@zephyr3d/scene 0.9.27 → 0.10.0

package/dist/animation/spring/spring_collider.js

@@ -1,5 +1,11 @@
 import { Vector3 } from '@zephyr3d/base';
 
+const COLLISION_DISTANCE_EPSILON_SQ = 1e-12;
+function getCapsuleAxisFallbackNormal(axis, result) {
+    const reference = Math.abs(axis.z) < 0.9 ? Vector3.axisPZ() : Vector3.axisPX();
+    Vector3.sub(reference, Vector3.scale(axis, Vector3.dot(reference, axis), result), result);
+    return result.inplaceNormalize();
+}
 /**
  * Creates a sphere collider
  * @param centerOrOffset - Center position in world space, or local offset if node is provided
@@ -105,21 +111,64 @@ import { Vector3 } from '@zephyr3d/base';
         };
     }
 }
+/**
+ * Creates an oriented box collider.
+ * @param centerOrOffset - Center position in world space, or local offset if node is provided
+ * @param halfExtents - Local/world half extents of the box
+ * @param node - Optional scene node to attach to
+ *
+ * @public
+ */ function createBoxCollider(centerOrOffset, halfExtents, node) {
+    const localExtents = new Vector3(Math.max(0.0001, Math.abs(halfExtents.x)), Math.max(0.0001, Math.abs(halfExtents.y)), Math.max(0.0001, Math.abs(halfExtents.z)));
+    if (node) {
+        const worldMatrix = node.worldMatrix;
+        const center = worldMatrix.transformPointAffine(centerOrOffset, new Vector3());
+        const axes = createWorldAxes(worldMatrix);
+        const scales = getAxisScales(worldMatrix);
+        return {
+            type: 'box',
+            center,
+            halfExtents: new Vector3(localExtents.x * scales.x, localExtents.y * scales.y, localExtents.z * scales.z),
+            axes,
+            localOffset: centerOrOffset.clone(),
+            localHalfExtents: localExtents,
+            node,
+            enabled: true
+        };
+    }
+    return {
+        type: 'box',
+        center: centerOrOffset.clone(),
+        halfExtents: localExtents,
+        axes: [
+            Vector3.axisPX(),
+            Vector3.axisPY(),
+            Vector3.axisPZ()
+        ],
+        node: null,
+        enabled: true
+    };
+}
 /**
  * Resolves collision between a particle and a sphere collider
  * @returns true if collision occurred
  *
  * @public
- */ function resolveSphereCollision(particlePos, collider) {
+ */ function resolveSphereCollision(particlePos, collider, particleRadius = 0) {
     const toParticle = Vector3.sub(particlePos, collider.center, new Vector3());
     const distSq = toParticle.magnitudeSq;
-    const radiusSq = collider.radius * collider.radius;
-    if (distSq < radiusSq && distSq > 0.0001) {
+    const contactRadius = collider.radius + Math.max(0, particleRadius);
+    const radiusSq = contactRadius * contactRadius;
+    if (distSq < radiusSq) {
         // Particle is inside sphere, push it out
-        const dist = Math.sqrt(distSq);
-        const penetration = collider.radius - dist;
+        const dist = distSq > COLLISION_DISTANCE_EPSILON_SQ ? Math.sqrt(distSq) : 0;
+        const penetration = contactRadius - dist;
         // Push particle to sphere surface
-        Vector3.normalize(toParticle, toParticle);
+        if (dist > 0) {
+            toParticle.scaleBy(1 / dist);
+        } else {
+            toParticle.setXYZ(0, 1, 0);
+        }
         toParticle.scaleBy(penetration);
         Vector3.add(particlePos, toParticle, particlePos);
         return true;
@@ -131,7 +180,8 @@ import { Vector3 } from '@zephyr3d/base';
  * @returns true if collision occurred
  *
  * @public
- */ function resolveCapsuleCollision(particlePos, collider) {
+ */ function resolveCapsuleCollision(particlePos, collider, particleRadius = 0) {
+    const contactRadius = collider.radius + Math.max(0, particleRadius);
     // Find closest point on capsule axis
     const axis = Vector3.sub(collider.end, collider.start, new Vector3());
     const axisLength = axis.magnitude;
@@ -139,11 +189,15 @@ import { Vector3 } from '@zephyr3d/base';
         // Degenerate capsule, treat as sphere
         const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());
         const distSq = toParticle.magnitudeSq;
-        const radiusSq = collider.radius * collider.radius;
-        if (distSq < radiusSq && distSq > 0.0001) {
-            const dist = Math.sqrt(distSq);
-            const penetration = collider.radius - dist;
-            Vector3.normalize(toParticle, toParticle);
+        const radiusSq = contactRadius * contactRadius;
+        if (distSq < radiusSq) {
+            const dist = distSq > COLLISION_DISTANCE_EPSILON_SQ ? Math.sqrt(distSq) : 0;
+            const penetration = contactRadius - dist;
+            if (dist > 0) {
+                toParticle.scaleBy(1 / dist);
+            } else {
+                toParticle.setXYZ(0, 1, 0);
+            }
             toParticle.scaleBy(penetration);
             Vector3.add(particlePos, toParticle, particlePos);
             return true;
@@ -160,11 +214,15 @@ import { Vector3 } from '@zephyr3d/base';
     // Check distance from closest point
     const toParticleFromAxis = Vector3.sub(particlePos, closestPoint, new Vector3());
     const distSq = toParticleFromAxis.magnitudeSq;
-    const radiusSq = collider.radius * collider.radius;
-    if (distSq < radiusSq && distSq > 0.0001) {
-        const dist = Math.sqrt(distSq);
-        const penetration = collider.radius - dist;
-        Vector3.normalize(toParticleFromAxis, toParticleFromAxis);
+    const radiusSq = contactRadius * contactRadius;
+    if (distSq < radiusSq) {
+        const dist = distSq > COLLISION_DISTANCE_EPSILON_SQ ? Math.sqrt(distSq) : 0;
+        const penetration = contactRadius - dist;
+        if (dist > 0) {
+            toParticleFromAxis.scaleBy(1 / dist);
+        } else {
+            getCapsuleAxisFallbackNormal(axis, toParticleFromAxis);
+        }
         toParticleFromAxis.scaleBy(penetration);
         Vector3.add(particlePos, toParticleFromAxis, particlePos);
         return true;
@@ -176,17 +234,60 @@ import { Vector3 } from '@zephyr3d/base';
  * @returns true if collision occurred
  *
  * @public
- */ function resolvePlaneCollision(particlePos, collider) {
+ */ function resolvePlaneCollision(particlePos, collider, particleRadius = 0) {
     const toParticle = Vector3.sub(particlePos, collider.point, new Vector3());
     const distance = Vector3.dot(toParticle, collider.normal);
-    if (distance < 0) {
+    const contactDistance = Math.max(0, particleRadius);
+    if (distance < contactDistance) {
         // Particle is below plane, push it up
-        const correction = Vector3.scale(collider.normal, -distance, new Vector3());
+        const correction = Vector3.scale(collider.normal, contactDistance - distance, new Vector3());
         Vector3.add(particlePos, correction, particlePos);
         return true;
     }
     return false;
 }
+/**
+ * Resolves collision between a particle and an oriented box collider.
+ * @returns true if collision occurred
+ *
+ * @public
+ */ function resolveBoxCollision(particlePos, collider, particleRadius = 0) {
+    const delta = Vector3.sub(particlePos, collider.center, new Vector3());
+    const local = new Vector3(Vector3.dot(delta, collider.axes[0]), Vector3.dot(delta, collider.axes[1]), Vector3.dot(delta, collider.axes[2]));
+    const radius = Math.max(0, particleRadius);
+    const inside = Math.abs(local.x) <= collider.halfExtents.x && Math.abs(local.y) <= collider.halfExtents.y && Math.abs(local.z) <= collider.halfExtents.z;
+    if (!inside) {
+        if (radius <= 0) {
+            return false;
+        }
+        const closest = new Vector3(Math.max(-collider.halfExtents.x, Math.min(collider.halfExtents.x, local.x)), Math.max(-collider.halfExtents.y, Math.min(collider.halfExtents.y, local.y)), Math.max(-collider.halfExtents.z, Math.min(collider.halfExtents.z, local.z)));
+        const fromClosest = Vector3.sub(local, closest, new Vector3());
+        const distanceSq = fromClosest.magnitudeSq;
+        if (distanceSq >= radius * radius || distanceSq <= COLLISION_DISTANCE_EPSILON_SQ) {
+            return false;
+        }
+        const distance = Math.sqrt(distanceSq);
+        fromClosest.scaleBy((radius - distance) / distance);
+        Vector3.add(particlePos, Vector3.add(Vector3.scale(collider.axes[0], fromClosest.x, new Vector3()), Vector3.add(Vector3.scale(collider.axes[1], fromClosest.y, new Vector3()), Vector3.scale(collider.axes[2], fromClosest.z, new Vector3()), new Vector3()), new Vector3()), particlePos);
+        return true;
+    }
+    const penetration = new Vector3(collider.halfExtents.x - Math.abs(local.x) + radius, collider.halfExtents.y - Math.abs(local.y) + radius, collider.halfExtents.z - Math.abs(local.z) + radius);
+    let axis = 0;
+    let minPenetration = penetration.x;
+    if (penetration.y < minPenetration) {
+        axis = 1;
+        minPenetration = penetration.y;
+    }
+    if (penetration.z < minPenetration) {
+        axis = 2;
+        minPenetration = penetration.z;
+    }
+    const localAxis = axis === 0 ? local.x : axis === 1 ? local.y : local.z;
+    const sign = localAxis < 0 ? -1 : 1;
+    const correction = Vector3.scale(collider.axes[axis], minPenetration * sign, new Vector3());
+    Vector3.add(particlePos, correction, particlePos);
+    return true;
+}
 /**
  * Updates collider position from its associated node
  *
@@ -256,8 +357,45 @@ import { Vector3 } from '@zephyr3d/base';
                 }
                 break;
             }
+        case 'box':
+            {
+                const box = collider;
+                if (box.localOffset) {
+                    worldMatrix.transformPointAffine(box.localOffset, box.center);
+                } else {
+                    box.center.x = worldMatrix.m03;
+                    box.center.y = worldMatrix.m13;
+                    box.center.z = worldMatrix.m23;
+                }
+                const axes = createWorldAxes(worldMatrix);
+                box.axes[0].set(axes[0]);
+                box.axes[1].set(axes[1]);
+                box.axes[2].set(axes[2]);
+                if (box.localHalfExtents) {
+                    const scales = getAxisScales(worldMatrix);
+                    box.halfExtents.setXYZ(box.localHalfExtents.x * scales.x, box.localHalfExtents.y * scales.y, box.localHalfExtents.z * scales.z);
+                }
+                break;
+            }
     }
 }
+function createWorldAxes(worldMatrix) {
+    const x = worldMatrix.transformVectorAffine(Vector3.axisPX(), new Vector3()).inplaceNormalize();
+    const y = worldMatrix.transformVectorAffine(Vector3.axisPY(), new Vector3()).inplaceNormalize();
+    const z = worldMatrix.transformVectorAffine(Vector3.axisPZ(), new Vector3()).inplaceNormalize();
+    return [
+        x,
+        y,
+        z
+    ];
+}
+function getAxisScales(worldMatrix) {
+    return {
+        x: Math.max(1e-6, worldMatrix.transformVectorAffine(Vector3.axisPX(), new Vector3()).magnitude),
+        y: Math.max(1e-6, worldMatrix.transformVectorAffine(Vector3.axisPY(), new Vector3()).magnitude),
+        z: Math.max(1e-6, worldMatrix.transformVectorAffine(Vector3.axisPZ(), new Vector3()).magnitude)
+    };
+}
 function getUniformScale(worldMatrix) {
     const sx = worldMatrix.transformVectorAffine(Vector3.axisPX(), new Vector3()).magnitude;
     const sy = worldMatrix.transformVectorAffine(Vector3.axisPY(), new Vector3()).magnitude;
@@ -274,5 +412,5 @@ function getPerpendicularScale(worldMatrix, axisLocal) {
     return Math.max(1e-6, (su + sv) * 0.5);
 }
 
-export { createCapsuleCollider, createPlaneCollider, createSphereCollider, resolveCapsuleCollision, resolvePlaneCollision, resolveSphereCollision, updateColliderFromNode };
+export { createBoxCollider, createCapsuleCollider, createPlaneCollider, createSphereCollider, resolveBoxCollision, resolveCapsuleCollision, resolvePlaneCollision, resolveSphereCollision, updateColliderFromNode };
 //# sourceMappingURL=spring_collider.js.map

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

@@ -1 +1 @@
-{"version":3,"file":"spring_collider.js","sources":["../../../src/animation/spring/spring_collider.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\n/**\r\n * Base interface for spring collision shapes\r\n *\r\n * @public\r\n */\r\nexport interface SpringCollider {\r\n  /** Type of collider */\r\n  type: 'sphere' | 'capsule' | 'plane';\r\n  /** Associated scene node (optional, for dynamic colliders) */\r\n  node?: Nullable<SceneNode>;\r\n  /** Whether this collider is enabled */\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Sphere collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface SphereCollider extends SpringCollider {\r\n  type: 'sphere';\r\n  /** Center position in world space */\r\n  center: Vector3;\r\n  /** Radius of the sphere */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline world scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local offset from node (if node is set) */\r\n  localOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Capsule collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface CapsuleCollider extends SpringCollider {\r\n  type: 'capsule';\r\n  /** Start point of the capsule axis in world space */\r\n  start: Vector3;\r\n  /** End point of the capsule axis in world space */\r\n  end: Vector3;\r\n  /** Radius of the capsule */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline perpendicular scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local start offset from node (if node is set) */\r\n  localStartOffset?: Vector3;\r\n  /** Local end offset from node (if node is set) */\r\n  localEndOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Plane collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface PlaneCollider extends SpringCollider {\r\n  type: 'plane';\r\n  /** Point on the plane in world space */\r\n  point: Vector3;\r\n  /** Normal vector of the plane (should be normalized) */\r\n  normal: Vector3;\r\n  /** Local point offset from node (if node is set) */\r\n  localPointOffset?: Vector3;\r\n  /** Local normal direction (if node is set) */\r\n  localNormal?: Vector3;\r\n}\r\n\r\n/**\r\n * Creates a sphere collider\r\n * @param centerOrOffset - Center position in world space, or local offset if node is provided\r\n * @param radius - Radius of the sphere\r\n * @param node - Optional scene node to attach to (if provided, centerOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createSphereCollider(\r\n  centerOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): SphereCollider {\r\n  if (node) {\r\n    // If node is provided, treat centerOrOffset as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldCenter = worldMatrix.transformPointAffine(centerOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'sphere',\r\n      center: worldCenter,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getUniformScale(worldMatrix),\r\n      node,\r\n      enabled: true,\r\n      localOffset: centerOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'sphere',\r\n      center: centerOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a capsule collider\r\n * @param startOrOffset - Start point in world space, or local offset if node is provided\r\n * @param endOrOffset - End point in world space, or local offset if node is provided\r\n * @param radius - Radius of the capsule\r\n * @param node - Optional scene node to attach to (if provided, offsets are treated as local)\r\n *\r\n * @public\r\n */\r\nexport function createCapsuleCollider(\r\n  startOrOffset: Vector3,\r\n  endOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): CapsuleCollider {\r\n  if (node) {\r\n    // If node is provided, treat as local offsets\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldStart = worldMatrix.transformPointAffine(startOrOffset, new Vector3());\r\n    const worldEnd = worldMatrix.transformPointAffine(endOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'capsule',\r\n      start: worldStart,\r\n      end: worldEnd,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getPerpendicularScale(\r\n        worldMatrix,\r\n        Vector3.sub(endOrOffset, startOrOffset, new Vector3())\r\n      ),\r\n      node,\r\n      enabled: true,\r\n      localStartOffset: startOrOffset.clone(),\r\n      localEndOffset: endOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world positions\r\n    return {\r\n      type: 'capsule',\r\n      start: startOrOffset.clone(),\r\n      end: endOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a plane collider\r\n * @param pointOrOffset - Point on plane in world space, or local offset if node is provided\r\n * @param normal - Normal vector (will be normalized)\r\n * @param node - Optional scene node to attach to (if provided, pointOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createPlaneCollider(\r\n  pointOrOffset: Vector3,\r\n  normal: Vector3,\r\n  node?: SceneNode\r\n): PlaneCollider {\r\n  const normalizedNormal = new Vector3();\r\n  Vector3.normalize(normal, normalizedNormal);\r\n\r\n  if (node) {\r\n    // If node is provided, treat as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldPoint = worldMatrix.transformPointAffine(pointOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'plane',\r\n      point: worldPoint,\r\n      normal: normalizedNormal.clone(),\r\n      node,\r\n      enabled: true,\r\n      localPointOffset: pointOrOffset.clone(),\r\n      localNormal: normalizedNormal.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'plane',\r\n      point: pointOrOffset.clone(),\r\n      normal: normalizedNormal,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a sphere collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveSphereCollision(particlePos: Vector3, collider: SphereCollider): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.center, new Vector3());\r\n  const distSq = toParticle.magnitudeSq;\r\n  const radiusSq = collider.radius * collider.radius;\r\n\r\n  if (distSq < radiusSq && distSq > 0.0001) {\r\n    // Particle is inside sphere, push it out\r\n    const dist = Math.sqrt(distSq);\r\n    const penetration = collider.radius - dist;\r\n\r\n    // Push particle to sphere surface\r\n    Vector3.normalize(toParticle, toParticle);\r\n    toParticle.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticle, particlePos);\r\n\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a capsule collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveCapsuleCollision(particlePos: Vector3, collider: CapsuleCollider): boolean {\r\n  // Find closest point on capsule axis\r\n  const axis = Vector3.sub(collider.end, collider.start, new Vector3());\r\n  const axisLength = axis.magnitude;\r\n\r\n  if (axisLength < 0.0001) {\r\n    // Degenerate capsule, treat as sphere\r\n    const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n    const distSq = toParticle.magnitudeSq;\r\n    const radiusSq = collider.radius * collider.radius;\r\n\r\n    if (distSq < radiusSq && distSq > 0.0001) {\r\n      const dist = Math.sqrt(distSq);\r\n      const penetration = collider.radius - dist;\r\n      Vector3.normalize(toParticle, toParticle);\r\n      toParticle.scaleBy(penetration);\r\n      Vector3.add(particlePos, toParticle, particlePos);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  Vector3.normalize(axis, axis);\r\n\r\n  const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n  const projection = Vector3.dot(toParticle, axis);\r\n\r\n  // Clamp projection to capsule length\r\n  const t = Math.max(0, Math.min(axisLength, projection));\r\n\r\n  // Closest point on capsule axis\r\n  const closestPoint = Vector3.add(collider.start, Vector3.scale(axis, t, new Vector3()), new Vector3());\r\n\r\n  // Check distance from closest point\r\n  const toParticleFromAxis = Vector3.sub(particlePos, closestPoint, new Vector3());\r\n  const distSq = toParticleFromAxis.magnitudeSq;\r\n  const radiusSq = collider.radius * collider.radius;\r\n\r\n  if (distSq < radiusSq && distSq > 0.0001) {\r\n    const dist = Math.sqrt(distSq);\r\n    const penetration = collider.radius - dist;\r\n    Vector3.normalize(toParticleFromAxis, toParticleFromAxis);\r\n    toParticleFromAxis.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticleFromAxis, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a plane collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolvePlaneCollision(particlePos: Vector3, collider: PlaneCollider): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.point, new Vector3());\r\n  const distance = Vector3.dot(toParticle, collider.normal);\r\n\r\n  if (distance < 0) {\r\n    // Particle is below plane, push it up\r\n    const correction = Vector3.scale(collider.normal, -distance, new Vector3());\r\n    Vector3.add(particlePos, correction, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Updates collider position from its associated node\r\n *\r\n * @public\r\n */\r\nexport function updateColliderFromNode(collider: SpringCollider, runtimeNode?: Nullable<SceneNode>): void {\r\n  const node = runtimeNode ?? collider.node;\r\n  if (!node || !collider.enabled) {\r\n    return;\r\n  }\r\n\r\n  const worldMatrix = node.worldMatrix;\r\n\r\n  switch (collider.type) {\r\n    case 'sphere': {\r\n      const sphere = collider as SphereCollider;\r\n      if (sphere.localRadius !== undefined) {\r\n        const currentScale = getUniformScale(worldMatrix);\r\n        const refScale = Math.max(1e-6, sphere.localRadiusScaleRef ?? 1);\r\n        sphere.radius = sphere.localRadius * (currentScale / refScale);\r\n      }\r\n      if (sphere.localOffset) {\r\n        // Transform local offset to world space\r\n        worldMatrix.transformPointAffine(sphere.localOffset, sphere.center);\r\n      } else {\r\n        // No local offset, just use node position\r\n        sphere.center.x = worldMatrix.m03;\r\n        sphere.center.y = worldMatrix.m13;\r\n        sphere.center.z = worldMatrix.m23;\r\n      }\r\n      break;\r\n    }\r\n\r\n    case 'capsule': {\r\n      const capsule = collider as CapsuleCollider;\r\n      if (capsule.localRadius !== undefined) {\r\n        const axisLocal =\r\n          capsule.localStartOffset && capsule.localEndOffset\r\n            ? 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+{"version":3,"file":"spring_collider.js","sources":["../../../src/animation/spring/spring_collider.ts"],"sourcesContent":["import type { Nullable } from '@zephyr3d/base';\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene/scene_node';\r\n\r\nconst COLLISION_DISTANCE_EPSILON_SQ = 1e-12;\r\n\r\nfunction getCapsuleAxisFallbackNormal(axis: Vector3, result: Vector3): Vector3 {\r\n  const reference = Math.abs(axis.z) < 0.9 ? Vector3.axisPZ() : Vector3.axisPX();\r\n  Vector3.sub(reference, Vector3.scale(axis, Vector3.dot(reference, axis), result), result);\r\n  return result.inplaceNormalize();\r\n}\r\n\r\n/**\r\n * Base interface for spring collision shapes\r\n *\r\n * @public\r\n */\r\nexport interface SpringCollider {\r\n  /** Type of collider */\r\n  type: 'sphere' | 'capsule' | 'plane' | 'box';\r\n  /** Associated scene node (optional, for dynamic colliders) */\r\n  node?: Nullable<SceneNode>;\r\n  /** Whether this collider is enabled */\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Sphere collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface SphereCollider extends SpringCollider {\r\n  type: 'sphere';\r\n  /** Center position in world space */\r\n  center: Vector3;\r\n  /** Radius of the sphere */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline world scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local offset from node (if node is set) */\r\n  localOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Capsule collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface CapsuleCollider extends SpringCollider {\r\n  type: 'capsule';\r\n  /** Start point of the capsule axis in world space */\r\n  start: Vector3;\r\n  /** End point of the capsule axis in world space */\r\n  end: Vector3;\r\n  /** Radius of the capsule */\r\n  radius: number;\r\n  /** Authoring-space radius before node scaling (if node is set) */\r\n  localRadius?: number;\r\n  /** Baseline perpendicular scale captured at creation for backward compatibility */\r\n  localRadiusScaleRef?: number;\r\n  /** Local start offset from node (if node is set) */\r\n  localStartOffset?: Vector3;\r\n  /** Local end offset from node (if node is set) */\r\n  localEndOffset?: Vector3;\r\n}\r\n\r\n/**\r\n * Plane collider for spring collision detection\r\n *\r\n * @public\r\n */\r\nexport interface PlaneCollider extends SpringCollider {\r\n  type: 'plane';\r\n  /** Point on the plane in world space */\r\n  point: Vector3;\r\n  /** Normal vector of the plane (should be normalized) */\r\n  normal: Vector3;\r\n  /** Local point offset from node (if node is set) */\r\n  localPointOffset?: Vector3;\r\n  /** Local normal direction (if node is set) */\r\n  localNormal?: Vector3;\r\n}\r\n\r\n/**\r\n * Oriented box collider for spring collision detection.\r\n *\r\n * The three axes are normalized world-space directions and halfExtents are\r\n * measured along the corresponding axes.\r\n *\r\n * @public\r\n */\r\nexport interface BoxCollider extends SpringCollider {\r\n  type: 'box';\r\n  /** Center position in world space */\r\n  center: Vector3;\r\n  /** World-space half extents along each local axis */\r\n  halfExtents: Vector3;\r\n  /** Normalized world-space local X/Y/Z axes */\r\n  axes: [Vector3, Vector3, Vector3];\r\n  /** Local center offset from node */\r\n  localOffset?: Vector3;\r\n  /** Authoring-space half extents before node scaling */\r\n  localHalfExtents?: Vector3;\r\n}\r\n\r\n/**\r\n * Creates a sphere collider\r\n * @param centerOrOffset - Center position in world space, or local offset if node is provided\r\n * @param radius - Radius of the sphere\r\n * @param node - Optional scene node to attach to (if provided, centerOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createSphereCollider(\r\n  centerOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): SphereCollider {\r\n  if (node) {\r\n    // If node is provided, treat centerOrOffset as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldCenter = worldMatrix.transformPointAffine(centerOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'sphere',\r\n      center: worldCenter,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getUniformScale(worldMatrix),\r\n      node,\r\n      enabled: true,\r\n      localOffset: centerOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'sphere',\r\n      center: centerOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a capsule collider\r\n * @param startOrOffset - Start point in world space, or local offset if node is provided\r\n * @param endOrOffset - End point in world space, or local offset if node is provided\r\n * @param radius - Radius of the capsule\r\n * @param node - Optional scene node to attach to (if provided, offsets are treated as local)\r\n *\r\n * @public\r\n */\r\nexport function createCapsuleCollider(\r\n  startOrOffset: Vector3,\r\n  endOrOffset: Vector3,\r\n  radius: number,\r\n  node?: SceneNode\r\n): CapsuleCollider {\r\n  if (node) {\r\n    // If node is provided, treat as local offsets\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldStart = worldMatrix.transformPointAffine(startOrOffset, new Vector3());\r\n    const worldEnd = worldMatrix.transformPointAffine(endOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'capsule',\r\n      start: worldStart,\r\n      end: worldEnd,\r\n      radius,\r\n      localRadius: radius,\r\n      localRadiusScaleRef: getPerpendicularScale(\r\n        worldMatrix,\r\n        Vector3.sub(endOrOffset, startOrOffset, new Vector3())\r\n      ),\r\n      node,\r\n      enabled: true,\r\n      localStartOffset: startOrOffset.clone(),\r\n      localEndOffset: endOrOffset.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world positions\r\n    return {\r\n      type: 'capsule',\r\n      start: startOrOffset.clone(),\r\n      end: endOrOffset.clone(),\r\n      radius,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates a plane collider\r\n * @param pointOrOffset - Point on plane in world space, or local offset if node is provided\r\n * @param normal - Normal vector (will be normalized)\r\n * @param node - Optional scene node to attach to (if provided, pointOrOffset is treated as local offset)\r\n *\r\n * @public\r\n */\r\nexport function createPlaneCollider(\r\n  pointOrOffset: Vector3,\r\n  normal: Vector3,\r\n  node?: SceneNode\r\n): PlaneCollider {\r\n  const normalizedNormal = new Vector3();\r\n  Vector3.normalize(normal, normalizedNormal);\r\n\r\n  if (node) {\r\n    // If node is provided, treat as local offset\r\n    const worldMatrix = node.worldMatrix;\r\n    const worldPoint = worldMatrix.transformPointAffine(pointOrOffset, new Vector3());\r\n\r\n    return {\r\n      type: 'plane',\r\n      point: worldPoint,\r\n      normal: normalizedNormal.clone(),\r\n      node,\r\n      enabled: true,\r\n      localPointOffset: pointOrOffset.clone(),\r\n      localNormal: normalizedNormal.clone()\r\n    };\r\n  } else {\r\n    // No node, use as world position\r\n    return {\r\n      type: 'plane',\r\n      point: pointOrOffset.clone(),\r\n      normal: normalizedNormal,\r\n      node: null,\r\n      enabled: true\r\n    };\r\n  }\r\n}\r\n\r\n/**\r\n * Creates an oriented box collider.\r\n * @param centerOrOffset - Center position in world space, or local offset if node is provided\r\n * @param halfExtents - Local/world half extents of the box\r\n * @param node - Optional scene node to attach to\r\n *\r\n * @public\r\n */\r\nexport function createBoxCollider(\r\n  centerOrOffset: Vector3,\r\n  halfExtents: Vector3,\r\n  node?: SceneNode\r\n): BoxCollider {\r\n  const localExtents = new Vector3(\r\n    Math.max(0.0001, Math.abs(halfExtents.x)),\r\n    Math.max(0.0001, Math.abs(halfExtents.y)),\r\n    Math.max(0.0001, Math.abs(halfExtents.z))\r\n  );\r\n  if (node) {\r\n    const worldMatrix = node.worldMatrix;\r\n    const center = worldMatrix.transformPointAffine(centerOrOffset, new Vector3());\r\n    const axes = createWorldAxes(worldMatrix);\r\n    const scales = getAxisScales(worldMatrix);\r\n    return {\r\n      type: 'box',\r\n      center,\r\n      halfExtents: new Vector3(\r\n        localExtents.x * scales.x,\r\n        localExtents.y * scales.y,\r\n        localExtents.z * scales.z\r\n      ),\r\n      axes,\r\n      localOffset: centerOrOffset.clone(),\r\n      localHalfExtents: localExtents,\r\n      node,\r\n      enabled: true\r\n    };\r\n  }\r\n  return {\r\n    type: 'box',\r\n    center: centerOrOffset.clone(),\r\n    halfExtents: localExtents,\r\n    axes: [Vector3.axisPX(), Vector3.axisPY(), Vector3.axisPZ()],\r\n    node: null,\r\n    enabled: true\r\n  };\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a sphere collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveSphereCollision(\r\n  particlePos: Vector3,\r\n  collider: SphereCollider,\r\n  particleRadius: number = 0\r\n): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.center, new Vector3());\r\n  const distSq = toParticle.magnitudeSq;\r\n  const contactRadius = collider.radius + Math.max(0, particleRadius);\r\n  const radiusSq = contactRadius * contactRadius;\r\n\r\n  if (distSq < radiusSq) {\r\n    // Particle is inside sphere, push it out\r\n    const dist = distSq > COLLISION_DISTANCE_EPSILON_SQ ? Math.sqrt(distSq) : 0;\r\n    const penetration = contactRadius - dist;\r\n\r\n    // Push particle to sphere surface\r\n    if (dist > 0) {\r\n      toParticle.scaleBy(1 / dist);\r\n    } else {\r\n      toParticle.setXYZ(0, 1, 0);\r\n    }\r\n    toParticle.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticle, particlePos);\r\n\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a capsule collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveCapsuleCollision(\r\n  particlePos: Vector3,\r\n  collider: CapsuleCollider,\r\n  particleRadius: number = 0\r\n): boolean {\r\n  const contactRadius = collider.radius + Math.max(0, particleRadius);\r\n  // Find closest point on capsule axis\r\n  const axis = Vector3.sub(collider.end, collider.start, new Vector3());\r\n  const axisLength = axis.magnitude;\r\n\r\n  if (axisLength < 0.0001) {\r\n    // Degenerate capsule, treat as sphere\r\n    const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n    const distSq = toParticle.magnitudeSq;\r\n    const radiusSq = contactRadius * contactRadius;\r\n\r\n    if (distSq < radiusSq) {\r\n      const dist = distSq > COLLISION_DISTANCE_EPSILON_SQ ? Math.sqrt(distSq) : 0;\r\n      const penetration = contactRadius - dist;\r\n      if (dist > 0) {\r\n        toParticle.scaleBy(1 / dist);\r\n      } else {\r\n        toParticle.setXYZ(0, 1, 0);\r\n      }\r\n      toParticle.scaleBy(penetration);\r\n      Vector3.add(particlePos, toParticle, particlePos);\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  Vector3.normalize(axis, axis);\r\n\r\n  const toParticle = Vector3.sub(particlePos, collider.start, new Vector3());\r\n  const projection = Vector3.dot(toParticle, axis);\r\n\r\n  // Clamp projection to capsule length\r\n  const t = Math.max(0, Math.min(axisLength, projection));\r\n\r\n  // Closest point on capsule axis\r\n  const closestPoint = Vector3.add(collider.start, Vector3.scale(axis, t, new Vector3()), new Vector3());\r\n\r\n  // Check distance from closest point\r\n  const toParticleFromAxis = Vector3.sub(particlePos, closestPoint, new Vector3());\r\n  const distSq = toParticleFromAxis.magnitudeSq;\r\n  const radiusSq = contactRadius * contactRadius;\r\n\r\n  if (distSq < radiusSq) {\r\n    const dist = distSq > COLLISION_DISTANCE_EPSILON_SQ ? Math.sqrt(distSq) : 0;\r\n    const penetration = contactRadius - dist;\r\n    if (dist > 0) {\r\n      toParticleFromAxis.scaleBy(1 / dist);\r\n    } else {\r\n      getCapsuleAxisFallbackNormal(axis, toParticleFromAxis);\r\n    }\r\n    toParticleFromAxis.scaleBy(penetration);\r\n    Vector3.add(particlePos, toParticleFromAxis, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and a plane collider\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolvePlaneCollision(\r\n  particlePos: Vector3,\r\n  collider: PlaneCollider,\r\n  particleRadius: number = 0\r\n): boolean {\r\n  const toParticle = Vector3.sub(particlePos, collider.point, new Vector3());\r\n  const distance = Vector3.dot(toParticle, collider.normal);\r\n  const contactDistance = Math.max(0, particleRadius);\r\n\r\n  if (distance < contactDistance) {\r\n    // Particle is below plane, push it up\r\n    const correction = Vector3.scale(collider.normal, contactDistance - distance, new Vector3());\r\n    Vector3.add(particlePos, correction, particlePos);\r\n    return true;\r\n  }\r\n\r\n  return false;\r\n}\r\n\r\n/**\r\n * Resolves collision between a particle and an oriented box collider.\r\n * @returns true if collision occurred\r\n *\r\n * @public\r\n */\r\nexport function resolveBoxCollision(\r\n  particlePos: Vector3,\r\n  collider: BoxCollider,\r\n  particleRadius: number = 0\r\n): boolean {\r\n  const delta = Vector3.sub(particlePos, collider.center, new Vector3());\r\n  const local = new Vector3(\r\n    Vector3.dot(delta, collider.axes[0]),\r\n    Vector3.dot(delta, collider.axes[1]),\r\n    Vector3.dot(delta, collider.axes[2])\r\n  );\r\n  const radius = Math.max(0, particleRadius);\r\n  const inside =\r\n    Math.abs(local.x) <= collider.halfExtents.x &&\r\n    Math.abs(local.y) <= collider.halfExtents.y &&\r\n    Math.abs(local.z) <= collider.halfExtents.z;\r\n  if (!inside) {\r\n    if (radius <= 0) {\r\n      return false;\r\n    }\r\n    const closest = new Vector3(\r\n      Math.max(-collider.halfExtents.x, Math.min(collider.halfExtents.x, local.x)),\r\n      Math.max(-collider.halfExtents.y, Math.min(collider.halfExtents.y, local.y)),\r\n      Math.max(-collider.halfExtents.z, Math.min(collider.halfExtents.z, local.z))\r\n    );\r\n    const fromClosest = Vector3.sub(local, closest, new Vector3());\r\n    const distanceSq = fromClosest.magnitudeSq;\r\n    if (distanceSq >= radius * radius || distanceSq <= COLLISION_DISTANCE_EPSILON_SQ) {\r\n      return false;\r\n    }\r\n    const distance = Math.sqrt(distanceSq);\r\n    fromClosest.scaleBy((radius - distance) / distance);\r\n    Vector3.add(\r\n      particlePos,\r\n      Vector3.add(\r\n        Vector3.scale(collider.axes[0], fromClosest.x, new Vector3()),\r\n        Vector3.add(\r\n          Vector3.scale(collider.axes[1], fromClosest.y, new Vector3()),\r\n          Vector3.scale(collider.axes[2], fromClosest.z, new Vector3()),\r\n          new Vector3()\r\n        ),\r\n        new Vector3()\r\n      ),\r\n      particlePos\r\n    );\r\n    return true;\r\n  }\r\n  const penetration = new Vector3(\r\n    collider.halfExtents.x - Math.abs(local.x) + radius,\r\n    collider.halfExtents.y - Math.abs(local.y) + radius,\r\n    collider.halfExtents.z - Math.abs(local.z) + radius\r\n  );\r\n  let axis = 0;\r\n  let minPenetration = penetration.x;\r\n  if (penetration.y < minPenetration) {\r\n    axis = 1;\r\n    minPenetration = penetration.y;\r\n  }\r\n  if (penetration.z < minPenetration) {\r\n    axis = 2;\r\n    minPenetration = penetration.z;\r\n  }\r\n  const localAxis = axis === 0 ? local.x : axis === 1 ? local.y : local.z;\r\n  const sign = localAxis < 0 ? -1 : 1;\r\n  const correction = Vector3.scale(collider.axes[axis], minPenetration * sign, new Vector3());\r\n  Vector3.add(particlePos, correction, particlePos);\r\n  return true;\r\n}\r\n\r\n/**\r\n * Updates collider position from its associated node\r\n *\r\n * @public\r\n */\r\nexport function updateColliderFromNode(collider: SpringCollider, runtimeNode?: Nullable<SceneNode>): void {\r\n  const node = runtimeNode ?? collider.node;\r\n  if (!node || !collider.enabled) {\r\n    return;\r\n  }\r\n\r\n  const worldMatrix = node.worldMatrix;\r\n\r\n  switch (collider.type) {\r\n    case 'sphere': {\r\n      const sphere = collider as SphereCollider;\r\n      if (sphere.localRadius !== undefined) {\r\n        const currentScale = getUniformScale(worldMatrix);\r\n        const refScale = Math.max(1e-6, sphere.localRadiusScaleRef ?? 1);\r\n        sphere.radius = sphere.localRadius * (currentScale / refScale);\r\n      }\r\n      if (sphere.localOffset) {\r\n        // Transform local offset to world space\r\n        worldMatrix.transformPointAffine(sphere.localOffset, sphere.center);\r\n      } else {\r\n        // No local offset, just use node position\r\n        sphere.center.x = worldMatrix.m03;\r\n        sphere.center.y = worldMatrix.m13;\r\n        sphere.center.z = worldMatrix.m23;\r\n      }\r\n      break;\r\n    }\r\n\r\n    case 'capsule': {\r\n      const capsule = collider as CapsuleCollider;\r\n      if (capsule.localRadius !== undefined) {\r\n        const axisLocal =\r\n          capsule.localStartOffset && capsule.localEndOffset\r\n            ? Vector3.sub(capsule.localEndOffset, capsule.localStartOffset, new Vector3())\r\n            : Vector3.axisPY();\r\n        const currentScale = getPerpendicularScale(worldMatrix, axisLocal);\r\n        const refScale = Math.max(1e-6, capsule.localRadiusScaleRef ?? 1);\r\n        capsule.radius = capsule.localRadius * (currentScale / refScale);\r\n      }\r\n      if (capsule.localStartOffset && capsule.localEndOffset) {\r\n        // Transform local offsets to world space\r\n        worldMatrix.transformPointAffine(capsule.localStartOffset, capsule.start);\r\n        worldMatrix.transformPointAffine(capsule.localEndOffset, capsule.end);\r\n      } else {\r\n        // No local offsets, just use node position for start\r\n        capsule.start.x = worldMatrix.m03;\r\n        capsule.start.y = worldMatrix.m13;\r\n        capsule.start.z = worldMatrix.m23;\r\n      }\r\n      break;\r\n    }\r\n\r\n    case 'plane': {\r\n      const plane = collider as PlaneCollider;\r\n      if (plane.localPointOffset) {\r\n        // Transform local offset to world space\r\n        worldMatrix.transformPointAffine(plane.localPointOffset, plane.point);\r\n      } else {\r\n        // No local offset, just use node position\r\n        plane.point.x = worldMatrix.m03;\r\n        plane.point.y = worldMatrix.m13;\r\n        plane.point.z = worldMatrix.m23;\r\n      }\r\n\r\n      if (plane.localNormal) {\r\n        // Transform local normal to world space (rotation only)\r\n        worldMatrix.transformVectorAffine(plane.localNormal, plane.normal).inplaceNormalize();\r\n      }\r\n      break;\r\n    }\r\n\r\n    case 'box': {\r\n      const box = collider as BoxCollider;\r\n      if (box.localOffset) {\r\n        worldMatrix.transformPointAffine(box.localOffset, box.center);\r\n      } else {\r\n        box.center.x = worldMatrix.m03;\r\n        box.center.y = worldMatrix.m13;\r\n        box.center.z = worldMatrix.m23;\r\n      }\r\n      const axes = createWorldAxes(worldMatrix);\r\n      box.axes[0].set(axes[0]);\r\n      box.axes[1].set(axes[1]);\r\n      box.axes[2].set(axes[2]);\r\n      if (box.localHalfExtents) {\r\n        const scales = getAxisScales(worldMatrix);\r\n        box.halfExtents.setXYZ(\r\n          box.localHalfExtents.x * scales.x,\r\n          box.localHalfExtents.y * scales.y,\r\n          box.localHalfExtents.z * scales.z\r\n        );\r\n      }\r\n      break;\r\n    }\r\n  }\r\n}\r\n\r\nfunction createWorldAxes(worldMatrix: any): [Vector3, Vector3, Vector3] {\r\n  const x = worldMatrix.transformVectorAffine(Vector3.axisPX(), new Vector3()).inplaceNormalize();\r\n  const y = worldMatrix.transformVectorAffine(Vector3.axisPY(), new Vector3()).inplaceNormalize();\r\n  const z = worldMatrix.transformVectorAffine(Vector3.axisPZ(), new Vector3()).inplaceNormalize();\r\n  return [x, y, z];\r\n}\r\n\r\nfunction getAxisScales(worldMatrix: any) {\r\n  return {\r\n    x: Math.max(1e-6, worldMatrix.transformVectorAffine(Vector3.axisPX(), new Vector3()).magnitude),\r\n    y: Math.max(1e-6, worldMatrix.transformVectorAffine(Vector3.axisPY(), new Vector3()).magnitude),\r\n    z: Math.max(1e-6, worldMatrix.transformVectorAffine(Vector3.axisPZ(), new Vector3()).magnitude)\r\n  };\r\n}\r\n\r\nfunction getUniformScale(worldMatrix: any): number {\r\n  const sx = worldMatrix.transformVectorAffine(Vector3.axisPX(), new Vector3()).magnitude;\r\n  const sy = worldMatrix.transformVectorAffine(Vector3.axisPY(), new Vector3()).magnitude;\r\n  const sz = worldMatrix.transformVectorAffine(Vector3.axisPZ(), new Vector3()).magnitude;\r\n  return Math.max(1e-6, (sx + sy + sz) / 3);\r\n}\r\n\r\nfunction getPerpendicularScale(worldMatrix: any, axisLocal: Vector3): number {\r\n  const axis = axisLocal.magnitudeSq > 1e-8 ? axisLocal.clone().inplaceNormalize() : Vector3.axisPY();\r\n  const helper = Math.abs(axis.y) < 0.99 ? Vector3.axisPY() : Vector3.axisPX();\r\n  const u = Vector3.cross(axis, helper, new Vector3()).inplaceNormalize();\r\n  const v = Vector3.cross(axis, u, new Vector3()).inplaceNormalize();\r\n  const su = worldMatrix.transformVectorAffine(u, new Vector3()).magnitude;\r\n  const sv = worldMatrix.transformVectorAffine(v, new Vector3()).magnitude;\r\n  return Math.max(1e-6, (su + sv) * 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package/dist/animation/spring/spring_particle.js

@@ -11,6 +11,7 @@
         originalRotation: options?.originalRotation?.clone() ?? null,
         mass: options?.mass ?? 1.0,
         damping: options?.damping ?? 0.95,
+        collisionRadius: Math.max(0, Number(options?.collisionRadius) || 0),
         fixed: options?.fixed ?? false,
         node: options?.node ?? null,
         anchorNode: options?.anchorNode ?? null,

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

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

package/dist/animation/spring/spring_solver.js

@@ -0,0 +1,173 @@
+import { Vector3, Quaternion } from '@zephyr3d/base';
+
+const EPSILON = 1e-6;
+const INITIAL_COLLISION_PENETRATION_SLOP = 1e-4;
+const DEFAULT_INITIAL_COLLISION_PENETRATION_RELEASE_TIME = 0.25;
+function clampSpringRatio(value) {
+    return Math.max(0, Math.min(1, Number(value) || 0));
+}
+function interpolateSpringValue(root, tip, exponent, index, count) {
+    const t = Math.pow(index / Math.max(1, count - 1), Math.max(0.1, exponent));
+    return root + (tip - root) * t;
+}
+/**
+ * Converts a user-facing per-step strength into a strength that can be applied
+ * repeatedly without changing the effective response.
+ */ function getIterationStrength(strength, iterations) {
+    const value = clampSpringRatio(strength);
+    return iterations > 1 ? 1 - Math.pow(1 - value, 1 / iterations) : value;
+}
+/** Smoothly releases startup collider overlap so particles reach the real surface after `duration`. */ function getReleasedCollisionPenetration(initialPenetration, elapsed, duration) {
+    if (initialPenetration <= 0 || duration <= 0) {
+        return 0;
+    }
+    const t = Math.max(0, Math.min(1, elapsed / duration));
+    const progress = t * t * (3 - 2 * t);
+    return initialPenetration * (1 - progress);
+}
+/** Returns the Kawaii-style pose target relative to the simulated parent. */ function getParentRelativePoseTarget(particle, parent, result = new Vector3()) {
+    if (!parent) {
+        result.set(particle.animPosition);
+        return result;
+    }
+    Vector3.sub(particle.animPosition, parent.animPosition, result);
+    return Vector3.add(parent.position, result, result);
+}
+/** Builds a pose-follow direction and falloff measured from the nearest fixed particle. */ function getSpringPoseTopology(particles) {
+    const fixedIndices = [];
+    for(let i = 0; i < particles.length; i++){
+        if (particles[i].fixed) {
+            fixedIndices.push(i);
+        }
+    }
+    if (fixedIndices.length === 0) {
+        const lastIndex = Math.max(1, particles.length - 1);
+        return particles.map((_, index)=>({
+                parent: index > 0 ? particles[index - 1] : null,
+                nearestAnchor: null,
+                normalizedDistance: index / lastIndex
+            }));
+    }
+    const nearestFixedIndices = new Array(particles.length);
+    const distances = new Array(particles.length);
+    let maxDistance = 1;
+    for(let i = 0; i < particles.length; i++){
+        let nearestFixedIndex = fixedIndices[0];
+        let nearestDistance = Math.abs(i - nearestFixedIndex);
+        for(let j = 1; j < fixedIndices.length; j++){
+            const distance = Math.abs(i - fixedIndices[j]);
+            if (distance < nearestDistance) {
+                nearestFixedIndex = fixedIndices[j];
+                nearestDistance = distance;
+            }
+        }
+        nearestFixedIndices[i] = nearestFixedIndex;
+        distances[i] = nearestDistance;
+        maxDistance = Math.max(maxDistance, nearestDistance);
+    }
+    return particles.map((_, index)=>{
+        const nearestFixedIndex = nearestFixedIndices[index];
+        return {
+            parent: index > 0 ? particles[index - 1] : null,
+            nearestAnchor: particles[nearestFixedIndex],
+            normalizedDistance: distances[index] / maxDistance
+        };
+    });
+}
+/** Returns the Kawaii target, blending hierarchy shape with the nearest fixed anchor. */ function getKawaiiPoseTarget(particle, topology, result = new Vector3()) {
+    getParentRelativePoseTarget(particle, topology.parent, result);
+    if (!topology.nearestAnchor || topology.nearestAnchor === topology.parent) {
+        return result;
+    }
+    const anchorTarget = getParentRelativePoseTarget(particle, topology.nearestAnchor);
+    return Vector3.lerp(result, anchorTarget, 1 - topology.normalizedDistance, result);
+}
+/** Position-based distance projection with inverse-mass weighting. */ function solveDistanceConstraint(particleA, particleB, restLength, stiffness) {
+    const inverseMassA = particleA.fixed ? 0 : 1 / Math.max(particleA.mass, EPSILON);
+    const inverseMassB = particleB.fixed ? 0 : 1 / Math.max(particleB.mass, EPSILON);
+    const inverseMassSum = inverseMassA + inverseMassB;
+    if (inverseMassSum <= EPSILON) {
+        return;
+    }
+    const delta = Vector3.sub(particleB.position, particleA.position, new Vector3());
+    const length = delta.magnitude;
+    if (length <= EPSILON) {
+        return;
+    }
+    const correctionScale = (length - restLength) / length * clampSpringRatio(stiffness);
+    if (inverseMassA > 0) {
+        Vector3.add(particleA.position, Vector3.scale(delta, correctionScale * (inverseMassA / inverseMassSum), new Vector3()), particleA.position);
+    }
+    if (inverseMassB > 0) {
+        Vector3.sub(particleB.position, Vector3.scale(delta, correctionScale * (inverseMassB / inverseMassSum), new Vector3()), particleB.position);
+    }
+}
+/** Resolves a contact as an inelastic projection while preserving tangential Verlet velocity. */ function resolveInelasticCollision(particle, collider, resolveCollision, allowedPenetration = 0) {
+    const positionBeforeCollision = particle.position.clone();
+    const preservedDisplacement = Vector3.sub(positionBeforeCollision, particle.prevPosition, new Vector3());
+    if (!resolveCollision(particle.position, collider, particle.collisionRadius)) {
+        return false;
+    }
+    const correction = Vector3.sub(particle.position, positionBeforeCollision, new Vector3());
+    const correctionLength = correction.magnitude;
+    const excessPenetration = correctionLength - Math.max(0, allowedPenetration);
+    if (excessPenetration <= EPSILON) {
+        particle.position.set(positionBeforeCollision);
+        return false;
+    }
+    const outwardNormal = correction.scaleBy(1 / correctionLength);
+    Vector3.add(positionBeforeCollision, Vector3.scale(outwardNormal, excessPenetration, new Vector3()), particle.position);
+    if (correctionLength > EPSILON) {
+        const inwardDistance = Vector3.dot(preservedDisplacement, outwardNormal);
+        if (inwardDistance < 0) {
+            Vector3.sub(preservedDisplacement, Vector3.scale(outwardNormal, inwardDistance, new Vector3()), preservedDisplacement);
+        }
+    }
+    Vector3.sub(particle.position, preservedDisplacement, particle.prevPosition);
+    return true;
+}
+/** Returns how far a point is inside a collider according to its resolver. */ function measureCollisionPenetration(position, collider, resolveCollision, particleRadius = 0) {
+    const resolvedPosition = position.clone();
+    return resolveCollision(resolvedPosition, collider, particleRadius) ? Vector3.distance(position, resolvedPosition) : 0;
+}
+function getFallbackRotationAxis(direction) {
+    const reference = Math.abs(direction.x) < 0.8 ? Vector3.axisPX() : Vector3.axisPY();
+    return Vector3.cross(direction, reference, new Vector3()).inplaceNormalize();
+}
+/**
+ * Limits a child direction around its current animated direction while
+ * preserving the current simulated segment length.
+ */ function solveAngleLimit(parent, child, maxAngleDegrees, preserveVelocity) {
+    if (maxAngleDegrees <= 0 || child.fixed) {
+        return;
+    }
+    const poseDirection = Vector3.sub(child.animPosition, parent.animPosition, new Vector3());
+    const simulatedDirection = Vector3.sub(child.position, parent.position, new Vector3());
+    const simulatedLength = simulatedDirection.magnitude;
+    if (poseDirection.magnitudeSq <= EPSILON || simulatedLength <= EPSILON) {
+        return;
+    }
+    poseDirection.inplaceNormalize();
+    simulatedDirection.scaleBy(1 / simulatedLength);
+    const dot = Math.max(-1, Math.min(1, Vector3.dot(poseDirection, simulatedDirection)));
+    const angle = Math.acos(dot);
+    const limit = maxAngleDegrees * Math.PI / 180;
+    if (angle <= limit) {
+        return;
+    }
+    let axis = Vector3.cross(poseDirection, simulatedDirection, new Vector3());
+    if (axis.magnitudeSq <= EPSILON) {
+        axis = getFallbackRotationAxis(poseDirection);
+    } else {
+        axis.inplaceNormalize();
+    }
+    const allowedDirection = Quaternion.fromAxisAngle(axis, limit).transform(poseDirection, new Vector3());
+    const previousPosition = child.position.clone();
+    Vector3.add(parent.position, Vector3.scale(allowedDirection, simulatedLength, allowedDirection), child.position);
+    if (preserveVelocity) {
+        Vector3.add(child.prevPosition, Vector3.sub(child.position, previousPosition, previousPosition), child.prevPosition);
+    }
+}
+
+export { DEFAULT_INITIAL_COLLISION_PENETRATION_RELEASE_TIME, INITIAL_COLLISION_PENETRATION_SLOP, clampSpringRatio, getIterationStrength, getKawaiiPoseTarget, getParentRelativePoseTarget, getReleasedCollisionPenetration, getSpringPoseTopology, interpolateSpringValue, measureCollisionPenetration, resolveInelasticCollision, solveAngleLimit, solveDistanceConstraint };
+//# sourceMappingURL=spring_solver.js.map