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* Trigram Stance Transition System
*
* Handles trigram-specific animation transitions between stances with smooth blending,
* incorporating Korean martial arts footwork and weight transfer principles.
*
* **Korean Context:**
* - **자세 전환 (Jase Jeonhwan)**: Stance transition
* - **발놀림 (Balnollim)**: Footwork
* - **체중 이동 (Chejung Idong)**: Weight transfer
*
* Generates all 64 stance-to-stance transitions (8×8) with proper footwork,
* weight transfer, and guard pose blending based on authentic Korean martial arts.
*
* @module systems/animation/TrigramStanceTransitions
* @category Animation System
* @korean 팔괘자세전환
*/
import { TrigramStance } from "../../types/common";
import type { SkeletalAnimation } from "../../types/skeletal";
import type { StanceLaterality } from "../trigram/types";
import { getGuardPoseForStance } from "./StanceGuardPoses";
import { MartialArtsAnimationBuilder } from "./MartialArtsAnimationBuilder";
import { BoneName } from "../../types/skeletal";
import * as THREE from "three";
/**
* Order of trigram stances in the stance wheel (circular arrangement).
*
* **Korean**: 팔괘 순서
*
* The 8 trigrams arranged in traditional order around the Bagua octagon.
* Adjacent stances in this array are considered "adjacent" for transition purposes.
*
* @korean 팔괘순서
*/
export const TRIGRAM_STANCES_ORDER: readonly TrigramStance[] = [
TrigramStance.GEON, // ☰ Heaven
TrigramStance.TAE, // ☱ Lake
TrigramStance.LI, // ☲ Fire
TrigramStance.JIN, // ☳ Thunder
TrigramStance.SON, // ☴ Wind
TrigramStance.GAM, // ☵ Water
TrigramStance.GAN, // ☶ Mountain
TrigramStance.GON, // ☷ Earth
] as const;
/**
* Calculate transition duration based on stance change magnitude.
*
* **Korean**: 전환 시간 계산
*
* Duration is based on the distance between stances on the octagonal wheel:
* - Same stance (laterality change only): 300ms
* - Adjacent stances (1-2 steps apart): 200ms
* - Medium distance (3-4 steps): 300ms
* - Opposite stances (4 steps): 400ms
*
* @param from - Starting trigram stance
* @param to - Ending trigram stance
* @returns Transition duration in seconds
*
* @example
* ```typescript
* calculateTransitionDuration(TrigramStance.GEON, TrigramStance.TAE); // 0.2 (adjacent)
* calculateTransitionDuration(TrigramStance.GEON, TrigramStance.GON); // 0.4 (opposite)
* calculateTransitionDuration(TrigramStance.GEON, TrigramStance.GEON); // 0.3 (laterality change)
* ```
*
* @public
* @category Trigram System
* @korean 전환시간계산
*/
export function calculateTransitionDuration(
from: TrigramStance,
to: TrigramStance
): number {
// Same stance = laterality change only
if (from === to) {
return 0.3; // 300ms
}
const fromIndex = TRIGRAM_STANCES_ORDER.indexOf(from);
const toIndex = TRIGRAM_STANCES_ORDER.indexOf(to);
if (fromIndex === -1 || toIndex === -1) {
console.warn(`Invalid stance in transition: ${from} -> ${to}`);
return 0.3; // Default to medium duration
}
// Calculate shortest distance around the circular wheel
// For a circular array, the shortest path between two positions can wrap around.
// Example: In an 8-element array, going from index 7 to 0 is 1 step (wrapping),
// not 7 steps (direct). We compare both paths and take the shorter one.
const directDistance = Math.abs(toIndex - fromIndex);
const wrapDistance = TRIGRAM_STANCES_ORDER.length - directDistance;
const distance = Math.min(directDistance, wrapDistance);
// Map distance to duration
Iif (distance === 0) return 0.3; // Same stance
if (distance <= 2) return 0.2; // Adjacent stances (1-2 steps)
if (distance <= 3) return 0.3; // Medium distance (3 steps)
return 0.4; // Opposite stances (4 steps)
}
/**
* Weight transfer constants for realistic knee bending during stance transitions.
*
* **Korean**: 체중 이동 상수
*
* @korean 체중이동상수
*/
const WEIGHT_TRANSFER_KNEE_BEND = 0.1; // Additional knee bend during weight transfer (radians)
const MAX_KNEE_FLEX_ANGLE = 0.6; // Maximum knee flex angle to prevent over-bending (radians)
/**
* Helper function for blending Euler rotations between two poses.
*
* **Korean**: 오일러 회전 블렌딩
*
* Linearly interpolates between two Euler angles based on a blend factor.
*
* @param fromEuler - Starting rotation
* @param toEuler - Target rotation
* @param blend - Blend factor (0.0 = all from, 1.0 = all to)
* @returns Blended rotation as [x, y, z] tuple
*
* @korean 오일러회전블렌딩
*/
function blendRotation(
fromEuler: THREE.Euler,
toEuler: THREE.Euler,
blend: number
): [number, number, number] {
return [
fromEuler.x + (toEuler.x - fromEuler.x) * blend,
fromEuler.y + (toEuler.y - fromEuler.y) * blend,
fromEuler.z + (toEuler.z - fromEuler.z) * blend,
];
}
/**
* Generate trigram stance-to-stance transition animation.
*
* **Korean**: 팔괘 자세 전환 애니메이션 생성
*
* Creates a complete skeletal animation transitioning from one trigram stance to another,
* including:
* - Footwork keyframes (weight transfer, pivot, step)
* - Guard pose blending (arms transition smoothly)
* - Laterality support (left/right stance)
* - Korean martial arts principles (proper weight transfer, footwork sequencing)
*
* ## Animation Phases
*
* 1. **Weight Transfer (0-40% of duration)**: Shift weight off moving foot
* 2. **Pivot/Step (40-70% of duration)**: Reposition feet to target stance width
* 3. **Guard Blend (0-100% of duration)**: Smoothly transition guard poses
* 4. **Settle (70-100% of duration)**: Complete transition, stabilize in new stance
*
* @param from - Starting trigram stance
* @param to - Ending trigram stance
* @param laterality - Laterality (applies to ending stance)
* @returns Transition animation with footwork and guard blending
*
* @example
* ```typescript
* // Adjacent stance transition (200ms)
* const transition = transitionBetweenStances(
* TrigramStance.GEON,
* TrigramStance.TAE,
* "left"
* );
*
* // Opposite stance transition (400ms)
* const longTransition = transitionBetweenStances(
* TrigramStance.GEON,
* TrigramStance.GON,
* "right"
* );
* ```
*
* @public
* @category Trigram System
* @korean 팔괘자세전환
*/
export function transitionBetweenStances(
from: TrigramStance,
to: TrigramStance,
laterality: StanceLaterality
): SkeletalAnimation {
const duration = calculateTransitionDuration(from, to);
// Get guard poses - same laterality used for both source and target stances
// (the transition maintains laterality throughout)
const fromGuard = getGuardPoseForStance(from, laterality);
const toGuard = getGuardPoseForStance(to, laterality);
if (!fromGuard || !toGuard) {
throw new Error(`Guard pose not found for transition: ${from} (${laterality}) -> ${to} (${laterality})`);
}
// Build transition animation
const builder = MartialArtsAnimationBuilder
.create(
`${from}_to_${to}_${laterality}`,
`${from}에서${to}로_${laterality === "left" ? "왼" : "오른"}`
)
.asStance(duration, false);
// Keyframe 1: Start from original guard pose (0% - t=0)
const startTime = 0;
const fromHalfWidth = fromGuard.stanceWidth / 2;
builder.at(startTime, "ease-out")
.rotate(BoneName.SHOULDER_L, ...fromGuard.leftArm.shoulder.toArray() as [number, number, number])
.rotate(BoneName.ELBOW_L, ...fromGuard.leftArm.elbow.toArray() as [number, number, number])
.rotate(BoneName.WRIST_L, ...fromGuard.leftArm.wrist.toArray() as [number, number, number])
.rotate(BoneName.SHOULDER_R, ...fromGuard.rightArm.shoulder.toArray() as [number, number, number])
.rotate(BoneName.ELBOW_R, ...fromGuard.rightArm.elbow.toArray() as [number, number, number])
.rotate(BoneName.WRIST_R, ...fromGuard.rightArm.wrist.toArray() as [number, number, number])
.rotate(BoneName.HIP_L, ...fromGuard.leftLeg.hip.toArray() as [number, number, number])
.rotate(BoneName.KNEE_L, ...fromGuard.leftLeg.knee.toArray() as [number, number, number])
.rotate(BoneName.FOOT_L, ...fromGuard.leftLeg.ankle.toArray() as [number, number, number])
.rotate(BoneName.HIP_R, ...fromGuard.rightLeg.hip.toArray() as [number, number, number])
.rotate(BoneName.KNEE_R, ...fromGuard.rightLeg.knee.toArray() as [number, number, number])
.rotate(BoneName.FOOT_R, ...fromGuard.rightLeg.ankle.toArray() as [number, number, number])
.rotate(BoneName.SPINE_UPPER, ...fromGuard.torso.toArray() as [number, number, number])
.rotate(BoneName.PELVIS, ...fromGuard.pelvis.toArray() as [number, number, number])
.position(BoneName.FOOT_L, -fromHalfWidth, 0, 0)
.position(BoneName.FOOT_R, fromHalfWidth, 0, 0)
.done<typeof builder>();
// Keyframe 2: Weight transfer phase (40% of duration)
const weightTransferTime = duration * 0.4;
builder.at(weightTransferTime, "linear")
.rotate(BoneName.KNEE_L, Math.min(fromGuard.leftLeg.knee.x + WEIGHT_TRANSFER_KNEE_BEND, MAX_KNEE_FLEX_ANGLE), 0, 0)
.rotate(BoneName.KNEE_R, Math.min(fromGuard.rightLeg.knee.x + WEIGHT_TRANSFER_KNEE_BEND, MAX_KNEE_FLEX_ANGLE), 0, 0)
.rotate(BoneName.PELVIS, fromGuard.pelvis.x, fromGuard.pelvis.y + (toGuard.pelvis.y - fromGuard.pelvis.y) * 0.3, fromGuard.pelvis.z)
.rotate(BoneName.SHOULDER_L, ...blendRotation(fromGuard.leftArm.shoulder, toGuard.leftArm.shoulder, 0.2))
.rotate(BoneName.ELBOW_L, ...blendRotation(fromGuard.leftArm.elbow, toGuard.leftArm.elbow, 0.2))
.done<typeof builder>();
// Keyframe 3: Guard blend phase (70% of duration)
const guardBlendTime = duration * 0.7;
const blendedHalfWidth = fromHalfWidth + ((toGuard.stanceWidth / 2) - fromHalfWidth) * 0.7;
builder.at(guardBlendTime, "ease-in-out")
.rotate(BoneName.SHOULDER_L, ...blendRotation(fromGuard.leftArm.shoulder, toGuard.leftArm.shoulder, 0.7))
.rotate(BoneName.ELBOW_L, ...blendRotation(fromGuard.leftArm.elbow, toGuard.leftArm.elbow, 0.7))
.rotate(BoneName.WRIST_L, ...blendRotation(fromGuard.leftArm.wrist, toGuard.leftArm.wrist, 0.7))
.rotate(BoneName.SHOULDER_R, ...blendRotation(fromGuard.rightArm.shoulder, toGuard.rightArm.shoulder, 0.7))
.rotate(BoneName.ELBOW_R, ...blendRotation(fromGuard.rightArm.elbow, toGuard.rightArm.elbow, 0.7))
.rotate(BoneName.WRIST_R, ...blendRotation(fromGuard.rightArm.wrist, toGuard.rightArm.wrist, 0.7))
.rotate(BoneName.HIP_L, ...blendRotation(fromGuard.leftLeg.hip, toGuard.leftLeg.hip, 0.6))
.rotate(BoneName.KNEE_L, ...blendRotation(fromGuard.leftLeg.knee, toGuard.leftLeg.knee, 0.6))
.rotate(BoneName.FOOT_L, ...blendRotation(fromGuard.leftLeg.ankle, toGuard.leftLeg.ankle, 0.6))
.rotate(BoneName.HIP_R, ...blendRotation(fromGuard.rightLeg.hip, toGuard.rightLeg.hip, 0.6))
.rotate(BoneName.KNEE_R, ...blendRotation(fromGuard.rightLeg.knee, toGuard.rightLeg.knee, 0.6))
.rotate(BoneName.FOOT_R, ...blendRotation(fromGuard.rightLeg.ankle, toGuard.rightLeg.ankle, 0.6))
.rotate(BoneName.SPINE_UPPER, ...blendRotation(fromGuard.torso, toGuard.torso, 0.7))
.rotate(BoneName.PELVIS, ...blendRotation(fromGuard.pelvis, toGuard.pelvis, 0.7))
.position(BoneName.FOOT_L, -blendedHalfWidth, 0, 0)
.position(BoneName.FOOT_R, blendedHalfWidth, 0, 0)
.done<typeof builder>();
// Keyframe 4: Complete transition to target guard pose (100% - t=duration)
const endTime = duration;
const toHalfWidth = toGuard.stanceWidth / 2;
builder.at(endTime, "ease-in")
.rotate(BoneName.SHOULDER_L, ...toGuard.leftArm.shoulder.toArray() as [number, number, number])
.rotate(BoneName.ELBOW_L, ...toGuard.leftArm.elbow.toArray() as [number, number, number])
.rotate(BoneName.WRIST_L, ...toGuard.leftArm.wrist.toArray() as [number, number, number])
.rotate(BoneName.SHOULDER_R, ...toGuard.rightArm.shoulder.toArray() as [number, number, number])
.rotate(BoneName.ELBOW_R, ...toGuard.rightArm.elbow.toArray() as [number, number, number])
.rotate(BoneName.WRIST_R, ...toGuard.rightArm.wrist.toArray() as [number, number, number])
.rotate(BoneName.HIP_L, ...toGuard.leftLeg.hip.toArray() as [number, number, number])
.rotate(BoneName.KNEE_L, ...toGuard.leftLeg.knee.toArray() as [number, number, number])
.rotate(BoneName.FOOT_L, ...toGuard.leftLeg.ankle.toArray() as [number, number, number])
.rotate(BoneName.HIP_R, ...toGuard.rightLeg.hip.toArray() as [number, number, number])
.rotate(BoneName.KNEE_R, ...toGuard.rightLeg.knee.toArray() as [number, number, number])
.rotate(BoneName.FOOT_R, ...toGuard.rightLeg.ankle.toArray() as [number, number, number])
.rotate(BoneName.SPINE_UPPER, ...toGuard.torso.toArray() as [number, number, number])
.rotate(BoneName.PELVIS, ...toGuard.pelvis.toArray() as [number, number, number])
.position(BoneName.FOOT_L, -toHalfWidth, 0, 0)
.position(BoneName.FOOT_R, toHalfWidth, 0, 0)
.done<typeof builder>();
return builder.build();
}
/**
* Stance transition matrix containing all 64 transitions (8x8).
*
* **Korean**: 팔괘 전환 행렬
*
* Maps from every stance to every other stance for both left and right laterality.
* Key format: "from_to_laterality" (e.g., "geon_tae_left")
*
* Total transitions: 128 (8 source × 8 target × 2 laterality)
* - 16 same-stance transitions (laterality changes, 300ms)
* - ~48 adjacent transitions (200ms)
* - ~64 indirect transitions (300-400ms)
*
* @korean 팔괘전환행렬
*/
export const STANCE_TRANSITIONS: Map<string, SkeletalAnimation> = new Map();
/**
* Initialize the stance transition matrix.
*
* **Korean**: 전환 행렬 초기화
*
* Generates all 128 stance transitions (8 from × 8 to × 2 laterality) and populates the transition map.
*
* **Important**: Call this during application initialization, not during module load, to avoid
* blocking the main thread and to provide better control over when transitions are generated.
*
* @example
* ```typescript
* // During app startup
* initializeStanceTransitions();
* ```
*
* @korean 전환행렬초기화
*/
export function initializeStanceTransitions(): void {
// Generate all transitions for both lateralities
for (const from of TRIGRAM_STANCES_ORDER) {
for (const to of TRIGRAM_STANCES_ORDER) {
for (const laterality of ["left", "right"] as const) {
const key = `${from}_${to}_${laterality}`;
const transition = transitionBetweenStances(from, to, laterality);
STANCE_TRANSITIONS.set(key, transition);
}
}
}
}
/**
* Get stance transition animation.
*
* **Korean**: 자세 전환 가져오기
*
* Retrieves the transition animation for moving from one stance to another with specific laterality.
*
* @param from - Source stance
* @param to - Target stance
* @param laterality - Stance laterality (left/right)
* @returns Transition animation, or undefined if not found
*
* @example
* ```typescript
* const transition = getStanceTransition(
* TrigramStance.GEON,
* TrigramStance.TAE,
* "right"
* );
* console.log(transition.duration); // 0.2
* console.log(transition.keyframes.length); // 4
* ```
*
* @korean 자세전환가져오기
*/
export function getStanceTransition(
from: TrigramStance,
to: TrigramStance,
laterality: StanceLaterality
): SkeletalAnimation | undefined {
const key = `${from}_${to}_${laterality}`;
return STANCE_TRANSITIONS.get(key);
}
/**
* Ensure stance transitions have been initialized.
*
* **Korean**: 전환이미초기화확인
*
* This helper provides a convenient way for application startup code to lazily
* initialize the stance transition matrix without performing any work at module
* load time. It is safe to call multiple times; transitions will only be generated
* on the first call when the internal map is still empty.
*
* @example
* ```typescript
* // During app startup or before using stance transitions
* ensureStanceTransitionsInitialized();
* ```
*
* @korean 전환이미초기화확인
*/
export function ensureStanceTransitionsInitialized(): void {
if (STANCE_TRANSITIONS.size === 0) {
initializeStanceTransitions();
}
}
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