reze-engine 0.3.9 → 0.3.11

package/dist/ik-solver.d.ts

@@ -3,6 +3,7 @@
  * 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";
 import { Bone, IKSolver, IKChainInfo } from "./model";
 /**
  * Solve IK chains for a model
@@ -13,14 +14,12 @@ export declare class IKSolverSystem {
     /**
      * Solve all IK chains
      */
-    static solve(ikSolvers: IKSolver[], bones: Bone[], localRotations: Float32Array, localTranslations: Float32Array, worldMatrices: Float32Array, ikChainInfo: IKChainInfo[]): void;
+    static solve(ikSolvers: IKSolver[], bones: Bone[], localRotations: Quat[], localTranslations: Vec3[], worldMatrices: Mat4[], ikChainInfo: IKChainInfo[]): void;
     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;

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

@@ -1 +1 @@
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+{"version":3,"file":"ik-solver.d.ts","sourceRoot":"","sources":["../src/ik-solver.ts"],"names":[],"mappings":"AAAA;;;;GAIG;AAEH,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,QAAQ,CAAA;AACzC,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,IAAI,EAAE,EACtB,iBAAiB,EAAE,IAAI,EAAE,EACzB,aAAa,EAAE,IAAI,EAAE,EACrB,WAAW,EAAE,WAAW,EAAE,GACzB,IAAI;IAMP,OAAO,CAAC,MAAM,CAAC,OAAO;IA2EtB,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,kBAAkB;IAmCjC,OAAO,CAAC,MAAM,CAAC,gBAAgB;IAQ/B,OAAO,CAAC,MAAM,CAAC,wBAAwB;IAqBvC,OAAO,CAAC,MAAM,CAAC,4BAA4B;IAc3C,OAAO,CAAC,MAAM,CAAC,eAAe;IAS9B,OAAO,CAAC,MAAM,CAAC,iBAAiB;CAoCjC"}

package/dist/ik-solver.js

@@ -122,10 +122,9 @@ export class IKSolverSystem {
         for (const link of solver.links) {
             const chainInfo = ikChainInfo[link.boneIndex];
             if (chainInfo?.ikRotation) {
-                const qi = link.boneIndex * 4;
-                const localRot = this.getQuatFromArray(localRotations, qi);
+                const localRot = localRotations[link.boneIndex];
                 const finalRot = chainInfo.ikRotation.multiply(localRot).normalize();
-                this.setQuatToArray(localRotations, qi, finalRot);
+                localRot.set(finalRot);
             }
         }
     }
@@ -182,14 +181,14 @@ export class IKSolverSystem {
             chainInfo.ikRotation = ikRotation.multiply(chainInfo.ikRotation);
             // Apply angle constraints if present
             if (chain.minimumAngle && chain.maximumAngle) {
-                const qi = chainBoneIndex * 4;
-                const localRot = this.getQuatFromArray(localRotations, qi);
+                const localRot = localRotations[chainBoneIndex];
                 chainInfo.localRotation = localRot.clone();
                 const combinedRot = chainInfo.ikRotation.multiply(localRot);
                 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());
+                // Clone localRot to avoid mutating, then conjugate and normalize
+                chainInfo.ikRotation = chainInfo.ikRotation.multiply(localRot.clone().conjugate().normalize());
             }
         }
         // Update world matrices for affected bones (using IK-modified rotations)
@@ -218,17 +217,8 @@ export class IKSolverSystem {
         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;
+        const mat = worldMatrices[boneIndex];
+        return new Vec3(mat.values[12], mat.values[13], mat.values[14]);
     }
     static extractEulerAngles(quat, order) {
         const rotMatrix = Mat4.fromQuat(quat.x, quat.y, quat.z, quat.w);
@@ -292,8 +282,7 @@ export class IKSolverSystem {
     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));
+            const parentMat = worldMatrices[bone.parentIndex];
             // Remove translation
             const rotMat = Mat4.identity();
             const m = parentMat.values;
@@ -310,9 +299,8 @@ export class IKSolverSystem {
     }
     static updateWorldMatrix(boneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo) {
         const bone = bones[boneIndex];
-        const qi = boneIndex * 4;
-        const ti = boneIndex * 3;
-        const localRot = this.getQuatFromArray(localRotations, qi);
+        const localRot = localRotations[boneIndex];
+        const localTrans = localTranslations[boneIndex];
         // Apply IK rotation if available
         let finalRot = localRot;
         if (ikChainInfo) {
@@ -322,22 +310,18 @@ export class IKSolverSystem {
             }
         }
         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;
+            .translateInPlace(localTrans.x, localTrans.y, localTrans.z);
+        const worldMat = worldMatrices[boneIndex];
         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);
+            const parentMat = worldMatrices[bone.parentIndex];
+            const result = parentMat.multiply(localM);
+            worldMat.values.set(result.values);
         }
         else {
-            worldMatrices.subarray(worldOffset, worldOffset + 16).set(localM.values);
+            worldMat.values.set(localM.values);
         }
     }
 }

package/dist/math.d.ts

@@ -4,6 +4,7 @@ export declare class Vec3 {
     y: number;
     z: number;
     constructor(x: number, y: number, z: number);
+    static zeros(): Vec3;
     add(other: Vec3): Vec3;
     subtract(other: Vec3): Vec3;
     length(): number;
@@ -11,6 +12,7 @@ export declare class Vec3 {
     cross(other: Vec3): Vec3;
     dot(other: Vec3): number;
     scale(scalar: number): Vec3;
+    set(other: Vec3): Vec3;
 }
 export declare class Quat {
     x: number;
@@ -18,6 +20,7 @@ export declare class Quat {
     z: number;
     w: number;
     constructor(x: number, y: number, z: number, w: number);
+    static identity(): Quat;
     add(other: Quat): Quat;
     clone(): Quat;
     multiply(other: Quat): Quat;
@@ -26,6 +29,7 @@ export declare class Quat {
     normalize(): Quat;
     static fromAxisAngle(axis: Vec3, angle: number): Quat;
     toArray(): [number, number, number, number];
+    set(other: Quat): Quat;
     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 @@
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+{"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,MAAM,CAAC,KAAK,IAAI,IAAI;IAIpB,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAItB,QAAQ,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAI3B,MAAM,IAAI,MAAM;IAKhB,SAAS,IAAI,IAAI;IAejB,KAAK,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAQxB,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,MAAM;IAIxB,KAAK,CAAC,MAAM,EAAE,MAAM,GAAG,IAAI;IAK3B,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;CAMvB;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,MAAM,CAAC,QAAQ,IAAI,IAAI;IAIvB,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAItB,KAAK,IAAI,IAAI;IAIb,QAAQ,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAY3B,SAAS,IAAI,IAAI;IAOjB,MAAM,IAAI,MAAM;IAKhB,SAAS,IAAI,IAAI;IAkBjB,MAAM,CAAC,aAAa,CAAC,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,GAAG,IAAI;IAiBrD,OAAO,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC;IAK3C,GAAG,CAAC,KAAK,EAAE,IAAI,GAAG,IAAI;IAStB,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;CAejE;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;IAgCtD,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;AAED;;;;;;;;GAQG;AACH,wBAAgB,iBAAiB,CAAC,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,CAgCnG"}

package/dist/math.js

@@ -8,6 +8,9 @@ export class Vec3 {
         this.y = y;
         this.z = z;
     }
+    static zeros() {
+        return new Vec3(0, 0, 0);
+    }
     add(other) {
         return new Vec3(this.x + other.x, this.y + other.y, this.z + other.z);
     }
@@ -17,11 +20,21 @@ export class Vec3 {
     length() {
         return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
     }
+    // Normalize this vector in-place (mutates this object)
     normalize() {
         const len = this.length();
-        if (len === 0)
-            return new Vec3(0, 0, 0);
-        return new Vec3(this.x / len, this.y / len, this.z / len);
+        if (len === 0) {
+            this.x = 0;
+            this.y = 0;
+            this.z = 0;
+        }
+        else {
+            const invLen = 1 / len;
+            this.x *= invLen;
+            this.y *= invLen;
+            this.z *= invLen;
+        }
+        return this;
     }
     cross(other) {
         return new Vec3(this.y * other.z - this.z * other.y, this.z * other.x - this.x * other.z, this.x * other.y - this.y * other.x);
@@ -32,6 +45,13 @@ export class Vec3 {
     scale(scalar) {
         return new Vec3(this.x * scalar, this.y * scalar, this.z * scalar);
     }
+    // Set this vector's components from another vector (in-place mutation)
+    set(other) {
+        this.x = other.x;
+        this.y = other.y;
+        this.z = other.z;
+        return this;
+    }
 }
 export class Quat {
     constructor(x, y, z, w) {
@@ -40,6 +60,9 @@ export class Quat {
         this.z = z;
         this.w = w;
     }
+    static identity() {
+        return new Quat(0, 0, 0, 1);
+    }
     add(other) {
         return new Quat(this.x + other.x, this.y + other.y, this.z + other.z, this.w + other.w);
     }
@@ -50,30 +73,62 @@ export class Quat {
         // Proper quaternion multiplication (not component-wise)
         return new Quat(this.w * other.x + this.x * other.w + this.y * other.z - this.z * other.y, this.w * other.y - this.x * other.z + this.y * other.w + this.z * other.x, this.w * other.z + this.x * other.y - this.y * other.x + this.z * other.w, this.w * other.w - this.x * other.x - this.y * other.y - this.z * other.z);
     }
+    // Conjugate this quaternion in-place (mutates this object)
+    // Conjugate (inverse for unit quaternions): (x, y, z, w) -> (-x, -y, -z, w)
     conjugate() {
-        // Conjugate (inverse for unit quaternions): (x, y, z, w) -> (-x, -y, -z, w)
-        return new Quat(-this.x, -this.y, -this.z, this.w);
+        this.x = -this.x;
+        this.y = -this.y;
+        this.z = -this.z;
+        return this;
     }
     length() {
         return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
     }
+    // Normalize this quaternion in-place (mutates this object)
     normalize() {
         const len = this.length();
-        if (len === 0)
-            return new Quat(0, 0, 0, 1);
-        return new Quat(this.x / len, this.y / len, this.z / len, this.w / len);
+        if (len === 0) {
+            this.x = 0;
+            this.y = 0;
+            this.z = 0;
+            this.w = 1;
+        }
+        else {
+            const invLen = 1 / len;
+            this.x *= invLen;
+            this.y *= invLen;
+            this.z *= invLen;
+            this.w *= invLen;
+        }
+        return this;
     }
     // Static method: create quaternion from rotation axis and angle
     static fromAxisAngle(axis, angle) {
-        const normalizedAxis = axis.normalize();
+        // Clone to avoid mutating input, then normalize
+        const nx = axis.x;
+        const ny = axis.y;
+        const nz = axis.z;
+        const len = Math.sqrt(nx * nx + ny * ny + nz * nz);
+        const invLen = len > 0 ? 1 / len : 0;
+        const normalizedX = nx * invLen;
+        const normalizedY = ny * invLen;
+        const normalizedZ = nz * invLen;
         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);
+        return new Quat(normalizedX * sinHalf, normalizedY * sinHalf, normalizedZ * sinHalf, cosHalf);
     }
     toArray() {
         return [this.x, this.y, this.z, this.w];
     }
+    // Set this quaternion's components from another quaternion (in-place mutation)
+    set(other) {
+        this.x = other.x;
+        this.y = other.y;
+        this.z = other.z;
+        this.w = other.w;
+        return this;
+    }
     // Spherical linear interpolation between two quaternions
     static slerp(a, b, t) {
         let cos = a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
@@ -153,9 +208,13 @@ export class Mat4 {
     // For left-handed: camera looks along +Z direction
     static lookAt(eye, target, up) {
         // In left-handed: forward = target - eye (Z+ direction)
-        const forward = target.subtract(eye).normalize();
-        const right = up.cross(forward).normalize(); // X+ is right
-        const upVec = forward.cross(right).normalize(); // Y+ is up
+        // These operations create new Vec3 objects, so normalize() mutates those new objects
+        const forward = target.subtract(eye);
+        forward.normalize();
+        const right = up.cross(forward);
+        right.normalize(); // X+ is right
+        const upVec = forward.cross(right);
+        upVec.normalize(); // Y+ is up
         return new Mat4(new Float32Array([
             right.x,
             upVec.x,

package/dist/model.d.ts

@@ -1,4 +1,4 @@
-import { Quat, Vec3 } from "./math";
+import { Mat4, Quat, Vec3 } from "./math";
 import { Rigidbody, Joint } from "./physics";
 export interface Texture {
     path: string;
@@ -83,9 +83,9 @@ export interface Morphing {
 }
 export interface SkeletonRuntime {
     nameIndex: Record<string, number>;
-    localRotations: Float32Array;
-    localTranslations: Float32Array;
-    worldMatrices: Float32Array;
+    localRotations: Quat[];
+    localTranslations: Vec3[];
+    worldMatrices: Mat4[];
     ikChainInfo?: IKChainInfo[];
     ikSolvers?: IKSolver[];
 }
@@ -110,7 +110,7 @@ export declare class Model {
     private morphsDirty;
     private cachedIdentityMat1;
     private cachedIdentityMat2;
-    private cachedSkinMatrices?;
+    private skinMatricesArray?;
     private tweenState;
     private tweenTimeMs;
     private animationData;

package/dist/model.d.ts.map

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