@driftengine/physics 4.6.1 → 4.7.1

package/dist/ragdoll.js

@@ -149,6 +149,39 @@ export function ragdollFromBones(world, parents, worldMatrices, options = {}) {
             anchorBY: -(halfOf[j] ?? 0),
         });
     }
+    /*
+     * **Bones hanging from a joint with no bone of its own are jointed to one another, at the head
+     * they share.** The header names the case: a humanoid's hips are usually a root, and the spine
+     * and both thighs hang off them. The loop above joints a bone to its parent's bone, and a root
+     * has none, so until 2026-10-02 those three bones were never joined to anything: a doll built
+     * from that rig fell as a torso and two loose legs. Each sibling is now jointed to the first
+     * bone under the same joint, head to head, with its own joint's limits; at rest the two heads
+     * are one point, so the first tick still moves nothing.
+     */
+    const firstUnder = new Int32Array(jointCount).fill(-1);
+    for (let j = 0; j < jointCount; j++) {
+        const body = bodyOf[j] ?? -1;
+        if (body < 0)
+            continue;
+        const p = parents[j] ?? -1;
+        if (p < 0 || (bodyOf[p] ?? -1) >= 0)
+            continue;
+        const first = firstUnder[p] ?? -1;
+        if (first < 0) {
+            firstUnder[p] = j;
+            continue;
+        }
+        world.addJoint({
+            type: JOINT_CONE_TWIST,
+            bodyA: bodyOf[first] ?? 0,
+            bodyB: body,
+            swingCos: limitAt(swingCos, Math.SQRT1_2, j),
+            twistSin: limitAt(twistSin, 0.3826834323650898, j),
+            axisY: 1,
+            anchorAY: -(halfOf[first] ?? 0),
+            anchorBY: -(halfOf[j] ?? 0),
+        });
+    }
     /*
      * **Bones that share an end must not collide, and it cannot be said with layers.**
      *

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@driftengine/physics",
-  "version": "4.6.1",
+  "version": "4.7.1",
   "description": "Collision shapes, spatial queries and swept kinematic collision",
   "license": "Apache-2.0",
   "type": "module",

package/src/ragdoll.ts

@@ -291,6 +291,38 @@ export function ragdollFromBones(
     });
   }
 
+  /*
+   * **Bones hanging from a joint with no bone of its own are jointed to one another, at the head
+   * they share.** The header names the case: a humanoid's hips are usually a root, and the spine
+   * and both thighs hang off them. The loop above joints a bone to its parent's bone, and a root
+   * has none, so until 2026-10-02 those three bones were never joined to anything: a doll built
+   * from that rig fell as a torso and two loose legs. Each sibling is now jointed to the first
+   * bone under the same joint, head to head, with its own joint's limits; at rest the two heads
+   * are one point, so the first tick still moves nothing.
+   */
+  const firstUnder = new Int32Array(jointCount).fill(-1);
+  for (let j = 0; j < jointCount; j++) {
+    const body = bodyOf[j] ?? -1;
+    if (body < 0) continue;
+    const p = parents[j] ?? -1;
+    if (p < 0 || (bodyOf[p] ?? -1) >= 0) continue;
+    const first = firstUnder[p] ?? -1;
+    if (first < 0) {
+      firstUnder[p] = j;
+      continue;
+    }
+    world.addJoint({
+      type: JOINT_CONE_TWIST,
+      bodyA: bodyOf[first] ?? 0,
+      bodyB: body,
+      swingCos: limitAt(swingCos, Math.SQRT1_2, j),
+      twistSin: limitAt(twistSin, 0.3826834323650898, j),
+      axisY: 1,
+      anchorAY: -(halfOf[first] ?? 0),
+      anchorBY: -(halfOf[j] ?? 0),
+    });
+  }
+
   /*
    * **Bones that share an end must not collide, and it cannot be said with layers.**
    *