reze-engine 0.2.19 → 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

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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[];
@@ -65,6 +102,8 @@ export interface SkeletonRuntime {
     localTranslations: Float32Array;
     worldMatrices: Float32Array;
     computedBones: boolean[];
+    ikChainInfo?: IKChainInfo[];
+    ikSolvers?: IKSolver[];
 }
 export interface MorphRuntime {
     nameIndex: Record<string, number>;
@@ -87,13 +126,17 @@ export declare class Model {
     private cachedIdentityMat1;
     private cachedIdentityMat2;
     private rotTweenState;
+    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[];
@@ -108,12 +151,14 @@ export declare class Model {
     getMorphWeights(): Float32Array;
     getBoneNames(): string[];
     rotateBones(names: string[], quats: Quat[], durationMs?: number): void;
+    moveBones(names: string[], relativeTranslations: Vec3[], durationMs?: number): void;
     getBoneWorldMatrices(): Float32Array;
     getBoneInverseBindMatrices(): Float32Array;
     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

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