@zephyr3d/scene 0.8.1 → 0.9.0

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

@@ -1 +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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+{"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 * @deprecated Use the new {@link JointDynamicsSystem} class instead.\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  }\r\n\r\n  set gravity(gravity: Vector3) {\r\n    this._gravity.set(gravity);\r\n  }\r\n\r\n  /**\r\n   * Gets the current wind\r\n   */\r\n  get wind(): Vector3 {\r\n    return this._wind;\r\n  }\r\n\r\n  set wind(wind: Vector3) {\r\n    this._wind.set(wind);\r\n  }\r\n\r\n  /**\r\n   * Gets the number of iterations\r\n   */\r\n  get iterations(): number {\r\n    return this._iterations;\r\n  }\r\n\r\n  set iterations(count: number) {\r\n    this._iterations = Math.max(1, count);\r\n  }\r\n\r\n  /**\r\n   * Gets whether inertial forces are enabled\r\n   */\r\n  get enableInertialForces(): boolean {\r\n    return this._enableInertialForces;\r\n  }\r\n\r\n  set enableInertialForces(enabled: boolean) {\r\n    this._enableInertialForces = enabled;\r\n  }\r\n\r\n  /**\r\n   * Gets the centrifugal force scale\r\n   */\r\n  get centrifugalScale(): number {\r\n    return this._centrifugalScale;\r\n  }\r\n\r\n  set centrifugalScale(scale: number) {\r\n    this._centrifugalScale = Math.max(0, scale);\r\n  }\r\n\r\n  /**\r\n   * Gets the 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  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 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    }\r\n  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package/dist/animation/spring/spring_chain.js

@@ -32,8 +32,9 @@ import { createSpringConstraint } from './spring_constraint.js';
             if (current === endNode) {
                 break;
             }
-            if (current.children && current.children.length > 0) {
-                current = current.children[0].get();
+            const children = current.children;
+            if (children.length > 0) {
+                current = children[0];
             } else {
                 break;
             }

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

@@ -1 +1 @@
-{"version":3,"file":"spring_chain.js","sources":["../../../src/animation/spring/spring_chain.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\nimport type { SpringParticle } from './spring_particle';\r\nimport { createSpringParticle } from './spring_particle';\r\nimport type { SpringConstraint } from './spring_constraint';\r\nimport { createSpringConstraint } from './spring_constraint';\r\n\r\n/**\r\n * Manages a chain of spring particles and constraints\r\n *\r\n * @public\r\n */\r\nexport class SpringChain {\r\n  /** Array of particles in the chain */\r\n  particles: SpringParticle[];\r\n  /** Array of constraints between particles */\r\n  constraints: SpringConstraint[];\r\n\r\n  constructor() {\r\n    this.particles = [];\r\n    this.constraints = [];\r\n  }\r\n\r\n  /**\r\n   * Creates a spring chain from a bone hierarchy\r\n   * @param startNode - Root node of the bone chain\r\n   * @param endNode - End node of the bone chain (optional, if null uses all descendants)\r\n   * @param options - Additional options\r\n   * @returns A new SpringChain instance\r\n   */\r\n  static fromBoneChain(\r\n    startNode: SceneNode,\r\n    endNode: SceneNode | null = null,\r\n    options?: {\r\n      mass?: number;\r\n      damping?: number;\r\n      stiffness?: number;\r\n    }\r\n  ): SpringChain {\r\n    const chain = new SpringChain();\r\n    const mass = options?.mass ?? 1.0;\r\n    const damping = options?.damping ?? 0.95;\r\n    const stiffness = options?.stiffness ?? 0.8;\r\n\r\n    // Collect nodes from startNode to endNode\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode | null = startNode;\r\n\r\n    while (current) {\r\n      nodes.push(current);\r\n      if (current === endNode) {\r\n        break;\r\n      }\r\n\r\n      if (current.children && current.children.length > 0) {\r\n        current = current.children[0].get();\r\n      } else {\r\n        break;\r\n      }\r\n    }\r\n\r\n    // Create particles for each bone\r\n    for (let i = 0; i < nodes.length; i++) {\r\n      const node = nodes[i];\r\n      const worldPos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\r\n\r\n      // Get the original world rotation\r\n      const originalRotation = new Quaternion();\r\n      node.worldMatrix.decompose(null, originalRotation, null);\r\n\r\n      const particle = createSpringParticle(worldPos, {\r\n        mass,\r\n        damping,\r\n        fixed: i === 0, // First particle is fixed (anchor)\r\n        node,\r\n        originalRotation\r\n      });\r\n\r\n      const particleIndex = chain.addParticle(particle);\r\n\r\n      // Create constraint with previous particle\r\n      if (i > 0) {\r\n        const prevIndex = particleIndex - 1;\r\n        const prevParticle = chain.particles[prevIndex];\r\n        const restLength = Vector3.distance(particle.position, prevParticle.position);\r\n\r\n        chain.addConstraint(createSpringConstraint(prevIndex, particleIndex, restLength, stiffness));\r\n      }\r\n    }\r\n\r\n    return chain;\r\n  }\r\n\r\n  /**\r\n   * Adds a particle to the chain\r\n   * @param particle - The particle to add\r\n   * @returns The index of the added particle\r\n   */\r\n  addParticle(particle: SpringParticle): number {\r\n    this.particles.push(particle);\r\n    return this.particles.length - 1;\r\n  }\r\n\r\n  /**\r\n   * Adds a constraint to the chain\r\n   * @param constraint - The constraint to add\r\n   */\r\n  addConstraint(constraint: SpringConstraint): void {\r\n    this.constraints.push(constraint);\r\n  }\r\n\r\n  /**\r\n   * Adds cross constraints between particles for cloth-like behavior\r\n   * @param stiffness - Stiffness of the cross constraints\r\n   * @param skipDistance - Distance between particles to connect (default: 2)\r\n   */\r\n  addCrossConstraints(stiffness: number = 0.6, skipDistance: number = 2): void {\r\n    for (let i = 0; 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+{"version":3,"file":"spring_chain.js","sources":["../../../src/animation/spring/spring_chain.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\nimport type { SpringParticle } from './spring_particle';\r\nimport { createSpringParticle } from './spring_particle';\r\nimport type { SpringConstraint } from './spring_constraint';\r\nimport { createSpringConstraint } from './spring_constraint';\r\n\r\n/**\r\n * Manages a chain of spring particles and constraints\r\n *\r\n * @public\r\n */\r\nexport class SpringChain {\r\n  /** Array of particles in the chain */\r\n  particles: SpringParticle[];\r\n  /** Array of constraints between particles */\r\n  constraints: SpringConstraint[];\r\n\r\n  constructor() {\r\n    this.particles = [];\r\n    this.constraints = [];\r\n  }\r\n\r\n  /**\r\n   * Creates a spring chain from a bone hierarchy\r\n   * @param startNode - Root node of the bone chain\r\n   * @param endNode - End node of the bone chain (optional, if null uses all descendants)\r\n   * @param options - Additional options\r\n   * @returns A new SpringChain instance\r\n   */\r\n  static fromBoneChain(\r\n    startNode: SceneNode,\r\n    endNode: SceneNode | null = null,\r\n    options?: {\r\n      mass?: number;\r\n      damping?: number;\r\n      stiffness?: number;\r\n    }\r\n  ): SpringChain {\r\n    const chain = new SpringChain();\r\n    const mass = options?.mass ?? 1.0;\r\n    const damping = options?.damping ?? 0.95;\r\n    const stiffness = options?.stiffness ?? 0.8;\r\n\r\n    // Collect nodes from startNode to endNode\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode | null = startNode;\r\n\r\n    while (current) {\r\n      nodes.push(current);\r\n      if (current === endNode) {\r\n        break;\r\n      }\r\n\r\n      const children: SceneNode[] = current.children;\r\n      if (children.length > 0) {\r\n        current = children[0];\r\n      } else {\r\n        break;\r\n      }\r\n    }\r\n\r\n    // Create particles for each bone\r\n    for (let i = 0; i < nodes.length; i++) {\r\n      const node = nodes[i];\r\n      const worldPos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\r\n\r\n      // Get the original world rotation\r\n      const originalRotation = new Quaternion();\r\n      node.worldMatrix.decompose(null, originalRotation, null);\r\n\r\n      const particle = createSpringParticle(worldPos, {\r\n        mass,\r\n        damping,\r\n        fixed: i === 0, // First particle is fixed (anchor)\r\n        node,\r\n        originalRotation\r\n      });\r\n\r\n      const particleIndex = chain.addParticle(particle);\r\n\r\n      // Create constraint with previous particle\r\n      if (i > 0) {\r\n        const prevIndex = particleIndex - 1;\r\n        const prevParticle = chain.particles[prevIndex];\r\n        const restLength = Vector3.distance(particle.position, prevParticle.position);\r\n\r\n        chain.addConstraint(createSpringConstraint(prevIndex, particleIndex, restLength, stiffness));\r\n      }\r\n    }\r\n\r\n    return chain;\r\n  }\r\n\r\n  /**\r\n   * Adds a particle to the chain\r\n   * @param particle - The particle to add\r\n   * @returns The index of the added particle\r\n   */\r\n  addParticle(particle: SpringParticle): number {\r\n    this.particles.push(particle);\r\n    return this.particles.length - 1;\r\n  }\r\n\r\n  /**\r\n   * Adds a constraint to the chain\r\n   * @param constraint - The constraint to add\r\n   */\r\n  addConstraint(constraint: SpringConstraint): void {\r\n    this.constraints.push(constraint);\r\n  }\r\n\r\n  /**\r\n   * Adds cross constraints between particles for cloth-like behavior\r\n   * @param stiffness - Stiffness of the cross constraints\r\n   * @param skipDistance - Distance between particles to connect (default: 2)\r\n   */\r\n  addCrossConstraints(stiffness: number = 0.6, skipDistance: number = 2): void {\r\n    for (let i = 0; i < this.particles.length - skipDistance; i++) {\r\n      const pA = this.particles[i];\r\n      const pB = this.particles[i + skipDistance];\r\n      const restLength = Vector3.distance(pA.position, pB.position);\r\n\r\n      this.addConstraint(createSpringConstraint(i, i + skipDistance, restLength, stiffness));\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Resets all particles to their original positions\r\n   */\r\n  reset(): void {\r\n    for (const particle of this.particles) {\r\n      particle.position.set(particle.originalPosition);\r\n      particle.prevPosition.set(particle.originalPosition);\r\n    }\r\n  }\r\n}\r\n"],"names":["SpringChain","particles","constraints","fromBoneChain","startNode","endNode","options","chain","mass","damping","stiffness","nodes","current","push","children","length","i","node","worldPos","Vector3","worldMatrix","m03","m13","m23","originalRotation","Quaternion","decompose","particle","createSpringParticle","fixed","particleIndex","addParticle","prevIndex","prevParticle","restLength","distance","position","addConstraint","createSpringConstraint","constraint","addCrossConstraints","skipDistance","pA","pB","reset","set","originalPosition","prevPosition"],"mappings":";;;;AAOA;;;;AAIC,IACM,MAAMA,WAAAA,CAAAA;AACX,2CACAC,SAA4B;AAC5B,kDACAC,WAAgC;IAEhC,WAAc,EAAA;QACZ,IAAI,CAACD,SAAS,GAAG,EAAE;QACnB,IAAI,CAACC,WAAW,GAAG,EAAE;AACvB;AAEA;;;;;;MAOA,OAAOC,cACLC,SAAoB,EACpBC,UAA4B,IAAI,EAChCC,OAIC,EACY;AACb,QAAA,MAAMC,QAAQ,IAAIP,WAAAA,EAAAA;QAClB,MAAMQ,IAAAA,GAAOF,SAASE,IAAQ,IAAA,GAAA;QAC9B,MAAMC,OAAAA,GAAUH,SAASG,OAAW,IAAA,IAAA;QACpC,MAAMC,SAAAA,GAAYJ,SAASI,SAAa,IAAA,GAAA;;AAGxC,QAAA,MAAMC,QAAqB,EAAE;AAC7B,QAAA,IAAIC,OAA4BR,GAAAA,SAAAA;AAEhC,QAAA,MAAOQ,OAAS,CAAA;AACdD,YAAAA,KAAAA,CAAME,IAAI,CAACD,OAAAA,CAAAA;AACX,YAAA,IAAIA,YAAYP,OAAS,EAAA;AACvB,gBAAA;AACF;YAEA,MAAMS,QAAAA,GAAwBF,QAAQE,QAAQ;YAC9C,IAAIA,QAAAA,CAASC,MAAM,GAAG,CAAG,EAAA;gBACvBH,OAAUE,GAAAA,QAAQ,CAAC,CAAE,CAAA;aAChB,MAAA;AACL,gBAAA;AACF;AACF;;AAGA,QAAA,IAAK,IAAIE,CAAI,GAAA,CAAA,EAAGA,IAAIL,KAAMI,CAAAA,MAAM,EAAEC,CAAK,EAAA,CAAA;YACrC,MAAMC,IAAAA,GAAON,KAAK,CAACK,CAAE,CAAA;AACrB,YAAA,MAAME,WAAW,IAAIC,OAAAA,CAAQF,IAAKG,CAAAA,WAAW,CAACC,GAAG,EAAEJ,IAAKG,CAAAA,WAAW,CAACE,GAAG,EAAEL,IAAKG,CAAAA,WAAW,CAACG,GAAG,CAAA;;AAG7F,YAAA,MAAMC,mBAAmB,IAAIC,UAAAA,EAAAA;AAC7BR,YAAAA,IAAAA,CAAKG,WAAW,CAACM,SAAS,CAAC,MAAMF,gBAAkB,EAAA,IAAA,CAAA;YAEnD,MAAMG,QAAAA,GAAWC,qBAAqBV,QAAU,EAAA;AAC9CV,gBAAAA,IAAAA;AACAC,gBAAAA,OAAAA;AACAoB,gBAAAA,KAAAA,EAAOb,CAAM,KAAA,CAAA;AACbC,gBAAAA,IAAAA;AACAO,gBAAAA;AACF,aAAA,CAAA;YAEA,MAAMM,aAAAA,GAAgBvB,KAAMwB,CAAAA,WAAW,CAACJ,QAAAA,CAAAA;;AAGxC,YAAA,IAAIX,IAAI,CAAG,EAAA;AACT,gBAAA,MAAMgB,YAAYF,aAAgB,GAAA,CAAA;AAClC,gBAAA,MAAMG,YAAe1B,GAAAA,KAAAA,CAAMN,SAAS,CAAC+B,SAAU,CAAA;gBAC/C,MAAME,UAAAA,GAAaf,QAAQgB,QAAQ,CAACR,SAASS,QAAQ,EAAEH,aAAaG,QAAQ,CAAA;AAE5E7B,gBAAAA,KAAAA,CAAM8B,aAAa,CAACC,sBAAuBN,CAAAA,SAAAA,EAAWF,eAAeI,UAAYxB,EAAAA,SAAAA,CAAAA,CAAAA;AACnF;AACF;QAEA,OAAOH,KAAAA;AACT;AAEA;;;;MAKAwB,WAAAA,CAAYJ,QAAwB,EAAU;AAC5C,QAAA,IAAI,CAAC1B,SAAS,CAACY,IAAI,CAACc,QAAAA,CAAAA;AACpB,QAAA,OAAO,IAAI,CAAC1B,SAAS,CAACc,MAAM,GAAG,CAAA;AACjC;AAEA;;;MAIAsB,aAAAA,CAAcE,UAA4B,EAAQ;AAChD,QAAA,IAAI,CAACrC,WAAW,CAACW,IAAI,CAAC0B,UAAAA,CAAAA;AACxB;AAEA;;;;AAIC,MACDC,oBAAoB9B,SAAoB,GAAA,GAAG,EAAE+B,YAAAA,GAAuB,CAAC,EAAQ;QAC3E,IAAK,IAAIzB,CAAI,GAAA,CAAA,EAAGA,CAAI,GAAA,IAAI,CAACf,SAAS,CAACc,MAAM,GAAG0B,YAAAA,EAAczB,CAAK,EAAA,CAAA;AAC7D,YAAA,MAAM0B,EAAK,GAAA,IAAI,CAACzC,SAAS,CAACe,CAAE,CAAA;AAC5B,YAAA,MAAM2B,KAAK,IAAI,CAAC1C,SAAS,CAACe,IAAIyB,YAAa,CAAA;YAC3C,MAAMP,UAAAA,GAAaf,QAAQgB,QAAQ,CAACO,GAAGN,QAAQ,EAAEO,GAAGP,QAAQ,CAAA;AAE5D,YAAA,IAAI,CAACC,aAAa,CAACC,uBAAuBtB,CAAGA,EAAAA,CAAAA,GAAIyB,cAAcP,UAAYxB,EAAAA,SAAAA,CAAAA,CAAAA;AAC7E;AACF;AAEA;;AAEC,MACDkC,KAAc,GAAA;AACZ,QAAA,KAAK,MAAMjB,QAAAA,IAAY,IAAI,CAAC1B,SAAS,CAAE;AACrC0B,YAAAA,QAAAA,CAASS,QAAQ,CAACS,GAAG,CAAClB,SAASmB,gBAAgB,CAAA;AAC/CnB,YAAAA,QAAAA,CAASoB,YAAY,CAACF,GAAG,CAAClB,SAASmB,gBAAgB,CAAA;AACrD;AACF;AACF;;;;"}

package/dist/animation/spring/spring_collider.js

@@ -11,11 +11,13 @@ import { Vector3 } from '@zephyr3d/base';
     if (node) {
         // If node is provided, treat centerOrOffset as local offset
         const worldMatrix = node.worldMatrix;
-        const worldCenter = new Vector3(worldMatrix.m03 + centerOrOffset.x, worldMatrix.m13 + centerOrOffset.y, worldMatrix.m23 + centerOrOffset.z);
+        const worldCenter = worldMatrix.transformPointAffine(centerOrOffset, new Vector3());
         return {
             type: 'sphere',
             center: worldCenter,
             radius,
+            localRadius: radius,
+            localRadiusScaleRef: getUniformScale(worldMatrix),
             node,
             enabled: true,
             localOffset: centerOrOffset.clone()
@@ -43,13 +45,15 @@ import { Vector3 } from '@zephyr3d/base';
     if (node) {
         // If node is provided, treat as local offsets
         const worldMatrix = node.worldMatrix;
-        const worldStart = new Vector3(worldMatrix.m03 + startOrOffset.x, worldMatrix.m13 + startOrOffset.y, worldMatrix.m23 + startOrOffset.z);
-        const worldEnd = new Vector3(worldMatrix.m03 + endOrOffset.x, worldMatrix.m13 + endOrOffset.y, worldMatrix.m23 + endOrOffset.z);
+        const worldStart = worldMatrix.transformPointAffine(startOrOffset, new Vector3());
+        const worldEnd = worldMatrix.transformPointAffine(endOrOffset, new Vector3());
         return {
             type: 'capsule',
             start: worldStart,
             end: worldEnd,
             radius,
+            localRadius: radius,
+            localRadiusScaleRef: getPerpendicularScale(worldMatrix, Vector3.sub(endOrOffset, startOrOffset, new Vector3())),
             node,
             enabled: true,
             localStartOffset: startOrOffset.clone(),
@@ -80,7 +84,7 @@ import { Vector3 } from '@zephyr3d/base';
     if (node) {
         // If node is provided, treat as local offset
         const worldMatrix = node.worldMatrix;
-        const worldPoint = new Vector3(worldMatrix.m03 + pointOrOffset.x, worldMatrix.m13 + pointOrOffset.y, worldMatrix.m23 + pointOrOffset.z);
+        const worldPoint = worldMatrix.transformPointAffine(pointOrOffset, new Vector3());
         return {
             type: 'plane',
             point: worldPoint,
@@ -196,6 +200,11 @@ import { Vector3 } from '@zephyr3d/base';
         case 'sphere':
             {
                 const sphere = collider;
+                if (sphere.localRadius !== undefined) {
+                    const currentScale = getUniformScale(worldMatrix);
+                    const refScale = Math.max(1e-6, sphere.localRadiusScaleRef ?? 1);
+                    sphere.radius = sphere.localRadius * (currentScale / refScale);
+                }
                 if (sphere.localOffset) {
                     // Transform local offset to world space
                     worldMatrix.transformPointAffine(sphere.localOffset, sphere.center);
@@ -210,6 +219,12 @@ import { Vector3 } from '@zephyr3d/base';
         case 'capsule':
             {
                 const capsule = collider;
+                if (capsule.localRadius !== undefined) {
+                    const axisLocal = capsule.localStartOffset && capsule.localEndOffset ? Vector3.sub(capsule.localEndOffset, capsule.localStartOffset, new Vector3()) : Vector3.axisPY();
+                    const currentScale = getPerpendicularScale(worldMatrix, axisLocal);
+                    const refScale = Math.max(1e-6, capsule.localRadiusScaleRef ?? 1);
+                    capsule.radius = capsule.localRadius * (currentScale / refScale);
+                }
                 if (capsule.localStartOffset && capsule.localEndOffset) {
                     // Transform local offsets to world space
                     worldMatrix.transformPointAffine(capsule.localStartOffset, capsule.start);
@@ -236,12 +251,27 @@ import { Vector3 } from '@zephyr3d/base';
                 }
                 if (plane.localNormal) {
                     // Transform local normal to world space (rotation only)
-                    worldMatrix.transformVectorAffine(plane.localNormal, plane.normal).inplaceNormalize;
+                    worldMatrix.transformVectorAffine(plane.localNormal, plane.normal).inplaceNormalize();
                 }
                 break;
             }
     }
 }
+function getUniformScale(worldMatrix) {
+    const sx = worldMatrix.transformVectorAffine(Vector3.axisPX(), new Vector3()).magnitude;
+    const sy = worldMatrix.transformVectorAffine(Vector3.axisPY(), new Vector3()).magnitude;
+    const sz = worldMatrix.transformVectorAffine(Vector3.axisPZ(), new Vector3()).magnitude;
+    return Math.max(1e-6, (sx + sy + sz) / 3);
+}
+function getPerpendicularScale(worldMatrix, axisLocal) {
+    const axis = axisLocal.magnitudeSq > 1e-8 ? axisLocal.clone().inplaceNormalize() : Vector3.axisPY();
+    const helper = Math.abs(axis.y) < 0.99 ? Vector3.axisPY() : Vector3.axisPX();
+    const u = Vector3.cross(axis, helper, new Vector3()).inplaceNormalize();
+    const v = Vector3.cross(axis, u, new Vector3()).inplaceNormalize();
+    const su = worldMatrix.transformVectorAffine(u, new Vector3()).magnitude;
+    const sv = worldMatrix.transformVectorAffine(v, new Vector3()).magnitude;
+    return Math.max(1e-6, (su + sv) * 0.5);
+}
 
 export { createCapsuleCollider, createPlaneCollider, createSphereCollider, resolveCapsuleCollision, resolvePlaneCollision, resolveSphereCollision, updateColliderFromNode };
 //# sourceMappingURL=spring_collider.js.map

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

@@ -1 +1 @@
-{"version":3,"file":"spring_collider.js","sources":["../../../src/animation/spring/spring_collider.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Base interface for spring collision shapes\r\n *\r\n * @public\r\n */\r\nexport interface SpringCollider {\r\n  /** Type of collider */\r\n  type: 'sphere' | 'capsule' | 'plane';\r\n  /** Associated scene node (optional, for dynamic colliders) */\r\n  node?: Nullable<SceneNode>;\r\n  /** Whether this collider is enabled */\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Sphere collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface SphereCollider extends SpringCollider {\r\n  type: 'sphere';\r\n  /** Center position in world space */\r\n  center: Vector3;\r\n  /** Radius of the sphere */\r\n  radius: number;\r\n  /** Local offset from node (if node is set) */\r\n  localOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Capsule collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface CapsuleCollider extends SpringCollider {\r\n  type: 'capsule';\r\n  /** Start point of the capsule axis in world space */\r\n  start: Vector3;\r\n  /** End point of the capsule axis in world space */\r\n  end: Vector3;\r\n  /** Radius of the capsule */\r\n  radius: number;\r\n  /** Local start offset from node (if node is set) */\r\n  localStartOffset?: Vector3;\r\n  /** Local end offset from node (if node is set) */\r\n  localEndOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Plane collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface PlaneCollider extends SpringCollider {\r\n  type: 'plane';\r\n  /** Point on the plane in world space */\r\n  point: Vector3;\r\n  /** Normal vector of the plane (should be normalized) */\r\n  normal: Vector3;\r\n  /** Local point offset from node (if node is set) */\r\n  localPointOffset?: Vector3;\r\n  /** Local normal direction (if node is set) */\r\n  localNormal?: Vector3;\r\n}\r\n\r\n/**\r\n * Creates a sphere collider\r\n * @param centerOrOffset - Center position in world space, or local offset if node is provided\r\n * @param radius - Radius of the sphere\r\n * @param node - Optional scene node to attach to (if provided, centerOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createSphereCollider(\r\n  centerOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): SphereCollider {\r\n  if (node) {\r\n    // If node is provided, treat centerOrOffset as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldCenter = new Vector3(\r\n      worldMatrix.m03 + centerOrOffset.x,\r\n      worldMatrix.m13 + centerOrOffset.y,\r\n      worldMatrix.m23 + centerOrOffset.z\r\n    );\r\n\r\n    return {\r\n      type: 'sphere',\r\n      center: worldCenter,\r\n      radius,\r\n      node,\r\n      enabled: true,\r\n      localOffset: centerOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'sphere',\r\n      center: centerOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a capsule collider\r\n * @param startOrOffset - Start point in world space, or local offset if node is provided\r\n * @param endOrOffset - End point in world space, or local offset if node is provided\r\n * @param radius - Radius of the capsule\r\n * @param node - Optional scene node to attach to (if provided, offsets are treated as local)\r\n *\r\n * @public\r\n */\r\nexport function createCapsuleCollider(\r\n  startOrOffset: Vector3,\r\n  endOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): CapsuleCollider {\r\n  if (node) {\r\n    // If node is provided, treat as local offsets\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldStart = new Vector3(\r\n      worldMatrix.m03 + startOrOffset.x,\r\n      worldMatrix.m13 + startOrOffset.y,\r\n      worldMatrix.m23 + startOrOffset.z\r\n    );\r\n    const worldEnd = new Vector3(\r\n      worldMatrix.m03 + endOrOffset.x,\r\n      worldMatrix.m13 + endOrOffset.y,\r\n      worldMatrix.m23 + endOrOffset.z\r\n    );\r\n\r\n    return {\r\n      type: 'capsule',\r\n      start: worldStart,\r\n      end: worldEnd,\r\n      radius,\r\n      node,\r\n      enabled: true,\r\n      localStartOffset: startOrOffset.clone(),\r\n      localEndOffset: endOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world positions\r\n    return {\r\n      type: 'capsule',\r\n      start: startOrOffset.clone(),\r\n      end: endOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a plane collider\r\n * @param pointOrOffset - Point on plane in world space, or local offset if node is provided\r\n * @param normal - Normal vector (will be normalized)\r\n * @param node - Optional scene node to attach to (if provided, pointOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createPlaneCollider(\r\n  pointOrOffset: Vector3,\r\n  normal: Vector3,\r\n  node?: SceneNode\r\n): PlaneCollider {\r\n  const normalizedNormal = new Vector3();\r\n  Vector3.normalize(normal, normalizedNormal);\r\n\r\n  if (node) {\r\n    // If node is provided, treat as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldPoint = new Vector3(\r\n      worldMatrix.m03 + pointOrOffset.x,\r\n      worldMatrix.m13 + pointOrOffset.y,\r\n      worldMatrix.m23 + pointOrOffset.z\r\n    );\r\n\r\n    return {\r\n      type: 'plane',\r\n      point: worldPoint,\r\n      normal: normalizedNormal.clone(),\r\n      node,\r\n      enabled: true,\r\n      localPointOffset: pointOrOffset.clone(),\r\n      localNormal: normalizedNormal.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'plane',\r\n      point: pointOrOffset.clone(),\r\n      normal: normalizedNormal,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a sphere collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveSphereCollision(particlePos: Vector3, collider: SphereCollider): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.center, new Vector3());\r\n  const distSq = toParticle.magnitudeSq;\r\n  const radiusSq = collider.radius * collider.radius;\r\n\r\n  if (distSq < radiusSq && distSq > 0.0001) {\r\n    // Particle is inside sphere, push it out\r\n    const dist = Math.sqrt(distSq);\r\n    const penetration = collider.radius - dist;\r\n\r\n    // Push particle to sphere surface\r\n    Vector3.normalize(toParticle, toParticle);\r\n    toParticle.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticle, particlePos);\r\n\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a capsule collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveCapsuleCollision(particlePos: Vector3, collider: CapsuleCollider): boolean {\r\n  // Find closest point on capsule axis\r\n  const axis = Vector3.sub(collider.end, collider.start, new Vector3());\r\n  const axisLength = axis.magnitude;\r\n\r\n  if (axisLength < 0.0001) {\r\n    // Degenerate capsule, treat as sphere\r\n    const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n    const distSq = toParticle.magnitudeSq;\r\n    const radiusSq = collider.radius * collider.radius;\r\n\r\n    if (distSq < radiusSq && distSq > 0.0001) {\r\n      const dist = Math.sqrt(distSq);\r\n      const penetration = collider.radius - dist;\r\n      Vector3.normalize(toParticle, toParticle);\r\n      toParticle.scaleBy(penetration);\r\n      Vector3.add(particlePos, toParticle, particlePos);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  Vector3.normalize(axis, axis);\r\n\r\n  const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n  const projection = Vector3.dot(toParticle, axis);\r\n\r\n  // Clamp projection to capsule length\r\n  const t = Math.max(0, Math.min(axisLength, projection));\r\n\r\n  // Closest point on capsule axis\r\n  const closestPoint = Vector3.add(collider.start, Vector3.scale(axis, t, new Vector3()), new Vector3());\r\n\r\n  // Check distance from closest point\r\n  const toParticleFromAxis = Vector3.sub(particlePos, closestPoint, new Vector3());\r\n  const distSq = toParticleFromAxis.magnitudeSq;\r\n  const radiusSq = collider.radius * collider.radius;\r\n\r\n  if (distSq < radiusSq && distSq > 0.0001) {\r\n    const dist = Math.sqrt(distSq);\r\n    const penetration = collider.radius - dist;\r\n    Vector3.normalize(toParticleFromAxis, toParticleFromAxis);\r\n    toParticleFromAxis.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticleFromAxis, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a plane collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolvePlaneCollision(particlePos: Vector3, collider: PlaneCollider): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.point, new Vector3());\r\n  const distance = Vector3.dot(toParticle, collider.normal);\r\n\r\n  if (distance < 0) {\r\n    // Particle is below plane, push it up\r\n    const correction = Vector3.scale(collider.normal, -distance, new Vector3());\r\n    Vector3.add(particlePos, correction, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Updates collider position from its associated node\r\n *\r\n * @public\r\n */\r\nexport function updateColliderFromNode(collider: SpringCollider): void {\r\n  if (!collider.node || !collider.enabled) {\r\n    return;\r\n  }\r\n\r\n  const worldMatrix = collider.node.worldMatrix;\r\n\r\n  switch (collider.type) {\r\n    case 'sphere': {\r\n      const sphere = collider as SphereCollider;\r\n      if (sphere.localOffset) {\r\n        // Transform local offset to world space\r\n        worldMatrix.transformPointAffine(sphere.localOffset, sphere.center);\r\n      } else {\r\n        // No local offset, just use node position\r\n        sphere.center.x = worldMatrix.m03;\r\n        sphere.center.y = worldMatrix.m13;\r\n        sphere.center.z = worldMatrix.m23;\r\n      }\r\n      break;\r\n    }\r\n\r\n    case 'capsule': {\r\n      const capsule = collider as CapsuleCollider;\r\n      if (capsule.localStartOffset && capsule.localEndOffset) {\r\n        // Transform local offsets to world space\r\n        worldMatrix.transformPointAffine(capsule.localStartOffset, capsule.start);\r\n        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+{"version":3,"file":"spring_collider.js","sources":["../../../src/animation/spring/spring_collider.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Base interface for spring collision shapes\r\n *\r\n * @public\r\n */\r\nexport interface SpringCollider {\r\n  /** Type of collider */\r\n  type: 'sphere' | 'capsule' | 'plane';\r\n  /** Associated scene node (optional, for dynamic colliders) */\r\n  node?: Nullable<SceneNode>;\r\n  /** Whether this collider is enabled */\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Sphere collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface SphereCollider extends SpringCollider {\r\n  type: 'sphere';\r\n  /** Center position in world space */\r\n  center: Vector3;\r\n  /** Radius of the sphere */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline world scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local offset from node (if node is set) */\r\n  localOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Capsule collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface CapsuleCollider extends SpringCollider {\r\n  type: 'capsule';\r\n  /** Start point of the capsule axis in world space */\r\n  start: Vector3;\r\n  /** End point of the capsule axis in world space */\r\n  end: Vector3;\r\n  /** Radius of the capsule */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline perpendicular scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local start offset from node (if node is set) */\r\n  localStartOffset?: Vector3;\r\n  /** Local end offset from node (if node is set) */\r\n  localEndOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Plane collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface PlaneCollider extends SpringCollider {\r\n  type: 'plane';\r\n  /** Point on the plane in world space */\r\n  point: Vector3;\r\n  /** Normal vector of the plane (should be normalized) */\r\n  normal: Vector3;\r\n  /** Local point offset from node (if node is set) */\r\n  localPointOffset?: Vector3;\r\n  /** Local normal direction (if node is set) */\r\n  localNormal?: Vector3;\r\n}\r\n\r\n/**\r\n * Creates a sphere collider\r\n * @param centerOrOffset - Center position in world space, or local offset if node is provided\r\n * @param radius - Radius of the sphere\r\n * @param node - Optional scene node to attach to (if provided, centerOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createSphereCollider(\r\n  centerOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): SphereCollider {\r\n  if (node) {\r\n    // If node is provided, treat centerOrOffset as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldCenter = worldMatrix.transformPointAffine(centerOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'sphere',\r\n      center: worldCenter,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getUniformScale(worldMatrix),\r\n      node,\r\n      enabled: true,\r\n      localOffset: centerOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'sphere',\r\n      center: centerOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a capsule collider\r\n * @param startOrOffset - Start point in world space, or local offset if node is provided\r\n * @param endOrOffset - End point in world space, or local offset if node is provided\r\n * @param radius - Radius of the capsule\r\n * @param node - Optional scene node to attach to (if provided, offsets are treated as local)\r\n *\r\n * @public\r\n */\r\nexport function createCapsuleCollider(\r\n  startOrOffset: Vector3,\r\n  endOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): CapsuleCollider {\r\n  if (node) {\r\n    // If node is provided, treat as local offsets\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldStart = worldMatrix.transformPointAffine(startOrOffset, new Vector3());\r\n    const worldEnd = worldMatrix.transformPointAffine(endOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'capsule',\r\n      start: worldStart,\r\n      end: worldEnd,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getPerpendicularScale(\r\n        worldMatrix,\r\n        Vector3.sub(endOrOffset, startOrOffset, new Vector3())\r\n      ),\r\n      node,\r\n      enabled: true,\r\n      localStartOffset: startOrOffset.clone(),\r\n      localEndOffset: endOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world positions\r\n    return {\r\n      type: 'capsule',\r\n      start: startOrOffset.clone(),\r\n      end: endOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a plane collider\r\n * @param pointOrOffset - Point on plane in world space, or local offset if node is provided\r\n * @param normal - Normal vector (will be normalized)\r\n * @param node - Optional scene node to attach to (if provided, pointOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createPlaneCollider(\r\n  pointOrOffset: Vector3,\r\n  normal: Vector3,\r\n  node?: SceneNode\r\n): PlaneCollider {\r\n  const normalizedNormal = new Vector3();\r\n  Vector3.normalize(normal, normalizedNormal);\r\n\r\n  if (node) {\r\n    // If node is provided, treat as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldPoint = worldMatrix.transformPointAffine(pointOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'plane',\r\n      point: worldPoint,\r\n      normal: normalizedNormal.clone(),\r\n      node,\r\n      enabled: true,\r\n      localPointOffset: pointOrOffset.clone(),\r\n      localNormal: normalizedNormal.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'plane',\r\n      point: pointOrOffset.clone(),\r\n      normal: normalizedNormal,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a sphere collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveSphereCollision(particlePos: Vector3, collider: SphereCollider): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.center, new Vector3());\r\n  const distSq = toParticle.magnitudeSq;\r\n  const radiusSq = collider.radius * collider.radius;\r\n\r\n  if (distSq < radiusSq && distSq > 0.0001) {\r\n    // Particle is inside sphere, push it out\r\n    const dist = Math.sqrt(distSq);\r\n    const penetration = collider.radius - dist;\r\n\r\n    // Push particle to sphere surface\r\n    Vector3.normalize(toParticle, toParticle);\r\n    toParticle.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticle, particlePos);\r\n\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a capsule collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveCapsuleCollision(particlePos: Vector3, collider: CapsuleCollider): boolean {\r\n  // Find closest point on capsule axis\r\n  const axis = Vector3.sub(collider.end, collider.start, new Vector3());\r\n  const axisLength = axis.magnitude;\r\n\r\n  if (axisLength < 0.0001) {\r\n    // Degenerate capsule, treat as sphere\r\n    const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n    const distSq = toParticle.magnitudeSq;\r\n    const radiusSq = collider.radius * collider.radius;\r\n\r\n    if (distSq < radiusSq && distSq > 0.0001) {\r\n      const dist = Math.sqrt(distSq);\r\n      const penetration = collider.radius - 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package/dist/animation/spring/spring_particle.js

@@ -7,6 +7,7 @@
         position: position.clone(),
         prevPosition: position.clone(),
         originalPosition: position.clone(),
+        animPosition: position.clone(),
         originalRotation: options?.originalRotation?.clone() ?? null,
         mass: options?.mass ?? 1.0,
         damping: options?.damping ?? 0.95,

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

@@ -1 +1 @@
-{"version":3,"file":"spring_particle.js","sources":["../../../src/animation/spring/spring_particle.ts"],"sourcesContent":["import type { Vector3, Quaternion, Nullable } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Represents a particle in the spring system\r\n *\r\n * @public\r\n */\r\nexport interface SpringParticle {\r\n  /** Current position in world space */\r\n  position: Vector3;\r\n  /** Previous position for Verlet integration */\r\n  prevPosition: Vector3;\r\n  /** Original position for reset */\r\n  originalPosition: Vector3;\r\n  /** Original world rotation (for calculating rotation delta) */\r\n  originalRotation: Quaternion | null;\r\n  /** Mass of the particle (affects inertia) */\r\n  mass: number;\r\n  /** Damping coefficient [0-1] (0 = no damping, 1 = full damping) */\r\n  damping: number;\r\n  /** Whether this particle is fixed (anchor point) */\r\n  fixed: boolean;\r\n  /** Associated scene node (optional) */\r\n  node: Nullable<SceneNode>;\r\n  /** Previous frame position (used to calculate velocity for inertial forces) */\r\n  lastFramePosition: Vector3;\r\n  /** Position history for rotation center estimation (for fixed particles) */\r\n  positionHistory?: Vector3[];\r\n}\r\n\r\n/**\r\n * Creates a new spring particle\r\n *\r\n * @public\r\n */\r\nexport function createSpringParticle(\r\n  position: Vector3,\r\n  options?: {\r\n    mass?: number;\r\n    damping?: number;\r\n    fixed?: boolean;\r\n    node?: SceneNode;\r\n    originalRotation?: Quaternion;\r\n  }\r\n): SpringParticle {\r\n  return {\r\n    position: position.clone(),\r\n    prevPosition: position.clone(),\r\n    originalPosition: position.clone(),\r\n    originalRotation: options?.originalRotation?.clone() ?? null,\r\n    mass: options?.mass ?? 1.0,\r\n    damping: options?.damping ?? 0.95,\r\n    fixed: options?.fixed ?? false,\r\n    node: options?.node ?? null,\r\n    lastFramePosition: position.clone()\r\n  };\r\n}\r\n"],"names":["createSpringParticle","position","options","clone","prevPosition","originalPosition","originalRotation","mass","damping","fixed","node","lastFramePosition"],"mappings":"AA+BA;;;;AAIC,IACM,SAASA,oBACdC,CAAAA,QAAiB,EACjBC,OAMC,EAAA;IAED,OAAO;AACLD,QAAAA,QAAAA,EAAUA,SAASE,KAAK,EAAA;AACxBC,QAAAA,YAAAA,EAAcH,SAASE,KAAK,EAAA;AAC5BE,QAAAA,gBAAAA,EAAkBJ,SAASE,KAAK,EAAA;QAChCG,gBAAkBJ,EAAAA,OAAAA,EAASI,kBAAkBH,KAAW,EAAA,IAAA,IAAA;AACxDI,QAAAA,IAAAA,EAAML,SAASK,IAAQ,IAAA,GAAA;AACvBC,QAAAA,OAAAA,EAASN,SAASM,OAAW,IAAA,IAAA;AAC7BC,QAAAA,KAAAA,EAAOP,SAASO,KAAS,IAAA,KAAA;AACzBC,QAAAA,IAAAA,EAAMR,SAASQ,IAAQ,IAAA,IAAA;AACvBC,QAAAA,iBAAAA,EAAmBV,SAASE,KAAK;AACnC,KAAA;AACF;;;;"}
+{"version":3,"file":"spring_particle.js","sources":["../../../src/animation/spring/spring_particle.ts"],"sourcesContent":["import type { Vector3, Quaternion, Nullable } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Represents a particle in the spring system\r\n *\r\n * @public\r\n */\r\nexport interface SpringParticle {\r\n  /** Current position in world space */\r\n  position: Vector3;\r\n  /** Previous position for Verlet integration */\r\n  prevPosition: Vector3;\r\n  /** Original position for reset */\r\n  originalPosition: Vector3;\r\n  /** Animated (target) position for pose preservation */\r\n  animPosition: Vector3;\r\n  /** Original world rotation (for calculating rotation delta) */\r\n  originalRotation: Quaternion | null;\r\n  /** Mass of the particle (affects inertia) */\r\n  mass: number;\r\n  /** Damping coefficient [0-1] (0 = no damping, 1 = full damping) */\r\n  damping: number;\r\n  /** Whether this particle is fixed (anchor point) */\r\n  fixed: boolean;\r\n  /** Associated scene node (optional) */\r\n  node: Nullable<SceneNode>;\r\n  /** Previous frame position (used to calculate velocity for inertial forces) */\r\n  lastFramePosition: Vector3;\r\n  /** Position history for rotation center estimation (for fixed particles) */\r\n  positionHistory?: Vector3[];\r\n}\r\n\r\n/**\r\n * Creates a new spring particle\r\n *\r\n * @public\r\n */\r\nexport function createSpringParticle(\r\n  position: Vector3,\r\n  options?: {\r\n    mass?: number;\r\n    damping?: number;\r\n    fixed?: boolean;\r\n    node?: SceneNode;\r\n    originalRotation?: Quaternion;\r\n  }\r\n): SpringParticle {\r\n  return {\r\n    position: position.clone(),\r\n    prevPosition: position.clone(),\r\n    originalPosition: position.clone(),\r\n    animPosition: position.clone(),\r\n    originalRotation: options?.originalRotation?.clone() ?? null,\r\n    mass: options?.mass ?? 1.0,\r\n    damping: options?.damping ?? 0.95,\r\n    fixed: options?.fixed ?? false,\r\n    node: options?.node ?? null,\r\n    lastFramePosition: position.clone()\r\n  };\r\n}\r\n"],"names":["createSpringParticle","position","options","clone","prevPosition","originalPosition","animPosition","originalRotation","mass","damping","fixed","node","lastFramePosition"],"mappings":"AAiCA;;;;AAIC,IACM,SAASA,oBACdC,CAAAA,QAAiB,EACjBC,OAMC,EAAA;IAED,OAAO;AACLD,QAAAA,QAAAA,EAAUA,SAASE,KAAK,EAAA;AACxBC,QAAAA,YAAAA,EAAcH,SAASE,KAAK,EAAA;AAC5BE,QAAAA,gBAAAA,EAAkBJ,SAASE,KAAK,EAAA;AAChCG,QAAAA,YAAAA,EAAcL,SAASE,KAAK,EAAA;QAC5BI,gBAAkBL,EAAAA,OAAAA,EAASK,kBAAkBJ,KAAW,EAAA,IAAA,IAAA;AACxDK,QAAAA,IAAAA,EAAMN,SAASM,IAAQ,IAAA,GAAA;AACvBC,QAAAA,OAAAA,EAASP,SAASO,OAAW,IAAA,IAAA;AAC7BC,QAAAA,KAAAA,EAAOR,SAASQ,KAAS,IAAA,KAAA;AACzBC,QAAAA,IAAAA,EAAMT,SAASS,IAAQ,IAAA,IAAA;AACvBC,QAAAA,iBAAAA,EAAmBX,SAASE,KAAK;AACnC,KAAA;AACF;;;;"}