@zephyr3d/scene 0.8.1 → 0.9.0

package/dist/animation/cloth/gpu_cloth_system.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"gpu_cloth_system.js","sources":["../../../src/animation/cloth/gpu_cloth_system.ts"],"sourcesContent":["import type {\r\n  AbstractDevice,\r\n  BindGroup,\r\n  GPUDataBuffer,\r\n  GPUProgram,\r\n  StructuredBuffer\r\n} from '@zephyr3d/device';\r\nimport { PBPrimitiveType } from '@zephyr3d/device';\r\nimport {\r\n  Matrix4x4,\r\n  base64ToUint8Array,\r\n  releaseObject,\r\n  retainObject,\r\n  uint8ArrayToBase64,\r\n  Vector3,\r\n  type Nullable\r\n} from '@zephyr3d/base';\r\nimport { getDevice } from '../../app/api';\r\nimport type { Primitive } from '../../render';\r\nimport type { Scene } from '../../scene';\r\nimport type { MeshUpdateCallback } from '../../scene/mesh';\r\nimport { BoundingBox } from '../../utility/bounding_volume';\r\nimport type {\r\n  CapsuleCollider,\r\n  PlaneCollider,\r\n  SphereCollider,\r\n  SpringCollider\r\n} from '../spring/spring_collider';\r\nimport { updateColliderFromNode } from '../spring/spring_collider';\r\n\r\nexport type GPUClothSystemOptions = {\r\n  enabled?: boolean;\r\n  device?: Nullable<AbstractDevice>;\r\n  primitive?: Nullable<Primitive>;\r\n  collisionSpaceNode?: any;\r\n  positionData?: Float32Array<ArrayBuffer>;\r\n  indexData?: Uint16Array<ArrayBuffer> | Uint32Array<ArrayBuffer>;\r\n  skinningBlendIndices?: Float32Array<ArrayBuffer>;\r\n  skinningBlendWeights?: Float32Array<ArrayBuffer>;\r\n  pinnedVertexWeights?: ArrayLike<number>;\r\n  pinnedVertexIndices?: number[];\r\n  gravity?: Vector3;\r\n  damping?: number;\r\n  dynamicFriction?: number;\r\n  staticFriction?: number;\r\n  stiffness?: number;\r\n  poseFollow?: number;\r\n  substeps?: number;\r\n  solverIterations?: number;\r\n  maxNeighbors?: number;\r\n  workgroupSize?: number;\r\n  colliders?: SpringCollider[];\r\n  maxTrianglesPerVertex?: number;\r\n  rebuildNormals?: boolean;\r\n  scene?: Nullable<Scene>;\r\n  autoUpdate?: boolean;\r\n};\r\n\r\nexport type GPUClothWrapBindingData = {\r\n  version: 4;\r\n  vertexCount: number;\r\n  sourceVertexCount: number;\r\n  influenceCount: number;\r\n  maxOffsetDistance: number;\r\n  sourceTriangleIndices: string;\r\n  sourceBarycentrics: string;\r\n  targetLocalOffsets: string;\r\n};\r\n\r\nexport type GPUClothWrapBindingTarget = {\r\n  target: any;\r\n  data: GPUClothWrapBindingData;\r\n};\r\n\r\nfunction encodeTypedArrayBase64(view: ArrayBufferView) {\r\n  return uint8ArrayToBase64(new Uint8Array(view.buffer, view.byteOffset, view.byteLength));\r\n}\r\n\r\nfunction decodeTypedArrayFromBase64<T extends Uint32Array | Float32Array>(\r\n  ctor: {\r\n    new (buffer: ArrayBuffer): T;\r\n    BYTES_PER_ELEMENT: number;\r\n  },\r\n  base64: string,\r\n  expectedLength: number\r\n) {\r\n  const bytes = base64ToUint8Array(base64);\r\n  const byteLength = bytes.byteLength;\r\n  if (byteLength % ctor.BYTES_PER_ELEMENT !== 0) {\r\n    throw new Error('GPU cloth wrap failed: binding cache data is corrupted.');\r\n  }\r\n  const buffer = bytes.buffer.slice(bytes.byteOffset, bytes.byteOffset + bytes.byteLength);\r\n  const result = new ctor(buffer);\r\n  if (expectedLength >= 0 && result.length !== expectedLength) {\r\n    throw new Error('GPU cloth wrap failed: binding cache size does not match target mesh.');\r\n  }\r\n  return result;\r\n}\r\n\r\nfunction isWrapBindingDataCompatible(\r\n  data: GPUClothWrapBindingData,\r\n  sourceRestPositions: Float32Array<ArrayBuffer>,\r\n  targetVertexCount: number\r\n) {\r\n  return (\r\n    data?.version === 4 &&\r\n    data.vertexCount === targetVertexCount &&\r\n    data.sourceVertexCount === (sourceRestPositions.length / 3) >> 0 &&\r\n    data.influenceCount === WRAP_TRIANGLE_VERTEX_COUNT\r\n  );\r\n}\r\n\r\nfunction resolveDevice(explicitDevice?: Nullable<AbstractDevice>) {\r\n  if (explicitDevice) {\r\n    return explicitDevice;\r\n  }\r\n  try {\r\n    return getDevice();\r\n  } catch {\r\n    return null;\r\n  }\r\n}\r\n\r\n/**\r\n * Returns whether GPU cloth is supported on the given device.\r\n *\r\n * GPU cloth in this engine is WebGPU-only. WebGL backends are explicitly unsupported.\r\n */\r\nexport function isGPUClothSupported(device?: Nullable<AbstractDevice>) {\r\n  const resolved = resolveDevice(device);\r\n  return resolved?.type === 'webgpu';\r\n}\r\n\r\nconst DEFAULT_DAMPING = 0.02;\r\nconst DEFAULT_DYNAMIC_FRICTION = 0.15;\r\nconst DEFAULT_STATIC_FRICTION = 0.3;\r\nconst DEFAULT_STIFFNESS = 0.3;\r\nconst DEFAULT_POSE_FOLLOW = 0;\r\nconst DEFAULT_SUBSTEPS = 2;\r\nconst DEFAULT_SOLVER_ITERATIONS = 5;\r\nconst DEFAULT_MAX_NEIGHBORS = 8;\r\nconst DEFAULT_WORKGROUP_SIZE = 64;\r\nconst DEFAULT_MAX_TRIANGLES_PER_VERTEX = 16;\r\nconst DEFAULT_REST_POSITION_SMOOTHING_TIME = 1 / 25;\r\nconst DEFAULT_COLLIDER_SMOOTHING_TIME = 1 / 30;\r\nconst FIXED_SIMULATION_TIME_STEP = 1 / 60;\r\nconst MAX_ACCUMULATED_SIMULATION_TIME = 1 / 20;\r\nconst MAX_SIMULATION_STEPS_PER_UPDATE = Math.max(\r\n  1,\r\n  Math.ceil(MAX_ACCUMULATED_SIMULATION_TIME / FIXED_SIMULATION_TIME_STEP)\r\n);\r\nconst WRAP_TRIANGLE_VERTEX_COUNT = 3;\r\nconst WRAP_MIN_DISTANCE = 1e-8;\r\n\r\nfunction clamp(value: number, min: number, max: number) {\r\n  return Math.min(Math.max(value, min), max);\r\n}\r\n\r\nfunction getInitialColliderBufferFloatCount(\r\n  colliders: SpringCollider[] | undefined,\r\n  type: SpringCollider['type'],\r\n  stride: number\r\n) {\r\n  const count = (colliders ?? []).reduce((total, collider) => total + (collider?.type === type ? 1 : 0), 0);\r\n  return Math.max(1, count) * stride;\r\n}\r\n\r\nfunction getPrimitiveScalarByteSize(type: PBPrimitiveType) {\r\n  switch (type) {\r\n    case PBPrimitiveType.I16:\r\n    case PBPrimitiveType.I16_NORM:\r\n    case PBPrimitiveType.U16:\r\n    case PBPrimitiveType.U16_NORM:\r\n    case PBPrimitiveType.F16:\r\n      return 2;\r\n    case PBPrimitiveType.I32:\r\n    case PBPrimitiveType.I32_NORM:\r\n    case PBPrimitiveType.U32:\r\n    case PBPrimitiveType.U32_NORM:\r\n    case PBPrimitiveType.F32:\r\n      return 4;\r\n    default:\r\n      return 1;\r\n  }\r\n}\r\n\r\nfunction readPrimitiveScalar(\r\n  view: DataView,\r\n  byteOffset: number,\r\n  scalarType: PBPrimitiveType,\r\n  normalized: boolean\r\n) {\r\n  switch (scalarType) {\r\n    case PBPrimitiveType.I8:\r\n    case PBPrimitiveType.I8_NORM: {\r\n      const value = view.getInt8(byteOffset);\r\n      return normalized ? Math.max(-1, value / 127) : value;\r\n    }\r\n    case PBPrimitiveType.U8:\r\n    case PBPrimitiveType.U8_NORM: {\r\n      const value = view.getUint8(byteOffset);\r\n      return normalized ? value / 255 : value;\r\n    }\r\n    case PBPrimitiveType.I16:\r\n    case PBPrimitiveType.I16_NORM: {\r\n      const value = view.getInt16(byteOffset, true);\r\n      return normalized ? Math.max(-1, value / 32767) : value;\r\n    }\r\n    case PBPrimitiveType.U16:\r\n    case PBPrimitiveType.U16_NORM: {\r\n      const value = view.getUint16(byteOffset, true);\r\n      return normalized ? value / 65535 : value;\r\n    }\r\n    case PBPrimitiveType.I32:\r\n    case PBPrimitiveType.I32_NORM: {\r\n      const value = view.getInt32(byteOffset, true);\r\n      return normalized ? Math.max(-1, value / 2147483647) : value;\r\n    }\r\n    case PBPrimitiveType.U32:\r\n    case PBPrimitiveType.U32_NORM: {\r\n      const value = view.getUint32(byteOffset, true);\r\n      return normalized ? value / 4294967295 : value;\r\n    }\r\n    case PBPrimitiveType.F32:\r\n      return view.getFloat32(byteOffset, true);\r\n    default:\r\n      throw new Error(`Unsupported vertex scalar type: ${scalarType}`);\r\n  }\r\n}\r\n\r\nfunction distance3(positions: Float32Array<ArrayBuffer>, a: number, b: number) {\r\n  const a0 = a * 3;\r\n  const b0 = b * 3;\r\n  const dx = positions[a0] - positions[b0];\r\n  const dy = positions[a0 + 1] - positions[b0 + 1];\r\n  const dz = positions[a0 + 2] - positions[b0 + 2];\r\n  return Math.sqrt(dx * dx + dy * dy + dz * dz);\r\n}\r\n\r\nfunction dot3(ax: number, ay: number, az: number, bx: number, by: number, bz: number) {\r\n  return ax * bx + ay * by + az * bz;\r\n}\r\n\r\nfunction normalize3(\r\n  x: number,\r\n  y: number,\r\n  z: number,\r\n  fallback: [number, number, number]\r\n): [number, number, number] {\r\n  const length = Math.hypot(x, y, z);\r\n  if (length <= WRAP_MIN_DISTANCE) {\r\n    return fallback;\r\n  }\r\n  return [x / length, y / length, z / length];\r\n}\r\n\r\nfunction buildWrapTriangleFrame(\r\n  p0x: number,\r\n  p0y: number,\r\n  p0z: number,\r\n  p1x: number,\r\n  p1y: number,\r\n  p1z: number,\r\n  p2x: number,\r\n  p2y: number,\r\n  p2z: number,\r\n  out: Float32Array<ArrayBuffer> | number[]\r\n) {\r\n  const edge01x = p1x - p0x;\r\n  const edge01y = p1y - p0y;\r\n  const edge01z = p1z - p0z;\r\n  const edge02x = p2x - p0x;\r\n  const edge02y = p2y - p0y;\r\n  const edge02z = p2z - p0z;\r\n\r\n  let tangent = normalize3(edge01x, edge01y, edge01z, [0, 0, 0]);\r\n  if (tangent[0] === 0 && tangent[1] === 0 && tangent[2] === 0) {\r\n    tangent = normalize3(edge02x, edge02y, edge02z, [1, 0, 0]);\r\n  }\r\n\r\n  let normal = normalize3(\r\n    edge01y * edge02z - edge01z * edge02y,\r\n    edge01z * edge02x - edge01x * edge02z,\r\n    edge01x * edge02y - edge01y * edge02x,\r\n    [0, 0, 0]\r\n  );\r\n  if (normal[0] === 0 && normal[1] === 0 && normal[2] === 0) {\r\n    const fallbackAxis = Math.abs(tangent[1]) < 0.999 ? [0, 1, 0] : [1, 0, 0];\r\n    normal = normalize3(\r\n      tangent[1] * fallbackAxis[2] - tangent[2] * fallbackAxis[1],\r\n      tangent[2] * fallbackAxis[0] - tangent[0] * fallbackAxis[2],\r\n      tangent[0] * fallbackAxis[1] - tangent[1] * fallbackAxis[0],\r\n      [0, 0, 1]\r\n    );\r\n  }\r\n\r\n  let bitangent = normalize3(\r\n    normal[1] * tangent[2] - normal[2] * tangent[1],\r\n    normal[2] * tangent[0] - normal[0] * tangent[2],\r\n    normal[0] * tangent[1] - normal[1] * tangent[0],\r\n    [0, 0, 0]\r\n  );\r\n  if (bitangent[0] === 0 && bitangent[1] === 0 && bitangent[2] === 0) {\r\n    bitangent = Math.abs(tangent[1]) < 0.999 ? [0, 1, 0] : [1, 0, 0];\r\n  }\r\n\r\n  normal = normalize3(\r\n    tangent[1] * bitangent[2] - tangent[2] * bitangent[1],\r\n    tangent[2] * bitangent[0] - tangent[0] * bitangent[2],\r\n    tangent[0] * bitangent[1] - tangent[1] * bitangent[0],\r\n    [0, 0, 1]\r\n  );\r\n\r\n  out[0] = tangent[0];\r\n  out[1] = tangent[1];\r\n  out[2] = tangent[2];\r\n  out[3] = bitangent[0];\r\n  out[4] = bitangent[1];\r\n  out[5] = bitangent[2];\r\n  out[6] = normal[0];\r\n  out[7] = normal[1];\r\n  out[8] = normal[2];\r\n}\r\n\r\nfunction closestPointOnTriangle(\r\n  px: number,\r\n  py: number,\r\n  pz: number,\r\n  ax: number,\r\n  ay: number,\r\n  az: number,\r\n  bx: number,\r\n  by: number,\r\n  bz: number,\r\n  cx: number,\r\n  cy: number,\r\n  cz: number,\r\n  closestOut: Float32Array<ArrayBuffer> | number[],\r\n  baryOut: Float32Array<ArrayBuffer> | number[]\r\n) {\r\n  const abx = bx - ax;\r\n  const aby = by - ay;\r\n  const abz = bz - az;\r\n  const acx = cx - ax;\r\n  const acy = cy - ay;\r\n  const acz = cz - az;\r\n  const apx = px - ax;\r\n  const apy = py - ay;\r\n  const apz = pz - az;\r\n  const d1 = dot3(abx, aby, abz, apx, apy, apz);\r\n  const d2 = dot3(acx, acy, acz, apx, apy, apz);\r\n  if (d1 <= 0 && d2 <= 0) {\r\n    closestOut[0] = ax;\r\n    closestOut[1] = ay;\r\n    closestOut[2] = az;\r\n    baryOut[0] = 1;\r\n    baryOut[1] = 0;\r\n    baryOut[2] = 0;\r\n  } else {\r\n    const bpx = px - bx;\r\n    const bpy = py - by;\r\n    const bpz = pz - bz;\r\n    const d3 = dot3(abx, aby, abz, bpx, bpy, bpz);\r\n    const d4 = dot3(acx, acy, acz, bpx, bpy, bpz);\r\n    if (d3 >= 0 && d4 <= d3) {\r\n      closestOut[0] = bx;\r\n      closestOut[1] = by;\r\n      closestOut[2] = bz;\r\n      baryOut[0] = 0;\r\n      baryOut[1] = 1;\r\n      baryOut[2] = 0;\r\n    } else {\r\n      const vc = d1 * d4 - d3 * d2;\r\n      if (vc <= 0 && d1 >= 0 && d3 <= 0) {\r\n        const v = d1 / Math.max(WRAP_MIN_DISTANCE, d1 - d3);\r\n        closestOut[0] = ax + abx * v;\r\n        closestOut[1] = ay + aby * v;\r\n        closestOut[2] = az + abz * v;\r\n        baryOut[0] = 1 - v;\r\n        baryOut[1] = v;\r\n        baryOut[2] = 0;\r\n      } else {\r\n        const cpx = px - cx;\r\n        const cpy = py - cy;\r\n        const cpz = pz - cz;\r\n        const d5 = dot3(abx, aby, abz, cpx, cpy, cpz);\r\n        const d6 = dot3(acx, acy, acz, cpx, cpy, cpz);\r\n        if (d6 >= 0 && d5 <= d6) {\r\n          closestOut[0] = cx;\r\n          closestOut[1] = cy;\r\n          closestOut[2] = cz;\r\n          baryOut[0] = 0;\r\n          baryOut[1] = 0;\r\n          baryOut[2] = 1;\r\n        } else {\r\n          const vb = d5 * d2 - d1 * d6;\r\n          if (vb <= 0 && d2 >= 0 && d6 <= 0) {\r\n            const w = d2 / Math.max(WRAP_MIN_DISTANCE, d2 - d6);\r\n            closestOut[0] = ax + acx * w;\r\n            closestOut[1] = ay + acy * w;\r\n            closestOut[2] = az + acz * w;\r\n            baryOut[0] = 1 - w;\r\n            baryOut[1] = 0;\r\n            baryOut[2] = w;\r\n          } else {\r\n            const va = d3 * d6 - d5 * d4;\r\n            if (va <= 0 && d4 - d3 >= 0 && d5 - d6 >= 0) {\r\n              const w = (d4 - d3) / Math.max(WRAP_MIN_DISTANCE, d4 - d3 + d5 - d6);\r\n              closestOut[0] = bx + (cx - bx) * w;\r\n              closestOut[1] = by + (cy - by) * w;\r\n              closestOut[2] = bz + (cz - bz) * w;\r\n              baryOut[0] = 0;\r\n              baryOut[1] = 1 - w;\r\n              baryOut[2] = w;\r\n            } else {\r\n              const denom = 1 / Math.max(WRAP_MIN_DISTANCE, va + vb + vc);\r\n              const v = vb * denom;\r\n              const w = vc * denom;\r\n              const u = 1 - v - w;\r\n              closestOut[0] = ax * u + bx * v + cx * w;\r\n              closestOut[1] = ay * u + by * v + cy * w;\r\n              closestOut[2] = az * u + bz * v + cz * w;\r\n              baryOut[0] = u;\r\n              baryOut[1] = v;\r\n              baryOut[2] = w;\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n  const dx = px - closestOut[0];\r\n  const dy = py - closestOut[1];\r\n  const dz = pz - closestOut[2];\r\n  return dx * dx + dy * dy + dz * dz;\r\n}\r\n\r\nfunction buildPinWeightArray(\r\n  positions: Float32Array<ArrayBuffer>,\r\n  explicitWeights?: ArrayLike<number>,\r\n  explicitPinned?: number[]\r\n): Float32Array<ArrayBuffer> {\r\n  const vertexCount = (positions.length / 3) >> 0;\r\n  const result = new Float32Array(vertexCount);\r\n  if (explicitWeights && explicitWeights.length > 0) {\r\n    const len = Math.min(vertexCount, explicitWeights.length);\r\n    for (let i = 0; i < len; i++) {\r\n      result[i] = clamp(Number(explicitWeights[i]) || 0, 0, 1);\r\n    }\r\n    return result;\r\n  }\r\n  if (explicitPinned && explicitPinned.length > 0) {\r\n    for (const i of explicitPinned) {\r\n      if (Number.isFinite(i) && i >= 0 && i < vertexCount) {\r\n        result[i >> 0] = 1;\r\n      }\r\n    }\r\n  }\r\n  return result;\r\n}\r\n\r\nfunction buildNeighborData(\r\n  positions: Float32Array<ArrayBuffer>,\r\n  indexData: Uint16Array<ArrayBuffer> | Uint32Array<ArrayBuffer>,\r\n  maxNeighbors: number\r\n) {\r\n  const vertexCount = (positions.length / 3) >> 0;\r\n  const neighborMap: Array<Map<number, number>> = Array.from({ length: vertexCount }, () => new Map());\r\n\r\n  const addEdge = (a: number, b: number) => {\r\n    if (a < 0 || b < 0 || a >= vertexCount || b >= vertexCount || a === b) {\r\n      return;\r\n    }\r\n    const len = distance3(positions, a, b);\r\n    const mapA = neighborMap[a];\r\n    const mapB = neighborMap[b];\r\n    const oldAB = mapA.get(b);\r\n    if (oldAB === undefined || len < oldAB) {\r\n      mapA.set(b, len);\r\n    }\r\n    const oldBA = mapB.get(a);\r\n    if (oldBA === undefined || len < oldBA) {\r\n      mapB.set(a, len);\r\n    }\r\n  };\r\n\r\n  for (let i = 0; i + 2 < indexData.length; i += 3) {\r\n    const a = indexData[i];\r\n    const b = indexData[i + 1];\r\n    const c = indexData[i + 2];\r\n    addEdge(a, b);\r\n    addEdge(b, c);\r\n    addEdge(c, a);\r\n  }\r\n\r\n  const totalEntries = vertexCount * maxNeighbors;\r\n  const neighborIndices = new Int32Array(totalEntries);\r\n  const restLengths = new Float32Array(totalEntries);\r\n  neighborIndices.fill(-1);\r\n\r\n  let hasConstraint = false;\r\n  for (let i = 0; i < vertexCount; i++) {\r\n    const sorted = [...neighborMap[i].entries()].sort((a, b) => a[1] - b[1]).slice(0, maxNeighbors);\r\n    for (let j = 0; j < sorted.length; j++) {\r\n      const slot = i * maxNeighbors + j;\r\n      neighborIndices[slot] = sorted[j][0];\r\n      restLengths[slot] = sorted[j][1];\r\n      hasConstraint = true;\r\n    }\r\n  }\r\n\r\n  return {\r\n    neighborIndices,\r\n    restLengths,\r\n    hasConstraint\r\n  };\r\n}\r\n\r\nfunction toUInt32Indices(indexData: Uint16Array<ArrayBuffer> | Uint32Array<ArrayBuffer>) {\r\n  if (indexData instanceof Uint32Array) {\r\n    return indexData;\r\n  }\r\n  const out = new Uint32Array(indexData.length);\r\n  for (let i = 0; i < indexData.length; i++) {\r\n    out[i] = indexData[i];\r\n  }\r\n  return out;\r\n}\r\n\r\nfunction buildVertexTriangleAdjacency(\r\n  vertexCount: number,\r\n  indexData: Uint32Array<ArrayBuffer>,\r\n  maxTrianglesPerVertex: number\r\n) {\r\n  const triangleCount = (indexData.length / 3) >> 0;\r\n  const trianglesPerVertex: number[][] = Array.from({ length: vertexCount }, () => []);\r\n  for (let tri = 0; tri < triangleCount; tri++) {\r\n    const base = tri * 3;\r\n    const i0 = indexData[base];\r\n    const i1 = indexData[base + 1];\r\n    const i2 = indexData[base + 2];\r\n    if (i0 < vertexCount) {\r\n      trianglesPerVertex[i0].push(tri);\r\n    }\r\n    if (i1 < vertexCount) {\r\n      trianglesPerVertex[i1].push(tri);\r\n    }\r\n    if (i2 < vertexCount) {\r\n      trianglesPerVertex[i2].push(tri);\r\n    }\r\n  }\r\n  const adjacency = new Int32Array(vertexCount * maxTrianglesPerVertex);\r\n  adjacency.fill(-1);\r\n  for (let i = 0; i < vertexCount; i++) {\r\n    const tris = trianglesPerVertex[i];\r\n    const len = Math.min(maxTrianglesPerVertex, tris.length);\r\n    for (let t = 0; t < len; t++) {\r\n      adjacency[i * maxTrianglesPerVertex + t] = tris[t];\r\n    }\r\n  }\r\n  return {\r\n    triangleCount,\r\n    adjacency\r\n  };\r\n}\r\n\r\nfunction buildInitialSimulationPositions(options?: GPUClothSystemOptions) {\r\n  const sourcePositions = options?.positionData;\r\n  if (!sourcePositions) {\r\n    return null;\r\n  }\r\n  const target = options?.collisionSpaceNode;\r\n  const blendIndices = options?.skinningBlendIndices;\r\n  const blendWeights = options?.skinningBlendWeights;\r\n  if (\r\n    !target?.invWorldMatrix ||\r\n    !blendIndices ||\r\n    !blendWeights ||\r\n    typeof target?.findSkeletonById !== 'function'\r\n  ) {\r\n    return new Float32Array(sourcePositions);\r\n  }\r\n  const skeletonId = String(target.skeletonName ?? '');\r\n  const skeleton = skeletonId ? target.findSkeletonById(skeletonId) : null;\r\n  if (!skeleton?.skinPositionsToLocal) {\r\n    return new Float32Array(sourcePositions);\r\n  }\r\n  return skeleton.skinPositionsToLocal(sourcePositions, blendIndices, blendWeights, target.invWorldMatrix);\r\n}\r\n\r\nasync function resolveWrapBindPositions(\r\n  mesh: any,\r\n  basePositions: Float32Array<ArrayBuffer>\r\n): Promise<Float32Array<ArrayBuffer>> {\r\n  if (!basePositions || basePositions.length === 0) {\r\n    return new Float32Array(0);\r\n  }\r\n  const primitive = mesh?.primitive;\r\n  if (!primitive) {\r\n    return new Float32Array(basePositions);\r\n  }\r\n  const blendData = await readSkinningDataFromPrimitive(primitive);\r\n  if (\r\n    !mesh?.invWorldMatrix ||\r\n    !blendData?.blendIndices ||\r\n    !blendData?.blendWeights ||\r\n    typeof mesh?.findSkeletonById !== 'function'\r\n  ) {\r\n    return new Float32Array(basePositions);\r\n  }\r\n  const skeletonId = String(mesh.skeletonName ?? '');\r\n  const skeleton = skeletonId ? mesh.findSkeletonById(skeletonId) : null;\r\n  if (!skeleton?.skinPositionsToLocal) {\r\n    return new Float32Array(basePositions);\r\n  }\r\n  return skeleton.skinPositionsToLocal(\r\n    basePositions,\r\n    blendData.blendIndices,\r\n    blendData.blendWeights,\r\n    mesh.invWorldMatrix\r\n  );\r\n}\r\n\r\nfunction createIntegrateProgram(device: AbstractDevice, workgroupSize: number) {\r\n  const program = device.buildComputeProgram({\r\n    workgroupSize: [workgroupSize, 1, 1],\r\n    compute(pb) {\r\n      this.positions = pb.float[0]().storageBuffer(0);\r\n      this.prevPositions = pb.float[0]().storageBuffer(0);\r\n      this.restPositions = pb.float[0]().storageBufferReadonly(0);\r\n      this.prevRestPositions = pb.float[0]().storageBufferReadonly(0);\r\n      this.invMass = pb.float[0]().storageBufferReadonly(0);\r\n      this.sphereData = pb.float[0]().storageBufferReadonly(0);\r\n      this.capsuleData = pb.float[0]().storageBufferReadonly(0);\r\n      this.planeData = pb.float[0]().storageBufferReadonly(0);\r\n      this.vertexCount = pb.uint().uniform(0);\r\n      this.deltaTime = pb.float().uniform(0);\r\n      this.damping = pb.float().uniform(0);\r\n      this.gravity = pb.vec3().uniform(0);\r\n      this.sphereCount = pb.uint().uniform(0);\r\n      this.capsuleCount = pb.uint().uniform(0);\r\n      this.planeCount = pb.uint().uniform(0);\r\n      this.dynamicFriction = pb.float().uniform(0);\r\n      this.staticFriction = pb.float().uniform(0);\r\n      this.minDistance = pb.float().uniform(0);\r\n      pb.main(function () {\r\n        this.$l.index = this.$builtins.globalInvocationId.x;\r\n        this.$if(pb.lessThan(this.index, this.vertexCount), function () {\r\n          this.$l.base = pb.mul(this.index, 3);\r\n          this.$l.x = this.positions.at(this.base);\r\n          this.$l.y = this.positions.at(pb.add(this.base, 1));\r\n          this.$l.z = this.positions.at(pb.add(this.base, 2));\r\n          this.$l.px = this.prevPositions.at(this.base);\r\n          this.$l.py = this.prevPositions.at(pb.add(this.base, 1));\r\n          this.$l.pz = this.prevPositions.at(pb.add(this.base, 2));\r\n          this.$l.restX = this.restPositions.at(this.base);\r\n          this.$l.restY = this.restPositions.at(pb.add(this.base, 1));\r\n          this.$l.restZ = this.restPositions.at(pb.add(this.base, 2));\r\n          this.$l.prevRestX = this.prevRestPositions.at(this.base);\r\n          this.$l.prevRestY = this.prevRestPositions.at(pb.add(this.base, 1));\r\n          this.$l.prevRestZ = this.prevRestPositions.at(pb.add(this.base, 2));\r\n          this.$l.freeWeight = this.invMass.at(this.index);\r\n          this.$l.pinWeight = pb.sub(1, this.freeWeight);\r\n          this.$l.current = pb.vec3(this.x, this.y, this.z);\r\n          this.$l.previous = pb.vec3(this.px, this.py, this.pz);\r\n          this.$l.rest = pb.vec3(this.restX, this.restY, this.restZ);\r\n          this.$l.prevRest = pb.vec3(this.prevRestX, this.prevRestY, this.prevRestZ);\r\n          this.$l.restDelta = pb.sub(this.rest, this.prevRest);\r\n          this.current = pb.add(this.current, this.restDelta);\r\n          this.previous = pb.add(this.previous, this.restDelta);\r\n          this.$l.dt2 = pb.mul(this.deltaTime, this.deltaTime);\r\n          // Damping is modeled as velocity loss strength: 0 keeps full inertia, 1 removes it entirely.\r\n          this.$l.velocity = pb.mul(\r\n            pb.sub(this.current, this.previous),\r\n            pb.mul(pb.sub(1, this.damping), this.freeWeight)\r\n          );\r\n          this.$l.next = pb.add(\r\n            this.current,\r\n            this.velocity,\r\n            pb.mul(this.gravity, pb.mul(this.dt2, this.freeWeight))\r\n          );\r\n\r\n          this.$if(pb.greaterThan(this.freeWeight, this.minDistance), function () {\r\n            this.$for(pb.uint('i'), 0, this.sphereCount, function () {\r\n              this.$l.sphereBase = pb.mul(this.i, 4);\r\n              this.$l.center = pb.vec3(\r\n                this.sphereData.at(this.sphereBase),\r\n                this.sphereData.at(pb.add(this.sphereBase, 1)),\r\n                this.sphereData.at(pb.add(this.sphereBase, 2))\r\n              );\r\n              this.$l.radius = this.sphereData.at(pb.add(this.sphereBase, 3));\r\n              this.$l.deltaCol = pb.sub(this.next, this.center);\r\n              this.$l.lenCol = pb.length(this.deltaCol);\r\n              this.$if(pb.lessThan(this.lenCol, this.radius), function () {\r\n                this.$l.contactNormal = pb.vec3(0, 1, 0);\r\n                this.$if(pb.greaterThan(this.lenCol, this.minDistance), function () {\r\n                  this.contactNormal = pb.div(this.deltaCol, this.lenCol);\r\n                  this.next = pb.add(this.center, pb.mul(this.contactNormal, this.radius));\r\n                }).$else(function () {\r\n                  this.next = pb.add(this.center, pb.vec3(0, this.radius, 0));\r\n                });\r\n                this.$l.correctionDelta = pb.sub(this.next, pb.add(this.center, this.deltaCol));\r\n                this.$l.correctionLen = pb.length(this.correctionDelta);\r\n                this.$l.surfaceDelta = pb.sub(this.next, this.current);\r\n                this.$l.normalStep = pb.mul(\r\n                  this.contactNormal,\r\n                  pb.dot(this.surfaceDelta, this.contactNormal)\r\n                );\r\n                this.$l.tangentStep = pb.sub(this.surfaceDelta, this.normalStep);\r\n                this.$l.normalTravel = pb.length(this.normalStep);\r\n                this.$l.tangentLen = pb.length(this.tangentStep);\r\n                this.$if(pb.greaterThan(this.tangentLen, this.minDistance), function () {\r\n                  this.$l.dynamicBasis = pb.max(\r\n                    this.correctionLen,\r\n                    pb.max(this.normalTravel, pb.mul(this.tangentLen, 0.5))\r\n                  );\r\n                  this.$l.staticBasis = pb.max(\r\n                    this.correctionLen,\r\n                    pb.max(this.normalTravel, this.tangentLen)\r\n                  );\r\n                  this.$l.staticLimit = pb.max(\r\n                    this.minDistance,\r\n                    pb.mul(this.staticBasis, pb.mul(this.staticFriction, 2))\r\n                  );\r\n                  this.$if(pb.lessThanEqual(this.tangentLen, this.staticLimit), function () {\r\n                    this.next = pb.sub(this.next, this.tangentStep);\r\n                  }).$else(function () {\r\n                    this.$l.dynamicRemove = pb.min(\r\n                      this.tangentLen,\r\n                      pb.mul(this.dynamicBasis, this.dynamicFriction)\r\n                    );\r\n                    this.next = pb.sub(\r\n                      this.next,\r\n                      pb.mul(pb.div(this.tangentStep, this.tangentLen), this.dynamicRemove)\r\n                    );\r\n                  });\r\n                });\r\n              });\r\n            });\r\n\r\n            this.$for(pb.uint('j'), 0, this.capsuleCount, function () {\r\n              this.$l.capsuleBase = pb.mul(this.j, 8);\r\n              this.$l.cStart = pb.vec3(\r\n                this.capsuleData.at(this.capsuleBase),\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 1)),\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 2))\r\n              );\r\n              this.$l.cRadius = this.capsuleData.at(pb.add(this.capsuleBase, 3));\r\n              this.$l.cEnd = pb.vec3(\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 4)),\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 5)),\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 6))\r\n              );\r\n              this.$l.ab = pb.sub(this.cEnd, this.cStart);\r\n              this.$l.abLen2 = pb.dot(this.ab, this.ab);\r\n              this.$l.closest = this.cStart;\r\n              this.$if(pb.greaterThan(this.abLen2, this.minDistance), function () {\r\n                this.$l.ap = pb.sub(this.next, this.cStart);\r\n                this.$l.t = pb.clamp(pb.div(pb.dot(this.ap, this.ab), this.abLen2), 0, 1);\r\n                this.closest = pb.add(this.cStart, pb.mul(this.ab, this.t));\r\n              });\r\n              this.$l.deltaCap = pb.sub(this.next, this.closest);\r\n              this.$l.lenCap = pb.length(this.deltaCap);\r\n              this.$if(pb.lessThan(this.lenCap, this.cRadius), function () {\r\n                this.$l.contactNormal = pb.vec3(0, 1, 0);\r\n                this.$if(pb.greaterThan(this.lenCap, this.minDistance), function () {\r\n                  this.contactNormal = pb.div(this.deltaCap, this.lenCap);\r\n                  this.next = pb.add(this.closest, pb.mul(this.contactNormal, this.cRadius));\r\n                }).$else(function () {\r\n                  this.next = pb.add(this.closest, pb.vec3(0, this.cRadius, 0));\r\n                });\r\n                this.$l.correctionDelta = pb.sub(this.next, pb.add(this.closest, this.deltaCap));\r\n                this.$l.correctionLen = pb.length(this.correctionDelta);\r\n                this.$l.surfaceDelta = pb.sub(this.next, this.current);\r\n                this.$l.normalStep = pb.mul(\r\n                  this.contactNormal,\r\n                  pb.dot(this.surfaceDelta, this.contactNormal)\r\n                );\r\n                this.$l.tangentStep = pb.sub(this.surfaceDelta, this.normalStep);\r\n                this.$l.normalTravel = pb.length(this.normalStep);\r\n                this.$l.tangentLen = pb.length(this.tangentStep);\r\n                this.$if(pb.greaterThan(this.tangentLen, this.minDistance), function () {\r\n                  this.$l.dynamicBasis = pb.max(\r\n                    this.correctionLen,\r\n                    pb.max(this.normalTravel, pb.mul(this.tangentLen, 0.5))\r\n                  );\r\n                  this.$l.staticBasis = pb.max(\r\n                    this.correctionLen,\r\n                    pb.max(this.normalTravel, this.tangentLen)\r\n                  );\r\n                  this.$l.staticLimit = pb.max(\r\n                    this.minDistance,\r\n                    pb.mul(this.staticBasis, pb.mul(this.staticFriction, 2))\r\n                  );\r\n                  this.$if(pb.lessThanEqual(this.tangentLen, this.staticLimit), function () {\r\n                    this.next = pb.sub(this.next, this.tangentStep);\r\n                  }).$else(function () {\r\n                    this.$l.dynamicRemove = pb.min(\r\n                      this.tangentLen,\r\n                      pb.mul(this.dynamicBasis, this.dynamicFriction)\r\n                    );\r\n                    this.next = pb.sub(\r\n                      this.next,\r\n                      pb.mul(pb.div(this.tangentStep, this.tangentLen), this.dynamicRemove)\r\n                    );\r\n                  });\r\n                });\r\n              });\r\n            });\r\n\r\n            this.$for(pb.uint('k'), 0, this.planeCount, function () {\r\n              this.$l.planeBase = pb.mul(this.k, 8);\r\n              this.$l.planePoint = pb.vec3(\r\n                this.planeData.at(this.planeBase),\r\n                this.planeData.at(pb.add(this.planeBase, 1)),\r\n                this.planeData.at(pb.add(this.planeBase, 2))\r\n              );\r\n              this.$l.planeNormal = pb.vec3(\r\n                this.planeData.at(pb.add(this.planeBase, 4)),\r\n                this.planeData.at(pb.add(this.planeBase, 5)),\r\n                this.planeData.at(pb.add(this.planeBase, 6))\r\n              );\r\n              this.$l.planeDistance = pb.dot(pb.sub(this.next, this.planePoint), this.planeNormal);\r\n              this.$if(pb.lessThan(this.planeDistance, 0), function () {\r\n                this.$l.contactNormal = this.planeNormal;\r\n                this.$l.preProject = this.next;\r\n                this.next = pb.sub(this.next, pb.mul(this.contactNormal, this.planeDistance));\r\n                this.$l.correctionDelta = pb.sub(this.next, this.preProject);\r\n                this.$l.correctionLen = pb.length(this.correctionDelta);\r\n                this.$l.surfaceDelta = pb.sub(this.next, this.current);\r\n                this.$l.normalStep = pb.mul(\r\n                  this.contactNormal,\r\n                  pb.dot(this.surfaceDelta, this.contactNormal)\r\n                );\r\n                this.$l.tangentStep = pb.sub(this.surfaceDelta, this.normalStep);\r\n                this.$l.normalTravel = pb.length(this.normalStep);\r\n                this.$l.tangentLen = pb.length(this.tangentStep);\r\n                this.$if(pb.greaterThan(this.tangentLen, this.minDistance), function () {\r\n                  this.$l.dynamicBasis = pb.max(\r\n                    this.correctionLen,\r\n                    pb.max(this.normalTravel, pb.mul(this.tangentLen, 0.5))\r\n                  );\r\n                  this.$l.staticBasis = pb.max(\r\n                    this.correctionLen,\r\n                    pb.max(this.normalTravel, this.tangentLen)\r\n                  );\r\n                  this.$l.staticLimit = pb.max(\r\n                    this.minDistance,\r\n                    pb.mul(this.staticBasis, pb.mul(this.staticFriction, 2))\r\n                  );\r\n                  this.$if(pb.lessThanEqual(this.tangentLen, this.staticLimit), function () {\r\n                    this.next = pb.sub(this.next, this.tangentStep);\r\n                  }).$else(function () {\r\n                    this.$l.dynamicRemove = pb.min(\r\n                      this.tangentLen,\r\n                      pb.mul(this.dynamicBasis, this.dynamicFriction)\r\n                    );\r\n                    this.next = pb.sub(\r\n                      this.next,\r\n                      pb.mul(pb.div(this.tangentStep, this.tangentLen), this.dynamicRemove)\r\n                    );\r\n                  });\r\n                });\r\n              });\r\n            });\r\n          });\r\n\r\n          this.next = pb.add(pb.mul(this.next, this.freeWeight), pb.mul(this.rest, this.pinWeight));\r\n          this.$l.prevOut = pb.add(pb.mul(this.current, this.freeWeight), pb.mul(this.rest, this.pinWeight));\r\n          this.prevPositions.setAt(this.base, this.prevOut.x);\r\n          this.prevPositions.setAt(pb.add(this.base, 1), this.prevOut.y);\r\n          this.prevPositions.setAt(pb.add(this.base, 2), this.prevOut.z);\r\n          this.positions.setAt(this.base, this.next.x);\r\n          this.positions.setAt(pb.add(this.base, 1), this.next.y);\r\n          this.positions.setAt(pb.add(this.base, 2), this.next.z);\r\n        });\r\n      });\r\n    }\r\n  });\r\n  if (program) {\r\n    program.name = '@GPUCloth_Integrate';\r\n  }\r\n  return program;\r\n}\r\n\r\nfunction createConstraintProgram(device: AbstractDevice, workgroupSize: number) {\r\n  const program = device.buildComputeProgram({\r\n    workgroupSize: [workgroupSize, 1, 1],\r\n    compute(pb) {\r\n      this.positions = pb.float[0]().storageBuffer(0);\r\n      this.restPositions = pb.float[0]().storageBufferReadonly(0);\r\n      this.invMass = pb.float[0]().storageBufferReadonly(0);\r\n      this.neighborIndices = pb.int[0]().storageBufferReadonly(0);\r\n      this.restLengths = pb.float[0]().storageBufferReadonly(0);\r\n      this.sphereData = pb.float[0]().storageBufferReadonly(0);\r\n      this.capsuleData = pb.float[0]().storageBufferReadonly(0);\r\n      this.planeData = pb.float[0]().storageBufferReadonly(0);\r\n      this.vertexCount = pb.uint().uniform(0);\r\n      this.maxNeighbors = pb.uint().uniform(0);\r\n      this.stiffness = pb.float().uniform(0);\r\n      this.poseFollow = pb.float().uniform(0);\r\n      this.sphereCount = pb.uint().uniform(0);\r\n      this.capsuleCount = pb.uint().uniform(0);\r\n      this.planeCount = pb.uint().uniform(0);\r\n      this.dynamicFriction = pb.float().uniform(0);\r\n      this.staticFriction = pb.float().uniform(0);\r\n      this.minDistance = pb.float().uniform(0);\r\n      pb.main(function () {\r\n        this.$l.index = this.$builtins.globalInvocationId.x;\r\n        this.$if(pb.lessThan(this.index, this.vertexCount), function () {\r\n          this.$l.freeWeight = this.invMass.at(this.index);\r\n          this.$l.pinWeight = pb.sub(1, this.freeWeight);\r\n          this.$l.base = pb.mul(this.index, 3);\r\n          this.$l.rest = pb.vec3(\r\n            this.restPositions.at(this.base),\r\n            this.restPositions.at(pb.add(this.base, 1)),\r\n            this.restPositions.at(pb.add(this.base, 2))\r\n          );\r\n          this.$if(pb.greaterThan(this.freeWeight, this.minDistance), function () {\r\n            this.$l.pos = pb.vec3(\r\n              this.positions.at(this.base),\r\n              this.positions.at(pb.add(this.base, 1)),\r\n              this.positions.at(pb.add(this.base, 2))\r\n            );\r\n            this.$l.correction = pb.vec3(0);\r\n            this.$l.validCount = pb.uint(0);\r\n            this.$l.neighborStart = pb.mul(this.index, this.maxNeighbors);\r\n            this.$for(pb.uint('i'), 0, this.maxNeighbors, function () {\r\n              this.$l.slot = pb.add(this.neighborStart, this.i);\r\n              this.$l.neighbor = this.neighborIndices.at(this.slot);\r\n              this.$if(pb.greaterThanEqual(this.neighbor, 0), function () {\r\n                this.$l.neighborBase = pb.mul(pb.uint(this.neighbor), 3);\r\n                this.$l.neighborPos = pb.vec3(\r\n                  this.positions.at(this.neighborBase),\r\n                  this.positions.at(pb.add(this.neighborBase, 1)),\r\n                  this.positions.at(pb.add(this.neighborBase, 2))\r\n                );\r\n                this.$l.restLength = this.restLengths.at(this.slot);\r\n                this.$l.delta = pb.sub(this.pos, this.neighborPos);\r\n                this.$l.len = pb.length(this.delta);\r\n                this.$if(pb.greaterThan(this.len, this.minDistance), function () {\r\n                  this.$l.offset = pb.mul(pb.div(this.delta, this.len), pb.sub(this.len, this.restLength));\r\n                  this.correction = pb.add(this.correction, this.offset);\r\n                  this.validCount = pb.add(this.validCount, 1);\r\n                });\r\n              });\r\n            });\r\n            this.$l.corrected = this.pos;\r\n            this.$if(pb.greaterThan(this.validCount, 0), function () {\r\n              this.$l.scale = pb.div(pb.mul(this.stiffness, this.freeWeight), pb.float(this.validCount));\r\n              this.corrected = pb.sub(this.pos, pb.mul(this.correction, this.scale));\r\n            });\r\n            this.$if(pb.greaterThan(this.poseFollow, this.minDistance), function () {\r\n              this.$l.followStrength = pb.mul(this.poseFollow, this.freeWeight);\r\n              this.corrected = pb.add(\r\n                this.corrected,\r\n                pb.mul(pb.sub(this.rest, this.corrected), this.followStrength)\r\n              );\r\n            });\r\n            this.corrected = pb.add(\r\n              pb.mul(this.corrected, this.freeWeight),\r\n              pb.mul(this.rest, this.pinWeight)\r\n            );\r\n            this.$for(pb.uint('i'), 0, this.sphereCount, function () {\r\n              this.$l.sphereBase = pb.mul(this.i, 4);\r\n              this.$l.center = pb.vec3(\r\n                this.sphereData.at(this.sphereBase),\r\n                this.sphereData.at(pb.add(this.sphereBase, 1)),\r\n                this.sphereData.at(pb.add(this.sphereBase, 2))\r\n              );\r\n              this.$l.radius = this.sphereData.at(pb.add(this.sphereBase, 3));\r\n              this.$l.deltaCol = pb.sub(this.corrected, this.center);\r\n              this.$l.lenCol = pb.length(this.deltaCol);\r\n              this.$if(pb.lessThan(this.lenCol, this.radius), function () {\r\n                this.$if(pb.greaterThan(this.lenCol, this.minDistance), function () {\r\n                  this.corrected = pb.add(\r\n                    this.center,\r\n                    pb.mul(pb.div(this.deltaCol, this.lenCol), this.radius)\r\n                  );\r\n                }).$else(function () {\r\n                  this.corrected = pb.add(this.center, pb.vec3(0, this.radius, 0));\r\n                });\r\n              });\r\n            });\r\n            this.$for(pb.uint('j'), 0, this.capsuleCount, function () {\r\n              this.$l.capsuleBase = pb.mul(this.j, 8);\r\n              this.$l.cStart = pb.vec3(\r\n                this.capsuleData.at(this.capsuleBase),\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 1)),\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 2))\r\n              );\r\n              this.$l.cRadius = this.capsuleData.at(pb.add(this.capsuleBase, 3));\r\n              this.$l.cEnd = pb.vec3(\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 4)),\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 5)),\r\n                this.capsuleData.at(pb.add(this.capsuleBase, 6))\r\n              );\r\n              this.$l.ab = pb.sub(this.cEnd, this.cStart);\r\n              this.$l.abLen2 = pb.dot(this.ab, this.ab);\r\n              this.$l.closest = this.cStart;\r\n              this.$if(pb.greaterThan(this.abLen2, this.minDistance), function () {\r\n                this.$l.ap = pb.sub(this.corrected, this.cStart);\r\n                this.$l.t = pb.clamp(pb.div(pb.dot(this.ap, this.ab), this.abLen2), 0, 1);\r\n                this.closest = pb.add(this.cStart, pb.mul(this.ab, this.t));\r\n              });\r\n              this.$l.deltaCap = pb.sub(this.corrected, this.closest);\r\n              this.$l.lenCap = pb.length(this.deltaCap);\r\n              this.$if(pb.lessThan(this.lenCap, this.cRadius), function () {\r\n                this.$if(pb.greaterThan(this.lenCap, this.minDistance), function () {\r\n                  this.corrected = pb.add(\r\n                    this.closest,\r\n                    pb.mul(pb.div(this.deltaCap, this.lenCap), this.cRadius)\r\n                  );\r\n                }).$else(function () {\r\n                  this.corrected = pb.add(this.closest, pb.vec3(0, this.cRadius, 0));\r\n                });\r\n              });\r\n            });\r\n            this.$for(pb.uint('k'), 0, this.planeCount, function () {\r\n              this.$l.planeBase = pb.mul(this.k, 8);\r\n              this.$l.planePoint = pb.vec3(\r\n                this.planeData.at(this.planeBase),\r\n                this.planeData.at(pb.add(this.planeBase, 1)),\r\n                this.planeData.at(pb.add(this.planeBase, 2))\r\n              );\r\n              this.$l.planeNormal = pb.vec3(\r\n                this.planeData.at(pb.add(this.planeBase, 4)),\r\n                this.planeData.at(pb.add(this.planeBase, 5)),\r\n                this.planeData.at(pb.add(this.planeBase, 6))\r\n              );\r\n              this.$l.planeDistance = pb.dot(pb.sub(this.corrected, this.planePoint), this.planeNormal);\r\n              this.$if(pb.lessThan(this.planeDistance, 0), function () {\r\n                this.corrected = pb.sub(this.corrected, pb.mul(this.planeNormal, this.planeDistance));\r\n              });\r\n            });\r\n            this.positions.setAt(this.base, this.corrected.x);\r\n            this.positions.setAt(pb.add(this.base, 1), this.corrected.y);\r\n            this.positions.setAt(pb.add(this.base, 2), this.corrected.z);\r\n          }).$else(function () {\r\n            this.positions.setAt(this.base, this.rest.x);\r\n            this.positions.setAt(pb.add(this.base, 1), this.rest.y);\r\n            this.positions.setAt(pb.add(this.base, 2), this.rest.z);\r\n          });\r\n        });\r\n      });\r\n    }\r\n  });\r\n  if (program) {\r\n    program.name = '@GPUCloth_Constraint';\r\n  }\r\n  return program;\r\n}\r\n\r\nfunction createFaceNormalProgram(device: AbstractDevice, workgroupSize: number) {\r\n  const program = device.buildComputeProgram({\r\n    workgroupSize: [workgroupSize, 1, 1],\r\n    compute(pb) {\r\n      this.positions = pb.float[0]().storageBufferReadonly(0);\r\n      this.triangleIndices = pb.uint[0]().storageBufferReadonly(0);\r\n      this.triangleNormals = pb.float[0]().storageBuffer(0);\r\n      this.triangleCount = pb.uint().uniform(0);\r\n      this.minDistance = pb.float().uniform(0);\r\n      pb.main(function () {\r\n        this.$l.tri = this.$builtins.globalInvocationId.x;\r\n        this.$if(pb.lessThan(this.tri, this.triangleCount), function () {\r\n          this.$l.indexBase = pb.mul(this.tri, 3);\r\n          this.$l.i0 = this.triangleIndices.at(this.indexBase);\r\n          this.$l.i1 = this.triangleIndices.at(pb.add(this.indexBase, 1));\r\n          this.$l.i2 = this.triangleIndices.at(pb.add(this.indexBase, 2));\r\n          this.$l.p0Base = pb.mul(this.i0, 3);\r\n          this.$l.p1Base = pb.mul(this.i1, 3);\r\n          this.$l.p2Base = pb.mul(this.i2, 3);\r\n          this.$l.p0 = pb.vec3(\r\n            this.positions.at(this.p0Base),\r\n            this.positions.at(pb.add(this.p0Base, 1)),\r\n            this.positions.at(pb.add(this.p0Base, 2))\r\n          );\r\n          this.$l.p1 = pb.vec3(\r\n            this.positions.at(this.p1Base),\r\n            this.positions.at(pb.add(this.p1Base, 1)),\r\n            this.positions.at(pb.add(this.p1Base, 2))\r\n          );\r\n          this.$l.p2 = pb.vec3(\r\n            this.positions.at(this.p2Base),\r\n            this.positions.at(pb.add(this.p2Base, 1)),\r\n            this.positions.at(pb.add(this.p2Base, 2))\r\n          );\r\n          this.$l.n = pb.cross(pb.sub(this.p1, this.p0), pb.sub(this.p2, this.p0));\r\n          this.$l.nLen = pb.length(this.n);\r\n          this.$if(pb.greaterThan(this.nLen, this.minDistance), function () {\r\n            this.n = pb.div(this.n, this.nLen);\r\n          }).$else(function () {\r\n            this.n = pb.vec3(0, 1, 0);\r\n          });\r\n          this.$l.outBase = pb.mul(this.tri, 3);\r\n          this.triangleNormals.setAt(this.outBase, this.n.x);\r\n          this.triangleNormals.setAt(pb.add(this.outBase, 1), this.n.y);\r\n          this.triangleNormals.setAt(pb.add(this.outBase, 2), this.n.z);\r\n        });\r\n      });\r\n    }\r\n  });\r\n  if (program) {\r\n    program.name = '@GPUCloth_FaceNormal';\r\n  }\r\n  return program;\r\n}\r\n\r\nfunction createVertexNormalProgram(device: AbstractDevice, workgroupSize: number) {\r\n  const program = device.buildComputeProgram({\r\n    workgroupSize: [workgroupSize, 1, 1],\r\n    compute(pb) {\r\n      this.triangleNormals = pb.float[0]().storageBufferReadonly(0);\r\n      this.vertexTriangleAdjacency = pb.int[0]().storageBufferReadonly(0);\r\n      this.vertexNormals = pb.float[0]().storageBuffer(0);\r\n      this.vertexCount = pb.uint().uniform(0);\r\n      this.maxTrianglesPerVertex = pb.uint().uniform(0);\r\n      this.minDistance = pb.float().uniform(0);\r\n      pb.main(function () {\r\n        this.$l.vertex = this.$builtins.globalInvocationId.x;\r\n        this.$if(pb.lessThan(this.vertex, this.vertexCount), function () {\r\n          this.$l.sum = pb.vec3(0);\r\n          this.$l.valid = pb.uint(0);\r\n          this.$l.start = pb.mul(this.vertex, this.maxTrianglesPerVertex);\r\n          this.$for(pb.uint('i'), 0, this.maxTrianglesPerVertex, function () {\r\n            this.$l.tri = this.vertexTriangleAdjacency.at(pb.add(this.start, this.i));\r\n            this.$if(pb.greaterThanEqual(this.tri, 0), function () {\r\n              this.$l.nBase = pb.mul(pb.uint(this.tri), 3);\r\n              this.sum = pb.add(\r\n                this.sum,\r\n                pb.vec3(\r\n                  this.triangleNormals.at(this.nBase),\r\n                  this.triangleNormals.at(pb.add(this.nBase, 1)),\r\n                  this.triangleNormals.at(pb.add(this.nBase, 2))\r\n                )\r\n              );\r\n              this.valid = pb.add(this.valid, 1);\r\n            });\r\n          });\r\n          this.$if(pb.greaterThan(this.valid, 0), function () {\r\n            this.sum = pb.div(this.sum, pb.float(this.valid));\r\n          }).$else(function () {\r\n            this.sum = pb.vec3(0, 1, 0);\r\n          });\r\n          this.$l.len = pb.length(this.sum);\r\n          this.$if(pb.greaterThan(this.len, this.minDistance), function () {\r\n            this.sum = pb.div(this.sum, this.len);\r\n          }).$else(function () {\r\n            this.sum = pb.vec3(0, 1, 0);\r\n          });\r\n          this.$l.outBase = pb.mul(this.vertex, 3);\r\n          this.vertexNormals.setAt(this.outBase, this.sum.x);\r\n          this.vertexNormals.setAt(pb.add(this.outBase, 1), this.sum.y);\r\n          this.vertexNormals.setAt(pb.add(this.outBase, 2), this.sum.z);\r\n        });\r\n      });\r\n    }\r\n  });\r\n  if (program) {\r\n    program.name = '@GPUCloth_VertexNormal';\r\n  }\r\n  return program;\r\n}\r\n\r\nasync function readPositionDataFromPrimitive(primitive: Primitive) {\r\n  const positions = await readVertexAttributeDataFromPrimitive(primitive, 'position', 3);\r\n  if (!positions) {\r\n    throw new Error('GPU cloth initialization failed: primitive has no position buffer.');\r\n  }\r\n  return positions;\r\n}\r\n\r\nasync function readVertexAttributeDataFromPrimitive(\r\n  primitive: Primitive,\r\n  semantic: 'position' | 'normal' | 'blendIndices' | 'blendWeights',\r\n  componentCount: number\r\n) {\r\n  const info = primitive.getVertexBufferInfo(semantic);\r\n  if (!info || !info.type.isPrimitiveType() || info.type.cols < componentCount) {\r\n    return null;\r\n  }\r\n  const vertexCount = primitive.getNumVertices();\r\n  if (vertexCount <= 0) {\r\n    return null;\r\n  }\r\n  const bytes = await info.buffer.getBufferSubData();\r\n  const result = new Float32Array(vertexCount * componentCount);\r\n  const scalarType = info.type.scalarType;\r\n  const normalized = info.type.normalized;\r\n  const componentByteSize = getPrimitiveScalarByteSize(scalarType);\r\n  const baseByteOffset = info.drawOffset + info.offset;\r\n  if (\r\n    scalarType === PBPrimitiveType.F32 &&\r\n    !normalized &&\r\n    baseByteOffset % 4 === 0 &&\r\n    info.stride % 4 === 0\r\n  ) {\r\n    const raw = new Float32Array(bytes.buffer, bytes.byteOffset, bytes.byteLength >> 2);\r\n    const stride = info.stride >> 2;\r\n    const srcOffset = baseByteOffset >> 2;\r\n    for (let i = 0; i < vertexCount; i++) {\r\n      const src = srcOffset + i * stride;\r\n      const dst = i * componentCount;\r\n      for (let c = 0; c < componentCount; c++) {\r\n        result[dst + c] = raw[src + c];\r\n      }\r\n    }\r\n    return result;\r\n  }\r\n  if (scalarType === PBPrimitiveType.F16) {\r\n    throw new Error(`GPU cloth initialization failed: unsupported ${semantic} attribute format.`);\r\n  }\r\n  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);\r\n  for (let i = 0; i < vertexCount; i++) {\r\n    const src = baseByteOffset + i * info.stride;\r\n    const dst = i * componentCount;\r\n    for (let c = 0; c < componentCount; c++) {\r\n      result[dst + c] = readPrimitiveScalar(view, src + c * componentByteSize, scalarType, normalized);\r\n    }\r\n  }\r\n  return result;\r\n}\r\n\r\nasync function readSkinningDataFromPrimitive(primitive: Primitive) {\r\n  try {\r\n    const [blendIndices, blendWeights] = await Promise.all([\r\n      readVertexAttributeDataFromPrimitive(primitive, 'blendIndices', 4),\r\n      readVertexAttributeDataFromPrimitive(primitive, 'blendWeights', 4)\r\n    ]);\r\n    if (!blendIndices || !blendWeights) {\r\n      return null;\r\n    }\r\n    return { blendIndices, blendWeights };\r\n  } catch {\r\n    return null;\r\n  }\r\n}\r\n\r\nfunction buildNonIndexedTriangles(primitive: Primitive, vertexCount: number) {\r\n  if (primitive.primitiveType !== 'triangle-list') {\r\n    throw new Error('GPU cloth initialization failed: only triangle-list primitive is supported.');\r\n  }\r\n  const start = primitive.indexStart;\r\n  const count = primitive.indexCount;\r\n  if (count <= 0 || count % 3 !== 0 || start < 0 || start + count > vertexCount) {\r\n    throw new Error('GPU cloth initialization failed: invalid non-indexed triangle range.');\r\n  }\r\n  const indices = new Uint32Array(count);\r\n  for (let i = 0; i < count; i++) {\r\n    indices[i] = start + i;\r\n  }\r\n  return indices;\r\n}\r\n\r\nasync function readIndexDataFromPrimitive(primitive: Primitive, vertexCount: number) {\r\n  const indexBuffer = primitive.getIndexBuffer();\r\n  if (!indexBuffer) {\r\n    return buildNonIndexedTriangles(primitive, vertexCount);\r\n  }\r\n  if (primitive.primitiveType !== 'triangle-list') {\r\n    throw new Error('GPU cloth initialization failed: only triangle-list primitive is supported.');\r\n  }\r\n  const bytes = await indexBuffer.getBufferSubData();\r\n  if (indexBuffer.indexType.primitiveType === PBPrimitiveType.U16) {\r\n    const src = new Uint16Array(bytes.buffer, bytes.byteOffset, bytes.byteLength >> 1);\r\n    return new Uint16Array(src);\r\n  }\r\n  const src = new Uint32Array(bytes.buffer, bytes.byteOffset, bytes.byteLength >> 2);\r\n  return new Uint32Array(src);\r\n}\r\n\r\nfunction createWrapDeformerProgram(device: AbstractDevice, workgroupSize: number) {\r\n  const program = device.buildComputeProgram({\r\n    workgroupSize: [workgroupSize, 1, 1],\r\n    compute(pb) {\r\n      this.sourcePositions = pb.float[0]().storageBufferReadonly(0);\r\n      this.sourceTriangleIndices = pb.uint[0]().storageBufferReadonly(0);\r\n      this.sourceBarycentrics = pb.float[0]().storageBufferReadonly(0);\r\n      this.targetLocalOffsets = pb.float[0]().storageBufferReadonly(0);\r\n      this.targetPositions = pb.float[0]().storageBuffer(0);\r\n      this.targetNormals = pb.float[0]().storageBuffer(0);\r\n      this.vertexCount = pb.uint().uniform(0);\r\n      this.sourceToTargetMatrix = pb.mat4().uniform(0);\r\n      this.minDistance = pb.float().uniform(0);\r\n      pb.main(function () {\r\n        this.$l.vertex = this.$builtins.globalInvocationId.x;\r\n        this.$if(pb.lessThan(this.vertex, this.vertexCount), function () {\r\n          this.$l.targetBase = pb.mul(this.vertex, 3);\r\n          this.$l.influenceBase = pb.mul(this.vertex, WRAP_TRIANGLE_VERTEX_COUNT);\r\n          this.$l.i0 = this.sourceTriangleIndices.at(this.influenceBase);\r\n          this.$l.i1 = this.sourceTriangleIndices.at(pb.add(this.influenceBase, 1));\r\n          this.$l.i2 = this.sourceTriangleIndices.at(pb.add(this.influenceBase, 2));\r\n          this.$l.base0 = pb.mul(this.i0, 3);\r\n          this.$l.base1 = pb.mul(this.i1, 3);\r\n          this.$l.base2 = pb.mul(this.i2, 3);\r\n          this.$l.w0 = this.sourceBarycentrics.at(this.influenceBase);\r\n          this.$l.w1 = this.sourceBarycentrics.at(pb.add(this.influenceBase, 1));\r\n          this.$l.w2 = this.sourceBarycentrics.at(pb.add(this.influenceBase, 2));\r\n          this.$l.p0 = pb.mul(\r\n            this.sourceToTargetMatrix,\r\n            pb.vec4(\r\n              this.sourcePositions.at(this.base0),\r\n              this.sourcePositions.at(pb.add(this.base0, 1)),\r\n              this.sourcePositions.at(pb.add(this.base0, 2)),\r\n              1\r\n            )\r\n          ).xyz;\r\n          this.$l.p1 = pb.mul(\r\n            this.sourceToTargetMatrix,\r\n            pb.vec4(\r\n              this.sourcePositions.at(this.base1),\r\n              this.sourcePositions.at(pb.add(this.base1, 1)),\r\n              this.sourcePositions.at(pb.add(this.base1, 2)),\r\n              1\r\n            )\r\n          ).xyz;\r\n          this.$l.p2 = pb.mul(\r\n            this.sourceToTargetMatrix,\r\n            pb.vec4(\r\n              this.sourcePositions.at(this.base2),\r\n              this.sourcePositions.at(pb.add(this.base2, 1)),\r\n              this.sourcePositions.at(pb.add(this.base2, 2)),\r\n              1\r\n            )\r\n          ).xyz;\r\n          this.$l.basePoint = pb.add(\r\n            pb.mul(this.p0, this.w0),\r\n            pb.mul(this.p1, this.w1),\r\n            pb.mul(this.p2, this.w2)\r\n          );\r\n          this.$l.edge01 = pb.sub(this.p1, this.p0);\r\n          this.$l.edge02 = pb.sub(this.p2, this.p0);\r\n          this.$l.tangent = this.edge01;\r\n          this.$l.tangentLen = pb.length(this.tangent);\r\n          this.$if(pb.lessThanEqual(this.tangentLen, this.minDistance), function () {\r\n            this.tangent = this.edge02;\r\n            this.tangentLen = pb.length(this.tangent);\r\n          });\r\n          this.$if(pb.greaterThan(this.tangentLen, this.minDistance), function () {\r\n            this.tangent = pb.div(this.tangent, this.tangentLen);\r\n          }).$else(function () {\r\n            this.tangent = pb.vec3(1, 0, 0);\r\n          });\r\n          this.$l.normal = pb.cross(this.edge01, this.edge02);\r\n          this.$l.normalLen = pb.length(this.normal);\r\n          this.$if(pb.greaterThan(this.normalLen, this.minDistance), function () {\r\n            this.normal = pb.div(this.normal, this.normalLen);\r\n          }).$else(function () {\r\n            this.$l.fallbackAxis = pb.vec3(0, 1, 0);\r\n            this.$if(\r\n              pb.or(pb.greaterThan(this.tangent.y, 0.999), pb.lessThan(this.tangent.y, -0.999)),\r\n              function () {\r\n                this.fallbackAxis = pb.vec3(1, 0, 0);\r\n              }\r\n            );\r\n            this.normal = pb.cross(this.tangent, this.fallbackAxis);\r\n            this.normalLen = pb.length(this.normal);\r\n            this.$if(pb.greaterThan(this.normalLen, this.minDistance), function () {\r\n              this.normal = pb.div(this.normal, this.normalLen);\r\n            }).$else(function () {\r\n              this.normal = pb.vec3(0, 0, 1);\r\n            });\r\n          });\r\n          this.$l.bitangent = pb.cross(this.normal, this.tangent);\r\n          this.$l.bitangentLen = pb.length(this.bitangent);\r\n          this.$if(pb.greaterThan(this.bitangentLen, this.minDistance), function () {\r\n            this.bitangent = pb.div(this.bitangent, this.bitangentLen);\r\n          }).$else(function () {\r\n            this.bitangent = pb.vec3(0, 1, 0);\r\n          });\r\n          this.normal = pb.cross(this.tangent, this.bitangent);\r\n          this.normalLen = pb.length(this.normal);\r\n          this.$if(pb.greaterThan(this.normalLen, this.minDistance), function () {\r\n            this.normal = pb.div(this.normal, this.normalLen);\r\n          }).$else(function () {\r\n            this.normal = pb.vec3(0, 0, 1);\r\n          });\r\n          this.$l.localOffset = pb.vec3(\r\n            this.targetLocalOffsets.at(this.targetBase),\r\n            this.targetLocalOffsets.at(pb.add(this.targetBase, 1)),\r\n            this.targetLocalOffsets.at(pb.add(this.targetBase, 2))\r\n          );\r\n          this.$l.deformedPosition = pb.add(\r\n            this.basePoint,\r\n            pb.add(\r\n              pb.mul(this.tangent, this.localOffset.x),\r\n              pb.mul(this.bitangent, this.localOffset.y),\r\n              pb.mul(this.normal, this.localOffset.z)\r\n            )\r\n          );\r\n          this.targetPositions.setAt(this.targetBase, this.deformedPosition.x);\r\n          this.targetPositions.setAt(pb.add(this.targetBase, 1), this.deformedPosition.y);\r\n          this.targetPositions.setAt(pb.add(this.targetBase, 2), this.deformedPosition.z);\r\n          this.targetNormals.setAt(this.targetBase, this.normal.x);\r\n          this.targetNormals.setAt(pb.add(this.targetBase, 1), this.normal.y);\r\n          this.targetNormals.setAt(pb.add(this.targetBase, 2), this.normal.z);\r\n        });\r\n      });\r\n    }\r\n  });\r\n  if (program) {\r\n    program.name = '@GPUCloth_DisplacementWrapTarget';\r\n  }\r\n  return program;\r\n}\r\n\r\nfunction transformPointArrayByMatrix(\r\n  matrix: Matrix4x4,\r\n  source: Float32Array<ArrayBuffer>,\r\n  out?: Float32Array<ArrayBuffer>\r\n) {\r\n  const target = out && out.length === source.length ? out : new Float32Array(source.length);\r\n  for (let i = 0; i + 2 < source.length; i += 3) {\r\n    const x = source[i];\r\n    const y = source[i + 1];\r\n    const z = source[i + 2];\r\n    target[i] = matrix[0] * x + matrix[4] * y + matrix[8] * z + matrix[12];\r\n    target[i + 1] = matrix[1] * x + matrix[5] * y + matrix[9] * z + matrix[13];\r\n    target[i + 2] = matrix[2] * x + matrix[6] * y + matrix[10] * z + matrix[14];\r\n  }\r\n  return target;\r\n}\r\n\r\nfunction getWrapSourceToTargetMatrix(source: any, target: any, out?: Matrix4x4) {\r\n  if (!source?.worldMatrix || !target?.invWorldMatrix) {\r\n    return (out ?? new Matrix4x4()).identity();\r\n  }\r\n  return Matrix4x4.multiplyAffine(target.invWorldMatrix, source.worldMatrix, out);\r\n}\r\n\r\nclass GPUClothWrapBinding {\r\n  private readonly _device: AbstractDevice;\r\n  private readonly _source: any;\r\n  private readonly _target: any;\r\n  private readonly _targetPrimitive: Primitive;\r\n  private readonly _wrapTriangleIndexBuffer: GPUDataBuffer;\r\n  private readonly _wrapBarycentricBuffer: GPUDataBuffer;\r\n  private readonly _wrapLocalOffsetBuffer: GPUDataBuffer;\r\n  private readonly _program: GPUProgram;\r\n  private readonly _bindGroup: BindGroup;\r\n  private readonly _workgroupCount: number;\r\n  private readonly _maxOffsetDistance: number;\r\n  private readonly _sourceToTargetMatrix: Matrix4x4;\r\n  private readonly _positionBuffer: StructuredBuffer;\r\n  private readonly _normalBuffer: StructuredBuffer;\r\n  private readonly _originalPositionBuffer: Nullable<StructuredBuffer>;\r\n  private readonly _originalNormalBuffer: Nullable<StructuredBuffer>;\r\n  private readonly _restoreSkinning: Nullable<boolean>;\r\n\r\n  private constructor(\r\n    device: AbstractDevice,\r\n    source: any,\r\n    target: any,\r\n    targetPrimitive: Primitive,\r\n    wrapTriangleIndexBuffer: GPUDataBuffer,\r\n    wrapBarycentricBuffer: GPUDataBuffer,\r\n    wrapLocalOffsetBuffer: GPUDataBuffer,\r\n    program: GPUProgram,\r\n    bindGroup: BindGroup,\r\n    positionBuffer: StructuredBuffer,\r\n    normalBuffer: StructuredBuffer,\r\n    originalPositionBuffer: Nullable<StructuredBuffer>,\r\n    originalNormalBuffer: Nullable<StructuredBuffer>,\r\n    workgroupCount: number,\r\n    maxOffsetDistance: number,\r\n    restoreSkinning: Nullable<boolean>\r\n  ) {\r\n    this._device = device;\r\n    this._source = source;\r\n    this._target = target;\r\n    this._targetPrimitive = targetPrimitive;\r\n    this._wrapTriangleIndexBuffer = wrapTriangleIndexBuffer;\r\n    this._wrapBarycentricBuffer = wrapBarycentricBuffer;\r\n    this._wrapLocalOffsetBuffer = wrapLocalOffsetBuffer;\r\n    this._program = program;\r\n    this._bindGroup = bindGroup;\r\n    this._workgroupCount = workgroupCount;\r\n    this._maxOffsetDistance = maxOffsetDistance;\r\n    this._sourceToTargetMatrix = new Matrix4x4();\r\n    this._positionBuffer = positionBuffer;\r\n    this._normalBuffer = normalBuffer;\r\n    this._originalPositionBuffer = originalPositionBuffer;\r\n    this._originalNormalBuffer = originalNormalBuffer;\r\n    this._restoreSkinning = restoreSkinning;\r\n  }\r\n\r\n  static async create(\r\n    device: AbstractDevice,\r\n    source: any,\r\n    sourcePositionBuffer: StructuredBuffer,\r\n    sourceRestPositions: Float32Array<ArrayBuffer>,\r\n    sourceIndexData: Uint32Array<ArrayBuffer>,\r\n    target: any,\r\n    workgroupSize: number\r\n  ) {\r\n    const data = await GPUClothWrapBinding.createBindingData(\r\n      source,\r\n      sourceRestPositions,\r\n      sourceIndexData,\r\n      target\r\n    );\r\n    return GPUClothWrapBinding.createFromData(\r\n      device,\r\n      source,\r\n      sourcePositionBuffer,\r\n      sourceRestPositions,\r\n      sourceIndexData,\r\n      target,\r\n      workgroupSize,\r\n      data\r\n    );\r\n  }\r\n\r\n  static async createBindingData(\r\n    source: any,\r\n    sourceRestPositions: Float32Array<ArrayBuffer>,\r\n    sourceIndexData: Uint32Array<ArrayBuffer>,\r\n    target: any\r\n  ): Promise<GPUClothWrapBindingData> {\r\n    if (!target?.primitive) {\r\n      throw new Error('GPU cloth wrap failed: target mesh has no primitive.');\r\n    }\r\n    const targetPrimitive = target.primitive as Primitive;\r\n    const targetBasePositions = await readPositionDataFromPrimitive(targetPrimitive);\r\n    const sourceToTargetBindMatrix = getWrapSourceToTargetMatrix(source, target);\r\n    const [resolvedSourcePositions, targetPositions] = await Promise.all([\r\n      resolveWrapBindPositions(source, sourceRestPositions),\r\n      resolveWrapBindPositions(target, targetBasePositions)\r\n    ]);\r\n    const sourcePositionsInTargetSpace = transformPointArrayByMatrix(\r\n      sourceToTargetBindMatrix,\r\n      resolvedSourcePositions\r\n    );\r\n    const sourceVertexCount = (sourcePositionsInTargetSpace.length / 3) >> 0;\r\n    const sourceTriangleCount = (sourceIndexData.length / 3) >> 0;\r\n    if (sourceVertexCount <= 0) {\r\n      throw new Error('GPU cloth wrap failed: source mesh has no vertices.');\r\n    }\r\n    if (sourceTriangleCount <= 0) {\r\n      throw new Error('GPU cloth wrap failed: source mesh has no triangles.');\r\n    }\r\n    const vertexCount = (targetPositions.length / 3) >> 0;\r\n    const sourceTriangleIndices = new Uint32Array(vertexCount * WRAP_TRIANGLE_VERTEX_COUNT);\r\n    const sourceBarycentrics = new Float32Array(vertexCount * WRAP_TRIANGLE_VERTEX_COUNT);\r\n    const targetLocalOffsets = new Float32Array(vertexCount * 3);\r\n    let maxOffsetDistance = 0;\r\n    const closestPoint = new Float32Array(3);\r\n    const barycentrics = new Float32Array(3);\r\n    const frame = new Float32Array(9);\r\n    for (let vertex = 0; vertex < vertexCount; vertex++) {\r\n      const targetBase = vertex * 3;\r\n      const vx = targetPositions[targetBase];\r\n      const vy = targetPositions[targetBase + 1];\r\n      const vz = targetPositions[targetBase + 2];\r\n      let bestDistanceSq = Number.POSITIVE_INFINITY;\r\n      let bestI0 = 0;\r\n      let bestI1 = 0;\r\n      let bestI2 = 0;\r\n      let bestClosestX = vx;\r\n      let bestClosestY = vy;\r\n      let bestClosestZ = vz;\r\n      let bestBary0 = 1;\r\n      let bestBary1 = 0;\r\n      let bestBary2 = 0;\r\n      for (let tri = 0; tri < sourceTriangleCount; tri++) {\r\n        const triBase = tri * 3;\r\n        const i0 = sourceIndexData[triBase];\r\n        const i1 = sourceIndexData[triBase + 1];\r\n        const i2 = sourceIndexData[triBase + 2];\r\n        if (i0 >= sourceVertexCount || i1 >= sourceVertexCount || i2 >= sourceVertexCount) {\r\n          continue;\r\n        }\r\n        const base0 = i0 * 3;\r\n        const base1 = i1 * 3;\r\n        const base2 = i2 * 3;\r\n        const distanceSq = closestPointOnTriangle(\r\n          vx,\r\n          vy,\r\n          vz,\r\n          sourcePositionsInTargetSpace[base0],\r\n          sourcePositionsInTargetSpace[base0 + 1],\r\n          sourcePositionsInTargetSpace[base0 + 2],\r\n          sourcePositionsInTargetSpace[base1],\r\n          sourcePositionsInTargetSpace[base1 + 1],\r\n          sourcePositionsInTargetSpace[base1 + 2],\r\n          sourcePositionsInTargetSpace[base2],\r\n          sourcePositionsInTargetSpace[base2 + 1],\r\n          sourcePositionsInTargetSpace[base2 + 2],\r\n          closestPoint,\r\n          barycentrics\r\n        );\r\n        if (distanceSq < bestDistanceSq) {\r\n          bestDistanceSq = distanceSq;\r\n          bestI0 = i0;\r\n          bestI1 = i1;\r\n          bestI2 = i2;\r\n          bestClosestX = closestPoint[0];\r\n          bestClosestY = closestPoint[1];\r\n          bestClosestZ = closestPoint[2];\r\n          bestBary0 = barycentrics[0];\r\n          bestBary1 = barycentrics[1];\r\n          bestBary2 = barycentrics[2];\r\n        }\r\n      }\r\n      if (!Number.isFinite(bestDistanceSq)) {\r\n        throw new Error('GPU cloth wrap failed: source mesh triangle data is invalid.');\r\n      }\r\n      const influenceBase = vertex * WRAP_TRIANGLE_VERTEX_COUNT;\r\n      sourceTriangleIndices[influenceBase] = bestI0;\r\n      sourceTriangleIndices[influenceBase + 1] = bestI1;\r\n      sourceTriangleIndices[influenceBase + 2] = bestI2;\r\n      sourceBarycentrics[influenceBase] = bestBary0;\r\n      sourceBarycentrics[influenceBase + 1] = bestBary1;\r\n      sourceBarycentrics[influenceBase + 2] = bestBary2;\r\n      const bestBase0 = bestI0 * 3;\r\n      const bestBase1 = bestI1 * 3;\r\n      const bestBase2 = bestI2 * 3;\r\n      buildWrapTriangleFrame(\r\n        sourcePositionsInTargetSpace[bestBase0],\r\n        sourcePositionsInTargetSpace[bestBase0 + 1],\r\n        sourcePositionsInTargetSpace[bestBase0 + 2],\r\n        sourcePositionsInTargetSpace[bestBase1],\r\n        sourcePositionsInTargetSpace[bestBase1 + 1],\r\n        sourcePositionsInTargetSpace[bestBase1 + 2],\r\n        sourcePositionsInTargetSpace[bestBase2],\r\n        sourcePositionsInTargetSpace[bestBase2 + 1],\r\n        sourcePositionsInTargetSpace[bestBase2 + 2],\r\n        frame\r\n      );\r\n      const deltaX = vx - bestClosestX;\r\n      const deltaY = vy - bestClosestY;\r\n      const deltaZ = vz - bestClosestZ;\r\n      targetLocalOffsets[targetBase] = dot3(deltaX, deltaY, deltaZ, frame[0], frame[1], frame[2]);\r\n      targetLocalOffsets[targetBase + 1] = dot3(deltaX, deltaY, deltaZ, frame[3], frame[4], frame[5]);\r\n      targetLocalOffsets[targetBase + 2] = dot3(deltaX, deltaY, deltaZ, frame[6], frame[7], frame[8]);\r\n      maxOffsetDistance = Math.max(maxOffsetDistance, Math.sqrt(bestDistanceSq));\r\n    }\r\n\r\n    return {\r\n      version: 4,\r\n      vertexCount,\r\n      sourceVertexCount,\r\n      influenceCount: WRAP_TRIANGLE_VERTEX_COUNT,\r\n      maxOffsetDistance,\r\n      sourceTriangleIndices: encodeTypedArrayBase64(sourceTriangleIndices),\r\n      sourceBarycentrics: encodeTypedArrayBase64(sourceBarycentrics),\r\n      targetLocalOffsets: encodeTypedArrayBase64(targetLocalOffsets)\r\n    };\r\n  }\r\n\r\n  static createFromData(\r\n    device: AbstractDevice,\r\n    source: any,\r\n    sourcePositionBuffer: StructuredBuffer,\r\n    sourceRestPositions: Float32Array<ArrayBuffer>,\r\n    _sourceIndexData: Uint32Array<ArrayBuffer>,\r\n    target: any,\r\n    workgroupSize: number,\r\n    data: GPUClothWrapBindingData\r\n  ) {\r\n    if (!target?.primitive) {\r\n      throw new Error('GPU cloth wrap failed: target mesh has no primitive.');\r\n    }\r\n    const targetPrimitive = target.primitive as Primitive;\r\n    const vertexCount = targetPrimitive.getNumVertices();\r\n    if (!isWrapBindingDataCompatible(data, sourceRestPositions, vertexCount)) {\r\n      throw new Error('GPU cloth wrap failed: binding cache is incompatible with current meshes.');\r\n    }\r\n    const expectedElementCount = vertexCount * 3;\r\n    const influenceElementCount = vertexCount * data.influenceCount;\r\n    const wrapSourceTriangleIndices = decodeTypedArrayFromBase64(\r\n      Uint32Array,\r\n      data.sourceTriangleIndices,\r\n      influenceElementCount\r\n    );\r\n    const wrapSourceBarycentrics = decodeTypedArrayFromBase64(\r\n      Float32Array,\r\n      data.sourceBarycentrics,\r\n      influenceElementCount\r\n    );\r\n    const wrapTargetLocalOffsets = decodeTypedArrayFromBase64(\r\n      Float32Array,\r\n      data.targetLocalOffsets,\r\n      expectedElementCount\r\n    );\r\n    const positionBuffer = device.createVertexBuffer(\r\n      'position_f32x3',\r\n      new Float32Array(expectedElementCount),\r\n      {\r\n        storage: true,\r\n        managed: false\r\n      }\r\n    );\r\n    if (!positionBuffer) {\r\n      throw new Error('GPU cloth wrap failed: could not create target position buffer.');\r\n    }\r\n    const normalBuffer = device.createVertexBuffer('normal_f32x3', new Float32Array(expectedElementCount), {\r\n      storage: true,\r\n      managed: false\r\n    });\r\n    if (!normalBuffer) {\r\n      throw new Error('GPU cloth wrap failed: could not create target normal buffer.');\r\n    }\r\n\r\n    const wrapTriangleIndexBuffer = device.createBuffer(wrapSourceTriangleIndices.byteLength, {\r\n      usage: 'uniform',\r\n      storage: true,\r\n      dynamic: false,\r\n      managed: false\r\n    });\r\n    wrapTriangleIndexBuffer.bufferSubData(0, wrapSourceTriangleIndices);\r\n    const wrapBarycentricBuffer = device.createBuffer(wrapSourceBarycentrics.byteLength, {\r\n      usage: 'uniform',\r\n      storage: true,\r\n      dynamic: false,\r\n      managed: false\r\n    });\r\n    wrapBarycentricBuffer.bufferSubData(0, wrapSourceBarycentrics);\r\n    const wrapLocalOffsetBuffer = device.createBuffer(wrapTargetLocalOffsets.byteLength, {\r\n      usage: 'uniform',\r\n      storage: true,\r\n      dynamic: false,\r\n      managed: false\r\n    });\r\n    wrapLocalOffsetBuffer.bufferSubData(0, wrapTargetLocalOffsets);\r\n    const program = createWrapDeformerProgram(device, workgroupSize);\r\n    if (!program) {\r\n      throw new Error('GPU cloth wrap failed: could not create compute program.');\r\n    }\r\n    const bindGroup = device.createBindGroup(program.bindGroupLayouts[0]);\r\n    bindGroup.setBuffer('sourcePositions', sourcePositionBuffer);\r\n    bindGroup.setBuffer('sourceTriangleIndices', wrapTriangleIndexBuffer);\r\n    bindGroup.setBuffer('sourceBarycentrics', wrapBarycentricBuffer);\r\n    bindGroup.setBuffer('targetLocalOffsets', wrapLocalOffsetBuffer);\r\n    bindGroup.setBuffer('targetPositions', positionBuffer);\r\n    bindGroup.setBuffer('targetNormals', normalBuffer);\r\n    const sourceToTargetBindMatrix = getWrapSourceToTargetMatrix(source, target);\r\n    bindGroup.setValue('vertexCount', vertexCount);\r\n    bindGroup.setValue('sourceToTargetMatrix', sourceToTargetBindMatrix);\r\n    bindGroup.setValue('minDistance', 1e-5);\r\n\r\n    const originalPositionBuffer = targetPrimitive.getVertexBuffer('position');\r\n    const originalNormalBuffer = targetPrimitive.getVertexBuffer('normal');\r\n    retainObject(originalPositionBuffer);\r\n    retainObject(originalNormalBuffer);\r\n    targetPrimitive.removeVertexBuffer('position');\r\n    targetPrimitive.setVertexBuffer(positionBuffer!);\r\n    targetPrimitive.removeVertexBuffer('normal');\r\n    targetPrimitive.setVertexBuffer(normalBuffer!);\r\n\r\n    let restoreSkinning: Nullable<boolean> = null;\r\n    if (typeof target?.suspendSkinning === 'boolean') {\r\n      restoreSkinning = target.suspendSkinning;\r\n      target.suspendSkinning = true;\r\n      target.setBoneMatrices?.(null);\r\n      target.setAnimatedBoundingBox?.(null);\r\n    }\r\n\r\n    const binding = new GPUClothWrapBinding(\r\n      device,\r\n      source,\r\n      target,\r\n      targetPrimitive,\r\n      wrapTriangleIndexBuffer,\r\n      wrapBarycentricBuffer,\r\n      wrapLocalOffsetBuffer,\r\n      program,\r\n      bindGroup,\r\n      positionBuffer!,\r\n      normalBuffer!,\r\n      originalPositionBuffer,\r\n      originalNormalBuffer,\r\n      Math.max(1, Math.ceil(vertexCount / workgroupSize)),\r\n      Math.max(0, Number(data.maxOffsetDistance) || 0),\r\n      restoreSkinning\r\n    );\r\n    binding.update();\r\n    return binding;\r\n  }\r\n\r\n  update() {\r\n    getWrapSourceToTargetMatrix(this._source, this._target, this._sourceToTargetMatrix);\r\n    this._bindGroup.setValue('sourceToTargetMatrix', this._sourceToTargetMatrix);\r\n    this._device.setProgram(this._program);\r\n    this._device.setBindGroup(0, this._bindGroup);\r\n    this._device.compute(this._workgroupCount, 1, 1);\r\n    this.updateBoundingBox();\r\n  }\r\n\r\n  dispose() {\r\n    this._bindGroup.dispose();\r\n    this._program.dispose();\r\n    this._wrapTriangleIndexBuffer.dispose();\r\n    this._wrapBarycentricBuffer.dispose();\r\n    this._wrapLocalOffsetBuffer.dispose();\r\n    if (this._targetPrimitive) {\r\n      this._targetPrimitive.removeVertexBuffer('position');\r\n      if (this._originalPositionBuffer) {\r\n        this._targetPrimitive.setVertexBuffer(this._originalPositionBuffer);\r\n      }\r\n      this._targetPrimitive.removeVertexBuffer('normal');\r\n      if (this._originalNormalBuffer) {\r\n        this._targetPrimitive.setVertexBuffer(this._originalNormalBuffer);\r\n      }\r\n    }\r\n    releaseObject(this._originalPositionBuffer);\r\n    releaseObject(this._originalNormalBuffer);\r\n    this._positionBuffer.dispose();\r\n    this._normalBuffer.dispose();\r\n    if (this._target && this._restoreSkinning !== null) {\r\n      this._target.setAnimatedBoundingBox?.(null);\r\n      this._target.suspendSkinning = this._restoreSkinning;\r\n    }\r\n  }\r\n\r\n  private updateBoundingBox() {\r\n    const sourceBBox =\r\n      this._source?.getAnimatedBoundingBox?.() ??\r\n      this._source?.primitive?.getBoundingVolume?.()?.toAABB?.() ??\r\n      null;\r\n    if (!sourceBBox) {\r\n      return;\r\n    }\r\n    let minX = Number.POSITIVE_INFINITY;\r\n    let minY = Number.POSITIVE_INFINITY;\r\n    let minZ = Number.POSITIVE_INFINITY;\r\n    let maxX = Number.NEGATIVE_INFINITY;\r\n    let maxY = Number.NEGATIVE_INFINITY;\r\n    let maxZ = Number.NEGATIVE_INFINITY;\r\n    getWrapSourceToTargetMatrix(this._source, this._target, this._sourceToTargetMatrix);\r\n    const corners = [\r\n      [sourceBBox.minPoint.x, sourceBBox.minPoint.y, sourceBBox.minPoint.z],\r\n      [sourceBBox.minPoint.x, sourceBBox.minPoint.y, sourceBBox.maxPoint.z],\r\n      [sourceBBox.minPoint.x, sourceBBox.maxPoint.y, sourceBBox.minPoint.z],\r\n      [sourceBBox.minPoint.x, sourceBBox.maxPoint.y, sourceBBox.maxPoint.z],\r\n      [sourceBBox.maxPoint.x, sourceBBox.minPoint.y, sourceBBox.minPoint.z],\r\n      [sourceBBox.maxPoint.x, sourceBBox.minPoint.y, sourceBBox.maxPoint.z],\r\n      [sourceBBox.maxPoint.x, sourceBBox.maxPoint.y, sourceBBox.minPoint.z],\r\n      [sourceBBox.maxPoint.x, sourceBBox.maxPoint.y, sourceBBox.maxPoint.z]\r\n    ];\r\n    for (const corner of corners) {\r\n      const x =\r\n        this._sourceToTargetMatrix[0] * corner[0] +\r\n        this._sourceToTargetMatrix[4] * corner[1] +\r\n        this._sourceToTargetMatrix[8] * corner[2] +\r\n        this._sourceToTargetMatrix[12];\r\n      const y =\r\n        this._sourceToTargetMatrix[1] * corner[0] +\r\n        this._sourceToTargetMatrix[5] * corner[1] +\r\n        this._sourceToTargetMatrix[9] * corner[2] +\r\n        this._sourceToTargetMatrix[13];\r\n      const z =\r\n        this._sourceToTargetMatrix[2] * corner[0] +\r\n        this._sourceToTargetMatrix[6] * corner[1] +\r\n        this._sourceToTargetMatrix[10] * corner[2] +\r\n        this._sourceToTargetMatrix[14];\r\n      minX = Math.min(minX, x);\r\n      minY = Math.min(minY, y);\r\n      minZ = Math.min(minZ, z);\r\n      maxX = Math.max(maxX, x);\r\n      maxY = Math.max(maxY, y);\r\n      maxZ = Math.max(maxZ, z);\r\n    }\r\n    const padding = Math.max(0.001, this._maxOffsetDistance);\r\n    this._target?.setAnimatedBoundingBox?.(\r\n      new BoundingBox(\r\n        new Vector3(minX - padding, minY - padding, minZ - padding),\r\n        new Vector3(maxX + padding, maxY + padding, maxZ + padding)\r\n      )\r\n    );\r\n  }\r\n}\r\n\r\nexport async function createGPUClothWrapBindingData(\r\n  source: any,\r\n  target: any\r\n): Promise<GPUClothWrapBindingData> {\r\n  if (!source?.primitive) {\r\n    throw new Error('GPU cloth wrap failed: source mesh has no primitive.');\r\n  }\r\n  const sourcePrimitive = source.primitive as Primitive;\r\n  const sourcePositions = await readPositionDataFromPrimitive(sourcePrimitive);\r\n  const sourceIndices = toUInt32Indices(\r\n    await readIndexDataFromPrimitive(sourcePrimitive, (sourcePositions.length / 3) >> 0)\r\n  );\r\n  return GPUClothWrapBinding.createBindingData(source, sourcePositions, sourceIndices, target);\r\n}\r\n\r\n/**\r\n * WebGPU-only cloth simulation entry.\r\n *\r\n * On non-WebGPU backends (including WebGL), the system is always disabled.\r\n */\r\nexport class GPUClothSystem {\r\n  private _enabled: boolean;\r\n  private _disabledReason: Nullable<string>;\r\n  private _device: Nullable<AbstractDevice>;\r\n  private _primitive: Nullable<Primitive>;\r\n  private _originalPositionBuffer: Nullable<StructuredBuffer>;\r\n  private _originalNormalBuffer: Nullable<StructuredBuffer>;\r\n  private _positionBuffer: Nullable<StructuredBuffer>;\r\n  private _sourceIndexData: Nullable<Uint32Array<ArrayBuffer>>;\r\n  private _prevPositionBuffer: Nullable<GPUDataBuffer>;\r\n  private _restPositionBuffer: Nullable<GPUDataBuffer>;\r\n  private _prevRestPositionBuffer: Nullable<GPUDataBuffer>;\r\n  private _invMassBuffer: Nullable<GPUDataBuffer>;\r\n  private _neighborIndexBuffer: Nullable<GPUDataBuffer>;\r\n  private _restLengthBuffer: Nullable<GPUDataBuffer>;\r\n  private _integrateProgram: Nullable<GPUProgram>;\r\n  private _constraintProgram: Nullable<GPUProgram>;\r\n  private _faceNormalProgram: Nullable<GPUProgram>;\r\n  private _vertexNormalProgram: Nullable<GPUProgram>;\r\n  private _integrateBindGroup: Nullable<BindGroup>;\r\n  private _constraintBindGroup: Nullable<BindGroup>;\r\n  private _faceNormalBindGroup: Nullable<BindGroup>;\r\n  private _vertexNormalBindGroup: Nullable<BindGroup>;\r\n  private _vertexCount: number;\r\n  private _workgroupCount: number;\r\n  private _triangleCount: number;\r\n  private _triangleWorkgroupCount: number;\r\n  private _maxNeighbors: number;\r\n  private _maxTrianglesPerVertex: number;\r\n  private _gravity: Vector3;\r\n  private _damping: number;\r\n  private _dynamicFriction: number;\r\n  private _staticFriction: number;\r\n  private _stiffness: number;\r\n  private _poseFollow: number;\r\n  private _substeps: number;\r\n  private _solverIterations: number;\r\n  private _colliders: SpringCollider[];\r\n  private _sphereColliderBuffer: Nullable<GPUDataBuffer>;\r\n  private _capsuleColliderBuffer: Nullable<GPUDataBuffer>;\r\n  private _planeColliderBuffer: Nullable<GPUDataBuffer>;\r\n  private _sphereColliderData: Float32Array<ArrayBuffer>;\r\n  private _capsuleColliderData: Float32Array<ArrayBuffer>;\r\n  private _planeColliderData: Float32Array<ArrayBuffer>;\r\n  private _triangleIndexBuffer: Nullable<GPUDataBuffer>;\r\n  private _triangleNormalBuffer: Nullable<GPUDataBuffer>;\r\n  private _vertexTriangleAdjacencyBuffer: Nullable<GPUDataBuffer>;\r\n  private _normalBuffer: Nullable<StructuredBuffer>;\r\n  private _rebuildNormals: boolean;\r\n  private _collisionSpaceNode: any;\r\n  private _sourcePositionData: Nullable<Float32Array<ArrayBuffer>>;\r\n  private _skinningBlendIndices: Nullable<Float32Array<ArrayBuffer>>;\r\n  private _skinningBlendWeights: Nullable<Float32Array<ArrayBuffer>>;\r\n  private _dynamicRestPositionData: Nullable<Float32Array<ArrayBuffer>>;\r\n  private _smoothedRestPositionData: Nullable<Float32Array<ArrayBuffer>>;\r\n  private _usingDynamicRestPose: boolean;\r\n  private _skinAnimationTarget: any;\r\n  private _restoreSkinAnimation: Nullable<boolean>;\r\n  private _boundScene: Nullable<Scene>;\r\n  private _autoUpdate: boolean;\r\n  private _workgroupSize: number;\r\n  private _wrapBindings: GPUClothWrapBinding[];\r\n  private _latestInputDeltaTime: number;\r\n  private _smoothedSphereCenters: WeakMap<SphereCollider, Vector3>;\r\n  private _smoothedCapsuleEndpoints: WeakMap<CapsuleCollider, { start: Vector3; end: Vector3 }>;\r\n  private _smoothedPlaneData: WeakMap<PlaneCollider, { point: Vector3; normal: Vector3 }>;\r\n  private _timeAccumulator: number;\r\n  private _pendingAutoUpdateDeltaTime: number;\r\n  private readonly _meshPostUpdateCallback: MeshUpdateCallback;\r\n\r\n  constructor(options?: GPUClothSystemOptions) {\r\n    this._device = resolveDevice(options?.device ?? null);\r\n    const supported = isGPUClothSupported(this._device);\r\n    const wantEnabled = options?.enabled ?? true;\r\n    this._enabled = false;\r\n    this._disabledReason = null;\r\n    this._primitive = options?.primitive ?? null;\r\n    this._originalPositionBuffer = null;\r\n    this._originalNormalBuffer = null;\r\n    this._positionBuffer = null;\r\n    this._sourceIndexData = null;\r\n    this._prevPositionBuffer = null;\r\n    this._restPositionBuffer = null;\r\n    this._prevRestPositionBuffer = null;\r\n    this._invMassBuffer = null;\r\n    this._neighborIndexBuffer = null;\r\n    this._restLengthBuffer = null;\r\n    this._integrateProgram = null;\r\n    this._constraintProgram = null;\r\n    this._faceNormalProgram = null;\r\n    this._vertexNormalProgram = null;\r\n    this._integrateBindGroup = null;\r\n    this._constraintBindGroup = null;\r\n    this._faceNormalBindGroup = null;\r\n    this._vertexNormalBindGroup = null;\r\n    this._vertexCount = 0;\r\n    this._workgroupCount = 0;\r\n    this._triangleCount = 0;\r\n    this._triangleWorkgroupCount = 0;\r\n    this._maxNeighbors = clamp(options?.maxNeighbors ?? DEFAULT_MAX_NEIGHBORS, 1, 64) | 0;\r\n    this._maxTrianglesPerVertex = clamp(\r\n      options?.maxTrianglesPerVertex ?? DEFAULT_MAX_TRIANGLES_PER_VERTEX,\r\n      1,\r\n      64\r\n    );\r\n    this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);\r\n    this._damping = clamp(options?.damping ?? DEFAULT_DAMPING, 0, 1);\r\n    this._dynamicFriction = clamp(options?.dynamicFriction ?? DEFAULT_DYNAMIC_FRICTION, 0, 1);\r\n    this._staticFriction = clamp(options?.staticFriction ?? DEFAULT_STATIC_FRICTION, 0, 1);\r\n    this._stiffness = clamp(options?.stiffness ?? DEFAULT_STIFFNESS, 0, 1);\r\n    this._poseFollow = clamp(options?.poseFollow ?? DEFAULT_POSE_FOLLOW, 0, 1);\r\n    this._substeps = clamp(options?.substeps ?? DEFAULT_SUBSTEPS, 1, 8) | 0;\r\n    this._solverIterations = Math.max(1, (options?.solverIterations ?? DEFAULT_SOLVER_ITERATIONS) | 0);\r\n    this._colliders = [...(options?.colliders ?? [])];\r\n    this._sphereColliderBuffer = null;\r\n    this._capsuleColliderBuffer = null;\r\n    this._planeColliderBuffer = null;\r\n    this._sphereColliderData = new Float32Array(\r\n      getInitialColliderBufferFloatCount(this._colliders, 'sphere', 4)\r\n    );\r\n    this._capsuleColliderData = new Float32Array(\r\n      getInitialColliderBufferFloatCount(this._colliders, 'capsule', 8)\r\n    );\r\n    this._planeColliderData = new Float32Array(\r\n      getInitialColliderBufferFloatCount(this._colliders, 'plane', 8)\r\n    );\r\n    this._triangleIndexBuffer = null;\r\n    this._triangleNormalBuffer = null;\r\n    this._vertexTriangleAdjacencyBuffer = null;\r\n    this._normalBuffer = null;\r\n    this._rebuildNormals = options?.rebuildNormals ?? true;\r\n    this._collisionSpaceNode = options?.collisionSpaceNode ?? null;\r\n    this._sourcePositionData = options?.positionData ? new Float32Array(options.positionData) : null;\r\n    this._skinningBlendIndices = options?.skinningBlendIndices\r\n      ? new Float32Array(options.skinningBlendIndices)\r\n      : null;\r\n    this._skinningBlendWeights = options?.skinningBlendWeights\r\n      ? new Float32Array(options.skinningBlendWeights)\r\n      : null;\r\n    this._dynamicRestPositionData = null;\r\n    this._smoothedRestPositionData = null;\r\n    this._usingDynamicRestPose = false;\r\n    this._skinAnimationTarget = null;\r\n    this._restoreSkinAnimation = null;\r\n    this._boundScene = null;\r\n    this._autoUpdate = options?.autoUpdate ?? true;\r\n    this._workgroupSize = clamp(options?.workgroupSize ?? DEFAULT_WORKGROUP_SIZE, 1, 256) | 0;\r\n    this._wrapBindings = [];\r\n    this._latestInputDeltaTime = 0;\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n    this._timeAccumulator = 0;\r\n    this._pendingAutoUpdateDeltaTime = 0;\r\n    this._meshPostUpdateCallback = (_frameId, _elapsedInSeconds, deltaInSeconds) => {\r\n      const dt = this._pendingAutoUpdateDeltaTime || deltaInSeconds;\r\n      if (dt > 0) {\r\n        this._pendingAutoUpdateDeltaTime = 0;\r\n        this.update(dt);\r\n      }\r\n    };\r\n\r\n    if (!supported) {\r\n      this._disabledReason = 'GPU cloth is disabled: current backend is not WebGPU.';\r\n      return;\r\n    }\r\n\r\n    if (!this._device) {\r\n      this._disabledReason = 'GPU cloth is disabled: no active rendering device.';\r\n      return;\r\n    }\r\n\r\n    if (!this._primitive) {\r\n      this._disabledReason = 'GPU cloth is disabled: primitive is required.';\r\n      return;\r\n    }\r\n\r\n    if (!options?.positionData || !options?.indexData) {\r\n      this._disabledReason =\r\n        'GPU cloth is disabled: positionData and indexData are required. Use createFromPrimitive(...) to build them automatically.';\r\n      return;\r\n    }\r\n\r\n    const vertexCount = (options.positionData.length / 3) >> 0;\r\n    if (vertexCount <= 0 || options.positionData.length % 3 !== 0) {\r\n      this._disabledReason = 'GPU cloth is disabled: invalid positionData.';\r\n      return;\r\n    }\r\n    if (options.indexData.length < 3 || options.indexData.length % 3 !== 0) {\r\n      this._disabledReason = 'GPU cloth is disabled: indexData must be triangle indices.';\r\n      return;\r\n    }\r\n\r\n    const initialSimulationPositions =\r\n      buildInitialSimulationPositions(options) ?? new Float32Array(options.positionData);\r\n    const workgroupSize = this._workgroupSize;\r\n    const indexDataU32 = toUInt32Indices(options.indexData);\r\n    this._sourceIndexData = new Uint32Array(indexDataU32);\r\n    const pinWeightArray = buildPinWeightArray(\r\n      initialSimulationPositions,\r\n      options.pinnedVertexWeights,\r\n      options.pinnedVertexIndices\r\n    );\r\n    const neighbors = buildNeighborData(initialSimulationPositions, options.indexData, this._maxNeighbors);\r\n    const adjacency = buildVertexTriangleAdjacency(vertexCount, indexDataU32, this._maxTrianglesPerVertex);\r\n    if (!neighbors.hasConstraint) {\r\n      this._disabledReason = 'GPU cloth is disabled: could not build cloth constraints from indexData.';\r\n      return;\r\n    }\r\n\r\n    try {\r\n      this._positionBuffer = this._device.createVertexBuffer('position_f32x3', initialSimulationPositions, {\r\n        storage: true,\r\n        managed: false\r\n      });\r\n      if (!this._positionBuffer) {\r\n        this._disabledReason = 'GPU cloth is disabled: failed to create cloth position buffer.';\r\n        return;\r\n      }\r\n      this._prevPositionBuffer = this._device.createBuffer(options.positionData.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._prevPositionBuffer.bufferSubData(0, initialSimulationPositions);\r\n\r\n      this._restPositionBuffer = this._device.createBuffer(options.positionData.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._restPositionBuffer.bufferSubData(0, initialSimulationPositions);\r\n\r\n      this._prevRestPositionBuffer = this._device.createBuffer(options.positionData.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._prevRestPositionBuffer.bufferSubData(0, initialSimulationPositions);\r\n\r\n      const invMassArray = new Float32Array(vertexCount);\r\n      for (let i = 0; i < vertexCount; i++) {\r\n        invMassArray[i] = 1 - pinWeightArray[i];\r\n      }\r\n      this._invMassBuffer = this._device.createBuffer(invMassArray.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._invMassBuffer.bufferSubData(0, invMassArray);\r\n\r\n      this._neighborIndexBuffer = this._device.createBuffer(neighbors.neighborIndices.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._neighborIndexBuffer.bufferSubData(0, neighbors.neighborIndices);\r\n\r\n      this._restLengthBuffer = this._device.createBuffer(neighbors.restLengths.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._restLengthBuffer.bufferSubData(0, neighbors.restLengths);\r\n\r\n      this._triangleIndexBuffer = this._device.createBuffer(indexDataU32.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._triangleIndexBuffer.bufferSubData(0, indexDataU32);\r\n\r\n      this._triangleNormalBuffer = this._device.createBuffer(adjacency.triangleCount * 3 * 4, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n\r\n      this._vertexTriangleAdjacencyBuffer = this._device.createBuffer(adjacency.adjacency.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._vertexTriangleAdjacencyBuffer.bufferSubData(0, adjacency.adjacency);\r\n\r\n      this._sphereColliderBuffer = this._device.createBuffer(this._sphereColliderData.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._sphereColliderBuffer.bufferSubData(0, this._sphereColliderData);\r\n\r\n      this._capsuleColliderBuffer = this._device.createBuffer(this._capsuleColliderData.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._capsuleColliderBuffer.bufferSubData(0, this._capsuleColliderData);\r\n\r\n      this._planeColliderBuffer = this._device.createBuffer(this._planeColliderData.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._planeColliderBuffer.bufferSubData(0, this._planeColliderData);\r\n\r\n      this._integrateProgram = createIntegrateProgram(this._device, workgroupSize);\r\n      this._constraintProgram = createConstraintProgram(this._device, workgroupSize);\r\n      if (!this._integrateProgram || !this._constraintProgram) {\r\n        this._disabledReason = 'GPU cloth is disabled: failed to create compute programs.';\r\n        return;\r\n      }\r\n\r\n      this._integrateBindGroup = this._device.createBindGroup(this._integrateProgram.bindGroupLayouts[0]);\r\n      this._integrateBindGroup.setBuffer('positions', this._positionBuffer!);\r\n      this._integrateBindGroup.setBuffer('prevPositions', this._prevPositionBuffer);\r\n      this._integrateBindGroup.setBuffer('restPositions', this._restPositionBuffer);\r\n      this._integrateBindGroup.setBuffer('prevRestPositions', this._prevRestPositionBuffer);\r\n      this._integrateBindGroup.setBuffer('invMass', this._invMassBuffer);\r\n      this._integrateBindGroup.setBuffer('sphereData', this._sphereColliderBuffer);\r\n      this._integrateBindGroup.setBuffer('capsuleData', this._capsuleColliderBuffer);\r\n      this._integrateBindGroup.setBuffer('planeData', this._planeColliderBuffer);\r\n      this._integrateBindGroup.setValue('vertexCount', vertexCount);\r\n      this._integrateBindGroup.setValue('damping', this._damping);\r\n      this._integrateBindGroup.setValue('gravity', this._gravity);\r\n      this._integrateBindGroup.setValue('sphereCount', 0);\r\n      this._integrateBindGroup.setValue('capsuleCount', 0);\r\n      this._integrateBindGroup.setValue('planeCount', 0);\r\n      this._integrateBindGroup.setValue('dynamicFriction', this._dynamicFriction);\r\n      this._integrateBindGroup.setValue('staticFriction', this._staticFriction);\r\n      this._integrateBindGroup.setValue('minDistance', 1e-5);\r\n\r\n      this._constraintBindGroup = this._device.createBindGroup(this._constraintProgram.bindGroupLayouts[0]);\r\n      this._constraintBindGroup.setBuffer('positions', this._positionBuffer!);\r\n      this._constraintBindGroup.setBuffer('restPositions', this._restPositionBuffer);\r\n      this._constraintBindGroup.setBuffer('invMass', this._invMassBuffer);\r\n      this._constraintBindGroup.setBuffer('neighborIndices', this._neighborIndexBuffer);\r\n      this._constraintBindGroup.setBuffer('restLengths', this._restLengthBuffer);\r\n      this._constraintBindGroup.setBuffer('sphereData', this._sphereColliderBuffer);\r\n      this._constraintBindGroup.setBuffer('capsuleData', this._capsuleColliderBuffer);\r\n      this._constraintBindGroup.setBuffer('planeData', this._planeColliderBuffer);\r\n      this._constraintBindGroup.setValue('vertexCount', vertexCount);\r\n      this._constraintBindGroup.setValue('maxNeighbors', this._maxNeighbors);\r\n      this._constraintBindGroup.setValue('stiffness', this._stiffness);\r\n      this._constraintBindGroup.setValue('poseFollow', this.getSubstepPoseFollow());\r\n      this._constraintBindGroup.setValue('sphereCount', 0);\r\n      this._constraintBindGroup.setValue('capsuleCount', 0);\r\n      this._constraintBindGroup.setValue('planeCount', 0);\r\n      this._constraintBindGroup.setValue('dynamicFriction', this._dynamicFriction);\r\n      this._constraintBindGroup.setValue('staticFriction', this._staticFriction);\r\n      this._constraintBindGroup.setValue('minDistance', 1e-5);\r\n\r\n      if (this._rebuildNormals) {\r\n        this._normalBuffer = this._device.createVertexBuffer(\r\n          'normal_f32x3',\r\n          new Float32Array(vertexCount * 3),\r\n          {\r\n            storage: true,\r\n            managed: false\r\n          }\r\n        );\r\n        if (this._normalBuffer) {\r\n          this._faceNormalProgram = createFaceNormalProgram(this._device, workgroupSize);\r\n          this._vertexNormalProgram = createVertexNormalProgram(this._device, workgroupSize);\r\n          if (!this._faceNormalProgram || !this._vertexNormalProgram) {\r\n            this._disabledReason = 'GPU cloth is disabled: failed to create normal reconstruction programs.';\r\n            return;\r\n          }\r\n          this._faceNormalBindGroup = this._device.createBindGroup(\r\n            this._faceNormalProgram.bindGroupLayouts[0]\r\n          );\r\n          this._faceNormalBindGroup.setBuffer('positions', this._positionBuffer!);\r\n          this._faceNormalBindGroup.setBuffer('triangleIndices', this._triangleIndexBuffer);\r\n          this._faceNormalBindGroup.setBuffer('triangleNormals', this._triangleNormalBuffer);\r\n          this._faceNormalBindGroup.setValue('triangleCount', adjacency.triangleCount);\r\n          this._faceNormalBindGroup.setValue('minDistance', 1e-5);\r\n\r\n          this._vertexNormalBindGroup = this._device.createBindGroup(\r\n            this._vertexNormalProgram.bindGroupLayouts[0]\r\n          );\r\n          this._vertexNormalBindGroup.setBuffer('triangleNormals', this._triangleNormalBuffer);\r\n          this._vertexNormalBindGroup.setBuffer(\r\n            'vertexTriangleAdjacency',\r\n            this._vertexTriangleAdjacencyBuffer\r\n          );\r\n          this._vertexNormalBindGroup.setBuffer('vertexNormals', this._normalBuffer);\r\n          this._vertexNormalBindGroup.setValue('vertexCount', vertexCount);\r\n          this._vertexNormalBindGroup.setValue('maxTrianglesPerVertex', this._maxTrianglesPerVertex);\r\n          this._vertexNormalBindGroup.setValue('minDistance', 1e-5);\r\n        }\r\n      }\r\n\r\n      this._originalPositionBuffer = this._primitive.getVertexBuffer('position');\r\n      retainObject(this._originalPositionBuffer);\r\n      this._primitive.removeVertexBuffer('position');\r\n      this._primitive.setVertexBuffer(this._positionBuffer!);\r\n      if (this._normalBuffer) {\r\n        this._originalNormalBuffer = this._primitive.getVertexBuffer('normal');\r\n        retainObject(this._originalNormalBuffer);\r\n        this._primitive.removeVertexBuffer('normal');\r\n        this._primitive.setVertexBuffer(this._normalBuffer);\r\n      }\r\n      this._vertexCount = vertexCount;\r\n      this._workgroupCount = Math.max(1, Math.ceil(vertexCount / workgroupSize));\r\n      this._triangleCount = adjacency.triangleCount;\r\n      this._triangleWorkgroupCount = Math.max(1, Math.ceil(this._triangleCount / workgroupSize));\r\n      this.disableTargetSkinning();\r\n      this.updateTargetBoundingBox(initialSimulationPositions);\r\n      this.updateColliderBuffers();\r\n      if (this._autoUpdate && options?.scene) {\r\n        this.bindToScene(options.scene);\r\n      }\r\n      this._enabled = !!wantEnabled;\r\n      this._disabledReason = null;\r\n    } catch (err) {\r\n      this._disabledReason = `GPU cloth initialization failed: ${\r\n        err instanceof Error ? err.message : String(err)\r\n      }`;\r\n      this._enabled = false;\r\n    }\r\n  }\r\n\r\n  static async createFromPrimitive(\r\n    primitive: Primitive,\r\n    options?: Omit<GPUClothSystemOptions, 'primitive' | 'positionData' | 'indexData'>\r\n  ) {\r\n    const positionData = await readPositionDataFromPrimitive(primitive);\r\n    const skinningData = await readSkinningDataFromPrimitive(primitive);\r\n    const indexData = await readIndexDataFromPrimitive(primitive, (positionData.length / 3) >> 0);\r\n    return new GPUClothSystem({\r\n      ...options,\r\n      primitive,\r\n      positionData,\r\n      indexData,\r\n      skinningBlendIndices: skinningData?.blendIndices ?? undefined,\r\n      skinningBlendWeights: skinningData?.blendWeights ?? undefined\r\n    });\r\n  }\r\n\r\n  static async createFromMesh(\r\n    mesh: { primitive: Nullable<Primitive>; scene?: Nullable<Scene> },\r\n    options?: Omit<GPUClothSystemOptions, 'primitive' | 'positionData' | 'indexData' | 'scene'>\r\n  ) {\r\n    if (!mesh.primitive) {\r\n      throw new Error('GPU cloth initialization failed: mesh has no primitive.');\r\n    }\r\n    return GPUClothSystem.createFromPrimitive(mesh.primitive, {\r\n      ...options,\r\n      collisionSpaceNode: mesh,\r\n      scene: mesh.scene ?? null\r\n    });\r\n  }\r\n\r\n  async setWrapTargets(targets: any[]) {\r\n    this.clearWrapTargets();\r\n    if (\r\n      !this.supported ||\r\n      !this._device ||\r\n      !this._positionBuffer ||\r\n      !this._sourcePositionData ||\r\n      !this._sourceIndexData\r\n    ) {\r\n      return;\r\n    }\r\n    const uniqueTargets = [\r\n      ...new Set((targets ?? []).filter((target) => target?.primitive && target !== this._collisionSpaceNode))\r\n    ];\r\n    for (const target of uniqueTargets) {\r\n      try {\r\n        const binding = await GPUClothWrapBinding.create(\r\n          this._device,\r\n          this._collisionSpaceNode,\r\n          this._positionBuffer,\r\n          this._sourcePositionData,\r\n          this._sourceIndexData,\r\n          target,\r\n          this._workgroupSize\r\n        );\r\n        this._wrapBindings.push(binding);\r\n      } catch (err) {\r\n        console.error('GPU cloth wrap target initialization failed:', err);\r\n      }\r\n    }\r\n  }\r\n\r\n  setWrapTargetsFromBindingData(targets: GPUClothWrapBindingTarget[]) {\r\n    this.clearWrapTargets();\r\n    if (\r\n      !this.supported ||\r\n      !this._device ||\r\n      !this._positionBuffer ||\r\n      !this._sourcePositionData ||\r\n      !this._sourceIndexData\r\n    ) {\r\n      return;\r\n    }\r\n    const seen = new Set<any>();\r\n    for (const entry of targets ?? []) {\r\n      const target = entry?.target;\r\n      if (!target?.primitive || target === this._collisionSpaceNode || seen.has(target)) {\r\n        continue;\r\n      }\r\n      seen.add(target);\r\n      try {\r\n        const binding = GPUClothWrapBinding.createFromData(\r\n          this._device,\r\n          this._collisionSpaceNode,\r\n          this._positionBuffer,\r\n          this._sourcePositionData,\r\n          this._sourceIndexData,\r\n          target,\r\n          this._workgroupSize,\r\n          entry.data\r\n        );\r\n        this._wrapBindings.push(binding);\r\n      } catch (err) {\r\n        console.error('GPU cloth wrap target binding cache initialization failed:', err);\r\n      }\r\n    }\r\n  }\r\n\r\n  clearWrapTargets() {\r\n    if (this._wrapBindings.length === 0) {\r\n      return;\r\n    }\r\n    for (const binding of this._wrapBindings) {\r\n      binding.dispose();\r\n    }\r\n    this._wrapBindings = [];\r\n  }\r\n\r\n  get enabled() {\r\n    return this._enabled;\r\n  }\r\n\r\n  set enabled(value: boolean) {\r\n    const enabled = this.supported && !!value;\r\n    if (this._enabled !== enabled) {\r\n      this.resetSimulationTiming();\r\n    }\r\n    this._enabled = enabled;\r\n  }\r\n\r\n  get supported() {\r\n    return this._disabledReason === null;\r\n  }\r\n\r\n  get disabledReason() {\r\n    return this._disabledReason;\r\n  }\r\n\r\n  get colliders() {\r\n    return this._colliders;\r\n  }\r\n\r\n  set colliders(value: SpringCollider[]) {\r\n    this._colliders = [...(value ?? [])];\r\n    this.resetColliderSmoothing();\r\n    this.updateColliderBuffers();\r\n  }\r\n\r\n  addCollider(collider: SpringCollider) {\r\n    this._colliders.push(collider);\r\n    this.updateColliderBuffers();\r\n  }\r\n\r\n  removeCollider(collider: SpringCollider) {\r\n    const idx = this._colliders.indexOf(collider);\r\n    if (idx >= 0) {\r\n      this._colliders.splice(idx, 1);\r\n      this.updateColliderBuffers();\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  clearColliders() {\r\n    this._colliders.length = 0;\r\n    this.resetColliderSmoothing();\r\n    this.updateColliderBuffers();\r\n  }\r\n\r\n  get gravity() {\r\n    return this._gravity;\r\n  }\r\n\r\n  set gravity(value: Vector3) {\r\n    this._gravity.set(value);\r\n  }\r\n\r\n  get damping() {\r\n    return this._damping;\r\n  }\r\n\r\n  set damping(value: number) {\r\n    this._damping = clamp(value, 0, 1);\r\n  }\r\n\r\n  get dynamicFriction() {\r\n    return this._dynamicFriction;\r\n  }\r\n\r\n  set dynamicFriction(value: number) {\r\n    this._dynamicFriction = clamp(value, 0, 1);\r\n  }\r\n\r\n  get staticFriction() {\r\n    return this._staticFriction;\r\n  }\r\n\r\n  set staticFriction(value: number) {\r\n    this._staticFriction = clamp(value, 0, 1);\r\n  }\r\n\r\n  get stiffness() {\r\n    return this._stiffness;\r\n  }\r\n\r\n  set stiffness(value: number) {\r\n    this._stiffness = clamp(value, 0, 1);\r\n  }\r\n\r\n  get poseFollow() {\r\n    return this._poseFollow;\r\n  }\r\n\r\n  set poseFollow(value: number) {\r\n    this._poseFollow = clamp(value, 0, 1);\r\n  }\r\n\r\n  get solverIterations() {\r\n    return this._solverIterations;\r\n  }\r\n\r\n  set solverIterations(value: number) {\r\n    this._solverIterations = Math.max(1, value | 0);\r\n  }\r\n\r\n  get substeps() {\r\n    return this._substeps;\r\n  }\r\n\r\n  set substeps(value: number) {\r\n    this._substeps = clamp(value, 1, 8) | 0;\r\n  }\r\n\r\n  get vertexCount() {\r\n    return this._vertexCount;\r\n  }\r\n\r\n  bindToScene(scene: Nullable<Scene>) {\r\n    if (this._boundScene === scene) {\r\n      return;\r\n    }\r\n    this.detachAutoUpdateTarget();\r\n    if (this._boundScene) {\r\n      this._boundScene.off('update', this._onSceneUpdate, this);\r\n    }\r\n    this._boundScene = scene ?? null;\r\n    if (this._boundScene) {\r\n      this._boundScene.on('update', this._onSceneUpdate, this);\r\n      this.attachAutoUpdateTarget();\r\n    }\r\n  }\r\n\r\n  unbindFromScene() {\r\n    this.bindToScene(null);\r\n  }\r\n\r\n  update(deltaTime: number) {\r\n    if (!this._enabled) {\r\n      return;\r\n    }\r\n    if (\r\n      !this._device ||\r\n      !this._integrateProgram ||\r\n      !this._constraintProgram ||\r\n      !this._integrateBindGroup ||\r\n      !this._constraintBindGroup\r\n    ) {\r\n      return;\r\n    }\r\n    const frameDt = clamp(Number(deltaTime) || 0, 0, MAX_ACCUMULATED_SIMULATION_TIME);\r\n    this._latestInputDeltaTime = frameDt;\r\n    this.updateSkinnedRestPositions(frameDt);\r\n    this.updateColliderBuffers(frameDt);\r\n    if (frameDt <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.min(this._timeAccumulator + frameDt, MAX_ACCUMULATED_SIMULATION_TIME);\r\n    const stepCount = Math.min(\r\n      MAX_SIMULATION_STEPS_PER_UPDATE,\r\n      Math.floor((this._timeAccumulator + 1e-8) / FIXED_SIMULATION_TIME_STEP)\r\n    );\r\n    if (stepCount <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.max(0, this._timeAccumulator - stepCount * FIXED_SIMULATION_TIME_STEP);\r\n    this._device.pushDeviceStates();\r\n    try {\r\n      for (let step = 0; step < stepCount; step++) {\r\n        this.simulateStep(FIXED_SIMULATION_TIME_STEP);\r\n      }\r\n      this.updateSimulationOutputs();\r\n    } finally {\r\n      this._device.popDeviceStates();\r\n    }\r\n  }\r\n\r\n  dispose() {\r\n    this.unbindFromScene();\r\n    this.clearWrapTargets();\r\n    this.restoreTargetSkinning();\r\n    if (this._primitive) {\r\n      if (this._positionBuffer) {\r\n        this._primitive.removeVertexBuffer('position');\r\n        if (this._originalPositionBuffer) {\r\n          this._primitive.setVertexBuffer(this._originalPositionBuffer);\r\n        }\r\n      }\r\n      if (this._normalBuffer || this._originalNormalBuffer) {\r\n        this._primitive.removeVertexBuffer('normal');\r\n        if (this._originalNormalBuffer) {\r\n          this._primitive.setVertexBuffer(this._originalNormalBuffer);\r\n        }\r\n      }\r\n    }\r\n    this._integrateBindGroup?.dispose();\r\n    this._integrateBindGroup = null;\r\n    this._constraintBindGroup?.dispose();\r\n    this._constraintBindGroup = null;\r\n    this._faceNormalBindGroup?.dispose();\r\n    this._faceNormalBindGroup = null;\r\n    this._vertexNormalBindGroup?.dispose();\r\n    this._vertexNormalBindGroup = null;\r\n    this._integrateProgram?.dispose();\r\n    this._integrateProgram = null;\r\n    this._constraintProgram?.dispose();\r\n    this._constraintProgram = null;\r\n    this._faceNormalProgram?.dispose();\r\n    this._faceNormalProgram = null;\r\n    this._vertexNormalProgram?.dispose();\r\n    this._vertexNormalProgram = null;\r\n    this._prevPositionBuffer?.dispose();\r\n    this._prevPositionBuffer = null;\r\n    this._restPositionBuffer?.dispose();\r\n    this._restPositionBuffer = null;\r\n    this._prevRestPositionBuffer?.dispose();\r\n    this._prevRestPositionBuffer = null;\r\n    this._invMassBuffer?.dispose();\r\n    this._invMassBuffer = null;\r\n    this._neighborIndexBuffer?.dispose();\r\n    this._neighborIndexBuffer = null;\r\n    this._restLengthBuffer?.dispose();\r\n    this._restLengthBuffer = null;\r\n    this._triangleIndexBuffer?.dispose();\r\n    this._triangleIndexBuffer = null;\r\n    this._triangleNormalBuffer?.dispose();\r\n    this._triangleNormalBuffer = null;\r\n    this._vertexTriangleAdjacencyBuffer?.dispose();\r\n    this._vertexTriangleAdjacencyBuffer = null;\r\n    this._sphereColliderBuffer?.dispose();\r\n    this._sphereColliderBuffer = null;\r\n    this._capsuleColliderBuffer?.dispose();\r\n    this._capsuleColliderBuffer = null;\r\n    this._planeColliderBuffer?.dispose();\r\n    this._planeColliderBuffer = null;\r\n    releaseObject(this._originalPositionBuffer);\r\n    this._originalPositionBuffer = null;\r\n    releaseObject(this._originalNormalBuffer);\r\n    this._originalNormalBuffer = null;\r\n    this._enabled = false;\r\n    this.resetSimulationTiming();\r\n  }\r\n\r\n  private simulateStep(deltaTime: number) {\r\n    const substeps = this._substeps;\r\n    const substepDt = deltaTime / substeps;\r\n    try {\r\n      for (let substep = 0; substep < substeps; substep++) {\r\n        this._integrateBindGroup!.setValue('deltaTime', substepDt);\r\n        this._integrateBindGroup!.setValue('damping', this._damping);\r\n        this._integrateBindGroup!.setValue('gravity', this._gravity);\r\n        this._integrateBindGroup!.setValue('dynamicFriction', this._dynamicFriction);\r\n        this._integrateBindGroup!.setValue('staticFriction', this._staticFriction);\r\n        this._device!.setProgram(this._integrateProgram!);\r\n        this._device!.setBindGroup(0, this._integrateBindGroup!);\r\n        this._device!.compute(this._workgroupCount, 1, 1);\r\n\r\n        this._constraintBindGroup!.setValue('stiffness', this._stiffness);\r\n        this._constraintBindGroup!.setValue('dynamicFriction', this._dynamicFriction);\r\n        this._constraintBindGroup!.setValue('staticFriction', this._staticFriction);\r\n        this._device!.setProgram(this._constraintProgram!);\r\n        this._device!.setBindGroup(0, this._constraintBindGroup!);\r\n        for (let i = 0; i < this._solverIterations; i++) {\r\n          this._constraintBindGroup!.setValue(\r\n            'poseFollow',\r\n            i === this._solverIterations - 1 ? this.getSubstepPoseFollow() : 0\r\n          );\r\n          this._device!.compute(this._workgroupCount, 1, 1);\r\n        }\r\n      }\r\n    } finally {\r\n      // Advance the animated rest pose once per fixed simulation step so a\r\n      // single dropped frame does not inject the same pose delta repeatedly.\r\n      this.commitRestPositions();\r\n    }\r\n  }\r\n\r\n  private updateSimulationOutputs() {\r\n    if (\r\n      this._rebuildNormals &&\r\n      this._faceNormalProgram &&\r\n      this._vertexNormalProgram &&\r\n      this._faceNormalBindGroup &&\r\n      this._vertexNormalBindGroup\r\n    ) {\r\n      this._device!.setProgram(this._faceNormalProgram);\r\n      this._device!.setBindGroup(0, this._faceNormalBindGroup);\r\n      this._device!.compute(this._triangleWorkgroupCount, 1, 1);\r\n\r\n      this._device!.setProgram(this._vertexNormalProgram);\r\n      this._device!.setBindGroup(0, this._vertexNormalBindGroup);\r\n      this._device!.compute(this._workgroupCount, 1, 1);\r\n    }\r\n    for (const binding of this._wrapBindings) {\r\n      binding.update();\r\n    }\r\n  }\r\n\r\n  private resetSimulationTiming() {\r\n    this._timeAccumulator = 0;\r\n    this._latestInputDeltaTime = 0;\r\n    this._pendingAutoUpdateDeltaTime = 0;\r\n    this._smoothedRestPositionData = null;\r\n    this.resetColliderSmoothing();\r\n  }\r\n\r\n  private resetColliderSmoothing() {\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  private updateColliderBuffers(deltaTime = this._latestInputDeltaTime) {\r\n    if (!this._device || !this._integrateBindGroup) {\r\n      return;\r\n    }\r\n\r\n    const spheres: { collider: SphereCollider; center: Vector3 }[] = [];\r\n    const capsules: { collider: CapsuleCollider; start: Vector3; end: Vector3 }[] = [];\r\n    const planes: { collider: PlaneCollider; point: Vector3; normal: Vector3 }[] = [];\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\r\n    for (const collider of this._colliders) {\r\n      if (!collider?.enabled) {\r\n        continue;\r\n      }\r\n      if (collider.node) {\r\n        updateColliderFromNode(collider);\r\n      }\r\n      if (collider.type === 'sphere') {\r\n        const sphere = collider as SphereCollider;\r\n        spheres.push({\r\n          collider: sphere,\r\n          center: this.getSmoothedSphereCenter(sphere, blend)\r\n        });\r\n      } else if (collider.type === 'capsule') {\r\n        const capsule = collider as CapsuleCollider;\r\n        const smoothed = this.getSmoothedCapsuleEndpoints(capsule, blend);\r\n        capsules.push({\r\n          collider: capsule,\r\n          start: smoothed.start,\r\n          end: smoothed.end\r\n        });\r\n      } else if (collider.type === 'plane') {\r\n        const plane = collider as PlaneCollider;\r\n        const smoothed = this.getSmoothedPlaneData(plane, blend);\r\n        planes.push({\r\n          collider: plane,\r\n          point: smoothed.point,\r\n          normal: smoothed.normal\r\n        });\r\n      }\r\n    }\r\n\r\n    const sphereData = new Float32Array(Math.max(1, spheres.length) * 4);\r\n    for (let i = 0; i < spheres.length; i++) {\r\n      const base = i * 4;\r\n      const center = this.toCollisionSpacePoint(spheres[i].center);\r\n      sphereData[base] = center.x;\r\n      sphereData[base + 1] = center.y;\r\n      sphereData[base + 2] = center.z;\r\n      sphereData[base + 3] = this.toCollisionSpaceRadius(spheres[i].collider.radius);\r\n    }\r\n\r\n    const capsuleData = new Float32Array(Math.max(1, capsules.length) * 8);\r\n    for (let i = 0; i < capsules.length; i++) {\r\n      const base = i * 8;\r\n      const start = this.toCollisionSpacePoint(capsules[i].start);\r\n      const end = this.toCollisionSpacePoint(capsules[i].end);\r\n      const axis = Vector3.sub(capsules[i].end, capsules[i].start, new Vector3());\r\n      capsuleData[base] = start.x;\r\n      capsuleData[base + 1] = start.y;\r\n      capsuleData[base + 2] = start.z;\r\n      capsuleData[base + 3] = this.toCollisionSpaceRadius(capsules[i].collider.radius, axis);\r\n      capsuleData[base + 4] = end.x;\r\n      capsuleData[base + 5] = end.y;\r\n      capsuleData[base + 6] = end.z;\r\n      capsuleData[base + 7] = 0;\r\n    }\r\n\r\n    const planeData = new Float32Array(Math.max(1, planes.length) * 8);\r\n    for (let i = 0; i < planes.length; i++) {\r\n      const base = i * 8;\r\n      const point = this.toCollisionSpacePoint(planes[i].point);\r\n      const normal = this.toCollisionSpaceVector(planes[i].normal);\r\n      if (normal.magnitudeSq > 1e-8) {\r\n        normal.inplaceNormalize();\r\n      } else {\r\n        normal.setXYZ(0, 1, 0);\r\n      }\r\n      planeData[base] = point.x;\r\n      planeData[base + 1] = point.y;\r\n      planeData[base + 2] = point.z;\r\n      planeData[base + 3] = 0;\r\n      planeData[base + 4] = normal.x;\r\n      planeData[base + 5] = normal.y;\r\n      planeData[base + 6] = normal.z;\r\n      planeData[base + 7] = 0;\r\n    }\r\n\r\n    if (!this._sphereColliderBuffer || this._sphereColliderBuffer.byteLength < sphereData.byteLength) {\r\n      if (this._sphereColliderBuffer) {\r\n        // Drain queued uploads for the old buffer before replacing it.\r\n        this._device.flush();\r\n        this._sphereColliderBuffer.dispose();\r\n      }\r\n      this._sphereColliderBuffer = this._device.createBuffer(sphereData.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._integrateBindGroup.setBuffer('sphereData', this._sphereColliderBuffer);\r\n      this._constraintBindGroup?.setBuffer('sphereData', this._sphereColliderBuffer);\r\n    }\r\n    this._sphereColliderBuffer.bufferSubData(0, sphereData);\r\n\r\n    if (!this._capsuleColliderBuffer || this._capsuleColliderBuffer.byteLength < capsuleData.byteLength) {\r\n      if (this._capsuleColliderBuffer) {\r\n        // Drain queued uploads for the old buffer before replacing it.\r\n        this._device.flush();\r\n        this._capsuleColliderBuffer.dispose();\r\n      }\r\n      this._capsuleColliderBuffer = this._device.createBuffer(capsuleData.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._integrateBindGroup.setBuffer('capsuleData', this._capsuleColliderBuffer);\r\n      this._constraintBindGroup?.setBuffer('capsuleData', this._capsuleColliderBuffer);\r\n    }\r\n    this._capsuleColliderBuffer.bufferSubData(0, capsuleData);\r\n\r\n    if (!this._planeColliderBuffer || this._planeColliderBuffer.byteLength < planeData.byteLength) {\r\n      if (this._planeColliderBuffer) {\r\n        // Drain queued uploads for the old buffer before replacing it.\r\n        this._device.flush();\r\n        this._planeColliderBuffer.dispose();\r\n      }\r\n      this._planeColliderBuffer = this._device.createBuffer(planeData.byteLength, {\r\n        usage: 'uniform',\r\n        storage: true,\r\n        dynamic: false,\r\n        managed: false\r\n      });\r\n      this._integrateBindGroup.setBuffer('planeData', this._planeColliderBuffer);\r\n      this._constraintBindGroup?.setBuffer('planeData', this._planeColliderBuffer);\r\n    }\r\n    this._planeColliderBuffer.bufferSubData(0, planeData);\r\n\r\n    this._integrateBindGroup.setValue('sphereCount', spheres.length);\r\n    this._integrateBindGroup.setValue('capsuleCount', capsules.length);\r\n    this._integrateBindGroup.setValue('planeCount', planes.length);\r\n    this._constraintBindGroup?.setValue('sphereCount', spheres.length);\r\n    this._constraintBindGroup?.setValue('capsuleCount', capsules.length);\r\n    this._constraintBindGroup?.setValue('planeCount', planes.length);\r\n  }\r\n\r\n  private getSubstepPoseFollow() {\r\n    const effectivePoseFollow = this.getEffectivePoseFollow();\r\n    if (effectivePoseFollow <= 0) {\r\n      return 0;\r\n    }\r\n    const totalPoseFollowApplications = Math.max(1, this._substeps);\r\n    return totalPoseFollowApplications > 1\r\n      ? 1 - Math.pow(Math.max(0, 1 - effectivePoseFollow), 1 / totalPoseFollowApplications)\r\n      : effectivePoseFollow;\r\n  }\r\n\r\n  private getEffectivePoseFollow() {\r\n    // Cloth uses a dense per-vertex animated target, so the same numeric follow value\r\n    // feels much stronger than sparse spring chains. Square the UI value to keep the\r\n    // low range usable while preserving 1 => full follow.\r\n    return this._poseFollow * this._poseFollow;\r\n  }\r\n\r\n  private toCollisionSpacePoint(worldPoint: Vector3): Vector3 {\r\n    const invWorldMatrix = this._collisionSpaceNode?.invWorldMatrix;\r\n    if (!invWorldMatrix?.transformPointAffine) {\r\n      return worldPoint;\r\n    }\r\n    return invWorldMatrix.transformPointAffine(worldPoint, new Vector3());\r\n  }\r\n\r\n  private toCollisionSpaceVector(worldVector: Vector3): Vector3 {\r\n    const invWorldMatrix = this._collisionSpaceNode?.invWorldMatrix;\r\n    if (!invWorldMatrix?.transformVectorAffine) {\r\n      return worldVector;\r\n    }\r\n    return invWorldMatrix.transformVectorAffine(worldVector, new Vector3());\r\n  }\r\n\r\n  private toCollisionSpaceRadius(worldRadius: number, axisWorld?: Vector3): number {\r\n    const radius = Math.max(0, Number(worldRadius) || 0);\r\n    if (radius <= 0) {\r\n      return 0;\r\n    }\r\n    const invWorldMatrix = this._collisionSpaceNode?.invWorldMatrix;\r\n    if (!invWorldMatrix?.transformVectorAffine) {\r\n      return radius;\r\n    }\r\n    if (axisWorld && axisWorld.magnitudeSq > 1e-6) {\r\n      const axis = axisWorld.clone().inplaceNormalize();\r\n      let tangent = Vector3.cross(\r\n        Math.abs(axis.y) < 0.999 ? Vector3.axisPY() : Vector3.axisPX(),\r\n        axis,\r\n        new Vector3()\r\n      );\r\n      if (tangent.magnitudeSq <= 1e-6) {\r\n        tangent = Vector3.cross(Vector3.axisPZ(), axis, tangent);\r\n      }\r\n      tangent.inplaceNormalize();\r\n      const bitangent = Vector3.cross(axis, tangent, new Vector3()).inplaceNormalize();\r\n      const localTangent = this.toCollisionSpaceVector(\r\n        Vector3.scale(tangent, radius, new Vector3())\r\n      ).magnitude;\r\n      const localBitangent = this.toCollisionSpaceVector(\r\n        Vector3.scale(bitangent, radius, new Vector3())\r\n      ).magnitude;\r\n      return Math.max(1e-6, (localTangent + localBitangent) * 0.5);\r\n    }\r\n    const localX = this.toCollisionSpaceVector(new Vector3(radius, 0, 0)).magnitude;\r\n    const localY = this.toCollisionSpaceVector(new Vector3(0, radius, 0)).magnitude;\r\n    const localZ = this.toCollisionSpaceVector(new Vector3(0, 0, radius)).magnitude;\r\n    return Math.max(1e-6, (localX + localY + localZ) / 3);\r\n  }\r\n\r\n  private _onSceneUpdate() {\r\n    const dt = (getDevice().frameInfo.elapsedFrame || 16.6667) * 0.001;\r\n    if (this.hasAutoUpdateTarget()) {\r\n      this._pendingAutoUpdateDeltaTime = dt;\r\n      this._collisionSpaceNode?.scene?.queueUpdateNode?.(this._collisionSpaceNode);\r\n      return;\r\n    }\r\n    this.update(dt);\r\n  }\r\n  private hasAutoUpdateTarget() {\r\n    const target = this._collisionSpaceNode;\r\n    return !!(target?.addPostUpdateCallback && target?.removePostUpdateCallback);\r\n  }\r\n  private attachAutoUpdateTarget() {\r\n    if (this.hasAutoUpdateTarget()) {\r\n      this._collisionSpaceNode.addPostUpdateCallback(this._meshPostUpdateCallback);\r\n    }\r\n  }\r\n  private detachAutoUpdateTarget() {\r\n    if (this.hasAutoUpdateTarget()) {\r\n      this._collisionSpaceNode.removePostUpdateCallback(this._meshPostUpdateCallback);\r\n    }\r\n    this._pendingAutoUpdateDeltaTime = 0;\r\n  }\r\n  private updateSkinnedRestPositions(deltaTime = 0) {\r\n    if (\r\n      !this._sourcePositionData ||\r\n      !this._skinningBlendIndices ||\r\n      !this._skinningBlendWeights ||\r\n      !this._restPositionBuffer ||\r\n      !this._prevRestPositionBuffer\r\n    ) {\r\n      return;\r\n    }\r\n    const target = this._collisionSpaceNode;\r\n    const skeletonId = String(target?.skeletonName ?? '');\r\n    const skeleton =\r\n      skeletonId && typeof target?.findSkeletonById === 'function'\r\n        ? target.findSkeletonById(skeletonId)\r\n        : null;\r\n    if (skeleton?.skinPositionsToLocal && target?.invWorldMatrix) {\r\n      const restPositions =\r\n        this._dynamicRestPositionData &&\r\n        this._dynamicRestPositionData.length === this._sourcePositionData.length\r\n          ? this._dynamicRestPositionData\r\n          : new Float32Array(this._sourcePositionData.length);\r\n      skeleton.skinPositionsToLocal(\r\n        this._sourcePositionData,\r\n        this._skinningBlendIndices,\r\n        this._skinningBlendWeights,\r\n        target.invWorldMatrix,\r\n        restPositions\r\n      );\r\n      const smoothedRestPositions = this.smoothRestPositions(restPositions, deltaTime, restPositions);\r\n      this._dynamicRestPositionData = restPositions;\r\n      this._restPositionBuffer.bufferSubData(0, smoothedRestPositions);\r\n      this._usingDynamicRestPose = true;\r\n      this.updateTargetBoundingBox(smoothedRestPositions);\r\n      return;\r\n    }\r\n    if (this._usingDynamicRestPose) {\r\n      this._restPositionBuffer.bufferSubData(0, this._sourcePositionData);\r\n      this._prevRestPositionBuffer.bufferSubData(0, this._sourcePositionData);\r\n      this._usingDynamicRestPose = false;\r\n      this._dynamicRestPositionData = null;\r\n      this._smoothedRestPositionData = null;\r\n      this.updateTargetBoundingBox(this._sourcePositionData);\r\n    }\r\n  }\r\n\r\n  private smoothRestPositions(\r\n    rawRestPositions: Float32Array<ArrayBuffer>,\r\n    deltaTime: number,\r\n    out: Float32Array<ArrayBuffer>\r\n  ) {\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_REST_POSITION_SMOOTHING_TIME);\r\n    const smoothed =\r\n      this._smoothedRestPositionData && this._smoothedRestPositionData.length === rawRestPositions.length\r\n        ? this._smoothedRestPositionData\r\n        : new Float32Array(rawRestPositions.length);\r\n    if (!this._smoothedRestPositionData || blend >= 1) {\r\n      smoothed.set(rawRestPositions);\r\n    } else {\r\n      const retain = 1 - blend;\r\n      for (let i = 0; i < rawRestPositions.length; i++) {\r\n        smoothed[i] = smoothed[i] * retain + rawRestPositions[i] * blend;\r\n      }\r\n    }\r\n    out.set(smoothed);\r\n    this._smoothedRestPositionData = smoothed;\r\n    return out;\r\n  }\r\n\r\n  private getTemporalBlendFactor(deltaTime: number, smoothingTime: number) {\r\n    const dt = clamp(Number(deltaTime) || 0, 0, MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (dt <= 0 || smoothingTime <= 0) {\r\n      return 1;\r\n    }\r\n    return 1 - Math.exp(-dt / smoothingTime);\r\n  }\r\n\r\n  private getSmoothedSphereCenter(collider: SphereCollider, blend: number) {\r\n    const current = collider.center?.clone() ?? new Vector3();\r\n    const cached = this._smoothedSphereCenters.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      this._smoothedSphereCenters.set(collider, current);\r\n      return current;\r\n    }\r\n    cached.setXYZ(\r\n      cached.x + (current.x - cached.x) * blend,\r\n      cached.y + (current.y - cached.y) * blend,\r\n      cached.z + (current.z - cached.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedCapsuleEndpoints(collider: CapsuleCollider, blend: number) {\r\n    const currentStart = collider.start?.clone() ?? new Vector3();\r\n    const currentEnd = collider.end?.clone() ?? new Vector3();\r\n    const cached = this._smoothedCapsuleEndpoints.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const next = {\r\n        start: currentStart,\r\n        end: currentEnd\r\n      };\r\n      this._smoothedCapsuleEndpoints.set(collider, next);\r\n      return next;\r\n    }\r\n    cached.start.setXYZ(\r\n      cached.start.x + (currentStart.x - cached.start.x) * blend,\r\n      cached.start.y + (currentStart.y - cached.start.y) * blend,\r\n      cached.start.z + (currentStart.z - cached.start.z) * blend\r\n    );\r\n    cached.end.setXYZ(\r\n      cached.end.x + (currentEnd.x - cached.end.x) * blend,\r\n      cached.end.y + (currentEnd.y - cached.end.y) * blend,\r\n      cached.end.z + (currentEnd.z - cached.end.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedPlaneData(collider: PlaneCollider, blend: number) {\r\n    const currentPoint = collider.point?.clone() ?? new Vector3();\r\n    const currentNormal = collider.normal?.clone() ?? Vector3.axisPY();\r\n    if (currentNormal.magnitudeSq > 1e-8) {\r\n      currentNormal.inplaceNormalize();\r\n    } else {\r\n      currentNormal.setXYZ(0, 1, 0);\r\n    }\r\n    const cached = this._smoothedPlaneData.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const next = {\r\n        point: currentPoint,\r\n        normal: currentNormal\r\n      };\r\n      this._smoothedPlaneData.set(collider, next);\r\n      return next;\r\n    }\r\n    cached.point.setXYZ(\r\n      cached.point.x + (currentPoint.x - cached.point.x) * blend,\r\n      cached.point.y + (currentPoint.y - cached.point.y) * blend,\r\n      cached.point.z + (currentPoint.z - cached.point.z) * blend\r\n    );\r\n    cached.normal.setXYZ(\r\n      cached.normal.x + (currentNormal.x - cached.normal.x) * blend,\r\n      cached.normal.y + (currentNormal.y - cached.normal.y) * blend,\r\n      cached.normal.z + (currentNormal.z - cached.normal.z) * blend\r\n    );\r\n    if (cached.normal.magnitudeSq > 1e-8) {\r\n      cached.normal.inplaceNormalize();\r\n    } else {\r\n      cached.normal.setXYZ(0, 1, 0);\r\n    }\r\n    return cached;\r\n  }\r\n\r\n  private updateTargetBoundingBox(positions: Float32Array<ArrayBuffer>) {\r\n    if (!positions || positions.length < 3) {\r\n      return;\r\n    }\r\n    let minX = Number.POSITIVE_INFINITY;\r\n    let minY = Number.POSITIVE_INFINITY;\r\n    let minZ = Number.POSITIVE_INFINITY;\r\n    let maxX = Number.NEGATIVE_INFINITY;\r\n    let maxY = Number.NEGATIVE_INFINITY;\r\n    let maxZ = Number.NEGATIVE_INFINITY;\r\n    for (let i = 0; i + 2 < positions.length; i += 3) {\r\n      const x = positions[i];\r\n      const y = positions[i + 1];\r\n      const z = positions[i + 2];\r\n      if (!Number.isFinite(x) || !Number.isFinite(y) || !Number.isFinite(z)) {\r\n        continue;\r\n      }\r\n      minX = Math.min(minX, x);\r\n      minY = Math.min(minY, y);\r\n      minZ = Math.min(minZ, z);\r\n      maxX = Math.max(maxX, x);\r\n      maxY = Math.max(maxY, y);\r\n      maxZ = Math.max(maxZ, z);\r\n    }\r\n    if (!Number.isFinite(minX)) {\r\n      return;\r\n    }\r\n    const padding = Math.max(maxX - minX, maxY - minY, maxZ - minZ) * 0.15;\r\n    const bbox = new BoundingBox(\r\n      new Vector3(minX - padding, minY - padding, minZ - padding),\r\n      new Vector3(maxX + padding, maxY + padding, maxZ + padding)\r\n    );\r\n    const target = this._collisionSpaceNode;\r\n    if (typeof target?.setAnimatedBoundingBox === 'function') {\r\n      target.setAnimatedBoundingBox(bbox);\r\n    } else {\r\n      this._primitive?.setBoundingVolume(bbox);\r\n    }\r\n  }\r\n  private commitRestPositions() {\r\n    if (!this._prevRestPositionBuffer || !this._usingDynamicRestPose) {\r\n      return;\r\n    }\r\n    if (this._dynamicRestPositionData) {\r\n      this._prevRestPositionBuffer.bufferSubData(0, this._dynamicRestPositionData);\r\n    }\r\n  }\r\n  private disableTargetSkinning() {\r\n    const target = this._collisionSpaceNode;\r\n    if (!target || typeof target.suspendSkinning !== 'boolean' || this._restoreSkinAnimation !== null) {\r\n      return;\r\n    }\r\n    this._skinAnimationTarget = target;\r\n    this._restoreSkinAnimation = target.suspendSkinning;\r\n    target.suspendSkinning = true;\r\n    target.setBoneMatrices?.(null);\r\n    target.setAnimatedBoundingBox?.(null);\r\n  }\r\n  private restoreTargetSkinning() {\r\n    if (!this._skinAnimationTarget || this._restoreSkinAnimation === null) {\r\n      return;\r\n    }\r\n    this.detachAutoUpdateTarget();\r\n    this._skinAnimationTarget.setAnimatedBoundingBox?.(null);\r\n    this._skinAnimationTarget.suspendSkinning = this._restoreSkinAnimation;\r\n    this._skinAnimationTarget = null;\r\n    this._restoreSkinAnimation = null;\r\n  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