi + 1] = finalRot.y;
+                localRotations[qi + 2] = finalRot.z;
+                localRotations[qi + 3] = finalRot.w;
+            }
+        }
+    }
+    static solveChain(chain, chainIndex, solver, ikBoneIndex, targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, useAxis) {
+        const chainBoneIndex = chain.boneIndex;
+        const chainPosition = this.getWorldTranslation(chainBoneIndex, worldMatrices);
+        const ikPosition = this.getWorldTranslation(ikBoneIndex, worldMatrices);
+        const targetPosition = this.getWorldTranslation(targetBoneIndex, worldMatrices);
+        const chainTargetVector = chainPosition.subtract(targetPosition).normalize();
+        const chainIkVector = chainPosition.subtract(ikPosition).normalize();
+        const chainRotationAxis = chainTargetVector.cross(chainIkVector);
+        if (chainRotationAxis.length() < this.EPSILON)
+            return;
+        // Get parent's world rotation matrix (translation removed)
+        const parentWorldRotMatrix = this.getParentWorldRotationMatrix(chainBoneIndex, bones, worldMatrices);
+        let finalRotationAxis;
+        if (chain.minimumAngle !== null && useAxis) {
+            switch (chain.solveAxis) {
+                case InternalSolveAxis.None: {
+                    const invParentRot = parentWorldRotMatrix.inverse();
+                    finalRotationAxis = this.transformNormal(chainRotationAxis, invParentRot).normalize();
+                    break;
+                }
+                case InternalSolveAxis.X: {
+                    const m = parentWorldRotMatrix.values;
+                    const axisX = new Vec3(m[0], m[1], m[2]);
+                    const dot = chainRotationAxis.dot(axisX);
+                    finalRotationAxis = new Vec3(dot >= 0 ? 1 : -1, 0, 0);
+                    break;
+                }
+                case InternalSolveAxis.Y: {
+                    const m = parentWorldRotMatrix.values;
+                    const axisY = new Vec3(m[4], m[5], m[6]);
+                    const dot = chainRotationAxis.dot(axisY);
+                    finalRotationAxis = new Vec3(0, dot >= 0 ? 1 : -1, 0);
+                    break;
+                }
+                case InternalSolveAxis.Z: {
+                    const m = parentWorldRotMatrix.values;
+                    const axisZ = new Vec3(m[8], m[9], m[10]);
+                    const dot = chainRotationAxis.dot(axisZ);
+                    finalRotationAxis = new Vec3(0, 0, dot >= 0 ? 1 : -1);
+                    break;
+                }
+                default:
+                    finalRotationAxis = chainRotationAxis;
+            }
+        }
+        else {
+            const invParentRot = parentWorldRotMatrix.inverse();
+            finalRotationAxis = this.transformNormal(chainRotationAxis, invParentRot).normalize();
+        }
+        let dot = chainTargetVector.dot(chainIkVector);
+        dot = Math.max(-1.0, Math.min(1.0, dot));
+        const angle = Math.min(solver.limitAngle * (chainIndex + 1), Math.acos(dot));
+        const ikRotation = Quat.fromAxisAngle(finalRotationAxis, angle);
+        const chainInfo = ikChainInfo[chainBoneIndex];
+        if (chainInfo) {
+            chainInfo.ikRotation = ikRotation.multiply(chainInfo.ikRotation);
+            // Apply angle constraints if present
+            if (chain.minimumAngle !== null && chain.maximumAngle !== null) {
+                const qi = chainBoneIndex * 4;
+                const localRot = new Quat(localRotations[qi], localRotations[qi + 1], localRotations[qi + 2], localRotations[qi + 3]);
+                chainInfo.localRotation = localRot.clone();
+                const combinedRot = chainInfo.ikRotation.multiply(localRot);
+                const rotMatrix = Mat4.fromQuat(combinedRot.x, combinedRot.y, combinedRot.z, combinedRot.w);
+                const m = rotMatrix.values;
+                let rX, rY, rZ;
+                switch (chain.rotationOrder) {
+                    case InternalEulerRotationOrder.YXZ: {
+                        rX = Math.asin(-m[9]); // m32
+                        if (Math.abs(rX) > this.THRESHOLD) {
+                            rX = rX < 0 ? -this.THRESHOLD : this.THRESHOLD;
+                        }
+                        let cosX = Math.cos(rX);
+                        if (cosX !== 0)
+                            cosX = 1 / cosX;
+                        rY = Math.atan2(m[8] * cosX, m[10] * cosX); // m31, m33
+                        rZ = Math.atan2(m[1] * cosX, m[5] * cosX); // m12, m22
+                        rX = this.limitAngle(rX, chain.minimumAngle.x, chain.maximumAngle.x, useAxis);
+                        rY = this.limitAngle(rY, chain.minimumAngle.y, chain.maximumAngle.y, useAxis);
+                        rZ = this.limitAngle(rZ, chain.minimumAngle.z, chain.maximumAngle.z, useAxis);
+                        chainInfo.ikRotation = Quat.fromAxisAngle(new Vec3(0, 1, 0), rY);
+                        chainInfo.ikRotation = chainInfo.ikRotation.multiply(Quat.fromAxisAngle(new Vec3(1, 0, 0), rX));
+                        chainInfo.ikRotation = chainInfo.ikRotation.multiply(Quat.fromAxisAngle(new Vec3(0, 0, 1), rZ));
+                        break;
+                    }
+                    case InternalEulerRotationOrder.ZYX: {
+                        rY = Math.asin(-m[2]); // m13
+                        if (Math.abs(rY) > this.THRESHOLD) {
+                            rY = rY < 0 ? -this.THRESHOLD : this.THRESHOLD;
+                        }
+                        let cosY = Math.cos(rY);
+                        if (cosY !== 0)
+                            cosY = 1 / cosY;
+                        rX = Math.atan2(m[6] * cosY, m[10] * cosY); // m23, m33
+                        rZ = Math.atan2(m[1] * cosY, m[0] * cosY); // m12, m11
+                        rX = this.limitAngle(rX, chain.minimumAngle.x, chain.maximumAngle.x, useAxis);
+                        rY = this.limitAngle(rY, chain.minimumAngle.y, chain.maximumAngle.y, useAxis);
+                        rZ = this.limitAngle(rZ, chain.minimumAngle.z, chain.maximumAngle.z, useAxis);
+                        chainInfo.ikRotation = Quat.fromAxisAngle(new Vec3(0, 0, 1), rZ);
+                        chainInfo.ikRotation = chainInfo.ikRotation.multiply(Quat.fromAxisAngle(new Vec3(0, 1, 0), rY));
+                        chainInfo.ikRotation = chainInfo.ikRotation.multiply(Quat.fromAxisAngle(new Vec3(1, 0, 0), rX));
+                        break;
+                    }
+                    case InternalEulerRotationOrder.XZY: {
+                        rZ = Math.asin(-m[4]); // m21
+                        if (Math.abs(rZ) > this.THRESHOLD) {
+                            rZ = rZ < 0 ? -this.THRESHOLD : this.THRESHOLD;
+                        }
+                        let cosZ = Math.cos(rZ);
+                        if (cosZ !== 0)
+                            cosZ = 1 / cosZ;
+                        rX = Math.atan2(m[6] * cosZ, m[5] * cosZ); // m23, m22
+                        rY = Math.atan2(m[8] * cosZ, m[0] * cosZ); // m31, m11
+                        rX = this.limitAngle(rX, chain.minimumAngle.x, chain.maximumAngle.x, useAxis);
+                        rY = this.limitAngle(rY, chain.minimumAngle.y, chain.maximumAngle.y, useAxis);
+                        rZ = this.limitAngle(rZ, chain.minimumAngle.z, chain.maximumAngle.z, useAxis);
+                        chainInfo.ikRotation = Quat.fromAxisAngle(new Vec3(1, 0, 0), rX);
+                        chainInfo.ikRotation = chainInfo.ikRotation.multiply(Quat.fromAxisAngle(new Vec3(0, 0, 1), rZ));
+                        chainInfo.ikRotation = chainInfo.ikRotation.multiply(Quat.fromAxisAngle(new Vec3(0, 1, 0), rY));
+                        break;
+                    }
+                }
+                const invertedLocalRotation = localRot.conjugate().normalize();
+                chainInfo.ikRotation = chainInfo.ikRotation.multiply(invertedLocalRotation);
+            }
+        }
+        // Update world matrices for affected bones (using IK-modified rotations)
+        for (let i = chainIndex; i >= 0; i--) {
+            const link = solver.links[i];
+            this.updateWorldMatrixWithIK(link.boneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo);
+        }
+        this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices);
+    }
+    static limitAngle(angle, min, max, useAxis) {
+        if (angle < min) {
+            const diff = 2 * min - angle;
+            return diff <= max && useAxis ? diff : min;
+        }
+        else if (angle > max) {
+            const diff = 2 * max - angle;
+            return diff >= min && useAxis ? diff : max;
+        }
+        else {
+            return angle;
+        }
+    }
+    static getWorldTranslation(boneIndex, worldMatrices) {
+        const offset = boneIndex * 16;
+        return new Vec3(worldMatrices[offset + 12], worldMatrices[offset + 13], worldMatrices[offset + 14]);
+    }
+    static getParentWorldRotationMatrix(boneIndex, bones, worldMatrices) {
+        const bone = bones[boneIndex];
+        if (bone.parentIndex >= 0) {
+            const parentOffset = bone.parentIndex * 16;
+            const parentMat = new Mat4(worldMatrices.subarray(parentOffset, parentOffset + 16));
+            // Remove translation
+            const rotMat = Mat4.identity();
+            const m = parentMat.values;
+            rotMat.values.set([m[0], m[1], m[2], 0, m[4], m[5], m[6], 0, m[8], m[9], m[10], 0, 0, 0, 0, 1]);
+            return rotMat;
+        }
+        else {
+            return Mat4.identity();
+        }
+    }
+    static transformNormal(normal, matrix) {
+        const m = matrix.values;
+        return new Vec3(m[0] * normal.x + m[4] * normal.y + m[8] * normal.z, m[1] * normal.x + m[5] * normal.y + m[9] * normal.z, m[2] * normal.x + m[6] * normal.y + m[10] * normal.z);
+    }
+    static updateWorldMatrixWithIK(boneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo) {
+        const bone = bones[boneIndex];
+        const qi = boneIndex * 4;
+        const ti = boneIndex * 3;
+        // Use IK-modified rotation if available
+        const localRot = new Quat(localRotations[qi], localRotations[qi + 1], localRotations[qi + 2], localRotations[qi + 3]);
+        const chainInfo = ikChainInfo[boneIndex];
+        let finalRot = localRot;
+        if (chainInfo && chainInfo.ikRotation) {
+            finalRot = chainInfo.ikRotation.multiply(localRot).normalize();
+        }
+        const rotateM = Mat4.fromQuat(finalRot.x, finalRot.y, finalRot.z, finalRot.w);
+        const localTx = localTranslations[ti];
+        const localTy = localTranslations[ti + 1];
+        const localTz = localTranslations[ti + 2];
+        const localM = Mat4.identity()
+            .translateInPlace(bone.bindTranslation[0], bone.bindTranslation[1], bone.bindTranslation[2])
+            .multiply(rotateM)
+            .translateInPlace(localTx, localTy, localTz);
+        const worldOffset = boneIndex * 16;
+        if (bone.parentIndex >= 0) {
+            const parentOffset = bone.parentIndex * 16;
+            const parentMat = new Mat4(worldMatrices.subarray(parentOffset, parentOffset + 16));
+            const worldMat = parentMat.multiply(localM);
+            worldMatrices.subarray(worldOffset, worldOffset + 16).set(worldMat.values);
+        }
+        else {
+            worldMatrices.subarray(worldOffset, worldOffset + 16).set(localM.values);
+        }
+    }
+    static updateWorldMatrix(boneIndex, bones, localRotations, localTranslations, worldMatrices) {
+        const bone = bones[boneIndex];
+        const qi = boneIndex * 4;
+        const ti = boneIndex * 3;
+        const localRot = new Quat(localRotations[qi], localRotations[qi + 1], localRotations[qi + 2], localRotations[qi + 3]);
+        const rotateM = Mat4.fromQuat(localRot.x, localRot.y, localRot.z, localRot.w);
+        const localTx = localTranslations[ti];
+        const localTy = localTranslations[ti + 1];
+        const localTz = localTranslations[ti + 2];
+        const localM = Mat4.identity()
+            .translateInPlace(bone.bindTranslation[0], bone.bindTranslation[1], bone.bindTranslation[2])
+            .multiply(rotateM)
+            .translateInPlace(localTx, localTy, localTz);
+        const worldOffset = boneIndex * 16;
+        if (bone.parentIndex >= 0) {
+            const parentOffset = bone.parentIndex * 16;
+            const parentMat = new Mat4(worldMatrices.subarray(parentOffset, parentOffset + 16));
+            const worldMat = parentMat.multiply(localM);
+            worldMatrices.subarray(worldOffset, worldOffset + 16).set(worldMat.values);
+        }
+        else {
+            worldMatrices.subarray(worldOffset, worldOffset + 16).set(localM.values);
+        }
+    }
+}
+IKSolverSystem.EPSILON = 1.0e-8;
+IKSolverSystem.THRESHOLD = (88 * Math.PI) / 180;

package/dist/math.d.ts

@@ -28,6 +28,7 @@ export declare class Quat {
     rotateVec(v: Vec3): Vec3;
     rotate(v: Vec3): Vec3;
     static fromTo(from: Vec3, to: Vec3): Quat;
+    static fromAxisAngle(axis: Vec3, angle: number): Quat;
     toArray(): [number, number, number, number];
     static slerp(a: Quat, b: Quat, t: number): Quat;
     static fromEuler(rotX: number, rotY: number, rotZ: number): Quat;

package/dist/math.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"math.d.ts","sourceRoot":"","sources":["../src/math.ts"],"names":[],"mappings":"AACA,wBAAgB,SAAS,CAAC,CAAC,EAAE,MAAM,GAAG,MAAM,CAE3C;AAED,qBAAa,IAAI;IACf,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;gBAEG,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM;IAM3C,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAItB,QAAQ,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAI3B,MAAM,IAAI,MAAM;IAIhB,SAAS,IAAI,IAAI;IAMjB,KAAK,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAQxB,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,MAAM;IAIxB,KAAK,CAAC,MAAM,EAAE,MAAM,GAAG,IAAI;IAI3B,KAAK,IAAI,IAAI;CAGd;AAED,qBAAa,IAAI;IACf,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;gBAEG,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM;IAOtD,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAItB,KAAK,IAAI,IAAI;IAIb,QAAQ,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAU3B,SAAS,IAAI,IAAI;IAKjB,MAAM,IAAI,MAAM;IAIhB,SAAS,IAAI,IAAI;IAOjB,SAAS,CAAC,CAAC,EAAE,IAAI,GAAG,IAAI;IAwBxB,MAAM,CAAC,CAAC,EAAE,IAAI,GAAG,IAAI;IAQrB,MAAM,CAAC,MAAM,CAAC,IAAI,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,GAAG,IAAI;IAgBzC,OAAO,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC;IAK3C,MAAM,CAAC,KAAK,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI;IAoC/C,MAAM,CAAC,SAAS,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,IAAI;IAiBhE,OAAO,IAAI,IAAI;CAuBhB;AAED,qBAAa,IAAI;IACf,MAAM,EAAE,YAAY,CAAA;gBAER,MAAM,EAAE,YAAY;IAIhC,MAAM,CAAC,QAAQ,IAAI,IAAI;IAMvB,MAAM,CAAC,WAAW,CAAC,GAAG,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,IAAI;IA4BhF,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,GAAG,IAAI;IA4BtD,QAAQ,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAqB3B,MAAM,CAAC,cAAc,CACnB,CAAC,EAAE,YAAY,EACf,OAAO,EAAE,MAAM,EACf,CAAC,EAAE,YAAY,EACf,OAAO,EAAE,MAAM,EACf,GAAG,EAAE,YAAY,EACjB,SAAS,EAAE,MAAM,GAChB,IAAI;IAiBP,KAAK,IAAI,IAAI;IAIb,MAAM,CAAC,QAAQ,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI;IAmCjE,MAAM,CAAC,oBAAoB,CAAC,QAAQ,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,GAAG,IAAI;IASjE,WAAW,IAAI,IAAI;IAKnB,MAAM,IAAI,IAAI;IAKd,MAAM,CAAC,eAAe,CAAC,CAAC,EAAE,YAAY,EAAE,MAAM,EAAE,MAAM,GAAG,IAAI;IA6C7D,WAAW,IAAI,IAAI;IAqBnB,gBAAgB,CAAC,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI;IAY1D,OAAO,IAAI,IAAI;CA8DhB"}
+{"version":3,"file":"math.d.ts","sourceRoot":"","sources":["../src/math.ts"],"names":[],"mappings":"AACA,wBAAgB,SAAS,CAAC,CAAC,EAAE,MAAM,GAAG,MAAM,CAE3C;AAED,qBAAa,IAAI;IACf,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;gBAEG,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM;IAM3C,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAItB,QAAQ,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAI3B,MAAM,IAAI,MAAM;IAIhB,SAAS,IAAI,IAAI;IAMjB,KAAK,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAQxB,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,MAAM;IAIxB,KAAK,CAAC,MAAM,EAAE,MAAM,GAAG,IAAI;IAI3B,KAAK,IAAI,IAAI;CAGd;AAED,qBAAa,IAAI;IACf,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;gBAEG,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM;IAOtD,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAItB,KAAK,IAAI,IAAI;IAIb,QAAQ,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAU3B,SAAS,IAAI,IAAI;IAKjB,MAAM,IAAI,MAAM;IAIhB,SAAS,IAAI,IAAI;IAOjB,SAAS,CAAC,CAAC,EAAE,IAAI,GAAG,IAAI;IAwBxB,MAAM,CAAC,CAAC,EAAE,IAAI,GAAG,IAAI;IAQrB,MAAM,CAAC,MAAM,CAAC,IAAI,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,GAAG,IAAI;IAiBzC,MAAM,CAAC,aAAa,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,GAAG,IAAI;IAQrD,OAAO,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC;IAK3C,MAAM,CAAC,KAAK,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI;IAoC/C,MAAM,CAAC,SAAS,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,IAAI;IAiBhE,OAAO,IAAI,IAAI;CAuBhB;AAED,qBAAa,IAAI;IACf,MAAM,EAAE,YAAY,CAAA;gBAER,MAAM,EAAE,YAAY;IAIhC,MAAM,CAAC,QAAQ,IAAI,IAAI;IAMvB,MAAM,CAAC,WAAW,CAAC,GAAG,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,IAAI;IA4BhF,MAAM,CAAC,MAAM,CAAC,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,EAAE,EAAE,IAAI,GAAG,IAAI;IA4BtD,QAAQ,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAqB3B,MAAM,CAAC,cAAc,CACnB,CAAC,EAAE,YAAY,EACf,OAAO,EAAE,MAAM,EACf,CAAC,EAAE,YAAY,EACf,OAAO,EAAE,MAAM,EACf,GAAG,EAAE,YAAY,EACjB,SAAS,EAAE,MAAM,GAChB,IAAI;IAiBP,KAAK,IAAI,IAAI;IAIb,MAAM,CAAC,QAAQ,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI;IAmCjE,MAAM,CAAC,oBAAoB,CAAC,QAAQ,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,GAAG,IAAI;IASjE,WAAW,IAAI,IAAI;IAKnB,MAAM,IAAI,IAAI;IAKd,MAAM,CAAC,eAAe,CAAC,CAAC,EAAE,YAAY,EAAE,MAAM,EAAE,MAAM,GAAG,IAAI;IA6C7D,WAAW,IAAI,IAAI;IAqBnB,gBAAgB,CAAC,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI;IAY1D,OAAO,IAAI,IAAI;CA8DhB"}

package/dist/math.js

@@ -102,6 +102,14 @@ export class Quat {
         const invW = 1 / w;
         return new Quat(axis.x * invW, axis.y * invW, axis.z * invW, w * 0.5).normalize();
     }
+    // Static method: create quaternion from rotation axis and angle
+    static fromAxisAngle(axis, angle) {
+        const normalizedAxis = axis.normalize();
+        const halfAngle = angle * 0.5;
+        const sinHalf = Math.sin(halfAngle);
+        const cosHalf = Math.cos(halfAngle);
+        return new Quat(normalizedAxis.x * sinHalf, normalizedAxis.y * sinHalf, normalizedAxis.z * sinHalf, cosHalf);
+    }
     toArray() {
         return [this.x, this.y, this.z, this.w];
     }

package/dist/model.d.ts

@@ -1,4 +1,4 @@
-import { Quat } from "./math";
+import { Quat, Vec3 } from "./math";
 import { Rigidbody, Joint } from "./physics";
 export interface Texture {
     path: string;
@@ -32,6 +32,43 @@ export interface Bone {
     appendRatio?: number;
     appendRotate?: boolean;
     appendMove?: boolean;
+    ikTargetIndex?: number;
+    ikIteration?: number;
+    ikLimitAngle?: number;
+    ikLinks?: IKLink[];
+}
+export interface IKLink {
+    boneIndex: number;
+    hasLimit: boolean;
+    minAngle?: Vec3;
+    maxAngle?: Vec3;
+    rotationOrder?: EulerRotationOrder;
+    solveAxis?: SolveAxis;
+}
+export declare enum EulerRotationOrder {
+    YXZ = 0,
+    ZYX = 1,
+    XZY = 2
+}
+export declare enum SolveAxis {
+    None = 0,
+    Fixed = 1,
+    X = 2,
+    Y = 3,
+    Z = 4
+}
+export interface IKSolver {
+    index: number;
+    ikBoneIndex: number;
+    targetBoneIndex: number;
+    iterationCount: number;
+    limitAngle: number;
+    links: IKLink[];
+    canSkipWhenPhysicsEnabled: boolean;
+}
+export interface IKChainInfo {
+    ikRotation: Quat;
+    localRotation: Quat;
 }
 export interface Skeleton {
     bones: Bone[];
@@ -41,31 +78,66 @@ export interface Skinning {
     joints: Uint16Array;
     weights: Uint8Array;
 }
+export interface VertexMorphOffset {
+    vertexIndex: number;
+    positionOffset: [number, number, number];
+}
+export interface GroupMorphReference {
+    morphIndex: number;
+    ratio: number;
+}
+export interface Morph {
+    name: string;
+    type: number;
+    vertexOffsets: VertexMorphOffset[];
+    groupReferences?: GroupMorphReference[];
+}
+export interface Morphing {
+    morphs: Morph[];
+    offsetsBuffer: Float32Array;
+}
 export interface SkeletonRuntime {
     nameIndex: Record<string, number>;
     localRotations: Float32Array;
     localTranslations: Float32Array;
     worldMatrices: Float32Array;
     computedBones: boolean[];
+    ikChainInfo?: IKChainInfo[];
+    ikSolvers?: IKSolver[];
+}
+export interface MorphRuntime {
+    nameIndex: Record<string, number>;
+    weights: Float32Array;
 }
 export declare class Model {
     private vertexData;
+    private baseVertexData;
     private vertexCount;
     private indexData;
     private textures;
     private materials;
     private skeleton;
     private skinning;
+    private morphing;
     private rigidbodies;
     private joints;
     private runtimeSkeleton;
+    private runtimeMorph;
     private cachedIdentityMat1;
     private cachedIdentityMat2;
     private rotTweenState;
-    constructor(vertexData: Float32Array<ArrayBuffer>, indexData: Uint32Array<ArrayBuffer>, textures: Texture[], materials: Material[], skeleton: Skeleton, skinning: Skinning, rigidbodies?: Rigidbody[], joints?: Joint[]);
+    private transTweenState;
+    private morphTweenState;
+    constructor(vertexData: Float32Array<ArrayBuffer>, indexData: Uint32Array<ArrayBuffer>, textures: Texture[], materials: Material[], skeleton: Skeleton, skinning: Skinning, morphing: Morphing, rigidbodies?: Rigidbody[], joints?: Joint[]);
     private initializeRuntimeSkeleton;
+    private initializeIKRuntime;
     private initializeRotTweenBuffers;
+    private initializeTransTweenBuffers;
+    private initializeMorphTweenBuffers;
+    private initializeRuntimeMorph;
     private updateRotationTweens;
+    private updateTranslationTweens;
+    private updateMorphWeightTweens;
     getVertices(): Float32Array<ArrayBuffer>;
     getTextures(): Texture[];
     getMaterials(): Material[];
@@ -75,11 +147,18 @@ export declare class Model {
     getSkinning(): Skinning;
     getRigidbodies(): Rigidbody[];
     getJoints(): Joint[];
+    getMorphing(): Morphing;
+    getMorphWeights(): Float32Array;
     getBoneNames(): string[];
     rotateBones(names: string[], quats: Quat[], durationMs?: number): void;
+    moveBones(names: string[], relativeTranslations: Vec3[], durationMs?: number): void;
     getBoneWorldMatrices(): Float32Array;
     getBoneInverseBindMatrices(): Float32Array;
-    evaluatePose(): void;
+    getMorphNames(): string[];
+    setMorphWeight(name: string, weight: number, durationMs?: number): void;
+    private applyMorphs;
+    evaluatePose(): boolean;
+    private solveIKChains;
     private computeWorldMatrices;
 }
 //# sourceMappingURL=model.d.ts.map

package/dist/model.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"model.d.ts","sourceRoot":"","sources":["../src/model.ts"],"names":[],"mappings":"AAAA,OAAO,EAAQ,IAAI,EAAa,MAAM,QAAQ,CAAA;AAC9C,OAAO,EAAE,SAAS,EAAE,KAAK,EAAE,MAAM,WAAW,CAAA;AAI5C,MAAM,WAAW,OAAO;IACtB,IAAI,EAAE,MAAM,CAAA;IACZ,IAAI,EAAE,MAAM,CAAA;CACb;AAED,MAAM,WAAW,QAAQ;IACvB,IAAI,EAAE,MAAM,CAAA;IACZ,OAAO,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IACzC,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IAClC,OAAO,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IACjC,SAAS,EAAE,MAAM,CAAA;IACjB,mBAAmB,EAAE,MAAM,CAAA;IAC3B,kBAAkB,EAAE,MAAM,CAAA;IAC1B,kBAAkB,EAAE,MAAM,CAAA;IAC1B,UAAU,EAAE,MAAM,CAAA;IAClB,gBAAgB,EAAE,MAAM,CAAA;IACxB,QAAQ,EAAE,MAAM,CAAA;IAChB,SAAS,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IAC3C,QAAQ,EAAE,MAAM,CAAA;IAChB,WAAW,EAAE,MAAM,CAAA;IACnB,KAAK,CAAC,EAAE,OAAO,CAAA;IACf,MAAM,CAAC,EAAE,OAAO,CAAA;IAChB,MAAM,CAAC,EAAE,OAAO,CAAA;CACjB;AAED,MAAM,WAAW,IAAI;IACnB,IAAI,EAAE,MAAM,CAAA;IACZ,WAAW,EAAE,MAAM,CAAA;IACnB,eAAe,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IACzC,QAAQ,EAAE,MAAM,EAAE,CAAA;IAClB,iBAAiB,CAAC,EAAE,MAAM,CAAA;IAC1B,WAAW,CAAC,EAAE,MAAM,CAAA;IACpB,YAAY,CAAC,EAAE,OAAO,CAAA;IACtB,UAAU,CAAC,EAAE,OAAO,CAAA;CACrB;AAED,MAAM,WAAW,QAAQ;IACvB,KAAK,EAAE,IAAI,EAAE,CAAA;IACb,mBAAmB,EAAE,YAAY,CAAA;CAClC;AAED,MAAM,WAAW,QAAQ;IACvB,MAAM,EAAE,WAAW,CAAA;IACnB,OAAO,EAAE,UAAU,CAAA;CACpB;AAGD,MAAM,WAAW,eAAe;IAC9B,SAAS,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;IACjC,cAAc,EAAE,YAAY,CAAA;IAC5B,iBAAiB,EAAE,YAAY,CAAA;IAC/B,aAAa,EAAE,YAAY,CAAA;IAC3B,aAAa,EAAE,OAAO,EAAE,CAAA;CACzB;AAWD,qBAAa,KAAK;IAChB,OAAO,CAAC,UAAU,CAA2B;IAC7C,OAAO,CAAC,WAAW,CAAQ;IAC3B,OAAO,CAAC,SAAS,CAA0B;IAC3C,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,SAAS,CAAiB;IAElC,OAAO,CAAC,QAAQ,CAAU;IAC1B,OAAO,CAAC,QAAQ,CAAU;IAG1B,OAAO,CAAC,WAAW,CAAkB;IACrC,OAAO,CAAC,MAAM,CAAc;IAG5B,OAAO,CAAC,eAAe,CAAkB;IAGzC,OAAO,CAAC,kBAAkB,CAAkB;IAC5C,OAAO,CAAC,kBAAkB,CAAkB;IAE5C,OAAO,CAAC,aAAa,CAAqB;gBAGxC,UAAU,EAAE,YAAY,CAAC,WAAW,CAAC,EACrC,SAAS,EAAE,WAAW,CAAC,WAAW,CAAC,EACnC,QAAQ,EAAE,OAAO,EAAE,EACnB,SAAS,EAAE,QAAQ,EAAE,EACrB,QAAQ,EAAE,QAAQ,EAClB,QAAQ,EAAE,QAAQ,EAClB,WAAW,GAAE,SAAS,EAAO,EAC7B,MAAM,GAAE,KAAK,EAAO;IAoBtB,OAAO,CAAC,yBAAyB;IA0BjC,OAAO,CAAC,yBAAyB;IAWjC,OAAO,CAAC,oBAAoB;IAwC5B,WAAW,IAAI,YAAY,CAAC,WAAW,CAAC;IAKxC,WAAW,IAAI,OAAO,EAAE;IAKxB,YAAY,IAAI,QAAQ,EAAE;IAK1B,cAAc,IAAI,MAAM;IAKxB,UAAU,IAAI,WAAW,CAAC,WAAW,CAAC;IAKtC,WAAW,IAAI,QAAQ;IAIvB,WAAW,IAAI,QAAQ;IAKvB,cAAc,IAAI,SAAS,EAAE;IAI7B,SAAS,IAAI,KAAK,EAAE;IAMpB,YAAY,IAAI,MAAM,EAAE;IAIxB,WAAW,CAAC,KAAK,EAAE,MAAM,EAAE,EAAE,KAAK,EAAE,IAAI,EAAE,EAAE,UAAU,CAAC,EAAE,MAAM,GAAG,IAAI;IAuEtE,oBAAoB,IAAI,YAAY;IAIpC,0BAA0B,IAAI,YAAY;IAI1C,YAAY,IAAI,IAAI;IAKpB,OAAO,CAAC,oBAAoB;CA2F7B"}
+{"version":3,"file":"model.d.ts","sourceRoot":"","sources":["../src/model.ts"],"names":[],"mappings":"AAAA,OAAO,EAAQ,IAAI,EAAE,IAAI,EAAa,MAAM,QAAQ,CAAA;AACpD,OAAO,EAAE,SAAS,EAAE,KAAK,EAAE,MAAM,WAAW,CAAA;AAK5C,MAAM,WAAW,OAAO;IACtB,IAAI,EAAE,MAAM,CAAA;IACZ,IAAI,EAAE,MAAM,CAAA;CACb;AAED,MAAM,WAAW,QAAQ;IACvB,IAAI,EAAE,MAAM,CAAA;IACZ,OAAO,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IACzC,QAAQ,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IAClC,OAAO,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IACjC,SAAS,EAAE,MAAM,CAAA;IACjB,mBAAmB,EAAE,MAAM,CAAA;IAC3B,kBAAkB,EAAE,MAAM,CAAA;IAC1B,kBAAkB,EAAE,MAAM,CAAA;IAC1B,UAAU,EAAE,MAAM,CAAA;IAClB,gBAAgB,EAAE,MAAM,CAAA;IACxB,QAAQ,EAAE,MAAM,CAAA;IAChB,SAAS,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IAC3C,QAAQ,EAAE,MAAM,CAAA;IAChB,WAAW,EAAE,MAAM,CAAA;IACnB,KAAK,CAAC,EAAE,OAAO,CAAA;IACf,MAAM,CAAC,EAAE,OAAO,CAAA;IAChB,MAAM,CAAC,EAAE,OAAO,CAAA;CACjB;AAED,MAAM,WAAW,IAAI;IACnB,IAAI,EAAE,MAAM,CAAA;IACZ,WAAW,EAAE,MAAM,CAAA;IACnB,eAAe,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IACzC,QAAQ,EAAE,MAAM,EAAE,CAAA;IAClB,iBAAiB,CAAC,EAAE,MAAM,CAAA;IAC1B,WAAW,CAAC,EAAE,MAAM,CAAA;IACpB,YAAY,CAAC,EAAE,OAAO,CAAA;IACtB,UAAU,CAAC,EAAE,OAAO,CAAA;IACpB,aAAa,CAAC,EAAE,MAAM,CAAA;IACtB,WAAW,CAAC,EAAE,MAAM,CAAA;IACpB,YAAY,CAAC,EAAE,MAAM,CAAA;IACrB,OAAO,CAAC,EAAE,MAAM,EAAE,CAAA;CACnB;AAGD,MAAM,WAAW,MAAM;IACrB,SAAS,EAAE,MAAM,CAAA;IACjB,QAAQ,EAAE,OAAO,CAAA;IACjB,QAAQ,CAAC,EAAE,IAAI,CAAA;IACf,QAAQ,CAAC,EAAE,IAAI,CAAA;IACf,aAAa,CAAC,EAAE,kBAAkB,CAAA;IAClC,SAAS,CAAC,EAAE,SAAS,CAAA;CACtB;AAGD,oBAAY,kBAAkB;IAC5B,GAAG,IAAI;IACP,GAAG,IAAI;IACP,GAAG,IAAI;CACR;AAGD,oBAAY,SAAS;IACnB,IAAI,IAAI;IACR,KAAK,IAAI;IACT,CAAC,IAAI;IACL,CAAC,IAAI;IACL,CAAC,IAAI;CACN;AAGD,MAAM,WAAW,QAAQ;IACvB,KAAK,EAAE,MAAM,CAAA;IACb,WAAW,EAAE,MAAM,CAAA;IACnB,eAAe,EAAE,MAAM,CAAA;IACvB,cAAc,EAAE,MAAM,CAAA;IACtB,UAAU,EAAE,MAAM,CAAA;IAClB,KAAK,EAAE,MAAM,EAAE,CAAA;IACf,yBAAyB,EAAE,OAAO,CAAA;CACnC;AAGD,MAAM,WAAW,WAAW;IAC1B,UAAU,EAAE,IAAI,CAAA;IAChB,aAAa,EAAE,IAAI,CAAA;CACpB;AAED,MAAM,WAAW,QAAQ;IACvB,KAAK,EAAE,IAAI,EAAE,CAAA;IACb,mBAAmB,EAAE,YAAY,CAAA;CAClC;AAED,MAAM,WAAW,QAAQ;IACvB,MAAM,EAAE,WAAW,CAAA;IACnB,OAAO,EAAE,UAAU,CAAA;CACpB;AAGD,MAAM,WAAW,iBAAiB;IAChC,WAAW,EAAE,MAAM,CAAA;IACnB,cAAc,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;CACzC;AAGD,MAAM,WAAW,mBAAmB;IAClC,UAAU,EAAE,MAAM,CAAA;IAClB,KAAK,EAAE,MAAM,CAAA;CACd;AAGD,MAAM,WAAW,KAAK;IACpB,IAAI,EAAE,MAAM,CAAA;IACZ,IAAI,EAAE,MAAM,CAAA;IACZ,aAAa,EAAE,iBAAiB,EAAE,CAAA;IAClC,eAAe,CAAC,EAAE,mBAAmB,EAAE,CAAA;CACxC;AAED,MAAM,WAAW,QAAQ;IACvB,MAAM,EAAE,KAAK,EAAE,CAAA;IACf,aAAa,EAAE,YAAY,CAAA;CAC5B;AAGD,MAAM,WAAW,eAAe;IAC9B,SAAS,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;IACjC,cAAc,EAAE,YAAY,CAAA;IAC5B,iBAAiB,EAAE,YAAY,CAAA;IAC/B,aAAa,EAAE,YAAY,CAAA;IAC3B,aAAa,EAAE,OAAO,EAAE,CAAA;IACxB,WAAW,CAAC,EAAE,WAAW,EAAE,CAAA;IAC3B,SAAS,CAAC,EAAE,QAAQ,EAAE,CAAA;CACvB;AAGD,MAAM,WAAW,YAAY;IAC3B,SAAS,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;IACjC,OAAO,EAAE,YAAY,CAAA;CACtB;AA6BD,qBAAa,KAAK;IAChB,OAAO,CAAC,UAAU,CAA2B;IAC7C,OAAO,CAAC,cAAc,CAA2B;IACjD,OAAO,CAAC,WAAW,CAAQ;IAC3B,OAAO,CAAC,SAAS,CAA0B;IAC3C,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,SAAS,CAAiB;IAElC,OAAO,CAAC,QAAQ,CAAU;IAC1B,OAAO,CAAC,QAAQ,CAAU;IAG1B,OAAO,CAAC,QAAQ,CAAU;IAG1B,OAAO,CAAC,WAAW,CAAkB;IACrC,OAAO,CAAC,MAAM,CAAc;IAG5B,OAAO,CAAC,eAAe,CAAkB;IAGzC,OAAO,CAAC,YAAY,CAAe;IAGnC,OAAO,CAAC,kBAAkB,CAAkB;IAC5C,OAAO,CAAC,kBAAkB,CAAkB;IAE5C,OAAO,CAAC,aAAa,CAAqB;IAC1C,OAAO,CAAC,eAAe,CAAwB;IAC/C,OAAO,CAAC,eAAe,CAAwB;gBAG7C,UAAU,EAAE,YAAY,CAAC,WAAW,CAAC,EACrC,SAAS,EAAE,WAAW,CAAC,WAAW,CAAC,EACnC,QAAQ,EAAE,OAAO,EAAE,EACnB,SAAS,EAAE,QAAQ,EAAE,EACrB,QAAQ,EAAE,QAAQ,EAClB,QAAQ,EAAE,QAAQ,EAClB,QAAQ,EAAE,QAAQ,EAClB,WAAW,GAAE,SAAS,EAAO,EAC7B,MAAM,GAAE,KAAK,EAAO;IA2BtB,OAAO,CAAC,yBAAyB;IA6BjC,OAAO,CAAC,mBAAmB;IAiD3B,OAAO,CAAC,yBAAyB;IAWjC,OAAO,CAAC,2BAA2B;IAWnC,OAAO,CAAC,2BAA2B;IAWnC,OAAO,CAAC,sBAAsB;IAW9B,OAAO,CAAC,oBAAoB;IAsC5B,OAAO,CAAC,uBAAuB;IAuB/B,OAAO,CAAC,uBAAuB;IA6B/B,WAAW,IAAI,YAAY,CAAC,WAAW,CAAC;IAKxC,WAAW,IAAI,OAAO,EAAE;IAKxB,YAAY,IAAI,QAAQ,EAAE;IAK1B,cAAc,IAAI,MAAM;IAKxB,UAAU,IAAI,WAAW,CAAC,WAAW,CAAC;IAKtC,WAAW,IAAI,QAAQ;IAIvB,WAAW,IAAI,QAAQ;IAKvB,cAAc,IAAI,SAAS,EAAE;IAI7B,SAAS,IAAI,KAAK,EAAE;IAKpB,WAAW,IAAI,QAAQ;IAIvB,eAAe,IAAI,YAAY;IAM/B,YAAY,IAAI,MAAM,EAAE;IAIxB,WAAW,CAAC,KAAK,EAAE,MAAM,EAAE,EAAE,KAAK,EAAE,IAAI,EAAE,EAAE,UAAU,CAAC,EAAE,MAAM,GAAG,IAAI;IAyEtE,SAAS,CAAC,KAAK,EAAE,MAAM,EAAE,EAAE,oBAAoB,EAAE,IAAI,EAAE,EAAE,UAAU,CAAC,EAAE,MAAM,GAAG,IAAI;IAoGnF,oBAAoB,IAAI,YAAY;IAIpC,0BAA0B,IAAI,YAAY;IAI1C,aAAa,IAAI,MAAM,EAAE;IAIzB,cAAc,CAAC,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,UAAU,CAAC,EAAE,MAAM,GAAG,IAAI;IAyCvE,OAAO,CAAC,WAAW;IAiEnB,YAAY,IAAI,OAAO;IAoBvB,OAAO,CAAC,aAAa;IAkBrB,OAAO,CAAC,oBAAoB;CA+F7B"}