@zephyr3d/editor 0.3.0 → 0.3.1

package/dist/vendor/zephyr3d/scene/dist/animation/spring/spring_system.js.map

@@ -1 +1 @@
-{"version":3,"file":"spring_system.js","sources":["../../../src/animation/spring/spring_system.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\nimport type { SpringChain } from './spring_chain';\nimport { IKUtils } from '../ik/ik_utils';\nimport type { SpringCollider } from './spring_collider';\nimport {\n  resolveSphereCollision,\n  resolveCapsuleCollision,\n  resolvePlaneCollision,\n  type CapsuleCollider,\n  type PlaneCollider,\n  type SphereCollider,\n  updateColliderFromNode\n} from './spring_collider';\n\n/**\n * Options for creating a SpringSystem\n *\n * @public\n */\nexport interface SpringSystemOptions {\n  /** Number of constraint solver iterations (default: 5) */\n  iterations?: number;\n  /** Gravity force vector (default: (0, -9.8, 0)) */\n  gravity?: Vector3;\n  /** Wind force vector (default: (0, 0, 0)) */\n  wind?: Vector3;\n  /** Enable inertial forces (centrifugal/Coriolis) when root rotates (default: true) */\n  enableInertialForces?: boolean;\n  /** Centrifugal force multiplier (default: 1.0) */\n  centrifugalScale?: number;\n  /** Coriolis force multiplier (default: 1.0) */\n  coriolisScale?: number;\n  /**\n   * Constraint solver type (default: 'verlet').\n   * - 'verlet': Classic Verlet integration with iterative position correction.\n   *   stiffness [0-1] controls correction strength per iteration.\n   * - 'xpbd': Extended Position-Based Dynamics (Müller et al. 2020).\n   *   Uses compliance (inverse stiffness in m/N) for physically correct,\n   *   iteration-count-independent constraint solving.\n   */\n  solver?: 'verlet' | 'xpbd';\n  /**\n   * How strongly particles are pulled toward current animated pose [0-1].\n   * This preserves the authored hair shape while still allowing secondary motion.\n   * Higher values keep the original hairstyle better.\n   */\n  poseFollow?: number;\n  /**\n   * Optional root-follow override [0-1].\n   * If provided, pose follow is interpolated from root to tip.\n   */\n  poseFollowRoot?: number;\n  /**\n   * Optional tip-follow override [0-1].\n   * If provided, pose follow is interpolated from root to tip.\n   */\n  poseFollowTip?: number;\n  /**\n   * Exponent used when interpolating root-to-tip follow.\n   * `1` is linear; values `\\> 1` keep the root stiffer and the tip looser.\n   */\n  poseFollowExponent?: number;\n  /**\n   * Optional per-step limit for deviation from animated pose.\n   * 0 disables clamping. Useful to prevent extreme stretch under high acceleration.\n   */\n  maxPoseOffset?: number;\n  /**\n   * Optional root max-offset override.\n   * If provided, max offset is interpolated from root to tip.\n   */\n  maxPoseOffsetRoot?: number;\n  /**\n   * Optional tip max-offset override.\n   * If provided, max offset is interpolated from root to tip.\n   */\n  maxPoseOffsetTip?: number;\n}\n\nconst FIXED_SIMULATION_TIME_STEP = 1 / 60;\nconst MAX_ACCUMULATED_SIMULATION_TIME = 1 / 20;\nconst MAX_SIMULATION_STEPS_PER_UPDATE = Math.max(\n  1,\n  Math.ceil(MAX_ACCUMULATED_SIMULATION_TIME / FIXED_SIMULATION_TIME_STEP)\n);\nconst DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME = 1 / 30;\nconst DEFAULT_COLLIDER_SMOOTHING_TIME = 1 / 30;\n\n/**\n * Physics engine for spring-based particle simulation\n * Uses Verlet integration and iterative constraint solving\n *\n * @public\n */\nexport class SpringSystem {\n  private _chain: SpringChain;\n  private _iterations: number;\n  private _gravity: Vector3;\n  private _wind: Vector3;\n  private _enableInertialForces: boolean;\n  private _centrifugalScale: number;\n  private _coriolisScale: number;\n  private _colliders: SpringCollider[];\n  private _solver: 'verlet' | 'xpbd';\n  private _poseFollow: number;\n  private _maxPoseOffset: number;\n  private _poseFollowRoot: number;\n  private _poseFollowTip: number;\n  private _poseFollowExponent: number;\n  private _maxPoseOffsetRoot: number;\n  private _maxPoseOffsetTip: number;\n  private _timeAccumulator: number;\n  private _smoothedParticleTargets: WeakMap<object, Vector3>;\n  private _smoothedSphereCenters: WeakMap<SphereCollider, Vector3>;\n  private _smoothedCapsuleEndpoints: WeakMap<CapsuleCollider, { start: Vector3; end: Vector3 }>;\n  private _smoothedPlaneData: WeakMap<PlaneCollider, { point: Vector3; normal: Vector3 }>;\n\n  constructor(chain: SpringChain, options?: SpringSystemOptions) {\n    this._chain = chain;\n    this._iterations = options?.iterations ?? 5;\n    this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);\n    this._wind = options?.wind?.clone() ?? new Vector3(0, 0, 0);\n    this._enableInertialForces = options?.enableInertialForces ?? true;\n    this._centrifugalScale = options?.centrifugalScale ?? 1.0;\n    this._coriolisScale = options?.coriolisScale ?? 1.0;\n    this._colliders = [];\n    this._solver = options?.solver ?? 'verlet';\n    this._poseFollow = Math.max(0, Math.min(1, options?.poseFollow ?? 0.35));\n    this._maxPoseOffset = Math.max(0, options?.maxPoseOffset ?? 0);\n    this._poseFollowRoot = Math.max(0, Math.min(1, options?.poseFollowRoot ?? this._poseFollow));\n    this._poseFollowTip = Math.max(0, Math.min(1, options?.poseFollowTip ?? this._poseFollow));\n    this._poseFollowExponent = Math.max(0.1, options?.poseFollowExponent ?? 1.6);\n    this._maxPoseOffsetRoot = Math.max(0, options?.maxPoseOffsetRoot ?? this._maxPoseOffset);\n    this._maxPoseOffsetTip = Math.max(0, options?.maxPoseOffsetTip ?? this._maxPoseOffset);\n    this._timeAccumulator = 0;\n    this._smoothedParticleTargets = new WeakMap();\n    this._smoothedSphereCenters = new WeakMap();\n    this._smoothedCapsuleEndpoints = new WeakMap();\n    this._smoothedPlaneData = new WeakMap();\n  }\n\n  /**\n   * Updates the physics simulation\n   * @param deltaTime - Time step in seconds\n   */\n  update(deltaTime: number): void {\n    const frameDt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\n    if (frameDt <= 0) {\n      return;\n    }\n    this._timeAccumulator = Math.min(this._timeAccumulator + frameDt, MAX_ACCUMULATED_SIMULATION_TIME);\n    const stepCount = Math.min(\n      MAX_SIMULATION_STEPS_PER_UPDATE,\n      Math.floor((this._timeAccumulator + 1e-8) / FIXED_SIMULATION_TIME_STEP)\n    );\n    if (stepCount <= 0) {\n      return;\n    }\n    this._timeAccumulator = Math.max(0, this._timeAccumulator - stepCount * FIXED_SIMULATION_TIME_STEP);\n    for (let i = 0; i < stepCount; i++) {\n      this.simulateStep(FIXED_SIMULATION_TIME_STEP, i === 0 ? frameDt : 0);\n    }\n  }\n\n  private simulateStep(dt: number, inputDeltaTime: number): void {\n    // Step 1: Save all particle positions before updating\n    if (this._enableInertialForces) {\n      for (const p of this._chain.particles) {\n        p.lastFramePosition.set(p.position);\n      }\n    }\n\n    // Step 2: Update fixed particles from their scene nodes\n    this.updateFixedParticles(inputDeltaTime);\n\n    // Step 3: Calculate global rotation parameters\n    let rotationCenter: Vector3 | null = null;\n    let angularVelocity: Vector3 | null = null;\n\n    if (this._enableInertialForces && dt > 0.0001) {\n      const result = this.calculateGlobalRotation(dt);\n      rotationCenter = result.center;\n      angularVelocity = result.omega;\n    }\n\n    // Step 4: Verlet integration with inertial forces\n    for (let i = 0; i < this._chain.particles.length; i++) {\n      const p = this._chain.particles[i];\n      if (p.fixed) {\n        continue;\n      }\n\n      // Calculate velocity (implicit in Verlet)\n      const velocity = Vector3.sub(p.position, p.prevPosition, new Vector3());\n      velocity.scaleBy(p.damping);\n\n      // Apply external forces (gravity + wind)\n      const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\n\n      // Apply inertial forces from rotating reference frame\n      if (this._enableInertialForces && rotationCenter && angularVelocity) {\n        const inertialAccel = this.calculateInertialAcceleration(\n          p,\n          rotationCenter,\n          angularVelocity,\n          velocity,\n          this._centrifugalScale,\n          this._coriolisScale\n        );\n        Vector3.add(acceleration, inertialAccel, acceleration);\n      }\n\n      const positionDelta = Vector3.scale(acceleration, dt * dt, new Vector3());\n      Vector3.add(velocity, positionDelta, velocity);\n\n      // Update position\n      p.prevPosition.set(p.position);\n      Vector3.add(p.position, velocity, p.position);\n    }\n\n    // Step 5: Iteratively solve constraints\n    if (this._solver === 'xpbd') {\n      // Reset Lagrange multipliers at the start of each time step\n      for (const constraint of this._chain.constraints) {\n        constraint.lambda = 0;\n      }\n    }\n    for (let iter = 0; iter < this._iterations; iter++) {\n      for (const constraint of this._chain.constraints) {\n        if (this._solver === 'xpbd') {\n          this.solveConstraintXPBD(constraint, dt);\n        } else {\n          this.solveConstraint(constraint);\n        }\n      }\n\n      // Pull particles back toward the animated pose to preserve hair silhouette.\n      // Normalize follow strength across solver iterations so tuning stays intuitive.\n      this.solvePosePreservation(this._iterations);\n\n      // Apply collision constraints\n      this.solveCollisions(inputDeltaTime);\n    }\n  }\n\n  /**\n   * Updates fixed particles to match their scene node positions\n   */\n  private updateFixedParticles(deltaTime: number): void {\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME);\n    for (const particle of this._chain.particles) {\n      if (!particle.node) {\n        continue;\n      }\n      const worldMatrix = particle.node.worldMatrix;\n      const worldPos = new Vector3(worldMatrix.m03, worldMatrix.m13, worldMatrix.m23);\n      const smoothedTarget = this.getSmoothedParticleTarget(particle, worldPos, blend);\n      particle.animPosition.set(smoothedTarget);\n      if (particle.fixed) {\n        particle.position.set(smoothedTarget);\n        particle.prevPosition.set(smoothedTarget);\n\n        // Maintain position history for rotation center estimation\n        if (this._enableInertialForces) {\n          if (!particle.positionHistory) {\n            particle.positionHistory = [];\n          }\n          particle.positionHistory.push(smoothedTarget.clone());\n          // Keep only last 5 frames\n          if (particle.positionHistory.length > 5) {\n            particle.positionHistory.shift();\n          }\n        }\n      }\n    }\n  }\n\n  /**\n   * Solves pose preservation (long-range attachment to animated pose).\n   * This keeps strands close to authored shape while preserving dynamic movement.\n   */\n  private solvePosePreservation(totalIterations: number): void {\n    if (this._poseFollowRoot <= 0 && this._poseFollowTip <= 0) {\n      return;\n    }\n\n    const lastIndex = Math.max(1, this._chain.particles.length - 1);\n    for (let i = 0; i < this._chain.particles.length; i++) {\n      const particle = this._chain.particles[i];\n      if (particle.fixed) {\n        continue;\n      }\n\n      const t = Math.pow(i / lastIndex, this._poseFollowExponent);\n      const particlePoseFollow = this.lerp(this._poseFollowRoot, this._poseFollowTip, t);\n      // Convert user-facing per-frame follow into per-iteration follow:\n      // effective = 1 - (1 - follow)^iterations\n      const iterationFollow =\n        totalIterations > 1\n          ? 1 - Math.pow(Math.max(0, 1 - particlePoseFollow), 1 / totalIterations)\n          : particlePoseFollow;\n      const toAnim = Vector3.sub(particle.animPosition, particle.position, new Vector3());\n      const correction = Vector3.scale(toAnim, iterationFollow, new Vector3());\n      Vector3.add(particle.position, correction, particle.position);\n\n      const particleMaxPoseOffset = this.lerp(this._maxPoseOffsetRoot, this._maxPoseOffsetTip, t);\n      if (particleMaxPoseOffset > 0) {\n        const offset = Vector3.sub(particle.position, particle.animPosition, new Vector3());\n        const offsetLen = offset.magnitude;\n        if (offsetLen > particleMaxPoseOffset && offsetLen > 1e-6) {\n          offset.scaleBy(particleMaxPoseOffset / offsetLen);\n          Vector3.add(particle.animPosition, offset, particle.position);\n        }\n      }\n    }\n  }\n\n  private lerp(a: number, b: number, t: number): number {\n    return a + (b - a) * t;\n  }\n\n  /**\n   * Calculates global rotation parameters from fixed particle movements\n   * Uses position history to estimate rotation center\n   */\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\n    // Collect fixed particles with movement\n    const fixedParticles: any[] = [];\n    const velocities: Vector3[] = [];\n\n    for (const p of this._chain.particles) {\n      if (!p.fixed) {\n        continue;\n      }\n\n      const velocity = Vector3.sub(p.position, p.lastFramePosition, new Vector3());\n      velocity.scaleBy(1.0 / dt);\n\n      if (velocity.magnitudeSq > 0.001) {\n        fixedParticles.push(p);\n        velocities.push(velocity);\n      }\n    }\n\n    if (fixedParticles.length === 0) {\n      return { center: new Vector3(0, 0, 0), omega: new Vector3(0, 0, 0) };\n    }\n\n    // Estimate rotation center using position history\n    let center: Vector3;\n\n    if (fixedParticles.length === 1) {\n      // Single fixed particle: use position history to estimate rotation center\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\n    } else {\n      // Multiple fixed particles: use their average position\n      center = new Vector3(0, 0, 0);\n      for (const p of fixedParticles) {\n        Vector3.add(center, p.position, center);\n      }\n      center.scaleBy(1.0 / fixedParticles.length);\n    }\n\n    // Estimate angular velocity\n    let sumOmega = new Vector3(0, 0, 0);\n    let count = 0;\n\n    for (let i = 0; i < fixedParticles.length; i++) {\n      const r = Vector3.sub(fixedParticles[i].position, center, new Vector3());\n      const v = velocities[i];\n      const rLengthSq = r.magnitudeSq;\n\n      if (rLengthSq > 0.0001) {\n        // ω = (r × v) / |r|²\n        const omega = Vector3.cross(r, v, new Vector3());\n        omega.scaleBy(1.0 / rLengthSq);\n        Vector3.add(sumOmega, omega, sumOmega);\n        count++;\n      }\n    }\n\n    if (count > 0) {\n      sumOmega.scaleBy(1.0 / count);\n    }\n\n    return { center, omega: sumOmega };\n  }\n\n  /**\n   * Estimates rotation center from a single particle's position history\n   * Uses circular motion fitting\n   */\n  private estimateRotationCenterFromHistory(particle: any, currentVelocity: Vector3): Vector3 {\n    const history = particle.positionHistory;\n    if (!history || history.length < 3) {\n      // Not enough history: estimate using velocity perpendicular direction\n      // Assume rotation center is perpendicular to velocity\n      // Use a default radius based on velocity magnitude\n      const speed = currentVelocity.magnitude;\n      if (speed < 0.001) {\n        return particle.position.clone();\n      }\n\n      // Estimate radius: for typical character rotation, assume ~0.5-1.0m radius\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\n\n      // Direction perpendicular to velocity (in the plane of motion)\n      // We need to guess which perpendicular direction - use cross product with up vector\n      const up = new Vector3(0, 1, 0);\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\n\n      if (perpDir.magnitudeSq < 0.0001) {\n        // Velocity is vertical, use another perpendicular\n        perpDir.set(new Vector3(1, 0, 0));\n      } else {\n        perpDir.inplaceNormalize();\n      }\n\n      // Rotation center is perpendicular to velocity\n      const center = Vector3.add(\n        particle.position,\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\n        new Vector3()\n      );\n      return center;\n    }\n\n    // Fit a circle through the last 3 positions\n    // Use positions at indices: 0 (oldest), middle, last (newest)\n    const p1 = history[0];\n    const p2 = history[Math.floor(history.length / 2)];\n    const p3 = history[history.length - 1];\n\n    // Calculate circle center from 3 points\n    const center = this.calculateCircleCenter(p1, p2, p3);\n    return center;\n  }\n\n  /**\n   * Calculates the center of a circle passing through 3 points\n   * Uses perpendicular bisector method\n   */\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\n    // Midpoints\n    const mid12 = Vector3.scale(Vector3.add(p1, p2, new Vector3()), 0.5, new Vector3());\n    const mid23 = Vector3.scale(Vector3.add(p2, p3, new Vector3()), 0.5, new Vector3());\n\n    // Direction vectors\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\n\n    // Normal vectors (perpendicular bisectors)\n    // For 3D, we need to find perpendiculars in the plane of the three points\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\n\n    if (normal.magnitudeSq < 0.0001) {\n      // Points are collinear, return midpoint\n      return Vector3.scale(\n        Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\n        1.0 / 3.0,\n        new Vector3()\n      );\n    }\n\n    normal.inplaceNormalize();\n\n    // Perpendicular to dir12 in the plane\n    const perp12 = Vector3.cross(dir12, normal, new Vector3()).inplaceNormalize();\n\n    // Perpendicular to dir23 in the plane\n    const perp23 = Vector3.cross(dir23, normal, new Vector3()).inplaceNormalize();\n\n    // Find intersection of two lines:\n    // Line 1: mid12 + t * perp12\n    // Line 2: mid23 + s * perp23\n    // Solve: mid12 + t * perp12 = mid23 + s * perp23\n\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\n\n    // Use 2D projection for simplicity (project onto plane perpendicular to normal)\n    // Solve in the plane: t * perp12 - s * perp23 = diff\n    // Use least squares or pick the dominant components\n\n    const det = perp12.x * perp23.y - perp12.y * perp23.x;\n\n    if (Math.abs(det) > 0.0001) {\n      const t = (diff.x * perp23.y - diff.y * perp23.x) / det;\n      const center = Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\n      return center;\n    }\n\n    // Fallback: use centroid\n    return Vector3.scale(\n      Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\n      1.0 / 3.0,\n      new Vector3()\n    );\n  }\n\n  /**\n   * Calculates inertial acceleration for a particle in a rotating reference frame\n   */\n  private calculateInertialAcceleration(\n    particle: any,\n    rotationCenter: Vector3,\n    angularVelocity: Vector3,\n    particleVelocity: Vector3,\n    centrifugalScale: number,\n    coriolisScale: number\n  ): Vector3 {\n    // Vector from rotation center to particle\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\n\n    // Centrifugal acceleration: a_centrifugal = ω × (ω × r)\n    const omegaCrossR = Vector3.cross(angularVelocity, r, new Vector3());\n    const centrifugalAccel = Vector3.cross(angularVelocity, omegaCrossR, new Vector3());\n    centrifugalAccel.scaleBy(centrifugalScale);\n\n    // Coriolis acceleration: a_coriolis = -2ω × v_relative\n    // v_relative is the particle's velocity in the rotating frame\n    // Use the velocity passed in (already calculated from prevPosition)\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\n\n    // Total inertial acceleration\n    const totalAccel = Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\n    return totalAccel;\n  }\n\n  /**\n   * Solves a single spring constraint using XPBD (Extended Position-Based Dynamics).\n   *\n   * Reference: Müller et al., \"Detailed Rigid Body Simulation with Extended Position Based Dynamics\", 2020.\n   */\n  private solveConstraintXPBD(constraint: any, dt: number): void {\n    const pA = this._chain.particles[constraint.particleA];\n    const pB = this._chain.particles[constraint.particleB];\n\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\n    const wSum = wA + wB;\n    if (wSum < 1e-10) {\n      return;\n    }\n\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\n    const currentLength = delta.magnitude;\n    if (currentLength < 0.0001) {\n      return;\n    }\n\n    // Constraint value C = currentLength - restLength\n    const C = currentLength - constraint.restLength;\n\n    // Scaled compliance: alphaTilde = compliance / dt^2\n    const alphaTilde = constraint.compliance / (dt * dt);\n\n    // XPBD Lagrange multiplier update\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\n    constraint.lambda += deltaLambda;\n\n    // Correction direction (unit vector from A to B)\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\n\n    if (!pA.fixed) {\n      // deltaX_a = -w_a * deltaLambda * n\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\n    }\n    if (!pB.fixed) {\n      // deltaX_b = +w_b * deltaLambda * n\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\n    }\n  }\n\n  /**\n   * Solves a single spring constraint (Verlet / PBD)\n   */\n  private solveConstraint(constraint: any): void {\n    const pA = this._chain.particles[constraint.particleA];\n    const pB = this._chain.particles[constraint.particleB];\n\n    // Calculate current distance\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\n    const currentLength = delta.magnitude;\n\n    if (currentLength < 0.0001) {\n      return;\n    } // Avoid division by zero\n\n    // Calculate correction\n    const diff = (currentLength - constraint.restLength) / currentLength;\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\n\n    // Apply correction (considering mass and fixed state)\n    if (!pA.fixed) {\n      Vector3.add(pA.position, correction, pA.position);\n    }\n    if (!pB.fixed) {\n      Vector3.sub(pB.position, correction, pB.position);\n    }\n  }\n\n  /**\n   * Solves collisions for all particles\n   */\n  private solveCollisions(deltaTime: number): void {\n    // Update dynamic colliders from their nodes\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\n    const spheres: { particleCollider: SphereCollider; collider: SphereCollider }[] = [];\n    const capsules: { particleCollider: CapsuleCollider; collider: CapsuleCollider }[] = [];\n    const planes: { particleCollider: PlaneCollider; collider: PlaneCollider }[] = [];\n    for (const collider of this._colliders) {\n      if (collider.node) {\n        updateColliderFromNode(collider);\n      }\n      if (!collider.enabled) {\n        continue;\n      }\n      switch (collider.type) {\n        case 'sphere': {\n          const source = collider as SphereCollider;\n          spheres.push({\n            particleCollider: source,\n            collider: {\n              ...source,\n              center: this.getSmoothedSphereCenter(source, blend)\n            }\n          });\n          break;\n        }\n        case 'capsule': {\n          const source = collider as CapsuleCollider;\n          const endpoints = this.getSmoothedCapsuleEndpoints(source, blend);\n          capsules.push({\n            particleCollider: source,\n            collider: {\n              ...source,\n              start: endpoints.start,\n              end: endpoints.end\n            }\n          });\n          break;\n        }\n        case 'plane': {\n          const source = collider as PlaneCollider;\n          const plane = this.getSmoothedPlaneData(source, blend);\n          planes.push({\n            particleCollider: source,\n            collider: {\n              ...source,\n              point: plane.point,\n              normal: plane.normal\n            }\n          });\n          break;\n        }\n      }\n    }\n\n    // Check each particle against all colliders\n    for (const particle of this._chain.particles) {\n      if (particle.fixed) {\n        continue; // Skip fixed particles\n      }\n\n      for (const collider of spheres) {\n        resolveSphereCollision(particle.position, collider.collider);\n      }\n      for (const collider of capsules) {\n        resolveCapsuleCollision(particle.position, collider.collider);\n      }\n      for (const collider of planes) {\n        resolvePlaneCollision(particle.position, collider.collider);\n      }\n    }\n  }\n\n  /**\n   * Applies simulation results to scene nodes\n   * @param weight - Blend weight [0-1] (default: 1.0)\n   */\n  applyToNodes(weight: number = 1.0): void {\n    for (let i = 0; i < this._chain.particles.length - 1; i++) {\n      const particle = this._chain.particles[i];\n      const nextParticle = this._chain.particles[i + 1];\n      const node = particle.node;\n\n      // Skip if no node\n      if (!node) {\n        continue;\n      }\n\n      // Get current bone direction from node's world matrix (before physics)\n      // This reflects the current animation/skeleton state\n      const currentBonePos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\n\n      const nextNode = nextParticle.node;\n      if (!nextNode) {\n        continue;\n      }\n\n      const nextBonePos = new Vector3(\n        nextNode.worldMatrix.m03,\n        nextNode.worldMatrix.m13,\n        nextNode.worldMatrix.m23\n      );\n      const originalDir = Vector3.sub(nextBonePos, currentBonePos, new Vector3());\n\n      // Get current bone rotation from node's world matrix\n      const currentBoneRotation = new Quaternion();\n      node.worldMatrix.decompose(null, currentBoneRotation, null);\n\n      // Calculate new direction from physics simulation\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\n\n      // Calculate rotation needed to align original direction to new direction\n      const deltaRotation = new Quaternion();\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\n\n      // Calculate new world rotation\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\n\n      // Blend with current rotation based on weight\n      if (weight < 1) {\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\n      }\n\n      // Convert world rotation to local rotation (relative to parent)\n      const parent = node.parent;\n      if (parent) {\n        const parentWorldRotation = new Quaternion();\n        parent.worldMatrix.decompose(null, parentWorldRotation, null);\n\n        // localRotation = conjugate(parentWorldRotation) * worldRotation\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\n\n        node.rotation = localRotation;\n      } else {\n        // Root node has no parent, world rotation is local rotation\n        node.rotation = worldRotation;\n      }\n    }\n  }\n\n  /**\n   * Resets the simulation to initial state\n   */\n  reset(): void {\n    this._chain.reset();\n    for (const particle of this._chain.particles) {\n      particle.animPosition.set(particle.originalPosition);\n      particle.lastFramePosition.set(particle.originalPosition);\n      if (particle.positionHistory) {\n        particle.positionHistory.length = 0;\n      }\n    }\n    this._timeAccumulator = 0;\n    this._smoothedParticleTargets = new WeakMap();\n    this._smoothedSphereCenters = new WeakMap();\n    this._smoothedCapsuleEndpoints = new WeakMap();\n    this._smoothedPlaneData = new WeakMap();\n  }\n\n  /**\n   * Gets the spring chain\n   */\n  get chain(): SpringChain {\n    return this._chain;\n  }\n\n  /**\n   * Gets the current gravity\n   */\n  get gravity(): Vector3 {\n    return this._gravity;\n  }\n\n  set gravity(gravity: Vector3) {\n    this._gravity.set(gravity);\n  }\n\n  /**\n   * Gets the current wind\n   */\n  get wind(): Vector3 {\n    return this._wind;\n  }\n\n  set wind(wind: Vector3) {\n    this._wind.set(wind);\n  }\n\n  /**\n   * Gets the number of iterations\n   */\n  get iterations(): number {\n    return this._iterations;\n  }\n\n  set iterations(count: number) {\n    this._iterations = Math.max(1, count);\n  }\n\n  /**\n   * Gets whether inertial forces are enabled\n   */\n  get enableInertialForces(): boolean {\n    return this._enableInertialForces;\n  }\n\n  set enableInertialForces(enabled: boolean) {\n    this._enableInertialForces = enabled;\n  }\n\n  /**\n   * Gets the centrifugal force scale\n   */\n  get centrifugalScale(): number {\n    return this._centrifugalScale;\n  }\n\n  set centrifugalScale(scale: number) {\n    this._centrifugalScale = Math.max(0, scale);\n  }\n\n  /**\n   * Gets the Coriolis force scale\n   */\n  get coriolisScale(): number {\n    return this._coriolisScale;\n  }\n\n  set coriolisScale(scale: number) {\n    this._coriolisScale = Math.max(0, scale);\n  }\n\n  /**\n   * Gets the constraint solver type\n   */\n  get solver(): 'verlet' | 'xpbd' {\n    return this._solver;\n  }\n\n  set solver(type: 'verlet' | 'xpbd') {\n    if (this._solver !== type) {\n      this._solver = type;\n      if (type === 'xpbd') {\n        for (const c of this._chain.constraints) {\n          c.lambda = 0;\n        }\n      }\n    }\n  }\n\n  /**\n   * Gets pose preservation strength [0-1]\n   */\n  get poseFollow(): number {\n    return this._poseFollow;\n  }\n\n  set poseFollow(value: number) {\n    const v = Math.max(0, Math.min(1, value));\n    this._poseFollow = v;\n    this._poseFollowRoot = v;\n    this._poseFollowTip = v;\n  }\n\n  /**\n   * Gets max allowed deviation from animated pose\n   */\n  get maxPoseOffset(): number {\n    return this._maxPoseOffset;\n  }\n\n  set maxPoseOffset(value: number) {\n    const v = Math.max(0, value);\n    this._maxPoseOffset = v;\n    this._maxPoseOffsetRoot = v;\n    this._maxPoseOffsetTip = v;\n  }\n\n  /**\n   * Gets root pose follow strength [0-1]\n   */\n  get poseFollowRoot(): number {\n    return this._poseFollowRoot;\n  }\n\n  set poseFollowRoot(value: number) {\n    this._poseFollowRoot = Math.max(0, Math.min(1, value));\n  }\n\n  /**\n   * Gets tip pose follow strength [0-1]\n   */\n  get poseFollowTip(): number {\n    return this._poseFollowTip;\n  }\n\n  set poseFollowTip(value: number) {\n    this._poseFollowTip = Math.max(0, Math.min(1, value));\n  }\n\n  /**\n   * Gets exponent for root-to-tip interpolation\n   */\n  get poseFollowExponent(): number {\n    return this._poseFollowExponent;\n  }\n\n  set poseFollowExponent(value: number) {\n    this._poseFollowExponent = Math.max(0.1, value);\n  }\n\n  /**\n   * Gets root max allowed deviation from animated pose\n   */\n  get maxPoseOffsetRoot(): number {\n    return this._maxPoseOffsetRoot;\n  }\n\n  set maxPoseOffsetRoot(value: number) {\n    this._maxPoseOffsetRoot = Math.max(0, value);\n  }\n\n  /**\n   * Gets tip max allowed deviation from animated pose\n   */\n  get maxPoseOffsetTip(): number {\n    return this._maxPoseOffsetTip;\n  }\n\n  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this._smoothedCapsuleEndpoints = new WeakMap();\n    this._smoothedPlaneData = new WeakMap();\n  }\n\n  /**\n   * Gets all colliders\n   */\n  get colliders(): SpringCollider[] {\n    return this._colliders;\n  }\n\n  private getTemporalBlendFactor(deltaTime: number, smoothingTime: number): number {\n    const dt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\n    if (smoothingTime <= 0) {\n      return 1;\n    }\n    if (dt <= 0) {\n      return 0;\n    }\n    return 1 - Math.exp(-dt / smoothingTime);\n  }\n\n  private getSmoothedParticleTarget(target: object, current: Vector3, blend: number): Vector3 {\n    const cached = this._smoothedParticleTargets.get(target);\n    if (!cached || blend >= 1) {\n      const next = current.clone();\n      this._smoothedParticleTargets.set(target, next);\n      return next;\n    }\n    cached.setXYZ(\n      cached.x + (current.x - cached.x) * blend,\n      cached.y + (current.y - cached.y) * blend,\n      cached.z + (current.z - cached.z) * blend\n    );\n    return cached;\n  }\n\n  private getSmoothedSphereCenter(collider: SphereCollider, blend: number): Vector3 {\n    const current = collider.center?.clone() ?? new Vector3();\n    const cached = this._smoothedSphereCenters.get(collider);\n    if (!cached || blend >= 1) {\n      this._smoothedSphereCenters.set(collider, current);\n      return current;\n    }\n    cached.setXYZ(\n      cached.x + (current.x - cached.x) * blend,\n      cached.y + (current.y - cached.y) * blend,\n      cached.z + (current.z - cached.z) * blend\n    );\n    return cached;\n  }\n\n  private getSmoothedCapsuleEndpoints(\n    collider: CapsuleCollider,\n    blend: number\n  ): { start: Vector3; end: Vector3 } {\n    const currentStart = collider.start?.clone() ?? new Vector3();\n    const currentEnd = collider.end?.clone() ?? new Vector3();\n    const cached = this._smoothedCapsuleEndpoints.get(collider);\n    if (!cached || blend >= 1) {\n      const next = {\n     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+{"version":3,"file":"spring_system.js","sources":["../../../src/animation/spring/spring_system.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SpringChain } from './spring_chain';\r\nimport { IKUtils } from '../ik/ik_utils';\r\nimport type { SpringCollider } from './spring_collider';\r\nimport {\r\n  resolveSphereCollision,\r\n  resolveCapsuleCollision,\r\n  resolvePlaneCollision,\r\n  type CapsuleCollider,\r\n  type PlaneCollider,\r\n  type SphereCollider,\r\n  updateColliderFromNode\r\n} from './spring_collider';\r\n\r\n/**\r\n * Options for creating a SpringSystem\r\n *\r\n * @public\r\n */\r\nexport interface SpringSystemOptions {\r\n  /** Number of constraint solver iterations (default: 5) */\r\n  iterations?: number;\r\n  /** Gravity force vector (default: (0, -9.8, 0)) */\r\n  gravity?: Vector3;\r\n  /** Wind force vector (default: (0, 0, 0)) */\r\n  wind?: Vector3;\r\n  /** Enable inertial forces (centrifugal/Coriolis) when root rotates (default: true) */\r\n  enableInertialForces?: boolean;\r\n  /** Centrifugal force multiplier (default: 1.0) */\r\n  centrifugalScale?: number;\r\n  /** Coriolis force multiplier (default: 1.0) */\r\n  coriolisScale?: number;\r\n  /**\r\n   * Constraint solver type (default: 'verlet').\r\n   * - 'verlet': Classic Verlet integration with iterative position correction.\r\n   *   stiffness [0-1] controls correction strength per iteration.\r\n   * - 'xpbd': Extended Position-Based Dynamics (Müller et al. 2020).\r\n   *   Uses compliance (inverse stiffness in m/N) for physically correct,\r\n   *   iteration-count-independent constraint solving.\r\n   */\r\n  solver?: 'verlet' | 'xpbd';\r\n  /**\r\n   * How strongly particles are pulled toward current animated pose [0-1].\r\n   * This preserves the authored hair shape while still allowing secondary motion.\r\n   * Higher values keep the original hairstyle better.\r\n   */\r\n  poseFollow?: number;\r\n  /**\r\n   * Optional root-follow override [0-1].\r\n   * If provided, pose follow is interpolated from root to tip.\r\n   */\r\n  poseFollowRoot?: number;\r\n  /**\r\n   * Optional tip-follow override [0-1].\r\n   * If provided, pose follow is interpolated from root to tip.\r\n   */\r\n  poseFollowTip?: number;\r\n  /**\r\n   * Exponent used when interpolating root-to-tip follow.\r\n   * `1` is linear; values `\\> 1` keep the root stiffer and the tip looser.\r\n   */\r\n  poseFollowExponent?: number;\r\n  /**\r\n   * Optional per-step limit for deviation from animated pose.\r\n   * 0 disables clamping. Useful to prevent extreme stretch under high acceleration.\r\n   */\r\n  maxPoseOffset?: number;\r\n  /**\r\n   * Optional root max-offset override.\r\n   * If provided, max offset is interpolated from root to tip.\r\n   */\r\n  maxPoseOffsetRoot?: number;\r\n  /**\r\n   * Optional tip max-offset override.\r\n   * If provided, max offset is interpolated from root to tip.\r\n   */\r\n  maxPoseOffsetTip?: number;\r\n}\r\n\r\nconst FIXED_SIMULATION_TIME_STEP = 1 / 60;\r\nconst MAX_ACCUMULATED_SIMULATION_TIME = 1 / 20;\r\nconst MAX_SIMULATION_STEPS_PER_UPDATE = Math.max(\r\n  1,\r\n  Math.ceil(MAX_ACCUMULATED_SIMULATION_TIME / FIXED_SIMULATION_TIME_STEP)\r\n);\r\nconst DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME = 1 / 30;\r\nconst DEFAULT_COLLIDER_SMOOTHING_TIME = 1 / 30;\r\n\r\n/**\r\n * Physics engine for spring-based particle simulation\r\n * Uses Verlet integration and iterative constraint solving\r\n *\r\n * @public\r\n */\r\nexport class SpringSystem {\r\n  private _chain: SpringChain;\r\n  private _iterations: number;\r\n  private _gravity: Vector3;\r\n  private _wind: Vector3;\r\n  private _enableInertialForces: boolean;\r\n  private _centrifugalScale: number;\r\n  private _coriolisScale: number;\r\n  private _colliders: SpringCollider[];\r\n  private _solver: 'verlet' | 'xpbd';\r\n  private _poseFollow: number;\r\n  private _maxPoseOffset: number;\r\n  private _poseFollowRoot: number;\r\n  private _poseFollowTip: number;\r\n  private _poseFollowExponent: number;\r\n  private _maxPoseOffsetRoot: number;\r\n  private _maxPoseOffsetTip: number;\r\n  private _timeAccumulator: number;\r\n  private _smoothedParticleTargets: WeakMap<object, Vector3>;\r\n  private _smoothedSphereCenters: WeakMap<SphereCollider, Vector3>;\r\n  private _smoothedCapsuleEndpoints: WeakMap<CapsuleCollider, { start: Vector3; end: Vector3 }>;\r\n  private _smoothedPlaneData: WeakMap<PlaneCollider, { point: Vector3; normal: Vector3 }>;\r\n\r\n  constructor(chain: SpringChain, options?: SpringSystemOptions) {\r\n    this._chain = chain;\r\n    this._iterations = options?.iterations ?? 5;\r\n    this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);\r\n    this._wind = options?.wind?.clone() ?? new Vector3(0, 0, 0);\r\n    this._enableInertialForces = options?.enableInertialForces ?? true;\r\n    this._centrifugalScale = options?.centrifugalScale ?? 1.0;\r\n    this._coriolisScale = options?.coriolisScale ?? 1.0;\r\n    this._colliders = [];\r\n    this._solver = options?.solver ?? 'verlet';\r\n    this._poseFollow = Math.max(0, Math.min(1, options?.poseFollow ?? 0.35));\r\n    this._maxPoseOffset = Math.max(0, options?.maxPoseOffset ?? 0);\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, options?.poseFollowRoot ?? this._poseFollow));\r\n    this._poseFollowTip = Math.max(0, Math.min(1, options?.poseFollowTip ?? this._poseFollow));\r\n    this._poseFollowExponent = Math.max(0.1, options?.poseFollowExponent ?? 1.6);\r\n    this._maxPoseOffsetRoot = Math.max(0, options?.maxPoseOffsetRoot ?? this._maxPoseOffset);\r\n    this._maxPoseOffsetTip = Math.max(0, options?.maxPoseOffsetTip ?? this._maxPoseOffset);\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  /**\r\n   * Updates the physics simulation\r\n   * @param deltaTime - Time step in seconds\r\n   */\r\n  update(deltaTime: number): void {\r\n    const frameDt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (frameDt <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.min(this._timeAccumulator + frameDt, MAX_ACCUMULATED_SIMULATION_TIME);\r\n    const stepCount = Math.min(\r\n      MAX_SIMULATION_STEPS_PER_UPDATE,\r\n      Math.floor((this._timeAccumulator + 1e-8) / FIXED_SIMULATION_TIME_STEP)\r\n    );\r\n    if (stepCount <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.max(0, this._timeAccumulator - stepCount * FIXED_SIMULATION_TIME_STEP);\r\n    for (let i = 0; i < stepCount; i++) {\r\n      this.simulateStep(FIXED_SIMULATION_TIME_STEP, i === 0 ? frameDt : 0);\r\n    }\r\n  }\r\n\r\n  private simulateStep(dt: number, inputDeltaTime: number): void {\r\n    // Step 1: Save all particle positions before updating\r\n    if (this._enableInertialForces) {\r\n      for (const p of this._chain.particles) {\r\n        p.lastFramePosition.set(p.position);\r\n      }\r\n    }\r\n\r\n    // Step 2: Update fixed particles from their scene nodes\r\n    this.updateFixedParticles(inputDeltaTime);\r\n\r\n    // Step 3: Calculate global rotation parameters\r\n    let rotationCenter: Vector3 | null = null;\r\n    let angularVelocity: Vector3 | null = null;\r\n\r\n    if (this._enableInertialForces && dt > 0.0001) {\r\n      const result = this.calculateGlobalRotation(dt);\r\n      rotationCenter = result.center;\r\n      angularVelocity = result.omega;\r\n    }\r\n\r\n    // Step 4: Verlet integration with inertial forces\r\n    for (let i = 0; i < this._chain.particles.length; i++) {\r\n      const p = this._chain.particles[i];\r\n      if (p.fixed) {\r\n        continue;\r\n      }\r\n\r\n      // Calculate velocity (implicit in Verlet)\r\n      const velocity = Vector3.sub(p.position, p.prevPosition, new Vector3());\r\n      velocity.scaleBy(p.damping);\r\n\r\n      // Apply external forces (gravity + wind)\r\n      const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\r\n\r\n      // Apply inertial forces from rotating reference frame\r\n      if (this._enableInertialForces && rotationCenter && angularVelocity) {\r\n        const inertialAccel = this.calculateInertialAcceleration(\r\n          p,\r\n          rotationCenter,\r\n          angularVelocity,\r\n          velocity,\r\n          this._centrifugalScale,\r\n          this._coriolisScale\r\n        );\r\n        Vector3.add(acceleration, inertialAccel, acceleration);\r\n      }\r\n\r\n      const positionDelta = Vector3.scale(acceleration, dt * dt, new Vector3());\r\n      Vector3.add(velocity, positionDelta, velocity);\r\n\r\n      // Update position\r\n      p.prevPosition.set(p.position);\r\n      Vector3.add(p.position, velocity, p.position);\r\n    }\r\n\r\n    // Step 5: Iteratively solve constraints\r\n    if (this._solver === 'xpbd') {\r\n      // Reset Lagrange multipliers at the start of each time step\r\n      for (const constraint of this._chain.constraints) {\r\n        constraint.lambda = 0;\r\n      }\r\n    }\r\n    for (let iter = 0; iter < this._iterations; iter++) {\r\n      for (const constraint of this._chain.constraints) {\r\n        if (this._solver === 'xpbd') {\r\n          this.solveConstraintXPBD(constraint, dt);\r\n        } else {\r\n          this.solveConstraint(constraint);\r\n        }\r\n      }\r\n\r\n      // Pull particles back toward the animated pose to preserve hair silhouette.\r\n      // Normalize follow strength across solver iterations so tuning stays intuitive.\r\n      this.solvePosePreservation(this._iterations);\r\n\r\n      // Apply collision constraints\r\n      this.solveCollisions(inputDeltaTime);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Updates fixed particles to match their scene node positions\r\n   */\r\n  private updateFixedParticles(deltaTime: number): void {\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME);\r\n    for (const particle of this._chain.particles) {\r\n      if (!particle.node) {\r\n        continue;\r\n      }\r\n      const worldMatrix = particle.node.worldMatrix;\r\n      const worldPos = new Vector3(worldMatrix.m03, worldMatrix.m13, worldMatrix.m23);\r\n      const smoothedTarget = this.getSmoothedParticleTarget(particle, worldPos, blend);\r\n      particle.animPosition.set(smoothedTarget);\r\n      if (particle.fixed) {\r\n        particle.position.set(smoothedTarget);\r\n        particle.prevPosition.set(smoothedTarget);\r\n\r\n        // Maintain position history for rotation center estimation\r\n        if (this._enableInertialForces) {\r\n          if (!particle.positionHistory) {\r\n            particle.positionHistory = [];\r\n          }\r\n          particle.positionHistory.push(smoothedTarget.clone());\r\n          // Keep only last 5 frames\r\n          if (particle.positionHistory.length > 5) {\r\n            particle.positionHistory.shift();\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Solves pose preservation (long-range attachment to animated pose).\r\n   * This keeps strands close to authored shape while preserving dynamic movement.\r\n   */\r\n  private solvePosePreservation(totalIterations: number): void {\r\n    if (this._poseFollowRoot <= 0 && this._poseFollowTip <= 0) {\r\n      return;\r\n    }\r\n\r\n    const lastIndex = Math.max(1, this._chain.particles.length - 1);\r\n    for (let i = 0; i < this._chain.particles.length; i++) {\r\n      const particle = this._chain.particles[i];\r\n      if (particle.fixed) {\r\n        continue;\r\n      }\r\n\r\n      const t = Math.pow(i / lastIndex, this._poseFollowExponent);\r\n      const particlePoseFollow = this.lerp(this._poseFollowRoot, this._poseFollowTip, t);\r\n      // Convert user-facing per-frame follow into per-iteration follow:\r\n      // effective = 1 - (1 - follow)^iterations\r\n      const iterationFollow =\r\n        totalIterations > 1\r\n          ? 1 - Math.pow(Math.max(0, 1 - particlePoseFollow), 1 / totalIterations)\r\n          : particlePoseFollow;\r\n      const toAnim = Vector3.sub(particle.animPosition, particle.position, new Vector3());\r\n      const correction = Vector3.scale(toAnim, iterationFollow, new Vector3());\r\n      Vector3.add(particle.position, correction, particle.position);\r\n\r\n      const particleMaxPoseOffset = this.lerp(this._maxPoseOffsetRoot, this._maxPoseOffsetTip, t);\r\n      if (particleMaxPoseOffset > 0) {\r\n        const offset = Vector3.sub(particle.position, particle.animPosition, new Vector3());\r\n        const offsetLen = offset.magnitude;\r\n        if (offsetLen > particleMaxPoseOffset && offsetLen > 1e-6) {\r\n          offset.scaleBy(particleMaxPoseOffset / offsetLen);\r\n          Vector3.add(particle.animPosition, offset, particle.position);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private lerp(a: number, b: number, t: number): number {\r\n    return a + (b - a) * t;\r\n  }\r\n\r\n  /**\r\n   * Calculates global rotation parameters from fixed particle movements\r\n   * Uses position history to estimate rotation center\r\n   */\r\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\r\n    // Collect fixed particles with movement\r\n    const fixedParticles: any[] = [];\r\n    const velocities: Vector3[] = [];\r\n\r\n    for (const p of this._chain.particles) {\r\n      if (!p.fixed) {\r\n        continue;\r\n      }\r\n\r\n      const velocity = Vector3.sub(p.position, p.lastFramePosition, new Vector3());\r\n      velocity.scaleBy(1.0 / dt);\r\n\r\n      if (velocity.magnitudeSq > 0.001) {\r\n        fixedParticles.push(p);\r\n        velocities.push(velocity);\r\n      }\r\n    }\r\n\r\n    if (fixedParticles.length === 0) {\r\n      return { center: new Vector3(0, 0, 0), omega: new Vector3(0, 0, 0) };\r\n    }\r\n\r\n    // Estimate rotation center using position history\r\n    let center: Vector3;\r\n\r\n    if (fixedParticles.length === 1) {\r\n      // Single fixed particle: use position history to estimate rotation center\r\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\r\n    } else {\r\n      // Multiple fixed particles: use their average position\r\n      center = new Vector3(0, 0, 0);\r\n      for (const p of fixedParticles) {\r\n        Vector3.add(center, p.position, center);\r\n      }\r\n      center.scaleBy(1.0 / fixedParticles.length);\r\n    }\r\n\r\n    // Estimate angular velocity\r\n    let sumOmega = new Vector3(0, 0, 0);\r\n    let count = 0;\r\n\r\n    for (let i = 0; i < fixedParticles.length; i++) {\r\n      const r = Vector3.sub(fixedParticles[i].position, center, new Vector3());\r\n      const v = velocities[i];\r\n      const rLengthSq = r.magnitudeSq;\r\n\r\n      if (rLengthSq > 0.0001) {\r\n        // ω = (r × v) / |r|²\r\n        const omega = Vector3.cross(r, v, new Vector3());\r\n        omega.scaleBy(1.0 / rLengthSq);\r\n        Vector3.add(sumOmega, omega, sumOmega);\r\n        count++;\r\n      }\r\n    }\r\n\r\n    if (count > 0) {\r\n      sumOmega.scaleBy(1.0 / count);\r\n    }\r\n\r\n    return { center, omega: sumOmega };\r\n  }\r\n\r\n  /**\r\n   * Estimates rotation center from a single particle's position history\r\n   * Uses circular motion fitting\r\n   */\r\n  private estimateRotationCenterFromHistory(particle: any, currentVelocity: Vector3): Vector3 {\r\n    const history = particle.positionHistory;\r\n    if (!history || history.length < 3) {\r\n      // Not enough history: estimate using velocity perpendicular direction\r\n      // Assume rotation center is perpendicular to velocity\r\n      // Use a default radius based on velocity magnitude\r\n      const speed = currentVelocity.magnitude;\r\n      if (speed < 0.001) {\r\n        return particle.position.clone();\r\n      }\r\n\r\n      // Estimate radius: for typical character rotation, assume ~0.5-1.0m radius\r\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\r\n\r\n      // Direction perpendicular to velocity (in the plane of motion)\r\n      // We need to guess which perpendicular direction - use cross product with up vector\r\n      const up = new Vector3(0, 1, 0);\r\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\r\n\r\n      if (perpDir.magnitudeSq < 0.0001) {\r\n        // Velocity is vertical, use another perpendicular\r\n        perpDir.set(new Vector3(1, 0, 0));\r\n      } else {\r\n        perpDir.inplaceNormalize();\r\n      }\r\n\r\n      // Rotation center is perpendicular to velocity\r\n      const center = Vector3.add(\r\n        particle.position,\r\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\r\n        new Vector3()\r\n      );\r\n      return center;\r\n    }\r\n\r\n    // Fit a circle through the last 3 positions\r\n    // Use positions at indices: 0 (oldest), middle, last (newest)\r\n    const p1 = history[0];\r\n    const p2 = history[Math.floor(history.length / 2)];\r\n    const p3 = history[history.length - 1];\r\n\r\n    // Calculate circle center from 3 points\r\n    const center = this.calculateCircleCenter(p1, p2, p3);\r\n    return center;\r\n  }\r\n\r\n  /**\r\n   * Calculates the center of a circle passing through 3 points\r\n   * Uses perpendicular bisector method\r\n   */\r\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\r\n    // Midpoints\r\n    const mid12 = Vector3.scale(Vector3.add(p1, p2, new Vector3()), 0.5, new Vector3());\r\n    const mid23 = Vector3.scale(Vector3.add(p2, p3, new Vector3()), 0.5, new Vector3());\r\n\r\n    // Direction vectors\r\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\r\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\r\n\r\n    // Normal vectors (perpendicular bisectors)\r\n    // For 3D, we need to find perpendiculars in the plane of the three points\r\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\r\n\r\n    if (normal.magnitudeSq < 0.0001) {\r\n      // Points are collinear, return midpoint\r\n      return Vector3.scale(\r\n        Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n        1.0 / 3.0,\r\n        new Vector3()\r\n      );\r\n    }\r\n\r\n    normal.inplaceNormalize();\r\n\r\n    // Perpendicular to dir12 in the plane\r\n    const perp12 = Vector3.cross(dir12, normal, new Vector3()).inplaceNormalize();\r\n\r\n    // Perpendicular to dir23 in the plane\r\n    const perp23 = Vector3.cross(dir23, normal, new Vector3()).inplaceNormalize();\r\n\r\n    // Find intersection of two lines:\r\n    // Line 1: mid12 + t * perp12\r\n    // Line 2: mid23 + s * perp23\r\n    // Solve: mid12 + t * perp12 = mid23 + s * perp23\r\n\r\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\r\n\r\n    // Use 2D projection for simplicity (project onto plane perpendicular to normal)\r\n    // Solve in the plane: t * perp12 - s * perp23 = diff\r\n    // Use least squares or pick the dominant components\r\n\r\n    const det = perp12.x * perp23.y - perp12.y * perp23.x;\r\n\r\n    if (Math.abs(det) > 0.0001) {\r\n      const t = (diff.x * perp23.y - diff.y * perp23.x) / det;\r\n      const center = Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\r\n      return center;\r\n    }\r\n\r\n    // Fallback: use centroid\r\n    return Vector3.scale(\r\n      Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n      1.0 / 3.0,\r\n      new Vector3()\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Calculates inertial acceleration for a particle in a rotating reference frame\r\n   */\r\n  private calculateInertialAcceleration(\r\n    particle: any,\r\n    rotationCenter: Vector3,\r\n    angularVelocity: Vector3,\r\n    particleVelocity: Vector3,\r\n    centrifugalScale: number,\r\n    coriolisScale: number\r\n  ): Vector3 {\r\n    // Vector from rotation center to particle\r\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\r\n\r\n    // Centrifugal acceleration: a_centrifugal = ω × (ω × r)\r\n    const omegaCrossR = Vector3.cross(angularVelocity, r, new Vector3());\r\n    const centrifugalAccel = Vector3.cross(angularVelocity, omegaCrossR, new Vector3());\r\n    centrifugalAccel.scaleBy(centrifugalScale);\r\n\r\n    // Coriolis acceleration: a_coriolis = -2ω × v_relative\r\n    // v_relative is the particle's velocity in the rotating frame\r\n    // Use the velocity passed in (already calculated from prevPosition)\r\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\r\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\r\n\r\n    // Total inertial acceleration\r\n    const totalAccel = Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\r\n    return totalAccel;\r\n  }\r\n\r\n  /**\r\n   * Solves a single spring constraint using XPBD (Extended Position-Based Dynamics).\r\n   *\r\n   * Reference: Müller et al., \"Detailed Rigid Body Simulation with Extended Position Based Dynamics\", 2020.\r\n   */\r\n  private solveConstraintXPBD(constraint: any, dt: number): void {\r\n    const pA = this._chain.particles[constraint.particleA];\r\n    const pB = this._chain.particles[constraint.particleB];\r\n\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n\r\n    // Constraint value C = currentLength - restLength\r\n    const C = currentLength - constraint.restLength;\r\n\r\n    // Scaled compliance: alphaTilde = compliance / dt^2\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n\r\n    // XPBD Lagrange multiplier update\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n\r\n    // Correction direction (unit vector from A to B)\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n\r\n    if (!pA.fixed) {\r\n      // deltaX_a = -w_a * deltaLambda * n\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      // deltaX_b = +w_b * deltaLambda * n\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Solves a single spring constraint (Verlet / PBD)\r\n   */\r\n  private solveConstraint(constraint: any): void {\r\n    const pA = this._chain.particles[constraint.particleA];\r\n    const pB = this._chain.particles[constraint.particleB];\r\n\r\n    // Calculate current distance\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    } // Avoid division by zero\r\n\r\n    // Calculate correction\r\n    const diff = (currentLength - constraint.restLength) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n\r\n    // Apply correction (considering mass and fixed state)\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Solves collisions for all particles\r\n   */\r\n  private solveCollisions(deltaTime: number): void {\r\n    // Update dynamic colliders from their nodes\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\r\n    const spheres: { particleCollider: SphereCollider; collider: SphereCollider }[] = [];\r\n    const capsules: { particleCollider: CapsuleCollider; collider: CapsuleCollider }[] = [];\r\n    const planes: { particleCollider: PlaneCollider; collider: PlaneCollider }[] = [];\r\n    for (const collider of this._colliders) {\r\n      if (collider.node) {\r\n        updateColliderFromNode(collider);\r\n      }\r\n      if (!collider.enabled) {\r\n        continue;\r\n      }\r\n      switch (collider.type) {\r\n        case 'sphere': {\r\n          const source = collider as SphereCollider;\r\n          spheres.push({\r\n            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              center: this.getSmoothedSphereCenter(source, blend)\r\n            }\r\n          });\r\n          break;\r\n        }\r\n        case 'capsule': {\r\n          const source = collider as CapsuleCollider;\r\n          const endpoints = this.getSmoothedCapsuleEndpoints(source, blend);\r\n          capsules.push({\r\n            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              start: endpoints.start,\r\n              end: endpoints.end\r\n            }\r\n          });\r\n          break;\r\n        }\r\n        case 'plane': {\r\n          const source = collider as PlaneCollider;\r\n          const plane = this.getSmoothedPlaneData(source, blend);\r\n          planes.push({\r\n            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              point: plane.point,\r\n              normal: plane.normal\r\n            }\r\n          });\r\n          break;\r\n        }\r\n      }\r\n    }\r\n\r\n    // Check each particle against all colliders\r\n    for (const particle of this._chain.particles) {\r\n      if (particle.fixed) {\r\n        continue; // Skip fixed particles\r\n      }\r\n\r\n      for (const collider of spheres) {\r\n        resolveSphereCollision(particle.position, collider.collider);\r\n      }\r\n      for (const collider of capsules) {\r\n        resolveCapsuleCollision(particle.position, collider.collider);\r\n      }\r\n      for (const collider of planes) {\r\n        resolvePlaneCollision(particle.position, collider.collider);\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Applies simulation results to scene nodes\r\n   * @param weight - Blend weight [0-1] (default: 1.0)\r\n   */\r\n  applyToNodes(weight: number = 1.0): void {\r\n    for (let i = 0; i < this._chain.particles.length - 1; i++) {\r\n      const particle = this._chain.particles[i];\r\n      const nextParticle = this._chain.particles[i + 1];\r\n      const node = particle.node;\r\n\r\n      // Skip if no node\r\n      if (!node) {\r\n        continue;\r\n      }\r\n\r\n      // Get current bone direction from node's world matrix (before physics)\r\n      // This reflects the current animation/skeleton state\r\n      const currentBonePos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\r\n\r\n      const nextNode = nextParticle.node;\r\n      if (!nextNode) {\r\n        continue;\r\n      }\r\n\r\n      const nextBonePos = new Vector3(\r\n        nextNode.worldMatrix.m03,\r\n        nextNode.worldMatrix.m13,\r\n        nextNode.worldMatrix.m23\r\n      );\r\n      const originalDir = Vector3.sub(nextBonePos, currentBonePos, new Vector3());\r\n\r\n      // Get current bone rotation from node's world matrix\r\n      const currentBoneRotation = new Quaternion();\r\n      node.worldMatrix.decompose(null, currentBoneRotation, null);\r\n\r\n      // Calculate new direction from physics simulation\r\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\r\n\r\n      // Calculate rotation needed to align original direction to new direction\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\r\n\r\n      // Calculate new world rotation\r\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\r\n\r\n      // Blend with current rotation based on weight\r\n      if (weight < 1) {\r\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      // Convert world rotation to local rotation (relative to parent)\r\n      const parent = node.parent;\r\n      if (parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n\r\n        // localRotation = conjugate(parentWorldRotation) * worldRotation\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n\r\n        node.rotation = localRotation;\r\n      } else {\r\n        // Root node has no parent, world rotation is local rotation\r\n        node.rotation = worldRotation;\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Resets the simulation to initial state\r\n   */\r\n  reset(): void {\r\n    this._chain.reset();\r\n    for (const particle of this._chain.particles) {\r\n      particle.animPosition.set(particle.originalPosition);\r\n      particle.lastFramePosition.set(particle.originalPosition);\r\n      if (particle.positionHistory) {\r\n        particle.positionHistory.length = 0;\r\n      }\r\n    }\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  /**\r\n   * Gets the spring chain\r\n   */\r\n  get chain(): SpringChain {\r\n    return this._chain;\r\n  }\r\n\r\n  /**\r\n   * Gets the current gravity\r\n   */\r\n  get gravity(): Vector3 {\r\n    return this._gravity;\r\n  }\r\n\r\n  set gravity(gravity: Vector3) {\r\n    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Coriolis force scale\r\n   */\r\n  get coriolisScale(): number {\r\n    return this._coriolisScale;\r\n  }\r\n\r\n  set coriolisScale(scale: number) {\r\n    this._coriolisScale = Math.max(0, scale);\r\n  }\r\n\r\n  /**\r\n   * Gets the constraint solver type\r\n   */\r\n  get solver(): 'verlet' | 'xpbd' {\r\n    return this._solver;\r\n  }\r\n\r\n  set solver(type: 'verlet' | 'xpbd') {\r\n    if (this._solver !== type) {\r\n      this._solver = type;\r\n      if (type === 'xpbd') {\r\n        for (const c of this._chain.constraints) {\r\n          c.lambda = 0;\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Gets pose preservation strength [0-1]\r\n   */\r\n  get poseFollow(): number {\r\n    return this._poseFollow;\r\n  }\r\n\r\n  set poseFollow(value: number) {\r\n    const v = Math.max(0, Math.min(1, value));\r\n    this._poseFollow = v;\r\n    this._poseFollowRoot = v;\r\n    this._poseFollowTip = v;\r\n  }\r\n\r\n  /**\r\n   * Gets max allowed deviation from animated pose\r\n   */\r\n  get maxPoseOffset(): number {\r\n    return this._maxPoseOffset;\r\n  }\r\n\r\n  set maxPoseOffset(value: number) {\r\n    const v = Math.max(0, value);\r\n    this._maxPoseOffset = v;\r\n    this._maxPoseOffsetRoot = v;\r\n    this._maxPoseOffsetTip = v;\r\n  }\r\n\r\n  /**\r\n   * Gets root pose follow strength [0-1]\r\n   */\r\n  get poseFollowRoot(): number {\r\n    return this._poseFollowRoot;\r\n  }\r\n\r\n  set poseFollowRoot(value: number) {\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Gets tip pose follow strength [0-1]\r\n   */\r\n  get poseFollowTip(): number {\r\n    return this._poseFollowTip;\r\n  }\r\n\r\n  set poseFollowTip(value: number) {\r\n    this._poseFollowTip = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Gets exponent for root-to-tip interpolation\r\n   */\r\n  get poseFollowExponent(): number {\r\n    return this._poseFollowExponent;\r\n  }\r\n\r\n  set poseFollowExponent(value: number) {\r\n    this._poseFollowExponent = Math.max(0.1, value);\r\n  }\r\n\r\n  /**\r\n   * Gets root max allowed deviation from animated pose\r\n   */\r\n  get maxPoseOffsetRoot(): number {\r\n    return this._maxPoseOffsetRoot;\r\n  }\r\n\r\n  set maxPoseOffsetRoot(value: number) {\r\n    this._maxPoseOffsetRoot = Math.max(0, value);\r\n  }\r\n\r\n  /**\r\n   * Gets tip max allowed deviation from animated pose\r\n   */\r\n  get maxPoseOffsetTip(): number {\r\n    return this._maxPoseOffsetTip;\r\n  }\r\n\r\n  set maxPoseOffsetTip(value: number) {\r\n    this._maxPoseOffsetTip = Math.max(0, value);\r\n  }\r\n\r\n  /**\r\n   * Adds a collider to the system\r\n   */\r\n  addCollider(collider: SpringCollider): void {\r\n    this._colliders.push(collider);\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  /**\r\n   * Removes a collider from the system\r\n   */\r\n  removeCollider(collider: SpringCollider): boolean {\r\n    const index = this._colliders.indexOf(collider);\r\n    if (index >= 0) {\r\n      this._colliders.splice(index, 1);\r\n      this._smoothedSphereCenters = new WeakMap();\r\n      this._smoothedCapsuleEndpoints = new WeakMap();\r\n      this._smoothedPlaneData = new WeakMap();\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Clears all colliders\r\n   */\r\n  clearColliders(): void {\r\n    this._colliders = [];\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  /**\r\n   * Gets all colliders\r\n   */\r\n  get colliders(): SpringCollider[] {\r\n    return this._colliders;\r\n  }\r\n\r\n  private getTemporalBlendFactor(deltaTime: number, smoothingTime: number): number {\r\n    const dt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (smoothingTime <= 0) {\r\n      return 1;\r\n    }\r\n    if (dt <= 0) {\r\n      return 0;\r\n    }\r\n    return 1 - Math.exp(-dt / smoothingTime);\r\n  }\r\n\r\n  private getSmoothedParticleTarget(target: object, current: Vector3, blend: number): Vector3 {\r\n    const cached = this._smoothedParticleTargets.get(target);\r\n    if (!cached || blend >= 1) {\r\n      const next = current.clone();\r\n      this._smoothedParticleTargets.set(target, next);\r\n      return next;\r\n    }\r\n    cached.setXYZ(\r\n      cached.x + (current.x - cached.x) * blend,\r\n      cached.y + (current.y - cached.y) * blend,\r\n      cached.z + (current.z - cached.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedSphereCenter(collider: SphereCollider, blend: number): Vector3 {\r\n    const current = collider.center?.clone() ?? new Vector3();\r\n    const cached = this._smoothedSphereCenters.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      this._smoothedSphereCenters.set(collider, current);\r\n      return current;\r\n    }\r\n    cached.setXYZ(\r\n      cached.x + (current.x - cached.x) * blend,\r\n      cached.y + (current.y - cached.y) * blend,\r\n      cached.z + (current.z - cached.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedCapsuleEndpoints(\r\n    collider: CapsuleCollider,\r\n    blend: number\r\n  ): { start: Vector3; end: Vector3 } {\r\n    const currentStart = collider.start?.clone() ?? new Vector3();\r\n    const currentEnd = collider.end?.clone() ?? new Vector3();\r\n    const cached = this._smoothedCapsuleEndpoints.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const next = {\r\n        start: currentStart,\r\n        end: currentEnd\r\n      };\r\n      this._smoothedCapsuleEndpoints.set(collider, next);\r\n      return next;\r\n    }\r\n    cached.start.setXYZ(\r\n      cached.start.x + (currentStart.x - cached.start.x) * blend,\r\n      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