feat(assets): elf Mocap-Clips als weapons-mocap.glb für das Mannequin

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>

tests/motions.test.js

@@ -1,7 +1,10 @@
 import { describe, expect, it } from "vitest";
-import { MathUtils, Quaternion, Vector3 } from "three";
-import { BLEND_MAX, BLEND_MIN, blendDuration, BONE_MAP, clipId, closeLoop, createRetargeter, faceForward,
-         headingOf, removeDrift, rigWorld, sampleTimes, seamAngle, SOURCE_HIPS } from "../tools/assets/motions.mjs";
+import { AnimationClip, Bone, Group, MathUtils, Quaternion, QuaternionKeyframeTrack, Vector3,
+         VectorKeyframeTrack } from "three";
+import { Document } from "@gltf-transform/core";
+import { addClip, BLEND_MAX, BLEND_MIN, blendDuration, BONE_MAP, clipId, closeLoop, createRetargeter, faceForward,
+         flattenPoses, headingOf, removeDrift, rigFromScene, rigWorld, sampleFbx, sampleTimes, seamAngle,
+         SOURCE_HIPS, stripToSkeleton } from "../tools/assets/motions.mjs";
 
 const turn = (x, y, z, degrees) =>
     new Quaternion().setFromAxisAngle(new Vector3(x, y, z).normalize(), MathUtils.degToRad(degrees));
@@ -211,3 +214,121 @@ describe("closeLoop", () => {
         expect(closed[3].hips.x).toBeCloseTo(0.75, 9);
     });
 });
+
+describe("sampleFbx", () => {
+    /** Nachbau eines MVN-FBX: Reference -> Hips -> Spine, Frame 0 in T-Pose, danach Bewegung. */
+    function fakeFbx() {
+        const root = new Group();
+        const reference = new Bone();
+        reference.name = "Reference";
+        const hips = new Bone();
+        hips.name = "Hips";
+        hips.position.set(0, 90, 0);
+        const spine = new Bone();
+        spine.name = "Spine";
+        spine.position.set(0, 10, 0);
+        root.add(reference);
+        reference.add(hips);
+        hips.add(spine);
+        const quarter = turn(0, 1, 0, 90).toArray();
+        root.animations = [new AnimationClip("take", 1.008, [
+            new VectorKeyframeTrack("Hips.position", [0, 0.008, 1.008], [0, 90, 0, 5, 90, 0, 5, 90, 30]),
+            new QuaternionKeyframeTrack("Hips.quaternion", [0, 0.008, 1.008], [0, 0, 0, 1, 0, 0, 0, 1, ...quarter]),
+            new QuaternionKeyframeTrack("Spine.quaternion", [0, 0.008, 1.008], [0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1]),
+        ])];
+        return root;
+    }
+
+    // Bruch: Frame 0 mitgenommen — jede Schleife begänne mit einem Zucken in die T-Pose.
+    it("lässt Frame 0 weg, tastet bis zum Ende ab und liest die Hüfthöhe der Ruhepose", () => {
+        const { times, frames, hipsRestHeight } = sampleFbx(fakeFbx(), 30, { Hips: "pelvis", Spine: "spine_01" });
+        expect(hipsRestHeight).toBe(90);
+        expect(times).toHaveLength(31);
+        expect(times[0]).toBe(0);
+        expect(times.at(-1)).toBeCloseTo(1, 9);
+        expect(frames[0].hips.x).toBeCloseTo(5, 6);
+        expect(frames.at(-1).hips.z).toBeCloseTo(30, 6);
+    });
+
+    it("liest Weltdrehungen, nicht lokale", () => {
+        const { frames } = sampleFbx(fakeFbx(), 30, { Hips: "pelvis", Spine: "spine_01" });
+        expectSameRotation(frames.at(-1).rotations.get("Spine"), turn(0, 1, 0, 90));
+    });
+});
+
+describe("rigFromScene und stripToSkeleton", () => {
+    function skeletonDocument() {
+        const document = new Document();
+        const root = document.createNode("root").setRotation(turn(1, 0, 0, -90).toArray());
+        const pelvis = document.createNode("pelvis").setTranslation([0, 0.05, 0.917]);
+        const leaf = document.createNode("Head");
+        root.addChild(pelvis);
+        pelvis.addChild(leaf);
+        document.getRoot().setDefaultScene(document.createScene("Armature").addChild(root));
+        return document;
+    }
+
+    it("liest die Knoten in Eltern-vor-Kind-Reihenfolge", () => {
+        const document = skeletonDocument();
+        const rig = rigFromScene(document.getRoot().listScenes()[0]);
+        expect(rig.map((bone) => [bone.name, bone.parent]))
+            .toEqual([["root", null], ["pelvis", "root"], ["Head", "pelvis"]]);
+        expect(rig[1].position).toEqual([0, 0.05, 0.917]);
+    });
+
+    // Bruch: Blattknoten weggeprunt — Head und die Fingerknochen fehlten als Ziel der Clips.
+    it("räumt Clips und Geometrie weg, behält aber jeden Knoten", async () => {
+        const document = skeletonDocument();
+        const mesh = document.createMesh("Mannequin");
+        document.getRoot().listNodes()[1].setMesh(mesh);
+        document.createAnimation("Idle_Loop");
+        await stripToSkeleton(document);
+        expect(document.getRoot().listAnimations()).toHaveLength(0);
+        expect(document.getRoot().listMeshes()).toHaveLength(0);
+        expect(document.getRoot().listNodes().map((node) => node.getName())).toEqual(["root", "pelvis", "Head"]);
+    });
+});
+
+describe("addClip", () => {
+    it("legt einen Zeit-Accessor, Drehungen je Knochen und die Hüfte als Translation an", () => {
+        const document = new Document();
+        const pelvis = document.createNode("pelvis");
+        const spine = document.createNode("spine_01");
+        document.getRoot().setDefaultScene(document.createScene().addChild(pelvis.addChild(spine)));
+        const poses = [0, 1].map((i) => ({
+            local: new Map([["pelvis", new Quaternion()], ["spine_01", turn(0, 0, 1, 10 * i)]]),
+            hips: new Vector3(0, 0.9 + i, 0),
+        }));
+        const animation = addClip(document, "test_tk01", [0, 0.5], poses, "pelvis");
+
+        expect(animation.getName()).toBe("test_tk01");
+        expect(animation.listChannels()).toHaveLength(3);
+        expect(new Set(animation.listSamplers().map((sampler) => sampler.getInput())).size).toBe(1);
+        const translation = animation.listChannels().find((channel) => channel.getTargetPath() === "translation");
+        expect(translation.getTargetNode().getName()).toBe("pelvis");
+        // Float32Array-Speicher: 0.9 und 1.9 runden beim Schreiben, darum hier durch Math.fround vergleichen statt
+        // mit den float64-Literalen (Abweichung vom Brief, siehe task-5-report.md).
+        expect([...translation.getSampler().getOutput().getArray()])
+            .toEqual([0, Math.fround(0.9), 0, 0, Math.fround(1.9), 0]);
+    });
+
+    it("meldet einen fehlenden Knoten", () => {
+        const document = new Document();
+        document.getRoot().setDefaultScene(document.createScene().addChild(document.createNode("pelvis")));
+        const poses = [{ local: new Map([["fehlt", new Quaternion()]]), hips: new Vector3() }];
+        expect(() => addClip(document, "test", [0], poses, "pelvis")).toThrow(/Skelett ohne Knoten fehlt/);
+    });
+});
+
+describe("flattenPoses", () => {
+    it("reiht Drehungen als xyzw und die Hüfte als xyz je Bild auf", () => {
+        const poses = [
+            { local: new Map([["pelvis", new Quaternion(0, 0, 0, 1)]]), hips: new Vector3(1, 2, 3) },
+            { local: new Map([["pelvis", new Quaternion(0.5, 0, 0, 0.8660254)]]), hips: new Vector3(4, 5, 6) },
+        ];
+        const { rotations, hips } = flattenPoses(poses);
+        expect([...hips]).toEqual([1, 2, 3, 4, 5, 6]);
+        expect([...rotations.get("pelvis")].slice(0, 4)).toEqual([0, 0, 0, 1]);
+        expect([...rotations.get("pelvis")][4]).toBeCloseTo(0.5, 6);
+    });
+});