@zephyr3d/scene 0.9.1 → 0.9.3

package/dist/animation/spring/spring_bone_collider.js

@@ -1,198 +0,0 @@
-import { Vector3 } from '@zephyr3d/base';
-
-/**
- * Base class for spring bone colliders.
- *
- * @public
- */ class SpringBoneCollider {
-}
-/**
- * Sphere collider for spring bones.
- *
- * @public
- */ class SphereCollider extends SpringBoneCollider {
-    /** Center position in world space */ _center;
-    /** Sphere radius */ _radius;
-    /** Optional bone node to follow */ _bone;
-    /** Local offset from bone (if bone is set) */ _localOffset;
-    /**
-   * Create a sphere collider.
-   *
-   * @param center - Center position in world space (or local offset if bone is provided)
-   * @param radius - Sphere radius
-   * @param bone - Optional bone node to follow
-   */ constructor(center, radius, bone = null){
-        super();
-        this._center = center.clone();
-        this._radius = Math.max(0, radius);
-        this._bone = bone;
-        this._localOffset = bone ? center.clone() : new Vector3();
-    }
-    /**
-   * Get/set center position.
-   */ get center() {
-        if (this._bone) {
-            // Calculate world position from bone
-            const worldPos = new Vector3();
-            const matrix = this._bone.worldMatrix;
-            const offset = this._localOffset;
-            worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;
-            worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;
-            worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;
-            return worldPos;
-        }
-        return this._center;
-    }
-    set center(value) {
-        if (this._bone) {
-            this._localOffset.set(value);
-        } else {
-            this._center.set(value);
-        }
-    }
-    /**
-   * Get/set radius.
-   */ get radius() {
-        return this._radius;
-    }
-    set radius(value) {
-        this._radius = Math.max(0, value);
-    }
-    /**
-   * Get/set bone node.
-   */ get bone() {
-        return this._bone;
-    }
-    set bone(value) {
-        this._bone = value;
-    }
-    /**
-   * Test collision with a point and resolve it.
-   */ collide(position, radius) {
-        const center = this.center;
-        const direction = Vector3.sub(position, center, new Vector3());
-        const distance = direction.magnitude;
-        const minDistance = this._radius + radius;
-        if (distance < minDistance && distance > 0.000001) {
-            // Collision detected, push the point out
-            direction.scaleBy(1 / distance);
-            const penetration = minDistance - distance;
-            position.addBy(Vector3.scale(direction, penetration, new Vector3()));
-            return true;
-        }
-        return false;
-    }
-}
-/**
- * Capsule collider for spring bones.
- *
- * @remarks
- * A capsule is defined by two sphere centers and a radius.
- * Useful for limbs like arms and legs.
- *
- * @public
- */ class CapsuleCollider extends SpringBoneCollider {
-    /** Start point in world space */ _start;
-    /** End point in world space */ _end;
-    /** Capsule radius */ _radius;
-    /** Optional bone node for start point */ _startBone;
-    /** Optional bone node for end point */ _endBone;
-    /** Local offset for start point */ _startOffset;
-    /** Local offset for end point */ _endOffset;
-    /**
-   * Create a capsule collider.
-   *
-   * @param start - Start point in world space (or local offset if startBone is provided)
-   * @param end - End point in world space (or local offset if endBone is provided)
-   * @param radius - Capsule radius
-   * @param startBone - Optional bone node for start point
-   * @param endBone - Optional bone node for end point
-   */ constructor(start, end, radius, startBone = null, endBone = null){
-        super();
-        this._start = start.clone();
-        this._end = end.clone();
-        this._radius = Math.max(0, radius);
-        this._startBone = startBone;
-        this._endBone = endBone;
-        this._startOffset = startBone ? start.clone() : new Vector3();
-        this._endOffset = endBone ? end.clone() : new Vector3();
-    }
-    /**
-   * Get start point in world space.
-   */ get start() {
-        if (this._startBone) {
-            const worldPos = new Vector3();
-            const matrix = this._startBone.worldMatrix;
-            const offset = this._startOffset;
-            worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;
-            worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;
-            worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;
-            return worldPos;
-        }
-        return this._start;
-    }
-    /**
-   * Get end point in world space.
-   */ get end() {
-        if (this._endBone) {
-            const worldPos = new Vector3();
-            const matrix = this._endBone.worldMatrix;
-            const offset = this._endOffset;
-            worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;
-            worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;
-            worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;
-            return worldPos;
-        }
-        return this._end;
-    }
-    /**
-   * Get/set radius.
-   */ get radius() {
-        return this._radius;
-    }
-    set radius(value) {
-        this._radius = Math.max(0, value);
-    }
-    /**
-   * Test collision with a point and resolve it.
-   */ collide(position, radius) {
-        const start = this.start;
-        const end = this.end;
-        // Calculate closest point on capsule line segment
-        const line = Vector3.sub(end, start, new Vector3());
-        const lineLength = line.magnitude;
-        if (lineLength < 0.000001) {
-            // Degenerate capsule, treat as sphere
-            const direction = Vector3.sub(position, start, new Vector3());
-            const distance = direction.magnitude;
-            const minDistance = this._radius + radius;
-            if (distance < minDistance && distance > 0.000001) {
-                direction.scaleBy(1 / distance);
-                const penetration = minDistance - distance;
-                position.addBy(Vector3.scale(direction, penetration, new Vector3()));
-                return true;
-            }
-            return false;
-        }
-        const lineDir = Vector3.scale(line, 1 / lineLength, new Vector3());
-        const toPoint = Vector3.sub(position, start, new Vector3());
-        const t = Math.max(0, Math.min(lineLength, Vector3.dot(toPoint, lineDir)));
-        // Closest point on line segment
-        const closestPoint = Vector3.add(start, Vector3.scale(lineDir, t, new Vector3()), new Vector3());
-        // Check distance from closest point
-        const direction = Vector3.sub(position, closestPoint, new Vector3());
-        const distance = direction.magnitude;
-        const minDistance = this._radius + radius;
-        if (distance < minDistance && distance > 0.000001) {
-            // Collision detected, push the point out
-            direction.scaleBy(1 / distance);
-            const penetration = minDistance - distance;
-            position.addBy(Vector3.scale(direction, penetration, new Vector3()));
-            return true;
-        }
-        return false;
-    }
-}
-
-export { CapsuleCollider, SphereCollider, SpringBoneCollider };
-//# sourceMappingURL=spring_bone_collider.js.map

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

@@ -1 +0,0 @@
-{"version":3,"file":"spring_bone_collider.js","sources":["../../../src/animation/spring/spring_bone_collider.ts"],"sourcesContent":["import { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Base class for spring bone colliders.\r\n *\r\n * @public\r\n */\r\nexport abstract class SpringBoneCollider {\r\n  /**\r\n   * Test collision with a point and resolve it.\r\n   *\r\n   * @param position - Point position in world space\r\n   * @param radius - Point radius\r\n   * @returns True if collision occurred and was resolved\r\n   */\r\n  abstract collide(position: Vector3, radius: number): boolean;\r\n}\r\n\r\n/**\r\n * Sphere collider for spring bones.\r\n *\r\n * @public\r\n */\r\nexport class SphereCollider extends SpringBoneCollider {\r\n  /** Center position in world space */\r\n  private _center: Vector3;\r\n  /** Sphere radius */\r\n  private _radius: number;\r\n  /** Optional bone node to follow */\r\n  private _bone: SceneNode | null;\r\n  /** Local offset from bone (if bone is set) */\r\n  private _localOffset: Vector3;\r\n\r\n  /**\r\n   * Create a sphere collider.\r\n   *\r\n   * @param center - Center position in world space (or local offset if bone is provided)\r\n   * @param radius - Sphere radius\r\n   * @param bone - Optional bone node to follow\r\n   */\r\n  constructor(center: Vector3, radius: number, bone: SceneNode | null = null) {\r\n    super();\r\n    this._center = center.clone();\r\n    this._radius = Math.max(0, radius);\r\n    this._bone = bone;\r\n    this._localOffset = bone ? center.clone() : new Vector3();\r\n  }\r\n\r\n  /**\r\n   * Get/set center position.\r\n   */\r\n  get center(): Vector3 {\r\n    if (this._bone) {\r\n      // Calculate world position from bone\r\n      const worldPos = new Vector3();\r\n      const matrix = this._bone.worldMatrix;\r\n      const offset = this._localOffset;\r\n      worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;\r\n      worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;\r\n      worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;\r\n      return worldPos;\r\n    }\r\n    return this._center;\r\n  }\r\n\r\n  set center(value: Vector3) {\r\n    if (this._bone) {\r\n      this._localOffset.set(value);\r\n    } else {\r\n      this._center.set(value);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Get/set radius.\r\n   */\r\n  get radius(): number {\r\n    return this._radius;\r\n  }\r\n\r\n  set radius(value: number) {\r\n    this._radius = Math.max(0, value);\r\n  }\r\n\r\n  /**\r\n   * Get/set bone node.\r\n   */\r\n  get bone(): SceneNode | null {\r\n    return this._bone;\r\n  }\r\n\r\n  set bone(value: SceneNode | null) {\r\n    this._bone = value;\r\n  }\r\n\r\n  /**\r\n   * Test collision with a point and resolve it.\r\n   */\r\n  collide(position: Vector3, radius: number): boolean {\r\n    const center = this.center;\r\n    const direction = Vector3.sub(position, center, new Vector3());\r\n    const distance = direction.magnitude;\r\n    const minDistance = this._radius + radius;\r\n\r\n    if (distance < minDistance && distance > 0.000001) {\r\n      // Collision detected, push the point out\r\n      direction.scaleBy(1 / distance);\r\n      const penetration = minDistance - distance;\r\n      position.addBy(Vector3.scale(direction, penetration, new Vector3()));\r\n      return true;\r\n    }\r\n\r\n    return false;\r\n  }\r\n}\r\n\r\n/**\r\n * Capsule collider for spring bones.\r\n *\r\n * @remarks\r\n * A capsule is defined by two sphere centers and a radius.\r\n * Useful for limbs like arms and legs.\r\n *\r\n * @public\r\n */\r\nexport class CapsuleCollider extends SpringBoneCollider {\r\n  /** Start point in world space */\r\n  private _start: Vector3;\r\n  /** End point in world space */\r\n  private _end: Vector3;\r\n  /** Capsule radius */\r\n  private _radius: number;\r\n  /** Optional bone node for start point */\r\n  private _startBone: SceneNode | null;\r\n  /** Optional bone node for end point */\r\n  private _endBone: SceneNode | null;\r\n  /** Local offset for start point */\r\n  private _startOffset: Vector3;\r\n  /** Local offset for end point */\r\n  private _endOffset: Vector3;\r\n\r\n  /**\r\n   * Create a capsule collider.\r\n   *\r\n   * @param start - Start point in world space (or local offset if startBone is provided)\r\n   * @param end - End point in world space (or local offset if endBone is provided)\r\n   * @param radius - Capsule radius\r\n   * @param startBone - Optional bone node for start point\r\n   * @param endBone - Optional bone node for end point\r\n   */\r\n  constructor(\r\n    start: Vector3,\r\n    end: Vector3,\r\n    radius: number,\r\n    startBone: SceneNode | null = null,\r\n    endBone: SceneNode | null = null\r\n  ) {\r\n    super();\r\n    this._start = start.clone();\r\n    this._end = end.clone();\r\n    this._radius = Math.max(0, radius);\r\n    this._startBone = startBone;\r\n    this._endBone = endBone;\r\n    this._startOffset = startBone ? start.clone() : new Vector3();\r\n    this._endOffset = endBone ? end.clone() : new Vector3();\r\n  }\r\n\r\n  /**\r\n   * Get start point in world space.\r\n   */\r\n  get start(): Vector3 {\r\n    if (this._startBone) {\r\n      const worldPos = new Vector3();\r\n      const matrix = this._startBone.worldMatrix;\r\n      const offset = this._startOffset;\r\n      worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;\r\n      worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;\r\n      worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;\r\n      return worldPos;\r\n    }\r\n    return this._start;\r\n  }\r\n\r\n  /**\r\n   * Get end point in world space.\r\n   */\r\n  get end(): Vector3 {\r\n    if (this._endBone) {\r\n      const worldPos = new Vector3();\r\n      const matrix = this._endBone.worldMatrix;\r\n      const offset = this._endOffset;\r\n      worldPos.x = matrix.m00 * offset.x + matrix.m01 * offset.y + matrix.m02 * offset.z + matrix.m03;\r\n      worldPos.y = matrix.m10 * offset.x + matrix.m11 * offset.y + matrix.m12 * offset.z + matrix.m13;\r\n      worldPos.z = matrix.m20 * offset.x + matrix.m21 * offset.y + matrix.m22 * offset.z + matrix.m23;\r\n      return worldPos;\r\n    }\r\n    return this._end;\r\n  }\r\n\r\n  /**\r\n   * Get/set radius.\r\n   */\r\n  get radius(): number {\r\n    return this._radius;\r\n  }\r\n\r\n  set radius(value: number) {\r\n    this._radius = Math.max(0, value);\r\n  }\r\n\r\n  /**\r\n   * Test collision with a point and resolve it.\r\n   */\r\n  collide(position: Vector3, radius: number): boolean {\r\n    const start = this.start;\r\n    const end = this.end;\r\n\r\n    // Calculate closest point on capsule line segment\r\n    const line = Vector3.sub(end, start, new Vector3());\r\n    const lineLength = line.magnitude;\r\n\r\n    if (lineLength < 0.000001) {\r\n      // Degenerate capsule, treat as sphere\r\n      const direction = Vector3.sub(position, start, new Vector3());\r\n      const distance = direction.magnitude;\r\n      const minDistance = this._radius + radius;\r\n\r\n      if (distance < minDistance && distance > 0.000001) {\r\n        direction.scaleBy(1 / distance);\r\n        const penetration = minDistance - distance;\r\n        position.addBy(Vector3.scale(direction, penetration, new Vector3()));\r\n        return true;\r\n      }\r\n      return false;\r\n    }\r\n\r\n    const lineDir = Vector3.scale(line, 1 / lineLength, new Vector3());\r\n    const toPoint = Vector3.sub(position, start, new Vector3());\r\n    const t = Math.max(0, Math.min(lineLength, Vector3.dot(toPoint, lineDir)));\r\n\r\n    // Closest point on line segment\r\n    const closestPoint = Vector3.add(start, Vector3.scale(lineDir, t, new Vector3()), new Vector3());\r\n\r\n    // Check distance from closest point\r\n    const direction = Vector3.sub(position, closestPoint, new Vector3());\r\n    const distance = direction.magnitude;\r\n    const minDistance = this._radius + radius;\r\n\r\n    if (distance < minDistance && distance > 0.000001) {\r\n      // Collision detected, push the point out\r\n      direction.scaleBy(1 / distance);\r\n      const penetration = minDistance - distance;\r\n      position.addBy(Vector3.scale(direction, penetration, new Vector3()));\r\n      return true;\r\n    }\r\n\r\n    return false;\r\n  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package/dist/animation/spring/spring_bone_constraint.js

@@ -1,170 +0,0 @@
-import { Vector3 } from '@zephyr3d/base';
-
-/**
- * Base class for spring bone constraints.
- *
- * @remarks
- * Constraints are applied after physics simulation to enforce
- * additional rules between spring bones.
- *
- * @public
- */ class SpringBoneConstraint {
-}
-/**
- * Distance constraint between two spring bones.
- *
- * @remarks
- * Maintains a distance range between two spring bones.
- * Useful for preventing penetration and excessive stretching between
- * adjacent chains (e.g., skirt panels).
- *
- * @public
- */ class DistanceConstraint extends SpringBoneConstraint {
-    /** First spring bone */ _bone1;
-    /** Second spring bone */ _bone2;
-    /** Minimum distance (prevents penetration) */ _minDistance;
-    /** Maximum distance (prevents excessive stretching) */ _maxDistance;
-    /** Constraint stiffness (0-1, how strongly to enforce) */ _stiffness;
-    /**
-   * Create a distance constraint.
-   *
-   * @param bone1 - First spring bone
-   * @param bone2 - Second spring bone
-   * @param minDistance - Minimum distance (default: 0.01)
-   * @param maxDistance - Maximum distance (default: 0.2)
-   * @param stiffness - Constraint stiffness (0-1, default: 0.5)
-   */ constructor(bone1, bone2, minDistance = 0.01, maxDistance = 0.2, stiffness = 0.5){
-        super();
-        this._bone1 = bone1;
-        this._bone2 = bone2;
-        this._minDistance = Math.max(0, minDistance);
-        this._maxDistance = Math.max(this._minDistance, maxDistance);
-        this._stiffness = Math.max(0, Math.min(1, stiffness));
-    }
-    /**
-   * Get/set minimum distance.
-   */ get minDistance() {
-        return this._minDistance;
-    }
-    set minDistance(value) {
-        this._minDistance = Math.max(0, value);
-        this._maxDistance = Math.max(this._minDistance, this._maxDistance);
-    }
-    /**
-   * Get/set maximum distance.
-   */ get maxDistance() {
-        return this._maxDistance;
-    }
-    set maxDistance(value) {
-        this._maxDistance = Math.max(this._minDistance, value);
-    }
-    /**
-   * Get/set stiffness.
-   */ get stiffness() {
-        return this._stiffness;
-    }
-    set stiffness(value) {
-        this._stiffness = Math.max(0, Math.min(1, value));
-    }
-    /**
-   * Apply the distance constraint.
-   */ apply() {
-        const pos1 = this._bone1.currentPosition;
-        const pos2 = this._bone2.currentPosition;
-        // Calculate current distance
-        const direction = Vector3.sub(pos2, pos1, new Vector3());
-        const distance = direction.magnitude;
-        if (distance < 0.000001) {
-            return; // Bones are at same position
-        }
-        const directionNorm = Vector3.scale(direction, 1 / distance, new Vector3());
-        let correction = 0;
-        if (distance < this._minDistance) {
-            // Too close, push apart
-            correction = (this._minDistance - distance) * 0.5 * this._stiffness;
-        } else if (distance > this._maxDistance) {
-            // Too far, pull together
-            correction = (this._maxDistance - distance) * 0.5 * this._stiffness;
-        } else {
-            // Within range, no correction needed
-            return;
-        }
-        // Apply correction to both bones (equal and opposite)
-        const offset = Vector3.scale(directionNorm, correction, new Vector3());
-        pos1.addBy(Vector3.scale(offset, -1, new Vector3()));
-        pos2.addBy(offset);
-    }
-}
-/**
- * Circular constraint for skirt-like structures.
- *
- * @remarks
- * Maintains distance constraints between adjacent bones in a circular arrangement.
- * Automatically creates distance constraints between neighboring chains.
- *
- * @public
- */ class CircularConstraint extends SpringBoneConstraint {
-    /** Array of spring bone chains arranged in a circle */ _chains;
-    /** Distance constraints between adjacent chains */ _constraints;
-    /** Minimum distance between adjacent bones */ _minDistance;
-    /** Maximum distance between adjacent bones */ _maxDistance;
-    /** Constraint stiffness */ _stiffness;
-    /**
-   * Create a circular constraint.
-   *
-   * @param chains - Array of spring bone chains arranged in a circle
-   * @param minDistance - Minimum distance between adjacent bones (default: 0.05)
-   * @param maxDistance - Maximum distance between adjacent bones (default: 0.15)
-   * @param stiffness - Constraint stiffness (0-1, default: 0.5)
-   */ constructor(chains, minDistance = 0.05, maxDistance = 0.15, stiffness = 0.5){
-        super();
-        this._chains = chains;
-        this._minDistance = minDistance;
-        this._maxDistance = maxDistance;
-        this._stiffness = stiffness;
-        this._constraints = [];
-        this._buildConstraints();
-    }
-    /**
-   * Build distance constraints between adjacent chains.
-   */ _buildConstraints() {
-        this._constraints = [];
-        if (this._chains.length < 2) {
-            return; // Need at least 2 chains
-        }
-        // For each level (depth in the chain)
-        const maxDepth = Math.min(...this._chains.map((chain)=>chain.length));
-        for(let depth = 0; depth < maxDepth; depth++){
-            // Connect adjacent chains
-            for(let i = 0; i < this._chains.length; i++){
-                const nextIndex = (i + 1) % this._chains.length; // Wrap around
-                const bone1 = this._chains[i][depth];
-                const bone2 = this._chains[nextIndex][depth];
-                if (bone1 && bone2) {
-                    const constraint = new DistanceConstraint(bone1, bone2, this._minDistance, this._maxDistance, this._stiffness);
-                    this._constraints.push(constraint);
-                }
-            }
-        }
-    }
-    /**
-   * Rebuild constraints (call after modifying chains).
-   */ rebuild() {
-        this._buildConstraints();
-    }
-    /**
-   * Apply all distance constraints.
-   */ apply() {
-        for (const constraint of this._constraints){
-            constraint.apply();
-        }
-    }
-    /**
-   * Get all distance constraints.
-   */ get constraints() {
-        return this._constraints;
-    }
-}
-
-export { CircularConstraint, DistanceConstraint, SpringBoneConstraint };
-//# sourceMappingURL=spring_bone_constraint.js.map

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

@@ -1 +0,0 @@
-{"version":3,"file":"spring_bone_constraint.js","sources":["../../../src/animation/spring/spring_bone_constraint.ts"],"sourcesContent":["import { Vector3 } from '@zephyr3d/base';\r\nimport type { SpringBone } from './spring_bone';\r\n\r\n/**\r\n * Base class for spring bone constraints.\r\n *\r\n * @remarks\r\n * Constraints are applied after physics simulation to enforce\r\n * additional rules between spring bones.\r\n *\r\n * @public\r\n */\r\nexport abstract class SpringBoneConstraint {\r\n  /**\r\n   * Apply the constraint.\r\n   *\r\n   * @remarks\r\n   * This method modifies the positions of spring bones to satisfy the constraint.\r\n   */\r\n  abstract apply(): void;\r\n}\r\n\r\n/**\r\n * Distance constraint between two spring bones.\r\n *\r\n * @remarks\r\n * Maintains a distance range between two spring bones.\r\n * Useful for preventing penetration and excessive stretching between\r\n * adjacent chains (e.g., skirt panels).\r\n *\r\n * @public\r\n */\r\nexport class DistanceConstraint extends SpringBoneConstraint {\r\n  /** First spring bone */\r\n  private _bone1: SpringBone;\r\n  /** Second spring bone */\r\n  private _bone2: SpringBone;\r\n  /** Minimum distance (prevents penetration) */\r\n  private _minDistance: number;\r\n  /** Maximum distance (prevents excessive stretching) */\r\n  private _maxDistance: number;\r\n  /** Constraint stiffness (0-1, how strongly to enforce) */\r\n  private _stiffness: number;\r\n\r\n  /**\r\n   * Create a distance constraint.\r\n   *\r\n   * @param bone1 - First spring bone\r\n   * @param bone2 - Second spring bone\r\n   * @param minDistance - Minimum distance (default: 0.01)\r\n   * @param maxDistance - Maximum distance (default: 0.2)\r\n   * @param stiffness - Constraint stiffness (0-1, default: 0.5)\r\n   */\r\n  constructor(\r\n    bone1: SpringBone,\r\n    bone2: SpringBone,\r\n    minDistance = 0.01,\r\n    maxDistance = 0.2,\r\n    stiffness = 0.5\r\n  ) {\r\n    super();\r\n    this._bone1 = bone1;\r\n    this._bone2 = bone2;\r\n    this._minDistance = Math.max(0, minDistance);\r\n    this._maxDistance = Math.max(this._minDistance, maxDistance);\r\n    this._stiffness = Math.max(0, Math.min(1, stiffness));\r\n  }\r\n\r\n  /**\r\n   * Get/set minimum distance.\r\n   */\r\n  get minDistance(): number {\r\n    return this._minDistance;\r\n  }\r\n\r\n  set minDistance(value: number) {\r\n    this._minDistance = Math.max(0, value);\r\n    this._maxDistance = Math.max(this._minDistance, this._maxDistance);\r\n  }\r\n\r\n  /**\r\n   * Get/set maximum distance.\r\n   */\r\n  get maxDistance(): number {\r\n    return this._maxDistance;\r\n  }\r\n\r\n  set maxDistance(value: number) {\r\n    this._maxDistance = Math.max(this._minDistance, value);\r\n  }\r\n\r\n  /**\r\n   * Get/set stiffness.\r\n   */\r\n  get stiffness(): number {\r\n    return this._stiffness;\r\n  }\r\n\r\n  set stiffness(value: number) {\r\n    this._stiffness = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  /**\r\n   * Apply the distance constraint.\r\n   */\r\n  apply(): void {\r\n    const pos1 = this._bone1.currentPosition;\r\n    const pos2 = this._bone2.currentPosition;\r\n\r\n    // Calculate current distance\r\n    const direction = Vector3.sub(pos2, pos1, new Vector3());\r\n    const distance = direction.magnitude;\r\n\r\n    if (distance < 0.000001) {\r\n      return; // Bones are at same position\r\n    }\r\n\r\n    const directionNorm = Vector3.scale(direction, 1 / distance, new Vector3());\r\n\r\n    let correction = 0;\r\n\r\n    if (distance < this._minDistance) {\r\n      // Too close, push apart\r\n      correction = (this._minDistance - distance) * 0.5 * this._stiffness;\r\n    } else if (distance > this._maxDistance) {\r\n      // Too far, pull together\r\n      correction = (this._maxDistance - distance) * 0.5 * this._stiffness;\r\n    } else {\r\n      // Within range, no correction needed\r\n      return;\r\n    }\r\n\r\n    // Apply correction to both bones (equal and opposite)\r\n    const offset = Vector3.scale(directionNorm, correction, new Vector3());\r\n    pos1.addBy(Vector3.scale(offset, -1, new Vector3()));\r\n    pos2.addBy(offset);\r\n  }\r\n}\r\n\r\n/**\r\n * Circular constraint for skirt-like structures.\r\n *\r\n * @remarks\r\n * Maintains distance constraints between adjacent bones in a circular arrangement.\r\n * Automatically creates distance constraints between neighboring chains.\r\n *\r\n * @public\r\n */\r\nexport class CircularConstraint extends SpringBoneConstraint {\r\n  /** Array of spring bone chains arranged in a circle */\r\n  private _chains: SpringBone[][];\r\n  /** Distance constraints between adjacent chains */\r\n  private _constraints: DistanceConstraint[];\r\n  /** Minimum distance between adjacent bones */\r\n  private _minDistance: number;\r\n  /** Maximum distance between adjacent bones */\r\n  private _maxDistance: number;\r\n  /** Constraint stiffness */\r\n  private _stiffness: number;\r\n\r\n  /**\r\n   * Create a circular constraint.\r\n   *\r\n   * @param chains - Array of spring bone chains arranged in a circle\r\n   * @param minDistance - Minimum distance between adjacent bones (default: 0.05)\r\n   * @param maxDistance - Maximum distance between adjacent bones (default: 0.15)\r\n   * @param stiffness - Constraint stiffness (0-1, default: 0.5)\r\n   */\r\n  constructor(\r\n    chains: SpringBone[][],\r\n    minDistance = 0.05,\r\n    maxDistance = 0.15,\r\n    stiffness = 0.5\r\n  ) {\r\n    super();\r\n    this._chains = chains;\r\n    this._minDistance = minDistance;\r\n    this._maxDistance = maxDistance;\r\n    this._stiffness = stiffness;\r\n    this._constraints = [];\r\n\r\n    this._buildConstraints();\r\n  }\r\n\r\n  /**\r\n   * Build distance constraints between adjacent chains.\r\n   */\r\n  private _buildConstraints(): void {\r\n    this._constraints = [];\r\n\r\n    if (this._chains.length < 2) {\r\n      return; // Need at least 2 chains\r\n    }\r\n\r\n    // For each level (depth in the chain)\r\n    const maxDepth = Math.min(...this._chains.map(chain => chain.length));\r\n\r\n    for (let depth = 0; depth < maxDepth; depth++) {\r\n      // Connect adjacent chains\r\n      for (let i = 0; i < this._chains.length; i++) {\r\n        const nextIndex = (i + 1) % this._chains.length; // Wrap around\r\n\r\n        const bone1 = this._chains[i][depth];\r\n        const bone2 = this._chains[nextIndex][depth];\r\n\r\n        if (bone1 && bone2) {\r\n          const constraint = new DistanceConstraint(\r\n            bone1,\r\n            bone2,\r\n            this._minDistance,\r\n            this._maxDistance,\r\n            this._stiffness\r\n          );\r\n          this._constraints.push(constraint);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Rebuild constraints (call after modifying chains).\r\n   */\r\n  rebuild(): void {\r\n    this._buildConstraints();\r\n  }\r\n\r\n  /**\r\n   * Apply all distance constraints.\r\n   */\r\n  apply(): void {\r\n    for (const constraint of this._constraints) {\r\n      constraint.apply();\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Get all distance constraints.\r\n   */\r\n  get constraints(): readonly DistanceConstraint[] {\r\n    return this._constraints;\r\n  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