@babylonjs/lite 1.6.0 → 1.8.0

package/lib/physics/character-controller.js.map

@@ -1 +1 @@
-{"version":3,"file":"character-controller.js","sources":["../../../src/physics/character-controller.ts"],"sourcesContent":["/**\n * Havok Physics V2 character controller for Babylon Lite — a collide-and-slide kinematic\n * character built entirely on the Havok shapecast / shapeproximity query primitives.\n *\n * Kept in a standalone, tree-shakeable module: the per-frame `_stepWorld` core in `havok.ts`\n * never references this code, so only scenes that import {@link createPhysicsCharacterController}\n * pay for it. The controller sweeps a capsule shape through the world each step, builds a contact\n * manifold from the cast + proximity hits, turns the contacts into surface constraints, then runs\n * a simplex velocity solver (1D/2D/3D plane clipping) to compute a collision-free displacement.\n *\n * ```ts\n *   const cc = createPhysicsCharacterController(world, { x: 0, y: 1, z: 0 }, { capsuleHeight: 1.8, capsuleRadius: 0.6 });\n *   onPhysicsAfterStep(world, () => {\n *       cc.moveWithCollisions({ x: 0, y: -0.05, z: 0.02 });\n *       const p = cc.getPosition();\n *       displayMesh.position.set(p.x, p.y, p.z);\n *   });\n * ```\n *\n * The algorithm follows Babylon.js' `PhysicsCharacterController` (Apache-2.0), re-expressed with\n * Lite's plain-data `Vec3` math and free-function physics API. Left-handed, +Y up.\n */\n\nimport type { Quat, Vec3 } from \"../math/types.js\";\nimport { mat4Invert } from \"../math/mat4-invert.js\";\nimport type { Mat4 } from \"../math/types.js\";\nimport { createTransformNode } from \"../scene/transform-node.js\";\nimport type { TransformNode } from \"../scene/transform-node.js\";\nimport {\n    createPhysicsBody,\n    createPhysicsShape,\n    PhysicsMotionType,\n    PhysicsShapeType,\n    removePhysicsBody,\n    setPhysicsBodyMassProperties,\n    setPhysicsBodyPreStep,\n    setPhysicsBodyShape,\n} from \"./havok.js\";\nimport type { PhysicsBody, PhysicsShape, PhysicsWorld } from \"./havok.js\";\n\n// ─── Public types ────────────────────────────────────────────────────\n\n/** Contact state of the character against the geometry beneath it. */\nexport const enum CharacterSupportedState {\n    /** No surface within reach. */\n    UNSUPPORTED = 0,\n    /** Touching a surface too steep to stand on; the character slides. */\n    SLIDING = 1,\n    /** Standing on a walkable surface. */\n    SUPPORTED = 2,\n}\n\n/** Options describing the character's collision capsule. */\nexport interface PhysicsCharacterControllerOptions {\n    /** Total capsule height (tip to tip), in metres. Default `1.8`. */\n    capsuleHeight: number;\n    /** Capsule radius, in metres. Default `0.6`. */\n    capsuleRadius: number;\n}\n\n/**\n * Collision event fired by {@link PhysicsCharacterController.onTriggerCollisionObservable}\n * for every dynamic body the character pushes during a step. Mirrors Babylon.js'\n * `onTriggerCollisionObservable` payload (minus its `colliderIndex`, which has no Lite equivalent).\n */\nexport interface CharacterCollisionEvent {\n    /** The dynamic physics body the character contacted. Its `.node.name` identifies the collider. */\n    collider: PhysicsBody;\n    /** Impulse (world space) the character applied to the collider at the contact point. */\n    impulse: Vec3;\n    /** World-space position of the contact at which the impulse was applied. */\n    impulsePosition: Vec3;\n}\n\n/**\n * Minimal single-event observable used by {@link PhysicsCharacterController} for collision\n * callbacks. Kept local to the physics module (no dependency on gizmo/observable code) so the\n * character-controller graph stays self-contained and tree-shakeable.\n */\nexport class CharacterCollisionObservable {\n    private _subs: ((event: CharacterCollisionEvent) => void)[] = [];\n\n    /**\n     * Subscribe to collision events.\n     * @param cb - Callback invoked for each dynamic-body contact during a step.\n     * @returns A disposer that removes the subscription when called.\n     */\n    public add(cb: (event: CharacterCollisionEvent) => void): () => void {\n        this._subs.push(cb);\n        return () => {\n            const i = this._subs.indexOf(cb);\n            if (i >= 0) {\n                this._subs.splice(i, 1);\n            }\n        };\n    }\n\n    /**\n     * Notify all subscribers of a collision event.\n     * @param event - The collision event payload.\n     */\n    public notify(event: CharacterCollisionEvent): void {\n        for (const s of this._subs) {\n            s(event);\n        }\n    }\n}\n\n/** Surface information returned by {@link PhysicsCharacterController.checkSupport}. */\nexport interface CharacterSurfaceInfo {\n    /** Whether the supporting surface belongs to a dynamic (simulated) body. */\n    isSurfaceDynamic: boolean;\n    /** Whether the character is unsupported, sliding, or supported. */\n    supportedState: CharacterSupportedState;\n    /** Average normal of the supporting surfaces (world space). */\n    averageSurfaceNormal: Vec3;\n    /** Average linear velocity induced by the supporting surfaces. */\n    averageSurfaceVelocity: Vec3;\n    /** Average angular velocity induced by the supporting surfaces. */\n    averageAngularSurfaceVelocity: Vec3;\n}\n\n// ─── Internal data structures ────────────────────────────────────────\n\ninterface Contact {\n    position: Vec3;\n    normal: Vec3;\n    distance: number;\n    fraction: number;\n    body: PhysicsBody | null;\n    allowedPenetration: number;\n}\n\ninterface SurfaceConstraint {\n    planeNormal: Vec3;\n    planeDistance: number;\n    staticFriction: number;\n    dynamicFriction: number;\n    extraUpStaticFriction: number;\n    extraDownStaticFriction: number;\n    velocity: Vec3;\n    angularVelocity: Vec3;\n    priority: number;\n}\n\nconst enum InteractionStatus {\n    OK = 0,\n    FAILURE_3D = 1,\n    FAILURE_2D = 2,\n}\n\ninterface PlaneInteraction {\n    touched: boolean;\n    stopped: boolean;\n    surfaceTime: number;\n    penaltyDistance: number;\n    status: InteractionStatus;\n}\n\ninterface ActivePlane {\n    index: number;\n    constraint: SurfaceConstraint;\n    interaction: PlaneInteraction;\n}\n\ninterface SolverInfo {\n    supportPlanes: ActivePlane[];\n    numSupportPlanes: number;\n    currentTime: number;\n    inputConstraints: SurfaceConstraint[];\n    outputInteractions: PlaneInteraction[];\n}\n\ninterface SolverOutput {\n    position: Vec3;\n    velocity: Vec3;\n    deltaTime: number;\n    planeInteractions: PlaneInteraction[];\n}\n\ninterface BodyTracking {\n    prev: number[];\n    frameId: number;\n}\n\n// ─── Vec3 helpers (plain-data, allocation-friendly) ──────────────────\n\nfunction v(x = 0, y = 0, z = 0): Vec3 {\n    return { x, y, z };\n}\nfunction vclone(a: Vec3): Vec3 {\n    return { x: a.x, y: a.y, z: a.z };\n}\nfunction vcopy(d: Vec3, s: Vec3): void {\n    d.x = s.x;\n    d.y = s.y;\n    d.z = s.z;\n}\nfunction vset(d: Vec3, x: number, y: number, z: number): void {\n    d.x = x;\n    d.y = y;\n    d.z = z;\n}\nfunction vadd(a: Vec3, b: Vec3): Vec3 {\n    return { x: a.x + b.x, y: a.y + b.y, z: a.z + b.z };\n}\nfunction vsub(a: Vec3, b: Vec3): Vec3 {\n    return { x: a.x - b.x, y: a.y - b.y, z: a.z - b.z };\n}\nfunction vscale(a: Vec3, s: number): Vec3 {\n    return { x: a.x * s, y: a.y * s, z: a.z * s };\n}\nfunction vaddIn(d: Vec3, a: Vec3): void {\n    d.x += a.x;\n    d.y += a.y;\n    d.z += a.z;\n}\nfunction vsubIn(d: Vec3, a: Vec3): void {\n    d.x -= a.x;\n    d.y -= a.y;\n    d.z -= a.z;\n}\nfunction vscaleIn(d: Vec3, s: number): void {\n    d.x *= s;\n    d.y *= s;\n    d.z *= s;\n}\nfunction vdot(a: Vec3, b: Vec3): number {\n    return a.x * b.x + a.y * b.y + a.z * b.z;\n}\nfunction vcross(a: Vec3, b: Vec3): Vec3 {\n    return { x: a.y * b.z - a.z * b.y, y: a.z * b.x - a.x * b.z, z: a.x * b.y - a.y * b.x };\n}\nfunction vlenSq(a: Vec3): number {\n    return a.x * a.x + a.y * a.y + a.z * a.z;\n}\nfunction vlen(a: Vec3): number {\n    return Math.sqrt(vlenSq(a));\n}\nfunction vnormIn(a: Vec3): void {\n    const l = vlen(a);\n    if (l > 1e-12) {\n        const inv = 1 / l;\n        a.x *= inv;\n        a.y *= inv;\n        a.z *= inv;\n    }\n}\nfunction vequalsEps(a: Vec3, b: Vec3, eps: number): boolean {\n    return Math.abs(a.x - b.x) <= eps && Math.abs(a.y - b.y) <= eps && Math.abs(a.z - b.z) <= eps;\n}\nfunction clamp(value: number, lo: number, hi: number): number {\n    return Math.min(Math.max(value, lo), hi);\n}\n\n/** Transform a position by a column-major 4×4 matrix (with translation). */\nfunction transformCoord(m: ArrayLike<number>, p: Vec3): Vec3 {\n    return {\n        x: p.x * m[0]! + p.y * m[4]! + p.z * m[8]! + m[12]!,\n        y: p.x * m[1]! + p.y * m[5]! + p.z * m[9]! + m[13]!,\n        z: p.x * m[2]! + p.y * m[6]! + p.z * m[10]! + m[14]!,\n    };\n}\n\n// ─── Controller ──────────────────────────────────────────────────────\n\n/**\n * A physics-driven character controller. Create one with\n * {@link createPhysicsCharacterController}; drive it each physics step with\n * {@link PhysicsCharacterController.moveWithCollisions} and read back the resolved position\n * with {@link PhysicsCharacterController.getPosition}.\n */\nexport class PhysicsCharacterController {\n    /** Minimum separation kept from surfaces, in metres. Default `0.05`. */\n    public keepDistance = 0.05;\n    /** Extra distance over which a contact is still tracked. Default `0.1`. */\n    public keepContactTolerance = 0.1;\n    /** Maximum number of cast iterations per integration step. Default `10`. */\n    public maxCastIterations = 10;\n    /** Speed at which penetrations are pushed out. Default `1.0`. */\n    public penetrationRecoverySpeed = 1.0;\n    /** Static-friction coefficient against surfaces. Default `0`. */\n    public staticFriction = 0;\n    /** Dynamic-friction coefficient against surfaces. Default `1`. */\n    public dynamicFriction = 1;\n    /** Cosine of the steepest slope the character can stand on. Default `0.5` (60°). */\n    public maxSlopeCosine = 0.5;\n    /** Upper bound on per-solve character speed. Default `10`. */\n    public maxCharacterSpeedForSolver = 10.0;\n    /** World up vector. Default `(0, 1, 0)`. */\n    public up: Vec3 = { x: 0, y: 1, z: 0 };\n    /** Push strength applied to dynamic bodies the character contacts. Default `1e38`. */\n    public characterStrength = 1e38;\n    /** Acceleration factor used by {@link calculateMovement}. Default `0.05`. */\n    public acceleration = 0.05;\n    /** Maximum world-space acceleration used by {@link calculateMovement}. Default `50`. */\n    public maxAcceleration = 50;\n    /** Character mass used when reacting to gravity against dynamic bodies. Default `0`. */\n    public characterMass = 0;\n\n    /**\n     * Fires once per dynamic body the character pushes during a step, just before the reactive\n     * impulse is applied. Mirrors Babylon.js' `onTriggerCollisionObservable`. Subscribe with\n     * `.add(cb)`; the returned disposer removes the subscription.\n     */\n    public readonly onTriggerCollisionObservable = new CharacterCollisionObservable();\n\n    private readonly _world: PhysicsWorld;\n    private readonly _shape: PhysicsShape;\n    private readonly _node: TransformNode;\n    private readonly _body: PhysicsBody;\n    private readonly _startCollector: any;\n    private readonly _castCollector: any;\n\n    private _position: Vec3;\n    private _velocity: Vec3 = v();\n    private _lastVelocity: Vec3 = v();\n    private _lastDisplacement: Vec3 = v();\n    private _orientation: Quat = { x: 0, y: 0, z: 0, w: 1 };\n    private _manifold: Contact[] = [];\n    private _lastInvDeltaTime = 60;\n    private _frameId = 0;\n    private readonly _contactAngleSensitivity = 10.0;\n    private readonly _displacementEps = 1e-4;\n    private readonly _bodyTracking = new Map<PhysicsBody, BodyTracking>();\n\n    /** Construct a controller. Prefer the {@link createPhysicsCharacterController} factory. */\n    public constructor(world: PhysicsWorld, position: Vec3, options: PhysicsCharacterControllerOptions) {\n        this._world = world;\n        this._position = vclone(position);\n\n        const r = options.capsuleRadius ?? 0.6;\n        const h = options.capsuleHeight ?? 1.8;\n        this._shape = createPhysicsShape(world, {\n            type: PhysicsShapeType.CAPSULE,\n            parameters: { pointA: { x: 0, y: h * 0.5 - r, z: 0 }, pointB: { x: 0, y: -h * 0.5 + r, z: 0 }, radius: r },\n        });\n\n        this._node = createTransformNode(\"CCTransformNode\", position.x, position.y, position.z);\n        this._body = createPhysicsBody(world, this._node, PhysicsMotionType.ANIMATED);\n        setPhysicsBodyShape(world, this._body, this._shape);\n        setPhysicsBodyMassProperties(world, this._body, { inertia: { x: 0, y: 0, z: 0 } });\n        setPhysicsBodyPreStep(this._body, true);\n\n        const hknp = world._hknp;\n        this._startCollector = hknp.HP_QueryCollector_Create(16)[1];\n        this._castCollector = hknp.HP_QueryCollector_Create(16)[1];\n    }\n\n    /** Release the controller's body, shape, and query collectors. */\n    public dispose(): void {\n        const hknp = this._world._hknp;\n        removePhysicsBody(this._world, this._body);\n        hknp.HP_Shape_Release(this._shape._hkShape);\n        hknp.HP_QueryCollector_Release(this._startCollector);\n        hknp.HP_QueryCollector_Release(this._castCollector);\n    }\n\n    /** Get the current character position (world space). The returned vector is owned by the controller. */\n    public getPosition(): Vec3 {\n        return this._position;\n    }\n\n    /** Teleport the character to a new position, clearing any swept motion. */\n    public setPosition(position: Vec3): void {\n        vcopy(this._position, position);\n        this._node.position.set(position.x, position.y, position.z);\n    }\n\n    /** Get the current character velocity (world space). The returned vector is owned by the controller. */\n    public getVelocity(): Vec3 {\n        return this._velocity;\n    }\n\n    /** Set the character velocity (world space). */\n    public setVelocity(velocity: Vec3): void {\n        vcopy(this._velocity, velocity);\n    }\n\n    /**\n     * Move the character by a displacement this physics step, sliding along any geometry it meets.\n     * @param displacement - Requested world-space displacement for this step.\n     */\n    public moveWithCollisions(displacement: Vec3): void {\n        const deltaTime = this._world._timestep;\n        if (!deltaTime || deltaTime <= 0) {\n            return;\n        }\n        const invDeltaTime = 1 / deltaTime;\n        this._frameId++;\n        vcopy(this._velocity, vscale(displacement, invDeltaTime));\n        vcopy(this._lastDisplacement, displacement);\n        vcopy(this._lastVelocity, this._velocity);\n        this._lastInvDeltaTime = invDeltaTime;\n        this._integrateManifolds(deltaTime, ZERO);\n    }\n\n    /**\n     * Advance the controller using a velocity already chosen for this step (instead of a raw\n     * displacement). Mirrors Babylon.js' `integrate`: it picks a cast direction from the current\n     * velocity and surface info, then runs the collide-and-slide.\n     * @param deltaTime - Step duration in seconds.\n     * @param surfaceInfo - Surface info from a prior {@link checkSupport} call.\n     * @param gravity - Gravity applied to the character this step.\n     */\n    public integrate(deltaTime: number, surfaceInfo: CharacterSurfaceInfo, gravity: Vec3): void {\n        const invDeltaTime = 1 / deltaTime;\n        const tolerance = this._displacementEps * invDeltaTime;\n        if (vequalsEps(this._velocity, this._lastVelocity, tolerance)) {\n            vscaleIn(this._lastDisplacement, deltaTime * this._lastInvDeltaTime);\n        } else {\n            const displacementVelocity = vclone(this._velocity);\n            if (surfaceInfo.supportedState === CharacterSupportedState.SUPPORTED) {\n                const relative = vsub(this._velocity, surfaceInfo.averageSurfaceVelocity);\n                const normalDotVelocity = vdot(surfaceInfo.averageSurfaceNormal, relative);\n                if (normalDotVelocity < 0) {\n                    vsubIn(relative, vscale(surfaceInfo.averageSurfaceNormal, normalDotVelocity));\n                    vcopy(displacementVelocity, relative);\n                    vaddIn(displacementVelocity, surfaceInfo.averageSurfaceVelocity);\n                }\n            }\n            vcopy(this._lastDisplacement, vscale(displacementVelocity, deltaTime));\n        }\n        vcopy(this._lastVelocity, this._velocity);\n        this._lastInvDeltaTime = invDeltaTime;\n        this._frameId++;\n        this._integrateManifolds(deltaTime, gravity);\n    }\n\n    /**\n     * Probe the surface under the character along a direction (usually gravity) to classify support.\n     * @param deltaTime - Step duration in seconds.\n     * @param direction - Direction to probe, usually the gravity direction.\n     * @returns Support classification and averaged surface motion/normal.\n     */\n    public checkSupport(deltaTime: number, direction: Vec3): CharacterSurfaceInfo {\n        const eps = 1e-4;\n        const info: CharacterSurfaceInfo = {\n            isSurfaceDynamic: false,\n            supportedState: CharacterSupportedState.UNSUPPORTED,\n            averageSurfaceNormal: v(),\n            averageSurfaceVelocity: v(),\n            averageAngularSurfaceVelocity: v(),\n        };\n        this._validateManifold();\n        const constraints = this._createConstraintsFromManifold(deltaTime, 0);\n        const storedVelocities: Vec3[] = [];\n        for (const c of constraints) {\n            storedVelocities.push(vclone(c.velocity));\n            vset(c.velocity, 0, 0, 0);\n        }\n        const maxSurfaceVelocity = v(this.maxCharacterSpeedForSolver, this.maxCharacterSpeedForSolver, this.maxCharacterSpeedForSolver);\n        const output = this._simplexSolverSolve(constraints, direction, deltaTime, deltaTime, maxSurfaceVelocity);\n        if (vequalsEps(output.velocity, direction, eps)) {\n            info.supportedState = CharacterSupportedState.UNSUPPORTED;\n            return info;\n        }\n        if (vlenSq(output.velocity) < eps) {\n            info.supportedState = CharacterSupportedState.SUPPORTED;\n        } else {\n            vnormIn(output.velocity);\n            const angleSin = vdot(output.velocity, direction);\n            const cosSqr = 1 - angleSin * angleSin;\n            info.supportedState = cosSqr < this.maxSlopeCosine * this.maxSlopeCosine ? CharacterSupportedState.SLIDING : CharacterSupportedState.SUPPORTED;\n        }\n        let numTouching = 0;\n        for (let i = 0; i < constraints.length; i++) {\n            if (output.planeInteractions[i]!.touched && vdot(constraints[i]!.planeNormal, direction) < -0.08) {\n                vaddIn(info.averageSurfaceNormal, constraints[i]!.planeNormal);\n                vaddIn(info.averageSurfaceVelocity, storedVelocities[i]!);\n                vaddIn(info.averageAngularSurfaceVelocity, constraints[i]!.angularVelocity);\n                numTouching++;\n            }\n        }\n        if (numTouching > 0) {\n            vnormIn(info.averageSurfaceNormal);\n            vscaleIn(info.averageSurfaceVelocity, 1 / numTouching);\n            vscaleIn(info.averageAngularSurfaceVelocity, 1 / numTouching);\n        }\n        if (info.supportedState === CharacterSupportedState.SUPPORTED) {\n            for (const m of this._manifold) {\n                if (vdot(m.normal, direction) < -0.08 && m.body?.motionType === (PhysicsMotionType.DYNAMIC as number)) {\n                    info.isSurfaceDynamic = true;\n                    break;\n                }\n            }\n        }\n        return info;\n    }\n\n    /**\n     * Compute a target velocity from the current state, a desired velocity, and surface info — a\n     * helper for steering input into surface-aware motion.\n     * @param deltaTime - Step duration in seconds.\n     * @param forwardWorld - Character forward direction (world space).\n     * @param surfaceNormal - Supporting surface normal.\n     * @param currentVelocity - Current character velocity.\n     * @param surfaceVelocity - Velocity induced by the surface.\n     * @param desiredVelocity - Desired character velocity.\n     * @param upWorld - Up vector (world space).\n     * @returns The new velocity vector.\n     */\n    public calculateMovement(deltaTime: number, forwardWorld: Vec3, surfaceNormal: Vec3, currentVelocity: Vec3, surfaceVelocity: Vec3, desiredVelocity: Vec3, upWorld: Vec3): Vec3 {\n        const eps = 1e-5;\n        let binorm = vcross(forwardWorld, upWorld);\n        if (vlenSq(binorm) < eps) {\n            return v();\n        }\n        vnormIn(binorm);\n        const tangent = vcross(binorm, surfaceNormal);\n        vnormIn(tangent);\n        binorm = vcross(tangent, surfaceNormal);\n        vnormIn(binorm);\n        // Orthonormal surface frame rows: tangent, binorm, surfaceNormal. Its inverse is the transpose.\n        const rel = vsub(currentVelocity, surfaceVelocity);\n        const relative = { x: vdot(rel, tangent), y: vdot(rel, binorm), z: vdot(rel, surfaceNormal) };\n        const sideVec = vcross(upWorld, forwardWorld);\n        const fwd = vdot(desiredVelocity, forwardWorld);\n        const side = vdot(desiredVelocity, sideVec);\n        const len = vlen(desiredVelocity);\n        const desiredSF = v(-fwd, side, 0);\n        vnormIn(desiredSF);\n        vscaleIn(desiredSF, len);\n        const diff = vsub(desiredSF, relative);\n        const lenSq = vlenSq(diff);\n        const maxVelocityDelta = this.maxAcceleration * deltaTime;\n        const factor = lenSq * this.acceleration * this.acceleration > maxVelocityDelta * maxVelocityDelta ? maxVelocityDelta / Math.sqrt(lenSq) : this.acceleration;\n        vscaleIn(diff, factor);\n        vaddIn(relative, diff);\n        // Transform back to world via the frame rows.\n        const result = {\n            x: relative.x * tangent.x + relative.y * binorm.x + relative.z * surfaceNormal.x,\n            y: relative.x * tangent.y + relative.y * binorm.y + relative.z * surfaceNormal.y,\n            z: relative.x * tangent.z + relative.y * binorm.z + relative.z * surfaceNormal.z,\n        };\n        vaddIn(result, surfaceVelocity);\n        return result;\n    }\n\n    // ─── Manifold integration ────────────────────────────────────────\n\n    private _integrateManifolds(deltaTime: number, gravity: Vec3): void {\n        const epsSqrd = 1e-8;\n        let newVelocity = v();\n        let remainingTime = deltaTime;\n        this._validateManifold();\n        for (let iter = 0; iter < this.maxCastIterations && remainingTime > 1e-5; iter++) {\n            this._castWithCollectors(this._position, vadd(this._position, this._lastDisplacement));\n            const updateResult = this._updateManifold(this._lastDisplacement);\n            const constraints = this._createConstraintsFromManifold(deltaTime, deltaTime - remainingTime);\n            const maxSurfaceVelocity = v(this.maxCharacterSpeedForSolver, this.maxCharacterSpeedForSolver, this.maxCharacterSpeedForSolver);\n            const minDeltaTime = vlenSq(this._velocity) === 0 ? 0 : (0.5 * this.keepDistance) / vlen(this._velocity);\n            const solveResults = this._simplexSolverSolve(constraints, this._velocity, remainingTime, minDeltaTime, maxSurfaceVelocity);\n            const newDisplacement = solveResults.position;\n            const solverDeltaTime = solveResults.deltaTime;\n            newVelocity = solveResults.velocity;\n            this._resolveContacts(deltaTime, gravity);\n\n            let newContactIndex = -1;\n            if (updateResult !== 0 || (vlenSq(newDisplacement) > epsSqrd && !vequalsEps(this._lastDisplacement, newDisplacement, this._displacementEps))) {\n                this._castWithCollectors(this._position, vadd(this._position, newDisplacement), true);\n                const hknp = this._world._hknp;\n                const numCastHits = hknp.HP_QueryCollector_GetNumHits(this._castCollector)[1];\n                for (let i = 0; i < numCastHits; i++) {\n                    const [fraction, , hitWorld] = hknp.HP_QueryCollector_GetShapeCastResult(this._castCollector, i)[1];\n                    const newContact = this._contactFromCast(hitWorld, newDisplacement, fraction);\n                    if (this._findContact(newContact, this._manifold, 0.1) === -1) {\n                        newContactIndex = this._manifold.length;\n                        this._manifold.push(newContact);\n                        break;\n                    }\n                }\n            }\n\n            if (newContactIndex >= 0) {\n                const newContact = this._manifold[newContactIndex]!;\n                const displacementLengthInv = 1 / vlen(newDisplacement);\n                const angleBetween = vdot(newDisplacement, newContact.normal) * displacementLengthInv;\n                const keepDistanceAlongMovement = this.keepDistance / -angleBetween;\n                let fraction = newContact.fraction - keepDistanceAlongMovement * displacementLengthInv;\n                fraction = clamp(fraction, 0, 1);\n                vaddIn(this._position, vscale(newDisplacement, fraction));\n                remainingTime -= solverDeltaTime * fraction;\n            } else {\n                vaddIn(this._position, newDisplacement);\n                remainingTime -= solverDeltaTime;\n            }\n            vcopy(this._lastDisplacement, newDisplacement);\n        }\n        vcopy(this._velocity, newVelocity);\n        this._node.position.set(this._position.x, this._position.y, this._position.z);\n    }\n\n    private _castWithCollectors(startPos: Vec3, endPos: Vec3, castOnly = false): void {\n        const hknp = this._world._hknp;\n        const hkWorld = this._world._hkWorld;\n        const shapeHandle = this._shape._hkShape;\n        const startNative = [startPos.x, startPos.y, startPos.z];\n        const orientation = [this._orientation.x, this._orientation.y, this._orientation.z, this._orientation.w];\n        const ignoreSelf = [this._body._hkBody[0]];\n        if (!castOnly) {\n            const proxQuery = [shapeHandle, startNative, orientation, this.keepDistance + this.keepContactTolerance, false, ignoreSelf];\n            hknp.HP_World_ShapeProximityWithCollector(hkWorld, this._startCollector, proxQuery);\n        }\n        const castQuery = [shapeHandle, orientation, startNative, [endPos.x, endPos.y, endPos.z], false, ignoreSelf];\n        hknp.HP_World_ShapeCastWithCollector(hkWorld, this._castCollector, castQuery);\n    }\n\n    private _findBody(id: unknown): PhysicsBody | null {\n        const bodies = this._world._bodies;\n        for (let i = 0; i < bodies.length; i++) {\n            if (bodies[i]!._hkBody[0] === id) {\n                return bodies[i]!;\n            }\n        }\n        return null;\n    }\n\n    private _contactFromCast(cp: any, castPath: Vec3, hitFraction: number): Contact {\n        const normal = v(cp[4][0], cp[4][1], cp[4][2]);\n        const dist = -hitFraction * vdot(castPath, normal);\n        return {\n            position: v(cp[3][0], cp[3][1], cp[3][2]),\n            normal,\n            distance: dist,\n            fraction: hitFraction,\n            body: this._findBody(cp[0][0]),\n            allowedPenetration: clamp(this.keepDistance - dist, 0, this.keepDistance),\n        };\n    }\n\n    private _validateManifold(): void {\n        this._manifold = this._manifold.filter((c) => c.body === null || this._world._bodies.indexOf(c.body) !== -1);\n    }\n\n    private _updateManifold(castPath: Vec3): number {\n        const hknp = this._world._hknp;\n        const numProximityHits = hknp.HP_QueryCollector_GetNumHits(this._startCollector)[1];\n        if (numProximityHits > 0) {\n            const newContacts: Contact[] = [];\n            let minDistance = 1e38;\n            for (let i = 0; i < numProximityHits; i++) {\n                const [distance, , contactWorld] = hknp.HP_QueryCollector_GetShapeProximityResult(this._startCollector, i)[1];\n                minDistance = Math.min(minDistance, distance);\n                newContacts.push({\n                    position: v(contactWorld[3][0], contactWorld[3][1], contactWorld[3][2]),\n                    normal: v(contactWorld[4][0], contactWorld[4][1], contactWorld[4][2]),\n                    distance,\n                    fraction: 0,\n                    body: this._findBody(contactWorld[0][0]),\n                    allowedPenetration: clamp(this.keepDistance - distance, 0, this.keepDistance),\n                });\n            }\n            for (let i = this._manifold.length - 1; i >= 0; i--) {\n                const bestMatch = this._findContact(this._manifold[i]!, newContacts, 1.1);\n                if (bestMatch >= 0) {\n                    const newAllowed = Math.min(clamp(this.keepDistance - newContacts[bestMatch]!.distance, 0, this.keepDistance), this._manifold[i]!.allowedPenetration);\n                    this._manifold[i] = newContacts[bestMatch]!;\n                    this._manifold[i]!.allowedPenetration = newAllowed;\n                    newContacts.splice(bestMatch, 1);\n                } else {\n                    this._manifold.splice(i, 1);\n                }\n            }\n            const closestContactIndex = newContacts.findIndex((c) => c.distance === minDistance);\n            if (closestContactIndex >= 0) {\n                const closest = newContacts[closestContactIndex]!;\n                const bestMatch = this._findContact(closest, this._manifold, 0.1);\n                if (bestMatch >= 0) {\n                    const newAllowed = Math.min(clamp(this.keepDistance - closest.distance, 0, this.keepDistance), this._manifold[bestMatch]!.allowedPenetration);\n                    this._manifold[bestMatch] = closest;\n                    this._manifold[bestMatch]!.allowedPenetration = newAllowed;\n                } else {\n                    this._manifold.push(closest);\n                }\n            }\n        } else {\n            this._manifold.length = 0;\n        }\n\n        let numHitBodies = 0;\n        const numCastHits = hknp.HP_QueryCollector_GetNumHits(this._castCollector)[1];\n        if (numCastHits > 0) {\n            let closestHitBodyId: unknown = null;\n            for (let i = 0; i < numCastHits; i++) {\n                const [fraction, , hitWorld] = hknp.HP_QueryCollector_GetShapeCastResult(this._castCollector, i)[1];\n                if (closestHitBodyId === null) {\n                    const contact = this._contactFromCast(hitWorld, castPath, fraction);\n                    closestHitBodyId = hitWorld[0][0];\n                    if (this._findContact(contact, this._manifold, 0.1) === -1) {\n                        this._manifold.push(contact);\n                    }\n                    if (contact.body?.motionType === (PhysicsMotionType.STATIC as number) || contact.body === null) {\n                        break;\n                    }\n                } else if (hitWorld[0][0] !== closestHitBodyId) {\n                    numHitBodies++;\n                    break;\n                }\n            }\n        }\n        return numHitBodies;\n    }\n\n    // ─── Contact comparison ──────────────────────────────────────────\n\n    private _compareContacts(a: Contact, b: Contact): number {\n        const angSquared = (1 - vdot(a.normal, b.normal)) * this._contactAngleSensitivity * this._contactAngleSensitivity;\n        const planeDistSquared = (a.distance - b.distance) * (a.distance * b.distance);\n        const aVel = this._getPointVelocity(a.body, a.position);\n        const bVel = this._getPointVelocity(b.body, b.position);\n        const velocityDiffSquared = vlenSq(vsub(aVel, bVel));\n        return angSquared * 10 + velocityDiffSquared * 0.1 + planeDistSquared;\n    }\n\n    private _findContact(reference: Contact, list: Contact[], threshold: number): number {\n        let bestIdx = -1;\n        let bestFitness = threshold;\n        for (let i = 0; i < list.length; i++) {\n            const fitness = this._compareContacts(reference, list[i]!);\n            if (fitness < bestFitness) {\n                bestFitness = fitness;\n                bestIdx = i;\n            }\n        }\n        return bestIdx;\n    }\n\n    // ─── Body kinematics ─────────────────────────────────────────────\n\n    private _getMassProperties(body: PhysicsBody): any {\n        return this._world._hknp.HP_Body_GetMassProperties(body._hkBody)[1];\n    }\n\n    private _getComWorld(body: PhysicsBody): Vec3 {\n        const com = this._getMassProperties(body)[0];\n        return transformCoord(body.node.worldMatrix, v(com[0], com[1], com[2]));\n    }\n\n    private _getPointVelocity(body: PhysicsBody | null, pointWorld: Vec3): Vec3 {\n        if (!body) {\n            return v();\n        }\n        const hknp = this._world._hknp;\n        const comWorld = this._getComWorld(body);\n        const relPos = vsub(pointWorld, comWorld);\n        const avArr = hknp.HP_Body_GetAngularVelocity(body._hkBody)[1];\n        const av = v(avArr[0], avArr[1], avArr[2]);\n        const lvArr = hknp.HP_Body_GetLinearVelocity(body._hkBody)[1];\n        return vadd(vcross(av, relPos), v(lvArr[0], lvArr[1], lvArr[2]));\n    }\n\n    private _getInvMass(body: PhysicsBody): number {\n        const mass = this._getMassProperties(body)[1];\n        return mass > 0 ? 1 / mass : 0;\n    }\n\n    // ─── Surface constraints ─────────────────────────────────────────\n\n    private _createSurfaceConstraint(dt: number, contact: Contact, timeTravelled: number): SurfaceConstraint {\n        const constraint: SurfaceConstraint = {\n            planeNormal: vclone(contact.normal),\n            planeDistance: contact.distance,\n            staticFriction: this.staticFriction,\n            dynamicFriction: this.dynamicFriction,\n            extraUpStaticFriction: 0,\n            extraDownStaticFriction: 0,\n            velocity: v(),\n            angularVelocity: v(),\n            priority: 0,\n        };\n        const maxSlopeCosine = Math.max(this.maxSlopeCosine, 0.1);\n        const normalDotUp = vdot(contact.normal, this.up);\n        if (normalDotUp > maxSlopeCosine) {\n            const com = this._position;\n            const contactArm = vsub(contact.position, com);\n            const scale = vdot(contact.normal, contactArm);\n            contact.position.x = com.x + this.up.x * scale;\n            contact.position.y = com.y + this.up.y * scale;\n            contact.position.z = com.z + this.up.z * scale;\n        }\n        const motionType = contact.body?.motionType ?? (PhysicsMotionType.STATIC as number);\n        const shift = vdot(constraint.velocity, constraint.planeNormal) * timeTravelled;\n        constraint.planeDistance -= shift;\n        if (motionType === (PhysicsMotionType.STATIC as number)) {\n            constraint.priority = 2;\n        } else if (motionType === (PhysicsMotionType.ANIMATED as number) && contact.body) {\n            const body = contact.body;\n            const currentWorld = matToArray(body.node.worldMatrix);\n            const tracking = this._bodyTracking.get(body);\n            if (!tracking) {\n                this._bodyTracking.set(body, { prev: currentWorld, frameId: this._frameId });\n            } else {\n                if (tracking.frameId + 1 === this._frameId) {\n                    const inv = mat4Invert(body.node.worldMatrix);\n                    if (inv) {\n                        const characterLocal = transformCoord(inv, this._position);\n                        const characterWorld = transformCoord(tracking.prev, characterLocal);\n                        const playerDelta = vsub(this._position, characterWorld);\n                        vcopy(constraint.velocity, playerDelta);\n                        vscaleIn(constraint.velocity, 1 / dt);\n                        constraint.priority = 1;\n                    }\n                }\n                tracking.prev = currentWorld;\n                tracking.frameId = this._frameId;\n            }\n        }\n        return constraint;\n    }\n\n    private _addMaxSlopePlane(maxSlopeCos: number, index: number, constraints: SurfaceConstraint[], allowedPenetration: number): void {\n        const src = constraints[index]!;\n        const verticalComponent = vdot(src.planeNormal, this.up);\n        if (verticalComponent > 0.01 && verticalComponent < maxSlopeCos) {\n            const newConstraint: SurfaceConstraint = {\n                planeNormal: vclone(src.planeNormal),\n                planeDistance: src.planeDistance,\n                velocity: vclone(src.velocity),\n                angularVelocity: vclone(src.angularVelocity),\n                priority: src.priority,\n                dynamicFriction: src.dynamicFriction,\n                staticFriction: src.staticFriction,\n                extraDownStaticFriction: src.extraDownStaticFriction,\n                extraUpStaticFriction: src.extraUpStaticFriction,\n            };\n            const distance = newConstraint.planeDistance;\n            vsubIn(newConstraint.planeNormal, vscale(this.up, verticalComponent));\n            vnormIn(newConstraint.planeNormal);\n            if (distance >= 0) {\n                newConstraint.planeDistance = distance * vdot(newConstraint.planeNormal, src.planeNormal);\n            } else {\n                const penetrationToResolve = Math.min(0, distance + allowedPenetration);\n                newConstraint.planeDistance = penetrationToResolve / vdot(newConstraint.planeNormal, src.planeNormal);\n                src.planeDistance = 0;\n                this._resolveConstraintPenetration(newConstraint);\n            }\n            constraints.push(newConstraint);\n        }\n    }\n\n    private _resolveConstraintPenetration(constraint: SurfaceConstraint): void {\n        if (constraint.planeDistance < -1e-6) {\n            vsubIn(constraint.velocity, vscale(constraint.planeNormal, constraint.planeDistance * this.penetrationRecoverySpeed));\n        }\n    }\n\n    private _createConstraintsFromManifold(dt: number, timeTravelled: number): SurfaceConstraint[] {\n        const constraints: SurfaceConstraint[] = [];\n        for (let i = 0; i < this._manifold.length; i++) {\n            const surfaceConstraint = this._createSurfaceConstraint(dt, this._manifold[i]!, timeTravelled);\n            constraints.push(surfaceConstraint);\n            this._addMaxSlopePlane(this.maxSlopeCosine, i, constraints, this._manifold[i]!.allowedPenetration);\n            this._resolveConstraintPenetration(surfaceConstraint);\n        }\n        return constraints;\n    }\n\n    // ─── Contact resolution (push dynamic bodies) ────────────────────\n\n    private _resolveContacts(deltaTime: number, gravity: Vec3): void {\n        const eps = 1e-12;\n        const hknp = this._world._hknp;\n        for (const contact of this._manifold) {\n            const body = contact.body;\n            if (!body || body.motionType !== (PhysicsMotionType.DYNAMIC as number)) {\n                continue;\n            }\n            const pointRelVel = this._getPointVelocity(body, contact.position);\n            vsubIn(pointRelVel, this._velocity);\n            const inputProjectedVelocity = vdot(pointRelVel, contact.normal);\n            let deltaVelocity = -inputProjectedVelocity * 0.9;\n            if (contact.distance < 0) {\n                deltaVelocity += (contact.distance * 0.4) / deltaTime;\n            }\n            let outputImpulse = v();\n            if (deltaVelocity < 0) {\n                const comWorld = this._getComWorld(body);\n                const r = vsub(contact.position, comWorld);\n                const jacAng = vcross(r, contact.normal);\n                // Inertia is treated as isotropic for the impulse magnitude (Lite bodies use diagonal inertia).\n                const inputObjectMassInv = vlenSq(jacAng) * this._getInvMass(body) + this._getInvMass(body);\n                let impulseMag = inputObjectMassInv > 0 ? deltaVelocity / inputObjectMassInv : 0;\n                const maxPushImpulse = -this.characterStrength * deltaTime;\n                if (impulseMag < maxPushImpulse) {\n                    impulseMag = maxPushImpulse;\n                }\n                outputImpulse = vscale(contact.normal, impulseMag);\n            }\n            let relVelN = vdot(contact.normal, vscale(gravity, deltaTime));\n            if (inputProjectedVelocity < 0) {\n                relVelN -= inputProjectedVelocity;\n            }\n            if (relVelN < -eps) {\n                vaddIn(outputImpulse, vscale(contact.normal, this.characterMass * relVelN));\n            }\n            this.onTriggerCollisionObservable.notify({ collider: body, impulse: outputImpulse, impulsePosition: contact.position });\n            hknp.HP_Body_ApplyImpulse(body._hkBody, [contact.position.x, contact.position.y, contact.position.z], [outputImpulse.x, outputImpulse.y, outputImpulse.z]);\n        }\n    }\n\n    // ─── Simplex velocity solver ─────────────────────────────────────\n\n    private _getOutput(info: SolverInfo, constraint: SurfaceConstraint): PlaneInteraction {\n        return info.outputInteractions[info.inputConstraints.indexOf(constraint)]!;\n    }\n\n    private _sortInfo(info: SolverInfo): void {\n        for (let i = 0; i < info.numSupportPlanes - 1; i++) {\n            for (let j = i + 1; j < info.numSupportPlanes; j++) {\n                const p0 = info.supportPlanes[i]!;\n                const p1 = info.supportPlanes[j]!;\n                if (p0.constraint.priority < p1.constraint.priority) {\n                    continue;\n                }\n                if (p0.constraint.priority === p1.constraint.priority && vlenSq(p0.constraint.velocity) < vlenSq(p1.constraint.velocity)) {\n                    continue;\n                }\n                info.supportPlanes[i] = p1;\n                info.supportPlanes[j] = p0;\n            }\n        }\n    }\n\n    private _solve1d(sci: SurfaceConstraint, velocityIn: Vec3, velocityOut: Vec3): void {\n        const eps = 1e-5;\n        const groundVelocity = sci.velocity;\n        const relativeVelocity = vsub(velocityIn, groundVelocity);\n        const planeVel = vdot(relativeVelocity, sci.planeNormal);\n        const origVelocity2 = vlenSq(relativeVelocity);\n        vsubIn(relativeVelocity, vscale(sci.planeNormal, planeVel));\n        const vp2 = planeVel * planeVel;\n        const extraStaticFriction = vdot(relativeVelocity, this.up) > 0 ? sci.extraUpStaticFriction : sci.extraDownStaticFriction;\n        if (extraStaticFriction > 0) {\n            const horizontal = vcross(this.up, sci.planeNormal);\n            const hor2 = vlenSq(horizontal);\n            let horVel = 0;\n            if (hor2 > eps) {\n                vscaleIn(horizontal, 1 / Math.sqrt(hor2));\n                horVel = vdot(relativeVelocity, horizontal);\n                const horVel2 = horVel * horVel;\n                const f2 = sci.staticFriction * sci.staticFriction;\n                if (vp2 * f2 >= horVel2) {\n                    vsubIn(relativeVelocity, vscale(horizontal, horVel));\n                    horVel = 0;\n                }\n            }\n            const vertVel2 = origVelocity2 - horVel * horVel - vp2;\n            const f2 = (sci.staticFriction + extraStaticFriction) * (sci.staticFriction + extraStaticFriction);\n            if (vp2 * f2 >= vertVel2 && horVel === 0) {\n                vcopy(velocityOut, groundVelocity);\n                return;\n            }\n        } else {\n            const f2 = sci.staticFriction * sci.staticFriction;\n            if (vp2 * (1 + f2) >= origVelocity2) {\n                vcopy(velocityOut, groundVelocity);\n                return;\n            }\n        }\n        if (sci.dynamicFriction < 1) {\n            const velOut2 = vlenSq(relativeVelocity);\n            if (velOut2 >= eps && velOut2 > 1e-4 * origVelocity2) {\n                let f = Math.sqrt(origVelocity2 / velOut2);\n                f = sci.dynamicFriction + (1 - sci.dynamicFriction) * f;\n                vscaleIn(relativeVelocity, f);\n                const p = vdot(sci.planeNormal, relativeVelocity);\n                vsubIn(relativeVelocity, vscale(sci.planeNormal, p));\n            }\n        }\n        vcopy(velocityOut, relativeVelocity);\n        vaddIn(velocityOut, groundVelocity);\n    }\n\n    private _solveTest1d(sci: SurfaceConstraint, velocityIn: Vec3): boolean {\n        const relativeVelocity = vsub(velocityIn, sci.velocity);\n        return vdot(relativeVelocity, sci.planeNormal) < -1e-3;\n    }\n\n    private _solve2d(info: SolverInfo, maxSurfaceVelocity: Vec3, sci0: SurfaceConstraint, sci1: SurfaceConstraint, velocityIn: Vec3, velocityOut: Vec3): void {\n        const eps = 1e-5;\n        const axis = vcross(sci0.planeNormal, sci1.planeNormal);\n        const axisLen2 = vlenSq(axis);\n        let solveSequentially = false;\n        let axisVel = v();\n\n        while (true) {\n            if (axisLen2 <= eps || solveSequentially) {\n                this._getOutput(info, sci0).status = InteractionStatus.FAILURE_2D;\n                this._getOutput(info, sci1).status = InteractionStatus.FAILURE_2D;\n                if (sci0.priority > sci1.priority) {\n                    this._solve1d(sci1, velocityIn, velocityOut);\n                    this._solve1d(sci0, velocityIn, velocityOut);\n                } else {\n                    this._solve1d(sci0, velocityIn, velocityOut);\n                    this._solve1d(sci1, velocityIn, velocityOut);\n                }\n                return;\n            }\n            const invAxisLen = 1 / Math.sqrt(axisLen2);\n            vscaleIn(axis, invAxisLen);\n            const r0 = vcross(sci0.planeNormal, sci1.planeNormal);\n            const r1 = vcross(sci1.planeNormal, axis);\n            const r2 = vcross(axis, sci0.planeNormal);\n            const sVel = vadd(sci0.velocity, sci1.velocity);\n            const t = v(0.5 * vdot(axis, sVel), vdot(sci0.planeNormal, sci0.velocity), vdot(sci1.planeNormal, sci1.velocity));\n            axisVel = v(vdot(t, r0), vdot(t, r1), vdot(t, r2));\n            vscaleIn(axisVel, invAxisLen);\n            if (Math.abs(axisVel.x) > maxSurfaceVelocity.x || Math.abs(axisVel.y) > maxSurfaceVelocity.y || Math.abs(axisVel.z) > maxSurfaceVelocity.z) {\n                solveSequentially = true;\n            } else {\n                break;\n            }\n        }\n        const groundVelocity = axisVel;\n        const relativeVelocity = vsub(velocityIn, groundVelocity);\n        const vel2 = vlenSq(relativeVelocity);\n        const axisVert = vdot(this.up, axis);\n        let axisProjVelocity = vdot(relativeVelocity, axis);\n        let staticFriction = sci0.staticFriction + sci1.staticFriction;\n        if (axisVert * axisProjVelocity > 0) {\n            staticFriction += (sci0.extraUpStaticFriction + sci1.extraUpStaticFriction) * axisVert;\n        } else {\n            staticFriction += (sci0.extraDownStaticFriction + sci1.extraDownStaticFriction) * axisVert;\n        }\n        staticFriction *= 0.5;\n        const dynamicFriction = (sci0.dynamicFriction + sci1.dynamicFriction) * 0.5;\n        const f2 = staticFriction * staticFriction;\n        const av2 = axisProjVelocity * axisProjVelocity;\n        if ((vel2 - av2) * f2 >= av2) {\n            vcopy(velocityOut, groundVelocity);\n            return;\n        }\n        if (dynamicFriction < 1 && axisProjVelocity * axisProjVelocity > 1e-4 * vel2) {\n            const f = Math.abs(1 / axisProjVelocity) * Math.sqrt(vel2) * (1 - dynamicFriction) + dynamicFriction;\n            axisProjVelocity *= f;\n        }\n        vcopy(velocityOut, groundVelocity);\n        vaddIn(velocityOut, vscale(axis, axisProjVelocity));\n    }\n\n    private _solve3d(\n        info: SolverInfo,\n        maxSurfaceVelocity: Vec3,\n        sci0: SurfaceConstraint,\n        sci1: SurfaceConstraint,\n        sci2: SurfaceConstraint,\n        allowResort: boolean,\n        velocityIn: Vec3,\n        velocityOut: Vec3\n    ): void {\n        const eps = 1e-5;\n        let pointVel = v();\n        let r0 = vcross(sci1.planeNormal, sci2.planeNormal);\n        let r1 = vcross(sci2.planeNormal, sci0.planeNormal);\n        let r2 = vcross(sci0.planeNormal, sci1.planeNormal);\n        let det = vdot(r0, sci0.planeNormal);\n        let solveSequentially = false;\n\n        while (true) {\n            if (Math.abs(det) < eps || solveSequentially) {\n                if (allowResort) {\n                    this._sortInfo(info);\n                    sci0 = info.supportPlanes[0]!.constraint;\n                    sci1 = info.supportPlanes[1]!.constraint;\n                    sci2 = info.supportPlanes[2]!.constraint;\n                }\n                this._getOutput(info, sci0).status = InteractionStatus.FAILURE_3D;\n                this._getOutput(info, sci1).status = InteractionStatus.FAILURE_3D;\n                this._getOutput(info, sci2).status = InteractionStatus.FAILURE_3D;\n                const oldNum = info.numSupportPlanes;\n                this._solve2d(info, maxSurfaceVelocity, sci0, sci1, velocityIn, velocityOut);\n                if (oldNum === info.numSupportPlanes) {\n                    this._solve2d(info, maxSurfaceVelocity, sci0, sci2, velocityIn, velocityOut);\n                }\n                if (oldNum === info.numSupportPlanes) {\n                    this._solve2d(info, maxSurfaceVelocity, sci1, sci2, velocityIn, velocityOut);\n                }\n                return;\n            }\n            const t = v(vdot(sci0.planeNormal, sci0.velocity), vdot(sci1.planeNormal, sci1.velocity), vdot(sci2.planeNormal, sci2.velocity));\n            pointVel = {\n                x: t.x * r0.x + t.y * r1.x + t.z * r2.x,\n                y: t.x * r0.y + t.y * r1.y + t.z * r2.y,\n                z: t.x * r0.z + t.y * r1.z + t.z * r2.z,\n            };\n            vscaleIn(pointVel, 1 / det);\n            if (Math.abs(pointVel.x) > maxSurfaceVelocity.x || Math.abs(pointVel.y) > maxSurfaceVelocity.y || Math.abs(pointVel.z) > maxSurfaceVelocity.z) {\n                solveSequentially = true;\n            } else {\n                break;\n            }\n            // Recompute basis after a resort if it happens on a later pass.\n            r0 = vcross(sci1.planeNormal, sci2.planeNormal);\n            r1 = vcross(sci2.planeNormal, sci0.planeNormal);\n            r2 = vcross(sci0.planeNormal, sci1.planeNormal);\n            det = vdot(r0, sci0.planeNormal);\n        }\n        vcopy(velocityOut, pointVel);\n    }\n\n    private _examineActivePlanes(info: SolverInfo, maxSurfaceVelocity: Vec3, velocityIn: Vec3, velocityOut: Vec3): void {\n        while (true) {\n            switch (info.numSupportPlanes) {\n                case 1: {\n                    this._solve1d(info.supportPlanes[0]!.constraint, velocityIn, velocityOut);\n                    return;\n                }\n                case 2: {\n                    const velocity = v();\n                    this._solve1d(info.supportPlanes[1]!.constraint, velocityIn, velocity);\n                    if (!this._solveTest1d(info.supportPlanes[0]!.constraint, velocity)) {\n                        this._copyPlane(info.supportPlanes[0]!, info.supportPlanes[1]!);\n                        info.numSupportPlanes = 1;\n                        vcopy(velocityOut, velocity);\n                    } else {\n                        this._solve2d(info, maxSurfaceVelocity, info.supportPlanes[0]!.constraint, info.supportPlanes[1]!.constraint, velocityIn, velocityOut);\n                    }\n                    return;\n                }\n                case 3: {\n                    {\n                        const velocity = v();\n                        this._solve1d(info.supportPlanes[2]!.constraint, velocityIn, velocityOut);\n                        if (!this._solveTest1d(info.supportPlanes[0]!.constraint, velocity) && !this._solveTest1d(info.supportPlanes[1]!.constraint, velocity)) {\n                            vcopy(velocityOut, velocity);\n                            this._copyPlane(info.supportPlanes[0]!, info.supportPlanes[2]!);\n                            info.numSupportPlanes = 1;\n                            continue;\n                        }\n                    }\n                    {\n                        let droppedAPlane = false;\n                        for (let testPlane = 0; testPlane < 2; testPlane++) {\n                            this._solve2d(info, maxSurfaceVelocity, info.supportPlanes[testPlane]!.constraint, info.supportPlanes[2]!.constraint, velocityIn, velocityOut);\n                            if (!this._solveTest1d(info.supportPlanes[1 - testPlane]!.constraint, velocityOut)) {\n                                this._copyPlane(info.supportPlanes[0]!, info.supportPlanes[testPlane]!);\n                                this._copyPlane(info.supportPlanes[1]!, info.supportPlanes[2]!);\n                                info.numSupportPlanes--;\n                                droppedAPlane = true;\n                                break;\n                            }\n                        }\n                        if (droppedAPlane) {\n                            continue;\n                        }\n                    }\n                    this._solve3d(\n                        info,\n                        maxSurfaceVelocity,\n                        info.supportPlanes[0]!.constraint,\n                        info.supportPlanes[1]!.constraint,\n                        info.supportPlanes[2]!.constraint,\n                        true,\n                        velocityIn,\n                        velocityOut\n                    );\n                    return;\n                }\n                case 4: {\n                    this._sortInfo(info);\n                    let droppedAPlane = false;\n                    for (let i = 0; i < 3; i++) {\n                        const velocity = v();\n                        this._solve3d(\n                            info,\n                            maxSurfaceVelocity,\n                            info.supportPlanes[(i + 1) % 3]!.constraint,\n                            info.supportPlanes[(i + 2) % 3]!.constraint,\n                            info.supportPlanes[3]!.constraint,\n                            false,\n                            velocityIn,\n                            velocity\n                        );\n                        if (!this._solveTest1d(info.supportPlanes[i]!.constraint, velocity)) {\n                            this._copyPlane(info.supportPlanes[i]!, info.supportPlanes[2]!);\n                            this._copyPlane(info.supportPlanes[2]!, info.supportPlanes[3]!);\n                            info.numSupportPlanes = 3;\n                            droppedAPlane = true;\n                            break;\n                        }\n                    }\n                    if (droppedAPlane) {\n                        continue;\n                    }\n                    {\n                        const velocity = vclone(velocityIn);\n                        this._solve3d(\n                            info,\n                            maxSurfaceVelocity,\n                            info.supportPlanes[0]!.constraint,\n                            info.supportPlanes[1]!.constraint,\n                            info.supportPlanes[2]!.constraint,\n                            false,\n                            velocity,\n                            velocity\n                        );\n                        vcopy(velocityOut, velocity);\n                    }\n                    {\n                        let maxStatus = InteractionStatus.OK;\n                        for (let i = 0; i < 4; i++) {\n                            maxStatus = Math.max(maxStatus, info.supportPlanes[i]!.interaction.status);\n                        }\n                        for (let i = 0; i < 4; i++) {\n                            if (maxStatus === info.supportPlanes[i]!.interaction.status) {\n                                this._copyPlane(info.supportPlanes[i]!, info.supportPlanes[3]!);\n                                break;\n                            }\n                            info.numSupportPlanes--;\n                        }\n                    }\n                    for (let i = 0; i < 3; i++) {\n                        info.supportPlanes[i]!.interaction.status = InteractionStatus.OK;\n                    }\n                    continue;\n                }\n                default:\n                    return;\n            }\n        }\n    }\n\n    private _copyPlane(dst: ActivePlane, src: ActivePlane): void {\n        dst.index = src.index;\n        dst.constraint = src.constraint;\n        dst.interaction = src.interaction;\n    }\n\n    private _simplexSolverSolve(constraints: SurfaceConstraint[], velocity: Vec3, deltaTime: number, minDeltaTime: number, maxSurfaceVelocity: Vec3): SolverOutput {\n        const eps = 1e-6;\n        const output: SolverOutput = {\n            position: v(),\n            velocity: vclone(velocity),\n            deltaTime,\n            planeInteractions: [],\n        };\n        for (let i = 0; i < constraints.length; i++) {\n            output.planeInteractions.push({ touched: false, stopped: false, surfaceTime: 0, penaltyDistance: 0, status: InteractionStatus.OK });\n        }\n        const info: SolverInfo = {\n            supportPlanes: [],\n            numSupportPlanes: 0,\n            currentTime: 0,\n            inputConstraints: constraints,\n            outputInteractions: output.planeInteractions,\n        };\n        const emptyConstraint = (): SurfaceConstraint => ({\n            planeNormal: v(),\n            planeDistance: 0,\n            staticFriction: 0,\n            dynamicFriction: 0,\n            extraUpStaticFriction: 0,\n            extraDownStaticFriction: 0,\n            velocity: v(),\n            angularVelocity: v(),\n            priority: 0,\n        });\n        const emptyInteraction = (): PlaneInteraction => ({ touched: false, stopped: false, surfaceTime: 0, penaltyDistance: 0, status: InteractionStatus.OK });\n        for (let i = 0; i < 4; i++) {\n            info.supportPlanes.push({ index: -1, constraint: emptyConstraint(), interaction: emptyInteraction() });\n        }\n        let remainingTime = deltaTime;\n        while (remainingTime > 0) {\n            let hitIndex = -1;\n            let minCollisionTime = remainingTime;\n            for (let i = 0; i < constraints.length; i++) {\n                if (info.numSupportPlanes >= 1 && info.supportPlanes[0]!.index === i) {\n                    continue;\n                }\n                if (info.numSupportPlanes >= 2 && info.supportPlanes[1]!.index === i) {\n                    continue;\n                }\n                if (info.numSupportPlanes >= 3 && info.supportPlanes[2]!.index === i) {\n                    continue;\n                }\n                if (output.planeInteractions[i]!.status !== InteractionStatus.OK) {\n                    continue;\n                }\n                const sci = constraints[i]!;\n                const relativeVel = vsub(output.velocity, sci.velocity);\n                const relativeProjectedVel = -vdot(relativeVel, sci.planeNormal);\n                if (relativeProjectedVel <= 0) {\n                    continue;\n                }\n                const relativePos = vsub(output.position, vscale(sci.velocity, info.currentTime));\n                let projectedPos = vdot(sci.planeNormal, relativePos);\n                const penaltyDist = output.planeInteractions[i]!.penaltyDistance;\n                if (penaltyDist < eps) {\n                    projectedPos = 0;\n                }\n                projectedPos += penaltyDist;\n                if (projectedPos < minCollisionTime * relativeProjectedVel) {\n                    minCollisionTime = projectedPos / relativeProjectedVel;\n                    hitIndex = i;\n                }\n            }\n            if (minCollisionTime > 1e-4) {\n                info.currentTime += minCollisionTime;\n                remainingTime -= minCollisionTime;\n                vaddIn(output.position, vscale(output.velocity, minCollisionTime));\n                for (let i = 0; i < info.numSupportPlanes; i++) {\n                    info.supportPlanes[i]!.interaction.surfaceTime += minCollisionTime;\n                    info.supportPlanes[i]!.interaction.touched = true;\n                }\n                output.deltaTime = info.currentTime;\n                if (info.currentTime > minDeltaTime) {\n                    return output;\n                }\n            }\n            if (hitIndex < 0) {\n                output.deltaTime = deltaTime;\n                break;\n            }\n            const supportPlane = info.supportPlanes[info.numSupportPlanes++]!;\n            supportPlane.constraint = constraints[hitIndex]!;\n            supportPlane.interaction = output.planeInteractions[hitIndex]!;\n            supportPlane.interaction.penaltyDistance = (supportPlane.interaction.penaltyDistance + eps) * 2;\n            supportPlane.index = hitIndex;\n            this._examineActivePlanes(info, maxSurfaceVelocity, velocity, output.velocity);\n        }\n        return output;\n    }\n}\n\nconst ZERO: Vec3 = { x: 0, y: 0, z: 0 };\n\nfunction matToArray(m: Mat4): number[] {\n    const out: number[] = new Array(16);\n    for (let i = 0; i < 16; i++) {\n        out[i] = m[i]!;\n    }\n    return out;\n}\n\n/**\n * Create a Havok physics character controller.\n *\n * The controller adds a kinematic capsule body to `world` and resolves collisions by sweeping\n * that capsule each step. Drive it from a per-physics-step callback (e.g. `onPhysicsAfterStep`)\n * by calling {@link PhysicsCharacterController.moveWithCollisions} with the desired displacement,\n * then read {@link PhysicsCharacterController.getPosition} to update your display mesh.\n * @param world - The physics world to add the character to.\n * @param position - Initial world-space position of the character.\n * @param options - Capsule dimensions.\n * @returns The character controller instance.\n */\nexport function createPhysicsCharacterController(world: PhysicsWorld, position: Vec3, options: PhysicsCharacterControllerOptions): PhysicsCharacterController {\n    return new PhysicsCharacterController(world, position, 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+{"version":3,"file":"character-controller.js","sources":["../../../src/physics/character-controller.ts"],"sourcesContent":["/**\n * Havok Physics V2 character controller for Babylon Lite — a collide-and-slide kinematic\n * character built entirely on the Havok shapecast / shapeproximity query primitives.\n *\n * Kept in a standalone, tree-shakeable module: the per-frame `_stepWorld` core in `havok.ts`\n * never references this code, so only scenes that import {@link createPhysicsCharacterController}\n * pay for it. The controller sweeps a capsule shape through the world each step, builds a contact\n * manifold from the cast + proximity hits, turns the contacts into surface constraints, then runs\n * a simplex velocity solver (1D/2D/3D plane clipping) to compute a collision-free displacement.\n *\n * ```ts\n *   const cc = createPhysicsCharacterController(world, { x: 0, y: 1, z: 0 }, { capsuleHeight: 1.8, capsuleRadius: 0.6 });\n *   onPhysicsAfterStep(world, () => {\n *       cc.moveWithCollisions({ x: 0, y: -0.05, z: 0.02 });\n *       const p = cc.getPosition();\n *       displayMesh.position.set(p.x, p.y, p.z);\n *   });\n * ```\n *\n * The algorithm follows Babylon.js' `PhysicsCharacterController` (Apache-2.0), re-expressed with\n * Lite's plain-data `Vec3` math and free-function physics API. Left-handed, +Y up.\n */\n\nimport type { Quat, Vec3 } from \"../math/types.js\";\nimport { mat4Invert } from \"../math/mat4-invert.js\";\nimport type { Mat4 } from \"../math/types.js\";\nimport { createTransformNode } from \"../scene/transform-node.js\";\nimport type { TransformNode } from \"../scene/transform-node.js\";\nimport {\n    createPhysicsBody,\n    createPhysicsShape,\n    PhysicsMotionType,\n    PhysicsShapeType,\n    removePhysicsBody,\n    setPhysicsBodyMassProperties,\n    setPhysicsBodyPreStep,\n    setPhysicsBodyShape,\n    worldStepSeconds,\n} from \"./havok.js\";\nimport type { PhysicsBody, PhysicsShape, PhysicsWorld } from \"./havok.js\";\n\n// ─── Public types ────────────────────────────────────────────────────\n\n/** Contact state of the character against the geometry beneath it. */\nexport const enum CharacterSupportedState {\n    /** No surface within reach. */\n    UNSUPPORTED = 0,\n    /** Touching a surface too steep to stand on; the character slides. */\n    SLIDING = 1,\n    /** Standing on a walkable surface. */\n    SUPPORTED = 2,\n}\n\n/** Options describing the character's collision capsule. */\nexport interface PhysicsCharacterControllerOptions {\n    /** Total capsule height (tip to tip), in metres. Default `1.8`. */\n    capsuleHeight: number;\n    /** Capsule radius, in metres. Default `0.6`. */\n    capsuleRadius: number;\n}\n\n/**\n * Collision event fired by {@link PhysicsCharacterController.onTriggerCollisionObservable}\n * for every dynamic body the character pushes during a step. Mirrors Babylon.js'\n * `onTriggerCollisionObservable` payload (minus its `colliderIndex`, which has no Lite equivalent).\n */\nexport interface CharacterCollisionEvent {\n    /** The dynamic physics body the character contacted. Its `.node.name` identifies the collider. */\n    collider: PhysicsBody;\n    /** Impulse (world space) the character applied to the collider at the contact point. */\n    impulse: Vec3;\n    /** World-space position of the contact at which the impulse was applied. */\n    impulsePosition: Vec3;\n}\n\n/**\n * Minimal single-event observable used by {@link PhysicsCharacterController} for collision\n * callbacks. Kept local to the physics module (no dependency on gizmo/observable code) so the\n * character-controller graph stays self-contained and tree-shakeable.\n */\nexport class CharacterCollisionObservable {\n    private _subs: ((event: CharacterCollisionEvent) => void)[] = [];\n\n    /**\n     * Subscribe to collision events.\n     * @param cb - Callback invoked for each dynamic-body contact during a step.\n     * @returns A disposer that removes the subscription when called.\n     */\n    public add(cb: (event: CharacterCollisionEvent) => void): () => void {\n        this._subs.push(cb);\n        return () => {\n            const i = this._subs.indexOf(cb);\n            if (i >= 0) {\n                this._subs.splice(i, 1);\n            }\n        };\n    }\n\n    /**\n     * Notify all subscribers of a collision event.\n     * @param event - The collision event payload.\n     */\n    public notify(event: CharacterCollisionEvent): void {\n        for (const s of this._subs) {\n            s(event);\n        }\n    }\n}\n\n/** Surface information returned by {@link PhysicsCharacterController.checkSupport}. */\nexport interface CharacterSurfaceInfo {\n    /** Whether the supporting surface belongs to a dynamic (simulated) body. */\n    isSurfaceDynamic: boolean;\n    /** Whether the character is unsupported, sliding, or supported. */\n    supportedState: CharacterSupportedState;\n    /** Average normal of the supporting surfaces (world space). */\n    averageSurfaceNormal: Vec3;\n    /** Average linear velocity induced by the supporting surfaces. */\n    averageSurfaceVelocity: Vec3;\n    /** Average angular velocity induced by the supporting surfaces. */\n    averageAngularSurfaceVelocity: Vec3;\n}\n\n// ─── Internal data structures ────────────────────────────────────────\n\ninterface Contact {\n    position: Vec3;\n    normal: Vec3;\n    distance: number;\n    fraction: number;\n    body: PhysicsBody | null;\n    allowedPenetration: number;\n}\n\ninterface SurfaceConstraint {\n    planeNormal: Vec3;\n    planeDistance: number;\n    staticFriction: number;\n    dynamicFriction: number;\n    extraUpStaticFriction: number;\n    extraDownStaticFriction: number;\n    velocity: Vec3;\n    angularVelocity: Vec3;\n    priority: number;\n}\n\nconst enum InteractionStatus {\n    OK = 0,\n    FAILURE_3D = 1,\n    FAILURE_2D = 2,\n}\n\ninterface PlaneInteraction {\n    touched: boolean;\n    stopped: boolean;\n    surfaceTime: number;\n    penaltyDistance: number;\n    status: InteractionStatus;\n}\n\ninterface ActivePlane {\n    index: number;\n    constraint: SurfaceConstraint;\n    interaction: PlaneInteraction;\n}\n\ninterface SolverInfo {\n    supportPlanes: ActivePlane[];\n    numSupportPlanes: number;\n    currentTime: number;\n    inputConstraints: SurfaceConstraint[];\n    outputInteractions: PlaneInteraction[];\n}\n\ninterface SolverOutput {\n    position: Vec3;\n    velocity: Vec3;\n    deltaTime: number;\n    planeInteractions: PlaneInteraction[];\n}\n\ninterface BodyTracking {\n    prev: number[];\n    frameId: number;\n}\n\n// ─── Vec3 helpers (plain-data, allocation-friendly) ──────────────────\n\nfunction v(x = 0, y = 0, z = 0): Vec3 {\n    return { x, y, z };\n}\nfunction vclone(a: Vec3): Vec3 {\n    return { x: a.x, y: a.y, z: a.z };\n}\nfunction vcopy(d: Vec3, s: Vec3): void {\n    d.x = s.x;\n    d.y = s.y;\n    d.z = s.z;\n}\nfunction vset(d: Vec3, x: number, y: number, z: number): void {\n    d.x = x;\n    d.y = y;\n    d.z = z;\n}\nfunction vadd(a: Vec3, b: Vec3): Vec3 {\n    return { x: a.x + b.x, y: a.y + b.y, z: a.z + b.z };\n}\nfunction vsub(a: Vec3, b: Vec3): Vec3 {\n    return { x: a.x - b.x, y: a.y - b.y, z: a.z - b.z };\n}\nfunction vscale(a: Vec3, s: number): Vec3 {\n    return { x: a.x * s, y: a.y * s, z: a.z * s };\n}\nfunction vaddIn(d: Vec3, a: Vec3): void {\n    d.x += a.x;\n    d.y += a.y;\n    d.z += a.z;\n}\nfunction vsubIn(d: Vec3, a: Vec3): void {\n    d.x -= a.x;\n    d.y -= a.y;\n    d.z -= a.z;\n}\nfunction vscaleIn(d: Vec3, s: number): void {\n    d.x *= s;\n    d.y *= s;\n    d.z *= s;\n}\nfunction vdot(a: Vec3, b: Vec3): number {\n    return a.x * b.x + a.y * b.y + a.z * b.z;\n}\nfunction vcross(a: Vec3, b: Vec3): Vec3 {\n    return { x: a.y * b.z - a.z * b.y, y: a.z * b.x - a.x * b.z, z: a.x * b.y - a.y * b.x };\n}\nfunction vlenSq(a: Vec3): number {\n    return a.x * a.x + a.y * a.y + a.z * a.z;\n}\nfunction vlen(a: Vec3): number {\n    return Math.sqrt(vlenSq(a));\n}\nfunction vnormIn(a: Vec3): void {\n    const l = vlen(a);\n    if (l > 1e-12) {\n        const inv = 1 / l;\n        a.x *= inv;\n        a.y *= inv;\n        a.z *= inv;\n    }\n}\nfunction vequalsEps(a: Vec3, b: Vec3, eps: number): boolean {\n    return Math.abs(a.x - b.x) <= eps && Math.abs(a.y - b.y) <= eps && Math.abs(a.z - b.z) <= eps;\n}\nfunction clamp(value: number, lo: number, hi: number): number {\n    return Math.min(Math.max(value, lo), hi);\n}\n\n/** Transform a position by a column-major 4×4 matrix (with translation). */\nfunction transformCoord(m: ArrayLike<number>, p: Vec3): Vec3 {\n    return {\n        x: p.x * m[0]! + p.y * m[4]! + p.z * m[8]! + m[12]!,\n        y: p.x * m[1]! + p.y * m[5]! + p.z * m[9]! + m[13]!,\n        z: p.x * m[2]! + p.y * m[6]! + p.z * m[10]! + m[14]!,\n    };\n}\n\n// ─── Controller ──────────────────────────────────────────────────────\n\n/**\n * A physics-driven character controller. Create one with\n * {@link createPhysicsCharacterController}; drive it each physics step with\n * {@link PhysicsCharacterController.moveWithCollisions} and read back the resolved position\n * with {@link PhysicsCharacterController.getPosition}.\n */\nexport class PhysicsCharacterController {\n    /** Minimum separation kept from surfaces, in metres. Default `0.05`. */\n    public keepDistance = 0.05;\n    /** Extra distance over which a contact is still tracked. Default `0.1`. */\n    public keepContactTolerance = 0.1;\n    /** Maximum number of cast iterations per integration step. Default `10`. */\n    public maxCastIterations = 10;\n    /** Speed at which penetrations are pushed out. Default `1.0`. */\n    public penetrationRecoverySpeed = 1.0;\n    /** Static-friction coefficient against surfaces. Default `0`. */\n    public staticFriction = 0;\n    /** Dynamic-friction coefficient against surfaces. Default `1`. */\n    public dynamicFriction = 1;\n    /** Cosine of the steepest slope the character can stand on. Default `0.5` (60°). */\n    public maxSlopeCosine = 0.5;\n    /** Upper bound on per-solve character speed. Default `10`. */\n    public maxCharacterSpeedForSolver = 10.0;\n    /** World up vector. Default `(0, 1, 0)`. */\n    public up: Vec3 = { x: 0, y: 1, z: 0 };\n    /** Push strength applied to dynamic bodies the character contacts. Default `1e38`. */\n    public characterStrength = 1e38;\n    /** Acceleration factor used by {@link calculateMovement}. Default `0.05`. */\n    public acceleration = 0.05;\n    /** Maximum world-space acceleration used by {@link calculateMovement}. Default `50`. */\n    public maxAcceleration = 50;\n    /** Character mass used when reacting to gravity against dynamic bodies. Default `0`. */\n    public characterMass = 0;\n\n    /**\n     * Fires once per dynamic body the character pushes during a step, just before the reactive\n     * impulse is applied. Mirrors Babylon.js' `onTriggerCollisionObservable`. Subscribe with\n     * `.add(cb)`; the returned disposer removes the subscription.\n     */\n    public readonly onTriggerCollisionObservable = new CharacterCollisionObservable();\n\n    private readonly _world: PhysicsWorld;\n    private readonly _shape: PhysicsShape;\n    private readonly _node: TransformNode;\n    private readonly _body: PhysicsBody;\n    private readonly _startCollector: any;\n    private readonly _castCollector: any;\n\n    private _position: Vec3;\n    private _velocity: Vec3 = v();\n    private _lastVelocity: Vec3 = v();\n    private _lastDisplacement: Vec3 = v();\n    private _orientation: Quat = { x: 0, y: 0, z: 0, w: 1 };\n    private _manifold: Contact[] = [];\n    private _lastInvDeltaTime = 60;\n    private _frameId = 0;\n    private readonly _contactAngleSensitivity = 10.0;\n    private readonly _displacementEps = 1e-4;\n    private readonly _bodyTracking = new Map<PhysicsBody, BodyTracking>();\n\n    /** Construct a controller. Prefer the {@link createPhysicsCharacterController} factory. */\n    public constructor(world: PhysicsWorld, position: Vec3, options: PhysicsCharacterControllerOptions) {\n        this._world = world;\n        this._position = vclone(position);\n\n        const r = options.capsuleRadius ?? 0.6;\n        const h = options.capsuleHeight ?? 1.8;\n        this._shape = createPhysicsShape(world, {\n            type: PhysicsShapeType.CAPSULE,\n            parameters: { pointA: { x: 0, y: h * 0.5 - r, z: 0 }, pointB: { x: 0, y: -h * 0.5 + r, z: 0 }, radius: r },\n        });\n\n        this._node = createTransformNode(\"CCTransformNode\", position.x, position.y, position.z);\n        this._body = createPhysicsBody(world, this._node, PhysicsMotionType.ANIMATED);\n        setPhysicsBodyShape(world, this._body, this._shape);\n        setPhysicsBodyMassProperties(world, this._body, { inertia: { x: 0, y: 0, z: 0 } });\n        setPhysicsBodyPreStep(this._body, true);\n\n        const hknp = world._hknp;\n        this._startCollector = hknp.HP_QueryCollector_Create(16)[1];\n        this._castCollector = hknp.HP_QueryCollector_Create(16)[1];\n    }\n\n    /** Release the controller's body, shape, and query collectors. */\n    public dispose(): void {\n        const hknp = this._world._hknp;\n        removePhysicsBody(this._world, this._body);\n        hknp.HP_Shape_Release(this._shape._hkShape);\n        hknp.HP_QueryCollector_Release(this._startCollector);\n        hknp.HP_QueryCollector_Release(this._castCollector);\n    }\n\n    /** Get the current character position (world space). The returned vector is owned by the controller. */\n    public getPosition(): Vec3 {\n        return this._position;\n    }\n\n    /** Teleport the character to a new position, clearing any swept motion. */\n    public setPosition(position: Vec3): void {\n        vcopy(this._position, position);\n        this._node.position.set(position.x, position.y, position.z);\n    }\n\n    /** Get the current character velocity (world space). The returned vector is owned by the controller. */\n    public getVelocity(): Vec3 {\n        return this._velocity;\n    }\n\n    /** Set the character velocity (world space). */\n    public setVelocity(velocity: Vec3): void {\n        vcopy(this._velocity, velocity);\n    }\n\n    /**\n     * Move the character by a displacement this physics step, sliding along any geometry it meets.\n     * @param displacement - Requested world-space displacement for this step.\n     */\n    public moveWithCollisions(displacement: Vec3): void {\n        // Physics step in seconds: the world's fixed step, or the scene's current per-frame delta when\n        // no fixed step is set (see `worldStepSeconds`). If that is 0 (e.g. the first frame) the guard\n        // below skips the move.\n        const deltaTime = worldStepSeconds(this._world);\n        if (!deltaTime || deltaTime <= 0) {\n            return;\n        }\n        const invDeltaTime = 1 / deltaTime;\n        this._frameId++;\n        vcopy(this._velocity, vscale(displacement, invDeltaTime));\n        vcopy(this._lastDisplacement, displacement);\n        vcopy(this._lastVelocity, this._velocity);\n        this._lastInvDeltaTime = invDeltaTime;\n        this._integrateManifolds(deltaTime, ZERO);\n    }\n\n    /**\n     * Advance the controller using a velocity already chosen for this step (instead of a raw\n     * displacement). Mirrors Babylon.js' `integrate`: it picks a cast direction from the current\n     * velocity and surface info, then runs the collide-and-slide.\n     * @param deltaTime - Step duration in seconds.\n     * @param surfaceInfo - Surface info from a prior {@link checkSupport} call.\n     * @param gravity - Gravity applied to the character this step.\n     */\n    public integrate(deltaTime: number, surfaceInfo: CharacterSurfaceInfo, gravity: Vec3): void {\n        const invDeltaTime = 1 / deltaTime;\n        const tolerance = this._displacementEps * invDeltaTime;\n        if (vequalsEps(this._velocity, this._lastVelocity, tolerance)) {\n            vscaleIn(this._lastDisplacement, deltaTime * this._lastInvDeltaTime);\n        } else {\n            const displacementVelocity = vclone(this._velocity);\n            if (surfaceInfo.supportedState === CharacterSupportedState.SUPPORTED) {\n                const relative = vsub(this._velocity, surfaceInfo.averageSurfaceVelocity);\n                const normalDotVelocity = vdot(surfaceInfo.averageSurfaceNormal, relative);\n                if (normalDotVelocity < 0) {\n                    vsubIn(relative, vscale(surfaceInfo.averageSurfaceNormal, normalDotVelocity));\n                    vcopy(displacementVelocity, relative);\n                    vaddIn(displacementVelocity, surfaceInfo.averageSurfaceVelocity);\n                }\n            }\n            vcopy(this._lastDisplacement, vscale(displacementVelocity, deltaTime));\n        }\n        vcopy(this._lastVelocity, this._velocity);\n        this._lastInvDeltaTime = invDeltaTime;\n        this._frameId++;\n        this._integrateManifolds(deltaTime, gravity);\n    }\n\n    /**\n     * Probe the surface under the character along a direction (usually gravity) to classify support.\n     * @param deltaTime - Step duration in seconds.\n     * @param direction - Direction to probe, usually the gravity direction.\n     * @returns Support classification and averaged surface motion/normal.\n     */\n    public checkSupport(deltaTime: number, direction: Vec3): CharacterSurfaceInfo {\n        const eps = 1e-4;\n        const info: CharacterSurfaceInfo = {\n            isSurfaceDynamic: false,\n            supportedState: CharacterSupportedState.UNSUPPORTED,\n            averageSurfaceNormal: v(),\n            averageSurfaceVelocity: v(),\n            averageAngularSurfaceVelocity: v(),\n        };\n        this._validateManifold();\n        const constraints = this._createConstraintsFromManifold(deltaTime, 0);\n        const storedVelocities: Vec3[] = [];\n        for (const c of constraints) {\n            storedVelocities.push(vclone(c.velocity));\n            vset(c.velocity, 0, 0, 0);\n        }\n        const maxSurfaceVelocity = v(this.maxCharacterSpeedForSolver, this.maxCharacterSpeedForSolver, this.maxCharacterSpeedForSolver);\n        const output = this._simplexSolverSolve(constraints, direction, deltaTime, deltaTime, maxSurfaceVelocity);\n        if (vequalsEps(output.velocity, direction, eps)) {\n            info.supportedState = CharacterSupportedState.UNSUPPORTED;\n            return info;\n        }\n        if (vlenSq(output.velocity) < eps) {\n            info.supportedState = CharacterSupportedState.SUPPORTED;\n        } else {\n            vnormIn(output.velocity);\n            const angleSin = vdot(output.velocity, direction);\n            const cosSqr = 1 - angleSin * angleSin;\n            info.supportedState = cosSqr < this.maxSlopeCosine * this.maxSlopeCosine ? CharacterSupportedState.SLIDING : CharacterSupportedState.SUPPORTED;\n        }\n        let numTouching = 0;\n        for (let i = 0; i < constraints.length; i++) {\n            if (output.planeInteractions[i]!.touched && vdot(constraints[i]!.planeNormal, direction) < -0.08) {\n                vaddIn(info.averageSurfaceNormal, constraints[i]!.planeNormal);\n                vaddIn(info.averageSurfaceVelocity, storedVelocities[i]!);\n                vaddIn(info.averageAngularSurfaceVelocity, constraints[i]!.angularVelocity);\n                numTouching++;\n            }\n        }\n        if (numTouching > 0) {\n            vnormIn(info.averageSurfaceNormal);\n            vscaleIn(info.averageSurfaceVelocity, 1 / numTouching);\n            vscaleIn(info.averageAngularSurfaceVelocity, 1 / numTouching);\n        }\n        if (info.supportedState === CharacterSupportedState.SUPPORTED) {\n            for (const m of this._manifold) {\n                if (vdot(m.normal, direction) < -0.08 && m.body?.motionType === (PhysicsMotionType.DYNAMIC as number)) {\n                    info.isSurfaceDynamic = true;\n                    break;\n                }\n            }\n        }\n        return info;\n    }\n\n    /**\n     * Compute a target velocity from the current state, a desired velocity, and surface info — a\n     * helper for steering input into surface-aware motion.\n     * @param deltaTime - Step duration in seconds.\n     * @param forwardWorld - Character forward direction (world space).\n     * @param surfaceNormal - Supporting surface normal.\n     * @param currentVelocity - Current character velocity.\n     * @param surfaceVelocity - Velocity induced by the surface.\n     * @param desiredVelocity - Desired character velocity.\n     * @param upWorld - Up vector (world space).\n     * @returns The new velocity vector.\n     */\n    public calculateMovement(deltaTime: number, forwardWorld: Vec3, surfaceNormal: Vec3, currentVelocity: Vec3, surfaceVelocity: Vec3, desiredVelocity: Vec3, upWorld: Vec3): Vec3 {\n        const eps = 1e-5;\n        let binorm = vcross(forwardWorld, upWorld);\n        if (vlenSq(binorm) < eps) {\n            return v();\n        }\n        vnormIn(binorm);\n        const tangent = vcross(binorm, surfaceNormal);\n        vnormIn(tangent);\n        binorm = vcross(tangent, surfaceNormal);\n        vnormIn(binorm);\n        // Orthonormal surface frame rows: tangent, binorm, surfaceNormal. Its inverse is the transpose.\n        const rel = vsub(currentVelocity, surfaceVelocity);\n        const relative = { x: vdot(rel, tangent), y: vdot(rel, binorm), z: vdot(rel, surfaceNormal) };\n        const sideVec = vcross(upWorld, forwardWorld);\n        const fwd = vdot(desiredVelocity, forwardWorld);\n        const side = vdot(desiredVelocity, sideVec);\n        const len = vlen(desiredVelocity);\n        const desiredSF = v(-fwd, side, 0);\n        vnormIn(desiredSF);\n        vscaleIn(desiredSF, len);\n        const diff = vsub(desiredSF, relative);\n        const lenSq = vlenSq(diff);\n        const maxVelocityDelta = this.maxAcceleration * deltaTime;\n        const factor = lenSq * this.acceleration * this.acceleration > maxVelocityDelta * maxVelocityDelta ? maxVelocityDelta / Math.sqrt(lenSq) : this.acceleration;\n        vscaleIn(diff, factor);\n        vaddIn(relative, diff);\n        // Transform back to world via the frame rows.\n        const result = {\n            x: relative.x * tangent.x + relative.y * binorm.x + relative.z * surfaceNormal.x,\n            y: relative.x * tangent.y + relative.y * binorm.y + relative.z * surfaceNormal.y,\n            z: relative.x * tangent.z + relative.y * binorm.z + relative.z * surfaceNormal.z,\n        };\n        vaddIn(result, surfaceVelocity);\n        return result;\n    }\n\n    // ─── Manifold integration ────────────────────────────────────────\n\n    private _integrateManifolds(deltaTime: number, gravity: Vec3): void {\n        const epsSqrd = 1e-8;\n        let newVelocity = v();\n        let remainingTime = deltaTime;\n        this._validateManifold();\n        for (let iter = 0; iter < this.maxCastIterations && remainingTime > 1e-5; iter++) {\n            this._castWithCollectors(this._position, vadd(this._position, this._lastDisplacement));\n            const updateResult = this._updateManifold(this._lastDisplacement);\n            const constraints = this._createConstraintsFromManifold(deltaTime, deltaTime - remainingTime);\n            const maxSurfaceVelocity = v(this.maxCharacterSpeedForSolver, this.maxCharacterSpeedForSolver, this.maxCharacterSpeedForSolver);\n            const minDeltaTime = vlenSq(this._velocity) === 0 ? 0 : (0.5 * this.keepDistance) / vlen(this._velocity);\n            const solveResults = this._simplexSolverSolve(constraints, this._velocity, remainingTime, minDeltaTime, maxSurfaceVelocity);\n            const newDisplacement = solveResults.position;\n            const solverDeltaTime = solveResults.deltaTime;\n            newVelocity = solveResults.velocity;\n            this._resolveContacts(deltaTime, gravity);\n\n            let newContactIndex = -1;\n            if (updateResult !== 0 || (vlenSq(newDisplacement) > epsSqrd && !vequalsEps(this._lastDisplacement, newDisplacement, this._displacementEps))) {\n                this._castWithCollectors(this._position, vadd(this._position, newDisplacement), true);\n                const hknp = this._world._hknp;\n                const numCastHits = hknp.HP_QueryCollector_GetNumHits(this._castCollector)[1];\n                for (let i = 0; i < numCastHits; i++) {\n                    const [fraction, , hitWorld] = hknp.HP_QueryCollector_GetShapeCastResult(this._castCollector, i)[1];\n                    const newContact = this._contactFromCast(hitWorld, newDisplacement, fraction);\n                    if (this._findContact(newContact, this._manifold, 0.1) === -1) {\n                        newContactIndex = this._manifold.length;\n                        this._manifold.push(newContact);\n                        break;\n                    }\n                }\n            }\n\n            if (newContactIndex >= 0) {\n                const newContact = this._manifold[newContactIndex]!;\n                const displacementLengthInv = 1 / vlen(newDisplacement);\n                const angleBetween = vdot(newDisplacement, newContact.normal) * displacementLengthInv;\n                const keepDistanceAlongMovement = this.keepDistance / -angleBetween;\n                let fraction = newContact.fraction - keepDistanceAlongMovement * displacementLengthInv;\n                fraction = clamp(fraction, 0, 1);\n                vaddIn(this._position, vscale(newDisplacement, fraction));\n                remainingTime -= solverDeltaTime * fraction;\n            } else {\n                vaddIn(this._position, newDisplacement);\n                remainingTime -= solverDeltaTime;\n            }\n            vcopy(this._lastDisplacement, newDisplacement);\n        }\n        vcopy(this._velocity, newVelocity);\n        this._node.position.set(this._position.x, this._position.y, this._position.z);\n    }\n\n    private _castWithCollectors(startPos: Vec3, endPos: Vec3, castOnly = false): void {\n        const hknp = this._world._hknp;\n        const hkWorld = this._world._hkWorld;\n        const shapeHandle = this._shape._hkShape;\n        const startNative = [startPos.x, startPos.y, startPos.z];\n        const orientation = [this._orientation.x, this._orientation.y, this._orientation.z, this._orientation.w];\n        const ignoreSelf = [this._body._hkBody[0]];\n        if (!castOnly) {\n            const proxQuery = [shapeHandle, startNative, orientation, this.keepDistance + this.keepContactTolerance, false, ignoreSelf];\n            hknp.HP_World_ShapeProximityWithCollector(hkWorld, this._startCollector, proxQuery);\n        }\n        const castQuery = [shapeHandle, orientation, startNative, [endPos.x, endPos.y, endPos.z], false, ignoreSelf];\n        hknp.HP_World_ShapeCastWithCollector(hkWorld, this._castCollector, castQuery);\n    }\n\n    private _findBody(id: unknown): PhysicsBody | null {\n        const bodies = this._world._bodies;\n        for (let i = 0; i < bodies.length; i++) {\n            if (bodies[i]!._hkBody[0] === id) {\n                return bodies[i]!;\n            }\n        }\n        return null;\n    }\n\n    private _contactFromCast(cp: any, castPath: Vec3, hitFraction: number): Contact {\n        const normal = v(cp[4][0], cp[4][1], cp[4][2]);\n        const dist = -hitFraction * vdot(castPath, normal);\n        return {\n            position: v(cp[3][0], cp[3][1], cp[3][2]),\n            normal,\n            distance: dist,\n            fraction: hitFraction,\n            body: this._findBody(cp[0][0]),\n            allowedPenetration: clamp(this.keepDistance - dist, 0, this.keepDistance),\n        };\n    }\n\n    private _validateManifold(): void {\n        this._manifold = this._manifold.filter((c) => c.body === null || this._world._bodies.indexOf(c.body) !== -1);\n    }\n\n    private _updateManifold(castPath: Vec3): number {\n        const hknp = this._world._hknp;\n        const numProximityHits = hknp.HP_QueryCollector_GetNumHits(this._startCollector)[1];\n        if (numProximityHits > 0) {\n            const newContacts: Contact[] = [];\n            let minDistance = 1e38;\n            for (let i = 0; i < numProximityHits; i++) {\n                const [distance, , contactWorld] = hknp.HP_QueryCollector_GetShapeProximityResult(this._startCollector, i)[1];\n                minDistance = Math.min(minDistance, distance);\n                newContacts.push({\n                    position: v(contactWorld[3][0], contactWorld[3][1], contactWorld[3][2]),\n                    normal: v(contactWorld[4][0], contactWorld[4][1], contactWorld[4][2]),\n                    distance,\n                    fraction: 0,\n                    body: this._findBody(contactWorld[0][0]),\n                    allowedPenetration: clamp(this.keepDistance - distance, 0, this.keepDistance),\n                });\n            }\n            for (let i = this._manifold.length - 1; i >= 0; i--) {\n                const bestMatch = this._findContact(this._manifold[i]!, newContacts, 1.1);\n                if (bestMatch >= 0) {\n                    const newAllowed = Math.min(clamp(this.keepDistance - newContacts[bestMatch]!.distance, 0, this.keepDistance), this._manifold[i]!.allowedPenetration);\n                    this._manifold[i] = newContacts[bestMatch]!;\n                    this._manifold[i]!.allowedPenetration = newAllowed;\n                    newContacts.splice(bestMatch, 1);\n                } else {\n                    this._manifold.splice(i, 1);\n                }\n            }\n            const closestContactIndex = newContacts.findIndex((c) => c.distance === minDistance);\n            if (closestContactIndex >= 0) {\n                const closest = newContacts[closestContactIndex]!;\n                const bestMatch = this._findContact(closest, this._manifold, 0.1);\n                if (bestMatch >= 0) {\n                    const newAllowed = Math.min(clamp(this.keepDistance - closest.distance, 0, this.keepDistance), this._manifold[bestMatch]!.allowedPenetration);\n                    this._manifold[bestMatch] = closest;\n                    this._manifold[bestMatch]!.allowedPenetration = newAllowed;\n                } else {\n                    this._manifold.push(closest);\n                }\n            }\n        } else {\n            this._manifold.length = 0;\n        }\n\n        let numHitBodies = 0;\n        const numCastHits = hknp.HP_QueryCollector_GetNumHits(this._castCollector)[1];\n        if (numCastHits > 0) {\n            let closestHitBodyId: unknown = null;\n            for (let i = 0; i < numCastHits; i++) {\n                const [fraction, , hitWorld] = hknp.HP_QueryCollector_GetShapeCastResult(this._castCollector, i)[1];\n                if (closestHitBodyId === null) {\n                    const contact = this._contactFromCast(hitWorld, castPath, fraction);\n                    closestHitBodyId = hitWorld[0][0];\n                    if (this._findContact(contact, this._manifold, 0.1) === -1) {\n                        this._manifold.push(contact);\n                    }\n                    if (contact.body?.motionType === (PhysicsMotionType.STATIC as number) || contact.body === null) {\n                        break;\n                    }\n                } else if (hitWorld[0][0] !== closestHitBodyId) {\n                    numHitBodies++;\n                    break;\n                }\n            }\n        }\n        return numHitBodies;\n    }\n\n    // ─── Contact comparison ──────────────────────────────────────────\n\n    private _compareContacts(a: Contact, b: Contact): number {\n        const angSquared = (1 - vdot(a.normal, b.normal)) * this._contactAngleSensitivity * this._contactAngleSensitivity;\n        const planeDistSquared = (a.distance - b.distance) * (a.distance * b.distance);\n        const aVel = this._getPointVelocity(a.body, a.position);\n        const bVel = this._getPointVelocity(b.body, b.position);\n        const velocityDiffSquared = vlenSq(vsub(aVel, bVel));\n        return angSquared * 10 + velocityDiffSquared * 0.1 + planeDistSquared;\n    }\n\n    private _findContact(reference: Contact, list: Contact[], threshold: number): number {\n        let bestIdx = -1;\n        let bestFitness = threshold;\n        for (let i = 0; i < list.length; i++) {\n            const fitness = this._compareContacts(reference, list[i]!);\n            if (fitness < bestFitness) {\n                bestFitness = fitness;\n                bestIdx = i;\n            }\n        }\n        return bestIdx;\n    }\n\n    // ─── Body kinematics ─────────────────────────────────────────────\n\n    private _getMassProperties(body: PhysicsBody): any {\n        return this._world._hknp.HP_Body_GetMassProperties(body._hkBody)[1];\n    }\n\n    private _getComWorld(body: PhysicsBody): Vec3 {\n        const com = this._getMassProperties(body)[0];\n        return transformCoord(body.node.worldMatrix, v(com[0], com[1], com[2]));\n    }\n\n    private _getPointVelocity(body: PhysicsBody | null, pointWorld: Vec3): Vec3 {\n        if (!body) {\n            return v();\n        }\n        const hknp = this._world._hknp;\n        const comWorld = this._getComWorld(body);\n        const relPos = vsub(pointWorld, comWorld);\n        const avArr = hknp.HP_Body_GetAngularVelocity(body._hkBody)[1];\n        const av = v(avArr[0], avArr[1], avArr[2]);\n        const lvArr = hknp.HP_Body_GetLinearVelocity(body._hkBody)[1];\n        return vadd(vcross(av, relPos), v(lvArr[0], lvArr[1], lvArr[2]));\n    }\n\n    private _getInvMass(body: PhysicsBody): number {\n        const mass = this._getMassProperties(body)[1];\n        return mass > 0 ? 1 / mass : 0;\n    }\n\n    // ─── Surface constraints ─────────────────────────────────────────\n\n    private _createSurfaceConstraint(dt: number, contact: Contact, timeTravelled: number): SurfaceConstraint {\n        const constraint: SurfaceConstraint = {\n            planeNormal: vclone(contact.normal),\n            planeDistance: contact.distance,\n            staticFriction: this.staticFriction,\n            dynamicFriction: this.dynamicFriction,\n            extraUpStaticFriction: 0,\n            extraDownStaticFriction: 0,\n            velocity: v(),\n            angularVelocity: v(),\n            priority: 0,\n        };\n        const maxSlopeCosine = Math.max(this.maxSlopeCosine, 0.1);\n        const normalDotUp = vdot(contact.normal, this.up);\n        if (normalDotUp > maxSlopeCosine) {\n            const com = this._position;\n            const contactArm = vsub(contact.position, com);\n            const scale = vdot(contact.normal, contactArm);\n            contact.position.x = com.x + this.up.x * scale;\n            contact.position.y = com.y + this.up.y * scale;\n            contact.position.z = com.z + this.up.z * scale;\n        }\n        const motionType = contact.body?.motionType ?? (PhysicsMotionType.STATIC as number);\n        const shift = vdot(constraint.velocity, constraint.planeNormal) * timeTravelled;\n        constraint.planeDistance -= shift;\n        if (motionType === (PhysicsMotionType.STATIC as number)) {\n            constraint.priority = 2;\n        } else if (motionType === (PhysicsMotionType.ANIMATED as number) && contact.body) {\n            const body = contact.body;\n            const currentWorld = matToArray(body.node.worldMatrix);\n            const tracking = this._bodyTracking.get(body);\n            if (!tracking) {\n                this._bodyTracking.set(body, { prev: currentWorld, frameId: this._frameId });\n            } else {\n                if (tracking.frameId + 1 === this._frameId) {\n                    const inv = mat4Invert(body.node.worldMatrix);\n                    if (inv) {\n                        const characterLocal = transformCoord(inv, this._position);\n                        const characterWorld = transformCoord(tracking.prev, characterLocal);\n                        const playerDelta = vsub(this._position, characterWorld);\n                        vcopy(constraint.velocity, playerDelta);\n                        vscaleIn(constraint.velocity, 1 / dt);\n                        constraint.priority = 1;\n                    }\n                }\n                tracking.prev = currentWorld;\n                tracking.frameId = this._frameId;\n            }\n        }\n        return constraint;\n    }\n\n    private _addMaxSlopePlane(maxSlopeCos: number, index: number, constraints: SurfaceConstraint[], allowedPenetration: number): void {\n        const src = constraints[index]!;\n        const verticalComponent = vdot(src.planeNormal, this.up);\n        if (verticalComponent > 0.01 && verticalComponent < maxSlopeCos) {\n            const newConstraint: SurfaceConstraint = {\n                planeNormal: vclone(src.planeNormal),\n                planeDistance: src.planeDistance,\n                velocity: vclone(src.velocity),\n                angularVelocity: vclone(src.angularVelocity),\n                priority: src.priority,\n                dynamicFriction: src.dynamicFriction,\n                staticFriction: src.staticFriction,\n                extraDownStaticFriction: src.extraDownStaticFriction,\n                extraUpStaticFriction: src.extraUpStaticFriction,\n            };\n            const distance = newConstraint.planeDistance;\n            vsubIn(newConstraint.planeNormal, vscale(this.up, verticalComponent));\n            vnormIn(newConstraint.planeNormal);\n            if (distance >= 0) {\n                newConstraint.planeDistance = distance * vdot(newConstraint.planeNormal, src.planeNormal);\n            } else {\n                const penetrationToResolve = Math.min(0, distance + allowedPenetration);\n                newConstraint.planeDistance = penetrationToResolve / vdot(newConstraint.planeNormal, src.planeNormal);\n                src.planeDistance = 0;\n                this._resolveConstraintPenetration(newConstraint);\n            }\n            constraints.push(newConstraint);\n        }\n    }\n\n    private _resolveConstraintPenetration(constraint: SurfaceConstraint): void {\n        if (constraint.planeDistance < -1e-6) {\n            vsubIn(constraint.velocity, vscale(constraint.planeNormal, constraint.planeDistance * this.penetrationRecoverySpeed));\n        }\n    }\n\n    private _createConstraintsFromManifold(dt: number, timeTravelled: number): SurfaceConstraint[] {\n        const constraints: SurfaceConstraint[] = [];\n        for (let i = 0; i < this._manifold.length; i++) {\n            const surfaceConstraint = this._createSurfaceConstraint(dt, this._manifold[i]!, timeTravelled);\n            constraints.push(surfaceConstraint);\n            this._addMaxSlopePlane(this.maxSlopeCosine, i, constraints, this._manifold[i]!.allowedPenetration);\n            this._resolveConstraintPenetration(surfaceConstraint);\n        }\n        return constraints;\n    }\n\n    // ─── Contact resolution (push dynamic bodies) ────────────────────\n\n    private _resolveContacts(deltaTime: number, gravity: Vec3): void {\n        const eps = 1e-12;\n        const hknp = this._world._hknp;\n        for (const contact of this._manifold) {\n            const body = contact.body;\n            if (!body || body.motionType !== (PhysicsMotionType.DYNAMIC as number)) {\n                continue;\n            }\n            const pointRelVel = this._getPointVelocity(body, contact.position);\n            vsubIn(pointRelVel, this._velocity);\n            const inputProjectedVelocity = vdot(pointRelVel, contact.normal);\n            let deltaVelocity = -inputProjectedVelocity * 0.9;\n            if (contact.distance < 0) {\n                deltaVelocity += (contact.distance * 0.4) / deltaTime;\n            }\n            let outputImpulse = v();\n            if (deltaVelocity < 0) {\n                const comWorld = this._getComWorld(body);\n                const r = vsub(contact.position, comWorld);\n                const jacAng = vcross(r, contact.normal);\n                // Inertia is treated as isotropic for the impulse magnitude (Lite bodies use diagonal inertia).\n                const inputObjectMassInv = vlenSq(jacAng) * this._getInvMass(body) + this._getInvMass(body);\n                let impulseMag = inputObjectMassInv > 0 ? deltaVelocity / inputObjectMassInv : 0;\n                const maxPushImpulse = -this.characterStrength * deltaTime;\n                if (impulseMag < maxPushImpulse) {\n                    impulseMag = maxPushImpulse;\n                }\n                outputImpulse = vscale(contact.normal, impulseMag);\n            }\n            let relVelN = vdot(contact.normal, vscale(gravity, deltaTime));\n            if (inputProjectedVelocity < 0) {\n                relVelN -= inputProjectedVelocity;\n            }\n            if (relVelN < -eps) {\n                vaddIn(outputImpulse, vscale(contact.normal, this.characterMass * relVelN));\n            }\n            this.onTriggerCollisionObservable.notify({ collider: body, impulse: outputImpulse, impulsePosition: contact.position });\n            hknp.HP_Body_ApplyImpulse(body._hkBody, [contact.position.x, contact.position.y, contact.position.z], [outputImpulse.x, outputImpulse.y, outputImpulse.z]);\n        }\n    }\n\n    // ─── Simplex velocity solver ─────────────────────────────────────\n\n    private _getOutput(info: SolverInfo, constraint: SurfaceConstraint): PlaneInteraction {\n        return info.outputInteractions[info.inputConstraints.indexOf(constraint)]!;\n    }\n\n    private _sortInfo(info: SolverInfo): void {\n        for (let i = 0; i < info.numSupportPlanes - 1; i++) {\n            for (let j = i + 1; j < info.numSupportPlanes; j++) {\n                const p0 = info.supportPlanes[i]!;\n                const p1 = info.supportPlanes[j]!;\n                if (p0.constraint.priority < p1.constraint.priority) {\n                    continue;\n                }\n                if (p0.constraint.priority === p1.constraint.priority && vlenSq(p0.constraint.velocity) < vlenSq(p1.constraint.velocity)) {\n                    continue;\n                }\n                info.supportPlanes[i] = p1;\n                info.supportPlanes[j] = p0;\n            }\n        }\n    }\n\n    private _solve1d(sci: SurfaceConstraint, velocityIn: Vec3, velocityOut: Vec3): void {\n        const eps = 1e-5;\n        const groundVelocity = sci.velocity;\n        const relativeVelocity = vsub(velocityIn, groundVelocity);\n        const planeVel = vdot(relativeVelocity, sci.planeNormal);\n        const origVelocity2 = vlenSq(relativeVelocity);\n        vsubIn(relativeVelocity, vscale(sci.planeNormal, planeVel));\n        const vp2 = planeVel * planeVel;\n        const extraStaticFriction = vdot(relativeVelocity, this.up) > 0 ? sci.extraUpStaticFriction : sci.extraDownStaticFriction;\n        if (extraStaticFriction > 0) {\n            const horizontal = vcross(this.up, sci.planeNormal);\n            const hor2 = vlenSq(horizontal);\n            let horVel = 0;\n            if (hor2 > eps) {\n                vscaleIn(horizontal, 1 / Math.sqrt(hor2));\n                horVel = vdot(relativeVelocity, horizontal);\n                const horVel2 = horVel * horVel;\n                const f2 = sci.staticFriction * sci.staticFriction;\n                if (vp2 * f2 >= horVel2) {\n                    vsubIn(relativeVelocity, vscale(horizontal, horVel));\n                    horVel = 0;\n                }\n            }\n            const vertVel2 = origVelocity2 - horVel * horVel - vp2;\n            const f2 = (sci.staticFriction + extraStaticFriction) * (sci.staticFriction + extraStaticFriction);\n            if (vp2 * f2 >= vertVel2 && horVel === 0) {\n                vcopy(velocityOut, groundVelocity);\n                return;\n            }\n        } else {\n            const f2 = sci.staticFriction * sci.staticFriction;\n            if (vp2 * (1 + f2) >= origVelocity2) {\n                vcopy(velocityOut, groundVelocity);\n                return;\n            }\n        }\n        if (sci.dynamicFriction < 1) {\n            const velOut2 = vlenSq(relativeVelocity);\n            if (velOut2 >= eps && velOut2 > 1e-4 * origVelocity2) {\n                let f = Math.sqrt(origVelocity2 / velOut2);\n                f = sci.dynamicFriction + (1 - sci.dynamicFriction) * f;\n                vscaleIn(relativeVelocity, f);\n                const p = vdot(sci.planeNormal, relativeVelocity);\n                vsubIn(relativeVelocity, vscale(sci.planeNormal, p));\n            }\n        }\n        vcopy(velocityOut, relativeVelocity);\n        vaddIn(velocityOut, groundVelocity);\n    }\n\n    private _solveTest1d(sci: SurfaceConstraint, velocityIn: Vec3): boolean {\n        const relativeVelocity = vsub(velocityIn, sci.velocity);\n        return vdot(relativeVelocity, sci.planeNormal) < -1e-3;\n    }\n\n    private _solve2d(info: SolverInfo, maxSurfaceVelocity: Vec3, sci0: SurfaceConstraint, sci1: SurfaceConstraint, velocityIn: Vec3, velocityOut: Vec3): void {\n        const eps = 1e-5;\n        const axis = vcross(sci0.planeNormal, sci1.planeNormal);\n        const axisLen2 = vlenSq(axis);\n        let solveSequentially = false;\n        let axisVel = v();\n\n        while (true) {\n            if (axisLen2 <= eps || solveSequentially) {\n                this._getOutput(info, sci0).status = InteractionStatus.FAILURE_2D;\n                this._getOutput(info, sci1).status = InteractionStatus.FAILURE_2D;\n                if (sci0.priority > sci1.priority) {\n                    this._solve1d(sci1, velocityIn, velocityOut);\n                    this._solve1d(sci0, velocityIn, velocityOut);\n                } else {\n                    this._solve1d(sci0, velocityIn, velocityOut);\n                    this._solve1d(sci1, velocityIn, velocityOut);\n                }\n                return;\n            }\n            const invAxisLen = 1 / Math.sqrt(axisLen2);\n            vscaleIn(axis, invAxisLen);\n            const r0 = vcross(sci0.planeNormal, sci1.planeNormal);\n            const r1 = vcross(sci1.planeNormal, axis);\n            const r2 = vcross(axis, sci0.planeNormal);\n            const sVel = vadd(sci0.velocity, sci1.velocity);\n            const t = v(0.5 * vdot(axis, sVel), vdot(sci0.planeNormal, sci0.velocity), vdot(sci1.planeNormal, sci1.velocity));\n            axisVel = v(vdot(t, r0), vdot(t, r1), vdot(t, r2));\n            vscaleIn(axisVel, invAxisLen);\n            if (Math.abs(axisVel.x) > maxSurfaceVelocity.x || Math.abs(axisVel.y) > maxSurfaceVelocity.y || Math.abs(axisVel.z) > maxSurfaceVelocity.z) {\n                solveSequentially = true;\n            } else {\n                break;\n            }\n        }\n        const groundVelocity = axisVel;\n        const relativeVelocity = vsub(velocityIn, groundVelocity);\n        const vel2 = vlenSq(relativeVelocity);\n        const axisVert = vdot(this.up, axis);\n        let axisProjVelocity = vdot(relativeVelocity, axis);\n        let staticFriction = sci0.staticFriction + sci1.staticFriction;\n        if (axisVert * axisProjVelocity > 0) {\n            staticFriction += (sci0.extraUpStaticFriction + sci1.extraUpStaticFriction) * axisVert;\n        } else {\n            staticFriction += (sci0.extraDownStaticFriction + sci1.extraDownStaticFriction) * axisVert;\n        }\n        staticFriction *= 0.5;\n        const dynamicFriction = (sci0.dynamicFriction + sci1.dynamicFriction) * 0.5;\n        const f2 = staticFriction * staticFriction;\n        const av2 = axisProjVelocity * axisProjVelocity;\n        if ((vel2 - av2) * f2 >= av2) {\n            vcopy(velocityOut, groundVelocity);\n            return;\n        }\n        if (dynamicFriction < 1 && axisProjVelocity * axisProjVelocity > 1e-4 * vel2) {\n            const f = Math.abs(1 / axisProjVelocity) * Math.sqrt(vel2) * (1 - dynamicFriction) + dynamicFriction;\n            axisProjVelocity *= f;\n        }\n        vcopy(velocityOut, groundVelocity);\n        vaddIn(velocityOut, vscale(axis, axisProjVelocity));\n    }\n\n    private _solve3d(\n        info: SolverInfo,\n        maxSurfaceVelocity: Vec3,\n        sci0: SurfaceConstraint,\n        sci1: SurfaceConstraint,\n        sci2: SurfaceConstraint,\n        allowResort: boolean,\n        velocityIn: Vec3,\n        velocityOut: Vec3\n    ): void {\n        const eps = 1e-5;\n        let pointVel = v();\n        let r0 = vcross(sci1.planeNormal, sci2.planeNormal);\n        let r1 = vcross(sci2.planeNormal, sci0.planeNormal);\n        let r2 = vcross(sci0.planeNormal, sci1.planeNormal);\n        let det = vdot(r0, sci0.planeNormal);\n        let solveSequentially = false;\n\n        while (true) {\n            if (Math.abs(det) < eps || solveSequentially) {\n                if (allowResort) {\n                    this._sortInfo(info);\n                    sci0 = info.supportPlanes[0]!.constraint;\n                    sci1 = info.supportPlanes[1]!.constraint;\n                    sci2 = info.supportPlanes[2]!.constraint;\n                }\n                this._getOutput(info, sci0).status = InteractionStatus.FAILURE_3D;\n                this._getOutput(info, sci1).status = InteractionStatus.FAILURE_3D;\n                this._getOutput(info, sci2).status = InteractionStatus.FAILURE_3D;\n                const oldNum = info.numSupportPlanes;\n                this._solve2d(info, maxSurfaceVelocity, sci0, sci1, velocityIn, velocityOut);\n                if (oldNum === info.numSupportPlanes) {\n                    this._solve2d(info, maxSurfaceVelocity, sci0, sci2, velocityIn, velocityOut);\n                }\n                if (oldNum === info.numSupportPlanes) {\n                    this._solve2d(info, maxSurfaceVelocity, sci1, sci2, velocityIn, velocityOut);\n                }\n                return;\n            }\n            const t = v(vdot(sci0.planeNormal, sci0.velocity), vdot(sci1.planeNormal, sci1.velocity), vdot(sci2.planeNormal, sci2.velocity));\n            pointVel = {\n                x: t.x * r0.x + t.y * r1.x + t.z * r2.x,\n                y: t.x * r0.y + t.y * r1.y + t.z * r2.y,\n                z: t.x * r0.z + t.y * r1.z + t.z * r2.z,\n            };\n            vscaleIn(pointVel, 1 / det);\n            if (Math.abs(pointVel.x) > maxSurfaceVelocity.x || Math.abs(pointVel.y) > maxSurfaceVelocity.y || Math.abs(pointVel.z) > maxSurfaceVelocity.z) {\n                solveSequentially = true;\n            } else {\n                break;\n            }\n            // Recompute basis after a resort if it happens on a later pass.\n            r0 = vcross(sci1.planeNormal, sci2.planeNormal);\n            r1 = vcross(sci2.planeNormal, sci0.planeNormal);\n            r2 = vcross(sci0.planeNormal, sci1.planeNormal);\n            det = vdot(r0, sci0.planeNormal);\n        }\n        vcopy(velocityOut, pointVel);\n    }\n\n    private _examineActivePlanes(info: SolverInfo, maxSurfaceVelocity: Vec3, velocityIn: Vec3, velocityOut: Vec3): void {\n        while (true) {\n            switch (info.numSupportPlanes) {\n                case 1: {\n                    this._solve1d(info.supportPlanes[0]!.constraint, velocityIn, velocityOut);\n                    return;\n                }\n                case 2: {\n                    const velocity = v();\n                    this._solve1d(info.supportPlanes[1]!.constraint, velocityIn, velocity);\n                    if (!this._solveTest1d(info.supportPlanes[0]!.constraint, velocity)) {\n                        this._copyPlane(info.supportPlanes[0]!, info.supportPlanes[1]!);\n                        info.numSupportPlanes = 1;\n                        vcopy(velocityOut, velocity);\n                    } else {\n                        this._solve2d(info, maxSurfaceVelocity, info.supportPlanes[0]!.constraint, info.supportPlanes[1]!.constraint, velocityIn, velocityOut);\n                    }\n                    return;\n                }\n                case 3: {\n                    {\n                        const velocity = v();\n                        this._solve1d(info.supportPlanes[2]!.constraint, velocityIn, velocityOut);\n                        if (!this._solveTest1d(info.supportPlanes[0]!.constraint, velocity) && !this._solveTest1d(info.supportPlanes[1]!.constraint, velocity)) {\n                            vcopy(velocityOut, velocity);\n                            this._copyPlane(info.supportPlanes[0]!, info.supportPlanes[2]!);\n                            info.numSupportPlanes = 1;\n                            continue;\n                        }\n                    }\n                    {\n                        let droppedAPlane = false;\n                        for (let testPlane = 0; testPlane < 2; testPlane++) {\n                            this._solve2d(info, maxSurfaceVelocity, info.supportPlanes[testPlane]!.constraint, info.supportPlanes[2]!.constraint, velocityIn, velocityOut);\n                            if (!this._solveTest1d(info.supportPlanes[1 - testPlane]!.constraint, velocityOut)) {\n                                this._copyPlane(info.supportPlanes[0]!, info.supportPlanes[testPlane]!);\n                                this._copyPlane(info.supportPlanes[1]!, info.supportPlanes[2]!);\n                                info.numSupportPlanes--;\n                                droppedAPlane = true;\n                                break;\n                            }\n                        }\n                        if (droppedAPlane) {\n                            continue;\n                        }\n                    }\n                    this._solve3d(\n                        info,\n                        maxSurfaceVelocity,\n                        info.supportPlanes[0]!.constraint,\n                        info.supportPlanes[1]!.constraint,\n                        info.supportPlanes[2]!.constraint,\n                        true,\n                        velocityIn,\n                        velocityOut\n                    );\n                    return;\n                }\n                case 4: {\n                    this._sortInfo(info);\n                    let droppedAPlane = false;\n                    for (let i = 0; i < 3; i++) {\n                        const velocity = v();\n                        this._solve3d(\n                            info,\n                            maxSurfaceVelocity,\n                            info.supportPlanes[(i + 1) % 3]!.constraint,\n                            info.supportPlanes[(i + 2) % 3]!.constraint,\n                            info.supportPlanes[3]!.constraint,\n                            false,\n                            velocityIn,\n                            velocity\n                        );\n                        if (!this._solveTest1d(info.supportPlanes[i]!.constraint, velocity)) {\n                            this._copyPlane(info.supportPlanes[i]!, info.supportPlanes[2]!);\n                            this._copyPlane(info.supportPlanes[2]!, info.supportPlanes[3]!);\n                            info.numSupportPlanes = 3;\n                            droppedAPlane = true;\n                            break;\n                        }\n                    }\n                    if (droppedAPlane) {\n                        continue;\n                    }\n                    {\n                        const velocity = vclone(velocityIn);\n                        this._solve3d(\n                            info,\n                            maxSurfaceVelocity,\n                            info.supportPlanes[0]!.constraint,\n                            info.supportPlanes[1]!.constraint,\n                            info.supportPlanes[2]!.constraint,\n                            false,\n                            velocity,\n                            velocity\n                        );\n                        vcopy(velocityOut, velocity);\n                    }\n                    {\n                        let maxStatus = InteractionStatus.OK;\n                        for (let i = 0; i < 4; i++) {\n                            maxStatus = Math.max(maxStatus, info.supportPlanes[i]!.interaction.status);\n                        }\n                        for (let i = 0; i < 4; i++) {\n                            if (maxStatus === info.supportPlanes[i]!.interaction.status) {\n                                this._copyPlane(info.supportPlanes[i]!, info.supportPlanes[3]!);\n                                break;\n                            }\n                            info.numSupportPlanes--;\n                        }\n                    }\n                    for (let i = 0; i < 3; i++) {\n                        info.supportPlanes[i]!.interaction.status = InteractionStatus.OK;\n                    }\n                    continue;\n                }\n                default:\n                    return;\n            }\n        }\n    }\n\n    private _copyPlane(dst: ActivePlane, src: ActivePlane): void {\n        dst.index = src.index;\n        dst.constraint = src.constraint;\n        dst.interaction = src.interaction;\n    }\n\n    private _simplexSolverSolve(constraints: SurfaceConstraint[], velocity: Vec3, deltaTime: number, minDeltaTime: number, maxSurfaceVelocity: Vec3): SolverOutput {\n        const eps = 1e-6;\n        const output: SolverOutput = {\n            position: v(),\n            velocity: vclone(velocity),\n            deltaTime,\n            planeInteractions: [],\n        };\n        for (let i = 0; i < constraints.length; i++) {\n            output.planeInteractions.push({ touched: false, stopped: false, surfaceTime: 0, penaltyDistance: 0, status: InteractionStatus.OK });\n        }\n        const info: SolverInfo = {\n            supportPlanes: [],\n            numSupportPlanes: 0,\n            currentTime: 0,\n            inputConstraints: constraints,\n            outputInteractions: output.planeInteractions,\n        };\n        const emptyConstraint = (): SurfaceConstraint => ({\n            planeNormal: v(),\n            planeDistance: 0,\n            staticFriction: 0,\n            dynamicFriction: 0,\n            extraUpStaticFriction: 0,\n            extraDownStaticFriction: 0,\n            velocity: v(),\n            angularVelocity: v(),\n            priority: 0,\n        });\n        const emptyInteraction = (): PlaneInteraction => ({ touched: false, stopped: false, surfaceTime: 0, penaltyDistance: 0, status: InteractionStatus.OK });\n        for (let i = 0; i < 4; i++) {\n            info.supportPlanes.push({ index: -1, constraint: emptyConstraint(), interaction: emptyInteraction() });\n        }\n        let remainingTime = deltaTime;\n        while (remainingTime > 0) {\n            let hitIndex = -1;\n            let minCollisionTime = remainingTime;\n            for (let i = 0; i < constraints.length; i++) {\n                if (info.numSupportPlanes >= 1 && info.supportPlanes[0]!.index === i) {\n                    continue;\n                }\n                if (info.numSupportPlanes >= 2 && info.supportPlanes[1]!.index === i) {\n                    continue;\n                }\n                if (info.numSupportPlanes >= 3 && info.supportPlanes[2]!.index === i) {\n                    continue;\n                }\n                if (output.planeInteractions[i]!.status !== InteractionStatus.OK) {\n                    continue;\n                }\n                const sci = constraints[i]!;\n                const relativeVel = vsub(output.velocity, sci.velocity);\n                const relativeProjectedVel = -vdot(relativeVel, sci.planeNormal);\n                if (relativeProjectedVel <= 0) {\n                    continue;\n                }\n                const relativePos = vsub(output.position, vscale(sci.velocity, info.currentTime));\n                let projectedPos = vdot(sci.planeNormal, relativePos);\n                const penaltyDist = output.planeInteractions[i]!.penaltyDistance;\n                if (penaltyDist < eps) {\n                    projectedPos = 0;\n                }\n                projectedPos += penaltyDist;\n                if (projectedPos < minCollisionTime * relativeProjectedVel) {\n                    minCollisionTime = projectedPos / relativeProjectedVel;\n                    hitIndex = i;\n                }\n            }\n            if (minCollisionTime > 1e-4) {\n                info.currentTime += minCollisionTime;\n                remainingTime -= minCollisionTime;\n                vaddIn(output.position, vscale(output.velocity, minCollisionTime));\n                for (let i = 0; i < info.numSupportPlanes; i++) {\n                    info.supportPlanes[i]!.interaction.surfaceTime += minCollisionTime;\n                    info.supportPlanes[i]!.interaction.touched = true;\n                }\n                output.deltaTime = info.currentTime;\n                if (info.currentTime > minDeltaTime) {\n                    return output;\n                }\n            }\n            if (hitIndex < 0) {\n                output.deltaTime = deltaTime;\n                break;\n            }\n            const supportPlane = info.supportPlanes[info.numSupportPlanes++]!;\n            supportPlane.constraint = constraints[hitIndex]!;\n            supportPlane.interaction = output.planeInteractions[hitIndex]!;\n            supportPlane.interaction.penaltyDistance = (supportPlane.interaction.penaltyDistance + eps) * 2;\n            supportPlane.index = hitIndex;\n            this._examineActivePlanes(info, maxSurfaceVelocity, velocity, output.velocity);\n        }\n        return output;\n    }\n}\n\nconst ZERO: Vec3 = { x: 0, y: 0, z: 0 };\n\nfunction matToArray(m: Mat4): number[] {\n    const out: number[] = new Array(16);\n    for (let i = 0; i < 16; i++) {\n        out[i] = m[i]!;\n    }\n    return out;\n}\n\n/**\n * Create a Havok physics character controller.\n *\n * The controller adds a kinematic capsule body to `world` and resolves collisions by sweeping\n * that capsule each step. Drive it from a per-physics-step callback (e.g. `onPhysicsAfterStep`)\n * by calling {@link PhysicsCharacterController.moveWithCollisions} with the desired displacement,\n * then read {@link PhysicsCharacterController.getPosition} to update your display mesh.\n * @param world - The physics world to add the character to.\n * @param position - Initial world-space position of the character.\n * @param options - Capsule dimensions.\n * @returns The character controller instance.\n */\nexport function createPhysicsCharacterController(world: PhysicsWorld, position: Vec3, options: PhysicsCharacterControllerOptions): PhysicsCharacterController {\n    return new PhysicsCharacterController(world, position, 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package/lib/physics/havok-floating-origin.js

@@ -58,7 +58,7 @@ function _placeBody(world, body, startsAsleep) {
   ]);
   body._region = region;
 }
-function _step(world) {
+function _step(world, dt) {
   const hknp = world._hknp;
   const bodies = world._bodies;
   const regions = world._fo.regions;
@@ -72,7 +72,7 @@ function _step(world) {
     }
   }
   for (let i = 0; i < regions.length; i++) {
-    hknp.HP_World_Step(regions[i]._world, world._timestep);
+    hknp.HP_World_Step(regions[i]._world, dt);
   }
   for (let i = 0; i < bodies.length; i++) {
     const b = bodies[i];