ugly-app 0.1.958 → 0.1.960

package/dist/character/client/CharacterCanvas.js

@@ -149,7 +149,7 @@ export const CharacterCanvas = forwardRef(function CharacterCanvas({ source, spe
         if (loadingPoseRef.current === want)
             return;
         loadingPoseRef.current = want;
-        void loadFbxClip(index, want, skel.names, skel.restQ, skel.restT, skel.parents)
+        void loadFbxClip(index, want, skel.names, skel.restQ, skel.heads, skel.parents)
             .then((clips) => {
             if (live.dead)
                 return;

package/dist/character/client/lib/fbxClips.d.ts

@@ -45,16 +45,15 @@ export declare function loadFbxClip(index: FbxClipIndex, name: string, boneNames
  */
 restQ: Float32Array, 
 /**
- * The TARGET rig's rest LOCAL translations, `n * 3` xyz.
+ * The TARGET rig's bind WORLD joint positions, `n * 3` — the calibration's yardstick.
  *
- * ⚠️ NEEDED FOR THE LIMB-DIRECTION ALIGNMENT. Copying the clip's world orientation outright is
- * not enough: a bone's job is to aim its CHILD, and the child offset sits at a different
- * direction in our bone's local frame than in Mixamo's (the two rigs' bones are rolled
- * differently about their own long axes). Without this the copied pose is off by a constant
- * 12–22° per arm bone — a T-pose whose arms sag. The child offsets say which way "along the
- * limb" is on each side; the retarget aligns them.
+ * ⚠️ POSITIONS, NOT JUST ROTATIONS, because the retarget now works by AIMING: each bone is
+ * swung, at bind, until it points the way the clip's bind points it, and a direction is the
+ * vector to the child's head. Rotations alone cannot say where a bone points; measured on the
+ * real assets the aim gap is the larger half of the arm disagreement (~55° of the ~60°), the
+ * half the earlier rotation-only retargets preserved in every frame as crossed arms.
  */
-restT: Float32Array, 
+heads: ArrayLike<number>, 
 /**
  * The TARGET rig's parent index per bone, `−1` for a root.
  *

package/dist/character/client/lib/fbxClips.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"fbxClips.d.ts","sourceRoot":"","sources":["../../../../src/character/client/lib/fbxClips.ts"],"names":[],"mappings":"AAsBA;;;;;GAKG;AACH,MAAM,WAAW,YAAY;IAC3B,IAAI,EAAE,MAAM,CAAC;IACb,QAAQ,EAAE,MAAM,CAAC;IACjB,QAAQ,EAAE;QACR,UAAU,EAAE,MAAM,CAAC;QACnB,IAAI,EAAE,MAAM,CAAC;QACb,KAAK,EAAE,YAAY,CAAC;QACpB,MAAM,EAAE,YAAY,CAAC;KACtB,EAAE,CAAC;CACL;AAED;;;;GAIG;AACH,MAAM,MAAM,YAAY,GAAG,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;AAE5D,gEAAgE;AAChE,wBAAgB,YAAY,CAAC,KAAK,EAAE,YAAY,GAAG,MAAM,EAAE,CAE1D;AAID;;;;;;GAMG;AACH,wBAAsB,WAAW,CAC/B,KAAK,EAAE,YAAY,EACnB,IAAI,EAAE,MAAM,EACZ,SAAS,EAAE,SAAS,MAAM,EAAE;AAC5B;;;;;;;;;;;;GAYG;AACH,KAAK,EAAE,YAAY;AACnB;;;;;;;;;GASG;AACH,KAAK,EAAE,YAAY;AACnB;;;;;;;GAOG;AACH,OAAO,EAAE,SAAS,CAAC,MAAM,CAAC,GACzB,OAAO,CAAC,YAAY,EAAE,CAAC,CAobzB"}
+{"version":3,"file":"fbxClips.d.ts","sourceRoot":"","sources":["../../../../src/character/client/lib/fbxClips.ts"],"names":[],"mappings":"AA6BA;;;;;GAKG;AACH,MAAM,WAAW,YAAY;IAC3B,IAAI,EAAE,MAAM,CAAC;IACb,QAAQ,EAAE,MAAM,CAAC;IACjB,QAAQ,EAAE;QACR,UAAU,EAAE,MAAM,CAAC;QACnB,IAAI,EAAE,MAAM,CAAC;QACb,KAAK,EAAE,YAAY,CAAC;QACpB,MAAM,EAAE,YAAY,CAAC;KACtB,EAAE,CAAC;CACL;AAED;;;;GAIG;AACH,MAAM,MAAM,YAAY,GAAG,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;AAE5D,gEAAgE;AAChE,wBAAgB,YAAY,CAAC,KAAK,EAAE,YAAY,GAAG,MAAM,EAAE,CAE1D;AAID;;;;;;GAMG;AACH,wBAAsB,WAAW,CAC/B,KAAK,EAAE,YAAY,EACnB,IAAI,EAAE,MAAM,EACZ,SAAS,EAAE,SAAS,MAAM,EAAE;AAC5B;;;;;;;;;;;;GAYG;AACH,KAAK,EAAE,YAAY;AACnB;;;;;;;;GAQG;AACH,KAAK,EAAE,SAAS,CAAC,MAAM,CAAC;AACxB;;;;;;;GAOG;AACH,OAAO,EAAE,SAAS,CAAC,MAAM,CAAC,GACzB,OAAO,CAAC,YAAY,EAAE,CAAC,CA8KzB"}

package/dist/character/client/lib/fbxClips.js

@@ -18,7 +18,7 @@
 // a decision worth making deliberately rather than inheriting from a file.
 // ─────────────────────────────────────────────────────────────────────────────
 import { stripPrefix } from '../../shared/lib/mixamoMap.js';
-import { qConj, qMul } from '../../shared/lib/humanRig.js';
+import { bakeTrack, calibrate, clipWorldBind, } from '../../shared/lib/retarget.js';
 /** The names an index serves, sorted — a picker lists these. */
 export function fbxClipNames(index) {
     return Object.keys(index).sort();
@@ -47,16 +47,15 @@ export async function loadFbxClip(index, name, boneNames,
  */
 restQ, 
 /**
- * The TARGET rig's rest LOCAL translations, `n * 3` xyz.
+ * The TARGET rig's bind WORLD joint positions, `n * 3` — the calibration's yardstick.
  *
- * ⚠️ NEEDED FOR THE LIMB-DIRECTION ALIGNMENT. Copying the clip's world orientation outright is
- * not enough: a bone's job is to aim its CHILD, and the child offset sits at a different
- * direction in our bone's local frame than in Mixamo's (the two rigs' bones are rolled
- * differently about their own long axes). Without this the copied pose is off by a constant
- * 12–22° per arm bone — a T-pose whose arms sag. The child offsets say which way "along the
- * limb" is on each side; the retarget aligns them.
+ * ⚠️ POSITIONS, NOT JUST ROTATIONS, because the retarget now works by AIMING: each bone is
+ * swung, at bind, until it points the way the clip's bind points it, and a direction is the
+ * vector to the child's head. Rotations alone cannot say where a bone points; measured on the
+ * real assets the aim gap is the larger half of the arm disagreement (~55° of the ~60°), the
+ * half the earlier rotation-only retargets preserved in every frame as crossed arms.
  */
-restT, 
+heads, 
 /**
  * The TARGET rig's parent index per bone, `−1` for a root.
  *
@@ -78,10 +77,10 @@ parents) {
     // whichever asked first — every bone offset by the difference between two bind poses, playing
     // perfectly. The bone list alone was already keyed for exactly this reason; this is the same trap
     // one level deeper.
-    // ⚠️ AND THE PARENTS ARE PART OF THE KEY TOO, for the same reason the rest is: the retarget bakes
-    // in each bone's WORLD rest, which two rigs with identical local rotations but different nesting
-    // do not share.
-    const key = `${name}|${boneNames.join(',')}|${Array.from(restQ, (v) => v.toFixed(4)).join(',')}|${Array.from(restT, (v) => v.toFixed(4)).join(',')}|${Array.from(parents).join(',')}`;
+    // ⚠️ AND THE PARENTS AND HEADS ARE PART OF THE KEY TOO, for the same reason the rest is: the
+    // retarget bakes in each bone's WORLD rest and bind POSITIONS, which two rigs with identical
+    // local rotations but different nesting or proportions do not share.
+    const key = `${name}|${boneNames.join(',')}|${Array.from(restQ, (v) => v.toFixed(4)).join(',')}|${Array.from(heads, (v) => v.toFixed(3)).join(',')}|${Array.from(parents).join(',')}`;
     const hit = cache.get(key);
     if (hit)
         return hit;
@@ -101,204 +100,58 @@ parents) {
     // had touched the tree would read a posed frame and the retarget would cancel against the wrong
     // reference — which still produces smooth, confident, wrong motion.
     //
-    // ⚠️ THE PARENT LINKS COME WITH IT. The retarget needs each clip bone's WORLD rest, which is the
-    // product down its chain — a local rotation alone cannot say which way a bone points.
-    const clipRest = new Map();
-    const clipRestT = new Map();
-    const clipParent = new Map();
+    // ⚠️ THE PARENT LINKS AND POSITIONS COME WITH IT. The retarget needs each clip bone's WORLD rest
+    // and its bind POSITIONS — the calibration aims bones, and a direction is the vector to the
+    // child's head.
+    const bind = {
+        parent: new Map(),
+        restLocal: new Map(),
+        restPos: new Map(),
+    };
     group.traverse((o) => {
         if (!o.isBone)
             return;
         const n = stripPrefix(o.name);
-        clipRest.set(n, [
+        bind.restLocal.set(n, [
             o.quaternion.x,
             o.quaternion.y,
             o.quaternion.z,
             o.quaternion.w,
         ]);
-        clipRestT.set(n, [o.position.x, o.position.y, o.position.z]);
+        bind.restPos.set(n, [o.position.x, o.position.y, o.position.z]);
         // ⚠️ STOPS AT THE FIRST NON-BONE. Mixamo hangs its skeleton under an Armature node that may
         // carry a Y-up conversion, and that rotation belongs to the FILE, not to the pose — folding it
         // in would rotate the character's whole motion relative to its own body.
         const p = o.parent;
-        clipParent.set(n, p && p.isBone
+        bind.parent.set(n, p && p.isBone
             ? stripPrefix(p.name)
             : null);
     });
+    // ── THE CALIBRATION ────────────────────────────────────────────────────────────────────────────
+    // One constant per bone, `K_j`, so that `ours_world(t) = clipWorld_j(t) ⊗ K_j` transfers aim AND
+    // twist exactly. The whole design — the per-bone swing that poses our A-pose bind into the clip's
+    // T-pose bind, which bones aim and which ride, and why the T-pose clip is a real self-check now —
+    // is documented at the top of `shared/lib/retarget.ts`, next to the math. It replaces two
+    // retargets that each carried half the A-vs-T bind difference into every frame: the
+    // change-of-basis delta replay (twist faithful, arms crossed the torso — measured 62.9°/86.9° of
+    // arm error in `Walking`/`Dying`) and the chain-alignment/branch-delta split (aim exact, roll
+    // unconstrained — twisted forearms and clawed hands, the 0.1.957 complaint).
+    const rig = { names: boneNames, parents, restQ, heads };
+    const clipWorld = clipWorldBind(bind);
+    const K = calibrate(rig, bind, clipWorld);
     const slot = new Map(boneNames.map((n, i) => [n, i]));
     const PATHS = {
         position: 0,
         quaternion: 1,
         scale: 2,
     };
-    // ── PER-BONE FRAME TRANSFER: CHAIN ALIGNMENT + BRANCH DELTA ────────────────────────────────
-    //
-    // A bone's world orientation does two jobs at once: it aims its child JOINTS (positions come
-    // from translations, directions from this rotation) and it carries the pose. The retarget
-    // bakes `ourWorld(t) = clipWorld(t) × K_j`, and the whole question is what the constant K_j
-    // must be per bone. The audit (`tests/character/irRetarget.test.ts`) pinned the answer by
-    // bone CLASS, and the two twisted-hips regressions are what one-rule-for-all costs.
-    //
-    // CHAIN BONES — exactly one shared, non-junk child (every limb bone, the spine column, the
-    // neck): the bone's only observable effect is the direction it aims that child. K_j is the
-    // shortest-arc taking our child-offset direction onto the clip's, read in each bone's LOCAL
-    // frame at rest — so our limb points where the clip points, exactly, at every frame. This is
-    // the "arms crossed while walking" fix: Mixamo's arm swing must move OUR arms absolutely,
-    // not relative to a bind they disagree with.
-    //
-    // BRANCH BONES — zero or ≥2 shared, non-junk children (Hips, Spine2, the hands, the head,
-    // toe bases): the child FAN's shape is anatomy, not pose, and the two rigs' fans are NOT
-    // congruent (measured: Hips Spine⊾UpLeg ours 90.5° vs clip 108.5°, thighs 156° vs 142°;
-    // Spine2's shoulders 25.9° vs 58.9° — and Dying.fbx's skeleton differs again, so no constant
-    // can fit every file). Forcing the clip's absolute frame here twists our pelvis ~18° and our
-    // chest ~25° into a compromise that matches NEITHER rig — the "hips twisted, body malformed"
-    // report. K_j is instead the WORLD DELTA reference `clipRestWorld⁻¹ × ourRestWorld`: at the
-    // clip's rest our anatomy appears exactly, and the clip's rotations transfer as world-space
-    // deltas. The children's own directions stay clip-true regardless — each child is a chain
-    // bone with its own alignment, and its local absorbs the difference.
-    //
-    // ⚠️ PAIRED BY NAME, NEVER BY ORDER. Child ORDER is a file-format accident, not anatomy: our
-    // Hips lists Spine first, Mixamo's lists RightUpLeg first, and pairing "the first child" on
-    // each side aimed our up-spine at Mixamo's down-leg — the first twisted-hips regression
-    // (Spine2 paired Neck with RightShoulder, hands paired Thumb1 with Index1).
-    //
-    // ⚠️ JUNK OFFSETS ARE NOT DIRECTIONS. Our rig's placeholder end bones sit at EXACTLY zero
-    // offset (HeadTop_End, finger 4s, Toe_Ends) where the clip has real bones, and our Hips→Spine
-    // offset is 0.054 — a 5mm joint whose "direction" is cooker noise, not anatomy (the smallest
-    // REAL offset on the rig is 0.142, a pinky segment). Any child below EPS_T is skipped on both
-    // the chain count and the aim reference: aiming at noise manufactures a twisted joint.
-    const shortestArc = (ax, ay, az, bx, by, bz) => {
-        const al = Math.hypot(ax, ay, az) || 1;
-        const bl = Math.hypot(bx, by, bz) || 1;
-        const a = [ax / al, ay / al, az / al];
-        const b = [bx / bl, by / bl, bz / bl];
-        const d = a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
-        if (d > 1 - 1e-6)
-            return [0, 0, 0, 1];
-        if (d < -1 + 1e-6) {
-            // Antiparallel: any perpendicular axis does. cross(a, X) = (0, az, −ay), or
-            // cross(a, Y) = (−az, 0, ax) when a IS the X axis.
-            let cx = 0;
-            let cy = a[2];
-            let cz = -a[1];
-            let cl = Math.hypot(cx, cy, cz);
-            if (cl < 1e-6) {
-                cx = -a[2];
-                cy = 0;
-                cz = a[0];
-                cl = Math.hypot(cx, cy, cz) || 1;
-            }
-            return [cx / cl, cy / cl, cz / cl, 0];
-        }
-        const cx = a[1] * b[2] - a[2] * b[1];
-        const cy = a[2] * b[0] - a[0] * b[2];
-        const cz = a[0] * b[1] - a[1] * b[0];
-        const l = Math.hypot(cx, cy, cz, 1 + d) || 1;
-        return [cx / l, cy / l, cz / l, (1 + d) / l];
-    };
-    // Both rigs' REST WORLD orientations — the branch-delta reference needs them. Ours from restQ
-    // down the parent chain (parents precede children, so a plain loop is a valid FK walk), the
-    // clip's from its file rest down its own hierarchy.
-    const ourRestWorld = new Array(boneNames.length);
-    for (let j = 0; j < boneNames.length; j++) {
-        const p = parents[j] ?? -1;
-        const lq = [
-            restQ[j * 4] ?? 0,
-            restQ[j * 4 + 1] ?? 0,
-            restQ[j * 4 + 2] ?? 0,
-            restQ[j * 4 + 3] ?? 1,
-        ];
-        ourRestWorld[j] =
-            p >= 0 && p < boneNames.length ? qMul(ourRestWorld[p], lq) : lq;
-    }
-    const clipRestWorld = new Map();
-    const clipRestWorldAt = (n) => {
-        const hit = clipRestWorld.get(n);
-        if (hit)
-            return hit;
-        const local = clipRest.get(n) ?? [0, 0, 0, 1];
-        const p = clipParent.get(n) ?? null;
-        const q = p ? qMul(clipRestWorldAt(p), local) : local;
-        clipRestWorld.set(n, q);
-        return q;
-    };
-    const ourChildren = new Map();
-    for (let j = 0; j < boneNames.length; j++) {
-        const p = parents[j] ?? -1;
-        if (p >= 0 && p < boneNames.length) {
-            const list = ourChildren.get(p) ?? [];
-            list.push(j);
-            ourChildren.set(p, list);
-        }
-    }
-    const EPS_T = 0.1; // our units: junk offsets are 0.054 (Hips→Spine) and 0; smallest real bone is 0.142
-    const EPS_CLIP = 1e-3; // clip units (cm); every real clip offset is ≥ 1.6
-    const alignA = new Map();
-    for (const [name, j] of slot) {
-        if (!clipRest.has(name))
-            continue;
-        let chain = null;
-        let shared = 0;
-        for (const oc of ourChildren.get(j) ?? []) {
-            const ct = clipRestT.get(boneNames[oc]);
-            if (!ct)
-                continue;
-            const ax = restT[oc * 3] ?? 0, ay = restT[oc * 3 + 1] ?? 0, az = restT[oc * 3 + 2] ?? 0;
-            const al = Math.hypot(ax, ay, az);
-            const bl = Math.hypot(ct[0], ct[1], ct[2]);
-            if (al < EPS_T || bl < EPS_CLIP)
-                continue;
-            shared++;
-            chain = {
-                a: [ax / al, ay / al, az / al],
-                b: [ct[0] / bl, ct[1] / bl, ct[2] / bl],
-            };
-        }
-        // Chain bone → shortest-arc direction alignment. Branch bone → world-delta reference, so
-        // the clip's rest shows OUR anatomy and only the motion transfers (see the header above).
-        alignA.set(j, shared === 1 && chain
-            ? shortestArc(chain.a[0], chain.a[1], chain.a[2], chain.b[0], chain.b[1], chain.b[2])
-            : qMul(qConj(clipRestWorldAt(name)), ourRestWorld[j]));
-    }
-    // nlerp between two keys, with the double-cover sign fix — the union timeline lands mostly on
-    // exact keys, so this is interpolation insurance, not the primary path.
-    const sampleTrack = (times, values, t) => {
-        let hi = 0;
-        while (hi < times.length && times[hi] < t)
-            hi++;
-        if (hi === 0)
-            return [values[0], values[1], values[2], values[3]];
-        if (hi >= times.length) {
-            const o = (times.length - 1) * 4;
-            return [values[o], values[o + 1], values[o + 2], values[o + 3]];
-        }
-        const lo = hi - 1;
-        const span = times[hi] - times[lo];
-        const tt = span > 0 ? (t - times[lo]) / span : 0;
-        const a = lo * 4, b = hi * 4;
-        const sign = values[a] * values[b] +
-            values[a + 1] * values[b + 1] +
-            values[a + 2] * values[b + 2] +
-            values[a + 3] * values[b + 3] <
-            0
-            ? -1
-            : 1;
-        const q = [
-            values[a] + (values[b] * sign - values[a]) * tt,
-            values[a + 1] + (values[b + 1] * sign - values[a + 1]) * tt,
-            values[a + 2] + (values[b + 2] * sign - values[a + 2]) * tt,
-            values[a + 3] + (values[b + 3] * sign - values[a + 3]) * tt,
-        ];
-        const n = Math.hypot(q[0], q[1], q[2], q[3]) || 1;
-        return [q[0] / n, q[1] / n, q[2] / n, q[3] / n];
-    };
     const out = [];
     let dropped = 0;
     let retargeted = 0;
     for (const clip of group.animations) {
-        // Quaternion tracks per bone — gathered first, because the retarget below bakes per FRAME
-        // over a common timeline, not per track.
+        const channels = [];
         const tracks = new Map();
+        const joints = new Map();
         for (const track of clip.tracks) {
             // `mixamorig:LeftArm.quaternion` — the property is after the LAST dot, because bone names
             // can themselves contain dots.
@@ -317,122 +170,33 @@ parents) {
                 dropped++;
                 continue;
             }
+            // ── RETARGET ONTO THE CALIBRATED REFERENCE ─────────────────────────────────────────────
+            //
+            // ⚠️ WHICH MAKES THE T-POSE CLIP A REAL SELF-CHECK, inverted from what it used to prove. A
+            // static clip no longer reproduces our bind — it reproduces the CALIBRATED pose: arms
+            // horizontal, palms down, feet flat. The old check passed for right and wrong retargets
+            // alike, because a static delta is the identity under ANY formula; the new one fails
+            // visibly and numerically (`tests/character/fbxCalibrate.test.ts` — baked directions must
+            // land within a degree of the clip's) the moment the swing, the frame order, or the tip
+            // rule regresses.
+            //
+            // ⚠️ THE BAKE READS EVERY TRACK, not only this bone's: a baked local is `parentWorld(t)⁻¹ ⊗
+            // world(t)`, and the parent's world is moving too, sampled at this bone's own key times.
             tracks.set(bone, {
-                j,
                 times: Float32Array.from(track.times),
                 values: Float32Array.from(track.values),
             });
+            joints.set(bone, j);
         }
-        if (!tracks.size)
-            continue;
-        const channels = [];
-        if (clipRest.size) {
-            // ── WORLD-SPACE RETARGET ─────────────────────────────────────────────────────────────
-            //
-            // ⚠️ POSES ARE COPIED, NOT DELTAS. The previous retarget replayed each bone's rotation
-            // DELTA from the clip's bind on our bind (`ours = ourRest × A⁻¹ × D × A`). That is only
-            // right when the two binds agree, and they do not: Mixamo authors a T-pose, our rig's
-            // bind is an A-pose with the elbows bent forward. A walking clip swings Mixamo's arms
-            // ~80° down from its bind; replaying that delta on arms already hanging 45° folded the
-            // forearms through the torso — the "arms crossed while walking" report — and a static
-            // T-pose clip, whose delta is the identity, showed our A-pose bind and called it T-pose.
-            //
-            // The transfer copies each bone's WORLD orientation with a per-bone constant K_j:
-            //     ourLocal(t) = ourParentWorld(t)⁻¹ × clipWorld(t) × K_j
-            // computed top-down per frame — a hierarchy walk at LOAD time, baked to plain tracks, so
-            // playback stays the per-track sample it always was. K_j is the chain-alignment or
-            // branch-delta constant computed above: chain bones aim their one child exactly where the
-            // clip aims it; branch bones (Hips, Spine2, hands, head) keep OUR anatomy at the clip's
-            // rest and transfer only the rotation delta, because the two rigs' child fans are
-            // anatomically different shapes and forcing the clip's frame twists the pelvis and chest.
-            // Bones without tracks keep our rest local, so an arm-only clip cannot borrow Mixamo's legs.
-            //
-            // ⚠️ THE T-POSE CHECK NOW ASSERTS THE OPPOSITE OF BEFORE. A static clip used to be a
-            // no-op (delta identity → bind pose), which made "T-Pose shows the T-pose" impossible and
-            // hid the frame bug behind a green test. Under the copy, T-Pose puts our arms straight
-            // out — measured in `tests/character/irArmPose.test.ts`, which checks limb DIRECTIONS
-            // (anatomy), not quaternion equality (frames).
-            const timelineSet = new Set();
-            for (const { times } of tracks.values())
-                for (const t of times)
-                    timelineSet.add(Math.round(t * 1e4) / 1e4);
-            const timeline = [...timelineSet].sort((a, b) => a - b);
-            const baked = new Map();
-            for (const { j } of tracks.values())
-                if (!baked.has(j))
-                    baked.set(j, new Float32Array(timeline.length * 4));
-            const clipWorldFrame = new Map();
-            const ourWorldFrame = boneNames.map(() => null);
-            for (let f = 0; f < timeline.length; f++) {
-                const t = timeline[f];
-                // The clip's world this frame: tracked bones sample their track, the rest hold the
-                // clip's rest local — FK down the clip's own parent map, memoised per frame.
-                clipWorldFrame.clear();
-                const clipWorldAt = (n) => {
-                    const hit = clipWorldFrame.get(n);
-                    if (hit)
-                        return hit;
-                    const tr = tracks.get(n);
-                    const local = tr
-                        ? sampleTrack(tr.times, tr.values, t)
-                        : (clipRest.get(n) ?? [0, 0, 0, 1]);
-                    const p = clipParent.get(n) ?? null;
-                    const q = p ? qMul(clipWorldAt(p), local) : local;
-                    clipWorldFrame.set(n, q);
-                    return q;
-                };
-                // Our locals this frame: driven bones copy the clip's world; the rest hold our rest.
-                ourWorldFrame.fill(null);
-                const ourWorldAt = (j) => {
-                    const hit = ourWorldFrame[j];
-                    if (hit)
-                        return hit;
-                    const p = parents[j] ?? -1;
-                    const pw = p < 0 || p >= boneNames.length
-                        ? [0, 0, 0, 1]
-                        : ourWorldAt(p);
-                    const name = boneNames[j];
-                    let local;
-                    if (tracks.has(name) && clipRest.has(name)) {
-                        local = qMul(qConj(pw), qMul(clipWorldAt(name), alignA.get(j) ?? [0, 0, 0, 1]));
-                        const arr = baked.get(j);
-                        arr[f * 4] = local[0];
-                        arr[f * 4 + 1] = local[1];
-                        arr[f * 4 + 2] = local[2];
-                        arr[f * 4 + 3] = local[3];
-                    }
-                    else {
-                        local = [
-                            restQ[j * 4] ?? 0,
-                            restQ[j * 4 + 1] ?? 0,
-                            restQ[j * 4 + 2] ?? 0,
-                            restQ[j * 4 + 3] ?? 1,
-                        ];
-                    }
-                    const w = qMul(pw, local);
-                    ourWorldFrame[j] = w;
-                    return w;
-                };
-                for (let j = 0; j < boneNames.length; j++)
-                    ourWorldAt(j);
-            }
-            for (const [j, values] of baked) {
-                channels.push({
-                    jointIndex: j,
-                    path: 1,
-                    times: Float32Array.from(timeline),
-                    values,
-                });
-                retargeted++;
-            }
-        }
-        else {
-            // ⚠️ NO CLIP-SIDE REST, NO RETARGET. An FBX with no bone hierarchy to read keeps its
-            // local rotations wholesale — the exact bug the retarget exists to fix, but half a
-            // correction is worse than none, because it looks deliberate. Said out loud in the log
-            // line below (`retargeted 0/…`), which is the only place this is visible.
-            for (const { j, times, values } of tracks.values())
-                channels.push({ jointIndex: j, path: 1, times, values });
+        for (const [bone, tr] of tracks) {
+            const j = joints.get(bone);
+            channels.push({
+                jointIndex: j,
+                path: 1,
+                times: tr.times,
+                values: bakeTrack(rig, K, bind, tracks, j),
+            });
+            retargeted++;
         }
         if (!channels.length)
             continue;

package/dist/character/client/lib/fbxClips.js.map

@@ -1 +1 @@
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package/dist/character/shared/lib/retarget.d.ts

@@ -0,0 +1,57 @@
+import { type Quat, type Vec3 } from './humanRig.js';
+/** The target rig's bind pose, as the cooked container carries it. */
+export interface RigRest {
+    names: readonly string[];
+    /** Parent index per bone, −1 for a root. */
+    parents: ArrayLike<number>;
+    /** Rest LOCAL rotations, `n * 4` xyzw. */
+    restQ: ArrayLike<number>;
+    /** Bind WORLD joint positions, `n * 3` — verified to agree with `restT` accumulated (1e-5). */
+    heads: ArrayLike<number>;
+}
+/** The clip rig's bind pose, read off the FBX bone hierarchy before anything poses it. */
+export interface ClipBind {
+    /** Stripped bone name → stripped parent name, `null` at the first non-bone ancestor. */
+    parent: Map<string, string | null>;
+    /** Stripped bone name → rest LOCAL rotation (`bone.quaternion`). */
+    restLocal: Map<string, Quat>;
+    /** Stripped bone name → rest LOCAL position (`bone.position`). */
+    restPos: Map<string, Vec3>;
+}
+/** One animation's rotation tracks, by stripped bone name. */
+export interface ClipTracks {
+    times: Float32Array;
+    values: Float32Array;
+}
+/** The shortest rotation taking direction `u` to direction `v`. */
+export declare function shortestArc(u: Vec3, v: Vec3): Quat;
+/** World rotation AND position of every clip bone at bind, walked down the clip hierarchy. */
+export declare function clipWorldBind(bind: ClipBind): Map<string, {
+    q: Quat;
+    p: Vec3;
+}>;
+/**
+ * The per-bone constant `K_j`, ours_world(t) = clipWorld_j(t) ⊗ K_j — see the header.
+ *
+ * Returns `null` entries for bones the clip does not have: no track will ever address them, and a
+ * caller indexing `K[j]` for an undriven bone should get nothing rather than a quiet identity.
+ */
+export declare function calibrate(rig: RigRest, bind: ClipBind, clipWorld: Map<string, {
+    q: Quat;
+    p: Vec3;
+}>): (Quat | null)[];
+/** Nearest-bracket nlerp sample of a track at `t`, sign-fixed so the short way round is taken. */
+export declare function sampleKeys(tr: ClipTracks, t: number): Quat;
+/**
+ * Bake one bone's rotation track into OUR rig's local frames.
+ *
+ * `tracks` carries EVERY rotation track of the clip, not only this bone's: the local at `t` is
+ * `parentWorld(t)⁻¹ ⊗ world(t)`, and the parent's world is moving too, sampled at this bone's own
+ * key times. Bones the clip does not drive hold their rest local, which is what playback does with
+ * them — so the bake and the player compose the same hierarchy.
+ *
+ * Keys are made sign-continuous as they are written: q and −q are one rotation, but the player
+ * interpolates raw floats, and a hemisphere jump between adjacent keys spins the long way round.
+ */
+export declare function bakeTrack(rig: RigRest, K: (Quat | null)[], bind: ClipBind, tracks: Map<string, ClipTracks>, bone: number): Float32Array;
+//# sourceMappingURL=retarget.d.ts.map

package/dist/character/shared/lib/retarget.d.ts.map

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