@zephyr3d/scene 0.9.22 → 0.9.23

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

@@ -1 +1 @@
-{"version":3,"file":"joint_dynamics_system.js","sources":["../../../src/animation/joint_dynamics/joint_dynamics_system.ts"],"sourcesContent":["import type { DeepPartial } from '@zephyr3d/base';\r\nimport { InterpolatorScalar, Vector3 } from '@zephyr3d/base';\r\nimport { Quaternion } from '@zephyr3d/base';\r\nimport { SceneNode } from '../../scene/scene_node';\r\nimport type {\r\n  ControllerConfig,\r\n  JointDynamicsColliderSnapshot,\r\n  JointDynamicsColliderHandle,\r\n  JointDynamicsFlatPlaneSnapshot,\r\n  JointDynamicsFlatPlaneHandle,\r\n  JointDynamicsGrabberSnapshot,\r\n  JointDynamicsGrabberHandle\r\n} from './controller';\r\nimport { JointDynamicsSystemController } from './controller';\r\nimport { ColliderForce, type BoneNode, type ColliderR, type GrabberR, type TransformAccess } from './types';\r\nimport type { SkeletonBindPose } from '../skeleton';\r\n\r\nconst _quat = new Quaternion();\r\n\r\nconst _defaultTA = createTransformAccess(new SceneNode(null), false);\r\n\r\n/**\r\n * Create a transform adapter that lets the joint dynamics solver read from and write to a SceneNode.\r\n *\r\n * @param obj - Scene node to expose through the TransformAccess interface.\r\n * @returns A TransformAccess wrapper backed by the supplied scene node.\r\n *\r\n * @public\r\n */\r\nexport function createTransformAccess(obj: SceneNode, exposeNode = true): TransformAccess {\r\n  return {\r\n    ...(exposeNode ? { node: obj } : {}),\r\n    getWorldPosition(): Vector3 {\r\n      return obj.getWorldPosition();\r\n    },\r\n    getWorldRotation(): Quaternion {\r\n      const q = new Quaternion();\r\n      obj.worldMatrix.decompose(null, q, null);\r\n      return q;\r\n    },\r\n    getWorldScale(): Vector3 {\r\n      const s = new Vector3();\r\n      obj.worldMatrix.decompose(s, null, null);\r\n      return s;\r\n    },\r\n    getLocalPosition(): Vector3 {\r\n      return obj.position.clone();\r\n    },\r\n    getLocalRotation(): Quaternion {\r\n      return obj.rotation.clone();\r\n    },\r\n    getLocalScale(): Vector3 {\r\n      return obj.scale.clone();\r\n    },\r\n    setWorldPosition(p: Vector3): void {\r\n      if (obj.parent) {\r\n        obj.position = obj.parent.invWorldMatrix.transformPointAffine(p);\r\n      } else {\r\n        obj.position.set(p);\r\n      }\r\n    },\r\n    setWorldRotation(q: Quaternion): void {\r\n      // Convert world rotation to local: localRot = inverse(parentWorldRot) * worldRot\r\n      if (obj.parent) {\r\n        obj.parent.worldMatrix.decompose(null, _quat, null);\r\n        Quaternion.multiply(Quaternion.inverse(_quat), q, obj.rotation);\r\n      } else {\r\n        obj.rotation.set(q);\r\n      }\r\n    },\r\n    setLocalPosition(p: Vector3): void {\r\n      obj.position.set(p);\r\n    },\r\n    setLocalRotation(q: Quaternion): void {\r\n      obj.rotation.set(q);\r\n    },\r\n    setLocalScale(s: Vector3): void {\r\n      obj.scale.set(s);\r\n    }\r\n  };\r\n}\r\n\r\n/**\r\n * Describes the bone chains simulated by a JointDynamicsSystem.\r\n *\r\n * Each chain is defined by an inclusive start and end node. The end node must be\r\n * a descendant of the start node.\r\n *\r\n * @public\r\n */\r\nexport type JointChainConfig = {\r\n  /** Root transform used for root motion compensation. */\r\n  systemRoot: SceneNode;\r\n  /** Bone chains to simulate. */\r\n  chains: { start: SceneNode; end: SceneNode }[];\r\n};\r\n\r\n/**\r\n * Configuration used to construct a JointDynamicsSystem.\r\n *\r\n * @public\r\n */\r\nexport type JointDynamicSystemConfig = {\r\n  /** Bone chain topology and root transform. */\r\n  chainConfig: JointChainConfig;\r\n  /** Optional controller configuration overrides. */\r\n  controllerConfig?: DeepPartial<ControllerConfig, 2>;\r\n};\r\n\r\n/**\r\n * Physics system for spring-like joint dynamics on scene node bone chains.\r\n *\r\n * The system builds particles and constraints from one or more bone chains,\r\n * advances them with Verlet integration, solves constraints and collisions, and\r\n * writes the resulting positions and rotations back to the scene graph.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsSystem {\r\n  private _controller: JointDynamicsSystemController;\r\n  private _chainConfig: JointChainConfig;\r\n  private _bindPose: WeakMap<SceneNode, SkeletonBindPose>;\r\n  /**\r\n   * Create a joint dynamics system for one or more bone chains.\r\n   *\r\n   * @param config - Bone chain topology and controller configuration.\r\n   * @param colliders - Optional colliders to register during initialization.\r\n   * @param grabbers - Optional grabbers to register during initialization.\r\n   * @param flatPlanes - Optional world-space planes that dynamic points cannot cross.\r\n   */\r\n  constructor(\r\n    config: JointDynamicSystemConfig,\r\n    colliders: { r: ColliderR; transform: TransformAccess }[] = [],\r\n    grabbers: {\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }[] = [],\r\n    flatPlanes: { up: Vector3; position: Vector3 }[] = []\r\n  ) {\r\n    this._chainConfig = {\r\n      systemRoot: config.chainConfig.systemRoot,\r\n      chains: config.chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n    this._bindPose = new WeakMap();\r\n    const rootPoints: BoneNode[] = [];\r\n    const boneNodes: BoneNode[] = [];\r\n    const boneToNode = new Map<BoneNode, SceneNode>();\r\n    const pointTransforms: TransformAccess[] = [];\r\n    const nodeToBone = new Map<SceneNode, BoneNode>();\r\n    const nodeToDepth = new Map<SceneNode, number>();\r\n    for (const chain of config.chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      let previous: BoneNode | null = null;\r\n      for (let i = 0; i < chainNodes.length; i++) {\r\n        const node = chainNodes[i];\r\n        let boneNode = nodeToBone.get(node);\r\n        if (!boneNode) {\r\n          this._bindPose.set(node, {\r\n            position: node.position.clone(),\r\n            rotation: node.rotation.clone(),\r\n            scale: node.scale.clone()\r\n          });\r\n          boneNode = {\r\n            index: boneNodes.length,\r\n            position: node.getWorldPosition(),\r\n            children: [],\r\n            isFixed: i === 0,\r\n            depth: i\r\n          };\r\n          nodeToBone.set(node, boneNode);\r\n          nodeToDepth.set(node, i);\r\n          boneNodes.push(boneNode);\r\n          boneToNode.set(boneNode, node);\r\n        } else {\r\n          const depth = nodeToDepth.get(node) ?? boneNode.depth;\r\n          if (i < depth) {\r\n            boneNode.depth = i;\r\n            nodeToDepth.set(node, i);\r\n          }\r\n          boneNode.isFixed = boneNode.isFixed || i === 0;\r\n        }\r\n        if (previous && !previous.children.includes(boneNode)) {\r\n          previous.children.push(boneNode);\r\n          const rootIndex = rootPoints.indexOf(boneNode);\r\n          if (rootIndex !== -1) {\r\n            rootPoints.splice(rootIndex, 1);\r\n          }\r\n        } else if (!previous && !rootPoints.includes(boneNode)) {\r\n          rootPoints.push(boneNode);\r\n        }\r\n        previous = boneNode;\r\n      }\r\n    }\r\n    const orderedBoneNodes: BoneNode[] = [];\r\n    const visitedBoneNodes = new Set<BoneNode>();\r\n    const orderBoneNode = (boneNode: BoneNode) => {\r\n      if (visitedBoneNodes.has(boneNode)) {\r\n        return;\r\n      }\r\n      visitedBoneNodes.add(boneNode);\r\n      boneNode.index = orderedBoneNodes.length;\r\n      orderedBoneNodes.push(boneNode);\r\n      for (const child of boneNode.children) {\r\n        orderBoneNode(child);\r\n      }\r\n    };\r\n    for (const root of rootPoints) {\r\n      orderBoneNode(root);\r\n    }\r\n    boneNodes.length = 0;\r\n    boneNodes.push(...orderedBoneNodes);\r\n    pointTransforms.push(...boneNodes.map((boneNode) => createTransformAccess(boneToNode.get(boneNode)!)));\r\n    const systemRoot = createTransformAccess(config.chainConfig.systemRoot);\r\n    const defaultConfig = this.getDefaultControllerConfig();\r\n    const controllerConfig: ControllerConfig = {\r\n      ...defaultConfig,\r\n      ...config?.controllerConfig,\r\n      angleLimitConfig: { ...defaultConfig.angleLimitConfig, ...config?.controllerConfig?.angleLimitConfig },\r\n      curves: { ...defaultConfig.curves, ...config?.controllerConfig?.curves },\r\n      constraintOptions: {\r\n        ...defaultConfig.constraintOptions,\r\n        ...config?.controllerConfig?.constraintOptions\r\n      }\r\n    };\r\n    this._controller = new JointDynamicsSystemController(controllerConfig);\r\n    this._controller.initialize(systemRoot, rootPoints, pointTransforms, colliders, grabbers, flatPlanes);\r\n  }\r\n\r\n  /**\r\n   * Get the low-level controller that owns simulation state and advanced runtime controls.\r\n   *\r\n   * Most callers should prefer the convenience methods on JointDynamicsSystem.\r\n   *\r\n   * @returns The underlying joint dynamics controller.\r\n   */\r\n  get controller(): JointDynamicsSystemController {\r\n    return this._controller;\r\n  }\r\n\r\n  /**\r\n   * Get the node chain topology used to construct this system.\r\n   */\r\n  get chainConfig(): JointChainConfig {\r\n    return {\r\n      systemRoot: this._chainConfig.systemRoot,\r\n      chains: this._chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n  }\r\n\r\n  /**\r\n   * Returns detached collider snapshots for serialization.\r\n   */\r\n  getColliderSnapshots(): JointDynamicsColliderSnapshot[] {\r\n    return this._controller.getColliderSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached flat-plane snapshots for serialization.\r\n   */\r\n  getFlatPlaneSnapshots(): JointDynamicsFlatPlaneSnapshot[] {\r\n    return this._controller.getFlatPlaneSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached grabber snapshots for serialization.\r\n   */\r\n  getGrabberSnapshots(): JointDynamicsGrabberSnapshot[] {\r\n    return this._controller.getGrabberSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Reset chain nodes to bind pose\r\n   */\r\n  resetChains() {\r\n    for (const chain of this._chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      for (const node of chainNodes) {\r\n        const bindPose = this._bindPose.get(node);\r\n        if (bindPose) {\r\n          node.position = bindPose.position;\r\n          node.rotation = bindPose.rotation;\r\n          node.scale = bindPose.scale;\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Add a fully configured collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simula ; ion step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param r - Read-only collider parameters.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform?: SceneNode): JointDynamicsColliderHandle {\r\n    return this._controller.addCollider(r, transform ? createTransformAccess(transform) : _defaultTA);\r\n  }\r\n\r\n  /**\r\n   * Add a spherical collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param radius - Sphere radius in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the sphere instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addSphereCollider(\r\n    radius: number,\r\n    transform?: SceneNode,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height: 0,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Add a capsule collider at runtime.\r\n   *\r\n   * The capsule is aligned to the collider transform's local Y axis. Its head radius is\r\n   * `radius`, its tail radius is `radius * radiusTailScale`, and `height` defines the\r\n   * distance between the capsule ends before transform scaling.\r\n   *\r\n   * @param radius - Capsule head radius in world units before transform scaling.\r\n   * @param height - Capsule length in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param radiusTailScale - Tail radius multiplier relative to the head radius. Defaults to 1.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the capsule instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCapsuleCollider(\r\n    radius: number,\r\n    height: number,\r\n    transform?: SceneNode,\r\n    radiusTailScale?: number,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: radiusTailScale ?? 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by stable handle.\r\n   *\r\n   * Disabled colliders remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @param enabled - Whether the collider should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    return this._controller.setColliderEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    return this._controller.removeCollider(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   *\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   *\r\n   * @param index - Current collider array index.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    return this._controller.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane collider at runtime.\r\n   *\r\n   * Flat planes are infinite world-space planes. The normal points toward the allowed side,\r\n   * and dynamic points are pushed back when they move behind the plane.\r\n   *\r\n   * @param up - Plane normal in world space.\r\n   * @param position - A point on the plane in world space.\r\n   * @returns A stable handle that remains valid until this flat plane is removed.\r\n   */\r\n  addFlatPlane(up: Vector3, position: Vector3): JointDynamicsFlatPlaneHandle {\r\n    return this._controller.addFlatPlane(up, position);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by stable handle.\r\n   *\r\n   * Disabled flat planes remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @param enabled - Whether the flat plane should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    return this._controller.setFlatPlaneEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    return this._controller.removeFlatPlane(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * Prefer removeFlatPlane(handle) for runtime-owned flat planes.\r\n   *\r\n   * @param index - Current flat plane array index.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    return this._controller.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   *\r\n   * The grabber transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the grabber is created at the identity transform.\r\n   *\r\n   * @param r - Read-only grabber parameters.\r\n   * @param transform - Optional scene node that drives the grabber transform.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform?: SceneNode): JointDynamicsGrabberHandle {\r\n    return this._controller.addGrabber(r, transform ? createTransformAccess(transform) : _defaultTA, false);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by stable handle.\r\n   *\r\n   * Disabling a grabber also releases any points currently held by it.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @param enabled - Whether the grabber should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    return this._controller.setGrabberEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    return this._controller.removeGrabber(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   *\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Current grabber array index.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    return this._controller.removeGrabberAt(index);\r\n  }\r\n\r\n  private collectChainNodes(start: SceneNode, end: SceneNode): SceneNode[] {\r\n    if (!start.isParentOf(end)) {\r\n      throw new Error('Invalid chain: end node must be a descendant of start node');\r\n    }\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode = end;\r\n    for (;;) {\r\n      nodes.unshift(current);\r\n      if (current === start) {\r\n        break;\r\n      }\r\n      current = current.parent!;\r\n    }\r\n    return nodes;\r\n  }\r\n  /**\r\n   * Advance the physics simulation and write the resulting transforms back to the chain nodes.\r\n   *\r\n   * @param deltaTime - Frame time step in seconds. Values larger than 0.033 are clamped for stability.\r\n   */\r\n  update(deltaTime: number): void {\r\n    // Clamp deltaTime to prevent instability\r\n    const dt = Math.min(deltaTime, 0.033); // Max 30 FPS\r\n    // simulation\r\n    this._controller.step(dt);\r\n  }\r\n  /** @internal */\r\n  private getDefaultControllerConfig(): ControllerConfig {\r\n    return {\r\n      gravity: new Vector3(0, -9.8, 0),\r\n      relaxation: 3,\r\n      subSteps: 3,\r\n      enableSurfaceCollision: false,\r\n      windForce: Vector3.zero(),\r\n      rootSlideLimit: -1,\r\n      rootRotateLimit: -1,\r\n      constraintShrinkLimit: 1,\r\n      blendRatio: 0,\r\n      stabilizationFrameRate: 60,\r\n      isFakeWave: false,\r\n      fakeWaveSpeed: 0,\r\n      fakeWavePower: 0,\r\n      angleLimitConfig: { angleLimit: -1, limitFromRoot: false },\r\n      enableBroadPhase: false,\r\n      preserveTwist: true,\r\n      curves: {\r\n        gravityScale: InterpolatorScalar.constant(1),\r\n        windForceScale: InterpolatorScalar.constant(1),\r\n        massScale: InterpolatorScalar.constant(1),\r\n        resistance: InterpolatorScalar.constant(0.95),\r\n        hardness: InterpolatorScalar.constant(0.001),\r\n        friction: InterpolatorScalar.constant(0.5),\r\n        pointRadius: InterpolatorScalar.constant(0.05),\r\n        sliderJointLength: InterpolatorScalar.constant(0),\r\n        allShrinkScale: InterpolatorScalar.constant(1),\r\n        allStretchScale: InterpolatorScalar.constant(1),\r\n        structuralShrinkVertical: InterpolatorScalar.constant(1),\r\n        structuralStretchVertical: InterpolatorScalar.constant(1),\r\n        structuralShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        structuralStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        shearShrink: InterpolatorScalar.constant(0.5),\r\n        shearStretch: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkVertical: InterpolatorScalar.constant(0.5),\r\n        bendingStretchVertical: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        bendingStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        fakeWavePower: InterpolatorScalar.constant(0),\r\n        fakeWaveFreq: InterpolatorScalar.constant(0)\r\n      },\r\n      constraintOptions: {\r\n        structuralVertical: false,\r\n        structuralHorizontal: false,\r\n        shear: false,\r\n        bendingVertical: false,\r\n        bendingHorizontal: false,\r\n        isLoop: false,\r\n        collideStructuralVertical: false,\r\n        collideStructuralHorizontal: false,\r\n        collideShear: false,\r\n        enableSurfaceCollision: false\r\n      }\r\n    };\r\n  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+{"version":3,"file":"joint_dynamics_system.js","sources":["../../../src/animation/joint_dynamics/joint_dynamics_system.ts"],"sourcesContent":["import type { DeepPartial } from '@zephyr3d/base';\r\nimport { InterpolatorScalar, Vector3 } from '@zephyr3d/base';\r\nimport { Quaternion } from '@zephyr3d/base';\r\nimport { SceneNode } from '../../scene/scene_node';\r\nimport type {\r\n  ControllerConfig,\r\n  JointDynamicsColliderSnapshot,\r\n  JointDynamicsColliderHandle,\r\n  JointDynamicsFlatPlaneSnapshot,\r\n  JointDynamicsFlatPlaneHandle,\r\n  JointDynamicsGrabberSnapshot,\r\n  JointDynamicsGrabberHandle\r\n} from './controller';\r\nimport { JointDynamicsSystemController } from './controller';\r\nimport { ColliderForce, type BoneNode, type ColliderR, type GrabberR, type TransformAccess } from './types';\r\nimport type { SkeletonBindPose } from '../skeleton';\r\n\r\nconst _quat = new Quaternion();\r\n\r\nconst _defaultTA = createTransformAccess(new SceneNode(null), false);\r\n\r\n/**\r\n * Create a transform adapter that lets the joint dynamics solver read from and write to a SceneNode.\r\n *\r\n * @param obj - Scene node to expose through the TransformAccess interface.\r\n * @returns A TransformAccess wrapper backed by the supplied scene node.\r\n *\r\n * @public\r\n */\r\nexport function createTransformAccess(obj: SceneNode, exposeNode = true): TransformAccess {\r\n  return {\r\n    ...(exposeNode ? { node: obj } : {}),\r\n    getWorldPosition(): Vector3 {\r\n      return obj.getWorldPosition();\r\n    },\r\n    getWorldRotation(): Quaternion {\r\n      const q = new Quaternion();\r\n      obj.worldMatrix.decompose(null, q, null);\r\n      return q;\r\n    },\r\n    getWorldScale(): Vector3 {\r\n      const s = new Vector3();\r\n      obj.worldMatrix.decompose(s, null, null);\r\n      return s;\r\n    },\r\n    getLocalPosition(): Vector3 {\r\n      return obj.position.clone();\r\n    },\r\n    getLocalRotation(): Quaternion {\r\n      return obj.rotation.clone();\r\n    },\r\n    getLocalScale(): Vector3 {\r\n      return obj.scale.clone();\r\n    },\r\n    setWorldPosition(p: Vector3): void {\r\n      if (obj.parent) {\r\n        obj.position = obj.parent.invWorldMatrix.transformPointAffine(p);\r\n      } else {\r\n        obj.position.set(p);\r\n      }\r\n    },\r\n    setWorldRotation(q: Quaternion): void {\r\n      // Convert world rotation to local space.\r\n      if (obj.parent) {\r\n        obj.parent.worldMatrix.decompose(null, _quat, null);\r\n        Quaternion.multiply(Quaternion.inverse(_quat), q, obj.rotation);\r\n      } else {\r\n        obj.rotation.set(q);\r\n      }\r\n    },\r\n    setLocalPosition(p: Vector3): void {\r\n      obj.position.set(p);\r\n    },\r\n    setLocalRotation(q: Quaternion): void {\r\n      obj.rotation.set(q);\r\n    },\r\n    setLocalScale(s: Vector3): void {\r\n      obj.scale.set(s);\r\n    }\r\n  };\r\n}\r\n\r\n/**\r\n * Describes the bone chains simulated by a JointDynamicsSystem.\r\n *\r\n * Each chain is defined by an inclusive start and end node. The end node must be\r\n * a descendant of the start node.\r\n *\r\n * @public\r\n */\r\nexport type JointChainConfig = {\r\n  /** Root transform used for root motion compensation. */\r\n  systemRoot: SceneNode;\r\n  /** Bone chains to simulate. */\r\n  chains: { start: SceneNode; end: SceneNode }[];\r\n};\r\n\r\n/**\r\n * Configuration used to construct a JointDynamicsSystem.\r\n *\r\n * @public\r\n */\r\nexport type JointDynamicSystemConfig = {\r\n  /** Bone chain topology and root transform. */\r\n  chainConfig: JointChainConfig;\r\n  /** Optional controller configuration overrides. */\r\n  controllerConfig?: DeepPartial<ControllerConfig, 2>;\r\n};\r\n\r\n/**\r\n * Physics system for spring-like joint dynamics on scene node bone chains.\r\n *\r\n * The system builds particles and constraints from one or more bone chains,\r\n * advances them with Verlet integration, solves constraints and collisions, and\r\n * writes the resulting positions and rotations back to the scene graph.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsSystem {\r\n  private _controller: JointDynamicsSystemController;\r\n  private _chainConfig: JointChainConfig;\r\n  private _bindPose: WeakMap<SceneNode, SkeletonBindPose>;\r\n  /**\r\n   * Create a joint dynamics system for one or more bone chains.\r\n   *\r\n   * @param config - Bone chain topology and controller configuration.\r\n   * @param colliders - Optional colliders to register during initialization.\r\n   * @param grabbers - Optional grabbers to register during initialization.\r\n   * @param flatPlanes - Optional world-space planes that dynamic points cannot cross.\r\n   */\r\n  constructor(\r\n    config: JointDynamicSystemConfig,\r\n    colliders: { r: ColliderR; transform: TransformAccess }[] = [],\r\n    grabbers: {\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }[] = [],\r\n    flatPlanes: { up: Vector3; position: Vector3 }[] = []\r\n  ) {\r\n    this._chainConfig = {\r\n      systemRoot: config.chainConfig.systemRoot,\r\n      chains: config.chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n    this._bindPose = new WeakMap();\r\n    const rootPoints: BoneNode[] = [];\r\n    const boneNodes: BoneNode[] = [];\r\n    const boneToNode = new Map<BoneNode, SceneNode>();\r\n    const pointTransforms: TransformAccess[] = [];\r\n    const nodeToBone = new Map<SceneNode, BoneNode>();\r\n    const nodeToDepth = new Map<SceneNode, number>();\r\n    for (const chain of config.chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      let previous: BoneNode | null = null;\r\n      for (let i = 0; i < chainNodes.length; i++) {\r\n        const node = chainNodes[i];\r\n        let boneNode = nodeToBone.get(node);\r\n        if (!boneNode) {\r\n          this._bindPose.set(node, {\r\n            position: node.position.clone(),\r\n            rotation: node.rotation.clone(),\r\n            scale: node.scale.clone()\r\n          });\r\n          boneNode = {\r\n            index: boneNodes.length,\r\n            position: node.getWorldPosition(),\r\n            children: [],\r\n            isFixed: i === 0,\r\n            depth: i\r\n          };\r\n          nodeToBone.set(node, boneNode);\r\n          nodeToDepth.set(node, i);\r\n          boneNodes.push(boneNode);\r\n          boneToNode.set(boneNode, node);\r\n        } else {\r\n          const depth = nodeToDepth.get(node) ?? boneNode.depth;\r\n          if (i < depth) {\r\n            boneNode.depth = i;\r\n            nodeToDepth.set(node, i);\r\n          }\r\n          boneNode.isFixed = boneNode.isFixed || i === 0;\r\n        }\r\n        if (previous && !previous.children.includes(boneNode)) {\r\n          previous.children.push(boneNode);\r\n          const rootIndex = rootPoints.indexOf(boneNode);\r\n          if (rootIndex !== -1) {\r\n            rootPoints.splice(rootIndex, 1);\r\n          }\r\n        } else if (!previous && !rootPoints.includes(boneNode)) {\r\n          rootPoints.push(boneNode);\r\n        }\r\n        previous = boneNode;\r\n      }\r\n    }\r\n    const orderedBoneNodes: BoneNode[] = [];\r\n    const visitedBoneNodes = new Set<BoneNode>();\r\n    const orderBoneNode = (boneNode: BoneNode) => {\r\n      if (visitedBoneNodes.has(boneNode)) {\r\n        return;\r\n      }\r\n      visitedBoneNodes.add(boneNode);\r\n      boneNode.index = orderedBoneNodes.length;\r\n      orderedBoneNodes.push(boneNode);\r\n      for (const child of boneNode.children) {\r\n        orderBoneNode(child);\r\n      }\r\n    };\r\n    for (const root of rootPoints) {\r\n      orderBoneNode(root);\r\n    }\r\n    boneNodes.length = 0;\r\n    boneNodes.push(...orderedBoneNodes);\r\n    pointTransforms.push(...boneNodes.map((boneNode) => createTransformAccess(boneToNode.get(boneNode)!)));\r\n    const systemRoot = createTransformAccess(config.chainConfig.systemRoot);\r\n    const defaultConfig = this.getDefaultControllerConfig();\r\n    const controllerConfig: ControllerConfig = {\r\n      ...defaultConfig,\r\n      ...config?.controllerConfig,\r\n      angleLimitConfig: { ...defaultConfig.angleLimitConfig, ...config?.controllerConfig?.angleLimitConfig },\r\n      curves: { ...defaultConfig.curves, ...config?.controllerConfig?.curves },\r\n      constraintOptions: {\r\n        ...defaultConfig.constraintOptions,\r\n        ...config?.controllerConfig?.constraintOptions\r\n      }\r\n    };\r\n    this._controller = new JointDynamicsSystemController(controllerConfig);\r\n    this._controller.initialize(systemRoot, rootPoints, pointTransforms, colliders, grabbers, flatPlanes);\r\n  }\r\n\r\n  /**\r\n   * Get the low-level controller that owns simulation state and advanced runtime controls.\r\n   *\r\n   * Most callers should prefer the convenience methods on JointDynamicsSystem.\r\n   *\r\n   * @returns The underlying joint dynamics controller.\r\n   */\r\n  get controller(): JointDynamicsSystemController {\r\n    return this._controller;\r\n  }\r\n\r\n  /**\r\n   * Get the node chain topology used to construct this system.\r\n   */\r\n  get chainConfig(): JointChainConfig {\r\n    return {\r\n      systemRoot: this._chainConfig.systemRoot,\r\n      chains: this._chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n  }\r\n\r\n  /**\r\n   * Returns detached collider snapshots for serialization.\r\n   */\r\n  getColliderSnapshots(): JointDynamicsColliderSnapshot[] {\r\n    return this._controller.getColliderSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached flat-plane snapshots for serialization.\r\n   */\r\n  getFlatPlaneSnapshots(): JointDynamicsFlatPlaneSnapshot[] {\r\n    return this._controller.getFlatPlaneSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached grabber snapshots for serialization.\r\n   */\r\n  getGrabberSnapshots(): JointDynamicsGrabberSnapshot[] {\r\n    return this._controller.getGrabberSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Reset chain nodes to bind pose\r\n   */\r\n  resetChains() {\r\n    for (const chain of this._chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      for (const node of chainNodes) {\r\n        const bindPose = this._bindPose.get(node);\r\n        if (bindPose) {\r\n          node.position = bindPose.position;\r\n          node.rotation = bindPose.rotation;\r\n          node.scale = bindPose.scale;\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Add a fully configured collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simula ; ion step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param r - Read-only collider parameters.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform?: SceneNode): JointDynamicsColliderHandle {\r\n    return this._controller.addCollider(r, transform ? createTransformAccess(transform) : _defaultTA);\r\n  }\r\n\r\n  /**\r\n   * Add a spherical collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param radius - Sphere radius in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the sphere instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addSphereCollider(\r\n    radius: number,\r\n    transform?: SceneNode,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height: 0,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Add a capsule collider at runtime.\r\n   *\r\n   * The capsule is aligned to the collider transform's local Y axis. Its head radius is\r\n   * `radius`, its tail radius is `radius * radiusTailScale`, and `height` defines the\r\n   * distance between the capsule ends before transform scaling.\r\n   *\r\n   * @param radius - Capsule head radius in world units before transform scaling.\r\n   * @param height - Capsule length in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param radiusTailScale - Tail radius multiplier relative to the head radius. Defaults to 1.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the capsule instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCapsuleCollider(\r\n    radius: number,\r\n    height: number,\r\n    transform?: SceneNode,\r\n    radiusTailScale?: number,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: radiusTailScale ?? 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by stable handle.\r\n   *\r\n   * Disabled colliders remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @param enabled - Whether the collider should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    return this._controller.setColliderEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    return this._controller.removeCollider(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   *\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   *\r\n   * @param index - Current collider array index.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    return this._controller.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane collider at runtime.\r\n   *\r\n   * Flat planes are infinite world-space planes. The normal points toward the allowed side,\r\n   * and dynamic points are pushed back when they move behind the plane.\r\n   *\r\n   * @param up - Plane normal in world space.\r\n   * @param position - A point on the plane in world space.\r\n   * @returns A stable handle that remains valid until this flat plane is removed.\r\n   */\r\n  addFlatPlane(up: Vector3, position: Vector3): JointDynamicsFlatPlaneHandle {\r\n    return this._controller.addFlatPlane(up, position);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by stable handle.\r\n   *\r\n   * Disabled flat planes remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @param enabled - Whether the flat plane should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    return this._controller.setFlatPlaneEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    return this._controller.removeFlatPlane(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * Prefer removeFlatPlane(handle) for runtime-owned flat planes.\r\n   *\r\n   * @param index - Current flat plane array index.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    return this._controller.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   *\r\n   * The grabber transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the grabber is created at the identity transform.\r\n   *\r\n   * @param r - Read-only grabber parameters.\r\n   * @param transform - Optional scene node that drives the grabber transform.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform?: SceneNode): JointDynamicsGrabberHandle {\r\n    return this._controller.addGrabber(r, transform ? createTransformAccess(transform) : _defaultTA, false);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by stable handle.\r\n   *\r\n   * Disabling a grabber also releases any points currently held by it.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @param enabled - Whether the grabber should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    return this._controller.setGrabberEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    return this._controller.removeGrabber(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   *\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Current grabber array index.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    return this._controller.removeGrabberAt(index);\r\n  }\r\n\r\n  private collectChainNodes(start: SceneNode, end: SceneNode): SceneNode[] {\r\n    if (!start.isParentOf(end)) {\r\n      throw new Error('Invalid chain: end node must be a descendant of start node');\r\n    }\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode = end;\r\n    for (;;) {\r\n      nodes.unshift(current);\r\n      if (current === start) {\r\n        break;\r\n      }\r\n      current = current.parent!;\r\n    }\r\n    return nodes;\r\n  }\r\n  /**\r\n   * Advance the physics simulation and write the resulting transforms back to the chain nodes.\r\n   *\r\n   * @param deltaTime - Frame time step in seconds. Values larger than 0.033 are clamped for stability.\r\n   */\r\n  update(deltaTime: number): void {\r\n    const dt = Math.min(deltaTime, 0.033); // Max 30 FPS\r\n    this._controller.step(dt);\r\n  }\r\n  /** @internal */\r\n  private getDefaultControllerConfig(): ControllerConfig {\r\n    return {\r\n      gravity: new Vector3(0, -9.8, 0),\r\n      relaxation: 3,\r\n      subSteps: 3,\r\n      enableSurfaceCollision: false,\r\n      windForce: Vector3.zero(),\r\n      rootSlideLimit: -1,\r\n      rootRotateLimit: -1,\r\n      constraintShrinkLimit: 1,\r\n      blendRatio: 0,\r\n      stabilizationFrameRate: 60,\r\n      isFakeWave: false,\r\n      fakeWaveSpeed: 0,\r\n      fakeWavePower: 0,\r\n      angleLimitConfig: { angleLimit: -1, limitFromRoot: false },\r\n      enableBroadPhase: false,\r\n      preserveTwist: true,\r\n      curves: {\r\n        gravityScale: InterpolatorScalar.constant(1),\r\n        windForceScale: InterpolatorScalar.constant(1),\r\n        massScale: InterpolatorScalar.constant(1),\r\n        resistance: InterpolatorScalar.constant(0.95),\r\n        hardness: InterpolatorScalar.constant(0.001),\r\n        friction: InterpolatorScalar.constant(0.5),\r\n        pointRadius: InterpolatorScalar.constant(0.05),\r\n        sliderJointLength: InterpolatorScalar.constant(0),\r\n        allShrinkScale: InterpolatorScalar.constant(1),\r\n        allStretchScale: InterpolatorScalar.constant(1),\r\n        structuralShrinkVertical: InterpolatorScalar.constant(1),\r\n        structuralStretchVertical: InterpolatorScalar.constant(1),\r\n        structuralShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        structuralStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        shearShrink: InterpolatorScalar.constant(0.5),\r\n        shearStretch: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkVertical: InterpolatorScalar.constant(0.5),\r\n        bendingStretchVertical: InterpolatorScalar.constant(0.5),\r\n        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package/dist/animation/joint_dynamics/solver.js

@@ -2,7 +2,7 @@ import { Vector3, Quaternion, degree2radian, clamp01, smoothStep, Matrix4x4, rad
 import { EPSILON, ConstraintType } from './types.js';
 import { pushoutFromSphere, pushoutFromCapsule, checkSurfaceCollision, pushInFromCapsule, pushInFromSphere, collisionDetection } from './collision.js';
 
-// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs
+// Core simulation ported from JobExecuteSimulation in SPCRJointDynamicsJob.cs.
 const AXIS_Y = new Vector3(0, 1, 0);
 const VEC3_ONE = new Vector3(1, 1, 1);
 const _computeCapsuleAxis = new Vector3();
@@ -26,14 +26,12 @@ const _broadPhaseDelta = new Vector3();
         subSteps = 1;
     }
     let fakeWaveFreq = params.fakeWaveCounter;
-    // Root slide offset
     let rootSlideOffset = Vector3.zero();
     const rootDeltaSlide = Vector3.sub(params.rootPosition, params.previousRootPosition);
     const rootDeltaSlideLen = rootDeltaSlide.magnitude;
     if (params.rootSlideLimit >= 0 && rootDeltaSlideLen > params.rootSlideLimit) {
         rootSlideOffset = Vector3.scale(rootDeltaSlide, (1.0 - params.rootSlideLimit / rootDeltaSlideLen) / subSteps);
     }
-    // Root rotation offset
     let rootRotationOffset = Quaternion.identity();
     const rootDeltaRot = Quaternion.multiply(params.rootRotation, Quaternion.inverse(params.previousRootRotation));
     let rotateAngle = Math.acos(Math.max(-1, Math.min(1, rootDeltaRot.w))) * 2.0 * (180 / Math.PI);
@@ -41,7 +39,7 @@ const _broadPhaseDelta = new Vector3();
         rotateAngle -= 360;
     }
     if (params.rootRotateLimit >= 0 && Math.abs(rotateAngle) > params.rootRotateLimit) {
-        // Extract the rotation axis from the delta quaternion
+        // Extract the rotation axis from the delta quaternion.
         const sinHalf = Math.sqrt(Math.max(0, 1 - rootDeltaRot.w * rootDeltaRot.w));
         let rotateAxis;
         if (sinHalf > 0.0001) {
@@ -68,24 +66,12 @@ const _broadPhaseDelta = new Vector3();
             if (params.enableSurfaceCollision) {
                 surfaceCollision(pointsRW, collidersR, collidersRW, params.surfaceConstraints);
             }
-            // Push fixed points out of colliders before constraint solving.
-            // Fixed points follow animation and cannot be moved by the solver, but if
-            // their animated position is inside a collider, the distance constraint will
-            // pull free children inward through the surface �?causing the characteristic
-            // "hair flipping outward" artifact at the back of the head.
-            // By temporarily clamping fixed-point positionCurrent to the collider surface
-            // before each substep's constraint pass, we ensure constraints operate from
-            // a geometrically valid anchor.  The original animated position is restored
-            // at the start of the next substep via positionCurrentTransform.
+            // Clamp animated fixed points before solving to avoid pulling children through colliders.
             fixedPointColliderPushout(pointsR, pointsRW, collidersR, collidersRW);
             for(let iRelax = params.relaxation - 1; iRelax >= 0; --iRelax){
                 constraintUpdate(pointsR, pointsRW, constraints, collidersR, collidersRW, params.constraintShrinkLimit, params.enableBroadPhase);
             }
-            // After all constraint/collision iterations are done, cancel any residual
-            // normal velocity that would push points back into colliders next frame.
-            // We compare the final positionCurrent (guaranteed outside all colliders)
-            // against positionPrevious (the Verlet integration start point) and zero
-            // out the component pointing into each collider.
+            // Remove inward normal velocity left by collision resolution.
             postCollisionVelocityFix(pointsR, pointsRW, collidersR, collidersRW);
         }
         pointUpdatePass2(pointsR, pointsRW, positionsToTransform, stepDelta, fakeWaveFreq, params.blendRatio, params.isFakeWave, params.fakeWavePower);
@@ -110,8 +96,7 @@ function colliderUpdate(collidersR, collidersRW, stepDelta) {
     for(let i = 0; i < collidersR.length; i++){
         const colR = collidersR[i];
         const colRW = collidersRW[i];
-        // Scale radius by the uniform world scale of the collider node.
-        // Use the average of x/y/z components to handle non-uniform scale gracefully.
+        // Approximate non-uniform scale with its component average.
         const ws = colRW.worldScale;
         const worldScaleUniform = (ws.x + ws.y + ws.z) / 3;
         colRW.radius = colR.radius * worldScaleUniform;
@@ -127,7 +112,6 @@ function colliderUpdate(collidersR, collidersRW, stepDelta) {
             colRW.boundsCenter.set(colRW.positionCurrent);
             colRW.boundsRadius = colRW.radius;
         }
-        // Update local bounds
         Vector3.scale(VEC3_ONE, colR.radius, corner);
         colRW.worldToLocal.transformPointAffine(colRW.positionCurrent, center);
         Vector3.sub(center, corner, colRW.localBoundsMin);
@@ -164,7 +148,6 @@ function segmentMayCollideBroadPhase(point1, point2, colRW) {
     const delta = Vector3.sub(colRW.boundsCenter, closestPoint, _broadPhaseDelta);
     return delta.magnitudeSq <= colRW.boundsRadius * colRW.boundsRadius;
 }
-// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs
 function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSlideOffset, rootRotationOffset, rootPosition, windForce, isPaused, grabbersR, grabbersRW, movableLimitTargets, flatPlanes, collidersR, collidersRW) {
     const currentTransformPos = new Vector3();
     const moveDir = new Vector3();
@@ -190,10 +173,7 @@ function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSl
                 Vector3.scale(windForce, ptR.windForceScale / ptR.mass, extForce);
                 Vector3.add(ptR.gravity, extForce, extForce);
                 Vector3.scale(extForce, stepTime_x2_half, extForce);
-                // Clamp the per-step force displacement to half the bone's rest length.
-                // Without this, large gravity values (e.g. -50 in world space) produce a
-                // per-step displacement comparable to the bone spacing, which exceeds what
-                // the constraint relaxation can correct in one pass and causes surface jitter.
+                // Limit force displacement to keep constraint relaxation stable.
                 if (ptR.parentLength > EPSILON) {
                     const maxForceDisp = ptR.parentLength * 0.5;
                     const forceDispSq = extForce.magnitudeSq;
@@ -201,16 +181,10 @@ function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSl
                         Vector3.scale(extForce, maxForceDisp / Math.sqrt(forceDispSq), extForce);
                     }
                 }
-                // Apply resistance (damping) only to the velocity term, not to external forces.
-                // Applying resistance to gravity would incorrectly attenuate acceleration each frame,
-                // causing energy errors and instability under high gravity.
+                // Damping applies to velocity, not external forces.
                 Vector3.scale(moveDir, ptR.resistance, moveDir);
                 Vector3.scale(moveDir, 1.0 - clamp01(ptRW.friction * ptR.frictionScale), moveDir);
-                // Clamp per-step velocity to a multiple of bone rest length.
-                // During fast root rotations the Verlet velocity can become very large,
-                // overwhelming the constraint solver and causing the hair to lose shape.
-                // Limiting velocity keeps the simulation stable regardless of how fast
-                // the root moves, while still allowing natural large-amplitude swings.
+                // Limit velocity so fast root motion cannot destabilize constraints.
                 if (ptR.parentLength > EPSILON) {
                     const maxVelDisp = ptR.parentLength * 2.0;
                     const velDispSq = moveDir.magnitudeSq;
@@ -224,19 +198,15 @@ function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSl
             Vector3.add(ptRW.positionCurrent, displacement, ptRW.positionCurrent);
             ptRW.friction = 0;
             if (!isPaused) {
-                // Hardness restore
                 if (ptR.hardness > 0) {
                     Vector3.sub(currentTransformPos, ptRW.positionCurrent, restore);
                     Vector3.scale(restore, ptR.hardness, restore);
                     Vector3.add(ptRW.positionCurrent, restore, ptRW.positionCurrent);
                 }
-                // Force fade ratio
                 if (ptR.forceFadeRatio > 0) {
                     Vector3.lerp(ptRW.positionCurrent, currentTransformPos, ptR.forceFadeRatio, ptRW.positionCurrent);
                 }
-                // Push out of colliders immediately after hardness/fade pulls the point
-                // toward the animated position (which may be inside a collider).
-                // This prevents the hardness↔collision tug-of-war that causes jitter.
+                // Reapply collision after hardness/fade to avoid interpenetration jitter.
                 for(let ci = 0; ci < collidersR.length; ci++){
                     const colRci = collidersR[ci];
                     const colRWci = collidersRW[ci];
@@ -248,7 +218,6 @@ function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSl
                         ptRW.positionCurrent.set(hRes.point);
                     }
                 }
-                // Grabber
                 if (ptRW.grabberIndex !== -1) {
                     const grR = grabbersR[ptRW.grabberIndex];
                     const grRW = grabbersRW[ptRW.grabberIndex];
@@ -281,7 +250,6 @@ function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSl
                         ptRW.grabberDistance = Math.sqrt(sqrNearRange) / 2.0;
                     }
                 }
-                // Movable limit
                 if (ptR.movableLimitIndex !== -1) {
                     const target = movableLimitTargets[ptR.movableLimitIndex];
                     const move = Vector3.sub(ptRW.positionCurrent, target, tempVec0);
@@ -292,7 +260,6 @@ function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSl
                     }
                 }
             }
-            // Flat plane collision
             for(let i = 0; i < flatPlanes.length; i++){
                 const fp = flatPlanes[i];
                 const dist = Vector3.dot(fp.normal, ptRW.positionCurrent) + fp.distance;
@@ -305,7 +272,6 @@ function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSl
         }
     }
 }
-// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs
 function surfaceCollision(pointsRW, collidersR, collidersRW, surfaceConstraints) {
     const surfaceResult = {
         hit: false,
@@ -536,7 +502,6 @@ function constraintUpdate(pointsR, pointsRW, constraints, collidersR, collidersR
             Vector3.scale(disp, weightB / wAB, scaledDisp);
             Vector3.sub(rwB.positionCurrent, scaledDisp, rwB.positionCurrent);
         }
-        // Per-constraint collision
         if (c.isCollision !== 0) {
             let friction = 0;
             for(let i = 0; i < collidersR.length; i++){
@@ -616,7 +581,6 @@ function constraintUpdate(pointsR, pointsRW, constraints, collidersR, collidersR
                         }
                     }
                 }
-                // Line segment collision
                 if (!colR.isInverseCollider && canLine) {
                     const lineRes = collisionDetection(colR, colRW, rwA.positionCurrent, rwB.positionCurrent, lineResult);
                     if (lineRes.hit) {
@@ -661,7 +625,6 @@ function pointUpdatePass2(pointsR, pointsRW, positionsToTransform, stepDelta, fa
             const A = pointsRW[ptR.parent].positionToTransform;
             const B = ptRW.positionToTransform;
             const mAxis = Matrix4x4.lookAt(A, B, AXIS_Y);
-            // Column 1 = up axis of the look-at matrix
             const col1 = mAxis.getCol(1).xyz();
             Vector3.lerp(ptRW.fakeWindDirection, col1, 0.5, ptRW.fakeWindDirection);
             freq += ptR.fakeWaveFreq;
@@ -726,8 +689,7 @@ function getPointParentWorldRotation(index, ptR, results, transformRotations, tr
  * Computes transform outputs from the simulated point positions.
  *
  * @public
- */ function applyResult(pointsR, pointsRW, positionsToTransform, blendRatio, // Current transform rotations (world and local) read from engine
-transformRotations, transformLocalRotations, preserveTwist, sceneParentRotations) {
+ */ function applyResult(pointsR, pointsRW, positionsToTransform, blendRatio, transformRotations, transformLocalRotations, preserveTwist, sceneParentRotations) {
     const results = new Array(pointsR.length);
     for(let index = 0; index < pointsR.length; index++){
         const ptR = pointsR[index];
@@ -735,7 +697,6 @@ transformRotations, transformLocalRotations, preserveTwist, sceneParentRotations
         let worldRot = transformRotations[index];
         let localRot = transformLocalRotations[index];
         if (ptR.weight >= EPSILON) {
-            // Dynamic point
             if (ptR.parent !== -1) {
                 const direction = Vector3.sub(ptRW.positionToTransform, positionsToTransform[ptR.parent]);
                 const realLen = direction.magnitude;
@@ -746,16 +707,11 @@ transformRotations, transformLocalRotations, preserveTwist, sceneParentRotations
                 }
             }
             const pos = ptRW.positionToTransform;
-            // SetRotation with blendRatio=0 for dynamic points
-            // Step 1: Reset localRotation to initialLocalRotation (blendRatio = 0 means fully initial)
             localRot = ptR.initialLocalRotation.clone();
-            // Step 2: Recompute worldRot from the new localRot
-            // In C#, setting localRotation immediately updates the world rotation.
-            // worldRot = parentWorldRot * localRot
-            // We approximate: the parent's current world rotation is in transformRotations[ptR.parent]
+            // Recompute world rotation from the parent and initial local rotation.
             const parentRot = getPointParentWorldRotation(index, ptR, results, transformRotations, transformLocalRotations, sceneParentRotations);
             worldRot = Quaternion.multiply(parentRot, localRot);
-            // Step 3: Aim toward child (simple shortest-arc, no twist correction here)
+            // Aim toward the child with a shortest-arc rotation.
             if (ptR.child !== -1) {
                 const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);
                 if (childDir.magnitudeSq > EPSILON) {
@@ -773,12 +729,10 @@ transformRotations, transformLocalRotations, preserveTwist, sceneParentRotations
         } else {
             const childBlend = ptR.child !== -1 ? Math.max(pointsR[ptR.child].forceFadeRatio, blendRatio) : blendRatio;
             // Use the caller-provided local rotation as the fixed-joint baseline.
-            // The controller sanitizes this value when the transform still contains
-            // the previous physics output instead of a fresh animation pose.
             const parentRot = getPointParentWorldRotation(index, ptR, results, transformRotations, transformLocalRotations, sceneParentRotations);
             localRot = transformLocalRotations[index].clone();
             worldRot = Quaternion.multiply(parentRot, localRot);
-            // Aim toward simulated child position, blended back toward the animated direction.
+            // Aim toward the simulated child, blended toward the animated direction.
             if (ptR.child !== -1) {
                 const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);
                 if (childDir.magnitudeSq > EPSILON) {
@@ -795,7 +749,7 @@ transformRotations, transformLocalRotations, preserveTwist, sceneParentRotations
             };
         }
     }
-    // Post-process: twist correction pass (parent �?child order).
+    // Post-process twist correction in parent-to-child order.
     if (preserveTwist) {
         for(let index = 0; index < pointsR.length; index++){
             const ptR = pointsR[index];