@aura3d/engine 1.3.2 → 1.4.0

package/dist/engine/agent-api/product-viewer-runtime.d.ts.map

@@ -1 +1 @@
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package/dist/engine/ecs/ECSRenderSource.d.ts

@@ -0,0 +1,29 @@
+import { type Entity, type World } from "@aura3d/ecs";
+import type { Geometry, MorphTargetDelta, RenderMaterial, RenderSource } from "@aura3d/rendering";
+export interface ECSRenderLibraries {
+    geometry: Map<string, Geometry>;
+    material: Map<string, RenderMaterial>;
+    morphTarget?: Map<string, readonly MorphTargetDelta[]>;
+}
+export interface ECSRenderSourceOptions {
+    world: World;
+    libraries: ECSRenderLibraries;
+    cameraEntity?: Entity;
+    frustumCulling?: boolean;
+}
+/**
+ * Creates a {@link RenderSource} backed by an ECS {@link World}.
+ *
+ * The bridge queries entities with {@link MeshComponent} +
+ * {@link WorldTransformComponent} each frame and builds {@link RenderItem}
+ * objects that the renderer consumes unchanged.
+ *
+ * Lighting is collected from entities with {@link LightComponent} +
+ * {@link WorldTransformComponent}.
+ *
+ * The camera entity (if provided) supplies `cameraPosition` to the renderer.
+ * View/projection matrices are not wired through this bridge; pass a camera
+ * to the renderer separately.
+ */
+export declare function createECSRenderSource(options: ECSRenderSourceOptions): RenderSource;
+//# sourceMappingURL=ECSRenderSource.d.ts.map

package/dist/engine/ecs/ECSRenderSource.d.ts.map

@@ -0,0 +1 @@
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package/dist/engine/ecs/ECSRenderSource.js

@@ -0,0 +1,189 @@
+import { ActiveComponent, CameraComponent, HierarchyComponent, LightComponent, MeshComponent, NameComponent, TransformComponent, WorldTransformComponent, } from "../../ecs/index.js";
+import { DirectionalLight, PointLight, SpotLight } from "../../scene/index.js";
+/**
+ * Creates a {@link RenderSource} backed by an ECS {@link World}.
+ *
+ * The bridge queries entities with {@link MeshComponent} +
+ * {@link WorldTransformComponent} each frame and builds {@link RenderItem}
+ * objects that the renderer consumes unchanged.
+ *
+ * Lighting is collected from entities with {@link LightComponent} +
+ * {@link WorldTransformComponent}.
+ *
+ * The camera entity (if provided) supplies `cameraPosition` to the renderer.
+ * View/projection matrices are not wired through this bridge; pass a camera
+ * to the renderer separately.
+ */
+export function createECSRenderSource(options) {
+    return {
+        collectRenderItems: () => collectECSRenderItems(options),
+        get collectedLights() {
+            return safeQueryComponents(options.world, [LightComponent, WorldTransformComponent])
+                ? collectECSLights(options)
+                : [];
+        },
+        get cameraPosition() {
+            return getECSCameraPosition(options);
+        },
+        ...(options.frustumCulling !== undefined ? { frustumCulling: options.frustumCulling } : {}),
+    };
+}
+function safeQueryComponents(world, ctors) {
+    return ctors?.every((ctor) => world.registry.get(ctor)) ?? true;
+}
+function collectECSRenderItems(options) {
+    const { world, libraries } = options;
+    const items = [];
+    // Querying unregistered components throws UNREGISTERED_COMPONENT; a fresh
+    // world that never added a mesh simply has nothing to render.
+    if (!safeQueryComponents(world, [MeshComponent, WorldTransformComponent]))
+        return items;
+    const entities = world
+        .query({ include: [MeshComponent, WorldTransformComponent] })
+        .toArray();
+    // Filter inactive entities (skip if ActiveComponent exists and is inactive)
+    const hasActiveComp = world.registry.get(ActiveComponent) !== undefined;
+    const hasHierarchyComp = world.registry.get(HierarchyComponent) !== undefined;
+    const visibleEntities = entities.filter((entity) => {
+        if (!hasActiveComp)
+            return true;
+        const active = world.get(entity, ActiveComponent);
+        if (!active)
+            return true;
+        if (!hasHierarchyComp)
+            return active.activeSelf;
+        const hierarchy = world.get(entity, HierarchyComponent);
+        if (!hierarchy || !hierarchy.parent)
+            return active.activeSelf;
+        // For children we need activeInHierarchy which is maintained by ActiveSystem.
+        return active.activeInHierarchy;
+    });
+    for (const entity of visibleEntities) {
+        const mesh = world.get(entity, MeshComponent);
+        const wt = world.get(entity, WorldTransformComponent);
+        const geometry = libraries.geometry.get(mesh.geometry);
+        const material = libraries.material.get(mesh.material);
+        if (!geometry)
+            continue;
+        const hasNameComp = world.registry.get(NameComponent) !== undefined;
+        const label = hasNameComp ? world.get(entity, NameComponent)?.name : undefined;
+        items.push({
+            geometry,
+            material,
+            label,
+            modelMatrix: wt.worldMatrix,
+            normalMatrix: wt.normalMatrix,
+            ...(mesh.skinning ? { skinning: mesh.skinning } : {}),
+            ...(mesh.morphWeights ? { morphWeights: mesh.morphWeights } : {}),
+            ...(mesh.instanceTransforms ? { instanceTransforms: mesh.instanceTransforms } : {}),
+            ...(mesh.instanceColors ? { instanceColors: mesh.instanceColors } : {}),
+        });
+    }
+    return items;
+}
+let warnedAmbientLightsUnsupported = false;
+function collectECSLights(options) {
+    const { world } = options;
+    const lights = [];
+    for (const entity of world
+        .query({ include: [LightComponent, WorldTransformComponent] })
+        .toArray()) {
+        const light = world.get(entity, LightComponent);
+        const wt = world.get(entity, WorldTransformComponent);
+        if (light.kind === "ambient") {
+            // CollectedLight has no ambient kind; converting to directional would
+            // render the scene wrong, so skip until an environment-lighting bridge exists.
+            if (!warnedAmbientLightsUnsupported) {
+                warnedAmbientLightsUnsupported = true;
+                console.warn("[aura3d] Ambient ECS lights are not yet bridged to the renderer's environment lighting; skipping ambient LightComponent entities.");
+            }
+            continue;
+        }
+        // Extract world position from the 4th column of worldMatrix
+        const position = [
+            wt.worldMatrix[12],
+            wt.worldMatrix[13],
+            wt.worldMatrix[14],
+        ];
+        // Extract forward direction from the 3rd column (negated for look direction)
+        const direction = [
+            -wt.worldMatrix[8],
+            -wt.worldMatrix[9],
+            -wt.worldMatrix[10],
+        ];
+        lights.push({
+            kind: light.kind,
+            color: light.color,
+            intensity: light.intensity,
+            position,
+            direction,
+            range: light.range,
+            spotAngle: light.angle,
+            penumbra: light.penumbra,
+            castsShadow: light.castsShadow,
+            layerMask: light.layerMask,
+            source: createLightSource(light, wt.worldMatrix),
+        });
+    }
+    return lights;
+}
+/**
+ * Builds a real scene {@link Light} node for {@link CollectedLight.source}.
+ *
+ * The renderer dereferences `light.source.visible` when selecting the shadow
+ * caster and reads the source's transform for the shadow direction, so the
+ * non-nullable contract must be satisfied with a live node.
+ */
+function createLightSource(light, worldMatrix) {
+    const source = light.kind === "point"
+        ? new PointLight("ECSPointLight")
+        : light.kind === "spot"
+            ? new SpotLight("ECSSpotLight")
+            : new DirectionalLight("ECSDirectionalLight");
+    source.visible = true;
+    source.color = [...light.color];
+    source.castsShadow = light.castsShadow;
+    source.layerMask = light.layerMask;
+    // Scene light setters validate their inputs; the ECS component does not,
+    // so only forward values the setters accept (otherwise keep scene defaults).
+    if (Number.isFinite(light.intensity) && light.intensity >= 0)
+        source.intensity = light.intensity;
+    if (source instanceof PointLight || source instanceof SpotLight) {
+        if (Number.isFinite(light.range) && light.range > 0)
+            source.range = light.range;
+    }
+    if (source instanceof SpotLight) {
+        if (light.angle > 0 && light.angle < Math.PI / 2)
+            source.angle = light.angle;
+        if (light.penumbra >= 0 && light.penumbra <= 1)
+            source.penumbra = light.penumbra;
+    }
+    try {
+        source.transform.setFromLocalMatrix([...worldMatrix]);
+        source.updateWorldTransform();
+    }
+    catch {
+        // Degenerate (zero-scale) world matrix — leave the source at identity;
+        // position/direction on the CollectedLight itself are still correct.
+    }
+    return source;
+}
+function getECSCameraPosition(options) {
+    const { world, cameraEntity } = options;
+    if (!cameraEntity)
+        return undefined;
+    if (!safeQueryComponents(world, [CameraComponent, WorldTransformComponent]))
+        return undefined;
+    try {
+        const cam = world.get(cameraEntity, CameraComponent);
+        const wt = world.get(cameraEntity, WorldTransformComponent);
+        if (!cam || !wt)
+            return undefined;
+        return [wt.worldMatrix[12], wt.worldMatrix[13], wt.worldMatrix[14]];
+    }
+    catch {
+        // Destroyed camera entity (World.get asserts liveness) — no camera position.
+        return undefined;
+    }
+}
+//# sourceMappingURL=ECSRenderSource.js.map

package/dist/engine/ecs/ECSRenderSource.js.map

@@ -0,0 +1 @@
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package/dist/engine/index.d.ts

@@ -10,6 +10,7 @@ export { A3DRenderer, A3DScene, A3DAppLifecycle } from "./advanced-runtime/index
 export * from "./agent-api/index.js";
 export * from "./runtime/index.js";
 export * from "./game/index.js";
+export * from "./ecs/ECSRenderSource.js";
 export * from "./devtools/AuraDiagnosticsOverlay.js";
 export * from "./devtools/AuraAssetPanel.js";
 export * from "./devtools/AuraPerformancePanel.js";

package/dist/engine/index.d.ts.map

@@ -1 +1 @@
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package/dist/engine/index.js

@@ -8,6 +8,7 @@ export { A3DRenderer, A3DScene, A3DAppLifecycle } from "./advanced-runtime/index
 export * from "./agent-api/index.js";
 export * from "./runtime/index.js";
 export * from "./game/index.js";
+export * from "./ecs/ECSRenderSource.js";
 export * from "./devtools/AuraDiagnosticsOverlay.js";
 export * from "./devtools/AuraAssetPanel.js";
 export * from "./devtools/AuraPerformancePanel.js";

package/dist/engine/index.js.map

@@ -1 +1 @@
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package/dist/engine/production-runtime/TypedGLBActor.d.ts

@@ -1,6 +1,6 @@
 import { type GLTFSceneAnimationApplyResult, type GLTFSceneAnimationRuntime, type GLTFSceneAnimationRuntimeSnapshot, type GLTFScenePose, type ProductionGLTFRenderPipeline } from "@aura3d/assets/browser";
 import { type RenderItem } from "@aura3d/rendering";
-import type { Mat4 } from "@aura3d/scene";
+import { type Mat4 } from "@aura3d/scene";
 export interface TypedGLBActorAsset {
     readonly url: string;
     readonly type?: string;
@@ -35,15 +35,26 @@ export interface TypedGLBActorEvidence {
     readonly bounds?: readonly number[];
     readonly clips: readonly string[];
     readonly skinningBindingCount: number;
+    readonly morphTargetCount: number;
     readonly renderItemCount: number;
     readonly skinnedRenderItemCount: number;
+    readonly morphRenderItemCount: number;
     readonly lastClip: string | null;
     readonly lastTracksApplied: number;
     readonly lastTransformTracksApplied: number;
     readonly lastSkinningPalettesUpdated: number;
+    readonly lastMorphApply?: TypedGLBActorMorphApplyResult;
     readonly missingTargets: readonly string[];
     readonly warnings: readonly string[];
 }
+export interface TypedGLBActorMorphApplyResult {
+    readonly requestedTargets: readonly string[];
+    readonly appliedTargets: readonly string[];
+    readonly missingTargets: readonly string[];
+    readonly activeWeights: Readonly<Record<string, number>>;
+    readonly affectedRenderableCount: number;
+    readonly appliedWeightCount: number;
+}
 export interface TypedGLBActor {
     readonly kind: "aura-typed-glb-actor";
     readonly id: string;
@@ -65,11 +76,12 @@ export interface TypedGLBActor {
      * for callers that drive the actor frame-by-frame from a retargeted clip pose.
      */
     playRetargetedClip(pose: GLTFScenePose, time?: number): GLTFSceneAnimationApplyResult;
+    applyMorphTargets(weights: Readonly<Record<string, number>>): TypedGLBActorMorphApplyResult;
     collectRenderItems(options?: TypedGLBActorTransformOptions): RenderItem[];
     snapshot(): GLTFSceneAnimationRuntimeSnapshot;
     setTint(options: TypedGLBActorTintOptions): void;
 }
 export declare function createTypedGLBActor(options: TypedGLBActorOptions): Promise<TypedGLBActor>;
 export declare function collectTypedGLBActorRenderItems(actor: TypedGLBActor, options?: TypedGLBActorTransformOptions): RenderItem[];
-export declare function createTypedGLBActorEvidence(actor: TypedGLBActor, lastApply?: GLTFSceneAnimationApplyResult | null): TypedGLBActorEvidence;
+export declare function createTypedGLBActorEvidence(actor: TypedGLBActor, lastApply?: GLTFSceneAnimationApplyResult | null, lastMorphApply?: TypedGLBActorMorphApplyResult): TypedGLBActorEvidence;
 //# sourceMappingURL=TypedGLBActor.d.ts.map

package/dist/engine/production-runtime/TypedGLBActor.d.ts.map

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package/dist/engine/production-runtime/TypedGLBActor.js

@@ -1,5 +1,6 @@
 import { createGLTFSceneAnimationRuntime, loadProductionGLTFRenderPipeline } from "../../assets/browser-index.js";
 import {} from "../../rendering/index.js";
+import { multiplyMat4 } from "../../scene/index.js";
 export async function createTypedGLBActor(options) {
     const pipeline = await loadProductionGLTFRenderPipeline({
         url: options.asset.url,
@@ -15,6 +16,7 @@ export async function createTypedGLBActor(options) {
         asset: pipeline.asset
     });
     let lastApply = null;
+    let lastMorphApply;
     const setTint = (tint) => tintTypedGLBActorMaterials(pipeline, tint);
     if (options.tint)
         setTint(options.tint);
@@ -26,7 +28,7 @@ export async function createTypedGLBActor(options) {
         pipeline,
         animation,
         get evidence() {
-            return createTypedGLBActorEvidence(actor, lastApply);
+            return createTypedGLBActorEvidence(actor, lastApply, lastMorphApply);
         },
         playClip(name, time) {
             lastApply = animation.applyClipByName(name, time);
@@ -40,6 +42,10 @@ export async function createTypedGLBActor(options) {
             lastApply = animation.applyPose(pose, "retargeted-clip", time);
             return lastApply;
         },
+        applyMorphTargets(weights) {
+            lastMorphApply = applyTypedGLBActorMorphTargets(actor, weights);
+            return lastMorphApply;
+        },
         collectRenderItems(transformOptions = {}) {
             return collectTypedGLBActorRenderItems(actor, transformOptions);
         },
@@ -66,16 +72,28 @@ export function collectTypedGLBActorRenderItems(actor, options = {}) {
             label: `${actor.id}:${node.name}:${renderable.geometry}`,
             geometry,
             material,
-            modelMatrix: (options.modelMatrix ?? node.transform.worldMatrix),
+            modelMatrix: resolveTypedGLBActorModelMatrix(node.transform.worldMatrix, options.modelMatrix),
             ...(renderable.skinning ? { skinning: renderable.skinning } : {}),
             ...(morphTargets && renderable.morphWeights.length > 0 ? { morphTargets, morphWeights: renderable.morphWeights } : {})
         });
     }
     return items;
 }
-export function createTypedGLBActorEvidence(actor, lastApply = null) {
+function resolveTypedGLBActorModelMatrix(nodeMatrix, rootMatrix) {
+    if (!rootMatrix)
+        return nodeMatrix;
+    return multiplyMat4(toTypedGLBActorMat4(rootMatrix), nodeMatrix);
+}
+function toTypedGLBActorMat4(value) {
+    if (value.length !== 16) {
+        throw new Error(`TypedGLBActor modelMatrix must contain 16 numbers, got ${value.length}.`);
+    }
+    return [...value];
+}
+export function createTypedGLBActorEvidence(actor, lastApply = null, lastMorphApply) {
     const snapshot = actor.animation.snapshot();
     const renderItems = actor.collectRenderItems();
+    const morphTargetCount = actor.pipeline.asset.meshes.reduce((total, mesh) => total + mesh.morphTargets.length, 0);
     return {
         kind: "aura-typed-glb-actor-evidence",
         id: actor.id,
@@ -86,19 +104,92 @@ export function createTypedGLBActorEvidence(actor, lastApply = null) {
         ...(actor.asset.bounds ? { bounds: actor.asset.bounds } : {}),
         clips: snapshot.clips,
         skinningBindingCount: snapshot.skinningBindingCount,
+        morphTargetCount,
         renderItemCount: renderItems.length,
         skinnedRenderItemCount: renderItems.filter((item) => item.skinning).length,
+        morphRenderItemCount: renderItems.filter((item) => item.morphTargets && item.morphTargets.length > 0).length,
         lastClip: lastApply?.clipName ?? null,
         lastTracksApplied: lastApply?.tracksApplied ?? 0,
         lastTransformTracksApplied: lastApply?.transformTracksApplied ?? 0,
         lastSkinningPalettesUpdated: lastApply?.skinningPalettesUpdated ?? 0,
+        ...(lastMorphApply ? { lastMorphApply } : {}),
         missingTargets: lastApply?.missingTargets ?? [],
         warnings: [
             ...(snapshot.skinningBindingCount < 1 ? ["No skinning bindings were detected for this typed GLB actor."] : []),
-            ...(snapshot.clips.length < 1 ? ["No animation clips were detected for this typed GLB actor."] : [])
+            ...(snapshot.clips.length < 1 ? ["No animation clips were detected for this typed GLB actor."] : []),
+            ...(morphTargetCount < 1 ? ["No morph targets were detected for this typed GLB actor."] : [])
         ]
     };
 }
+function applyTypedGLBActorMorphTargets(actor, weights) {
+    const requested = normalizeTypedGLBActorMorphWeights(weights);
+    const requestedTargets = [...requested.keys()];
+    const appliedTargets = new Set();
+    const activeWeights = {};
+    const missingTargets = new Set();
+    let affectedRenderableCount = 0;
+    let appliedWeightCount = 0;
+    const meshesByName = new Map(actor.pipeline.asset.meshes.map((mesh) => [mesh.name, mesh]));
+    for (const { renderable } of actor.pipeline.resources.scene.collectRenderables()) {
+        const mesh = meshesByName.get(renderable.geometry);
+        if (!mesh || mesh.morphTargets.length === 0)
+            continue;
+        const nextWeights = mesh.morphTargets.map((target, index) => {
+            const aliases = typedGLBActorMorphTargetAliases(mesh.name, target.name, index);
+            for (const alias of aliases) {
+                const weight = requested.get(alias);
+                if (weight !== undefined) {
+                    appliedTargets.add(alias);
+                    activeWeights[alias] = weight;
+                    return weight;
+                }
+            }
+            return 0;
+        });
+        renderable.morphWeights = nextWeights;
+        affectedRenderableCount += 1;
+        appliedWeightCount += nextWeights.filter((weight) => Math.abs(weight) > 0.000001).length;
+    }
+    for (const target of requestedTargets) {
+        if (!appliedTargets.has(target))
+            missingTargets.add(target);
+    }
+    return {
+        requestedTargets,
+        appliedTargets: [...appliedTargets],
+        missingTargets: [...missingTargets],
+        activeWeights,
+        affectedRenderableCount,
+        appliedWeightCount
+    };
+}
+function normalizeTypedGLBActorMorphWeights(weights) {
+    const normalized = new Map();
+    for (const [name, weight] of Object.entries(weights)) {
+        const target = name.trim();
+        if (!target)
+            continue;
+        normalized.set(target, clampTypedGLBActorMorphWeight(weight));
+    }
+    return normalized;
+}
+function clampTypedGLBActorMorphWeight(weight) {
+    if (!Number.isFinite(weight))
+        return 0;
+    return Math.min(1, Math.max(0, weight));
+}
+function typedGLBActorMorphTargetAliases(meshName, targetName, targetIndex) {
+    const fallback = `target-${targetIndex}`;
+    const numberedFallback = `${meshName}-morph-${targetIndex + 1}`;
+    const aliases = new Set([fallback, numberedFallback, `${meshName}.${fallback}`, `${meshName}:${fallback}`]);
+    if (targetName && targetName.trim().length > 0) {
+        const trimmed = targetName.trim();
+        aliases.add(trimmed);
+        aliases.add(`${meshName}.${trimmed}`);
+        aliases.add(`${meshName}:${trimmed}`);
+    }
+    return [...aliases];
+}
 function tintTypedGLBActorMaterials(pipeline, tint) {
     const emissive = tint.emissiveColor ?? [tint.baseColor[0], tint.baseColor[1], tint.baseColor[2]];
     for (const material of pipeline.resources.materialLibrary.values()) {

package/dist/engine/production-runtime/TypedGLBActor.js.map

@@ -1 +1 @@
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package/dist/physics/Constraint.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"Constraint.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/Constraint.ts"],"names":[],"mappings":"AAAA,OAAO,EAA6F,KAAK,IAAI,EAAE,MAAM,YAAY,CAAC;AAClI,OAAO,KAAK,EAAE,SAAS,EAAE,MAAM,gBAAgB,CAAC;AAEhD,MAAM,MAAM,cAAc,GAAG,OAAO,GAAG,OAAO,GAAG,QAAQ,GAAG,QAAQ,CAAC;AAErE,MAAM,MAAM,oBAAoB,GAAG;IACjC,QAAQ,CAAC,IAAI,EAAE,cAAc,CAAC;IAC9B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,YAAY,CAAC,EAAE,IAAI,CAAC;IAC7B,QAAQ,CAAC,YAAY,CAAC,EAAE,IAAI,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,SAAS,CAAC,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;CACtB,CAAC;AAEF,qBAAa,UAAU;IACrB,QAAQ,CAAC,IAAI,EAAE,cAAc,CAAC;IAC9B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;gBAER,UAAU,EAAE,oBAAoB;IAyB5C,KAAK,IAAI,IAAI;IAgCb,OAAO,CAAC,YAAY;IAIpB,OAAO,CAAC,YAAY;IAIpB,OAAO,CAAC,UAAU;IAclB,OAAO,CAAC,kBAAkB;CAa3B"}

package/dist/physics/Constraint.js

@@ -1,4 +1,4 @@
-import { addVec3, dotVec3, normalizeVec3, scaleVec3, subVec3, validateFiniteVec3 } from "./Shape.js";
+import { addVec3, dotVec3, normalizeVec3, rotateVec3ByQuat, scaleVec3, subVec3, validateFiniteVec3 } from "./Shape.js";
 export class Constraint {
     type;
     bodyA;
@@ -68,10 +68,10 @@ export class Constraint {
         }
     }
     anchorAWorld() {
-        return addVec3(this.bodyA.position, this.localAnchorA);
+        return addVec3(this.bodyA.position, rotateVec3ByQuat(this.localAnchorA, this.bodyA.rotation));
     }
     anchorBWorld() {
-        return addVec3(this.bodyB.position, this.localAnchorB);
+        return addVec3(this.bodyB.position, rotateVec3ByQuat(this.localAnchorB, this.bodyB.rotation));
     }
     applyError(error) {
         const inverseMassSum = this.bodyA.inverseMass + this.bodyB.inverseMass;

package/dist/physics/Constraint.js.map

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