reze-engine 0.3.5 → 0.3.7

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/math.d.ts

@@ -7,12 +7,10 @@ export declare class Vec3 {
     add(other: Vec3): Vec3;
     subtract(other: Vec3): Vec3;
     length(): number;
-    lengthSquared(): number;
     normalize(): Vec3;
     cross(other: Vec3): Vec3;
     dot(other: Vec3): number;
     scale(scalar: number): Vec3;
-    clone(): Vec3;
 }
 export declare class Quat {
     x: number;
@@ -26,13 +24,10 @@ export declare class Quat {
     conjugate(): Quat;
     length(): number;
     normalize(): Quat;
-    rotateVec(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;
-    toEuler(): Vec3;
 }
 export declare class Mat4 {
     values: Float32Array;

package/dist/math.d.ts.map

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

@@ -17,9 +17,6 @@ export class Vec3 {
     length() {
         return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
     }
-    lengthSquared() {
-        return this.x * this.x + this.y * this.y + this.z * this.z;
-    }
     normalize() {
         const len = this.length();
         if (len === 0)
@@ -35,9 +32,6 @@ export class Vec3 {
     scale(scalar) {
         return new Vec3(this.x * scalar, this.y * scalar, this.z * scalar);
     }
-    clone() {
-        return new Vec3(this.x, this.y, this.z);
-    }
 }
 export class Quat {
     constructor(x, y, z, w) {
@@ -69,35 +63,6 @@ export class Quat {
             return new Quat(0, 0, 0, 1);
         return new Quat(this.x / len, this.y / len, this.z / len, this.w / len);
     }
-    // Rotate a vector by this quaternion: result = q * v * q^-1
-    rotateVec(v) {
-        // Treat v as pure quaternion (x, y, z, 0)
-        const qx = this.x, qy = this.y, qz = this.z, qw = this.w;
-        const vx = v.x, vy = v.y, vz = v.z;
-        // t = 2 * cross(q.xyz, v)
-        const tx = 2 * (qy * vz - qz * vy);
-        const ty = 2 * (qz * vx - qx * vz);
-        const tz = 2 * (qx * vy - qy * vx);
-        // result = v + q.w * t + cross(q.xyz, t)
-        return new Vec3(vx + qw * tx + (qy * tz - qz * ty), vy + qw * ty + (qz * tx - qx * tz), vz + qw * tz + (qx * ty - qy * tx));
-    }
-    // Static method: create quaternion that rotates from one direction to another
-    static fromTo(from, to) {
-        const dot = from.dot(to);
-        if (dot > 0.999999)
-            return new Quat(0, 0, 0, 1); // Already aligned
-        if (dot < -0.999999) {
-            // 180 degrees
-            let axis = from.cross(new Vec3(1, 0, 0));
-            if (axis.length() < 0.001)
-                axis = from.cross(new Vec3(0, 1, 0));
-            return new Quat(axis.x, axis.y, axis.z, 0).normalize();
-        }
-        const axis = from.cross(to);
-        const w = Math.sqrt((1 + dot) * 2);
-        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();
@@ -152,26 +117,6 @@ export class Quat {
         const z = cy * cx * sz - sy * sx * cz;
         return new Quat(x, y, z, w).normalize();
     }
-    // Convert quaternion to Euler angles (ZXY order, inverse of fromEuler)
-    toEuler() {
-        const qx = this.x;
-        const qy = this.y;
-        const qz = this.z;
-        const qw = this.w;
-        // ZXY order (left-handed)
-        // Roll (X): rotation around X axis
-        const sinr_cosp = 2 * (qw * qx + qy * qz);
-        const cosr_cosp = 1 - 2 * (qx * qx + qy * qy);
-        const rotX = Math.atan2(sinr_cosp, cosr_cosp);
-        // Pitch (Y): rotation around Y axis
-        const sinp = 2 * (qw * qy - qz * qx);
-        const rotY = Math.abs(sinp) >= 1 ? (sinp >= 0 ? Math.PI / 2 : -Math.PI / 2) : Math.asin(sinp);
-        // Yaw (Z): rotation around Z axis
-        const siny_cosp = 2 * (qw * qz + qx * qy);
-        const cosy_cosp = 1 - 2 * (qy * qy + qz * qz);
-        const rotZ = Math.atan2(siny_cosp, cosy_cosp);
-        return new Vec3(rotX, rotY, rotZ);
-    }
 }
 export class Mat4 {
     constructor(values) {

package/dist/model.d.ts

@@ -107,25 +107,29 @@ export declare class Model {
     private joints;
     private runtimeSkeleton;
     private runtimeMorph;
+    private morphsDirty;
     private cachedIdentityMat1;
     private cachedIdentityMat2;
-    private rotTweenState;
-    private transTweenState;
-    private morphTweenState;
+    private cachedSkinMatrices?;
+    private tweenState;
+    private tweenTimeMs;
+    private animationData;
+    private boneTracks;
+    private morphTracks;
+    private animationDuration;
+    private isPlaying;
+    private isPaused;
+    private animationTime;
+    private physics;
     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 initializeTweenBuffers;
     private initializeRuntimeMorph;
-    private updateRotationTweens;
-    private updateTranslationTweens;
-    private updateMorphWeightTweens;
+    private updateTweens;
     getVertices(): Float32Array<ArrayBuffer>;
     getTextures(): Texture[];
     getMaterials(): Material[];
-    getVertexCount(): number;
     getIndices(): Uint32Array<ArrayBuffer>;
     getSkeleton(): Skeleton;
     getSkinning(): Skinning;
@@ -133,15 +137,57 @@ export declare class Model {
     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;
-    getMorphNames(): string[];
+    getSkinMatrices(): Float32Array;
     setMorphWeight(name: string, weight: number, durationMs?: number): void;
     private applyMorphs;
-    evaluatePose(): boolean;
+    /**
+     * Load VMD animation file
+     */
+    loadVmd(vmdUrl: string): Promise<void>;
+    /**
+     * Process frames into tracks
+     */
+    private processFrames;
+    /**
+     * Start or resume playback
+     */
+    playAnimation(): void;
+    /**
+     * Pause playback
+     */
+    pauseAnimation(): void;
+    /**
+     * Stop playback and reset to beginning
+     */
+    stopAnimation(): void;
+    /**
+     * Seek to specific time
+     * Immediately applies pose at the seeked time
+     */
+    seekAnimation(time: number): void;
+    /**
+     * Get current animation progress
+     */
+    getAnimationProgress(): {
+        current: number;
+        duration: number;
+        percentage: number;
+    };
+    /**
+     * Get pose at specific time (internal helper)
+     */
+    private getPoseAtTime;
+    /**
+     * Updates the model pose by recomputing all matrices.
+     * If animation is playing, applies animation pose first.
+     * deltaTime: Time elapsed since last update in seconds
+     * Returns true if vertices were modified (morphs changed)
+     */
+    update(deltaTime: number): boolean;
     private solveIKChains;
     private computeWorldMatrices;
 }

package/dist/model.d.ts.map

@@ -1 +1 @@
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