@zephyr3d/scene 0.9.25 → 0.9.26

package/dist/animation/joint_dynamics/joint_dynamics_system.js

@@ -66,6 +66,60 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
         }
     };
 }
+function createOffsetTransformAccess(obj, localOffset, exposeNode = true) {
+    const offset = localOffset.clone();
+    return {
+        ...exposeNode ? {
+            node: obj
+        } : {},
+        getWorldPosition () {
+            return obj.worldMatrix.transformPointAffine(offset);
+        },
+        getWorldRotation () {
+            const q = new Quaternion();
+            obj.worldMatrix.decompose(null, q, null);
+            return q;
+        },
+        getWorldScale () {
+            const s = new Vector3();
+            obj.worldMatrix.decompose(s, null, null);
+            return s;
+        },
+        getLocalPosition () {
+            return obj.position.clone();
+        },
+        getLocalRotation () {
+            return obj.rotation.clone();
+        },
+        getLocalScale () {
+            return obj.scale.clone();
+        },
+        setWorldPosition (p) {
+            if (obj.parent) {
+                obj.position = obj.parent.invWorldMatrix.transformPointAffine(p);
+            } else {
+                obj.position.set(p);
+            }
+        },
+        setWorldRotation (q) {
+            if (obj.parent) {
+                obj.parent.worldMatrix.decompose(null, _quat, null);
+                Quaternion.multiply(Quaternion.inverse(_quat), q, obj.rotation);
+            } else {
+                obj.rotation.set(q);
+            }
+        },
+        setLocalPosition (p) {
+            obj.position.set(p);
+        },
+        setLocalRotation (q) {
+            obj.rotation.set(q);
+        },
+        setLocalScale (s) {
+            obj.scale.set(s);
+        }
+    };
+}
 /**
  * Physics system for spring-like joint dynamics on scene node bone chains.
  *
@@ -90,7 +144,11 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
             systemRoot: config.chainConfig.systemRoot,
             chains: config.chainConfig.chains.map((chain)=>({
                     start: chain.start,
-                    end: chain.end
+                    end: chain.end,
+                    startAnchor: chain.startAnchor,
+                    endAnchor: chain.endAnchor,
+                    startAnchorOffset: chain.startAnchorOffset?.clone(),
+                    endAnchorOffset: chain.endAnchorOffset?.clone()
                 }))
         };
         this._bindPose = new WeakMap();
@@ -98,6 +156,7 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
         const boneNodes = [];
         const boneToNode = new Map();
         const pointTransforms = [];
+        const pointSourceTransforms = new Map();
         const nodeToBone = new Map();
         const nodeToDepth = new Map();
         for (const chain of config.chainConfig.chains){
@@ -105,6 +164,10 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
             let previous = null;
             for(let i = 0; i < chainNodes.length; i++){
                 const node = chainNodes[i];
+                const isChainStart = i === 0;
+                const isChainEnd = i === chainNodes.length - 1;
+                const sourceNode = (isChainStart ? chain.startAnchor : null) ?? (isChainEnd ? chain.endAnchor : null) ?? node;
+                const sourceOffset = (isChainStart ? chain.startAnchorOffset : null) ?? (isChainEnd ? chain.endAnchorOffset : null) ?? null;
                 let boneNode = nodeToBone.get(node);
                 if (!boneNode) {
                     this._bindPose.set(node, {
@@ -116,20 +179,28 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
                         index: boneNodes.length,
                         position: node.getWorldPosition(),
                         children: [],
-                        isFixed: i === 0,
+                        isFixed: isChainStart || !!(isChainEnd && chain.endAnchor),
                         depth: i
                     };
                     nodeToBone.set(node, boneNode);
                     nodeToDepth.set(node, i);
                     boneNodes.push(boneNode);
                     boneToNode.set(boneNode, node);
+                    pointSourceTransforms.set(boneNode, sourceOffset ? createOffsetTransformAccess(sourceNode, sourceOffset) : createTransformAccess(sourceNode));
                 } else {
                     const depth = nodeToDepth.get(node) ?? boneNode.depth;
                     if (i < depth) {
                         boneNode.depth = i;
                         nodeToDepth.set(node, i);
                     }
-                    boneNode.isFixed = boneNode.isFixed || i === 0;
+                    boneNode.isFixed = boneNode.isFixed || isChainStart || !!(isChainEnd && chain.endAnchor);
+                    const existingSource = pointSourceTransforms.get(boneNode)?.node ?? boneToNode.get(boneNode) ?? null;
+                    if (existingSource && existingSource !== sourceNode) {
+                        throw new Error(`Conflicting anchor assignment for joint dynamics node '${node.name || node.persistentId}'.`);
+                    }
+                    if (!existingSource) {
+                        pointSourceTransforms.set(boneNode, sourceOffset ? createOffsetTransformAccess(sourceNode, sourceOffset) : createTransformAccess(sourceNode));
+                    }
                 }
                 if (previous && !previous.children.includes(boneNode)) {
                     previous.children.push(boneNode);
@@ -162,6 +233,7 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
         boneNodes.length = 0;
         boneNodes.push(...orderedBoneNodes);
         pointTransforms.push(...boneNodes.map((boneNode)=>createTransformAccess(boneToNode.get(boneNode))));
+        const pointInputTransforms = boneNodes.map((boneNode)=>pointSourceTransforms.get(boneNode) ?? createTransformAccess(boneToNode.get(boneNode)));
         const systemRoot = createTransformAccess(config.chainConfig.systemRoot);
         const defaultConfig = this.getDefaultControllerConfig();
         const controllerConfig = {
@@ -181,7 +253,7 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
             }
         };
         this._controller = new JointDynamicsSystemController(controllerConfig);
-        this._controller.initialize(systemRoot, rootPoints, pointTransforms, colliders, grabbers, flatPlanes);
+        this._controller.initialize(systemRoot, rootPoints, pointTransforms, pointInputTransforms, colliders, grabbers, flatPlanes);
     }
     /**
    * Get the low-level controller that owns simulation state and advanced runtime controls.
@@ -199,7 +271,11 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
             systemRoot: this._chainConfig.systemRoot,
             chains: this._chainConfig.chains.map((chain)=>({
                     start: chain.start,
-                    end: chain.end
+                    end: chain.end,
+                    startAnchor: chain.startAnchor,
+                    endAnchor: chain.endAnchor,
+                    startAnchorOffset: chain.startAnchorOffset?.clone(),
+                    endAnchorOffset: chain.endAnchorOffset?.clone()
                 }))
         };
     }

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 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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+{"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\nfunction createOffsetTransformAccess(\r\n  obj: SceneNode,\r\n  localOffset: Vector3,\r\n  exposeNode = true\r\n): TransformAccess {\r\n  const offset = localOffset.clone();\r\n  return {\r\n    ...(exposeNode ? { node: obj } : {}),\r\n    getWorldPosition(): Vector3 {\r\n      return obj.worldMatrix.transformPointAffine(offset);\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      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: {\r\n    start: SceneNode;\r\n    end: SceneNode;\r\n    startAnchor?: SceneNode;\r\n    endAnchor?: SceneNode;\r\n    startAnchorOffset?: Vector3;\r\n    endAnchorOffset?: Vector3;\r\n  }[];\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) => ({\r\n        start: chain.start,\r\n        end: chain.end,\r\n        startAnchor: chain.startAnchor,\r\n        endAnchor: chain.endAnchor,\r\n        startAnchorOffset: chain.startAnchorOffset?.clone(),\r\n        endAnchorOffset: chain.endAnchorOffset?.clone()\r\n      }))\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 pointSourceTransforms = new Map<BoneNode, 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        const isChainStart = i === 0;\r\n        const isChainEnd = i === chainNodes.length - 1;\r\n        const sourceNode =\r\n          (isChainStart ? chain.startAnchor : null) ?? (isChainEnd ? chain.endAnchor : null) ?? node;\r\n        const sourceOffset =\r\n          (isChainStart ? chain.startAnchorOffset : null) ??\r\n          (isChainEnd ? chain.endAnchorOffset : null) ??\r\n          null;\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: isChainStart || !!(isChainEnd && chain.endAnchor),\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          pointSourceTransforms.set(\r\n            boneNode,\r\n            sourceOffset\r\n              ? createOffsetTransformAccess(sourceNode, sourceOffset)\r\n              : createTransformAccess(sourceNode)\r\n          );\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 || isChainStart || !!(isChainEnd && chain.endAnchor);\r\n          const existingSource =\r\n            pointSourceTransforms.get(boneNode)?.node ?? boneToNode.get(boneNode) ?? null;\r\n          if (existingSource && existingSource !== sourceNode) {\r\n            throw new Error(\r\n              `Conflicting anchor assignment for joint dynamics node '${node.name || node.persistentId}'.`\r\n            );\r\n          }\r\n          if (!existingSource) {\r\n            pointSourceTransforms.set(\r\n              boneNode,\r\n              sourceOffset\r\n                ? createOffsetTransformAccess(sourceNode, sourceOffset)\r\n                : createTransformAccess(sourceNode)\r\n            );\r\n          }\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 pointInputTransforms = boneNodes.map(\r\n      (boneNode) => pointSourceTransforms.get(boneNode) ?? createTransformAccess(boneToNode.get(boneNode)!)\r\n    );\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(\r\n      systemRoot,\r\n      rootPoints,\r\n      pointTransforms,\r\n      pointInputTransforms,\r\n      colliders,\r\n      grabbers,\r\n      flatPlanes\r\n    );\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) => ({\r\n        start: chain.start,\r\n        end: chain.end,\r\n        startAnchor: chain.startAnchor,\r\n        endAnchor: chain.endAnchor,\r\n        startAnchorOffset: chain.startAnchorOffset?.clone(),\r\n        endAnchorOffset: chain.endAnchorOffset?.clone()\r\n      }))\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: 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package/dist/animation/morphtrack.js

@@ -1,6 +1,5 @@
 import { AnimationTrack } from './animationtrack.js';
 import { BoundingBox } from '../utility/bounding_volume.js';
-import { MAX_MORPH_TARGETS } from '../values.js';
 import { calculateMorphBoundingBox } from './morphtarget.js';
 import { Vector3 } from '@zephyr3d/base';
 
@@ -28,7 +27,7 @@ import { Vector3 } from '@zephyr3d/base';
             this._state = {
                 numTargets: interpolator.stride,
                 boundingBox: new BoundingBox(),
-                weights: new Float32Array(MAX_MORPH_TARGETS)
+                weights: new Float32Array(interpolator.stride)
             };
             this._boundingBox = targetBox ?? null;
             this._originBox = originBox ?? null;
@@ -48,7 +47,7 @@ import { Vector3 } from '@zephyr3d/base';
         this._state = this._interpolator ? {
             numTargets: this._interpolator.stride,
             boundingBox: new BoundingBox(),
-            weights: new Float32Array(MAX_MORPH_TARGETS)
+            weights: new Float32Array(this._interpolator.stride)
         } : null;
     }
     get boundingBox() {
@@ -75,7 +74,7 @@ import { Vector3 } from '@zephyr3d/base';
         return this._state;
     }
     /** {@inheritDoc AnimationTrack.applyState} */ applyState(node, state) {
-        node.getMorphInfo().buffer.get().bufferSubData(4 * 4, state.weights);
+        node.updateMorphWeights(state.weights.subarray(0, state.numTargets));
         state.boundingBox.minPoint.addBy(this._originBox.minPoint);
         state.boundingBox.maxPoint.addBy(this._originBox.maxPoint);
         node.setAnimatedBoundingBox(state.boundingBox);

package/dist/animation/morphtrack.js.map

@@ -1 +1 @@
-{"version":3,"file":"morphtrack.js","sources":["../../src/animation/morphtrack.ts"],"sourcesContent":["import { AnimationTrack } from './animationtrack';\r\nimport type { Mesh, SceneNode } from '../scene';\r\nimport { BoundingBox } from '../utility/bounding_volume';\r\nimport { MAX_MORPH_TARGETS } from '../values';\r\nimport { calculateMorphBoundingBox } from './morphtarget';\r\nimport type { AABB, Interpolator, Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\n\r\n/**\r\n * Morph animation state\r\n *\r\n * @public\r\n **/\r\nexport type MorphState = {\r\n  numTargets: number;\r\n  weights: Float32Array<ArrayBuffer>;\r\n  boundingBox: BoundingBox;\r\n};\r\n\r\n/**\r\n * Morph target track\r\n * @public\r\n */\r\nexport class MorphTargetTrack extends AnimationTrack<MorphState> {\r\n  private _state: Nullable<MorphState>;\r\n  private _originBox: Nullable<AABB>;\r\n  private _boundingBox: Nullable<BoundingBox[]>;\r\n  private _defaultWeights: Nullable<number[]>;\r\n  private _interpolator: Nullable<Interpolator>;\r\n  /**\r\n   * Create an instance of MorphTargetTrack\r\n   */\r\n  constructor();\r\n  /**\r\n   * Create an instance of MorphTargetTrack from morph parameters\r\n   */\r\n  constructor(\r\n    interpolator?: Interpolator,\r\n    defaultMorphWeights?: number[],\r\n    targetBox?: BoundingBox[],\r\n    originBox?: AABB,\r\n    embedded?: boolean\r\n  );\r\n  /**\r\n   * Create an instance of MorphTargetTrack\r\n   */\r\n  constructor(\r\n    interpolator?: Interpolator,\r\n    defaultMorphWeights?: number[],\r\n    targetBox?: BoundingBox[],\r\n    originBox?: AABB,\r\n    embedded?: boolean\r\n  ) {\r\n    super(embedded);\r\n    if (interpolator === undefined) {\r\n      this._interpolator = null;\r\n      this._state = null;\r\n      this._boundingBox = null;\r\n      this._originBox = null;\r\n      this._defaultWeights = null;\r\n    } else {\r\n      this._interpolator = interpolator;\r\n      this._state = {\r\n        numTargets: interpolator.stride,\r\n        boundingBox: new BoundingBox(),\r\n        weights: new Float32Array(MAX_MORPH_TARGETS)\r\n      };\r\n      this._boundingBox = targetBox ?? null;\r\n      this._originBox = originBox ?? null;\r\n      this._defaultWeights =\r\n        defaultMorphWeights ?? Array.from({ length: this._state.numTargets }).map(() => 0);\r\n    }\r\n  }\r\n  clone(): this {\r\n    return new MorphTargetTrack(\r\n      this._interpolator ?? undefined,\r\n      this._defaultWeights?.slice(),\r\n      this._boundingBox?.map((bbox) => bbox.clone()) ?? undefined,\r\n      this._originBox?.clone() ?? undefined,\r\n      false\r\n    ) as this;\r\n  }\r\n  get interpolator() {\r\n    return this._interpolator;\r\n  }\r\n  set interpolator(interp: Nullable<Interpolator>) {\r\n    this._interpolator = interp ?? null;\r\n    this._state = this._interpolator\r\n      ? {\r\n          numTargets: this._interpolator.stride,\r\n          boundingBox: new BoundingBox(),\r\n          weights: new Float32Array(MAX_MORPH_TARGETS)\r\n        }\r\n      : null;\r\n  }\r\n  get boundingBox() {\r\n    return this._boundingBox;\r\n  }\r\n  set boundingBox(box: Nullable<BoundingBox[]>) {\r\n    this._boundingBox = box;\r\n  }\r\n  get defaultWeights() {\r\n    return this._defaultWeights;\r\n  }\r\n  set defaultWeights(value: Nullable<number[]>) {\r\n    this._defaultWeights = value;\r\n  }\r\n  get originBoundingBox() {\r\n    return this._originBox;\r\n  }\r\n  set originBoundingBox(box: Nullable<AABB>) {\r\n    this._originBox = box;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.calculateState} */\r\n\r\n  calculateState(target: object, currentTime: number) {\r\n    this._interpolator!.interpolate(currentTime, this._state!.weights);\r\n    calculateMorphBoundingBox(\r\n      this._state!.boundingBox,\r\n      this._boundingBox!,\r\n      this._state!.weights,\r\n      this._state!.numTargets\r\n    );\r\n    return this._state!;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.applyState} */\r\n  applyState(node: SceneNode, state: MorphState) {\r\n    (node as Mesh)\r\n      .getMorphInfo()!\r\n      .buffer!.get()!\r\n      .bufferSubData(4 * 4, state.weights);\r\n    state.boundingBox.minPoint.addBy(this._originBox!.minPoint);\r\n    state.boundingBox.maxPoint.addBy(this._originBox!.maxPoint);\r\n    (node as Mesh).setAnimatedBoundingBox(state.boundingBox);\r\n  }\r\n  /** {@inheritDoc AnimationTrack.mixState} */\r\n  mixState(a: MorphState, b: MorphState, t: number) {\r\n    const state: MorphState = {\r\n      weights: new Float32Array(a.numTargets),\r\n      boundingBox: new BoundingBox(),\r\n      numTargets: a.numTargets\r\n    };\r\n    for (let i = 0; i < a.numTargets; i++) {\r\n      state.weights[i] = a.weights[i] + (b.weights[i] - a.weights[i]) * t;\r\n      state.boundingBox.minPoint = Vector3.min(a.boundingBox.minPoint, b.boundingBox.minPoint);\r\n      state.boundingBox.maxPoint = Vector3.max(a.boundingBox.maxPoint, b.boundingBox.maxPoint);\r\n    }\r\n    return state;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.getBlendId} */\r\n  getBlendId() {\r\n    return 'node-morph';\r\n  }\r\n  /** {@inheritDoc AnimationTrack.getDuration} */\r\n  getDuration() {\r\n    return this._interpolator?.maxTime ?? 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+{"version":3,"file":"morphtrack.js","sources":["../../src/animation/morphtrack.ts"],"sourcesContent":["import { AnimationTrack } from './animationtrack';\r\nimport type { Mesh, SceneNode } from '../scene';\r\nimport { BoundingBox } from '../utility/bounding_volume';\r\nimport { calculateMorphBoundingBox } from './morphtarget';\r\nimport type { AABB, Interpolator, Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\n\r\n/**\r\n * Morph animation state\r\n *\r\n * @public\r\n **/\r\nexport type MorphState = {\r\n  numTargets: number;\r\n  weights: Float32Array<ArrayBuffer>;\r\n  boundingBox: BoundingBox;\r\n};\r\n\r\n/**\r\n * Morph target track\r\n * @public\r\n */\r\nexport class MorphTargetTrack extends AnimationTrack<MorphState> {\r\n  private _state: Nullable<MorphState>;\r\n  private _originBox: Nullable<AABB>;\r\n  private _boundingBox: Nullable<BoundingBox[]>;\r\n  private _defaultWeights: Nullable<number[]>;\r\n  private _interpolator: Nullable<Interpolator>;\r\n  /**\r\n   * Create an instance of MorphTargetTrack\r\n   */\r\n  constructor();\r\n  /**\r\n   * Create an instance of MorphTargetTrack from morph parameters\r\n   */\r\n  constructor(\r\n    interpolator?: Interpolator,\r\n    defaultMorphWeights?: number[],\r\n    targetBox?: BoundingBox[],\r\n    originBox?: AABB,\r\n    embedded?: boolean\r\n  );\r\n  /**\r\n   * Create an instance of MorphTargetTrack\r\n   */\r\n  constructor(\r\n    interpolator?: Interpolator,\r\n    defaultMorphWeights?: number[],\r\n    targetBox?: BoundingBox[],\r\n    originBox?: AABB,\r\n    embedded?: boolean\r\n  ) {\r\n    super(embedded);\r\n    if (interpolator === undefined) {\r\n      this._interpolator = null;\r\n      this._state = null;\r\n      this._boundingBox = null;\r\n      this._originBox = null;\r\n      this._defaultWeights = null;\r\n    } else {\r\n      this._interpolator = interpolator;\r\n      this._state = {\r\n        numTargets: interpolator.stride,\r\n        boundingBox: new BoundingBox(),\r\n        weights: new Float32Array(interpolator.stride)\r\n      };\r\n      this._boundingBox = targetBox ?? null;\r\n      this._originBox = originBox ?? null;\r\n      this._defaultWeights =\r\n        defaultMorphWeights ?? Array.from({ length: this._state.numTargets }).map(() => 0);\r\n    }\r\n  }\r\n  clone(): this {\r\n    return new MorphTargetTrack(\r\n      this._interpolator ?? undefined,\r\n      this._defaultWeights?.slice(),\r\n      this._boundingBox?.map((bbox) => bbox.clone()) ?? undefined,\r\n      this._originBox?.clone() ?? undefined,\r\n      false\r\n    ) as this;\r\n  }\r\n  get interpolator() {\r\n    return this._interpolator;\r\n  }\r\n  set interpolator(interp: Nullable<Interpolator>) {\r\n    this._interpolator = interp ?? null;\r\n    this._state = this._interpolator\r\n      ? {\r\n          numTargets: this._interpolator.stride,\r\n          boundingBox: new BoundingBox(),\r\n          weights: new Float32Array(this._interpolator.stride)\r\n        }\r\n      : null;\r\n  }\r\n  get boundingBox() {\r\n    return this._boundingBox;\r\n  }\r\n  set boundingBox(box: Nullable<BoundingBox[]>) {\r\n    this._boundingBox = box;\r\n  }\r\n  get defaultWeights() {\r\n    return this._defaultWeights;\r\n  }\r\n  set defaultWeights(value: Nullable<number[]>) {\r\n    this._defaultWeights = value;\r\n  }\r\n  get originBoundingBox() {\r\n    return this._originBox;\r\n  }\r\n  set originBoundingBox(box: Nullable<AABB>) {\r\n    this._originBox = box;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.calculateState} */\r\n\r\n  calculateState(target: object, currentTime: number) {\r\n    this._interpolator!.interpolate(currentTime, this._state!.weights);\r\n    calculateMorphBoundingBox(\r\n      this._state!.boundingBox,\r\n      this._boundingBox!,\r\n      this._state!.weights,\r\n      this._state!.numTargets\r\n    );\r\n    return this._state!;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.applyState} */\r\n  applyState(node: SceneNode, state: MorphState) {\r\n    (node as Mesh).updateMorphWeights(state.weights.subarray(0, state.numTargets));\r\n    state.boundingBox.minPoint.addBy(this._originBox!.minPoint);\r\n    state.boundingBox.maxPoint.addBy(this._originBox!.maxPoint);\r\n    (node as Mesh).setAnimatedBoundingBox(state.boundingBox);\r\n  }\r\n  /** {@inheritDoc AnimationTrack.mixState} */\r\n  mixState(a: MorphState, b: MorphState, t: number) {\r\n    const state: MorphState = {\r\n      weights: new Float32Array(a.numTargets),\r\n      boundingBox: new BoundingBox(),\r\n      numTargets: a.numTargets\r\n    };\r\n    for (let i = 0; i < a.numTargets; i++) {\r\n      state.weights[i] = a.weights[i] + (b.weights[i] - a.weights[i]) * t;\r\n      state.boundingBox.minPoint = Vector3.min(a.boundingBox.minPoint, b.boundingBox.minPoint);\r\n      state.boundingBox.maxPoint = Vector3.max(a.boundingBox.maxPoint, b.boundingBox.maxPoint);\r\n    }\r\n    return state;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.getBlendId} */\r\n  getBlendId() {\r\n    return 'node-morph';\r\n  }\r\n  /** {@inheritDoc AnimationTrack.getDuration} */\r\n  getDuration() {\r\n    return this._interpolator?.maxTime ?? 0;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.reset} */\r\n  reset(node: SceneNode) {\r\n    // apply default weights\r\n    this._state!.weights.set(this._defaultWeights!);\r\n    this.applyState(node, this._state!);\r\n  }\r\n}\r\n"],"names":["MorphTargetTrack","AnimationTrack","_state","_originBox","_boundingBox","_defaultWeights","_interpolator","interpolator","defaultMorphWeights","targetBox","originBox","embedded","undefined","numTargets","stride","boundingBox","BoundingBox","weights","Float32Array","Array","from","length","map","clone","slice","bbox","interp","box","defaultWeights","value","originBoundingBox","calculateState","target","currentTime","interpolate","calculateMorphBoundingBox","applyState","node","state","updateMorphWeights","subarray","minPoint","addBy","maxPoint","setAnimatedBoundingBox","mixState","a","b","t","i","Vector3","min","max","getBlendId","getDuration","maxTime","reset","set"],"mappings":";;;;;AAkBA;;;IAIO,MAAMA,gBAAyBC,SAAAA,cAAAA,CAAAA;IAC5BC,MAA6B;IAC7BC,UAA2B;IAC3BC,YAAsC;IACtCC,eAAoC;IACpCC,aAAsC;AAe9C;;MAGA,WAAA,CACEC,YAA2B,EAC3BC,mBAA8B,EAC9BC,SAAyB,EACzBC,SAAgB,EAChBC,QAAkB,CAClB;AACA,QAAA,KAAK,CAACA,QAAAA,CAAAA;AACN,QAAA,IAAIJ,iBAAiBK,SAAW,EAAA;YAC9B,IAAI,CAACN,aAAa,GAAG,IAAA;YACrB,IAAI,CAACJ,MAAM,GAAG,IAAA;YACd,IAAI,CAACE,YAAY,GAAG,IAAA;YACpB,IAAI,CAACD,UAAU,GAAG,IAAA;YAClB,IAAI,CAACE,eAAe,GAAG,IAAA;SAClB,MAAA;YACL,IAAI,CAACC,aAAa,GAAGC,YAAAA;YACrB,IAAI,CAACL,MAAM,GAAG;AACZW,gBAAAA,UAAAA,EAAYN,aAAaO,MAAM;AAC/BC,gBAAAA,WAAAA,EAAa,IAAIC,WAAAA,EAAAA;gBACjBC,OAAS,EAAA,IAAIC,YAAaX,CAAAA,YAAAA,CAAaO,MAAM;AAC/C,aAAA;YACA,IAAI,CAACV,YAAY,GAAGK,SAAa,IAAA,IAAA;YACjC,IAAI,CAACN,UAAU,GAAGO,SAAa,IAAA,IAAA;AAC/B,YAAA,IAAI,CAACL,eAAe,GAClBG,mBAAuBW,IAAAA,KAAAA,CAAMC,IAAI,CAAC;AAAEC,gBAAAA,MAAAA,EAAQ,IAAI,CAACnB,MAAM,CAACW;aAAcS,CAAAA,CAAAA,GAAG,CAAC,IAAM,CAAA,CAAA;AACpF;AACF;IACAC,KAAc,GAAA;AACZ,QAAA,OAAO,IAAIvB,gBAAAA,CACT,IAAI,CAACM,aAAa,IAAIM,SACtB,EAAA,IAAI,CAACP,eAAe,EAAEmB,KAAAA,EAAAA,EACtB,IAAI,CAACpB,YAAY,EAAEkB,GAAI,CAAA,CAACG,IAASA,GAAAA,IAAAA,CAAKF,KAAK,EAAA,CAAA,IAAOX,SAClD,EAAA,IAAI,CAACT,UAAU,EAAEoB,KAAAA,EAAAA,IAAWX,SAC5B,EAAA,KAAA,CAAA;AAEJ;AACA,IAAA,IAAIL,YAAe,GAAA;QACjB,OAAO,IAAI,CAACD,aAAa;AAC3B;IACA,IAAIC,YAAAA,CAAamB,MAA8B,EAAE;QAC/C,IAAI,CAACpB,aAAa,GAAGoB,MAAU,IAAA,IAAA;AAC/B,QAAA,IAAI,CAACxB,MAAM,GAAG,IAAI,CAACI,aAAa,GAC5B;AACEO,YAAAA,UAAAA,EAAY,IAAI,CAACP,aAAa,CAACQ,MAAM;AACrCC,YAAAA,WAAAA,EAAa,IAAIC,WAAAA,EAAAA;AACjBC,YAAAA,OAAAA,EAAS,IAAIC,YAAa,CAAA,IAAI,CAACZ,aAAa,CAACQ,MAAM;SAErD,GAAA,IAAA;AACN;AACA,IAAA,IAAIC,WAAc,GAAA;QAChB,OAAO,IAAI,CAACX,YAAY;AAC1B;IACA,IAAIW,WAAAA,CAAYY,GAA4B,EAAE;QAC5C,IAAI,CAACvB,YAAY,GAAGuB,GAAAA;AACtB;AACA,IAAA,IAAIC,cAAiB,GAAA;QACnB,OAAO,IAAI,CAACvB,eAAe;AAC7B;IACA,IAAIuB,cAAAA,CAAeC,KAAyB,EAAE;QAC5C,IAAI,CAACxB,eAAe,GAAGwB,KAAAA;AACzB;AACA,IAAA,IAAIC,iBAAoB,GAAA;QACtB,OAAO,IAAI,CAAC3B,UAAU;AACxB;IACA,IAAI2B,iBAAAA,CAAkBH,GAAmB,EAAE;QACzC,IAAI,CAACxB,UAAU,GAAGwB,GAAAA;AACpB;AACA,uDAEAI,cAAAA,CAAeC,MAAc,EAAEC,WAAmB,EAAE;QAClD,IAAI,CAAC3B,aAAa,CAAE4B,WAAW,CAACD,aAAa,IAAI,CAAC/B,MAAM,CAAEe,OAAO,CAAA;QACjEkB,yBACE,CAAA,IAAI,CAACjC,MAAM,CAAEa,WAAW,EACxB,IAAI,CAACX,YAAY,EACjB,IAAI,CAACF,MAAM,CAAEe,OAAO,EACpB,IAAI,CAACf,MAAM,CAAEW,UAAU,CAAA;QAEzB,OAAO,IAAI,CAACX,MAAM;AACpB;AACA,mDACAkC,UAAAA,CAAWC,IAAe,EAAEC,KAAiB,EAAE;QAC5CD,IAAcE,CAAAA,kBAAkB,CAACD,KAAMrB,CAAAA,OAAO,CAACuB,QAAQ,CAAC,CAAGF,EAAAA,KAAAA,CAAMzB,UAAU,CAAA,CAAA;QAC5EyB,KAAMvB,CAAAA,WAAW,CAAC0B,QAAQ,CAACC,KAAK,CAAC,IAAI,CAACvC,UAAU,CAAEsC,QAAQ,CAAA;QAC1DH,KAAMvB,CAAAA,WAAW,CAAC4B,QAAQ,CAACD,KAAK,CAAC,IAAI,CAACvC,UAAU,CAAEwC,QAAQ,CAAA;QACzDN,IAAcO,CAAAA,sBAAsB,CAACN,KAAAA,CAAMvB,WAAW,CAAA;AACzD;AACA,iDACA8B,QAASC,CAAAA,CAAa,EAAEC,CAAa,EAAEC,CAAS,EAAE;AAChD,QAAA,MAAMV,KAAoB,GAAA;YACxBrB,OAAS,EAAA,IAAIC,YAAa4B,CAAAA,CAAAA,CAAEjC,UAAU,CAAA;AACtCE,YAAAA,WAAAA,EAAa,IAAIC,WAAAA,EAAAA;AACjBH,YAAAA,UAAAA,EAAYiC,EAAEjC;AAChB,SAAA;AACA,QAAA,IAAK,IAAIoC,CAAI,GAAA,CAAA,EAAGA,IAAIH,CAAEjC,CAAAA,UAAU,EAAEoC,CAAK,EAAA,CAAA;YACrCX,KAAMrB,CAAAA,OAAO,CAACgC,CAAE,CAAA,GAAGH,EAAE7B,OAAO,CAACgC,EAAE,GAAIF,CAAAA,CAAE9B,CAAAA,OAAO,CAACgC,CAAE,CAAA,GAAGH,EAAE7B,OAAO,CAACgC,CAAE,CAAD,IAAKD,CAAAA;AAClEV,YAAAA,KAAAA,CAAMvB,WAAW,CAAC0B,QAAQ,GAAGS,QAAQC,GAAG,CAACL,CAAE/B,CAAAA,WAAW,CAAC0B,QAAQ,EAAEM,CAAEhC,CAAAA,WAAW,CAAC0B,QAAQ,CAAA;AACvFH,YAAAA,KAAAA,CAAMvB,WAAW,CAAC4B,QAAQ,GAAGO,QAAQE,GAAG,CAACN,CAAE/B,CAAAA,WAAW,CAAC4B,QAAQ,EAAEI,CAAEhC,CAAAA,WAAW,CAAC4B,QAAQ,CAAA;AACzF;QACA,OAAOL,KAAAA;AACT;AACA,mDACAe,UAAa,GAAA;QACX,OAAO,YAAA;AACT;AACA,oDACAC,WAAc,GAAA;AACZ,QAAA,OAAO,IAAI,CAAChD,aAAa,EAAEiD,OAAW,IAAA,CAAA;AACxC;8CAEAC,KAAMnB,CAAAA,IAAe,EAAE;;QAErB,IAAI,CAACnC,MAAM,CAAEe,OAAO,CAACwC,GAAG,CAAC,IAAI,CAACpD,eAAe,CAAA;AAC7C,QAAA,IAAI,CAAC+B,UAAU,CAACC,IAAM,EAAA,IAAI,CAACnC,MAAM,CAAA;AACnC;AACF;;;;"}

package/dist/animation/skeleton.js

@@ -59,8 +59,11 @@ import { getDevice } from '../app/api.js';
 }({});
 const tmpV0 = new Vector3();
 const tmpV1 = new Vector3();
-const tmpV2 = new Vector3();
-const tmpV3 = new Vector3();
+const humanoidHelperJointTokens = new Set([
+    'end',
+    'nub',
+    'socket'
+]);
 /**
  * Shared joint rig for skeletal animation.
  *
@@ -486,12 +489,22 @@ function sideJointPatterns(side, patterns) {
    * @internal
    */ computeBoundingBox(info, invWorldMatrix) {
         info.boundingBox.beginExtend();
+        const influenceCount = Math.max(1, info.influenceCount ?? 4);
         for(let i = 0; i < info.boundingVertices.length; i++){
-            this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 0] + this._jointOffsets[0] - 1].transformPointAffine(info.boundingVertices[i], tmpV0).scaleBy(info.boundingVertexJointWeights[i * 4 + 0]);
-            this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 1] + this._jointOffsets[0] - 1].transformPointAffine(info.boundingVertices[i], tmpV1).scaleBy(info.boundingVertexJointWeights[i * 4 + 1]);
-            this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 2] + this._jointOffsets[0] - 1].transformPointAffine(info.boundingVertices[i], tmpV2).scaleBy(info.boundingVertexJointWeights[i * 4 + 2]);
-            this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 3] + this._jointOffsets[0] - 1].transformPointAffine(info.boundingVertices[i], tmpV3).scaleBy(info.boundingVertexJointWeights[i * 4 + 3]);
-            tmpV0.addBy(tmpV1).addBy(tmpV2).addBy(tmpV3);
+            tmpV0.setXYZ(0, 0, 0);
+            const base = i * influenceCount;
+            for(let j = 0; j < influenceCount; j++){
+                const weight = Number(info.boundingVertexJointWeights[base + j]) || 0;
+                if (weight <= 0) {
+                    continue;
+                }
+                const matrix = this._jointMatrices[(Number(info.boundingVertexBlendIndices[base + j]) || 0) + this._jointOffsets[0] - 1];
+                if (!matrix) {
+                    continue;
+                }
+                matrix.transformPointAffine(info.boundingVertices[i], tmpV1).scaleBy(weight);
+                tmpV0.addBy(tmpV1);
+            }
             invWorldMatrix.transformPointAffine(tmpV0, tmpV0);
             info.boundingBox.extend(tmpV0);
         }
@@ -576,16 +589,24 @@ function sideJointPatterns(side, patterns) {
         const vert = new Vector3();
         const tmpV0 = new Vector3();
         const tmpV1 = new Vector3();
-        const tmpV2 = new Vector3();
-        const tmpV3 = new Vector3();
         const numVertices = Math.floor(v.length / 3);
+        const influenceCount = Math.max(1, data.influenceCount ?? 4);
         for(let i = 0; i < numVertices; i++){
             vert.setXYZ(v[i * 3], v[i * 3 + 1], v[i * 3 + 2]);
-            this._jointMatrices[data.blendIndices[i * 4 + 0] + this._jointOffsets[0] - 1].transformPointAffine(vert, tmpV0).scaleBy(data.weights[i * 4 + 0]);
-            this._jointMatrices[data.blendIndices[i * 4 + 1] + this._jointOffsets[0] - 1].transformPointAffine(vert, tmpV1).scaleBy(data.weights[i * 4 + 1]);
-            this._jointMatrices[data.blendIndices[i * 4 + 2] + this._jointOffsets[0] - 1].transformPointAffine(vert, tmpV2).scaleBy(data.weights[i * 4 + 2]);
-            this._jointMatrices[data.blendIndices[i * 4 + 3] + this._jointOffsets[0] - 1].transformPointAffine(vert, tmpV3).scaleBy(data.weights[i * 4 + 3]);
-            tmpV0.addBy(tmpV1).addBy(tmpV2).addBy(tmpV3);
+            tmpV0.setXYZ(0, 0, 0);
+            const base = i * influenceCount;
+            for(let j = 0; j < influenceCount; j++){
+                const weight = Number(data.weights[base + j]) || 0;
+                if (weight <= 0) {
+                    continue;
+                }
+                const matrix = this._jointMatrices[(Number(data.blendIndices[base + j]) || 0) + this._jointOffsets[0] - 1];
+                if (!matrix) {
+                    continue;
+                }
+                matrix.transformPointAffine(vert, tmpV1).scaleBy(weight);
+                tmpV0.addBy(tmpV1);
+            }
             if (tmpV0.x < minx) {
                 minx = tmpV0.x;
                 indices[0] = i;
@@ -612,12 +633,13 @@ function sideJointPatterns(side, patterns) {
             }
         }
         const info = {
+            influenceCount,
             boundingVertexBlendIndices: new Float32Array(Array.from({
-                length: 6 * 4
-            }).map((val, index)=>data.blendIndices[indices[index >> 2] * 4 + index % 4])),
+                length: 6 * influenceCount
+            }).map((val, index)=>data.blendIndices[indices[Math.floor(index / influenceCount)] * influenceCount + index % influenceCount])),
             boundingVertexJointWeights: new Float32Array(Array.from({
-                length: 6 * 4
-            }).map((val, index)=>data.weights[indices[index >> 2] * 4 + index % 4])),
+                length: 6 * influenceCount
+            }).map((val, index)=>data.weights[indices[Math.floor(index / influenceCount)] * influenceCount + index % influenceCount])),
             boundingVertices: Array.from({
                 length: 6
             }).map((val, index)=>new Vector3(data.positions[indices[index] * 3], data.positions[indices[index] * 3 + 1], data.positions[indices[index] * 3 + 2])),
@@ -638,9 +660,10 @@ function sideJointPatterns(side, patterns) {
    * @param out - Optional output array to reuse.
    * @returns The skinned mesh-local positions.
    * @internal
-   */ skinPositionsToLocal(positions, blendIndices, weights, invWorldMatrix, out) {
+   */ skinPositionsToLocal(positions, blendIndices, weights, invWorldMatrix, out, influenceCount) {
         const result = out && out.length === positions.length ? out : new Float32Array(positions.length);
         const matrixOffset = this._jointOffsets[0] - 1;
+        const effectiveInfluenceCount = Math.max(1, influenceCount ?? Math.max(1, Math.floor(weights.length / Math.max(1, Math.floor(positions.length / 3)))));
         for(let i = 0; i + 2 < positions.length; i += 3){
             const vertexIndex = i / 3 >> 0;
             const x = positions[i];
@@ -650,12 +673,13 @@ function sideJointPatterns(side, patterns) {
             let skinnedY = 0;
             let skinnedZ = 0;
             let weightSum = 0;
-            for(let j = 0; j < 4; j++){
-                const weight = Number(weights[vertexIndex * 4 + j]) || 0;
+            const base = vertexIndex * effectiveInfluenceCount;
+            for(let j = 0; j < effectiveInfluenceCount; j++){
+                const weight = Number(weights[base + j]) || 0;
                 if (weight <= 0) {
                     continue;
                 }
-                const jointIndex = (Number(blendIndices[vertexIndex * 4 + j]) || 0) + matrixOffset;
+                const jointIndex = (Number(blendIndices[base + j]) || 0) + matrixOffset;
                 const matrix = this._jointMatrices[jointIndex];
                 if (!matrix) {
                     continue;
@@ -677,7 +701,7 @@ function sideJointPatterns(side, patterns) {
         return result;
     }
     static normalizeHumanoidJointName(name) {
-        return name.replace(/([A-Z]+)([A-Z][a-z])/g, '$1 $2').replace(/([a-z0-9])([A-Z])/g, '$1 $2').replace(/([a-zA-Z])(\d+)/g, '$1 $2').replace(/(\d+)([a-zA-Z])/g, '$1 $2').replace(/[_:\/\\.-]+/g, ' ').replace(/[^a-zA-Z0-9]+/g, ' ').toLowerCase().replace(/\bforearm\b/g, 'fore arm').replace(/\bupperarm\b/g, 'upper arm').replace(/\blowerarm\b/g, 'lower arm').replace(/\bupleg\b/g, 'up leg').replace(/\bupperleg\b/g, 'upper leg').replace(/\blowerleg\b/g, 'lower leg').replace(/\btoebase\b/g, 'toe base').replace(/\bupperchest\b/g, 'upper chest').replace(/\btoes\b/g, 'toe').replace(/\blittle\b/g, 'pinky').replace(/\bcollar\b/g, 'clavicle').replace(/\s+/g, ' ').trim();
+        return name.slice(name.lastIndexOf(':') + 1).replace(/([A-Z]+)([A-Z][a-z])/g, '$1 $2').replace(/([a-z0-9])([A-Z])/g, '$1 $2').replace(/([a-zA-Z])(\d+)/g, '$1 $2').replace(/(\d+)([a-zA-Z])/g, '$1 $2').replace(/[_:\/\\.-]+/g, ' ').replace(/[^a-zA-Z0-9]+/g, ' ').toLowerCase().replace(/\bforearm\b/g, 'fore arm').replace(/\bupperarm\b/g, 'upper arm').replace(/\blowerarm\b/g, 'lower arm').replace(/\bupleg\b/g, 'up leg').replace(/\bupperleg\b/g, 'upper leg').replace(/\blowerleg\b/g, 'lower leg').replace(/\btoebase\b/g, 'toe base').replace(/\bupperchest\b/g, 'upper chest').replace(/\btoes\b/g, 'toe').replace(/\blittle\b/g, 'pinky').replace(/\bcollar\b/g, 'clavicle').replace(/\s+/g, ' ').trim();
     }
     static getHumanoidJointNodeDepth(root, node) {
         let depth = 0;
@@ -696,7 +720,7 @@ function sideJointPatterns(side, patterns) {
                 return false;
             }
             const tokens = normalizedName.split(' ').filter(Boolean);
-            if (!tokens.length) {
+            if (!tokens.length || tokens.some((token)=>humanoidHelperJointTokens.has(token))) {
                 return false;
             }
             nodes.push({
@@ -2267,6 +2291,11 @@ function sideJointPatterns(side, patterns) {
                     none: [
                         'end'
                     ]
+                },
+                {
+                    all: [
+                        'ball'
+                    ]
                 }
             ]),
             ["RightUpperLeg"]: sideJointPatterns('right', [
@@ -2337,6 +2366,11 @@ function sideJointPatterns(side, patterns) {
                     none: [
                         'end'
                     ]
+                },
+                {
+                    all: [
+                        'ball'
+                    ]
                 }
             ])
         };