@zephyr3d/scene 0.9.27 → 0.10.0

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

@@ -1 +1 @@
-{"version":3,"file":"spring_system.js","sources":["../../../src/animation/spring/spring_system.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SpringChain } from './spring_chain';\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\n/**\r\n * Options for creating a SpringSystem\r\n *\r\n * @public\r\n */\r\nexport interface SpringSystemOptions {\r\n  /** Number of constraint solver iterations (default: 5) */\r\n  iterations?: number;\r\n  /** Gravity force vector (default: (0, -9.8, 0)) */\r\n  gravity?: Vector3;\r\n  /** Wind force vector (default: (0, 0, 0)) */\r\n  wind?: Vector3;\r\n  /** Enable inertial forces (centrifugal/Coriolis) when root rotates (default: true) */\r\n  enableInertialForces?: boolean;\r\n  /** Centrifugal force multiplier (default: 1.0) */\r\n  centrifugalScale?: number;\r\n  /** Coriolis force multiplier (default: 1.0) */\r\n  coriolisScale?: number;\r\n  /**\r\n   * Constraint solver type (default: 'verlet').\r\n   * - 'verlet': Classic Verlet integration with iterative position correction.\r\n   *   stiffness [0-1] controls correction strength per iteration.\r\n   * - 'xpbd': Extended Position-Based Dynamics (Müller et al. 2020).\r\n   *   Uses compliance (inverse stiffness in m/N) for physically correct,\r\n   *   iteration-count-independent constraint solving.\r\n   */\r\n  solver?: 'verlet' | 'xpbd';\r\n  /**\r\n   * How strongly particles are pulled toward current animated pose [0-1].\r\n   * This preserves the authored hair shape while still allowing secondary motion.\r\n   * Higher values keep the original hairstyle better.\r\n   */\r\n  poseFollow?: number;\r\n  /**\r\n   * Optional root-follow override [0-1].\r\n   * If provided, pose follow is interpolated from root to tip.\r\n   */\r\n  poseFollowRoot?: number;\r\n  /**\r\n   * Optional tip-follow override [0-1].\r\n   * If provided, pose follow is interpolated from root to tip.\r\n   */\r\n  poseFollowTip?: number;\r\n  /**\r\n   * Exponent used when interpolating root-to-tip follow.\r\n   * `1` is linear; values `\\> 1` keep the root stiffer and the tip looser.\r\n   */\r\n  poseFollowExponent?: number;\r\n  /**\r\n   * Optional per-step limit for deviation from animated pose.\r\n   * 0 disables clamping. Useful to prevent extreme stretch under high acceleration.\r\n   */\r\n  maxPoseOffset?: number;\r\n  /**\r\n   * Optional root max-offset override.\r\n   * If provided, max offset is interpolated from root to tip.\r\n   */\r\n  maxPoseOffsetRoot?: number;\r\n  /**\r\n   * Optional tip max-offset override.\r\n   * If provided, max offset is interpolated from root to tip.\r\n   */\r\n  maxPoseOffsetTip?: number;\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\n/**\r\n * Physics engine for spring-based particle simulation\r\n * Uses Verlet integration and iterative constraint solving\r\n *\r\n * @public\r\n */\r\nexport class SpringSystem {\r\n  private _chain: SpringChain;\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 _colliders: SpringCollider[];\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 _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 _nodePoseTracker: SpringNodePoseTracker;\r\n\r\n  constructor(chain: SpringChain, options?: SpringSystemOptions) {\r\n    this._chain = chain;\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._colliders = [];\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._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._nodePoseTracker = new SpringNodePoseTracker();\r\n  }\r\n\r\n  /**\r\n   * Updates the physics simulation\r\n   * @param deltaTime - Time step in seconds\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  private simulateStep(dt: number, inputDeltaTime: number): void {\r\n    // Step 1: Save all particle positions before updating\r\n    if (this._enableInertialForces) {\r\n      for (const p of this._chain.particles) {\r\n        p.lastFramePosition.set(p.position);\r\n      }\r\n    }\r\n\r\n    // Step 2: Update fixed particles from their scene nodes\r\n    this.updateFixedParticles(inputDeltaTime);\r\n\r\n    // Step 3: Calculate global rotation parameters\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    // Step 4: Verlet integration with inertial forces\r\n    for (let i = 0; i < this._chain.particles.length; i++) {\r\n      const p = this._chain.particles[i];\r\n      if (p.fixed) {\r\n        continue;\r\n      }\r\n\r\n      // Calculate velocity (implicit in Verlet)\r\n      const velocity = Vector3.sub(p.position, p.prevPosition, new Vector3());\r\n      velocity.scaleBy(p.damping);\r\n\r\n      // Apply external forces (gravity + wind)\r\n      const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\r\n\r\n      // Apply inertial forces from rotating reference frame\r\n      if (this._enableInertialForces && rotationCenter && angularVelocity) {\r\n        const inertialAccel = this.calculateInertialAcceleration(\r\n          p,\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      // Update position\r\n      p.prevPosition.set(p.position);\r\n      Vector3.add(p.position, velocity, p.position);\r\n    }\r\n\r\n    // Step 5: Iteratively solve constraints\r\n    if (this._solver === 'xpbd') {\r\n      // Reset Lagrange multipliers at the start of each time step\r\n      for (const constraint of this._chain.constraints) {\r\n        constraint.lambda = 0;\r\n      }\r\n    }\r\n    for (let iter = 0; iter < this._iterations; iter++) {\r\n      for (const constraint of this._chain.constraints) {\r\n        if (this._solver === 'xpbd') {\r\n          this.solveConstraintXPBD(constraint, dt);\r\n        } else {\r\n          this.solveConstraint(constraint);\r\n        }\r\n      }\r\n\r\n      // Pull particles back toward the animated pose to preserve hair silhouette.\r\n      // Normalize follow strength across solver iterations so tuning stays intuitive.\r\n      this.solvePosePreservation(this._iterations);\r\n\r\n      // Apply collision constraints\r\n      this.solveCollisions(inputDeltaTime);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Updates fixed particles to match their scene node positions\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 particle of this._chain.particles) {\r\n      const sourceNode = particle.anchorNode ?? particle.node;\r\n      if (!sourceNode) {\r\n        continue;\r\n      }\r\n      const worldPos = particle.anchorOffset\r\n        ? sourceNode.worldMatrix.transformPointAffine(particle.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\r\n        // Maintain position history for rotation center estimation\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          // Keep only last 5 frames\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   * Solves pose preservation (long-range attachment to animated pose).\r\n   * This keeps strands close to authored shape while preserving dynamic movement.\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    const lastIndex = Math.max(1, this._chain.particles.length - 1);\r\n    for (let i = 0; i < this._chain.particles.length; i++) {\r\n      const particle = this._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      // Convert user-facing per-frame follow into per-iteration follow:\r\n      // effective = 1 - (1 - follow)^iterations\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  private lerp(a: number, b: number, t: number): number {\r\n    return a + (b - a) * t;\r\n  }\r\n\r\n  /**\r\n   * Calculates global rotation parameters from fixed particle movements\r\n   * Uses position history to estimate rotation center\r\n   */\r\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\r\n    // Collect fixed particles with movement\r\n    const fixedParticles: any[] = [];\r\n    const velocities: Vector3[] = [];\r\n\r\n    for (const p of this._chain.particles) {\r\n      if (!p.fixed) {\r\n        continue;\r\n      }\r\n\r\n      const velocity = Vector3.sub(p.position, p.lastFramePosition, new Vector3());\r\n      velocity.scaleBy(1.0 / dt);\r\n\r\n      if (velocity.magnitudeSq > 0.001) {\r\n        fixedParticles.push(p);\r\n        velocities.push(velocity);\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    // Estimate rotation center using position history\r\n    let center: Vector3;\r\n\r\n    if (fixedParticles.length === 1) {\r\n      // Single fixed particle: use position history to estimate rotation center\r\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\r\n    } else {\r\n      // Multiple fixed particles: use their average position\r\n      center = new Vector3(0, 0, 0);\r\n      for (const p of fixedParticles) {\r\n        Vector3.add(center, p.position, center);\r\n      }\r\n      center.scaleBy(1.0 / fixedParticles.length);\r\n    }\r\n\r\n    // Estimate angular velocity\r\n    let sumOmega = new Vector3(0, 0, 0);\r\n    let count = 0;\r\n\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\r\n      if (rLengthSq > 0.0001) {\r\n        // ω = (r × v) / |r|²\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\r\n    return { center, omega: sumOmega };\r\n  }\r\n\r\n  /**\r\n   * Estimates rotation center from a single particle's position history\r\n   * Uses circular motion fitting\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      // Not enough history: estimate using velocity perpendicular direction\r\n      // Assume rotation center is perpendicular to velocity\r\n      // Use a default radius based on velocity magnitude\r\n      const speed = currentVelocity.magnitude;\r\n      if (speed < 0.001) {\r\n        return particle.position.clone();\r\n      }\r\n\r\n      // Estimate radius: for typical character rotation, assume ~0.5-1.0m radius\r\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\r\n\r\n      // Direction perpendicular to velocity (in the plane of motion)\r\n      // We need to guess which perpendicular direction - use cross product with up vector\r\n      const up = new Vector3(0, 1, 0);\r\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\r\n\r\n      if (perpDir.magnitudeSq < 0.0001) {\r\n        // Velocity is vertical, use another perpendicular\r\n        perpDir.set(new Vector3(1, 0, 0));\r\n      } else {\r\n        perpDir.inplaceNormalize();\r\n      }\r\n\r\n      // Rotation center is perpendicular to velocity\r\n      const center = Vector3.add(\r\n        particle.position,\r\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\r\n        new Vector3()\r\n      );\r\n      return center;\r\n    }\r\n\r\n    // Fit a circle through the last 3 positions\r\n    // Use positions at indices: 0 (oldest), middle, last (newest)\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\r\n    // Calculate circle center from 3 points\r\n    const center = this.calculateCircleCenter(p1, p2, p3);\r\n    return center;\r\n  }\r\n\r\n  /**\r\n   * Calculates the center of a circle passing through 3 points\r\n   * Uses perpendicular bisector method\r\n   */\r\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\r\n    // Midpoints\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\r\n    // Direction vectors\r\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\r\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\r\n\r\n    // Normal vectors (perpendicular bisectors)\r\n    // For 3D, we need to find perpendiculars in the plane of the three points\r\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\r\n\r\n    if (normal.magnitudeSq < 0.0001) {\r\n      // Points are collinear, return midpoint\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\r\n    // Perpendicular to dir12 in the plane\r\n    const perp12 = Vector3.cross(dir12, normal, new Vector3()).inplaceNormalize();\r\n\r\n    // Perpendicular to dir23 in the plane\r\n    const perp23 = Vector3.cross(dir23, normal, new Vector3()).inplaceNormalize();\r\n\r\n    // Find intersection of two lines:\r\n    // Line 1: mid12 + t * perp12\r\n    // Line 2: mid23 + s * perp23\r\n    // Solve: mid12 + t * perp12 = mid23 + s * perp23\r\n\r\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\r\n\r\n    // Use 2D projection for simplicity (project onto plane perpendicular to normal)\r\n    // Solve in the plane: t * perp12 - s * perp23 = diff\r\n    // Use least squares or pick the dominant components\r\n\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      const center = Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\r\n      return center;\r\n    }\r\n\r\n    // Fallback: use centroid\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  /**\r\n   * Calculates inertial acceleration for a particle in a rotating reference frame\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    // Vector from rotation center to particle\r\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\r\n\r\n    // Centrifugal acceleration: a_centrifugal = ω × (ω × r)\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\r\n    // Coriolis acceleration: a_coriolis = -2ω × v_relative\r\n    // v_relative is the particle's velocity in the rotating frame\r\n    // Use the velocity passed in (already calculated from prevPosition)\r\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\r\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\r\n\r\n    // Total inertial acceleration\r\n    const totalAccel = Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\r\n    return totalAccel;\r\n  }\r\n\r\n  /**\r\n   * Solves a single spring constraint using XPBD (Extended Position-Based Dynamics).\r\n   *\r\n   * Reference: Müller et al., \"Detailed Rigid Body Simulation with Extended Position Based Dynamics\", 2020.\r\n   */\r\n  private solveConstraintXPBD(constraint: any, dt: number): void {\r\n    const pA = this._chain.particles[constraint.particleA];\r\n    const pB = this._chain.particles[constraint.particleB];\r\n\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\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\r\n    // Constraint value C = currentLength - restLength\r\n    const C = currentLength - constraint.restLength;\r\n\r\n    // Scaled compliance: alphaTilde = compliance / dt^2\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n\r\n    // XPBD Lagrange multiplier update\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n\r\n    // Correction direction (unit vector from A to B)\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n\r\n    if (!pA.fixed) {\r\n      // deltaX_a = -w_a * deltaLambda * n\r\n      Vector3.add(pA.position, Vector3.scale(n, -wA * deltaLambda, new Vector3()), pA.position);\r\n    }\r\n    if (!pB.fixed) {\r\n      // deltaX_b = +w_b * deltaLambda * n\r\n      Vector3.add(pB.position, Vector3.scale(n, wB * deltaLambda, new Vector3()), pB.position);\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Solves a single spring constraint (Verlet / PBD)\r\n   */\r\n  private solveConstraint(constraint: any): void {\r\n    const pA = this._chain.particles[constraint.particleA];\r\n    const pB = this._chain.particles[constraint.particleB];\r\n\r\n    // Calculate current distance\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    } // Avoid division by zero\r\n\r\n    // Calculate correction\r\n    const diff = (currentLength - constraint.restLength) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n\r\n    // Apply correction (considering mass and fixed state)\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  /**\r\n   * Solves collisions for all particles\r\n   */\r\n  private solveCollisions(deltaTime: number): void {\r\n    // Update dynamic colliders from their nodes\r\n    const blend = this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\r\n    const spheres: { particleCollider: SphereCollider; collider: SphereCollider }[] = [];\r\n    const capsules: { particleCollider: CapsuleCollider; collider: CapsuleCollider }[] = [];\r\n    const planes: { particleCollider: PlaneCollider; collider: PlaneCollider }[] = [];\r\n    for (const collider of this._colliders) {\r\n      if (collider.node) {\r\n        updateColliderFromNode(collider);\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            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              center: this.getSmoothedSphereCenter(source, blend)\r\n            }\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            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              start: endpoints.start,\r\n              end: endpoints.end\r\n            }\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            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              point: plane.point,\r\n              normal: plane.normal\r\n            }\r\n          });\r\n          break;\r\n        }\r\n      }\r\n    }\r\n\r\n    // Check each particle against all colliders\r\n    for (const particle of this._chain.particles) {\r\n      if (particle.fixed) {\r\n        continue; // Skip fixed particles\r\n      }\r\n\r\n      for (const collider of spheres) {\r\n        resolveSphereCollision(particle.position, collider.collider);\r\n      }\r\n      for (const collider of capsules) {\r\n        resolveCapsuleCollision(particle.position, collider.collider);\r\n      }\r\n      for (const collider of planes) {\r\n        resolvePlaneCollision(particle.position, collider.collider);\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Applies simulation results to scene nodes\r\n   * @param weight - Blend weight [0-1] (default: 1.0)\r\n   */\r\n  applyToNodes(weight: number = 1.0): void {\r\n    for (let i = 0; i < this._chain.particles.length - 1; i++) {\r\n      const particle = this._chain.particles[i];\r\n      const nextParticle = this._chain.particles[i + 1];\r\n      const node = particle.node;\r\n\r\n      // Skip if no node\r\n      if (!node) {\r\n        continue;\r\n      }\r\n\r\n      // Get current bone direction from node's world matrix (before physics)\r\n      // This reflects the current animation/skeleton state\r\n      const currentBonePos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\r\n\r\n      const nextNode = nextParticle.node;\r\n      if (!nextNode) {\r\n        continue;\r\n      }\r\n\r\n      const nextBonePos = new Vector3(\r\n        nextNode.worldMatrix.m03,\r\n        nextNode.worldMatrix.m13,\r\n        nextNode.worldMatrix.m23\r\n      );\r\n      const originalDir = Vector3.sub(nextBonePos, currentBonePos, new Vector3());\r\n\r\n      // Get current bone rotation from node's world matrix\r\n      const currentBoneRotation = new Quaternion();\r\n      node.worldMatrix.decompose(null, currentBoneRotation, null);\r\n\r\n      // Calculate new direction from physics simulation\r\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\r\n\r\n      // Calculate rotation needed to align original direction to new direction\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\r\n\r\n      // Calculate new world rotation\r\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\r\n\r\n      // Blend with current rotation based on weight\r\n      if (weight < 1) {\r\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      // Convert world rotation to local rotation (relative to parent)\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\r\n        // localRotation = conjugate(parentWorldRotation) * worldRotation\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n\r\n        node.rotation = localRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, localRotation);\r\n      } else {\r\n        // Root node has no parent, world rotation is local rotation\r\n        node.rotation = worldRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, worldRotation);\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Resets the simulation to initial state\r\n   */\r\n  reset(): void {\r\n    this._nodePoseTracker.clear(true);\r\n    this._chain.reset();\r\n    for (const particle of this._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    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  /**\r\n   * Gets the spring chain\r\n   */\r\n  get chain(): SpringChain {\r\n    return this._chain;\r\n  }\r\n\r\n  /**\r\n   * Gets the current gravity\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  /**\r\n   * Gets the current wind\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  /**\r\n   * Gets the number of iterations\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  /**\r\n   * Gets whether inertial forces are enabled\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  /**\r\n   * Gets the centrifugal force scale\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  /**\r\n   * Gets the Coriolis force scale\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  /**\r\n   * Gets the constraint solver type\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        for (const c of this._chain.constraints) {\r\n          c.lambda = 0;\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Gets pose preservation strength [0-1]\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  /**\r\n   * Gets max allowed deviation from animated pose\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  /**\r\n   * Gets root pose follow strength [0-1]\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  /**\r\n   * Gets tip pose follow strength [0-1]\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  /**\r\n   * Gets exponent for root-to-tip interpolation\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  /**\r\n   * Gets root max allowed deviation from animated pose\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  /**\r\n   * Gets tip max allowed deviation from animated pose\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  /**\r\n   * Adds a collider to the system\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  /**\r\n   * Removes a collider from the system\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  /**\r\n   * Clears all colliders\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  /**\r\n   * Gets all colliders\r\n   */\r\n  get colliders(): SpringCollider[] {\r\n    return this._colliders;\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 = {\r\n        start: currentStart,\r\n        end: currentEnd\r\n      };\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() ?? Vector3.axisPY();\r\n    if (currentNormal.magnitudeSq > 1e-8) {\r\n      currentNormal.inplaceNormalize();\r\n    } else {\r\n      currentNormal.setXYZ(0, 1, 0);\r\n    }\r\n    const cached = this._smoothedPlaneData.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const next = {\r\n        point: currentPoint,\r\n        normal: currentNormal\r\n      };\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    if (cached.normal.magnitudeSq > 1e-8) {\r\n      cached.normal.inplaceNormalize();\r\n    } else {\r\n      cached.normal.setXYZ(0, 1, 0);\r\n    }\r\n    return cached;\r\n  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+{"version":3,"file":"spring_system.js","sources":["../../../src/animation/spring/spring_system.ts"],"sourcesContent":["import { Vector3, Quaternion } from '@zephyr3d/base';\r\nimport type { SpringChain } from './spring_chain';\r\nimport type { SpringParticle } from './spring_particle';\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\n/**\r\n * Options for creating a SpringSystem\r\n *\r\n * @public\r\n */\r\nexport interface SpringSystemOptions {\r\n  /** Integration behavior. `kawaii` preserves animated local shape while simulating (default: `kawaii`). */\r\n  motionModel?: SpringMotionModel;\r\n  /** Number of constraint solver iterations (default: 5) */\r\n  iterations?: number;\r\n  /** Gravity force vector (default: (0, -9.8, 0)) */\r\n  gravity?: Vector3;\r\n  /** Wind force vector (default: (0, 0, 0)) */\r\n  wind?: Vector3;\r\n  /** Enable inertial forces (centrifugal/Coriolis) when root rotates (default: true) */\r\n  enableInertialForces?: boolean;\r\n  /** Centrifugal force multiplier (default: 1.0) */\r\n  centrifugalScale?: number;\r\n  /** Coriolis force multiplier (default: 1.0) */\r\n  coriolisScale?: number;\r\n  /**\r\n   * Constraint solver type (default: 'verlet').\r\n   * - 'verlet': Classic Verlet integration with iterative position correction.\r\n   *   stiffness [0-1] controls correction strength per iteration.\r\n   * - 'xpbd': Extended Position-Based Dynamics (Müller et al. 2020).\r\n   *   Uses compliance (inverse stiffness in m/N) for physically correct,\r\n   *   iteration-count-independent constraint solving.\r\n   */\r\n  solver?: 'verlet' | 'xpbd';\r\n  /**\r\n   * How strongly particles are pulled toward current animated pose [0-1].\r\n   * This preserves the authored hair shape while still allowing secondary motion.\r\n   * Higher values keep the original hairstyle better.\r\n   */\r\n  poseFollow?: number;\r\n  /**\r\n   * Optional root-follow override [0-1].\r\n   * If provided, pose follow is interpolated from root to tip.\r\n   */\r\n  poseFollowRoot?: number;\r\n  /**\r\n   * Optional tip-follow override [0-1].\r\n   * If provided, pose follow is interpolated from root to tip.\r\n   */\r\n  poseFollowTip?: number;\r\n  /**\r\n   * Exponent used when interpolating root-to-tip follow.\r\n   * `1` is linear; values `\\> 1` keep the root stiffer and the tip looser.\r\n   */\r\n  poseFollowExponent?: number;\r\n  /**\r\n   * Optional per-step limit for deviation from animated pose.\r\n   * 0 disables clamping. Useful to prevent extreme stretch under high acceleration.\r\n   */\r\n  maxPoseOffset?: number;\r\n  /**\r\n   * Optional root max-offset override.\r\n   * If provided, max offset is interpolated from root to tip.\r\n   */\r\n  maxPoseOffsetRoot?: number;\r\n  /**\r\n   * Optional tip max-offset override.\r\n   * If provided, max offset is interpolated from root to tip.\r\n   */\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\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\n/**\r\n * Physics engine for spring-based particle simulation\r\n * Uses Verlet integration and iterative constraint solving\r\n *\r\n * @public\r\n */\r\nexport class SpringSystem {\r\n  private _chain: SpringChain;\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 _colliders: SpringCollider[];\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 _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 _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(chain: SpringChain, options?: SpringSystemOptions) {\r\n    this._chain = chain;\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._colliders = [];\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._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._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  /**\r\n   * Updates the physics simulation\r\n   * @param deltaTime - Time step in seconds\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  private simulateStep(dt: number, inputDeltaTime: number, stepIndex: number, stepCount: number): void {\r\n    // Step 1: Save all particle positions before updating\r\n    if (this._enableInertialForces) {\r\n      for (const p of this._chain.particles) {\r\n        p.lastFramePosition.set(p.position);\r\n      }\r\n    }\r\n\r\n    // Step 2: Update fixed particles from their scene nodes\r\n    const substepBlend = 1 / Math.max(1, stepCount - stepIndex);\r\n    this.updateFixedParticles(inputDeltaTime, substepBlend);\r\n\r\n    // Step 3: Calculate global rotation parameters\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    // Step 4: Verlet integration with inertial forces\r\n    for (let i = 0; i < this._chain.particles.length; i++) {\r\n      const p = this._chain.particles[i];\r\n      if (p.fixed) {\r\n        continue;\r\n      }\r\n\r\n      // Calculate velocity (implicit in Verlet)\r\n      const velocity = Vector3.sub(p.position, p.prevPosition, new Vector3());\r\n      velocity.scaleBy(p.damping);\r\n\r\n      // Apply external forces (gravity + wind)\r\n      const acceleration = Vector3.add(this._gravity, this._wind, new Vector3());\r\n\r\n      // Apply inertial forces from rotating reference frame\r\n      if (this._enableInertialForces && rotationCenter && angularVelocity) {\r\n        const inertialAccel = this.calculateInertialAcceleration(\r\n          p,\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      // Update position\r\n      p.prevPosition.set(p.position);\r\n      Vector3.add(p.position, velocity, p.position);\r\n    }\r\n\r\n    // Step 5: Iteratively solve constraints\r\n    if (this._solver === 'xpbd') {\r\n      // Reset Lagrange multipliers at the start of each time step\r\n      for (const constraint of this._chain.constraints) {\r\n        constraint.lambda = 0;\r\n      }\r\n    }\r\n    if (this._motionModel === 'kawaii') {\r\n      this.solvePosePreservation(1, true);\r\n    }\r\n    for (let iter = 0; iter < this._iterations; iter++) {\r\n      const reverse = this._motionModel === 'kawaii' && !!(iter & 1);\r\n      for (let constraintIndex = 0; constraintIndex < this._chain.constraints.length; constraintIndex++) {\r\n        const constraint =\r\n          this._chain.constraints[\r\n            reverse ? this._chain.constraints.length - 1 - constraintIndex : constraintIndex\r\n          ];\r\n        if (this._solver === 'xpbd') {\r\n          this.solveConstraintXPBD(constraint, dt);\r\n        } else {\r\n          this.solveConstraint(constraint);\r\n        }\r\n      }\r\n\r\n      // Pull particles back toward the animated pose to preserve hair silhouette.\r\n      // Normalize follow strength across solver iterations so tuning stays intuitive.\r\n      if (this._motionModel === 'legacy') {\r\n        this.solvePosePreservation(this._iterations, false);\r\n      }\r\n\r\n      if (this._motionModel === 'legacy') {\r\n        this.solveCollisions(inputDeltaTime);\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        for (const constraint of this._chain.constraints) {\r\n          constraint.lambda = 0;\r\n        }\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 (let constraintIndex = 0; constraintIndex < this._chain.constraints.length; constraintIndex++) {\r\n            const constraint =\r\n              this._chain.constraints[\r\n                reverse ? this._chain.constraints.length - 1 - constraintIndex : constraintIndex\r\n              ];\r\n            this.solveConstraintXPBD(constraint, dt);\r\n          }\r\n        }\r\n        if (this._colliders.some((collider) => collider.enabled)) {\r\n          for (const constraint of this._chain.constraints) {\r\n            constraint.lambda = 0;\r\n          }\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 (\r\n              let constraintIndex = 0;\r\n              constraintIndex < this._chain.constraints.length;\r\n              constraintIndex++\r\n            ) {\r\n              const constraint =\r\n                this._chain.constraints[\r\n                  reverse ? this._chain.constraints.length - 1 - constraintIndex : constraintIndex\r\n                ];\r\n              this.solveConstraintXPBD(constraint, dt);\r\n            }\r\n            this.solveCollisions(0, 0);\r\n          }\r\n        }\r\n      } else {\r\n        for (const constraint of this._chain.constraints) {\r\n          this.solveConstraint(constraint);\r\n        }\r\n        this.solveCollisions(0, 0);\r\n      }\r\n    }\r\n    this.advanceInitialCollisionPenetrationRelease(dt);\r\n  }\r\n\r\n  /**\r\n   * Updates fixed particles to match their scene node positions\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 particle of this._chain.particles) {\r\n      const sourceNode = particle.anchorNode ?? particle.node;\r\n      if (!sourceNode) {\r\n        continue;\r\n      }\r\n      const worldPos = particle.anchorOffset\r\n        ? sourceNode.worldMatrix.transformPointAffine(particle.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\r\n        // Maintain position history for rotation center estimation\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          // Keep only last 5 frames\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   * Solves pose preservation (long-range attachment to animated pose).\r\n   * This keeps strands close to authored shape while preserving dynamic movement.\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    const topology = getSpringPoseTopology(this._chain.particles);\r\n    for (let i = 0; i < this._chain.particles.length; i++) {\r\n      const particle = this._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      // Convert user-facing per-frame follow into per-iteration follow:\r\n      // effective = 1 - (1 - follow)^iterations\r\n      const iterationFollow = getIterationStrength(particlePoseFollow, totalIterations);\r\n      const poseTarget = parentRelative ? getKawaiiPoseTarget(particle, topology[i]) : 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  private solveAngleLimits(): void {\r\n    if (this._angleLimitRoot <= 0 && this._angleLimitTip <= 0) {\r\n      return;\r\n    }\r\n    const particles = this._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  private lerp(a: number, b: number, t: number): number {\r\n    return a + (b - a) * t;\r\n  }\r\n\r\n  /**\r\n   * Calculates global rotation parameters from fixed particle movements\r\n   * Uses position history to estimate rotation center\r\n   */\r\n  private calculateGlobalRotation(dt: number): { center: Vector3; omega: Vector3 } {\r\n    // Collect fixed particles with movement\r\n    const fixedParticles: any[] = [];\r\n    const velocities: Vector3[] = [];\r\n\r\n    for (const p of this._chain.particles) {\r\n      if (!p.fixed) {\r\n        continue;\r\n      }\r\n\r\n      const velocity = Vector3.sub(p.position, p.lastFramePosition, new Vector3());\r\n      velocity.scaleBy(1.0 / dt);\r\n\r\n      if (velocity.magnitudeSq > 0.001) {\r\n        fixedParticles.push(p);\r\n        velocities.push(velocity);\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    // Estimate rotation center using position history\r\n    let center: Vector3;\r\n\r\n    if (fixedParticles.length === 1) {\r\n      // Single fixed particle: use position history to estimate rotation center\r\n      center = this.estimateRotationCenterFromHistory(fixedParticles[0], velocities[0]);\r\n    } else {\r\n      // Multiple fixed particles: use their average position\r\n      center = new Vector3(0, 0, 0);\r\n      for (const p of fixedParticles) {\r\n        Vector3.add(center, p.position, center);\r\n      }\r\n      center.scaleBy(1.0 / fixedParticles.length);\r\n    }\r\n\r\n    // Estimate angular velocity\r\n    let sumOmega = new Vector3(0, 0, 0);\r\n    let count = 0;\r\n\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\r\n      if (rLengthSq > 0.0001) {\r\n        // ω = (r × v) / |r|²\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\r\n    return { center, omega: sumOmega };\r\n  }\r\n\r\n  /**\r\n   * Estimates rotation center from a single particle's position history\r\n   * Uses circular motion fitting\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      // Not enough history: estimate using velocity perpendicular direction\r\n      // Assume rotation center is perpendicular to velocity\r\n      // Use a default radius based on velocity magnitude\r\n      const speed = currentVelocity.magnitude;\r\n      if (speed < 0.001) {\r\n        return particle.position.clone();\r\n      }\r\n\r\n      // Estimate radius: for typical character rotation, assume ~0.5-1.0m radius\r\n      const estimatedRadius = Math.max(0.5, speed * 0.5);\r\n\r\n      // Direction perpendicular to velocity (in the plane of motion)\r\n      // We need to guess which perpendicular direction - use cross product with up vector\r\n      const up = new Vector3(0, 1, 0);\r\n      const perpDir = Vector3.cross(currentVelocity, up, new Vector3());\r\n\r\n      if (perpDir.magnitudeSq < 0.0001) {\r\n        // Velocity is vertical, use another perpendicular\r\n        perpDir.set(new Vector3(1, 0, 0));\r\n      } else {\r\n        perpDir.inplaceNormalize();\r\n      }\r\n\r\n      // Rotation center is perpendicular to velocity\r\n      const center = Vector3.add(\r\n        particle.position,\r\n        Vector3.scale(perpDir, estimatedRadius, new Vector3()),\r\n        new Vector3()\r\n      );\r\n      return center;\r\n    }\r\n\r\n    // Fit a circle through the last 3 positions\r\n    // Use positions at indices: 0 (oldest), middle, last (newest)\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\r\n    // Calculate circle center from 3 points\r\n    const center = this.calculateCircleCenter(p1, p2, p3);\r\n    return center;\r\n  }\r\n\r\n  /**\r\n   * Calculates the center of a circle passing through 3 points\r\n   * Uses perpendicular bisector method\r\n   */\r\n  private calculateCircleCenter(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\r\n    // Midpoints\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\r\n    // Direction vectors\r\n    const dir12 = Vector3.sub(p2, p1, new Vector3());\r\n    const dir23 = Vector3.sub(p3, p2, new Vector3());\r\n\r\n    // Normal vectors (perpendicular bisectors)\r\n    // For 3D, we need to find perpendiculars in the plane of the three points\r\n    const normal = Vector3.cross(dir12, dir23, new Vector3());\r\n\r\n    if (normal.magnitudeSq < 0.0001) {\r\n      // Points are collinear, return midpoint\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\r\n    // Perpendicular to dir12 in the plane\r\n    const perp12 = Vector3.cross(dir12, normal, new Vector3()).inplaceNormalize();\r\n\r\n    // Perpendicular to dir23 in the plane\r\n    const perp23 = Vector3.cross(dir23, normal, new Vector3()).inplaceNormalize();\r\n\r\n    // Find intersection of two lines:\r\n    // Line 1: mid12 + t * perp12\r\n    // Line 2: mid23 + s * perp23\r\n    // Solve: mid12 + t * perp12 = mid23 + s * perp23\r\n\r\n    const diff = Vector3.sub(mid23, mid12, new Vector3());\r\n\r\n    // Use 2D projection for simplicity (project onto plane perpendicular to normal)\r\n    // Solve in the plane: t * perp12 - s * perp23 = diff\r\n    // Use least squares or pick the dominant components\r\n\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      const center = Vector3.add(mid12, Vector3.scale(perp12, t, new Vector3()), new Vector3());\r\n      return center;\r\n    }\r\n\r\n    // Fallback: use centroid\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  /**\r\n   * Calculates inertial acceleration for a particle in a rotating reference frame\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    // Vector from rotation center to particle\r\n    const r = Vector3.sub(particle.position, rotationCenter, new Vector3());\r\n\r\n    // Centrifugal acceleration: a_centrifugal = ω × (ω × r)\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\r\n    // Coriolis acceleration: a_coriolis = -2ω × v_relative\r\n    // v_relative is the particle's velocity in the rotating frame\r\n    // Use the velocity passed in (already calculated from prevPosition)\r\n    const coriolisAccel = Vector3.cross(angularVelocity, particleVelocity, new Vector3());\r\n    coriolisAccel.scaleBy(-2.0 * coriolisScale);\r\n\r\n    // Total inertial acceleration\r\n    const totalAccel = Vector3.add(centrifugalAccel, coriolisAccel, new Vector3());\r\n    return totalAccel;\r\n  }\r\n\r\n  /**\r\n   * Solves a single spring constraint using XPBD (Extended Position-Based Dynamics).\r\n   *\r\n   * Reference: Müller et al., \"Detailed Rigid Body Simulation with Extended Position Based Dynamics\", 2020.\r\n   */\r\n  private solveConstraintXPBD(constraint: any, dt: number): void {\r\n    const pA = this._chain.particles[constraint.particleA];\r\n    const pB = this._chain.particles[constraint.particleB];\r\n\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\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\r\n    // Constraint value C = currentLength - restLength\r\n    const C = currentLength - constraint.restLength;\r\n\r\n    // Scaled compliance: alphaTilde = compliance / dt^2\r\n    const alphaTilde = constraint.compliance / (dt * dt);\r\n\r\n    // XPBD Lagrange multiplier update\r\n    const deltaLambda = (-C - alphaTilde * constraint.lambda) / (wSum + alphaTilde);\r\n    constraint.lambda += deltaLambda;\r\n\r\n    // Correction direction (unit vector from A to B)\r\n    const n = Vector3.scale(delta, 1.0 / currentLength, new Vector3());\r\n\r\n    if (!pA.fixed) {\r\n      // deltaX_a = -w_a * deltaLambda * n\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      // deltaX_b = +w_b * deltaLambda * n\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  /**\r\n   * Solves a single spring constraint (Verlet / PBD)\r\n   */\r\n  private solveConstraint(constraint: any): void {\r\n    const pA = this._chain.particles[constraint.particleA];\r\n    const pB = this._chain.particles[constraint.particleB];\r\n\r\n    if (this._motionModel === 'kawaii') {\r\n      solveDistanceConstraint(pA, pB, constraint.restLength, constraint.stiffness);\r\n      return;\r\n    }\r\n\r\n    // Calculate current distance\r\n    const delta = Vector3.sub(pB.position, pA.position, new Vector3());\r\n    const currentLength = delta.magnitude;\r\n\r\n    if (currentLength < 0.0001) {\r\n      return;\r\n    } // Avoid division by zero\r\n\r\n    // Calculate correction\r\n    const diff = (currentLength - constraint.restLength) / currentLength;\r\n    const correction = Vector3.scale(delta, diff * constraint.stiffness * 0.5, new Vector3());\r\n\r\n    // Apply correction (considering mass and fixed state)\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  /**\r\n   * Solves collisions for all particles\r\n   */\r\n  private solveCollisions(deltaTime: number, blendOverride?: number): void {\r\n    // Update dynamic colliders from their nodes\r\n    const blend = blendOverride ?? this.getTemporalBlendFactor(deltaTime, DEFAULT_COLLIDER_SMOOTHING_TIME);\r\n    const spheres: { particleCollider: SphereCollider; collider: SphereCollider }[] = [];\r\n    const capsules: { particleCollider: CapsuleCollider; collider: CapsuleCollider }[] = [];\r\n    const planes: { particleCollider: PlaneCollider; collider: PlaneCollider }[] = [];\r\n    const boxes: { particleCollider: BoxCollider; collider: BoxCollider }[] = [];\r\n    for (const collider of this._colliders) {\r\n      if (collider.node) {\r\n        updateColliderFromNode(collider);\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            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              center: this.getSmoothedSphereCenter(source, blend)\r\n            }\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            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              start: endpoints.start,\r\n              end: endpoints.end\r\n            }\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            particleCollider: source,\r\n            collider: {\r\n              ...source,\r\n              point: plane.point,\r\n              normal: plane.normal\r\n            }\r\n          });\r\n          break;\r\n        }\r\n        case 'box': {\r\n          const source = collider as BoxCollider;\r\n          boxes.push({\r\n            particleCollider: source,\r\n            collider: { ...source, ...this.getSmoothedBoxData(source, blend) }\r\n          });\r\n          break;\r\n        }\r\n      }\r\n    }\r\n\r\n    // Check each particle against all colliders\r\n    for (const particle of this._chain.particles) {\r\n      if (particle.fixed) {\r\n        continue; // Skip fixed particles\r\n      }\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.particleCollider,\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.particleCollider,\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.particleCollider,\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.particleCollider,\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   * Applies simulation results to scene nodes\r\n   * @param weight - Blend weight [0-1] (default: 1.0)\r\n   */\r\n  applyToNodes(weight: number = 1.0): void {\r\n    for (let i = 0; i < this._chain.particles.length - 1; i++) {\r\n      const particle = this._chain.particles[i];\r\n      const nextParticle = this._chain.particles[i + 1];\r\n      const node = particle.node;\r\n\r\n      // Skip if no node\r\n      if (!node) {\r\n        continue;\r\n      }\r\n\r\n      // Get current bone direction from node's world matrix (before physics)\r\n      // This reflects the current animation/skeleton state\r\n      const currentBonePos = new Vector3(node.worldMatrix.m03, node.worldMatrix.m13, node.worldMatrix.m23);\r\n\r\n      const nextNode = nextParticle.node;\r\n      if (!nextNode) {\r\n        continue;\r\n      }\r\n\r\n      const nextBonePos = new Vector3(\r\n        nextNode.worldMatrix.m03,\r\n        nextNode.worldMatrix.m13,\r\n        nextNode.worldMatrix.m23\r\n      );\r\n      const originalDir = Vector3.sub(nextBonePos, currentBonePos, new Vector3());\r\n\r\n      // Get current bone rotation from node's world matrix\r\n      const currentBoneRotation = new Quaternion();\r\n      node.worldMatrix.decompose(null, currentBoneRotation, null);\r\n\r\n      // Calculate new direction from physics simulation\r\n      const newDir = Vector3.sub(nextParticle.position, particle.position, new Vector3());\r\n\r\n      // Calculate rotation needed to align original direction to new direction\r\n      const deltaRotation = new Quaternion();\r\n      IKUtils.fromToRotation(originalDir, newDir, deltaRotation);\r\n\r\n      // Calculate new world rotation\r\n      let worldRotation = Quaternion.multiply(deltaRotation, currentBoneRotation, new Quaternion());\r\n\r\n      // Blend with current rotation based on weight\r\n      if (weight < 1) {\r\n        Quaternion.slerp(currentBoneRotation, worldRotation, weight, worldRotation);\r\n      }\r\n\r\n      // Convert world rotation to local rotation (relative to parent)\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\r\n        // localRotation = conjugate(parentWorldRotation) * worldRotation\r\n        const parentInvRotation = Quaternion.conjugate(parentWorldRotation, new Quaternion());\r\n        const localRotation = Quaternion.multiply(parentInvRotation, worldRotation, new Quaternion());\r\n\r\n        node.rotation = localRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, localRotation);\r\n      } else {\r\n        // Root node has no parent, world rotation is local rotation\r\n        node.rotation = worldRotation;\r\n        this._nodePoseTracker.recordAppliedRotation(node, inputRotation, worldRotation);\r\n      }\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Resets the simulation to initial state\r\n   */\r\n  reset(): void {\r\n    this._nodePoseTracker.clear(true);\r\n    this._chain.reset();\r\n    for (const particle of this._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    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  /**\r\n   * Gets the spring chain\r\n   */\r\n  get chain(): SpringChain {\r\n    return this._chain;\r\n  }\r\n\r\n  /**\r\n   * Gets the current gravity\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  /**\r\n   * Gets the current wind\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  /**\r\n   * Gets the number of iterations\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  /**\r\n   * Gets whether inertial forces are enabled\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  /**\r\n   * Gets the centrifugal force scale\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  /**\r\n   * Gets the Coriolis force scale\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  /**\r\n   * Gets the constraint solver type\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        for (const c of this._chain.constraints) {\r\n          c.lambda = 0;\r\n        }\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  /**\r\n   * Gets pose preservation strength [0-1]\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  /**\r\n   * Gets max allowed deviation from animated pose\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  /**\r\n   * Gets root pose follow strength [0-1]\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  /**\r\n   * Gets tip pose follow strength [0-1]\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  /**\r\n   * Gets exponent for root-to-tip interpolation\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  /**\r\n   * Gets root max allowed deviation from animated pose\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  /**\r\n   * Gets tip max allowed deviation from animated pose\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  /**\r\n   * Adds a collider to the system\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  /**\r\n   * Removes a collider from the system\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  /**\r\n   * Clears all colliders\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  /**\r\n   * Gets all colliders\r\n   */\r\n  get colliders(): SpringCollider[] {\r\n    return this._colliders;\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 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 = {\r\n        start: currentStart,\r\n        end: currentEnd\r\n      };\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() ?? Vector3.axisPY();\r\n    if (currentNormal.magnitudeSq > 1e-8) {\r\n      currentNormal.inplaceNormalize();\r\n    } else {\r\n      currentNormal.setXYZ(0, 1, 0);\r\n    }\r\n    const cached = this._smoothedPlaneData.get(collider);\r\n    if (!cached || blend >= 1) {\r\n      const next = {\r\n        point: currentPoint,\r\n        normal: currentNormal\r\n      };\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    if (cached.normal.magnitudeSq > 1e-8) 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package/dist/animation/spring_modifier.js

@@ -13,16 +13,21 @@ import { SkeletonModifier } from './skeleton_modifier.js';
     _springSystem;
     _weight;
     _sourceId;
+    _startupDelay;
+    _startupDelayRemaining;
     /**
    * Create a spring post-processor.
    *
    * @param springSystem - The spring system to integrate
    * @param weight - Blend weight [0-1] (default: 1.0)
-   */ constructor(springSystem, weight = 1.0){
+   * @param startupDelay - Seconds spent following the animated pose before simulation starts (default: 0.1)
+   */ constructor(springSystem, weight = 1.0, startupDelay = 0.1){
         super();
         this._weight = weight;
         this._springSystem = springSystem;
         this._sourceId = '';
+        this._startupDelay = Math.max(0, Number(startupDelay) || 0);
+        this._startupDelayRemaining = this._startupDelay;
     }
     /**
    * Get the spring system.
@@ -43,6 +48,10 @@ import { SkeletonModifier } from './skeleton_modifier.js';
         if (!this._enabled || this._weight <= 0) {
             return;
         }
+        if (this._startupDelayRemaining > 0 && this.reinitializeFromCurrentPose()) {
+            this._startupDelayRemaining = Math.max(0, this._startupDelayRemaining - Math.max(0, Number(deltaTime) || 0));
+            return;
+        }
         // Update spring physics simulation
         this._springSystem.update(deltaTime);
         // Apply results to scene nodes with blending
@@ -52,6 +61,16 @@ import { SkeletonModifier } from './skeleton_modifier.js';
    * Reset the spring system to initial state.
    */ reset() {
         this._springSystem.reset();
+        this._startupDelayRemaining = this._startupDelay;
+    }
+    /** Restarts the pose-following startup window after a runtime hierarchy or binding change. */ restartSimulation(startupDelay = this._startupDelay) {
+        this._startupDelayRemaining = Math.max(0, Number(startupDelay) || 0);
+    }
+    get startupDelay() {
+        return this._startupDelay;
+    }
+    set startupDelay(value) {
+        this._startupDelay = Math.max(0, Number(value) || 0);
     }
     /**
    * Get the blend weight for this processor.
@@ -65,6 +84,18 @@ import { SkeletonModifier } from './skeleton_modifier.js';
    */ _setWeight(value) {
         this._weight = Math.max(0, Math.min(1, value));
     }
+    reinitializeFromCurrentPose() {
+        const system = this._springSystem;
+        if (typeof system.reinitializeFromCurrentPose !== 'function') {
+            this._startupDelayRemaining = 0;
+            return false;
+        }
+        system.reinitializeFromCurrentPose({
+            recomputeAnchorOffsets: true,
+            recalculateRestLengths: true
+        });
+        return true;
+    }
 }
 
 export { SpringModifier };

package/dist/animation/spring_modifier.js.map

@@ -1 +1 @@
-{"version":3,"file":"spring_modifier.js","sources":["../../src/animation/spring_modifier.ts"],"sourcesContent":["import { SkeletonModifier } from './skeleton_modifier';\r\nimport type { SkeletonRig } from './skeleton';\r\nimport type { SpringSystem } from './spring/spring_system';\r\n\r\n/**\r\n * Post-processor wrapper for spring physics systems.\r\n *\r\n * Integrates spring-based physics simulation into the skeleton post-processing pipeline.\r\n * The spring system is updated each frame and results are blended with the base animation.\r\n *\r\n * @deprecated Use the new {@link JointDynamicsModifier} class instead.\r\n *\r\n * @public\r\n */\r\nexport class SpringModifier extends SkeletonModifier {\r\n  private _springSystem: SpringSystem;\r\n  private _weight: number;\r\n  private _sourceId: string;\r\n\r\n  /**\r\n   * Create a spring post-processor.\r\n   *\r\n   * @param springSystem - The spring system to integrate\r\n   * @param weight - Blend weight [0-1] (default: 1.0)\r\n   */\r\n  constructor(springSystem: SpringSystem, weight: number = 1.0) {\r\n    super();\r\n    this._weight = weight;\r\n    this._springSystem = springSystem;\r\n    this._sourceId = '';\r\n  }\r\n\r\n  /**\r\n   * Get the spring system.\r\n   */\r\n  get springSystem(): SpringSystem {\r\n    return this._springSystem;\r\n  }\r\n\r\n  /**\r\n   * Get the identifier of the configuration that created this modifier.\r\n   */\r\n  get sourceId(): string {\r\n    return this._sourceId;\r\n  }\r\n\r\n  set sourceId(value: string) {\r\n    this._sourceId = value;\r\n  }\r\n\r\n  /**\r\n   * Apply spring physics to skeleton joints.\r\n   */\r\n  apply(_skeleton: SkeletonRig, deltaTime: number): void {\r\n    if (!this._enabled || this._weight <= 0) {\r\n      return;\r\n    }\r\n\r\n    // Update spring physics simulation\r\n    this._springSystem.update(deltaTime);\r\n\r\n    // Apply results to scene nodes with blending\r\n    this._springSystem.applyToNodes(this._weight);\r\n  }\r\n\r\n  /**\r\n   * Reset the spring system to initial state.\r\n   */\r\n  reset(): void {\r\n    this._springSystem.reset();\r\n  }\r\n\r\n  /**\r\n   * Get the blend weight for this processor.\r\n   * @returns The current blend weight (0-1)\r\n   */\r\n  protected _getWeight(): number {\r\n    return this._weight;\r\n  }\r\n\r\n  /**\r\n   * Set the blend weight for this processor.\r\n   * @param value - New blend weight (0-1)\r\n   */\r\n  protected _setWeight(value: number): void {\r\n    this._weight = Math.max(0, Math.min(1, value));\r\n  }\r\n}\r\n"],"names":["SpringModifier","SkeletonModifier","_springSystem","_weight","_sourceId","springSystem","weight","sourceId","value","apply","_skeleton","deltaTime","_enabled","update","applyToNodes","reset","_setWeight","Math","max","min"],"mappings":";;AAIA;;;;;;;;;IAUO,MAAMA,cAAuBC,SAAAA,gBAAAA,CAAAA;IAC1BC,aAA4B;IAC5BC,OAAgB;IAChBC,SAAkB;AAE1B;;;;;AAKC,MACD,WAAYC,CAAAA,YAA0B,EAAEC,MAAAA,GAAiB,GAAG,CAAE;QAC5D,KAAK,EAAA;QACL,IAAI,CAACH,OAAO,GAAGG,MAAAA;QACf,IAAI,CAACJ,aAAa,GAAGG,YAAAA;QACrB,IAAI,CAACD,SAAS,GAAG,EAAA;AACnB;AAEA;;AAEC,MACD,IAAIC,YAA6B,GAAA;QAC/B,OAAO,IAAI,CAACH,aAAa;AAC3B;AAEA;;AAEC,MACD,IAAIK,QAAmB,GAAA;QACrB,OAAO,IAAI,CAACH,SAAS;AACvB;IAEA,IAAIG,QAAAA,CAASC,KAAa,EAAE;QAC1B,IAAI,CAACJ,SAAS,GAAGI,KAAAA;AACnB;AAEA;;AAEC,MACDC,KAAMC,CAAAA,SAAsB,EAAEC,SAAiB,EAAQ;QACrD,IAAI,CAAC,IAAI,CAACC,QAAQ,IAAI,IAAI,CAACT,OAAO,IAAI,CAAG,EAAA;AACvC,YAAA;AACF;;AAGA,QAAA,IAAI,CAACD,aAAa,CAACW,MAAM,CAACF,SAAAA,CAAAA;;AAG1B,QAAA,IAAI,CAACT,aAAa,CAACY,YAAY,CAAC,IAAI,CAACX,OAAO,CAAA;AAC9C;AAEA;;AAEC,MACDY,KAAc,GAAA;QACZ,IAAI,CAACb,aAAa,CAACa,KAAK,EAAA;AAC1B;AAEA;;;AAGC,MACD,UAA+B,GAAA;QAC7B,OAAO,IAAI,CAACZ,OAAO;AACrB;AAEA;;;MAIUa,UAAWR,CAAAA,KAAa,EAAQ;QACxC,IAAI,CAACL,OAAO,GAAGc,IAAKC,CAAAA,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKE,GAAG,CAAC,CAAGX,EAAAA,KAAAA,CAAAA,CAAAA;AACzC;AACF;;;;"}
+{"version":3,"file":"spring_modifier.js","sources":["../../src/animation/spring_modifier.ts"],"sourcesContent":["import { SkeletonModifier } from './skeleton_modifier';\r\nimport type { SkeletonRig } from './skeleton';\r\nimport type { SpringSystem } from './spring/spring_system';\r\n\r\n/**\r\n * Post-processor wrapper for spring physics systems.\r\n *\r\n * Integrates spring-based physics simulation into the skeleton post-processing pipeline.\r\n * The spring system is updated each frame and results are blended with the base animation.\r\n *\r\n * @deprecated Use the new {@link JointDynamicsModifier} class instead.\r\n *\r\n * @public\r\n */\r\nexport class SpringModifier extends SkeletonModifier {\r\n  private _springSystem: SpringSystem;\r\n  private _weight: number;\r\n  private _sourceId: string;\r\n  private _startupDelay: number;\r\n  private _startupDelayRemaining: number;\r\n\r\n  /**\r\n   * Create a spring post-processor.\r\n   *\r\n   * @param springSystem - The spring system to integrate\r\n   * @param weight - Blend weight [0-1] (default: 1.0)\r\n   * @param startupDelay - Seconds spent following the animated pose before simulation starts (default: 0.1)\r\n   */\r\n  constructor(springSystem: SpringSystem, weight: number = 1.0, startupDelay: number = 0.1) {\r\n    super();\r\n    this._weight = weight;\r\n    this._springSystem = springSystem;\r\n    this._sourceId = '';\r\n    this._startupDelay = Math.max(0, Number(startupDelay) || 0);\r\n    this._startupDelayRemaining = this._startupDelay;\r\n  }\r\n\r\n  /**\r\n   * Get the spring system.\r\n   */\r\n  get springSystem(): SpringSystem {\r\n    return this._springSystem;\r\n  }\r\n\r\n  /**\r\n   * Get the identifier of the configuration that created this modifier.\r\n   */\r\n  get sourceId(): string {\r\n    return this._sourceId;\r\n  }\r\n\r\n  set sourceId(value: string) {\r\n    this._sourceId = value;\r\n  }\r\n\r\n  /**\r\n   * Apply spring physics to skeleton joints.\r\n   */\r\n  apply(_skeleton: SkeletonRig, deltaTime: number): void {\r\n    if (!this._enabled || this._weight <= 0) {\r\n      return;\r\n    }\r\n\r\n    if (this._startupDelayRemaining > 0 && this.reinitializeFromCurrentPose()) {\r\n      this._startupDelayRemaining = Math.max(\r\n        0,\r\n        this._startupDelayRemaining - Math.max(0, Number(deltaTime) || 0)\r\n      );\r\n      return;\r\n    }\r\n\r\n    // Update spring physics simulation\r\n    this._springSystem.update(deltaTime);\r\n\r\n    // Apply results to scene nodes with blending\r\n    this._springSystem.applyToNodes(this._weight);\r\n  }\r\n\r\n  /**\r\n   * Reset the spring system to initial state.\r\n   */\r\n  reset(): void {\r\n    this._springSystem.reset();\r\n    this._startupDelayRemaining = this._startupDelay;\r\n  }\r\n\r\n  /** Restarts the pose-following startup window after a runtime hierarchy or binding change. */\r\n  restartSimulation(startupDelay: number = this._startupDelay): void {\r\n    this._startupDelayRemaining = Math.max(0, Number(startupDelay) || 0);\r\n  }\r\n\r\n  get startupDelay(): number {\r\n    return this._startupDelay;\r\n  }\r\n\r\n  set startupDelay(value: number) {\r\n    this._startupDelay = Math.max(0, Number(value) || 0);\r\n  }\r\n\r\n  /**\r\n   * Get the blend weight for this processor.\r\n   * @returns The current blend weight (0-1)\r\n   */\r\n  protected _getWeight(): number {\r\n    return this._weight;\r\n  }\r\n\r\n  /**\r\n   * Set the blend weight for this processor.\r\n   * @param value - New blend weight (0-1)\r\n   */\r\n  protected _setWeight(value: number): void {\r\n    this._weight = Math.max(0, Math.min(1, value));\r\n  }\r\n\r\n  private reinitializeFromCurrentPose(): boolean {\r\n    const system = this._springSystem as SpringSystem & {\r\n      reinitializeFromCurrentPose?: (options?: {\r\n        recomputeAnchorOffsets?: boolean;\r\n        recalculateRestLengths?: boolean;\r\n      }) => void;\r\n    };\r\n    if (typeof system.reinitializeFromCurrentPose !== 'function') {\r\n      this._startupDelayRemaining = 0;\r\n      return false;\r\n    }\r\n    system.reinitializeFromCurrentPose({\r\n      recomputeAnchorOffsets: true,\r\n      recalculateRestLengths: true\r\n    });\r\n    return true;\r\n  }\r\n}\r\n"],"names":["SpringModifier","SkeletonModifier","_springSystem","_weight","_sourceId","_startupDelay","_startupDelayRemaining","springSystem","weight","startupDelay","Math","max","Number","sourceId","value","apply","_skeleton","deltaTime","_enabled","reinitializeFromCurrentPose","update","applyToNodes","reset","restartSimulation","_setWeight","min","system","recomputeAnchorOffsets","recalculateRestLengths"],"mappings":";;AAIA;;;;;;;;;IAUO,MAAMA,cAAuBC,SAAAA,gBAAAA,CAAAA;IAC1BC,aAA4B;IAC5BC,OAAgB;IAChBC,SAAkB;IAClBC,aAAsB;IACtBC,sBAA+B;AAEvC;;;;;;MAOA,WAAA,CAAYC,YAA0B,EAAEC,MAAAA,GAAiB,GAAG,EAAEC,YAAAA,GAAuB,GAAG,CAAE;QACxF,KAAK,EAAA;QACL,IAAI,CAACN,OAAO,GAAGK,MAAAA;QACf,IAAI,CAACN,aAAa,GAAGK,YAAAA;QACrB,IAAI,CAACH,SAAS,GAAG,EAAA;QACjB,IAAI,CAACC,aAAa,GAAGK,IAAAA,CAAKC,GAAG,CAAC,CAAA,EAAGC,OAAOH,YAAiB,CAAA,IAAA,CAAA,CAAA;AACzD,QAAA,IAAI,CAACH,sBAAsB,GAAG,IAAI,CAACD,aAAa;AAClD;AAEA;;AAEC,MACD,IAAIE,YAA6B,GAAA;QAC/B,OAAO,IAAI,CAACL,aAAa;AAC3B;AAEA;;AAEC,MACD,IAAIW,QAAmB,GAAA;QACrB,OAAO,IAAI,CAACT,SAAS;AACvB;IAEA,IAAIS,QAAAA,CAASC,KAAa,EAAE;QAC1B,IAAI,CAACV,SAAS,GAAGU,KAAAA;AACnB;AAEA;;AAEC,MACDC,KAAMC,CAAAA,SAAsB,EAAEC,SAAiB,EAAQ;QACrD,IAAI,CAAC,IAAI,CAACC,QAAQ,IAAI,IAAI,CAACf,OAAO,IAAI,CAAG,EAAA;AACvC,YAAA;AACF;QAEA,IAAI,IAAI,CAACG,sBAAsB,GAAG,KAAK,IAAI,CAACa,2BAA2B,EAAI,EAAA;AACzE,YAAA,IAAI,CAACb,sBAAsB,GAAGI,IAAKC,CAAAA,GAAG,CACpC,CACA,EAAA,IAAI,CAACL,sBAAsB,GAAGI,IAAKC,CAAAA,GAAG,CAAC,CAAA,EAAGC,OAAOK,SAAc,CAAA,IAAA,CAAA,CAAA,CAAA;AAEjE,YAAA;AACF;;AAGA,QAAA,IAAI,CAACf,aAAa,CAACkB,MAAM,CAACH,SAAAA,CAAAA;;AAG1B,QAAA,IAAI,CAACf,aAAa,CAACmB,YAAY,CAAC,IAAI,CAAClB,OAAO,CAAA;AAC9C;AAEA;;AAEC,MACDmB,KAAc,GAAA;QACZ,IAAI,CAACpB,aAAa,CAACoB,KAAK,EAAA;AACxB,QAAA,IAAI,CAAChB,sBAAsB,GAAG,IAAI,CAACD,aAAa;AAClD;AAEA,mGACAkB,iBAAkBd,CAAAA,YAAAA,GAAuB,IAAI,CAACJ,aAAa,EAAQ;QACjE,IAAI,CAACC,sBAAsB,GAAGI,IAAAA,CAAKC,GAAG,CAAC,CAAA,EAAGC,OAAOH,YAAiB,CAAA,IAAA,CAAA,CAAA;AACpE;AAEA,IAAA,IAAIA,YAAuB,GAAA;QACzB,OAAO,IAAI,CAACJ,aAAa;AAC3B;IAEA,IAAII,YAAAA,CAAaK,KAAa,EAAE;QAC9B,IAAI,CAACT,aAAa,GAAGK,IAAAA,CAAKC,GAAG,CAAC,CAAA,EAAGC,OAAOE,KAAU,CAAA,IAAA,CAAA,CAAA;AACpD;AAEA;;;AAGC,MACD,UAA+B,GAAA;QAC7B,OAAO,IAAI,CAACX,OAAO;AACrB;AAEA;;;MAIUqB,UAAWV,CAAAA,KAAa,EAAQ;QACxC,IAAI,CAACX,OAAO,GAAGO,IAAKC,CAAAA,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKe,GAAG,CAAC,CAAGX,EAAAA,KAAAA,CAAAA,CAAAA;AACzC;IAEQK,2BAAuC,GAAA;QAC7C,MAAMO,MAAAA,GAAS,IAAI,CAACxB,aAAa;AAMjC,QAAA,IAAI,OAAOwB,MAAAA,CAAOP,2BAA2B,KAAK,UAAY,EAAA;YAC5D,IAAI,CAACb,sBAAsB,GAAG,CAAA;YAC9B,OAAO,KAAA;AACT;AACAoB,QAAAA,MAAAA,CAAOP,2BAA2B,CAAC;YACjCQ,sBAAwB,EAAA,IAAA;YACxBC,sBAAwB,EAAA;AAC1B,SAAA,CAAA;QACA,OAAO,IAAA;AACT;AACF;;;;"}

package/dist/app/app.js

@@ -29,6 +29,7 @@ import { getApp, setApp } from './api.js';
     _engine;
     _editorMode;
     _ready;
+    _frameWaiters;
     /**
    * Construct the Application singleton with the provided options.
    *
@@ -55,6 +56,7 @@ import { getApp, setApp } from './api.js';
         this._editorMode = opt.runtimeOptions?.editorMode ?? 'none';
         this._device = null;
         this._ready = false;
+        this._frameWaiters = [];
     }
     /**
    * Editor mode
@@ -125,6 +127,7 @@ import { getApp, setApp } from './api.js';
    * - Flushes pending disposals from the previous frame.
    * - Clears device state (framebuffer, viewport, scissor).
    * - Queries frame timing from the device (`elapsedFrame`, `elapsedOverall`).
+   * - Starts a new input frame: input state, gamepads and action maps.
    * - Updates the runtime manager (scripting/behaviors).
    * - Emits `tick` with delta/elapsed times.
    *
@@ -138,12 +141,35 @@ import { getApp, setApp } from './api.js';
             this.device.setScissor(null);
             const dt = this.device.frameInfo.elapsedFrame;
             const elapsed = this.device.frameInfo.elapsedOverall;
+            this._inputManager._beginFrame(dt * 0.001);
             this.dispatchEvent('tick', dt, elapsed);
             this._engine.update(dt * 0.001, elapsed * 0.001);
             this._engine.render();
+            if (this._frameWaiters.length > 0) {
+                // Resolution callbacks run as microtasks, after the caller's endFrame()
+                const waiters = this._frameWaiters;
+                this._frameWaiters = [];
+                waiters.forEach((resolve)=>resolve());
+            }
         }
     }
     /**
+   * Waits for the next frame to be rendered.
+   *
+   * @remarks
+   * Resolves once the next call to {@link Application.frame} has rendered every
+   * active layer and the frame has been ended, so what was set up before calling
+   * this is on screen when the promise settles. Use it to hide a loading overlay
+   * only after the first frame of a scene has been drawn.
+   *
+   * Never resolves while no frame is rendered (run loop not started, or the
+   * device skips frames because the rendering context is lost).
+   */ nextFrame() {
+        return new Promise((resolve)=>{
+            this._frameWaiters.push(resolve);
+        });
+    }
+    /**
    * Advances exactly one frame outside the run loop.
    *
    * @remarks