@zephyr3d/scene 0.9.25 → 0.9.26

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

@@ -1 +1 @@
-{"version":3,"file":"multi_chain_spring_system.js","sources":["../../../src/animation/spring/multi_chain_spring_system.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SpringChain } from './spring_chain';\r\nimport type { SpringConstraint } from './spring_constraint';\r\nimport { IKUtils } from '../ik/ik_utils';\r\n\r\n/**\r\n * Constraint between particles in different chains\r\n *\r\n * @public\r\n */\r\nexport interface InterChainConstraint {\r\n  /** Index of the first chain */\r\n  chainAIndex: number;\r\n  /** Index of the second chain */\r\n  chainBIndex: number;\r\n  /** Index of particle in chain A */\r\n  particleAIndex: number;\r\n  /** Index of particle in chain B */\r\n  particleBIndex: number;\r\n  /** Desired distance between particles */\r\n  restLength: number;\r\n  /** Constraint strength [0-1], used by Verlet solver */\r\n  stiffness: number;\r\n  /**\r\n   * XPBD compliance (inverse stiffness) in m/N.\r\n   * Only used when solver is 'xpbd'.\r\n   */\r\n  compliance: number;\r\n  /** XPBD Lagrange multiplier accumulator, reset each time step. */\r\n  lambda: number;\r\n}\r\n\r\n/**\r\n * Options for creating a MultiChainSpringSystem\r\n *\r\n * @public\r\n */\r\nexport interface MultiChainSpringSystemOptions {\r\n  /** Number of constraint solver iterations (default: 5) */\r\n  iterations?: number;\r\n  /** Gravity force vector (default: (0, -9.8, 0)) */\r\n  gravity?: Vector3;\r\n  /** Wind force vector (default: (0, 0, 0)) */\r\n  wind?: Vector3;\r\n  /** Enable inertial forces (centrifugal/Coriolis) when root rotates (default: true) */\r\n  enableInertialForces?: boolean;\r\n  /** Centrifugal force multiplier (default: 1.0) */\r\n  centrifugalScale?: number;\r\n  /** Coriolis force multiplier (default: 1.0) */\r\n  coriolisScale?: number;\r\n  /**\r\n   * Constraint solver type (default: 'verlet').\r\n   * - 'verlet': stiffness [0-1] controls per-iteration correction strength.\r\n   * - 'xpbd': compliance (m/N) gives physically correct, iteration-independent results.\r\n   */\r\n  solver?: 'verlet' | 'xpbd';\r\n}\r\n\r\n/**\r\n * Physics engine for multiple spring chains with inter-chain constraints\r\n * Suitable for cloth, skirts, capes, and other multi-chain simulations\r\n *\r\n * @deprecated Use the new {@link JointDynamicsSystem} class instead.\r\n *\r\n * @public\r\n */\r\nexport class MultiChainSpringSystem {\r\n  private _chains: SpringChain[];\r\n  private _interChainConstraints: InterChainConstraint[];\r\n  private _iterations: number;\r\n  private _gravity: Vector3;\r\n  private _wind: Vector3;\r\n  private _enableInertialForces: boolean;\r\n  private _centrifugalScale: number;\r\n  private _coriolisScale: number;\r\n  private _solver: 'verlet' | 'xpbd';\r\n\r\n  constructor(options?: MultiChainSpringSystemOptions) {\r\n    this._chains = [];\r\n    this._interChainConstraints = [];\r\n    this._iterations = options?.iterations ?? 5;\r\n    this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);\r\n    this._wind = options?.wind?.clone() ?? new Vector3(0, 0, 0);\r\n    this._enableInertialForces = options?.enableInertialForces ?? true;\r\n    this._centrifugalScale = options?.centrifugalScale ?? 1.0;\r\n    this._coriolisScale = options?.coriolisScale ?? 1.0;\r\n    this._solver = options?.solver ?? 'verlet';\r\n  }\r\n\r\n  /**\r\n   * Adds a spring chain to the system\r\n   * @param chain - The chain to add\r\n   * @returns The index of the added chain\r\n   */\r\n  addChain(chain: SpringChain): number {\r\n    this._chains.push(chain);\r\n    return this._chains.length - 1;\r\n  }\r\n\r\n  /**\r\n   * Adds an inter-chain constraint\r\n   * @param constraint - The constraint to add\r\n   */\r\n  addInterChainConstraint(constraint: InterChainConstraint): void {\r\n    this._interChainConstraints.push(constraint);\r\n  }\r\n\r\n  /**\r\n   * Creates radial constraints between adjacent chains\r\n   * Useful for skirts, capes, and other radial multi-chain structures\r\n   * @param options - Configuration options\r\n   */\r\n  createRadialConstraints(options: {\r\n    /** Constraint stiffness [0-1], used by Verlet solver */\r\n    stiffness: number;\r\n    /** Maximum distance to create constraints (particles further apart are not connected) */\r\n    maxDistance: number;\r\n    /** Skip first N rows of particles (e.g., anchor points at waist) */\r\n    skipRows?: number;\r\n    /** Connect to next N chains (default: 1, only adjacent chains) */\r\n    connectDistance?: number;\r\n    /** XPBD compliance in m/N (default: 0 = rigid). Only used when solver is 'xpbd'. */\r\n    compliance?: number;\r\n  }): void {\r\n    const skipRows = options.skipRows ?? 0;\r\n    const connectDistance = options.connectDistance ?? 1;\r\n    const compliance = options.compliance ?? 0;\r\n\r\n    for (let i = 0; i < this._chains.length; i++) {\r\n      for (let offset = 1; offset <= connectDistance; offset++) {\r\n        const j = (i + offset) % this._chains.length;\r\n        const chainA = this._chains[i];\r\n        const chainB = this._chains[j];\r\n\r\n        const minLength = Math.min(chainA.particles.length, chainB.particles.length);\r\n\r\n        for (let row = skipRows; row < minLength; row++) {\r\n          const pA = chainA.particles[row];\r\n          const pB = chainB.particles[row];\r\n          const distance = Vector3.distance(pA.position, pB.position);\r\n\r\n          if (distance <= options.maxDistance) {\r\n            this.addInterChainConstraint({\r\n              chainAIndex: i,\r\n              chainBIndex: j,\r\n              particleAIndex: row,\r\n              particleBIndex: row,\r\n              restLength: distance,\r\n              stiffness: options.stiffness,\r\n              compliance,\r\n              lambda: 0\r\n            });\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Updates the physics simulation for all chains\r\n   * @param deltaTime - Time step in seconds\r\n   */\r\n  update(deltaTime: number): void {\r\n    const dt = Math.min(deltaTime, 0.033);\r\n\r\n    // Save all particle positions before updating\r\n    if (this._enableInertialForces) {\r\n      for (const chain of this._chains) {\r\n        for (const p of chain.particles) {\r\n          p.lastFramePosition.set(p.position);\r\n        }\r\n      }\r\n    }\r\n\r\n    this.updateFixedParticles();\r\n\r\n    // Calculate global rotation parameters\r\n    let rotationCenter: Nullable<Vector3> = null;\r\n    let angularVelocity: Nullable<Vector3> = null;\r\n\r\n    if (this._enableInertialForces && dt > 0.0001) {\r\n      const result = this.calculateGlobalRotation(dt);\r\n      rotationCenter = result.center;\r\n      angularVelocity = result.omega;\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n\r\n        const velocity = Vector3.sub(particle.position, particle.prevPosition, new Vector3());\r\n        velocity.scaleBy(particle.damping);\r\n\r\n        const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\r\n\r\n        // Apply inertial forces\r\n        if (this._enableInertialForces && rotationCenter && angularVelocity) {\r\n          const inertialAccel = this.calculateInertialAcceleration(\r\n            particle,\r\n            rotationCenter,\r\n            angularVelocity,\r\n            velocity,\r\n            this._centrifugalScale,\r\n            this._coriolisScale\r\n          );\r\n          Vector3.add(acceleration, inertialAccel, acceleration);\r\n        }\r\n\r\n        const positionDelta = Vector3.scale(acceleration, dt * dt, new Vector3());\r\n        Vector3.add(velocity, positionDelta, velocity);\r\n\r\n        particle.prevPosition.set(particle.position);\r\n        Vector3.add(particle.position, velocity, particle.position);\r\n      }\r\n    }\r\n\r\n    if (this._solver === 'xpbd') {\r\n      for (const chain of this._chains) {\r\n        for (const c of chain.constraints) {\r\n          c.lambda = 0;\r\n        }\r\n      }\r\n      for (const c of this._interChainConstraints) {\r\n        c.lambda = 0;\r\n      }\r\n    }\r\n    for (let iter = 0; iter < this._iterations; iter++) {\r\n      for (const chain of this._chains) {\r\n        for (const constraint of chain.constraints) {\r\n          if (this._solver === 'xpbd') {\r\n            this.solveConstraintXPBD(chain, constraint, dt);\r\n          } else {\r\n            this.solveConstraint(chain, constraint);\r\n          }\r\n        }\r\n      }\r\n\r\n      for (const constraint of this._interChainConstraints) {\r\n        if (this._solver === 'xpbd') {\r\n          this.solveInterChainConstraintXPBD(constraint, dt);\r\n        } else {\r\n          this.solveInterChainConstraint(constraint);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private updateFixedParticles(): void {\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed && particle.node) {\r\n          const worldPos = new Vector3(\r\n            particle.node.worldMatrix.m03,\r\n            particle.node.worldMatrix.m13,\r\n            particle.node.worldMatrix.m23\r\n          );\r\n          particle.position.set(worldPos);\r\n          particle.prevPosition.set(worldPos);\r\n\r\n          // Maintain position history\r\n          if (this._enableInertialForces) {\r\n            if (!particle.positionHistory) {\r\n              particle.positionHistory = [];\r\n            }\r\n            particle.positionHistory.push(worldPos.clone());\r\n            if (particle.positionHistory.length > 5) {\r\n              particle.positionHistory.shift();\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\r\n    const fixedParticles: any[] = [];\r\n    const velocities: Vector3[] = [];\r\n\r\n    for (const chain of this._chains) {\r\n      for (const p of chain.particles) {\r\n        if (!p.fixed) {\r\n          continue;\r\n        }\r\n\r\n        const velocity = Vector3.sub(p.position, p.lastFramePosition, new Vector3());\r\n        velocity.scaleBy(1.0 / dt);\r\n\r\n        if (velocity.magnitudeSq > 0.001) {\r\n          fixedParticles.push(p);\r\n          velocities.push(velocity);\r\n        }\r\n      }\r\n    }\r\n\r\n    if (fixedParticles.length === 0) {\r\n      return { center: new Vector3(0, 0, 0), omega: new Vector3(0, 0, 0) };\r\n    }\r\n\r\n    // Estimate rotation center\r\n    let center: Vector3;\r\n\r\n    if (fixedParticles.length === 1) {\r\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\r\n    } else {\r\n      center = new Vector3(0, 0, 0);\r\n      for (const p of fixedParticles) {\r\n        Vector3.add(center, p.position, center);\r\n      }\r\n      center.scaleBy(1.0 / fixedParticles.length);\r\n    }\r\n\r\n    // Estimate angular velocity\r\n    let sumOmega = new Vector3(0, 0, 0);\r\n    let count = 0;\r\n\r\n    for (let i = 0; i < fixedParticles.length; i++) {\r\n      const r = Vector3.sub(fixedParticles[i].position, center, new Vector3());\r\n      const v = velocities[i];\r\n      const rLengthSq = r.magnitudeSq;\r\n\r\n      if (rLengthSq > 0.0001) {\r\n        const omega = Vector3.cross(r, v, new Vector3());\r\n        omega.scaleBy(1.0 / rLengthSq);\r\n        Vector3.add(sumOmega, omega, sumOmega);\r\n        count++;\r\n      }\r\n    }\r\n\r\n    if (count > 0) {\r\n      sumOmega.scaleBy(1.0 / count);\r\n    }\r\n\r\n    return { center, omega: sumOmega };\r\n  }\r\n\r\n  private estimateRotationCenterFromHistory(particle: any, currentVelocity: Vector3): Vector3 {\r\n    const history = particle.positionHistory;\r\n    if (!history || history.length < 3) {\r\n      const speed = currentVelocity.magnitude;\r\n      if (speed < 0.001) {\r\n        return particle.position.clone();\r\n      }\r\n\r\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\r\n      const up = new Vector3(0, 1, 0);\r\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\r\n\r\n      if (perpDir.magnitudeSq < 0.0001) {\r\n        perpDir.set(new Vector3(1, 0, 0));\r\n      } else {\r\n        Vector3.normalize(perpDir, perpDir);\r\n      }\r\n\r\n      const center = Vector3.add(\r\n        particle.position,\r\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\r\n        new Vector3()\r\n      );\r\n      return center;\r\n    }\r\n\r\n    const p1 = history[0];\r\n    const p2 = history[Math.floor(history.length / 2)];\r\n    const p3 = history[history.length - 1];\r\n\r\n    const center = this.calculateCircleCenter(p1, p2, p3);\r\n    return center;\r\n  }\r\n\r\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\r\n    const mid12 = Vector3.scale(Vector3.add(p1, p2, new Vector3()), 0.5, new Vector3());\r\n    const mid23 = Vector3.scale(Vector3.add(p2, p3, new Vector3()), 0.5, new Vector3());\r\n\r\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\r\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\r\n\r\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\r\n\r\n    if (normal.magnitudeSq < 0.0001) {\r\n      return Vector3.scale(\r\n        Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n        1.0 / 3.0,\r\n        new Vector3()\r\n      );\r\n    }\r\n\r\n    Vector3.normalize(normal, normal);\r\n\r\n    const perp12 = Vector3.cross(dir12, normal, new Vector3());\r\n    Vector3.normalize(perp12, perp12);\r\n\r\n    const perp23 = Vector3.cross(dir23, normal, new Vector3());\r\n    Vector3.normalize(perp23, perp23);\r\n\r\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\r\n\r\n    const det = perp12.x * perp23.y - perp12.y * perp23.x;\r\n\r\n    if (Math.abs(det) > 0.0001) {\r\n      const t = (diff.x * perp23.y - diff.y * perp23.x) / det;\r\n      const center = Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\r\n      return center;\r\n    }\r\n\r\n    return Vector3.scale(\r\n      Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n      1.0 / 3.0,\r\n      new Vector3()\r\n    );\r\n  }\r\n\r\n  private calculateInertialAcceleration(\r\n    particle: any,\r\n    rotationCenter: Vector3,\r\n    angularVelocity: Vector3,\r\n    particleVelocity: Vector3,\r\n    centrifugalScale: number,\r\n    coriolisScale: number\r\n  ): Vector3 {\r\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\r\n\r\n    const omegaCrossR = Vector3.cross(angularVelocity, r, new Vector3());\r\n    const centrifugalAccel = Vector3.cross(angularVelocity, omegaCrossR, new Vector3());\r\n    centrifugalAccel.scaleBy(centrifugalScale);\r\n\r\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\r\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\r\n\r\n    const totalAccel = Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\r\n    return totalAccel;\r\n  }\r\n\r\n  private solveConstraint(chain: SpringChain, constraint: SpringConstraint): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = chain.particles[constraint.particleB];\r\n\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n\r\n    const diff = (currentLength - constraint.restLength) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  private solveInterChainConstraint(constraint: InterChainConstraint): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\r\n\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n\r\n    const diff = (currentLength - constraint.restLength) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  private solveConstraintXPBD(chain: SpringChain, constraint: SpringConstraint, dt: number): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = chain.particles[constraint.particleB];\r\n\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n\r\n    const C = currentLength - constraint.restLength;\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  private solveInterChainConstraintXPBD(constraint: InterChainConstraint, dt: number): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\r\n\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n\r\n    const C = currentLength - constraint.restLength;\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Applies simulation results to scene nodes\r\n   * @param weight - Blend weight [0-1] (default: 1.0)\r\n   */\r\n  applyToNodes(weight: number = 1.0): void {\r\n    for (const chain of this._chains) {\r\n      this.applyChainToNodes(chain, weight);\r\n    }\r\n  }\r\n\r\n  private applyChainToNodes(chain: SpringChain, weight: number): void {\r\n    for (let i = 0; i < chain.particles.length - 1; i++) {\r\n      const particle = chain.particles[i];\r\n      const nextParticle = chain.particles[i + 1];\r\n\r\n      if (!particle.node) {\r\n        continue;\r\n      }\r\n\r\n      // Get current bone direction from node's world matrix (before physics)\r\n      const currentBonePos = new Vector3(\r\n        particle.node.worldMatrix.m03,\r\n        particle.node.worldMatrix.m13,\r\n        particle.node.worldMatrix.m23\r\n      );\r\n\r\n      const nextNode = nextParticle.node;\r\n      if (!nextNode) {\r\n        continue;\r\n      }\r\n\r\n      const nextBonePos = new Vector3(\r\n        nextNode.worldMatrix.m03,\r\n        nextNode.worldMatrix.m13,\r\n        nextNode.worldMatrix.m23\r\n      );\r\n      const originalDir = Vector3.sub(nextBonePos, currentBonePos, new Vector3());\r\n\r\n      // Get current bone rotation from node's world matrix\r\n      const currentBoneRotation = new Quaternion();\r\n      particle.node.worldMatrix.decompose(null, currentBoneRotation, null);\r\n\r\n      // Calculate new direction from physics simulation\r\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\r\n\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\r\n\r\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\r\n\r\n      if (weight < 1) {\r\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      const parent = particle.node.parent;\r\n      if (parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n        particle.node.rotation = localRotation;\r\n      } else {\r\n        particle.node.rotation = worldRotation;\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Resets the simulation to initial state\r\n   */\r\n  reset(): void {\r\n    for (const chain of this._chains) {\r\n      chain.reset();\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Gets the spring chains\r\n   */\r\n  get chains(): SpringChain[] {\r\n    return this._chains;\r\n  }\r\n\r\n  /**\r\n   * Gets the inter-chain constraints\r\n   */\r\n  get interChainConstraints(): InterChainConstraint[] {\r\n    return this._interChainConstraints;\r\n  }\r\n\r\n  /**\r\n   * Gets the current gravity\r\n   */\r\n  get gravity(): Vector3 {\r\n    return this._gravity;\r\n  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+{"version":3,"file":"multi_chain_spring_system.js","sources":["../../../src/animation/spring/multi_chain_spring_system.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\nimport type { SpringChain } from './spring_chain';\r\nimport type { SpringParticle } from './spring_particle';\r\nimport type { SpringConstraint } from './spring_constraint';\r\nimport { IKUtils } from '../ik/ik_utils';\r\nimport type { SpringCollider } from './spring_collider';\r\nimport {\r\n  resolveSphereCollision,\r\n  resolveCapsuleCollision,\r\n  resolvePlaneCollision,\r\n  type CapsuleCollider,\r\n  type PlaneCollider,\r\n  type SphereCollider,\r\n  updateColliderFromNode\r\n} from './spring_collider';\r\nimport { SpringNodePoseTracker } from './spring_node_pose_tracker';\r\n\r\nexport interface InterChainConstraint {\r\n  chainAIndex: number;\r\n  chainBIndex: number;\r\n  particleAIndex: number;\r\n  particleBIndex: number;\r\n  restLength: number;\r\n  stiffness: number;\r\n  compliance: number;\r\n  lambda: number;\r\n}\r\n\r\nexport interface MultiChainSpringSystemOptions {\r\n  iterations?: number;\r\n  gravity?: Vector3;\r\n  wind?: Vector3;\r\n  enableInertialForces?: boolean;\r\n  centrifugalScale?: number;\r\n  coriolisScale?: number;\r\n  solver?: 'verlet' | 'xpbd';\r\n  poseFollow?: number;\r\n  poseFollowRoot?: number;\r\n  poseFollowTip?: number;\r\n  poseFollowExponent?: number;\r\n  maxPoseOffset?: number;\r\n  maxPoseOffsetRoot?: number;\r\n  maxPoseOffsetTip?: number;\r\n}\r\n\r\n/** Options used when rebuilding runtime spring state from the current node pose. */\r\nexport interface SpringPoseReinitializeOptions {\r\n  /** Recompute maintained anchor offsets against runtime-remapped anchor nodes. */\r\n  recomputeAnchorOffsets?: boolean;\r\n  /** Recompute structural and inter-chain rest lengths from the current pose. */\r\n  recalculateRestLengths?: boolean;\r\n}\r\n\r\nconst FIXED_SIMULATION_TIME_STEP = 1 / 60;\r\nconst MAX_ACCUMULATED_SIMULATION_TIME = 1 / 20;\r\nconst MAX_SIMULATION_STEPS_PER_UPDATE = Math.max(\r\n  1,\r\n  Math.ceil(MAX_ACCUMULATED_SIMULATION_TIME / FIXED_SIMULATION_TIME_STEP)\r\n);\r\nconst DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME = 1 / 30;\r\nconst DEFAULT_COLLIDER_SMOOTHING_TIME = 1 / 30;\r\n\r\nexport class MultiChainSpringSystem {\r\n  private _chains: SpringChain[];\r\n  private _interChainConstraints: InterChainConstraint[];\r\n  private _iterations: number;\r\n  private _gravity: Vector3;\r\n  private _wind: Vector3;\r\n  private _enableInertialForces: boolean;\r\n  private _centrifugalScale: number;\r\n  private _coriolisScale: number;\r\n  private _solver: 'verlet' | 'xpbd';\r\n  private _poseFollow: number;\r\n  private _maxPoseOffset: number;\r\n  private _poseFollowRoot: number;\r\n  private _poseFollowTip: number;\r\n  private _poseFollowExponent: number;\r\n  private _maxPoseOffsetRoot: number;\r\n  private _maxPoseOffsetTip: number;\r\n  private _colliders: SpringCollider[];\r\n  private _timeAccumulator: number;\r\n  private _smoothedParticleTargets: WeakMap<object, Vector3>;\r\n  private _smoothedSphereCenters: WeakMap<SphereCollider, Vector3>;\r\n  private _smoothedCapsuleEndpoints: WeakMap<CapsuleCollider, { start: Vector3; end: Vector3 }>;\r\n  private _smoothedPlaneData: WeakMap<PlaneCollider, { point: Vector3; normal: Vector3 }>;\r\n  private _runtimeNodeMap: ReadonlyMap<SceneNode, SceneNode> | null;\r\n  private _runtimeAnchorOffsets: WeakMap<SpringParticle, Vector3>;\r\n  private _runtimeRestLengths: WeakMap<object, number>;\r\n  private _nodePoseTracker: SpringNodePoseTracker;\r\n\r\n  constructor(options?: MultiChainSpringSystemOptions) {\r\n    this._chains = [];\r\n    this._interChainConstraints = [];\r\n    this._iterations = options?.iterations ?? 5;\r\n    this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);\r\n    this._wind = options?.wind?.clone() ?? new Vector3(0, 0, 0);\r\n    this._enableInertialForces = options?.enableInertialForces ?? true;\r\n    this._centrifugalScale = options?.centrifugalScale ?? 1.0;\r\n    this._coriolisScale = options?.coriolisScale ?? 1.0;\r\n    this._solver = options?.solver ?? 'verlet';\r\n    this._poseFollow = Math.max(0, Math.min(1, options?.poseFollow ?? 0.35));\r\n    this._maxPoseOffset = Math.max(0, options?.maxPoseOffset ?? 0);\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, options?.poseFollowRoot ?? this._poseFollow));\r\n    this._poseFollowTip = Math.max(0, Math.min(1, options?.poseFollowTip ?? this._poseFollow));\r\n    this._poseFollowExponent = Math.max(0.1, options?.poseFollowExponent ?? 1.6);\r\n    this._maxPoseOffsetRoot = Math.max(0, options?.maxPoseOffsetRoot ?? this._maxPoseOffset);\r\n    this._maxPoseOffsetTip = Math.max(0, options?.maxPoseOffsetTip ?? this._maxPoseOffset);\r\n    this._colliders = [];\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n    this._runtimeNodeMap = null;\r\n    this._runtimeAnchorOffsets = new WeakMap();\r\n    this._runtimeRestLengths = new WeakMap();\r\n    this._nodePoseTracker = new SpringNodePoseTracker();\r\n  }\r\n\r\n  addChain(chain: SpringChain): number {\r\n    this._chains.push(chain);\r\n    return this._chains.length - 1;\r\n  }\r\n\r\n  addInterChainConstraint(constraint: InterChainConstraint): void {\r\n    this._interChainConstraints.push(constraint);\r\n  }\r\n\r\n  createRadialConstraints(options: {\r\n    stiffness: number;\r\n    maxDistance: number;\r\n    skipRows?: number;\r\n    connectDistance?: number;\r\n    compliance?: number;\r\n  }): void {\r\n    const skipRows = options.skipRows ?? 0;\r\n    const connectDistance = options.connectDistance ?? 1;\r\n    const compliance = options.compliance ?? 0;\r\n\r\n    for (let i = 0; i < this._chains.length; i++) {\r\n      for (let offset = 1; offset <= connectDistance; offset++) {\r\n        const j = (i + offset) % this._chains.length;\r\n        const chainA = this._chains[i];\r\n        const chainB = this._chains[j];\r\n        const minLength = Math.min(chainA.particles.length, chainB.particles.length);\r\n\r\n        for (let row = skipRows; row < minLength; row++) {\r\n          const pA = chainA.particles[row];\r\n          const pB = chainB.particles[row];\r\n          const distance = Vector3.distance(pA.position, pB.position);\r\n          if (distance <= options.maxDistance) {\r\n            this.addInterChainConstraint({\r\n              chainAIndex: i,\r\n              chainBIndex: j,\r\n              particleAIndex: row,\r\n              particleBIndex: row,\r\n              restLength: distance,\r\n              stiffness: options.stiffness,\r\n              compliance,\r\n              lambda: 0\r\n            });\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  update(deltaTime: number): void {\r\n    this._nodePoseTracker.restoreInputPose();\r\n    const frameDt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (frameDt <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.min(this._timeAccumulator + frameDt, MAX_ACCUMULATED_SIMULATION_TIME);\r\n    const stepCount = Math.min(\r\n      MAX_SIMULATION_STEPS_PER_UPDATE,\r\n      Math.floor((this._timeAccumulator + 1e-8) / FIXED_SIMULATION_TIME_STEP)\r\n    );\r\n    if (stepCount <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.max(0, this._timeAccumulator - stepCount * FIXED_SIMULATION_TIME_STEP);\r\n    for (let i = 0; i < stepCount; i++) {\r\n      this.simulateStep(FIXED_SIMULATION_TIME_STEP, i === 0 ? frameDt : 0);\r\n    }\r\n  }\r\n\r\n  applyToNodes(weight: number = 1.0): void {\r\n    const baseNodeStates = new Map<any, { position: Vector3; rotation: Quaternion }>();\r\n    const desiredWorldRotations = new Map<any, Quaternion>();\r\n\r\n    for (const chain of this._chains) {\r\n      this.collectChainNodeRotations(chain, weight, baseNodeStates, desiredWorldRotations);\r\n    }\r\n\r\n    const nodes = Array.from(desiredWorldRotations.keys());\r\n    nodes.sort((a, b) => this.getNodeDepth(a) - this.getNodeDepth(b));\r\n\r\n    for (const node of nodes) {\r\n      const worldRotation = desiredWorldRotations.get(node);\r\n      if (!worldRotation) {\r\n        continue;\r\n      }\r\n      const parent = node.parent;\r\n      const inputRotation = node.rotation.clone();\r\n      if (parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n        node.rotation = localRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, localRotation);\r\n      } else {\r\n        node.rotation = worldRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, worldRotation);\r\n      }\r\n    }\r\n  }\r\n\r\n  reset(): void {\r\n    this._nodePoseTracker.clear(true);\r\n    for (const chain of this._chains) {\r\n      chain.reset();\r\n      for (const particle of chain.particles) {\r\n        particle.animPosition.set(particle.originalPosition);\r\n        particle.lastFramePosition.set(particle.originalPosition);\r\n        if (particle.positionHistory) {\r\n          particle.positionHistory.length = 0;\r\n        }\r\n      }\r\n    }\r\n    for (const constraint of this._interChainConstraints) {\r\n      constraint.lambda = 0;\r\n    }\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  get chains(): SpringChain[] {\r\n    return this._chains;\r\n  }\r\n\r\n  get interChainConstraints(): InterChainConstraint[] {\r\n    return this._interChainConstraints;\r\n  }\r\n\r\n  get gravity(): Vector3 {\r\n    return this._gravity;\r\n  }\r\n\r\n  set gravity(gravity: Vector3) {\r\n    this._gravity.set(gravity);\r\n  }\r\n\r\n  get wind(): Vector3 {\r\n    return this._wind;\r\n  }\r\n\r\n  set wind(wind: Vector3) {\r\n    this._wind.set(wind);\r\n  }\r\n\r\n  get iterations(): number {\r\n    return this._iterations;\r\n  }\r\n\r\n  set iterations(count: number) {\r\n    this._iterations = Math.max(1, count);\r\n  }\r\n\r\n  get enableInertialForces(): boolean {\r\n    return this._enableInertialForces;\r\n  }\r\n\r\n  set enableInertialForces(enabled: boolean) {\r\n    this._enableInertialForces = enabled;\r\n  }\r\n\r\n  get centrifugalScale(): number {\r\n    return this._centrifugalScale;\r\n  }\r\n\r\n  set centrifugalScale(scale: number) {\r\n    this._centrifugalScale = Math.max(0, scale);\r\n  }\r\n\r\n  get coriolisScale(): number {\r\n    return this._coriolisScale;\r\n  }\r\n\r\n  set coriolisScale(scale: number) {\r\n    this._coriolisScale = Math.max(0, scale);\r\n  }\r\n\r\n  get solver(): 'verlet' | 'xpbd' {\r\n    return this._solver;\r\n  }\r\n\r\n  set solver(type: 'verlet' | 'xpbd') {\r\n    if (this._solver !== type) {\r\n      this._solver = type;\r\n      if (type === 'xpbd') {\r\n        this.resetConstraintLambdas();\r\n      }\r\n    }\r\n  }\r\n\r\n  get poseFollow(): number {\r\n    return this._poseFollow;\r\n  }\r\n\r\n  set poseFollow(value: number) {\r\n    const v = Math.max(0, Math.min(1, value));\r\n    this._poseFollow = v;\r\n    this._poseFollowRoot = v;\r\n    this._poseFollowTip = v;\r\n  }\r\n\r\n  get poseFollowRoot(): number {\r\n    return this._poseFollowRoot;\r\n  }\r\n\r\n  set poseFollowRoot(value: number) {\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  get poseFollowTip(): number {\r\n    return this._poseFollowTip;\r\n  }\r\n\r\n  set poseFollowTip(value: number) {\r\n    this._poseFollowTip = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  get poseFollowExponent(): number {\r\n    return this._poseFollowExponent;\r\n  }\r\n\r\n  set poseFollowExponent(value: number) {\r\n    this._poseFollowExponent = Math.max(0.1, value);\r\n  }\r\n\r\n  get maxPoseOffset(): number {\r\n    return this._maxPoseOffset;\r\n  }\r\n\r\n  set maxPoseOffset(value: number) {\r\n    const v = Math.max(0, value);\r\n    this._maxPoseOffset = v;\r\n    this._maxPoseOffsetRoot = v;\r\n    this._maxPoseOffsetTip = v;\r\n  }\r\n\r\n  get maxPoseOffsetRoot(): number {\r\n    return this._maxPoseOffsetRoot;\r\n  }\r\n\r\n  set maxPoseOffsetRoot(value: number) {\r\n    this._maxPoseOffsetRoot = Math.max(0, value);\r\n  }\r\n\r\n  get maxPoseOffsetTip(): number {\r\n    return this._maxPoseOffsetTip;\r\n  }\r\n\r\n  set maxPoseOffsetTip(value: number) {\r\n    this._maxPoseOffsetTip = Math.max(0, value);\r\n  }\r\n\r\n  addCollider(collider: SpringCollider): void {\r\n    this._colliders.push(collider);\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  removeCollider(collider: SpringCollider): boolean {\r\n    const index = this._colliders.indexOf(collider);\r\n    if (index >= 0) {\r\n      this._colliders.splice(index, 1);\r\n      this._smoothedSphereCenters = new WeakMap();\r\n      this._smoothedCapsuleEndpoints = new WeakMap();\r\n      this._smoothedPlaneData = new WeakMap();\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  clearColliders(): void {\r\n    this._colliders = [];\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  get colliders(): SpringCollider[] {\r\n    return this._colliders;\r\n  }\r\n\r\n  /**\r\n   * Sets a runtime-only node remapping used by particles, anchors and colliders.\r\n   * The authored node references remain unchanged and therefore serialize normally.\r\n   */\r\n  setRuntimeNodeMap(nodeMap: ReadonlyMap<SceneNode, SceneNode> | null): void {\r\n    this._nodePoseTracker.clear(false);\r\n    this._runtimeNodeMap = nodeMap;\r\n    this._runtimeAnchorOffsets = new WeakMap();\r\n    this._runtimeRestLengths = new WeakMap();\r\n    this.clearRuntimeCaches();\r\n  }\r\n\r\n  /**\r\n   * Rebuilds particle history from the current runtime-remapped node pose.\r\n   * This must be called after a hierarchy graft or skeleton rebind.\r\n   */\r\n  reinitializeFromCurrentPose(options?: SpringPoseReinitializeOptions): void {\r\n    this._nodePoseTracker.clear(false);\r\n    const recomputeAnchorOffsets = options?.recomputeAnchorOffsets ?? true;\r\n    const recalculateRestLengths = options?.recalculateRestLengths ?? true;\r\n    this._runtimeAnchorOffsets = new WeakMap();\r\n    this._runtimeRestLengths = new WeakMap();\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        const particleNode = this.resolveRuntimeNode(particle.node);\r\n        let position = particleNode\r\n          ? new Vector3(\r\n              particleNode.worldMatrix.m03,\r\n              particleNode.worldMatrix.m13,\r\n              particleNode.worldMatrix.m23\r\n            )\r\n          : particle.position.clone();\r\n        const anchorNode = this.resolveRuntimeNode(particle.anchorNode);\r\n        if (particle.fixed && anchorNode) {\r\n          let anchorOffset = particle.anchorOffset;\r\n          if (recomputeAnchorOffsets && anchorOffset && particleNode) {\r\n            anchorOffset = anchorNode.worldToThis(position, new Vector3());\r\n            this._runtimeAnchorOffsets.set(particle, anchorOffset);\r\n          }\r\n          position = anchorOffset\r\n            ? anchorNode.worldMatrix.transformPointAffine(anchorOffset, new Vector3())\r\n            : new Vector3(anchorNode.worldMatrix.m03, anchorNode.worldMatrix.m13, anchorNode.worldMatrix.m23);\r\n        }\r\n        particle.position.set(position);\r\n        particle.prevPosition.set(position);\r\n        particle.animPosition.set(position);\r\n        particle.lastFramePosition.set(position);\r\n        if (particle.positionHistory) {\r\n          particle.positionHistory.length = 0;\r\n        }\r\n      }\r\n\r\n      for (const constraint of chain.constraints) {\r\n        constraint.lambda = 0;\r\n        if (recalculateRestLengths) {\r\n          this._runtimeRestLengths.set(\r\n            constraint,\r\n            Vector3.distance(\r\n              chain.particles[constraint.particleA].position,\r\n              chain.particles[constraint.particleB].position\r\n            )\r\n          );\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const constraint of this._interChainConstraints) {\r\n      constraint.lambda = 0;\r\n      if (recalculateRestLengths) {\r\n        const particleA = this._chains[constraint.chainAIndex]?.particles[constraint.particleAIndex];\r\n        const particleB = this._chains[constraint.chainBIndex]?.particles[constraint.particleBIndex];\r\n        if (particleA && particleB) {\r\n          this._runtimeRestLengths.set(constraint, Vector3.distance(particleA.position, particleB.position));\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const collider of this._colliders) {\r\n      const colliderNode = this.resolveRuntimeNode(collider.node);\r\n      if (colliderNode) {\r\n        updateColliderFromNode(collider, colliderNode);\r\n      }\r\n    }\r\n    this.clearRuntimeCaches();\r\n  }\r\n\r\n  private simulateStep(dt: number, inputDeltaTime: number): void {\r\n    if (this._enableInertialForces) {\r\n      for (const chain of this._chains) {\r\n        for (const particle of chain.particles) {\r\n          particle.lastFramePosition.set(particle.position);\r\n        }\r\n      }\r\n    }\r\n\r\n    this.updateFixedParticles(inputDeltaTime);\r\n\r\n    let rotationCenter: Vector3 | null = null;\r\n    let angularVelocity: Vector3 | null = null;\r\n\r\n    if (this._enableInertialForces && dt > 0.0001) {\r\n      const result = this.calculateGlobalRotation(dt);\r\n      rotationCenter = result.center;\r\n      angularVelocity = result.omega;\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n\r\n        const velocity = Vector3.sub(particle.position, particle.prevPosition, new Vector3());\r\n        velocity.scaleBy(particle.damping);\r\n\r\n        const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\r\n        if (this._enableInertialForces && rotationCenter && angularVelocity) {\r\n          const inertialAccel = this.calculateInertialAcceleration(\r\n            particle,\r\n            rotationCenter,\r\n            angularVelocity,\r\n            velocity,\r\n            this._centrifugalScale,\r\n            this._coriolisScale\r\n          );\r\n          Vector3.add(acceleration, inertialAccel, acceleration);\r\n        }\r\n\r\n        const positionDelta = Vector3.scale(acceleration, dt * dt, new Vector3());\r\n        Vector3.add(velocity, positionDelta, velocity);\r\n\r\n        particle.prevPosition.set(particle.position);\r\n        Vector3.add(particle.position, velocity, particle.position);\r\n      }\r\n    }\r\n\r\n    if (this._solver === 'xpbd') {\r\n      this.resetConstraintLambdas();\r\n    }\r\n\r\n    for (let iter = 0; iter < this._iterations; iter++) {\r\n      for (const chain of this._chains) {\r\n        for (const constraint of chain.constraints) {\r\n          if (this._solver === 'xpbd') {\r\n            this.solveConstraintXPBD(chain, constraint, dt);\r\n          } else {\r\n            this.solveConstraint(chain, constraint);\r\n          }\r\n        }\r\n      }\r\n\r\n      for (const constraint of this._interChainConstraints) {\r\n        if (this._solver === 'xpbd') {\r\n          this.solveInterChainConstraintXPBD(constraint, dt);\r\n        } else {\r\n          this.solveInterChainConstraint(constraint);\r\n        }\r\n      }\r\n\r\n      this.solvePosePreservation(this._iterations);\r\n      this.solveCollisions(inputDeltaTime);\r\n    }\r\n  }\r\n\r\n  private updateFixedParticles(deltaTime: number): void {\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME);\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        const sourceNode = this.resolveRuntimeNode(particle.anchorNode ?? particle.node);\r\n        if (!sourceNode) {\r\n          continue;\r\n        }\r\n        const anchorOffset = this._runtimeAnchorOffsets.get(particle) ?? particle.anchorOffset;\r\n        const worldPos = anchorOffset\r\n          ? sourceNode.worldMatrix.transformPointAffine(anchorOffset)\r\n          : new Vector3(sourceNode.worldMatrix.m03, sourceNode.worldMatrix.m13, sourceNode.worldMatrix.m23);\r\n        const smoothedTarget = this.getSmoothedParticleTarget(particle, worldPos, blend);\r\n        particle.animPosition.set(smoothedTarget);\r\n        if (particle.fixed) {\r\n          particle.position.set(smoothedTarget);\r\n          particle.prevPosition.set(smoothedTarget);\r\n          if (this._enableInertialForces) {\r\n            if (!particle.positionHistory) {\r\n              particle.positionHistory = [];\r\n            }\r\n            particle.positionHistory.push(smoothedTarget.clone());\r\n            if (particle.positionHistory.length > 5) {\r\n              particle.positionHistory.shift();\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private solvePosePreservation(totalIterations: number): void {\r\n    if (this._poseFollowRoot <= 0 && this._poseFollowTip <= 0) {\r\n      return;\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      const lastIndex = Math.max(1, chain.particles.length - 1);\r\n      for (let i = 0; i < chain.particles.length; i++) {\r\n        const particle = chain.particles[i];\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n\r\n        const t = Math.pow(i / lastIndex, this._poseFollowExponent);\r\n        const particlePoseFollow = this.lerp(this._poseFollowRoot, this._poseFollowTip, t);\r\n        const iterationFollow =\r\n          totalIterations > 1\r\n            ? 1 - Math.pow(Math.max(0, 1 - particlePoseFollow), 1 / totalIterations)\r\n            : particlePoseFollow;\r\n        const toAnim = Vector3.sub(particle.animPosition, particle.position, new Vector3());\r\n        const correction = Vector3.scale(toAnim, iterationFollow, new Vector3());\r\n        Vector3.add(particle.position, correction, particle.position);\r\n\r\n        const particleMaxPoseOffset = this.lerp(this._maxPoseOffsetRoot, this._maxPoseOffsetTip, t);\r\n        if (particleMaxPoseOffset > 0) {\r\n          const offset = Vector3.sub(particle.position, particle.animPosition, new Vector3());\r\n          const offsetLen = offset.magnitude;\r\n          if (offsetLen > particleMaxPoseOffset && offsetLen > 1e-6) {\r\n            offset.scaleBy(particleMaxPoseOffset / offsetLen);\r\n            Vector3.add(particle.animPosition, offset, particle.position);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private solveCollisions(deltaTime: number): void {\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\r\n    const spheres: SphereCollider[] = [];\r\n    const capsules: CapsuleCollider[] = [];\r\n    const planes: PlaneCollider[] = [];\r\n\r\n    for (const collider of this._colliders) {\r\n      const colliderNode = this.resolveRuntimeNode(collider.node);\r\n      if (colliderNode) {\r\n        updateColliderFromNode(collider, colliderNode);\r\n      }\r\n      if (!collider.enabled) {\r\n        continue;\r\n      }\r\n      switch (collider.type) {\r\n        case 'sphere': {\r\n          const source = collider as SphereCollider;\r\n          spheres.push({\r\n            ...source,\r\n            center: this.getSmoothedSphereCenter(source, blend)\r\n          });\r\n          break;\r\n        }\r\n        case 'capsule': {\r\n          const source = collider as CapsuleCollider;\r\n          const endpoints = this.getSmoothedCapsuleEndpoints(source, blend);\r\n          capsules.push({\r\n            ...source,\r\n            start: endpoints.start,\r\n            end: endpoints.end\r\n          });\r\n          break;\r\n        }\r\n        case 'plane': {\r\n          const source = collider as PlaneCollider;\r\n          const plane = this.getSmoothedPlaneData(source, blend);\r\n          planes.push({\r\n            ...source,\r\n            point: plane.point,\r\n            normal: plane.normal\r\n          });\r\n          break;\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n        const positionBeforeCollision = particle.position.clone();\r\n        let collided = false;\r\n        for (const collider of spheres) {\r\n          collided = resolveSphereCollision(particle.position, collider) || collided;\r\n        }\r\n        for (const collider of capsules) {\r\n          collided = resolveCapsuleCollision(particle.position, collider) || collided;\r\n        }\r\n        for (const collider of planes) {\r\n          collided = resolvePlaneCollision(particle.position, collider) || collided;\r\n        }\r\n        if (collided) {\r\n          Vector3.add(\r\n            particle.prevPosition,\r\n            Vector3.sub(particle.position, positionBeforeCollision, new Vector3()),\r\n            particle.prevPosition\r\n          );\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\r\n    const fixedParticles: any[] = [];\r\n    const velocities: Vector3[] = [];\r\n    const drivenNodes = new Set<SceneNode>();\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        const node = this.resolveRuntimeNode(particle.node);\r\n        if (node) {\r\n          drivenNodes.add(node);\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (!particle.fixed || !this.isExternalInertialAnchor(particle, drivenNodes)) {\r\n          continue;\r\n        }\r\n        const velocity = Vector3.sub(particle.position, particle.lastFramePosition, new Vector3());\r\n        velocity.scaleBy(1.0 / dt);\r\n        if (velocity.magnitudeSq > 0.001) {\r\n          fixedParticles.push(particle);\r\n          velocities.push(velocity);\r\n        }\r\n      }\r\n    }\r\n\r\n    if (fixedParticles.length === 0) {\r\n      return { center: new Vector3(0, 0, 0), omega: new Vector3(0, 0, 0) };\r\n    }\r\n\r\n    let center: Vector3;\r\n    if (fixedParticles.length === 1) {\r\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\r\n    } else {\r\n      center = new Vector3(0, 0, 0);\r\n      for (const particle of fixedParticles) {\r\n        Vector3.add(center, particle.position, center);\r\n      }\r\n      center.scaleBy(1.0 / fixedParticles.length);\r\n    }\r\n\r\n    let sumOmega = new Vector3(0, 0, 0);\r\n    let count = 0;\r\n    for (let i = 0; i < fixedParticles.length; i++) {\r\n      const r = Vector3.sub(fixedParticles[i].position, center, new Vector3());\r\n      const v = velocities[i];\r\n      const rLengthSq = r.magnitudeSq;\r\n      if (rLengthSq > 0.0001) {\r\n        const omega = Vector3.cross(r, v, new Vector3());\r\n        omega.scaleBy(1.0 / rLengthSq);\r\n        Vector3.add(sumOmega, omega, sumOmega);\r\n        count++;\r\n      }\r\n    }\r\n\r\n    if (count > 0) {\r\n      sumOmega.scaleBy(1.0 / count);\r\n    }\r\n    return { center, omega: sumOmega };\r\n  }\r\n\r\n  private estimateRotationCenterFromHistory(particle: any, currentVelocity: Vector3): Vector3 {\r\n    const history = particle.positionHistory;\r\n    if (!history || history.length < 3) {\r\n      const speed = currentVelocity.magnitude;\r\n      if (speed < 0.001) {\r\n        return particle.position.clone();\r\n      }\r\n\r\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\r\n      const up = new Vector3(0, 1, 0);\r\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\r\n      if (perpDir.magnitudeSq < 0.0001) {\r\n        perpDir.set(new Vector3(1, 0, 0));\r\n      } else {\r\n        perpDir.inplaceNormalize();\r\n      }\r\n\r\n      return Vector3.add(\r\n        particle.position,\r\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\r\n        new Vector3()\r\n      );\r\n    }\r\n\r\n    const p1 = history[0];\r\n    const p2 = history[Math.floor(history.length / 2)];\r\n    const p3 = history[history.length - 1];\r\n    return this.calculateCircleCenter(p1, p2, p3);\r\n  }\r\n\r\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\r\n    const mid12 = Vector3.scale(Vector3.add(p1, p2, new Vector3()), 0.5, new Vector3());\r\n    const mid23 = Vector3.scale(Vector3.add(p2, p3, new Vector3()), 0.5, new Vector3());\r\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\r\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\r\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\r\n\r\n    if (normal.magnitudeSq < 0.0001) {\r\n      return Vector3.scale(\r\n        Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n        1.0 / 3.0,\r\n        new Vector3()\r\n      );\r\n    }\r\n\r\n    normal.inplaceNormalize();\r\n    const perp12 = Vector3.cross(dir12, normal, new Vector3()).inplaceNormalize();\r\n    const perp23 = Vector3.cross(dir23, normal, new Vector3()).inplaceNormalize();\r\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\r\n    const det = perp12.x * perp23.y - perp12.y * perp23.x;\r\n\r\n    if (Math.abs(det) > 0.0001) {\r\n      const t = (diff.x * perp23.y - diff.y * perp23.x) / det;\r\n      return Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\r\n    }\r\n\r\n    return Vector3.scale(\r\n      Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n      1.0 / 3.0,\r\n      new Vector3()\r\n    );\r\n  }\r\n\r\n  private calculateInertialAcceleration(\r\n    particle: any,\r\n    rotationCenter: Vector3,\r\n    angularVelocity: Vector3,\r\n    particleVelocity: Vector3,\r\n    centrifugalScale: number,\r\n    coriolisScale: number\r\n  ): Vector3 {\r\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\r\n    const omegaCrossR = Vector3.cross(angularVelocity, r, new Vector3());\r\n    const centrifugalAccel = Vector3.cross(angularVelocity, omegaCrossR, new Vector3());\r\n    centrifugalAccel.scaleBy(centrifugalScale);\r\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\r\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\r\n    return Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\r\n  }\r\n\r\n  private solveConstraint(chain: SpringChain, constraint: SpringConstraint): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = chain.particles[constraint.particleB];\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const diff = (currentLength - this.getRuntimeRestLength(constraint)) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  private solveInterChainConstraint(constraint: InterChainConstraint): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const diff = (currentLength - this.getRuntimeRestLength(constraint)) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  private solveConstraintXPBD(chain: SpringChain, constraint: SpringConstraint, dt: number): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = chain.particles[constraint.particleB];\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const C = currentLength - this.getRuntimeRestLength(constraint);\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  private solveInterChainConstraintXPBD(constraint: InterChainConstraint, dt: number): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const C = currentLength - this.getRuntimeRestLength(constraint);\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  private collectChainNodeRotations(\r\n    chain: SpringChain,\r\n    weight: number,\r\n    baseNodeStates: Map<any, { position: Vector3; rotation: Quaternion }>,\r\n    desiredWorldRotations: Map<any, Quaternion>\r\n  ): void {\r\n    for (let i = 0; i < chain.particles.length - 1; i++) {\r\n      const particle = chain.particles[i];\r\n      const nextParticle = chain.particles[i + 1];\r\n      const node = this.resolveRuntimeNode(particle.node);\r\n      if (!node) {\r\n        continue;\r\n      }\r\n\r\n      const nextNode = this.resolveRuntimeNode(nextParticle.node);\r\n      if (!nextNode) {\r\n        continue;\r\n      }\r\n\r\n      let nodeState = baseNodeStates.get(node);\r\n      if (!nodeState) {\r\n        const currentBoneRotation = new Quaternion();\r\n        node.worldMatrix.decompose(null, currentBoneRotation, null);\r\n        nodeState = {\r\n          position: new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23),\r\n          rotation: currentBoneRotation\r\n        };\r\n        baseNodeStates.set(node, nodeState);\r\n      }\r\n      let nextNodeState = baseNodeStates.get(nextNode);\r\n      if (!nextNodeState) {\r\n        const nextBoneRotation = new Quaternion();\r\n        nextNode.worldMatrix.decompose(null, nextBoneRotation, null);\r\n        nextNodeState = {\r\n          position: new Vector3(nextNode.worldMatrix.m03, nextNode.worldMatrix.m13, nextNode.worldMatrix.m23),\r\n          rotation: nextBoneRotation\r\n        };\r\n        baseNodeStates.set(nextNode, nextNodeState);\r\n      }\r\n\r\n      const originalDir = Vector3.sub(nextNodeState.position, nodeState.position, new Vector3());\r\n      const currentBoneRotation = nodeState.rotation;\r\n\r\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\r\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\r\n\r\n      if (weight < 1) {\r\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      desiredWorldRotations.set(node, worldRotation);\r\n    }\r\n  }\r\n\r\n  private getNodeDepth(node: any): number {\r\n    let depth = 0;\r\n    let current = node?.parent;\r\n    while (current) {\r\n      depth++;\r\n      current = current.parent;\r\n    }\r\n    return depth;\r\n  }\r\n\r\n  private resetConstraintLambdas(): void {\r\n    for (const chain of this._chains) {\r\n      for (const constraint of chain.constraints) {\r\n        constraint.lambda = 0;\r\n      }\r\n    }\r\n    for (const constraint of this._interChainConstraints) {\r\n      constraint.lambda = 0;\r\n    }\r\n  }\r\n\r\n  private resolveRuntimeNode(node: SceneNode | null | undefined): SceneNode | null {\r\n    return node ? (this._runtimeNodeMap?.get(node) ?? node) : null;\r\n  }\r\n\r\n  private isExternalInertialAnchor(particle: SpringParticle, drivenNodes: Set<SceneNode>): boolean {\r\n    const particleNode = this.resolveRuntimeNode(particle.node);\r\n    let current = this.resolveRuntimeNode(particle.anchorNode ?? particle.node);\r\n    while (current) {\r\n      if (current !== particleNode && drivenNodes.has(current)) {\r\n        return false;\r\n      }\r\n      current = current.parent;\r\n    }\r\n    return true;\r\n  }\r\n\r\n  private getRuntimeRestLength(constraint: SpringConstraint | InterChainConstraint): number {\r\n    return this._runtimeRestLengths.get(constraint) ?? constraint.restLength;\r\n  }\r\n\r\n  private clearRuntimeCaches(): void {\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  private lerp(a: number, b: number, t: number): number {\r\n    return a + (b - a) * t;\r\n  }\r\n\r\n  private getTemporalBlendFactor(deltaTime: number, smoothingTime: number): number {\r\n    const dt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (smoothingTime <= 0) {\r\n      return 1;\r\n    }\r\n    if (dt <= 0) {\r\n      return 0;\r\n    }\r\n    return 1 - Math.exp(-dt / smoothingTime);\r\n  }\r\n\r\n  private getSmoothedParticleTarget(target: object, current: Vector3, blend: number): Vector3 {\r\n    const cached = this._smoothedParticleTargets.get(target);\r\n    if (!cached || blend >= 1) {\r\n      const next = current.clone();\r\n      this._smoothedParticleTargets.set(target, next);\r\n      return next;\r\n    }\r\n    cached.setXYZ(\r\n      cached.x + (current.x - cached.x) * blend,\r\n      cached.y + (current.y - cached.y) * blend,\r\n      cached.z + (current.z - cached.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedSphereCenter(collider: SphereCollider, blend: number): Vector3 {\r\n    const current = collider.center?.clone() ?? new Vector3();\r\n    const cached = this._smoothedSphereCenters.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      this._smoothedSphereCenters.set(collider, current);\r\n      return current;\r\n    }\r\n    cached.setXYZ(\r\n      cached.x + (current.x - cached.x) * blend,\r\n      cached.y + (current.y - cached.y) * blend,\r\n      cached.z + (current.z - cached.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedCapsuleEndpoints(\r\n    collider: CapsuleCollider,\r\n    blend: number\r\n  ): { start: Vector3; end: Vector3 } {\r\n    const currentStart = collider.start?.clone() ?? new Vector3();\r\n    const currentEnd = collider.end?.clone() ?? new Vector3();\r\n    const cached = this._smoothedCapsuleEndpoints.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const next = { start: currentStart, end: currentEnd };\r\n      this._smoothedCapsuleEndpoints.set(collider, next);\r\n      return next;\r\n    }\r\n    cached.start.setXYZ(\r\n      cached.start.x + (currentStart.x - cached.start.x) * blend,\r\n      cached.start.y + (currentStart.y - cached.start.y) * blend,\r\n      cached.start.z + (currentStart.z - cached.start.z) * blend\r\n    );\r\n    cached.end.setXYZ(\r\n      cached.end.x + (currentEnd.x - cached.end.x) * blend,\r\n      cached.end.y + (currentEnd.y - cached.end.y) * blend,\r\n      cached.end.z + (currentEnd.z - cached.end.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedPlaneData(collider: PlaneCollider, blend: number): { point: Vector3; normal: Vector3 } {\r\n    const currentPoint = collider.point?.clone() ?? new Vector3();\r\n    const currentNormal = collider.normal?.clone() ?? new Vector3(0, 1, 0);\r\n    const cached = this._smoothedPlaneData.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const 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package/dist/animation/spring/spring_collider.js

@@ -191,11 +191,12 @@ import { Vector3 } from '@zephyr3d/base';
  * Updates collider position from its associated node
  *
  * @public
- */ function updateColliderFromNode(collider) {
-    if (!collider.node || !collider.enabled) {
+ */ function updateColliderFromNode(collider, runtimeNode) {
+    const node = runtimeNode ?? collider.node;
+    if (!node || !collider.enabled) {
         return;
     }
-    const worldMatrix = collider.node.worldMatrix;
+    const worldMatrix = node.worldMatrix;
     switch(collider.type){
         case 'sphere':
             {

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

@@ -1 +1 @@
-{"version":3,"file":"spring_collider.js","sources":["../../../src/animation/spring/spring_collider.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Base interface for spring collision shapes\r\n *\r\n * @public\r\n */\r\nexport interface SpringCollider {\r\n  /** Type of collider */\r\n  type: 'sphere' | 'capsule' | 'plane';\r\n  /** Associated scene node (optional, for dynamic colliders) */\r\n  node?: Nullable<SceneNode>;\r\n  /** Whether this collider is enabled */\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Sphere collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface SphereCollider extends SpringCollider {\r\n  type: 'sphere';\r\n  /** Center position in world space */\r\n  center: Vector3;\r\n  /** Radius of the sphere */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline world scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local offset from node (if node is set) */\r\n  localOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Capsule collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface CapsuleCollider extends SpringCollider {\r\n  type: 'capsule';\r\n  /** Start point of the capsule axis in world space */\r\n  start: Vector3;\r\n  /** End point of the capsule axis in world space */\r\n  end: Vector3;\r\n  /** Radius of the capsule */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline perpendicular scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local start offset from node (if node is set) */\r\n  localStartOffset?: Vector3;\r\n  /** Local end offset from node (if node is set) */\r\n  localEndOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Plane collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface PlaneCollider extends SpringCollider {\r\n  type: 'plane';\r\n  /** Point on the plane in world space */\r\n  point: Vector3;\r\n  /** Normal vector of the plane (should be normalized) */\r\n  normal: Vector3;\r\n  /** Local point offset from node (if node is set) */\r\n  localPointOffset?: Vector3;\r\n  /** Local normal direction (if node is set) */\r\n  localNormal?: Vector3;\r\n}\r\n\r\n/**\r\n * Creates a sphere collider\r\n * @param centerOrOffset - Center position in world space, or local offset if node is provided\r\n * @param radius - Radius of the sphere\r\n * @param node - Optional scene node to attach to (if provided, centerOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createSphereCollider(\r\n  centerOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): SphereCollider {\r\n  if (node) {\r\n    // If node is provided, treat centerOrOffset as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldCenter = worldMatrix.transformPointAffine(centerOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'sphere',\r\n      center: worldCenter,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getUniformScale(worldMatrix),\r\n      node,\r\n      enabled: true,\r\n      localOffset: centerOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'sphere',\r\n      center: centerOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a capsule collider\r\n * @param startOrOffset - Start point in world space, or local offset if node is provided\r\n * @param endOrOffset - End point in world space, or local offset if node is provided\r\n * @param radius - Radius of the capsule\r\n * @param node - Optional scene node to attach to (if provided, offsets are treated as local)\r\n *\r\n * @public\r\n */\r\nexport function createCapsuleCollider(\r\n  startOrOffset: Vector3,\r\n  endOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): CapsuleCollider {\r\n  if (node) {\r\n    // If node is provided, treat as local offsets\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldStart = worldMatrix.transformPointAffine(startOrOffset, new Vector3());\r\n    const worldEnd = worldMatrix.transformPointAffine(endOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'capsule',\r\n      start: worldStart,\r\n      end: worldEnd,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getPerpendicularScale(\r\n        worldMatrix,\r\n        Vector3.sub(endOrOffset, startOrOffset, new Vector3())\r\n      ),\r\n      node,\r\n      enabled: true,\r\n      localStartOffset: startOrOffset.clone(),\r\n      localEndOffset: endOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world positions\r\n    return {\r\n      type: 'capsule',\r\n      start: startOrOffset.clone(),\r\n      end: endOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a plane collider\r\n * @param pointOrOffset - Point on plane in world space, or local offset if node is provided\r\n * @param normal - Normal vector (will be normalized)\r\n * @param node - Optional scene node to attach to (if provided, pointOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createPlaneCollider(\r\n  pointOrOffset: Vector3,\r\n  normal: Vector3,\r\n  node?: SceneNode\r\n): PlaneCollider {\r\n  const normalizedNormal = new Vector3();\r\n  Vector3.normalize(normal, normalizedNormal);\r\n\r\n  if (node) {\r\n    // If node is provided, treat as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldPoint = worldMatrix.transformPointAffine(pointOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'plane',\r\n      point: worldPoint,\r\n      normal: normalizedNormal.clone(),\r\n      node,\r\n      enabled: true,\r\n      localPointOffset: pointOrOffset.clone(),\r\n      localNormal: normalizedNormal.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'plane',\r\n      point: pointOrOffset.clone(),\r\n      normal: normalizedNormal,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a sphere collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveSphereCollision(particlePos: Vector3, collider: SphereCollider): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.center, new Vector3());\r\n  const distSq = toParticle.magnitudeSq;\r\n  const radiusSq = collider.radius * collider.radius;\r\n\r\n  if (distSq < radiusSq && distSq > 0.0001) {\r\n    // Particle is inside sphere, push it out\r\n    const dist = Math.sqrt(distSq);\r\n    const penetration = collider.radius - dist;\r\n\r\n    // Push particle to sphere surface\r\n    Vector3.normalize(toParticle, toParticle);\r\n    toParticle.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticle, particlePos);\r\n\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a capsule collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveCapsuleCollision(particlePos: Vector3, collider: CapsuleCollider): boolean {\r\n  // Find closest point on capsule axis\r\n  const axis = Vector3.sub(collider.end, collider.start, new Vector3());\r\n  const axisLength = axis.magnitude;\r\n\r\n  if (axisLength < 0.0001) {\r\n    // Degenerate capsule, treat as sphere\r\n    const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n    const distSq = toParticle.magnitudeSq;\r\n    const radiusSq = collider.radius * collider.radius;\r\n\r\n    if (distSq < radiusSq && distSq > 0.0001) {\r\n      const dist = Math.sqrt(distSq);\r\n      const penetration = collider.radius - dist;\r\n      Vector3.normalize(toParticle, toParticle);\r\n      toParticle.scaleBy(penetration);\r\n      Vector3.add(particlePos, toParticle, particlePos);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  Vector3.normalize(axis, axis);\r\n\r\n  const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n  const projection = Vector3.dot(toParticle, axis);\r\n\r\n  // Clamp projection to capsule length\r\n  const t = Math.max(0, Math.min(axisLength, projection));\r\n\r\n  // Closest point on capsule axis\r\n  const closestPoint = Vector3.add(collider.start, Vector3.scale(axis, t, new Vector3()), new Vector3());\r\n\r\n  // Check distance from closest point\r\n  const toParticleFromAxis = Vector3.sub(particlePos, closestPoint, new Vector3());\r\n  const distSq = toParticleFromAxis.magnitudeSq;\r\n  const radiusSq = collider.radius * collider.radius;\r\n\r\n  if (distSq < radiusSq && distSq > 0.0001) {\r\n    const dist = Math.sqrt(distSq);\r\n    const penetration = collider.radius - dist;\r\n    Vector3.normalize(toParticleFromAxis, toParticleFromAxis);\r\n    toParticleFromAxis.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticleFromAxis, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a plane collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolvePlaneCollision(particlePos: Vector3, collider: PlaneCollider): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.point, new Vector3());\r\n  const distance = Vector3.dot(toParticle, collider.normal);\r\n\r\n  if (distance < 0) {\r\n    // Particle is below plane, push it up\r\n    const correction = Vector3.scale(collider.normal, -distance, new Vector3());\r\n    Vector3.add(particlePos, correction, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Updates collider position from its associated node\r\n *\r\n * @public\r\n */\r\nexport function updateColliderFromNode(collider: SpringCollider): void {\r\n  if (!collider.node || !collider.enabled) {\r\n    return;\r\n  }\r\n\r\n  const worldMatrix = collider.node.worldMatrix;\r\n\r\n  switch (collider.type) {\r\n    case 'sphere': {\r\n      const sphere = collider as SphereCollider;\r\n      if (sphere.localRadius !== undefined) {\r\n        const currentScale = getUniformScale(worldMatrix);\r\n        const refScale = Math.max(1e-6, sphere.localRadiusScaleRef ?? 1);\r\n        sphere.radius = sphere.localRadius * (currentScale / refScale);\r\n      }\r\n      if (sphere.localOffset) {\r\n        // Transform local offset to world space\r\n        worldMatrix.transformPointAffine(sphere.localOffset, sphere.center);\r\n      } else {\r\n        // No local offset, just use node position\r\n        sphere.center.x = worldMatrix.m03;\r\n        sphere.center.y = worldMatrix.m13;\r\n        sphere.center.z = worldMatrix.m23;\r\n      }\r\n      break;\r\n    }\r\n\r\n    case 'capsule': {\r\n      const capsule = collider as CapsuleCollider;\r\n      if (capsule.localRadius !== undefined) {\r\n        const axisLocal =\r\n          capsule.localStartOffset && capsule.localEndOffset\r\n            ? 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+{"version":3,"file":"spring_collider.js","sources":["../../../src/animation/spring/spring_collider.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Base interface for spring collision shapes\r\n *\r\n * @public\r\n */\r\nexport interface SpringCollider {\r\n  /** Type of collider */\r\n  type: 'sphere' | 'capsule' | 'plane';\r\n  /** Associated scene node (optional, for dynamic colliders) */\r\n  node?: Nullable<SceneNode>;\r\n  /** Whether this collider is enabled */\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Sphere collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface SphereCollider extends SpringCollider {\r\n  type: 'sphere';\r\n  /** Center position in world space */\r\n  center: Vector3;\r\n  /** Radius of the sphere */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline world scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local offset from node (if node is set) */\r\n  localOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Capsule collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface CapsuleCollider extends SpringCollider {\r\n  type: 'capsule';\r\n  /** Start point of the capsule axis in world space */\r\n  start: Vector3;\r\n  /** End point of the capsule axis in world space */\r\n  end: Vector3;\r\n  /** Radius of the capsule */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline perpendicular scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local start offset from node (if node is set) */\r\n  localStartOffset?: Vector3;\r\n  /** Local end offset from node (if node is set) */\r\n  localEndOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Plane collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface PlaneCollider extends SpringCollider {\r\n  type: 'plane';\r\n  /** Point on the plane in world space */\r\n  point: Vector3;\r\n  /** Normal vector of the plane (should be normalized) */\r\n  normal: Vector3;\r\n  /** Local point offset from node (if node is set) */\r\n  localPointOffset?: Vector3;\r\n  /** Local normal direction (if node is set) */\r\n  localNormal?: Vector3;\r\n}\r\n\r\n/**\r\n * Creates a sphere collider\r\n * @param centerOrOffset - Center position in world space, or local offset if node is provided\r\n * @param radius - Radius of the sphere\r\n * @param node - Optional scene node to attach to (if provided, centerOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createSphereCollider(\r\n  centerOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): SphereCollider {\r\n  if (node) {\r\n    // If node is provided, treat centerOrOffset as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldCenter = worldMatrix.transformPointAffine(centerOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'sphere',\r\n      center: worldCenter,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getUniformScale(worldMatrix),\r\n      node,\r\n      enabled: true,\r\n      localOffset: centerOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'sphere',\r\n      center: centerOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a capsule collider\r\n * @param startOrOffset - Start point in world space, or local offset if node is provided\r\n * @param endOrOffset - End point in world space, or local offset if node is provided\r\n * @param radius - Radius of the capsule\r\n * @param node - Optional scene node to attach to (if provided, offsets are treated as local)\r\n *\r\n * @public\r\n */\r\nexport function createCapsuleCollider(\r\n  startOrOffset: Vector3,\r\n  endOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): CapsuleCollider {\r\n  if (node) {\r\n    // If node is provided, treat as local offsets\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldStart = worldMatrix.transformPointAffine(startOrOffset, new Vector3());\r\n    const worldEnd = worldMatrix.transformPointAffine(endOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'capsule',\r\n      start: worldStart,\r\n      end: worldEnd,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getPerpendicularScale(\r\n        worldMatrix,\r\n        Vector3.sub(endOrOffset, startOrOffset, new Vector3())\r\n      ),\r\n      node,\r\n      enabled: true,\r\n      localStartOffset: startOrOffset.clone(),\r\n      localEndOffset: endOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world positions\r\n    return {\r\n      type: 'capsule',\r\n      start: startOrOffset.clone(),\r\n      end: endOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a plane collider\r\n * @param pointOrOffset - Point on plane in world space, or local offset if node is provided\r\n * @param normal - Normal vector (will be normalized)\r\n * @param node - Optional scene node to attach to (if provided, pointOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createPlaneCollider(\r\n  pointOrOffset: Vector3,\r\n  normal: Vector3,\r\n  node?: SceneNode\r\n): PlaneCollider {\r\n  const normalizedNormal = new Vector3();\r\n  Vector3.normalize(normal, normalizedNormal);\r\n\r\n  if (node) {\r\n    // If node is provided, treat as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldPoint = worldMatrix.transformPointAffine(pointOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'plane',\r\n      point: worldPoint,\r\n      normal: normalizedNormal.clone(),\r\n      node,\r\n      enabled: true,\r\n      localPointOffset: pointOrOffset.clone(),\r\n      localNormal: normalizedNormal.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'plane',\r\n      point: pointOrOffset.clone(),\r\n      normal: normalizedNormal,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a sphere collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveSphereCollision(particlePos: Vector3, collider: SphereCollider): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.center, new Vector3());\r\n  const distSq = toParticle.magnitudeSq;\r\n  const radiusSq = collider.radius * collider.radius;\r\n\r\n  if (distSq < radiusSq && distSq > 0.0001) {\r\n    // Particle is inside sphere, push it out\r\n    const dist = Math.sqrt(distSq);\r\n    const penetration = collider.radius - dist;\r\n\r\n    // Push particle to sphere surface\r\n    Vector3.normalize(toParticle, toParticle);\r\n    toParticle.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticle, particlePos);\r\n\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a capsule collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveCapsuleCollision(particlePos: Vector3, collider: CapsuleCollider): boolean {\r\n  // Find closest point on capsule axis\r\n  const axis = Vector3.sub(collider.end, collider.start, new Vector3());\r\n  const axisLength = axis.magnitude;\r\n\r\n  if (axisLength < 0.0001) {\r\n    // Degenerate capsule, treat as sphere\r\n    const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n    const distSq = toParticle.magnitudeSq;\r\n    const radiusSq = collider.radius * collider.radius;\r\n\r\n    if (distSq < radiusSq && distSq > 0.0001) {\r\n      const dist = Math.sqrt(distSq);\r\n      const penetration = collider.radius - dist;\r\n      Vector3.normalize(toParticle, toParticle);\r\n      toParticle.scaleBy(penetration);\r\n      Vector3.add(particlePos, toParticle, particlePos);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  Vector3.normalize(axis, axis);\r\n\r\n  const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n  const projection = Vector3.dot(toParticle, axis);\r\n\r\n  // Clamp projection to capsule length\r\n  const t = Math.max(0, Math.min(axisLength, projection));\r\n\r\n  // Closest point on capsule axis\r\n  const closestPoint = Vector3.add(collider.start, Vector3.scale(axis, t, new Vector3()), new Vector3());\r\n\r\n  // Check distance from closest point\r\n  const toParticleFromAxis = Vector3.sub(particlePos, closestPoint, new Vector3());\r\n  const distSq = toParticleFromAxis.magnitudeSq;\r\n  const radiusSq = collider.radius * collider.radius;\r\n\r\n  if (distSq < radiusSq && distSq > 0.0001) {\r\n    const dist = Math.sqrt(distSq);\r\n    const penetration = collider.radius - dist;\r\n    Vector3.normalize(toParticleFromAxis, toParticleFromAxis);\r\n    toParticleFromAxis.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticleFromAxis, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a plane collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolvePlaneCollision(particlePos: Vector3, collider: PlaneCollider): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.point, new Vector3());\r\n  const distance = Vector3.dot(toParticle, collider.normal);\r\n\r\n  if (distance < 0) {\r\n    // Particle is below plane, push it up\r\n    const correction = Vector3.scale(collider.normal, -distance, new Vector3());\r\n    Vector3.add(particlePos, correction, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Updates collider position from its associated node\r\n *\r\n * @public\r\n */\r\nexport function updateColliderFromNode(collider: SpringCollider, runtimeNode?: Nullable<SceneNode>): void {\r\n  const node = runtimeNode ?? collider.node;\r\n  if (!node || !collider.enabled) {\r\n    return;\r\n  }\r\n\r\n  const worldMatrix = node.worldMatrix;\r\n\r\n  switch (collider.type) {\r\n    case 'sphere': {\r\n      const sphere = collider as SphereCollider;\r\n      if (sphere.localRadius !== undefined) {\r\n        const currentScale = getUniformScale(worldMatrix);\r\n        const refScale = Math.max(1e-6, sphere.localRadiusScaleRef ?? 1);\r\n        sphere.radius = sphere.localRadius * (currentScale / refScale);\r\n      }\r\n      if (sphere.localOffset) {\r\n        // Transform local offset to world space\r\n        worldMatrix.transformPointAffine(sphere.localOffset, sphere.center);\r\n      } else {\r\n        // No local offset, just use node position\r\n        sphere.center.x = worldMatrix.m03;\r\n        sphere.center.y = worldMatrix.m13;\r\n        sphere.center.z = worldMatrix.m23;\r\n      }\r\n      break;\r\n    }\r\n\r\n    case 'capsule': {\r\n      const capsule = collider as CapsuleCollider;\r\n      if (capsule.localRadius !== undefined) {\r\n        const axisLocal =\r\n          capsule.localStartOffset && capsule.localEndOffset\r\n            ? 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package/dist/animation/spring/spring_node_pose_tracker.js

@@ -0,0 +1,40 @@
+const ROTATION_MATCH_EPSILON_SQ = 1e-10;
+function rotationsMatch(a, b) {
+    const direct = (a.x - b.x) * (a.x - b.x) + (a.y - b.y) * (a.y - b.y) + (a.z - b.z) * (a.z - b.z) + (a.w - b.w) * (a.w - b.w);
+    const negated = (a.x + b.x) * (a.x + b.x) + (a.y + b.y) * (a.y + b.y) + (a.z + b.z) * (a.z + b.z) + (a.w + b.w) * (a.w + b.w);
+    return Math.min(direct, negated) <= ROTATION_MATCH_EPSILON_SQ;
+}
+/** Keeps spring output from becoming the next frame's unanimated input pose. */ class SpringNodePoseTracker {
+    _states = new Map();
+    restoreInputPose() {
+        for (const [node, state] of this._states){
+            if (rotationsMatch(node.rotation, state.appliedRotation)) {
+                node.rotation.set(state.inputRotation);
+            } else {
+                // Animation, mocap, IK or another upstream system supplied a new pose.
+                state.inputRotation.set(node.rotation);
+            }
+        }
+    }
+    recordAppliedRotation(node, inputRotation, appliedRotation) {
+        const state = this._states.get(node);
+        if (state) {
+            state.inputRotation.set(inputRotation);
+            state.appliedRotation.set(appliedRotation);
+        } else {
+            this._states.set(node, {
+                inputRotation: inputRotation.clone(),
+                appliedRotation: appliedRotation.clone()
+            });
+        }
+    }
+    clear(restoreInputPose) {
+        if (restoreInputPose) {
+            this.restoreInputPose();
+        }
+        this._states.clear();
+    }
+}
+
+export { SpringNodePoseTracker };
+//# sourceMappingURL=spring_node_pose_tracker.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"spring_node_pose_tracker.js","sources":["../../../src/animation/spring/spring_node_pose_tracker.ts"],"sourcesContent":["import type { Quaternion } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\ntype SpringNodePoseState = {\r\n  inputRotation: Quaternion;\r\n  appliedRotation: Quaternion;\r\n};\r\n\r\nconst ROTATION_MATCH_EPSILON_SQ = 1e-10;\r\n\r\nfunction rotationsMatch(a: Quaternion, b: Quaternion): boolean {\r\n  const direct =\r\n    (a.x - b.x) * (a.x - b.x) +\r\n    (a.y - b.y) * (a.y - b.y) +\r\n    (a.z - b.z) * (a.z - b.z) +\r\n    (a.w - b.w) * (a.w - b.w);\r\n  const negated =\r\n    (a.x + b.x) * (a.x + b.x) +\r\n    (a.y + b.y) * (a.y + b.y) +\r\n    (a.z + b.z) * (a.z + b.z) +\r\n    (a.w + b.w) * (a.w + b.w);\r\n  return Math.min(direct, negated) <= ROTATION_MATCH_EPSILON_SQ;\r\n}\r\n\r\n/** Keeps spring output from becoming the next frame's unanimated input pose. */\r\nexport class SpringNodePoseTracker {\r\n  private _states = new Map<SceneNode, SpringNodePoseState>();\r\n\r\n  restoreInputPose(): void {\r\n    for (const [node, state] of this._states) {\r\n      if (rotationsMatch(node.rotation, state.appliedRotation)) {\r\n        node.rotation.set(state.inputRotation);\r\n      } else {\r\n        // Animation, mocap, IK or another upstream system supplied a new pose.\r\n        state.inputRotation.set(node.rotation);\r\n      }\r\n    }\r\n  }\r\n\r\n  recordAppliedRotation(node: SceneNode, inputRotation: Quaternion, appliedRotation: Quaternion): void {\r\n    const state = this._states.get(node);\r\n    if (state) {\r\n      state.inputRotation.set(inputRotation);\r\n      state.appliedRotation.set(appliedRotation);\r\n    } else {\r\n      this._states.set(node, {\r\n        inputRotation: inputRotation.clone(),\r\n        appliedRotation: appliedRotation.clone()\r\n      });\r\n    }\r\n  }\r\n\r\n  clear(restoreInputPose: boolean): void {\r\n    if (restoreInputPose) {\r\n      this.restoreInputPose();\r\n    }\r\n    this._states.clear();\r\n  }\r\n}\r\n"],"names":["ROTATION_MATCH_EPSILON_SQ","rotationsMatch","a","b","direct","x","y","z","w","negated","Math","min","SpringNodePoseTracker","_states","Map","restoreInputPose","node","state","rotation","appliedRotation","set","inputRotation","recordAppliedRotation","get","clone","clear"],"mappings":"AAQA,MAAMA,yBAA4B,GAAA,KAAA;AAElC,SAASC,cAAAA,CAAeC,CAAa,EAAEC,CAAa,EAAA;AAClD,IAAA,MAAMC,MACJ,GAACF,CAAAA,CAAAA,CAAEG,CAAC,GAAGF,CAAEE,CAAAA,CAAC,KAAKH,CAAAA,CAAEG,CAAC,GAAGF,CAAAA,CAAEE,CAAAA,CACvB,GAACH,CAAAA,CAAAA,CAAEI,CAAC,GAAGH,CAAAA,CAAEG,CAAAA,KAAMJ,CAAEI,CAAAA,CAAC,GAAGH,CAAEG,CAAAA,CAAC,CAADA,GACvB,CAACJ,CAAEK,CAAAA,CAAC,GAAGJ,CAAEI,CAAAA,CAAC,KAAKL,CAAAA,CAAEK,CAAC,GAAGJ,EAAEI,CAAAA,CACvB,GAACL,CAAAA,CAAAA,CAAEM,CAAC,GAAGL,EAAEK,CAAAA,KAAMN,CAAEM,CAAAA,CAAC,GAAGL,CAAAA,CAAEK,CAAC,CAADA;AACzB,IAAA,MAAMC,OACJ,GAACP,CAAAA,CAAAA,CAAEG,CAAC,GAAGF,CAAEE,CAAAA,CAAC,KAAKH,CAAAA,CAAEG,CAAC,GAAGF,CAAAA,CAAEE,CAAAA,CACvB,GAACH,CAAAA,CAAAA,CAAEI,CAAC,GAAGH,CAAAA,CAAEG,CAAAA,KAAMJ,CAAEI,CAAAA,CAAC,GAAGH,CAAEG,CAAAA,CAAC,CAADA,GACvB,CAACJ,CAAEK,CAAAA,CAAC,GAAGJ,CAAEI,CAAAA,CAAC,KAAKL,CAAAA,CAAEK,CAAC,GAAGJ,EAAEI,CAAAA,CACvB,GAACL,CAAAA,CAAAA,CAAEM,CAAC,GAAGL,EAAEK,CAAAA,KAAMN,CAAEM,CAAAA,CAAC,GAAGL,CAAAA,CAAEK,CAAC,CAADA;AACzB,IAAA,OAAOE,IAAKC,CAAAA,GAAG,CAACP,MAAAA,EAAQK,OAAYT,CAAAA,IAAAA,yBAAAA;AACtC;AAEA,iFACO,MAAMY,qBAAAA,CAAAA;AACHC,IAAAA,OAAAA,GAAU,IAAIC,GAAsC,EAAA;IAE5DC,gBAAyB,GAAA;QACvB,KAAK,MAAM,CAACC,IAAMC,EAAAA,KAAAA,CAAM,IAAI,IAAI,CAACJ,OAAO,CAAE;AACxC,YAAA,IAAIZ,eAAee,IAAKE,CAAAA,QAAQ,EAAED,KAAAA,CAAME,eAAe,CAAG,EAAA;AACxDH,gBAAAA,IAAAA,CAAKE,QAAQ,CAACE,GAAG,CAACH,MAAMI,aAAa,CAAA;aAChC,MAAA;;AAELJ,gBAAAA,KAAAA,CAAMI,aAAa,CAACD,GAAG,CAACJ,KAAKE,QAAQ,CAAA;AACvC;AACF;AACF;AAEAI,IAAAA,qBAAAA,CAAsBN,IAAe,EAAEK,aAAyB,EAAEF,eAA2B,EAAQ;AACnG,QAAA,MAAMF,QAAQ,IAAI,CAACJ,OAAO,CAACU,GAAG,CAACP,IAAAA,CAAAA;AAC/B,QAAA,IAAIC,KAAO,EAAA;YACTA,KAAMI,CAAAA,aAAa,CAACD,GAAG,CAACC,aAAAA,CAAAA;YACxBJ,KAAME,CAAAA,eAAe,CAACC,GAAG,CAACD,eAAAA,CAAAA;SACrB,MAAA;AACL,YAAA,IAAI,CAACN,OAAO,CAACO,GAAG,CAACJ,IAAM,EAAA;AACrBK,gBAAAA,aAAAA,EAAeA,cAAcG,KAAK,EAAA;AAClCL,gBAAAA,eAAAA,EAAiBA,gBAAgBK,KAAK;AACxC,aAAA,CAAA;AACF;AACF;AAEAC,IAAAA,KAAAA,CAAMV,gBAAyB,EAAQ;AACrC,QAAA,IAAIA,gBAAkB,EAAA;AACpB,YAAA,IAAI,CAACA,gBAAgB,EAAA;AACvB;QACA,IAAI,CAACF,OAAO,CAACY,KAAK,EAAA;AACpB;AACF;;;;"}

package/dist/animation/spring/spring_particle.js

@@ -13,6 +13,8 @@
         damping: options?.damping ?? 0.95,
         fixed: options?.fixed ?? false,
         node: options?.node ?? null,
+        anchorNode: options?.anchorNode ?? null,
+        anchorOffset: options?.anchorOffset?.clone() ?? null,
         lastFramePosition: position.clone()
     };
 }

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

@@ -1 +1 @@
-{"version":3,"file":"spring_particle.js","sources":["../../../src/animation/spring/spring_particle.ts"],"sourcesContent":["import type { Vector3, Quaternion, Nullable } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Represents a particle in the spring system\r\n *\r\n * @public\r\n */\r\nexport interface SpringParticle {\r\n  /** Current position in world space */\r\n  position: Vector3;\r\n  /** Previous position for Verlet integration */\r\n  prevPosition: Vector3;\r\n  /** Original position for reset */\r\n  originalPosition: Vector3;\r\n  /** Animated (target) position for pose preservation */\r\n  animPosition: Vector3;\r\n  /** Original world rotation (for calculating rotation delta) */\r\n  originalRotation: Quaternion | null;\r\n  /** Mass of the particle (affects inertia) */\r\n  mass: number;\r\n  /** Damping coefficient [0-1] (0 = no damping, 1 = full damping) */\r\n  damping: number;\r\n  /** Whether this particle is fixed (anchor point) */\r\n  fixed: boolean;\r\n  /** Associated scene node (optional) */\r\n  node: Nullable<SceneNode>;\r\n  /** Previous frame position (used to calculate velocity for inertial forces) */\r\n  lastFramePosition: Vector3;\r\n  /** Position history for rotation center estimation (for fixed particles) */\r\n  positionHistory?: Vector3[];\r\n}\r\n\r\n/**\r\n * Creates a new spring particle\r\n *\r\n * @public\r\n */\r\nexport function createSpringParticle(\r\n  position: Vector3,\r\n  options?: {\r\n    mass?: number;\r\n    damping?: number;\r\n    fixed?: boolean;\r\n    node?: SceneNode;\r\n    originalRotation?: Quaternion;\r\n  }\r\n): SpringParticle {\r\n  return {\r\n    position: position.clone(),\r\n    prevPosition: position.clone(),\r\n    originalPosition: position.clone(),\r\n    animPosition: position.clone(),\r\n    originalRotation: options?.originalRotation?.clone() ?? null,\r\n    mass: options?.mass ?? 1.0,\r\n    damping: options?.damping ?? 0.95,\r\n    fixed: options?.fixed ?? false,\r\n    node: options?.node ?? null,\r\n    lastFramePosition: position.clone()\r\n  };\r\n}\r\n"],"names":["createSpringParticle","position","options","clone","prevPosition","originalPosition","animPosition","originalRotation","mass","damping","fixed","node","lastFramePosition"],"mappings":"AAiCA;;;;AAIC,IACM,SAASA,oBACdC,CAAAA,QAAiB,EACjBC,OAMC,EAAA;IAED,OAAO;AACLD,QAAAA,QAAAA,EAAUA,SAASE,KAAK,EAAA;AACxBC,QAAAA,YAAAA,EAAcH,SAASE,KAAK,EAAA;AAC5BE,QAAAA,gBAAAA,EAAkBJ,SAASE,KAAK,EAAA;AAChCG,QAAAA,YAAAA,EAAcL,SAASE,KAAK,EAAA;QAC5BI,gBAAkBL,EAAAA,OAAAA,EAASK,kBAAkBJ,KAAW,EAAA,IAAA,IAAA;AACxDK,QAAAA,IAAAA,EAAMN,SAASM,IAAQ,IAAA,GAAA;AACvBC,QAAAA,OAAAA,EAASP,SAASO,OAAW,IAAA,IAAA;AAC7BC,QAAAA,KAAAA,EAAOR,SAASQ,KAAS,IAAA,KAAA;AACzBC,QAAAA,IAAAA,EAAMT,SAASS,IAAQ,IAAA,IAAA;AACvBC,QAAAA,iBAAAA,EAAmBX,SAASE,KAAK;AACnC,KAAA;AACF;;;;"}
+{"version":3,"file":"spring_particle.js","sources":["../../../src/animation/spring/spring_particle.ts"],"sourcesContent":["import type { Vector3, Quaternion, Nullable } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Represents a particle in the spring system\r\n *\r\n * @public\r\n */\r\nexport interface SpringParticle {\r\n  /** Current position in world space */\r\n  position: Vector3;\r\n  /** Previous position for Verlet integration */\r\n  prevPosition: Vector3;\r\n  /** Original position for reset */\r\n  originalPosition: Vector3;\r\n  /** Animated (target) position for pose preservation */\r\n  animPosition: Vector3;\r\n  /** Original world rotation (for calculating rotation delta) */\r\n  originalRotation: Quaternion | null;\r\n  /** Mass of the particle (affects inertia) */\r\n  mass: number;\r\n  /** Damping coefficient [0-1] (0 = no damping, 1 = full damping) */\r\n  damping: number;\r\n  /** Whether this particle is fixed (anchor point) */\r\n  fixed: boolean;\r\n  /** Associated scene node (optional) */\r\n  node: Nullable<SceneNode>;\r\n  /** Optional alternate anchor node used as the fixed-position source */\r\n  anchorNode?: Nullable<SceneNode>;\r\n  /** Optional local-space offset evaluated from anchorNode */\r\n  anchorOffset?: Nullable<Vector3>;\r\n  /** Previous frame position (used to calculate velocity for inertial forces) */\r\n  lastFramePosition: Vector3;\r\n  /** Position history for rotation center estimation (for fixed particles) */\r\n  positionHistory?: Vector3[];\r\n}\r\n\r\n/**\r\n * Creates a new spring particle\r\n *\r\n * @public\r\n */\r\nexport function createSpringParticle(\r\n  position: Vector3,\r\n  options?: {\r\n    mass?: number;\r\n    damping?: number;\r\n    fixed?: boolean;\r\n    node?: SceneNode;\r\n    anchorNode?: SceneNode;\r\n    anchorOffset?: Vector3;\r\n    originalRotation?: Quaternion;\r\n  }\r\n): SpringParticle {\r\n  return {\r\n    position: position.clone(),\r\n    prevPosition: position.clone(),\r\n    originalPosition: position.clone(),\r\n    animPosition: position.clone(),\r\n    originalRotation: options?.originalRotation?.clone() ?? null,\r\n    mass: options?.mass ?? 1.0,\r\n    damping: options?.damping ?? 0.95,\r\n    fixed: options?.fixed ?? false,\r\n    node: options?.node ?? null,\r\n    anchorNode: options?.anchorNode ?? null,\r\n    anchorOffset: options?.anchorOffset?.clone() ?? null,\r\n    lastFramePosition: position.clone()\r\n  };\r\n}\r\n"],"names":["createSpringParticle","position","options","clone","prevPosition","originalPosition","animPosition","originalRotation","mass","damping","fixed","node","anchorNode","anchorOffset","lastFramePosition"],"mappings":"AAqCA;;;;AAIC,IACM,SAASA,oBACdC,CAAAA,QAAiB,EACjBC,OAQC,EAAA;IAED,OAAO;AACLD,QAAAA,QAAAA,EAAUA,SAASE,KAAK,EAAA;AACxBC,QAAAA,YAAAA,EAAcH,SAASE,KAAK,EAAA;AAC5BE,QAAAA,gBAAAA,EAAkBJ,SAASE,KAAK,EAAA;AAChCG,QAAAA,YAAAA,EAAcL,SAASE,KAAK,EAAA;QAC5BI,gBAAkBL,EAAAA,OAAAA,EAASK,kBAAkBJ,KAAW,EAAA,IAAA,IAAA;AACxDK,QAAAA,IAAAA,EAAMN,SAASM,IAAQ,IAAA,GAAA;AACvBC,QAAAA,OAAAA,EAASP,SAASO,OAAW,IAAA,IAAA;AAC7BC,QAAAA,KAAAA,EAAOR,SAASQ,KAAS,IAAA,KAAA;AACzBC,QAAAA,IAAAA,EAAMT,SAASS,IAAQ,IAAA,IAAA;AACvBC,QAAAA,UAAAA,EAAYV,SAASU,UAAc,IAAA,IAAA;QACnCC,YAAcX,EAAAA,OAAAA,EAASW,cAAcV,KAAW,EAAA,IAAA,IAAA;AAChDW,QAAAA,iBAAAA,EAAmBb,SAASE,KAAK;AACnC,KAAA;AACF;;;;"}