@zephyr3d/scene 0.8.1 → 0.9.0

package/dist/animation/joint_dynamics/controller.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"controller.js","sources":["../../../src/animation/joint_dynamics/controller.ts"],"sourcesContent":["// High-level orchestrator — SPCRJointDynamicsController API\r\n\r\nimport {\r\n  EPSILON,\r\n  type PointR,\r\n  type PointRW,\r\n  type Constraint,\r\n  type ColliderR,\r\n  type ColliderRW,\r\n  type GrabberR,\r\n  type GrabberRW,\r\n  type AngleLimitConfig,\r\n  type FlatPlane,\r\n  type TransformAccess,\r\n  type BoneNode\r\n} from './types';\r\nimport { buildConstraints, buildSurfaceFaces, type ConstraintBuildOptions } from './constraints';\r\nimport { simulate, applyResult, applyAngleLimits, type SimulationParams } from './solver';\r\nimport type { InterpolatorScalar } from '@zephyr3d/base';\r\nimport { Vector3, Quaternion, Matrix4x4, clamp01 } from '@zephyr3d/base';\r\n\r\n/**\r\n * Depth-based physics parameter curves.\r\n * Each curve is evaluated with t = pointDepth / maxDepth (0 at root, 1 at tip).\r\n * This allows parameters to vary smoothly along the bone chain.\r\n */\r\nexport interface PhysicsCurves {\r\n  /** Scales point mass by depth */\r\n  massScale: InterpolatorScalar;\r\n  /** Scales gravity strength by depth */\r\n  gravityScale: InterpolatorScalar;\r\n  /** Scales wind force effect by depth (also multiplied by depth rate) */\r\n  windForceScale: InterpolatorScalar;\r\n  /** Velocity damping [0-1]. Higher = less damping. Controls how much velocity is preserved */\r\n  resistance: InterpolatorScalar;\r\n  /** Restore-to-animation stiffness [0-1]. Higher = bone stays closer to animated pose */\r\n  hardness: InterpolatorScalar;\r\n  /** Friction multiplier by depth. Scales collision friction accumulation */\r\n  friction: InterpolatorScalar;\r\n  /** Collision radius by depth, mapped from VRM SpringBone hitRadius when available */\r\n  pointRadius: InterpolatorScalar;\r\n  /** Extra slack length for horizontal/shear constraints (allows stretching) */\r\n  sliderJointLength: InterpolatorScalar;\r\n  /** Global shrink stiffness multiplier (applied to all constraint types) */\r\n  allShrinkScale: InterpolatorScalar;\r\n  /** Global stretch stiffness multiplier (applied to all constraint types) */\r\n  allStretchScale: InterpolatorScalar;\r\n  /** Structural vertical constraint shrink stiffness by depth */\r\n  structuralShrinkVertical: InterpolatorScalar;\r\n  /** Structural vertical constraint stretch stiffness by depth */\r\n  structuralStretchVertical: InterpolatorScalar;\r\n  /** Structural horizontal constraint shrink stiffness by depth */\r\n  structuralShrinkHorizontal: InterpolatorScalar;\r\n  /** Structural horizontal constraint stretch stiffness by depth */\r\n  structuralStretchHorizontal: InterpolatorScalar;\r\n  /** Shear constraint shrink stiffness by depth */\r\n  shearShrink: InterpolatorScalar;\r\n  /** Shear constraint stretch stiffness by depth */\r\n  shearStretch: InterpolatorScalar;\r\n  /** Bending vertical constraint shrink stiffness by depth */\r\n  bendingShrinkVertical: InterpolatorScalar;\r\n  /** Bending vertical constraint stretch stiffness by depth */\r\n  bendingStretchVertical: InterpolatorScalar;\r\n  /** Bending horizontal constraint shrink stiffness by depth */\r\n  bendingShrinkHorizontal: InterpolatorScalar;\r\n  /** Bending horizontal constraint stretch stiffness by depth */\r\n  bendingStretchHorizontal: InterpolatorScalar;\r\n  /** Fake wave amplitude by depth (sinusoidal pseudo-wind on leaf bones) */\r\n  fakeWavePower: InterpolatorScalar;\r\n  /** Fake wave frequency offset by depth */\r\n  fakeWaveFreq: InterpolatorScalar;\r\n}\r\n\r\n/** Top-level configuration for the physics controller */\r\nexport interface ControllerConfig {\r\n  /** Global gravity vector (e.g. {x:0, y:-9.8, z:0}) */\r\n  gravity: Vector3;\r\n  /** Global wind force vector applied to all dynamic points */\r\n  windForce: Vector3;\r\n  /** Number of constraint relaxation iterations per substep. Higher = more stable but slower */\r\n  relaxation: number;\r\n  /** Number of simulation substeps per frame. Higher = more stable at cost of performance */\r\n  subSteps: number;\r\n  /** Max root bone slide distance per substep. Excess is distributed as offset. -1 = unlimited */\r\n  rootSlideLimit: number;\r\n  /** Max root bone rotation angle (degrees) per substep. Excess is distributed. -1 = unlimited */\r\n  rootRotateLimit: number;\r\n  /** Upper limit for horizontal/shear constraint shrink power. Prevents over-compression */\r\n  constraintShrinkLimit: number;\r\n  /** Global blend ratio between physics and animation [0-1]. 0 = full physics, 1 = full animation */\r\n  blendRatio: number;\r\n  /** Target frame rate for stabilization (currently unused, reserved) */\r\n  stabilizationFrameRate: number;\r\n  /** Enable sinusoidal fake wave effect on leaf bones */\r\n  isFakeWave: boolean;\r\n  /** Fake wave global speed (accumulates over time) */\r\n  fakeWaveSpeed: number;\r\n  /** Fake wave global amplitude multiplier */\r\n  fakeWavePower: number;\r\n  /** Enable triangle-based surface collision (cloth vs colliders) */\r\n  enableSurfaceCollision: boolean;\r\n  /** Enable broad-phase pruning before precise collider tests */\r\n  enableBroadPhase: boolean;\r\n  /** Preserve each joint's initial local twist (axial roll) after physics simulation */\r\n  preserveTwist: boolean;\r\n  /** Post-simulation angle limiting between parent-child bones */\r\n  angleLimitConfig: AngleLimitConfig;\r\n  /** Depth-based physics parameter curves */\r\n  curves: PhysicsCurves;\r\n  /** Which constraint types to generate and their collision flags */\r\n  constraintOptions: ConstraintBuildOptions;\r\n}\r\n\r\n/** Stable runtime handle for a JointDynamics collider. */\r\nexport interface JointDynamicsColliderHandle {\r\n  readonly type: 'collider';\r\n  readonly id: number;\r\n}\r\n\r\n/** Stable runtime handle for a JointDynamics flat plane. */\r\nexport interface JointDynamicsFlatPlaneHandle {\r\n  readonly type: 'flatPlane';\r\n  readonly id: number;\r\n}\r\n\r\n/** Stable runtime handle for a JointDynamics grabber. */\r\nexport interface JointDynamicsGrabberHandle {\r\n  readonly type: 'grabber';\r\n  readonly id: number;\r\n}\r\n\r\nexport class JointDynamicsSystemController {\r\n  private _config: ControllerConfig;\r\n  private _pointsR: PointR[] = [];\r\n  private _pointsRW: PointRW[] = [];\r\n  private _constraints: Constraint[] = [];\r\n  private _collidersR: ColliderR[] = [];\r\n  private _collidersRW: ColliderRW[] = [];\r\n  private _grabbersR: GrabberR[] = [];\r\n  private _grabbersRW: GrabberRW[] = [];\r\n  private _movableLimitTargets: Vector3[] = [];\r\n  private _flatPlanes: FlatPlane[] = [];\r\n  private _flatPlaneEnabled: boolean[] = [];\r\n  private _flatPlaneAll: FlatPlane[] = [];\r\n  private _surfaceConstraints: number[] = [];\r\n  private _positionsToTransform: Vector3[] = [];\r\n  private _fakeWaveCounter = 0;\r\n  private _previousRootPosition = Vector3.zero();\r\n  private _previousRootRotation = Quaternion.identity();\r\n  private _rootTransform: TransformAccess | null = null;\r\n  private _pointTransforms: TransformAccess[] = [];\r\n  private _colliderTransforms: TransformAccess[] = [];\r\n  private _grabberTransforms: TransformAccess[] = [];\r\n  private _colliderHandleIds: number[] = [];\r\n  private _flatPlaneHandleIds: number[] = [];\r\n  private _grabberHandleIds: number[] = [];\r\n  private _colliderHandleToIndex = new Map<number, number>();\r\n  private _flatPlaneHandleToIndex = new Map<number, number>();\r\n  private _grabberHandleToIndex = new Map<number, number>();\r\n  private _nextColliderHandleId = 1;\r\n  private _nextFlatPlaneHandleId = 1;\r\n  private _nextGrabberHandleId = 1;\r\n  private _initialized = false;\r\n  private _isPaused = false;\r\n  private _fadeState: 'none' | 'in' | 'out' = 'none';\r\n  private _fadeTimer = 0;\r\n  private _fadeDuration = 0;\r\n\r\n  constructor(config: ControllerConfig) {\r\n    this._config = config;\r\n  }\r\n\r\n  /**\r\n   * 初始化物理系统\r\n   * @param rootTransform 根骨骼的 transform（用于检测根运动）\r\n   * @param rootPoints 骨骼层级的根节点数组（可以有多个根，如裙子的多条链）\r\n   * @param pointTransforms 所有物理点的 transform 数组（顺序必须与 BoneNode.index 对应）\r\n   * @param colliders 碰撞器数组（球体/胶囊体）\r\n   * @param grabbers 抓取器数组（用于鼠标交互等）\r\n   * @param flatPlanes 平面限制器数组（如地板，防止穿透）\r\n   */\r\n  initialize(\r\n    rootTransform: TransformAccess,\r\n    rootPoints: BoneNode[],\r\n    pointTransforms: TransformAccess[],\r\n    colliders: Array<{ r: ColliderR; transform: TransformAccess }>,\r\n    grabbers: Array<{\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }>,\r\n    flatPlanes: Array<{ up: Vector3; position: Vector3 }>\r\n  ): void {\r\n    this._rootTransform = rootTransform;\r\n    this._pointTransforms = pointTransforms;\r\n    this._colliderTransforms = colliders.map((c) => c.transform);\r\n    this._grabberTransforms = grabbers.map((g) => g.transform);\r\n\r\n    // Build constraints\r\n    this._constraints = buildConstraints(rootPoints, this._config.constraintOptions);\r\n    this._surfaceConstraints = buildSurfaceFaces(rootPoints, this._config.constraintOptions.isLoop);\r\n\r\n    // Flatten bone hierarchy to point list, build parent map\r\n    const allPoints: BoneNode[] = [];\r\n    const parentMap = new Map<number, number>(); // child index → parent index\r\n    function walk(node: BoneNode) {\r\n      allPoints.push(node);\r\n      for (const c of node.children) {\r\n        parentMap.set(c.index, node.index);\r\n        walk(c);\r\n      }\r\n    }\r\n    for (const r of rootPoints) {\r\n      walk(r);\r\n    }\r\n\r\n    const maxDepth = Math.max(...allPoints.map((p) => p.depth));\r\n\r\n    // Compute boneAxis from transforms: local-space direction to first child\r\n    // This is critical for correct bone rotation in skinned meshes\r\n    const indexToNode = new Map<number, BoneNode>();\r\n    for (const p of allPoints) {\r\n      indexToNode.set(p.index, p);\r\n    }\r\n\r\n    for (const p of allPoints) {\r\n      if (!p.boneAxis && p.children.length > 0) {\r\n        const childPos = pointTransforms[p.children[0].index].getWorldPosition();\r\n        const parentPos = pointTransforms[p.index].getWorldPosition();\r\n        // InverseTransformPoint: convert child world pos to parent local space\r\n        const parentRot = pointTransforms[p.index].getWorldRotation();\r\n        const parentScale = pointTransforms[p.index].getLocalScale();\r\n        const diff = Vector3.sub(childPos, parentPos);\r\n        const invRot = Quaternion.inverse(parentRot);\r\n        const localDir = invRot.transform(diff);\r\n        // Apply inverse scale\r\n        const unscaled = new Vector3(\r\n          parentScale.x !== 0 ? localDir.x / parentScale.x : 0,\r\n          parentScale.y !== 0 ? localDir.y / parentScale.y : 0,\r\n          parentScale.z !== 0 ? localDir.z / parentScale.z : 0\r\n        );\r\n        p.boneAxis = Vector3.normalize(unscaled);\r\n      }\r\n    }\r\n\r\n    // Build PointR/RW arrays\r\n    this._pointsR = allPoints.map((p) => this._createPointR(p, maxDepth, parentMap, pointTransforms));\r\n    this._pointsRW = allPoints.map(() => this._createPointRW());\r\n    this._positionsToTransform = new Array(allPoints.length).fill(Vector3.zero());\r\n\r\n    // Initialize colliders\r\n    this._collidersR = colliders.map((c) => c.r);\r\n    this._collidersRW = colliders.map((c) => this._createColliderRW(c.transform));\r\n    this._colliderHandleIds = this._collidersR.map(() => this._nextColliderHandleId++);\r\n    this._rebuildColliderHandleMap();\r\n\r\n    // Initialize grabbers\r\n    this._grabbersR = grabbers.map((g) => g.r);\r\n    this._grabbersRW = grabbers.map((g) => ({\r\n      enabled: g.enabled ? 1 : 0,\r\n      position: g.transform.getWorldPosition()\r\n    }));\r\n    this._grabberHandleIds = this._grabbersR.map(() => this._nextGrabberHandleId++);\r\n    this._rebuildGrabberHandleMap();\r\n\r\n    // Flat planes\r\n    this._flatPlanes = flatPlanes.map((fp) => ({\r\n      normal: Vector3.normalize(fp.up),\r\n      distance: -Vector3.dot(Vector3.normalize(fp.up), fp.position)\r\n    }));\r\n    this._flatPlaneAll = [...this._flatPlanes];\r\n    this._flatPlaneEnabled = this._flatPlaneAll.map(() => true);\r\n    this._flatPlaneHandleIds = this._flatPlaneAll.map(() => this._nextFlatPlaneHandleId++);\r\n    this._rebuildFlatPlaneHandleMap();\r\n\r\n    // Capture initial state\r\n    this._previousRootPosition = rootTransform.getWorldPosition();\r\n    this._previousRootRotation = rootTransform.getWorldRotation();\r\n\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      const pos = pointTransforms[i].getWorldPosition();\r\n      this._pointsRW[i].positionCurrent = pos.clone();\r\n      this._pointsRW[i].positionPrevious = pos.clone();\r\n      this._pointsRW[i].positionCurrentTransform = pos.clone();\r\n      this._pointsRW[i].positionPreviousTransform = pos.clone();\r\n      this._pointsRW[i].positionToTransform = pos.clone();\r\n      this._pointsRW[i].directionPrevious = Vector3.axisPZ();\r\n      this._pointsRW[i].fakeWindDirection = Vector3.axisPZ();\r\n      this._pointsRW[i].grabberIndex = -1;\r\n      this._pointsRW[i].grabberDistance = 0;\r\n      this._pointsRW[i].friction = 0;\r\n    }\r\n\r\n    this._initialized = true;\r\n  }\r\n\r\n  /**\r\n   * 执行一帧物理模拟\r\n   * 内部流程：读取当前 transform → 运行 Verlet 积分和约束求解 → 写回 transform\r\n   * @param deltaTime 帧间隔时间（秒）。内部会被 subSteps 细分\r\n   */\r\n  step(deltaTime: number): void {\r\n    if (!this._initialized || !this._rootTransform) {\r\n      return;\r\n    }\r\n\r\n    // Update fade\r\n    if (this._fadeState !== 'none') {\r\n      this._fadeTimer += deltaTime;\r\n      if (this._fadeTimer >= this._fadeDuration) {\r\n        this._fadeState = 'none';\r\n        this._fadeTimer = 0;\r\n      }\r\n    }\r\n\r\n    const blendRatio = this._computeBlendRatio();\r\n\r\n    // Capture current transforms\r\n    const rootPos = this._rootTransform.getWorldPosition();\r\n    const rootRot = this._rootTransform.getWorldRotation();\r\n\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      this._pointsRW[i].positionPreviousTransform = this._pointsRW[i].positionCurrentTransform.clone();\r\n      this._pointsRW[i].positionCurrentTransform = this._pointTransforms[i].getWorldPosition();\r\n    }\r\n\r\n    for (let i = 0; i < this._collidersRW.length; i++) {\r\n      const t = this._colliderTransforms[i];\r\n      this._collidersRW[i].positionPreviousTransform = this._collidersRW[i].positionCurrentTransform.clone();\r\n      this._collidersRW[i].directionPreviousTransform =\r\n        this._collidersRW[i].directionCurrentTransform.clone();\r\n      this._collidersRW[i].positionCurrentTransform = t.getWorldPosition();\r\n      this._collidersRW[i].directionCurrentTransform = t.getWorldRotation();\r\n      this._collidersRW[i].worldScale = t.getWorldScale();\r\n      this._collidersRW[i].worldToLocal = Matrix4x4.compose(\r\n        this._collidersRW[i].worldScale,\r\n        this._collidersRW[i].directionCurrentTransform,\r\n        this._collidersRW[i].positionCurrentTransform\r\n      ).inplaceInvertAffine();\r\n    }\r\n\r\n    for (let i = 0; i < this._grabbersRW.length; i++) {\r\n      this._grabbersRW[i].position = this._grabberTransforms[i].getWorldPosition();\r\n    }\r\n\r\n    // Run simulation\r\n    const params: SimulationParams = {\r\n      isPaused: this._isPaused,\r\n      stepTime: deltaTime,\r\n      subSteps: this._config.subSteps,\r\n      rootPosition: rootPos,\r\n      previousRootPosition: this._previousRootPosition,\r\n      rootSlideLimit: this._config.rootSlideLimit,\r\n      rootRotation: rootRot,\r\n      previousRootRotation: this._previousRootRotation,\r\n      rootRotateLimit: this._config.rootRotateLimit,\r\n      windForce: this._config.windForce,\r\n      enableSurfaceCollision: this._config.enableSurfaceCollision,\r\n      surfaceConstraints: this._surfaceConstraints,\r\n      relaxation: this._config.relaxation,\r\n      constraintShrinkLimit: this._config.constraintShrinkLimit,\r\n      blendRatio,\r\n      isFakeWave: this._config.isFakeWave,\r\n      fakeWaveSpeed: this._config.fakeWaveSpeed,\r\n      fakeWavePower: this._config.fakeWavePower,\r\n      fakeWaveCounter: this._fakeWaveCounter,\r\n      collisionScale: 1.0,\r\n      enableBroadPhase: this._config.enableBroadPhase\r\n    };\r\n\r\n    const result = simulate(\r\n      params,\r\n      this._pointsR,\r\n      this._pointsRW,\r\n      this._constraints,\r\n      this._collidersR,\r\n      this._collidersRW,\r\n      this._grabbersR,\r\n      this._grabbersRW,\r\n      this._movableLimitTargets,\r\n      this._flatPlanes\r\n    );\r\n\r\n    this._positionsToTransform = result.positionsToTransform;\r\n    this._fakeWaveCounter = result.fakeWaveCounter;\r\n\r\n    // Angle limits\r\n    if (this._config.angleLimitConfig.angleLimit >= 0) {\r\n      applyAngleLimits(this._pointsR, this._pointsRW, this._config.angleLimitConfig);\r\n    }\r\n\r\n    // Apply results\r\n    const transformRots = this._pointTransforms.map((t) => t.getWorldRotation());\r\n    const transformLocalRots = this._pointTransforms.map((t) => t.getLocalRotation());\r\n    const outputs = applyResult(\r\n      this._pointsR,\r\n      this._pointsRW,\r\n      this._positionsToTransform,\r\n      blendRatio,\r\n      transformRots,\r\n      transformLocalRots,\r\n      this._config.preserveTwist\r\n    );\r\n\r\n    for (let i = 0; i < outputs.length; i++) {\r\n      this._pointTransforms[i].setWorldPosition(outputs[i].position);\r\n      this._pointTransforms[i].setWorldRotation(outputs[i].rotation);\r\n    }\r\n\r\n    this._previousRootPosition = rootPos;\r\n    this._previousRootRotation = rootRot;\r\n  }\r\n\r\n  /**\r\n   * 获取所有点的模拟结果（世界坐标位置和旋转）\r\n   * 通常不需要手动调用——step() 已经自动写回 transform。\r\n   * 适用于需要在不写回 transform 的情况下读取物理结果的场景。\r\n   */\r\n  getResults(): Array<{ position: Vector3; rotation: Quaternion }> {\r\n    const transformRots = this._pointTransforms.map((t) => t.getWorldRotation());\r\n    const transformLocalRots = this._pointTransforms.map((t) => t.getLocalRotation());\r\n    const outputs = applyResult(\r\n      this._pointsR,\r\n      this._pointsRW,\r\n      this._positionsToTransform,\r\n      this._config.blendRatio,\r\n      transformRots,\r\n      transformLocalRots,\r\n      this._config.preserveTwist\r\n    );\r\n    return outputs.map((o) => ({ position: o.position, rotation: o.rotation }));\r\n  }\r\n\r\n  /**\r\n   * 瞬移补偿——在角色传送/瞬移后调用\r\n   * 将上一帧的根骨骼位置和旋转设为当前值，\r\n   * 使下一帧的根运动增量为零，避免物理点因巨大位移而弹射。\r\n   */\r\n  warp(): void {\r\n    if (!this._rootTransform) {\r\n      return;\r\n    }\r\n    this._previousRootPosition = this._rootTransform.getWorldPosition();\r\n    this._previousRootRotation = this._rootTransform.getWorldRotation();\r\n  }\r\n\r\n  /**\r\n   * 重置所有物理状态\r\n   * 将所有点的模拟位置重置为当前 transform 位置，清除速度和抓取状态。\r\n   * 适用于场景切换或需要消除所有物理运动的场景。\r\n   */\r\n  reset(): void {\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      const pos = this._pointTransforms[i].getWorldPosition();\r\n      this._pointsRW[i].positionCurrent = pos.clone();\r\n      this._pointsRW[i].positionPrevious = pos.clone();\r\n      this._pointsRW[i].grabberIndex = -1;\r\n    }\r\n    this._fakeWaveCounter = 0;\r\n  }\r\n\r\n  /**\r\n   * 释放固定点为动态点（如脱衣、布料脱落）\r\n   * 将 weight 从 0 改为 1，同时重置该点的模拟状态避免瞬间弹射。\r\n   * @param index 点的索引\r\n   */\r\n  releasePoint(index: number): void {\r\n    if (index < 0 || index >= this._pointsR.length) {\r\n      return;\r\n    }\r\n    (this._pointsR[index] as any).weight = 1;\r\n    const pos = this._pointTransforms[index].getWorldPosition();\r\n    this._pointsRW[index].positionCurrent = pos.clone();\r\n    this._pointsRW[index].positionPrevious = pos.clone();\r\n    this._pointsRW[index].grabberIndex = -1;\r\n  }\r\n\r\n  /**\r\n   * 将动态点重新固定为跟随动画（如重新穿戴）\r\n   * 将 weight 从 1 改为 0，清除抓取状态。\r\n   * @param index 点的索引\r\n   */\r\n  fixPoint(index: number): void {\r\n    if (index < 0 || index >= this._pointsR.length) {\r\n      return;\r\n    }\r\n    (this._pointsR[index] as any).weight = 0;\r\n    this._pointsRW[index].grabberIndex = -1;\r\n  }\r\n\r\n  /**\r\n   * 查询某个点是否为固定状态（weight=0，跟随动画）\r\n   * @param index 点的索引\r\n   */\r\n  isPointFixed(index: number): boolean {\r\n    if (index < 0 || index >= this._pointsR.length) {\r\n      return false;\r\n    }\r\n    return this._pointsR[index].weight <= EPSILON;\r\n  }\r\n\r\n  /** 获取物理点总数 */\r\n  get pointCount(): number {\r\n    return this._pointsR.length;\r\n  }\r\n\r\n  /**\r\n   * 渐入物理——从动画姿态平滑过渡到物理模拟\r\n   * blendRatio 从 1（纯动画）渐变到 0（纯物理）\r\n   * @param seconds 过渡时长（秒）\r\n   */\r\n  fadeIn(seconds: number): void {\r\n    this._fadeState = 'in';\r\n    this._fadeTimer = 0;\r\n    this._fadeDuration = seconds;\r\n  }\r\n\r\n  /**\r\n   * 渐出物理——从物理模拟平滑过渡回动画姿态\r\n   * blendRatio 从 0（纯物理）渐变到 1（纯动画）\r\n   * @param seconds 过渡时长（秒）\r\n   */\r\n  fadeOut(seconds: number): void {\r\n    this._fadeState = 'out';\r\n    this._fadeTimer = 0;\r\n    this._fadeDuration = seconds;\r\n  }\r\n\r\n  /**\r\n   * 设置全局风力向量\r\n   * 风力会按每个点的 windForceScale 和质量进行缩放\r\n   * @param wind 风力向量（世界坐标）\r\n   */\r\n  setWindForce(wind: Vector3): void {\r\n    this._config.windForce = wind;\r\n  }\r\n\r\n  /** Enable/disable broad-phase pruning for runtime performance comparison */\r\n  setBroadPhaseEnabled(enabled: boolean): void {\r\n    this._config.enableBroadPhase = enabled;\r\n  }\r\n\r\n  /** The blend ratio for the physics simulation */\r\n  get blendRatio(): number {\r\n    return this._config.blendRatio;\r\n  }\r\n\r\n  set blendRatio(value: number) {\r\n    this._config.blendRatio = clamp01(value);\r\n  }\r\n\r\n  /**\r\n   * 暂停/恢复物理模拟\r\n   * 暂停时仍会跟随根骨骼运动，但不进行力学积分和约束求解\r\n   * @param paused true=暂停, false=恢复\r\n   */\r\n  setPaused(paused: boolean): void {\r\n    this._isPaused = paused;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by current array index.\r\n   * Transform state is still read from the collider's TransformAccess each frame.\r\n   * Prefer setColliderEnabled(handle, enabled) for runtime-owned colliders.\r\n   */\r\n  setColliderEnabledAt(index: number, enabled: boolean): boolean {\r\n    if (index >= 0 && index < this._collidersRW.length) {\r\n      this._collidersRW[index].enabled = enabled ? 1 : 0;\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a runtime collider by stable handle.\r\n   * @returns true if the handle is still valid.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    const index = this._getColliderIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.setColliderEnabledAt(index, enabled);\r\n  }\r\n\r\n  /**\r\n   * Add a collider at runtime.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform: TransformAccess): JointDynamicsColliderHandle {\r\n    const id = this._nextColliderHandleId++;\r\n    this._collidersR.push(r);\r\n    this._colliderTransforms.push(transform);\r\n    this._collidersRW.push(this._createColliderRW(transform));\r\n    this._colliderHandleIds.push(id);\r\n    this._colliderHandleToIndex.set(id, this._collidersR.length - 1);\r\n    return { type: 'collider', id };\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    const index = this._getColliderIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    if (index < 0 || index >= this._collidersR.length) {\r\n      return false;\r\n    }\r\n    this._collidersR.splice(index, 1);\r\n    this._colliderTransforms.splice(index, 1);\r\n    this._collidersRW.splice(index, 1);\r\n    this._colliderHandleIds.splice(index, 1);\r\n    this._rebuildColliderHandleMap();\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by current array index.\r\n   * Prefer setFlatPlaneEnabled(handle, enabled) for runtime-owned flat planes.\r\n   */\r\n  setFlatPlaneEnabledAt(index: number, enabled: boolean): boolean {\r\n    if (index < 0 || index >= this._flatPlaneAll.length) {\r\n      return false;\r\n    }\r\n    this._flatPlaneEnabled[index] = enabled;\r\n    this._rebuildActiveFlatPlanes();\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a runtime flat plane by stable handle.\r\n   * @returns true if the handle is still valid.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    const index = this._getFlatPlaneIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.setFlatPlaneEnabledAt(index, enabled);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane at runtime.\r\n   * @returns A stable handle that remains valid until this flat plane is removed.\r\n   */\r\n  addFlatPlane(up: Vector3, position: Vector3): JointDynamicsFlatPlaneHandle {\r\n    const id = this._nextFlatPlaneHandleId++;\r\n    const normal = Vector3.normalize(up);\r\n    this._flatPlaneAll.push({\r\n      normal,\r\n      distance: -Vector3.dot(normal, position)\r\n    });\r\n    this._flatPlaneEnabled.push(true);\r\n    this._flatPlaneHandleIds.push(id);\r\n    this._flatPlaneHandleToIndex.set(id, this._flatPlaneAll.length - 1);\r\n    this._rebuildActiveFlatPlanes();\r\n    return { type: 'flatPlane', id };\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    const index = this._getFlatPlaneIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * Prefer removeFlatPlane(handle) for runtime-owned flat planes.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    if (index < 0 || index >= this._flatPlaneAll.length) {\r\n      return false;\r\n    }\r\n    this._flatPlaneAll.splice(index, 1);\r\n    this._flatPlaneEnabled.splice(index, 1);\r\n    this._flatPlaneHandleIds.splice(index, 1);\r\n    this._rebuildFlatPlaneHandleMap();\r\n    this._rebuildActiveFlatPlanes();\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by current array index.\r\n   * Transform state is still read from the grabber's TransformAccess each frame.\r\n   * Prefer setGrabberEnabled(handle, enabled) for runtime-owned grabbers.\r\n   */\r\n  setGrabberEnabledAt(index: number, enabled: boolean): boolean {\r\n    if (index >= 0 && index < this._grabbersRW.length) {\r\n      this._grabbersRW[index].enabled = enabled ? 1 : 0;\r\n      if (!enabled) {\r\n        this._releaseGrabber(index);\r\n      }\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a runtime grabber by stable handle.\r\n   * @returns true if the handle is still valid.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    const index = this._getGrabberIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.setGrabberEnabledAt(index, enabled);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform: TransformAccess, enabled = false): JointDynamicsGrabberHandle {\r\n    const id = this._nextGrabberHandleId++;\r\n    this._grabbersR.push(r);\r\n    this._grabberTransforms.push(transform);\r\n    this._grabbersRW.push({\r\n      enabled: enabled ? 1 : 0,\r\n      position: transform.getWorldPosition()\r\n    });\r\n    this._grabberHandleIds.push(id);\r\n    this._grabberHandleToIndex.set(id, this._grabbersR.length - 1);\r\n    return { type: 'grabber', id };\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    const index = this._getGrabberIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.removeGrabberAt(index);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    if (index < 0 || index >= this._grabbersR.length) {\r\n      return false;\r\n    }\r\n    this._grabbersR.splice(index, 1);\r\n    this._grabberTransforms.splice(index, 1);\r\n    this._grabbersRW.splice(index, 1);\r\n    this._grabberHandleIds.splice(index, 1);\r\n    this._rebuildGrabberHandleMap();\r\n\r\n    this._releaseGrabber(index);\r\n    for (const ptRW of this._pointsRW) {\r\n      if (ptRW.grabberIndex > index) {\r\n        ptRW.grabberIndex--;\r\n      }\r\n    }\r\n    return true;\r\n  }\r\n\r\n  /** Gets the number of runtime colliders. */\r\n  get colliderCount(): number {\r\n    return this._collidersR.length;\r\n  }\r\n\r\n  /** Gets the number of runtime flat planes. */\r\n  get flatPlaneCount(): number {\r\n    return this._flatPlaneAll.length;\r\n  }\r\n\r\n  /** Gets the number of runtime grabbers. */\r\n  get grabberCount(): number {\r\n    return this._grabbersR.length;\r\n  }\r\n\r\n  private _computeBlendRatio(): number {\r\n    if (this._fadeState === 'in') {\r\n      return 1.0 - clamp01(this._fadeTimer / this._fadeDuration);\r\n    }\r\n    if (this._fadeState === 'out') {\r\n      return clamp01(this._fadeTimer / this._fadeDuration);\r\n    }\r\n    return this._config.blendRatio;\r\n  }\r\n\r\n  private _getColliderIndex(handle: JointDynamicsColliderHandle): number {\r\n    if (handle.type !== 'collider') {\r\n      return -1;\r\n    }\r\n    return this._colliderHandleToIndex.get(handle.id) ?? -1;\r\n  }\r\n\r\n  private _getGrabberIndex(handle: JointDynamicsGrabberHandle): number {\r\n    if (handle.type !== 'grabber') {\r\n      return -1;\r\n    }\r\n    return this._grabberHandleToIndex.get(handle.id) ?? -1;\r\n  }\r\n\r\n  private _getFlatPlaneIndex(handle: JointDynamicsFlatPlaneHandle): number {\r\n    if (handle.type !== 'flatPlane') {\r\n      return -1;\r\n    }\r\n    return this._flatPlaneHandleToIndex.get(handle.id) ?? -1;\r\n  }\r\n\r\n  private _releaseGrabber(index: number): void {\r\n    for (const ptRW of this._pointsRW) {\r\n      if (ptRW.grabberIndex === index) {\r\n        ptRW.grabberIndex = -1;\r\n        ptRW.grabberDistance = 0;\r\n      }\r\n    }\r\n  }\r\n\r\n  private _rebuildColliderHandleMap(): void {\r\n    this._colliderHandleToIndex.clear();\r\n    for (let i = 0; i < this._colliderHandleIds.length; i++) {\r\n      this._colliderHandleToIndex.set(this._colliderHandleIds[i], i);\r\n    }\r\n  }\r\n\r\n  private _rebuildFlatPlaneHandleMap(): void {\r\n    this._flatPlaneHandleToIndex.clear();\r\n    for (let i = 0; i < this._flatPlaneHandleIds.length; i++) {\r\n      this._flatPlaneHandleToIndex.set(this._flatPlaneHandleIds[i], i);\r\n    }\r\n  }\r\n\r\n  private _rebuildActiveFlatPlanes(): void {\r\n    this._flatPlanes = [];\r\n    for (let i = 0; i < this._flatPlaneAll.length; i++) {\r\n      if (this._flatPlaneEnabled[i]) {\r\n        this._flatPlanes.push(this._flatPlaneAll[i]);\r\n      }\r\n    }\r\n  }\r\n\r\n  private _rebuildGrabberHandleMap(): void {\r\n    this._grabberHandleToIndex.clear();\r\n    for (let i = 0; i < this._grabberHandleIds.length; i++) {\r\n      this._grabberHandleToIndex.set(this._grabberHandleIds[i], i);\r\n    }\r\n  }\r\n\r\n  private _createPointR(\r\n    node: BoneNode,\r\n    maxDepth: number,\r\n    parentMap: Map<number, number>,\r\n    transforms: TransformAccess[]\r\n  ): PointR {\r\n    const rate = maxDepth > 0 ? node.depth / maxDepth : 0;\r\n    const c = this._config.curves;\r\n\r\n    const parentIdx = parentMap.get(node.index) ?? -1;\r\n    const childIdx = node.children.length > 0 ? node.children[0].index : -1;\r\n\r\n    // Capture initial local transform for rotation blending\r\n    const t = transforms[node.index];\r\n    const initLocalPos = t.getLocalPosition();\r\n    const initLocalRot = t.getLocalRotation();\r\n    const initLocalScale = t.getLocalScale();\r\n\r\n    // BoneAxis: local-space direction to first child (computed in initialize)\r\n    const boneAxis = node.boneAxis ?? new Vector3(0, -1, 0);\r\n\r\n    // ParentLength: distance to parent\r\n    let parentLength = 0;\r\n    if (parentIdx !== -1) {\r\n      const pPos = transforms[parentIdx].getWorldPosition();\r\n      const cPos = transforms[node.index].getWorldPosition();\r\n      parentLength = Vector3.distance(pPos, cPos);\r\n    }\r\n\r\n    return {\r\n      parent: parentIdx,\r\n      child: childIdx,\r\n      applyInvertCollision: 0,\r\n      movableLimitIndex: -1,\r\n      movableLimitRadius: 0,\r\n      weight: node.isFixed ? 0 : 1,\r\n      mass: c.massScale.evaluate(rate),\r\n      resistance: clamp01(c.resistance.evaluate(rate)),\r\n      hardness: clamp01(c.hardness.evaluate(rate)),\r\n      frictionScale: c.friction.evaluate(rate),\r\n      sliderJointLength: c.sliderJointLength.evaluate(rate),\r\n      parentLength,\r\n      structuralShrinkVertical: c.structuralShrinkVertical.evaluate(rate) * 0.5,\r\n      structuralStretchVertical: c.structuralStretchVertical.evaluate(rate) * 0.5,\r\n      structuralShrinkHorizontal: c.structuralShrinkHorizontal.evaluate(rate) * 0.5,\r\n      structuralStretchHorizontal: c.structuralStretchHorizontal.evaluate(rate) * 0.5,\r\n      shearShrink: c.shearShrink.evaluate(rate) * 0.5,\r\n      shearStretch: c.shearStretch.evaluate(rate) * 0.5,\r\n      bendingShrinkVertical: c.bendingShrinkVertical.evaluate(rate) * 0.5,\r\n      bendingStretchVertical: c.bendingStretchVertical.evaluate(rate) * 0.5,\r\n      bendingShrinkHorizontal: c.bendingShrinkHorizontal.evaluate(rate) * 0.5,\r\n      bendingStretchHorizontal: c.bendingStretchHorizontal.evaluate(rate) * 0.5,\r\n      windForceScale: c.windForceScale.evaluate(rate) * rate,\r\n      fakeWavePower: c.fakeWavePower.evaluate(rate),\r\n      fakeWaveFreq: c.fakeWaveFreq.evaluate(rate),\r\n      forceFadeRatio: 0,\r\n      pointRadius: Math.max(0, c.pointRadius.evaluate(rate)),\r\n      gravity: Vector3.scale(this._config.gravity, c.gravityScale.evaluate(rate)),\r\n      boneAxis,\r\n      initialLocalScale: initLocalScale,\r\n      initialLocalRotation: initLocalRot,\r\n      initialLocalTwist: (() => {\r\n        const tw = new Quaternion();\r\n        initLocalRot.decomposeSwingTwist(boneAxis, undefined, tw);\r\n        return tw;\r\n      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package/dist/animation/joint_dynamics/joint_dynamics_system.js

@@ -0,0 +1,393 @@
+import { Quaternion, Vector3, InterpolatorScalar } from '@zephyr3d/base';
+import { SceneNode } from '../../scene/scene_node.js';
+import { JointDynamicsSystemController } from './controller.js';
+import { ColliderForce } from './types.js';
+
+const _quat = new Quaternion();
+const _defaultTA = createTransformAccess(new SceneNode(null));
+/**
+ * Create a transform adapter that lets the joint dynamics solver read from and write to a SceneNode.
+ *
+ * @param obj - Scene node to expose through the TransformAccess interface.
+ * @returns A TransformAccess wrapper backed by the supplied scene node.
+ *
+ * @public
+ */ function createTransformAccess(obj) {
+    return {
+        getWorldPosition () {
+            return obj.getWorldPosition();
+        },
+        getWorldRotation () {
+            const q = new Quaternion();
+            obj.worldMatrix.decompose(null, q, null);
+            return q;
+        },
+        getWorldScale () {
+            const s = new Vector3();
+            obj.worldMatrix.decompose(s, null, null);
+            return s;
+        },
+        getLocalPosition () {
+            return obj.position.clone();
+        },
+        getLocalRotation () {
+            return obj.rotation.clone();
+        },
+        getLocalScale () {
+            return obj.scale.clone();
+        },
+        setWorldPosition (p) {
+            if (obj.parent) {
+                obj.position = obj.parent.invWorldMatrix.transformPointAffine(p);
+            } else {
+                obj.position.set(p);
+            }
+        },
+        setWorldRotation (q) {
+            // Convert world rotation to local: localRot = inverse(parentWorldRot) * worldRot
+            if (obj.parent) {
+                obj.parent.worldMatrix.decompose(null, _quat, null);
+                Quaternion.multiply(Quaternion.inverse(_quat), q, obj.rotation);
+            } else {
+                obj.rotation.set(q);
+            }
+        },
+        setLocalPosition (p) {
+            obj.position.set(p);
+        },
+        setLocalRotation (q) {
+            obj.rotation.set(q);
+        },
+        setLocalScale (s) {
+            obj.scale.set(s);
+        }
+    };
+}
+/**
+ * Physics system for spring-like joint dynamics on scene node bone chains.
+ *
+ * The system builds particles and constraints from one or more bone chains,
+ * advances them with Verlet integration, solves constraints and collisions, and
+ * writes the resulting positions and rotations back to the scene graph.
+ *
+ * @public
+ */ class JointDynamicsSystem {
+    _controller;
+    /**
+   * Create a joint dynamics system for one or more bone chains.
+   *
+   * @param config - Bone chain topology and controller configuration.
+   * @param colliders - Optional colliders to register during initialization.
+   * @param grabbers - Optional grabbers to register during initialization.
+   * @param flatPlanes - Optional world-space planes that dynamic points cannot cross.
+   */ constructor(config, colliders = [], grabbers = [], flatPlanes = []){
+        const rootPoints = [];
+        const boneNodes = [];
+        const pointTransforms = [];
+        let index = 0;
+        for (const chain of config.chainConfig.chains){
+            const chainNodes = this.collectChainNodes(chain.start, chain.end);
+            for(let i = 0; i < chainNodes.length; i++){
+                const node = chainNodes[i];
+                const boneNode = {
+                    index: index++,
+                    position: node.getWorldPosition(),
+                    children: [],
+                    isFixed: i === 0,
+                    depth: i
+                };
+                boneNodes.push(boneNode);
+                pointTransforms.push(createTransformAccess(node));
+                if (i > 0) {
+                    boneNodes[boneNodes.length - 2].children.push(boneNode);
+                }
+                if (i === 0) {
+                    rootPoints.push(boneNode);
+                }
+            }
+        }
+        const systemRoot = createTransformAccess(config.chainConfig.systemRoot);
+        const defaultConfig = this.getDefaultControllerConfig();
+        const controllerConfig = {
+            ...defaultConfig,
+            ...config?.controllerConfig,
+            angleLimitConfig: {
+                ...defaultConfig.angleLimitConfig,
+                ...config?.controllerConfig?.angleLimitConfig
+            },
+            curves: {
+                ...defaultConfig.curves,
+                ...config?.controllerConfig?.curves
+            },
+            constraintOptions: {
+                ...defaultConfig.constraintOptions,
+                ...config?.controllerConfig?.constraintOptions
+            }
+        };
+        this._controller = new JointDynamicsSystemController(controllerConfig);
+        this._controller.initialize(systemRoot, rootPoints, pointTransforms, colliders, grabbers, flatPlanes);
+    }
+    /**
+   * Get the low-level controller that owns simulation state and advanced runtime controls.
+   *
+   * Most callers should prefer the convenience methods on JointDynamicsSystem.
+   *
+   * @returns The underlying joint dynamics controller.
+   */ get controller() {
+        return this._controller;
+    }
+    /**
+   * Add a fully configured collider at runtime.
+   *
+   * The collider transform is read from the supplied scene node every simulation step.
+   * If no transform is supplied, the collider is created at the identity transform.
+   *
+   * @param r - Read-only collider parameters.
+   * @param transform - Optional scene node that drives the collider transform.
+   * @returns A stable handle that remains valid until this collider is removed.
+   */ addCollider(r, transform) {
+        return this._controller.addCollider(r, transform ? createTransformAccess(transform) : _defaultTA);
+    }
+    /**
+   * Add a spherical collider at runtime.
+   *
+   * The collider transform is read from the supplied scene node every simulation step.
+   * If no transform is supplied, the collider is created at the identity transform.
+   *
+   * @param radius - Sphere radius in world units before transform scaling.
+   * @param transform - Optional scene node that drives the collider transform.
+   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.
+   * @param inversed - If true, points are constrained inside the sphere instead of pushed out.
+   * @returns A stable handle that remains valid until this collider is removed.
+   */ addSphereCollider(radius, transform, friction, inversed) {
+        return this.addCollider({
+            forceType: ColliderForce.Off,
+            friction: friction ?? 0,
+            height: 0,
+            isInverseCollider: inversed ?? false,
+            radius,
+            radiusTailScale: 1
+        }, transform);
+    }
+    /**
+   * Add a capsule collider at runtime.
+   *
+   * The capsule is aligned to the collider transform's local Y axis. Its head radius is
+   * `radius`, its tail radius is `radius * radiusTailScale`, and `height` defines the
+   * distance between the capsule ends before transform scaling.
+   *
+   * @param radius - Capsule head radius in world units before transform scaling.
+   * @param height - Capsule length in world units before transform scaling.
+   * @param transform - Optional scene node that drives the collider transform.
+   * @param radiusTailScale - Tail radius multiplier relative to the head radius. Defaults to 1.
+   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.
+   * @param inversed - If true, points are constrained inside the capsule instead of pushed out.
+   * @returns A stable handle that remains valid until this collider is removed.
+   */ addCapsuleCollider(radius, height, transform, radiusTailScale, friction, inversed) {
+        return this.addCollider({
+            forceType: ColliderForce.Off,
+            friction: friction ?? 0,
+            height,
+            isInverseCollider: inversed ?? false,
+            radius,
+            radiusTailScale: radiusTailScale ?? 1
+        }, transform);
+    }
+    /**
+   * Enable or disable a collider by stable handle.
+   *
+   * Disabled colliders remain registered but are ignored by simulation until re-enabled.
+   *
+   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.
+   * @param enabled - Whether the collider should participate in simulation.
+   * @returns true if the handle is valid and the enabled state was updated.
+   */ setColliderEnabled(handle, enabled) {
+        return this._controller.setColliderEnabled(handle, enabled);
+    }
+    /**
+   * Remove a collider by stable handle.
+   *
+   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.
+   * @returns true if the collider existed and was removed.
+   */ removeCollider(handle) {
+        return this._controller.removeCollider(handle);
+    }
+    /**
+   * Remove a collider by current array index.
+   *
+   * Prefer removeCollider(handle) for runtime-owned colliders.
+   *
+   * @param index - Current collider array index.
+   * @returns true if the collider existed and was removed.
+   */ removeColliderAt(index) {
+        return this._controller.removeColliderAt(index);
+    }
+    /**
+   * Add a flat plane collider at runtime.
+   *
+   * Flat planes are infinite world-space planes. The normal points toward the allowed side,
+   * and dynamic points are pushed back when they move behind the plane.
+   *
+   * @param up - Plane normal in world space.
+   * @param position - A point on the plane in world space.
+   * @returns A stable handle that remains valid until this flat plane is removed.
+   */ addFlatPlane(up, position) {
+        return this._controller.addFlatPlane(up, position);
+    }
+    /**
+   * Enable or disable a flat plane by stable handle.
+   *
+   * Disabled flat planes remain registered but are ignored by simulation until re-enabled.
+   *
+   * @param handle - Flat plane handle returned by addFlatPlane.
+   * @param enabled - Whether the flat plane should participate in simulation.
+   * @returns true if the handle is valid and the enabled state was updated.
+   */ setFlatPlaneEnabled(handle, enabled) {
+        return this._controller.setFlatPlaneEnabled(handle, enabled);
+    }
+    /**
+   * Remove a flat plane by stable handle.
+   *
+   * @param handle - Flat plane handle returned by addFlatPlane.
+   * @returns true if the flat plane existed and was removed.
+   */ removeFlatPlane(handle) {
+        return this._controller.removeFlatPlane(handle);
+    }
+    /**
+   * Remove a flat plane by current array index.
+   * Prefer removeFlatPlane(handle) for runtime-owned flat planes.
+   *
+   * @param index - Current flat plane array index.
+   * @returns true if the flat plane existed and was removed.
+   */ removeFlatPlaneAt(index) {
+        return this._controller.removeFlatPlaneAt(index);
+    }
+    /**
+   * Add a grabber at runtime.
+   *
+   * The grabber transform is read from the supplied scene node every simulation step.
+   * If no transform is supplied, the grabber is created at the identity transform.
+   *
+   * @param r - Read-only grabber parameters.
+   * @param transform - Optional scene node that drives the grabber transform.
+   * @returns A stable handle that remains valid until this grabber is removed.
+   */ addGrabber(r, transform) {
+        return this._controller.addGrabber(r, transform ? createTransformAccess(transform) : _defaultTA, false);
+    }
+    /**
+   * Enable or disable a grabber by stable handle.
+   *
+   * Disabling a grabber also releases any points currently held by it.
+   *
+   * @param handle - Grabber handle returned by addGrabber.
+   * @param enabled - Whether the grabber should participate in simulation.
+   * @returns true if the handle is valid and the enabled state was updated.
+   */ setGrabberEnabled(handle, enabled) {
+        return this._controller.setGrabberEnabled(handle, enabled);
+    }
+    /**
+   * Remove a grabber by stable handle.
+   *
+   * @param handle - Grabber handle returned by addGrabber.
+   * @returns true if the grabber existed and was removed.
+   */ removeGrabber(handle) {
+        return this._controller.removeGrabber(handle);
+    }
+    /**
+   * Remove a grabber by current array index.
+   *
+   * Prefer removeGrabber(handle) for runtime-owned grabbers.
+   *
+   * @param index - Current grabber array index.
+   * @returns true if the grabber existed and was removed.
+   */ removeGrabberAt(index) {
+        return this._controller.removeGrabberAt(index);
+    }
+    collectChainNodes(start, end) {
+        if (!start.isParentOf(end)) {
+            throw new Error('Invalid chain: end node must be a descendant of start node');
+        }
+        const nodes = [];
+        let current = end;
+        for(;;){
+            nodes.unshift(current);
+            if (current === start) {
+                break;
+            }
+            current = current.parent;
+        }
+        return nodes;
+    }
+    /**
+   * Advance the physics simulation and write the resulting transforms back to the chain nodes.
+   *
+   * @param deltaTime - Frame time step in seconds. Values larger than 0.033 are clamped for stability.
+   */ update(deltaTime) {
+        // Clamp deltaTime to prevent instability
+        const dt = Math.min(deltaTime, 0.033); // Max 30 FPS
+        // simulation
+        this._controller.step(dt);
+    }
+    /** @internal */ getDefaultControllerConfig() {
+        return {
+            gravity: new Vector3(0, -9.8, 0),
+            relaxation: 3,
+            subSteps: 3,
+            enableSurfaceCollision: false,
+            windForce: Vector3.zero(),
+            rootSlideLimit: -1,
+            rootRotateLimit: -1,
+            constraintShrinkLimit: 1,
+            blendRatio: 0,
+            stabilizationFrameRate: 60,
+            isFakeWave: false,
+            fakeWaveSpeed: 0,
+            fakeWavePower: 0,
+            angleLimitConfig: {
+                angleLimit: -1,
+                limitFromRoot: false
+            },
+            enableBroadPhase: false,
+            preserveTwist: false,
+            curves: {
+                gravityScale: InterpolatorScalar.constant(1),
+                windForceScale: InterpolatorScalar.constant(1),
+                massScale: InterpolatorScalar.constant(1),
+                resistance: InterpolatorScalar.constant(0.95),
+                hardness: InterpolatorScalar.constant(0.001),
+                friction: InterpolatorScalar.constant(0.5),
+                pointRadius: InterpolatorScalar.constant(0.05),
+                sliderJointLength: InterpolatorScalar.constant(0),
+                allShrinkScale: InterpolatorScalar.constant(1),
+                allStretchScale: InterpolatorScalar.constant(1),
+                structuralShrinkVertical: InterpolatorScalar.constant(1),
+                structuralStretchVertical: InterpolatorScalar.constant(1),
+                structuralShrinkHorizontal: InterpolatorScalar.constant(0.5),
+                structuralStretchHorizontal: InterpolatorScalar.constant(0.5),
+                shearShrink: InterpolatorScalar.constant(0.5),
+                shearStretch: InterpolatorScalar.constant(0.5),
+                bendingShrinkVertical: InterpolatorScalar.constant(0.5),
+                bendingStretchVertical: InterpolatorScalar.constant(0.5),
+                bendingShrinkHorizontal: InterpolatorScalar.constant(0.5),
+                bendingStretchHorizontal: InterpolatorScalar.constant(0.5),
+                fakeWavePower: InterpolatorScalar.constant(0),
+                fakeWaveFreq: InterpolatorScalar.constant(0)
+            },
+            constraintOptions: {
+                structuralVertical: false,
+                structuralHorizontal: false,
+                shear: false,
+                bendingVertical: false,
+                bendingHorizontal: false,
+                isLoop: false,
+                collideStructuralVertical: false,
+                collideStructuralHorizontal: false,
+                collideShear: false,
+                enableSurfaceCollision: false
+            }
+        };
+    }
+}
+
+export { JointDynamicsSystem, createTransformAccess };
+//# sourceMappingURL=joint_dynamics_system.js.map

package/dist/animation/joint_dynamics/joint_dynamics_system.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"joint_dynamics_system.js","sources":["../../../src/animation/joint_dynamics/joint_dynamics_system.ts"],"sourcesContent":["import type { DeepPartial } from '@zephyr3d/base';\r\nimport { InterpolatorScalar, Vector3 } from '@zephyr3d/base';\r\nimport { Quaternion } from '@zephyr3d/base';\r\nimport { SceneNode } from '../../scene/scene_node';\r\nimport type {\r\n  ControllerConfig,\r\n  JointDynamicsColliderHandle,\r\n  JointDynamicsFlatPlaneHandle,\r\n  JointDynamicsGrabberHandle\r\n} from './controller';\r\nimport { JointDynamicsSystemController } from './controller';\r\nimport { ColliderForce, type BoneNode, type ColliderR, type GrabberR, type TransformAccess } from './types';\r\n\r\nconst _quat = new Quaternion();\r\n\r\nconst _defaultTA = createTransformAccess(new SceneNode(null));\r\n\r\n/**\r\n * Create a transform adapter that lets the joint dynamics solver read from and write to a SceneNode.\r\n *\r\n * @param obj - Scene node to expose through the TransformAccess interface.\r\n * @returns A TransformAccess wrapper backed by the supplied scene node.\r\n *\r\n * @public\r\n */\r\nexport function createTransformAccess(obj: SceneNode): TransformAccess {\r\n  return {\r\n    getWorldPosition(): Vector3 {\r\n      return obj.getWorldPosition();\r\n    },\r\n    getWorldRotation(): Quaternion {\r\n      const q = new Quaternion();\r\n      obj.worldMatrix.decompose(null, q, null);\r\n      return q;\r\n    },\r\n    getWorldScale(): Vector3 {\r\n      const s = new Vector3();\r\n      obj.worldMatrix.decompose(s, null, null);\r\n      return s;\r\n    },\r\n    getLocalPosition(): Vector3 {\r\n      return obj.position.clone();\r\n    },\r\n    getLocalRotation(): Quaternion {\r\n      return obj.rotation.clone();\r\n    },\r\n    getLocalScale(): Vector3 {\r\n      return obj.scale.clone();\r\n    },\r\n    setWorldPosition(p: Vector3): void {\r\n      if (obj.parent) {\r\n        obj.position = obj.parent.invWorldMatrix.transformPointAffine(p);\r\n      } else {\r\n        obj.position.set(p);\r\n      }\r\n    },\r\n    setWorldRotation(q: Quaternion): void {\r\n      // Convert world rotation to local: localRot = inverse(parentWorldRot) * worldRot\r\n      if (obj.parent) {\r\n        obj.parent.worldMatrix.decompose(null, _quat, null);\r\n        Quaternion.multiply(Quaternion.inverse(_quat), q, obj.rotation);\r\n      } else {\r\n        obj.rotation.set(q);\r\n      }\r\n    },\r\n    setLocalPosition(p: Vector3): void {\r\n      obj.position.set(p);\r\n    },\r\n    setLocalRotation(q: Quaternion): void {\r\n      obj.rotation.set(q);\r\n    },\r\n    setLocalScale(s: Vector3): void {\r\n      obj.scale.set(s);\r\n    }\r\n  };\r\n}\r\n\r\n/**\r\n * Describes the bone chains simulated by a JointDynamicsSystem.\r\n *\r\n * Each chain is defined by an inclusive start and end node. The end node must be\r\n * a descendant of the start node.\r\n *\r\n * @public\r\n */\r\nexport type JointChainConfig = {\r\n  /** Root transform used for root motion compensation. */\r\n  systemRoot: SceneNode;\r\n  /** Bone chains to simulate. */\r\n  chains: { start: SceneNode; end: SceneNode }[];\r\n};\r\n\r\n/**\r\n * Configuration used to construct a JointDynamicsSystem.\r\n *\r\n * @public\r\n */\r\nexport type JointDynamicSystemConfig = {\r\n  /** Bone chain topology and root transform. */\r\n  chainConfig: JointChainConfig;\r\n  /** Optional controller configuration overrides. */\r\n  controllerConfig?: DeepPartial<ControllerConfig, 2>;\r\n};\r\n\r\n/**\r\n * Physics system for spring-like joint dynamics on scene node bone chains.\r\n *\r\n * The system builds particles and constraints from one or more bone chains,\r\n * advances them with Verlet integration, solves constraints and collisions, and\r\n * writes the resulting positions and rotations back to the scene graph.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsSystem {\r\n  private _controller: JointDynamicsSystemController;\r\n  /**\r\n   * Create a joint dynamics system for one or more bone chains.\r\n   *\r\n   * @param config - Bone chain topology and controller configuration.\r\n   * @param colliders - Optional colliders to register during initialization.\r\n   * @param grabbers - Optional grabbers to register during initialization.\r\n   * @param flatPlanes - Optional world-space planes that dynamic points cannot cross.\r\n   */\r\n  constructor(\r\n    config: JointDynamicSystemConfig,\r\n    colliders: { r: ColliderR; transform: TransformAccess }[] = [],\r\n    grabbers: {\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }[] = [],\r\n    flatPlanes: { up: Vector3; position: Vector3 }[] = []\r\n  ) {\r\n    const rootPoints: BoneNode[] = [];\r\n    const boneNodes: BoneNode[] = [];\r\n    const pointTransforms: TransformAccess[] = [];\r\n    let index = 0;\r\n    for (const chain of config.chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      for (let i = 0; i < chainNodes.length; i++) {\r\n        const node = chainNodes[i];\r\n        const boneNode = {\r\n          index: index++,\r\n          position: node.getWorldPosition(),\r\n          children: [],\r\n          isFixed: i === 0, // Fix the first bone in the chain\r\n          depth: i\r\n        };\r\n        boneNodes.push(boneNode);\r\n        pointTransforms.push(createTransformAccess(node));\r\n        if (i > 0) {\r\n          boneNodes[boneNodes.length - 2].children.push(boneNode);\r\n        }\r\n        if (i === 0) {\r\n          rootPoints.push(boneNode);\r\n        }\r\n      }\r\n    }\r\n    const systemRoot = createTransformAccess(config.chainConfig.systemRoot);\r\n    const defaultConfig = this.getDefaultControllerConfig();\r\n    const controllerConfig: ControllerConfig = {\r\n      ...defaultConfig,\r\n      ...config?.controllerConfig,\r\n      angleLimitConfig: { ...defaultConfig.angleLimitConfig, ...config?.controllerConfig?.angleLimitConfig },\r\n      curves: { ...defaultConfig.curves, ...config?.controllerConfig?.curves },\r\n      constraintOptions: {\r\n        ...defaultConfig.constraintOptions,\r\n        ...config?.controllerConfig?.constraintOptions\r\n      }\r\n    };\r\n    this._controller = new JointDynamicsSystemController(controllerConfig);\r\n    this._controller.initialize(systemRoot, rootPoints, pointTransforms, colliders, grabbers, flatPlanes);\r\n  }\r\n\r\n  /**\r\n   * Get the low-level controller that owns simulation state and advanced runtime controls.\r\n   *\r\n   * Most callers should prefer the convenience methods on JointDynamicsSystem.\r\n   *\r\n   * @returns The underlying joint dynamics controller.\r\n   */\r\n  get controller(): JointDynamicsSystemController {\r\n    return this._controller;\r\n  }\r\n\r\n  /**\r\n   * Add a fully configured collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param r - Read-only collider parameters.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform?: SceneNode): JointDynamicsColliderHandle {\r\n    return this._controller.addCollider(r, transform ? createTransformAccess(transform) : _defaultTA);\r\n  }\r\n\r\n  /**\r\n   * Add a spherical collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param radius - Sphere radius in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the sphere instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addSphereCollider(\r\n    radius: number,\r\n    transform?: SceneNode,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height: 0,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Add a capsule collider at runtime.\r\n   *\r\n   * The capsule is aligned to the collider transform's local Y axis. Its head radius is\r\n   * `radius`, its tail radius is `radius * radiusTailScale`, and `height` defines the\r\n   * distance between the capsule ends before transform scaling.\r\n   *\r\n   * @param radius - Capsule head radius in world units before transform scaling.\r\n   * @param height - Capsule length in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param radiusTailScale - Tail radius multiplier relative to the head radius. Defaults to 1.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the capsule instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCapsuleCollider(\r\n    radius: number,\r\n    height: number,\r\n    transform?: SceneNode,\r\n    radiusTailScale?: number,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: radiusTailScale ?? 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by stable handle.\r\n   *\r\n   * Disabled colliders remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @param enabled - Whether the collider should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    return this._controller.setColliderEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    return this._controller.removeCollider(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   *\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   *\r\n   * @param index - Current collider array index.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    return this._controller.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane collider at runtime.\r\n   *\r\n   * Flat planes are infinite world-space planes. The normal points toward the allowed side,\r\n   * and dynamic points are pushed back when they move behind the plane.\r\n   *\r\n   * @param up - Plane normal in world space.\r\n   * @param position - A point on the plane in world space.\r\n   * @returns A stable handle that remains valid until this flat plane is removed.\r\n   */\r\n  addFlatPlane(up: Vector3, position: Vector3): JointDynamicsFlatPlaneHandle {\r\n    return this._controller.addFlatPlane(up, position);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by stable handle.\r\n   *\r\n   * Disabled flat planes remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @param enabled - Whether the flat plane should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    return this._controller.setFlatPlaneEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    return this._controller.removeFlatPlane(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * Prefer removeFlatPlane(handle) for runtime-owned flat planes.\r\n   *\r\n   * @param index - Current flat plane array index.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    return this._controller.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   *\r\n   * The grabber transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the grabber is created at the identity transform.\r\n   *\r\n   * @param r - Read-only grabber parameters.\r\n   * @param transform - Optional scene node that drives the grabber transform.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform?: SceneNode): JointDynamicsGrabberHandle {\r\n    return this._controller.addGrabber(r, transform ? createTransformAccess(transform) : _defaultTA, false);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by stable handle.\r\n   *\r\n   * Disabling a grabber also releases any points currently held by it.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @param enabled - Whether the grabber should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    return this._controller.setGrabberEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    return this._controller.removeGrabber(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   *\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Current grabber array index.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    return this._controller.removeGrabberAt(index);\r\n  }\r\n\r\n  private collectChainNodes(start: SceneNode, end: SceneNode): SceneNode[] {\r\n    if (!start.isParentOf(end)) {\r\n      throw new Error('Invalid chain: end node must be a descendant of start node');\r\n    }\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode = end;\r\n    for (;;) {\r\n      nodes.unshift(current);\r\n      if (current === start) {\r\n        break;\r\n      }\r\n      current = current.parent!;\r\n    }\r\n    return nodes;\r\n  }\r\n  /**\r\n   * Advance the physics simulation and write the resulting transforms back to the chain nodes.\r\n   *\r\n   * @param deltaTime - Frame time step in seconds. Values larger than 0.033 are clamped for stability.\r\n   */\r\n  update(deltaTime: number): void {\r\n    // Clamp deltaTime to prevent instability\r\n    const dt = Math.min(deltaTime, 0.033); // Max 30 FPS\r\n    // simulation\r\n    this._controller.step(dt);\r\n  }\r\n  /** @internal */\r\n  private getDefaultControllerConfig(): ControllerConfig {\r\n    return {\r\n      gravity: new Vector3(0, -9.8, 0),\r\n      relaxation: 3,\r\n      subSteps: 3,\r\n      enableSurfaceCollision: false,\r\n      windForce: Vector3.zero(),\r\n      rootSlideLimit: -1,\r\n      rootRotateLimit: -1,\r\n      constraintShrinkLimit: 1,\r\n      blendRatio: 0,\r\n      stabilizationFrameRate: 60,\r\n      isFakeWave: false,\r\n      fakeWaveSpeed: 0,\r\n      fakeWavePower: 0,\r\n      angleLimitConfig: { angleLimit: -1, limitFromRoot: false },\r\n      enableBroadPhase: false,\r\n      preserveTwist: false,\r\n      curves: {\r\n        gravityScale: InterpolatorScalar.constant(1),\r\n        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