@zephyr3d/scene 0.9.25 → 0.9.27

package/dist/animation/hair/gpu_hair_simulation.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"gpu_hair_simulation.js","sources":["../../../src/animation/hair/gpu_hair_simulation.ts"],"sourcesContent":["/*\r\n * The solver below is a port of AMD's TressFX hair simulation, reimplemented\r\n * for WebGPU compute. The five simulation stages, the quaternion helpers they\r\n * use, and the tuning defaults follow TressFXSimulation.hlsl and\r\n * TressFXSettings.h; the deviations are noted at the points where they occur.\r\n *\r\n * TressFX is distributed under the MIT license, reproduced here in full as that\r\n * license requires:\r\n *\r\n * Copyright (c) 2020 Advanced Micro Devices, Inc. All rights reserved.\r\n *\r\n * Permission is hereby granted, free of charge, to any person obtaining a copy\r\n * of this software and associated documentation files (the \"Software\"), to deal\r\n * in the Software without restriction, including without limitation the rights\r\n * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\r\n * copies of the Software, and to permit persons to whom the Software is\r\n * furnished to do so, subject to the following conditions:\r\n *\r\n * The above copyright notice and this permission notice shall be included in\r\n * all copies or substantial portions of the Software.\r\n *\r\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\r\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE\r\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\r\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\r\n * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\r\n * THE SOFTWARE.\r\n */\r\n\r\n/**\r\n * GPU strand dynamics.\r\n *\r\n * @remarks\r\n * A port of TressFX. TressFX gives a thread to each vertex and needs shared\r\n * memory, barriers and a uniform vertex count per strand; a groom imported from\r\n * an archive has no uniform vertex count, so a thread here owns a whole strand\r\n * instead. That also buys a serial root-to-tip walk, which is what lets the\r\n * length constraint be exact in one pass. See\r\n * {@link createHairSimulationProgram} for the stages.\r\n *\r\n * Everything is solved in the node's local space, because\r\n * {@link HairStrandMaterial} applies the world matrix itself and a world-space\r\n * solver would have it applied twice. Node motion is reproduced through the\r\n * frame-to-frame transform `inverse(world) * prevWorld`: a point that stood\r\n * still in the world has moved in local space by exactly that, so carrying both\r\n * stored positions through it leaves the strand where it was and the pinned\r\n * roots drag it along. Gravity and colliders come the other way, on the CPU.\r\n *\r\n * WebGPU only, like the rendering path it feeds.\r\n */\r\nimport type { AbstractDevice, BindGroup, GPUDataBuffer, GPUProgram } from '@zephyr3d/device';\r\nimport type { Nullable } from '@zephyr3d/base';\r\nimport { Matrix4x4, Quaternion, Vector3, Disposable } from '@zephyr3d/base';\r\nimport { getDevice } from '../../app/api';\r\nimport type { HairStrandData, HairStrandSource } from '../../material/hairstrand_data';\r\nimport type {\r\n  CapsuleCollider,\r\n  PlaneCollider,\r\n  SphereCollider,\r\n  SpringCollider\r\n} from '../spring/spring_collider';\r\nimport { updateColliderFromNode } from '../spring/spring_collider';\r\n\r\n/** Simulation step, in seconds. @internal */\r\nconst FIXED_SIMULATION_TIME_STEP = 1 / 60;\r\n/** Largest backlog the accumulator will carry, in seconds. @internal */\r\nconst MAX_ACCUMULATED_SIMULATION_TIME = 1 / 20;\r\n/** Threads per workgroup; one thread owns one strand. @internal */\r\nconst DEFAULT_WORKGROUP_SIZE = 64;\r\n/** Length below which a direction is treated as degenerate. @internal */\r\nconst MIN_DISTANCE = 1e-7;\r\n/** Floats per collider entry, matching the layouts the shader indexes. @internal */\r\nconst SPHERE_STRIDE = 4;\r\nconst CAPSULE_STRIDE = 8;\r\nconst PLANE_STRIDE = 8;\r\n/** Colliders of one kind the buffers make room for. @internal */\r\nconst MAX_COLLIDERS = 16;\r\n/** Solver defaults, from TressFXSimulationSettings. @internal */\r\nconst DEFAULT_DAMPING = 0.08;\r\nconst DEFAULT_GLOBAL_STIFFNESS = 0;\r\nconst DEFAULT_GLOBAL_RANGE = 0;\r\nconst DEFAULT_LOCAL_STIFFNESS = 0.9;\r\nconst DEFAULT_LOCAL_ITERATIONS = 2;\r\nconst DEFAULT_FTL_DAMPING = 0.7;\r\nconst DEFAULT_VSP_COEFF = 0.8;\r\n/**\r\n * Roughly five gravities. TressFX compares a per-frame second difference\r\n * against 1.4 in its own units; as an acceleration it survives a unit change.\r\n * @internal\r\n */\r\nconst DEFAULT_VSP_ACCEL_THRESHOLD = 50;\r\n/** Default per-substep speed ceiling, in segment lengths. @internal */\r\nconst DEFAULT_MAX_SPEED_FACTOR = 4;\r\n/**\r\n * Node motion beyond this many strand lengths in one frame is treated as a\r\n * teleport and snaps the pose instead of swinging it.\r\n * @internal\r\n */\r\nconst TELEPORT_DISTANCE_FACTOR = 4;\r\n\r\n/**\r\n * Tuning for {@link GPUHairSimulation}.\r\n *\r\n * @public\r\n */\r\nexport type GPUHairSimulationOptions = {\r\n  /** World-space gravity. Defaults to earth gravity along -Y. */\r\n  gravity?: Vector3;\r\n  /**\r\n   * Velocity lost per fixed 1/60 s step, in [0, 1]. 0 keeps full inertia.\r\n   *\r\n   * @remarks\r\n   * An exponential decay, so the dial means the same thing whatever\r\n   * {@link GPUHairSimulationOptions.substeps} is.\r\n   */\r\n  damping?: number;\r\n  /**\r\n   * How strongly a strand is pulled back to its authored pose, in [0, 1].\r\n   *\r\n   * @remarks\r\n   * Off by default, as in TressFX. It anchors a point to a fixed place rather\r\n   * than to its neighbours, which is a spring, and a groom held by springs reads\r\n   * as one. {@link GPUHairSimulationOptions.localStiffness} is what holds\r\n   * styling without that; pair this with\r\n   * {@link GPUHairSimulationOptions.globalRange} where a groom genuinely should\r\n   * not move far from how it was authored.\r\n   */\r\n  globalStiffness?: number;\r\n  /**\r\n   * Fraction of each strand, from the root, that\r\n   * {@link GPUHairSimulationOptions.globalStiffness} acts on, in [0, 1].\r\n   *\r\n   * @remarks\r\n   * 0 disables the pull outright - both have to be non-zero for it to do\r\n   * anything.\r\n   */\r\n  globalRange?: number;\r\n  /**\r\n   * How strongly a strand keeps the shape it was authored with, in [0, 1].\r\n   *\r\n   * @remarks\r\n   * The dial to reach for first. It holds the angle each segment makes with the\r\n   * one before it, measured against that segment's current direction rather than\r\n   * a fixed pose, so a strand keeps its curl while remaining free to hang and\r\n   * swing. It is also what damps a groom: a chain with no bending resistance\r\n   * carries a disturbance up and down its length for seconds.\r\n   */\r\n  localStiffness?: number;\r\n  /**\r\n   * Times the local shape constraint is applied per substep, in [1, 8].\r\n   *\r\n   * @remarks\r\n   * The constraint moves both points it touches, so one pass falls short of the\r\n   * shape it aims for. More passes converge, at proportional cost.\r\n   */\r\n  localIterations?: number;\r\n  /**\r\n   * Share of a point's length correction fed back into its parent, in [0, 1].\r\n   *\r\n   * @remarks\r\n   * The length constraint satisfies a segment by moving the child alone, which\r\n   * leaves the momentum that correction represents unaccounted for. Unaccounted\r\n   * it accumulates: every root movement pumps the chain, and because the\r\n   * segments are coupled in series it collects at the free end and the groom\r\n   * whips. Handing it back as reverse momentum - Mueller's FTL damping - is what\r\n   * prevents that; 0 reproduces the uncorrected behaviour.\r\n   */\r\n  ftlDamping?: number;\r\n  /**\r\n   * How much of the node's motion a strand is carried along by, in [0, 1].\r\n   *\r\n   * @remarks\r\n   * Velocity shock propagation. 0 leaves a strand where it was in the world and\r\n   * lets the pinned roots drag it through the constraints, which is what\r\n   * produces lag - but a root moving fast enough outruns its strand within a\r\n   * step and the length constraint has to snap it back. 1 carries the strand\r\n   * rigidly with the node. Lower values give a livelier, floppier groom.\r\n   */\r\n  vspCoeff?: number;\r\n  /**\r\n   * Node acceleration above which a strand is carried rigidly, in world units\r\n   * per second squared.\r\n   *\r\n   * @remarks\r\n   * Past this, {@link GPUHairSimulationOptions.vspCoeff} is treated as 1 for the\r\n   * step, since a hard shove is where lag turns into over-stretching. The\r\n   * default is around five gravities.\r\n   */\r\n  vspAccelThreshold?: number;\r\n  /** Integration substeps per fixed step, in [1, 8]. */\r\n  substeps?: number;\r\n  /** Colliders the strands are pushed out of. */\r\n  colliders?: SpringCollider[];\r\n  /** Friction applied to the tangential motion of a contact, in [0, 1]. */\r\n  friction?: number;\r\n  /**\r\n   * Per-substep ceiling on how far a point may travel, in segment lengths.\r\n   *\r\n   * @remarks\r\n   * A backstop, not a dial: at the default it never engages during ordinary\r\n   * motion. Measured in segment lengths, so it is unit-independent.\r\n   */\r\n  maxSpeedFactor?: number;\r\n};\r\n\r\n/**\r\n * Whether GPU hair dynamics can run on a device.\r\n *\r\n * @remarks\r\n * WebGPU only: the solver is a compute pass. Strand rendering carries the same\r\n * requirement, so there is no configuration where the hair draws but cannot\r\n * simulate.\r\n *\r\n * @param device - Device to test, or the current one when omitted.\r\n * @returns True when the simulation can run.\r\n *\r\n * @public\r\n */\r\nexport function isHairSimulationSupported(device?: Nullable<AbstractDevice>) {\r\n  const resolved = device ?? getDevice();\r\n  return resolved?.type === 'webgpu';\r\n}\r\n\r\nfunction clamp(value: number, min: number, max: number) {\r\n  return value < min ? min : value > max ? max : value;\r\n}\r\n\r\n/** Exact element-wise matrix comparison, for skipping the interpolation. @internal */\r\nfunction matrixEquals(a: Matrix4x4, b: Matrix4x4) {\r\n  for (let i = 0; i < 16; i++) {\r\n    if (a[i] !== b[i]) {\r\n      return false;\r\n    }\r\n  }\r\n  return true;\r\n}\r\n\r\n/**\r\n * Strand dynamics on the GPU.\r\n *\r\n * @remarks\r\n * Created by {@link HairNode} when simulation is switched on; it writes the\r\n * strand point buffer in place, so nothing about the draw call changes.\r\n *\r\n * @public\r\n */\r\nexport class GPUHairSimulation extends Disposable {\r\n  /** @internal */\r\n  private readonly _device: Nullable<AbstractDevice>;\r\n  /** @internal */\r\n  private _enabled: boolean;\r\n  /** @internal */\r\n  private _disabledReason: Nullable<string>;\r\n  /** @internal */\r\n  private _program: Nullable<GPUProgram>;\r\n  /** @internal */\r\n  private _bindGroup: Nullable<BindGroup>;\r\n  /** @internal Live point positions; the same buffer the vertex shader reads. */\r\n  private _pointBuffer: Nullable<GPUDataBuffer>;\r\n  /** @internal Previous positions, for Verlet integration and motion vectors. */\r\n  private _prevPointBuffer: Nullable<GPUDataBuffer>;\r\n  /** @internal Authored positions, the target the pose pull reaches for. */\r\n  private _restPointBuffer: Nullable<GPUDataBuffer>;\r\n  /**\r\n   * @internal Local positions as of the previously rendered frame, which is what\r\n   * a motion vector needs. Distinct from the Verlet history: that is one substep\r\n   * old, sits in the current frame's local space, and has the length, contact and\r\n   * friction corrections folded into it to encode velocity, so it is not a\r\n   * position anything was ever drawn at.\r\n   */\r\n  private _framePointBuffer: Nullable<GPUDataBuffer>;\r\n  /** @internal Authored distance between consecutive control points. */\r\n  private _restLengthBuffer: Nullable<GPUDataBuffer>;\r\n  /** @internal */\r\n  private _sphereBuffer: Nullable<GPUDataBuffer>;\r\n  /** @internal */\r\n  private _capsuleBuffer: Nullable<GPUDataBuffer>;\r\n  /** @internal */\r\n  private _planeBuffer: Nullable<GPUDataBuffer>;\r\n  /** @internal */\r\n  private readonly _strandCount: number;\r\n  /** @internal */\r\n  private readonly _workgroupCount: number;\r\n  /** @internal */\r\n  private _gravity: Vector3;\r\n  /** @internal */\r\n  private _damping: number;\r\n  /** @internal */\r\n  private _globalStiffness: number;\r\n  /** @internal */\r\n  private _globalRange: number;\r\n  /** @internal */\r\n  private _localStiffness: number;\r\n  /** @internal */\r\n  private _localIterations: number;\r\n  /** @internal */\r\n  private _ftlDamping: number;\r\n  /** @internal */\r\n  private _vspCoeff: number;\r\n  /** @internal */\r\n  private _vspAccelThreshold: number;\r\n  /** @internal */\r\n  private _substeps: number;\r\n  /** @internal */\r\n  private _friction: number;\r\n  /** @internal */\r\n  private _maxSpeedFactor: number;\r\n  /** @internal */\r\n  private _colliders: SpringCollider[];\r\n  /** @internal */\r\n  private _timeAccumulator: number;\r\n  /** @internal Scratch, so stepping allocates nothing. */\r\n  private readonly _sphereData: Float32Array<ArrayBuffer>;\r\n  private readonly _capsuleData: Float32Array<ArrayBuffer>;\r\n  private readonly _planeData: Float32Array<ArrayBuffer>;\r\n  private readonly _relativeTransform: Matrix4x4;\r\n  private readonly _invWorldMatrix: Matrix4x4;\r\n  private readonly _prevWorldMatrix: Matrix4x4;\r\n  /** @internal Bound while the node stands still, so those frames upload nothing new. */\r\n  private readonly _identity: Matrix4x4;\r\n  private readonly _localGravity: Vector3;\r\n  private readonly _scratchVec: Vector3;\r\n  private readonly _scratchVec2: Vector3;\r\n  /** @internal Endpoints and scratch of the per-substep transform interpolation. */\r\n  private readonly _scaleFrom: Vector3;\r\n  private readonly _scaleTo: Vector3;\r\n  private readonly _translationFrom: Vector3;\r\n  private readonly _translationTo: Vector3;\r\n  private readonly _rotationFrom: Quaternion;\r\n  private readonly _rotationTo: Quaternion;\r\n  private readonly _rotationLerp: Quaternion;\r\n  private readonly _stepFrom: Matrix4x4;\r\n  private readonly _stepTo: Matrix4x4;\r\n  /** @internal True until the first step has seen a world matrix. */\r\n  private _hasPrevWorldMatrix: boolean;\r\n  /** @internal Length of the longest strand, for the teleport threshold. */\r\n  private _maxStrandLength: number;\r\n  /** @internal Centre of the rest pose, whose world motion detects teleports. */\r\n  private readonly _restCenter: Vector3;\r\n  /**\r\n   * @internal Where the rest centre stood in the world last frame and how fast\r\n   * it was moving. The roots are pinned in local space, so their acceleration is\r\n   * the node's, which is what the shock propagation threshold tests.\r\n   */\r\n  private readonly _prevRootWorld: Vector3;\r\n  private readonly _prevRootVelocity: Vector3;\r\n  /** @internal Frames seen so far, capped at 2; acceleration needs three. */\r\n  private _rootHistoryDepth: number;\r\n  /**\r\n   * Creates a simulation over an uploaded strand set.\r\n   *\r\n   * @param strands - GPU strand data; its point buffer is written in place.\r\n   * @param source - The control points the strands were built from, used to\r\n   *   derive rest lengths and the rest pose.\r\n   * @param options - Tuning.\r\n   */\r\n  constructor(strands: HairStrandData, source: HairStrandSource, options?: GPUHairSimulationOptions) {\r\n    super();\r\n    this._device = getDevice();\r\n    this._enabled = false;\r\n    this._disabledReason = null;\r\n    this._program = null;\r\n    this._bindGroup = null;\r\n    this._pointBuffer = null;\r\n    this._prevPointBuffer = null;\r\n    this._restPointBuffer = null;\r\n    this._framePointBuffer = null;\r\n    this._restLengthBuffer = null;\r\n    this._sphereBuffer = null;\r\n    this._capsuleBuffer = null;\r\n    this._planeBuffer = null;\r\n    this._strandCount = strands.strandCount;\r\n    this._gravity = options?.gravity ? new Vector3(options.gravity) : new Vector3(0, -9.8, 0);\r\n    this._damping = clamp(options?.damping ?? DEFAULT_DAMPING, 0, 1);\r\n    this._globalStiffness = clamp(options?.globalStiffness ?? DEFAULT_GLOBAL_STIFFNESS, 0, 1);\r\n    this._globalRange = clamp(options?.globalRange ?? DEFAULT_GLOBAL_RANGE, 0, 1);\r\n    this._localStiffness = clamp(options?.localStiffness ?? DEFAULT_LOCAL_STIFFNESS, 0, 1);\r\n    this._localIterations = clamp(options?.localIterations ?? DEFAULT_LOCAL_ITERATIONS, 1, 8) | 0;\r\n    this._ftlDamping = clamp(options?.ftlDamping ?? DEFAULT_FTL_DAMPING, 0, 1);\r\n    this._vspCoeff = clamp(options?.vspCoeff ?? DEFAULT_VSP_COEFF, 0, 1);\r\n    this._vspAccelThreshold = Math.max(0, options?.vspAccelThreshold ?? DEFAULT_VSP_ACCEL_THRESHOLD);\r\n    this._substeps = clamp(options?.substeps ?? 1, 1, 8) | 0;\r\n    this._friction = clamp(options?.friction ?? 0.2, 0, 1);\r\n    this._maxSpeedFactor = Math.max(0, options?.maxSpeedFactor ?? DEFAULT_MAX_SPEED_FACTOR);\r\n    this._colliders = options?.colliders ? [...options.colliders] : [];\r\n    this._timeAccumulator = 0;\r\n    this._sphereData = new Float32Array(MAX_COLLIDERS * SPHERE_STRIDE);\r\n    this._capsuleData = new Float32Array(MAX_COLLIDERS * CAPSULE_STRIDE);\r\n    this._planeData = new Float32Array(MAX_COLLIDERS * PLANE_STRIDE);\r\n    this._relativeTransform = Matrix4x4.identity();\r\n    this._invWorldMatrix = Matrix4x4.identity();\r\n    this._prevWorldMatrix = Matrix4x4.identity();\r\n    this._identity = Matrix4x4.identity();\r\n    this._localGravity = new Vector3();\r\n    this._scratchVec = new Vector3();\r\n    this._scratchVec2 = new Vector3();\r\n    this._scaleFrom = new Vector3();\r\n    this._scaleTo = new Vector3();\r\n    this._translationFrom = new Vector3();\r\n    this._translationTo = new Vector3();\r\n    this._rotationFrom = new Quaternion();\r\n    this._rotationTo = new Quaternion();\r\n    this._rotationLerp = new Quaternion();\r\n    this._stepFrom = Matrix4x4.identity();\r\n    this._stepTo = Matrix4x4.identity();\r\n    this._hasPrevWorldMatrix = false;\r\n    this._maxStrandLength = 0;\r\n    this._restCenter = new Vector3();\r\n    this._prevRootWorld = new Vector3();\r\n    this._prevRootVelocity = new Vector3();\r\n    this._rootHistoryDepth = 0;\r\n    this._workgroupCount = Math.ceil(this._strandCount / DEFAULT_WORKGROUP_SIZE);\r\n\r\n    if (!isHairSimulationSupported(this._device)) {\r\n      this._disabledReason = 'GPU hair simulation is disabled: current backend is not WebGPU.';\r\n      return;\r\n    }\r\n    if (!strands.pointBuffer || !strands.headerBuffer) {\r\n      this._disabledReason = 'GPU hair simulation is disabled: strand data has no GPU buffers.';\r\n      return;\r\n    }\r\n    try {\r\n      this._init(strands, source);\r\n      this._enabled = true;\r\n    } catch (err) {\r\n      this._disabledReason = `GPU hair simulation is disabled: ${err}`;\r\n      this._releaseResources();\r\n    }\r\n  }\r\n  /** Whether the simulation is running. */\r\n  get enabled() {\r\n    return this._enabled;\r\n  }\r\n  /** Why the simulation is not running, when it is not. */\r\n  get disabledReason() {\r\n    return this._disabledReason;\r\n  }\r\n  /** World-space gravity. */\r\n  get gravity() {\r\n    return this._gravity;\r\n  }\r\n  set gravity(value: Vector3) {\r\n    this._gravity = new Vector3(value);\r\n  }\r\n  /** Velocity lost per step, in [0, 1]. */\r\n  get damping() {\r\n    return this._damping;\r\n  }\r\n  set damping(value: number) {\r\n    this._damping = clamp(value, 0, 1);\r\n  }\r\n  /** Per-substep ceiling on point travel, in segment lengths. */\r\n  get maxSpeedFactor() {\r\n    return this._maxSpeedFactor;\r\n  }\r\n  set maxSpeedFactor(value: number) {\r\n    this._maxSpeedFactor = Math.max(0, value);\r\n  }\r\n  /** Pull back to the authored pose per fixed step, in [0, 1]. Off by default. */\r\n  get globalStiffness() {\r\n    return this._globalStiffness;\r\n  }\r\n  set globalStiffness(value: number) {\r\n    this._globalStiffness = clamp(value, 0, 1);\r\n  }\r\n  /** Fraction of a strand, from the root, the pose pull acts on, in [0, 1]. */\r\n  get globalRange() {\r\n    return this._globalRange;\r\n  }\r\n  set globalRange(value: number) {\r\n    this._globalRange = clamp(value, 0, 1);\r\n  }\r\n  /** How strongly a strand keeps its authored shape, in [0, 1]. */\r\n  get localStiffness() {\r\n    return this._localStiffness;\r\n  }\r\n  set localStiffness(value: number) {\r\n    this._localStiffness = clamp(value, 0, 1);\r\n  }\r\n  /** Local shape constraint passes per substep. */\r\n  get localIterations() {\r\n    return this._localIterations;\r\n  }\r\n  set localIterations(value: number) {\r\n    this._localIterations = clamp(value, 1, 8) | 0;\r\n  }\r\n  /** Share of a point's length correction fed back into its parent, in [0, 1]. */\r\n  get ftlDamping() {\r\n    return this._ftlDamping;\r\n  }\r\n  set ftlDamping(value: number) {\r\n    this._ftlDamping = clamp(value, 0, 1);\r\n  }\r\n  /** How much of the node's motion a strand is carried along by, in [0, 1]. */\r\n  get vspCoeff() {\r\n    return this._vspCoeff;\r\n  }\r\n  set vspCoeff(value: number) {\r\n    this._vspCoeff = clamp(value, 0, 1);\r\n  }\r\n  /** Node acceleration above which a strand is carried rigidly, in units/s². */\r\n  get vspAccelThreshold() {\r\n    return this._vspAccelThreshold;\r\n  }\r\n  set vspAccelThreshold(value: number) {\r\n    this._vspAccelThreshold = Math.max(0, value);\r\n  }\r\n  /** Integration substeps per fixed step. */\r\n  get substeps() {\r\n    return this._substeps;\r\n  }\r\n  set substeps(value: number) {\r\n    this._substeps = clamp(value, 1, 8) | 0;\r\n  }\r\n  /** Friction on tangential contact motion, in [0, 1]. */\r\n  get friction() {\r\n    return this._friction;\r\n  }\r\n  set friction(value: number) {\r\n    this._friction = clamp(value, 0, 1);\r\n  }\r\n  /** Colliders the strands are pushed out of. */\r\n  get colliders(): readonly SpringCollider[] {\r\n    return this._colliders;\r\n  }\r\n  set colliders(value: readonly SpringCollider[]) {\r\n    this._colliders = [...value];\r\n  }\r\n  /** Verlet history. Not a previous-frame position - see the field remarks. */\r\n  get prevPointBuffer() {\r\n    return this._prevPointBuffer;\r\n  }\r\n  /** Local positions as of the previously rendered frame, for motion vectors. */\r\n  get framePointBuffer() {\r\n    return this._framePointBuffer;\r\n  }\r\n  /**\r\n   * Discards accumulated motion and returns every strand to its rest pose.\r\n   *\r\n   * @remarks\r\n   * Wanted whenever a node is moved rather than animated: a teleport would\r\n   * otherwise register as one enormous frame of inertia and fling the hair.\r\n   * {@link GPUHairSimulation.update} calls this itself when the groom jumps\r\n   * farther in one frame than a few times its own strand length.\r\n   */\r\n  reset(worldMatrix: Matrix4x4) {\r\n    if (!this._enabled) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = 0;\r\n    this._prevWorldMatrix.set(worldMatrix);\r\n    this._hasPrevWorldMatrix = true;\r\n    this._rootHistoryDepth = 0;\r\n    this._resetLivePoints();\r\n  }\r\n  /**\r\n   * Advances the simulation.\r\n   *\r\n   * @param deltaTime - Seconds since the last update.\r\n   * @param worldMatrix - The drawing node's current world matrix.\r\n   */\r\n  update(deltaTime: number, worldMatrix: Matrix4x4) {\r\n    if (!this._enabled) {\r\n      return;\r\n    }\r\n    if (!this._hasPrevWorldMatrix) {\r\n      this._prevWorldMatrix.set(worldMatrix);\r\n      this._hasPrevWorldMatrix = true;\r\n    } else if (this._maxStrandLength > 0) {\r\n      // A jump larger than a few times the hair itself is a teleport rather than\r\n      // motion; fed to the solver it would fling the strands. The rest centre\r\n      // stands in for the groom, so a rotation around a distant pivot counts as\r\n      // the displacement it actually produces.\r\n      this._prevWorldMatrix.transformPointAffine(this._restCenter, this._scratchVec);\r\n      worldMatrix.transformPointAffine(this._restCenter, this._scratchVec2);\r\n      const dx = this._scratchVec.x - this._scratchVec2.x;\r\n      const dy = this._scratchVec.y - this._scratchVec2.y;\r\n      const dz = this._scratchVec.z - this._scratchVec2.z;\r\n      const threshold = this._maxStrandLength * TELEPORT_DISTANCE_FACTOR;\r\n      if (dx * dx + dy * dy + dz * dz > threshold * threshold) {\r\n        this.reset(worldMatrix);\r\n        return;\r\n      }\r\n    }\r\n    // Before anything moves: put aside the points the last frame was drawn with,\r\n    // which is what the material differences against to build a motion vector.\r\n    // Unconditional, and ahead of the early returns below - a frame that takes no\r\n    // step still has to advance the snapshot, or it would report the previous\r\n    // frame's motion a second time and smear rather than sharpen.\r\n    this._snapshotFramePoints();\r\n    const frameDt = clamp(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.floor((this._timeAccumulator + 1e-8) / FIXED_SIMULATION_TIME_STEP);\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\r\n    // Whether the node is being shoved hard enough to suspend strand lag.\r\n    const rigid = this._measureRootAcceleration(worldMatrix, frameDt);\r\n\r\n    // Gravity and colliders come into local space from the frame-end transform;\r\n    // they change too slowly for the substep interpolation below to matter.\r\n    this._invWorldMatrix.set(worldMatrix);\r\n    this._invWorldMatrix.inplaceInvert();\r\n    this._invWorldMatrix.transformVectorAffine(this._gravity, this._localGravity);\r\n    this._uploadColliders(this._invWorldMatrix);\r\n\r\n    const bindGroup = this._bindGroup!;\r\n    const substepTime = FIXED_SIMULATION_TIME_STEP / this._substeps;\r\n    bindGroup.setValue('strandCount', this._strandCount);\r\n    // An exponential decay rather than a linear scale, so halving the substep\r\n    // and applying it twice as often leaves the same velocity behind.\r\n    bindGroup.setValue('dampingDecay', Math.exp(-this._damping * substepTime * 60));\r\n    // The dial is the fraction removed per fixed step; the shader applies it\r\n    // once per substep, so convert it to the fraction that compounds back to it.\r\n    bindGroup.setValue('globalStiffness', 1 - Math.pow(1 - this._globalStiffness, 1 / this._substeps));\r\n    bindGroup.setValue('globalRange', this._globalRange);\r\n    bindGroup.setValue('localStiffness', this._localStiffness);\r\n    bindGroup.setValue('localIterations', this._localIterations);\r\n    bindGroup.setValue('ftlDamping', this._ftlDamping);\r\n    bindGroup.setValue('vspCoeff', rigid ? 1 : this._vspCoeff);\r\n    bindGroup.setValue('friction', this._friction);\r\n    bindGroup.setValue('maxSpeedFactor', this._maxSpeedFactor);\r\n    bindGroup.setValue('gravity', this._localGravity);\r\n    bindGroup.setValue('minDistance', MIN_DISTANCE);\r\n    bindGroup.setValue('deltaTime', substepTime);\r\n\r\n    const totalSubsteps = stepCount * this._substeps;\r\n    this._device!.pushDeviceStates();\r\n    try {\r\n      this._device!.setProgram(this._program!);\r\n      this._device!.setBindGroup(0, bindGroup);\r\n      if (matrixEquals(this._prevWorldMatrix, worldMatrix)) {\r\n        // The node stood still; nothing to distribute.\r\n        bindGroup.setValue('relativeTransform', this._identity);\r\n        for (let i = 0; i < totalSubsteps; i++) {\r\n          this._device!.compute(this._workgroupCount, 1, 1);\r\n        }\r\n      } else {\r\n        // The node's frame motion, spread evenly over the substeps. Lumping it\r\n        // into the first one would let a frame-time hitch move roots by more\r\n        // than a segment length in what the solver treats as a single substep.\r\n        this._prevWorldMatrix.decompose(this._scaleFrom, this._rotationFrom, this._translationFrom);\r\n        worldMatrix.decompose(this._scaleTo, this._rotationTo, this._translationTo);\r\n        this._stepFrom.set(this._prevWorldMatrix);\r\n        for (let i = 1; i <= totalSubsteps; i++) {\r\n          if (i === totalSubsteps) {\r\n            // The exact endpoint, so decompose round-tripping cannot leave the\r\n            // solver's idea of the transform drifting from the node's.\r\n            this._stepTo.set(worldMatrix);\r\n          } else {\r\n            const t = i / totalSubsteps;\r\n            this._scratchVec.setXYZ(\r\n              this._scaleFrom.x + (this._scaleTo.x - this._scaleFrom.x) * t,\r\n              this._scaleFrom.y + (this._scaleTo.y - this._scaleFrom.y) * t,\r\n              this._scaleFrom.z + (this._scaleTo.z - this._scaleFrom.z) * t\r\n            );\r\n            this._scratchVec2.setXYZ(\r\n              this._translationFrom.x + (this._translationTo.x - this._translationFrom.x) * t,\r\n              this._translationFrom.y + (this._translationTo.y - this._translationFrom.y) * t,\r\n              this._translationFrom.z + (this._translationTo.z - this._translationFrom.z) * t\r\n            );\r\n            Quaternion.slerp(this._rotationFrom, this._rotationTo, t, this._rotationLerp);\r\n            this._stepTo.compose(this._scratchVec, this._rotationLerp, this._scratchVec2);\r\n          }\r\n          this._invWorldMatrix.set(this._stepTo);\r\n          this._invWorldMatrix.inplaceInvert();\r\n          Matrix4x4.multiply(this._invWorldMatrix, this._stepFrom, this._relativeTransform);\r\n          bindGroup.setValue('relativeTransform', this._relativeTransform);\r\n          this._device!.compute(this._workgroupCount, 1, 1);\r\n          this._stepFrom.set(this._stepTo);\r\n        }\r\n      }\r\n    } finally {\r\n      this._device!.popDeviceStates();\r\n    }\r\n    this._prevWorldMatrix.set(worldMatrix);\r\n  }\r\n  protected onDispose() {\r\n    this._releaseResources();\r\n  }\r\n  /**\r\n   * Whether the node is accelerating hard enough to suspend strand lag.\r\n   *\r\n   * @remarks\r\n   * Differentiated over the frame intervals actually spanned rather than the\r\n   * fixed step: a second difference of position is only an acceleration when\r\n   * the samples are evenly spaced, and frame times are not.\r\n   * @internal\r\n   */\r\n  private _measureRootAcceleration(worldMatrix: Matrix4x4, frameDt: number) {\r\n    worldMatrix.transformPointAffine(this._restCenter, this._scratchVec);\r\n    let rigid = false;\r\n    if (this._rootHistoryDepth > 0) {\r\n      const vx = (this._scratchVec.x - this._prevRootWorld.x) / frameDt;\r\n      const vy = (this._scratchVec.y - this._prevRootWorld.y) / frameDt;\r\n      const vz = (this._scratchVec.z - this._prevRootWorld.z) / frameDt;\r\n      if (this._rootHistoryDepth > 1) {\r\n        const ax = (vx - this._prevRootVelocity.x) / frameDt;\r\n        const ay = (vy - this._prevRootVelocity.y) / frameDt;\r\n        const az = (vz - this._prevRootVelocity.z) / frameDt;\r\n        const threshold = this._vspAccelThreshold;\r\n        rigid = ax * ax + ay * ay + az * az > threshold * threshold;\r\n      }\r\n      this._prevRootVelocity.setXYZ(vx, vy, vz);\r\n    }\r\n    this._prevRootWorld.set(this._scratchVec);\r\n    if (this._rootHistoryDepth < 2) {\r\n      this._rootHistoryDepth++;\r\n    }\r\n    return rigid;\r\n  }\r\n  /**\r\n   * Copies the live points into the frame snapshot the material differences\r\n   * against.\r\n   *\r\n   * @remarks\r\n   * A dispatch of its own rather than a stage of the solve, because it has to\r\n   * happen on every frame while the solve only happens on frames that take a\r\n   * step, and because it has to see the points before the first substep touches\r\n   * them.\r\n   * @internal\r\n   */\r\n  private _snapshotFramePoints() {\r\n    this._bindGroup!.setValue('strandCount', this._strandCount);\r\n    this._bindGroup!.setValue('snapshotFrame', 1);\r\n    this._device!.pushDeviceStates();\r\n    try {\r\n      this._device!.setProgram(this._program!);\r\n      this._device!.setBindGroup(0, this._bindGroup!);\r\n      this._device!.compute(this._workgroupCount, 1, 1);\r\n    } finally {\r\n      this._device!.popDeviceStates();\r\n    }\r\n    this._bindGroup!.setValue('snapshotFrame', 0);\r\n  }\r\n  /** Copies the rest pose over the live points. @internal */\r\n  private _resetLivePoints() {\r\n    // Rest points are xyz only while the live buffer interleaves width, so this\r\n    // cannot be a straight buffer copy; the shader does it instead.\r\n    this._bindGroup!.setValue('strandCount', this._strandCount);\r\n    this._bindGroup!.setValue('resetPose', 1);\r\n    this._device!.pushDeviceStates();\r\n    try {\r\n      this._device!.setProgram(this._program!);\r\n      this._device!.setBindGroup(0, this._bindGroup!);\r\n      this._device!.compute(this._workgroupCount, 1, 1);\r\n    } finally {\r\n      this._device!.popDeviceStates();\r\n    }\r\n    this._bindGroup!.setValue('resetPose', 0);\r\n  }\r\n  /** Builds buffers and the compute pipeline. @internal */\r\n  private _init(strands: HairStrandData, source: HairStrandSource) {\r\n    const device = this._device!;\r\n    const pointCount = strands.pointCount;\r\n    const scale = source.scale ?? 1;\r\n\r\n    // Rest pose and rest lengths, in the same units the strand data uploaded in\r\n    // - it applies the scale, so this has to as well or every constraint is\r\n    // wrong by it. The same pass measures the longest strand and the rest\r\n    // centre, which the teleport guard in update() works from.\r\n    const restPoints = new Float32Array(pointCount * 3) as Float32Array<ArrayBuffer>;\r\n    const restLengths = new Float32Array(pointCount) as Float32Array<ArrayBuffer>;\r\n    const counts = source.pointCounts;\r\n    let first = 0;\r\n    let maxStrandLength = 0;\r\n    let minX = Infinity;\r\n    let minY = Infinity;\r\n    let minZ = Infinity;\r\n    let maxX = -Infinity;\r\n    let maxY = -Infinity;\r\n    let maxZ = -Infinity;\r\n    for (let s = 0; s < counts.length; s++) {\r\n      const count = counts[s];\r\n      let strandLength = 0;\r\n      for (let i = 0; i < count; i++) {\r\n        const src = (first + i) * 3;\r\n        const dst = (first + i) * 3;\r\n        const x = source.positions[src] * scale;\r\n        const y = source.positions[src + 1] * scale;\r\n        const z = source.positions[src + 2] * scale;\r\n        restPoints[dst] = x;\r\n        restPoints[dst + 1] = y;\r\n        restPoints[dst + 2] = z;\r\n        minX = x < minX ? x : minX;\r\n        minY = y < minY ? y : minY;\r\n        minZ = z < minZ ? z : minZ;\r\n        maxX = x > maxX ? x : maxX;\r\n        maxY = y > maxY ? y : maxY;\r\n        maxZ = z > maxZ ? z : maxZ;\r\n        if (i > 0) {\r\n          const dx = x - restPoints[dst - 3];\r\n          const dy = y - restPoints[dst - 2];\r\n          const dz = z - restPoints[dst - 1];\r\n          const len = Math.sqrt(dx * dx + dy * dy + dz * dz);\r\n          restLengths[first + i] = len;\r\n          strandLength += len;\r\n        }\r\n      }\r\n      if (strandLength > maxStrandLength) {\r\n        maxStrandLength = strandLength;\r\n      }\r\n      first += count;\r\n    }\r\n    this._maxStrandLength = maxStrandLength;\r\n    if (pointCount > 0) {\r\n      this._restCenter.setXYZ((minX + maxX) * 0.5, (minY + maxY) * 0.5, (minZ + maxZ) * 0.5);\r\n    }\r\n\r\n    this._pointBuffer = strands.pointBuffer;\r\n    this._restPointBuffer = this._createStorage(restPoints);\r\n    this._prevPointBuffer = this._createStorage(restPoints);\r\n    this._framePointBuffer = this._createStorage(restPoints);\r\n    this._restLengthBuffer = this._createStorage(restLengths);\r\n    this._sphereBuffer = this._createStorage(this._sphereData);\r\n    this._capsuleBuffer = this._createStorage(this._capsuleData);\r\n    this._planeBuffer = this._createStorage(this._planeData);\r\n\r\n    this._program = createHairSimulationProgram(device, DEFAULT_WORKGROUP_SIZE);\r\n    if (!this._program) {\r\n      throw new Error('failed to create the compute program');\r\n    }\r\n    this._bindGroup = device.createBindGroup(this._program.bindGroupLayouts[0]);\r\n    this._bindGroup.setBuffer('points', this._pointBuffer!);\r\n    this._bindGroup.setBuffer('prevPoints', this._prevPointBuffer);\r\n    this._bindGroup.setBuffer('framePoints', this._framePointBuffer);\r\n    this._bindGroup.setBuffer('restPoints', this._restPointBuffer);\r\n    this._bindGroup.setBuffer('restLengths', this._restLengthBuffer);\r\n    this._bindGroup.setBuffer('headers', strands.headerBuffer!);\r\n    this._bindGroup.setBuffer('sphereData', this._sphereBuffer);\r\n    this._bindGroup.setBuffer('capsuleData', this._capsuleBuffer);\r\n    this._bindGroup.setBuffer('planeData', this._planeBuffer);\r\n    this._bindGroup.setValue('strandCount', this._strandCount);\r\n    this._bindGroup.setValue('resetPose', 0);\r\n    this._bindGroup.setValue('relativeTransform', Matrix4x4.identity());\r\n    this._bindGroup.setValue('sphereCount', 0);\r\n    this._bindGroup.setValue('capsuleCount', 0);\r\n    this._bindGroup.setValue('planeCount', 0);\r\n    this._bindGroup.setValue('minDistance', MIN_DISTANCE);\r\n    this._bindGroup.setValue('snapshotFrame', 0);\r\n    this._bindGroup.setValue('maxSpeedFactor', this._maxSpeedFactor);\r\n    this._bindGroup.setValue('globalStiffness', this._globalStiffness);\r\n    this._bindGroup.setValue('globalRange', this._globalRange);\r\n    this._bindGroup.setValue('localStiffness', this._localStiffness);\r\n    this._bindGroup.setValue('localIterations', this._localIterations);\r\n    this._bindGroup.setValue('ftlDamping', this._ftlDamping);\r\n    this._bindGroup.setValue('vspCoeff', this._vspCoeff);\r\n  }\r\n  /** @internal */\r\n  private _createStorage(data: Float32Array<ArrayBuffer>) {\r\n    const buffer = this._device!.createBuffer(data.byteLength, {\r\n      usage: 'uniform',\r\n      storage: true,\r\n      dynamic: false,\r\n      managed: false\r\n    });\r\n    if (!buffer) {\r\n      throw new Error('failed to allocate a simulation buffer');\r\n    }\r\n    buffer.bufferSubData(0, data);\r\n    return buffer;\r\n  }\r\n  /** Brings colliders into local space and uploads them. @internal */\r\n  private _uploadColliders(invWorldMatrix: Matrix4x4) {\r\n    let spheres = 0;\r\n    let capsules = 0;\r\n    let planes = 0;\r\n    for (const collider of this._colliders) {\r\n      if (!collider.enabled) {\r\n        continue;\r\n      }\r\n      // Node-tracking colliders are world-space and refreshed here.\r\n      updateColliderFromNode(collider);\r\n      if (collider.type === 'sphere' && spheres < MAX_COLLIDERS) {\r\n        const sphere = collider as SphereCollider;\r\n        invWorldMatrix.transformPointAffine(sphere.center, this._scratchVec);\r\n        const base = spheres * SPHERE_STRIDE;\r\n        this._sphereData[base] = this._scratchVec.x;\r\n        this._sphereData[base + 1] = this._scratchVec.y;\r\n        this._sphereData[base + 2] = this._scratchVec.z;\r\n        this._sphereData[base + 3] = sphere.radius * localRadiusScale(invWorldMatrix);\r\n        spheres++;\r\n      } else if (collider.type === 'capsule' && capsules < MAX_COLLIDERS) {\r\n        const capsule = collider as CapsuleCollider;\r\n        invWorldMatrix.transformPointAffine(capsule.start, this._scratchVec);\r\n        invWorldMatrix.transformPointAffine(capsule.end, this._scratchVec2);\r\n        const base = capsules * CAPSULE_STRIDE;\r\n        this._capsuleData[base] = this._scratchVec.x;\r\n        this._capsuleData[base + 1] = this._scratchVec.y;\r\n        this._capsuleData[base + 2] = this._scratchVec.z;\r\n        this._capsuleData[base + 3] = capsule.radius * localRadiusScale(invWorldMatrix);\r\n        this._capsuleData[base + 4] = this._scratchVec2.x;\r\n        this._capsuleData[base + 5] = this._scratchVec2.y;\r\n        this._capsuleData[base + 6] = this._scratchVec2.z;\r\n        this._capsuleData[base + 7] = 0;\r\n        capsules++;\r\n      } else if (collider.type === 'plane' && planes < MAX_COLLIDERS) {\r\n        const plane = collider as PlaneCollider;\r\n        invWorldMatrix.transformPointAffine(plane.point, this._scratchVec);\r\n        // A normal transforms by the inverse transpose, and the inverse is to hand.\r\n        transformNormal(invWorldMatrix, plane.normal, this._scratchVec2);\r\n        const base = planes * PLANE_STRIDE;\r\n        this._planeData[base] = this._scratchVec.x;\r\n        this._planeData[base + 1] = this._scratchVec.y;\r\n        this._planeData[base + 2] = this._scratchVec.z;\r\n        this._planeData[base + 3] = 0;\r\n        this._planeData[base + 4] = this._scratchVec2.x;\r\n        this._planeData[base + 5] = this._scratchVec2.y;\r\n        this._planeData[base + 6] = this._scratchVec2.z;\r\n        this._planeData[base + 7] = 0;\r\n        planes++;\r\n      }\r\n    }\r\n    this._sphereBuffer!.bufferSubData(0, this._sphereData);\r\n    this._capsuleBuffer!.bufferSubData(0, this._capsuleData);\r\n    this._planeBuffer!.bufferSubData(0, this._planeData);\r\n    this._bindGroup!.setValue('sphereCount', spheres);\r\n    this._bindGroup!.setValue('capsuleCount', capsules);\r\n    this._bindGroup!.setValue('planeCount', planes);\r\n  }\r\n  /** @internal */\r\n  private _releaseResources() {\r\n    this._enabled = false;\r\n    this._bindGroup?.dispose();\r\n    this._bindGroup = null;\r\n    this._program?.dispose();\r\n    this._program = null;\r\n    // The point buffer belongs to the strand data, not here.\r\n    this._pointBuffer = null;\r\n    this._prevPointBuffer?.dispose();\r\n    this._prevPointBuffer = null;\r\n    this._restPointBuffer?.dispose();\r\n    this._restPointBuffer = null;\r\n    this._framePointBuffer?.dispose();\r\n    this._framePointBuffer = null;\r\n    this._restLengthBuffer?.dispose();\r\n    this._restLengthBuffer = null;\r\n    this._sphereBuffer?.dispose();\r\n    this._sphereBuffer = null;\r\n    this._capsuleBuffer?.dispose();\r\n    this._capsuleBuffer = null;\r\n    this._planeBuffer?.dispose();\r\n    this._planeBuffer = null;\r\n  }\r\n}\r\n\r\n/** Mean axis scale of a matrix, for converting a radius. @internal */\r\nfunction localRadiusScale(matrix: Matrix4x4) {\r\n  const sx = Math.hypot(matrix.m00, matrix.m10, matrix.m20);\r\n  const sy = Math.hypot(matrix.m01, matrix.m11, matrix.m21);\r\n  const sz = Math.hypot(matrix.m02, matrix.m12, matrix.m22);\r\n  return (sx + sy + sz) / 3;\r\n}\r\n\r\n/**\r\n * Transforms a normal by the transpose of the inverse world matrix, which is the\r\n * inverse-transpose a normal needs.\r\n * @internal\r\n */\r\nfunction transformNormal(invWorldMatrix: Matrix4x4, normal: Vector3, out: Vector3) {\r\n  out.setXYZ(\r\n    invWorldMatrix.m00 * normal.x + invWorldMatrix.m10 * normal.y + invWorldMatrix.m20 * normal.z,\r\n    invWorldMatrix.m01 * normal.x + invWorldMatrix.m11 * normal.y + invWorldMatrix.m21 * normal.z,\r\n    invWorldMatrix.m02 * normal.x + invWorldMatrix.m12 * normal.y + invWorldMatrix.m22 * normal.z\r\n  );\r\n  const len = out.magnitude;\r\n  if (len > MIN_DISTANCE) {\r\n    out.scaleBy(1 / len);\r\n  } else {\r\n    out.setXYZ(0, 1, 0);\r\n  }\r\n}\r\n\r\n/**\r\n * Builds the solver pass.\r\n *\r\n * @remarks\r\n * TressFX's five simulation stages, run back to back inside one kernel with a\r\n * thread per strand instead of five dispatches with a thread per vertex. The\r\n * rearrangement keeps them numerically equivalent: integration, the global shape\r\n * constraint and shock propagation are per-vertex with no cross-vertex\r\n * dependency, and the local shape constraint is already a serial walk over a\r\n * strand in TressFX. Solved in local space, where the bind-pose skinning\r\n * quaternion is the identity and shock propagation reduces to a blend.\r\n *\r\n * Exported for shader-generation tests only.\r\n * @internal\r\n */\r\nexport function createHairSimulationProgram(device: AbstractDevice, workgroupSize: number) {\r\n  const program = device.buildComputeProgram({\r\n    workgroupSize: [workgroupSize, 1, 1],\r\n    compute(pb) {\r\n      // Positions and widths interleave, four floats per point; the solver\r\n      // writes xyz and leaves w alone, which is why they share a buffer.\r\n      this.points = pb.float[0]().storageBuffer(0);\r\n      this.prevPoints = pb.float[0]().storageBuffer(0);\r\n      this.framePoints = pb.float[0]().storageBuffer(0);\r\n      this.restPoints = pb.float[0]().storageBufferReadonly(0);\r\n      this.restLengths = pb.float[0]().storageBufferReadonly(0);\r\n      this.headers = pb.uint[0]().storageBufferReadonly(0);\r\n      this.sphereData = pb.float[0]().storageBufferReadonly(0);\r\n      this.capsuleData = pb.float[0]().storageBufferReadonly(0);\r\n      this.planeData = pb.float[0]().storageBufferReadonly(0);\r\n      this.strandCount = pb.uint().uniform(0);\r\n      this.deltaTime = pb.float().uniform(0);\r\n      this.dampingDecay = pb.float().uniform(0);\r\n      this.globalStiffness = pb.float().uniform(0);\r\n      this.globalRange = pb.float().uniform(0);\r\n      this.localStiffness = pb.float().uniform(0);\r\n      this.localIterations = pb.uint().uniform(0);\r\n      this.ftlDamping = pb.float().uniform(0);\r\n      this.vspCoeff = pb.float().uniform(0);\r\n      this.friction = pb.float().uniform(0);\r\n      this.maxSpeedFactor = pb.float().uniform(0);\r\n      this.gravity = pb.vec3().uniform(0);\r\n      this.relativeTransform = pb.mat4().uniform(0);\r\n      this.sphereCount = pb.uint().uniform(0);\r\n      this.capsuleCount = pb.uint().uniform(0);\r\n      this.planeCount = pb.uint().uniform(0);\r\n      this.minDistance = pb.float().uniform(0);\r\n      this.resetPose = pb.uint().uniform(0);\r\n      this.snapshotFrame = pb.uint().uniform(0);\r\n\r\n      // Pushes a point out of every collider. Position only; friction and\r\n      // carrying the history along are the caller's job, since both need the\r\n      // history it is still assembling.\r\n      pb.func('Z_hairResolveContacts', [pb.vec3('position')], function () {\r\n        this.$l.result = this.position;\r\n        this.$for(pb.uint('i'), 0, this.sphereCount, function () {\r\n          this.$l.base = pb.mul(this.i, 4);\r\n          this.$l.centre = pb.vec3(\r\n            this.sphereData.at(this.base),\r\n            this.sphereData.at(pb.add(this.base, 1)),\r\n            this.sphereData.at(pb.add(this.base, 2))\r\n          );\r\n          this.$l.radius = this.sphereData.at(pb.add(this.base, 3));\r\n          this.$l.delta = pb.sub(this.result, this.centre);\r\n          this.$l.dist = pb.length(this.delta);\r\n          this.$if(pb.lessThan(this.dist, this.radius), function () {\r\n            this.$l.normal = pb.vec3(0, 1, 0);\r\n            this.$if(pb.greaterThan(this.dist, this.minDistance), function () {\r\n              this.normal = pb.div(this.delta, this.dist);\r\n            });\r\n            this.result = pb.add(this.centre, pb.mul(this.normal, this.radius));\r\n          });\r\n        });\r\n        this.$for(pb.uint('j'), 0, this.capsuleCount, function () {\r\n          this.$l.cbase = pb.mul(this.j, 8);\r\n          this.$l.start = pb.vec3(\r\n            this.capsuleData.at(this.cbase),\r\n            this.capsuleData.at(pb.add(this.cbase, 1)),\r\n            this.capsuleData.at(pb.add(this.cbase, 2))\r\n          );\r\n          this.$l.cradius = this.capsuleData.at(pb.add(this.cbase, 3));\r\n          this.$l.end = pb.vec3(\r\n            this.capsuleData.at(pb.add(this.cbase, 4)),\r\n            this.capsuleData.at(pb.add(this.cbase, 5)),\r\n            this.capsuleData.at(pb.add(this.cbase, 6))\r\n          );\r\n          this.$l.axis = pb.sub(this.end, this.start);\r\n          this.$l.axisLenSq = pb.dot(this.axis, this.axis);\r\n          this.$l.t = pb.float(0);\r\n          this.$if(pb.greaterThan(this.axisLenSq, this.minDistance), function () {\r\n            this.t = pb.clamp(\r\n              pb.div(pb.dot(pb.sub(this.result, this.start), this.axis), this.axisLenSq),\r\n              0,\r\n              1\r\n            );\r\n          });\r\n          this.$l.closest = pb.add(this.start, pb.mul(this.axis, this.t));\r\n          this.$l.cdelta = pb.sub(this.result, this.closest);\r\n          this.$l.cdist = pb.length(this.cdelta);\r\n          this.$if(pb.lessThan(this.cdist, this.cradius), function () {\r\n            this.$l.cnormal = pb.vec3(0, 1, 0);\r\n            this.$if(pb.greaterThan(this.cdist, this.minDistance), function () {\r\n              this.cnormal = pb.div(this.cdelta, this.cdist);\r\n            });\r\n            this.result = pb.add(this.closest, pb.mul(this.cnormal, this.cradius));\r\n          });\r\n        });\r\n        this.$for(pb.uint('k'), 0, this.planeCount, function () {\r\n          this.$l.pbase = pb.mul(this.k, 8);\r\n          this.$l.point = pb.vec3(\r\n            this.planeData.at(this.pbase),\r\n            this.planeData.at(pb.add(this.pbase, 1)),\r\n            this.planeData.at(pb.add(this.pbase, 2))\r\n          );\r\n          this.$l.pnormal = pb.vec3(\r\n            this.planeData.at(pb.add(this.pbase, 4)),\r\n            this.planeData.at(pb.add(this.pbase, 5)),\r\n            this.planeData.at(pb.add(this.pbase, 6))\r\n          );\r\n          this.$l.signedDist = pb.dot(pb.sub(this.result, this.point), this.pnormal);\r\n          this.$if(pb.lessThan(this.signedDist, 0), function () {\r\n            this.result = pb.sub(this.result, pb.mul(this.pnormal, this.signedDist));\r\n          });\r\n        });\r\n        this.$return(this.result);\r\n      });\r\n\r\n      // Accessors for the interleaved point buffer.\r\n      pb.func('Z_hairGetPoint', [pb.uint('index')], function () {\r\n        this.$l.base = pb.mul(this.index, 4);\r\n        this.$return(\r\n          pb.vec3(\r\n            this.points.at(this.base),\r\n            this.points.at(pb.add(this.base, 1)),\r\n            this.points.at(pb.add(this.base, 2))\r\n          )\r\n        );\r\n      });\r\n      pb.func('Z_hairSetPoint', [pb.uint('index'), pb.vec3('value')], function () {\r\n        this.$l.base = pb.mul(this.index, 4);\r\n        this.points.setAt(this.base, this.value.x);\r\n        this.points.setAt(pb.add(this.base, 1), this.value.y);\r\n        this.points.setAt(pb.add(this.base, 2), this.value.z);\r\n        this.$return(pb.float(0));\r\n      });\r\n      pb.func('Z_hairGetRest', [pb.uint('index')], function () {\r\n        this.$l.base = pb.mul(this.index, 3);\r\n        this.$return(\r\n          pb.vec3(\r\n            this.restPoints.at(this.base),\r\n            this.restPoints.at(pb.add(this.base, 1)),\r\n            this.restPoints.at(pb.add(this.base, 2))\r\n          )\r\n        );\r\n      });\r\n      pb.func('Z_hairGetHistory', [pb.uint('index')], function () {\r\n        this.$l.base = pb.mul(this.index, 3);\r\n        this.$return(\r\n          pb.vec3(\r\n            this.prevPoints.at(this.base),\r\n            this.prevPoints.at(pb.add(this.base, 1)),\r\n            this.prevPoints.at(pb.add(this.base, 2))\r\n          )\r\n        );\r\n      });\r\n      pb.func('Z_hairSetHistory', [pb.uint('index'), pb.vec3('value')], function () {\r\n        this.$l.base = pb.mul(this.index, 3);\r\n        this.prevPoints.setAt(this.base, this.value.x);\r\n        this.prevPoints.setAt(pb.add(this.base, 1), this.value.y);\r\n        this.prevPoints.setAt(pb.add(this.base, 2), this.value.z);\r\n        this.$return(pb.float(0));\r\n      });\r\n      pb.func('Z_hairSetFramePoint', [pb.uint('index'), pb.vec3('value')], function () {\r\n        this.$l.base = pb.mul(this.index, 3);\r\n        this.framePoints.setAt(this.base, this.value.x);\r\n        this.framePoints.setAt(pb.add(this.base, 1), this.value.y);\r\n        this.framePoints.setAt(pb.add(this.base, 2), this.value.z);\r\n        this.$return(pb.float(0));\r\n      });\r\n\r\n      // Rotates a vector by a quaternion.\r\n      pb.func('Z_hairQuatRotate', [pb.vec4('q'), pb.vec3('v')], function () {\r\n        this.$l.uv = pb.cross(this.q.xyz, this.v);\r\n        this.$l.uuv = pb.cross(this.q.xyz, this.uv);\r\n        this.$return(pb.add(this.v, pb.mul(this.uv, pb.mul(this.q.w, 2)), pb.mul(this.uuv, 2)));\r\n      });\r\n\r\n      // Shortest-arc rotation taking unit u onto unit v. Antiparallel inputs\r\n      // leave the axis undefined, so any perpendicular of u will do.\r\n      pb.func('Z_hairQuatFromUnitVectors', [pb.vec3('u'), pb.vec3('v')], function () {\r\n        this.$l.r = pb.add(1, pb.dot(this.u, this.v));\r\n        this.$l.axis = pb.cross(this.u, this.v);\r\n        this.$if(pb.lessThan(this.r, 1e-7), function () {\r\n          this.r = pb.float(0);\r\n          this.axis = this.$choice(\r\n            pb.greaterThan(pb.abs(this.u.x), pb.abs(this.u.z)),\r\n            pb.vec3(pb.neg(this.u.y), this.u.x, 0),\r\n            pb.vec3(0, pb.neg(this.u.z), this.u.y)\r\n          );\r\n        });\r\n        this.$l.q = pb.vec4(this.axis, this.r);\r\n        this.$l.lengthSq = pb.dot(this.q, this.q);\r\n        this.$l.result = pb.vec4(0, 0, 0, 1);\r\n        this.$if(pb.greaterThan(this.lengthSq, 1e-10), function () {\r\n          this.result = pb.mul(this.q, pb.inverseSqrt(this.lengthSq));\r\n        });\r\n        this.$return(this.result);\r\n      });\r\n\r\n      // Bounds the velocity a stored history implies, so that one bad substep\r\n      // cannot hand the next a velocity damping will never recover from.\r\n      pb.func('Z_hairClampHistory', [pb.uint('index'), pb.vec3('position'), pb.vec3('history')], function () {\r\n        this.$l.result = this.history;\r\n        this.$l.delta = pb.sub(this.position, this.result);\r\n        this.$l.speed = pb.length(this.delta);\r\n        this.$l.limit = pb.mul(this.restLengths.at(this.index), this.maxSpeedFactor);\r\n        this.$if(pb.greaterThan(this.speed, this.limit), function () {\r\n          this.result = pb.sub(this.position, pb.mul(this.delta, pb.div(this.limit, this.speed)));\r\n        });\r\n        this.$return(this.result);\r\n      });\r\n\r\n      pb.main(function () {\r\n        this.$l.strand = this.$builtins.globalInvocationId.x;\r\n        this.$if(pb.lessThan(this.strand, this.strandCount), function () {\r\n          this.$l.hbase = pb.mul(this.strand, 4);\r\n          this.$l.firstPoint = this.headers.at(this.hbase);\r\n          this.$l.pointCount = this.headers.at(pb.add(this.hbase, 1));\r\n\r\n          this.$if(pb.notEqual(this.snapshotFrame, 0), function () {\r\n            // Copy the points the last frame was drawn with aside, before this\r\n            // frame's substeps overwrite them. Run once per frame from update(),\r\n            // including on frames that take no step - skipping those would leave\r\n            // the snapshot a frame stale and report motion that already happened.\r\n            this.$for(pb.uint('i'), 0, this.pointCount, function () {\r\n              this.$l.idx = pb.add(this.firstPoint, this.i);\r\n              this.Z_hairSetFramePoint(this.idx, this.Z_hairGetPoint(this.idx));\r\n            });\r\n          })\r\n            .$elseif(pb.notEqual(this.resetPose, 0), function () {\r\n              // Rest into all three, so the strand is still as well as in place\r\n              // and the frame it snaps on reports no motion of its own.\r\n              this.$for(pb.uint('i'), 0, this.pointCount, function () {\r\n                this.$l.idx = pb.add(this.firstPoint, this.i);\r\n                this.$l.rest = this.Z_hairGetRest(this.idx);\r\n                this.Z_hairSetPoint(this.idx, this.rest);\r\n                this.Z_hairSetHistory(this.idx, this.rest);\r\n                this.Z_hairSetFramePoint(this.idx, this.rest);\r\n              });\r\n            })\r\n            .$else(function () {\r\n              // Two pinned points, not one: one fixes where a strand hangs from but\r\n              // leaves the direction it leaves the scalp in free, so the root end\r\n              // flops and can invert. The second gives every strand the root frame\r\n              // the local shape constraint is defined against. In local space\r\n              // \"pinned\" means unchanged - node motion rides the transform.\r\n              this.$l.rootRest = this.Z_hairGetRest(this.firstPoint);\r\n              this.Z_hairSetPoint(this.firstPoint, this.rootRest);\r\n              this.Z_hairSetHistory(this.firstPoint, this.rootRest);\r\n              this.$if(pb.greaterThan(this.pointCount, 1), function () {\r\n                this.$l.nextIdx = pb.add(this.firstPoint, 1);\r\n                this.$l.nextRest = this.Z_hairGetRest(this.nextIdx);\r\n                this.Z_hairSetPoint(this.nextIdx, this.nextRest);\r\n                this.Z_hairSetHistory(this.nextIdx, this.nextRest);\r\n              });\r\n\r\n              this.$l.dt2 = pb.mul(this.deltaTime, this.deltaTime);\r\n              this.$l.rangeLimit = pb.mul(this.globalRange, pb.float(this.pointCount));\r\n\r\n              // Stage 1 - integration, shock propagation, global shape constraint.\r\n              this.$for(pb.uint('i'), 2, this.pointCount, function () {\r\n                this.$l.idx = pb.add(this.firstPoint, this.i);\r\n                this.$l.current = this.Z_hairGetPoint(this.idx);\r\n                this.$l.previous = this.Z_hairGetHistory(this.idx);\r\n                // Both stored positions go through the node's frame-to-frame\r\n                // motion: transforming only one would read that motion as strand\r\n                // velocity and throw the hair ahead of the movement.\r\n                this.$l.lagged = pb.mul(this.relativeTransform, pb.vec4(this.current, 1)).xyz;\r\n                this.$l.laggedPrev = pb.mul(this.relativeTransform, pb.vec4(this.previous, 1)).xyz;\r\n                // Shock propagation. Leaving a point untransformed is exactly\r\n                // carrying it rigidly with the node, so the coefficient blends\r\n                // between the two ends TressFX interpolates: 0 lags fully, 1\r\n                // follows. It stops a fast root outrunning its strand in one step.\r\n                this.current = pb.mix(this.lagged, this.current, this.vspCoeff);\r\n                this.previous = pb.mix(this.laggedPrev, this.previous, this.vspCoeff);\r\n                this.$l.velocity = pb.mul(pb.sub(this.current, this.previous), this.dampingDecay);\r\n                this.$l.next = pb.add(this.current, this.velocity, pb.mul(this.gravity, this.dt2));\r\n                // Pull toward the authored pose, over the range's fraction of the\r\n                // strand. Off by default - anchoring a point to a fixed place is a\r\n                // spring, and the local shape constraint holds styling without it.\r\n                this.$if(\r\n                  pb.and(\r\n                    pb.greaterThan(this.globalStiffness, 0),\r\n                    pb.lessThan(pb.float(this.i), this.rangeLimit)\r\n                  ),\r\n                  function () {\r\n                    this.$l.rest = this.Z_hairGetRest(this.idx);\r\n                    this.next = pb.add(this.next, pb.mul(pb.sub(this.rest, this.next), this.globalStiffness));\r\n                  }\r\n                );\r\n                this.Z_hairSetHistory(this.idx, this.current);\r\n                this.Z_hairSetPoint(this.idx, this.next);\r\n              });\r\n\r\n              // Stage 2 - local shape constraint, what makes a groom read as hair\r\n              // rather than as a chain. It holds each segment's angle to the one\r\n              // before it in that segment's *current* frame, so a strand keeps its\r\n              // curl while free to hang and swing, and resists bending - which is\r\n              // also what stops a disturbance ringing for seconds. Stiffness is\r\n              // halved and capped below 1 as in TressFX, since the constraint\r\n              // moves both points it touches and would otherwise overshoot.\r\n              this.$l.localStrength = pb.mul(pb.min(this.localStiffness, 0.95), 0.5);\r\n              this.$if(pb.greaterThan(this.pointCount, 2), function () {\r\n                this.$for(pb.uint('iter'), 0, this.localIterations, function () {\r\n                  this.$for(pb.uint('i'), 1, pb.sub(this.pointCount, 1), function () {\r\n                    this.$l.idx = pb.add(this.firstPoint, this.i);\r\n                    this.$l.pos = this.Z_hairGetPoint(this.idx);\r\n                    this.$l.posPlus = this.Z_hairGetPoint(pb.add(this.idx, 1));\r\n                    this.$l.posMinus = this.Z_hairGetPoint(pb.sub(this.idx, 1));\r\n                    this.$l.bind = this.Z_hairGetRest(this.idx);\r\n                    this.$l.bindPlus = this.Z_hairGetRest(pb.add(this.idx, 1));\r\n                    this.$l.bindMinus = this.Z_hairGetRest(pb.sub(this.idx, 1));\r\n                    // Where the next point sits if its bend still matches the bind\r\n                    // pose, carried into the previous segment's current direction.\r\n                    this.$l.lastVec = pb.sub(this.pos, this.posMinus);\r\n                    this.$l.bindVec = pb.sub(this.bindPlus, this.bind);\r\n                    this.$l.lastBindVec = pb.sub(this.bind, this.bindMinus);\r\n                    this.$l.rotation = this.Z_hairQuatFromUnitVectors(\r\n                      pb.normalize(this.lastBindVec),\r\n                      pb.normalize(this.lastVec)\r\n                    );\r\n                    this.$l.bendTarget = pb.add(this.Z_hairQuatRotate(this.rotation, this.bindVec), this.pos);\r\n                    this.$l.del = pb.mul(pb.sub(this.bendTarget, this.posPlus), this.localStrength);\r\n                    // Shared between both ends, unless one is a pinned root.\r\n                    this.$if(pb.greaterThan(this.i, 1), function () {\r\n                      this.Z_hairSetPoint(this.idx, pb.sub(this.pos, this.del));\r\n                    });\r\n                    this.Z_hairSetPoint(pb.add(this.idx, 1), pb.add(this.posPlus, this.del));\r\n                  });\r\n                });\r\n              });\r\n\r\n              // Stage 3 - length constraints, root to tip. Placing each point at\r\n              // its authored distance from an already-final parent leaves the\r\n              // strand inextensible in one pass.\r\n              //\r\n              // The one place the port leaves TressFX, which sweeps even and odd\r\n              // segments Jacobi-style because a thread there owns a single vertex\r\n              // and cannot walk a strand. Jacobi transports tension one segment\r\n              // per sweep, so a hanging strand stretches until the residual\r\n              // balances: 22% on a 24-point strand under earth gravity at its two\r\n              // sweeps, still 4.5% at sixteen. TressFX's own default gravity is\r\n              // zero, so it never sees this.\r\n              //\r\n              // Moving the child alone leaves that correction's momentum\r\n              // unaccounted for, and unaccounted it pumps the chain until the\r\n              // groom whips; handing it back to the parent is Mueller's FTL\r\n              // damping.\r\n              this.$if(pb.greaterThan(this.pointCount, 2), function () {\r\n                this.$for(pb.uint('j'), 1, pb.sub(this.pointCount, 1), function () {\r\n                  this.$l.parentIdx = pb.add(this.firstPoint, this.j);\r\n                  this.$l.childIdx = pb.add(this.parentIdx, 1);\r\n                  this.$l.parent = this.Z_hairGetPoint(this.parentIdx);\r\n                  this.$l.predicted = this.Z_hairGetPoint(this.childIdx);\r\n                  // Rest lengths are indexed by the far end of a segment.\r\n                  this.$l.restLength = this.restLengths.at(this.childIdx);\r\n                  this.$l.offset = pb.sub(this.predicted, this.parent);\r\n                  this.$l.dist = pb.length(this.offset);\r\n                  // Coincident with the parent leaves the direction undefined; any\r\n                  // offset of the right length will do.\r\n                  this.$l.projected = pb.add(this.parent, pb.vec3(0, this.restLength, 0));\r\n                  this.$if(pb.greaterThan(this.dist, this.minDistance), function () {\r\n                    this.projected = pb.add(\r\n                      this.parent,\r\n                      pb.mul(pb.div(this.offset, this.dist), this.restLength)\r\n                    );\r\n                  });\r\n                  this.Z_hairSetPoint(this.childIdx, this.projected);\r\n                  // The parent takes the reverse momentum, unless it is pinned.\r\n                  this.$if(pb.greaterThan(this.j, 1), function () {\r\n                    this.$l.correction = pb.sub(this.projected, this.predicted);\r\n                    this.Z_hairSetHistory(\r\n                      this.parentIdx,\r\n                      pb.add(this.Z_hairGetHistory(this.parentIdx), pb.mul(this.correction, this.ftlDamping))\r\n                    );\r\n                  });\r\n                });\r\n              });\r\n\r\n              // Stage 4 - contacts, and the ceiling on this substep's travel.\r\n              this.$for(pb.uint('i'), 2, this.pointCount, function () {\r\n                this.$l.idx = pb.add(this.firstPoint, this.i);\r\n                this.$l.position = this.Z_hairGetPoint(this.idx);\r\n                this.$l.history = this.Z_hairGetHistory(this.idx);\r\n                this.$l.resolved = this.Z_hairResolveContacts(this.position);\r\n                // A push out is a position fix, not a shove: the history follows\r\n                // it so the point keeps the velocity it arrived with, and friction\r\n                // then takes its share of the tangential part.\r\n                this.$l.push = pb.sub(this.resolved, this.position);\r\n                this.$l.pushDist = pb.length(this.push);\r\n                this.history = pb.add(this.history, this.push);\r\n                this.$if(pb.greaterThan(this.pushDist, this.minDistance), function () {\r\n                  this.$l.normalDir = pb.div(this.push, this.pushDist);\r\n                  this.$l.contactVelocity = pb.sub(this.resolved, this.history);\r\n                  this.$l.tangential = pb.sub(\r\n                    this.contactVelocity,\r\n                    pb.mul(this.normalDir, pb.dot(this.contactVelocity, this.normalDir))\r\n                  );\r\n                  this.history = pb.add(this.history, pb.mul(this.tangential, this.friction));\r\n                });\r\n                this.Z_hairSetHistory(\r\n                  this.idx,\r\n                  this.Z_hairClampHistory(this.idx, this.resolved, this.history)\r\n                );\r\n                this.Z_hairSetPoint(this.idx, this.resolved);\r\n              });\r\n            });\r\n        });\r\n      });\r\n    }\r\n  });\r\n  if (program) {\r\n    program.name = '@GPUHair_Simulate';\r\n  }\r\n  return 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package/dist/animation/joint_dynamics/controller.js

@@ -38,6 +38,7 @@ import { Vector3, Quaternion, Matrix4x4, clamp01, InterpolatorScalar } from '@ze
     _parentMap = new Map();
     _maxPointDepth = 0;
     _pointTransforms = [];
+    _pointInputTransforms = [];
     _colliderTransforms = [];
     _grabberTransforms = [];
     _colliderHandleIds = [];
@@ -70,7 +71,7 @@ import { Vector3, Quaternion, Matrix4x4, clamp01, InterpolatorScalar } from '@ze
    * @param colliders - Collider array (spheres/capsules).
    * @param grabbers - Grabber array used for interactions such as mouse dragging.
    * @param flatPlanes - Plane limiters such as the floor to prevent penetration.
-   */ initialize(rootTransform, rootPoints, pointTransforms, colliders, grabbers, flatPlanes) {
+   */ initialize(rootTransform, rootPoints, pointTransforms, pointInputTransforms, colliders, grabbers, flatPlanes) {
         this._rootTransform = rootTransform;
         this._baseSystemScale = this._getSystemUniformScale();
         this._currentSystemScale = this._baseSystemScale;
@@ -78,6 +79,7 @@ import { Vector3, Quaternion, Matrix4x4, clamp01, InterpolatorScalar } from '@ze
             ...rootPoints
         ];
         this._pointTransforms = pointTransforms;
+        this._pointInputTransforms = pointInputTransforms.length > 0 ? pointInputTransforms : pointTransforms;
         this._colliderTransforms = colliders.map((c)=>c.transform);
         this._grabberTransforms = grabbers.map((g)=>g.transform);
         this._rebuildConstraints();
@@ -145,7 +147,7 @@ import { Vector3, Quaternion, Matrix4x4, clamp01, InterpolatorScalar } from '@ze
         this._previousRootPosition = rootTransform.getWorldPosition();
         this._previousRootRotation = rootTransform.getWorldRotation();
         for(let i = 0; i < this._pointsRW.length; i++){
-            const pos = pointTransforms[i].getWorldPosition();
+            const pos = this._pointInputTransforms[i].getWorldPosition();
             this._pointsRW[i].positionCurrent = pos.clone();
             this._pointsRW[i].positionPrevious = pos.clone();
             this._pointsRW[i].positionCurrentTransform = pos.clone();
@@ -183,7 +185,7 @@ import { Vector3, Quaternion, Matrix4x4, clamp01, InterpolatorScalar } from '@ze
         const inputLocalRotations = this._getInputLocalRotations();
         for(let i = 0; i < this._pointsRW.length; i++){
             this._pointsRW[i].positionPreviousTransform = this._pointsRW[i].positionCurrentTransform.clone();
-            this._pointsRW[i].positionCurrentTransform = this._pointTransforms[i].getWorldPosition();
+            this._pointsRW[i].positionCurrentTransform = this._pointInputTransforms[i].getWorldPosition();
         }
         for(let i = 0; i < this._collidersRW.length; i++){
             const t = this._colliderTransforms[i];
@@ -450,7 +452,7 @@ import { Vector3, Quaternion, Matrix4x4, clamp01, InterpolatorScalar } from '@ze
    * point weights are preserved.
    */ reset() {
         for(let i = 0; i < this._pointsRW.length; i++){
-            const pos = this._pointTransforms[i].getWorldPosition();
+            const pos = this._pointInputTransforms[i].getWorldPosition();
             const ptRW = this._pointsRW[i];
             ptRW.positionCurrent = pos.clone();
             ptRW.positionPrevious = pos.clone();
@@ -504,7 +506,7 @@ import { Vector3, Quaternion, Matrix4x4, clamp01, InterpolatorScalar } from '@ze
             return;
         }
         this._pointsR[index].weight = 1;
-        const pos = this._pointTransforms[index].getWorldPosition();
+        const pos = this._pointInputTransforms[index].getWorldPosition();
         this._pointsRW[index].positionCurrent = pos.clone();
         this._pointsRW[index].positionPrevious = pos.clone();
         this._pointsRW[index].grabberIndex = -1;