@zephyr3d/scene 0.7.0 → 0.8.0

package/dist/animation/spring/multi_chain_spring_system.js

@@ -0,0 +1,503 @@
+import { Vector3, Quaternion } from '@zephyr3d/base';
+import { IKUtils } from '../ik/ik_utils.js';
+
+/**
+ * Physics engine for multiple spring chains with inter-chain constraints
+ * Suitable for cloth, skirts, capes, and other multi-chain simulations
+ *
+ * @public
+ */ class MultiChainSpringSystem {
+    _chains;
+    _interChainConstraints;
+    _iterations;
+    _gravity;
+    _wind;
+    _enableInertialForces;
+    _centrifugalScale;
+    _coriolisScale;
+    _solver;
+    constructor(options){
+        this._chains = [];
+        this._interChainConstraints = [];
+        this._iterations = options?.iterations ?? 5;
+        this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);
+        this._wind = options?.wind?.clone() ?? new Vector3(0, 0, 0);
+        this._enableInertialForces = options?.enableInertialForces ?? true;
+        this._centrifugalScale = options?.centrifugalScale ?? 1.0;
+        this._coriolisScale = options?.coriolisScale ?? 1.0;
+        this._solver = options?.solver ?? 'verlet';
+    }
+    /**
+   * Adds a spring chain to the system
+   * @param chain - The chain to add
+   * @returns The index of the added chain
+   */ addChain(chain) {
+        this._chains.push(chain);
+        return this._chains.length - 1;
+    }
+    /**
+   * Adds an inter-chain constraint
+   * @param constraint - The constraint to add
+   */ addInterChainConstraint(constraint) {
+        this._interChainConstraints.push(constraint);
+    }
+    /**
+   * Creates radial constraints between adjacent chains
+   * Useful for skirts, capes, and other radial multi-chain structures
+   * @param options - Configuration options
+   */ createRadialConstraints(options) {
+        const skipRows = options.skipRows ?? 0;
+        const connectDistance = options.connectDistance ?? 1;
+        const compliance = options.compliance ?? 0;
+        for(let i = 0; i < this._chains.length; i++){
+            for(let offset = 1; offset <= connectDistance; offset++){
+                const j = (i + offset) % this._chains.length;
+                const chainA = this._chains[i];
+                const chainB = this._chains[j];
+                const minLength = Math.min(chainA.particles.length, chainB.particles.length);
+                for(let row = skipRows; row < minLength; row++){
+                    const pA = chainA.particles[row];
+                    const pB = chainB.particles[row];
+                    const distance = Vector3.distance(pA.position, pB.position);
+                    if (distance <= options.maxDistance) {
+                        this.addInterChainConstraint({
+                            chainAIndex: i,
+                            chainBIndex: j,
+                            particleAIndex: row,
+                            particleBIndex: row,
+                            restLength: distance,
+                            stiffness: options.stiffness,
+                            compliance,
+                            lambda: 0
+                        });
+                    }
+                }
+            }
+        }
+    }
+    /**
+   * Updates the physics simulation for all chains
+   * @param deltaTime - Time step in seconds
+   */ update(deltaTime) {
+        const dt = Math.min(deltaTime, 0.033);
+        // Save all particle positions before updating
+        if (this._enableInertialForces) {
+            for (const chain of this._chains){
+                for (const p of chain.particles){
+                    p.lastFramePosition.set(p.position);
+                }
+            }
+        }
+        this.updateFixedParticles();
+        // Calculate global rotation parameters
+        let rotationCenter = null;
+        let angularVelocity = null;
+        if (this._enableInertialForces && dt > 0.0001) {
+            const result = this.calculateGlobalRotation(dt);
+            rotationCenter = result.center;
+            angularVelocity = result.omega;
+        }
+        for (const chain of this._chains){
+            for (const particle of chain.particles){
+                if (particle.fixed) {
+                    continue;
+                }
+                const velocity = Vector3.sub(particle.position, particle.prevPosition, new Vector3());
+                velocity.scaleBy(particle.damping);
+                const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());
+                // Apply inertial forces
+                if (this._enableInertialForces && rotationCenter && angularVelocity) {
+                    const inertialAccel = this.calculateInertialAcceleration(particle, rotationCenter, angularVelocity, velocity, this._centrifugalScale, this._coriolisScale);
+                    Vector3.add(acceleration, inertialAccel, acceleration);
+                }
+                const positionDelta = Vector3.scale(acceleration, dt * dt, new Vector3());
+                Vector3.add(velocity, positionDelta, velocity);
+                particle.prevPosition.set(particle.position);
+                Vector3.add(particle.position, velocity, particle.position);
+            }
+        }
+        if (this._solver === 'xpbd') {
+            for (const chain of this._chains){
+                for (const c of chain.constraints){
+                    c.lambda = 0;
+                }
+            }
+            for (const c of this._interChainConstraints){
+                c.lambda = 0;
+            }
+        }
+        for(let iter = 0; iter < this._iterations; iter++){
+            for (const chain of this._chains){
+                for (const constraint of chain.constraints){
+                    if (this._solver === 'xpbd') {
+                        this.solveConstraintXPBD(chain, constraint, dt);
+                    } else {
+                        this.solveConstraint(chain, constraint);
+                    }
+                }
+            }
+            for (const constraint of this._interChainConstraints){
+                if (this._solver === 'xpbd') {
+                    this.solveInterChainConstraintXPBD(constraint, dt);
+                } else {
+                    this.solveInterChainConstraint(constraint);
+                }
+            }
+        }
+    }
+    updateFixedParticles() {
+        for (const chain of this._chains){
+            for (const particle of chain.particles){
+                if (particle.fixed && particle.node) {
+                    const worldPos = new Vector3(particle.node.worldMatrix.m03, particle.node.worldMatrix.m13, particle.node.worldMatrix.m23);
+                    particle.position.set(worldPos);
+                    particle.prevPosition.set(worldPos);
+                    // Maintain position history
+                    if (this._enableInertialForces) {
+                        if (!particle.positionHistory) {
+                            particle.positionHistory = [];
+                        }
+                        particle.positionHistory.push(worldPos.clone());
+                        if (particle.positionHistory.length > 5) {
+                            particle.positionHistory.shift();
+                        }
+                    }
+                }
+            }
+        }
+    }
+    calculateGlobalRotation(dt) {
+        const fixedParticles = [];
+        const velocities = [];
+        for (const chain of this._chains){
+            for (const p of chain.particles){
+                if (!p.fixed) {
+                    continue;
+                }
+                const velocity = Vector3.sub(p.position, p.lastFramePosition, new Vector3());
+                velocity.scaleBy(1.0 / dt);
+                if (velocity.magnitudeSq > 0.001) {
+                    fixedParticles.push(p);
+                    velocities.push(velocity);
+                }
+            }
+        }
+        if (fixedParticles.length === 0) {
+            return {
+                center: new Vector3(0, 0, 0),
+                omega: new Vector3(0, 0, 0)
+            };
+        }
+        // Estimate rotation center
+        let center;
+        if (fixedParticles.length === 1) {
+            center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);
+        } else {
+            center = new Vector3(0, 0, 0);
+            for (const p of fixedParticles){
+                Vector3.add(center, p.position, center);
+            }
+            center.scaleBy(1.0 / fixedParticles.length);
+        }
+        // Estimate angular velocity
+        let sumOmega = new Vector3(0, 0, 0);
+        let count = 0;
+        for(let i = 0; i < fixedParticles.length; i++){
+            const r = Vector3.sub(fixedParticles[i].position, center, new Vector3());
+            const v = velocities[i];
+            const rLengthSq = r.magnitudeSq;
+            if (rLengthSq > 0.0001) {
+                const omega = Vector3.cross(r, v, new Vector3());
+                omega.scaleBy(1.0 / rLengthSq);
+                Vector3.add(sumOmega, omega, sumOmega);
+                count++;
+            }
+        }
+        if (count > 0) {
+            sumOmega.scaleBy(1.0 / count);
+        }
+        return {
+            center,
+            omega: sumOmega
+        };
+    }
+    estimateRotationCenterFromHistory(particle, currentVelocity) {
+        const history = particle.positionHistory;
+        if (!history || history.length < 3) {
+            const speed = currentVelocity.magnitude;
+            if (speed < 0.001) {
+                return particle.position.clone();
+            }
+            const estimatedRadius = Math.max(0.5, speed * 0.5);
+            const up = new Vector3(0, 1, 0);
+            const perpDir = Vector3.cross(currentVelocity, up, new Vector3());
+            if (perpDir.magnitudeSq < 0.0001) {
+                perpDir.set(new Vector3(1, 0, 0));
+            } else {
+                Vector3.normalize(perpDir, perpDir);
+            }
+            const center = Vector3.add(particle.position, Vector3.scale(perpDir, estimatedRadius, new Vector3()), new Vector3());
+            return center;
+        }
+        const p1 = history[0];
+        const p2 = history[Math.floor(history.length / 2)];
+        const p3 = history[history.length - 1];
+        const center = this.calculateCircleCenter(p1, p2, p3);
+        return center;
+    }
+    calculateCircleCenter(p1, p2, p3) {
+        const mid12 = Vector3.scale(Vector3.add(p1, p2, new Vector3()), 0.5, new Vector3());
+        const mid23 = Vector3.scale(Vector3.add(p2, p3, new Vector3()), 0.5, new Vector3());
+        const dir12 = Vector3.sub(p2, p1, new Vector3());
+        const dir23 = Vector3.sub(p3, p2, new Vector3());
+        const normal = Vector3.cross(dir12, dir23, new Vector3());
+        if (normal.magnitudeSq < 0.0001) {
+            return Vector3.scale(Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()), 1.0 / 3.0, new Vector3());
+        }
+        Vector3.normalize(normal, normal);
+        const perp12 = Vector3.cross(dir12, normal, new Vector3());
+        Vector3.normalize(perp12, perp12);
+        const perp23 = Vector3.cross(dir23, normal, new Vector3());
+        Vector3.normalize(perp23, perp23);
+        const diff = Vector3.sub(mid23, mid12, new Vector3());
+        const det = perp12.x * perp23.y - perp12.y * perp23.x;
+        if (Math.abs(det) > 0.0001) {
+            const t = (diff.x * perp23.y - diff.y * perp23.x) / det;
+            const center = Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());
+            return center;
+        }
+        return Vector3.scale(Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()), 1.0 / 3.0, new Vector3());
+    }
+    calculateInertialAcceleration(particle, rotationCenter, angularVelocity, particleVelocity, centrifugalScale, coriolisScale) {
+        const r = Vector3.sub(particle.position, rotationCenter, new Vector3());
+        const omegaCrossR = Vector3.cross(angularVelocity, r, new Vector3());
+        const centrifugalAccel = Vector3.cross(angularVelocity, omegaCrossR, new Vector3());
+        centrifugalAccel.scaleBy(centrifugalScale);
+        const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());
+        coriolisAccel.scaleBy(-2 * coriolisScale);
+        const totalAccel = Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());
+        return totalAccel;
+    }
+    solveConstraint(chain, constraint) {
+        const pA = chain.particles[constraint.particleA];
+        const pB = chain.particles[constraint.particleB];
+        const delta = Vector3.sub(pB.position, pA.position, new Vector3());
+        const currentLength = delta.magnitude;
+        if (currentLength < 0.0001) {
+            return;
+        }
+        const diff = (currentLength - constraint.restLength) / currentLength;
+        const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());
+        if (!pA.fixed) {
+            Vector3.add(pA.position, correction, pA.position);
+        }
+        if (!pB.fixed) {
+            Vector3.sub(pB.position, correction, pB.position);
+        }
+    }
+    solveInterChainConstraint(constraint) {
+        const chainA = this._chains[constraint.chainAIndex];
+        const chainB = this._chains[constraint.chainBIndex];
+        const pA = chainA.particles[constraint.particleAIndex];
+        const pB = chainB.particles[constraint.particleBIndex];
+        const delta = Vector3.sub(pB.position, pA.position, new Vector3());
+        const currentLength = delta.magnitude;
+        if (currentLength < 0.0001) {
+            return;
+        }
+        const diff = (currentLength - constraint.restLength) / currentLength;
+        const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());
+        if (!pA.fixed) {
+            Vector3.add(pA.position, correction, pA.position);
+        }
+        if (!pB.fixed) {
+            Vector3.sub(pB.position, correction, pB.position);
+        }
+    }
+    solveConstraintXPBD(chain, constraint, dt) {
+        const pA = chain.particles[constraint.particleA];
+        const pB = chain.particles[constraint.particleB];
+        const wA = pA.fixed ? 0 : 1.0 / pA.mass;
+        const wB = pB.fixed ? 0 : 1.0 / pB.mass;
+        const wSum = wA + wB;
+        if (wSum < 1e-10) {
+            return;
+        }
+        const delta = Vector3.sub(pB.position, pA.position, new Vector3());
+        const currentLength = delta.magnitude;
+        if (currentLength < 0.0001) {
+            return;
+        }
+        const C = currentLength - constraint.restLength;
+        const alphaTilde = constraint.compliance / (dt * dt);
+        const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);
+        constraint.lambda += deltaLambda;
+        const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());
+        if (!pA.fixed) {
+            Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);
+        }
+        if (!pB.fixed) {
+            Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);
+        }
+    }
+    solveInterChainConstraintXPBD(constraint, dt) {
+        const chainA = this._chains[constraint.chainAIndex];
+        const chainB = this._chains[constraint.chainBIndex];
+        const pA = chainA.particles[constraint.particleAIndex];
+        const pB = chainB.particles[constraint.particleBIndex];
+        const wA = pA.fixed ? 0 : 1.0 / pA.mass;
+        const wB = pB.fixed ? 0 : 1.0 / pB.mass;
+        const wSum = wA + wB;
+        if (wSum < 1e-10) {
+            return;
+        }
+        const delta = Vector3.sub(pB.position, pA.position, new Vector3());
+        const currentLength = delta.magnitude;
+        if (currentLength < 0.0001) {
+            return;
+        }
+        const C = currentLength - constraint.restLength;
+        const alphaTilde = constraint.compliance / (dt * dt);
+        const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);
+        constraint.lambda += deltaLambda;
+        const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());
+        if (!pA.fixed) {
+            Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);
+        }
+        if (!pB.fixed) {
+            Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);
+        }
+    }
+    /**
+   * Applies simulation results to scene nodes
+   * @param weight - Blend weight [0-1] (default: 1.0)
+   */ applyToNodes(weight = 1.0) {
+        for (const chain of this._chains){
+            this.applyChainToNodes(chain, weight);
+        }
+    }
+    applyChainToNodes(chain, weight) {
+        for(let i = 0; i < chain.particles.length - 1; i++){
+            const particle = chain.particles[i];
+            const nextParticle = chain.particles[i + 1];
+            if (!particle.node) {
+                continue;
+            }
+            // Get current bone direction from node's world matrix (before physics)
+            const currentBonePos = new Vector3(particle.node.worldMatrix.m03, particle.node.worldMatrix.m13, particle.node.worldMatrix.m23);
+            const nextNode = nextParticle.node;
+            if (!nextNode) {
+                continue;
+            }
+            const nextBonePos = new Vector3(nextNode.worldMatrix.m03, nextNode.worldMatrix.m13, nextNode.worldMatrix.m23);
+            const originalDir = Vector3.sub(nextBonePos, currentBonePos, new Vector3());
+            // Get current bone rotation from node's world matrix
+            const currentBoneRotation = new Quaternion();
+            particle.node.worldMatrix.decompose(null, currentBoneRotation, null);
+            // Calculate new direction from physics simulation
+            const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());
+            const deltaRotation = new Quaternion();
+            IKUtils.fromToRotation(originalDir, newDir, deltaRotation);
+            let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());
+            if (weight < 1) {
+                Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);
+            }
+            const parent = particle.node.parent;
+            if (parent) {
+                const parentWorldRotation = new Quaternion();
+                parent.worldMatrix.decompose(null, parentWorldRotation, null);
+                const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());
+                const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());
+                particle.node.rotation = localRotation;
+            } else {
+                particle.node.rotation = worldRotation;
+            }
+        }
+    }
+    /**
+   * Resets the simulation to initial state
+   */ reset() {
+        for (const chain of this._chains){
+            chain.reset();
+        }
+    }
+    /**
+   * Gets the spring chains
+   */ get chains() {
+        return this._chains;
+    }
+    /**
+   * Gets the inter-chain constraints
+   */ get interChainConstraints() {
+        return this._interChainConstraints;
+    }
+    /**
+   * Gets the current gravity
+   */ get gravity() {
+        return this._gravity;
+    }
+    set gravity(gravity) {
+        this._gravity.set(gravity);
+    }
+    /**
+   * Gets the current wind
+   */ get wind() {
+        return this._wind;
+    }
+    set wind(wind) {
+        this._wind.set(wind);
+    }
+    /**
+   * Gets the number of iterations
+   */ get iterations() {
+        return this._iterations;
+    }
+    set iterations(count) {
+        this._iterations = Math.max(1, count);
+    }
+    /**
+   * Gets whether inertial forces are enabled
+   */ get enableInertialForces() {
+        return this._enableInertialForces;
+    }
+    set enableInertialForces(enabled) {
+        this._enableInertialForces = enabled;
+    }
+    /**
+   * Gets the centrifugal force scale
+   */ get centrifugalScale() {
+        return this._centrifugalScale;
+    }
+    set centrifugalScale(scale) {
+        this._centrifugalScale = Math.max(0, scale);
+    }
+    /**
+   * Gets the Coriolis force scale
+   */ get coriolisScale() {
+        return this._coriolisScale;
+    }
+    set coriolisScale(scale) {
+        this._coriolisScale = Math.max(0, scale);
+    }
+    get solver() {
+        return this._solver;
+    }
+    set solver(type) {
+        if (this._solver !== type) {
+            this._solver = type;
+            if (type === 'xpbd') {
+                for (const chain of this._chains){
+                    for (const c of chain.constraints){
+                        c.lambda = 0;
+                    }
+                }
+                for (const c of this._interChainConstraints){
+                    c.lambda = 0;
+                }
+            }
+        }
+    }
+}
+
+export { MultiChainSpringSystem };
+//# sourceMappingURL=multi_chain_spring_system.js.map

package/dist/animation/spring/multi_chain_spring_system.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"multi_chain_spring_system.js","sources":["../../../src/animation/spring/multi_chain_spring_system.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SpringChain } from './spring_chain';\r\nimport type { SpringConstraint } from './spring_constraint';\r\nimport { IKUtils } from '../ik/ik_utils';\r\n\r\n/**\r\n * Constraint between particles in different chains\r\n *\r\n * @public\r\n */\r\nexport interface InterChainConstraint {\r\n  /** Index of the first chain */\r\n  chainAIndex: number;\r\n  /** Index of the second chain */\r\n  chainBIndex: number;\r\n  /** Index of particle in chain A */\r\n  particleAIndex: number;\r\n  /** Index of particle in chain B */\r\n  particleBIndex: number;\r\n  /** Desired distance between particles */\r\n  restLength: number;\r\n  /** Constraint strength [0-1], used by Verlet solver */\r\n  stiffness: number;\r\n  /**\r\n   * XPBD compliance (inverse stiffness) in m/N.\r\n   * Only used when solver is 'xpbd'.\r\n   */\r\n  compliance: number;\r\n  /** XPBD Lagrange multiplier accumulator, reset each time step. */\r\n  lambda: number;\r\n}\r\n\r\n/**\r\n * Options for creating a MultiChainSpringSystem\r\n *\r\n * @public\r\n */\r\nexport interface MultiChainSpringSystemOptions {\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': stiffness [0-1] controls per-iteration correction strength.\r\n   * - 'xpbd': compliance (m/N) gives physically correct, iteration-independent results.\r\n   */\r\n  solver?: 'verlet' | 'xpbd';\r\n}\r\n\r\n/**\r\n * Physics engine for multiple spring chains with inter-chain constraints\r\n * Suitable for cloth, skirts, capes, and other multi-chain simulations\r\n *\r\n * @public\r\n */\r\nexport class MultiChainSpringSystem {\r\n  private _chains: SpringChain[];\r\n  private _interChainConstraints: InterChainConstraint[];\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 _solver: 'verlet' | 'xpbd';\r\n\r\n  constructor(options?: MultiChainSpringSystemOptions) {\r\n    this._chains = [];\r\n    this._interChainConstraints = [];\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._solver = options?.solver ?? 'verlet';\r\n  }\r\n\r\n  /**\r\n   * Adds a spring chain to the system\r\n   * @param chain - The chain to add\r\n   * @returns The index of the added chain\r\n   */\r\n  addChain(chain: SpringChain): number {\r\n    this._chains.push(chain);\r\n    return this._chains.length - 1;\r\n  }\r\n\r\n  /**\r\n   * Adds an inter-chain constraint\r\n   * @param constraint - The constraint to add\r\n   */\r\n  addInterChainConstraint(constraint: InterChainConstraint): void {\r\n    this._interChainConstraints.push(constraint);\r\n  }\r\n\r\n  /**\r\n   * Creates radial constraints between adjacent chains\r\n   * Useful for skirts, capes, and other radial multi-chain structures\r\n   * @param options - Configuration options\r\n   */\r\n  createRadialConstraints(options: {\r\n    /** Constraint stiffness [0-1], used by Verlet solver */\r\n    stiffness: number;\r\n    /** Maximum distance to create constraints (particles further apart are not connected) */\r\n    maxDistance: number;\r\n    /** Skip first N rows of particles (e.g., anchor points at waist) */\r\n    skipRows?: number;\r\n    /** Connect to next N chains (default: 1, only adjacent chains) */\r\n    connectDistance?: number;\r\n    /** XPBD compliance in m/N (default: 0 = rigid). Only used when solver is 'xpbd'. */\r\n    compliance?: number;\r\n  }): void {\r\n    const skipRows = options.skipRows ?? 0;\r\n    const connectDistance = options.connectDistance ?? 1;\r\n    const compliance = options.compliance ?? 0;\r\n\r\n    for (let i = 0; i < this._chains.length; i++) {\r\n      for (let offset = 1; offset <= connectDistance; offset++) {\r\n        const j = (i + offset) % this._chains.length;\r\n        const chainA = this._chains[i];\r\n        const chainB = this._chains[j];\r\n\r\n        const minLength = Math.min(chainA.particles.length, chainB.particles.length);\r\n\r\n        for (let row = skipRows; row < minLength; row++) {\r\n          const pA = chainA.particles[row];\r\n          const pB = chainB.particles[row];\r\n          const distance = Vector3.distance(pA.position, pB.position);\r\n\r\n          if (distance <= options.maxDistance) {\r\n            this.addInterChainConstraint({\r\n              chainAIndex: i,\r\n              chainBIndex: j,\r\n              particleAIndex: row,\r\n              particleBIndex: row,\r\n              restLength: distance,\r\n              stiffness: options.stiffness,\r\n              compliance,\r\n              lambda: 0\r\n            });\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Updates the physics simulation for all chains\r\n   * @param deltaTime - Time step in seconds\r\n   */\r\n  update(deltaTime: number): void {\r\n    const dt = Math.min(deltaTime, 0.033);\r\n\r\n    // Save all particle positions before updating\r\n    if (this._enableInertialForces) {\r\n      for (const chain of this._chains) {\r\n        for (const p of chain.particles) {\r\n          p.lastFramePosition.set(p.position);\r\n        }\r\n      }\r\n    }\r\n\r\n    this.updateFixedParticles();\r\n\r\n    // Calculate global rotation parameters\r\n    let rotationCenter: Nullable<Vector3> = null;\r\n    let angularVelocity: Nullable<Vector3> = 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    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n\r\n        const velocity = Vector3.sub(particle.position, particle.prevPosition, new Vector3());\r\n        velocity.scaleBy(particle.damping);\r\n\r\n        const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\r\n\r\n        // Apply inertial forces\r\n        if (this._enableInertialForces && rotationCenter && angularVelocity) {\r\n          const inertialAccel = this.calculateInertialAcceleration(\r\n            particle,\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        particle.prevPosition.set(particle.position);\r\n        Vector3.add(particle.position, velocity, particle.position);\r\n      }\r\n    }\r\n\r\n    if (this._solver === 'xpbd') {\r\n      for (const chain of this._chains) {\r\n        for (const c of chain.constraints) {\r\n          c.lambda = 0;\r\n        }\r\n      }\r\n      for (const c of this._interChainConstraints) {\r\n        c.lambda = 0;\r\n      }\r\n    }\r\n    for (let iter = 0; iter < this._iterations; iter++) {\r\n      for (const chain of this._chains) {\r\n        for (const constraint of chain.constraints) {\r\n          if (this._solver === 'xpbd') {\r\n            this.solveConstraintXPBD(chain, constraint, dt);\r\n          } else {\r\n            this.solveConstraint(chain, constraint);\r\n          }\r\n        }\r\n      }\r\n\r\n      for (const constraint of this._interChainConstraints) {\r\n        if (this._solver === 'xpbd') {\r\n          this.solveInterChainConstraintXPBD(constraint, dt);\r\n        } else {\r\n          this.solveInterChainConstraint(constraint);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private updateFixedParticles(): void {\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed && particle.node) {\r\n          const worldPos = new Vector3(\r\n            particle.node.worldMatrix.m03,\r\n            particle.node.worldMatrix.m13,\r\n            particle.node.worldMatrix.m23\r\n          );\r\n          particle.position.set(worldPos);\r\n          particle.prevPosition.set(worldPos);\r\n\r\n          // Maintain position history\r\n          if (this._enableInertialForces) {\r\n            if (!particle.positionHistory) {\r\n              particle.positionHistory = [];\r\n            }\r\n            particle.positionHistory.push(worldPos.clone());\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  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\r\n    const fixedParticles: any[] = [];\r\n    const velocities: Vector3[] = [];\r\n\r\n    for (const chain of this._chains) {\r\n      for (const p of 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\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\r\n    let center: Vector3;\r\n\r\n    if (fixedParticles.length === 1) {\r\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\r\n    } else {\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        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  private estimateRotationCenterFromHistory(particle: any, currentVelocity: Vector3): Vector3 {\r\n    const history = particle.positionHistory;\r\n    if (!history || history.length < 3) {\r\n      const speed = currentVelocity.magnitude;\r\n      if (speed < 0.001) {\r\n        return particle.position.clone();\r\n      }\r\n\r\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\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        perpDir.set(new Vector3(1, 0, 0));\r\n      } else {\r\n        Vector3.normalize(perpDir, perpDir);\r\n      }\r\n\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    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    const center = this.calculateCircleCenter(p1, p2, p3);\r\n    return center;\r\n  }\r\n\r\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\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    const dir12 = Vector3.sub(p2, p1, new Vector3());\r\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\r\n\r\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\r\n\r\n    if (normal.magnitudeSq < 0.0001) {\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    Vector3.normalize(normal, normal);\r\n\r\n    const perp12 = Vector3.cross(dir12, normal, new Vector3());\r\n    Vector3.normalize(perp12, perp12);\r\n\r\n    const perp23 = Vector3.cross(dir23, normal, new Vector3());\r\n    Vector3.normalize(perp23, perp23);\r\n\r\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\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    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  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    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\r\n\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    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\r\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\r\n\r\n    const totalAccel = Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\r\n    return totalAccel;\r\n  }\r\n\r\n  private solveConstraint(chain: SpringChain, constraint: SpringConstraint): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = chain.particles[constraint.particleB];\r\n\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    }\r\n\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    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  private solveInterChainConstraint(constraint: InterChainConstraint): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\r\n\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    }\r\n\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    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  private solveConstraintXPBD(chain: SpringChain, constraint: SpringConstraint, dt: number): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = 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    const C = currentLength - constraint.restLength;\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  private solveInterChainConstraintXPBD(constraint: InterChainConstraint, dt: number): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\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    const C = currentLength - constraint.restLength;\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\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   * 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 (const chain of this._chains) {\r\n      this.applyChainToNodes(chain, weight);\r\n    }\r\n  }\r\n\r\n  private applyChainToNodes(chain: SpringChain, weight: number): void {\r\n    for (let i = 0; i < chain.particles.length - 1; i++) {\r\n      const particle = chain.particles[i];\r\n      const nextParticle = chain.particles[i + 1];\r\n\r\n      if (!particle.node) {\r\n        continue;\r\n      }\r\n\r\n      // Get current bone direction from node's world matrix (before physics)\r\n      const currentBonePos = new Vector3(\r\n        particle.node.worldMatrix.m03,\r\n        particle.node.worldMatrix.m13,\r\n        particle.node.worldMatrix.m23\r\n      );\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      particle.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      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\r\n\r\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\r\n\r\n      if (weight < 1) {\r\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      const parent = particle.node.parent;\r\n      if (parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n        particle.node.rotation = localRotation;\r\n      } else {\r\n        particle.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    for (const chain of this._chains) {\r\n      chain.reset();\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Gets the spring chains\r\n   */\r\n  get chains(): SpringChain[] {\r\n    return this._chains;\r\n  }\r\n\r\n  /**\r\n   * Gets the inter-chain constraints\r\n   */\r\n  get interChainConstraints(): InterChainConstraint[] {\r\n    return this._interChainConstraints;\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  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