@triforge/physics-core 0.1.0

package/dist/cloth/ClothSimulator.d.ts

@@ -0,0 +1,127 @@
+import { BufferGeometry } from 'three';
+import type { BaseCollider } from '../collision/BaseCollider.js';
+import type { WindForce } from '../forces/WindForce.js';
+export interface ClothSimulatorOptions {
+    /** Width vertex count (columns). Default 20. Blender: Quality > Steps U. */
+    segmentsX?: number;
+    /** Height vertex count (rows). Default 20. Blender: Quality > Steps V. */
+    segmentsY?: number;
+    /** Gravity acceleration (m/s²). Blender: Field Weights > Gravity. Default 9.8. */
+    gravity?: number;
+    /** Spring stiffness [0, 1]. Blender: Cloth > Stiffness > Tension. Default 0.8. */
+    stiffness?: number;
+    /** Bending stiffness [0, 1]. Blender: Cloth > Stiffness > Bending. Default 0.2. */
+    bending?: number;
+    /** Velocity damping [0, 1]. Blender: Cloth > Damping > Spring. Default 0.01. */
+    damping?: number;
+    /** Constraint solver iterations per step. Blender: Quality > Steps. Default 8. */
+    iterations?: number;
+    /** Simulation substeps per frame. Higher = more stable. Default 4. */
+    substeps?: number;
+    /** Particle mass. Blender: Cloth > Mass. Default 0.3. */
+    mass?: number;
+    /** Enable self-collision. Blender: Cloth > Self Collision. Default false. */
+    selfCollision?: boolean;
+    /** Minimum distance for self-collision. Default 0.05. */
+    selfCollisionDist?: number;
+    /** Enable pressure/inflation. Blender: Cloth > Pressure. Default false. */
+    pressure?: boolean;
+    /** Pressure factor (outward force along normal). Blender: Cloth > Pressure > Factor. Default 1.0. */
+    pressureFactor?: number;
+}
+/**
+ * ClothSimulator — Blender-matched cloth physics using Verlet integration.
+ * Blender: Cloth modifier.
+ *
+ * Workflow:
+ *   1. Create with segmentsX × segmentsY resolution
+ *   2. Pin vertices with `pin(index)` or `pinRow(0)` for a hanging flag
+ *   3. Add colliders and wind forces
+ *   4. Call `step(dt)` every frame
+ *   5. Call `apply()` to write simulated positions to the geometry
+ *
+ * All simulation parameters live in `parameters` for st-keyframe / GSAP:
+ *   new KeyframeTrack(cloth.parameters, 'stiffness', [...])
+ */
+export declare class ClothSimulator {
+    /** All scalar simulation parameters — GSAP/st-keyframe compatible. */
+    parameters: {
+        gravity: number;
+        stiffness: number;
+        bending: number;
+        damping: number;
+        iterations: number;
+        substeps: number;
+        mass: number;
+        selfCollision: boolean;
+        selfCollisionDist: number;
+        pressure: boolean;
+        pressureFactor: number;
+    };
+    readonly segmentsX: number;
+    readonly segmentsY: number;
+    /** Vertex count = (segmentsX+1) × (segmentsY+1). */
+    readonly vertexCount: number;
+    /** Current positions [x0,y0,z0, x1,y1,z1, ...] */
+    private _pos;
+    /** Previous positions (Verlet). */
+    private _prev;
+    /** Pinned vertices do not move. */
+    private _pinned;
+    /** Spring constraints: [i, j, restLength] */
+    private _springs;
+    /** Triangle index list for pressure, [i0, i1, i2, ...] */
+    private _triangles;
+    /** Accumulated wind force pointer (optional). */
+    private _wind;
+    private _colliders;
+    /** Current simulation time. */
+    time: number;
+    constructor(segmentsX: number, segmentsY: number, opts?: ClothSimulatorOptions);
+    /**
+     * Seed particle positions from a BufferGeometry.
+     * Call this once after construction to place the cloth in 3D space.
+     */
+    setFromGeometry(geometry: BufferGeometry): void;
+    /**
+     * Seed positions from a flat array [x0,y0,z0, x1,y1,z1, ...].
+     */
+    setFromArray(positions: ArrayLike<number>): void;
+    /** Pin a single vertex by index. Pinned vertices don't move. */
+    pin(index: number): void;
+    /** Unpin a vertex. */
+    unpin(index: number): void;
+    /** Pin an entire row (0 = bottom row in grid, segmentsY = top row). */
+    pinRow(row: number): void;
+    /** Pin an entire column. */
+    pinColumn(col: number): void;
+    isPinned(index: number): boolean;
+    setWind(wind: WindForce | null): void;
+    addCollider(c: BaseCollider): void;
+    removeCollider(c: BaseCollider): void;
+    clearColliders(): void;
+    /**
+     * Advance the simulation by `dt` seconds.
+     * Blender runs at 1/24 s per frame with multiple substeps.
+     * Recommended: pass `clock.getDelta()` clamped to 0.05 s max.
+     */
+    step(dt: number): void;
+    /**
+     * Write current particle positions to a BufferGeometry's position attribute.
+     * Call after step() each frame.
+     */
+    apply(geometry: BufferGeometry): void;
+    /** Read-only access to current positions (flat Float64Array). */
+    getPositions(): Readonly<Float64Array>;
+    /** Teleport a single particle. Use to move pinned vertices. */
+    setPosition(index: number, x: number, y: number, z: number): void;
+    private _integrate;
+    private _solveConstraints;
+    private _resolveCollisions;
+    private _buildSprings;
+    private _resolveSelfCollision;
+    private _applyPressure;
+    private _buildTriangles;
+    private _rebuildRestLengths;
+}
+//# sourceMappingURL=ClothSimulator.d.ts.map

package/dist/cloth/ClothSimulator.d.ts.map

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package/dist/cloth/ClothSimulator.js

@@ -0,0 +1,355 @@
+/**
+ * ClothSimulator — Blender-matched cloth physics using Verlet integration.
+ * Blender: Cloth modifier.
+ *
+ * Workflow:
+ *   1. Create with segmentsX × segmentsY resolution
+ *   2. Pin vertices with `pin(index)` or `pinRow(0)` for a hanging flag
+ *   3. Add colliders and wind forces
+ *   4. Call `step(dt)` every frame
+ *   5. Call `apply()` to write simulated positions to the geometry
+ *
+ * All simulation parameters live in `parameters` for st-keyframe / GSAP:
+ *   new KeyframeTrack(cloth.parameters, 'stiffness', [...])
+ */
+export class ClothSimulator {
+    constructor(segmentsX, segmentsY, opts = {}) {
+        /** Accumulated wind force pointer (optional). */
+        this._wind = null;
+        this._colliders = [];
+        /** Current simulation time. */
+        this.time = 0;
+        this.segmentsX = segmentsX;
+        this.segmentsY = segmentsY;
+        this.vertexCount = (segmentsX + 1) * (segmentsY + 1);
+        this.parameters = {
+            gravity: opts.gravity ?? 9.8,
+            stiffness: opts.stiffness ?? 0.8,
+            bending: opts.bending ?? 0.2,
+            damping: opts.damping ?? 0.01,
+            iterations: opts.iterations ?? 8,
+            substeps: opts.substeps ?? 4,
+            mass: opts.mass ?? 0.3,
+            selfCollision: opts.selfCollision ?? false,
+            selfCollisionDist: opts.selfCollisionDist ?? 0.05,
+            pressure: opts.pressure ?? false,
+            pressureFactor: opts.pressureFactor ?? 1.0,
+        };
+        // Triangle index list for pressure computation (built from grid quads)
+        this._triangles = this._buildTriangles();
+        this._pos = new Float64Array(this.vertexCount * 3);
+        this._prev = new Float64Array(this.vertexCount * 3);
+        this._pinned = new Uint8Array(this.vertexCount);
+        this._buildSprings();
+    }
+    // ── Initialisation ────────────────────────────────────────────────────────
+    /**
+     * Seed particle positions from a BufferGeometry.
+     * Call this once after construction to place the cloth in 3D space.
+     */
+    setFromGeometry(geometry) {
+        const pos = geometry.getAttribute('position');
+        const n = Math.min(pos.count, this.vertexCount);
+        for (let i = 0; i < n; i++) {
+            this._pos[i * 3] = pos.getX(i);
+            this._pos[i * 3 + 1] = pos.getY(i);
+            this._pos[i * 3 + 2] = pos.getZ(i);
+        }
+        this._prev.set(this._pos);
+        this._rebuildRestLengths();
+    }
+    /**
+     * Seed positions from a flat array [x0,y0,z0, x1,y1,z1, ...].
+     */
+    setFromArray(positions) {
+        const n = Math.min(positions.length, this._pos.length);
+        for (let i = 0; i < n; i++)
+            this._pos[i] = positions[i];
+        this._prev.set(this._pos);
+        this._rebuildRestLengths();
+    }
+    // ── Pinning ───────────────────────────────────────────────────────────────
+    /** Pin a single vertex by index. Pinned vertices don't move. */
+    pin(index) {
+        if (index >= 0 && index < this.vertexCount)
+            this._pinned[index] = 1;
+    }
+    /** Unpin a vertex. */
+    unpin(index) {
+        if (index >= 0 && index < this.vertexCount)
+            this._pinned[index] = 0;
+    }
+    /** Pin an entire row (0 = bottom row in grid, segmentsY = top row). */
+    pinRow(row) {
+        for (let x = 0; x <= this.segmentsX; x++) {
+            this.pin(row * (this.segmentsX + 1) + x);
+        }
+    }
+    /** Pin an entire column. */
+    pinColumn(col) {
+        for (let y = 0; y <= this.segmentsY; y++) {
+            this.pin(y * (this.segmentsX + 1) + col);
+        }
+    }
+    isPinned(index) { return this._pinned[index] === 1; }
+    // ── Forces & Colliders ────────────────────────────────────────────────────
+    setWind(wind) { this._wind = wind; }
+    addCollider(c) { this._colliders.push(c); }
+    removeCollider(c) { this._colliders = this._colliders.filter(x => x !== c); }
+    clearColliders() { this._colliders = []; }
+    // ── Simulation ────────────────────────────────────────────────────────────
+    /**
+     * Advance the simulation by `dt` seconds.
+     * Blender runs at 1/24 s per frame with multiple substeps.
+     * Recommended: pass `clock.getDelta()` clamped to 0.05 s max.
+     */
+    step(dt) {
+        const { substeps } = this.parameters;
+        const subDt = dt / substeps;
+        for (let s = 0; s < substeps; s++) {
+            this._integrate(subDt);
+            this._solveConstraints();
+            this._resolveCollisions();
+            if (this.parameters.selfCollision)
+                this._resolveSelfCollision();
+            if (this.parameters.pressure)
+                this._applyPressure(subDt);
+        }
+        this.time += dt;
+        this._wind?.advance(dt);
+    }
+    /**
+     * Write current particle positions to a BufferGeometry's position attribute.
+     * Call after step() each frame.
+     */
+    apply(geometry) {
+        const attr = geometry.getAttribute('position');
+        const n = Math.min(attr.count, this.vertexCount);
+        for (let i = 0; i < n; i++) {
+            attr.setXYZ(i, this._pos[i * 3], this._pos[i * 3 + 1], this._pos[i * 3 + 2]);
+        }
+        attr.needsUpdate = true;
+        geometry.computeVertexNormals();
+    }
+    /** Read-only access to current positions (flat Float64Array). */
+    getPositions() { return this._pos; }
+    /** Teleport a single particle. Use to move pinned vertices. */
+    setPosition(index, x, y, z) {
+        this._pos[index * 3] = x;
+        this._pos[index * 3 + 1] = y;
+        this._pos[index * 3 + 2] = z;
+        this._prev[index * 3] = x;
+        this._prev[index * 3 + 1] = y;
+        this._prev[index * 3 + 2] = z;
+    }
+    // ── Internals ─────────────────────────────────────────────────────────────
+    _integrate(dt) {
+        const { gravity, damping } = this.parameters;
+        const dt2 = dt * dt;
+        for (let i = 0; i < this.vertexCount; i++) {
+            if (this._pinned[i])
+                continue;
+            const base = i * 3;
+            const px = this._pos[base], py = this._pos[base + 1], pz = this._pos[base + 2];
+            const ox = this._prev[base], oy = this._prev[base + 1], oz = this._prev[base + 2];
+            // Velocity estimate (Verlet: v ≈ pos - prev)
+            const vx = (px - ox) * (1 - damping);
+            const vy = (py - oy) * (1 - damping);
+            const vz = (pz - oz) * (1 - damping);
+            // External acceleration
+            let ax = 0, ay = -gravity, az = 0;
+            if (this._wind) {
+                const [wx, wy, wz] = this._wind.getAcceleration(px, py, pz, this.time);
+                ax += wx;
+                ay += wy;
+                az += wz;
+            }
+            // Save current as previous
+            this._prev[base] = px;
+            this._prev[base + 1] = py;
+            this._prev[base + 2] = pz;
+            // Verlet step
+            this._pos[base] = px + vx + ax * dt2;
+            this._pos[base + 1] = py + vy + ay * dt2;
+            this._pos[base + 2] = pz + vz + az * dt2;
+        }
+    }
+    _solveConstraints() {
+        const { iterations, stiffness, bending } = this.parameters;
+        const springs = this._springs;
+        for (let iter = 0; iter < iterations; iter++) {
+            // Process springs in pairs of 4 floats: [i_base, j_base, restLen, isBend]
+            for (let s = 0; s < springs.length; s += 4) {
+                const ib = springs[s] | 0;
+                const jb = springs[s + 1] | 0;
+                const restLen = springs[s + 2];
+                const isBend = springs[s + 3] > 0.5;
+                const k = isBend ? stiffness * bending : stiffness;
+                const px = this._pos[ib], py = this._pos[ib + 1], pz = this._pos[ib + 2];
+                const qx = this._pos[jb], qy = this._pos[jb + 1], qz = this._pos[jb + 2];
+                const dx = qx - px, dy = qy - py, dz = qz - pz;
+                const d2 = dx * dx + dy * dy + dz * dz;
+                if (d2 < 1e-12)
+                    continue;
+                const d = Math.sqrt(d2);
+                const delta = (d - restLen) / d * 0.5 * k;
+                const cx = dx * delta, cy = dy * delta, cz = dz * delta;
+                const pinnedI = this._pinned[ib / 3 | 0];
+                const pinnedJ = this._pinned[jb / 3 | 0];
+                if (!pinnedI && !pinnedJ) {
+                    this._pos[ib] += cx;
+                    this._pos[ib + 1] += cy;
+                    this._pos[ib + 2] += cz;
+                    this._pos[jb] -= cx;
+                    this._pos[jb + 1] -= cy;
+                    this._pos[jb + 2] -= cz;
+                }
+                else if (!pinnedI) {
+                    this._pos[ib] += cx * 2;
+                    this._pos[ib + 1] += cy * 2;
+                    this._pos[ib + 2] += cz * 2;
+                }
+                else if (!pinnedJ) {
+                    this._pos[jb] -= cx * 2;
+                    this._pos[jb + 1] -= cy * 2;
+                    this._pos[jb + 2] -= cz * 2;
+                }
+            }
+        }
+    }
+    _resolveCollisions() {
+        for (const collider of this._colliders) {
+            if (!collider.enabled)
+                continue;
+            for (let i = 0; i < this.vertexCount; i++) {
+                if (this._pinned[i])
+                    continue;
+                const b = i * 3;
+                const res = collider.resolve(this._pos[b], this._pos[b + 1], this._pos[b + 2]);
+                if (res) {
+                    this._pos[b] = res[0];
+                    this._pos[b + 1] = res[1];
+                    this._pos[b + 2] = res[2];
+                }
+            }
+        }
+    }
+    _buildSprings() {
+        const W = this.segmentsX + 1;
+        const H = this.segmentsY + 1;
+        const springs = [];
+        const addSpring = (i, j, bend) => {
+            // Rest length will be filled in after positions are set
+            springs.push(i * 3, j * 3, 0, bend ? 1 : 0);
+        };
+        for (let y = 0; y < H; y++) {
+            for (let x = 0; x < W; x++) {
+                const idx = y * W + x;
+                // Structural: right and up
+                if (x + 1 < W)
+                    addSpring(idx, idx + 1, false);
+                if (y + 1 < H)
+                    addSpring(idx, idx + W, false);
+                // Shear: diagonal
+                if (x + 1 < W && y + 1 < H) {
+                    addSpring(idx, idx + W + 1, false);
+                    addSpring(idx + 1, idx + W, false);
+                }
+                // Bend: skip-one (prevents folding)
+                if (x + 2 < W)
+                    addSpring(idx, idx + 2, true);
+                if (y + 2 < H)
+                    addSpring(idx, idx + W * 2, true);
+            }
+        }
+        this._springs = new Float64Array(springs);
+    }
+    _resolveSelfCollision() {
+        const minDist = this.parameters.selfCollisionDist;
+        const minDist2 = minDist * minDist;
+        // O(n²) — acceptable for cloth meshes (≤ ~600 verts at default resolution)
+        for (let i = 0; i < this.vertexCount - 1; i++) {
+            if (this._pinned[i])
+                continue;
+            const ib = i * 3;
+            for (let j = i + 1; j < this.vertexCount; j++) {
+                if (this._pinned[j])
+                    continue;
+                const jb = j * 3;
+                const dx = this._pos[jb] - this._pos[ib];
+                const dy = this._pos[jb + 1] - this._pos[ib + 1];
+                const dz = this._pos[jb + 2] - this._pos[ib + 2];
+                const d2 = dx * dx + dy * dy + dz * dz;
+                if (d2 < minDist2 && d2 > 1e-12) {
+                    const d = Math.sqrt(d2);
+                    const corr = (minDist - d) * 0.5 / d;
+                    const cx = dx * corr, cy = dy * corr, cz = dz * corr;
+                    this._pos[ib] -= cx;
+                    this._pos[ib + 1] -= cy;
+                    this._pos[ib + 2] -= cz;
+                    this._pos[jb] += cx;
+                    this._pos[jb + 1] += cy;
+                    this._pos[jb + 2] += cz;
+                }
+            }
+        }
+    }
+    _applyPressure(dt) {
+        const pf = this.parameters.pressureFactor;
+        // Compute enclosed volume estimate; apply outward force to each triangle
+        const tris = this._triangles;
+        for (let t = 0; t < tris.length; t += 3) {
+            const ai = tris[t] * 3, bi = tris[t + 1] * 3, ci = tris[t + 2] * 3;
+            // Face normal (unnormalized) — cross product gives 2× area
+            const abx = this._pos[bi] - this._pos[ai];
+            const aby = this._pos[bi + 1] - this._pos[ai + 1];
+            const abz = this._pos[bi + 2] - this._pos[ai + 2];
+            const acx = this._pos[ci] - this._pos[ai];
+            const acy = this._pos[ci + 1] - this._pos[ai + 1];
+            const acz = this._pos[ci + 2] - this._pos[ai + 2];
+            const nx = aby * acz - abz * acy;
+            const ny = abz * acx - abx * acz;
+            const nz = abx * acy - aby * acx;
+            // Impulse = pressure * face area * dt / 3 verts
+            const frac = pf * dt / 3;
+            if (!this._pinned[tris[t]]) {
+                this._pos[ai] += nx * frac;
+                this._pos[ai + 1] += ny * frac;
+                this._pos[ai + 2] += nz * frac;
+            }
+            if (!this._pinned[tris[t + 1]]) {
+                this._pos[bi] += nx * frac;
+                this._pos[bi + 1] += ny * frac;
+                this._pos[bi + 2] += nz * frac;
+            }
+            if (!this._pinned[tris[t + 2]]) {
+                this._pos[ci] += nx * frac;
+                this._pos[ci + 1] += ny * frac;
+                this._pos[ci + 2] += nz * frac;
+            }
+        }
+    }
+    _buildTriangles() {
+        const W = this.segmentsX + 1;
+        const H = this.segmentsY + 1;
+        const tris = [];
+        for (let y = 0; y < H - 1; y++) {
+            for (let x = 0; x < W - 1; x++) {
+                const i = y * W + x;
+                tris.push(i, i + 1, i + W, i + 1, i + W + 1, i + W);
+            }
+        }
+        return new Uint32Array(tris);
+    }
+    _rebuildRestLengths() {
+        for (let s = 0; s < this._springs.length; s += 4) {
+            const ib = this._springs[s] | 0;
+            const jb = this._springs[s + 1] | 0;
+            const dx = this._pos[jb] - this._pos[ib];
+            const dy = this._pos[jb + 1] - this._pos[ib + 1];
+            const dz = this._pos[jb + 2] - this._pos[ib + 2];
+            this._springs[s + 2] = Math.sqrt(dx * dx + dy * dy + dz * dz);
+        }
+    }
+}
+//# sourceMappingURL=ClothSimulator.js.map

package/dist/cloth/ClothSimulator.js.map

@@ -0,0 +1 @@
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package/dist/collision/BaseCollider.d.ts

@@ -0,0 +1,19 @@
+/**
+ * BaseCollider — abstract collision shape.
+ * Blender: Collision modifier on a mesh object.
+ *
+ * `resolve(px, py, pz)` returns the corrected position if the point
+ * is inside the collider, or null if no collision.
+ */
+export declare abstract class BaseCollider {
+    abstract readonly colliderType: string;
+    /** When false, collider is skipped. */
+    enabled: boolean;
+    /**
+     * If the point (px, py, pz) penetrates this collider, return the
+     * corrected position that places it on the surface.
+     * Returns null when no collision.
+     */
+    abstract resolve(px: number, py: number, pz: number): [number, number, number] | null;
+}
+//# sourceMappingURL=BaseCollider.d.ts.map

package/dist/collision/BaseCollider.d.ts.map

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package/dist/collision/BaseCollider.js

@@ -0,0 +1,14 @@
+/**
+ * BaseCollider — abstract collision shape.
+ * Blender: Collision modifier on a mesh object.
+ *
+ * `resolve(px, py, pz)` returns the corrected position if the point
+ * is inside the collider, or null if no collision.
+ */
+export class BaseCollider {
+    constructor() {
+        /** When false, collider is skipped. */
+        this.enabled = true;
+    }
+}
+//# sourceMappingURL=BaseCollider.js.map

package/dist/collision/BaseCollider.js.map

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package/dist/collision/CapsuleCollider.d.ts

@@ -0,0 +1,29 @@
+import { BaseCollider } from './BaseCollider.js';
+/**
+ * CapsuleCollider — a cylinder with hemispherical caps.
+ * Blender: Collision modifier on a capsule mesh.
+ *
+ * Good for character bodies, limbs, and pillars.
+ * Defined by two endpoint centers and a radius.
+ */
+export declare class CapsuleCollider extends BaseCollider {
+    readonly colliderType = "CapsuleCollider";
+    parameters: {
+        ax: number;
+        ay: number;
+        az: number;
+        bx: number;
+        by: number;
+        bz: number;
+        radius: number;
+        friction: number;
+    };
+    constructor(opts?: {
+        a?: [number, number, number];
+        b?: [number, number, number];
+        radius?: number;
+        friction?: number;
+    });
+    resolve(px: number, py: number, pz: number): [number, number, number] | null;
+}
+//# sourceMappingURL=CapsuleCollider.d.ts.map

package/dist/collision/CapsuleCollider.d.ts.map

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package/dist/collision/CapsuleCollider.js

@@ -0,0 +1,41 @@
+import { BaseCollider } from './BaseCollider.js';
+/**
+ * CapsuleCollider — a cylinder with hemispherical caps.
+ * Blender: Collision modifier on a capsule mesh.
+ *
+ * Good for character bodies, limbs, and pillars.
+ * Defined by two endpoint centers and a radius.
+ */
+export class CapsuleCollider extends BaseCollider {
+    constructor(opts = {}) {
+        super();
+        this.colliderType = 'CapsuleCollider';
+        const a = opts.a ?? [0, -1, 0];
+        const b = opts.b ?? [0, 1, 0];
+        this.parameters = {
+            ax: a[0], ay: a[1], az: a[2],
+            bx: b[0], by: b[1], bz: b[2],
+            radius: opts.radius ?? 0.5,
+            friction: opts.friction ?? 0.1,
+        };
+    }
+    resolve(px, py, pz) {
+        if (!this.enabled)
+            return null;
+        const { ax, ay, az, bx, by, bz, radius } = this.parameters;
+        // Closest point on segment AB to point P
+        const abx = bx - ax, aby = by - ay, abz = bz - az;
+        const apx = px - ax, apy = py - ay, apz = pz - az;
+        const ab2 = abx * abx + aby * aby + abz * abz;
+        const t = ab2 > 0 ? Math.max(0, Math.min(1, (apx * abx + apy * aby + apz * abz) / ab2)) : 0;
+        const cx = ax + abx * t, cy = ay + aby * t, cz = az + abz * t;
+        const dx = px - cx, dy = py - cy, dz = pz - cz;
+        const d2 = dx * dx + dy * dy + dz * dz;
+        if (d2 >= radius * radius)
+            return null;
+        const d = Math.sqrt(d2) || 1e-6;
+        const inv = radius / d;
+        return [cx + dx * inv, cy + dy * inv, cz + dz * inv];
+    }
+}
+//# sourceMappingURL=CapsuleCollider.js.map

package/dist/collision/CapsuleCollider.js.map

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