@zephyr3d/scene 0.9.1 → 0.9.2

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

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

@@ -2,7 +2,7 @@ import { Vector3, Quaternion, degree2radian, clamp01, smoothStep, Matrix4x4, rad
 import { EPSILON, ConstraintType } from './types.js';
 import { pushoutFromSphere, pushoutFromCapsule, checkSurfaceCollision, pushInFromCapsule, pushInFromSphere, collisionDetection } from './collision.js';
 
-// Core physics simulation 閳?direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs
+// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs
 const AXIS_Y = new Vector3(0, 1, 0);
 const VEC3_ONE = new Vector3(1, 1, 1);
 const _computeCapsuleAxis = new Vector3();
@@ -14,8 +14,10 @@ const _broadPhaseToCenter = new Vector3();
 const _broadPhaseClosestPoint = new Vector3();
 const _broadPhaseDelta = new Vector3();
 /**
- * Run the full simulation step. Mutates pointsRW and collidersRW in place.
- * Returns { positionsToTransform, fakeWaveCounter }.
+ * Run the full simulation step. Mutates `pointsRW` and `collidersRW` in place.
+ * Returns `{ positionsToTransform, fakeWaveCounter }`.
+ *
+ * @public
  */ function simulate(params, pointsR, pointsRW, constraints, collidersR, collidersRW, grabbersR, grabbersRW, movableLimitTargets, flatPlanes) {
     const pointCount = pointsR.length;
     const positionsToTransform = new Array(pointCount);
@@ -69,7 +71,7 @@ const _broadPhaseDelta = new Vector3();
             // Push fixed points out of colliders before constraint solving.
             // Fixed points follow animation and cannot be moved by the solver, but if
             // their animated position is inside a collider, the distance constraint will
-            // pull free children inward through the surface — causing the characteristic
+            // pull free children inward through the surface �?causing the characteristic
             // "hair flipping outward" artifact at the back of the head.
             // By temporarily clamping fixed-point positionCurrent to the collider surface
             // before each substep's constraint pass, we ensure constraints operate from
@@ -161,7 +163,7 @@ function segmentMayCollideBroadPhase(point1, point2, colRW) {
     const delta = Vector3.sub(colRW.boundsCenter, closestPoint, _broadPhaseDelta);
     return delta.magnitudeSq <= colRW.boundsRadius * colRW.boundsRadius;
 }
-// Pass 1: Verlet integration + forces
+// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs
 function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSlideOffset, rootRotationOffset, rootPosition, windForce, isPaused, grabbersR, grabbersRW, movableLimitTargets, flatPlanes, collidersR, collidersRW) {
     const currentTransformPos = new Vector3();
     const moveDir = new Vector3();
@@ -302,7 +304,7 @@ function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSl
         }
     }
 }
-// Surface collision (triangle-based cloth collision)
+// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs
 function surfaceCollision(pointsRW, collidersR, collidersRW, surfaceConstraints) {
     const surfaceResult = {
         hit: false,
@@ -669,7 +671,11 @@ function pointUpdatePass2(pointsR, pointsRW, positionsToTransform, stepDelta, fa
         positionsToTransform[index] = ptRW.positionToTransform.clone();
     }
 }
-function applyResult(pointsR, pointsRW, positionsToTransform, blendRatio, // Current transform rotations (world and local) read from engine
+/**
+ * Computes transform outputs from the simulated point positions.
+ *
+ * @public
+ */ function applyResult(pointsR, pointsRW, positionsToTransform, blendRatio, // Current transform rotations (world and local) read from engine
 transformRotations, transformLocalRotations, preserveTwist) {
     const results = new Array(pointsR.length);
     for(let index = 0; index < pointsR.length; index++){
@@ -690,7 +696,7 @@ transformRotations, transformLocalRotations, preserveTwist) {
             }
             const pos = ptRW.positionToTransform;
             // SetRotation with blendRatio=0 for dynamic points
-            // Step 1: Reset localRotation 閳?initialLocalRotation (blendRatio=0 閳?fully initial)
+            // Step 1: Reset localRotation to initialLocalRotation (blendRatio = 0 means fully initial)
             localRot = ptR.initialLocalRotation.clone();
             // Step 2: Recompute worldRot from the new localRot
             // In C#, setting localRotation immediately updates the world rotation.
@@ -720,7 +726,7 @@ transformRotations, transformLocalRotations, preserveTwist) {
         } else {
             const childBlend = ptR.child !== -1 ? Math.max(pointsR[ptR.child].forceFadeRatio, blendRatio) : blendRatio;
             // Fixed joints are fully driven by the scene graph (animation + parent transforms).
-            // Use the engine's current world rotation directly as the baseline — do NOT
+            // Use the engine's current world rotation directly as the baseline �?do NOT
             // reconstruct it from localRot, because localRot was read from the transform that
             // was written back last frame (after aim correction), so it carries stale physics
             // noise that would accumulate each frame and cause periodic spin artifacts.
@@ -743,7 +749,7 @@ transformRotations, transformLocalRotations, preserveTwist) {
             };
         }
     }
-    // Post-process: twist correction pass (parent → child order).
+    // Post-process: twist correction pass (parent �?child order).
     if (preserveTwist) {
         for(let index = 0; index < pointsR.length; index++){
             const ptR = pointsR[index];
@@ -762,7 +768,11 @@ transformRotations, transformLocalRotations, preserveTwist) {
     }
     return results;
 }
-function applyAngleLimits(pointsR, pointsRW, config) {
+/**
+ * Applies post-simulation angle limits to the point state.
+ *
+ * @public
+ */ function applyAngleLimits(pointsR, pointsRW, config) {
     if (config.angleLimit < 0) {
         return;
     }