@zephyr3d/scene 0.9.26 → 0.10.0

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

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

@@ -1,6 +1,6 @@
 import { Vector3, Quaternion, degree2radian, clamp01, smoothStep, Matrix4x4, radian2degree } from '@zephyr3d/base';
 import { EPSILON, ConstraintType } from './types.js';
-import { pushoutFromSphere, pushoutFromCapsule, checkSurfaceCollision, pushInFromCapsule, pushInFromSphere, collisionDetection } from './collision.js';
+import { pushoutFromCollider, checkSurfaceCollision, pushInFromCollider, collisionDetection } from './collision.js';
 
 // Core simulation ported from JobExecuteSimulation in SPCRJointDynamicsJob.cs.
 const AXIS_Y = new Vector3(0, 1, 0);
@@ -103,6 +103,20 @@ function colliderUpdate(collidersR, collidersRW, stepDelta) {
         colRW.height = colR.height * worldScaleUniform;
         Vector3.lerp(colRW.positionPreviousTransform, colRW.positionCurrentTransform, stepDelta, curPos);
         Quaternion.slerp(colRW.directionPreviousTransform, colRW.directionCurrentTransform, stepDelta, curDir);
+        if (colR.boxHalfExtents) {
+            colRW.positionCurrent.set(curPos);
+            colRW.directionCurrent.setXYZ(0, 0, 0);
+            colRW.boxHalfExtents.setXYZ(Math.abs(colR.boxHalfExtents.x * ws.x), Math.abs(colR.boxHalfExtents.y * ws.y), Math.abs(colR.boxHalfExtents.z * ws.z));
+            curDir.transform(Vector3.axisPX(), colRW.boxAxes[0]);
+            curDir.transform(Vector3.axisPY(), colRW.boxAxes[1]);
+            curDir.transform(Vector3.axisPZ(), colRW.boxAxes[2]);
+            colRW.boxAxes[0].inplaceNormalize();
+            colRW.boxAxes[1].inplaceNormalize();
+            colRW.boxAxes[2].inplaceNormalize();
+            colRW.boundsCenter.set(curPos);
+            colRW.boundsRadius = colRW.boxHalfExtents.magnitude;
+            continue;
+        }
         computeCapsule(curPos, curDir, colRW.height, colRW.positionCurrent, colRW.directionCurrent);
         if (colRW.height > EPSILON) {
             Vector3.scale(colRW.directionCurrent, 0.5, _computeCapsuleHalfDir);
@@ -213,7 +227,7 @@ function pointUpdatePass1(pointsR, pointsRW, stepDelta, stepTime_x2_half, rootSl
                     if (colRWci.enabled === 0 || colRci.isInverseCollider) {
                         continue;
                     }
-                    const hRes = colRci.height <= EPSILON ? pushoutFromSphere(colRWci.positionCurrent, colRWci.radius, ptR.pointRadius, ptRW.positionCurrent) : pushoutFromCapsule(colRci, colRWci, ptRW.positionCurrent, ptR);
+                    const hRes = pushoutFromCollider(colRci, colRWci, ptRW.positionCurrent, ptR);
                     if (hRes.hit) {
                         ptRW.positionCurrent.set(hRes.point);
                     }
@@ -353,7 +367,7 @@ const _fixedPushResult = {
             if (colRW.enabled === 0 || colR.isInverseCollider) {
                 continue;
             }
-            const res = colR.height <= EPSILON ? pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, ptRW.positionCurrent, _fixedPushResult) : pushoutFromCapsule(colR, colRW, ptRW.positionCurrent, ptR, _fixedPushResult);
+            const res = pushoutFromCollider(colR, colRW, ptRW.positionCurrent, ptR, _fixedPushResult);
             if (res.hit) {
                 ptRW.positionCurrent.set(res.point);
             }
@@ -379,7 +393,31 @@ const _fixedPushResult = {
                 continue;
             }
             let nx = 0, ny = 0, nz = 0;
-            if (colR.height <= EPSILON) {
+            if (colR.boxHalfExtents) {
+                const delta = Vector3.sub(ptRW.positionCurrent, colRW.positionCurrent, new Vector3());
+                nx = Vector3.dot(delta, colRW.boxAxes[0]);
+                ny = Vector3.dot(delta, colRW.boxAxes[1]);
+                nz = Vector3.dot(delta, colRW.boxAxes[2]);
+                const ax = Math.abs(nx) / Math.max(EPSILON, colRW.boxHalfExtents.x);
+                const ay = Math.abs(ny) / Math.max(EPSILON, colRW.boxHalfExtents.y);
+                const az = Math.abs(nz) / Math.max(EPSILON, colRW.boxHalfExtents.z);
+                if (ay > ax && ay >= az) {
+                    const sign = ny < 0 ? -1 : 1;
+                    nx = colRW.boxAxes[1].x * sign;
+                    ny = colRW.boxAxes[1].y * sign;
+                    nz = colRW.boxAxes[1].z * sign;
+                } else if (az > ax && az > ay) {
+                    const sign = nz < 0 ? -1 : 1;
+                    nx = colRW.boxAxes[2].x * sign;
+                    ny = colRW.boxAxes[2].y * sign;
+                    nz = colRW.boxAxes[2].z * sign;
+                } else {
+                    const sign = nx < 0 ? -1 : 1;
+                    nx = colRW.boxAxes[0].x * sign;
+                    ny = colRW.boxAxes[0].y * sign;
+                    nz = colRW.boxAxes[0].z * sign;
+                }
+            } else if (colR.height <= EPSILON) {
                 nx = ptRW.positionCurrent.x - colRW.positionCurrent.x;
                 ny = ptRW.positionCurrent.y - colRW.positionCurrent.y;
                 nz = ptRW.positionCurrent.z - colRW.positionCurrent.z;
@@ -519,14 +557,14 @@ function constraintUpdate(pointsR, pointsRW, constraints, collidersR, collidersR
                 if (colR.height > EPSILON) {
                     if (colR.isInverseCollider) {
                         if (ptRA.applyInvertCollision === 1 && canPointA) {
-                            const res = pushInFromCapsule(colR, colRW, rwA.positionCurrent, pointResultA);
+                            const res = pushInFromCollider(colR, colRW, rwA.positionCurrent, pointResultA);
                             if (res.hit) {
                                 rwA.positionCurrent.set(res.point);
                                 friction = Math.max(friction, colR.friction * 0.25);
                             }
                         }
                         if (ptRB.applyInvertCollision === 1 && canPointB) {
-                            const res = pushInFromCapsule(colR, colRW, rwB.positionCurrent, pointResultB);
+                            const res = pushInFromCollider(colR, colRW, rwB.positionCurrent, pointResultB);
                             if (res.hit) {
                                 rwB.positionCurrent.set(res.point);
                                 friction = Math.max(friction, colR.friction * 0.25);
@@ -534,14 +572,14 @@ function constraintUpdate(pointsR, pointsRW, constraints, collidersR, collidersR
                         }
                     } else {
                         if (canPointA) {
-                            const res = pushoutFromCapsule(colR, colRW, rwA.positionCurrent, ptRA, pointResultA);
+                            const res = pushoutFromCollider(colR, colRW, rwA.positionCurrent, ptRA, pointResultA);
                             if (res.hit) {
                                 rwA.positionCurrent.set(res.point);
                                 friction = Math.max(friction, colR.friction * 0.25);
                             }
                         }
                         if (canPointB) {
-                            const res = pushoutFromCapsule(colR, colRW, rwB.positionCurrent, ptRB, pointResultB);
+                            const res = pushoutFromCollider(colR, colRW, rwB.positionCurrent, ptRB, pointResultB);
                             if (res.hit) {
                                 rwB.positionCurrent.set(res.point);
                                 friction = Math.max(friction, colR.friction * 0.25);
@@ -551,14 +589,14 @@ function constraintUpdate(pointsR, pointsRW, constraints, collidersR, collidersR
                 } else {
                     if (colR.isInverseCollider) {
                         if (ptRA.applyInvertCollision === 1 && canPointA) {
-                            const res = pushInFromSphere(colRW.positionCurrent, colRW.radius, rwA.positionCurrent, pointResultA);
+                            const res = pushInFromCollider(colR, colRW, rwA.positionCurrent, pointResultA);
                             if (res.hit) {
                                 rwA.positionCurrent.set(res.point);
                                 friction = Math.max(friction, colR.friction * 0.25);
                             }
                         }
                         if (ptRB.applyInvertCollision === 1 && canPointB) {
-                            const res = pushInFromSphere(colRW.positionCurrent, colRW.radius, rwB.positionCurrent, pointResultB);
+                            const res = pushInFromCollider(colR, colRW, rwB.positionCurrent, pointResultB);
                             if (res.hit) {
                                 rwB.positionCurrent.set(res.point);
                                 friction = Math.max(friction, colR.friction * 0.25);
@@ -566,14 +604,14 @@ function constraintUpdate(pointsR, pointsRW, constraints, collidersR, collidersR
                         }
                     } else {
                         if (canPointA) {
-                            const res = pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptRA.pointRadius, rwA.positionCurrent, pointResultA);
+                            const res = pushoutFromCollider(colR, colRW, rwA.positionCurrent, ptRA, pointResultA);
                             if (res.hit) {
                                 rwA.positionCurrent.set(res.point);
                                 friction = Math.max(friction, colR.friction * 0.25);
                             }
                         }
                         if (canPointB) {
-                            const res = pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptRB.pointRadius, rwB.positionCurrent, pointResultB);
+                            const res = pushoutFromCollider(colR, colRW, rwB.positionCurrent, ptRB, pointResultB);
                             if (res.hit) {
                                 rwB.positionCurrent.set(res.point);
                                 friction = Math.max(friction, colR.friction * 0.25);