@zephyr3d/scene 0.9.27 → 0.10.0

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

@@ -1 +1 @@
-{"version":3,"file":"multi_chain_spring_system.js","sources":["../../../src/animation/spring/multi_chain_spring_system.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\nimport type { SpringChain } from './spring_chain';\r\nimport type { SpringParticle } from './spring_particle';\r\nimport type { SpringConstraint } from './spring_constraint';\r\nimport { IKUtils } from '../ik/ik_utils';\r\nimport type { SpringCollider } from './spring_collider';\r\nimport {\r\n  resolveSphereCollision,\r\n  resolveCapsuleCollision,\r\n  resolvePlaneCollision,\r\n  type CapsuleCollider,\r\n  type PlaneCollider,\r\n  type SphereCollider,\r\n  updateColliderFromNode\r\n} from './spring_collider';\r\nimport { SpringNodePoseTracker } from './spring_node_pose_tracker';\r\n\r\nexport interface InterChainConstraint {\r\n  chainAIndex: number;\r\n  chainBIndex: number;\r\n  particleAIndex: number;\r\n  particleBIndex: number;\r\n  restLength: number;\r\n  stiffness: number;\r\n  compliance: number;\r\n  lambda: number;\r\n}\r\n\r\nexport interface MultiChainSpringSystemOptions {\r\n  iterations?: number;\r\n  gravity?: Vector3;\r\n  wind?: Vector3;\r\n  enableInertialForces?: boolean;\r\n  centrifugalScale?: number;\r\n  coriolisScale?: number;\r\n  solver?: 'verlet' | 'xpbd';\r\n  poseFollow?: number;\r\n  poseFollowRoot?: number;\r\n  poseFollowTip?: number;\r\n  poseFollowExponent?: number;\r\n  maxPoseOffset?: number;\r\n  maxPoseOffsetRoot?: number;\r\n  maxPoseOffsetTip?: number;\r\n}\r\n\r\n/** Options used when rebuilding runtime spring state from the current node pose. */\r\nexport interface SpringPoseReinitializeOptions {\r\n  /** Recompute maintained anchor offsets against runtime-remapped anchor nodes. */\r\n  recomputeAnchorOffsets?: boolean;\r\n  /** Recompute structural and inter-chain rest lengths from the current pose. */\r\n  recalculateRestLengths?: boolean;\r\n}\r\n\r\nconst FIXED_SIMULATION_TIME_STEP = 1 / 60;\r\nconst MAX_ACCUMULATED_SIMULATION_TIME = 1 / 20;\r\nconst MAX_SIMULATION_STEPS_PER_UPDATE = Math.max(\r\n  1,\r\n  Math.ceil(MAX_ACCUMULATED_SIMULATION_TIME / FIXED_SIMULATION_TIME_STEP)\r\n);\r\nconst DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME = 1 / 30;\r\nconst DEFAULT_COLLIDER_SMOOTHING_TIME = 1 / 30;\r\n\r\nexport class MultiChainSpringSystem {\r\n  private _chains: SpringChain[];\r\n  private _interChainConstraints: InterChainConstraint[];\r\n  private _iterations: number;\r\n  private _gravity: Vector3;\r\n  private _wind: Vector3;\r\n  private _enableInertialForces: boolean;\r\n  private _centrifugalScale: number;\r\n  private _coriolisScale: number;\r\n  private _solver: 'verlet' | 'xpbd';\r\n  private _poseFollow: number;\r\n  private _maxPoseOffset: number;\r\n  private _poseFollowRoot: number;\r\n  private _poseFollowTip: number;\r\n  private _poseFollowExponent: number;\r\n  private _maxPoseOffsetRoot: number;\r\n  private _maxPoseOffsetTip: number;\r\n  private _colliders: SpringCollider[];\r\n  private _timeAccumulator: number;\r\n  private _smoothedParticleTargets: WeakMap<object, Vector3>;\r\n  private _smoothedSphereCenters: WeakMap<SphereCollider, Vector3>;\r\n  private _smoothedCapsuleEndpoints: WeakMap<CapsuleCollider, { start: Vector3; end: Vector3 }>;\r\n  private _smoothedPlaneData: WeakMap<PlaneCollider, { point: Vector3; normal: Vector3 }>;\r\n  private _runtimeNodeMap: ReadonlyMap<SceneNode, SceneNode> | null;\r\n  private _runtimeAnchorOffsets: WeakMap<SpringParticle, Vector3>;\r\n  private _runtimeRestLengths: WeakMap<object, number>;\r\n  private _nodePoseTracker: SpringNodePoseTracker;\r\n\r\n  constructor(options?: MultiChainSpringSystemOptions) {\r\n    this._chains = [];\r\n    this._interChainConstraints = [];\r\n    this._iterations = options?.iterations ?? 5;\r\n    this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);\r\n    this._wind = options?.wind?.clone() ?? new Vector3(0, 0, 0);\r\n    this._enableInertialForces = options?.enableInertialForces ?? true;\r\n    this._centrifugalScale = options?.centrifugalScale ?? 1.0;\r\n    this._coriolisScale = options?.coriolisScale ?? 1.0;\r\n    this._solver = options?.solver ?? 'verlet';\r\n    this._poseFollow = Math.max(0, Math.min(1, options?.poseFollow ?? 0.35));\r\n    this._maxPoseOffset = Math.max(0, options?.maxPoseOffset ?? 0);\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, options?.poseFollowRoot ?? this._poseFollow));\r\n    this._poseFollowTip = Math.max(0, Math.min(1, options?.poseFollowTip ?? this._poseFollow));\r\n    this._poseFollowExponent = Math.max(0.1, options?.poseFollowExponent ?? 1.6);\r\n    this._maxPoseOffsetRoot = Math.max(0, options?.maxPoseOffsetRoot ?? this._maxPoseOffset);\r\n    this._maxPoseOffsetTip = Math.max(0, options?.maxPoseOffsetTip ?? this._maxPoseOffset);\r\n    this._colliders = [];\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n    this._runtimeNodeMap = null;\r\n    this._runtimeAnchorOffsets = new WeakMap();\r\n    this._runtimeRestLengths = new WeakMap();\r\n    this._nodePoseTracker = new SpringNodePoseTracker();\r\n  }\r\n\r\n  addChain(chain: SpringChain): number {\r\n    this._chains.push(chain);\r\n    return this._chains.length - 1;\r\n  }\r\n\r\n  addInterChainConstraint(constraint: InterChainConstraint): void {\r\n    this._interChainConstraints.push(constraint);\r\n  }\r\n\r\n  createRadialConstraints(options: {\r\n    stiffness: number;\r\n    maxDistance: number;\r\n    skipRows?: number;\r\n    connectDistance?: number;\r\n    compliance?: number;\r\n  }): void {\r\n    const skipRows = options.skipRows ?? 0;\r\n    const connectDistance = options.connectDistance ?? 1;\r\n    const compliance = options.compliance ?? 0;\r\n\r\n    for (let i = 0; i < this._chains.length; i++) {\r\n      for (let offset = 1; offset <= connectDistance; offset++) {\r\n        const j = (i + offset) % this._chains.length;\r\n        const chainA = this._chains[i];\r\n        const chainB = this._chains[j];\r\n        const minLength = Math.min(chainA.particles.length, chainB.particles.length);\r\n\r\n        for (let row = skipRows; row < minLength; row++) {\r\n          const pA = chainA.particles[row];\r\n          const pB = chainB.particles[row];\r\n          const distance = Vector3.distance(pA.position, pB.position);\r\n          if (distance <= options.maxDistance) {\r\n            this.addInterChainConstraint({\r\n              chainAIndex: i,\r\n              chainBIndex: j,\r\n              particleAIndex: row,\r\n              particleBIndex: row,\r\n              restLength: distance,\r\n              stiffness: options.stiffness,\r\n              compliance,\r\n              lambda: 0\r\n            });\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  update(deltaTime: number): void {\r\n    this._nodePoseTracker.restoreInputPose();\r\n    const frameDt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (frameDt <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.min(this._timeAccumulator + frameDt, MAX_ACCUMULATED_SIMULATION_TIME);\r\n    const stepCount = Math.min(\r\n      MAX_SIMULATION_STEPS_PER_UPDATE,\r\n      Math.floor((this._timeAccumulator + 1e-8) / FIXED_SIMULATION_TIME_STEP)\r\n    );\r\n    if (stepCount <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.max(0, this._timeAccumulator - stepCount * FIXED_SIMULATION_TIME_STEP);\r\n    for (let i = 0; i < stepCount; i++) {\r\n      this.simulateStep(FIXED_SIMULATION_TIME_STEP, i === 0 ? frameDt : 0);\r\n    }\r\n  }\r\n\r\n  applyToNodes(weight: number = 1.0): void {\r\n    const baseNodeStates = new Map<any, { position: Vector3; rotation: Quaternion }>();\r\n    const desiredWorldRotations = new Map<any, Quaternion>();\r\n\r\n    for (const chain of this._chains) {\r\n      this.collectChainNodeRotations(chain, weight, baseNodeStates, desiredWorldRotations);\r\n    }\r\n\r\n    const nodes = Array.from(desiredWorldRotations.keys());\r\n    nodes.sort((a, b) => this.getNodeDepth(a) - this.getNodeDepth(b));\r\n\r\n    for (const node of nodes) {\r\n      const worldRotation = desiredWorldRotations.get(node);\r\n      if (!worldRotation) {\r\n        continue;\r\n      }\r\n      const parent = node.parent;\r\n      const inputRotation = node.rotation.clone();\r\n      if (parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n        node.rotation = localRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, localRotation);\r\n      } else {\r\n        node.rotation = worldRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, worldRotation);\r\n      }\r\n    }\r\n  }\r\n\r\n  reset(): void {\r\n    this._nodePoseTracker.clear(true);\r\n    for (const chain of this._chains) {\r\n      chain.reset();\r\n      for (const particle of chain.particles) {\r\n        particle.animPosition.set(particle.originalPosition);\r\n        particle.lastFramePosition.set(particle.originalPosition);\r\n        if (particle.positionHistory) {\r\n          particle.positionHistory.length = 0;\r\n        }\r\n      }\r\n    }\r\n    for (const constraint of this._interChainConstraints) {\r\n      constraint.lambda = 0;\r\n    }\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  get chains(): SpringChain[] {\r\n    return this._chains;\r\n  }\r\n\r\n  get interChainConstraints(): InterChainConstraint[] {\r\n    return this._interChainConstraints;\r\n  }\r\n\r\n  get gravity(): Vector3 {\r\n    return this._gravity;\r\n  }\r\n\r\n  set gravity(gravity: Vector3) {\r\n    this._gravity.set(gravity);\r\n  }\r\n\r\n  get wind(): Vector3 {\r\n    return this._wind;\r\n  }\r\n\r\n  set wind(wind: Vector3) {\r\n    this._wind.set(wind);\r\n  }\r\n\r\n  get iterations(): number {\r\n    return this._iterations;\r\n  }\r\n\r\n  set iterations(count: number) {\r\n    this._iterations = Math.max(1, count);\r\n  }\r\n\r\n  get enableInertialForces(): boolean {\r\n    return this._enableInertialForces;\r\n  }\r\n\r\n  set enableInertialForces(enabled: boolean) {\r\n    this._enableInertialForces = enabled;\r\n  }\r\n\r\n  get centrifugalScale(): number {\r\n    return this._centrifugalScale;\r\n  }\r\n\r\n  set centrifugalScale(scale: number) {\r\n    this._centrifugalScale = Math.max(0, scale);\r\n  }\r\n\r\n  get coriolisScale(): number {\r\n    return this._coriolisScale;\r\n  }\r\n\r\n  set coriolisScale(scale: number) {\r\n    this._coriolisScale = Math.max(0, scale);\r\n  }\r\n\r\n  get solver(): 'verlet' | 'xpbd' {\r\n    return this._solver;\r\n  }\r\n\r\n  set solver(type: 'verlet' | 'xpbd') {\r\n    if (this._solver !== type) {\r\n      this._solver = type;\r\n      if (type === 'xpbd') {\r\n        this.resetConstraintLambdas();\r\n      }\r\n    }\r\n  }\r\n\r\n  get poseFollow(): number {\r\n    return this._poseFollow;\r\n  }\r\n\r\n  set poseFollow(value: number) {\r\n    const v = Math.max(0, Math.min(1, value));\r\n    this._poseFollow = v;\r\n    this._poseFollowRoot = v;\r\n    this._poseFollowTip = v;\r\n  }\r\n\r\n  get poseFollowRoot(): number {\r\n    return this._poseFollowRoot;\r\n  }\r\n\r\n  set poseFollowRoot(value: number) {\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  get poseFollowTip(): number {\r\n    return this._poseFollowTip;\r\n  }\r\n\r\n  set poseFollowTip(value: number) {\r\n    this._poseFollowTip = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  get poseFollowExponent(): number {\r\n    return this._poseFollowExponent;\r\n  }\r\n\r\n  set poseFollowExponent(value: number) {\r\n    this._poseFollowExponent = Math.max(0.1, value);\r\n  }\r\n\r\n  get maxPoseOffset(): number {\r\n    return this._maxPoseOffset;\r\n  }\r\n\r\n  set maxPoseOffset(value: number) {\r\n    const v = Math.max(0, value);\r\n    this._maxPoseOffset = v;\r\n    this._maxPoseOffsetRoot = v;\r\n    this._maxPoseOffsetTip = v;\r\n  }\r\n\r\n  get maxPoseOffsetRoot(): number {\r\n    return this._maxPoseOffsetRoot;\r\n  }\r\n\r\n  set maxPoseOffsetRoot(value: number) {\r\n    this._maxPoseOffsetRoot = Math.max(0, value);\r\n  }\r\n\r\n  get maxPoseOffsetTip(): number {\r\n    return this._maxPoseOffsetTip;\r\n  }\r\n\r\n  set maxPoseOffsetTip(value: number) {\r\n    this._maxPoseOffsetTip = Math.max(0, value);\r\n  }\r\n\r\n  addCollider(collider: SpringCollider): void {\r\n    this._colliders.push(collider);\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  removeCollider(collider: SpringCollider): boolean {\r\n    const index = this._colliders.indexOf(collider);\r\n    if (index >= 0) {\r\n      this._colliders.splice(index, 1);\r\n      this._smoothedSphereCenters = new WeakMap();\r\n      this._smoothedCapsuleEndpoints = new WeakMap();\r\n      this._smoothedPlaneData = new WeakMap();\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  clearColliders(): void {\r\n    this._colliders = [];\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  get colliders(): SpringCollider[] {\r\n    return this._colliders;\r\n  }\r\n\r\n  /**\r\n   * Sets a runtime-only node remapping used by particles, anchors and colliders.\r\n   * The authored node references remain unchanged and therefore serialize normally.\r\n   */\r\n  setRuntimeNodeMap(nodeMap: ReadonlyMap<SceneNode, SceneNode> | null): void {\r\n    this._nodePoseTracker.clear(false);\r\n    this._runtimeNodeMap = nodeMap;\r\n    this._runtimeAnchorOffsets = new WeakMap();\r\n    this._runtimeRestLengths = new WeakMap();\r\n    this.clearRuntimeCaches();\r\n  }\r\n\r\n  /**\r\n   * Rebuilds particle history from the current runtime-remapped node pose.\r\n   * This must be called after a hierarchy graft or skeleton rebind.\r\n   */\r\n  reinitializeFromCurrentPose(options?: SpringPoseReinitializeOptions): void {\r\n    this._nodePoseTracker.clear(false);\r\n    const recomputeAnchorOffsets = options?.recomputeAnchorOffsets ?? true;\r\n    const recalculateRestLengths = options?.recalculateRestLengths ?? true;\r\n    this._runtimeAnchorOffsets = new WeakMap();\r\n    this._runtimeRestLengths = new WeakMap();\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        const particleNode = this.resolveRuntimeNode(particle.node);\r\n        let position = particleNode\r\n          ? new Vector3(\r\n              particleNode.worldMatrix.m03,\r\n              particleNode.worldMatrix.m13,\r\n              particleNode.worldMatrix.m23\r\n            )\r\n          : particle.position.clone();\r\n        const anchorNode = this.resolveRuntimeNode(particle.anchorNode);\r\n        if (particle.fixed && anchorNode) {\r\n          let anchorOffset = particle.anchorOffset;\r\n          if (recomputeAnchorOffsets && anchorOffset && particleNode) {\r\n            anchorOffset = anchorNode.worldToThis(position, new Vector3());\r\n            this._runtimeAnchorOffsets.set(particle, anchorOffset);\r\n          }\r\n          position = anchorOffset\r\n            ? anchorNode.worldMatrix.transformPointAffine(anchorOffset, new Vector3())\r\n            : new Vector3(anchorNode.worldMatrix.m03, anchorNode.worldMatrix.m13, anchorNode.worldMatrix.m23);\r\n        }\r\n        particle.position.set(position);\r\n        particle.prevPosition.set(position);\r\n        particle.animPosition.set(position);\r\n        particle.lastFramePosition.set(position);\r\n        if (particle.positionHistory) {\r\n          particle.positionHistory.length = 0;\r\n        }\r\n      }\r\n\r\n      for (const constraint of chain.constraints) {\r\n        constraint.lambda = 0;\r\n        if (recalculateRestLengths) {\r\n          this._runtimeRestLengths.set(\r\n            constraint,\r\n            Vector3.distance(\r\n              chain.particles[constraint.particleA].position,\r\n              chain.particles[constraint.particleB].position\r\n            )\r\n          );\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const constraint of this._interChainConstraints) {\r\n      constraint.lambda = 0;\r\n      if (recalculateRestLengths) {\r\n        const particleA = this._chains[constraint.chainAIndex]?.particles[constraint.particleAIndex];\r\n        const particleB = this._chains[constraint.chainBIndex]?.particles[constraint.particleBIndex];\r\n        if (particleA && particleB) {\r\n          this._runtimeRestLengths.set(constraint, Vector3.distance(particleA.position, particleB.position));\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const collider of this._colliders) {\r\n      const colliderNode = this.resolveRuntimeNode(collider.node);\r\n      if (colliderNode) {\r\n        updateColliderFromNode(collider, colliderNode);\r\n      }\r\n    }\r\n    this.clearRuntimeCaches();\r\n  }\r\n\r\n  private simulateStep(dt: number, inputDeltaTime: number): void {\r\n    if (this._enableInertialForces) {\r\n      for (const chain of this._chains) {\r\n        for (const particle of chain.particles) {\r\n          particle.lastFramePosition.set(particle.position);\r\n        }\r\n      }\r\n    }\r\n\r\n    this.updateFixedParticles(inputDeltaTime);\r\n\r\n    let rotationCenter: Vector3 | null = null;\r\n    let angularVelocity: Vector3 | null = null;\r\n\r\n    if (this._enableInertialForces && dt > 0.0001) {\r\n      const result = this.calculateGlobalRotation(dt);\r\n      rotationCenter = result.center;\r\n      angularVelocity = result.omega;\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n\r\n        const velocity = Vector3.sub(particle.position, particle.prevPosition, new Vector3());\r\n        velocity.scaleBy(particle.damping);\r\n\r\n        const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\r\n        if (this._enableInertialForces && rotationCenter && angularVelocity) {\r\n          const inertialAccel = this.calculateInertialAcceleration(\r\n            particle,\r\n            rotationCenter,\r\n            angularVelocity,\r\n            velocity,\r\n            this._centrifugalScale,\r\n            this._coriolisScale\r\n          );\r\n          Vector3.add(acceleration, inertialAccel, acceleration);\r\n        }\r\n\r\n        const positionDelta = Vector3.scale(acceleration, dt * dt, new Vector3());\r\n        Vector3.add(velocity, positionDelta, velocity);\r\n\r\n        particle.prevPosition.set(particle.position);\r\n        Vector3.add(particle.position, velocity, particle.position);\r\n      }\r\n    }\r\n\r\n    if (this._solver === 'xpbd') {\r\n      this.resetConstraintLambdas();\r\n    }\r\n\r\n    for (let iter = 0; iter < this._iterations; iter++) {\r\n      for (const chain of this._chains) {\r\n        for (const constraint of chain.constraints) {\r\n          if (this._solver === 'xpbd') {\r\n            this.solveConstraintXPBD(chain, constraint, dt);\r\n          } else {\r\n            this.solveConstraint(chain, constraint);\r\n          }\r\n        }\r\n      }\r\n\r\n      for (const constraint of this._interChainConstraints) {\r\n        if (this._solver === 'xpbd') {\r\n          this.solveInterChainConstraintXPBD(constraint, dt);\r\n        } else {\r\n          this.solveInterChainConstraint(constraint);\r\n        }\r\n      }\r\n\r\n      this.solvePosePreservation(this._iterations);\r\n      this.solveCollisions(inputDeltaTime);\r\n    }\r\n  }\r\n\r\n  private updateFixedParticles(deltaTime: number): void {\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME);\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        const sourceNode = this.resolveRuntimeNode(particle.anchorNode ?? particle.node);\r\n        if (!sourceNode) {\r\n          continue;\r\n        }\r\n        const anchorOffset = this._runtimeAnchorOffsets.get(particle) ?? particle.anchorOffset;\r\n        const worldPos = anchorOffset\r\n          ? sourceNode.worldMatrix.transformPointAffine(anchorOffset)\r\n          : new Vector3(sourceNode.worldMatrix.m03, sourceNode.worldMatrix.m13, sourceNode.worldMatrix.m23);\r\n        const smoothedTarget = this.getSmoothedParticleTarget(particle, worldPos, blend);\r\n        particle.animPosition.set(smoothedTarget);\r\n        if (particle.fixed) {\r\n          particle.position.set(smoothedTarget);\r\n          particle.prevPosition.set(smoothedTarget);\r\n          if (this._enableInertialForces) {\r\n            if (!particle.positionHistory) {\r\n              particle.positionHistory = [];\r\n            }\r\n            particle.positionHistory.push(smoothedTarget.clone());\r\n            if (particle.positionHistory.length > 5) {\r\n              particle.positionHistory.shift();\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private solvePosePreservation(totalIterations: number): void {\r\n    if (this._poseFollowRoot <= 0 && this._poseFollowTip <= 0) {\r\n      return;\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      const lastIndex = Math.max(1, chain.particles.length - 1);\r\n      for (let i = 0; i < chain.particles.length; i++) {\r\n        const particle = chain.particles[i];\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n\r\n        const t = Math.pow(i / lastIndex, this._poseFollowExponent);\r\n        const particlePoseFollow = this.lerp(this._poseFollowRoot, this._poseFollowTip, t);\r\n        const iterationFollow =\r\n          totalIterations > 1\r\n            ? 1 - Math.pow(Math.max(0, 1 - particlePoseFollow), 1 / totalIterations)\r\n            : particlePoseFollow;\r\n        const toAnim = Vector3.sub(particle.animPosition, particle.position, new Vector3());\r\n        const correction = Vector3.scale(toAnim, iterationFollow, new Vector3());\r\n        Vector3.add(particle.position, correction, particle.position);\r\n\r\n        const particleMaxPoseOffset = this.lerp(this._maxPoseOffsetRoot, this._maxPoseOffsetTip, t);\r\n        if (particleMaxPoseOffset > 0) {\r\n          const offset = Vector3.sub(particle.position, particle.animPosition, new Vector3());\r\n          const offsetLen = offset.magnitude;\r\n          if (offsetLen > particleMaxPoseOffset && offsetLen > 1e-6) {\r\n            offset.scaleBy(particleMaxPoseOffset / offsetLen);\r\n            Vector3.add(particle.animPosition, offset, particle.position);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private solveCollisions(deltaTime: number): void {\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\r\n    const spheres: SphereCollider[] = [];\r\n    const capsules: CapsuleCollider[] = [];\r\n    const planes: PlaneCollider[] = [];\r\n\r\n    for (const collider of this._colliders) {\r\n      const colliderNode = this.resolveRuntimeNode(collider.node);\r\n      if (colliderNode) {\r\n        updateColliderFromNode(collider, colliderNode);\r\n      }\r\n      if (!collider.enabled) {\r\n        continue;\r\n      }\r\n      switch (collider.type) {\r\n        case 'sphere': {\r\n          const source = collider as SphereCollider;\r\n          spheres.push({\r\n            ...source,\r\n            center: this.getSmoothedSphereCenter(source, blend)\r\n          });\r\n          break;\r\n        }\r\n        case 'capsule': {\r\n          const source = collider as CapsuleCollider;\r\n          const endpoints = this.getSmoothedCapsuleEndpoints(source, blend);\r\n          capsules.push({\r\n            ...source,\r\n            start: endpoints.start,\r\n            end: endpoints.end\r\n          });\r\n          break;\r\n        }\r\n        case 'plane': {\r\n          const source = collider as PlaneCollider;\r\n          const plane = this.getSmoothedPlaneData(source, blend);\r\n          planes.push({\r\n            ...source,\r\n            point: plane.point,\r\n            normal: plane.normal\r\n          });\r\n          break;\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n        const positionBeforeCollision = particle.position.clone();\r\n        let collided = false;\r\n        for (const collider of spheres) {\r\n          collided = resolveSphereCollision(particle.position, collider) || collided;\r\n        }\r\n        for (const collider of capsules) {\r\n          collided = resolveCapsuleCollision(particle.position, collider) || collided;\r\n        }\r\n        for (const collider of planes) {\r\n          collided = resolvePlaneCollision(particle.position, collider) || collided;\r\n        }\r\n        if (collided) {\r\n          Vector3.add(\r\n            particle.prevPosition,\r\n            Vector3.sub(particle.position, positionBeforeCollision, new Vector3()),\r\n            particle.prevPosition\r\n          );\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\r\n    const fixedParticles: any[] = [];\r\n    const velocities: Vector3[] = [];\r\n    const drivenNodes = new Set<SceneNode>();\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        const node = this.resolveRuntimeNode(particle.node);\r\n        if (node) {\r\n          drivenNodes.add(node);\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (!particle.fixed || !this.isExternalInertialAnchor(particle, drivenNodes)) {\r\n          continue;\r\n        }\r\n        const velocity = Vector3.sub(particle.position, particle.lastFramePosition, new Vector3());\r\n        velocity.scaleBy(1.0 / dt);\r\n        if (velocity.magnitudeSq > 0.001) {\r\n          fixedParticles.push(particle);\r\n          velocities.push(velocity);\r\n        }\r\n      }\r\n    }\r\n\r\n    if (fixedParticles.length === 0) {\r\n      return { center: new Vector3(0, 0, 0), omega: new Vector3(0, 0, 0) };\r\n    }\r\n\r\n    let center: Vector3;\r\n    if (fixedParticles.length === 1) {\r\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\r\n    } else {\r\n      center = new Vector3(0, 0, 0);\r\n      for (const particle of fixedParticles) {\r\n        Vector3.add(center, particle.position, center);\r\n      }\r\n      center.scaleBy(1.0 / fixedParticles.length);\r\n    }\r\n\r\n    let sumOmega = new Vector3(0, 0, 0);\r\n    let count = 0;\r\n    for (let i = 0; i < fixedParticles.length; i++) {\r\n      const r = Vector3.sub(fixedParticles[i].position, center, new Vector3());\r\n      const v = velocities[i];\r\n      const rLengthSq = r.magnitudeSq;\r\n      if (rLengthSq > 0.0001) {\r\n        const omega = Vector3.cross(r, v, new Vector3());\r\n        omega.scaleBy(1.0 / rLengthSq);\r\n        Vector3.add(sumOmega, omega, sumOmega);\r\n        count++;\r\n      }\r\n    }\r\n\r\n    if (count > 0) {\r\n      sumOmega.scaleBy(1.0 / count);\r\n    }\r\n    return { center, omega: sumOmega };\r\n  }\r\n\r\n  private estimateRotationCenterFromHistory(particle: any, currentVelocity: Vector3): Vector3 {\r\n    const history = particle.positionHistory;\r\n    if (!history || history.length < 3) {\r\n      const speed = currentVelocity.magnitude;\r\n      if (speed < 0.001) {\r\n        return particle.position.clone();\r\n      }\r\n\r\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\r\n      const up = new Vector3(0, 1, 0);\r\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\r\n      if (perpDir.magnitudeSq < 0.0001) {\r\n        perpDir.set(new Vector3(1, 0, 0));\r\n      } else {\r\n        perpDir.inplaceNormalize();\r\n      }\r\n\r\n      return Vector3.add(\r\n        particle.position,\r\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\r\n        new Vector3()\r\n      );\r\n    }\r\n\r\n    const p1 = history[0];\r\n    const p2 = history[Math.floor(history.length / 2)];\r\n    const p3 = history[history.length - 1];\r\n    return this.calculateCircleCenter(p1, p2, p3);\r\n  }\r\n\r\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\r\n    const mid12 = Vector3.scale(Vector3.add(p1, p2, new Vector3()), 0.5, new Vector3());\r\n    const mid23 = Vector3.scale(Vector3.add(p2, p3, new Vector3()), 0.5, new Vector3());\r\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\r\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\r\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\r\n\r\n    if (normal.magnitudeSq < 0.0001) {\r\n      return Vector3.scale(\r\n        Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n        1.0 / 3.0,\r\n        new Vector3()\r\n      );\r\n    }\r\n\r\n    normal.inplaceNormalize();\r\n    const perp12 = Vector3.cross(dir12, normal, new Vector3()).inplaceNormalize();\r\n    const perp23 = Vector3.cross(dir23, normal, new Vector3()).inplaceNormalize();\r\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\r\n    const det = perp12.x * perp23.y - perp12.y * perp23.x;\r\n\r\n    if (Math.abs(det) > 0.0001) {\r\n      const t = (diff.x * perp23.y - diff.y * perp23.x) / det;\r\n      return Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\r\n    }\r\n\r\n    return Vector3.scale(\r\n      Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n      1.0 / 3.0,\r\n      new Vector3()\r\n    );\r\n  }\r\n\r\n  private calculateInertialAcceleration(\r\n    particle: any,\r\n    rotationCenter: Vector3,\r\n    angularVelocity: Vector3,\r\n    particleVelocity: Vector3,\r\n    centrifugalScale: number,\r\n    coriolisScale: number\r\n  ): Vector3 {\r\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\r\n    const omegaCrossR = Vector3.cross(angularVelocity, r, new Vector3());\r\n    const centrifugalAccel = Vector3.cross(angularVelocity, omegaCrossR, new Vector3());\r\n    centrifugalAccel.scaleBy(centrifugalScale);\r\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\r\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\r\n    return Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\r\n  }\r\n\r\n  private solveConstraint(chain: SpringChain, constraint: SpringConstraint): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = chain.particles[constraint.particleB];\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const diff = (currentLength - this.getRuntimeRestLength(constraint)) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  private solveInterChainConstraint(constraint: InterChainConstraint): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const diff = (currentLength - this.getRuntimeRestLength(constraint)) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  private solveConstraintXPBD(chain: SpringChain, constraint: SpringConstraint, dt: number): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = chain.particles[constraint.particleB];\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const C = currentLength - this.getRuntimeRestLength(constraint);\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  private solveInterChainConstraintXPBD(constraint: InterChainConstraint, dt: number): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const C = currentLength - this.getRuntimeRestLength(constraint);\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  private collectChainNodeRotations(\r\n    chain: SpringChain,\r\n    weight: number,\r\n    baseNodeStates: Map<any, { position: Vector3; rotation: Quaternion }>,\r\n    desiredWorldRotations: Map<any, Quaternion>\r\n  ): void {\r\n    for (let i = 0; i < chain.particles.length - 1; i++) {\r\n      const particle = chain.particles[i];\r\n      const nextParticle = chain.particles[i + 1];\r\n      const node = this.resolveRuntimeNode(particle.node);\r\n      if (!node) {\r\n        continue;\r\n      }\r\n\r\n      const nextNode = this.resolveRuntimeNode(nextParticle.node);\r\n      if (!nextNode) {\r\n        continue;\r\n      }\r\n\r\n      let nodeState = baseNodeStates.get(node);\r\n      if (!nodeState) {\r\n        const currentBoneRotation = new Quaternion();\r\n        node.worldMatrix.decompose(null, currentBoneRotation, null);\r\n        nodeState = {\r\n          position: new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23),\r\n          rotation: currentBoneRotation\r\n        };\r\n        baseNodeStates.set(node, nodeState);\r\n      }\r\n      let nextNodeState = baseNodeStates.get(nextNode);\r\n      if (!nextNodeState) {\r\n        const nextBoneRotation = new Quaternion();\r\n        nextNode.worldMatrix.decompose(null, nextBoneRotation, null);\r\n        nextNodeState = {\r\n          position: new Vector3(nextNode.worldMatrix.m03, nextNode.worldMatrix.m13, nextNode.worldMatrix.m23),\r\n          rotation: nextBoneRotation\r\n        };\r\n        baseNodeStates.set(nextNode, nextNodeState);\r\n      }\r\n\r\n      const originalDir = Vector3.sub(nextNodeState.position, nodeState.position, new Vector3());\r\n      const currentBoneRotation = nodeState.rotation;\r\n\r\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\r\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\r\n\r\n      if (weight < 1) {\r\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      desiredWorldRotations.set(node, worldRotation);\r\n    }\r\n  }\r\n\r\n  private getNodeDepth(node: any): number {\r\n    let depth = 0;\r\n    let current = node?.parent;\r\n    while (current) {\r\n      depth++;\r\n      current = current.parent;\r\n    }\r\n    return depth;\r\n  }\r\n\r\n  private resetConstraintLambdas(): void {\r\n    for (const chain of this._chains) {\r\n      for (const constraint of chain.constraints) {\r\n        constraint.lambda = 0;\r\n      }\r\n    }\r\n    for (const constraint of this._interChainConstraints) {\r\n      constraint.lambda = 0;\r\n    }\r\n  }\r\n\r\n  private resolveRuntimeNode(node: SceneNode | null | undefined): SceneNode | null {\r\n    return node ? (this._runtimeNodeMap?.get(node) ?? node) : null;\r\n  }\r\n\r\n  private isExternalInertialAnchor(particle: SpringParticle, drivenNodes: Set<SceneNode>): boolean {\r\n    const particleNode = this.resolveRuntimeNode(particle.node);\r\n    let current = this.resolveRuntimeNode(particle.anchorNode ?? particle.node);\r\n    while (current) {\r\n      if (current !== particleNode && drivenNodes.has(current)) {\r\n        return false;\r\n      }\r\n      current = current.parent;\r\n    }\r\n    return true;\r\n  }\r\n\r\n  private getRuntimeRestLength(constraint: SpringConstraint | InterChainConstraint): number {\r\n    return this._runtimeRestLengths.get(constraint) ?? constraint.restLength;\r\n  }\r\n\r\n  private clearRuntimeCaches(): void {\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n  }\r\n\r\n  private lerp(a: number, b: number, t: number): number {\r\n    return a + (b - a) * t;\r\n  }\r\n\r\n  private getTemporalBlendFactor(deltaTime: number, smoothingTime: number): number {\r\n    const dt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (smoothingTime <= 0) {\r\n      return 1;\r\n    }\r\n    if (dt <= 0) {\r\n      return 0;\r\n    }\r\n    return 1 - Math.exp(-dt / smoothingTime);\r\n  }\r\n\r\n  private getSmoothedParticleTarget(target: object, current: Vector3, blend: number): Vector3 {\r\n    const cached = this._smoothedParticleTargets.get(target);\r\n    if (!cached || blend >= 1) {\r\n      const next = current.clone();\r\n      this._smoothedParticleTargets.set(target, next);\r\n      return next;\r\n    }\r\n    cached.setXYZ(\r\n      cached.x + (current.x - cached.x) * blend,\r\n      cached.y + (current.y - cached.y) * blend,\r\n      cached.z + (current.z - cached.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedSphereCenter(collider: SphereCollider, blend: number): Vector3 {\r\n    const current = collider.center?.clone() ?? new Vector3();\r\n    const cached = this._smoothedSphereCenters.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      this._smoothedSphereCenters.set(collider, current);\r\n      return current;\r\n    }\r\n    cached.setXYZ(\r\n      cached.x + (current.x - cached.x) * blend,\r\n      cached.y + (current.y - cached.y) * blend,\r\n      cached.z + (current.z - cached.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedCapsuleEndpoints(\r\n    collider: CapsuleCollider,\r\n    blend: number\r\n  ): { start: Vector3; end: Vector3 } {\r\n    const currentStart = collider.start?.clone() ?? new Vector3();\r\n    const currentEnd = collider.end?.clone() ?? new Vector3();\r\n    const cached = this._smoothedCapsuleEndpoints.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const next = { start: currentStart, end: currentEnd };\r\n      this._smoothedCapsuleEndpoints.set(collider, next);\r\n      return next;\r\n    }\r\n    cached.start.setXYZ(\r\n      cached.start.x + (currentStart.x - cached.start.x) * blend,\r\n      cached.start.y + (currentStart.y - cached.start.y) * blend,\r\n      cached.start.z + (currentStart.z - cached.start.z) * blend\r\n    );\r\n    cached.end.setXYZ(\r\n      cached.end.x + (currentEnd.x - cached.end.x) * blend,\r\n      cached.end.y + (currentEnd.y - cached.end.y) * blend,\r\n      cached.end.z + (currentEnd.z - cached.end.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedPlaneData(collider: PlaneCollider, blend: number): { point: Vector3; normal: Vector3 } {\r\n    const currentPoint = collider.point?.clone() ?? new Vector3();\r\n    const currentNormal = collider.normal?.clone() ?? new Vector3(0, 1, 0);\r\n    const cached = this._smoothedPlaneData.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const next = { point: currentPoint, normal: currentNormal };\r\n      this._smoothedPlaneData.set(collider, next);\r\n      return next;\r\n    }\r\n    cached.point.setXYZ(\r\n      cached.point.x + (currentPoint.x - cached.point.x) * blend,\r\n      cached.point.y + (currentPoint.y - cached.point.y) * blend,\r\n      cached.point.z + (currentPoint.z - cached.point.z) * blend\r\n    );\r\n    cached.normal.setXYZ(\r\n      cached.normal.x + (currentNormal.x - cached.normal.x) * blend,\r\n      cached.normal.y + (currentNormal.y - cached.normal.y) * blend,\r\n      cached.normal.z + (currentNormal.z - cached.normal.z) * blend\r\n    );\r\n    cached.normal.inplaceNormalize();\r\n    return cached;\r\n  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+{"version":3,"file":"multi_chain_spring_system.js","sources":["../../../src/animation/spring/multi_chain_spring_system.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\nimport type { SpringChain } from './spring_chain';\r\nimport type { SpringParticle } from './spring_particle';\r\nimport type { SpringConstraint } from './spring_constraint';\r\nimport { IKUtils } from '../ik/ik_utils';\r\nimport type { SpringCollider } from './spring_collider';\r\nimport {\r\n  resolveSphereCollision,\r\n  resolveCapsuleCollision,\r\n  resolvePlaneCollision,\r\n  resolveBoxCollision,\r\n  type CapsuleCollider,\r\n  type BoxCollider,\r\n  type PlaneCollider,\r\n  type SphereCollider,\r\n  updateColliderFromNode\r\n} from './spring_collider';\r\nimport { SpringNodePoseTracker } from './spring_node_pose_tracker';\r\nimport {\r\n  DEFAULT_INITIAL_COLLISION_PENETRATION_RELEASE_TIME,\r\n  getIterationStrength,\r\n  getKawaiiPoseTarget,\r\n  getReleasedCollisionPenetration,\r\n  getSpringPoseTopology,\r\n  INITIAL_COLLISION_PENETRATION_SLOP,\r\n  interpolateSpringValue,\r\n  measureCollisionPenetration,\r\n  resolveInelasticCollision,\r\n  solveAngleLimit,\r\n  solveDistanceConstraint,\r\n  type SpringMotionModel\r\n} from './spring_solver';\r\n\r\nexport interface InterChainConstraint {\r\n  chainAIndex: number;\r\n  chainBIndex: number;\r\n  particleAIndex: number;\r\n  particleBIndex: number;\r\n  restLength: number;\r\n  stiffness: number;\r\n  compliance: number;\r\n  lambda: number;\r\n}\r\n\r\nexport interface MultiChainSpringSystemOptions {\r\n  /** Integration behavior. `kawaii` preserves animated local shape while simulating (default: `kawaii`). */\r\n  motionModel?: SpringMotionModel;\r\n  iterations?: number;\r\n  gravity?: Vector3;\r\n  wind?: Vector3;\r\n  enableInertialForces?: boolean;\r\n  centrifugalScale?: number;\r\n  coriolisScale?: number;\r\n  solver?: 'verlet' | 'xpbd';\r\n  poseFollow?: number;\r\n  poseFollowRoot?: number;\r\n  poseFollowTip?: number;\r\n  poseFollowExponent?: number;\r\n  maxPoseOffset?: number;\r\n  maxPoseOffsetRoot?: number;\r\n  maxPoseOffsetTip?: number;\r\n  /** Root angle limit in degrees. 0 disables angle limiting. */\r\n  angleLimitRoot?: number;\r\n  /** Tip angle limit in degrees. 0 disables angle limiting. */\r\n  angleLimitTip?: number;\r\n  /** Fraction of XPBD positional correction retained in Verlet history (default: 0.35). */\r\n  constraintVelocityHistoryRetention?: number;\r\n  /** Temporarily preserve collider overlap present in the initialized pose while blocking deeper penetration. */\r\n  preserveInitialCollisionPenetration?: boolean;\r\n  /** Seconds used to smoothly release preserved startup overlap (default: 0.25). */\r\n  initialCollisionPenetrationReleaseTime?: number;\r\n}\r\n\r\n/** Options used when rebuilding runtime spring state from the current node pose. */\r\nexport interface SpringPoseReinitializeOptions {\r\n  /** Recompute maintained anchor offsets against runtime-remapped anchor nodes. */\r\n  recomputeAnchorOffsets?: boolean;\r\n  /** Recompute structural and inter-chain rest lengths from the current pose. */\r\n  recalculateRestLengths?: boolean;\r\n}\r\n\r\nconst FIXED_SIMULATION_TIME_STEP = 1 / 60;\r\nconst MAX_ACCUMULATED_SIMULATION_TIME = 1 / 20;\r\nconst MAX_SIMULATION_STEPS_PER_UPDATE = Math.max(\r\n  1,\r\n  Math.ceil(MAX_ACCUMULATED_SIMULATION_TIME / FIXED_SIMULATION_TIME_STEP)\r\n);\r\nconst DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME = 1 / 30;\r\nconst DEFAULT_COLLIDER_SMOOTHING_TIME = 1 / 30;\r\n\r\nexport class MultiChainSpringSystem {\r\n  private _chains: SpringChain[];\r\n  private _interChainConstraints: InterChainConstraint[];\r\n  private _iterations: number;\r\n  private _gravity: Vector3;\r\n  private _wind: Vector3;\r\n  private _enableInertialForces: boolean;\r\n  private _centrifugalScale: number;\r\n  private _coriolisScale: number;\r\n  private _solver: 'verlet' | 'xpbd';\r\n  private _poseFollow: number;\r\n  private _maxPoseOffset: number;\r\n  private _poseFollowRoot: number;\r\n  private _poseFollowTip: number;\r\n  private _poseFollowExponent: number;\r\n  private _maxPoseOffsetRoot: number;\r\n  private _maxPoseOffsetTip: number;\r\n  private _colliders: SpringCollider[];\r\n  private _timeAccumulator: number;\r\n  private _smoothedParticleTargets: WeakMap<object, Vector3>;\r\n  private _smoothedSphereCenters: WeakMap<SphereCollider, Vector3>;\r\n  private _smoothedCapsuleEndpoints: WeakMap<CapsuleCollider, { start: Vector3; end: Vector3 }>;\r\n  private _smoothedPlaneData: WeakMap<PlaneCollider, { point: Vector3; normal: Vector3 }>;\r\n  private _smoothedBoxData: WeakMap<\r\n    BoxCollider,\r\n    { center: Vector3; halfExtents: Vector3; axes: [Vector3, Vector3, Vector3] }\r\n  >;\r\n  private _runtimeNodeMap: ReadonlyMap<SceneNode, SceneNode> | null;\r\n  private _runtimeAnchorOffsets: WeakMap<SpringParticle, Vector3>;\r\n  private _runtimeRestLengths: WeakMap<object, number>;\r\n  private _nodePoseTracker: SpringNodePoseTracker;\r\n  private _motionModel: SpringMotionModel;\r\n  private _angleLimitRoot: number;\r\n  private _angleLimitTip: number;\r\n  private _constraintVelocityHistoryRetention: number;\r\n  private _preserveInitialCollisionPenetration: boolean;\r\n  private _initialCollisionPenetrationReleaseTime: number;\r\n  private _initialCollisionPenetrationElapsed: number;\r\n  private _initialCollisionPenetration: WeakMap<SpringParticle, WeakMap<SpringCollider, number>>;\r\n\r\n  constructor(options?: MultiChainSpringSystemOptions) {\r\n    this._chains = [];\r\n    this._interChainConstraints = [];\r\n    this._iterations = options?.iterations ?? 5;\r\n    this._gravity = options?.gravity?.clone() ?? new Vector3(0, -9.8, 0);\r\n    this._wind = options?.wind?.clone() ?? new Vector3(0, 0, 0);\r\n    this._enableInertialForces = options?.enableInertialForces ?? true;\r\n    this._centrifugalScale = options?.centrifugalScale ?? 1.0;\r\n    this._coriolisScale = options?.coriolisScale ?? 1.0;\r\n    this._solver = options?.solver ?? 'verlet';\r\n    this._poseFollow = Math.max(0, Math.min(1, options?.poseFollow ?? 0.35));\r\n    this._maxPoseOffset = Math.max(0, options?.maxPoseOffset ?? 0);\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, options?.poseFollowRoot ?? this._poseFollow));\r\n    this._poseFollowTip = Math.max(0, Math.min(1, options?.poseFollowTip ?? this._poseFollow));\r\n    this._poseFollowExponent = Math.max(0.1, options?.poseFollowExponent ?? 1.6);\r\n    this._maxPoseOffsetRoot = Math.max(0, options?.maxPoseOffsetRoot ?? this._maxPoseOffset);\r\n    this._maxPoseOffsetTip = Math.max(0, options?.maxPoseOffsetTip ?? this._maxPoseOffset);\r\n    this._colliders = [];\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n    this._smoothedBoxData = new WeakMap();\r\n    this._runtimeNodeMap = null;\r\n    this._runtimeAnchorOffsets = new WeakMap();\r\n    this._runtimeRestLengths = new WeakMap();\r\n    this._nodePoseTracker = new SpringNodePoseTracker();\r\n    this._motionModel = options?.motionModel ?? 'kawaii';\r\n    this._angleLimitRoot = Math.max(0, options?.angleLimitRoot ?? 0);\r\n    this._angleLimitTip = Math.max(0, options?.angleLimitTip ?? this._angleLimitRoot);\r\n    this._constraintVelocityHistoryRetention = Math.max(\r\n      0,\r\n      Math.min(1, options?.constraintVelocityHistoryRetention ?? 0.35)\r\n    );\r\n    this._preserveInitialCollisionPenetration =\r\n      options?.preserveInitialCollisionPenetration ?? this._motionModel === 'kawaii';\r\n    this._initialCollisionPenetrationReleaseTime = Math.max(\r\n      0,\r\n      options?.initialCollisionPenetrationReleaseTime ?? DEFAULT_INITIAL_COLLISION_PENETRATION_RELEASE_TIME\r\n    );\r\n    this._initialCollisionPenetrationElapsed = 0;\r\n    this._initialCollisionPenetration = new WeakMap();\r\n  }\r\n\r\n  addChain(chain: SpringChain): number {\r\n    this._chains.push(chain);\r\n    return this._chains.length - 1;\r\n  }\r\n\r\n  addInterChainConstraint(constraint: InterChainConstraint): void {\r\n    this._interChainConstraints.push(constraint);\r\n  }\r\n\r\n  createRadialConstraints(options: {\r\n    stiffness: number;\r\n    maxDistance: number;\r\n    skipRows?: number;\r\n    connectDistance?: number;\r\n    compliance?: number;\r\n  }): void {\r\n    const skipRows = options.skipRows ?? 0;\r\n    const connectDistance = options.connectDistance ?? 1;\r\n    const compliance = options.compliance ?? 0;\r\n\r\n    for (let i = 0; i < this._chains.length; i++) {\r\n      for (let offset = 1; offset <= connectDistance; offset++) {\r\n        const j = (i + offset) % this._chains.length;\r\n        const chainA = this._chains[i];\r\n        const chainB = this._chains[j];\r\n        const minLength = Math.min(chainA.particles.length, chainB.particles.length);\r\n\r\n        for (let row = skipRows; row < minLength; row++) {\r\n          const pA = chainA.particles[row];\r\n          const pB = chainB.particles[row];\r\n          const distance = Vector3.distance(pA.position, pB.position);\r\n          if (distance <= options.maxDistance) {\r\n            this.addInterChainConstraint({\r\n              chainAIndex: i,\r\n              chainBIndex: j,\r\n              particleAIndex: row,\r\n              particleBIndex: row,\r\n              restLength: distance,\r\n              stiffness: options.stiffness,\r\n              compliance,\r\n              lambda: 0\r\n            });\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  update(deltaTime: number): void {\r\n    this._nodePoseTracker.restoreInputPose();\r\n    const frameDt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (frameDt <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.min(this._timeAccumulator + frameDt, MAX_ACCUMULATED_SIMULATION_TIME);\r\n    const stepCount = Math.min(\r\n      MAX_SIMULATION_STEPS_PER_UPDATE,\r\n      Math.floor((this._timeAccumulator + 1e-8) / FIXED_SIMULATION_TIME_STEP)\r\n    );\r\n    if (stepCount <= 0) {\r\n      return;\r\n    }\r\n    this._timeAccumulator = Math.max(0, this._timeAccumulator - stepCount * FIXED_SIMULATION_TIME_STEP);\r\n    for (let i = 0; i < stepCount; i++) {\r\n      this.simulateStep(FIXED_SIMULATION_TIME_STEP, i === 0 ? frameDt : 0, i, stepCount);\r\n    }\r\n  }\r\n\r\n  applyToNodes(weight: number = 1.0): void {\r\n    const baseNodeStates = new Map<any, { position: Vector3; rotation: Quaternion }>();\r\n    const desiredWorldRotations = new Map<any, Quaternion>();\r\n\r\n    for (const chain of this._chains) {\r\n      this.collectChainNodeRotations(chain, weight, baseNodeStates, desiredWorldRotations);\r\n    }\r\n\r\n    const nodes = Array.from(desiredWorldRotations.keys());\r\n    nodes.sort((a, b) => this.getNodeDepth(a) - this.getNodeDepth(b));\r\n\r\n    for (const node of nodes) {\r\n      const worldRotation = desiredWorldRotations.get(node);\r\n      if (!worldRotation) {\r\n        continue;\r\n      }\r\n      const parent = node.parent;\r\n      const inputRotation = node.rotation.clone();\r\n      if (parent) {\r\n        const parentWorldRotation = new Quaternion();\r\n        parent.worldMatrix.decompose(null, parentWorldRotation, null);\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n        node.rotation = localRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, localRotation);\r\n      } else {\r\n        node.rotation = worldRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, worldRotation);\r\n      }\r\n    }\r\n  }\r\n\r\n  reset(): void {\r\n    this._nodePoseTracker.clear(true);\r\n    for (const chain of this._chains) {\r\n      chain.reset();\r\n      for (const particle of chain.particles) {\r\n        particle.animPosition.set(particle.originalPosition);\r\n        particle.lastFramePosition.set(particle.originalPosition);\r\n        if (particle.positionHistory) {\r\n          particle.positionHistory.length = 0;\r\n        }\r\n      }\r\n    }\r\n    for (const constraint of this._interChainConstraints) {\r\n      constraint.lambda = 0;\r\n    }\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n    this._smoothedBoxData = new WeakMap();\r\n    this._initialCollisionPenetrationElapsed = 0;\r\n    this._initialCollisionPenetration = new WeakMap();\r\n  }\r\n\r\n  get chains(): SpringChain[] {\r\n    return this._chains;\r\n  }\r\n\r\n  get interChainConstraints(): InterChainConstraint[] {\r\n    return this._interChainConstraints;\r\n  }\r\n\r\n  get gravity(): Vector3 {\r\n    return this._gravity;\r\n  }\r\n\r\n  set gravity(gravity: Vector3) {\r\n    this._gravity.set(gravity);\r\n  }\r\n\r\n  get wind(): Vector3 {\r\n    return this._wind;\r\n  }\r\n\r\n  set wind(wind: Vector3) {\r\n    this._wind.set(wind);\r\n  }\r\n\r\n  get iterations(): number {\r\n    return this._iterations;\r\n  }\r\n\r\n  set iterations(count: number) {\r\n    this._iterations = Math.max(1, count);\r\n  }\r\n\r\n  get enableInertialForces(): boolean {\r\n    return this._enableInertialForces;\r\n  }\r\n\r\n  set enableInertialForces(enabled: boolean) {\r\n    this._enableInertialForces = enabled;\r\n  }\r\n\r\n  get centrifugalScale(): number {\r\n    return this._centrifugalScale;\r\n  }\r\n\r\n  set centrifugalScale(scale: number) {\r\n    this._centrifugalScale = Math.max(0, scale);\r\n  }\r\n\r\n  get coriolisScale(): number {\r\n    return this._coriolisScale;\r\n  }\r\n\r\n  set coriolisScale(scale: number) {\r\n    this._coriolisScale = Math.max(0, scale);\r\n  }\r\n\r\n  get solver(): 'verlet' | 'xpbd' {\r\n    return this._solver;\r\n  }\r\n\r\n  set solver(type: 'verlet' | 'xpbd') {\r\n    if (this._solver !== type) {\r\n      this._solver = type;\r\n      if (type === 'xpbd') {\r\n        this.resetConstraintLambdas();\r\n      }\r\n    }\r\n  }\r\n\r\n  get motionModel(): SpringMotionModel {\r\n    return this._motionModel;\r\n  }\r\n\r\n  set motionModel(value: SpringMotionModel) {\r\n    if (value !== 'legacy' && value !== 'kawaii') {\r\n      return;\r\n    }\r\n    if (this._motionModel !== value) {\r\n      this._motionModel = value;\r\n      this.reset();\r\n    }\r\n  }\r\n\r\n  get angleLimitRoot(): number {\r\n    return this._angleLimitRoot;\r\n  }\r\n\r\n  set angleLimitRoot(value: number) {\r\n    this._angleLimitRoot = Math.max(0, Number(value) || 0);\r\n  }\r\n\r\n  get angleLimitTip(): number {\r\n    return this._angleLimitTip;\r\n  }\r\n\r\n  set angleLimitTip(value: number) {\r\n    this._angleLimitTip = Math.max(0, Number(value) || 0);\r\n  }\r\n\r\n  get constraintVelocityHistoryRetention(): number {\r\n    return this._constraintVelocityHistoryRetention;\r\n  }\r\n\r\n  set constraintVelocityHistoryRetention(value: number) {\r\n    this._constraintVelocityHistoryRetention = Math.max(0, Math.min(1, Number(value) || 0));\r\n  }\r\n\r\n  get preserveInitialCollisionPenetration(): boolean {\r\n    return this._preserveInitialCollisionPenetration;\r\n  }\r\n\r\n  set preserveInitialCollisionPenetration(value: boolean) {\r\n    if (this._preserveInitialCollisionPenetration !== value) {\r\n      this._preserveInitialCollisionPenetration = value;\r\n      this._initialCollisionPenetrationElapsed = 0;\r\n      this._initialCollisionPenetration = new WeakMap();\r\n    }\r\n  }\r\n\r\n  get initialCollisionPenetrationReleaseTime(): number {\r\n    return this._initialCollisionPenetrationReleaseTime;\r\n  }\r\n\r\n  set initialCollisionPenetrationReleaseTime(value: number) {\r\n    const duration = Math.max(0, Number(value) || 0);\r\n    if (this._initialCollisionPenetrationReleaseTime !== duration) {\r\n      this._initialCollisionPenetrationReleaseTime = duration;\r\n      this._initialCollisionPenetrationElapsed = 0;\r\n      this._initialCollisionPenetration = new WeakMap();\r\n    }\r\n  }\r\n\r\n  get poseFollow(): number {\r\n    return this._poseFollow;\r\n  }\r\n\r\n  set poseFollow(value: number) {\r\n    const v = Math.max(0, Math.min(1, value));\r\n    this._poseFollow = v;\r\n    this._poseFollowRoot = v;\r\n    this._poseFollowTip = v;\r\n  }\r\n\r\n  get poseFollowRoot(): number {\r\n    return this._poseFollowRoot;\r\n  }\r\n\r\n  set poseFollowRoot(value: number) {\r\n    this._poseFollowRoot = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  get poseFollowTip(): number {\r\n    return this._poseFollowTip;\r\n  }\r\n\r\n  set poseFollowTip(value: number) {\r\n    this._poseFollowTip = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  get poseFollowExponent(): number {\r\n    return this._poseFollowExponent;\r\n  }\r\n\r\n  set poseFollowExponent(value: number) {\r\n    this._poseFollowExponent = Math.max(0.1, value);\r\n  }\r\n\r\n  get maxPoseOffset(): number {\r\n    return this._maxPoseOffset;\r\n  }\r\n\r\n  set maxPoseOffset(value: number) {\r\n    const v = Math.max(0, value);\r\n    this._maxPoseOffset = v;\r\n    this._maxPoseOffsetRoot = v;\r\n    this._maxPoseOffsetTip = v;\r\n  }\r\n\r\n  get maxPoseOffsetRoot(): number {\r\n    return this._maxPoseOffsetRoot;\r\n  }\r\n\r\n  set maxPoseOffsetRoot(value: number) {\r\n    this._maxPoseOffsetRoot = Math.max(0, value);\r\n  }\r\n\r\n  get maxPoseOffsetTip(): number {\r\n    return this._maxPoseOffsetTip;\r\n  }\r\n\r\n  set maxPoseOffsetTip(value: number) {\r\n    this._maxPoseOffsetTip = Math.max(0, value);\r\n  }\r\n\r\n  addCollider(collider: SpringCollider): void {\r\n    this._colliders.push(collider);\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n    this._smoothedBoxData = new WeakMap();\r\n    this._initialCollisionPenetrationElapsed = 0;\r\n    this._initialCollisionPenetration = new WeakMap();\r\n  }\r\n\r\n  removeCollider(collider: SpringCollider): boolean {\r\n    const index = this._colliders.indexOf(collider);\r\n    if (index >= 0) {\r\n      this._colliders.splice(index, 1);\r\n      this._smoothedSphereCenters = new WeakMap();\r\n      this._smoothedCapsuleEndpoints = new WeakMap();\r\n      this._smoothedPlaneData = new WeakMap();\r\n      this._smoothedBoxData = new WeakMap();\r\n      this._initialCollisionPenetrationElapsed = 0;\r\n      this._initialCollisionPenetration = new WeakMap();\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  clearColliders(): void {\r\n    this._colliders = [];\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n    this._smoothedBoxData = new WeakMap();\r\n    this._initialCollisionPenetrationElapsed = 0;\r\n    this._initialCollisionPenetration = new WeakMap();\r\n  }\r\n\r\n  get colliders(): SpringCollider[] {\r\n    return this._colliders;\r\n  }\r\n\r\n  /**\r\n   * Sets a runtime-only node remapping used by particles, anchors and colliders.\r\n   * The authored node references remain unchanged and therefore serialize normally.\r\n   */\r\n  setRuntimeNodeMap(nodeMap: ReadonlyMap<SceneNode, SceneNode> | null): void {\r\n    this._nodePoseTracker.clear(false);\r\n    this._runtimeNodeMap = nodeMap;\r\n    this._runtimeAnchorOffsets = new WeakMap();\r\n    this._runtimeRestLengths = new WeakMap();\r\n    this.clearRuntimeCaches();\r\n  }\r\n\r\n  /**\r\n   * Rebuilds particle history from the current runtime-remapped node pose.\r\n   * This must be called after a hierarchy graft or skeleton rebind.\r\n   */\r\n  reinitializeFromCurrentPose(options?: SpringPoseReinitializeOptions): void {\r\n    this._nodePoseTracker.clear(false);\r\n    const recomputeAnchorOffsets = options?.recomputeAnchorOffsets ?? true;\r\n    const recalculateRestLengths = options?.recalculateRestLengths ?? true;\r\n    this._runtimeAnchorOffsets = new WeakMap();\r\n    this._runtimeRestLengths = new WeakMap();\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        const particleNode = this.resolveRuntimeNode(particle.node);\r\n        let position = particleNode\r\n          ? new Vector3(\r\n              particleNode.worldMatrix.m03,\r\n              particleNode.worldMatrix.m13,\r\n              particleNode.worldMatrix.m23\r\n            )\r\n          : particle.position.clone();\r\n        const anchorNode = this.resolveRuntimeNode(particle.anchorNode);\r\n        if (particle.fixed && anchorNode) {\r\n          let anchorOffset = particle.anchorOffset;\r\n          if (recomputeAnchorOffsets && anchorOffset && particleNode) {\r\n            anchorOffset = anchorNode.worldToThis(position, new Vector3());\r\n            this._runtimeAnchorOffsets.set(particle, anchorOffset);\r\n          }\r\n          position = anchorOffset\r\n            ? anchorNode.worldMatrix.transformPointAffine(anchorOffset, new Vector3())\r\n            : new Vector3(anchorNode.worldMatrix.m03, anchorNode.worldMatrix.m13, anchorNode.worldMatrix.m23);\r\n        }\r\n        particle.position.set(position);\r\n        particle.prevPosition.set(position);\r\n        particle.animPosition.set(position);\r\n        particle.lastFramePosition.set(position);\r\n        if (particle.positionHistory) {\r\n          particle.positionHistory.length = 0;\r\n        }\r\n      }\r\n\r\n      for (const constraint of chain.constraints) {\r\n        constraint.lambda = 0;\r\n        if (recalculateRestLengths) {\r\n          this._runtimeRestLengths.set(\r\n            constraint,\r\n            Vector3.distance(\r\n              chain.particles[constraint.particleA].position,\r\n              chain.particles[constraint.particleB].position\r\n            )\r\n          );\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const constraint of this._interChainConstraints) {\r\n      constraint.lambda = 0;\r\n      if (recalculateRestLengths) {\r\n        const particleA = this._chains[constraint.chainAIndex]?.particles[constraint.particleAIndex];\r\n        const particleB = this._chains[constraint.chainBIndex]?.particles[constraint.particleBIndex];\r\n        if (particleA && particleB) {\r\n          this._runtimeRestLengths.set(constraint, Vector3.distance(particleA.position, particleB.position));\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const collider of this._colliders) {\r\n      const colliderNode = this.resolveRuntimeNode(collider.node);\r\n      if (colliderNode) {\r\n        updateColliderFromNode(collider, colliderNode);\r\n      }\r\n    }\r\n    this.clearRuntimeCaches();\r\n  }\r\n\r\n  private simulateStep(dt: number, inputDeltaTime: number, stepIndex: number, stepCount: number): void {\r\n    if (this._enableInertialForces) {\r\n      for (const chain of this._chains) {\r\n        for (const particle of chain.particles) {\r\n          particle.lastFramePosition.set(particle.position);\r\n        }\r\n      }\r\n    }\r\n\r\n    const substepBlend = 1 / Math.max(1, stepCount - stepIndex);\r\n    this.updateFixedParticles(inputDeltaTime, substepBlend);\r\n\r\n    let rotationCenter: Vector3 | null = null;\r\n    let angularVelocity: Vector3 | null = null;\r\n\r\n    if (this._enableInertialForces && dt > 0.0001) {\r\n      const result = this.calculateGlobalRotation(dt);\r\n      rotationCenter = result.center;\r\n      angularVelocity = result.omega;\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n\r\n        const velocity = Vector3.sub(particle.position, particle.prevPosition, new Vector3());\r\n        velocity.scaleBy(particle.damping);\r\n\r\n        const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\r\n        if (this._enableInertialForces && rotationCenter && angularVelocity) {\r\n          const inertialAccel = this.calculateInertialAcceleration(\r\n            particle,\r\n            rotationCenter,\r\n            angularVelocity,\r\n            velocity,\r\n            this._centrifugalScale,\r\n            this._coriolisScale\r\n          );\r\n          Vector3.add(acceleration, inertialAccel, acceleration);\r\n        }\r\n\r\n        const positionDelta = Vector3.scale(acceleration, dt * dt, new Vector3());\r\n        Vector3.add(velocity, positionDelta, velocity);\r\n\r\n        particle.prevPosition.set(particle.position);\r\n        Vector3.add(particle.position, velocity, particle.position);\r\n      }\r\n    }\r\n\r\n    if (this._solver === 'xpbd') {\r\n      this.resetConstraintLambdas();\r\n    }\r\n\r\n    if (this._motionModel === 'kawaii') {\r\n      this.solvePosePreservation(1, true);\r\n    }\r\n\r\n    for (let iter = 0; iter < this._iterations; iter++) {\r\n      for (const chain of this._chains) {\r\n        const reverse = this._motionModel === 'kawaii' && !!(iter & 1);\r\n        for (let constraintIndex = 0; constraintIndex < chain.constraints.length; constraintIndex++) {\r\n          const constraint =\r\n            chain.constraints[reverse ? chain.constraints.length - 1 - constraintIndex : constraintIndex];\r\n          if (this._solver === 'xpbd') {\r\n            this.solveConstraintXPBD(chain, constraint, dt);\r\n          } else {\r\n            this.solveConstraint(chain, constraint);\r\n          }\r\n        }\r\n      }\r\n\r\n      const reverse = this._motionModel === 'kawaii' && !!(iter & 1);\r\n      for (let constraintIndex = 0; constraintIndex < this._interChainConstraints.length; constraintIndex++) {\r\n        const constraint =\r\n          this._interChainConstraints[\r\n            reverse ? this._interChainConstraints.length - 1 - constraintIndex : constraintIndex\r\n          ];\r\n        if (this._solver === 'xpbd') {\r\n          this.solveInterChainConstraintXPBD(constraint, dt);\r\n        } else {\r\n          this.solveInterChainConstraint(constraint);\r\n        }\r\n      }\r\n\r\n      if (this._motionModel === 'legacy') {\r\n        this.solvePosePreservation(this._iterations, false);\r\n        this.solveCollisions(inputDeltaTime);\r\n      }\r\n    }\r\n\r\n    if (this._motionModel === 'kawaii') {\r\n      this.solveCollisions(inputDeltaTime, substepBlend);\r\n      this.solveAngleLimits();\r\n      if (this._solver === 'xpbd') {\r\n        this.solveCollisions(0, 0);\r\n        this.resetConstraintLambdas();\r\n        const closureIterations = Math.min(16, Math.max(4, this._iterations));\r\n        for (let iteration = 0; iteration < closureIterations; iteration++) {\r\n          const reverse = !!(iteration & 1);\r\n          for (const chain of this._chains) {\r\n            for (let constraintIndex = 0; constraintIndex < chain.constraints.length; constraintIndex++) {\r\n              const constraint =\r\n                chain.constraints[reverse ? chain.constraints.length - 1 - constraintIndex : constraintIndex];\r\n              this.solveConstraintXPBD(chain, constraint, dt);\r\n            }\r\n          }\r\n          for (\r\n            let constraintIndex = 0;\r\n            constraintIndex < this._interChainConstraints.length;\r\n            constraintIndex++\r\n          ) {\r\n            const constraint =\r\n              this._interChainConstraints[\r\n                reverse ? this._interChainConstraints.length - 1 - constraintIndex : constraintIndex\r\n              ];\r\n            this.solveInterChainConstraintXPBD(constraint, dt);\r\n          }\r\n        }\r\n        if (this._colliders.some((collider) => collider.enabled)) {\r\n          this.resetConstraintLambdas();\r\n          const contactClosureIterations = Math.min(4, closureIterations);\r\n          for (let iteration = 0; iteration < contactClosureIterations; iteration++) {\r\n            const reverse = !!(iteration & 1);\r\n            for (const chain of this._chains) {\r\n              for (let constraintIndex = 0; constraintIndex < chain.constraints.length; constraintIndex++) {\r\n                const constraint =\r\n                  chain.constraints[\r\n                    reverse ? chain.constraints.length - 1 - constraintIndex : constraintIndex\r\n                  ];\r\n                this.solveConstraintXPBD(chain, constraint, dt);\r\n              }\r\n            }\r\n            for (\r\n              let constraintIndex = 0;\r\n              constraintIndex < this._interChainConstraints.length;\r\n              constraintIndex++\r\n            ) {\r\n              const constraint =\r\n                this._interChainConstraints[\r\n                  reverse ? this._interChainConstraints.length - 1 - constraintIndex : constraintIndex\r\n                ];\r\n              this.solveInterChainConstraintXPBD(constraint, dt);\r\n            }\r\n            this.solveCollisions(0, 0);\r\n          }\r\n        }\r\n      } else {\r\n        for (const chain of this._chains) {\r\n          for (const constraint of chain.constraints) {\r\n            this.solveConstraint(chain, constraint);\r\n          }\r\n        }\r\n        for (const constraint of this._interChainConstraints) {\r\n          this.solveInterChainConstraint(constraint);\r\n        }\r\n        this.solveCollisions(0, 0);\r\n      }\r\n    }\r\n    this.advanceInitialCollisionPenetrationRelease(dt);\r\n  }\r\n\r\n  private updateFixedParticles(deltaTime: number, substepBlend: number): void {\r\n    const blend =\r\n      this._motionModel === 'kawaii'\r\n        ? substepBlend\r\n        : this.getTemporalBlendFactor(deltaTime, DEFAULT_PARTICLE_TARGET_SMOOTHING_TIME);\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        const sourceNode = this.resolveRuntimeNode(particle.anchorNode ?? particle.node);\r\n        if (!sourceNode) {\r\n          continue;\r\n        }\r\n        const anchorOffset = this._runtimeAnchorOffsets.get(particle) ?? particle.anchorOffset;\r\n        const worldPos = anchorOffset\r\n          ? sourceNode.worldMatrix.transformPointAffine(anchorOffset)\r\n          : new Vector3(sourceNode.worldMatrix.m03, sourceNode.worldMatrix.m13, sourceNode.worldMatrix.m23);\r\n        const smoothedTarget = this.getSmoothedParticleTarget(particle, worldPos, blend);\r\n        particle.animPosition.set(smoothedTarget);\r\n        if (particle.fixed) {\r\n          particle.position.set(smoothedTarget);\r\n          particle.prevPosition.set(smoothedTarget);\r\n          if (this._enableInertialForces) {\r\n            if (!particle.positionHistory) {\r\n              particle.positionHistory = [];\r\n            }\r\n            particle.positionHistory.push(smoothedTarget.clone());\r\n            if (particle.positionHistory.length > 5) {\r\n              particle.positionHistory.shift();\r\n            }\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private solvePosePreservation(totalIterations: number, parentRelative: boolean): void {\r\n    if (this._poseFollowRoot <= 0 && this._poseFollowTip <= 0) {\r\n      return;\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      const topology = getSpringPoseTopology(chain.particles);\r\n      for (let i = 0; i < chain.particles.length; i++) {\r\n        const particle = chain.particles[i];\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n\r\n        const t = Math.pow(topology[i].normalizedDistance, this._poseFollowExponent);\r\n        const particlePoseFollow = this.lerp(this._poseFollowRoot, this._poseFollowTip, t);\r\n        const iterationFollow = getIterationStrength(particlePoseFollow, totalIterations);\r\n        const poseTarget = parentRelative\r\n          ? getKawaiiPoseTarget(particle, topology[i])\r\n          : particle.animPosition;\r\n        const toAnim = Vector3.sub(poseTarget, particle.position, new Vector3());\r\n        const correction = Vector3.scale(toAnim, iterationFollow, new Vector3());\r\n        Vector3.add(particle.position, correction, particle.position);\r\n\r\n        const particleMaxPoseOffset = this.lerp(this._maxPoseOffsetRoot, this._maxPoseOffsetTip, t);\r\n        if (particleMaxPoseOffset > 0) {\r\n          const offset = Vector3.sub(particle.position, poseTarget, new Vector3());\r\n          const offsetLen = offset.magnitude;\r\n          if (offsetLen > particleMaxPoseOffset && offsetLen > 1e-6) {\r\n            offset.scaleBy(particleMaxPoseOffset / offsetLen);\r\n            Vector3.add(poseTarget, offset, particle.position);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private solveAngleLimits(): void {\r\n    if (this._angleLimitRoot <= 0 && this._angleLimitTip <= 0) {\r\n      return;\r\n    }\r\n    for (const chain of this._chains) {\r\n      const particles = chain.particles;\r\n      for (let i = 1; i < particles.length; i++) {\r\n        const limit = interpolateSpringValue(\r\n          this._angleLimitRoot,\r\n          this._angleLimitTip,\r\n          this._poseFollowExponent,\r\n          i,\r\n          particles.length\r\n        );\r\n        solveAngleLimit(particles[i - 1], particles[i], limit, this._solver === 'xpbd');\r\n      }\r\n    }\r\n  }\r\n\r\n  private solveCollisions(deltaTime: number, blendOverride?: number): void {\r\n    const blend = blendOverride ?? this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\r\n    const spheres: { source: SphereCollider; collider: SphereCollider }[] = [];\r\n    const capsules: { source: CapsuleCollider; collider: CapsuleCollider }[] = [];\r\n    const planes: { source: PlaneCollider; collider: PlaneCollider }[] = [];\r\n    const boxes: { source: BoxCollider; collider: BoxCollider }[] = [];\r\n\r\n    for (const collider of this._colliders) {\r\n      const colliderNode = this.resolveRuntimeNode(collider.node);\r\n      if (colliderNode) {\r\n        updateColliderFromNode(collider, colliderNode);\r\n      }\r\n      if (!collider.enabled) {\r\n        continue;\r\n      }\r\n      switch (collider.type) {\r\n        case 'sphere': {\r\n          const source = collider as SphereCollider;\r\n          spheres.push({\r\n            source,\r\n            collider: { ...source, center: this.getSmoothedSphereCenter(source, blend) }\r\n          });\r\n          break;\r\n        }\r\n        case 'capsule': {\r\n          const source = collider as CapsuleCollider;\r\n          const endpoints = this.getSmoothedCapsuleEndpoints(source, blend);\r\n          capsules.push({\r\n            source,\r\n            collider: { ...source, start: endpoints.start, end: endpoints.end }\r\n          });\r\n          break;\r\n        }\r\n        case 'plane': {\r\n          const source = collider as PlaneCollider;\r\n          const plane = this.getSmoothedPlaneData(source, blend);\r\n          planes.push({\r\n            source,\r\n            collider: { ...source, point: plane.point, normal: plane.normal }\r\n          });\r\n          break;\r\n        }\r\n        case 'box': {\r\n          const source = collider as BoxCollider;\r\n          boxes.push({\r\n            source,\r\n            collider: { ...source, ...this.getSmoothedBoxData(source, blend) }\r\n          });\r\n          break;\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (particle.fixed) {\r\n          continue;\r\n        }\r\n        for (const collider of spheres) {\r\n          if (this._motionModel === 'kawaii') {\r\n            resolveInelasticCollision(\r\n              particle,\r\n              collider.collider,\r\n              resolveSphereCollision,\r\n              this.getInitialCollisionPenetration(\r\n                particle,\r\n                collider.source,\r\n                collider.collider,\r\n                resolveSphereCollision\r\n              )\r\n            );\r\n          } else {\r\n            resolveSphereCollision(particle.position, collider.collider, particle.collisionRadius);\r\n          }\r\n        }\r\n        for (const collider of capsules) {\r\n          if (this._motionModel === 'kawaii') {\r\n            resolveInelasticCollision(\r\n              particle,\r\n              collider.collider,\r\n              resolveCapsuleCollision,\r\n              this.getInitialCollisionPenetration(\r\n                particle,\r\n                collider.source,\r\n                collider.collider,\r\n                resolveCapsuleCollision\r\n              )\r\n            );\r\n          } else {\r\n            resolveCapsuleCollision(particle.position, collider.collider, particle.collisionRadius);\r\n          }\r\n        }\r\n        for (const collider of planes) {\r\n          if (this._motionModel === 'kawaii') {\r\n            resolveInelasticCollision(\r\n              particle,\r\n              collider.collider,\r\n              resolvePlaneCollision,\r\n              this.getInitialCollisionPenetration(\r\n                particle,\r\n                collider.source,\r\n                collider.collider,\r\n                resolvePlaneCollision\r\n              )\r\n            );\r\n          } else {\r\n            resolvePlaneCollision(particle.position, collider.collider, particle.collisionRadius);\r\n          }\r\n        }\r\n        for (const collider of boxes) {\r\n          if (this._motionModel === 'kawaii') {\r\n            resolveInelasticCollision(\r\n              particle,\r\n              collider.collider,\r\n              resolveBoxCollision,\r\n              this.getInitialCollisionPenetration(\r\n                particle,\r\n                collider.source,\r\n                collider.collider,\r\n                resolveBoxCollision\r\n              )\r\n            );\r\n          } else {\r\n            resolveBoxCollision(particle.position, collider.collider, particle.collisionRadius);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\r\n    const fixedParticles: any[] = [];\r\n    const velocities: Vector3[] = [];\r\n    const drivenNodes = new Set<SceneNode>();\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        const node = this.resolveRuntimeNode(particle.node);\r\n        if (node) {\r\n          drivenNodes.add(node);\r\n        }\r\n      }\r\n    }\r\n\r\n    for (const chain of this._chains) {\r\n      for (const particle of chain.particles) {\r\n        if (!particle.fixed || !this.isExternalInertialAnchor(particle, drivenNodes)) {\r\n          continue;\r\n        }\r\n        const velocity = Vector3.sub(particle.position, particle.lastFramePosition, new Vector3());\r\n        velocity.scaleBy(1.0 / dt);\r\n        if (velocity.magnitudeSq > 0.001) {\r\n          fixedParticles.push(particle);\r\n          velocities.push(velocity);\r\n        }\r\n      }\r\n    }\r\n\r\n    if (fixedParticles.length === 0) {\r\n      return { center: new Vector3(0, 0, 0), omega: new Vector3(0, 0, 0) };\r\n    }\r\n\r\n    let center: Vector3;\r\n    if (fixedParticles.length === 1) {\r\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\r\n    } else {\r\n      center = new Vector3(0, 0, 0);\r\n      for (const particle of fixedParticles) {\r\n        Vector3.add(center, particle.position, center);\r\n      }\r\n      center.scaleBy(1.0 / fixedParticles.length);\r\n    }\r\n\r\n    let sumOmega = new Vector3(0, 0, 0);\r\n    let count = 0;\r\n    for (let i = 0; i < fixedParticles.length; i++) {\r\n      const r = Vector3.sub(fixedParticles[i].position, center, new Vector3());\r\n      const v = velocities[i];\r\n      const rLengthSq = r.magnitudeSq;\r\n      if (rLengthSq > 0.0001) {\r\n        const omega = Vector3.cross(r, v, new Vector3());\r\n        omega.scaleBy(1.0 / rLengthSq);\r\n        Vector3.add(sumOmega, omega, sumOmega);\r\n        count++;\r\n      }\r\n    }\r\n\r\n    if (count > 0) {\r\n      sumOmega.scaleBy(1.0 / count);\r\n    }\r\n    return { center, omega: sumOmega };\r\n  }\r\n\r\n  private estimateRotationCenterFromHistory(particle: any, currentVelocity: Vector3): Vector3 {\r\n    const history = particle.positionHistory;\r\n    if (!history || history.length < 3) {\r\n      const speed = currentVelocity.magnitude;\r\n      if (speed < 0.001) {\r\n        return particle.position.clone();\r\n      }\r\n\r\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\r\n      const up = new Vector3(0, 1, 0);\r\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\r\n      if (perpDir.magnitudeSq < 0.0001) {\r\n        perpDir.set(new Vector3(1, 0, 0));\r\n      } else {\r\n        perpDir.inplaceNormalize();\r\n      }\r\n\r\n      return Vector3.add(\r\n        particle.position,\r\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\r\n        new Vector3()\r\n      );\r\n    }\r\n\r\n    const p1 = history[0];\r\n    const p2 = history[Math.floor(history.length / 2)];\r\n    const p3 = history[history.length - 1];\r\n    return this.calculateCircleCenter(p1, p2, p3);\r\n  }\r\n\r\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\r\n    const mid12 = Vector3.scale(Vector3.add(p1, p2, new Vector3()), 0.5, new Vector3());\r\n    const mid23 = Vector3.scale(Vector3.add(p2, p3, new Vector3()), 0.5, new Vector3());\r\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\r\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\r\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\r\n\r\n    if (normal.magnitudeSq < 0.0001) {\r\n      return Vector3.scale(\r\n        Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n        1.0 / 3.0,\r\n        new Vector3()\r\n      );\r\n    }\r\n\r\n    normal.inplaceNormalize();\r\n    const perp12 = Vector3.cross(dir12, normal, new Vector3()).inplaceNormalize();\r\n    const perp23 = Vector3.cross(dir23, normal, new Vector3()).inplaceNormalize();\r\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\r\n    const det = perp12.x * perp23.y - perp12.y * perp23.x;\r\n\r\n    if (Math.abs(det) > 0.0001) {\r\n      const t = (diff.x * perp23.y - diff.y * perp23.x) / det;\r\n      return Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\r\n    }\r\n\r\n    return Vector3.scale(\r\n      Vector3.add(Vector3.add(p1, p2, new Vector3()), p3, new Vector3()),\r\n      1.0 / 3.0,\r\n      new Vector3()\r\n    );\r\n  }\r\n\r\n  private calculateInertialAcceleration(\r\n    particle: any,\r\n    rotationCenter: Vector3,\r\n    angularVelocity: Vector3,\r\n    particleVelocity: Vector3,\r\n    centrifugalScale: number,\r\n    coriolisScale: number\r\n  ): Vector3 {\r\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\r\n    const omegaCrossR = Vector3.cross(angularVelocity, r, new Vector3());\r\n    const centrifugalAccel = Vector3.cross(angularVelocity, omegaCrossR, new Vector3());\r\n    centrifugalAccel.scaleBy(centrifugalScale);\r\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\r\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\r\n    return Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\r\n  }\r\n\r\n  private solveConstraint(chain: SpringChain, constraint: SpringConstraint): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = chain.particles[constraint.particleB];\r\n    if (this._motionModel === 'kawaii') {\r\n      solveDistanceConstraint(pA, pB, this.getRuntimeRestLength(constraint), constraint.stiffness);\r\n      return;\r\n    }\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const diff = (currentLength - this.getRuntimeRestLength(constraint)) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  private solveInterChainConstraint(constraint: InterChainConstraint): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\r\n    if (this._motionModel === 'kawaii') {\r\n      solveDistanceConstraint(pA, pB, this.getRuntimeRestLength(constraint), constraint.stiffness);\r\n      return;\r\n    }\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const diff = (currentLength - this.getRuntimeRestLength(constraint)) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n    if (!pA.fixed) {\r\n      Vector3.add(pA.position, correction, pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      Vector3.sub(pB.position, correction, pB.position);\r\n    }\r\n  }\r\n\r\n  private solveConstraintXPBD(chain: SpringChain, constraint: SpringConstraint, dt: number): void {\r\n    const pA = chain.particles[constraint.particleA];\r\n    const pB = chain.particles[constraint.particleB];\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const C = currentLength - this.getRuntimeRestLength(constraint);\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      const correction = Vector3.scale(n, -wA * deltaLambda, new Vector3());\r\n      Vector3.add(pA.position, correction, pA.position);\r\n      if (this._motionModel === 'kawaii') {\r\n        Vector3.add(\r\n          pA.prevPosition,\r\n          Vector3.scale(correction, this._constraintVelocityHistoryRetention, new Vector3()),\r\n          pA.prevPosition\r\n        );\r\n      }\r\n    }\r\n    if (!pB.fixed) {\r\n      const correction = Vector3.scale(n, wB * deltaLambda, new Vector3());\r\n      Vector3.add(pB.position, correction, pB.position);\r\n      if (this._motionModel === 'kawaii') {\r\n        Vector3.add(\r\n          pB.prevPosition,\r\n          Vector3.scale(correction, this._constraintVelocityHistoryRetention, new Vector3()),\r\n          pB.prevPosition\r\n        );\r\n      }\r\n    }\r\n  }\r\n\r\n  private solveInterChainConstraintXPBD(constraint: InterChainConstraint, dt: number): void {\r\n    const chainA = this._chains[constraint.chainAIndex];\r\n    const chainB = this._chains[constraint.chainBIndex];\r\n    const pA = chainA.particles[constraint.particleAIndex];\r\n    const pB = chainB.particles[constraint.particleBIndex];\r\n    const wA = pA.fixed ? 0 : 1.0 / pA.mass;\r\n    const wB = pB.fixed ? 0 : 1.0 / pB.mass;\r\n    const wSum = wA + wB;\r\n    if (wSum < 1e-10) {\r\n      return;\r\n    }\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    }\r\n    const C = currentLength - this.getRuntimeRestLength(constraint);\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n    if (!pA.fixed) {\r\n      const correction = Vector3.scale(n, -wA * deltaLambda, new Vector3());\r\n      Vector3.add(pA.position, correction, pA.position);\r\n      if (this._motionModel === 'kawaii') {\r\n        Vector3.add(\r\n          pA.prevPosition,\r\n          Vector3.scale(correction, this._constraintVelocityHistoryRetention, new Vector3()),\r\n          pA.prevPosition\r\n        );\r\n      }\r\n    }\r\n    if (!pB.fixed) {\r\n      const correction = Vector3.scale(n, wB * deltaLambda, new Vector3());\r\n      Vector3.add(pB.position, correction, pB.position);\r\n      if (this._motionModel === 'kawaii') {\r\n        Vector3.add(\r\n          pB.prevPosition,\r\n          Vector3.scale(correction, this._constraintVelocityHistoryRetention, new Vector3()),\r\n          pB.prevPosition\r\n        );\r\n      }\r\n    }\r\n  }\r\n\r\n  private collectChainNodeRotations(\r\n    chain: SpringChain,\r\n    weight: number,\r\n    baseNodeStates: Map<any, { position: Vector3; rotation: Quaternion }>,\r\n    desiredWorldRotations: Map<any, Quaternion>\r\n  ): void {\r\n    for (let i = 0; i < chain.particles.length - 1; i++) {\r\n      const particle = chain.particles[i];\r\n      const nextParticle = chain.particles[i + 1];\r\n      const node = this.resolveRuntimeNode(particle.node);\r\n      if (!node) {\r\n        continue;\r\n      }\r\n\r\n      const nextNode = this.resolveRuntimeNode(nextParticle.node);\r\n      if (!nextNode) {\r\n        continue;\r\n      }\r\n\r\n      let nodeState = baseNodeStates.get(node);\r\n      if (!nodeState) {\r\n        const currentBoneRotation = new Quaternion();\r\n        node.worldMatrix.decompose(null, currentBoneRotation, null);\r\n        nodeState = {\r\n          position: new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23),\r\n          rotation: currentBoneRotation\r\n        };\r\n        baseNodeStates.set(node, nodeState);\r\n      }\r\n      let nextNodeState = baseNodeStates.get(nextNode);\r\n      if (!nextNodeState) {\r\n        const nextBoneRotation = new Quaternion();\r\n        nextNode.worldMatrix.decompose(null, nextBoneRotation, null);\r\n        nextNodeState = {\r\n          position: new Vector3(nextNode.worldMatrix.m03, nextNode.worldMatrix.m13, nextNode.worldMatrix.m23),\r\n          rotation: nextBoneRotation\r\n        };\r\n        baseNodeStates.set(nextNode, nextNodeState);\r\n      }\r\n\r\n      const originalDir = Vector3.sub(nextNodeState.position, nodeState.position, new Vector3());\r\n      const currentBoneRotation = nodeState.rotation;\r\n\r\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\r\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\r\n\r\n      if (weight < 1) {\r\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      desiredWorldRotations.set(node, worldRotation);\r\n    }\r\n  }\r\n\r\n  private getNodeDepth(node: any): number {\r\n    let depth = 0;\r\n    let current = node?.parent;\r\n    while (current) {\r\n      depth++;\r\n      current = current.parent;\r\n    }\r\n    return depth;\r\n  }\r\n\r\n  private resetConstraintLambdas(): void {\r\n    for (const chain of this._chains) {\r\n      for (const constraint of chain.constraints) {\r\n        constraint.lambda = 0;\r\n      }\r\n    }\r\n    for (const constraint of this._interChainConstraints) {\r\n      constraint.lambda = 0;\r\n    }\r\n  }\r\n\r\n  private resolveRuntimeNode(node: SceneNode | null | undefined): SceneNode | null {\r\n    return node ? (this._runtimeNodeMap?.get(node) ?? node) : null;\r\n  }\r\n\r\n  private isExternalInertialAnchor(particle: SpringParticle, drivenNodes: Set<SceneNode>): boolean {\r\n    const particleNode = this.resolveRuntimeNode(particle.node);\r\n    let current = this.resolveRuntimeNode(particle.anchorNode ?? particle.node);\r\n    while (current) {\r\n      if (current !== particleNode && drivenNodes.has(current)) {\r\n        return false;\r\n      }\r\n      current = current.parent;\r\n    }\r\n    return true;\r\n  }\r\n\r\n  private getRuntimeRestLength(constraint: SpringConstraint | InterChainConstraint): number {\r\n    return this._runtimeRestLengths.get(constraint) ?? constraint.restLength;\r\n  }\r\n\r\n  private clearRuntimeCaches(): void {\r\n    this._timeAccumulator = 0;\r\n    this._smoothedParticleTargets = new WeakMap();\r\n    this._smoothedSphereCenters = new WeakMap();\r\n    this._smoothedCapsuleEndpoints = new WeakMap();\r\n    this._smoothedPlaneData = new WeakMap();\r\n    this._smoothedBoxData = new WeakMap();\r\n    this._initialCollisionPenetrationElapsed = 0;\r\n    this._initialCollisionPenetration = new WeakMap();\r\n  }\r\n\r\n  private getInitialCollisionPenetration<TCollider extends SpringCollider>(\r\n    particle: SpringParticle,\r\n    sourceCollider: SpringCollider,\r\n    collider: TCollider,\r\n    resolveCollision: (position: Vector3, collider: TCollider) => boolean\r\n  ): number {\r\n    if (!this._preserveInitialCollisionPenetration) {\r\n      return 0;\r\n    }\r\n    let particlePenetrations = this._initialCollisionPenetration.get(particle);\r\n    if (!particlePenetrations) {\r\n      particlePenetrations = new WeakMap();\r\n      this._initialCollisionPenetration.set(particle, particlePenetrations);\r\n    }\r\n    let penetration = particlePenetrations.get(sourceCollider);\r\n    if (penetration === undefined) {\r\n      penetration =\r\n        measureCollisionPenetration(\r\n          particle.animPosition,\r\n          collider,\r\n          resolveCollision,\r\n          particle.collisionRadius\r\n        ) + INITIAL_COLLISION_PENETRATION_SLOP;\r\n      particlePenetrations.set(sourceCollider, penetration);\r\n    }\r\n    return getReleasedCollisionPenetration(\r\n      penetration,\r\n      this._initialCollisionPenetrationElapsed,\r\n      this._initialCollisionPenetrationReleaseTime\r\n    );\r\n  }\r\n\r\n  private advanceInitialCollisionPenetrationRelease(deltaTime: number): void {\r\n    if (!this._preserveInitialCollisionPenetration) {\r\n      return;\r\n    }\r\n    this._initialCollisionPenetrationElapsed = Math.min(\r\n      this._initialCollisionPenetrationReleaseTime,\r\n      this._initialCollisionPenetrationElapsed + Math.max(0, deltaTime)\r\n    );\r\n  }\r\n\r\n  private lerp(a: number, b: number, t: number): number {\r\n    return a + (b - a) * t;\r\n  }\r\n\r\n  private getTemporalBlendFactor(deltaTime: number, smoothingTime: number): number {\r\n    const dt = Math.min(Math.max(Number(deltaTime) || 0, 0), MAX_ACCUMULATED_SIMULATION_TIME);\r\n    if (smoothingTime <= 0) {\r\n      return 1;\r\n    }\r\n    if (dt <= 0) {\r\n      return 0;\r\n    }\r\n    return 1 - Math.exp(-dt / smoothingTime);\r\n  }\r\n\r\n  private getSmoothedParticleTarget(target: object, current: Vector3, blend: number): Vector3 {\r\n    const cached = this._smoothedParticleTargets.get(target);\r\n    if (!cached || blend >= 1) {\r\n      const next = current.clone();\r\n      this._smoothedParticleTargets.set(target, next);\r\n      return next;\r\n    }\r\n    cached.setXYZ(\r\n      cached.x + (current.x - cached.x) * blend,\r\n      cached.y + (current.y - cached.y) * blend,\r\n      cached.z + (current.z - cached.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedSphereCenter(collider: SphereCollider, blend: number): Vector3 {\r\n    const current = collider.center?.clone() ?? new Vector3();\r\n    const cached = this._smoothedSphereCenters.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      this._smoothedSphereCenters.set(collider, current);\r\n      return current;\r\n    }\r\n    cached.setXYZ(\r\n      cached.x + (current.x - cached.x) * blend,\r\n      cached.y + (current.y - cached.y) * blend,\r\n      cached.z + (current.z - cached.z) * blend\r\n    );\r\n    return cached;\r\n  }\r\n\r\n  private getSmoothedCapsuleEndpoints(\r\n    collider: CapsuleCollider,\r\n    blend: number\r\n  ): { start: Vector3; end: Vector3 } {\r\n    const currentStart = collider.start?.clone() ?? new Vector3();\r\n    const currentEnd = collider.end?.clone() ?? new Vector3();\r\n    const cached = this._smoothedCapsuleEndpoints.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const next = { start: currentStart, end: currentEnd };\r\n      this._smoothedCapsuleEndpoints.set(collider, next);\r\n      return next;\r\n    }\r\n    cached.start.setXYZ(\r\n      cached.start.x + (currentStart.x 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package/dist/animation/spring/spring_chain.js

@@ -24,6 +24,7 @@ import { createSpringConstraint } from './spring_constraint.js';
         const mass = options?.mass ?? 1.0;
         const damping = options?.damping ?? 0.95;
         const stiffness = options?.stiffness ?? 0.8;
+        const collisionRadius = Math.max(0, Number(options?.collisionRadius) || 0);
         // Collect nodes from startNode to endNode
         const nodes = [];
         let current = startNode;
@@ -49,6 +50,7 @@ import { createSpringConstraint } from './spring_constraint.js';
             const particle = createSpringParticle(worldPos, {
                 mass,
                 damping,
+                collisionRadius,
                 fixed: i === 0,
                 node,
                 originalRotation

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

@@ -1 +1 @@
-{"version":3,"file":"spring_chain.js","sources":["../../../src/animation/spring/spring_chain.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\nimport type { SpringParticle } from './spring_particle';\r\nimport { createSpringParticle } from './spring_particle';\r\nimport type { SpringConstraint } from './spring_constraint';\r\nimport { createSpringConstraint } from './spring_constraint';\r\n\r\n/**\r\n * Manages a chain of spring particles and constraints\r\n *\r\n * @public\r\n */\r\nexport class SpringChain {\r\n  /** Array of particles in the chain */\r\n  particles: SpringParticle[];\r\n  /** Array of constraints between particles */\r\n  constraints: SpringConstraint[];\r\n\r\n  constructor() {\r\n    this.particles = [];\r\n    this.constraints = [];\r\n  }\r\n\r\n  /**\r\n   * Creates a spring chain from a bone hierarchy\r\n   * @param startNode - Root node of the bone chain\r\n   * @param endNode - End node of the bone chain (optional, if null uses all descendants)\r\n   * @param options - Additional options\r\n   * @returns A new SpringChain instance\r\n   */\r\n  static fromBoneChain(\r\n    startNode: SceneNode,\r\n    endNode: SceneNode | null = null,\r\n    options?: {\r\n      mass?: number;\r\n      damping?: number;\r\n      stiffness?: number;\r\n    }\r\n  ): SpringChain {\r\n    const chain = new SpringChain();\r\n    const mass = options?.mass ?? 1.0;\r\n    const damping = options?.damping ?? 0.95;\r\n    const stiffness = options?.stiffness ?? 0.8;\r\n\r\n    // Collect nodes from startNode to endNode\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode | null = startNode;\r\n\r\n    while (current) {\r\n      nodes.push(current);\r\n      if (current === endNode) {\r\n        break;\r\n      }\r\n\r\n      const children: SceneNode[] = current.children;\r\n      if (children.length > 0) {\r\n        current = children[0];\r\n      } else {\r\n        break;\r\n      }\r\n    }\r\n\r\n    // Create particles for each bone\r\n    for (let i = 0; i < nodes.length; i++) {\r\n      const node = nodes[i];\r\n      const worldPos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\r\n\r\n      // Get the original world rotation\r\n      const originalRotation = new Quaternion();\r\n      node.worldMatrix.decompose(null, originalRotation, null);\r\n\r\n      const particle = createSpringParticle(worldPos, {\r\n        mass,\r\n        damping,\r\n        fixed: i === 0, // First particle is fixed (anchor)\r\n        node,\r\n        originalRotation\r\n      });\r\n\r\n      const particleIndex = chain.addParticle(particle);\r\n\r\n      // Create constraint with previous particle\r\n      if (i > 0) {\r\n        const prevIndex = particleIndex - 1;\r\n        const prevParticle = chain.particles[prevIndex];\r\n        const restLength = Vector3.distance(particle.position, prevParticle.position);\r\n\r\n        chain.addConstraint(createSpringConstraint(prevIndex, particleIndex, restLength, stiffness));\r\n      }\r\n    }\r\n\r\n    return chain;\r\n  }\r\n\r\n  /**\r\n   * Adds a particle to the chain\r\n   * @param particle - The particle to add\r\n   * @returns The index of the added particle\r\n   */\r\n  addParticle(particle: SpringParticle): number {\r\n    this.particles.push(particle);\r\n    return this.particles.length - 1;\r\n  }\r\n\r\n  /**\r\n   * Adds a constraint to the chain\r\n   * @param constraint - The constraint to add\r\n   */\r\n  addConstraint(constraint: SpringConstraint): void {\r\n    this.constraints.push(constraint);\r\n  }\r\n\r\n  /**\r\n   * Adds cross constraints between particles for cloth-like behavior\r\n   * @param stiffness - Stiffness of the cross constraints\r\n   * @param skipDistance - Distance between particles to connect (default: 2)\r\n   */\r\n  addCrossConstraints(stiffness: number = 0.6, skipDistance: number = 2): void {\r\n    for (let i = 0; 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i < nodes.length; i++) {\r\n      const node = nodes[i];\r\n      const worldPos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\r\n\r\n      // Get the original world rotation\r\n      const originalRotation = new Quaternion();\r\n      node.worldMatrix.decompose(null, originalRotation, null);\r\n\r\n      const particle = createSpringParticle(worldPos, {\r\n        mass,\r\n        damping,\r\n        collisionRadius,\r\n        fixed: i === 0, // First particle is fixed (anchor)\r\n        node,\r\n        originalRotation\r\n      });\r\n\r\n      const particleIndex = chain.addParticle(particle);\r\n\r\n      // Create constraint with previous particle\r\n      if (i > 0) {\r\n        const prevIndex = particleIndex - 1;\r\n        const prevParticle = chain.particles[prevIndex];\r\n        const restLength = Vector3.distance(particle.position, prevParticle.position);\r\n\r\n        chain.addConstraint(createSpringConstraint(prevIndex, particleIndex, restLength, stiffness));\r\n      }\r\n    }\r\n\r\n    return chain;\r\n  }\r\n\r\n  /**\r\n   * Adds a particle to the chain\r\n   * @param particle - The particle to add\r\n   * @returns The index of the added particle\r\n   */\r\n  addParticle(particle: SpringParticle): number {\r\n    this.particles.push(particle);\r\n    return this.particles.length - 1;\r\n  }\r\n\r\n  /**\r\n   * Adds a constraint to the chain\r\n   * @param constraint - The constraint to add\r\n   */\r\n  addConstraint(constraint: SpringConstraint): void {\r\n    this.constraints.push(constraint);\r\n  }\r\n\r\n  /**\r\n   * Adds cross constraints between particles for cloth-like behavior\r\n   * @param stiffness - Stiffness of the cross constraints\r\n   * @param skipDistance - Distance between particles to connect (default: 2)\r\n   */\r\n  addCrossConstraints(stiffness: number = 0.6, skipDistance: number = 2): void {\r\n    for (let i = 0; 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