reze-engine 0.6.5 → 0.6.6

package/dist/ik-solver.d.ts

@@ -5,6 +5,7 @@
  */
 import { Mat4, Quat, Vec3 } from "./math";
 import { Bone, IKSolver, IKChainInfo } from "./model";
+export type UpdateWorldMatrixFn = (boneIndex: number, applyIK: boolean) => void;
 /**
  * Solve IK chains for a model
  */
@@ -14,7 +15,7 @@ export declare class IKSolverSystem {
     /**
      * Solve all IK chains
      */
-    static solve(ikSolvers: IKSolver[], bones: Bone[], localRotations: Quat[], localTranslations: Vec3[], worldMatrices: Mat4[], ikChainInfo: IKChainInfo[]): void;
+    static solve(ikSolvers: IKSolver[], bones: Bone[], localRotations: Quat[], localTranslations: Vec3[], worldMatrices: Mat4[], ikChainInfo: IKChainInfo[], updateWorldMatrix?: UpdateWorldMatrixFn): void;
     private static solveIK;
     private static solveChain;
     private static limitAngle;

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;AAG7D,MAAM,MAAM,mBAAmB,GAAG,CAAC,SAAS,EAAE,MAAM,EAAE,OAAO,EAAE,OAAO,KAAK,IAAI,CAAA;AAoE/E;;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,EAC1B,iBAAiB,CAAC,EAAE,mBAAmB,GACtC,IAAI;IAMP,OAAO,CAAC,MAAM,CAAC,OAAO;IAoFtB,OAAO,CAAC,MAAM,CAAC,UAAU;IAqGzB,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

@@ -74,12 +74,12 @@ export class IKSolverSystem {
     /**
      * Solve all IK chains
      */
-    static solve(ikSolvers, bones, localRotations, localTranslations, worldMatrices, ikChainInfo) {
+    static solve(ikSolvers, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, updateWorldMatrix) {
         for (const solver of ikSolvers) {
-            this.solveIK(solver, bones, localRotations, localTranslations, worldMatrices, ikChainInfo);
+            this.solveIK(solver, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, updateWorldMatrix);
         }
     }
-    static solveIK(solver, bones, localRotations, localTranslations, worldMatrices, ikChainInfo) {
+    static solveIK(solver, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, updateWorldMatrix) {
         if (solver.links.length === 0)
             return;
         const ikBoneIndex = solver.ikBoneIndex;
@@ -99,10 +99,18 @@ export class IKSolverSystem {
             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, undefined);
+        if (updateWorldMatrix) {
+            for (let i = chains.length - 1; i >= 0; i--) {
+                updateWorldMatrix(chains[i].boneIndex, false);
+            }
+            updateWorldMatrix(targetBoneIndex, false);
+        }
+        else {
+            for (let i = chains.length - 1; i >= 0; i--) {
+                this.updateWorldMatrix(chains[i].boneIndex, bones, localRotations, localTranslations, worldMatrices, undefined);
+            }
+            this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined);
         }
-        this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined);
         if (this.getDistance(ikBoneIndex, targetBoneIndex, worldMatrices) < this.EPSILON)
             return;
         // Solve iteratively
@@ -112,7 +120,7 @@ export class IKSolverSystem {
             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);
+                    this.solveChain(chain, chainIndex, solver, ikBoneIndex, targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, i < halfIteration, updateWorldMatrix);
                 }
             }
             if (this.getDistance(ikBoneIndex, targetBoneIndex, worldMatrices) < this.EPSILON)
@@ -128,7 +136,7 @@ export class IKSolverSystem {
             }
         }
     }
-    static solveChain(chain, chainIndex, solver, ikBoneIndex, targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, useAxis) {
+    static solveChain(chain, chainIndex, solver, ikBoneIndex, targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, useAxis, updateWorldMatrix) {
         const chainBoneIndex = chain.boneIndex;
         const chainPosition = this.getWorldTranslation(chainBoneIndex, worldMatrices);
         const ikPosition = this.getWorldTranslation(ikBoneIndex, worldMatrices);
@@ -191,13 +199,22 @@ export class IKSolverSystem {
                 chainInfo.ikRotation = chainInfo.ikRotation.multiply(localRot.clone().conjugate().normalize());
             }
         }
-        // Update world matrices for affected bones (using IK-modified rotations)
-        for (let i = chainIndex; i >= 0; i--) {
-            const link = solver.links[i];
-            this.updateWorldMatrix(link.boneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo);
+        // Update world matrices for affected bones (using callback - handles append correctly)
+        if (updateWorldMatrix) {
+            for (let i = chainIndex; i >= 0; i--) {
+                const link = solver.links[i];
+                updateWorldMatrix(link.boneIndex, true); // applyIK = true
+            }
+            updateWorldMatrix(targetBoneIndex, false);
+        }
+        else {
+            for (let i = chainIndex; i >= 0; i--) {
+                const link = solver.links[i];
+                this.updateWorldMatrix(link.boneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo);
+            }
+            this.updateWorldMatrix(ikBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined);
+            this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined);
         }
-        this.updateWorldMatrix(ikBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined);
-        this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined);
     }
     static limitAngle(angle, min, max, useAxis) {
         if (angle < min) {

package/dist/model.d.ts

@@ -146,6 +146,10 @@ export declare class Model {
     /**
      * Convert VMD-style relative translation (relative to bind pose world position) to local translation
      * This helper is used by both moveBones and getPoseAtTime to ensure consistent translation handling
+     * @param boneIdx - Bone index
+     * @param vmdRelativeTranslation - VMD relative translation
+     * @param rotation - Optional rotation to use for conversion. If not provided, uses current localRotation.
+     *                   Use animation rotation (from frame) to avoid conflicts when IK modifies rotation.
      */
     private convertVMDTranslationToLocal;
     getBoneWorldMatrices(): Float32Array;
@@ -208,6 +212,8 @@ export declare class Model {
      */
     update(deltaTime: number): boolean;
     private solveIKChains;
+    private ikComputedSet;
+    private computeSingleBoneWorldMatrix;
     private computeWorldMatrices;
 }
 //# sourceMappingURL=model.d.ts.map

package/dist/model.d.ts.map

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

@@ -31,6 +31,8 @@ export class Model {
         // IK and Physics enable flags
         this.ikEnabled = true;
         this.physicsEnabled = true;
+        // Cached set to track which bones are being computed in current IK pass (to avoid infinite recursion)
+        this.ikComputedSet = new Set();
         // Store base vertex data (original positions before morphing)
         this.baseVertexData = new Float32Array(vertexData);
         this.vertexData = vertexData;
@@ -346,8 +348,12 @@ export class Model {
     /**
      * Convert VMD-style relative translation (relative to bind pose world position) to local translation
      * This helper is used by both moveBones and getPoseAtTime to ensure consistent translation handling
+     * @param boneIdx - Bone index
+     * @param vmdRelativeTranslation - VMD relative translation
+     * @param rotation - Optional rotation to use for conversion. If not provided, uses current localRotation.
+     *                   Use animation rotation (from frame) to avoid conflicts when IK modifies rotation.
      */
-    convertVMDTranslationToLocal(boneIdx, vmdRelativeTranslation) {
+    convertVMDTranslationToLocal(boneIdx, vmdRelativeTranslation, rotation) {
         const skeleton = this.skeleton;
         const bones = skeleton.bones;
         const localRot = this.runtimeSkeleton.localRotations;
@@ -383,7 +389,9 @@ export class Model {
         // Subtract bindTranslation to get position after bind translation
         const afterBindTranslation = parentSpacePos.subtract(new Vec3(bone.bindTranslation[0], bone.bindTranslation[1], bone.bindTranslation[2]));
         // Apply inverse rotation to get local translation
-        const localRotation = localRot[boneIdx];
+        // Use provided rotation (animation rotation) or fall back to current localRotation
+        // Using animation rotation prevents conflicts when IK modifies the rotation
+        const localRotation = rotation ?? localRot[boneIdx];
         // Clone to avoid mutating, then conjugate and normalize
         const invRotation = localRotation.clone().conjugate().normalize();
         const rotationMat = Mat4.fromQuat(invRotation.x, invRotation.y, invRotation.z, invRotation.w);
@@ -714,9 +722,12 @@ export class Model {
             const localTrans = this.runtimeSkeleton.localTranslations[boneIdx];
             if (!frameB) {
                 // No interpolation needed - direct assignment
-                localRot.set(frameA.rotation);
-                // Convert VMD relative translation to local translation
-                const localTranslation = this.convertVMDTranslationToLocal(boneIdx, frameA.translation);
+                // Use animation frame's rotation for translation conversion to ensure consistency
+                // This prevents conflicts when IK later modifies the rotation
+                const frameRotation = frameA.rotation;
+                localRot.set(frameRotation);
+                // Convert VMD relative translation to local translation using animation rotation
+                const localTranslation = this.convertVMDTranslationToLocal(boneIdx, frameA.translation, frameRotation);
                 localTrans.set(localTranslation);
             }
             else {
@@ -737,8 +748,10 @@ export class Model {
                 const tzWeight = getWeight(32);
                 // Interpolate VMD relative translations (relative to bind pose world position)
                 const interpolatedVMDTranslation = new Vec3(frameA.translation.x + (frameB.translation.x - frameA.translation.x) * txWeight, frameA.translation.y + (frameB.translation.y - frameA.translation.y) * tyWeight, frameA.translation.z + (frameB.translation.z - frameA.translation.z) * tzWeight);
-                // Convert interpolated VMD translation to local translation
-                const localTranslation = this.convertVMDTranslationToLocal(boneIdx, interpolatedVMDTranslation);
+                // Convert interpolated VMD translation to local translation using animation rotation
+                // This ensures translation is computed for the animation rotation, not the runtime rotation
+                // that will be modified by IK, preventing conflicts
+                const localTranslation = this.convertVMDTranslationToLocal(boneIdx, interpolatedVMDTranslation, rotation);
                 // Direct property writes to avoid object allocation
                 localRot.set(rotation);
                 localTrans.set(localTranslation);
@@ -821,7 +834,111 @@ export class Model {
         const ikChainInfo = this.runtimeSkeleton.ikChainInfo;
         if (!ikChainInfo)
             return;
-        IKSolverSystem.solve(ikSolvers, this.skeleton.bones, this.runtimeSkeleton.localRotations, this.runtimeSkeleton.localTranslations, this.runtimeSkeleton.worldMatrices, ikChainInfo);
+        // Solve each IK solver sequentially, ensuring consistent state between solvers
+        for (const solver of ikSolvers) {
+            // Recompute ALL world matrices before each solver starts
+            // This ensures each solver sees the effects of previous solvers on localRotations
+            this.computeWorldMatrices();
+            // Clear computed set for this solver's pass
+            this.ikComputedSet.clear();
+            // Solve this IK chain
+            // Pass callback that uses model's world matrix computation (handles append correctly)
+            IKSolverSystem.solve([solver], // Solve one at a time
+            this.skeleton.bones, this.runtimeSkeleton.localRotations, this.runtimeSkeleton.localTranslations, this.runtimeSkeleton.worldMatrices, ikChainInfo, (boneIndex, applyIK) => {
+                // Clear computed set for each bone update to allow recomputation in same iteration
+                this.ikComputedSet.delete(boneIndex);
+                this.computeSingleBoneWorldMatrix(boneIndex, applyIK);
+            });
+        }
+    }
+    // Add this new method to compute a single bone's world matrix
+    // Recursively ensures parents are computed first to avoid using stale parent matrices
+    computeSingleBoneWorldMatrix(boneIndex, applyIK) {
+        const bones = this.skeleton.bones;
+        const localRot = this.runtimeSkeleton.localRotations;
+        const localTrans = this.runtimeSkeleton.localTranslations;
+        const worldMats = this.runtimeSkeleton.worldMatrices;
+        const ikChainInfo = this.runtimeSkeleton.ikChainInfo;
+        const b = bones[boneIndex];
+        // Prevent infinite recursion: if this bone is already being computed in this call chain, skip
+        if (this.ikComputedSet.has(boneIndex)) {
+            return;
+        }
+        // Mark this bone as being computed to prevent infinite recursion
+        this.ikComputedSet.add(boneIndex);
+        // Recursively compute parent first if it exists (ensures parent matrix is up-to-date)
+        if (b.parentIndex >= 0) {
+            this.computeSingleBoneWorldMatrix(b.parentIndex, applyIK);
+        }
+        // Get base rotation
+        let boneRot = localRot[boneIndex];
+        // Apply IK rotation if requested
+        if (applyIK && ikChainInfo) {
+            const chainInfo = ikChainInfo[boneIndex];
+            if (chainInfo?.ikRotation) {
+                boneRot = chainInfo.ikRotation.multiply(boneRot).normalize();
+            }
+        }
+        let rotateM = Mat4.fromQuat(boneRot.x, boneRot.y, boneRot.z, boneRot.w);
+        let addLocalTx = 0, addLocalTy = 0, addLocalTz = 0;
+        // Handle append transformations (same logic as computeWorldMatrices)
+        const appendParentIdx = b.appendParentIndex;
+        const hasAppend = b.appendRotate &&
+            appendParentIdx !== undefined &&
+            appendParentIdx >= 0 &&
+            appendParentIdx < bones.length;
+        if (hasAppend) {
+            const ratio = b.appendRatio === undefined ? 1 : Math.max(-1, Math.min(1, b.appendRatio));
+            const hasRatio = Math.abs(ratio) > 1e-6;
+            if (hasRatio) {
+                if (b.appendRotate) {
+                    // Get append parent's rotation
+                    // During IK solving, use only base local rotation (not IK rotations) to avoid
+                    // conflicts with IK rotations that are still being computed incrementally
+                    // IK rotations will be applied to localRotations after IK solving completes
+                    if (appendParentIdx >= 0) {
+                        // Compute append parent's world matrix for dependency order, but use base rotation for append
+                        this.computeSingleBoneWorldMatrix(appendParentIdx, applyIK);
+                    }
+                    // Use append parent's base local rotation only (IK rotations are applied after solving)
+                    let appendRot = localRot[appendParentIdx];
+                    let ax = appendRot.x, ay = appendRot.y, az = appendRot.z;
+                    const aw = appendRot.w;
+                    const absRatio = ratio < 0 ? -ratio : ratio;
+                    if (ratio < 0) {
+                        ax = -ax;
+                        ay = -ay;
+                        az = -az;
+                    }
+                    const appendQuat = new Quat(ax, ay, az, aw);
+                    const result = Quat.slerp(Quat.identity(), appendQuat, absRatio);
+                    rotateM = Mat4.fromQuat(result.x, result.y, result.z, result.w).multiply(rotateM);
+                }
+                if (b.appendMove) {
+                    const appendTrans = localTrans[appendParentIdx];
+                    addLocalTx = appendTrans.x * ratio;
+                    addLocalTy = appendTrans.y * ratio;
+                    addLocalTz = appendTrans.z * ratio;
+                }
+            }
+        }
+        const boneTrans = localTrans[boneIndex];
+        const localTx = boneTrans.x + addLocalTx;
+        const localTy = boneTrans.y + addLocalTy;
+        const localTz = boneTrans.z + addLocalTz;
+        this.cachedIdentityMat1
+            .setIdentity()
+            .translateInPlace(b.bindTranslation[0], b.bindTranslation[1], b.bindTranslation[2]);
+        this.cachedIdentityMat2.setIdentity().translateInPlace(localTx, localTy, localTz);
+        const localM = this.cachedIdentityMat1.multiply(rotateM).multiply(this.cachedIdentityMat2);
+        const worldMat = worldMats[boneIndex];
+        if (b.parentIndex >= 0) {
+            const parentMat = worldMats[b.parentIndex];
+            Mat4.multiplyArrays(parentMat.values, 0, localM.values, 0, worldMat.values, 0);
+        }
+        else {
+            worldMat.values.set(localM.values);
+        }
     }
     computeWorldMatrices() {
         const bones = this.skeleton.bones;

package/dist/runtime-bone.d.ts

@@ -0,0 +1,49 @@
+import { Quat, Vec3, Mat4 } from "./math";
+import type { Bone } from "./model";
+/**
+ * Runtime bone state - encapsulates bone pose and world matrix
+ * Similar to babylon-mmd's IMmdRuntimeBone approach
+ */
+export declare class RuntimeBone {
+    localRotation: Quat;
+    localTranslation: Vec3;
+    worldMatrix: Mat4;
+    readonly bone: Bone;
+    readonly index: number;
+    ikRotation?: Quat;
+    constructor(bone: Bone, index: number);
+    /**
+     * Set local rotation
+     */
+    setRotation(rotation: Quat): void;
+    /**
+     * Set local translation
+     */
+    setTranslation(translation: Vec3): void;
+    /**
+     * Get world position from world matrix
+     */
+    getWorldPosition(): Vec3;
+    /**
+     * Update world matrix based on local rotation, translation, and parent's world matrix
+     * Handles append rotations and translations
+     *
+     * @param parentWorldMatrix Parent's world matrix (null if root bone)
+     * @param allBones Array of all runtime bones (for append parent lookup)
+     * @param applyIK Whether to apply IK rotation (default: true). Set to false when computing initial world matrices before IK solving.
+     */
+    updateWorldMatrix(parentWorldMatrix: Mat4 | null, allBones: RuntimeBone[], applyIK?: boolean): void;
+    /**
+     * Reset IK rotation to identity
+     */
+    resetIKRotation(): void;
+    /**
+     * Set IK rotation delta (accumulated during IK solving)
+     */
+    setIKRotation(ikRotation: Quat): void;
+    /**
+     * Apply IK rotation to local rotation and clear IK rotation
+     */
+    applyIKRotation(): void;
+}
+//# sourceMappingURL=runtime-bone.d.ts.map

package/dist/runtime-bone.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"runtime-bone.d.ts","sourceRoot":"","sources":["../src/runtime-bone.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,QAAQ,CAAA;AACzC,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,SAAS,CAAA;AAEnC;;;GAGG;AACH,qBAAa,WAAW;IACf,aAAa,EAAE,IAAI,CAAA;IACnB,gBAAgB,EAAE,IAAI,CAAA;IACtB,WAAW,EAAE,IAAI,CAAA;IACxB,SAAgB,IAAI,EAAE,IAAI,CAAA;IAC1B,SAAgB,KAAK,EAAE,MAAM,CAAA;IAGtB,UAAU,CAAC,EAAE,IAAI,CAAA;gBAEZ,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM;IAQrC;;OAEG;IACH,WAAW,CAAC,QAAQ,EAAE,IAAI,GAAG,IAAI;IAIjC;;OAEG;IACH,cAAc,CAAC,WAAW,EAAE,IAAI,GAAG,IAAI;IAIvC;;OAEG;IACH,gBAAgB,IAAI,IAAI;IAKxB;;;;;;;OAOG;IACH,iBAAiB,CAAC,iBAAiB,EAAE,IAAI,GAAG,IAAI,EAAE,QAAQ,EAAE,WAAW,EAAE,EAAE,OAAO,GAAE,OAAc,GAAG,IAAI;IA2EzG;;OAEG;IACH,eAAe,IAAI,IAAI;IAIvB;;OAEG;IACH,aAAa,CAAC,UAAU,EAAE,IAAI,GAAG,IAAI;IAIrC;;OAEG;IACH,eAAe,IAAI,IAAI;CAMxB"}

package/dist/runtime-bone.js

@@ -0,0 +1,121 @@
+import { Quat, Vec3, Mat4 } from "./math";
+/**
+ * Runtime bone state - encapsulates bone pose and world matrix
+ * Similar to babylon-mmd's IMmdRuntimeBone approach
+ */
+export class RuntimeBone {
+    constructor(bone, index) {
+        this.bone = bone;
+        this.index = index;
+        this.localRotation = Quat.identity();
+        this.localTranslation = new Vec3(0, 0, 0);
+        this.worldMatrix = Mat4.identity();
+    }
+    /**
+     * Set local rotation
+     */
+    setRotation(rotation) {
+        this.localRotation.set(rotation);
+    }
+    /**
+     * Set local translation
+     */
+    setTranslation(translation) {
+        this.localTranslation.set(translation);
+    }
+    /**
+     * Get world position from world matrix
+     */
+    getWorldPosition() {
+        const m = this.worldMatrix.values;
+        return new Vec3(m[12], m[13], m[14]);
+    }
+    /**
+     * Update world matrix based on local rotation, translation, and parent's world matrix
+     * Handles append rotations and translations
+     *
+     * @param parentWorldMatrix Parent's world matrix (null if root bone)
+     * @param allBones Array of all runtime bones (for append parent lookup)
+     * @param applyIK Whether to apply IK rotation (default: true). Set to false when computing initial world matrices before IK solving.
+     */
+    updateWorldMatrix(parentWorldMatrix, allBones, applyIK = true) {
+        // Start with local rotation
+        let finalRot = this.localRotation;
+        // Apply IK rotation if present and applyIK is true
+        if (applyIK && this.ikRotation) {
+            finalRot = this.ikRotation.multiply(finalRot).normalize();
+        }
+        // Build rotation matrix
+        let rotateM = Mat4.fromQuat(finalRot.x, finalRot.y, finalRot.z, finalRot.w);
+        let addLocalTx = 0, addLocalTy = 0, addLocalTz = 0;
+        // Handle append rotation and translation
+        const appendParentIdx = this.bone.appendParentIndex;
+        const hasAppend = this.bone.appendRotate && appendParentIdx !== undefined && appendParentIdx >= 0 && appendParentIdx < allBones.length;
+        if (hasAppend) {
+            const ratio = this.bone.appendRatio === undefined ? 1 : Math.max(-1, Math.min(1, this.bone.appendRatio));
+            const hasRatio = Math.abs(ratio) > 1e-6;
+            if (hasRatio) {
+                if (this.bone.appendRotate) {
+                    const appendParent = allBones[appendParentIdx];
+                    const appendRot = appendParent.localRotation;
+                    let ax = appendRot.x;
+                    let ay = appendRot.y;
+                    let az = appendRot.z;
+                    const aw = appendRot.w;
+                    const absRatio = ratio < 0 ? -ratio : ratio;
+                    if (ratio < 0) {
+                        ax = -ax;
+                        ay = -ay;
+                        az = -az;
+                    }
+                    const appendQuat = new Quat(ax, ay, az, aw);
+                    const result = Quat.slerp(Quat.identity(), appendQuat, absRatio);
+                    rotateM = Mat4.fromQuat(result.x, result.y, result.z, result.w).multiply(rotateM);
+                }
+                if (this.bone.appendMove) {
+                    const appendParent = allBones[appendParentIdx];
+                    const appendTrans = appendParent.localTranslation;
+                    const appendRatio = this.bone.appendRatio ?? 1;
+                    addLocalTx = appendTrans.x * appendRatio;
+                    addLocalTy = appendTrans.y * appendRatio;
+                    addLocalTz = appendTrans.z * appendRatio;
+                }
+            }
+        }
+        // Build local matrix: bind translation, then rotation, then local translation + append translation
+        const localTx = this.localTranslation.x + addLocalTx;
+        const localTy = this.localTranslation.y + addLocalTy;
+        const localTz = this.localTranslation.z + addLocalTz;
+        const bindMat = Mat4.identity().translateInPlace(this.bone.bindTranslation[0], this.bone.bindTranslation[1], this.bone.bindTranslation[2]);
+        const transMat = Mat4.identity().translateInPlace(localTx, localTy, localTz);
+        const localM = bindMat.multiply(rotateM).multiply(transMat);
+        // Compute world matrix
+        if (parentWorldMatrix) {
+            this.worldMatrix = parentWorldMatrix.multiply(localM);
+        }
+        else {
+            this.worldMatrix = localM;
+        }
+    }
+    /**
+     * Reset IK rotation to identity
+     */
+    resetIKRotation() {
+        this.ikRotation = undefined;
+    }
+    /**
+     * Set IK rotation delta (accumulated during IK solving)
+     */
+    setIKRotation(ikRotation) {
+        this.ikRotation = ikRotation;
+    }
+    /**
+     * Apply IK rotation to local rotation and clear IK rotation
+     */
+    applyIKRotation() {
+        if (this.ikRotation) {
+            this.localRotation = this.ikRotation.multiply(this.localRotation).normalize();
+            this.ikRotation = undefined;
+        }
+    }
+}

package/package.json

@@ -1,6 +1,6 @@
 {
     "name": "reze-engine",
-    "version": "0.6.5",
+    "version": "0.6.6",
     "description": "A WebGPU-based MMD model renderer",
     "main": "./dist/index.js",
     "types": "./dist/index.d.ts",

package/src/ik-solver.ts

@@ -7,6 +7,9 @@
 import { Mat4, Quat, Vec3 } from "./math"
 import { Bone, IKLink, IKSolver, IKChainInfo } from "./model"
 
+// Callback type for updating world matrix (provided by model to handle append transformations)
+export type UpdateWorldMatrixFn = (boneIndex: number, applyIK: boolean) => void
+
 const enum InternalEulerRotationOrder {
   YXZ = 0,
   ZYX = 1,
@@ -89,10 +92,11 @@ export class IKSolverSystem {
     localRotations: Quat[],
     localTranslations: Vec3[],
     worldMatrices: Mat4[],
-    ikChainInfo: IKChainInfo[]
+    ikChainInfo: IKChainInfo[],
+    updateWorldMatrix?: UpdateWorldMatrixFn
   ): void {
     for (const solver of ikSolvers) {
-      this.solveIK(solver, bones, localRotations, localTranslations, worldMatrices, ikChainInfo)
+      this.solveIK(solver, bones, localRotations, localTranslations, worldMatrices, ikChainInfo, updateWorldMatrix)
     }
   }
 
@@ -102,7 +106,8 @@ export class IKSolverSystem {
     localRotations: Quat[],
     localTranslations: Vec3[],
     worldMatrices: Mat4[],
-    ikChainInfo: IKChainInfo[]
+    ikChainInfo: IKChainInfo[],
+    updateWorldMatrix?: UpdateWorldMatrixFn
   ): void {
     if (solver.links.length === 0) return
 
@@ -126,10 +131,17 @@ export class IKSolverSystem {
     }
 
     // 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, undefined)
+    if (updateWorldMatrix) {
+      for (let i = chains.length - 1; i >= 0; i--) {
+        updateWorldMatrix(chains[i].boneIndex, false)
+      }
+      updateWorldMatrix(targetBoneIndex, false)
+    } else {
+      for (let i = chains.length - 1; i >= 0; i--) {
+        this.updateWorldMatrix(chains[i].boneIndex, bones, localRotations, localTranslations, worldMatrices, undefined)
+      }
+      this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined)
     }
-    this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined)
 
     if (this.getDistance(ikBoneIndex, targetBoneIndex, worldMatrices) < this.EPSILON) return
 
@@ -152,7 +164,8 @@ export class IKSolverSystem {
             localTranslations,
             worldMatrices,
             ikChainInfo,
-            i < halfIteration
+            i < halfIteration,
+            updateWorldMatrix
           )
         }
       }
@@ -182,7 +195,8 @@ export class IKSolverSystem {
     localTranslations: Vec3[],
     worldMatrices: Mat4[],
     ikChainInfo: IKChainInfo[],
-    useAxis: boolean
+    useAxis: boolean,
+    updateWorldMatrix?: UpdateWorldMatrixFn
   ): void {
     const chainBoneIndex = chain.boneIndex
     const chainPosition = this.getWorldTranslation(chainBoneIndex, worldMatrices)
@@ -254,13 +268,21 @@ export class IKSolverSystem {
       }
     }
 
-    // Update world matrices for affected bones (using IK-modified rotations)
-    for (let i = chainIndex; i >= 0; i--) {
-      const link = solver.links[i]
-      this.updateWorldMatrix(link.boneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo)
+    // Update world matrices for affected bones (using callback - handles append correctly)
+    if (updateWorldMatrix) {
+      for (let i = chainIndex; i >= 0; i--) {
+        const link = solver.links[i]
+        updateWorldMatrix(link.boneIndex, true)  // applyIK = true
+      }
+      updateWorldMatrix(targetBoneIndex, false)
+    } else {
+      for (let i = chainIndex; i >= 0; i--) {
+        const link = solver.links[i]
+        this.updateWorldMatrix(link.boneIndex, bones, localRotations, localTranslations, worldMatrices, ikChainInfo)
+      }
+      this.updateWorldMatrix(ikBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined)
+      this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined)
     }
-    this.updateWorldMatrix(ikBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined)
-    this.updateWorldMatrix(targetBoneIndex, bones, localRotations, localTranslations, worldMatrices, undefined)
   }
 
   private static limitAngle(angle: number, min: number, max: number, useAxis: boolean): number {
@@ -410,3 +432,4 @@ export class IKSolverSystem {
     }
   }
 }
+