@adobe/data-gpu 0.9.69

package/dist/physics/ragdoll/fit-bone-capsules.js

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+// © 2026 Adobe. MIT License. See /LICENSE for details.
+/** Transform a point by a column-major 4×4 matrix (slice `o..o+16`), into `out`. */
+function transformPoint(m, o, x, y, z, out) {
+    out[0] = m[o] * x + m[o + 4] * y + m[o + 8] * z + m[o + 12];
+    out[1] = m[o + 1] * x + m[o + 5] * y + m[o + 9] * z + m[o + 13];
+    out[2] = m[o + 2] * x + m[o + 6] * y + m[o + 10] * z + m[o + 14];
+}
+/** Shortest-arc quaternion rotating +Y onto unit vector `b`. */
+function quatFromY(bx, by, bz) {
+    if (by > 0.99999)
+        return [0, 0, 0, 1]; // already +Y
+    if (by < -0.99999)
+        return [0, 0, 1, 0]; // 180° (about Z) onto −Y
+    // half-vector method: h = normalize((0,1,0) + b); q = ((0,1,0)×h, (0,1,0)·h)
+    const hx = bx, hy = 1 + by, hz = bz;
+    const hl = Math.hypot(hx, hy, hz) || 1;
+    const nx = hx / hl, ny = hy / hl, nz = hz / hl;
+    // (0,1,0) × (nx,ny,nz) = (nz·? ) → cross = (1*nz - 0*ny, 0*nx - 0*nz, 0*ny - 1*nx) = (nz, 0, -nx)
+    return [nz, 0, -nx, ny];
+}
+export function fitBoneCapsules(input) {
+    const { jointCount, inverseBindMatrices: ibm, skin } = input;
+    const minWeight = input.minWeight ?? 0.5;
+    const minVertices = input.minVertices ?? 6;
+    const vertexCount = skin.positions.length / 3;
+    // bone-local AABB per joint (min/max), accumulated over its dominant vertices
+    const min = new Float32Array(jointCount * 3).fill(Infinity);
+    const max = new Float32Array(jointCount * 3).fill(-Infinity);
+    const count = new Uint32Array(jointCount);
+    const p = [0, 0, 0];
+    for (let v = 0; v < vertexCount; v++) {
+        // dominant bone = the vertex's max-weight joint
+        let best = 0, bestW = -1;
+        for (let k = 0; k < 4; k++) {
+            const w = skin.weights[v * 4 + k];
+            if (w > bestW) {
+                bestW = w;
+                best = skin.joints[v * 4 + k];
+            }
+        }
+        if (bestW < minWeight || best >= jointCount)
+            continue;
+        transformPoint(ibm, best * 16, skin.positions[v * 3], skin.positions[v * 3 + 1], skin.positions[v * 3 + 2], p);
+        const b = best * 3;
+        if (p[0] < min[b])
+            min[b] = p[0];
+        if (p[0] > max[b])
+            max[b] = p[0];
+        if (p[1] < min[b + 1])
+            min[b + 1] = p[1];
+        if (p[1] > max[b + 1])
+            max[b + 1] = p[1];
+        if (p[2] < min[b + 2])
+            min[b + 2] = p[2];
+        if (p[2] > max[b + 2])
+            max[b + 2] = p[2];
+        count[best]++;
+    }
+    const out = [];
+    for (let j = 0; j < jointCount; j++) {
+        if (count[j] < minVertices)
+            continue;
+        const b = j * 3;
+        const ex = max[b] - min[b], ey = max[b + 1] - min[b + 1], ez = max[b + 2] - min[b + 2];
+        // longest extent = capsule axis; the other two give the (bounding) radius
+        let axis = 0, axisExtent = ex, r1 = ey, r2 = ez;
+        if (ey >= ex && ey >= ez) {
+            axis = 1;
+            axisExtent = ey;
+            r1 = ex;
+            r2 = ez;
+        }
+        else if (ez >= ex && ez >= ey) {
+            axis = 2;
+            axisExtent = ez;
+            r1 = ex;
+            r2 = ey;
+        }
+        const radius = Math.max(r1, r2) / 2 || 1e-3;
+        const halfHeight = Math.max(0, axisExtent / 2 - radius);
+        const offsetPosition = [(min[b] + max[b]) / 2, (min[b + 1] + max[b + 1]) / 2, (min[b + 2] + max[b + 2]) / 2];
+        const offsetRotation = quatFromY(axis === 0 ? 1 : 0, axis === 1 ? 1 : 0, axis === 2 ? 1 : 0);
+        out.push({ jointIndex: j, offsetPosition, offsetRotation, radius, halfHeight });
+    }
+    return out;
+}
+//# sourceMappingURL=fit-bone-capsules.js.map

package/dist/physics/ragdoll/fit-bone-capsules.js.map

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package/dist/physics/ragdoll/fit-bone-capsules.test.d.ts

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+export {};

package/dist/physics/ragdoll/fit-bone-capsules.test.js

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+// © 2026 Adobe. MIT License. See /LICENSE for details.
+import { describe, it, expect } from "vitest";
+import { fitBoneCapsules } from "./fit-bone-capsules.js";
+const IDENTITY_IBM = (n) => {
+    const m = new Float32Array(n * 16);
+    for (let j = 0; j < n; j++) {
+        m[j * 16] = 1;
+        m[j * 16 + 5] = 1;
+        m[j * 16 + 10] = 1;
+        m[j * 16 + 15] = 1;
+    }
+    return m;
+};
+/** 8 corners of a box, all dominantly weighted to `joint`. */
+function boxCorners(cx, cy, cz, hx, hy, hz, joint) {
+    const pos = [], jn = [], wt = [];
+    for (const sx of [-1, 1])
+        for (const sy of [-1, 1])
+            for (const sz of [-1, 1]) {
+                pos.push(cx + sx * hx, cy + sy * hy, cz + sz * hz);
+                jn.push(joint, 0, 0, 0);
+                wt.push(1, 0, 0, 0);
+            }
+    return { pos, jn, wt };
+}
+const skinFrom = (...parts) => ({
+    positions: new Float32Array(parts.flatMap(p => p.pos)),
+    joints: new Uint32Array(parts.flatMap(p => p.jn)),
+    weights: new Float32Array(parts.flatMap(p => p.wt)),
+});
+// rotate (0,1,0) by a quaternion
+const rotateUp = (q) => {
+    const [x, y, z, w] = q;
+    return [2 * (x * y - w * z), 1 - 2 * (x * x + z * z), 2 * (y * z + w * x)];
+};
+describe("fitBoneCapsules", () => {
+    it("fits an X-elongated bone to an X-axis capsule of the right size", () => {
+        // box x∈[-2,2], y∈[-0.5,0.5], z∈[-0.4,0.4] → axis X, radius ½·max(1,0.8)=0.5, halfHeight 2−0.5=1.5
+        const caps = fitBoneCapsules({ jointCount: 1, inverseBindMatrices: IDENTITY_IBM(1), skin: skinFrom(boxCorners(0, 0, 0, 2, 0.5, 0.4, 0)) });
+        expect(caps).toHaveLength(1);
+        const c = caps[0];
+        expect(c.jointIndex).toBe(0);
+        expect(c.radius).toBeCloseTo(0.5);
+        expect(c.halfHeight).toBeCloseTo(1.5);
+        expect(c.offsetPosition[0]).toBeCloseTo(0);
+        // the capsule's local +Y, rotated by the offset, points along world X (the fit axis)
+        const up = rotateUp(c.offsetRotation);
+        expect(Math.abs(up[0])).toBeCloseTo(1);
+        expect(Math.abs(up[1])).toBeCloseTo(0);
+    });
+    it("fits one capsule per bone, grouping vertices by dominant weight", () => {
+        const caps = fitBoneCapsules({
+            jointCount: 2, inverseBindMatrices: IDENTITY_IBM(2),
+            skin: skinFrom(boxCorners(0, 0, 0, 1, 0.3, 0.3, 0), boxCorners(0, 5, 0, 0.3, 1, 0.3, 1)),
+        });
+        expect(caps.map(c => c.jointIndex).sort()).toEqual([0, 1]);
+        // bone 1 is Y-elongated → its capsule axis is Y (offset rotation ≈ identity)
+        const c1 = caps.find(c => c.jointIndex === 1);
+        expect(rotateUp(c1.offsetRotation)[1]).toBeCloseTo(1);
+        expect(c1.offsetPosition[1]).toBeCloseTo(5);
+    });
+    it("skips bones with too few assigned vertices", () => {
+        const sparse = { pos: [0, 0, 0, 1, 0, 0, 2, 0, 0], jn: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], wt: [1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0] };
+        expect(fitBoneCapsules({ jointCount: 1, inverseBindMatrices: IDENTITY_IBM(1), skin: skinFrom(sparse) })).toHaveLength(0);
+    });
+});
+//# sourceMappingURL=fit-bone-capsules.test.js.map

package/dist/physics/ragdoll/fit-bone-capsules.test.js.map

@@ -0,0 +1 @@
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package/dist/physics/solvers/jolt-solver-plugin.d.ts

@@ -0,0 +1,465 @@
+import initJolt from "jolt-physics";
+import { type Entity } from "@adobe/data/ecs";
+import type { ColliderMesh } from "../body/collider-mesh.js";
+type JoltModule = Awaited<ReturnType<typeof initJolt>>;
+type JBodyInterface = InstanceType<JoltModule["BodyInterface"]>;
+type JPhysicsSystem = InstanceType<JoltModule["PhysicsSystem"]>;
+/** The live Jolt world, published once WASM init completes, so Jolt-native
+ *  extensions (e.g. `joltRagdoll`) can add their own bodies/constraints into the
+ *  same physics system the solver steps. The RAGDOLL object layer (no
+ *  self-collision) is exposed for ragdoll parts. */
+export interface JoltContext {
+    jolt: JoltModule;
+    physicsSystem: JPhysicsSystem;
+    bodyInterface: JBodyInterface;
+    ragdollLayer: number;
+}
+export declare const joltSolver: {
+    readonly components: {} & {
+        readonly material: {
+            readonly type: "integer";
+            readonly minimum: -2147483648;
+            readonly maximum: 2147483647;
+            readonly default: number;
+        };
+        readonly name: {
+            readonly type: "string";
+        };
+        readonly density: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly restitution: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly friction: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly compliance: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly heatCapacity: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly baseColorFactor: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 4;
+            readonly maxItems: 4;
+            readonly default: readonly [0, 0, 0, 0];
+        };
+        readonly emissiveFactor: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 3;
+            readonly maxItems: 3;
+            readonly default: readonly [0, 0, 0];
+        };
+        readonly metallicFactor: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly roughnessFactor: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly normalScale: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly occlusionStrength: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly baseColorUrl: {
+            readonly type: "string";
+        };
+        readonly metallicRoughnessUrl: {
+            readonly type: "string";
+        };
+        readonly normalUrl: {
+            readonly type: "string";
+        };
+        readonly occlusionUrl: {
+            readonly type: "string";
+        };
+        readonly emissiveUrl: {
+            readonly type: "string";
+        };
+    } & {
+        readonly bodyType: {
+            readonly type: "string";
+            readonly enum: readonly ["static", "dynamic", "kinematic"];
+        };
+        readonly colliderShape: {
+            readonly type: "string";
+            readonly enum: readonly ["sphere", "box", "capsule", "hull", "mesh"];
+        };
+        readonly halfExtents: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 3;
+            readonly maxItems: 3;
+            readonly default: readonly [0, 0, 0];
+        };
+        readonly position: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 3;
+            readonly maxItems: 3;
+            readonly default: readonly [0, 0, 0];
+        };
+        readonly rotation: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 4;
+            readonly maxItems: 4;
+            readonly default: readonly [0, 0, 0, 1];
+            readonly interpolators: {
+                readonly linear: (q1: any, q2: any, t: number) => any;
+            };
+        };
+        readonly linearVelocity: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 3;
+            readonly maxItems: 3;
+            readonly default: readonly [0, 0, 0];
+        };
+        readonly angularVelocity: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 3;
+            readonly maxItems: 3;
+            readonly default: readonly [0, 0, 0];
+        };
+        readonly _prevPosition: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 3;
+            readonly maxItems: 3;
+            readonly default: readonly [0, 0, 0];
+        };
+        readonly _prevRotation: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 4;
+            readonly maxItems: 4;
+            readonly default: readonly [0, 0, 0, 1];
+            readonly interpolators: {
+                readonly linear: (q1: any, q2: any, t: number) => any;
+            };
+        };
+        readonly collisionGroup: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly convexPoints: {
+            readonly default: Float32Array | null;
+        };
+        readonly colliderMesh: {
+            readonly default: ColliderMesh | null;
+        };
+    } & {
+        readonly jointType: {
+            readonly type: "string";
+            readonly enum: readonly ["fixed", "point", "hinge", "cone"];
+        };
+        readonly jointBodyA: {
+            readonly type: "integer";
+            readonly minimum: -2147483648;
+            readonly maximum: 2147483647;
+            readonly default: number;
+        };
+        readonly jointBodyB: {
+            readonly type: "integer";
+            readonly minimum: -2147483648;
+            readonly maximum: 2147483647;
+            readonly default: number;
+        };
+        readonly jointAnchorA: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 3;
+            readonly maxItems: 3;
+            readonly default: readonly [0, 0, 0];
+        };
+        readonly jointAnchorB: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 3;
+            readonly maxItems: 3;
+            readonly default: readonly [0, 0, 0];
+        };
+        readonly jointAxis: {
+            readonly type: "array";
+            readonly items: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly minItems: 3;
+            readonly maxItems: 3;
+            readonly default: readonly [0, 0, 0];
+        };
+        readonly jointMinLimit: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly jointMaxLimit: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+        readonly jointSwingLimit: {
+            readonly type: "number";
+            readonly precision: 1;
+            readonly default: number;
+        };
+    } & {
+        readonly _joltBody: {
+            readonly type: "boolean";
+            readonly const: true;
+            readonly default: true;
+        };
+        readonly _joltJoint: {
+            readonly type: "boolean";
+            readonly const: true;
+            readonly default: true;
+        };
+    };
+    readonly resources: {} & {
+        readonly materials: {
+            readonly default: Record<string, Entity>;
+        };
+    } & {
+        readonly frameTime: {
+            readonly default: import("../../core/frame-time/public.js");
+            readonly transient: true;
+        };
+    } & {
+        readonly schedulerState: {
+            readonly default: import("@adobe/data/ecs").SchedulerState;
+        };
+    } & {
+        readonly device: {
+            readonly default: GPUDevice | null;
+            readonly transient: true;
+        };
+        readonly commandEncoder: {
+            readonly default: GPUCommandEncoder | null;
+            readonly transient: true;
+        };
+    } & {
+        readonly physicsClock: {
+            readonly default: import("../physics-clock-plugin.js").PhysicsClock;
+            readonly transient: true;
+        };
+    } & {
+        readonly _joltContext: {
+            readonly default: JoltContext | null;
+            readonly transient: true;
+        };
+    };
+    readonly archetypes: {} & {
+        readonly Material: readonly ["name", "density", "restitution", "friction", "compliance", "heatCapacity", "baseColorFactor", "emissiveFactor", "metallicFactor", "roughnessFactor", "normalScale", "occlusionStrength", "baseColorUrl", "metallicRoughnessUrl", "normalUrl", "occlusionUrl", "emissiveUrl"];
+    } & {
+        readonly RigidBody: readonly ["bodyType", "colliderShape", "halfExtents", "material", "position", "rotation", "linearVelocity", "angularVelocity"];
+        readonly StaticCollider: readonly ["colliderShape", "halfExtents", "material", "position", "rotation"];
+        readonly ConvexBody: readonly ["bodyType", "colliderShape", "halfExtents", "material", "position", "rotation", "linearVelocity", "angularVelocity", "convexPoints"];
+        readonly MeshCollider: readonly ["colliderShape", "halfExtents", "material", "position", "rotation", "colliderMesh"];
+    } & {
+        readonly Joint: readonly ["jointType", "jointBodyA", "jointBodyB", "jointAnchorA", "jointAnchorB", "jointAxis", "jointMinLimit", "jointMaxLimit", "jointSwingLimit"];
+    } & {};
+    readonly transactions: {
+        readonly seedStandardMaterials: (t: import("@adobe/data/ecs").TransactionContext<import("@adobe/data/schema").FromSchemas<{
+            readonly material: {
+                readonly type: "integer";
+                readonly minimum: -2147483648;
+                readonly maximum: 2147483647;
+                readonly default: number;
+            };
+            readonly name: {
+                readonly type: "string";
+            };
+            readonly density: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly restitution: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly friction: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly compliance: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly heatCapacity: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly baseColorFactor: {
+                readonly type: "array";
+                readonly items: {
+                    readonly type: "number";
+                    readonly precision: 1;
+                    readonly default: number;
+                };
+                readonly minItems: 4;
+                readonly maxItems: 4;
+                readonly default: readonly [0, 0, 0, 0];
+            };
+            readonly emissiveFactor: {
+                readonly type: "array";
+                readonly items: {
+                    readonly type: "number";
+                    readonly precision: 1;
+                    readonly default: number;
+                };
+                readonly minItems: 3;
+                readonly maxItems: 3;
+                readonly default: readonly [0, 0, 0];
+            };
+            readonly metallicFactor: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly roughnessFactor: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly normalScale: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly occlusionStrength: {
+                readonly type: "number";
+                readonly precision: 1;
+                readonly default: number;
+            };
+            readonly baseColorUrl: {
+                readonly type: "string";
+            };
+            readonly metallicRoughnessUrl: {
+                readonly type: "string";
+            };
+            readonly normalUrl: {
+                readonly type: "string";
+            };
+            readonly occlusionUrl: {
+                readonly type: "string";
+            };
+            readonly emissiveUrl: {
+                readonly type: "string";
+            };
+        }>, import("@adobe/data/schema").FromSchemas<{
+            readonly materials: {
+                readonly default: Record<string, Entity>;
+            };
+        }>, {
+            readonly Material: readonly ["name", "density", "restitution", "friction", "compliance", "heatCapacity", "baseColorFactor", "emissiveFactor", "metallicFactor", "roughnessFactor", "normalScale", "occlusionStrength", "baseColorUrl", "metallicRoughnessUrl", "normalUrl", "occlusionUrl", "emissiveUrl"];
+        }, {}>) => void;
+    } & {} & {} & {} & {
+        readonly setFixedTimestep: (t: import("@adobe/data/ecs").TransactionContext<import("@adobe/data/schema").FromSchemas<{}>, import("@adobe/data/schema").FromSchemas<{
+            readonly physicsClock: {
+                readonly default: import("../physics-clock-plugin.js").PhysicsClock;
+                readonly transient: true;
+            };
+        } & {
+            readonly frameTime: {
+                readonly default: import("../../core/frame-time/public.js");
+                readonly transient: true;
+            };
+        } & {
+            readonly schedulerState: {
+                readonly default: import("@adobe/data/ecs").SchedulerState;
+            };
+        } & {
+            readonly device: {
+                readonly default: GPUDevice | null;
+                readonly transient: true;
+            };
+            readonly commandEncoder: {
+                readonly default: GPUCommandEncoder | null;
+                readonly transient: true;
+            };
+        }>, {}, {}>, hz: number) => void;
+    } & {} & {};
+    readonly systems: import("@adobe/data/ecs").SystemDeclarations<"update" | "_frameTime" | "schedulerSystem" | "input" | "preUpdate" | "postUpdate" | "physics" | "preRender" | "render" | "postRender" | "advancePhysicsClock" | "joltStep">;
+    readonly actions: {};
+    readonly services: {};
+    readonly computed: {};
+    readonly indexes: {} & {} & {} & {} & {};
+};
+export {};