@zephyr3d/scene 0.8.2 → 0.9.0

package/dist/animation/joint_dynamics/constraints.js

@@ -0,0 +1,329 @@
+import { Vector3 } from '@zephyr3d/base';
+import { ConstraintType } from './types.js';
+
+// Constraint creation utilities — port of SPCRJointDynamicsController constraint building
+function getFirstChild(node) {
+    return node.children.length > 0 ? node.children[0] : null;
+}
+function constraintLength(a, b) {
+    return Vector3.distance(a.position, b.position);
+}
+// ── Structural Vertical: parent→child chains ──
+function createStructuralVertical(node, out) {
+    for (const child of node.children){
+        out.push({
+            type: ConstraintType.Structural_Vertical,
+            indexA: node.index,
+            indexB: child.index,
+            length: constraintLength(node, child)
+        });
+        createStructuralVertical(child, out);
+    }
+}
+// ── Structural Horizontal: same-depth siblings across chains ──
+function createHorizontal(a, b, type, out) {
+    if (!a || !b || a === b) {
+        return;
+    }
+    const childA = getFirstChild(a);
+    const childB = getFirstChild(b);
+    if (childA && childB) {
+        out.push({
+            type,
+            indexA: childA.index,
+            indexB: childB.index,
+            length: constraintLength(childA, childB)
+        });
+        createHorizontal(childA, childB, type, out);
+    } else if (childA && !childB) {
+        out.push({
+            type,
+            indexA: childA.index,
+            indexB: b.index,
+            length: constraintLength(childA, b)
+        });
+    } else if (!childA && childB) {
+        out.push({
+            type,
+            indexA: a.index,
+            indexB: childB.index,
+            length: constraintLength(a, childB)
+        });
+    }
+}
+// ── Shear: diagonal cross-bracing ──
+function createShear(a, b, out) {
+    if (!a || !b || a === b) {
+        return;
+    }
+    const cA = getFirstChild(a);
+    const cB = getFirstChild(b);
+    const cA2 = cA ? getFirstChild(cA) : null;
+    const cB2 = cB ? getFirstChild(cB) : null;
+    const cA3 = cA2 ? getFirstChild(cA2) : null;
+    const cB3 = cB2 ? getFirstChild(cB2) : null;
+    const target1 = cA ?? cA2 ?? cA3;
+    if (target1) {
+        out.push({
+            type: ConstraintType.Shear,
+            indexA: target1.index,
+            indexB: b.index,
+            length: constraintLength(target1, b)
+        });
+    }
+    const target2 = cB ?? cB2 ?? cB3;
+    if (target2) {
+        out.push({
+            type: ConstraintType.Shear,
+            indexA: a.index,
+            indexB: target2.index,
+            length: constraintLength(a, target2)
+        });
+    }
+    createShear(cA, cB, out);
+}
+// ── Bending Vertical: skip-one (grandparent→grandchild) ──
+function createBendingVertical(node, out) {
+    if (node.children.length !== 1) {
+        return;
+    }
+    const childA = node.children[0];
+    if (childA.children.length !== 1) {
+        return;
+    }
+    const childB = childA.children[0];
+    out.push({
+        type: ConstraintType.Bending_Vertical,
+        indexA: node.index,
+        indexB: childB.index,
+        length: constraintLength(node, childB)
+    });
+    createBendingVertical(childA, out);
+}
+// ── Constraint grouping (no shared point indices per group) ──
+function findSameIndex(group, c) {
+    for (const g of group){
+        if (g.indexA === c.indexA || g.indexA === c.indexB || g.indexB === c.indexA || g.indexB === c.indexB) {
+            return true;
+        }
+    }
+    return false;
+}
+function pushToGroups(groups, c) {
+    for (const g of groups){
+        if (!findSameIndex(g, c)) {
+            g.push(c);
+            return;
+        }
+    }
+    groups.push([
+        c
+    ]);
+}
+// ── Surface faces (quads → 2 triangles of 3 indices) ──
+function createSurfaceFaces(a, b, out) {
+    if (!a || !b || a === b) {
+        return;
+    }
+    const cA = getFirstChild(a);
+    const cB = getFirstChild(b);
+    if (cA && cB) {
+        if (a.useForSurfaceCollision !== false && b.useForSurfaceCollision !== false && cA.useForSurfaceCollision !== false && cB.useForSurfaceCollision !== false) {
+            // Quad ABCD → triangles ABC, CDA
+            out.push(a.index, b.index, cB.index, cB.index, cA.index, a.index);
+        }
+        createSurfaceFaces(cA, cB, out);
+    }
+}
+// ── Public API ──
+function buildConstraints(rootPoints, options) {
+    const n = rootPoints.length;
+    const groups = [];
+    const addRaw = (raws, collide)=>{
+        for (const r of raws){
+            const bothFixed = isBoneFixed(rootPoints, r.indexA) && isBoneFixed(rootPoints, r.indexB);
+            pushToGroups(groups, {
+                type: r.type,
+                indexA: r.indexA,
+                indexB: r.indexB,
+                length: r.length,
+                isCollision: !bothFixed && collide ? 1 : 0
+            });
+        }
+    };
+    // Bending Horizontal
+    if (options.bendingHorizontal) {
+        const raw = [];
+        const pairs = options.isLoop ? Array.from({
+            length: n
+        }, (_, i)=>[
+                i,
+                (i + 2) % n
+            ]) : Array.from({
+            length: Math.max(0, n - 2)
+        }, (_, i)=>[
+                i,
+                i + 2
+            ]);
+        for (const [a, b] of pairs){
+            createHorizontal(rootPoints[a], rootPoints[b], ConstraintType.Bending_Horizontal, raw);
+        }
+        addRaw(raw, false);
+    }
+    // Bending Vertical
+    if (options.bendingVertical) {
+        const raw = [];
+        for (const root of rootPoints){
+            createBendingVertical(root, raw);
+        }
+        addRaw(raw, false);
+    }
+    // Shear
+    if (options.shear) {
+        const raw = [];
+        const pairs = options.isLoop ? Array.from({
+            length: n
+        }, (_, i)=>[
+                i,
+                (i + 1) % n
+            ]) : Array.from({
+            length: Math.max(0, n - 1)
+        }, (_, i)=>[
+                i,
+                i + 1
+            ]);
+        for (const [a, b] of pairs){
+            createShear(rootPoints[a], rootPoints[b], raw);
+        }
+        addRaw(raw, options.enableSurfaceCollision || options.collideShear);
+    }
+    // Structural Horizontal
+    if (options.structuralHorizontal) {
+        const raw = [];
+        const pairs = options.isLoop ? Array.from({
+            length: n
+        }, (_, i)=>[
+                i,
+                (i + 1) % n
+            ]) : Array.from({
+            length: Math.max(0, n - 1)
+        }, (_, i)=>[
+                i,
+                i + 1
+            ]);
+        for (const [a, b] of pairs){
+            createHorizontal(rootPoints[a], rootPoints[b], ConstraintType.Structural_Horizontal, raw);
+        }
+        addRaw(raw, options.enableSurfaceCollision || options.collideStructuralHorizontal);
+    }
+    // Structural Vertical
+    if (options.structuralVertical) {
+        const raw = [];
+        for (const root of rootPoints){
+            createStructuralVertical(root, raw);
+        }
+        addRaw(raw, options.enableSurfaceCollision || options.collideStructuralVertical);
+    }
+    // Flatten groups into single array
+    return groups.flat();
+}
+function buildSurfaceFaces(rootPoints, isLoop) {
+    const out = [];
+    const n = rootPoints.length;
+    for(let i = 0; i < n - 1; i++){
+        createSurfaceFaces(rootPoints[i], rootPoints[i + 1], out);
+    }
+    if (isLoop && n > 1) {
+        createSurfaceFaces(rootPoints[n - 1], rootPoints[0], out);
+    }
+    return out;
+}
+function computeMaxDepth(rootPoints) {
+    let max = 0;
+    function walk(node) {
+        if (node.depth > max) {
+            max = node.depth;
+        }
+        for (const c of node.children){
+            walk(c);
+        }
+    }
+    for (const r of rootPoints){
+        walk(r);
+    }
+    return max;
+}
+function sortRootPointsByProximity(roots, ignoreY, fixedBeginEnd) {
+    if (roots.length <= 2) {
+        return [
+            ...roots
+        ];
+    }
+    const sorted = [];
+    const remaining = [
+        ...roots
+    ];
+    if (fixedBeginEnd) {
+        sorted.push(remaining.shift());
+        const last = remaining.pop();
+        while(remaining.length > 0){
+            const cur = sorted[sorted.length - 1];
+            let bestIdx = 0, bestDist = Infinity;
+            for(let i = 0; i < remaining.length; i++){
+                const d = distXYZ(cur.position, remaining[i].position, ignoreY);
+                if (d < bestDist) {
+                    bestDist = d;
+                    bestIdx = i;
+                }
+            }
+            sorted.push(remaining.splice(bestIdx, 1)[0]);
+        }
+        sorted.push(last);
+    } else {
+        sorted.push(remaining.shift());
+        while(remaining.length > 0){
+            const cur = sorted[sorted.length - 1];
+            let bestIdx = 0, bestDist = Infinity;
+            for(let i = 0; i < remaining.length; i++){
+                const d = distXYZ(cur.position, remaining[i].position, ignoreY);
+                if (d < bestDist) {
+                    bestDist = d;
+                    bestIdx = i;
+                }
+            }
+            sorted.push(remaining.splice(bestIdx, 1)[0]);
+        }
+    }
+    return sorted;
+}
+// ── Helpers ──
+function distXYZ(a, b, ignoreY) {
+    const dx = a.x - b.x, dz = a.z - b.z;
+    const dy = ignoreY ? 0 : a.y - b.y;
+    return dx * dx + dy * dy + dz * dz;
+}
+// Walk all nodes to find if a given index is fixed
+function isBoneFixed(roots, index) {
+    function find(node) {
+        if (node.index === index) {
+            return node.isFixed;
+        }
+        for (const c of node.children){
+            const r = find(c);
+            if (r !== undefined) {
+                return r;
+            }
+        }
+        return false;
+    }
+    for (const r of roots){
+        const res = find(r);
+        if (res) {
+            return true;
+        }
+    }
+    return false;
+}
+
+export { buildConstraints, buildSurfaceFaces, computeMaxDepth, sortRootPointsByProximity };
+//# sourceMappingURL=constraints.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"constraints.js","sources":["../../../src/animation/joint_dynamics/constraints.ts"],"sourcesContent":["// Constraint creation utilities — port of SPCRJointDynamicsController constraint building\r\n\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport { ConstraintType, type Constraint, type BoneNode } from './types';\r\n\r\n/** Options for constraint generation from bone hierarchy */\r\nexport interface ConstraintBuildOptions {\r\n  /** Generate parent→child vertical constraints */\r\n  structuralVertical: boolean;\r\n  /** Generate same-depth horizontal constraints across chains */\r\n  structuralHorizontal: boolean;\r\n  /** Generate diagonal cross-bracing constraints */\r\n  shear: boolean;\r\n  /** Generate skip-one vertical bending constraints */\r\n  bendingVertical: boolean;\r\n  /** Generate skip-one horizontal bending constraints */\r\n  bendingHorizontal: boolean;\r\n  /** Connect last root point back to first (for cylindrical topology like skirts) */\r\n  isLoop: boolean;\r\n  /** Enable per-constraint collision detection on structural vertical pairs */\r\n  collideStructuralVertical: boolean;\r\n  /** Enable per-constraint collision detection on structural horizontal pairs */\r\n  collideStructuralHorizontal: boolean;\r\n  /** Enable per-constraint collision detection on shear pairs */\r\n  collideShear: boolean;\r\n  /** Enable surface/triangle collision (overrides per-type collision flags) */\r\n  enableSurfaceCollision: boolean;\r\n}\r\n\r\ninterface RawConstraint {\r\n  type: ConstraintType;\r\n  indexA: number;\r\n  indexB: number;\r\n  length: number;\r\n}\r\n\r\nfunction getFirstChild(node: BoneNode): BoneNode | null {\r\n  return node.children.length > 0 ? node.children[0] : null;\r\n}\r\n\r\nfunction constraintLength(a: BoneNode, b: BoneNode): number {\r\n  return Vector3.distance(a.position, b.position);\r\n}\r\n\r\n// ── Structural Vertical: parent→child chains ──\r\n\r\nfunction createStructuralVertical(node: BoneNode, out: RawConstraint[]) {\r\n  for (const child of node.children) {\r\n    out.push({\r\n      type: ConstraintType.Structural_Vertical,\r\n      indexA: node.index,\r\n      indexB: child.index,\r\n      length: constraintLength(node, child)\r\n    });\r\n    createStructuralVertical(child, out);\r\n  }\r\n}\r\n\r\n// ── Structural Horizontal: same-depth siblings across chains ──\r\n\r\nfunction createHorizontal(\r\n  a: BoneNode | null,\r\n  b: BoneNode | null,\r\n  type: ConstraintType,\r\n  out: RawConstraint[]\r\n) {\r\n  if (!a || !b || a === b) {\r\n    return;\r\n  }\r\n  const childA = getFirstChild(a);\r\n  const childB = getFirstChild(b);\r\n\r\n  if (childA && childB) {\r\n    out.push({\r\n      type,\r\n      indexA: childA.index,\r\n      indexB: childB.index,\r\n      length: constraintLength(childA, childB)\r\n    });\r\n    createHorizontal(childA, childB, type, out);\r\n  } else if (childA && !childB) {\r\n    out.push({\r\n      type,\r\n      indexA: childA.index,\r\n      indexB: b.index,\r\n      length: constraintLength(childA, b)\r\n    });\r\n  } else if (!childA && childB) {\r\n    out.push({\r\n      type,\r\n      indexA: a.index,\r\n      indexB: childB.index,\r\n      length: constraintLength(a, childB)\r\n    });\r\n  }\r\n}\r\n\r\n// ── Shear: diagonal cross-bracing ──\r\n\r\nfunction createShear(a: BoneNode | null, b: BoneNode | null, out: RawConstraint[]) {\r\n  if (!a || !b || a === b) {\r\n    return;\r\n  }\r\n  const cA = getFirstChild(a);\r\n  const cB = getFirstChild(b);\r\n  const cA2 = cA ? getFirstChild(cA) : null;\r\n  const cB2 = cB ? getFirstChild(cB) : null;\r\n  const cA3 = cA2 ? getFirstChild(cA2) : null;\r\n  const cB3 = cB2 ? getFirstChild(cB2) : null;\r\n\r\n  const target1 = cA ?? cA2 ?? cA3;\r\n  if (target1) {\r\n    out.push({\r\n      type: ConstraintType.Shear,\r\n      indexA: target1.index,\r\n      indexB: b.index,\r\n      length: constraintLength(target1, b)\r\n    });\r\n  }\r\n\r\n  const target2 = cB ?? cB2 ?? cB3;\r\n  if (target2) {\r\n    out.push({\r\n      type: ConstraintType.Shear,\r\n      indexA: a.index,\r\n      indexB: target2.index,\r\n      length: constraintLength(a, target2)\r\n    });\r\n  }\r\n\r\n  createShear(cA, cB, out);\r\n}\r\n\r\n// ── Bending Vertical: skip-one (grandparent→grandchild) ──\r\n\r\nfunction createBendingVertical(node: BoneNode, out: RawConstraint[]) {\r\n  if (node.children.length !== 1) {\r\n    return;\r\n  }\r\n  const childA = node.children[0];\r\n  if (childA.children.length !== 1) {\r\n    return;\r\n  }\r\n  const childB = childA.children[0];\r\n\r\n  out.push({\r\n    type: ConstraintType.Bending_Vertical,\r\n    indexA: node.index,\r\n    indexB: childB.index,\r\n    length: constraintLength(node, childB)\r\n  });\r\n  createBendingVertical(childA, out);\r\n}\r\n\r\n// ── Constraint grouping (no shared point indices per group) ──\r\n\r\nfunction findSameIndex(group: Constraint[], c: Constraint): boolean {\r\n  for (const g of group) {\r\n    if (g.indexA === c.indexA || g.indexA === c.indexB || g.indexB === c.indexA || g.indexB === c.indexB) {\r\n      return true;\r\n    }\r\n  }\r\n  return false;\r\n}\r\n\r\nfunction pushToGroups(groups: Constraint[][], c: Constraint) {\r\n  for (const g of groups) {\r\n    if (!findSameIndex(g, c)) {\r\n      g.push(c);\r\n      return;\r\n    }\r\n  }\r\n  groups.push([c]);\r\n}\r\n\r\n// ── Surface faces (quads → 2 triangles of 3 indices) ──\r\n\r\nfunction createSurfaceFaces(a: BoneNode | null, b: BoneNode | null, out: number[]) {\r\n  if (!a || !b || a === b) {\r\n    return;\r\n  }\r\n  const cA = getFirstChild(a);\r\n  const cB = getFirstChild(b);\r\n  if (cA && cB) {\r\n    if (\r\n      a.useForSurfaceCollision !== false &&\r\n      b.useForSurfaceCollision !== false &&\r\n      cA.useForSurfaceCollision !== false &&\r\n      cB.useForSurfaceCollision !== false\r\n    ) {\r\n      // Quad ABCD → triangles ABC, CDA\r\n      out.push(a.index, b.index, cB.index, cB.index, cA.index, a.index);\r\n    }\r\n    createSurfaceFaces(cA, cB, out);\r\n  }\r\n}\r\n\r\n// ── Public API ──\r\n\r\nexport function buildConstraints(rootPoints: BoneNode[], options: ConstraintBuildOptions): Constraint[] {\r\n  const n = rootPoints.length;\r\n  const groups: Constraint[][] = [];\r\n\r\n  const addRaw = (raws: RawConstraint[], collide: boolean) => {\r\n    for (const r of raws) {\r\n      const bothFixed = isBoneFixed(rootPoints, r.indexA) && isBoneFixed(rootPoints, r.indexB);\r\n      pushToGroups(groups, {\r\n        type: r.type,\r\n        indexA: r.indexA,\r\n        indexB: r.indexB,\r\n        length: r.length,\r\n        isCollision: !bothFixed && collide ? 1 : 0\r\n      });\r\n    }\r\n  };\r\n\r\n  // Bending Horizontal\r\n  if (options.bendingHorizontal) {\r\n    const raw: RawConstraint[] = [];\r\n    const pairs = options.isLoop\r\n      ? Array.from({ length: n }, (_, i) => [i, (i + 2) % n])\r\n      : Array.from({ length: Math.max(0, n - 2) }, (_, i) => [i, i + 2]);\r\n    for (const [a, b] of pairs) {\r\n      createHorizontal(rootPoints[a], rootPoints[b], ConstraintType.Bending_Horizontal, raw);\r\n    }\r\n    addRaw(raw, false);\r\n  }\r\n\r\n  // Bending Vertical\r\n  if (options.bendingVertical) {\r\n    const raw: RawConstraint[] = [];\r\n    for (const root of rootPoints) {\r\n      createBendingVertical(root, raw);\r\n    }\r\n    addRaw(raw, false);\r\n  }\r\n\r\n  // Shear\r\n  if (options.shear) {\r\n    const raw: RawConstraint[] = [];\r\n    const pairs = options.isLoop\r\n      ? Array.from({ length: n }, (_, i) => [i, (i + 1) % n])\r\n      : Array.from({ length: Math.max(0, n - 1) }, (_, i) => [i, i + 1]);\r\n    for (const [a, b] of pairs) {\r\n      createShear(rootPoints[a], rootPoints[b], raw);\r\n    }\r\n    addRaw(raw, options.enableSurfaceCollision || options.collideShear);\r\n  }\r\n\r\n  // Structural Horizontal\r\n  if (options.structuralHorizontal) {\r\n    const raw: RawConstraint[] = [];\r\n    const pairs = options.isLoop\r\n      ? Array.from({ length: n }, (_, i) => [i, (i + 1) % n])\r\n      : Array.from({ length: Math.max(0, n - 1) }, (_, i) => [i, i + 1]);\r\n    for (const [a, b] of pairs) {\r\n      createHorizontal(rootPoints[a], rootPoints[b], ConstraintType.Structural_Horizontal, raw);\r\n    }\r\n    addRaw(raw, options.enableSurfaceCollision || options.collideStructuralHorizontal);\r\n  }\r\n\r\n  // Structural Vertical\r\n  if (options.structuralVertical) {\r\n    const raw: RawConstraint[] = [];\r\n    for (const root of rootPoints) {\r\n      createStructuralVertical(root, raw);\r\n    }\r\n    addRaw(raw, options.enableSurfaceCollision || options.collideStructuralVertical);\r\n  }\r\n\r\n  // Flatten groups into single array\r\n  return groups.flat();\r\n}\r\n\r\nexport function buildSurfaceFaces(rootPoints: BoneNode[], isLoop: boolean): number[] {\r\n  const out: number[] = [];\r\n  const n = rootPoints.length;\r\n  for (let i = 0; i < n - 1; i++) {\r\n    createSurfaceFaces(rootPoints[i], rootPoints[i + 1], out);\r\n  }\r\n  if (isLoop && n > 1) {\r\n    createSurfaceFaces(rootPoints[n - 1], rootPoints[0], out);\r\n  }\r\n  return out;\r\n}\r\n\r\nexport function computeMaxDepth(rootPoints: BoneNode[]): number {\r\n  let max = 0;\r\n  function walk(node: BoneNode) {\r\n    if (node.depth > max) {\r\n      max = node.depth;\r\n    }\r\n    for (const c of node.children) {\r\n      walk(c);\r\n    }\r\n  }\r\n  for (const r of rootPoints) {\r\n    walk(r);\r\n  }\r\n  return max;\r\n}\r\n\r\nexport function sortRootPointsByProximity(\r\n  roots: BoneNode[],\r\n  ignoreY: boolean,\r\n  fixedBeginEnd: boolean\r\n): BoneNode[] {\r\n  if (roots.length <= 2) {\r\n    return [...roots];\r\n  }\r\n  const sorted: BoneNode[] = [];\r\n  const remaining = [...roots];\r\n\r\n  if (fixedBeginEnd) {\r\n    sorted.push(remaining.shift()!);\r\n    const last = remaining.pop()!;\r\n    while (remaining.length > 0) {\r\n      const cur = sorted[sorted.length - 1];\r\n      let bestIdx = 0,\r\n        bestDist = Infinity;\r\n      for (let i = 0; i < remaining.length; i++) {\r\n        const d = distXYZ(cur.position, remaining[i].position, ignoreY);\r\n        if (d < bestDist) {\r\n          bestDist = d;\r\n          bestIdx = i;\r\n        }\r\n      }\r\n      sorted.push(remaining.splice(bestIdx, 1)[0]);\r\n    }\r\n    sorted.push(last);\r\n  } else {\r\n    sorted.push(remaining.shift()!);\r\n    while (remaining.length > 0) {\r\n      const cur = sorted[sorted.length - 1];\r\n      let bestIdx = 0,\r\n        bestDist = Infinity;\r\n      for (let i = 0; i < remaining.length; i++) {\r\n        const d = distXYZ(cur.position, remaining[i].position, ignoreY);\r\n        if (d < bestDist) {\r\n          bestDist = d;\r\n          bestIdx = i;\r\n        }\r\n      }\r\n      sorted.push(remaining.splice(bestIdx, 1)[0]);\r\n    }\r\n  }\r\n  return sorted;\r\n}\r\n\r\n// ── Helpers ──\r\n\r\nfunction distXYZ(a: Vector3, b: Vector3, ignoreY: boolean): number {\r\n  const dx = a.x - b.x,\r\n    dz = a.z - b.z;\r\n  const dy = ignoreY ? 0 : a.y - b.y;\r\n  return dx * dx + dy * dy + dz * dz;\r\n}\r\n\r\n// Walk all nodes to find if a given index is fixed\r\nfunction isBoneFixed(roots: BoneNode[], index: number): boolean {\r\n  function find(node: BoneNode): boolean {\r\n    if (node.index === index) {\r\n      return node.isFixed;\r\n    }\r\n    for (const c of node.children) {\r\n      const r = find(c);\r\n      if (r !== undefined) {\r\n        return r;\r\n      }\r\n    }\r\n    return false;\r\n  }\r\n  for (const r of roots) {\r\n    const res = find(r);\r\n    if (res) {\r\n      return true;\r\n    }\r\n  }\r\n  return 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