reze-engine 0.3.5 → 0.3.6

package/dist/engine.d.ts

@@ -102,7 +102,6 @@ export declare class Engine {
     private renderLoopCallback;
     private player;
     private hasAnimation;
-    private animationStartTime;
     constructor(canvas: HTMLCanvasElement, options?: EngineOptions);
     init(): Promise<void>;
     private createPipelines;
@@ -135,6 +134,8 @@ export declare class Engine {
     private updateVertexBuffer;
     private setupModelBuffers;
     private setupMaterials;
+    private createMaterialUniformBuffer;
+    private createUniformBuffer;
     private createTextureFromPath;
     private renderEyes;
     private renderHair;

package/dist/engine.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"engine.d.ts","sourceRoot":"","sources":["../src/engine.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,QAAQ,CAAA;AAMnC,MAAM,MAAM,aAAa,GAAG;IAC1B,YAAY,CAAC,EAAE,IAAI,CAAA;IACnB,cAAc,CAAC,EAAE,MAAM,CAAA;IACvB,iBAAiB,CAAC,EAAE,MAAM,CAAA;IAC1B,cAAc,CAAC,EAAE,MAAM,CAAA;IACvB,YAAY,CAAC,EAAE,IAAI,CAAA;CACpB,CAAA;AAED,MAAM,WAAW,WAAW;IAC1B,GAAG,EAAE,MAAM,CAAA;IACX,SAAS,EAAE,MAAM,CAAA;CAClB;AAQD,qBAAa,MAAM;IACjB,OAAO,CAAC,MAAM,CAAmB;IACjC,OAAO,CAAC,MAAM,CAAY;IAC1B,OAAO,CAAC,OAAO,CAAmB;IAClC,OAAO,CAAC,kBAAkB,CAAmB;IAC7C,OAAO,CAAC,MAAM,CAAS;IACvB,OAAO,CAAC,mBAAmB,CAAY;IACvC,OAAO,CAAC,gBAAgB,CAAuB;IAC/C,OAAO,CAAC,cAAc,CAAe;IACrC,OAAO,CAAC,YAAY,CAA6B;IACjD,OAAO,CAAC,kBAAkB,CAAY;IACtC,OAAO,CAAC,SAAS,CAAsB;IACvC,OAAO,CAAC,YAAY,CAAY;IAChC,OAAO,CAAC,WAAW,CAAC,CAAW;IAC/B,OAAO,CAAC,cAAc,CAA8B;IACpD,OAAO,CAAC,YAAY,CAAa;IAEjC,OAAO,CAAC,aAAa,CAAoB;IACzC,OAAO,CAAC,WAAW,CAAoB;IACvC,OAAO,CAAC,oBAAoB,CAAoB;IAChD,OAAO,CAAC,uBAAuB,CAAoB;IACnD,OAAO,CAAC,iBAAiB,CAAoB;IAE7C,OAAO,CAAC,eAAe,CAAoB;IAC3C,OAAO,CAAC,mBAAmB,CAAoB;IAC/C,OAAO,CAAC,mBAAmB,CAAqB;IAChD,OAAO,CAAC,sBAAsB,CAAqB;IACnD,OAAO,CAAC,YAAY,CAAY;IAChC,OAAO,CAAC,aAAa,CAAY;IACjC,OAAO,CAAC,gBAAgB,CAAC,CAAW;IACpC,OAAO,CAAC,iBAAiB,CAAC,CAAW;IACrC,OAAO,CAAC,uBAAuB,CAAC,CAAW;IAC3C,OAAO,CAAC,yBAAyB,CAAC,CAAoB;IACtD,OAAO,CAAC,0BAA0B,CAAC,CAAc;IACjD,OAAO,CAAC,eAAe,CAAC,CAAW;IACnC,OAAO,CAAC,kBAAkB,CAAa;IACvC,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAI;IAChC,OAAO,CAAC,oBAAoB,CAA0B;IAEtD,OAAO,CAAC,QAAQ,CAAC,iBAAiB,CAAI;IACtC,OAAO,CAAC,QAAQ,CAAC,sBAAsB,CAAK;IAC5C,OAAO,CAAC,QAAQ,CAAC,sBAAsB,CAAI;IAG3C,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,uBAAuB,CAAO;IACtD,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,uBAAuB,CAAO;IACtD,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,2BAA2B,CAAO;IAC1D,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,uBAAuB,CAAO;IACtD,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,qBAAqB,CAAuB;IACpE,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,oBAAoB,CAAQ;IACpD,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,4BAA4B,CAAO;IAC3D,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,yBAAyB,CAAM;IAGvD,OAAO,CAAC,YAAY,CAAgC;IAEpD,OAAO,CAAC,kBAAkB,CAAa;IACvC,OAAO,CAAC,sBAAsB,CAAiB;IAC/C,OAAO,CAAC,mBAAmB,CAAa;IACxC,OAAO,CAAC,iBAAiB,CAAa;IACtC,OAAO,CAAC,iBAAiB,CAAa;IAEtC,OAAO,CAAC,oBAAoB,CAAoB;IAChD,OAAO,CAAC,iBAAiB,CAAoB;IAC7C,OAAO,CAAC,oBAAoB,CAAoB;IAChD,OAAO,CAAC,mBAAmB,CAAY;IACvC,OAAO,CAAC,oBAAoB,CAAY;IACxC,OAAO,CAAC,oBAAoB,CAAY;IACxC,OAAO,CAAC,aAAa,CAAa;IAElC,OAAO,CAAC,qBAAqB,CAAC,CAAc;IAC5C,OAAO,CAAC,mBAAmB,CAAC,CAAc;IAC1C,OAAO,CAAC,mBAAmB,CAAC,CAAc;IAC1C,OAAO,CAAC,qBAAqB,CAAC,CAAc;IAE5C,OAAO,CAAC,cAAc,CAAyC;IAC/D,OAAO,CAAC,cAAc,CAAyC;IAE/D,OAAO,CAAC,iBAAiB,CAA6C;IAEtE,OAAO,CAAC,YAAY,CAAqB;IACzC,OAAO,CAAC,QAAQ,CAAa;IAC7B,OAAO,CAAC,OAAO,CAAuB;IACtC,OAAO,CAAC,eAAe,CAAa;IACpC,OAAO,CAAC,YAAY,CAAgC;IACpD,OAAO,CAAC,uBAAuB,CAAQ;IAEvC,OAAO,CAAC,WAAW,CAAiB;IACpC,OAAO,CAAC,QAAQ,CAAiB;IACjC,OAAO,CAAC,iBAAiB,CAAiB;IAC1C,OAAO,CAAC,oBAAoB,CAAiB;IAC7C,OAAO,CAAC,gBAAgB,CAAiB;IACzC,OAAO,CAAC,kBAAkB,CAAiB;IAC3C,OAAO,CAAC,eAAe,CAAiB;IACxC,OAAO,CAAC,gBAAgB,CAAiB;IACzC,OAAO,CAAC,uBAAuB,CAAiB;IAEhD,OAAO,CAAC,aAAa,CAAoB;IACzC,OAAO,CAAC,qBAAqB,CAAI;IACjC,OAAO,CAAC,aAAa,CAAoB;IACzC,OAAO,CAAC,YAAY,CAAI;IACxB,OAAO,CAAC,cAAc,CAAI;IAC1B,OAAO,CAAC,KAAK,CAGZ;IACD,OAAO,CAAC,gBAAgB,CAAsB;IAC9C,OAAO,CAAC,kBAAkB,CAA4B;IAEtD,OAAO,CAAC,MAAM,CAAuB;IACrC,OAAO,CAAC,YAAY,CAAQ;gBAEhB,MAAM,EAAE,iBAAiB,EAAE,OAAO,CAAC,EAAE,aAAa;IAYjD,IAAI;IA6BjB,OAAO,CAAC,eAAe;IAunBvB,OAAO,CAAC,+BAA+B;IAwCvC,OAAO,CAAC,oBAAoB;IA4O5B,OAAO,CAAC,UAAU;IA+DlB,OAAO,CAAC,WAAW;IAMnB,OAAO,CAAC,YAAY;IA+EpB,OAAO,CAAC,WAAW;IAcnB,OAAO,CAAC,aAAa;IAYrB,OAAO,CAAC,eAAe;IAQV,aAAa,CAAC,GAAG,EAAE,MAAM;IA+C/B,aAAa;IAqDb,aAAa;IAIb,cAAc;IAId,aAAa,CAAC,IAAI,EAAE,MAAM;IA8B1B,oBAAoB;IAI3B;;OAEG;IACH,OAAO,CAAC,SAAS;IAuBV,QAAQ,IAAI,WAAW;IAIvB,aAAa,CAAC,QAAQ,CAAC,EAAE,MAAM,IAAI;IAgBnC,cAAc;IAQd,OAAO;IAWD,SAAS,CAAC,IAAI,EAAE,MAAM;IAY5B,WAAW,CAAC,KAAK,EAAE,MAAM,EAAE,EAAE,SAAS,EAAE,IAAI,EAAE,EAAE,UAAU,CAAC,EAAE,MAAM;IAKnE,SAAS,CAAC,KAAK,EAAE,MAAM,EAAE,EAAE,oBAAoB,EAAE,IAAI,EAAE,EAAE,UAAU,CAAC,EAAE,MAAM;IAI5E,cAAc,CAAC,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,UAAU,CAAC,EAAE,MAAM,GAAG,IAAI;IAQ9E,OAAO,CAAC,kBAAkB;YAQZ,iBAAiB;YA0GjB,cAAc;IAsJ5B,OAAO,CAAC,2BAA2B;IAMnC,OAAO,CAAC,mBAAmB;YAUb,qBAAqB;IAmCnC,OAAO,CAAC,UAAU;IAUlB,OAAO,CAAC,UAAU;IA6CX,MAAM;IA+Eb,OAAO,CAAC,UAAU;IAmGlB,OAAO,CAAC,oBAAoB;IAY5B,OAAO,CAAC,kBAAkB;IAU1B,OAAO,CAAC,eAAe;IAmBvB,OAAO,CAAC,mBAAmB;IAW3B,OAAO,CAAC,YAAY;IASpB,OAAO,CAAC,WAAW;CA0BpB"}

package/dist/engine.js

@@ -50,7 +50,6 @@ export class Engine {
         this.renderLoopCallback = null;
         this.player = new Player();
         this.hasAnimation = false; // Set to true when loadAnimation is called
-        this.animationStartTime = 0; // Track when animation first started (for A-pose prevention)
         this.canvas = canvas;
         if (options) {
             this.ambientColor = options.ambientColor ?? new Vec3(1.0, 1.0, 1.0);
@@ -1156,8 +1155,8 @@ export class Engine {
     playAnimation() {
         if (!this.hasAnimation || !this.currentModel)
             return;
-        const wasPaused = this.player.isPausedState();
-        const wasPlaying = this.player.isPlayingState();
+        const wasPaused = this.player.isPausedState;
+        const wasPlaying = this.player.isPlayingState;
         // Only reset pose and physics if starting from beginning (not resuming)
         if (!wasPlaying && !wasPaused) {
             // Get initial pose at time 0
@@ -1191,9 +1190,6 @@ export class Engine {
         }
         // Start playback (or resume if paused)
         this.player.play();
-        if (this.animationStartTime === 0) {
-            this.animationStartTime = performance.now();
-        }
     }
     stopAnimation() {
         this.player.stop();
@@ -1419,22 +1415,7 @@ export class Engine {
                 throw new Error(`Material "${mat.name}" has no diffuse texture`);
             const materialAlpha = mat.diffuse[3];
             const isTransparent = materialAlpha < 1.0 - Engine.TRANSPARENCY_EPSILON;
-            // Create material uniform data
-            const materialUniformData = new Float32Array(8);
-            materialUniformData[0] = materialAlpha;
-            materialUniformData[1] = 1.0; // alphaMultiplier: 1.0 for non-hair materials
-            materialUniformData[2] = this.rimLightIntensity;
-            materialUniformData[3] = 0.0; // _padding1
-            materialUniformData[4] = 1.0; // rimColor.r
-            materialUniformData[5] = 1.0; // rimColor.g
-            materialUniformData[6] = 1.0; // rimColor.b
-            materialUniformData[7] = 0.0; // isOverEyes
-            const materialUniformBuffer = this.device.createBuffer({
-                label: `material uniform: ${mat.name}`,
-                size: materialUniformData.byteLength,
-                usage: GPUBufferUsage.UNIFORM | GPUBufferUsage.COPY_DST,
-            });
-            this.device.queue.writeBuffer(materialUniformBuffer, 0, materialUniformData);
+            const materialUniformBuffer = this.createMaterialUniformBuffer(mat.name, materialAlpha, 0.0);
             // Create bind groups using the shared bind group layout - All pipelines (main, eye, hair multiply, hair opaque) use the same shader and layout
             const bindGroup = this.device.createBindGroup({
                 label: `material bind group: ${mat.name}`,
@@ -1448,33 +1429,18 @@ export class Engine {
                     { binding: 5, resource: { buffer: materialUniformBuffer } },
                 ],
             });
-            if (mat.isEye) {
+            const addDrawCall = (draws) => {
                 if (indexCount > 0) {
-                    this.eyeDraws.push({
-                        count: indexCount,
-                        firstIndex: currentIndexOffset,
-                        bindGroup,
-                    });
+                    draws.push({ count: indexCount, firstIndex: currentIndexOffset, bindGroup });
                 }
+            };
+            if (mat.isEye) {
+                addDrawCall(this.eyeDraws);
             }
             else if (mat.isHair) {
                 // Hair materials: create separate bind groups for over-eyes vs over-non-eyes
                 const createHairBindGroup = (isOverEyes) => {
-                    const uniformData = new Float32Array(8);
-                    uniformData[0] = materialAlpha;
-                    uniformData[1] = 1.0; // alphaMultiplier (shader adjusts based on isOverEyes)
-                    uniformData[2] = this.rimLightIntensity;
-                    uniformData[3] = 0.0; // _padding1
-                    uniformData[4] = 1.0; // rimColor.rgb
-                    uniformData[5] = 1.0;
-                    uniformData[6] = 1.0;
-                    uniformData[7] = isOverEyes ? 1.0 : 0.0; // isOverEyes
-                    const buffer = this.device.createBuffer({
-                        label: `material uniform (${isOverEyes ? "over eyes" : "over non-eyes"}): ${mat.name}`,
-                        size: uniformData.byteLength,
-                        usage: GPUBufferUsage.UNIFORM | GPUBufferUsage.COPY_DST,
-                    });
-                    this.device.queue.writeBuffer(buffer, 0, uniformData);
+                    const buffer = this.createMaterialUniformBuffer(`${mat.name} (${isOverEyes ? "over eyes" : "over non-eyes"})`, materialAlpha, isOverEyes ? 1.0 : 0.0);
                     return this.device.createBindGroup({
                         label: `material bind group (${isOverEyes ? "over eyes" : "over non-eyes"}): ${mat.name}`,
                         layout: this.mainBindGroupLayout,
@@ -1504,40 +1470,24 @@ export class Engine {
                 }
             }
             else if (isTransparent) {
-                if (indexCount > 0) {
-                    this.transparentDraws.push({
-                        count: indexCount,
-                        firstIndex: currentIndexOffset,
-                        bindGroup,
-                    });
-                }
+                addDrawCall(this.transparentDraws);
             }
             else {
-                if (indexCount > 0) {
-                    this.opaqueDraws.push({
-                        count: indexCount,
-                        firstIndex: currentIndexOffset,
-                        bindGroup,
-                    });
-                }
+                addDrawCall(this.opaqueDraws);
             }
             // Edge flag is at bit 4 (0x10) in PMX format
             if ((mat.edgeFlag & 0x10) !== 0 && mat.edgeSize > 0) {
-                const materialUniformData = new Float32Array(8);
-                materialUniformData[0] = mat.edgeColor[0]; // edgeColor.r
-                materialUniformData[1] = mat.edgeColor[1]; // edgeColor.g
-                materialUniformData[2] = mat.edgeColor[2]; // edgeColor.b
-                materialUniformData[3] = mat.edgeColor[3]; // edgeColor.a
-                materialUniformData[4] = mat.edgeSize;
-                materialUniformData[5] = 0.0; // isOverEyes
-                materialUniformData[6] = 0.0;
-                materialUniformData[7] = 0.0;
-                const materialUniformBuffer = this.device.createBuffer({
-                    label: `outline material uniform: ${mat.name}`,
-                    size: materialUniformData.byteLength,
-                    usage: GPUBufferUsage.UNIFORM | GPUBufferUsage.COPY_DST,
-                });
-                this.device.queue.writeBuffer(materialUniformBuffer, 0, materialUniformData);
+                const materialUniformData = new Float32Array([
+                    mat.edgeColor[0],
+                    mat.edgeColor[1],
+                    mat.edgeColor[2],
+                    mat.edgeColor[3],
+                    mat.edgeSize,
+                    0,
+                    0,
+                    0,
+                ]);
+                const materialUniformBuffer = this.createUniformBuffer(`outline material uniform: ${mat.name}`, materialUniformData);
                 const outlineBindGroup = this.device.createBindGroup({
                     label: `outline bind group: ${mat.name}`,
                     layout: this.outlineBindGroupLayout,
@@ -1548,39 +1498,33 @@ export class Engine {
                     ],
                 });
                 if (indexCount > 0) {
-                    if (mat.isEye) {
-                        this.eyeOutlineDraws.push({
-                            count: indexCount,
-                            firstIndex: currentIndexOffset,
-                            bindGroup: outlineBindGroup,
-                        });
-                    }
-                    else if (mat.isHair) {
-                        this.hairOutlineDraws.push({
-                            count: indexCount,
-                            firstIndex: currentIndexOffset,
-                            bindGroup: outlineBindGroup,
-                        });
-                    }
-                    else if (isTransparent) {
-                        this.transparentOutlineDraws.push({
-                            count: indexCount,
-                            firstIndex: currentIndexOffset,
-                            bindGroup: outlineBindGroup,
-                        });
-                    }
-                    else {
-                        this.opaqueOutlineDraws.push({
-                            count: indexCount,
-                            firstIndex: currentIndexOffset,
-                            bindGroup: outlineBindGroup,
-                        });
-                    }
+                    const outlineDraws = mat.isEye
+                        ? this.eyeOutlineDraws
+                        : mat.isHair
+                            ? this.hairOutlineDraws
+                            : isTransparent
+                                ? this.transparentOutlineDraws
+                                : this.opaqueOutlineDraws;
+                    outlineDraws.push({ count: indexCount, firstIndex: currentIndexOffset, bindGroup: outlineBindGroup });
                 }
             }
             currentIndexOffset += indexCount;
         }
     }
+    createMaterialUniformBuffer(label, alpha, isOverEyes) {
+        const data = new Float32Array(8);
+        data.set([alpha, 1.0, this.rimLightIntensity, 0.0, 1.0, 1.0, 1.0, isOverEyes]);
+        return this.createUniformBuffer(`material uniform: ${label}`, data);
+    }
+    createUniformBuffer(label, data) {
+        const buffer = this.device.createBuffer({
+            label,
+            size: data.byteLength,
+            usage: GPUBufferUsage.UNIFORM | GPUBufferUsage.COPY_DST,
+        });
+        this.device.queue.writeBuffer(buffer, 0, data);
+        return buffer;
+    }
     async createTextureFromPath(path) {
         const cached = this.textureCache.get(path);
         if (cached) {

package/dist/ik-solver.d.ts

@@ -17,7 +17,13 @@ export declare class IKSolverSystem {
     private static solveIK;
     private static solveChain;
     private static limitAngle;
+    private static getDistance;
     private static getWorldTranslation;
+    private static getQuatFromArray;
+    private static setQuatToArray;
+    private static extractEulerAngles;
+    private static limitEulerAngles;
+    private static reconstructQuatFromEuler;
     private static getParentWorldRotationMatrix;
     private static transformNormal;
     private static updateWorldMatrix;

package/dist/ik-solver.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"ik-solver.d.ts","sourceRoot":"","sources":["../src/ik-solver.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAGH,OAAO,EAAE,IAAI,EAAU,QAAQ,EAAE,WAAW,EAAE,MAAM,SAAS,CAAA;AAoE7D;;GAEG;AACH,qBAAa,cAAc;IACzB,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,OAAO,CAAS;IACxC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,SAAS,CAAuB;IAExD;;OAEG;WACW,KAAK,CACjB,SAAS,EAAE,QAAQ,EAAE,EACrB,KAAK,EAAE,IAAI,EAAE,EACb,cAAc,EAAE,YAAY,EAC5B,iBAAiB,EAAE,YAAY,EAC/B,aAAa,EAAE,YAAY,EAC3B,WAAW,EAAE,WAAW,EAAE,GACzB,IAAI;IAMP,OAAO,CAAC,MAAM,CAAC,OAAO;IAgGtB,OAAO,CAAC,MAAM,CAAC,UAAU;IAoKzB,OAAO,CAAC,MAAM,CAAC,UAAU;IAYzB,OAAO,CAAC,MAAM,CAAC,mBAAmB;IAKlC,OAAO,CAAC,MAAM,CAAC,4BAA4B;IAe3C,OAAO,CAAC,MAAM,CAAC,eAAe;IAS9B,OAAO,CAAC,MAAM,CAAC,iBAAiB;CAiDjC"}
+{"version":3,"file":"ik-solver.d.ts","sourceRoot":"","sources":["../src/ik-solver.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAGH,OAAO,EAAE,IAAI,EAAU,QAAQ,EAAE,WAAW,EAAE,MAAM,SAAS,CAAA;AAoE7D;;GAEG;AACH,qBAAa,cAAc;IACzB,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,OAAO,CAAS;IACxC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,SAAS,CAAuB;IAExD;;OAEG;WACW,KAAK,CACjB,SAAS,EAAE,QAAQ,EAAE,EACrB,KAAK,EAAE,IAAI,EAAE,EACb,cAAc,EAAE,YAAY,EAC5B,iBAAiB,EAAE,YAAY,EAC/B,aAAa,EAAE,YAAY,EAC3B,WAAW,EAAE,WAAW,EAAE,GACzB,IAAI;IAMP,OAAO,CAAC,MAAM,CAAC,OAAO;IA4EtB,OAAO,CAAC,MAAM,CAAC,UAAU;IA2FzB,OAAO,CAAC,MAAM,CAAC,UAAU;IAYzB,OAAO,CAAC,MAAM,CAAC,WAAW;IAM1B,OAAO,CAAC,MAAM,CAAC,mBAAmB;IAKlC,OAAO,CAAC,MAAM,CAAC,gBAAgB;IAI/B,OAAO,CAAC,MAAM,CAAC,cAAc;IAO7B,OAAO,CAAC,MAAM,CAAC,kBAAkB;IAmCjC,OAAO,CAAC,MAAM,CAAC,gBAAgB;IAQ/B,OAAO,CAAC,MAAM,CAAC,wBAAwB;IAqBvC,OAAO,CAAC,MAAM,CAAC,4BAA4B;IAe3C,OAAO,CAAC,MAAM,CAAC,eAAe;IAS9B,OAAO,CAAC,MAAM,CAAC,iBAAiB;CA2CjC"}

package/dist/ik-solver.js

@@ -91,10 +91,7 @@ export class IKSolverSystem {
                 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)
+        if (this.getDistance(ikBoneIndex, targetBoneIndex, worldMatrices) < this.EPSILON)
             return;
         // Build IK chains
         const chains = [];
@@ -106,10 +103,7 @@ export class IKSolverSystem {
             this.updateWorldMatrix(chains[i].boneIndex, bones, localRotations, localTranslations, worldMatrices, undefined);
         }
         this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined);
-        // 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)
+        if (this.getDistance(ikBoneIndex, targetBoneIndex, worldMatrices) < this.EPSILON)
             return;
         // Solve iteratively
         const iteration = Math.min(solver.iterationCount, 256);
@@ -121,24 +115,17 @@ export class IKSolverSystem {
                     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)
+            if (this.getDistance(ikBoneIndex, targetBoneIndex, worldMatrices) < this.EPSILON)
                 break;
         }
         // Apply IK rotations to local rotations
         for (const link of solver.links) {
             const chainInfo = ikChainInfo[link.boneIndex];
-            if (chainInfo && chainInfo.ikRotation) {
+            if (chainInfo?.ikRotation) {
                 const qi = link.boneIndex * 4;
-                const localRot = new Quat(localRotations[qi], localRotations[qi + 1], localRotations[qi + 2], localRotations[qi + 3]);
+                const localRot = this.getQuatFromArray(localRotations, qi);
                 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;
+                this.setQuatToArray(localRotations, qi, finalRot);
             }
         }
     }
@@ -162,25 +149,20 @@ export class IKSolverSystem {
                     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.X:
+                case InternalSolveAxis.Y:
                 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);
+                    const axisOffset = (chain.solveAxis - InternalSolveAxis.X) * 4;
+                    const axis = new Vec3(m[axisOffset], m[axisOffset + 1], m[axisOffset + 2]);
+                    const dot = chainRotationAxis.dot(axis);
+                    const sign = dot >= 0 ? 1 : -1;
+                    finalRotationAxis =
+                        chain.solveAxis === InternalSolveAxis.X
+                            ? new Vec3(sign, 0, 0)
+                            : chain.solveAxis === InternalSolveAxis.Y
+                                ? new Vec3(0, sign, 0)
+                                : new Vec3(0, 0, sign);
                     break;
                 }
                 default:
@@ -199,72 +181,15 @@ export class IKSolverSystem {
         if (chainInfo) {
             chainInfo.ikRotation = ikRotation.multiply(chainInfo.ikRotation);
             // Apply angle constraints if present
-            if (chain.minimumAngle !== null && chain.maximumAngle !== null) {
+            if (chain.minimumAngle && chain.maximumAngle) {
                 const qi = chainBoneIndex * 4;
-                const localRot = new Quat(localRotations[qi], localRotations[qi + 1], localRotations[qi + 2], localRotations[qi + 3]);
+                const localRot = this.getQuatFromArray(localRotations, qi);
                 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);
+                const euler = this.extractEulerAngles(combinedRot, chain.rotationOrder);
+                const limited = this.limitEulerAngles(euler, chain.minimumAngle, chain.maximumAngle, useAxis);
+                chainInfo.ikRotation = this.reconstructQuatFromEuler(limited, chain.rotationOrder);
+                chainInfo.ikRotation = chainInfo.ikRotation.multiply(localRot.conjugate().normalize());
             }
         }
         // Update world matrices for affected bones (using IK-modified rotations)
@@ -287,10 +212,83 @@ export class IKSolverSystem {
             return angle;
         }
     }
+    static getDistance(boneIndex1, boneIndex2, worldMatrices) {
+        const pos1 = this.getWorldTranslation(boneIndex1, worldMatrices);
+        const pos2 = this.getWorldTranslation(boneIndex2, worldMatrices);
+        return pos1.subtract(pos2).length();
+    }
     static getWorldTranslation(boneIndex, worldMatrices) {
         const offset = boneIndex * 16;
         return new Vec3(worldMatrices[offset + 12], worldMatrices[offset + 13], worldMatrices[offset + 14]);
     }
+    static getQuatFromArray(array, offset) {
+        return new Quat(array[offset], array[offset + 1], array[offset + 2], array[offset + 3]);
+    }
+    static setQuatToArray(array, offset, quat) {
+        array[offset] = quat.x;
+        array[offset + 1] = quat.y;
+        array[offset + 2] = quat.z;
+        array[offset + 3] = quat.w;
+    }
+    static extractEulerAngles(quat, order) {
+        const rotMatrix = Mat4.fromQuat(quat.x, quat.y, quat.z, quat.w);
+        const m = rotMatrix.values;
+        switch (order) {
+            case InternalEulerRotationOrder.YXZ: {
+                let rX = Math.asin(-m[9]);
+                if (Math.abs(rX) > this.THRESHOLD)
+                    rX = rX < 0 ? -this.THRESHOLD : this.THRESHOLD;
+                let cosX = Math.cos(rX);
+                if (cosX !== 0)
+                    cosX = 1 / cosX;
+                const rY = Math.atan2(m[8] * cosX, m[10] * cosX);
+                const rZ = Math.atan2(m[1] * cosX, m[5] * cosX);
+                return new Vec3(rX, rY, rZ);
+            }
+            case InternalEulerRotationOrder.ZYX: {
+                let rY = Math.asin(-m[2]);
+                if (Math.abs(rY) > this.THRESHOLD)
+                    rY = rY < 0 ? -this.THRESHOLD : this.THRESHOLD;
+                let cosY = Math.cos(rY);
+                if (cosY !== 0)
+                    cosY = 1 / cosY;
+                const rX = Math.atan2(m[6] * cosY, m[10] * cosY);
+                const rZ = Math.atan2(m[1] * cosY, m[0] * cosY);
+                return new Vec3(rX, rY, rZ);
+            }
+            case InternalEulerRotationOrder.XZY: {
+                let rZ = Math.asin(-m[4]);
+                if (Math.abs(rZ) > this.THRESHOLD)
+                    rZ = rZ < 0 ? -this.THRESHOLD : this.THRESHOLD;
+                let cosZ = Math.cos(rZ);
+                if (cosZ !== 0)
+                    cosZ = 1 / cosZ;
+                const rX = Math.atan2(m[6] * cosZ, m[5] * cosZ);
+                const rY = Math.atan2(m[8] * cosZ, m[0] * cosZ);
+                return new Vec3(rX, rY, rZ);
+            }
+        }
+    }
+    static limitEulerAngles(euler, min, max, useAxis) {
+        return new Vec3(this.limitAngle(euler.x, min.x, max.x, useAxis), this.limitAngle(euler.y, min.y, max.y, useAxis), this.limitAngle(euler.z, min.z, max.z, useAxis));
+    }
+    static reconstructQuatFromEuler(euler, order) {
+        const axes = [
+            [new Vec3(1, 0, 0), new Vec3(0, 1, 0), new Vec3(0, 0, 1)],
+            [new Vec3(0, 0, 1), new Vec3(0, 1, 0), new Vec3(1, 0, 0)],
+            [new Vec3(0, 1, 0), new Vec3(1, 0, 0), new Vec3(0, 0, 1)],
+        ];
+        const [axis1, axis2, axis3] = axes[order];
+        const [angle1, angle2, angle3] = order === InternalEulerRotationOrder.YXZ
+            ? [euler.y, euler.x, euler.z]
+            : order === InternalEulerRotationOrder.ZYX
+                ? [euler.z, euler.y, euler.x]
+                : [euler.x, euler.z, euler.y];
+        let result = Quat.fromAxisAngle(axis1, angle1);
+        result = result.multiply(Quat.fromAxisAngle(axis2, angle2));
+        result = result.multiply(Quat.fromAxisAngle(axis3, angle3));
+        return result;
+    }
     static getParentWorldRotationMatrix(boneIndex, bones, worldMatrices) {
         const bone = bones[boneIndex];
         if (bone.parentIndex >= 0) {
@@ -314,8 +312,7 @@ export class IKSolverSystem {
         const bone = bones[boneIndex];
         const qi = boneIndex * 4;
         const ti = boneIndex * 3;
-        // Get local rotation
-        const localRot = new Quat(localRotations[qi], localRotations[qi + 1], localRotations[qi + 2], localRotations[qi + 3]);
+        const localRot = this.getQuatFromArray(localRotations, qi);
         // Apply IK rotation if available
         let finalRot = localRot;
         if (ikChainInfo) {

package/dist/ik.d.ts

@@ -0,0 +1,32 @@
+import { Vec3 } from "./math";
+import type { Skeleton } from "./model";
+export interface IKLink {
+    boneIndex: number;
+    hasLimit: boolean;
+    minAngle?: Vec3;
+    maxAngle?: Vec3;
+}
+export interface IKChain {
+    targetBoneIndex: number;
+    effectorBoneIndex: number;
+    iterationCount: number;
+    rotationConstraint: number;
+    links: IKLink[];
+    enabled: boolean;
+}
+export declare class IK {
+    private chains;
+    private computeWorldMatricesCallback?;
+    private lastTargetPositions;
+    private convergedChains;
+    private ikRotations;
+    constructor(chains?: IKChain[]);
+    setComputeWorldMatricesCallback(callback: () => void): void;
+    getChains(): IKChain[];
+    enableChain(targetBoneName: string, enabled: boolean): void;
+    solve(skeleton: Skeleton, localRotations: Float32Array, localTranslations: Float32Array, worldMatrices: Float32Array): void;
+    private solveCCD;
+    private applyAngleConstraints;
+    private computeWorldMatrices;
+}
+//# sourceMappingURL=ik.d.ts.map

package/dist/ik.d.ts.map

@@ -0,0 +1 @@
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