@zephyr3d/scene 0.9.25 → 0.9.27

package/dist/animation/joint_dynamics/convex_collider.js

@@ -0,0 +1,320 @@
+import { Matrix4x4, Vector3 } from '@zephyr3d/base';
+import { getVertexFormatComponentCount } from '@zephyr3d/device';
+import '../../scene/scene.js';
+import '../../values.js';
+import '../../render/render_queue.js';
+import '../../render/primitive.js';
+import '../../material/shader/helper.js';
+import '../../material/lambert.js';
+import '../../material/blinn.js';
+import '../../material/unlit.js';
+import '../../material/particle.js';
+import '../../material/subsurfaceprofile.js';
+import '../../material/meshmaterial.js';
+import '../../material/grassmaterial.js';
+import '../../material/terrain-cm.js';
+import '../../material/pbrmr.js';
+import '../../material/pbrsg.js';
+import '../../material/mtoon.js';
+import '../../material/pbrblueprint.js';
+import '../../material/sprite.js';
+import '../../material/sprite_std.js';
+import '../../utility/blueprint/material/texture.js';
+import '../../render/rendergraph/forward_plus_builder.js';
+import '../../render/lightpass.js';
+import '../../render/sky.js';
+import '../../render/clipmap.js';
+import '../../shaders/atmosphere.js';
+import { getSceneMeshAssetBinding } from '../../scene/scene_node.js';
+import '../../shadow/shadowmapper.js';
+import '../../scene/mesh.js';
+import '../../scene/basesprite.js';
+import '../../scene/meshdrawable.js';
+import '../../material/msdf_text.js';
+import '../../scene/water.js';
+import '../../scene/particlesys.js';
+import '../../scene/batchgroup.js';
+import '../../scene/terrain-cm/terrain-cm.js';
+import '../../scene/terrain-cm/grass.js';
+import '../../scene/raycast_visitor.js';
+import { ColliderForce } from './types.js';
+
+const EPS = 1e-6;
+/**
+ * Generate convex JointDynamics colliders from skinned mesh bone weights.
+ *
+ * @public
+ */ function generateJointDynamicsConvexCollidersFromSkinWeights(meshes, skinBinding, bones, options = {}) {
+    const sources = collectSourcePrimitives(meshes);
+    const results = [];
+    for (const bone of bones){
+        const jointIndex = skinBinding.joints.indexOf(bone);
+        if (jointIndex < 0) {
+            continue;
+        }
+        const points = collectBonePoints(sources, skinBinding, jointIndex, options);
+        if (points.length < (options.minVertexCount ?? 8)) {
+            continue;
+        }
+        const hull = buildConvexHull(points, options.maxHullVertices ?? 48, options.margin ?? 0);
+        if (!hull || hull.vertices.length < 4 || hull.planes.length < 4) {
+            continue;
+        }
+        results.push({
+            bone,
+            vertexCount: points.length,
+            hullVertexCount: hull.vertices.length,
+            collider: {
+                radius: 0,
+                radiusTailScale: 1,
+                height: 0,
+                friction: options.friction ?? 0,
+                isInverseCollider: options.inversed ?? false,
+                forceType: ColliderForce.Off,
+                convex: hull
+            }
+        });
+    }
+    return results;
+}
+function collectSourcePrimitives(meshes) {
+    const result = [];
+    const seen = new Set();
+    for (const mesh of meshes){
+        const binding = getSceneMeshAssetBinding(mesh);
+        const subMesh = binding?.subMesh;
+        const primitive = subMesh?.primitive ?? null;
+        if (primitive && !seen.has(primitive)) {
+            seen.add(primitive);
+            result.push({
+                primitive,
+                subMesh
+            });
+        }
+    }
+    return result;
+}
+function collectBonePoints(sources, skinBinding, jointIndex, options) {
+    const points = [];
+    const weightThreshold = options.weightThreshold ?? 0.45;
+    const dominantBoneOnly = options.dominantBoneOnly ?? true;
+    const inverseBind = skinBinding.inverseBindMatrices[jointIndex] ?? Matrix4x4.identity();
+    for (const source of sources){
+        const primitive = source.primitive;
+        const positionInfo = primitive.vertices.position;
+        const blendIndexInfo = primitive.vertices.blendIndices;
+        const blendWeightInfo = primitive.vertices.blendWeights;
+        if (!positionInfo || !blendIndexInfo || !blendWeightInfo) {
+            continue;
+        }
+        const positions = positionInfo.data;
+        const blendIndices = blendIndexInfo.data;
+        const blendWeights = blendWeightInfo.data;
+        const posStride = getVertexFormatComponentCount(positionInfo.format);
+        const idxStride = getVertexFormatComponentCount(blendIndexInfo.format);
+        const weightStride = getVertexFormatComponentCount(blendWeightInfo.format);
+        const vertexCount = Math.floor(positions.length / posStride);
+        for(let i = 0; i < vertexCount; i++){
+            let weight = 0;
+            let maxWeight = -1;
+            let maxJoint = -1;
+            const influenceCount = Math.min(4, idxStride, weightStride);
+            for(let k = 0; k < influenceCount; k++){
+                const idx = Number(blendIndices[i * idxStride + k]) | 0;
+                const w = Number(blendWeights[i * weightStride + k]) || 0;
+                if (idx === jointIndex) {
+                    weight = Math.max(weight, w);
+                }
+                if (w > maxWeight) {
+                    maxWeight = w;
+                    maxJoint = idx;
+                }
+            }
+            if (weight < weightThreshold || dominantBoneOnly && maxJoint !== jointIndex) {
+                continue;
+            }
+            const p = new Vector3(Number(positions[i * posStride]) || 0, Number(positions[i * posStride + 1]) || 0, Number(positions[i * posStride + 2]) || 0);
+            points.push(inverseBind.transformPointAffine(p, p));
+        }
+    }
+    return uniquePoints(points);
+}
+function uniquePoints(points) {
+    const result = [];
+    const keys = new Set();
+    for (const point of points){
+        const key = `${Math.round(point.x * 100000)}:${Math.round(point.y * 100000)}:${Math.round(point.z * 100000)}`;
+        if (!keys.has(key)) {
+            keys.add(key);
+            result.push(point);
+        }
+    }
+    return result;
+}
+function buildConvexHull(points, maxHullVertices, margin) {
+    const sampled = sampleSupportPoints(points, Math.max(8, maxHullVertices));
+    if (sampled.length < 4) {
+        return null;
+    }
+    const faces = bruteForceHullFaces(sampled);
+    if (faces.length < 4) {
+        return null;
+    }
+    const planes = mergePlanes(faces);
+    if (margin > 0) {
+        for (const plane of planes){
+            plane.distance -= margin;
+        }
+    }
+    return {
+        vertices: sampled.map((point)=>point.clone()),
+        planes,
+        edges: extractHullEdges(sampled, planes)
+    };
+}
+function sampleSupportPoints(points, maxCount) {
+    if (points.length <= maxCount) {
+        return [
+            ...points
+        ];
+    }
+    const dirs = buildSampleDirections(maxCount);
+    const selected = [];
+    const indices = new Set();
+    for (const dir of dirs){
+        let bestIndex = -1;
+        let bestDot = -Infinity;
+        for(let i = 0; i < points.length; i++){
+            const d = Vector3.dot(points[i], dir);
+            if (d > bestDot) {
+                bestDot = d;
+                bestIndex = i;
+            }
+        }
+        if (bestIndex >= 0 && !indices.has(bestIndex)) {
+            indices.add(bestIndex);
+            selected.push(points[bestIndex]);
+            if (selected.length >= maxCount) {
+                break;
+            }
+        }
+    }
+    return selected.length >= 4 ? selected : [
+        ...points.slice(0, maxCount)
+    ];
+}
+function buildSampleDirections(maxCount) {
+    const dirs = [
+        new Vector3(1, 0, 0),
+        new Vector3(-1, 0, 0),
+        new Vector3(0, 1, 0),
+        new Vector3(0, -1, 0),
+        new Vector3(0, 0, 1),
+        new Vector3(0, 0, -1)
+    ];
+    const rings = Math.max(4, Math.ceil(Math.sqrt(maxCount)));
+    for(let y = 0; y < rings && dirs.length < maxCount; y++){
+        const v = rings === 1 ? 0 : -1 + 2 * y / (rings - 1);
+        const r = Math.sqrt(Math.max(0, 1 - v * v));
+        for(let x = 0; x < rings * 2 && dirs.length < maxCount; x++){
+            const a = x / (rings * 2) * Math.PI * 2;
+            dirs.push(new Vector3(Math.cos(a) * r, v, Math.sin(a) * r));
+        }
+    }
+    return dirs;
+}
+function bruteForceHullFaces(points) {
+    const center = new Vector3();
+    for (const point of points){
+        Vector3.add(center, point, center);
+    }
+    Vector3.scale(center, 1 / points.length, center);
+    const faces = [];
+    const faceKeys = new Set();
+    for(let i = 0; i < points.length - 2; i++){
+        for(let j = i + 1; j < points.length - 1; j++){
+            for(let k = j + 1; k < points.length; k++){
+                const ab = Vector3.sub(points[j], points[i]);
+                const ac = Vector3.sub(points[k], points[i]);
+                const normal = Vector3.cross(ab, ac);
+                const len = normal.magnitude;
+                if (len <= EPS) {
+                    continue;
+                }
+                Vector3.scale(normal, 1 / len, normal);
+                let distance = -Vector3.dot(normal, points[i]);
+                if (Vector3.dot(normal, center) + distance > 0) {
+                    Vector3.scale(normal, -1, normal);
+                    distance = -Vector3.dot(normal, points[i]);
+                }
+                let valid = true;
+                for(let p = 0; p < points.length; p++){
+                    if (p === i || p === j || p === k) {
+                        continue;
+                    }
+                    if (Vector3.dot(normal, points[p]) + distance > 1e-5) {
+                        valid = false;
+                        break;
+                    }
+                }
+                if (!valid) {
+                    continue;
+                }
+                const key = planeKey(normal, distance);
+                if (faceKeys.has(key)) {
+                    continue;
+                }
+                faceKeys.add(key);
+                faces.push({
+                    a: i,
+                    b: j,
+                    c: k,
+                    normal: normal.clone(),
+                    distance
+                });
+            }
+        }
+    }
+    return faces;
+}
+function mergePlanes(faces) {
+    const planes = [];
+    for (const face of faces){
+        if (planes.some((plane)=>Math.abs(Vector3.dot(plane.normal, face.normal) - 1) < 1e-4 && Math.abs(plane.distance - face.distance) < 1e-4)) {
+            continue;
+        }
+        planes.push({
+            normal: face.normal.clone(),
+            distance: face.distance
+        });
+    }
+    return planes;
+}
+function extractHullEdges(vertices, planes) {
+    const result = [];
+    const keys = new Set();
+    for(let i = 0; i < vertices.length - 1; i++){
+        for(let j = i + 1; j < vertices.length; j++){
+            const sharedPlaneCount = planes.reduce((count, plane)=>{
+                const di = Math.abs(Vector3.dot(plane.normal, vertices[i]) + plane.distance);
+                const dj = Math.abs(Vector3.dot(plane.normal, vertices[j]) + plane.distance);
+                return count + (di < 1e-4 && dj < 1e-4 ? 1 : 0);
+            }, 0);
+            if (sharedPlaneCount < 2) {
+                continue;
+            }
+            const key = `${i}:${j}`;
+            if (!keys.has(key)) {
+                keys.add(key);
+                result.push(i, j);
+            }
+        }
+    }
+    return result;
+}
+function planeKey(normal, distance) {
+    return `${Math.round(normal.x * 10000)}:${Math.round(normal.y * 10000)}:${Math.round(normal.z * 10000)}:${Math.round(distance * 10000)}`;
+}
+
+export { generateJointDynamicsConvexCollidersFromSkinWeights };
+//# sourceMappingURL=convex_collider.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"convex_collider.js","sources":["../../../src/animation/joint_dynamics/convex_collider.ts"],"sourcesContent":["import { Matrix4x4, Vector3 } from '@zephyr3d/base';\nimport { getVertexFormatComponentCount } from '@zephyr3d/device';\nimport type { Mesh, SceneNode } from '../../scene';\nimport { getSceneMeshAssetBinding } from '../../scene';\nimport type { AssetPrimitiveInfo, AssetSubMeshData } from '../../asset';\nimport type { SkinBinding } from '../skeleton';\nimport { ColliderForce, type ColliderR, type ConvexColliderPlane } from './types';\n\n/** @public */\nexport type JointDynamicsConvexColliderGenerationOptions = {\n  weightThreshold?: number;\n  dominantBoneOnly?: boolean;\n  maxHullVertices?: number;\n  margin?: number;\n  minVertexCount?: number;\n  friction?: number;\n  inversed?: boolean;\n};\n\n/** @public */\nexport type JointDynamicsConvexColliderGenerationResult = {\n  bone: SceneNode;\n  collider: ColliderR;\n  vertexCount: number;\n  hullVertexCount: number;\n};\n\ntype SourcePrimitive = {\n  primitive: AssetPrimitiveInfo;\n  subMesh?: AssetSubMeshData;\n};\n\ntype Face = {\n  a: number;\n  b: number;\n  c: number;\n  normal: Vector3;\n  distance: number;\n};\n\nconst EPS = 1e-6;\n\n/**\n * Generate convex JointDynamics colliders from skinned mesh bone weights.\n *\n * @public\n */\nexport function generateJointDynamicsConvexCollidersFromSkinWeights(\n  meshes: readonly Mesh[],\n  skinBinding: SkinBinding,\n  bones: readonly SceneNode[],\n  options: JointDynamicsConvexColliderGenerationOptions = {}\n): JointDynamicsConvexColliderGenerationResult[] {\n  const sources = collectSourcePrimitives(meshes);\n  const results: JointDynamicsConvexColliderGenerationResult[] = [];\n  for (const bone of bones) {\n    const jointIndex = skinBinding.joints.indexOf(bone);\n    if (jointIndex < 0) {\n      continue;\n    }\n    const points = collectBonePoints(sources, skinBinding, jointIndex, options);\n    if (points.length < (options.minVertexCount ?? 8)) {\n      continue;\n    }\n    const hull = buildConvexHull(points, options.maxHullVertices ?? 48, options.margin ?? 0);\n    if (!hull || hull.vertices.length < 4 || hull.planes.length < 4) {\n      continue;\n    }\n    results.push({\n      bone,\n      vertexCount: points.length,\n      hullVertexCount: hull.vertices.length,\n      collider: {\n        radius: 0,\n        radiusTailScale: 1,\n        height: 0,\n        friction: options.friction ?? 0,\n        isInverseCollider: options.inversed ?? false,\n        forceType: ColliderForce.Off,\n        convex: hull\n      }\n    });\n  }\n  return results;\n}\n\nfunction collectSourcePrimitives(meshes: readonly Mesh[]): SourcePrimitive[] {\n  const result: SourcePrimitive[] = [];\n  const seen = new Set<AssetPrimitiveInfo>();\n  for (const mesh of meshes) {\n    const binding = getSceneMeshAssetBinding(mesh);\n    const subMesh = binding?.subMesh as AssetSubMeshData | undefined;\n    const primitive = subMesh?.primitive ?? null;\n    if (primitive && !seen.has(primitive)) {\n      seen.add(primitive);\n      result.push({ primitive, subMesh });\n    }\n  }\n  return result;\n}\n\nfunction collectBonePoints(\n  sources: readonly SourcePrimitive[],\n  skinBinding: SkinBinding,\n  jointIndex: number,\n  options: JointDynamicsConvexColliderGenerationOptions\n): Vector3[] {\n  const points: Vector3[] = [];\n  const weightThreshold = options.weightThreshold ?? 0.45;\n  const dominantBoneOnly = options.dominantBoneOnly ?? true;\n  const inverseBind = skinBinding.inverseBindMatrices[jointIndex] ?? Matrix4x4.identity();\n  for (const source of sources) {\n    const primitive = source.primitive;\n    const positionInfo = primitive.vertices.position;\n    const blendIndexInfo = primitive.vertices.blendIndices;\n    const blendWeightInfo = primitive.vertices.blendWeights;\n    if (!positionInfo || !blendIndexInfo || !blendWeightInfo) {\n      continue;\n    }\n    const positions = positionInfo.data;\n    const blendIndices = blendIndexInfo.data;\n    const blendWeights = blendWeightInfo.data;\n    const posStride = getVertexFormatComponentCount(positionInfo.format);\n    const idxStride = getVertexFormatComponentCount(blendIndexInfo.format);\n    const weightStride = getVertexFormatComponentCount(blendWeightInfo.format);\n    const vertexCount = Math.floor(positions.length / posStride);\n    for (let i = 0; i < vertexCount; i++) {\n      let weight = 0;\n      let maxWeight = -1;\n      let maxJoint = -1;\n      const influenceCount = Math.min(4, idxStride, weightStride);\n      for (let k = 0; k < influenceCount; k++) {\n        const idx = Number(blendIndices[i * idxStride + k]) | 0;\n        const w = Number(blendWeights[i * weightStride + k]) || 0;\n        if (idx === jointIndex) {\n          weight = Math.max(weight, w);\n        }\n        if (w > maxWeight) {\n          maxWeight = w;\n          maxJoint = idx;\n        }\n      }\n      if (weight < weightThreshold || (dominantBoneOnly && maxJoint !== jointIndex)) {\n        continue;\n      }\n      const p = new Vector3(\n        Number(positions[i * posStride]) || 0,\n        Number(positions[i * posStride + 1]) || 0,\n        Number(positions[i * posStride + 2]) || 0\n      );\n      points.push(inverseBind.transformPointAffine(p, p));\n    }\n  }\n  return uniquePoints(points);\n}\n\nfunction uniquePoints(points: readonly Vector3[]): Vector3[] {\n  const result: Vector3[] = [];\n  const keys = new Set<string>();\n  for (const point of points) {\n    const key = `${Math.round(point.x * 100000)}:${Math.round(point.y * 100000)}:${Math.round(point.z * 100000)}`;\n    if (!keys.has(key)) {\n      keys.add(key);\n      result.push(point);\n    }\n  }\n  return result;\n}\n\nfunction buildConvexHull(points: readonly Vector3[], maxHullVertices: number, margin: number) {\n  const sampled = sampleSupportPoints(points, Math.max(8, maxHullVertices));\n  if (sampled.length < 4) {\n    return null;\n  }\n  const faces = bruteForceHullFaces(sampled);\n  if (faces.length < 4) {\n    return null;\n  }\n  const planes = mergePlanes(faces);\n  if (margin > 0) {\n    for (const plane of planes) {\n      plane.distance -= margin;\n    }\n  }\n  return {\n    vertices: sampled.map((point) => point.clone()),\n    planes,\n    edges: extractHullEdges(sampled, planes)\n  };\n}\n\nfunction sampleSupportPoints(points: readonly Vector3[], maxCount: number): Vector3[] {\n  if (points.length <= maxCount) {\n    return [...points];\n  }\n  const dirs = buildSampleDirections(maxCount);\n  const selected: Vector3[] = [];\n  const indices = new Set<number>();\n  for (const dir of dirs) {\n    let bestIndex = -1;\n    let bestDot = -Infinity;\n    for (let i = 0; i < points.length; i++) {\n      const d = Vector3.dot(points[i], dir);\n      if (d > bestDot) {\n        bestDot = d;\n        bestIndex = i;\n      }\n    }\n    if (bestIndex >= 0 && !indices.has(bestIndex)) {\n      indices.add(bestIndex);\n      selected.push(points[bestIndex]);\n      if (selected.length >= maxCount) {\n        break;\n      }\n    }\n  }\n  return selected.length >= 4 ? selected : [...points.slice(0, maxCount)];\n}\n\nfunction buildSampleDirections(maxCount: number): Vector3[] {\n  const dirs = [\n    new Vector3(1, 0, 0),\n    new Vector3(-1, 0, 0),\n    new Vector3(0, 1, 0),\n    new Vector3(0, -1, 0),\n    new Vector3(0, 0, 1),\n    new Vector3(0, 0, -1)\n  ];\n  const rings = Math.max(4, Math.ceil(Math.sqrt(maxCount)));\n  for (let y = 0; y < rings && dirs.length < maxCount; y++) {\n    const v = rings === 1 ? 0 : -1 + (2 * y) / (rings - 1);\n    const r = Math.sqrt(Math.max(0, 1 - v * v));\n    for (let x = 0; x < rings * 2 && dirs.length < maxCount; x++) {\n      const a = (x / (rings * 2)) * Math.PI * 2;\n      dirs.push(new Vector3(Math.cos(a) * r, v, Math.sin(a) * r));\n    }\n  }\n  return dirs;\n}\n\nfunction bruteForceHullFaces(points: readonly Vector3[]): Face[] {\n  const center = new Vector3();\n  for (const point of points) {\n    Vector3.add(center, point, center);\n  }\n  Vector3.scale(center, 1 / points.length, center);\n  const faces: Face[] = [];\n  const faceKeys = new Set<string>();\n  for (let i = 0; i < points.length - 2; i++) {\n    for (let j = i + 1; j < points.length - 1; j++) {\n      for (let k = j + 1; k < points.length; k++) {\n        const ab = Vector3.sub(points[j], points[i]);\n        const ac = Vector3.sub(points[k], points[i]);\n        const normal = Vector3.cross(ab, ac);\n        const len = normal.magnitude;\n        if (len <= EPS) {\n          continue;\n        }\n        Vector3.scale(normal, 1 / len, normal);\n        let distance = -Vector3.dot(normal, points[i]);\n        if (Vector3.dot(normal, center) + distance > 0) {\n          Vector3.scale(normal, -1, normal);\n          distance = -Vector3.dot(normal, points[i]);\n        }\n        let valid = true;\n        for (let p = 0; p < points.length; p++) {\n          if (p === i || p === j || p === k) {\n            continue;\n          }\n          if (Vector3.dot(normal, points[p]) + distance > 1e-5) {\n            valid = false;\n            break;\n          }\n        }\n        if (!valid) {\n          continue;\n        }\n        const key = planeKey(normal, distance);\n        if (faceKeys.has(key)) {\n          continue;\n        }\n        faceKeys.add(key);\n        faces.push({ a: i, b: j, c: k, normal: normal.clone(), distance });\n      }\n    }\n  }\n  return faces;\n}\n\nfunction mergePlanes(faces: readonly Face[]): ConvexColliderPlane[] {\n  const planes: ConvexColliderPlane[] = [];\n  for (const face of faces) {\n    if (\n      planes.some(\n        (plane) =>\n          Math.abs(Vector3.dot(plane.normal, face.normal) - 1) < 1e-4 &&\n          Math.abs(plane.distance - face.distance) < 1e-4\n      )\n    ) {\n      continue;\n    }\n    planes.push({ normal: face.normal.clone(), distance: face.distance });\n  }\n  return planes;\n}\n\nfunction extractHullEdges(\n  vertices: readonly Vector3[],\n  planes: readonly ConvexColliderPlane[]\n): number[] {\n  const result: number[] = [];\n  const keys = new Set<string>();\n  for (let i = 0; i < vertices.length - 1; i++) {\n    for (let j = i + 1; j < vertices.length; j++) {\n      const sharedPlaneCount = planes.reduce((count, plane) => {\n        const di = Math.abs(Vector3.dot(plane.normal, vertices[i]) + plane.distance);\n        const dj = Math.abs(Vector3.dot(plane.normal, vertices[j]) + plane.distance);\n        return count + (di < 1e-4 && dj < 1e-4 ? 1 : 0);\n      }, 0);\n      if (sharedPlaneCount < 2) {\n        continue;\n      }\n      const key = `${i}:${j}`;\n      if (!keys.has(key)) {\n        keys.add(key);\n        result.push(i, j);\n      }\n    }\n  }\n  return result;\n}\n\nfunction planeKey(normal: Vector3, distance: number): string {\n  return `${Math.round(normal.x * 10000)}:${Math.round(normal.y * 10000)}:${Math.round(normal.z * 10000)}:${Math.round(distance * 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package/dist/animation/joint_dynamics/joint_dynamics_system.js

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