@zephyr3d/scene 0.9.4 → 0.9.5

package/dist/animation/fixed_geometry_cache_track.js.map

@@ -1 +1 @@
-{"version":3,"file":"fixed_geometry_cache_track.js","sources":["../../src/animation/fixed_geometry_cache_track.ts"],"sourcesContent":["import { AnimationTrack } from './animationtrack';\r\nimport type { Mesh } from '../scene';\r\nimport type { Nullable } from '@zephyr3d/base';\r\nimport {\r\n  createGeometryCacheState,\r\n  ensureGeometryCacheMeshBinding,\r\n  mixGeometryCacheBoundingBox,\r\n  type GeometryCacheFrame,\r\n  type GeometryCacheMeshBinding,\r\n  type GeometryCacheState\r\n} from './geometry_cache_utils';\r\n\r\n/** @public */\r\nexport type FixedGeometryCacheFrame = GeometryCacheFrame;\r\n/** @public */\r\nexport type FixedGeometryCacheState = GeometryCacheState;\r\n\r\n/**\r\n * Geometry cache track backed by explicit per-frame vertex data.\r\n *\r\n * @public\r\n */\r\nexport class FixedGeometryCacheTrack extends AnimationTrack<FixedGeometryCacheState> {\r\n  private _times: Float32Array;\r\n  private _frames: FixedGeometryCacheFrame[];\r\n  private _state: Nullable<FixedGeometryCacheState>;\r\n  private readonly _meshBindings: WeakMap<Mesh, GeometryCacheMeshBinding>;\r\n\r\n  constructor(times?: Float32Array, frames?: FixedGeometryCacheFrame[], embedded?: boolean) {\r\n    super(embedded);\r\n    this._times = times ?? new Float32Array();\r\n    this._frames = frames ?? [];\r\n    this._state = this._frames.length > 0 ? createGeometryCacheState(this._frames[0]) : null;\r\n    this._meshBindings = new WeakMap();\r\n  }\r\n\r\n  get times() {\r\n    return this._times;\r\n  }\r\n\r\n  set times(value: Float32Array) {\r\n    this._times = value ?? new Float32Array();\r\n  }\r\n\r\n  get frames() {\r\n    return this._frames;\r\n  }\r\n\r\n  set frames(value: FixedGeometryCacheFrame[]) {\r\n    this._frames = value ?? [];\r\n    this._state = this._frames.length > 0 ? createGeometryCacheState(this._frames[0]) : null;\r\n  }\r\n\r\n  calculateState(_target: object, currentTime: number) {\r\n    if (this._frames.length === 0) {\r\n      throw new Error('FixedGeometryCacheTrack.calculateState(): no frames available');\r\n    }\r\n    if (this._frames.length === 1 || this._times.length <= 1) {\r\n      return this.copyFrameToState(this._frames[0]);\r\n    }\r\n    if (currentTime <= this._times[0]) {\r\n      return this.copyFrameToState(this._frames[0]);\r\n    }\r\n    const lastIndex = this._times.length - 1;\r\n    if (currentTime >= this._times[lastIndex]) {\r\n      return this.copyFrameToState(this._frames[lastIndex]);\r\n    }\r\n    let right = 1;\r\n    while (right < this._times.length && this._times[right] < currentTime) {\r\n      right++;\r\n    }\r\n    const left = Math.max(0, right - 1);\r\n    const start = this._times[left];\r\n    const end = this._times[right];\r\n    const t = end > start ? (currentTime - start) / (end - start) : 0;\r\n    return this.interpolateFrames(this._frames[left], this._frames[right], t);\r\n  }\r\n\r\n  applyState(target: object, state: FixedGeometryCacheState) {\r\n    const mesh = target as Mesh;\r\n    const binding = this.ensureMeshBinding(mesh, state);\r\n    binding.positionBuffer.bufferSubData(0, state.positions as unknown as Float32Array<ArrayBuffer>);\r\n    if (binding.normalBuffer && state.normals) {\r\n      binding.normalBuffer.bufferSubData(0, state.normals as unknown as Float32Array<ArrayBuffer>);\r\n    }\r\n    mesh.setAnimatedBoundingBox(state.boundingBox);\r\n  }\r\n\r\n  mixState(a: FixedGeometryCacheState, b: FixedGeometryCacheState, t: number) {\r\n    if (!this._state) {\r\n      throw new Error('FixedGeometryCacheTrack.mixState(): invalid state');\r\n    }\r\n    const positions = new Float32Array(a.positions.length);\r\n    for (let i = 0; i < positions.length; i++) {\r\n      positions[i] = a.positions[i] + (b.positions[i] - a.positions[i]) * t;\r\n    }\r\n    let normals: Nullable<Float32Array> = null;\r\n    if (a.normals && b.normals && a.normals.length === b.normals.length) {\r\n      normals = new Float32Array(a.normals.length);\r\n      for (let i = 0; i < normals.length; i++) {\r\n        normals[i] = a.normals[i] + (b.normals[i] - a.normals[i]) * t;\r\n      }\r\n    }\r\n    return {\r\n      positions,\r\n      normals,\r\n      boundingBox: mixGeometryCacheBoundingBox(a.boundingBox, b.boundingBox, t)\r\n    };\r\n  }\r\n\r\n  getBlendId() {\r\n    return 'fixed-geometry-cache';\r\n  }\r\n\r\n  getDuration() {\r\n    return this._times.length > 0 ? this._times[this._times.length - 1] : 0;\r\n  }\r\n\r\n  reset(target: object) {\r\n    if (this._frames.length > 0) {\r\n      this.applyState(target, this.copyFrameToState(this._frames[0]));\r\n    }\r\n  }\r\n\r\n  private copyFrameToState(frame: FixedGeometryCacheFrame) {\r\n    if (!this._state) {\r\n      this._state = createGeometryCacheState(frame);\r\n    }\r\n    this._state.positions.set(frame.positions);\r\n    if (frame.normals) {\r\n      if (!this._state.normals || this._state.normals.length !== frame.normals.length) {\r\n        this._state.normals = new Float32Array(frame.normals.length);\r\n      }\r\n      this._state.normals.set(frame.normals);\r\n    } else {\r\n      this._state.normals = null;\r\n    }\r\n    this._state.boundingBox.minPoint.set(frame.boundingBox.minPoint);\r\n    this._state.boundingBox.maxPoint.set(frame.boundingBox.maxPoint);\r\n    return this._state;\r\n  }\r\n\r\n  private interpolateFrames(a: FixedGeometryCacheFrame, b: FixedGeometryCacheFrame, t: number) {\r\n    if (!this._state) {\r\n      this._state = createGeometryCacheState(a);\r\n    }\r\n    for (let i = 0; i < this._state.positions.length; i++) {\r\n      this._state.positions[i] = a.positions[i] + (b.positions[i] - a.positions[i]) * t;\r\n    }\r\n    if (a.normals && b.normals && a.normals.length === b.normals.length) {\r\n      if (!this._state.normals || this._state.normals.length !== a.normals.length) {\r\n        this._state.normals = new Float32Array(a.normals.length);\r\n      }\r\n      for (let i = 0; i < this._state.normals.length; i++) {\r\n        this._state.normals[i] = a.normals[i] + (b.normals[i] - a.normals[i]) * t;\r\n      }\r\n    } else {\r\n      this._state.normals = null;\r\n    }\r\n    this._state.boundingBox.minPoint.setXYZ(\r\n      a.boundingBox.minPoint.x + (b.boundingBox.minPoint.x - a.boundingBox.minPoint.x) * t,\r\n      a.boundingBox.minPoint.y + (b.boundingBox.minPoint.y - a.boundingBox.minPoint.y) * t,\r\n      a.boundingBox.minPoint.z + (b.boundingBox.minPoint.z - a.boundingBox.minPoint.z) * t\r\n    );\r\n    this._state.boundingBox.maxPoint.setXYZ(\r\n      a.boundingBox.maxPoint.x + (b.boundingBox.maxPoint.x - a.boundingBox.maxPoint.x) * t,\r\n      a.boundingBox.maxPoint.y + (b.boundingBox.maxPoint.y - a.boundingBox.maxPoint.y) * t,\r\n      a.boundingBox.maxPoint.z + (b.boundingBox.maxPoint.z - a.boundingBox.maxPoint.z) * t\r\n    );\r\n    return this._state;\r\n  }\r\n\r\n  private ensureMeshBinding(mesh: Mesh, state: FixedGeometryCacheState) {\r\n    return ensureGeometryCacheMeshBinding(\r\n      this._meshBindings,\r\n      mesh,\r\n      state,\r\n      'FixedGeometryCacheTrack.applyState()'\r\n    );\r\n  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+{"version":3,"file":"fixed_geometry_cache_track.js","sources":["../../src/animation/fixed_geometry_cache_track.ts"],"sourcesContent":["import { AnimationTrack } from './animationtrack';\r\nimport type { Mesh } from '../scene';\r\nimport type { Nullable } from '@zephyr3d/base';\r\nimport {\r\n  createGeometryCacheState,\r\n  ensureGeometryCacheMeshBinding,\r\n  mixGeometryCacheBoundingBox,\r\n  type GeometryCacheFrame,\r\n  type GeometryCacheMeshBinding,\r\n  type GeometryCacheState\r\n} from './geometry_cache_utils';\r\n\r\n/** @public */\r\nexport type FixedGeometryCacheFrame = GeometryCacheFrame;\r\n/** @public */\r\nexport type FixedGeometryCacheState = GeometryCacheState;\r\n\r\n/**\r\n * Geometry cache track backed by explicit per-frame vertex data.\r\n *\r\n * @public\r\n */\r\nexport class FixedGeometryCacheTrack extends AnimationTrack<FixedGeometryCacheState> {\r\n  private _times: Float32Array;\r\n  private _frames: FixedGeometryCacheFrame[];\r\n  private _state: Nullable<FixedGeometryCacheState>;\r\n  private readonly _meshBindings: WeakMap<Mesh, GeometryCacheMeshBinding>;\r\n\r\n  constructor(times?: Float32Array, frames?: FixedGeometryCacheFrame[], embedded?: boolean) {\r\n    super(embedded);\r\n    this._times = times ?? new Float32Array();\r\n    this._frames = frames ?? [];\r\n    this._state = this._frames.length > 0 ? createGeometryCacheState(this._frames[0]) : null;\r\n    this._meshBindings = new WeakMap();\r\n  }\r\n\r\n  clone(): this {\r\n    return new FixedGeometryCacheTrack(\r\n      this._times.slice(),\r\n      this._frames.map((frame) => ({\r\n        positions: frame.positions.slice(),\r\n        normals: frame.normals?.slice() ?? null,\r\n        boundingBox: frame.boundingBox.clone()\r\n      })),\r\n      false\r\n    ) as this;\r\n  }\r\n\r\n  get times() {\r\n    return this._times;\r\n  }\r\n\r\n  set times(value: Float32Array) {\r\n    this._times = value ?? new Float32Array();\r\n  }\r\n\r\n  get frames() {\r\n    return this._frames;\r\n  }\r\n\r\n  set frames(value: FixedGeometryCacheFrame[]) {\r\n    this._frames = value ?? [];\r\n    this._state = this._frames.length > 0 ? createGeometryCacheState(this._frames[0]) : null;\r\n  }\r\n\r\n  calculateState(_target: object, currentTime: number) {\r\n    if (this._frames.length === 0) {\r\n      throw new Error('FixedGeometryCacheTrack.calculateState(): no frames available');\r\n    }\r\n    if (this._frames.length === 1 || this._times.length <= 1) {\r\n      return this.copyFrameToState(this._frames[0]);\r\n    }\r\n    if (currentTime <= this._times[0]) {\r\n      return this.copyFrameToState(this._frames[0]);\r\n    }\r\n    const lastIndex = this._times.length - 1;\r\n    if (currentTime >= this._times[lastIndex]) {\r\n      return this.copyFrameToState(this._frames[lastIndex]);\r\n    }\r\n    let right = 1;\r\n    while (right < this._times.length && this._times[right] < currentTime) {\r\n      right++;\r\n    }\r\n    const left = Math.max(0, right - 1);\r\n    const start = this._times[left];\r\n    const end = this._times[right];\r\n    const t = end > start ? (currentTime - start) / (end - start) : 0;\r\n    return this.interpolateFrames(this._frames[left], this._frames[right], t);\r\n  }\r\n\r\n  applyState(target: object, state: FixedGeometryCacheState) {\r\n    const mesh = target as Mesh;\r\n    const binding = this.ensureMeshBinding(mesh, state);\r\n    binding.positionBuffer.bufferSubData(0, state.positions as unknown as Float32Array<ArrayBuffer>);\r\n    if (binding.normalBuffer && state.normals) {\r\n      binding.normalBuffer.bufferSubData(0, state.normals as unknown as Float32Array<ArrayBuffer>);\r\n    }\r\n    mesh.setAnimatedBoundingBox(state.boundingBox);\r\n  }\r\n\r\n  mixState(a: FixedGeometryCacheState, b: FixedGeometryCacheState, t: number) {\r\n    if (!this._state) {\r\n      throw new Error('FixedGeometryCacheTrack.mixState(): invalid state');\r\n    }\r\n    const positions = new Float32Array(a.positions.length);\r\n    for (let i = 0; i < positions.length; i++) {\r\n      positions[i] = a.positions[i] + (b.positions[i] - a.positions[i]) * t;\r\n    }\r\n    let normals: Nullable<Float32Array> = null;\r\n    if (a.normals && b.normals && a.normals.length === b.normals.length) {\r\n      normals = new Float32Array(a.normals.length);\r\n      for (let i = 0; i < normals.length; i++) {\r\n        normals[i] = a.normals[i] + (b.normals[i] - a.normals[i]) * t;\r\n      }\r\n    }\r\n    return {\r\n      positions,\r\n      normals,\r\n      boundingBox: mixGeometryCacheBoundingBox(a.boundingBox, b.boundingBox, t)\r\n    };\r\n  }\r\n\r\n  getBlendId() {\r\n    return 'fixed-geometry-cache';\r\n  }\r\n\r\n  getDuration() {\r\n    return this._times.length > 0 ? this._times[this._times.length - 1] : 0;\r\n  }\r\n\r\n  reset(target: object) {\r\n    if (this._frames.length > 0) {\r\n      this.applyState(target, this.copyFrameToState(this._frames[0]));\r\n    }\r\n  }\r\n\r\n  private copyFrameToState(frame: FixedGeometryCacheFrame) {\r\n    if (!this._state) {\r\n      this._state = createGeometryCacheState(frame);\r\n    }\r\n    this._state.positions.set(frame.positions);\r\n    if (frame.normals) {\r\n      if (!this._state.normals || this._state.normals.length !== frame.normals.length) {\r\n        this._state.normals = new Float32Array(frame.normals.length);\r\n      }\r\n      this._state.normals.set(frame.normals);\r\n    } else {\r\n      this._state.normals = null;\r\n    }\r\n    this._state.boundingBox.minPoint.set(frame.boundingBox.minPoint);\r\n    this._state.boundingBox.maxPoint.set(frame.boundingBox.maxPoint);\r\n    return this._state;\r\n  }\r\n\r\n  private interpolateFrames(a: FixedGeometryCacheFrame, b: FixedGeometryCacheFrame, t: number) {\r\n    if (!this._state) {\r\n      this._state = createGeometryCacheState(a);\r\n    }\r\n    for (let i = 0; i < this._state.positions.length; i++) {\r\n      this._state.positions[i] = a.positions[i] + (b.positions[i] - a.positions[i]) * t;\r\n    }\r\n    if (a.normals && b.normals && a.normals.length === b.normals.length) {\r\n      if (!this._state.normals || this._state.normals.length !== a.normals.length) {\r\n        this._state.normals = new Float32Array(a.normals.length);\r\n      }\r\n      for (let i = 0; i < this._state.normals.length; i++) {\r\n        this._state.normals[i] = a.normals[i] + (b.normals[i] - a.normals[i]) * t;\r\n      }\r\n    } else {\r\n      this._state.normals = null;\r\n    }\r\n    this._state.boundingBox.minPoint.setXYZ(\r\n      a.boundingBox.minPoint.x + (b.boundingBox.minPoint.x - a.boundingBox.minPoint.x) * t,\r\n      a.boundingBox.minPoint.y + (b.boundingBox.minPoint.y - a.boundingBox.minPoint.y) * t,\r\n      a.boundingBox.minPoint.z + (b.boundingBox.minPoint.z - a.boundingBox.minPoint.z) * t\r\n    );\r\n    this._state.boundingBox.maxPoint.setXYZ(\r\n      a.boundingBox.maxPoint.x + (b.boundingBox.maxPoint.x - a.boundingBox.maxPoint.x) * t,\r\n      a.boundingBox.maxPoint.y + (b.boundingBox.maxPoint.y - a.boundingBox.maxPoint.y) * t,\r\n   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package/dist/animation/ik_modifier.js.map

@@ -1 +1 @@
-{"version":3,"file":"ik_modifier.js","sources":["../../src/animation/ik_modifier.ts"],"sourcesContent":["import { SkeletonModifier } from './skeleton_modifier';\r\nimport type { Skeleton } from './skeleton';\r\nimport type { IKSolver } from './ik/ik_solver';\r\nimport type { Vector3 } from '@zephyr3d/base';\r\n\r\n/**\r\n * Skeleton modifier for IK solvers.\r\n *\r\n * Integrates IK solving into the skeleton post-processing pipeline.\r\n * The IK solver is executed each frame and results are blended with the base animation.\r\n *\r\n * @public\r\n */\r\nexport class IKModifier<Solver extends IKSolver = IKSolver> extends SkeletonModifier {\r\n  private _solver: Solver;\r\n  private _target: Vector3;\r\n  private _weight: number;\r\n\r\n  /**\r\n   * Create an IK post-processor.\r\n   *\r\n   * @param solver - The IK solver to integrate\r\n   * @param target - Target position for the end effector\r\n   * @param weight - Blend weight [0-1] (default: 1.0)\r\n   */\r\n  constructor(solver: Solver, target: Vector3, weight: number = 1.0) {\r\n    super();\r\n    this._weight = weight;\r\n    this._solver = solver;\r\n    this._target = target.clone();\r\n  }\r\n\r\n  /**\r\n   * Get the IK solver.\r\n   */\r\n  get solver(): Solver {\r\n    return this._solver;\r\n  }\r\n\r\n  /**\r\n   * Get the current target position.\r\n   */\r\n  get target(): Vector3 {\r\n    return this._target.clone();\r\n  }\r\n\r\n  /**\r\n   * Set the target position for the end effector.\r\n   *\r\n   * @param target - New target position (will be cloned)\r\n   */\r\n  setTarget(target: Vector3): void {\r\n    this._target.set(target);\r\n  }\r\n\r\n  /**\r\n   * Apply IK solving to skeleton joints.\r\n   */\r\n  apply(_skeleton: Skeleton, _deltaTime: number): void {\r\n    if (!this._enabled || this._weight <= 0) {\r\n      return;\r\n    }\r\n\r\n    // Solve IK\r\n    this._solver.solve(this._target);\r\n\r\n    // Apply to nodes with blending\r\n    this._solver.applyToNodes(this._weight);\r\n  }\r\n\r\n  /**\r\n   * Reset the IK solver to initial state.\r\n   */\r\n  reset(): void {\r\n    // IK solvers typically don't need explicit reset\r\n    // as they solve based on current joint positions\r\n  }\r\n\r\n  protected _getWeight(): number {\r\n    return this._weight;\r\n  }\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":["IKModifier","SkeletonModifier","_solver","_target","_weight","solver","target","weight","clone","setTarget","set","apply","_skeleton","_deltaTime","_enabled","solve","applyToNodes","reset","_getWeight","_setWeight","value","Math","max","min"],"mappings":";;AAKA;;;;;;;IAQO,MAAMA,UAAuDC,SAAAA,gBAAAA,CAAAA;IAC1DC,OAAgB;IAChBC,OAAiB;IACjBC,OAAgB;AAExB;;;;;;AAMC,MACD,YAAYC,MAAc,EAAEC,MAAe,EAAEC,MAAAA,GAAiB,GAAG,CAAE;QACjE,KAAK,EAAA;QACL,IAAI,CAACH,OAAO,GAAGG,MAAAA;QACf,IAAI,CAACL,OAAO,GAAGG,MAAAA;AACf,QAAA,IAAI,CAACF,OAAO,GAAGG,MAAAA,CAAOE,KAAK,EAAA;AAC7B;AAEA;;AAEC,MACD,IAAIH,MAAiB,GAAA;QACnB,OAAO,IAAI,CAACH,OAAO;AACrB;AAEA;;AAEC,MACD,IAAII,MAAkB,GAAA;AACpB,QAAA,OAAO,IAAI,CAACH,OAAO,CAACK,KAAK,EAAA;AAC3B;AAEA;;;;MAKAC,SAAAA,CAAUH,MAAe,EAAQ;AAC/B,QAAA,IAAI,CAACH,OAAO,CAACO,GAAG,CAACJ,MAAAA,CAAAA;AACnB;AAEA;;AAEC,MACDK,KAAMC,CAAAA,SAAmB,EAAEC,UAAkB,EAAQ;QACnD,IAAI,CAAC,IAAI,CAACC,QAAQ,IAAI,IAAI,CAACV,OAAO,IAAI,CAAG,EAAA;AACvC,YAAA;AACF;;AAGA,QAAA,IAAI,CAACF,OAAO,CAACa,KAAK,CAAC,IAAI,CAACZ,OAAO,CAAA;;AAG/B,QAAA,IAAI,CAACD,OAAO,CAACc,YAAY,CAAC,IAAI,CAACZ,OAAO,CAAA;AACxC;AAEA;;AAEC,MACDa,KAAc,GAAA;;;AAGd;IAEUC,UAAqB,GAAA;QAC7B,OAAO,IAAI,CAACd,OAAO;AACrB;AAEUe,IAAAA,UAAAA,CAAWC,KAAa,EAAQ;QACxC,IAAI,CAAChB,OAAO,GAAGiB,IAAKC,CAAAA,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKE,GAAG,CAAC,CAAGH,EAAAA,KAAAA,CAAAA,CAAAA;AACzC;AACF;;;;"}
+{"version":3,"file":"ik_modifier.js","sources":["../../src/animation/ik_modifier.ts"],"sourcesContent":["import { SkeletonModifier } from './skeleton_modifier';\r\nimport type { SkeletonRig } from './skeleton';\r\nimport type { IKSolver } from './ik/ik_solver';\r\nimport type { Vector3 } from '@zephyr3d/base';\r\n\r\n/**\r\n * Skeleton modifier for IK solvers.\r\n *\r\n * Integrates IK solving into the skeleton post-processing pipeline.\r\n * The IK solver is executed each frame and results are blended with the base animation.\r\n *\r\n * @public\r\n */\r\nexport class IKModifier<Solver extends IKSolver = IKSolver> extends SkeletonModifier {\r\n  private _solver: Solver;\r\n  private _target: Vector3;\r\n  private _weight: number;\r\n\r\n  /**\r\n   * Create an IK post-processor.\r\n   *\r\n   * @param solver - The IK solver to integrate\r\n   * @param target - Target position for the end effector\r\n   * @param weight - Blend weight [0-1] (default: 1.0)\r\n   */\r\n  constructor(solver: Solver, target: Vector3, weight: number = 1.0) {\r\n    super();\r\n    this._weight = weight;\r\n    this._solver = solver;\r\n    this._target = target.clone();\r\n  }\r\n\r\n  /**\r\n   * Get the IK solver.\r\n   */\r\n  get solver(): Solver {\r\n    return this._solver;\r\n  }\r\n\r\n  /**\r\n   * Get the current target position.\r\n   */\r\n  get target(): Vector3 {\r\n    return this._target.clone();\r\n  }\r\n\r\n  /**\r\n   * Set the target position for the end effector.\r\n   *\r\n   * @param target - New target position (will be cloned)\r\n   */\r\n  setTarget(target: Vector3): void {\r\n    this._target.set(target);\r\n  }\r\n\r\n  /**\r\n   * Apply IK solving 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    // Solve IK\r\n    this._solver.solve(this._target);\r\n\r\n    // Apply to nodes with blending\r\n    this._solver.applyToNodes(this._weight);\r\n  }\r\n\r\n  /**\r\n   * Reset the IK solver to initial state.\r\n   */\r\n  reset(): void {\r\n    // IK solvers typically don't need explicit reset\r\n    // as they solve based on current joint positions\r\n  }\r\n\r\n  protected _getWeight(): number {\r\n    return this._weight;\r\n  }\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":["IKModifier","SkeletonModifier","_solver","_target","_weight","solver","target","weight","clone","setTarget","set","apply","_skeleton","_deltaTime","_enabled","solve","applyToNodes","reset","_getWeight","_setWeight","value","Math","max","min"],"mappings":";;AAKA;;;;;;;IAQO,MAAMA,UAAuDC,SAAAA,gBAAAA,CAAAA;IAC1DC,OAAgB;IAChBC,OAAiB;IACjBC,OAAgB;AAExB;;;;;;AAMC,MACD,YAAYC,MAAc,EAAEC,MAAe,EAAEC,MAAAA,GAAiB,GAAG,CAAE;QACjE,KAAK,EAAA;QACL,IAAI,CAACH,OAAO,GAAGG,MAAAA;QACf,IAAI,CAACL,OAAO,GAAGG,MAAAA;AACf,QAAA,IAAI,CAACF,OAAO,GAAGG,MAAAA,CAAOE,KAAK,EAAA;AAC7B;AAEA;;AAEC,MACD,IAAIH,MAAiB,GAAA;QACnB,OAAO,IAAI,CAACH,OAAO;AACrB;AAEA;;AAEC,MACD,IAAII,MAAkB,GAAA;AACpB,QAAA,OAAO,IAAI,CAACH,OAAO,CAACK,KAAK,EAAA;AAC3B;AAEA;;;;MAKAC,SAAAA,CAAUH,MAAe,EAAQ;AAC/B,QAAA,IAAI,CAACH,OAAO,CAACO,GAAG,CAACJ,MAAAA,CAAAA;AACnB;AAEA;;AAEC,MACDK,KAAMC,CAAAA,SAAsB,EAAEC,UAAkB,EAAQ;QACtD,IAAI,CAAC,IAAI,CAACC,QAAQ,IAAI,IAAI,CAACV,OAAO,IAAI,CAAG,EAAA;AACvC,YAAA;AACF;;AAGA,QAAA,IAAI,CAACF,OAAO,CAACa,KAAK,CAAC,IAAI,CAACZ,OAAO,CAAA;;AAG/B,QAAA,IAAI,CAACD,OAAO,CAACc,YAAY,CAAC,IAAI,CAACZ,OAAO,CAAA;AACxC;AAEA;;AAEC,MACDa,KAAc,GAAA;;;AAGd;IAEUC,UAAqB,GAAA;QAC7B,OAAO,IAAI,CAACd,OAAO;AACrB;AAEUe,IAAAA,UAAAA,CAAWC,KAAa,EAAQ;QACxC,IAAI,CAAChB,OAAO,GAAGiB,IAAKC,CAAAA,GAAG,CAAC,CAAGD,EAAAA,IAAAA,CAAKE,GAAG,CAAC,CAAGH,EAAAA,KAAAA,CAAAA,CAAAA;AACzC;AACF;;;;"}

package/dist/animation/joint_dynamics/collision.js

@@ -195,6 +195,7 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
  * @public
  */ function pushoutFromCapsule(colR, colRW, point, ptR, out) {
     const capsuleVec = colRW.directionCurrent;
+    const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;
     const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);
     const capsulePos = colRW.positionCurrent;
     const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);
@@ -202,7 +203,7 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     if (distOnVec <= EPSILON) {
         return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);
     }
-    if (distOnVec >= colR.height) {
+    if (distOnVec >= capsuleHeight) {
         const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);
         return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);
     }
@@ -212,7 +213,7 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     const sqrPushDist = pushVec.magnitudeSq;
     if (sqrPushDist > EPSILON) {
         const pushDist = Math.sqrt(sqrPushDist) - ptR.pointRadius;
-        const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / colR.height);
+        const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);
         if (pushDist < r) {
             const scaled = Vector3.scale(pushVec, r / pushDist, _pushoutCapsuleScaled);
             Vector3.add(posOnVec, scaled, scaled);
@@ -254,6 +255,7 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
  * @public
  */ function pushInFromCapsule(colR, colRW, point, out) {
     const capsuleVec = colRW.directionCurrent;
+    const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;
     const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);
     const capsulePos = colRW.positionCurrent;
     const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);
@@ -261,7 +263,7 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     if (distOnVec <= EPSILON) {
         return pushInFromSphere(capsulePos, colRW.radius, point, out);
     }
-    if (distOnVec >= colR.height) {
+    if (distOnVec >= capsuleHeight) {
         const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);
         return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);
     }
@@ -270,7 +272,7 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);
     const sqrPullDist = pullVec.magnitudeSq;
     if (sqrPullDist > EPSILON) {
-        const r = colRW.radius * lerp(1.0, colR.radiusTailScale, colR.height / distOnVec);
+        const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);
         if (sqrPullDist > r * r) {
             const pullDist = Math.sqrt(sqrPullDist);
             const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);

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

@@ -1 +1 @@
-{"version":3,"file":"collision.js","sources":["../../../src/animation/joint_dynamics/collision.ts"],"sourcesContent":["// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class\r\n\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { ColliderR, ColliderRW, PointR } from './types';\r\nimport { EPSILON, ColliderForce } from './types';\r\n\r\n/** @public */\r\nexport interface CollisionResult {\r\n  hit: boolean;\r\n  point: Vector3;\r\n}\r\n\r\n/** @public */\r\nexport interface LineCollisionResult {\r\n  hit: boolean;\r\n  pointOnLine: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface SurfaceCheckResult {\r\n  hit: boolean;\r\n  intersectionPoint: Vector3;\r\n  pushOut: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface NearestPointsResult {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n}\r\n\r\nconst _pushoutSphereDirection = new Vector3();\r\nconst _pushoutSphereScaled = new Vector3();\r\nconst _pushoutCapsuleVecN = new Vector3();\r\nconst _pushoutCapsuleTargetVec = new Vector3();\r\nconst _pushoutCapsuleTail = new Vector3();\r\nconst _pushoutCapsulePosOnVec = new Vector3();\r\nconst _pushoutCapsulePushVec = new Vector3();\r\nconst _pushoutCapsuleScaled = new Vector3();\r\nconst _pushInSphereDirection = new Vector3();\r\nconst _pushInSphereDirectionN = new Vector3();\r\nconst _pushInSphereScaled = new Vector3();\r\nconst _pushInCapsuleVecN = new Vector3();\r\nconst _pushInCapsuleTargetVec = new Vector3();\r\nconst _pushInCapsuleTail = new Vector3();\r\nconst _pushInCapsulePosOnVec = new Vector3();\r\nconst _pushInCapsulePullVec = new Vector3();\r\nconst _pushInCapsulePullVecN = new Vector3();\r\nconst _pushInCapsuleScaled = new Vector3();\r\nconst _collisionSphereDir = new Vector3();\r\nconst _collisionSphereDirN = new Vector3();\r\nconst _collisionSphereToCenter = new Vector3();\r\nconst _collisionSphereScaled = new Vector3();\r\nconst _collisionSphereDiff = new Vector3();\r\nconst _collisionCapsuleTail = new Vector3();\r\nconst _collisionCapsulePointDir = new Vector3();\r\nconst _collisionCapsulePtOnCol = new Vector3();\r\nconst _collisionCapsulePtOnLine = new Vector3();\r\nconst _collisionCapsuleDiff = new Vector3();\r\nconst _collisionCapsuleTempLineResult: LineCollisionResult = {\r\n  hit: false,\r\n  pointOnLine: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _nearestCross0 = new Vector3();\r\nconst _nearestCross1 = new Vector3();\r\nconst _nearestN1 = new Vector3();\r\nconst _nearestN2 = new Vector3();\r\nconst _nearestPosDiff = new Vector3();\r\nconst _nearestPointOnP = new Vector3();\r\nconst _nearestPointOnQ = new Vector3();\r\nconst _nearestPointDiff = new Vector3();\r\nconst _nearestResult: NearestPointsResult = {\r\n  tP: 0,\r\n  tQ: 0,\r\n  pointOnP: new Vector3(),\r\n  pointOnQ: new Vector3(),\r\n  sqrDistance: 0\r\n};\r\nconst _surfaceNoHit: SurfaceCheckResult = {\r\n  hit: false,\r\n  intersectionPoint: new Vector3(),\r\n  pushOut: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _surfaceTriCenter = new Vector3();\r\nconst _surfaceEdgeAB = new Vector3();\r\nconst _surfaceEdgeAC = new Vector3();\r\nconst _surfacePlaneNormal = new Vector3();\r\nconst _surfacePlaneNormalNeg = new Vector3();\r\nconst _surfaceColliderDir = new Vector3();\r\nconst _surfaceRayDir = new Vector3();\r\nconst _surfaceRayDirN = new Vector3();\r\nconst _surfaceTail = new Vector3();\r\nconst _surfaceIntersection = new Vector3();\r\nconst _surfacePushOut = new Vector3();\r\nconst _surfaceToCol = new Vector3();\r\nconst _surfaceEndVec = new Vector3();\r\nconst _surfaceColDirVec = new Vector3();\r\nconst _surfaceIntersecToEnd = new Vector3();\r\nconst _surfaceColToEnd = new Vector3();\r\nconst _surfaceColToIntersect = new Vector3();\r\nconst _surfaceEVec = new Vector3();\r\nconst _surfacePoc2 = new Vector3();\r\nconst _triangleAp = new Vector3();\r\nconst _triangleBp = new Vector3();\r\nconst _triangleCp = new Vector3();\r\nconst _triangleU = new Vector3();\r\nconst _triangleV = new Vector3();\r\nconst _triangleW = new Vector3();\r\n\r\nfunction writeCollisionResult(\r\n  out: CollisionResult | undefined,\r\n  hit: boolean,\r\n  point: Vector3,\r\n  copyPoint: boolean\r\n) {\r\n  if (!out) {\r\n    return { hit, point: copyPoint ? point.clone() : point };\r\n  }\r\n  if (!out.point) {\r\n    out.point = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.point.set(point);\r\n  return out;\r\n}\r\n\r\nfunction writeLineCollisionResult(\r\n  out: LineCollisionResult | undefined,\r\n  hit: boolean,\r\n  pointOnLine: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.pointOnLine) {\r\n    out.pointOnLine = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.pointOnLine.set(pointOnLine);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeSurfaceCheckResult(\r\n  out: SurfaceCheckResult | undefined,\r\n  hit: boolean,\r\n  intersectionPoint: Vector3,\r\n  pushOut: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,\r\n      pushOut: copyVectors ? pushOut.clone() : pushOut,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.intersectionPoint) {\r\n    out.intersectionPoint = new Vector3();\r\n  }\r\n  if (!out.pushOut) {\r\n    out.pushOut = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.intersectionPoint.set(intersectionPoint);\r\n  out.pushOut.set(pushOut);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeNearestPointsResult(\r\n  out: NearestPointsResult | undefined,\r\n  tP: number,\r\n  tQ: number,\r\n  pointOnP: Vector3,\r\n  pointOnQ: Vector3,\r\n  sqrDistance: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      tP,\r\n      tQ,\r\n      pointOnP: copyVectors ? pointOnP.clone() : pointOnP,\r\n      pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,\r\n      sqrDistance\r\n    };\r\n  }\r\n  out.tP = tP;\r\n  out.tQ = tQ;\r\n  out.pointOnP.set(pointOnP);\r\n  out.pointOnQ.set(pointOnQ);\r\n  out.sqrDistance = sqrDistance;\r\n  return out;\r\n}\r\n\r\n// Pushout (keep point outside collider)\r\n\r\n/**\r\n * Pushes a point out of a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  pointRadius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(point, center, _pushoutSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON) {\r\n    const dirLen = Math.sqrt(sqrLen) - pointRadius;\r\n    if (dirLen < radius) {\r\n      const scaled = Vector3.scale(direction, radius / dirLen, _pushoutSphereScaled);\r\n      Vector3.add(center, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  return pushoutFromCapsule(colR, colRW, point, ptR, out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  if (distOnVec >= colR.height) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);\r\n    return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);\r\n  const sqrPushDist = pushVec.magnitudeSq;\r\n  if (sqrPushDist > EPSILON) {\r\n    const pushDist = Math.sqrt(sqrPushDist) - ptR.pointRadius;\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / colR.height);\r\n    if (pushDist < r) {\r\n      const scaled = Vector3.scale(pushVec, r / pushDist, _pushoutCapsuleScaled);\r\n      Vector3.add(posOnVec, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// PushIn (keep point inside collider - inverse mode)\r\n\r\n/**\r\n * Pulls a point inside a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(center, point, _pushInSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON && sqrLen > radius * radius) {\r\n    const dirLen = Math.sqrt(sqrLen);\r\n    const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);\r\n    const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);\r\n    Vector3.add(point, scaled, scaled);\r\n    return writeCollisionResult(out, true, scaled, !out);\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);\r\n  }\r\n  return pushInFromCapsule(colR, colRW, point, out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushInFromSphere(capsulePos, colRW.radius, point, out);\r\n  }\r\n  if (distOnVec >= colR.height) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);\r\n    return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);\r\n  const sqrPullDist = pullVec.magnitudeSq;\r\n  if (sqrPullDist > EPSILON) {\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, colR.height / distOnVec);\r\n    if (sqrPullDist > r * r) {\r\n      const pullDist = Math.sqrt(sqrPullDist);\r\n      const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);\r\n      const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);\r\n      Vector3.add(point, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// Line segment vs collider detection\r\n\r\n/**\r\n * Performs sphere collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const dir = Vector3.sub(point2, point1, _collisionSphereDir);\r\n  const dirLen = dir.magnitude;\r\n  if (dirLen < EPSILON) {\r\n    return writeLineCollisionResult(out, false, point1, center, radius, !out);\r\n  }\r\n  const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);\r\n  const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);\r\n  const dot = Vector3.dot(dirN, toCenter);\r\n  const clamped = Math.max(0, Math.min(dot, dirLen));\r\n  const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);\r\n  const hit = diff.magnitudeSq <= radius * radius;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);\r\n}\r\n\r\n/**\r\n * Performs capsule collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const capsuleDir = colRW.directionCurrent;\r\n  const capsulePos = colRW.positionCurrent;\r\n\r\n  let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);\r\n  if (res.hit) {\r\n    return res;\r\n  }\r\n\r\n  const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);\r\n  res = collisionDetectionSphere(\r\n    tail,\r\n    colRW.radius * colR.radiusTailScale,\r\n    point1,\r\n    point2,\r\n    _collisionCapsuleTempLineResult\r\n  );\r\n  if (res.hit) {\r\n    return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);\r\n  }\r\n\r\n  const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);\r\n  const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);\r\n  const t1 = Math.max(0, Math.min(1, nearest.tP));\r\n  const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);\r\n\r\n  if (nearest.sqrDistance > r * r) {\r\n    return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);\r\n  }\r\n\r\n  const t2 = Math.max(0, Math.min(1, nearest.tQ));\r\n  const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);\r\n  Vector3.add(capsulePos, ptOnCol, ptOnCol);\r\n  const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);\r\n  const hit = diff.magnitudeSq <= r * r;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);\r\n}\r\n\r\n/**\r\n * Performs collision detection against the specified collider.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  return collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n}\r\n\r\n/**\r\n * Performs inward collision detection.\r\n *\r\n * @public\r\n */\r\nexport function pushInCollisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n  res.hit = false;\r\n  return res;\r\n}\r\n\r\n// Nearest points between two line segments\r\n\r\n/**\r\n * Computes the nearest points between two segments.\r\n *\r\n * @public\r\n */\r\nexport function computeNearestPoints(\r\n  posP: Vector3,\r\n  dirP: Vector3,\r\n  posQ: Vector3,\r\n  dirQ: Vector3,\r\n  out?: NearestPointsResult\r\n): {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n} {\r\n  const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);\r\n  const n1 = Vector3.cross(dirP, cross0, _nearestN1);\r\n  const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);\r\n  const n2 = Vector3.cross(dirQ, cross1, _nearestN2);\r\n  const dP_n2 = Vector3.dot(dirP, n2);\r\n  const dQ_n1 = Vector3.dot(dirQ, n1);\r\n  const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);\r\n  const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;\r\n  const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;\r\n  const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);\r\n  Vector3.add(posP, pointOnP, pointOnP);\r\n  const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);\r\n  Vector3.add(posQ, pointOnQ, pointOnQ);\r\n  const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);\r\n  return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);\r\n}\r\n\r\n// Surface collision (triangle-based)\r\n\r\n/**\r\n * Checks triangle-surface collision against a collider.\r\n *\r\n * @public\r\n */\r\nexport function checkSurfaceCollision(\r\n  ptA: Vector3,\r\n  ptB: Vector3,\r\n  ptC: Vector3,\r\n  colliderPos: Vector3,\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  out?: SurfaceCheckResult\r\n): SurfaceCheckResult {\r\n  _surfaceNoHit.hit = false;\r\n  _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pushOut.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pointOnCollider.set(colliderPos);\r\n  _surfaceNoHit.radius = colRW.radius;\r\n\r\n  let pointOnCollider = colliderPos;\r\n  let radius = colRW.radius;\r\n  const isCapsule = colR.height > EPSILON;\r\n\r\n  const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);\r\n  const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);\r\n  const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);\r\n  const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);\r\n  Vector3.normalize(planeNormal, planeNormal);\r\n  Vector3.scale(planeNormal, -1, planeNormal);\r\n  const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);\r\n  const planeDist = -Vector3.dot(planeNormalNeg, ptA);\r\n  const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);\r\n  Vector3.normalize(colliderDir, colliderDir);\r\n  const dot = Vector3.dot(colliderDir, planeNormal);\r\n\r\n  if (isCapsule) {\r\n    const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const tempPOC = pointOnCollider;\r\n\r\n    if (side < 0) {\r\n      radius = colRW.radius * colR.radiusTailScale;\r\n      pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);\r\n    }\r\n\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    } else if (colR.forceType !== ColliderForce.Off) {\r\n      pointOnCollider = tempPOC;\r\n      let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);\r\n      _surfaceColDirVec.set(colRW.directionCurrent);\r\n      let colDirVec = _surfaceColDirVec;\r\n      if (colR.forceType === ColliderForce.Pull) {\r\n        const tmp = pointOnCollider;\r\n        pointOnCollider = endVec;\r\n        endVec = tmp;\r\n        colDirVec = Vector3.scale(colDirVec, -1, colDirVec);\r\n      }\r\n      const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);\r\n      if (enter2 !== null) {\r\n        const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);\r\n        Vector3.add(pointOnCollider, ip, ip);\r\n        if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n          const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);\r\n          const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);\r\n          const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);\r\n          const pDot = Vector3.dot(intersecToEnd, colToIntersect);\r\n          const lDot = Vector3.dot(colToEnd, colToEnd);\r\n          if (!(pDot >= 0 && pDot <= lDot)) {\r\n            return writeSurfaceCheckResult(\r\n              out,\r\n              _surfaceNoHit.hit,\r\n              _surfaceNoHit.intersectionPoint,\r\n              _surfaceNoHit.pushOut,\r\n              _surfaceNoHit.pointOnCollider,\r\n              _surfaceNoHit.radius,\r\n              !out\r\n            );\r\n          }\r\n          const dotVal = Vector3.dot(colToEnd, colToIntersect);\r\n          const s2eMag = Vector3.dot(colToEnd, colToEnd);\r\n          const colToEndN = Vector3.normalize(colToEnd, colToEnd);\r\n          const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);\r\n          Vector3.add(pointOnCollider, eVec, eVec);\r\n          const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);\r\n          const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);\r\n          Vector3.add(pointOnCollider, poc2, poc2);\r\n          const toCol = Vector3.sub(poc2, ip, _surfaceToCol);\r\n          if (toCol.magnitudeSq <= radius * radius) {\r\n            return writeSurfaceCheckResult(out, true, ip, pushOut, poc2, radius, !out);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  } else {\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  return writeSurfaceCheckResult(\r\n    out,\r\n    _surfaceNoHit.hit,\r\n    _surfaceNoHit.intersectionPoint,\r\n    _surfaceNoHit.pushOut,\r\n    _surfaceNoHit.pointOnCollider,\r\n    _surfaceNoHit.radius,\r\n    !out\r\n  );\r\n}\r\n\r\n// Helpers\r\n\r\nfunction raycast(normal: Vector3, planeDist: number, origin: Vector3, direction: Vector3): number | null {\r\n  const vdot = Vector3.dot(direction, normal);\r\n  const ndot = -Vector3.dot(origin, normal) - planeDist;\r\n  if (Math.abs(vdot) <= EPSILON) {\r\n    return null;\r\n  }\r\n  const enter = ndot / vdot;\r\n  return enter > 0 ? enter : null;\r\n}\r\n\r\nfunction centerOfTriangle(a: Vector3, b: Vector3, c: Vector3, result?: Vector3): Vector3 {\r\n  result = result || new Vector3();\r\n  return result.setXYZ((a.x + b.x + c.x) / 3, (a.y + b.y + c.y) / 3, (a.z + b.z + c.z) / 3);\r\n}\r\n\r\nfunction triangleContainsPoint(a: Vector3, b: Vector3, c: Vector3, p: Vector3): boolean {\r\n  const ap = Vector3.sub(a, p, _triangleAp);\r\n  const bp = Vector3.sub(b, p, _triangleBp);\r\n  const cp = Vector3.sub(c, p, _triangleCp);\r\n  const u = Vector3.cross(ap, bp, _triangleU);\r\n  const vv = Vector3.cross(bp, cp, _triangleV);\r\n  const w = Vector3.cross(cp, ap, _triangleW);\r\n  if (Vector3.dot(u, vv) < 0) {\r\n    return false;\r\n  }\r\n  if (Vector3.dot(vv, w) < 0) {\r\n    return false;\r\n  }\r\n  return true;\r\n}\r\n\r\nfunction lerp(a: number, b: number, t: number): number {\r\n  return a + (b - a) * 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+{"version":3,"file":"collision.js","sources":["../../../src/animation/joint_dynamics/collision.ts"],"sourcesContent":["// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class\r\n\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { ColliderR, ColliderRW, PointR } from './types';\r\nimport { EPSILON, ColliderForce } from './types';\r\n\r\n/** @public */\r\nexport interface CollisionResult {\r\n  hit: boolean;\r\n  point: Vector3;\r\n}\r\n\r\n/** @public */\r\nexport interface LineCollisionResult {\r\n  hit: boolean;\r\n  pointOnLine: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface SurfaceCheckResult {\r\n  hit: boolean;\r\n  intersectionPoint: Vector3;\r\n  pushOut: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface NearestPointsResult {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n}\r\n\r\nconst _pushoutSphereDirection = new Vector3();\r\nconst _pushoutSphereScaled = new Vector3();\r\nconst _pushoutCapsuleVecN = new Vector3();\r\nconst _pushoutCapsuleTargetVec = new Vector3();\r\nconst _pushoutCapsuleTail = new Vector3();\r\nconst _pushoutCapsulePosOnVec = new Vector3();\r\nconst _pushoutCapsulePushVec = new Vector3();\r\nconst _pushoutCapsuleScaled = new Vector3();\r\nconst _pushInSphereDirection = new Vector3();\r\nconst _pushInSphereDirectionN = new Vector3();\r\nconst _pushInSphereScaled = new Vector3();\r\nconst _pushInCapsuleVecN = new Vector3();\r\nconst _pushInCapsuleTargetVec = new Vector3();\r\nconst _pushInCapsuleTail = new Vector3();\r\nconst _pushInCapsulePosOnVec = new Vector3();\r\nconst _pushInCapsulePullVec = new Vector3();\r\nconst _pushInCapsulePullVecN = new Vector3();\r\nconst _pushInCapsuleScaled = new Vector3();\r\nconst _collisionSphereDir = new Vector3();\r\nconst _collisionSphereDirN = new Vector3();\r\nconst _collisionSphereToCenter = new Vector3();\r\nconst _collisionSphereScaled = new Vector3();\r\nconst _collisionSphereDiff = new Vector3();\r\nconst _collisionCapsuleTail = new Vector3();\r\nconst _collisionCapsulePointDir = new Vector3();\r\nconst _collisionCapsulePtOnCol = new Vector3();\r\nconst _collisionCapsulePtOnLine = new Vector3();\r\nconst _collisionCapsuleDiff = new Vector3();\r\nconst _collisionCapsuleTempLineResult: LineCollisionResult = {\r\n  hit: false,\r\n  pointOnLine: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _nearestCross0 = new Vector3();\r\nconst _nearestCross1 = new Vector3();\r\nconst _nearestN1 = new Vector3();\r\nconst _nearestN2 = new Vector3();\r\nconst _nearestPosDiff = new Vector3();\r\nconst _nearestPointOnP = new Vector3();\r\nconst _nearestPointOnQ = new Vector3();\r\nconst _nearestPointDiff = new Vector3();\r\nconst _nearestResult: NearestPointsResult = {\r\n  tP: 0,\r\n  tQ: 0,\r\n  pointOnP: new Vector3(),\r\n  pointOnQ: new Vector3(),\r\n  sqrDistance: 0\r\n};\r\nconst _surfaceNoHit: SurfaceCheckResult = {\r\n  hit: false,\r\n  intersectionPoint: new Vector3(),\r\n  pushOut: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _surfaceTriCenter = new Vector3();\r\nconst _surfaceEdgeAB = new Vector3();\r\nconst _surfaceEdgeAC = new Vector3();\r\nconst _surfacePlaneNormal = new Vector3();\r\nconst _surfacePlaneNormalNeg = new Vector3();\r\nconst _surfaceColliderDir = new Vector3();\r\nconst _surfaceRayDir = new Vector3();\r\nconst _surfaceRayDirN = new Vector3();\r\nconst _surfaceTail = new Vector3();\r\nconst _surfaceIntersection = new Vector3();\r\nconst _surfacePushOut = new Vector3();\r\nconst _surfaceToCol = new Vector3();\r\nconst _surfaceEndVec = new Vector3();\r\nconst _surfaceColDirVec = new Vector3();\r\nconst _surfaceIntersecToEnd = new Vector3();\r\nconst _surfaceColToEnd = new Vector3();\r\nconst _surfaceColToIntersect = new Vector3();\r\nconst _surfaceEVec = new Vector3();\r\nconst _surfacePoc2 = new Vector3();\r\nconst _triangleAp = new Vector3();\r\nconst _triangleBp = new Vector3();\r\nconst _triangleCp = new Vector3();\r\nconst _triangleU = new Vector3();\r\nconst _triangleV = new Vector3();\r\nconst _triangleW = new Vector3();\r\n\r\nfunction writeCollisionResult(\r\n  out: CollisionResult | undefined,\r\n  hit: boolean,\r\n  point: Vector3,\r\n  copyPoint: boolean\r\n) {\r\n  if (!out) {\r\n    return { hit, point: copyPoint ? point.clone() : point };\r\n  }\r\n  if (!out.point) {\r\n    out.point = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.point.set(point);\r\n  return out;\r\n}\r\n\r\nfunction writeLineCollisionResult(\r\n  out: LineCollisionResult | undefined,\r\n  hit: boolean,\r\n  pointOnLine: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.pointOnLine) {\r\n    out.pointOnLine = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.pointOnLine.set(pointOnLine);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeSurfaceCheckResult(\r\n  out: SurfaceCheckResult | undefined,\r\n  hit: boolean,\r\n  intersectionPoint: Vector3,\r\n  pushOut: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,\r\n      pushOut: copyVectors ? pushOut.clone() : pushOut,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.intersectionPoint) {\r\n    out.intersectionPoint = new Vector3();\r\n  }\r\n  if (!out.pushOut) {\r\n    out.pushOut = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.intersectionPoint.set(intersectionPoint);\r\n  out.pushOut.set(pushOut);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeNearestPointsResult(\r\n  out: NearestPointsResult | undefined,\r\n  tP: number,\r\n  tQ: number,\r\n  pointOnP: Vector3,\r\n  pointOnQ: Vector3,\r\n  sqrDistance: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      tP,\r\n      tQ,\r\n      pointOnP: copyVectors ? pointOnP.clone() : pointOnP,\r\n      pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,\r\n      sqrDistance\r\n    };\r\n  }\r\n  out.tP = tP;\r\n  out.tQ = tQ;\r\n  out.pointOnP.set(pointOnP);\r\n  out.pointOnQ.set(pointOnQ);\r\n  out.sqrDistance = sqrDistance;\r\n  return out;\r\n}\r\n\r\n// Pushout (keep point outside collider)\r\n\r\n/**\r\n * Pushes a point out of a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  pointRadius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(point, center, _pushoutSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON) {\r\n    const dirLen = Math.sqrt(sqrLen) - pointRadius;\r\n    if (dirLen < radius) {\r\n      const scaled = Vector3.scale(direction, radius / dirLen, _pushoutSphereScaled);\r\n      Vector3.add(center, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  return pushoutFromCapsule(colR, colRW, point, ptR, out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);\r\n    return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);\r\n  const sqrPushDist = pushVec.magnitudeSq;\r\n  if (sqrPushDist > EPSILON) {\r\n    const pushDist = Math.sqrt(sqrPushDist) - ptR.pointRadius;\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    if (pushDist < r) {\r\n      const scaled = Vector3.scale(pushVec, r / pushDist, _pushoutCapsuleScaled);\r\n      Vector3.add(posOnVec, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// PushIn (keep point inside collider - inverse mode)\r\n\r\n/**\r\n * Pulls a point inside a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(center, point, _pushInSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON && sqrLen > radius * radius) {\r\n    const dirLen = Math.sqrt(sqrLen);\r\n    const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);\r\n    const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);\r\n    Vector3.add(point, scaled, scaled);\r\n    return writeCollisionResult(out, true, scaled, !out);\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);\r\n  }\r\n  return pushInFromCapsule(colR, colRW, point, out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushInFromSphere(capsulePos, colRW.radius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);\r\n    return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);\r\n  const sqrPullDist = pullVec.magnitudeSq;\r\n  if (sqrPullDist > EPSILON) {\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    if (sqrPullDist > r * r) {\r\n      const pullDist = Math.sqrt(sqrPullDist);\r\n      const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);\r\n      const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);\r\n      Vector3.add(point, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// Line segment vs collider detection\r\n\r\n/**\r\n * Performs sphere collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const dir = Vector3.sub(point2, point1, _collisionSphereDir);\r\n  const dirLen = dir.magnitude;\r\n  if (dirLen < EPSILON) {\r\n    return writeLineCollisionResult(out, false, point1, center, radius, !out);\r\n  }\r\n  const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);\r\n  const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);\r\n  const dot = Vector3.dot(dirN, toCenter);\r\n  const clamped = Math.max(0, Math.min(dot, dirLen));\r\n  const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);\r\n  const hit = diff.magnitudeSq <= radius * radius;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);\r\n}\r\n\r\n/**\r\n * Performs capsule collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const capsuleDir = colRW.directionCurrent;\r\n  const capsulePos = colRW.positionCurrent;\r\n\r\n  let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);\r\n  if (res.hit) {\r\n    return res;\r\n  }\r\n\r\n  const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);\r\n  res = collisionDetectionSphere(\r\n    tail,\r\n    colRW.radius * colR.radiusTailScale,\r\n    point1,\r\n    point2,\r\n    _collisionCapsuleTempLineResult\r\n  );\r\n  if (res.hit) {\r\n    return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);\r\n  }\r\n\r\n  const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);\r\n  const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);\r\n  const t1 = Math.max(0, Math.min(1, nearest.tP));\r\n  const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);\r\n\r\n  if (nearest.sqrDistance > r * r) {\r\n    return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);\r\n  }\r\n\r\n  const t2 = Math.max(0, Math.min(1, nearest.tQ));\r\n  const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);\r\n  Vector3.add(capsulePos, ptOnCol, ptOnCol);\r\n  const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);\r\n  const hit = diff.magnitudeSq <= r * r;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);\r\n}\r\n\r\n/**\r\n * Performs collision detection against the specified collider.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  return collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n}\r\n\r\n/**\r\n * Performs inward collision detection.\r\n *\r\n * @public\r\n */\r\nexport function pushInCollisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n  res.hit = false;\r\n  return res;\r\n}\r\n\r\n// Nearest points between two line segments\r\n\r\n/**\r\n * Computes the nearest points between two segments.\r\n *\r\n * @public\r\n */\r\nexport function computeNearestPoints(\r\n  posP: Vector3,\r\n  dirP: Vector3,\r\n  posQ: Vector3,\r\n  dirQ: Vector3,\r\n  out?: NearestPointsResult\r\n): {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n} {\r\n  const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);\r\n  const n1 = Vector3.cross(dirP, cross0, _nearestN1);\r\n  const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);\r\n  const n2 = Vector3.cross(dirQ, cross1, _nearestN2);\r\n  const dP_n2 = Vector3.dot(dirP, n2);\r\n  const dQ_n1 = Vector3.dot(dirQ, n1);\r\n  const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);\r\n  const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;\r\n  const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;\r\n  const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);\r\n  Vector3.add(posP, pointOnP, pointOnP);\r\n  const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);\r\n  Vector3.add(posQ, pointOnQ, pointOnQ);\r\n  const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);\r\n  return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);\r\n}\r\n\r\n// Surface collision (triangle-based)\r\n\r\n/**\r\n * Checks triangle-surface collision against a collider.\r\n *\r\n * @public\r\n */\r\nexport function checkSurfaceCollision(\r\n  ptA: Vector3,\r\n  ptB: Vector3,\r\n  ptC: Vector3,\r\n  colliderPos: Vector3,\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  out?: SurfaceCheckResult\r\n): SurfaceCheckResult {\r\n  _surfaceNoHit.hit = false;\r\n  _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pushOut.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pointOnCollider.set(colliderPos);\r\n  _surfaceNoHit.radius = colRW.radius;\r\n\r\n  let pointOnCollider = colliderPos;\r\n  let radius = colRW.radius;\r\n  const isCapsule = colR.height > EPSILON;\r\n\r\n  const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);\r\n  const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);\r\n  const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);\r\n  const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);\r\n  Vector3.normalize(planeNormal, planeNormal);\r\n  Vector3.scale(planeNormal, -1, planeNormal);\r\n  const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);\r\n  const planeDist = -Vector3.dot(planeNormalNeg, ptA);\r\n  const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);\r\n  Vector3.normalize(colliderDir, colliderDir);\r\n  const dot = Vector3.dot(colliderDir, planeNormal);\r\n\r\n  if (isCapsule) {\r\n    const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const tempPOC = pointOnCollider;\r\n\r\n    if (side < 0) {\r\n      radius = colRW.radius * colR.radiusTailScale;\r\n      pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);\r\n    }\r\n\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    } else if (colR.forceType !== ColliderForce.Off) {\r\n      pointOnCollider = tempPOC;\r\n      let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);\r\n      _surfaceColDirVec.set(colRW.directionCurrent);\r\n      let colDirVec = _surfaceColDirVec;\r\n      if (colR.forceType === ColliderForce.Pull) {\r\n        const tmp = pointOnCollider;\r\n        pointOnCollider = endVec;\r\n        endVec = tmp;\r\n        colDirVec = Vector3.scale(colDirVec, -1, colDirVec);\r\n      }\r\n      const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);\r\n      if (enter2 !== null) {\r\n        const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);\r\n        Vector3.add(pointOnCollider, ip, ip);\r\n        if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n          const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);\r\n          const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);\r\n          const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);\r\n          const pDot = Vector3.dot(intersecToEnd, colToIntersect);\r\n          const lDot = Vector3.dot(colToEnd, colToEnd);\r\n          if (!(pDot >= 0 && pDot <= lDot)) {\r\n            return writeSurfaceCheckResult(\r\n              out,\r\n              _surfaceNoHit.hit,\r\n              _surfaceNoHit.intersectionPoint,\r\n              _surfaceNoHit.pushOut,\r\n              _surfaceNoHit.pointOnCollider,\r\n              _surfaceNoHit.radius,\r\n              !out\r\n            );\r\n          }\r\n          const dotVal = Vector3.dot(colToEnd, colToIntersect);\r\n          const s2eMag = Vector3.dot(colToEnd, colToEnd);\r\n          const colToEndN = Vector3.normalize(colToEnd, colToEnd);\r\n          const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);\r\n          Vector3.add(pointOnCollider, eVec, eVec);\r\n          const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);\r\n          const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);\r\n          Vector3.add(pointOnCollider, poc2, poc2);\r\n          const toCol = Vector3.sub(poc2, ip, _surfaceToCol);\r\n          if (toCol.magnitudeSq <= radius * radius) {\r\n            return writeSurfaceCheckResult(out, true, ip, pushOut, poc2, radius, !out);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  } else {\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  return writeSurfaceCheckResult(\r\n    out,\r\n    _surfaceNoHit.hit,\r\n    _surfaceNoHit.intersectionPoint,\r\n    _surfaceNoHit.pushOut,\r\n    _surfaceNoHit.pointOnCollider,\r\n    _surfaceNoHit.radius,\r\n    !out\r\n  );\r\n}\r\n\r\n// Helpers\r\n\r\nfunction raycast(normal: Vector3, planeDist: number, origin: Vector3, direction: Vector3): number | null {\r\n  const vdot = Vector3.dot(direction, normal);\r\n  const ndot = -Vector3.dot(origin, normal) - planeDist;\r\n  if (Math.abs(vdot) <= EPSILON) {\r\n    return null;\r\n  }\r\n  const enter = ndot / vdot;\r\n  return enter > 0 ? enter : null;\r\n}\r\n\r\nfunction centerOfTriangle(a: Vector3, b: Vector3, c: Vector3, result?: Vector3): Vector3 {\r\n  result = result || new Vector3();\r\n  return result.setXYZ((a.x + b.x + c.x) / 3, (a.y + b.y + c.y) / 3, (a.z + b.z + c.z) / 3);\r\n}\r\n\r\nfunction triangleContainsPoint(a: Vector3, b: Vector3, c: Vector3, p: Vector3): boolean {\r\n  const ap = Vector3.sub(a, p, _triangleAp);\r\n  const bp = Vector3.sub(b, p, _triangleBp);\r\n  const cp = Vector3.sub(c, p, _triangleCp);\r\n  const u = Vector3.cross(ap, bp, _triangleU);\r\n  const vv = Vector3.cross(bp, cp, _triangleV);\r\n  const w = Vector3.cross(cp, ap, _triangleW);\r\n  if (Vector3.dot(u, vv) < 0) {\r\n    return false;\r\n  }\r\n  if (Vector3.dot(vv, w) < 0) {\r\n    return false;\r\n  }\r\n  return true;\r\n}\r\n\r\nfunction lerp(a: number, b: number, t: number): number {\r\n  return a + (b - a) * 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