@zephyr3d/scene 0.9.21 → 0.9.23

package/dist/animation/joint_dynamics/collision.js

@@ -1,7 +1,7 @@
 import { Vector3 } from '@zephyr3d/base';
 import { EPSILON, ColliderForce } from './types.js';
 
-// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class
+// Collision routines ported from SPCRJointDynamicsJob.cs.
 const _pushoutSphereDirection = new Vector3();
 const _pushoutSphereScaled = new Vector3();
 const _pushoutCapsuleVecN = new Vector3();
@@ -161,7 +161,6 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     out.sqrDistance = sqrDistance;
     return out;
 }
-// Pushout (keep point outside collider)
 /**
  * Pushes a point out of a sphere collider.
  *
@@ -224,7 +223,6 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     }
     return writeCollisionResult(out, false, point, !out);
 }
-// PushIn (keep point inside collider - inverse mode)
 /**
  * Pulls a point inside a sphere collider.
  *
@@ -285,7 +283,6 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     }
     return writeCollisionResult(out, false, point, !out);
 }
-// Line segment vs collider detection
 /**
  * Performs sphere collision detection.
  *
@@ -360,7 +357,6 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     res.hit = false;
     return res;
 }
-// Nearest points between two line segments
 /**
  * Computes the nearest points between two segments.
  *
@@ -382,7 +378,6 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);
     return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);
 }
-// Surface collision (triangle-based)
 /**
  * Checks triangle-surface collision against a collider.
  *
@@ -484,7 +479,6 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     }
     return writeSurfaceCheckResult(out, _surfaceNoHit.hit, _surfaceNoHit.intersectionPoint, _surfaceNoHit.pushOut, _surfaceNoHit.pointOnCollider, _surfaceNoHit.radius, !out);
 }
-// Helpers
 function raycast(normal, planeDist, origin, direction) {
     const vdot = Vector3.dot(direction, normal);
     const ndot = -Vector3.dot(origin, normal) - planeDist;

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

@@ -1 +1 @@
-{"version":3,"file":"collision.js","sources":["../../../src/animation/joint_dynamics/collision.ts"],"sourcesContent":["// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class\r\n\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { ColliderR, ColliderRW, PointR } from './types';\r\nimport { EPSILON, ColliderForce } from './types';\r\n\r\n/** @public */\r\nexport interface CollisionResult {\r\n  hit: boolean;\r\n  point: Vector3;\r\n}\r\n\r\n/** @public */\r\nexport interface LineCollisionResult {\r\n  hit: boolean;\r\n  pointOnLine: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface SurfaceCheckResult {\r\n  hit: boolean;\r\n  intersectionPoint: Vector3;\r\n  pushOut: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface NearestPointsResult {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n}\r\n\r\nconst _pushoutSphereDirection = new Vector3();\r\nconst _pushoutSphereScaled = new Vector3();\r\nconst _pushoutCapsuleVecN = new Vector3();\r\nconst _pushoutCapsuleTargetVec = new Vector3();\r\nconst _pushoutCapsuleTail = new Vector3();\r\nconst _pushoutCapsulePosOnVec = new Vector3();\r\nconst _pushoutCapsulePushVec = new Vector3();\r\nconst _pushoutCapsuleScaled = new Vector3();\r\nconst _pushInSphereDirection = new Vector3();\r\nconst _pushInSphereDirectionN = new Vector3();\r\nconst _pushInSphereScaled = new Vector3();\r\nconst _pushInCapsuleVecN = new Vector3();\r\nconst _pushInCapsuleTargetVec = new Vector3();\r\nconst _pushInCapsuleTail = new Vector3();\r\nconst _pushInCapsulePosOnVec = new Vector3();\r\nconst _pushInCapsulePullVec = new Vector3();\r\nconst _pushInCapsulePullVecN = new Vector3();\r\nconst _pushInCapsuleScaled = new Vector3();\r\nconst _collisionSphereDir = new Vector3();\r\nconst _collisionSphereDirN = new Vector3();\r\nconst _collisionSphereToCenter = new Vector3();\r\nconst _collisionSphereScaled = new Vector3();\r\nconst _collisionSphereDiff = new Vector3();\r\nconst _collisionCapsuleTail = new Vector3();\r\nconst _collisionCapsulePointDir = new Vector3();\r\nconst _collisionCapsulePtOnCol = new Vector3();\r\nconst _collisionCapsulePtOnLine = new Vector3();\r\nconst _collisionCapsuleDiff = new Vector3();\r\nconst _collisionCapsuleTempLineResult: LineCollisionResult = {\r\n  hit: false,\r\n  pointOnLine: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _nearestCross0 = new Vector3();\r\nconst _nearestCross1 = new Vector3();\r\nconst _nearestN1 = new Vector3();\r\nconst _nearestN2 = new Vector3();\r\nconst _nearestPosDiff = new Vector3();\r\nconst _nearestPointOnP = new Vector3();\r\nconst _nearestPointOnQ = new Vector3();\r\nconst _nearestPointDiff = new Vector3();\r\nconst _nearestResult: NearestPointsResult = {\r\n  tP: 0,\r\n  tQ: 0,\r\n  pointOnP: new Vector3(),\r\n  pointOnQ: new Vector3(),\r\n  sqrDistance: 0\r\n};\r\nconst _surfaceNoHit: SurfaceCheckResult = {\r\n  hit: false,\r\n  intersectionPoint: new Vector3(),\r\n  pushOut: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _surfaceTriCenter = new Vector3();\r\nconst _surfaceEdgeAB = new Vector3();\r\nconst _surfaceEdgeAC = new Vector3();\r\nconst _surfacePlaneNormal = new Vector3();\r\nconst _surfacePlaneNormalNeg = new Vector3();\r\nconst _surfaceColliderDir = new Vector3();\r\nconst _surfaceRayDir = new Vector3();\r\nconst _surfaceRayDirN = new Vector3();\r\nconst _surfaceTail = new Vector3();\r\nconst _surfaceIntersection = new Vector3();\r\nconst _surfacePushOut = new Vector3();\r\nconst _surfaceToCol = new Vector3();\r\nconst _surfaceEndVec = new Vector3();\r\nconst _surfaceColDirVec = new Vector3();\r\nconst _surfaceIntersecToEnd = new Vector3();\r\nconst _surfaceColToEnd = new Vector3();\r\nconst _surfaceColToIntersect = new Vector3();\r\nconst _surfaceEVec = new Vector3();\r\nconst _surfacePoc2 = new Vector3();\r\nconst _triangleAp = new Vector3();\r\nconst _triangleBp = new Vector3();\r\nconst _triangleCp = new Vector3();\r\nconst _triangleU = new Vector3();\r\nconst _triangleV = new Vector3();\r\nconst _triangleW = new Vector3();\r\n\r\nfunction writeCollisionResult(\r\n  out: CollisionResult | undefined,\r\n  hit: boolean,\r\n  point: Vector3,\r\n  copyPoint: boolean\r\n) {\r\n  if (!out) {\r\n    return { hit, point: copyPoint ? point.clone() : point };\r\n  }\r\n  if (!out.point) {\r\n    out.point = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.point.set(point);\r\n  return out;\r\n}\r\n\r\nfunction writeLineCollisionResult(\r\n  out: LineCollisionResult | undefined,\r\n  hit: boolean,\r\n  pointOnLine: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.pointOnLine) {\r\n    out.pointOnLine = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.pointOnLine.set(pointOnLine);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeSurfaceCheckResult(\r\n  out: SurfaceCheckResult | undefined,\r\n  hit: boolean,\r\n  intersectionPoint: Vector3,\r\n  pushOut: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,\r\n      pushOut: copyVectors ? pushOut.clone() : pushOut,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.intersectionPoint) {\r\n    out.intersectionPoint = new Vector3();\r\n  }\r\n  if (!out.pushOut) {\r\n    out.pushOut = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.intersectionPoint.set(intersectionPoint);\r\n  out.pushOut.set(pushOut);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeNearestPointsResult(\r\n  out: NearestPointsResult | undefined,\r\n  tP: number,\r\n  tQ: number,\r\n  pointOnP: Vector3,\r\n  pointOnQ: Vector3,\r\n  sqrDistance: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      tP,\r\n      tQ,\r\n      pointOnP: copyVectors ? pointOnP.clone() : pointOnP,\r\n      pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,\r\n      sqrDistance\r\n    };\r\n  }\r\n  out.tP = tP;\r\n  out.tQ = tQ;\r\n  out.pointOnP.set(pointOnP);\r\n  out.pointOnQ.set(pointOnQ);\r\n  out.sqrDistance = sqrDistance;\r\n  return out;\r\n}\r\n\r\n// Pushout (keep point outside collider)\r\n\r\n/**\r\n * Pushes a point out of a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  pointRadius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(point, center, _pushoutSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON) {\r\n    const dist = Math.sqrt(sqrLen);\r\n    const targetDist = radius + pointRadius;\r\n    if (dist < targetDist) {\r\n      const scaled = Vector3.scale(direction, targetDist / dist, _pushoutSphereScaled);\r\n      Vector3.add(center, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  return pushoutFromCapsule(colR, colRW, point, ptR, out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);\r\n    return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);\r\n  const sqrPushDist = pushVec.magnitudeSq;\r\n  if (sqrPushDist > EPSILON) {\r\n    const pushDist = Math.sqrt(sqrPushDist);\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    const targetDist = r + ptR.pointRadius;\r\n    if (pushDist < targetDist) {\r\n      const scaled = Vector3.scale(pushVec, targetDist / pushDist, _pushoutCapsuleScaled);\r\n      Vector3.add(posOnVec, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// PushIn (keep point inside collider - inverse mode)\r\n\r\n/**\r\n * Pulls a point inside a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(center, point, _pushInSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON && sqrLen > radius * radius) {\r\n    const dirLen = Math.sqrt(sqrLen);\r\n    const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);\r\n    const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);\r\n    Vector3.add(point, scaled, scaled);\r\n    return writeCollisionResult(out, true, scaled, !out);\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);\r\n  }\r\n  return pushInFromCapsule(colR, colRW, point, out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushInFromSphere(capsulePos, colRW.radius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);\r\n    return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);\r\n  const sqrPullDist = pullVec.magnitudeSq;\r\n  if (sqrPullDist > EPSILON) {\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    if (sqrPullDist > r * r) {\r\n      const pullDist = Math.sqrt(sqrPullDist);\r\n      const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);\r\n      const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);\r\n      Vector3.add(point, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// Line segment vs collider detection\r\n\r\n/**\r\n * Performs sphere collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const dir = Vector3.sub(point2, point1, _collisionSphereDir);\r\n  const dirLen = dir.magnitude;\r\n  if (dirLen < EPSILON) {\r\n    return writeLineCollisionResult(out, false, point1, center, radius, !out);\r\n  }\r\n  const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);\r\n  const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);\r\n  const dot = Vector3.dot(dirN, toCenter);\r\n  const clamped = Math.max(0, Math.min(dot, dirLen));\r\n  const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);\r\n  const hit = diff.magnitudeSq <= radius * radius;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);\r\n}\r\n\r\n/**\r\n * Performs capsule collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const capsuleDir = colRW.directionCurrent;\r\n  const capsulePos = colRW.positionCurrent;\r\n\r\n  let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);\r\n  if (res.hit) {\r\n    return res;\r\n  }\r\n\r\n  const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);\r\n  res = collisionDetectionSphere(\r\n    tail,\r\n    colRW.radius * colR.radiusTailScale,\r\n    point1,\r\n    point2,\r\n    _collisionCapsuleTempLineResult\r\n  );\r\n  if (res.hit) {\r\n    return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);\r\n  }\r\n\r\n  const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);\r\n  const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);\r\n  const t1 = Math.max(0, Math.min(1, nearest.tP));\r\n  const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);\r\n\r\n  if (nearest.sqrDistance > r * r) {\r\n    return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);\r\n  }\r\n\r\n  const t2 = Math.max(0, Math.min(1, nearest.tQ));\r\n  const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);\r\n  Vector3.add(capsulePos, ptOnCol, ptOnCol);\r\n  const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);\r\n  const hit = diff.magnitudeSq <= r * r;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);\r\n}\r\n\r\n/**\r\n * Performs collision detection against the specified collider.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  return collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n}\r\n\r\n/**\r\n * Performs inward collision detection.\r\n *\r\n * @public\r\n */\r\nexport function pushInCollisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n  res.hit = false;\r\n  return res;\r\n}\r\n\r\n// Nearest points between two line segments\r\n\r\n/**\r\n * Computes the nearest points between two segments.\r\n *\r\n * @public\r\n */\r\nexport function computeNearestPoints(\r\n  posP: Vector3,\r\n  dirP: Vector3,\r\n  posQ: Vector3,\r\n  dirQ: Vector3,\r\n  out?: NearestPointsResult\r\n): {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n} {\r\n  const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);\r\n  const n1 = Vector3.cross(dirP, cross0, _nearestN1);\r\n  const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);\r\n  const n2 = Vector3.cross(dirQ, cross1, _nearestN2);\r\n  const dP_n2 = Vector3.dot(dirP, n2);\r\n  const dQ_n1 = Vector3.dot(dirQ, n1);\r\n  const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);\r\n  const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;\r\n  const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;\r\n  const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);\r\n  Vector3.add(posP, pointOnP, pointOnP);\r\n  const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);\r\n  Vector3.add(posQ, pointOnQ, pointOnQ);\r\n  const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);\r\n  return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);\r\n}\r\n\r\n// Surface collision (triangle-based)\r\n\r\n/**\r\n * Checks triangle-surface collision against a collider.\r\n *\r\n * @public\r\n */\r\nexport function checkSurfaceCollision(\r\n  ptA: Vector3,\r\n  ptB: Vector3,\r\n  ptC: Vector3,\r\n  colliderPos: Vector3,\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  out?: SurfaceCheckResult\r\n): SurfaceCheckResult {\r\n  _surfaceNoHit.hit = false;\r\n  _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pushOut.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pointOnCollider.set(colliderPos);\r\n  _surfaceNoHit.radius = colRW.radius;\r\n\r\n  let pointOnCollider = colliderPos;\r\n  let radius = colRW.radius;\r\n  const isCapsule = colR.height > EPSILON;\r\n\r\n  const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);\r\n  const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);\r\n  const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);\r\n  const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);\r\n  Vector3.normalize(planeNormal, planeNormal);\r\n  Vector3.scale(planeNormal, -1, planeNormal);\r\n  const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);\r\n  const planeDist = -Vector3.dot(planeNormalNeg, ptA);\r\n  const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);\r\n  Vector3.normalize(colliderDir, colliderDir);\r\n  const dot = Vector3.dot(colliderDir, planeNormal);\r\n\r\n  if (isCapsule) {\r\n    const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const tempPOC = pointOnCollider;\r\n\r\n    if (side < 0) {\r\n      radius = colRW.radius * colR.radiusTailScale;\r\n      pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);\r\n    }\r\n\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    } else if (colR.forceType !== ColliderForce.Off) {\r\n      pointOnCollider = tempPOC;\r\n      let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);\r\n      _surfaceColDirVec.set(colRW.directionCurrent);\r\n      let colDirVec = _surfaceColDirVec;\r\n      if (colR.forceType === ColliderForce.Pull) {\r\n        const tmp = pointOnCollider;\r\n        pointOnCollider = endVec;\r\n        endVec = tmp;\r\n        colDirVec = Vector3.scale(colDirVec, -1, colDirVec);\r\n      }\r\n      const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);\r\n      if (enter2 !== null) {\r\n        const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);\r\n        Vector3.add(pointOnCollider, ip, ip);\r\n        if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n          const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);\r\n          const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);\r\n          const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);\r\n          const pDot = Vector3.dot(intersecToEnd, colToIntersect);\r\n          const lDot = Vector3.dot(colToEnd, colToEnd);\r\n          if (!(pDot >= 0 && pDot <= lDot)) {\r\n            return writeSurfaceCheckResult(\r\n              out,\r\n              _surfaceNoHit.hit,\r\n              _surfaceNoHit.intersectionPoint,\r\n              _surfaceNoHit.pushOut,\r\n              _surfaceNoHit.pointOnCollider,\r\n              _surfaceNoHit.radius,\r\n              !out\r\n            );\r\n          }\r\n          const dotVal = Vector3.dot(colToEnd, colToIntersect);\r\n          const s2eMag = Vector3.dot(colToEnd, colToEnd);\r\n          const colToEndN = Vector3.normalize(colToEnd, colToEnd);\r\n          const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);\r\n          Vector3.add(pointOnCollider, eVec, eVec);\r\n          const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);\r\n          const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);\r\n          Vector3.add(pointOnCollider, poc2, poc2);\r\n          const toCol = Vector3.sub(poc2, ip, _surfaceToCol);\r\n          if (toCol.magnitudeSq <= radius * radius) {\r\n            return writeSurfaceCheckResult(out, true, ip, pushOut, poc2, radius, !out);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  } else {\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  return writeSurfaceCheckResult(\r\n    out,\r\n    _surfaceNoHit.hit,\r\n    _surfaceNoHit.intersectionPoint,\r\n    _surfaceNoHit.pushOut,\r\n    _surfaceNoHit.pointOnCollider,\r\n    _surfaceNoHit.radius,\r\n    !out\r\n  );\r\n}\r\n\r\n// Helpers\r\n\r\nfunction raycast(normal: Vector3, planeDist: number, origin: Vector3, direction: Vector3): number | null {\r\n  const vdot = Vector3.dot(direction, normal);\r\n  const ndot = -Vector3.dot(origin, normal) - planeDist;\r\n  if (Math.abs(vdot) <= EPSILON) {\r\n    return null;\r\n  }\r\n  const enter = ndot / vdot;\r\n  return enter > 0 ? enter : null;\r\n}\r\n\r\nfunction centerOfTriangle(a: Vector3, b: Vector3, c: Vector3, result?: Vector3): Vector3 {\r\n  result = result || new Vector3();\r\n  return 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+{"version":3,"file":"collision.js","sources":["../../../src/animation/joint_dynamics/collision.ts"],"sourcesContent":["// Collision routines ported from SPCRJointDynamicsJob.cs.\r\n\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { ColliderR, ColliderRW, PointR } from './types';\r\nimport { EPSILON, ColliderForce } from './types';\r\n\r\n/** @public */\r\nexport interface CollisionResult {\r\n  hit: boolean;\r\n  point: Vector3;\r\n}\r\n\r\n/** @public */\r\nexport interface LineCollisionResult {\r\n  hit: boolean;\r\n  pointOnLine: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface SurfaceCheckResult {\r\n  hit: boolean;\r\n  intersectionPoint: Vector3;\r\n  pushOut: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface NearestPointsResult {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n}\r\n\r\nconst _pushoutSphereDirection = new Vector3();\r\nconst _pushoutSphereScaled = new Vector3();\r\nconst _pushoutCapsuleVecN = new Vector3();\r\nconst _pushoutCapsuleTargetVec = new Vector3();\r\nconst _pushoutCapsuleTail = new Vector3();\r\nconst _pushoutCapsulePosOnVec = new Vector3();\r\nconst _pushoutCapsulePushVec = new Vector3();\r\nconst _pushoutCapsuleScaled = new Vector3();\r\nconst _pushInSphereDirection = new Vector3();\r\nconst _pushInSphereDirectionN = new Vector3();\r\nconst _pushInSphereScaled = new Vector3();\r\nconst _pushInCapsuleVecN = new Vector3();\r\nconst _pushInCapsuleTargetVec = new Vector3();\r\nconst _pushInCapsuleTail = new Vector3();\r\nconst _pushInCapsulePosOnVec = new Vector3();\r\nconst _pushInCapsulePullVec = new Vector3();\r\nconst _pushInCapsulePullVecN = new Vector3();\r\nconst _pushInCapsuleScaled = new Vector3();\r\nconst _collisionSphereDir = new Vector3();\r\nconst _collisionSphereDirN = new Vector3();\r\nconst _collisionSphereToCenter = new Vector3();\r\nconst _collisionSphereScaled = new Vector3();\r\nconst _collisionSphereDiff = new Vector3();\r\nconst _collisionCapsuleTail = new Vector3();\r\nconst _collisionCapsulePointDir = new Vector3();\r\nconst _collisionCapsulePtOnCol = new Vector3();\r\nconst _collisionCapsulePtOnLine = new Vector3();\r\nconst _collisionCapsuleDiff = new Vector3();\r\nconst _collisionCapsuleTempLineResult: LineCollisionResult = {\r\n  hit: false,\r\n  pointOnLine: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _nearestCross0 = new Vector3();\r\nconst _nearestCross1 = new Vector3();\r\nconst _nearestN1 = new Vector3();\r\nconst _nearestN2 = new Vector3();\r\nconst _nearestPosDiff = new Vector3();\r\nconst _nearestPointOnP = new Vector3();\r\nconst _nearestPointOnQ = new Vector3();\r\nconst _nearestPointDiff = new Vector3();\r\nconst _nearestResult: NearestPointsResult = {\r\n  tP: 0,\r\n  tQ: 0,\r\n  pointOnP: new Vector3(),\r\n  pointOnQ: new Vector3(),\r\n  sqrDistance: 0\r\n};\r\nconst _surfaceNoHit: SurfaceCheckResult = {\r\n  hit: false,\r\n  intersectionPoint: new Vector3(),\r\n  pushOut: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _surfaceTriCenter = new Vector3();\r\nconst _surfaceEdgeAB = new Vector3();\r\nconst _surfaceEdgeAC = new Vector3();\r\nconst _surfacePlaneNormal = new Vector3();\r\nconst _surfacePlaneNormalNeg = new Vector3();\r\nconst _surfaceColliderDir = new Vector3();\r\nconst _surfaceRayDir = new Vector3();\r\nconst _surfaceRayDirN = new Vector3();\r\nconst _surfaceTail = new Vector3();\r\nconst _surfaceIntersection = new Vector3();\r\nconst _surfacePushOut = new Vector3();\r\nconst _surfaceToCol = new Vector3();\r\nconst _surfaceEndVec = new Vector3();\r\nconst _surfaceColDirVec = new Vector3();\r\nconst _surfaceIntersecToEnd = new Vector3();\r\nconst _surfaceColToEnd = new Vector3();\r\nconst _surfaceColToIntersect = new Vector3();\r\nconst _surfaceEVec = new Vector3();\r\nconst _surfacePoc2 = new Vector3();\r\nconst _triangleAp = new Vector3();\r\nconst _triangleBp = new Vector3();\r\nconst _triangleCp = new Vector3();\r\nconst _triangleU = new Vector3();\r\nconst _triangleV = new Vector3();\r\nconst _triangleW = new Vector3();\r\n\r\nfunction writeCollisionResult(\r\n  out: CollisionResult | undefined,\r\n  hit: boolean,\r\n  point: Vector3,\r\n  copyPoint: boolean\r\n) {\r\n  if (!out) {\r\n    return { hit, point: copyPoint ? point.clone() : point };\r\n  }\r\n  if (!out.point) {\r\n    out.point = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.point.set(point);\r\n  return out;\r\n}\r\n\r\nfunction writeLineCollisionResult(\r\n  out: LineCollisionResult | undefined,\r\n  hit: boolean,\r\n  pointOnLine: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.pointOnLine) {\r\n    out.pointOnLine = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.pointOnLine.set(pointOnLine);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeSurfaceCheckResult(\r\n  out: SurfaceCheckResult | undefined,\r\n  hit: boolean,\r\n  intersectionPoint: Vector3,\r\n  pushOut: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,\r\n      pushOut: copyVectors ? pushOut.clone() : pushOut,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.intersectionPoint) {\r\n    out.intersectionPoint = new Vector3();\r\n  }\r\n  if (!out.pushOut) {\r\n    out.pushOut = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.intersectionPoint.set(intersectionPoint);\r\n  out.pushOut.set(pushOut);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeNearestPointsResult(\r\n  out: NearestPointsResult | undefined,\r\n  tP: number,\r\n  tQ: number,\r\n  pointOnP: Vector3,\r\n  pointOnQ: Vector3,\r\n  sqrDistance: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      tP,\r\n      tQ,\r\n      pointOnP: copyVectors ? pointOnP.clone() : pointOnP,\r\n      pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,\r\n      sqrDistance\r\n    };\r\n  }\r\n  out.tP = tP;\r\n  out.tQ = tQ;\r\n  out.pointOnP.set(pointOnP);\r\n  out.pointOnQ.set(pointOnQ);\r\n  out.sqrDistance = sqrDistance;\r\n  return out;\r\n}\r\n\r\n/**\r\n * Pushes a point out of a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  pointRadius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(point, center, _pushoutSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON) {\r\n    const dist = Math.sqrt(sqrLen);\r\n    const targetDist = radius + pointRadius;\r\n    if (dist < targetDist) {\r\n      const scaled = Vector3.scale(direction, targetDist / dist, _pushoutSphereScaled);\r\n      Vector3.add(center, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  return pushoutFromCapsule(colR, colRW, point, ptR, out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);\r\n    return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);\r\n  const sqrPushDist = pushVec.magnitudeSq;\r\n  if (sqrPushDist > EPSILON) {\r\n    const pushDist = Math.sqrt(sqrPushDist);\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    const targetDist = r + ptR.pointRadius;\r\n    if (pushDist < targetDist) {\r\n      const scaled = Vector3.scale(pushVec, targetDist / pushDist, _pushoutCapsuleScaled);\r\n      Vector3.add(posOnVec, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(center, point, _pushInSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON && sqrLen > radius * radius) {\r\n    const dirLen = Math.sqrt(sqrLen);\r\n    const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);\r\n    const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);\r\n    Vector3.add(point, scaled, scaled);\r\n    return writeCollisionResult(out, true, scaled, !out);\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);\r\n  }\r\n  return pushInFromCapsule(colR, colRW, point, out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushInFromSphere(capsulePos, colRW.radius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);\r\n    return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);\r\n  const sqrPullDist = pullVec.magnitudeSq;\r\n  if (sqrPullDist > EPSILON) {\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    if (sqrPullDist > r * r) {\r\n      const pullDist = Math.sqrt(sqrPullDist);\r\n      const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);\r\n      const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);\r\n      Vector3.add(point, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Performs sphere collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const dir = Vector3.sub(point2, point1, _collisionSphereDir);\r\n  const dirLen = dir.magnitude;\r\n  if (dirLen < EPSILON) {\r\n    return writeLineCollisionResult(out, false, point1, center, radius, !out);\r\n  }\r\n  const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);\r\n  const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);\r\n  const dot = Vector3.dot(dirN, toCenter);\r\n  const clamped = Math.max(0, Math.min(dot, dirLen));\r\n  const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);\r\n  const hit = diff.magnitudeSq <= radius * radius;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);\r\n}\r\n\r\n/**\r\n * Performs capsule collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const capsuleDir = colRW.directionCurrent;\r\n  const capsulePos = colRW.positionCurrent;\r\n\r\n  let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);\r\n  if (res.hit) {\r\n    return res;\r\n  }\r\n\r\n  const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);\r\n  res = collisionDetectionSphere(\r\n    tail,\r\n    colRW.radius * colR.radiusTailScale,\r\n    point1,\r\n    point2,\r\n    _collisionCapsuleTempLineResult\r\n  );\r\n  if (res.hit) {\r\n    return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);\r\n  }\r\n\r\n  const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);\r\n  const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);\r\n  const t1 = Math.max(0, Math.min(1, nearest.tP));\r\n  const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);\r\n\r\n  if (nearest.sqrDistance > r * r) {\r\n    return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);\r\n  }\r\n\r\n  const t2 = Math.max(0, Math.min(1, nearest.tQ));\r\n  const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);\r\n  Vector3.add(capsulePos, ptOnCol, ptOnCol);\r\n  const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);\r\n  const hit = diff.magnitudeSq <= r * r;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);\r\n}\r\n\r\n/**\r\n * Performs collision detection against the specified collider.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  return collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n}\r\n\r\n/**\r\n * Performs inward collision detection.\r\n *\r\n * @public\r\n */\r\nexport function pushInCollisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n  res.hit = false;\r\n  return res;\r\n}\r\n\r\n/**\r\n * Computes the nearest points between two segments.\r\n *\r\n * @public\r\n */\r\nexport function computeNearestPoints(\r\n  posP: Vector3,\r\n  dirP: Vector3,\r\n  posQ: Vector3,\r\n  dirQ: Vector3,\r\n  out?: NearestPointsResult\r\n): {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n} {\r\n  const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);\r\n  const n1 = Vector3.cross(dirP, cross0, _nearestN1);\r\n  const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);\r\n  const n2 = Vector3.cross(dirQ, cross1, _nearestN2);\r\n  const dP_n2 = Vector3.dot(dirP, n2);\r\n  const dQ_n1 = Vector3.dot(dirQ, n1);\r\n  const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);\r\n  const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;\r\n  const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;\r\n  const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);\r\n  Vector3.add(posP, pointOnP, pointOnP);\r\n  const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);\r\n  Vector3.add(posQ, pointOnQ, pointOnQ);\r\n  const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);\r\n  return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);\r\n}\r\n\r\n/**\r\n * Checks triangle-surface collision against a collider.\r\n *\r\n * @public\r\n */\r\nexport function checkSurfaceCollision(\r\n  ptA: Vector3,\r\n  ptB: Vector3,\r\n  ptC: Vector3,\r\n  colliderPos: Vector3,\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  out?: SurfaceCheckResult\r\n): SurfaceCheckResult {\r\n  _surfaceNoHit.hit = false;\r\n  _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pushOut.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pointOnCollider.set(colliderPos);\r\n  _surfaceNoHit.radius = colRW.radius;\r\n\r\n  let pointOnCollider = colliderPos;\r\n  let radius = colRW.radius;\r\n  const isCapsule = colR.height > EPSILON;\r\n\r\n  const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);\r\n  const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);\r\n  const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);\r\n  const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);\r\n  Vector3.normalize(planeNormal, planeNormal);\r\n  Vector3.scale(planeNormal, -1, planeNormal);\r\n  const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);\r\n  const planeDist = -Vector3.dot(planeNormalNeg, ptA);\r\n  const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);\r\n  Vector3.normalize(colliderDir, colliderDir);\r\n  const dot = Vector3.dot(colliderDir, planeNormal);\r\n\r\n  if (isCapsule) {\r\n    const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const tempPOC = pointOnCollider;\r\n\r\n    if (side < 0) {\r\n      radius = colRW.radius * colR.radiusTailScale;\r\n      pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);\r\n    }\r\n\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    } else if (colR.forceType !== ColliderForce.Off) {\r\n      pointOnCollider = tempPOC;\r\n      let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);\r\n      _surfaceColDirVec.set(colRW.directionCurrent);\r\n      let colDirVec = _surfaceColDirVec;\r\n      if (colR.forceType === ColliderForce.Pull) {\r\n        const tmp = pointOnCollider;\r\n        pointOnCollider = endVec;\r\n        endVec = tmp;\r\n        colDirVec = Vector3.scale(colDirVec, -1, colDirVec);\r\n      }\r\n      const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);\r\n      if (enter2 !== null) {\r\n        const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);\r\n        Vector3.add(pointOnCollider, ip, ip);\r\n        if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n          const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);\r\n          const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);\r\n          const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);\r\n          const pDot = Vector3.dot(intersecToEnd, colToIntersect);\r\n          const lDot = Vector3.dot(colToEnd, colToEnd);\r\n          if (!(pDot >= 0 && pDot <= lDot)) {\r\n            return writeSurfaceCheckResult(\r\n              out,\r\n              _surfaceNoHit.hit,\r\n              _surfaceNoHit.intersectionPoint,\r\n              _surfaceNoHit.pushOut,\r\n              _surfaceNoHit.pointOnCollider,\r\n              _surfaceNoHit.radius,\r\n              !out\r\n            );\r\n          }\r\n          const dotVal = Vector3.dot(colToEnd, colToIntersect);\r\n          const s2eMag = Vector3.dot(colToEnd, colToEnd);\r\n          const colToEndN = Vector3.normalize(colToEnd, colToEnd);\r\n          const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);\r\n          Vector3.add(pointOnCollider, eVec, eVec);\r\n          const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);\r\n          const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);\r\n          Vector3.add(pointOnCollider, poc2, poc2);\r\n          const toCol = Vector3.sub(poc2, ip, _surfaceToCol);\r\n          if (toCol.magnitudeSq <= radius * radius) {\r\n            return writeSurfaceCheckResult(out, true, ip, pushOut, poc2, radius, !out);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  } else {\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  return writeSurfaceCheckResult(\r\n    out,\r\n    _surfaceNoHit.hit,\r\n    _surfaceNoHit.intersectionPoint,\r\n    _surfaceNoHit.pushOut,\r\n    _surfaceNoHit.pointOnCollider,\r\n    _surfaceNoHit.radius,\r\n    !out\r\n  );\r\n}\r\n\r\nfunction raycast(normal: Vector3, planeDist: number, origin: Vector3, direction: Vector3): number | null {\r\n  const vdot = Vector3.dot(direction, normal);\r\n  const ndot = -Vector3.dot(origin, normal) - planeDist;\r\n  if (Math.abs(vdot) <= EPSILON) {\r\n    return null;\r\n  }\r\n  const enter = ndot / vdot;\r\n  return enter > 0 ? enter : null;\r\n}\r\n\r\nfunction centerOfTriangle(a: Vector3, b: Vector3, c: Vector3, result?: Vector3): Vector3 {\r\n  result = result || new Vector3();\r\n  return result.setXYZ((a.x + b.x + c.x) / 3, (a.y + b.y + c.y) / 3, (a.z + b.z + c.z) / 3);\r\n}\r\n\r\nfunction triangleContainsPoint(a: Vector3, b: Vector3, c: Vector3, p: Vector3): boolean {\r\n  const ap = Vector3.sub(a, p, _triangleAp);\r\n  const bp = Vector3.sub(b, p, _triangleBp);\r\n  const cp = Vector3.sub(c, p, _triangleCp);\r\n  const u = Vector3.cross(ap, bp, _triangleU);\r\n  const vv = Vector3.cross(bp, cp, _triangleV);\r\n  const w = Vector3.cross(cp, ap, _triangleW);\r\n  if (Vector3.dot(u, vv) < 0) {\r\n    return false;\r\n  }\r\n  if (Vector3.dot(vv, w) < 0) {\r\n    return false;\r\n  }\r\n  return true;\r\n}\r\n\r\nfunction lerp(a: number, b: number, t: number): number {\r\n  return a + (b - a) * 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package/dist/animation/joint_dynamics/constraints.js

@@ -1,14 +1,13 @@
 import { Vector3 } from '@zephyr3d/base';
 import { ConstraintType } from './types.js';
 
-// Constraint creation utilities — port of SPCRJointDynamicsController constraint building
+// Constraint builders ported from SPCRJointDynamicsController.
 function getFirstChild(node) {
     return node.children.length > 0 ? node.children[0] : null;
 }
 function constraintLength(a, b) {
     return Vector3.distance(a.position, b.position);
 }
-// ── Structural Vertical: parent→child chains ──
 function createStructuralVertical(node, out) {
     for (const child of node.children){
         out.push({
@@ -20,7 +19,6 @@ function createStructuralVertical(node, out) {
         createStructuralVertical(child, out);
     }
 }
-// ── Structural Horizontal: same-depth siblings across chains ──
 function createHorizontal(a, b, type, out) {
     if (!a || !b || a === b) {
         return;
@@ -51,7 +49,6 @@ function createHorizontal(a, b, type, out) {
         });
     }
 }
-// ── Shear: diagonal cross-bracing ──
 function createShear(a, b, out) {
     if (!a || !b || a === b) {
         return;
@@ -82,7 +79,6 @@ function createShear(a, b, out) {
     }
     createShear(cA, cB, out);
 }
-// ── Bending Vertical: skip-one (grandparent→grandchild) ──
 function createBendingVertical(node, out) {
     if (node.children.length !== 1) {
         return;
@@ -100,7 +96,6 @@ function createBendingVertical(node, out) {
     });
     createBendingVertical(childA, out);
 }
-// ── Constraint grouping (no shared point indices per group) ──
 function findSameIndex(group, c) {
     for (const g of group){
         if (g.indexA === c.indexA || g.indexA === c.indexB || g.indexB === c.indexA || g.indexB === c.indexB) {
@@ -120,7 +115,6 @@ function pushToGroups(groups, c) {
         c
     ]);
 }
-// ── Surface faces (quads → 2 triangles of 3 indices) ──
 function createSurfaceFaces(a, b, out) {
     if (!a || !b || a === b) {
         return;
@@ -129,13 +123,12 @@ function createSurfaceFaces(a, b, out) {
     const cB = getFirstChild(b);
     if (cA && cB) {
         if (a.useForSurfaceCollision !== false && b.useForSurfaceCollision !== false && cA.useForSurfaceCollision !== false && cB.useForSurfaceCollision !== false) {
-            // Quad ABCD → triangles ABC, CDA
+            // Quad ABCD becomes triangles ABC and CDA.
             out.push(a.index, b.index, cB.index, cB.index, cA.index, a.index);
         }
         createSurfaceFaces(cA, cB, out);
     }
 }
-// ── Public API ──
 /**
  * Builds solver constraints from the supplied root chains.
  *
@@ -155,7 +148,6 @@ function createSurfaceFaces(a, b, out) {
             });
         }
     };
-    // Bending Horizontal
     if (options.bendingHorizontal) {
         const raw = [];
         const pairs = options.isLoop ? Array.from({
@@ -174,7 +166,6 @@ function createSurfaceFaces(a, b, out) {
         }
         addRaw(raw, false);
     }
-    // Bending Vertical
     if (options.bendingVertical) {
         const raw = [];
         for (const root of rootPoints){
@@ -182,7 +173,6 @@ function createSurfaceFaces(a, b, out) {
         }
         addRaw(raw, false);
     }
-    // Shear
     if (options.shear) {
         const raw = [];
         const pairs = options.isLoop ? Array.from({
@@ -201,7 +191,6 @@ function createSurfaceFaces(a, b, out) {
         }
         addRaw(raw, options.enableSurfaceCollision || options.collideShear);
     }
-    // Structural Horizontal
     if (options.structuralHorizontal) {
         const raw = [];
         const pairs = options.isLoop ? Array.from({
@@ -220,7 +209,6 @@ function createSurfaceFaces(a, b, out) {
         }
         addRaw(raw, options.enableSurfaceCollision || options.collideStructuralHorizontal);
     }
-    // Structural Vertical
     if (options.structuralVertical) {
         const raw = [];
         for (const root of rootPoints){
@@ -228,7 +216,6 @@ function createSurfaceFaces(a, b, out) {
         }
         addRaw(raw, options.enableSurfaceCollision || options.collideStructuralVertical);
     }
-    // Flatten groups into single array
     return groups.flat();
 }
 /**
@@ -312,13 +299,11 @@ function createSurfaceFaces(a, b, out) {
     }
     return sorted;
 }
-// ── Helpers ──
 function distXYZ(a, b, ignoreY) {
     const dx = a.x - b.x, dz = a.z - b.z;
     const dy = ignoreY ? 0 : a.y - b.y;
     return dx * dx + dy * dy + dz * dz;
 }
-// Walk all nodes to find if a given index is fixed
 function isBoneFixed(roots, index) {
     function find(node) {
         if (node.index === index) {

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

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