@zephyr3d/scene 0.8.0 → 0.8.2

package/dist/animation/spring/spring_bone.js

@@ -0,0 +1,240 @@
+import { Vector3, Quaternion } from '@zephyr3d/base';
+
+/**
+ * Spring bone for physics-based animation.
+ *
+ * @remarks
+ * A spring bone simulates physics on a bone node, commonly used for:
+ * - Skirts and dresses
+ * - Hair strands
+ * - Tails
+ * - Capes and cloth
+ *
+ * The bone follows its parent's animation but adds secondary motion
+ * based on physics simulation (springs, gravity, inertia).
+ *
+ * @public
+ */ class SpringBone {
+    /** The bone node this spring controls */ _bone;
+    /** Current position in world space */ _currentPosition;
+    /** Previous position in world space (for velocity calculation) */ _previousPosition;
+    /** Initial local position relative to parent */ _initialLocalPosition;
+    /** Initial bone length (distance from parent) */ _boneLength;
+    /** Spring stiffness (0-1, higher = stiffer) */ _stiffness;
+    /** Damping factor (0-1, higher = more damping) */ _damping;
+    /** Mass of the bone (affects inertia) */ _mass;
+    /** Gravity scale (1 = normal gravity, 0 = no gravity) */ _gravityScale;
+    /** Radius for collision detection */ _radius;
+    /**
+   * Create a spring bone.
+   *
+   * @param bone - The bone node to control
+   * @param stiffness - Spring stiffness (0-1, default: 0.1)
+   * @param damping - Damping factor (0-1, default: 0.5)
+   * @param mass - Mass of the bone (default: 1)
+   * @param gravityScale - Gravity scale (default: 1)
+   * @param radius - Collision radius (default: 0.05)
+   */ constructor(bone, stiffness = 0.1, damping = 0.5, mass = 1, gravityScale = 1, radius = 0.05){
+        this._bone = bone;
+        this._stiffness = Math.max(0, Math.min(1, stiffness));
+        this._damping = Math.max(0, Math.min(1, damping));
+        this._mass = Math.max(0.01, mass);
+        this._gravityScale = gravityScale;
+        this._radius = Math.max(0, radius);
+        // Store initial local transform
+        this._initialLocalPosition = bone.position.clone();
+        this._boneLength = this._initialLocalPosition.magnitude;
+        // Initialize positions in world space
+        const worldPos = new Vector3();
+        bone.worldMatrix.decompose(null, null, worldPos);
+        this._currentPosition = worldPos.clone();
+        this._previousPosition = worldPos.clone();
+    }
+    /**
+   * Get the bone node.
+   */ get bone() {
+        return this._bone;
+    }
+    /**
+   * Get/set spring stiffness (0-1).
+   */ get stiffness() {
+        return this._stiffness;
+    }
+    set stiffness(value) {
+        this._stiffness = Math.max(0, Math.min(1, value));
+    }
+    /**
+   * Get/set damping factor (0-1).
+   */ get damping() {
+        return this._damping;
+    }
+    set damping(value) {
+        this._damping = Math.max(0, Math.min(1, value));
+    }
+    /**
+   * Get/set mass.
+   */ get mass() {
+        return this._mass;
+    }
+    set mass(value) {
+        this._mass = Math.max(0.01, value);
+    }
+    /**
+   * Get/set gravity scale.
+   */ get gravityScale() {
+        return this._gravityScale;
+    }
+    set gravityScale(value) {
+        this._gravityScale = value;
+    }
+    /**
+   * Get/set collision radius.
+   */ get radius() {
+        return this._radius;
+    }
+    set radius(value) {
+        this._radius = Math.max(0, value);
+    }
+    /**
+   * Get current position in world space.
+   */ get currentPosition() {
+        return this._currentPosition;
+    }
+    /**
+   * Get initial local position relative to parent.
+   */ get initialLocalPosition() {
+        return this._initialLocalPosition;
+    }
+    /**
+   * Reset the spring bone to its initial state.
+   */ reset() {
+        const worldPos = new Vector3();
+        this._bone.worldMatrix.decompose(null, null, worldPos);
+        this._currentPosition.set(worldPos);
+        this._previousPosition.set(worldPos);
+    }
+    /**
+   * Update spring physics.
+   *
+   * @param deltaTime - Time step in seconds
+   * @param gravity - Gravity vector in world space
+   * @param windForce - Wind force vector in world space
+   */ update(deltaTime, gravity, windForce) {
+        // Clamp delta time to avoid instability (1ms to 100ms)
+        if (deltaTime <= 0.001 || deltaTime > 0.1) {
+            return; // Skip invalid or too large time steps
+        }
+        // Get parent's world position
+        const parent = this._bone.parent;
+        if (!parent) {
+            return; // Root bone, no spring simulation
+        }
+        const parentWorldPos = new Vector3();
+        parent.worldMatrix.decompose(null, null, parentWorldPos);
+        // Calculate velocity from previous frame
+        const velocity = Vector3.sub(this._currentPosition, this._previousPosition, new Vector3());
+        Vector3.scale(velocity, 1 / deltaTime, velocity);
+        // Store current position as previous
+        this._previousPosition.set(this._currentPosition);
+        // Calculate forces
+        const totalForce = new Vector3();
+        // 1. Gravity force
+        const gravityForce = Vector3.scale(gravity, this._gravityScale * this._mass, new Vector3());
+        totalForce.addBy(gravityForce);
+        // 2. Wind force
+        totalForce.addBy(windForce);
+        // 3. Damping force (opposes velocity)
+        const dampingForce = Vector3.scale(velocity, -this._damping * this._mass, new Vector3());
+        totalForce.addBy(dampingForce);
+        // 4. Spring force (only if stretched beyond bone length)
+        const toChild = Vector3.sub(this._currentPosition, parentWorldPos, new Vector3());
+        const currentLength = toChild.magnitude;
+        if (currentLength > this._boneLength + 0.001) {
+            // Bone is stretched, apply restoring force
+            const stretchAmount = currentLength - this._boneLength;
+            const direction = Vector3.scale(toChild, -1 / currentLength, new Vector3());
+            const springForce = Vector3.scale(direction, stretchAmount * this._stiffness * 100, new Vector3());
+            totalForce.addBy(springForce);
+        }
+        // Calculate acceleration (F = ma, a = F/m)
+        const acceleration = Vector3.scale(totalForce, 1 / this._mass, new Vector3());
+        // Update velocity
+        velocity.addBy(Vector3.scale(acceleration, deltaTime, new Vector3()));
+        // Apply velocity damping (additional damping to prevent oscillation)
+        const velocityMagnitude = velocity.magnitude;
+        if (velocityMagnitude > 0.001) {
+            const dampingFactor = Math.max(0, 1 - this._damping * deltaTime * 10);
+            velocity.scaleBy(dampingFactor);
+        }
+        // Update position
+        this._currentPosition.addBy(Vector3.scale(velocity, deltaTime, new Vector3()));
+        // Constrain to bone length (hard constraint)
+        const finalToChild = Vector3.sub(this._currentPosition, parentWorldPos, new Vector3());
+        const finalLength = finalToChild.magnitude;
+        if (finalLength > 0.000001) {
+            const direction = Vector3.scale(finalToChild, 1 / finalLength, new Vector3());
+            const targetPos = Vector3.add(parentWorldPos, Vector3.scale(direction, this._boneLength, new Vector3()), new Vector3());
+            // Soft constraint: blend toward target position
+            // This prevents the hard snap that causes oscillation
+            const constraintStrength = 0.5; // 0 = no constraint, 1 = hard constraint
+            this._currentPosition.x += (targetPos.x - this._currentPosition.x) * constraintStrength;
+            this._currentPosition.y += (targetPos.y - this._currentPosition.y) * constraintStrength;
+            this._currentPosition.z += (targetPos.z - this._currentPosition.z) * constraintStrength;
+        }
+    }
+    /**
+   * Apply the simulated position to the bone node.
+   *
+   * @remarks
+   * This converts the world space position back to local rotation.
+   */ applyToNode() {
+        const parent = this._bone.parent;
+        if (!parent) {
+            return;
+        }
+        // Get parent's world position and rotation
+        const parentWorldPos = new Vector3();
+        const parentWorldRot = new Quaternion();
+        parent.worldMatrix.decompose(null, parentWorldRot, parentWorldPos);
+        // Calculate current direction from parent to simulated position (in world space)
+        const currentDir = Vector3.sub(this._currentPosition, parentWorldPos, new Vector3());
+        const currentLength = currentDir.magnitude;
+        if (currentLength < 0.000001) {
+            return; // Too close to parent
+        }
+        currentDir.scaleBy(1 / currentLength);
+        // Transform current direction to parent's local space
+        const parentInvRot = Quaternion.conjugate(parentWorldRot, new Quaternion());
+        const currentDirLocal = parentInvRot.transform(currentDir, new Vector3());
+        // Original direction in local space (normalized)
+        const originalDirLocal = Vector3.normalize(this._initialLocalPosition, new Vector3());
+        // Calculate local rotation from original to current
+        const localRotation = new Quaternion();
+        this._fromToRotation(originalDirLocal, currentDirLocal, localRotation);
+        // Apply to bone
+        this._bone.rotation = localRotation;
+    }
+    /**
+   * Calculate rotation from one direction to another.
+   */ _fromToRotation(from, to, result) {
+        const dot = Vector3.dot(from, to);
+        if (dot >= 0.999999) {
+            return result.identity();
+        }
+        if (dot <= -0.999999) {
+            let axis = Vector3.cross(Vector3.axisPX(), from, new Vector3());
+            const lenSq = axis.x * axis.x + axis.y * axis.y + axis.z * axis.z;
+            if (lenSq < 0.000001) {
+                axis = Vector3.cross(Vector3.axisPY(), from, new Vector3());
+            }
+            axis.inplaceNormalize();
+            return result.fromAxisAngle(axis, Math.PI);
+        }
+        const axis = Vector3.cross(from, to).inplaceNormalize();
+        const angle = Math.acos(dot);
+        return result.fromAxisAngle(axis, angle);
+    }
+}
+
+export { SpringBone };
+//# sourceMappingURL=spring_bone.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"spring_bone.js","sources":["../../../src/animation/spring/spring_bone.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Spring bone for physics-based animation.\r\n *\r\n * @remarks\r\n * A spring bone simulates physics on a bone node, commonly used for:\r\n * - Skirts and dresses\r\n * - Hair strands\r\n * - Tails\r\n * - Capes and cloth\r\n *\r\n * The bone follows its parent's animation but adds secondary motion\r\n * based on physics simulation (springs, gravity, inertia).\r\n *\r\n * @public\r\n */\r\nexport class SpringBone {\r\n  /** The bone node this spring controls */\r\n  private _bone: SceneNode;\r\n  /** Current position in world space */\r\n  private _currentPosition: Vector3;\r\n  /** Previous position in world space (for velocity calculation) */\r\n  private _previousPosition: Vector3;\r\n  /** Initial local position relative to parent */\r\n  private _initialLocalPosition: Vector3;\r\n  /** Initial bone length (distance from parent) */\r\n  private _boneLength: number;\r\n\r\n  /** Spring stiffness (0-1, higher = stiffer) */\r\n  private _stiffness: number;\r\n  /** Damping factor (0-1, higher = more damping) */\r\n  private _damping: number;\r\n  /** Mass of the bone (affects inertia) */\r\n  private _mass: number;\r\n  /** Gravity scale (1 = normal gravity, 0 = no gravity) */\r\n  private _gravityScale: number;\r\n\r\n  /** Radius for collision detection */\r\n  private _radius: number;\r\n\r\n  /**\r\n   * Create a spring bone.\r\n   *\r\n   * @param bone - The bone node to control\r\n   * @param stiffness - Spring stiffness (0-1, default: 0.1)\r\n   * @param damping - Damping factor (0-1, default: 0.5)\r\n   * @param mass - Mass of the bone (default: 1)\r\n   * @param gravityScale - Gravity scale (default: 1)\r\n   * @param radius - Collision radius (default: 0.05)\r\n   */\r\n  constructor(\r\n    bone: SceneNode,\r\n    stiffness = 0.1,\r\n    damping = 0.5,\r\n    mass = 1,\r\n    gravityScale = 1,\r\n    radius = 0.05\r\n  ) {\r\n    this._bone = bone;\r\n    this._stiffness = Math.max(0, Math.min(1, stiffness));\r\n    this._damping = Math.max(0, Math.min(1, damping));\r\n    this._mass = Math.max(0.01, mass);\r\n    this._gravityScale = gravityScale;\r\n    this._radius = Math.max(0, radius);\r\n\r\n    // Store initial local transform\r\n    this._initialLocalPosition = bone.position.clone();\r\n    this._boneLength = this._initialLocalPosition.magnitude;\r\n\r\n    // Initialize positions in world space\r\n    const worldPos = new Vector3();\r\n    bone.worldMatrix.decompose(null, null, worldPos);\r\n    this._currentPosition = worldPos.clone();\r\n    this._previousPosition = worldPos.clone();\r\n  }\r\n\r\n  /**\r\n   * Get the bone node.\r\n   */\r\n  get bone(): SceneNode {\r\n    return this._bone;\r\n  }\r\n\r\n  /**\r\n   * Get/set spring stiffness (0-1).\r\n   */\r\n  get stiffness(): number {\r\n    return this._stiffness;\r\n  }\r\n\r\n  set stiffness(value: number) {\r\n    this._stiffness = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Get/set damping factor (0-1).\r\n   */\r\n  get damping(): number {\r\n    return this._damping;\r\n  }\r\n\r\n  set damping(value: number) {\r\n    this._damping = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Get/set mass.\r\n   */\r\n  get mass(): number {\r\n    return this._mass;\r\n  }\r\n\r\n  set mass(value: number) {\r\n    this._mass = Math.max(0.01, value);\r\n  }\r\n\r\n  /**\r\n   * Get/set gravity scale.\r\n   */\r\n  get gravityScale(): number {\r\n    return this._gravityScale;\r\n  }\r\n\r\n  set gravityScale(value: number) {\r\n    this._gravityScale = value;\r\n  }\r\n\r\n  /**\r\n   * Get/set collision radius.\r\n   */\r\n  get radius(): number {\r\n    return this._radius;\r\n  }\r\n\r\n  set radius(value: number) {\r\n    this._radius = Math.max(0, value);\r\n  }\r\n\r\n  /**\r\n   * Get current position in world space.\r\n   */\r\n  get currentPosition(): Vector3 {\r\n    return this._currentPosition;\r\n  }\r\n\r\n  /**\r\n   * Get initial local position relative to parent.\r\n   */\r\n  get initialLocalPosition(): Vector3 {\r\n    return this._initialLocalPosition;\r\n  }\r\n\r\n  /**\r\n   * Reset the spring bone to its initial state.\r\n   */\r\n  reset(): void {\r\n    const worldPos = new Vector3();\r\n    this._bone.worldMatrix.decompose(null, null, worldPos);\r\n    this._currentPosition.set(worldPos);\r\n    this._previousPosition.set(worldPos);\r\n  }\r\n\r\n  /**\r\n   * Update spring physics.\r\n   *\r\n   * @param deltaTime - Time step in seconds\r\n   * @param gravity - Gravity vector in world space\r\n   * @param windForce - Wind force vector in world space\r\n   */\r\n  update(deltaTime: number, gravity: Vector3, windForce: Vector3): void {\r\n    // Clamp delta time to avoid instability (1ms to 100ms)\r\n    if (deltaTime <= 0.001 || deltaTime > 0.1) {\r\n      return; // Skip invalid or too large time steps\r\n    }\r\n\r\n    // Get parent's world position\r\n    const parent = this._bone.parent;\r\n    if (!parent) {\r\n      return; // Root bone, no spring simulation\r\n    }\r\n\r\n    const parentWorldPos = new Vector3();\r\n    parent.worldMatrix.decompose(null, null, parentWorldPos);\r\n\r\n    // Calculate velocity from previous frame\r\n    const velocity = Vector3.sub(this._currentPosition, this._previousPosition, new Vector3());\r\n    Vector3.scale(velocity, 1 / deltaTime, velocity);\r\n\r\n    // Store current position as previous\r\n    this._previousPosition.set(this._currentPosition);\r\n\r\n    // Calculate forces\r\n    const totalForce = new Vector3();\r\n\r\n    // 1. Gravity force\r\n    const gravityForce = Vector3.scale(gravity, this._gravityScale * this._mass, new Vector3());\r\n    totalForce.addBy(gravityForce);\r\n\r\n    // 2. Wind force\r\n    totalForce.addBy(windForce);\r\n\r\n    // 3. Damping force (opposes velocity)\r\n    const dampingForce = Vector3.scale(velocity, -this._damping * this._mass, new Vector3());\r\n    totalForce.addBy(dampingForce);\r\n\r\n    // 4. Spring force (only if stretched beyond bone length)\r\n    const toChild = Vector3.sub(this._currentPosition, parentWorldPos, new Vector3());\r\n    const currentLength = toChild.magnitude;\r\n\r\n    if (currentLength > this._boneLength + 0.001) {\r\n      // Bone is stretched, apply restoring force\r\n      const stretchAmount = currentLength - this._boneLength;\r\n      const direction = Vector3.scale(toChild, -1 / currentLength, new Vector3());\r\n      const springForce = Vector3.scale(direction, stretchAmount * this._stiffness * 100, new Vector3());\r\n      totalForce.addBy(springForce);\r\n    }\r\n\r\n    // Calculate acceleration (F = ma, a = F/m)\r\n    const acceleration = Vector3.scale(totalForce, 1 / this._mass, new Vector3());\r\n\r\n    // Update velocity\r\n    velocity.addBy(Vector3.scale(acceleration, deltaTime, new Vector3()));\r\n\r\n    // Apply velocity damping (additional damping to prevent oscillation)\r\n    const velocityMagnitude = velocity.magnitude;\r\n    if (velocityMagnitude > 0.001) {\r\n      const dampingFactor = Math.max(0, 1 - this._damping * deltaTime * 10);\r\n      velocity.scaleBy(dampingFactor);\r\n    }\r\n\r\n    // Update position\r\n    this._currentPosition.addBy(Vector3.scale(velocity, deltaTime, new Vector3()));\r\n\r\n    // Constrain to bone length (hard constraint)\r\n    const finalToChild = Vector3.sub(this._currentPosition, parentWorldPos, new Vector3());\r\n    const finalLength = finalToChild.magnitude;\r\n\r\n    if (finalLength > 0.000001) {\r\n      const direction = Vector3.scale(finalToChild, 1 / finalLength, new Vector3());\r\n      const targetPos = Vector3.add(\r\n        parentWorldPos,\r\n        Vector3.scale(direction, this._boneLength, new Vector3()),\r\n        new Vector3()\r\n      );\r\n\r\n      // Soft constraint: blend toward target position\r\n      // This prevents the hard snap that causes oscillation\r\n      const constraintStrength = 0.5; // 0 = no constraint, 1 = hard constraint\r\n      this._currentPosition.x += (targetPos.x - this._currentPosition.x) * constraintStrength;\r\n      this._currentPosition.y += (targetPos.y - this._currentPosition.y) * constraintStrength;\r\n      this._currentPosition.z += (targetPos.z - this._currentPosition.z) * constraintStrength;\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Apply the simulated position to the bone node.\r\n   *\r\n   * @remarks\r\n   * This converts the world space position back to local rotation.\r\n   */\r\n  applyToNode(): void {\r\n    const parent = this._bone.parent;\r\n    if (!parent) {\r\n      return;\r\n    }\r\n\r\n    // Get parent's world position and rotation\r\n    const parentWorldPos = new Vector3();\r\n    const parentWorldRot = new Quaternion();\r\n    parent.worldMatrix.decompose(null, parentWorldRot, parentWorldPos);\r\n\r\n    // Calculate current direction from parent to simulated position (in world space)\r\n    const currentDir = Vector3.sub(this._currentPosition, parentWorldPos, new Vector3());\r\n    const currentLength = currentDir.magnitude;\r\n\r\n    if (currentLength < 0.000001) {\r\n      return; // Too close to parent\r\n    }\r\n\r\n    currentDir.scaleBy(1 / currentLength);\r\n\r\n    // Transform current direction to parent's local space\r\n    const parentInvRot = Quaternion.conjugate(parentWorldRot, new Quaternion());\r\n    const currentDirLocal = parentInvRot.transform(currentDir, new Vector3());\r\n\r\n    // Original direction in local space (normalized)\r\n    const originalDirLocal = Vector3.normalize(this._initialLocalPosition, new Vector3());\r\n\r\n    // Calculate local rotation from original to current\r\n    const localRotation = new Quaternion();\r\n    this._fromToRotation(originalDirLocal, currentDirLocal, localRotation);\r\n\r\n    // Apply to bone\r\n    this._bone.rotation = localRotation;\r\n  }\r\n\r\n  /**\r\n   * Calculate rotation from one direction to another.\r\n   */\r\n  private _fromToRotation(from: Vector3, to: Vector3, result: Quaternion): Quaternion {\r\n    const dot = Vector3.dot(from, to);\r\n\r\n    if (dot >= 0.999999) {\r\n      return result.identity();\r\n    }\r\n\r\n    if (dot <= -0.999999) {\r\n      let axis = Vector3.cross(Vector3.axisPX(), from, new Vector3());\r\n      const lenSq = axis.x * axis.x + axis.y * axis.y + axis.z * axis.z;\r\n      if (lenSq < 0.000001) {\r\n        axis = Vector3.cross(Vector3.axisPY(), from, new Vector3());\r\n      }\r\n      axis.inplaceNormalize();\r\n      return result.fromAxisAngle(axis, Math.PI);\r\n    }\r\n\r\n    const axis = Vector3.cross(from, to).inplaceNormalize();\r\n    const angle = Math.acos(dot);\r\n    return result.fromAxisAngle(axis, angle);\r\n  }\r\n}\r\n\r\n"],"names":["SpringBone","bone","stiffness","damping","mass","gravityScale","radius","_bone","_stiffness","Math","max","min","_damping","_mass","_gravityScale","_radius","_initialLocalPosition","position","clone","_boneLength","magnitude","worldPos","Vector3","worldMatrix","decompose","_currentPosition","_previousPosition","value","currentPosition","initialLocalPosition","reset","set","update","deltaTime","gravity","windForce","parent","parentWorldPos","velocity","sub","scale","totalForce","gravityForce","addBy","dampingForce","toChild","currentLength","stretchAmount","direction","springForce","acceleration","velocityMagnitude","dampingFactor","scaleBy","finalToChild","finalLength","targetPos","add","constraintStrength","x","y","z","applyToNode","parentWorldRot","Quaternion","currentDir","parentInvRot","conjugate","currentDirLocal","transform","originalDirLocal","normalize","localRotation","_fromToRotation","rotation","from","to","result","dot","identity","axis","cross","axisPX","lenSq","axisPY","inplaceNormalize","fromAxisAngle","PI","angle","acos"],"mappings":";;AAGA;;;;;;;;;;;;;;AAcC,IACM,MAAMA,UAAAA,CAAAA;8CAEX,KAAyB;2CAEzB,gBAAkC;uEAElC,iBAAmC;qDAEnC,qBAAuC;sDAEvC,WAA4B;oDAG5B,UAA2B;uDAE3B,QAAyB;8CAEzB,KAAsB;8DAEtB,aAA8B;0CAG9B,OAAwB;AAExB;;;;;;;;;AASC,MACD,YACEC,IAAe,EACfC,SAAY,GAAA,GAAG,EACfC,OAAU,GAAA,GAAG,EACbC,IAAAA,GAAO,CAAC,EACRC,YAAAA,GAAe,CAAC,EAChBC,MAAAA,GAAS,IAAI,CACb;QACA,IAAI,CAACC,KAAK,GAAGN,IAAAA;QACb,IAAI,CAACO,UAAU,GAAGC,IAAKC,CAAAA,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKE,GAAG,CAAC,CAAGT,EAAAA,SAAAA,CAAAA,CAAAA;QAC1C,IAAI,CAACU,QAAQ,GAAGH,IAAKC,CAAAA,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKE,GAAG,CAAC,CAAGR,EAAAA,OAAAA,CAAAA,CAAAA;AACxC,QAAA,IAAI,CAACU,KAAK,GAAGJ,IAAKC,CAAAA,GAAG,CAAC,IAAMN,EAAAA,IAAAA,CAAAA;QAC5B,IAAI,CAACU,aAAa,GAAGT,YAAAA;AACrB,QAAA,IAAI,CAACU,OAAO,GAAGN,IAAKC,CAAAA,GAAG,CAAC,CAAGJ,EAAAA,MAAAA,CAAAA;;AAG3B,QAAA,IAAI,CAACU,qBAAqB,GAAGf,IAAKgB,CAAAA,QAAQ,CAACC,KAAK,EAAA;AAChD,QAAA,IAAI,CAACC,WAAW,GAAG,IAAI,CAACH,qBAAqB,CAACI,SAAS;;AAGvD,QAAA,MAAMC,WAAW,IAAIC,OAAAA,EAAAA;AACrBrB,QAAAA,IAAAA,CAAKsB,WAAW,CAACC,SAAS,CAAC,MAAM,IAAMH,EAAAA,QAAAA,CAAAA;AACvC,QAAA,IAAI,CAACI,gBAAgB,GAAGJ,QAAAA,CAASH,KAAK,EAAA;AACtC,QAAA,IAAI,CAACQ,iBAAiB,GAAGL,QAAAA,CAASH,KAAK,EAAA;AACzC;AAEA;;AAEC,MACD,IAAIjB,IAAkB,GAAA;QACpB,OAAO,IAAI,CAACM,KAAK;AACnB;AAEA;;AAEC,MACD,IAAIL,SAAoB,GAAA;QACtB,OAAO,IAAI,CAACM,UAAU;AACxB;IAEA,IAAIN,SAAAA,CAAUyB,KAAa,EAAE;QAC3B,IAAI,CAACnB,UAAU,GAAGC,IAAKC,CAAAA,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKE,GAAG,CAAC,CAAGgB,EAAAA,KAAAA,CAAAA,CAAAA;AAC5C;AAEA;;AAEC,MACD,IAAIxB,OAAkB,GAAA;QACpB,OAAO,IAAI,CAACS,QAAQ;AACtB;IAEA,IAAIT,OAAAA,CAAQwB,KAAa,EAAE;QACzB,IAAI,CAACf,QAAQ,GAAGH,IAAKC,CAAAA,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKE,GAAG,CAAC,CAAGgB,EAAAA,KAAAA,CAAAA,CAAAA;AAC1C;AAEA;;AAEC,MACD,IAAIvB,IAAe,GAAA;QACjB,OAAO,IAAI,CAACS,KAAK;AACnB;IAEA,IAAIT,IAAAA,CAAKuB,KAAa,EAAE;AACtB,QAAA,IAAI,CAACd,KAAK,GAAGJ,IAAKC,CAAAA,GAAG,CAAC,IAAMiB,EAAAA,KAAAA,CAAAA;AAC9B;AAEA;;AAEC,MACD,IAAItB,YAAuB,GAAA;QACzB,OAAO,IAAI,CAACS,aAAa;AAC3B;IAEA,IAAIT,YAAAA,CAAasB,KAAa,EAAE;QAC9B,IAAI,CAACb,aAAa,GAAGa,KAAAA;AACvB;AAEA;;AAEC,MACD,IAAIrB,MAAiB,GAAA;QACnB,OAAO,IAAI,CAACS,OAAO;AACrB;IAEA,IAAIT,MAAAA,CAAOqB,KAAa,EAAE;AACxB,QAAA,IAAI,CAACZ,OAAO,GAAGN,IAAKC,CAAAA,GAAG,CAAC,CAAGiB,EAAAA,KAAAA,CAAAA;AAC7B;AAEA;;AAEC,MACD,IAAIC,eAA2B,GAAA;QAC7B,OAAO,IAAI,CAACH,gBAAgB;AAC9B;AAEA;;AAEC,MACD,IAAII,oBAAgC,GAAA;QAClC,OAAO,IAAI,CAACb,qBAAqB;AACnC;AAEA;;AAEC,MACDc,KAAc,GAAA;AACZ,QAAA,MAAMT,WAAW,IAAIC,OAAAA,EAAAA;QACrB,IAAI,CAACf,KAAK,CAACgB,WAAW,CAACC,SAAS,CAAC,MAAM,IAAMH,EAAAA,QAAAA,CAAAA;AAC7C,QAAA,IAAI,CAACI,gBAAgB,CAACM,GAAG,CAACV,QAAAA,CAAAA;AAC1B,QAAA,IAAI,CAACK,iBAAiB,CAACK,GAAG,CAACV,QAAAA,CAAAA;AAC7B;AAEA;;;;;;AAMC,MACDW,OAAOC,SAAiB,EAAEC,OAAgB,EAAEC,SAAkB,EAAQ;;QAEpE,IAAIF,SAAAA,IAAa,KAASA,IAAAA,SAAAA,GAAY,GAAK,EAAA;AACzC,YAAA,OAAA;AACF;;AAGA,QAAA,MAAMG,MAAS,GAAA,IAAI,CAAC7B,KAAK,CAAC6B,MAAM;AAChC,QAAA,IAAI,CAACA,MAAQ,EAAA;AACX,YAAA,OAAA;AACF;AAEA,QAAA,MAAMC,iBAAiB,IAAIf,OAAAA,EAAAA;AAC3Bc,QAAAA,MAAAA,CAAOb,WAAW,CAACC,SAAS,CAAC,MAAM,IAAMa,EAAAA,cAAAA,CAAAA;;AAGzC,QAAA,MAAMC,QAAWhB,GAAAA,OAAAA,CAAQiB,GAAG,CAAC,IAAI,CAACd,gBAAgB,EAAE,IAAI,CAACC,iBAAiB,EAAE,IAAIJ,OAAAA,EAAAA,CAAAA;AAChFA,QAAAA,OAAAA,CAAQkB,KAAK,CAACF,QAAU,EAAA,CAAA,GAAIL,SAAWK,EAAAA,QAAAA,CAAAA;;AAGvC,QAAA,IAAI,CAACZ,iBAAiB,CAACK,GAAG,CAAC,IAAI,CAACN,gBAAgB,CAAA;;AAGhD,QAAA,MAAMgB,aAAa,IAAInB,OAAAA,EAAAA;;AAGvB,QAAA,MAAMoB,YAAepB,GAAAA,OAAAA,CAAQkB,KAAK,CAACN,OAAS,EAAA,IAAI,CAACpB,aAAa,GAAG,IAAI,CAACD,KAAK,EAAE,IAAIS,OAAAA,EAAAA,CAAAA;AACjFmB,QAAAA,UAAAA,CAAWE,KAAK,CAACD,YAAAA,CAAAA;;AAGjBD,QAAAA,UAAAA,CAAWE,KAAK,CAACR,SAAAA,CAAAA;;AAGjB,QAAA,MAAMS,YAAetB,GAAAA,OAAAA,CAAQkB,KAAK,CAACF,UAAU,CAAC,IAAI,CAAC1B,QAAQ,GAAG,IAAI,CAACC,KAAK,EAAE,IAAIS,OAAAA,EAAAA,CAAAA;AAC9EmB,QAAAA,UAAAA,CAAWE,KAAK,CAACC,YAAAA,CAAAA;;QAGjB,MAAMC,OAAAA,GAAUvB,QAAQiB,GAAG,CAAC,IAAI,CAACd,gBAAgB,EAAEY,cAAAA,EAAgB,IAAIf,OAAAA,EAAAA,CAAAA;QACvE,MAAMwB,aAAAA,GAAgBD,QAAQzB,SAAS;AAEvC,QAAA,IAAI0B,aAAgB,GAAA,IAAI,CAAC3B,WAAW,GAAG,KAAO,EAAA;;AAE5C,YAAA,MAAM4B,aAAgBD,GAAAA,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package/dist/animation/spring/spring_bone_collider.js

@@ -0,0 +1,198 @@
+import { Vector3 } from '@zephyr3d/base';
+
+/**
+ * Base class for spring bone colliders.
+ *
+ * @public
+ */ class SpringBoneCollider {
+}
+/**
+ * Sphere collider for spring bones.
+ *
+ * @public
+ */ class SphereCollider extends SpringBoneCollider {
+    /** Center position in world space */ _center;
+    /** Sphere radius */ _radius;
+    /** Optional bone node to follow */ _bone;
+    /** Local offset from bone (if bone is set) */ _localOffset;
+    /**
+   * Create a sphere collider.
+   *
+   * @param center - Center position in world space (or local offset if bone is provided)
+   * @param radius - Sphere radius
+   * @param bone - Optional bone node to follow
+   */ constructor(center, radius, bone = null){
+        super();
+        this._center = center.clone();
+        this._radius = Math.max(0, radius);
+        this._bone = bone;
+        this._localOffset = bone ? center.clone() : new Vector3();
+    }
+    /**
+   * Get/set center position.
+   */ get center() {
+        if (this._bone) {
+            // Calculate world position from bone
+            const worldPos = new Vector3();
+            const matrix = this._bone.worldMatrix;
+            const offset = this._localOffset;
+            worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;
+            worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;
+            worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;
+            return worldPos;
+        }
+        return this._center;
+    }
+    set center(value) {
+        if (this._bone) {
+            this._localOffset.set(value);
+        } else {
+            this._center.set(value);
+        }
+    }
+    /**
+   * Get/set radius.
+   */ get radius() {
+        return this._radius;
+    }
+    set radius(value) {
+        this._radius = Math.max(0, value);
+    }
+    /**
+   * Get/set bone node.
+   */ get bone() {
+        return this._bone;
+    }
+    set bone(value) {
+        this._bone = value;
+    }
+    /**
+   * Test collision with a point and resolve it.
+   */ collide(position, radius) {
+        const center = this.center;
+        const direction = Vector3.sub(position, center, new Vector3());
+        const distance = direction.magnitude;
+        const minDistance = this._radius + radius;
+        if (distance < minDistance && distance > 0.000001) {
+            // Collision detected, push the point out
+            direction.scaleBy(1 / distance);
+            const penetration = minDistance - distance;
+            position.addBy(Vector3.scale(direction, penetration, new Vector3()));
+            return true;
+        }
+        return false;
+    }
+}
+/**
+ * Capsule collider for spring bones.
+ *
+ * @remarks
+ * A capsule is defined by two sphere centers and a radius.
+ * Useful for limbs like arms and legs.
+ *
+ * @public
+ */ class CapsuleCollider extends SpringBoneCollider {
+    /** Start point in world space */ _start;
+    /** End point in world space */ _end;
+    /** Capsule radius */ _radius;
+    /** Optional bone node for start point */ _startBone;
+    /** Optional bone node for end point */ _endBone;
+    /** Local offset for start point */ _startOffset;
+    /** Local offset for end point */ _endOffset;
+    /**
+   * Create a capsule collider.
+   *
+   * @param start - Start point in world space (or local offset if startBone is provided)
+   * @param end - End point in world space (or local offset if endBone is provided)
+   * @param radius - Capsule radius
+   * @param startBone - Optional bone node for start point
+   * @param endBone - Optional bone node for end point
+   */ constructor(start, end, radius, startBone = null, endBone = null){
+        super();
+        this._start = start.clone();
+        this._end = end.clone();
+        this._radius = Math.max(0, radius);
+        this._startBone = startBone;
+        this._endBone = endBone;
+        this._startOffset = startBone ? start.clone() : new Vector3();
+        this._endOffset = endBone ? end.clone() : new Vector3();
+    }
+    /**
+   * Get start point in world space.
+   */ get start() {
+        if (this._startBone) {
+            const worldPos = new Vector3();
+            const matrix = this._startBone.worldMatrix;
+            const offset = this._startOffset;
+            worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;
+            worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;
+            worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;
+            return worldPos;
+        }
+        return this._start;
+    }
+    /**
+   * Get end point in world space.
+   */ get end() {
+        if (this._endBone) {
+            const worldPos = new Vector3();
+            const matrix = this._endBone.worldMatrix;
+            const offset = this._endOffset;
+            worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;
+            worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;
+            worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;
+            return worldPos;
+        }
+        return this._end;
+    }
+    /**
+   * Get/set radius.
+   */ get radius() {
+        return this._radius;
+    }
+    set radius(value) {
+        this._radius = Math.max(0, value);
+    }
+    /**
+   * Test collision with a point and resolve it.
+   */ collide(position, radius) {
+        const start = this.start;
+        const end = this.end;
+        // Calculate closest point on capsule line segment
+        const line = Vector3.sub(end, start, new Vector3());
+        const lineLength = line.magnitude;
+        if (lineLength < 0.000001) {
+            // Degenerate capsule, treat as sphere
+            const direction = Vector3.sub(position, start, new Vector3());
+            const distance = direction.magnitude;
+            const minDistance = this._radius + radius;
+            if (distance < minDistance && distance > 0.000001) {
+                direction.scaleBy(1 / distance);
+                const penetration = minDistance - distance;
+                position.addBy(Vector3.scale(direction, penetration, new Vector3()));
+                return true;
+            }
+            return false;
+        }
+        const lineDir = Vector3.scale(line, 1 / lineLength, new Vector3());
+        const toPoint = Vector3.sub(position, start, new Vector3());
+        const t = Math.max(0, Math.min(lineLength, Vector3.dot(toPoint, lineDir)));
+        // Closest point on line segment
+        const closestPoint = Vector3.add(start, Vector3.scale(lineDir, t, new Vector3()), new Vector3());
+        // Check distance from closest point
+        const direction = Vector3.sub(position, closestPoint, new Vector3());
+        const distance = direction.magnitude;
+        const minDistance = this._radius + radius;
+        if (distance < minDistance && distance > 0.000001) {
+            // Collision detected, push the point out
+            direction.scaleBy(1 / distance);
+            const penetration = minDistance - distance;
+            position.addBy(Vector3.scale(direction, penetration, new Vector3()));
+            return true;
+        }
+        return false;
+    }
+}
+
+export { CapsuleCollider, SphereCollider, SpringBoneCollider };
+//# sourceMappingURL=spring_bone_collider.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"spring_bone_collider.js","sources":["../../../src/animation/spring/spring_bone_collider.ts"],"sourcesContent":["import { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Base class for spring bone colliders.\r\n *\r\n * @public\r\n */\r\nexport abstract class SpringBoneCollider {\r\n  /**\r\n   * Test collision with a point and resolve it.\r\n   *\r\n   * @param position - Point position in world space\r\n   * @param radius - Point radius\r\n   * @returns True if collision occurred and was resolved\r\n   */\r\n  abstract collide(position: Vector3, radius: number): boolean;\r\n}\r\n\r\n/**\r\n * Sphere collider for spring bones.\r\n *\r\n * @public\r\n */\r\nexport class SphereCollider extends SpringBoneCollider {\r\n  /** Center position in world space */\r\n  private _center: Vector3;\r\n  /** Sphere radius */\r\n  private _radius: number;\r\n  /** Optional bone node to follow */\r\n  private _bone: SceneNode | null;\r\n  /** Local offset from bone (if bone is set) */\r\n  private _localOffset: Vector3;\r\n\r\n  /**\r\n   * Create a sphere collider.\r\n   *\r\n   * @param center - Center position in world space (or local offset if bone is provided)\r\n   * @param radius - Sphere radius\r\n   * @param bone - Optional bone node to follow\r\n   */\r\n  constructor(center: Vector3, radius: number, bone: SceneNode | null = null) {\r\n    super();\r\n    this._center = center.clone();\r\n    this._radius = Math.max(0, radius);\r\n    this._bone = bone;\r\n    this._localOffset = bone ? center.clone() : new Vector3();\r\n  }\r\n\r\n  /**\r\n   * Get/set center position.\r\n   */\r\n  get center(): Vector3 {\r\n    if (this._bone) {\r\n      // Calculate world position from bone\r\n      const worldPos = new Vector3();\r\n      const matrix = this._bone.worldMatrix;\r\n      const offset = this._localOffset;\r\n      worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;\r\n      worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;\r\n      worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;\r\n      return worldPos;\r\n    }\r\n    return this._center;\r\n  }\r\n\r\n  set center(value: Vector3) {\r\n    if (this._bone) {\r\n      this._localOffset.set(value);\r\n    } else {\r\n      this._center.set(value);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Get/set radius.\r\n   */\r\n  get radius(): number {\r\n    return this._radius;\r\n  }\r\n\r\n  set radius(value: number) {\r\n    this._radius = Math.max(0, value);\r\n  }\r\n\r\n  /**\r\n   * Get/set bone node.\r\n   */\r\n  get bone(): SceneNode | null {\r\n    return this._bone;\r\n  }\r\n\r\n  set bone(value: SceneNode | null) {\r\n    this._bone = value;\r\n  }\r\n\r\n  /**\r\n   * Test collision with a point and resolve it.\r\n   */\r\n  collide(position: Vector3, radius: number): boolean {\r\n    const center = this.center;\r\n    const direction = Vector3.sub(position, center, new Vector3());\r\n    const distance = direction.magnitude;\r\n    const minDistance = this._radius + radius;\r\n\r\n    if (distance < minDistance && distance > 0.000001) {\r\n      // Collision detected, push the point out\r\n      direction.scaleBy(1 / distance);\r\n      const penetration = minDistance - distance;\r\n      position.addBy(Vector3.scale(direction, penetration, new Vector3()));\r\n      return true;\r\n    }\r\n\r\n    return false;\r\n  }\r\n}\r\n\r\n/**\r\n * Capsule collider for spring bones.\r\n *\r\n * @remarks\r\n * A capsule is defined by two sphere centers and a radius.\r\n * Useful for limbs like arms and legs.\r\n *\r\n * @public\r\n */\r\nexport class CapsuleCollider extends SpringBoneCollider {\r\n  /** Start point in world space */\r\n  private _start: Vector3;\r\n  /** End point in world space */\r\n  private _end: Vector3;\r\n  /** Capsule radius */\r\n  private _radius: number;\r\n  /** Optional bone node for start point */\r\n  private _startBone: SceneNode | null;\r\n  /** Optional bone node for end point */\r\n  private _endBone: SceneNode | null;\r\n  /** Local offset for start point */\r\n  private _startOffset: Vector3;\r\n  /** Local offset for end point */\r\n  private _endOffset: Vector3;\r\n\r\n  /**\r\n   * Create a capsule collider.\r\n   *\r\n   * @param start - Start point in world space (or local offset if startBone is provided)\r\n   * @param end - End point in world space (or local offset if endBone is provided)\r\n   * @param radius - Capsule radius\r\n   * @param startBone - Optional bone node for start point\r\n   * @param endBone - Optional bone node for end point\r\n   */\r\n  constructor(\r\n    start: Vector3,\r\n    end: Vector3,\r\n    radius: number,\r\n    startBone: SceneNode | null = null,\r\n    endBone: SceneNode | null = null\r\n  ) {\r\n    super();\r\n    this._start = start.clone();\r\n    this._end = end.clone();\r\n    this._radius = Math.max(0, radius);\r\n    this._startBone = startBone;\r\n    this._endBone = endBone;\r\n    this._startOffset = startBone ? start.clone() : new Vector3();\r\n    this._endOffset = endBone ? end.clone() : new Vector3();\r\n  }\r\n\r\n  /**\r\n   * Get start point in world space.\r\n   */\r\n  get start(): Vector3 {\r\n    if (this._startBone) {\r\n      const worldPos = new Vector3();\r\n      const matrix = this._startBone.worldMatrix;\r\n      const offset = this._startOffset;\r\n      worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;\r\n      worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;\r\n      worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;\r\n      return worldPos;\r\n    }\r\n    return this._start;\r\n  }\r\n\r\n  /**\r\n   * Get end point in world space.\r\n   */\r\n  get end(): Vector3 {\r\n    if (this._endBone) {\r\n      const worldPos = new Vector3();\r\n      const matrix = this._endBone.worldMatrix;\r\n      const offset = this._endOffset;\r\n      worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;\r\n      worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;\r\n      worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;\r\n      return worldPos;\r\n    }\r\n    return this._end;\r\n  }\r\n\r\n  /**\r\n   * Get/set radius.\r\n   */\r\n  get radius(): number {\r\n    return this._radius;\r\n  }\r\n\r\n  set radius(value: number) {\r\n    this._radius = Math.max(0, value);\r\n  }\r\n\r\n  /**\r\n   * Test collision with a point and resolve it.\r\n   */\r\n  collide(position: Vector3, radius: number): boolean {\r\n    const start = this.start;\r\n    const end = this.end;\r\n\r\n    // Calculate closest point on capsule line segment\r\n    const line = Vector3.sub(end, start, new Vector3());\r\n    const lineLength = line.magnitude;\r\n\r\n    if (lineLength < 0.000001) {\r\n      // Degenerate capsule, treat as sphere\r\n      const direction = Vector3.sub(position, start, new Vector3());\r\n      const distance = direction.magnitude;\r\n      const minDistance = this._radius + radius;\r\n\r\n      if (distance < minDistance && distance > 0.000001) {\r\n        direction.scaleBy(1 / distance);\r\n        const penetration = minDistance - distance;\r\n        position.addBy(Vector3.scale(direction, penetration, new Vector3()));\r\n        return true;\r\n      }\r\n      return false;\r\n    }\r\n\r\n    const lineDir = Vector3.scale(line, 1 / lineLength, new Vector3());\r\n    const toPoint = Vector3.sub(position, start, new Vector3());\r\n    const t = Math.max(0, Math.min(lineLength, Vector3.dot(toPoint, lineDir)));\r\n\r\n    // Closest point on line segment\r\n    const closestPoint = Vector3.add(start, 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