@zephyr3d/scene 0.9.1 → 0.9.2

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

@@ -1 +1 @@
-{"version":3,"file":"spring_system.js","sources":["../../../src/animation/spring/spring_system.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SpringChain } from './spring_chain';\r\nimport { IKUtils } from '../ik/ik_utils';\r\nimport type { SpringCollider } from './spring_collider';\r\nimport {\r\n  resolveSphereCollision,\r\n  resolveCapsuleCollision,\r\n  resolvePlaneCollision,\r\n  type CapsuleCollider,\r\n  type PlaneCollider,\r\n  type SphereCollider,\r\n  updateColliderFromNode\r\n} from './spring_collider';\r\n\r\n/**\r\n * Options for creating a SpringSystem\r\n *\r\n * @public\r\n */\r\nexport interface SpringSystemOptions {\r\n  /** Number of constraint solver iterations (default: 5) */\r\n  iterations?: number;\r\n  /** Gravity force vector (default: (0, -9.8, 0)) */\r\n  gravity?: Vector3;\r\n  /** Wind force vector (default: (0, 0, 0)) */\r\n  wind?: Vector3;\r\n  /** Enable inertial forces (centrifugal/Coriolis) when root rotates (default: true) */\r\n  enableInertialForces?: boolean;\r\n  /** Centrifugal force multiplier (default: 1.0) */\r\n  centrifugalScale?: number;\r\n  /** Coriolis force multiplier (default: 1.0) */\r\n  coriolisScale?: number;\r\n  /**\r\n   * Constraint solver type (default: 'verlet').\r\n   * - 'verlet': Classic Verlet integration with iterative position correction.\r\n   *   stiffness [0-1] controls correction strength per iteration.\r\n   * - 'xpbd': Extended Position-Based Dynamics (Müller et al. 2020).\r\n   *   Uses compliance (inverse stiffness in m/N) for physically correct,\r\n   *   iteration-count-independent constraint solving.\r\n   */\r\n  solver?: 'verlet' | 'xpbd';\r\n  /**\r\n   * How strongly particles are pulled toward current animated pose [0-1].\r\n   * This preserves the authored hair shape while still allowing secondary motion.\r\n   * Higher values keep the original hairstyle better.\r\n   */\r\n  poseFollow?: number;\r\n  /**\r\n   * Optional root-follow override [0-1].\r\n   * If provided, pose follow is interpolated from root to tip.\r\n   */\r\n  poseFollowRoot?: number;\r\n  /**\r\n   * Optional tip-follow override [0-1].\r\n   * If provided, pose follow is interpolated from root to tip.\r\n   */\r\n  poseFollowTip?: number;\r\n  /**\r\n   * Exponent used when interpolating root->tip follow.\r\n   * 1 = linear, >1 keeps root stiffer and tip looser.\r\n   */\r\n  poseFollowExponent?: number;\r\n  /**\r\n   * Optional per-step limit for deviation from animated pose.\r\n   * 0 disables clamping. Useful to prevent extreme stretch under high acceleration.\r\n   */\r\n  maxPoseOffset?: number;\r\n  /**\r\n   * Optional root max-offset override.\r\n   * If provided, max offset is interpolated from root to tip.\r\n   */\r\n  maxPoseOffsetRoot?: number;\r\n  /**\r\n   * Optional tip max-offset override.\r\n   * If provided, max offset is interpolated from root to tip.\r\n   */\r\n  maxPoseOffsetTip?: number;\r\n}\r\n\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 DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME = 1 / 30;\r\nconst DEFAULT_COLLIDER_SMOOTHING_TIME = 1 / 30;\r\n\r\n/**\r\n * Physics engine for spring-based particle simulation\r\n * Uses Verlet integration and iterative constraint solving\r\n *\r\n * @public\r\n */\r\nexport class SpringSystem {\r\n  private _chain: SpringChain;\r\n  private _iterations: number;\r\n  private _gravity: Vector3;\r\n  private _wind: Vector3;\r\n  private _enableInertialForces: boolean;\r\n  private _centrifugalScale: number;\r\n  private _coriolisScale: number;\r\n  private _colliders: SpringCollider[];\r\n  private _solver: 'verlet' | 'xpbd';\r\n  private _poseFollow: number;\r\n  private _maxPoseOffset: number;\r\n  private _poseFollowRoot: number;\r\n  private _poseFollowTip: number;\r\n  private _poseFollowExponent: number;\r\n  private _maxPoseOffsetRoot: number;\r\n  private _maxPoseOffsetTip: number;\r\n  private _timeAccumulator: number;\r\n  private _smoothedParticleTargets: WeakMap<object, Vector3>;\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\r\n  constructor(chain: SpringChain, options?: SpringSystemOptions) {\r\n    this._chain = chain;\r\n    this._iterations = options?.iterations ?? 5;\r\n    this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);\r\n    this._wind = options?.wind?.clone() ?? new Vector3(0, 0, 0);\r\n    this._enableInertialForces = options?.enableInertialForces ?? true;\r\n    this._centrifugalScale = options?.centrifugalScale ?? 1.0;\r\n    this._coriolisScale = options?.coriolisScale ?? 1.0;\r\n    this._colliders = [];\r\n    this._solver = options?.solver ?? 'verlet';\r\n    this._poseFollow = Math.max(0, Math.min(1, options?.poseFollow ?? 0.35));\r\n    this._maxPoseOffset = Math.max(0, options?.maxPoseOffset ?? 0);\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, options?.poseFollowRoot ?? this._poseFollow));\r\n    this._poseFollowTip = Math.max(0, Math.min(1, options?.poseFollowTip ?? this._poseFollow));\r\n    this._poseFollowExponent = Math.max(0.1, options?.poseFollowExponent ?? 1.6);\r\n    this._maxPoseOffsetRoot = Math.max(0, options?.maxPoseOffsetRoot ?? this._maxPoseOffset);\r\n    this._maxPoseOffsetTip = Math.max(0, options?.maxPoseOffsetTip ?? this._maxPoseOffset);\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  /**\r\n   * Updates the physics simulation\r\n   * @param deltaTime - Time step in seconds\r\n   */\r\n  update(deltaTime: number): void {\r\n    const frameDt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\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    for (let i = 0; i < stepCount; i++) {\r\n      this.simulateStep(FIXED_SIMULATION_TIME_STEP, i === 0 ? frameDt : 0);\r\n    }\r\n  }\r\n\r\n  private simulateStep(dt: number, inputDeltaTime: number): void {\r\n    // Step 1: Save all particle positions before updating\r\n    if (this._enableInertialForces) {\r\n      for (const p of this._chain.particles) {\r\n        p.lastFramePosition.set(p.position);\r\n      }\r\n    }\r\n\r\n    // Step 2: Update fixed particles from their scene nodes\r\n    this.updateFixedParticles(inputDeltaTime);\r\n\r\n    // Step 3: Calculate global rotation parameters\r\n    let rotationCenter: Vector3 | null = null;\r\n    let angularVelocity: Vector3 | null = null;\r\n\r\n    if (this._enableInertialForces && dt > 0.0001) {\r\n      const result = this.calculateGlobalRotation(dt);\r\n      rotationCenter = result.center;\r\n      angularVelocity = result.omega;\r\n    }\r\n\r\n    // Step 4: Verlet integration with inertial forces\r\n    for (let i = 0; i < this._chain.particles.length; i++) {\r\n      const p = this._chain.particles[i];\r\n      if (p.fixed) {\r\n        continue;\r\n      }\r\n\r\n      // Calculate velocity (implicit in Verlet)\r\n      const velocity = Vector3.sub(p.position, p.prevPosition, new Vector3());\r\n      velocity.scaleBy(p.damping);\r\n\r\n      // Apply external forces (gravity + wind)\r\n      const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\r\n\r\n      // Apply inertial forces from rotating reference frame\r\n      if (this._enableInertialForces && rotationCenter && angularVelocity) {\r\n        const inertialAccel = this.calculateInertialAcceleration(\r\n          p,\r\n          rotationCenter,\r\n          angularVelocity,\r\n          velocity,\r\n          this._centrifugalScale,\r\n          this._coriolisScale\r\n        );\r\n        Vector3.add(acceleration, inertialAccel, acceleration);\r\n      }\r\n\r\n      const positionDelta = Vector3.scale(acceleration, dt * dt, new Vector3());\r\n      Vector3.add(velocity, positionDelta, velocity);\r\n\r\n      // Update position\r\n      p.prevPosition.set(p.position);\r\n      Vector3.add(p.position, velocity, p.position);\r\n    }\r\n\r\n    // Step 5: Iteratively solve constraints\r\n    if (this._solver === 'xpbd') {\r\n      // Reset Lagrange multipliers at the start of each time step\r\n      for (const constraint of this._chain.constraints) {\r\n        constraint.lambda = 0;\r\n      }\r\n    }\r\n    for (let iter = 0; iter < this._iterations; iter++) {\r\n      for (const constraint of this._chain.constraints) {\r\n        if (this._solver === 'xpbd') {\r\n          this.solveConstraintXPBD(constraint, dt);\r\n        } else {\r\n          this.solveConstraint(constraint);\r\n        }\r\n      }\r\n\r\n      // Pull particles back toward the animated pose to preserve hair silhouette.\r\n      // Normalize follow strength across solver iterations so tuning stays intuitive.\r\n      this.solvePosePreservation(this._iterations);\r\n\r\n      // Apply collision constraints\r\n      this.solveCollisions(inputDeltaTime);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Updates fixed particles to match their scene node positions\r\n   */\r\n  private updateFixedParticles(deltaTime: number): void {\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME);\r\n    for (const particle of this._chain.particles) {\r\n      if (!particle.node) {\r\n        continue;\r\n      }\r\n      const worldMatrix = particle.node.worldMatrix;\r\n      const worldPos = new Vector3(worldMatrix.m03, worldMatrix.m13, worldMatrix.m23);\r\n      const smoothedTarget = this.getSmoothedParticleTarget(particle, worldPos, blend);\r\n      particle.animPosition.set(smoothedTarget);\r\n      if (particle.fixed) {\r\n        particle.position.set(smoothedTarget);\r\n        particle.prevPosition.set(smoothedTarget);\r\n\r\n        // Maintain position history for rotation center estimation\r\n        if (this._enableInertialForces) {\r\n          if (!particle.positionHistory) {\r\n            particle.positionHistory = [];\r\n          }\r\n          particle.positionHistory.push(smoothedTarget.clone());\r\n          // Keep only last 5 frames\r\n          if (particle.positionHistory.length > 5) {\r\n            particle.positionHistory.shift();\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Solves pose preservation (long-range attachment to animated pose).\r\n   * This keeps strands close to authored shape while preserving dynamic movement.\r\n   */\r\n  private solvePosePreservation(totalIterations: number): void {\r\n    if (this._poseFollowRoot <= 0 && this._poseFollowTip <= 0) {\r\n      return;\r\n    }\r\n\r\n    const lastIndex = Math.max(1, this._chain.particles.length - 1);\r\n    for (let i = 0; i < this._chain.particles.length; i++) {\r\n      const particle = this._chain.particles[i];\r\n      if (particle.fixed) {\r\n        continue;\r\n      }\r\n\r\n      const t = Math.pow(i / lastIndex, this._poseFollowExponent);\r\n      const particlePoseFollow = this.lerp(this._poseFollowRoot, this._poseFollowTip, t);\r\n      // Convert user-facing per-frame follow into per-iteration follow:\r\n      // effective = 1 - (1 - follow)^iterations\r\n      const iterationFollow =\r\n        totalIterations > 1\r\n          ? 1 - Math.pow(Math.max(0, 1 - particlePoseFollow), 1 / totalIterations)\r\n          : particlePoseFollow;\r\n      const toAnim = Vector3.sub(particle.animPosition, particle.position, new Vector3());\r\n      const correction = Vector3.scale(toAnim, iterationFollow, new Vector3());\r\n      Vector3.add(particle.position, correction, particle.position);\r\n\r\n      const particleMaxPoseOffset = this.lerp(this._maxPoseOffsetRoot, this._maxPoseOffsetTip, t);\r\n      if (particleMaxPoseOffset > 0) {\r\n        const offset = Vector3.sub(particle.position, particle.animPosition, new Vector3());\r\n        const offsetLen = offset.magnitude;\r\n        if (offsetLen > particleMaxPoseOffset && offsetLen > 1e-6) {\r\n          offset.scaleBy(particleMaxPoseOffset / offsetLen);\r\n          Vector3.add(particle.animPosition, offset, particle.position);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private lerp(a: number, b: number, t: number): number {\r\n    return a + (b - a) * t;\r\n  }\r\n\r\n  /**\r\n   * Calculates global rotation parameters from fixed particle movements\r\n   * Uses position history to estimate rotation center\r\n   */\r\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\r\n    // Collect fixed particles with movement\r\n    const fixedParticles: any[] = [];\r\n    const velocities: Vector3[] = [];\r\n\r\n    for (const p of this._chain.particles) {\r\n      if (!p.fixed) {\r\n        continue;\r\n      }\r\n\r\n      const velocity = Vector3.sub(p.position, p.lastFramePosition, new Vector3());\r\n      velocity.scaleBy(1.0 / dt);\r\n\r\n      if (velocity.magnitudeSq > 0.001) {\r\n        fixedParticles.push(p);\r\n        velocities.push(velocity);\r\n      }\r\n    }\r\n\r\n    if (fixedParticles.length === 0) {\r\n      return { center: new Vector3(0, 0, 0), omega: new Vector3(0, 0, 0) };\r\n    }\r\n\r\n    // Estimate rotation center using position history\r\n    let center: Vector3;\r\n\r\n    if (fixedParticles.length === 1) {\r\n      // Single fixed particle: use position history to estimate rotation center\r\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\r\n    } else {\r\n      // Multiple fixed particles: use their average position\r\n      center = new Vector3(0, 0, 0);\r\n      for (const p of fixedParticles) {\r\n        Vector3.add(center, p.position, center);\r\n      }\r\n      center.scaleBy(1.0 / fixedParticles.length);\r\n    }\r\n\r\n    // Estimate angular velocity\r\n    let sumOmega = new Vector3(0, 0, 0);\r\n    let count = 0;\r\n\r\n    for (let i = 0; i < fixedParticles.length; i++) {\r\n      const r = Vector3.sub(fixedParticles[i].position, center, new Vector3());\r\n      const v = velocities[i];\r\n      const rLengthSq = r.magnitudeSq;\r\n\r\n      if (rLengthSq > 0.0001) {\r\n        // ω = (r × v) / |r|²\r\n        const omega = Vector3.cross(r, v, new Vector3());\r\n        omega.scaleBy(1.0 / rLengthSq);\r\n        Vector3.add(sumOmega, omega, sumOmega);\r\n        count++;\r\n      }\r\n    }\r\n\r\n    if (count > 0) {\r\n      sumOmega.scaleBy(1.0 / count);\r\n    }\r\n\r\n    return { center, omega: sumOmega };\r\n  }\r\n\r\n  /**\r\n   * Estimates rotation center from a single particle's position history\r\n   * Uses circular motion fitting\r\n   */\r\n  private estimateRotationCenterFromHistory(particle: any, currentVelocity: Vector3): Vector3 {\r\n    const history = particle.positionHistory;\r\n    if (!history || history.length < 3) {\r\n      // Not enough history: estimate using velocity perpendicular direction\r\n      // Assume rotation center is perpendicular to velocity\r\n      // Use a default radius based on velocity magnitude\r\n      const speed = currentVelocity.magnitude;\r\n      if (speed < 0.001) {\r\n        return particle.position.clone();\r\n      }\r\n\r\n      // Estimate radius: for typical character rotation, assume ~0.5-1.0m radius\r\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\r\n\r\n      // Direction perpendicular to velocity (in the plane of motion)\r\n      // We need to guess which perpendicular direction - use cross product with up vector\r\n      const up = new Vector3(0, 1, 0);\r\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\r\n\r\n      if (perpDir.magnitudeSq < 0.0001) {\r\n        // Velocity is vertical, use another perpendicular\r\n        perpDir.set(new Vector3(1, 0, 0));\r\n      } else {\r\n        perpDir.inplaceNormalize();\r\n      }\r\n\r\n      // Rotation center is perpendicular to velocity\r\n      const center = Vector3.add(\r\n        particle.position,\r\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\r\n        new Vector3()\r\n      );\r\n      return center;\r\n    }\r\n\r\n    // Fit a circle through the last 3 positions\r\n    // Use positions at indices: 0 (oldest), middle, last (newest)\r\n    const p1 = history[0];\r\n    const p2 = history[Math.floor(history.length / 2)];\r\n    const p3 = history[history.length - 1];\r\n\r\n    // Calculate circle center from 3 points\r\n    const center = this.calculateCircleCenter(p1, p2, p3);\r\n    return center;\r\n  }\r\n\r\n  /**\r\n   * Calculates the center of a circle passing through 3 points\r\n   * Uses perpendicular bisector method\r\n   */\r\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\r\n    // Midpoints\r\n    const mid12 = Vector3.scale(Vector3.add(p1, p2, new Vector3()), 0.5, new Vector3());\r\n    const mid23 = Vector3.scale(Vector3.add(p2, p3, new Vector3()), 0.5, new Vector3());\r\n\r\n    // Direction vectors\r\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\r\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\r\n\r\n    // Normal vectors (perpendicular bisectors)\r\n    // For 3D, we need to find perpendiculars in the plane of the three points\r\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\r\n\r\n    if (normal.magnitudeSq < 0.0001) {\r\n      // Points are collinear, return midpoint\r\n      return Vector3.scale(\r\n        Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n        1.0 / 3.0,\r\n        new Vector3()\r\n      );\r\n    }\r\n\r\n    normal.inplaceNormalize();\r\n\r\n    // Perpendicular to dir12 in the plane\r\n    const perp12 = Vector3.cross(dir12, normal, new Vector3()).inplaceNormalize();\r\n\r\n    // Perpendicular to dir23 in the plane\r\n    const perp23 = Vector3.cross(dir23, normal, new Vector3()).inplaceNormalize();\r\n\r\n    // Find intersection of two lines:\r\n    // Line 1: mid12 + t * perp12\r\n    // Line 2: mid23 + s * perp23\r\n    // Solve: mid12 + t * perp12 = mid23 + s * perp23\r\n\r\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\r\n\r\n    // Use 2D projection for simplicity (project onto plane perpendicular to normal)\r\n    // Solve in the plane: t * perp12 - s * perp23 = diff\r\n    // Use least squares or pick the dominant components\r\n\r\n    const det = perp12.x * perp23.y - perp12.y * perp23.x;\r\n\r\n    if (Math.abs(det) > 0.0001) {\r\n      const t = (diff.x * perp23.y - diff.y * perp23.x) / det;\r\n      const center = Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\r\n      return center;\r\n    }\r\n\r\n    // Fallback: use centroid\r\n    return Vector3.scale(\r\n      Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n      1.0 / 3.0,\r\n      new Vector3()\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Calculates inertial acceleration for a particle in a rotating reference frame\r\n   */\r\n  private calculateInertialAcceleration(\r\n    particle: any,\r\n    rotationCenter: Vector3,\r\n    angularVelocity: Vector3,\r\n    particleVelocity: Vector3,\r\n    centrifugalScale: number,\r\n    coriolisScale: number\r\n  ): Vector3 {\r\n    // Vector from rotation center to particle\r\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\r\n\r\n    // Centrifugal acceleration: a_centrifugal = ω × (ω × r)\r\n    const omegaCrossR = Vector3.cross(angularVelocity, r, new Vector3());\r\n    const centrifugalAccel = Vector3.cross(angularVelocity, omegaCrossR, new Vector3());\r\n    centrifugalAccel.scaleBy(centrifugalScale);\r\n\r\n    // Coriolis acceleration: a_coriolis = -2ω × v_relative\r\n    // v_relative is the particle's velocity in the rotating frame\r\n    // Use the velocity passed in (already calculated from prevPosition)\r\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\r\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\r\n\r\n    // Total inertial acceleration\r\n    const totalAccel = Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\r\n    return totalAccel;\r\n  }\r\n\r\n  /**\r\n   * Solves a single spring constraint using XPBD (Extended Position-Based Dynamics).\r\n   *\r\n   * Reference: Müller et al., \"Detailed Rigid Body Simulation with Extended Position Based Dynamics\", 2020.\r\n   *\r\n   * The XPBD correction for a distance constraint C(x) = |x_b - x_a| - L is:\r\n   *   α̃ = compliance / dt²          (scaled compliance)\r\n   *   Δλ = (-C - α̃·λ) / (w_a + w_b + α̃)\r\n   *   λ  += Δλ\r\n   *   Δx_a = -w_a · Δλ · n̂\r\n   *   Δx_b = +w_b · Δλ · n̂\r\n   * where w = 1/mass (0 for fixed particles), n̂ = unit vector from a to b.\r\n   */\r\n  private solveConstraintXPBD(constraint: any, dt: number): void {\r\n    const pA = this._chain.particles[constraint.particleA];\r\n    const pB = this._chain.particles[constraint.particleB];\r\n\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n\r\n    // Constraint value C = currentLength - restLength\r\n    const C = currentLength - constraint.restLength;\r\n\r\n    // Scaled compliance: α̃ = compliance / dt²\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n\r\n    // XPBD Lagrange multiplier update\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n\r\n    // Correction direction (unit vector from A to B)\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n\r\n    if (!pA.fixed) {\r\n      // Δx_a = -w_a · Δλ · n̂\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      // Δx_b = +w_b · Δλ · n̂\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Solves a single spring constraint (Verlet / PBD)\r\n   */\r\n  private solveConstraint(constraint: any): void {\r\n    const pA = this._chain.particles[constraint.particleA];\r\n    const pB = this._chain.particles[constraint.particleB];\r\n\r\n    // Calculate current distance\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    } // Avoid division by zero\r\n\r\n    // Calculate correction\r\n    const diff = (currentLength - constraint.restLength) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n\r\n    // Apply correction (considering mass and fixed state)\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Solves collisions for all particles\r\n   */\r\n  private solveCollisions(deltaTime: number): void {\r\n    // Update dynamic colliders from their nodes\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\r\n    const spheres: { particleCollider: SphereCollider; collider: SphereCollider }[] = [];\r\n    const capsules: { particleCollider: CapsuleCollider; collider: CapsuleCollider }[] = [];\r\n    const planes: { particleCollider: PlaneCollider; collider: PlaneCollider }[] = [];\r\n    for (const collider of this._colliders) {\r\n      if (collider.node) {\r\n        updateColliderFromNode(collider);\r\n      }\r\n      if (!collider.enabled) {\r\n        continue;\r\n      }\r\n      switch (collider.type) {\r\n        case 'sphere': {\r\n          const source = collider as SphereCollider;\r\n          spheres.push({\r\n            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              center: this.getSmoothedSphereCenter(source, blend)\r\n            }\r\n          });\r\n          break;\r\n        }\r\n        case 'capsule': {\r\n          const source = collider as CapsuleCollider;\r\n          const endpoints = this.getSmoothedCapsuleEndpoints(source, blend);\r\n          capsules.push({\r\n            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              start: endpoints.start,\r\n              end: endpoints.end\r\n            }\r\n          });\r\n          break;\r\n        }\r\n        case 'plane': {\r\n          const source = collider as PlaneCollider;\r\n          const plane = this.getSmoothedPlaneData(source, blend);\r\n          planes.push({\r\n            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              point: plane.point,\r\n              normal: plane.normal\r\n            }\r\n          });\r\n          break;\r\n        }\r\n      }\r\n    }\r\n\r\n    // Check each particle against all colliders\r\n    for (const particle of this._chain.particles) {\r\n      if (particle.fixed) {\r\n        continue; // Skip fixed particles\r\n      }\r\n\r\n      for (const collider of spheres) {\r\n        resolveSphereCollision(particle.position, collider.collider);\r\n      }\r\n      for (const collider of capsules) {\r\n        resolveCapsuleCollision(particle.position, collider.collider);\r\n      }\r\n      for (const collider of planes) {\r\n        resolvePlaneCollision(particle.position, collider.collider);\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Applies simulation results to scene nodes\r\n   * @param weight - Blend weight [0-1] (default: 1.0)\r\n   */\r\n  applyToNodes(weight: number = 1.0): void {\r\n    for (let i = 0; i < this._chain.particles.length - 1; i++) {\r\n      const particle = this._chain.particles[i];\r\n      const nextParticle = this._chain.particles[i + 1];\r\n      const node = particle.node;\r\n\r\n      // Skip if no node\r\n      if (!node) {\r\n        continue;\r\n      }\r\n\r\n      // Get current bone direction from node's world matrix (before physics)\r\n      // This reflects the current animation/skeleton state\r\n      const currentBonePos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\r\n\r\n      const nextNode = nextParticle.node;\r\n      if (!nextNode) {\r\n        continue;\r\n      }\r\n\r\n      const nextBonePos = new Vector3(\r\n        nextNode.worldMatrix.m03,\r\n        nextNode.worldMatrix.m13,\r\n        nextNode.worldMatrix.m23\r\n      );\r\n      const originalDir = Vector3.sub(nextBonePos, currentBonePos, new Vector3());\r\n\r\n      // Get current bone rotation from node's world matrix\r\n      const currentBoneRotation = new Quaternion();\r\n      node.worldMatrix.decompose(null, currentBoneRotation, null);\r\n\r\n      // Calculate new direction from physics simulation\r\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\r\n\r\n      // Calculate rotation needed to align original direction to new direction\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\r\n\r\n      // Calculate new world rotation\r\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\r\n\r\n      // Blend with current rotation based on weight\r\n      if (weight < 1) {\r\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      // Convert world rotation to local rotation (relative to parent)\r\n      const parent = node.parent;\r\n      if (parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n\r\n        // localRotation = conjugate(parentWorldRotation) * worldRotation\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n\r\n        node.rotation = localRotation;\r\n      } else {\r\n        // Root node has no parent, world rotation is local rotation\r\n        node.rotation = worldRotation;\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Resets the simulation to initial state\r\n   */\r\n  reset(): void {\r\n    this._chain.reset();\r\n    for (const particle of this._chain.particles) {\r\n      particle.animPosition.set(particle.originalPosition);\r\n      particle.lastFramePosition.set(particle.originalPosition);\r\n      if (particle.positionHistory) {\r\n        particle.positionHistory.length = 0;\r\n      }\r\n    }\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  /**\r\n   * Gets the spring chain\r\n   */\r\n  get chain(): SpringChain {\r\n    return this._chain;\r\n  }\r\n\r\n  /**\r\n   * Gets the current gravity\r\n   */\r\n  get gravity(): Vector3 {\r\n    return this._gravity;\r\n  }\r\n\r\n  set gravity(gravity: Vector3) {\r\n    this._gravity.set(gravity);\r\n  }\r\n\r\n  /**\r\n   * Gets the current wind\r\n   */\r\n  get wind(): Vector3 {\r\n    return this._wind;\r\n  }\r\n\r\n  set wind(wind: Vector3) {\r\n    this._wind.set(wind);\r\n  }\r\n\r\n  /**\r\n   * Gets the number of iterations\r\n   */\r\n  get iterations(): number {\r\n    return this._iterations;\r\n  }\r\n\r\n  set iterations(count: number) {\r\n    this._iterations = Math.max(1, count);\r\n  }\r\n\r\n  /**\r\n   * Gets whether inertial forces are enabled\r\n   */\r\n  get enableInertialForces(): boolean {\r\n    return this._enableInertialForces;\r\n  }\r\n\r\n  set enableInertialForces(enabled: boolean) {\r\n    this._enableInertialForces = enabled;\r\n  }\r\n\r\n  /**\r\n   * Gets the centrifugal force scale\r\n   */\r\n  get centrifugalScale(): number {\r\n    return this._centrifugalScale;\r\n  }\r\n\r\n  set centrifugalScale(scale: number) {\r\n    this._centrifugalScale = Math.max(0, scale);\r\n  }\r\n\r\n  /**\r\n   * Gets the Coriolis force scale\r\n   */\r\n  get coriolisScale(): number {\r\n    return this._coriolisScale;\r\n  }\r\n\r\n  /**\r\n   * Sets the Coriolis force scale\r\n   */\r\n  set coriolisScale(scale: number) {\r\n    this._coriolisScale = Math.max(0, scale);\r\n  }\r\n\r\n  /**\r\n   * Gets the constraint solver type\r\n   */\r\n  get solver(): 'verlet' | 'xpbd' {\r\n    return this._solver;\r\n  }\r\n\r\n  /**\r\n   * Sets the constraint solver type.\r\n   * Switching to 'xpbd' resets all Lagrange multipliers.\r\n   */\r\n  set solver(type: 'verlet' | 'xpbd') {\r\n    if (this._solver !== type) {\r\n      this._solver = type;\r\n      if (type === 'xpbd') {\r\n        for (const c of this._chain.constraints) {\r\n          c.lambda = 0;\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Gets pose preservation strength [0-1]\r\n   */\r\n  get poseFollow(): number {\r\n    return this._poseFollow;\r\n  }\r\n\r\n  /**\r\n   * Sets pose preservation strength [0-1]\r\n   */\r\n  set poseFollow(value: number) {\r\n    const v = Math.max(0, Math.min(1, value));\r\n    this._poseFollow = v;\r\n    this._poseFollowRoot = v;\r\n    this._poseFollowTip = v;\r\n  }\r\n\r\n  /**\r\n   * Gets max allowed deviation from animated pose\r\n   */\r\n  get maxPoseOffset(): number {\r\n    return this._maxPoseOffset;\r\n  }\r\n\r\n  /**\r\n   * Sets max allowed deviation from animated pose. 0 disables clamping.\r\n   */\r\n  set maxPoseOffset(value: number) {\r\n    const v = Math.max(0, value);\r\n    this._maxPoseOffset = v;\r\n    this._maxPoseOffsetRoot = v;\r\n    this._maxPoseOffsetTip = v;\r\n  }\r\n\r\n  /**\r\n   * Gets root pose follow strength [0-1]\r\n   */\r\n  get poseFollowRoot(): number {\r\n    return this._poseFollowRoot;\r\n  }\r\n\r\n  /**\r\n   * Sets root pose follow strength [0-1]\r\n   */\r\n  set poseFollowRoot(value: number) {\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Gets tip pose follow strength [0-1]\r\n   */\r\n  get poseFollowTip(): number {\r\n    return this._poseFollowTip;\r\n  }\r\n\r\n  /**\r\n   * Sets tip pose follow strength [0-1]\r\n   */\r\n  set poseFollowTip(value: number) {\r\n    this._poseFollowTip = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Gets exponent for root->tip interpolation\r\n   */\r\n  get poseFollowExponent(): number {\r\n    return this._poseFollowExponent;\r\n  }\r\n\r\n  /**\r\n   * Sets exponent for root->tip interpolation\r\n   */\r\n  set poseFollowExponent(value: number) {\r\n    this._poseFollowExponent = Math.max(0.1, value);\r\n  }\r\n\r\n  /**\r\n   * Gets root max allowed deviation from animated pose\r\n   */\r\n  get maxPoseOffsetRoot(): number {\r\n    return this._maxPoseOffsetRoot;\r\n  }\r\n\r\n  /**\r\n   * Sets root max allowed deviation from animated pose\r\n   */\r\n  set maxPoseOffsetRoot(value: number) {\r\n    this._maxPoseOffsetRoot = Math.max(0, value);\r\n  }\r\n\r\n  /**\r\n   * Gets tip max allowed deviation from animated pose\r\n   */\r\n  get maxPoseOffsetTip(): number {\r\n    return this._maxPoseOffsetTip;\r\n  }\r\n\r\n  /**\r\n   * Sets tip max allowed deviation from animated pose\r\n   */\r\n  set maxPoseOffsetTip(value: number) {\r\n    this._maxPoseOffsetTip = Math.max(0, value);\r\n  }\r\n\r\n  /**\r\n   * Adds a collider to the system\r\n   */\r\n  addCollider(collider: SpringCollider): void {\r\n    this._colliders.push(collider);\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  /**\r\n   * Removes a collider from the system\r\n   */\r\n  removeCollider(collider: SpringCollider): boolean {\r\n    const index = this._colliders.indexOf(collider);\r\n    if (index >= 0) {\r\n      this._colliders.splice(index, 1);\r\n      this._smoothedSphereCenters = new WeakMap();\r\n      this._smoothedCapsuleEndpoints = new WeakMap();\r\n      this._smoothedPlaneData = new WeakMap();\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Clears all colliders\r\n   */\r\n  clearColliders(): void {\r\n    this._colliders = [];\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  /**\r\n   * Gets all colliders\r\n   */\r\n  get colliders(): SpringCollider[] {\r\n    return this._colliders;\r\n  }\r\n\r\n  private getTemporalBlendFactor(deltaTime: number, smoothingTime: number): number {\r\n    const dt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (smoothingTime <= 0) {\r\n      return 1;\r\n    }\r\n    if (dt <= 0) {\r\n      return 0;\r\n    }\r\n    return 1 - Math.exp(-dt / smoothingTime);\r\n  }\r\n\r\n  private getSmoothedParticleTarget(target: object, current: Vector3, blend: number): Vector3 {\r\n    const cached = this._smoothedParticleTargets.get(target);\r\n    if (!cached || blend >= 1) {\r\n      const next = current.clone();\r\n      this._smoothedParticleTargets.set(target, next);\r\n      return next;\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 getSmoothedSphereCenter(collider: SphereCollider, blend: number): Vector3 {\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(\r\n    collider: CapsuleCollider,\r\n    blend: number\r\n  ): { start: Vector3; end: Vector3 } {\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): { point: Vector3; normal: Vector3 } {\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  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+{"version":3,"file":"spring_system.js","sources":["../../../src/animation/spring/spring_system.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\nimport type { SpringChain } from './spring_chain';\nimport { IKUtils } from '../ik/ik_utils';\nimport type { SpringCollider } from './spring_collider';\nimport {\n  resolveSphereCollision,\n  resolveCapsuleCollision,\n  resolvePlaneCollision,\n  type CapsuleCollider,\n  type PlaneCollider,\n  type SphereCollider,\n  updateColliderFromNode\n} from './spring_collider';\n\n/**\n * Options for creating a SpringSystem\n *\n * @public\n */\nexport interface SpringSystemOptions {\n  /** Number of constraint solver iterations (default: 5) */\n  iterations?: number;\n  /** Gravity force vector (default: (0, -9.8, 0)) */\n  gravity?: Vector3;\n  /** Wind force vector (default: (0, 0, 0)) */\n  wind?: Vector3;\n  /** Enable inertial forces (centrifugal/Coriolis) when root rotates (default: true) */\n  enableInertialForces?: boolean;\n  /** Centrifugal force multiplier (default: 1.0) */\n  centrifugalScale?: number;\n  /** Coriolis force multiplier (default: 1.0) */\n  coriolisScale?: number;\n  /**\n   * Constraint solver type (default: 'verlet').\n   * - 'verlet': Classic Verlet integration with iterative position correction.\n   *   stiffness [0-1] controls correction strength per iteration.\n   * - 'xpbd': Extended Position-Based Dynamics (Müller et al. 2020).\n   *   Uses compliance (inverse stiffness in m/N) for physically correct,\n   *   iteration-count-independent constraint solving.\n   */\n  solver?: 'verlet' | 'xpbd';\n  /**\n   * How strongly particles are pulled toward current animated pose [0-1].\n   * This preserves the authored hair shape while still allowing secondary motion.\n   * Higher values keep the original hairstyle better.\n   */\n  poseFollow?: number;\n  /**\n   * Optional root-follow override [0-1].\n   * If provided, pose follow is interpolated from root to tip.\n   */\n  poseFollowRoot?: number;\n  /**\n   * Optional tip-follow override [0-1].\n   * If provided, pose follow is interpolated from root to tip.\n   */\n  poseFollowTip?: number;\n  /**\n   * Exponent used when interpolating root-to-tip follow.\n   * `1` is linear; values `\\> 1` keep the root stiffer and the tip looser.\n   */\n  poseFollowExponent?: number;\n  /**\n   * Optional per-step limit for deviation from animated pose.\n   * 0 disables clamping. Useful to prevent extreme stretch under high acceleration.\n   */\n  maxPoseOffset?: number;\n  /**\n   * Optional root max-offset override.\n   * If provided, max offset is interpolated from root to tip.\n   */\n  maxPoseOffsetRoot?: number;\n  /**\n   * Optional tip max-offset override.\n   * If provided, max offset is interpolated from root to tip.\n   */\n  maxPoseOffsetTip?: number;\n}\n\nconst FIXED_SIMULATION_TIME_STEP = 1 / 60;\nconst MAX_ACCUMULATED_SIMULATION_TIME = 1 / 20;\nconst MAX_SIMULATION_STEPS_PER_UPDATE = Math.max(\n  1,\n  Math.ceil(MAX_ACCUMULATED_SIMULATION_TIME / FIXED_SIMULATION_TIME_STEP)\n);\nconst DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME = 1 / 30;\nconst DEFAULT_COLLIDER_SMOOTHING_TIME = 1 / 30;\n\n/**\n * Physics engine for spring-based particle simulation\n * Uses Verlet integration and iterative constraint solving\n *\n * @public\n */\nexport class SpringSystem {\n  private _chain: SpringChain;\n  private _iterations: number;\n  private _gravity: Vector3;\n  private _wind: Vector3;\n  private _enableInertialForces: boolean;\n  private _centrifugalScale: number;\n  private _coriolisScale: number;\n  private _colliders: SpringCollider[];\n  private _solver: 'verlet' | 'xpbd';\n  private _poseFollow: number;\n  private _maxPoseOffset: number;\n  private _poseFollowRoot: number;\n  private _poseFollowTip: number;\n  private _poseFollowExponent: number;\n  private _maxPoseOffsetRoot: number;\n  private _maxPoseOffsetTip: number;\n  private _timeAccumulator: number;\n  private _smoothedParticleTargets: WeakMap<object, Vector3>;\n  private _smoothedSphereCenters: WeakMap<SphereCollider, Vector3>;\n  private _smoothedCapsuleEndpoints: WeakMap<CapsuleCollider, { start: Vector3; end: Vector3 }>;\n  private _smoothedPlaneData: WeakMap<PlaneCollider, { point: Vector3; normal: Vector3 }>;\n\n  constructor(chain: SpringChain, options?: SpringSystemOptions) {\n    this._chain = chain;\n    this._iterations = options?.iterations ?? 5;\n    this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);\n    this._wind = options?.wind?.clone() ?? new Vector3(0, 0, 0);\n    this._enableInertialForces = options?.enableInertialForces ?? true;\n    this._centrifugalScale = options?.centrifugalScale ?? 1.0;\n    this._coriolisScale = options?.coriolisScale ?? 1.0;\n    this._colliders = [];\n    this._solver = options?.solver ?? 'verlet';\n    this._poseFollow = Math.max(0, Math.min(1, options?.poseFollow ?? 0.35));\n    this._maxPoseOffset = Math.max(0, options?.maxPoseOffset ?? 0);\n    this._poseFollowRoot = Math.max(0, Math.min(1, options?.poseFollowRoot ?? this._poseFollow));\n    this._poseFollowTip = Math.max(0, Math.min(1, options?.poseFollowTip ?? this._poseFollow));\n    this._poseFollowExponent = Math.max(0.1, options?.poseFollowExponent ?? 1.6);\n    this._maxPoseOffsetRoot = Math.max(0, options?.maxPoseOffsetRoot ?? this._maxPoseOffset);\n    this._maxPoseOffsetTip = Math.max(0, options?.maxPoseOffsetTip ?? this._maxPoseOffset);\n    this._timeAccumulator = 0;\n    this._smoothedParticleTargets = new WeakMap();\n    this._smoothedSphereCenters = new WeakMap();\n    this._smoothedCapsuleEndpoints = new WeakMap();\n    this._smoothedPlaneData = new WeakMap();\n  }\n\n  /**\n   * Updates the physics simulation\n   * @param deltaTime - Time step in seconds\n   */\n  update(deltaTime: number): void {\n    const frameDt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\n    if (frameDt <= 0) {\n      return;\n    }\n    this._timeAccumulator = Math.min(this._timeAccumulator + frameDt, MAX_ACCUMULATED_SIMULATION_TIME);\n    const stepCount = Math.min(\n      MAX_SIMULATION_STEPS_PER_UPDATE,\n      Math.floor((this._timeAccumulator + 1e-8) / FIXED_SIMULATION_TIME_STEP)\n    );\n    if (stepCount <= 0) {\n      return;\n    }\n    this._timeAccumulator = Math.max(0, this._timeAccumulator - stepCount * FIXED_SIMULATION_TIME_STEP);\n    for (let i = 0; i < stepCount; i++) {\n      this.simulateStep(FIXED_SIMULATION_TIME_STEP, i === 0 ? frameDt : 0);\n    }\n  }\n\n  private simulateStep(dt: number, inputDeltaTime: number): void {\n    // Step 1: Save all particle positions before updating\n    if (this._enableInertialForces) {\n      for (const p of this._chain.particles) {\n        p.lastFramePosition.set(p.position);\n      }\n    }\n\n    // Step 2: Update fixed particles from their scene nodes\n    this.updateFixedParticles(inputDeltaTime);\n\n    // Step 3: Calculate global rotation parameters\n    let rotationCenter: Vector3 | null = null;\n    let angularVelocity: Vector3 | null = null;\n\n    if (this._enableInertialForces && dt > 0.0001) {\n      const result = this.calculateGlobalRotation(dt);\n      rotationCenter = result.center;\n      angularVelocity = result.omega;\n    }\n\n    // Step 4: Verlet integration with inertial forces\n    for (let i = 0; i < this._chain.particles.length; i++) {\n      const p = this._chain.particles[i];\n      if (p.fixed) {\n        continue;\n      }\n\n      // Calculate velocity (implicit in Verlet)\n      const velocity = Vector3.sub(p.position, p.prevPosition, new Vector3());\n      velocity.scaleBy(p.damping);\n\n      // Apply external forces (gravity + wind)\n      const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\n\n      // Apply inertial forces from rotating reference frame\n      if (this._enableInertialForces && rotationCenter && angularVelocity) {\n        const inertialAccel = this.calculateInertialAcceleration(\n          p,\n          rotationCenter,\n          angularVelocity,\n          velocity,\n          this._centrifugalScale,\n          this._coriolisScale\n        );\n        Vector3.add(acceleration, inertialAccel, acceleration);\n      }\n\n      const positionDelta = Vector3.scale(acceleration, dt * dt, new Vector3());\n      Vector3.add(velocity, positionDelta, velocity);\n\n      // Update position\n      p.prevPosition.set(p.position);\n      Vector3.add(p.position, velocity, p.position);\n    }\n\n    // Step 5: Iteratively solve constraints\n    if (this._solver === 'xpbd') {\n      // Reset Lagrange multipliers at the start of each time step\n      for (const constraint of this._chain.constraints) {\n        constraint.lambda = 0;\n      }\n    }\n    for (let iter = 0; iter < this._iterations; iter++) {\n      for (const constraint of this._chain.constraints) {\n        if (this._solver === 'xpbd') {\n          this.solveConstraintXPBD(constraint, dt);\n        } else {\n          this.solveConstraint(constraint);\n        }\n      }\n\n      // Pull particles back toward the animated pose to preserve hair silhouette.\n      // Normalize follow strength across solver iterations so tuning stays intuitive.\n      this.solvePosePreservation(this._iterations);\n\n      // Apply collision constraints\n      this.solveCollisions(inputDeltaTime);\n    }\n  }\n\n  /**\n   * Updates fixed particles to match their scene node positions\n   */\n  private updateFixedParticles(deltaTime: number): void {\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME);\n    for (const particle of this._chain.particles) {\n      if (!particle.node) {\n        continue;\n      }\n      const worldMatrix = particle.node.worldMatrix;\n      const worldPos = new Vector3(worldMatrix.m03, worldMatrix.m13, worldMatrix.m23);\n      const smoothedTarget = this.getSmoothedParticleTarget(particle, worldPos, blend);\n      particle.animPosition.set(smoothedTarget);\n      if (particle.fixed) {\n        particle.position.set(smoothedTarget);\n        particle.prevPosition.set(smoothedTarget);\n\n        // Maintain position history for rotation center estimation\n        if (this._enableInertialForces) {\n          if (!particle.positionHistory) {\n            particle.positionHistory = [];\n          }\n          particle.positionHistory.push(smoothedTarget.clone());\n          // Keep only last 5 frames\n          if (particle.positionHistory.length > 5) {\n            particle.positionHistory.shift();\n          }\n        }\n      }\n    }\n  }\n\n  /**\n   * Solves pose preservation (long-range attachment to animated pose).\n   * This keeps strands close to authored shape while preserving dynamic movement.\n   */\n  private solvePosePreservation(totalIterations: number): void {\n    if (this._poseFollowRoot <= 0 && this._poseFollowTip <= 0) {\n      return;\n    }\n\n    const lastIndex = Math.max(1, this._chain.particles.length - 1);\n    for (let i = 0; i < this._chain.particles.length; i++) {\n      const particle = this._chain.particles[i];\n      if (particle.fixed) {\n        continue;\n      }\n\n      const t = Math.pow(i / lastIndex, this._poseFollowExponent);\n      const particlePoseFollow = this.lerp(this._poseFollowRoot, this._poseFollowTip, t);\n      // Convert user-facing per-frame follow into per-iteration follow:\n      // effective = 1 - (1 - follow)^iterations\n      const iterationFollow =\n        totalIterations > 1\n          ? 1 - Math.pow(Math.max(0, 1 - particlePoseFollow), 1 / totalIterations)\n          : particlePoseFollow;\n      const toAnim = Vector3.sub(particle.animPosition, particle.position, new Vector3());\n      const correction = Vector3.scale(toAnim, iterationFollow, new Vector3());\n      Vector3.add(particle.position, correction, particle.position);\n\n      const particleMaxPoseOffset = this.lerp(this._maxPoseOffsetRoot, this._maxPoseOffsetTip, t);\n      if (particleMaxPoseOffset > 0) {\n        const offset = Vector3.sub(particle.position, particle.animPosition, new Vector3());\n        const offsetLen = offset.magnitude;\n        if (offsetLen > particleMaxPoseOffset && offsetLen > 1e-6) {\n          offset.scaleBy(particleMaxPoseOffset / offsetLen);\n          Vector3.add(particle.animPosition, offset, particle.position);\n        }\n      }\n    }\n  }\n\n  private lerp(a: number, b: number, t: number): number {\n    return a + (b - a) * t;\n  }\n\n  /**\n   * Calculates global rotation parameters from fixed particle movements\n   * Uses position history to estimate rotation center\n   */\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\n    // Collect fixed particles with movement\n    const fixedParticles: any[] = [];\n    const velocities: Vector3[] = [];\n\n    for (const p of this._chain.particles) {\n      if (!p.fixed) {\n        continue;\n      }\n\n      const velocity = Vector3.sub(p.position, p.lastFramePosition, new Vector3());\n      velocity.scaleBy(1.0 / dt);\n\n      if (velocity.magnitudeSq > 0.001) {\n        fixedParticles.push(p);\n        velocities.push(velocity);\n      }\n    }\n\n    if (fixedParticles.length === 0) {\n      return { center: new Vector3(0, 0, 0), omega: new Vector3(0, 0, 0) };\n    }\n\n    // Estimate rotation center using position history\n    let center: Vector3;\n\n    if (fixedParticles.length === 1) {\n      // Single fixed particle: use position history to estimate rotation center\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\n    } else {\n      // Multiple fixed particles: use their average position\n      center = new Vector3(0, 0, 0);\n      for (const p of fixedParticles) {\n        Vector3.add(center, p.position, center);\n      }\n      center.scaleBy(1.0 / fixedParticles.length);\n    }\n\n    // Estimate angular velocity\n    let sumOmega = new Vector3(0, 0, 0);\n    let count = 0;\n\n    for (let i = 0; i < fixedParticles.length; i++) {\n      const r = Vector3.sub(fixedParticles[i].position, center, new Vector3());\n      const v = velocities[i];\n      const rLengthSq = r.magnitudeSq;\n\n      if (rLengthSq > 0.0001) {\n        // ω = (r × v) / |r|²\n        const omega = Vector3.cross(r, v, new Vector3());\n        omega.scaleBy(1.0 / rLengthSq);\n        Vector3.add(sumOmega, omega, sumOmega);\n        count++;\n      }\n    }\n\n    if (count > 0) {\n      sumOmega.scaleBy(1.0 / count);\n    }\n\n    return { center, omega: sumOmega };\n  }\n\n  /**\n   * Estimates rotation center from a single particle's position history\n   * Uses circular motion fitting\n   */\n  private estimateRotationCenterFromHistory(particle: any, currentVelocity: Vector3): Vector3 {\n    const history = particle.positionHistory;\n    if (!history || history.length < 3) {\n      // Not enough history: estimate using velocity perpendicular direction\n      // Assume rotation center is perpendicular to velocity\n      // Use a default radius based on velocity magnitude\n      const speed = currentVelocity.magnitude;\n      if (speed < 0.001) {\n        return particle.position.clone();\n      }\n\n      // Estimate radius: for typical character rotation, assume ~0.5-1.0m radius\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\n\n      // Direction perpendicular to velocity (in the plane of motion)\n      // We need to guess which perpendicular direction - use cross product with up vector\n      const up = new Vector3(0, 1, 0);\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\n\n      if (perpDir.magnitudeSq < 0.0001) {\n        // Velocity is vertical, use another perpendicular\n        perpDir.set(new Vector3(1, 0, 0));\n      } else {\n        perpDir.inplaceNormalize();\n      }\n\n      // Rotation center is perpendicular to velocity\n      const center = Vector3.add(\n        particle.position,\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\n        new Vector3()\n      );\n      return center;\n    }\n\n    // Fit a circle through the last 3 positions\n    // Use positions at indices: 0 (oldest), middle, last (newest)\n    const p1 = history[0];\n    const p2 = history[Math.floor(history.length / 2)];\n    const p3 = history[history.length - 1];\n\n    // Calculate circle center from 3 points\n    const center = this.calculateCircleCenter(p1, p2, p3);\n    return center;\n  }\n\n  /**\n   * Calculates the center of a circle passing through 3 points\n   * Uses perpendicular bisector method\n   */\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\n    // Midpoints\n    const mid12 = Vector3.scale(Vector3.add(p1, p2, new Vector3()), 0.5, new Vector3());\n    const mid23 = Vector3.scale(Vector3.add(p2, p3, new Vector3()), 0.5, new Vector3());\n\n    // Direction vectors\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\n\n    // Normal vectors (perpendicular bisectors)\n    // For 3D, we need to find perpendiculars in the plane of the three points\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\n\n    if (normal.magnitudeSq < 0.0001) {\n      // Points are collinear, return midpoint\n      return Vector3.scale(\n        Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\n        1.0 / 3.0,\n        new Vector3()\n      );\n    }\n\n    normal.inplaceNormalize();\n\n    // Perpendicular to dir12 in the plane\n    const perp12 = Vector3.cross(dir12, normal, new Vector3()).inplaceNormalize();\n\n    // Perpendicular to dir23 in the plane\n    const perp23 = Vector3.cross(dir23, normal, new Vector3()).inplaceNormalize();\n\n    // Find intersection of two lines:\n    // Line 1: mid12 + t * perp12\n    // Line 2: mid23 + s * perp23\n    // Solve: mid12 + t * perp12 = mid23 + s * perp23\n\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\n\n    // Use 2D projection for simplicity (project onto plane perpendicular to normal)\n    // Solve in the plane: t * perp12 - s * perp23 = diff\n    // Use least squares or pick the dominant components\n\n    const det = perp12.x * perp23.y - perp12.y * perp23.x;\n\n    if (Math.abs(det) > 0.0001) {\n      const t = (diff.x * perp23.y - diff.y * perp23.x) / det;\n      const center = Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\n      return center;\n    }\n\n    // Fallback: use centroid\n    return Vector3.scale(\n      Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\n      1.0 / 3.0,\n      new Vector3()\n    );\n  }\n\n  /**\n   * Calculates inertial acceleration for a particle in a rotating reference frame\n   */\n  private calculateInertialAcceleration(\n    particle: any,\n    rotationCenter: Vector3,\n    angularVelocity: Vector3,\n    particleVelocity: Vector3,\n    centrifugalScale: number,\n    coriolisScale: number\n  ): Vector3 {\n    // Vector from rotation center to particle\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\n\n    // Centrifugal acceleration: a_centrifugal = ω × (ω × r)\n    const omegaCrossR = Vector3.cross(angularVelocity, r, new Vector3());\n    const centrifugalAccel = Vector3.cross(angularVelocity, omegaCrossR, new Vector3());\n    centrifugalAccel.scaleBy(centrifugalScale);\n\n    // Coriolis acceleration: a_coriolis = -2ω × v_relative\n    // v_relative is the particle's velocity in the rotating frame\n    // Use the velocity passed in (already calculated from prevPosition)\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\n\n    // Total inertial acceleration\n    const totalAccel = Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\n    return totalAccel;\n  }\n\n  /**\n   * Solves a single spring constraint using XPBD (Extended Position-Based Dynamics).\n   *\n   * Reference: Müller et al., \"Detailed Rigid Body Simulation with Extended Position Based Dynamics\", 2020.\n   */\n  private solveConstraintXPBD(constraint: any, dt: number): void {\n    const pA = this._chain.particles[constraint.particleA];\n    const pB = this._chain.particles[constraint.particleB];\n\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\n    const wSum = wA + wB;\n    if (wSum < 1e-10) {\n      return;\n    }\n\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\n    const currentLength = delta.magnitude;\n    if (currentLength < 0.0001) {\n      return;\n    }\n\n    // Constraint value C = currentLength - restLength\n    const C = currentLength - constraint.restLength;\n\n    // Scaled compliance: alphaTilde = compliance / dt^2\n    const alphaTilde = constraint.compliance / (dt * dt);\n\n    // XPBD Lagrange multiplier update\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\n    constraint.lambda += deltaLambda;\n\n    // Correction direction (unit vector from A to B)\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\n\n    if (!pA.fixed) {\n      // deltaX_a = -w_a * deltaLambda * n\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\n    }\n    if (!pB.fixed) {\n      // deltaX_b = +w_b * deltaLambda * n\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\n    }\n  }\n\n  /**\n   * Solves a single spring constraint (Verlet / PBD)\n   */\n  private solveConstraint(constraint: any): void {\n    const pA = this._chain.particles[constraint.particleA];\n    const pB = this._chain.particles[constraint.particleB];\n\n    // Calculate current distance\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\n    const currentLength = delta.magnitude;\n\n    if (currentLength < 0.0001) {\n      return;\n    } // Avoid division by zero\n\n    // Calculate correction\n    const diff = (currentLength - constraint.restLength) / currentLength;\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\n\n    // Apply correction (considering mass and fixed state)\n    if (!pA.fixed) {\n      Vector3.add(pA.position, correction, pA.position);\n    }\n    if (!pB.fixed) {\n      Vector3.sub(pB.position, correction, pB.position);\n    }\n  }\n\n  /**\n   * Solves collisions for all particles\n   */\n  private solveCollisions(deltaTime: number): void {\n    // Update dynamic colliders from their nodes\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\n    const spheres: { particleCollider: SphereCollider; collider: SphereCollider }[] = [];\n    const capsules: { particleCollider: CapsuleCollider; collider: CapsuleCollider }[] = [];\n    const planes: { particleCollider: PlaneCollider; collider: PlaneCollider }[] = [];\n    for (const collider of this._colliders) {\n      if (collider.node) {\n        updateColliderFromNode(collider);\n      }\n      if (!collider.enabled) {\n        continue;\n      }\n      switch (collider.type) {\n        case 'sphere': {\n          const source = collider as SphereCollider;\n          spheres.push({\n            particleCollider: source,\n            collider: {\n              ...source,\n              center: this.getSmoothedSphereCenter(source, blend)\n            }\n          });\n          break;\n        }\n        case 'capsule': {\n          const source = collider as CapsuleCollider;\n          const endpoints = this.getSmoothedCapsuleEndpoints(source, blend);\n          capsules.push({\n            particleCollider: source,\n            collider: {\n              ...source,\n              start: endpoints.start,\n              end: endpoints.end\n            }\n          });\n          break;\n        }\n        case 'plane': {\n          const source = collider as PlaneCollider;\n          const plane = this.getSmoothedPlaneData(source, blend);\n          planes.push({\n            particleCollider: source,\n            collider: {\n              ...source,\n              point: plane.point,\n              normal: plane.normal\n            }\n          });\n          break;\n        }\n      }\n    }\n\n    // Check each particle against all colliders\n    for (const particle of this._chain.particles) {\n      if (particle.fixed) {\n        continue; // Skip fixed particles\n      }\n\n      for (const collider of spheres) {\n        resolveSphereCollision(particle.position, collider.collider);\n      }\n      for (const collider of capsules) {\n        resolveCapsuleCollision(particle.position, collider.collider);\n      }\n      for (const collider of planes) {\n        resolvePlaneCollision(particle.position, collider.collider);\n      }\n    }\n  }\n\n  /**\n   * Applies simulation results to scene nodes\n   * @param weight - Blend weight [0-1] (default: 1.0)\n   */\n  applyToNodes(weight: number = 1.0): void {\n    for (let i = 0; i < this._chain.particles.length - 1; i++) {\n      const particle = this._chain.particles[i];\n      const nextParticle = this._chain.particles[i + 1];\n      const node = particle.node;\n\n      // Skip if no node\n      if (!node) {\n        continue;\n      }\n\n      // Get current bone direction from node's world matrix (before physics)\n      // This reflects the current animation/skeleton state\n      const currentBonePos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\n\n      const nextNode = nextParticle.node;\n      if (!nextNode) {\n        continue;\n      }\n\n      const nextBonePos = new Vector3(\n        nextNode.worldMatrix.m03,\n        nextNode.worldMatrix.m13,\n        nextNode.worldMatrix.m23\n      );\n      const originalDir = Vector3.sub(nextBonePos, currentBonePos, new Vector3());\n\n      // Get current bone rotation from node's world matrix\n      const currentBoneRotation = new Quaternion();\n      node.worldMatrix.decompose(null, currentBoneRotation, null);\n\n      // Calculate new direction from physics simulation\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\n\n      // Calculate rotation needed to align original direction to new direction\n      const deltaRotation = new Quaternion();\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\n\n      // Calculate new world rotation\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\n\n      // Blend with current rotation based on weight\n      if (weight < 1) {\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\n      }\n\n      // Convert world rotation to local rotation (relative to parent)\n      const parent = node.parent;\n      if (parent) {\n        const parentWorldRotation = new Quaternion();\n        parent.worldMatrix.decompose(null, parentWorldRotation, null);\n\n        // localRotation = conjugate(parentWorldRotation) * worldRotation\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\n\n        node.rotation = localRotation;\n      } else {\n        // Root node has no parent, world rotation is local rotation\n        node.rotation = worldRotation;\n      }\n    }\n  }\n\n  /**\n   * Resets the simulation to initial state\n   */\n  reset(): void {\n    this._chain.reset();\n    for (const particle of this._chain.particles) {\n      particle.animPosition.set(particle.originalPosition);\n      particle.lastFramePosition.set(particle.originalPosition);\n      if (particle.positionHistory) {\n        particle.positionHistory.length = 0;\n      }\n    }\n    this._timeAccumulator = 0;\n    this._smoothedParticleTargets = new WeakMap();\n    this._smoothedSphereCenters = new WeakMap();\n    this._smoothedCapsuleEndpoints = new WeakMap();\n    this._smoothedPlaneData = new WeakMap();\n  }\n\n  /**\n   * Gets the spring chain\n   */\n  get chain(): SpringChain {\n    return this._chain;\n  }\n\n  /**\n   * Gets the current gravity\n   */\n  get gravity(): Vector3 {\n    return this._gravity;\n  }\n\n  set gravity(gravity: Vector3) {\n    this._gravity.set(gravity);\n  }\n\n  /**\n   * Gets the current wind\n   */\n  get wind(): Vector3 {\n    return this._wind;\n  }\n\n  set wind(wind: Vector3) {\n    this._wind.set(wind);\n  }\n\n  /**\n   * Gets the number of iterations\n   */\n  get iterations(): number {\n    return this._iterations;\n  }\n\n  set iterations(count: number) {\n    this._iterations = Math.max(1, count);\n  }\n\n  /**\n   * Gets whether inertial forces are enabled\n   */\n  get enableInertialForces(): boolean {\n    return this._enableInertialForces;\n  }\n\n  set enableInertialForces(enabled: boolean) {\n    this._enableInertialForces = enabled;\n  }\n\n  /**\n   * Gets the centrifugal force scale\n   */\n  get centrifugalScale(): number {\n    return this._centrifugalScale;\n  }\n\n  set centrifugalScale(scale: number) {\n    this._centrifugalScale = Math.max(0, scale);\n  }\n\n  /**\n   * Gets the Coriolis force scale\n   */\n  get coriolisScale(): number {\n    return this._coriolisScale;\n  }\n\n  set coriolisScale(scale: number) {\n    this._coriolisScale = Math.max(0, scale);\n  }\n\n  /**\n   * Gets the constraint solver type\n   */\n  get solver(): 'verlet' | 'xpbd' {\n    return this._solver;\n  }\n\n  set solver(type: 'verlet' | 'xpbd') {\n    if (this._solver !== type) {\n      this._solver = type;\n      if (type === 'xpbd') {\n        for (const c of this._chain.constraints) {\n          c.lambda = 0;\n        }\n      }\n    }\n  }\n\n  /**\n   * Gets pose preservation strength [0-1]\n   */\n  get poseFollow(): number {\n    return this._poseFollow;\n  }\n\n  set poseFollow(value: number) {\n    const v = Math.max(0, Math.min(1, value));\n    this._poseFollow = v;\n    this._poseFollowRoot = v;\n    this._poseFollowTip = v;\n  }\n\n  /**\n   * Gets max allowed deviation from animated pose\n   */\n  get maxPoseOffset(): number {\n    return this._maxPoseOffset;\n  }\n\n  set maxPoseOffset(value: number) {\n    const v = Math.max(0, value);\n    this._maxPoseOffset = v;\n    this._maxPoseOffsetRoot = v;\n    this._maxPoseOffsetTip = v;\n  }\n\n  /**\n   * Gets root pose follow strength [0-1]\n   */\n  get poseFollowRoot(): number {\n    return this._poseFollowRoot;\n  }\n\n  set poseFollowRoot(value: number) {\n    this._poseFollowRoot = Math.max(0, Math.min(1, value));\n  }\n\n  /**\n   * Gets tip pose follow strength [0-1]\n   */\n  get poseFollowTip(): number {\n    return this._poseFollowTip;\n  }\n\n  set poseFollowTip(value: number) {\n    this._poseFollowTip = Math.max(0, Math.min(1, value));\n  }\n\n  /**\n   * Gets exponent for root-to-tip interpolation\n   */\n  get poseFollowExponent(): number {\n    return this._poseFollowExponent;\n  }\n\n  set poseFollowExponent(value: number) {\n    this._poseFollowExponent = Math.max(0.1, value);\n  }\n\n  /**\n   * Gets root max allowed deviation from animated pose\n   */\n  get maxPoseOffsetRoot(): number {\n    return this._maxPoseOffsetRoot;\n  }\n\n  set maxPoseOffsetRoot(value: number) {\n    this._maxPoseOffsetRoot = Math.max(0, value);\n  }\n\n  /**\n   * Gets tip max allowed deviation from animated pose\n   */\n  get maxPoseOffsetTip(): number {\n    return this._maxPoseOffsetTip;\n  }\n\n  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package/dist/app/app.js.map

@@ -1 +1 @@
-{"version":3,"file":"app.js","sources":["../../src/app/app.ts"],"sourcesContent":["import type { Nullable, RequireOptionals, VFS } from '@zephyr3d/base';\r\nimport { Observable, flushPendingDisposals } from '@zephyr3d/base';\r\nimport type { AbstractDevice, DeviceBackend } from '@zephyr3d/device';\r\nimport { InputManager } from './inputmgr';\r\nimport { Engine } from './engine';\r\nimport { getApp, setApp } from './api';\r\nimport type { ScreenConfig } from './screen';\r\n\r\ntype appEventMap = {\r\n  /**\r\n   * Emitted when the drawing surface (canvas/device) is resized.\r\n   *\r\n   * @param width - New drawable width in device pixels.\r\n   * @param height - New drawable height in device pixels.\r\n   */\r\n  resize: [width: number, height: number];\r\n  /**\r\n   * Emitted every frame with timing information.\r\n   *\r\n   * @param deltaTimeMs - Elapsed time since last frame in milliseconds.\r\n   * @param elapsedTimeMs - Elapsed time since app start in milliseconds.\r\n   */\r\n  tick: [deltaTimeMs: number, elapsedTimeMs: number];\r\n  /** Pointer/mouse and keyboard input events forwarded by the Application. */\r\n  click: [evt: PointerEvent];\r\n  dblclick: [evt: PointerEvent];\r\n  pointerdown: [evt: PointerEvent];\r\n  pointerup: [evt: PointerEvent];\r\n  pointermove: [evt: PointerEvent];\r\n  pointercancel: [evt: PointerEvent];\r\n  pointerenter: [evt: PointerEvent];\r\n  pointerleave: [evt: PointerEvent];\r\n  pointerover: [evt: PointerEvent];\r\n  pointerout: [evt: PointerEvent];\r\n  wheel: [evt: WheelEvent];\r\n  keydown: [evt: KeyboardEvent];\r\n  keyup: [evt: KeyboardEvent];\r\n  keypress: [evt: KeyboardEvent];\r\n  drag: [evt: DragEvent];\r\n  dragenter: [evt: DragEvent];\r\n  dragleave: [evt: DragEvent];\r\n  dragover: [evt: DragEvent];\r\n  dragstart: [evt: DragEvent];\r\n  dragend: [evt: DragEvent];\r\n  drop: [evt: DragEvent];\r\n};\r\n\r\n/** Editor Mode */\r\nexport type EditorMode = 'editor' | 'editor-preview' | 'none';\r\n\r\n/**\r\n * Options for Application.\r\n *\r\n * @public\r\n */\r\nexport interface AppOptions {\r\n  /**\r\n   * Target canvas element to attach the rendering device to.\r\n   */\r\n  canvas: HTMLCanvasElement;\r\n  /**\r\n   * Device backend implementation to use for GPU creation (e.g., WebGL/WebGPU backend).\r\n   */\r\n  backend: DeviceBackend;\r\n  /**\r\n   * Whether to enable multi-sample anti-aliasing (MSAA) if supported by the backend.\r\n   * Defaults to false.\r\n   */\r\n  enableMSAA?: boolean;\r\n  /**\r\n   * Device pixel ratio used when creating the device. Defaults to `window.devicePixelRatio` or 1.\r\n   */\r\n  pixelRatio?: number;\r\n}\r\n\r\n/**\r\n * Creation options for Application.\r\n *\r\n * Provides the canvas, device backend, and optional runtime and device configuration.\r\n * @public\r\n */\r\nexport interface AppCreationOptions extends AppOptions {\r\n  /**\r\n   * Options for the runtime scripting system.\r\n   */\r\n  runtimeOptions?: {\r\n    /**\r\n     * Virtual file system used to load scripts. Defaults to HttpFS at '.' if not provided.\r\n     */\r\n    VFS?: VFS;\r\n    /**\r\n     * Root directory for script files. Defaults to '/'.\r\n     */\r\n    scriptsRoot?: string;\r\n    /**\r\n     * Whether the application is running in editor mode. Should be true for user applications.\r\n     */\r\n    editorMode?: EditorMode;\r\n    /**\r\n     * Whether the runtime scripting system is enabled. Should be true for user applications.\r\n     */\r\n    enabled?: boolean;\r\n    /**\r\n     * Screen configuration\r\n     */\r\n    screen?: ScreenConfig;\r\n  };\r\n}\r\n\r\n/**\r\n * Log severity levels.\r\n * @public\r\n */\r\nexport type LogMode = 'info' | 'warn' | 'error' | 'debug';\r\n\r\n/**\r\n * Application\r\n *\r\n * Entry-point and lifecycle coordinator for the engine. Responsible for:\r\n * - Creating and owning the rendering device from a chosen backend.\r\n * - Managing the per-frame loop, including timing and viewport setup.\r\n * - Forwarding device/DOM input events via an observable event map.\r\n * - Hosting the runtime scripting system and input manager.\r\n *\r\n * Singleton:\r\n * - Only one instance may exist at a time. Access via `{@link getApp}`.\r\n *\r\n * Events:\r\n * - See `appEventMap` for all emitted events (resize, tick, pointer/keyboard/drag).\r\n *\r\n * Usage:\r\n * - Construct with `AppOptions`, await `ready()`, then call `run()` to start the loop.\r\n *\r\n * @public\r\n */\r\nexport class Application extends Observable<appEventMap> {\r\n  private readonly _options: RequireOptionals<AppOptions>;\r\n  private _device: Nullable<AbstractDevice>;\r\n  private readonly _inputManager: InputManager;\r\n  private readonly _engine: Engine;\r\n  private readonly _editorMode: EditorMode;\r\n  private _ready: boolean;\r\n  /**\r\n   * Construct the Application singleton with the provided options.\r\n   *\r\n   * Throws if an instance already exists.\r\n   *\r\n   * @param opt - Application creation options (canvas, backend, and optional runtime/device settings).\r\n   */\r\n  constructor(opt: AppCreationOptions) {\r\n    super();\r\n    if (getApp()) {\r\n      throw new Error('It is not allowed to have multiple Application instances');\r\n    }\r\n    setApp(this);\r\n\r\n    this._options = {\r\n      backend: opt.backend,\r\n      enableMSAA: opt.enableMSAA ?? false,\r\n      pixelRatio: opt.pixelRatio ?? window.devicePixelRatio ?? 1,\r\n      canvas: opt.canvas\r\n    };\r\n    this._inputManager = new InputManager(this);\r\n    this._engine = new Engine(\r\n      opt.runtimeOptions?.VFS,\r\n      opt.runtimeOptions?.scriptsRoot,\r\n      opt.runtimeOptions?.enabled\r\n    );\r\n    if (opt.runtimeOptions?.screen) {\r\n      this._engine.screen.config = opt.runtimeOptions.screen;\r\n    }\r\n    this._editorMode = opt.runtimeOptions?.editorMode ?? 'none';\r\n    this._device = null;\r\n    this._ready = false;\r\n  }\r\n  /**\r\n   * Editor mode\r\n   */\r\n  get editorMode() {\r\n    return this._editorMode;\r\n  }\r\n  /**\r\n   * The input manager instance handling pointer/keyboard event routing.\r\n   */\r\n  get inputManager() {\r\n    return this._inputManager;\r\n  }\r\n  /**\r\n   * Get the instanceof {@link Engine}.\r\n   */\r\n  get engine() {\r\n    return this._engine;\r\n  }\r\n  /**\r\n   * The (sanitized) options used to create this application.\r\n   *\r\n   * Note: Defaults are applied for `enableMSAA` and `pixelRatio` if omitted.\r\n   */\r\n  get options() {\r\n    return this._options;\r\n  }\r\n  /**\r\n   * The initialized rendering device.\r\n   *\r\n   * Available after `await ready()`.\r\n   */\r\n  get device() {\r\n    return this._device!;\r\n  }\r\n  /**\r\n   * Convenience accessor for the device type name provided by the backend.\r\n   */\r\n  get deviceType() {\r\n    return this._options.backend.typeName();\r\n  }\r\n  /**\r\n   * Set keyboard focus to the device's canvas element.\r\n   */\r\n  focus() {\r\n    this._device!.canvas.focus();\r\n  }\r\n  /**\r\n   * Initialize the rendering device and start input processing.\r\n   *\r\n   * @throws If device creation fails.\r\n   */\r\n  async ready() {\r\n    if (!this._ready) {\r\n      this._device = await this._options.backend.createDevice(this._options.canvas, {\r\n        dpr: this._options.pixelRatio,\r\n        msaa: !!this._options.enableMSAA\r\n      });\r\n      if (!this._device) {\r\n        throw new Error('App.init(): create device failed');\r\n      }\r\n      this._device.canvas.focus();\r\n      await this._engine.init();\r\n      this._inputManager.start();\r\n      this._device.on('resize', (width, height) => {\r\n        this._engine.screen.resolveViewport();\r\n        this.dispatchEvent('resize', width, height);\r\n      });\r\n      this._ready = true;\r\n    }\r\n  }\r\n  /**\r\n   * Render a single frame.\r\n   *\r\n   * Steps:\r\n   * - Flushes pending disposals from the previous frame.\r\n   * - Clears device state (framebuffer, viewport, scissor).\r\n   * - Queries frame timing from the device (`elapsedFrame`, `elapsedOverall`).\r\n   * - Updates the runtime manager (scripting/behaviors).\r\n   * - Emits `tick` with delta/elapsed times.\r\n   *\r\n   * Safe to call manually; also used by the run loop.\r\n   */\r\n  frame() {\r\n    // Processes all pending disposals from the previous frame.\r\n    flushPendingDisposals();\r\n    if (this._ready) {\r\n      this.device.setFramebuffer(null);\r\n      this.device.setViewport(null);\r\n      this.device.setScissor(null);\r\n      const dt = this.device.frameInfo.elapsedFrame;\r\n      const elapsed = this.device.frameInfo.elapsedOverall;\r\n      this.dispatchEvent('tick', dt, elapsed);\r\n      this._engine.update(dt * 0.001, elapsed * 0.001);\r\n      this._engine.render();\r\n    }\r\n  }\r\n  /**\r\n   * Start the application's render loop.\r\n   *\r\n   * Uses the device's internal scheduling (`device.runLoop`) to repeatedly call `frame()`.\r\n   */\r\n  run() {\r\n    this.device.runLoop(() => {\r\n      this.frame();\r\n    });\r\n  }\r\n  /**\r\n   * Stop the application's render loop.\r\n   *\r\n   * Uses `device.exitLoop()` to end the scheduling started by `run()`.\r\n   */\r\n  stop() {\r\n    this.device.exitLoop();\r\n  }\r\n}\r\n"],"names":["Application","Observable","_options","_device","_inputManager","_engine","_editorMode","_ready","opt","getApp","Error","setApp","backend","enableMSAA","pixelRatio","window","devicePixelRatio","canvas","InputManager","Engine","runtimeOptions","VFS","scriptsRoot","enabled","screen","config","editorMode","inputManager","engine","options","device","deviceType","typeName","focus","ready","createDevice","dpr","msaa","init","start","on","width","height","resolveViewport","dispatchEvent","frame","flushPendingDisposals","setFramebuffer","setViewport","setScissor","dt","frameInfo","elapsedFrame","elapsed","elapsedOverall","update","render","run","runLoop","stop","exitLoop"],"mappings":";;;;;AAmHA;;;;;;;;;;;;;;;;;;;IAoBO,MAAMA,WAAoBC,SAAAA,UAAAA,CAAAA;IACdC,QAAuC;IAChDC,OAAkC;IACzBC,aAA4B;IAC5BC,OAAgB;IAChBC,WAAwB;IACjCC,MAAgB;AACxB;;;;;;MAOA,WAAA,CAAYC,GAAuB,CAAE;QACnC,KAAK,EAAA;AACL,QAAA,IAAIC,MAAU,EAAA,EAAA;AACZ,YAAA,MAAM,IAAIC,KAAM,CAAA,0DAAA,CAAA;AAClB;AACAC,QAAAA,MAAAA,CAAO,IAAI,CAAA;QAEX,IAAI,CAACT,QAAQ,GAAG;AACdU,YAAAA,OAAAA,EAASJ,IAAII,OAAO;YACpBC,UAAYL,EAAAA,GAAAA,CAAIK,UAAU,IAAI,KAAA;AAC9BC,YAAAA,UAAAA,EAAYN,GAAIM,CAAAA,UAAU,IAAIC,MAAAA,CAAOC,gBAAgB,IAAI,CAAA;AACzDC,YAAAA,MAAAA,EAAQT,IAAIS;AACd,SAAA;AACA,QAAA,IAAI,CAACb,aAAa,GAAG,IAAIc,aAAa,IAAI,CAAA;AAC1C,QAAA,IAAI,CAACb,OAAO,GAAG,IAAIc,OACjBX,GAAIY,CAAAA,cAAc,EAAEC,GAAAA,EACpBb,IAAIY,cAAc,EAAEE,WACpBd,EAAAA,GAAAA,CAAIY,cAAc,EAAEG,OAAAA,CAAAA;QAEtB,IAAIf,GAAAA,CAAIY,cAAc,EAAEI,MAAQ,EAAA;YAC9B,IAAI,CAACnB,OAAO,CAACmB,MAAM,CAACC,MAAM,GAAGjB,GAAAA,CAAIY,cAAc,CAACI,MAAM;AACxD;AACA,QAAA,IAAI,CAAClB,WAAW,GAAGE,GAAIY,CAAAA,cAAc,EAAEM,UAAc,IAAA,MAAA;QACrD,IAAI,CAACvB,OAAO,GAAG,IAAA;QACf,IAAI,CAACI,MAAM,GAAG,KAAA;AAChB;AACA;;AAEC,MACD,IAAImB,UAAa,GAAA;QACf,OAAO,IAAI,CAACpB,WAAW;AACzB;AACA;;AAEC,MACD,IAAIqB,YAAe,GAAA;QACjB,OAAO,IAAI,CAACvB,aAAa;AAC3B;AACA;;AAEC,MACD,IAAIwB,MAAS,GAAA;QACX,OAAO,IAAI,CAACvB,OAAO;AACrB;AACA;;;;AAIC,MACD,IAAIwB,OAAU,GAAA;QACZ,OAAO,IAAI,CAAC3B,QAAQ;AACtB;AACA;;;;AAIC,MACD,IAAI4B,MAAS,GAAA;QACX,OAAO,IAAI,CAAC3B,OAAO;AACrB;AACA;;AAEC,MACD,IAAI4B,UAAa,GAAA;AACf,QAAA,OAAO,IAAI,CAAC7B,QAAQ,CAACU,OAAO,CAACoB,QAAQ,EAAA;AACvC;AACA;;AAEC,MACDC,KAAQ,GAAA;AACN,QAAA,IAAI,CAAC9B,OAAO,CAAEc,MAAM,CAACgB,KAAK,EAAA;AAC5B;AACA;;;;AAIC,MACD,MAAMC,KAAQ,GAAA;AACZ,QAAA,IAAI,CAAC,IAAI,CAAC3B,MAAM,EAAE;AAChB,YAAA,IAAI,CAACJ,OAAO,GAAG,MAAM,IAAI,CAACD,QAAQ,CAACU,OAAO,CAACuB,YAAY,CAAC,IAAI,CAACjC,QAAQ,CAACe,MAAM,EAAE;AAC5EmB,gBAAAA,GAAAA,EAAK,IAAI,CAAClC,QAAQ,CAACY,UAAU;AAC7BuB,gBAAAA,IAAAA,EAAM,CAAC,CAAC,IAAI,CAACnC,QAAQ,CAACW;AACxB,aAAA,CAAA;AACA,YAAA,IAAI,CAAC,IAAI,CAACV,OAAO,EAAE;AACjB,gBAAA,MAAM,IAAIO,KAAM,CAAA,kCAAA,CAAA;AAClB;AACA,YAAA,IAAI,CAACP,OAAO,CAACc,MAAM,CAACgB,KAAK,EAAA;AACzB,YAAA,MAAM,IAAI,CAAC5B,OAAO,CAACiC,IAAI,EAAA;YACvB,IAAI,CAAClC,aAAa,CAACmC,KAAK,EAAA;AACxB,YAAA,IAAI,CAACpC,OAAO,CAACqC,EAAE,CAAC,QAAA,EAAU,CAACC,KAAOC,EAAAA,MAAAA,GAAAA;AAChC,gBAAA,IAAI,CAACrC,OAAO,CAACmB,MAAM,CAACmB,eAAe,EAAA;AACnC,gBAAA,IAAI,CAACC,aAAa,CAAC,QAAA,EAAUH,KAAOC,EAAAA,MAAAA,CAAAA;AACtC,aAAA,CAAA;YACA,IAAI,CAACnC,MAAM,GAAG,IAAA;AAChB;AACF;AACA;;;;;;;;;;;AAWC,MACDsC,KAAQ,GAAA;;AAENC,QAAAA,qBAAAA,EAAAA;QACA,IAAI,IAAI,CAACvC,MAAM,EAAE;AACf,YAAA,IAAI,CAACuB,MAAM,CAACiB,cAAc,CAAC,IAAA,CAAA;AAC3B,YAAA,IAAI,CAACjB,MAAM,CAACkB,WAAW,CAAC,IAAA,CAAA;AACxB,YAAA,IAAI,CAAClB,MAAM,CAACmB,UAAU,CAAC,IAAA,CAAA;AACvB,YAAA,MAAMC,KAAK,IAAI,CAACpB,MAAM,CAACqB,SAAS,CAACC,YAAY;AAC7C,YAAA,MAAMC,UAAU,IAAI,CAACvB,MAAM,CAACqB,SAAS,CAACG,cAAc;AACpD,YAAA,IAAI,CAACV,aAAa,CAAC,MAAA,EAAQM,EAAIG,EAAAA,OAAAA,CAAAA;AAC/B,YAAA,IAAI,CAAChD,OAAO,CAACkD,MAAM,CAACL,EAAAA,GAAK,OAAOG,OAAU,GAAA,KAAA,CAAA;YAC1C,IAAI,CAAChD,OAAO,CAACmD,MAAM,EAAA;AACrB;AACF;AACA;;;;AAIC,MACDC,GAAM,GAAA;AACJ,QAAA,IAAI,CAAC3B,MAAM,CAAC4B,OAAO,CAAC,IAAA;AAClB,YAAA,IAAI,CAACb,KAAK,EAAA;AACZ,SAAA,CAAA;AACF;AACA;;;;AAIC,MACDc,IAAO,GAAA;QACL,IAAI,CAAC7B,MAAM,CAAC8B,QAAQ,EAAA;AACtB;AACF;;;;"}
+{"version":3,"file":"app.js","sources":["../../src/app/app.ts"],"sourcesContent":["import type { Nullable, RequireOptionals, VFS } from '@zephyr3d/base';\r\nimport { Observable, flushPendingDisposals } from '@zephyr3d/base';\r\nimport type { AbstractDevice, DeviceBackend } from '@zephyr3d/device';\r\nimport { InputManager } from './inputmgr';\r\nimport { Engine } from './engine';\r\nimport { getApp, setApp } from './api';\r\nimport type { ScreenConfig } from './screen';\r\n\r\ntype appEventMap = {\r\n  /**\r\n   * Emitted when the drawing surface (canvas/device) is resized.\r\n   *\r\n   * @param width - New drawable width in device pixels.\r\n   * @param height - New drawable height in device pixels.\r\n   */\r\n  resize: [width: number, height: number];\r\n  /**\r\n   * Emitted every frame with timing information.\r\n   *\r\n   * @param deltaTimeMs - Elapsed time since last frame in milliseconds.\r\n   * @param elapsedTimeMs - Elapsed time since app start in milliseconds.\r\n   */\r\n  tick: [deltaTimeMs: number, elapsedTimeMs: number];\r\n  /** Pointer/mouse and keyboard input events forwarded by the Application. */\r\n  click: [evt: PointerEvent];\r\n  dblclick: [evt: PointerEvent];\r\n  pointerdown: [evt: PointerEvent];\r\n  pointerup: [evt: PointerEvent];\r\n  pointermove: [evt: PointerEvent];\r\n  pointercancel: [evt: PointerEvent];\r\n  pointerenter: [evt: PointerEvent];\r\n  pointerleave: [evt: PointerEvent];\r\n  pointerover: [evt: PointerEvent];\r\n  pointerout: [evt: PointerEvent];\r\n  wheel: [evt: WheelEvent];\r\n  keydown: [evt: KeyboardEvent];\r\n  keyup: [evt: KeyboardEvent];\r\n  keypress: [evt: KeyboardEvent];\r\n  drag: [evt: DragEvent];\r\n  dragenter: [evt: DragEvent];\r\n  dragleave: [evt: DragEvent];\r\n  dragover: [evt: DragEvent];\r\n  dragstart: [evt: DragEvent];\r\n  dragend: [evt: DragEvent];\r\n  drop: [evt: DragEvent];\r\n};\r\n\r\n/**\r\n * Application editor/runtime mode.\r\n *\r\n * @public\r\n */\r\nexport type EditorMode = 'editor' | 'editor-preview' | 'none';\r\n\r\n/**\r\n * Options for Application.\r\n *\r\n * @public\r\n */\r\nexport interface AppOptions {\r\n  /**\r\n   * Target canvas element to attach the rendering device to.\r\n   */\r\n  canvas: HTMLCanvasElement;\r\n  /**\r\n   * Device backend implementation to use for GPU creation (e.g., WebGL/WebGPU backend).\r\n   */\r\n  backend: DeviceBackend;\r\n  /**\r\n   * Whether to enable multi-sample anti-aliasing (MSAA) if supported by the backend.\r\n   * Defaults to false.\r\n   */\r\n  enableMSAA?: boolean;\r\n  /**\r\n   * Device pixel ratio used when creating the device. Defaults to `window.devicePixelRatio` or `1`.\r\n   */\r\n  pixelRatio?: number;\r\n}\r\n\r\n/**\r\n * Creation options for Application.\r\n *\r\n * Provides the canvas, device backend, and optional runtime and device configuration.\r\n * @public\r\n */\r\nexport interface AppCreationOptions extends AppOptions {\r\n  /**\r\n   * Options for the runtime scripting system.\r\n   */\r\n  runtimeOptions?: {\r\n    /**\r\n     * Virtual file system used to load scripts. Defaults to HttpFS at '.' if not provided.\r\n     */\r\n    VFS?: VFS;\r\n    /**\r\n     * Root directory for script files. Defaults to '/'.\r\n     */\r\n    scriptsRoot?: string;\r\n    /**\r\n     * Whether the application is running in editor mode. Should be true for user applications.\r\n     */\r\n    editorMode?: EditorMode;\r\n    /**\r\n     * Whether the runtime scripting system is enabled. Should be true for user applications.\r\n     */\r\n    enabled?: boolean;\r\n    /**\r\n     * Screen configuration\r\n     */\r\n    screen?: ScreenConfig;\r\n  };\r\n}\r\n\r\n/**\r\n * Log severity levels.\r\n * @public\r\n */\r\nexport type LogMode = 'info' | 'warn' | 'error' | 'debug';\r\n\r\n/**\r\n * Application\r\n *\r\n * Entry-point and lifecycle coordinator for the engine. Responsible for:\r\n * - Creating and owning the rendering device from a chosen backend.\r\n * - Managing the per-frame loop, including timing and viewport setup.\r\n * - Forwarding device/DOM input events via an observable event map.\r\n * - Hosting the runtime scripting system and input manager.\r\n *\r\n * Singleton:\r\n * - Only one instance may exist at a time. Access via `{@link getApp}`.\r\n *\r\n * Events:\r\n * - See `appEventMap` for all emitted events (resize, tick, pointer/keyboard/drag).\r\n *\r\n * Usage:\r\n * - Construct with `AppOptions`, await `ready()`, then call `run()` to start the loop.\r\n *\r\n * @public\r\n */\r\nexport class Application extends Observable<appEventMap> {\r\n  private readonly _options: RequireOptionals<AppOptions>;\r\n  private _device: Nullable<AbstractDevice>;\r\n  private readonly _inputManager: InputManager;\r\n  private readonly _engine: Engine;\r\n  private readonly _editorMode: EditorMode;\r\n  private _ready: boolean;\r\n  /**\r\n   * Construct the Application singleton with the provided options.\r\n   *\r\n   * Throws if an instance already exists.\r\n   *\r\n   * @param opt - Application creation options (canvas, backend, and optional runtime/device settings).\r\n   */\r\n  constructor(opt: AppCreationOptions) {\r\n    super();\r\n    if (getApp()) {\r\n      throw new Error('It is not allowed to have multiple Application instances');\r\n    }\r\n    setApp(this);\r\n\r\n    this._options = {\r\n      backend: opt.backend,\r\n      enableMSAA: opt.enableMSAA ?? false,\r\n      pixelRatio: opt.pixelRatio ?? window.devicePixelRatio ?? 1,\r\n      canvas: opt.canvas\r\n    };\r\n    this._inputManager = new InputManager(this);\r\n    this._engine = new Engine(\r\n      opt.runtimeOptions?.VFS,\r\n      opt.runtimeOptions?.scriptsRoot,\r\n      opt.runtimeOptions?.enabled\r\n    );\r\n    if (opt.runtimeOptions?.screen) {\r\n      this._engine.screen.config = opt.runtimeOptions.screen;\r\n    }\r\n    this._editorMode = opt.runtimeOptions?.editorMode ?? 'none';\r\n    this._device = null;\r\n    this._ready = false;\r\n  }\r\n  /**\r\n   * Editor mode\r\n   */\r\n  get editorMode() {\r\n    return this._editorMode;\r\n  }\r\n  /**\r\n   * The input manager instance handling pointer/keyboard event routing.\r\n   */\r\n  get inputManager() {\r\n    return this._inputManager;\r\n  }\r\n  /**\r\n   * Get the instanceof {@link Engine}.\r\n   */\r\n  get engine() {\r\n    return this._engine;\r\n  }\r\n  /**\r\n   * The (sanitized) options used to create this application.\r\n   *\r\n   * Note: Defaults are applied for `enableMSAA` and `pixelRatio` if omitted.\r\n   */\r\n  get options() {\r\n    return this._options;\r\n  }\r\n  /**\r\n   * The initialized rendering device.\r\n   *\r\n   * Available after `await ready()`.\r\n   */\r\n  get device() {\r\n    return this._device!;\r\n  }\r\n  /**\r\n   * Convenience accessor for the device type name provided by the backend.\r\n   */\r\n  get deviceType() {\r\n    return this._options.backend.typeName();\r\n  }\r\n  /**\r\n   * Set keyboard focus to the device's canvas element.\r\n   */\r\n  focus() {\r\n    this._device!.canvas.focus();\r\n  }\r\n  /**\r\n   * Initialize the rendering device and start input processing.\r\n   *\r\n   * @throws If device creation fails.\r\n   */\r\n  async ready() {\r\n    if (!this._ready) {\r\n      this._device = await this._options.backend.createDevice(this._options.canvas, {\r\n        dpr: this._options.pixelRatio,\r\n        msaa: !!this._options.enableMSAA\r\n      });\r\n      if (!this._device) {\r\n        throw new Error('App.init(): create device failed');\r\n      }\r\n      this._device.canvas.focus();\r\n      await this._engine.init();\r\n      this._inputManager.start();\r\n      this._device.on('resize', (width, height) => {\r\n        this._engine.screen.resolveViewport();\r\n        this.dispatchEvent('resize', width, height);\r\n      });\r\n      this._ready = true;\r\n    }\r\n  }\r\n  /**\r\n   * Render a single frame.\r\n   *\r\n   * Steps:\r\n   * - Flushes pending disposals from the previous frame.\r\n   * - Clears device state (framebuffer, viewport, scissor).\r\n   * - Queries frame timing from the device (`elapsedFrame`, `elapsedOverall`).\r\n   * - Updates the runtime manager (scripting/behaviors).\r\n   * - Emits `tick` with delta/elapsed times.\r\n   *\r\n   * Safe to call manually; also used by the run loop.\r\n   */\r\n  frame() {\r\n    // Processes all pending disposals from the previous frame.\r\n    flushPendingDisposals();\r\n    if (this._ready) {\r\n      this.device.setFramebuffer(null);\r\n      this.device.setViewport(null);\r\n      this.device.setScissor(null);\r\n      const dt = this.device.frameInfo.elapsedFrame;\r\n      const elapsed = this.device.frameInfo.elapsedOverall;\r\n      this.dispatchEvent('tick', dt, elapsed);\r\n      this._engine.update(dt * 0.001, elapsed * 0.001);\r\n      this._engine.render();\r\n    }\r\n  }\r\n  /**\r\n   * Start the application's render loop.\r\n   *\r\n   * Uses the device's internal scheduling (`device.runLoop`) to repeatedly call `frame()`.\r\n   */\r\n  run() {\r\n    this.device.runLoop(() => {\r\n      this.frame();\r\n    });\r\n  }\r\n  /**\r\n   * Stop the application's render loop.\r\n   *\r\n   * Uses `device.exitLoop()` to end the scheduling started by `run()`.\r\n   */\r\n  stop() {\r\n    this.device.exitLoop();\r\n  }\r\n}\r\n"],"names":["Application","Observable","_options","_device","_inputManager","_engine","_editorMode","_ready","opt","getApp","Error","setApp","backend","enableMSAA","pixelRatio","window","devicePixelRatio","canvas","InputManager","Engine","runtimeOptions","VFS","scriptsRoot","enabled","screen","config","editorMode","inputManager","engine","options","device","deviceType","typeName","focus","ready","createDevice","dpr","msaa","init","start","on","width","height","resolveViewport","dispatchEvent","frame","flushPendingDisposals","setFramebuffer","setViewport","setScissor","dt","frameInfo","elapsedFrame","elapsed","elapsedOverall","update","render","run","runLoop","stop","exitLoop"],"mappings":";;;;;AAuHA;;;;;;;;;;;;;;;;;;;IAoBO,MAAMA,WAAoBC,SAAAA,UAAAA,CAAAA;IACdC,QAAuC;IAChDC,OAAkC;IACzBC,aAA4B;IAC5BC,OAAgB;IAChBC,WAAwB;IACjCC,MAAgB;AACxB;;;;;;MAOA,WAAA,CAAYC,GAAuB,CAAE;QACnC,KAAK,EAAA;AACL,QAAA,IAAIC,MAAU,EAAA,EAAA;AACZ,YAAA,MAAM,IAAIC,KAAM,CAAA,0DAAA,CAAA;AAClB;AACAC,QAAAA,MAAAA,CAAO,IAAI,CAAA;QAEX,IAAI,CAACT,QAAQ,GAAG;AACdU,YAAAA,OAAAA,EAASJ,IAAII,OAAO;YACpBC,UAAYL,EAAAA,GAAAA,CAAIK,UAAU,IAAI,KAAA;AAC9BC,YAAAA,UAAAA,EAAYN,GAAIM,CAAAA,UAAU,IAAIC,MAAAA,CAAOC,gBAAgB,IAAI,CAAA;AACzDC,YAAAA,MAAAA,EAAQT,IAAIS;AACd,SAAA;AACA,QAAA,IAAI,CAACb,aAAa,GAAG,IAAIc,aAAa,IAAI,CAAA;AAC1C,QAAA,IAAI,CAACb,OAAO,GAAG,IAAIc,OACjBX,GAAIY,CAAAA,cAAc,EAAEC,GAAAA,EACpBb,IAAIY,cAAc,EAAEE,WACpBd,EAAAA,GAAAA,CAAIY,cAAc,EAAEG,OAAAA,CAAAA;QAEtB,IAAIf,GAAAA,CAAIY,cAAc,EAAEI,MAAQ,EAAA;YAC9B,IAAI,CAACnB,OAAO,CAACmB,MAAM,CAACC,MAAM,GAAGjB,GAAAA,CAAIY,cAAc,CAACI,MAAM;AACxD;AACA,QAAA,IAAI,CAAClB,WAAW,GAAGE,GAAIY,CAAAA,cAAc,EAAEM,UAAc,IAAA,MAAA;QACrD,IAAI,CAACvB,OAAO,GAAG,IAAA;QACf,IAAI,CAACI,MAAM,GAAG,KAAA;AAChB;AACA;;AAEC,MACD,IAAImB,UAAa,GAAA;QACf,OAAO,IAAI,CAACpB,WAAW;AACzB;AACA;;AAEC,MACD,IAAIqB,YAAe,GAAA;QACjB,OAAO,IAAI,CAACvB,aAAa;AAC3B;AACA;;AAEC,MACD,IAAIwB,MAAS,GAAA;QACX,OAAO,IAAI,CAACvB,OAAO;AACrB;AACA;;;;AAIC,MACD,IAAIwB,OAAU,GAAA;QACZ,OAAO,IAAI,CAAC3B,QAAQ;AACtB;AACA;;;;AAIC,MACD,IAAI4B,MAAS,GAAA;QACX,OAAO,IAAI,CAAC3B,OAAO;AACrB;AACA;;AAEC,MACD,IAAI4B,UAAa,GAAA;AACf,QAAA,OAAO,IAAI,CAAC7B,QAAQ,CAACU,OAAO,CAACoB,QAAQ,EAAA;AACvC;AACA;;AAEC,MACDC,KAAQ,GAAA;AACN,QAAA,IAAI,CAAC9B,OAAO,CAAEc,MAAM,CAACgB,KAAK,EAAA;AAC5B;AACA;;;;AAIC,MACD,MAAMC,KAAQ,GAAA;AACZ,QAAA,IAAI,CAAC,IAAI,CAAC3B,MAAM,EAAE;AAChB,YAAA,IAAI,CAACJ,OAAO,GAAG,MAAM,IAAI,CAACD,QAAQ,CAACU,OAAO,CAACuB,YAAY,CAAC,IAAI,CAACjC,QAAQ,CAACe,MAAM,EAAE;AAC5EmB,gBAAAA,GAAAA,EAAK,IAAI,CAAClC,QAAQ,CAACY,UAAU;AAC7BuB,gBAAAA,IAAAA,EAAM,CAAC,CAAC,IAAI,CAACnC,QAAQ,CAACW;AACxB,aAAA,CAAA;AACA,YAAA,IAAI,CAAC,IAAI,CAACV,OAAO,EAAE;AACjB,gBAAA,MAAM,IAAIO,KAAM,CAAA,kCAAA,CAAA;AAClB;AACA,YAAA,IAAI,CAACP,OAAO,CAACc,MAAM,CAACgB,KAAK,EAAA;AACzB,YAAA,MAAM,IAAI,CAAC5B,OAAO,CAACiC,IAAI,EAAA;YACvB,IAAI,CAAClC,aAAa,CAACmC,KAAK,EAAA;AACxB,YAAA,IAAI,CAACpC,OAAO,CAACqC,EAAE,CAAC,QAAA,EAAU,CAACC,KAAOC,EAAAA,MAAAA,GAAAA;AAChC,gBAAA,IAAI,CAACrC,OAAO,CAACmB,MAAM,CAACmB,eAAe,EAAA;AACnC,gBAAA,IAAI,CAACC,aAAa,CAAC,QAAA,EAAUH,KAAOC,EAAAA,MAAAA,CAAAA;AACtC,aAAA,CAAA;YACA,IAAI,CAACnC,MAAM,GAAG,IAAA;AAChB;AACF;AACA;;;;;;;;;;;AAWC,MACDsC,KAAQ,GAAA;;AAENC,QAAAA,qBAAAA,EAAAA;QACA,IAAI,IAAI,CAACvC,MAAM,EAAE;AACf,YAAA,IAAI,CAACuB,MAAM,CAACiB,cAAc,CAAC,IAAA,CAAA;AAC3B,YAAA,IAAI,CAACjB,MAAM,CAACkB,WAAW,CAAC,IAAA,CAAA;AACxB,YAAA,IAAI,CAAClB,MAAM,CAACmB,UAAU,CAAC,IAAA,CAAA;AACvB,YAAA,MAAMC,KAAK,IAAI,CAACpB,MAAM,CAACqB,SAAS,CAACC,YAAY;AAC7C,YAAA,MAAMC,UAAU,IAAI,CAACvB,MAAM,CAACqB,SAAS,CAACG,cAAc;AACpD,YAAA,IAAI,CAACV,aAAa,CAAC,MAAA,EAAQM,EAAIG,EAAAA,OAAAA,CAAAA;AAC/B,YAAA,IAAI,CAAChD,OAAO,CAACkD,MAAM,CAACL,EAAAA,GAAK,OAAOG,OAAU,GAAA,KAAA,CAAA;YAC1C,IAAI,CAAChD,OAAO,CAACmD,MAAM,EAAA;AACrB;AACF;AACA;;;;AAIC,MACDC,GAAM,GAAA;AACJ,QAAA,IAAI,CAAC3B,MAAM,CAAC4B,OAAO,CAAC,IAAA;AAClB,YAAA,IAAI,CAACb,KAAK,EAAA;AACZ,SAAA,CAAA;AACF;AACA;;;;AAIC,MACDc,IAAO,GAAA;QACL,IAAI,CAAC7B,MAAM,CAAC8B,QAAQ,EAAA;AACtB;AACF;;;;"}

package/dist/app/engine.js

@@ -94,7 +94,7 @@ import { ScreenAdapter } from './screen.js';
         return this._resourceManager;
     }
     /**
-   * Exposes the instanceof {@link Screen}
+   * Exposes the active {@link ScreenAdapter}.
    */ get screen() {
         return this._screen;
     }

package/dist/app/engine.js.map

@@ -1 +1 @@
-{"version":3,"file":"engine.js","sources":["../../src/app/engine.ts"],"sourcesContent":["import type { GenericConstructor, IDisposable, Nullable, ReadOptions } from '@zephyr3d/base';\r\nimport { MemoryFS, objectEntries } from '@zephyr3d/base';\r\nimport { DRef } from '@zephyr3d/base';\r\nimport { HttpFS, type VFS } from '@zephyr3d/base';\r\nimport { ScriptingSystem } from './scriptingsystem';\r\nimport type { Host } from './scriptingsystem';\r\nimport type { RuntimeScript, RuntimeScriptConfig } from './runtimescript';\r\nimport { ResourceManager } from '../utility/serialization/manager';\r\nimport type { Scene } from '../scene';\r\nimport {\r\n  BoxShape,\r\n  CapsuleShape,\r\n  CylinderShape,\r\n  PlaneShape,\r\n  SphereShape,\r\n  TetrahedronShape,\r\n  TorusShape\r\n} from '../shapes';\r\nimport {\r\n  BlinnMaterial,\r\n  LambertMaterial,\r\n  PBRMetallicRoughnessMaterial,\r\n  PBRSpecularGlossinessMaterial,\r\n  UnlitMaterial\r\n} from '../material';\r\nimport { StandardSpriteMaterial } from '../material/sprite_std';\r\nimport { ScreenAdapter } from './screen';\r\n\r\n/**\r\n * Interface for objects that can be rendered.\r\n *\r\n * @public\r\n */\r\nexport interface IRenderable extends IDisposable {\r\n  render(): void;\r\n}\r\n\r\n/**\r\n * Interface for render hooks to customize rendering behavior.\r\n *\r\n * @public\r\n */\r\nexport interface IRenderHook {\r\n  // If presents, called before rendering the renderable. Return `false` to skip rendering.\r\n  beforeRender?: (renderable: any) => boolean | void;\r\n  // If presents, called after rendering the renderable.\r\n  afterRender?: (renderable: any) => void;\r\n}\r\n\r\n/**\r\n * Core engine class managing scripting, serialization, and rendering.\r\n *\r\n * Responsibilities:\r\n * - Manages a {@link ScriptingSystem} for dynamic script attachment and lifecycle.\r\n * - Manages a {@link ResourceManager} for loading scenes and assets.\r\n * - Maintains a list of active renderable objects to be rendered each frame.\r\n * - Provides methods to attach/detach scripts, update scripts, load scenes, and read files.\r\n * - Supports enabling/disabling of runtime operations.\r\n *\r\n * @remarks\r\n * The engine can be configured with a virtual file system (VFS) and script root path.\r\n * It exposes methods to manage scripts on host objects, update scripts each frame,\r\n * load scenes from files, and render active objects.\r\n *\r\n * @public\r\n */\r\nexport class Engine {\r\n  private _builtinsVFS: Nullable<MemoryFS>;\r\n  private _scriptingSystem: ScriptingSystem;\r\n  private _resourceManager: ResourceManager;\r\n  private _enabled: boolean;\r\n  private _screen: ScreenAdapter;\r\n  protected _activeRenderables: {\r\n    renderable: DRef<IRenderable>;\r\n    hook: Nullable<IRenderHook>;\r\n  }[];\r\n  private _loadingScenes: Partial<Record<string, Promise<Nullable<Scene>>>>;\r\n  /**\r\n   * Creates a new runtime manager.\r\n   *\r\n   * @param VFS - Optional virtual file system passed to the internal {@link ScriptingSystem}.\r\n   * @param scriptsRoot - Optional scripts root path within the VFS. Defaults as in `ScriptingSystem`.\r\n   * @param enabled - Whether runtime operations are active. Defaults to `true`.\r\n   */\r\n  constructor(VFS?: VFS, scriptsRoot?: string, enabled?: boolean) {\r\n    VFS = VFS ?? new HttpFS('./');\r\n    this._builtinsVFS = null;\r\n    this._scriptingSystem = new ScriptingSystem({ VFS, scriptsRoot });\r\n    this._resourceManager = new ResourceManager(VFS);\r\n    this._enabled = enabled ?? true;\r\n    this._activeRenderables = [];\r\n    this._loadingScenes = {};\r\n    this._screen = new ScreenAdapter();\r\n  }\r\n  /**\r\n   * Exposes the instance of {@link ScriptingSystem}.\r\n   */\r\n  get scriptingSystem() {\r\n    return this._scriptingSystem;\r\n  }\r\n  /**\r\n   * Exposes the virtual file system used by the underlying {@link ScriptingSystem}'s registry.\r\n   */\r\n  get VFS() {\r\n    return this._scriptingSystem.registry.VFS;\r\n  }\r\n  set VFS(vfs: VFS) {\r\n    if (vfs !== this._resourceManager.VFS) {\r\n      this._resourceManager.VFS?.close();\r\n      this._resourceManager.VFS = vfs;\r\n      this._scriptingSystem.registry.VFS = vfs;\r\n      this.ensureBuiltinVFS();\r\n    }\r\n  }\r\n  /**\r\n   * Exposes the instance of {@link ResourceManager}.\r\n   */\r\n  get resourceManager() {\r\n    return this._resourceManager;\r\n  }\r\n  /**\r\n   * Exposes the instanceof {@link Screen}\r\n   */\r\n  get screen() {\r\n    return this._screen;\r\n  }\r\n  /** @internal */\r\n  async init() {\r\n    await this.ensureBuiltinVFS();\r\n  }\r\n  /**\r\n   * Detaches all scripts from all hosts, if enabled.\r\n   *\r\n   * No-op when `enabled === false`.\r\n   */\r\n  detachAllScripts() {\r\n    if (this._enabled) {\r\n      this._scriptingSystem.detachAllScripts();\r\n    }\r\n  }\r\n  /**\r\n   * Loads a runtime script class from file\r\n   * @param module - file path\r\n   * @returns The runtime script class or null\r\n   */\r\n  async loadRuntimeScriptClass<T extends Host = Host>(\r\n    module: string\r\n  ): Promise<Nullable<{ url: string; cls: GenericConstructor<RuntimeScript<T>> }>> {\r\n    return await this._scriptingSystem.loadRuntimeScriptClass(module);\r\n  }\r\n  /**\r\n   * Attaches a script module to the given host, if enabled.\r\n   *\r\n   * When disabled, this method resolves to `null` without side effects.\r\n   *\r\n   * @typeParam T - Host type.\r\n   * @param host - Host object to attach the script to.\r\n   * @param module - Module identifier to resolve and load.\r\n   * @returns The `RuntimeScript<T>` instance, or `null` if disabled or on failure.\r\n   */\r\n  async attachScript<T extends Host>(\r\n    host: Nullable<T>,\r\n    module: string,\r\n    config?: Nullable<RuntimeScriptConfig>\r\n  ) {\r\n    return this._enabled ? await this._scriptingSystem.attachScript(host, module, config) : null;\r\n  }\r\n  /**\r\n   * Detaches a script from a host, by module ID or instance, if enabled.\r\n   *\r\n   * No-op when disabled.\r\n   *\r\n   * @typeParam T - Host type.\r\n   * @param host - Host to detach from.\r\n   * @param idOrInstance - Target script by module ID or instance reference.\r\n   */\r\n  detachScript<T extends Host>(host: T, idOrInstance: string | RuntimeScript<T>) {\r\n    if (this._enabled) {\r\n      this._scriptingSystem.detachScript(host, idOrInstance);\r\n    }\r\n  }\r\n  /**\r\n   * Gets all scripts attached to a host.\r\n   *\r\n   * Delegates to {@link ScriptingSystem.getScriptObjects}.\r\n   *\r\n   * @typeParam T - Expected script type.\r\n   * @param host - Host object to query.\r\n   * @returns Script instances attached to the host, or an empty array.\r\n   */\r\n  getScriptObjects<T extends RuntimeScript<any>>(host: unknown) {\r\n    return this._scriptingSystem.getScriptObjects(host) as T[];\r\n  }\r\n  /**\r\n   * Ticks all attached scripts by calling their `onUpdate` hooks, if enabled.\r\n   *\r\n   * Delegates to {@link ScriptingSystem.update}. No-op when disabled.\r\n   *\r\n   * @param deltaTime - Time since last update in Seconds.\r\n   * @param elapsedTime - Total elapsed time in Seconds.\r\n   */\r\n  update(deltaTime: number, elapsedTime: number) {\r\n    if (this._enabled) {\r\n      this._scriptingSystem.update(deltaTime, elapsedTime);\r\n    }\r\n  }\r\n  async loadSceneFromFile(path: string) {\r\n    path = this.VFS.normalizePath(path);\r\n    if (!this._loadingScenes[path]) {\r\n      this._loadingScenes[path] = this._loadScene(path);\r\n    }\r\n    return this._loadingScenes[path]!;\r\n  }\r\n  setRenderable(renderable: Nullable<IRenderable>, layer = 0, hook?: IRenderHook) {\r\n    if (!this._activeRenderables[layer]) {\r\n      this._activeRenderables[layer] = {\r\n        renderable: new DRef<IRenderable>(null),\r\n        hook: null\r\n      };\r\n    }\r\n    this._activeRenderables[layer].hook = hook ?? null;\r\n    this._activeRenderables[layer].renderable.set(renderable);\r\n  }\r\n  async readFile<T extends ReadOptions['encoding'] = 'binary'>(path: string, encoding?: T) {\r\n    try {\r\n      const content = await this.VFS.readFile(path, { encoding: encoding ?? 'binary' });\r\n      return content as T extends 'binary' ? ArrayBuffer : string;\r\n    } catch (err) {\r\n      console.error(`Read file '${path}' failed: ${err}`);\r\n      return null;\r\n    }\r\n  }\r\n  async startup(\r\n    startupScene?: Nullable<string>,\r\n    splashScreen?: Nullable<string>,\r\n    startupScript?: Nullable<string>\r\n  ) {\r\n    const splashScreenLayer = 9999;\r\n    if (splashScreen) {\r\n      const splashScreenScene = await this.loadSceneFromFile(splashScreen);\r\n      if (splashScreenScene) {\r\n        this.setRenderable(splashScreenScene, splashScreenLayer);\r\n      }\r\n    }\r\n    if (startupScript) {\r\n      const path =\r\n        startupScript.toLowerCase().endsWith('.ts') || startupScript.toLowerCase().endsWith('.js')\r\n          ? startupScript.slice(0, -3)\r\n          : startupScript;\r\n      await this.attachScript(null, path);\r\n    }\r\n    if (startupScene) {\r\n      const scene = await this.loadSceneFromFile(startupScene);\r\n      this.setRenderable(scene, 0);\r\n    }\r\n    this.setRenderable(null, splashScreenLayer);\r\n  }\r\n  render() {\r\n    this._activeRenderables.forEach((info) => {\r\n      const render = info.hook?.beforeRender\r\n        ? (info.hook.beforeRender(info.renderable.get() ?? null) ?? true)\r\n        : true;\r\n      if (render) {\r\n        info.renderable.get()?.render();\r\n      }\r\n      if (info.hook?.afterRender) {\r\n        info.hook.afterRender(info.renderable.get() ?? null);\r\n      }\r\n    });\r\n  }\r\n  private async ensureBuiltinVFS() {\r\n    if (!this._builtinsVFS) {\r\n      this._builtinsVFS = await this.createBuiltinVFS();\r\n    }\r\n    this.VFS.unmount('/assets/@builtins');\r\n    this.VFS.mount('/assets/@builtins', this._builtinsVFS);\r\n  }\r\n  private async createBuiltinVFS() {\r\n    const fs = new MemoryFS();\r\n    const shapeClsMap = {\r\n      '/primitives/box.zmsh': BoxShape,\r\n      '/primitives/sphere.zmsh': SphereShape,\r\n      '/primitives/cylinder.zmsh': CylinderShape,\r\n      '/primitives/plane.zmsh': PlaneShape,\r\n      '/primitives/torus.zmsh': TorusShape,\r\n      '/primitives/tetrahedron.zmsh': TetrahedronShape,\r\n      '/primitives/capsule.zmsh': CapsuleShape,\r\n      '/materials/unlit.zmtl': UnlitMaterial,\r\n      '/materials/lambert.zmtl': LambertMaterial,\r\n      '/materials/blinnphong.zmtl': BlinnMaterial,\r\n      '/materials/pbr_metallic_roughness.zmtl': PBRMetallicRoughnessMaterial,\r\n      '/materials/pbr_specular_glossiness.zmtl': PBRSpecularGlossinessMaterial,\r\n      '/materials/sprite_std.zmtl': StandardSpriteMaterial\r\n    } as const;\r\n    for (const [key] of objectEntries(shapeClsMap)) {\r\n      const obj = new shapeClsMap[key]();\r\n      await this.writeSerializableObject(fs, 'Default', obj, key);\r\n      obj.dispose();\r\n    }\r\n    fs.readOnly = true;\r\n    return fs;\r\n  }\r\n  private async writeSerializableObject(VFS: VFS, type: string, obj: any, path: string) {\r\n    try {\r\n      const data = await this.resourceManager.serializeObject(obj);\r\n      const content = JSON.stringify({ type, data }, null, 2);\r\n      await VFS.writeFile(path, content, { encoding: 'utf8', create: true });\r\n    } catch (err) {\r\n      console.error(`Write file '${path}' failed: ${err}`);\r\n    }\r\n  }\r\n  private async _loadScene(path: string) {\r\n    try {\r\n      const scene = await this._resourceManager.loadScene(path);\r\n      if (scene) {\r\n        const sceneScripts =\r\n          scene.scripts.length > 0\r\n            ? scene.scripts\r\n            : scene.script\r\n              ? 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+{"version":3,"file":"engine.js","sources":["../../src/app/engine.ts"],"sourcesContent":["import type { GenericConstructor, IDisposable, Nullable, ReadOptions } from '@zephyr3d/base';\r\nimport { MemoryFS, objectEntries } from '@zephyr3d/base';\r\nimport { DRef } from '@zephyr3d/base';\r\nimport { HttpFS, type VFS } from '@zephyr3d/base';\r\nimport { ScriptingSystem } from './scriptingsystem';\r\nimport type { Host } from './scriptingsystem';\r\nimport type { RuntimeScript, RuntimeScriptConfig } from './runtimescript';\r\nimport { ResourceManager } from '../utility/serialization/manager';\r\nimport type { Scene } from '../scene';\r\nimport {\r\n  BoxShape,\r\n  CapsuleShape,\r\n  CylinderShape,\r\n  PlaneShape,\r\n  SphereShape,\r\n  TetrahedronShape,\r\n  TorusShape\r\n} from '../shapes';\r\nimport {\r\n  BlinnMaterial,\r\n  LambertMaterial,\r\n  PBRMetallicRoughnessMaterial,\r\n  PBRSpecularGlossinessMaterial,\r\n  UnlitMaterial\r\n} from '../material';\r\nimport { StandardSpriteMaterial } from '../material/sprite_std';\r\nimport { ScreenAdapter } from './screen';\r\n\r\n/**\r\n * Interface for objects that can be rendered.\r\n *\r\n * @public\r\n */\r\nexport interface IRenderable extends IDisposable {\r\n  render(): void;\r\n}\r\n\r\n/**\r\n * Interface for render hooks to customize rendering behavior.\r\n *\r\n * @public\r\n */\r\nexport interface IRenderHook {\r\n  // If presents, called before rendering the renderable. Return `false` to skip rendering.\r\n  beforeRender?: (renderable: any) => boolean | void;\r\n  // If presents, called after rendering the renderable.\r\n  afterRender?: (renderable: any) => void;\r\n}\r\n\r\n/**\r\n * Core engine class managing scripting, serialization, and rendering.\r\n *\r\n * Responsibilities:\r\n * - Manages a {@link ScriptingSystem} for dynamic script attachment and lifecycle.\r\n * - Manages a {@link ResourceManager} for loading scenes and assets.\r\n * - Maintains a list of active renderable objects to be rendered each frame.\r\n * - Provides methods to attach/detach scripts, update scripts, load scenes, and read files.\r\n * - Supports enabling/disabling of runtime operations.\r\n *\r\n * @remarks\r\n * The engine can be configured with a virtual file system (VFS) and script root path.\r\n * It exposes methods to manage scripts on host objects, update scripts each frame,\r\n * load scenes from files, and render active objects.\r\n *\r\n * @public\r\n */\r\nexport class Engine {\r\n  private _builtinsVFS: Nullable<MemoryFS>;\r\n  private _scriptingSystem: ScriptingSystem;\r\n  private _resourceManager: ResourceManager;\r\n  private _enabled: boolean;\r\n  private _screen: ScreenAdapter;\r\n  protected _activeRenderables: {\r\n    renderable: DRef<IRenderable>;\r\n    hook: Nullable<IRenderHook>;\r\n  }[];\r\n  private _loadingScenes: Partial<Record<string, Promise<Nullable<Scene>>>>;\r\n  /**\r\n   * Creates a new runtime manager.\r\n   *\r\n   * @param VFS - Optional virtual file system passed to the internal {@link ScriptingSystem}.\r\n   * @param scriptsRoot - Optional scripts root path within the VFS. Defaults as in `ScriptingSystem`.\r\n   * @param enabled - Whether runtime operations are active. Defaults to `true`.\r\n   */\r\n  constructor(VFS?: VFS, scriptsRoot?: string, enabled?: boolean) {\r\n    VFS = VFS ?? new HttpFS('./');\r\n    this._builtinsVFS = null;\r\n    this._scriptingSystem = new ScriptingSystem({ VFS, scriptsRoot });\r\n    this._resourceManager = new ResourceManager(VFS);\r\n    this._enabled = enabled ?? true;\r\n    this._activeRenderables = [];\r\n    this._loadingScenes = {};\r\n    this._screen = new ScreenAdapter();\r\n  }\r\n  /**\r\n   * Exposes the instance of {@link ScriptingSystem}.\r\n   */\r\n  get scriptingSystem() {\r\n    return this._scriptingSystem;\r\n  }\r\n  /**\r\n   * Exposes the virtual file system used by the underlying {@link ScriptingSystem}'s registry.\r\n   */\r\n  get VFS() {\r\n    return this._scriptingSystem.registry.VFS;\r\n  }\r\n  set VFS(vfs: VFS) {\r\n    if (vfs !== this._resourceManager.VFS) {\r\n      this._resourceManager.VFS?.close();\r\n      this._resourceManager.VFS = vfs;\r\n      this._scriptingSystem.registry.VFS = vfs;\r\n      this.ensureBuiltinVFS();\r\n    }\r\n  }\r\n  /**\r\n   * Exposes the instance of {@link ResourceManager}.\r\n   */\r\n  get resourceManager() {\r\n    return this._resourceManager;\r\n  }\r\n  /**\r\n   * Exposes the active {@link ScreenAdapter}.\r\n   */\r\n  get screen() {\r\n    return this._screen;\r\n  }\r\n  /** @internal */\r\n  async init() {\r\n    await this.ensureBuiltinVFS();\r\n  }\r\n  /**\r\n   * Detaches all scripts from all hosts, if enabled.\r\n   *\r\n   * No-op when `enabled === false`.\r\n   */\r\n  detachAllScripts() {\r\n    if (this._enabled) {\r\n      this._scriptingSystem.detachAllScripts();\r\n    }\r\n  }\r\n  /**\r\n   * Loads a runtime script class from file\r\n   * @param module - file path\r\n   * @returns The runtime script class or null\r\n   */\r\n  async loadRuntimeScriptClass<T extends Host = Host>(\r\n    module: string\r\n  ): Promise<Nullable<{ url: string; cls: GenericConstructor<RuntimeScript<T>> }>> {\r\n    return await this._scriptingSystem.loadRuntimeScriptClass(module);\r\n  }\r\n  /**\r\n   * Attaches a script module to the given host, if enabled.\r\n   *\r\n   * When disabled, this method resolves to `null` without side effects.\r\n   *\r\n   * @typeParam T - Host type.\r\n   * @param host - Host object to attach the script to.\r\n   * @param module - Module identifier to resolve and load.\r\n   * @returns The `RuntimeScript<T>` instance, or `null` if disabled or on failure.\r\n   */\r\n  async attachScript<T extends Host>(\r\n    host: Nullable<T>,\r\n    module: string,\r\n    config?: Nullable<RuntimeScriptConfig>\r\n  ) {\r\n    return this._enabled ? await this._scriptingSystem.attachScript(host, module, config) : null;\r\n  }\r\n  /**\r\n   * Detaches a script from a host, by module ID or instance, if enabled.\r\n   *\r\n   * No-op when disabled.\r\n   *\r\n   * @typeParam T - Host type.\r\n   * @param host - Host to detach from.\r\n   * @param idOrInstance - Target script by module ID or instance reference.\r\n   */\r\n  detachScript<T extends Host>(host: T, idOrInstance: string | RuntimeScript<T>) {\r\n    if (this._enabled) {\r\n      this._scriptingSystem.detachScript(host, idOrInstance);\r\n    }\r\n  }\r\n  /**\r\n   * Gets all scripts attached to a host.\r\n   *\r\n   * Delegates to {@link ScriptingSystem.getScriptObjects}.\r\n   *\r\n   * @typeParam T - Expected script type.\r\n   * @param host - Host object to query.\r\n   * @returns Script instances attached to the host, or an empty array.\r\n   */\r\n  getScriptObjects<T extends RuntimeScript<any>>(host: unknown) {\r\n    return this._scriptingSystem.getScriptObjects(host) as T[];\r\n  }\r\n  /**\r\n   * Ticks all attached scripts by calling their `onUpdate` hooks, if enabled.\r\n   *\r\n   * Delegates to {@link ScriptingSystem.update}. No-op when disabled.\r\n   *\r\n   * @param deltaTime - Time since last update in Seconds.\r\n   * @param elapsedTime - Total elapsed time in Seconds.\r\n   */\r\n  update(deltaTime: number, elapsedTime: number) {\r\n    if (this._enabled) {\r\n      this._scriptingSystem.update(deltaTime, elapsedTime);\r\n    }\r\n  }\r\n  async loadSceneFromFile(path: string) {\r\n    path = this.VFS.normalizePath(path);\r\n    if (!this._loadingScenes[path]) {\r\n      this._loadingScenes[path] = this._loadScene(path);\r\n    }\r\n    return this._loadingScenes[path]!;\r\n  }\r\n  setRenderable(renderable: Nullable<IRenderable>, layer = 0, hook?: IRenderHook) {\r\n    if (!this._activeRenderables[layer]) {\r\n      this._activeRenderables[layer] = {\r\n        renderable: new DRef<IRenderable>(null),\r\n        hook: null\r\n      };\r\n    }\r\n    this._activeRenderables[layer].hook = hook ?? null;\r\n    this._activeRenderables[layer].renderable.set(renderable);\r\n  }\r\n  async readFile<T extends ReadOptions['encoding'] = 'binary'>(path: string, encoding?: T) {\r\n    try {\r\n      const content = await this.VFS.readFile(path, { encoding: encoding ?? 'binary' });\r\n      return content as T extends 'binary' ? ArrayBuffer : string;\r\n    } catch (err) {\r\n      console.error(`Read file '${path}' failed: ${err}`);\r\n      return null;\r\n    }\r\n  }\r\n  async startup(\r\n    startupScene?: Nullable<string>,\r\n    splashScreen?: Nullable<string>,\r\n    startupScript?: Nullable<string>\r\n  ) {\r\n    const splashScreenLayer = 9999;\r\n    if (splashScreen) {\r\n      const splashScreenScene = await this.loadSceneFromFile(splashScreen);\r\n      if (splashScreenScene) {\r\n        this.setRenderable(splashScreenScene, splashScreenLayer);\r\n      }\r\n    }\r\n    if (startupScript) {\r\n      const path =\r\n        startupScript.toLowerCase().endsWith('.ts') || startupScript.toLowerCase().endsWith('.js')\r\n          ? startupScript.slice(0, -3)\r\n          : startupScript;\r\n      await this.attachScript(null, path);\r\n    }\r\n    if (startupScene) {\r\n      const scene = await this.loadSceneFromFile(startupScene);\r\n      this.setRenderable(scene, 0);\r\n    }\r\n    this.setRenderable(null, splashScreenLayer);\r\n  }\r\n  render() {\r\n    this._activeRenderables.forEach((info) => {\r\n      const render = info.hook?.beforeRender\r\n        ? (info.hook.beforeRender(info.renderable.get() ?? null) ?? true)\r\n        : true;\r\n      if (render) {\r\n        info.renderable.get()?.render();\r\n      }\r\n      if (info.hook?.afterRender) {\r\n        info.hook.afterRender(info.renderable.get() ?? null);\r\n      }\r\n    });\r\n  }\r\n  private async ensureBuiltinVFS() {\r\n    if (!this._builtinsVFS) {\r\n      this._builtinsVFS = await this.createBuiltinVFS();\r\n    }\r\n    this.VFS.unmount('/assets/@builtins');\r\n    this.VFS.mount('/assets/@builtins', this._builtinsVFS);\r\n  }\r\n  private async createBuiltinVFS() {\r\n    const fs = new MemoryFS();\r\n    const shapeClsMap = {\r\n      '/primitives/box.zmsh': BoxShape,\r\n      '/primitives/sphere.zmsh': SphereShape,\r\n      '/primitives/cylinder.zmsh': CylinderShape,\r\n      '/primitives/plane.zmsh': PlaneShape,\r\n      '/primitives/torus.zmsh': TorusShape,\r\n      '/primitives/tetrahedron.zmsh': TetrahedronShape,\r\n      '/primitives/capsule.zmsh': CapsuleShape,\r\n      '/materials/unlit.zmtl': UnlitMaterial,\r\n      '/materials/lambert.zmtl': LambertMaterial,\r\n      '/materials/blinnphong.zmtl': BlinnMaterial,\r\n      '/materials/pbr_metallic_roughness.zmtl': PBRMetallicRoughnessMaterial,\r\n      '/materials/pbr_specular_glossiness.zmtl': PBRSpecularGlossinessMaterial,\r\n      '/materials/sprite_std.zmtl': StandardSpriteMaterial\r\n    } as const;\r\n    for (const [key] of objectEntries(shapeClsMap)) {\r\n      const obj = new shapeClsMap[key]();\r\n      await this.writeSerializableObject(fs, 'Default', obj, key);\r\n      obj.dispose();\r\n    }\r\n    fs.readOnly = true;\r\n    return fs;\r\n  }\r\n  private async writeSerializableObject(VFS: VFS, type: string, obj: any, path: string) {\r\n    try {\r\n      const data = await this.resourceManager.serializeObject(obj);\r\n      const content = JSON.stringify({ type, data }, null, 2);\r\n      await VFS.writeFile(path, content, { encoding: 'utf8', create: true });\r\n    } catch (err) {\r\n      console.error(`Write file '${path}' failed: ${err}`);\r\n    }\r\n  }\r\n  private async _loadScene(path: string) {\r\n    try {\r\n      const scene = await this._resourceManager.loadScene(path);\r\n      if (scene) {\r\n        const sceneScripts =\r\n          scene.scripts.length > 0\r\n            ? scene.scripts\r\n            : scene.script\r\n              ? [{ script: scene.script, config: scene.scriptConfig }]\r\n              : [];\r\n        for (const attachment of sceneScripts) {\r\n          if (!attachment.script) {\r\n            continue;\r\n          }\r\n          try {\r\n            await this.attachScript(\r\n              scene,\r\n              attachment.script,\r\n              (attachment.config ?? null) as RuntimeScriptConfig | null\r\n            );\r\n          } catch (err) {\r\n            console.error(`Attach script failed: ${err}`);\r\n          }\r\n        }\r\n        const nodes: (typeof scene.rootNode)[] = [];\r\n        scene.rootNode.iterate((node) => {\r\n          nodes.push(node);\r\n        });\r\n        const attachTasks = nodes.map(async (node) => {\r\n          const attachments =\r\n            node.scripts.length > 0\r\n              ? node.scripts\r\n              : node.script\r\n                ? [{ script: node.script, config: node.scriptConfig }]\r\n                : [];\r\n          for (const attachment of attachments) {\r\n            if (!attachment.script) {\r\n              continue;\r\n            }\r\n            try {\r\n              await this.attachScript(\r\n                node,\r\n                attachment.script,\r\n                (attachment.config ?? null) as RuntimeScriptConfig | null\r\n              );\r\n            } catch (err) {\r\n              console.error(`Attach script failed: ${err}`);\r\n            }\r\n          }\r\n        });\r\n        if (attachTasks.length > 0) {\r\n          await Promise.allSettled(attachTasks);\r\n        }\r\n      }\r\n      return scene;\r\n    } catch (err) {\r\n      console.error(`Load scene from '${path}' failed: ${err}`);\r\n      return null;\r\n    }\r\n  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package/dist/app/screen.js

@@ -16,7 +16,7 @@ import { getDevice } from './api.js';
    * Creates a new {@link ScreenAdapter}.
    *
    * @param config - Optional initial screen configuration. If omitted,
-   *   a default of 1280×720 with 'cover' mode is used.
+   *   a default of `1280 x 720` with `cover` mode is used.
    */ constructor(config){
         this._viewport = null;
         this._transform = null;
@@ -250,7 +250,7 @@ import { getDevice } from './api.js';
    *
    * @param canvasPos - Point in canvas coordinates (CSS pixels).
    * @param viewportPosOut - Optional output vector. If provided, it will be
-   *   written into and returned; otherwise a new {@link Vector2} is allocated.
+   *   written into and returned; otherwise a new `Vector2` is allocated.
    * @returns The point in viewport-local coordinates.
    */ canvasPosToViewport(canvasPos, viewportPosOut) {
         return this.transformPoint(this.transform.canvasToViewport, canvasPos, viewportPosOut);
@@ -265,7 +265,7 @@ import { getDevice } from './api.js';
    *
    * @param canvasPos - Point in canvas coordinates (CSS pixels).
    * @param logicPosOut - Optional output vector. If provided, it will be
-   *   written into and returned; otherwise a new {@link Vector2} is allocated.
+   *   written into and returned; otherwise a new `Vector2` is allocated.
    * @returns The point in logical (design resolution) coordinates.
    */ canvasPosToLogic(canvasPos, logicPosOut) {
         return this.transformPoint(this.transform.canvasToLogic, canvasPos, logicPosOut);
@@ -281,7 +281,7 @@ import { getDevice } from './api.js';
    * @param transform - Transform parameters (scale and offset).
    * @param pointIn - Input point.
    * @param pointOut - Optional output vector. If provided, it will be
-   *   written into and returned; otherwise a new {@link Vector2} is allocated.
+   *   written into and returned; otherwise a new `Vector2` is allocated.
    * @returns The transformed point.
    */ transformPoint(transform, pointIn, pointOut) {
         const out = pointOut ?? new Vector2();