@zephyr3d/scene 0.9.4 → 0.9.5

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

@@ -1 +1 @@
-{"version":3,"file":"joint_dynamics_system.js","sources":["../../../src/animation/joint_dynamics/joint_dynamics_system.ts"],"sourcesContent":["import type { DeepPartial } from '@zephyr3d/base';\r\nimport { InterpolatorScalar, Vector3 } from '@zephyr3d/base';\r\nimport { Quaternion } from '@zephyr3d/base';\r\nimport { SceneNode } from '../../scene/scene_node';\r\nimport type {\r\n  ControllerConfig,\r\n  JointDynamicsColliderHandle,\r\n  JointDynamicsFlatPlaneHandle,\r\n  JointDynamicsGrabberHandle\r\n} from './controller';\r\nimport { JointDynamicsSystemController } from './controller';\r\nimport { ColliderForce, type BoneNode, type ColliderR, type GrabberR, type TransformAccess } from './types';\r\n\r\nconst _quat = new Quaternion();\r\n\r\nconst _defaultTA = createTransformAccess(new SceneNode(null));\r\n\r\n/**\r\n * Create a transform adapter that lets the joint dynamics solver read from and write to a SceneNode.\r\n *\r\n * @param obj - Scene node to expose through the TransformAccess interface.\r\n * @returns A TransformAccess wrapper backed by the supplied scene node.\r\n *\r\n * @public\r\n */\r\nexport function createTransformAccess(obj: SceneNode): TransformAccess {\r\n  return {\r\n    getWorldPosition(): Vector3 {\r\n      return obj.getWorldPosition();\r\n    },\r\n    getWorldRotation(): Quaternion {\r\n      const q = new Quaternion();\r\n      obj.worldMatrix.decompose(null, q, null);\r\n      return q;\r\n    },\r\n    getWorldScale(): Vector3 {\r\n      const s = new Vector3();\r\n      obj.worldMatrix.decompose(s, null, null);\r\n      return s;\r\n    },\r\n    getLocalPosition(): Vector3 {\r\n      return obj.position.clone();\r\n    },\r\n    getLocalRotation(): Quaternion {\r\n      return obj.rotation.clone();\r\n    },\r\n    getLocalScale(): Vector3 {\r\n      return obj.scale.clone();\r\n    },\r\n    setWorldPosition(p: Vector3): void {\r\n      if (obj.parent) {\r\n        obj.position = obj.parent.invWorldMatrix.transformPointAffine(p);\r\n      } else {\r\n        obj.position.set(p);\r\n      }\r\n    },\r\n    setWorldRotation(q: Quaternion): void {\r\n      // Convert world rotation to local: localRot = inverse(parentWorldRot) * worldRot\r\n      if (obj.parent) {\r\n        obj.parent.worldMatrix.decompose(null, _quat, null);\r\n        Quaternion.multiply(Quaternion.inverse(_quat), q, obj.rotation);\r\n      } else {\r\n        obj.rotation.set(q);\r\n      }\r\n    },\r\n    setLocalPosition(p: Vector3): void {\r\n      obj.position.set(p);\r\n    },\r\n    setLocalRotation(q: Quaternion): void {\r\n      obj.rotation.set(q);\r\n    },\r\n    setLocalScale(s: Vector3): void {\r\n      obj.scale.set(s);\r\n    }\r\n  };\r\n}\r\n\r\n/**\r\n * Describes the bone chains simulated by a JointDynamicsSystem.\r\n *\r\n * Each chain is defined by an inclusive start and end node. The end node must be\r\n * a descendant of the start node.\r\n *\r\n * @public\r\n */\r\nexport type JointChainConfig = {\r\n  /** Root transform used for root motion compensation. */\r\n  systemRoot: SceneNode;\r\n  /** Bone chains to simulate. */\r\n  chains: { start: SceneNode; end: SceneNode }[];\r\n};\r\n\r\n/**\r\n * Configuration used to construct a JointDynamicsSystem.\r\n *\r\n * @public\r\n */\r\nexport type JointDynamicSystemConfig = {\r\n  /** Bone chain topology and root transform. */\r\n  chainConfig: JointChainConfig;\r\n  /** Optional controller configuration overrides. */\r\n  controllerConfig?: DeepPartial<ControllerConfig, 2>;\r\n};\r\n\r\n/**\r\n * Physics system for spring-like joint dynamics on scene node bone chains.\r\n *\r\n * The system builds particles and constraints from one or more bone chains,\r\n * advances them with Verlet integration, solves constraints and collisions, and\r\n * writes the resulting positions and rotations back to the scene graph.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsSystem {\r\n  private _controller: JointDynamicsSystemController;\r\n  /**\r\n   * Create a joint dynamics system for one or more bone chains.\r\n   *\r\n   * @param config - Bone chain topology and controller configuration.\r\n   * @param colliders - Optional colliders to register during initialization.\r\n   * @param grabbers - Optional grabbers to register during initialization.\r\n   * @param flatPlanes - Optional world-space planes that dynamic points cannot cross.\r\n   */\r\n  constructor(\r\n    config: JointDynamicSystemConfig,\r\n    colliders: { r: ColliderR; transform: TransformAccess }[] = [],\r\n    grabbers: {\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }[] = [],\r\n    flatPlanes: { up: Vector3; position: Vector3 }[] = []\r\n  ) {\r\n    const rootPoints: BoneNode[] = [];\r\n    const boneNodes: BoneNode[] = [];\r\n    const pointTransforms: TransformAccess[] = [];\r\n    let index = 0;\r\n    for (const chain of config.chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      for (let i = 0; i < chainNodes.length; i++) {\r\n        const node = chainNodes[i];\r\n        const boneNode = {\r\n          index: index++,\r\n          position: node.getWorldPosition(),\r\n          children: [],\r\n          isFixed: i === 0, // Fix the first bone in the chain\r\n          depth: i\r\n        };\r\n        boneNodes.push(boneNode);\r\n        pointTransforms.push(createTransformAccess(node));\r\n        if (i > 0) {\r\n          boneNodes[boneNodes.length - 2].children.push(boneNode);\r\n        }\r\n        if (i === 0) {\r\n          rootPoints.push(boneNode);\r\n        }\r\n      }\r\n    }\r\n    const systemRoot = createTransformAccess(config.chainConfig.systemRoot);\r\n    const defaultConfig = this.getDefaultControllerConfig();\r\n    const controllerConfig: ControllerConfig = {\r\n      ...defaultConfig,\r\n      ...config?.controllerConfig,\r\n      angleLimitConfig: { ...defaultConfig.angleLimitConfig, ...config?.controllerConfig?.angleLimitConfig },\r\n      curves: { ...defaultConfig.curves, ...config?.controllerConfig?.curves },\r\n      constraintOptions: {\r\n        ...defaultConfig.constraintOptions,\r\n        ...config?.controllerConfig?.constraintOptions\r\n      }\r\n    };\r\n    this._controller = new JointDynamicsSystemController(controllerConfig);\r\n    this._controller.initialize(systemRoot, rootPoints, pointTransforms, colliders, grabbers, flatPlanes);\r\n  }\r\n\r\n  /**\r\n   * Get the low-level controller that owns simulation state and advanced runtime controls.\r\n   *\r\n   * Most callers should prefer the convenience methods on JointDynamicsSystem.\r\n   *\r\n   * @returns The underlying joint dynamics controller.\r\n   */\r\n  get controller(): JointDynamicsSystemController {\r\n    return this._controller;\r\n  }\r\n\r\n  /**\r\n   * Add a fully configured collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param r - Read-only collider parameters.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform?: SceneNode): JointDynamicsColliderHandle {\r\n    return this._controller.addCollider(r, transform ? createTransformAccess(transform) : _defaultTA);\r\n  }\r\n\r\n  /**\r\n   * Add a spherical collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param radius - Sphere radius in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the sphere instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addSphereCollider(\r\n    radius: number,\r\n    transform?: SceneNode,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height: 0,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Add a capsule collider at runtime.\r\n   *\r\n   * The capsule is aligned to the collider transform's local Y axis. Its head radius is\r\n   * `radius`, its tail radius is `radius * radiusTailScale`, and `height` defines the\r\n   * distance between the capsule ends before transform scaling.\r\n   *\r\n   * @param radius - Capsule head radius in world units before transform scaling.\r\n   * @param height - Capsule length in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param radiusTailScale - Tail radius multiplier relative to the head radius. Defaults to 1.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the capsule instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCapsuleCollider(\r\n    radius: number,\r\n    height: number,\r\n    transform?: SceneNode,\r\n    radiusTailScale?: number,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: radiusTailScale ?? 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by stable handle.\r\n   *\r\n   * Disabled colliders remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @param enabled - Whether the collider should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    return this._controller.setColliderEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    return this._controller.removeCollider(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   *\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   *\r\n   * @param index - Current collider array index.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    return this._controller.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane collider at runtime.\r\n   *\r\n   * Flat planes are infinite world-space planes. The normal points toward the allowed side,\r\n   * and dynamic points are pushed back when they move behind the plane.\r\n   *\r\n   * @param up - Plane normal in world space.\r\n   * @param position - A point on the plane in world space.\r\n   * @returns A stable handle that remains valid until this flat plane is removed.\r\n   */\r\n  addFlatPlane(up: Vector3, position: Vector3): JointDynamicsFlatPlaneHandle {\r\n    return this._controller.addFlatPlane(up, position);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by stable handle.\r\n   *\r\n   * Disabled flat planes remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @param enabled - Whether the flat plane should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    return this._controller.setFlatPlaneEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    return this._controller.removeFlatPlane(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * Prefer removeFlatPlane(handle) for runtime-owned flat planes.\r\n   *\r\n   * @param index - Current flat plane array index.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    return this._controller.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   *\r\n   * The grabber transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the grabber is created at the identity transform.\r\n   *\r\n   * @param r - Read-only grabber parameters.\r\n   * @param transform - Optional scene node that drives the grabber transform.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform?: SceneNode): JointDynamicsGrabberHandle {\r\n    return this._controller.addGrabber(r, transform ? createTransformAccess(transform) : _defaultTA, false);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by stable handle.\r\n   *\r\n   * Disabling a grabber also releases any points currently held by it.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @param enabled - Whether the grabber should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    return this._controller.setGrabberEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    return this._controller.removeGrabber(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   *\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Current grabber array index.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    return this._controller.removeGrabberAt(index);\r\n  }\r\n\r\n  private collectChainNodes(start: SceneNode, end: SceneNode): SceneNode[] {\r\n    if (!start.isParentOf(end)) {\r\n      throw new Error('Invalid chain: end node must be a descendant of start node');\r\n    }\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode = end;\r\n    for (;;) {\r\n      nodes.unshift(current);\r\n      if (current === start) {\r\n        break;\r\n      }\r\n      current = current.parent!;\r\n    }\r\n    return nodes;\r\n  }\r\n  /**\r\n   * Advance the physics simulation and write the resulting transforms back to the chain nodes.\r\n   *\r\n   * @param deltaTime - Frame time step in seconds. Values larger than 0.033 are clamped for stability.\r\n   */\r\n  update(deltaTime: number): void {\r\n    // Clamp deltaTime to prevent instability\r\n    const dt = Math.min(deltaTime, 0.033); // Max 30 FPS\r\n    // simulation\r\n    this._controller.step(dt);\r\n  }\r\n  /** @internal */\r\n  private getDefaultControllerConfig(): ControllerConfig {\r\n    return {\r\n      gravity: new Vector3(0, -9.8, 0),\r\n      relaxation: 3,\r\n      subSteps: 3,\r\n      enableSurfaceCollision: false,\r\n      windForce: Vector3.zero(),\r\n      rootSlideLimit: -1,\r\n      rootRotateLimit: -1,\r\n      constraintShrinkLimit: 1,\r\n      blendRatio: 0,\r\n      stabilizationFrameRate: 60,\r\n      isFakeWave: false,\r\n      fakeWaveSpeed: 0,\r\n      fakeWavePower: 0,\r\n      angleLimitConfig: { angleLimit: -1, limitFromRoot: false },\r\n      enableBroadPhase: false,\r\n      preserveTwist: false,\r\n      curves: {\r\n        gravityScale: InterpolatorScalar.constant(1),\r\n        windForceScale: InterpolatorScalar.constant(1),\r\n        massScale: InterpolatorScalar.constant(1),\r\n        resistance: InterpolatorScalar.constant(0.95),\r\n        hardness: InterpolatorScalar.constant(0.001),\r\n        friction: InterpolatorScalar.constant(0.5),\r\n        pointRadius: InterpolatorScalar.constant(0.05),\r\n        sliderJointLength: InterpolatorScalar.constant(0),\r\n        allShrinkScale: InterpolatorScalar.constant(1),\r\n        allStretchScale: InterpolatorScalar.constant(1),\r\n        structuralShrinkVertical: InterpolatorScalar.constant(1),\r\n        structuralStretchVertical: InterpolatorScalar.constant(1),\r\n        structuralShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        structuralStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        shearShrink: InterpolatorScalar.constant(0.5),\r\n        shearStretch: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkVertical: InterpolatorScalar.constant(0.5),\r\n        bendingStretchVertical: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        bendingStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        fakeWavePower: InterpolatorScalar.constant(0),\r\n        fakeWaveFreq: InterpolatorScalar.constant(0)\r\n      },\r\n      constraintOptions: {\r\n        structuralVertical: false,\r\n        structuralHorizontal: false,\r\n        shear: false,\r\n        bendingVertical: false,\r\n        bendingHorizontal: false,\r\n        isLoop: false,\r\n        collideStructuralVertical: false,\r\n        collideStructuralHorizontal: false,\r\n        collideShear: false,\r\n        enableSurfaceCollision: false\r\n      }\r\n    };\r\n  }\r\n}\r\n"],"names":["_quat","Quaternion","_defaultTA","createTransformAccess","SceneNode","obj","getWorldPosition","getWorldRotation","q","worldMatrix","decompose","getWorldScale","s","Vector3","getLocalPosition","position","clone","getLocalRotation","rotation","getLocalScale","scale","setWorldPosition","p","parent","invWorldMatrix","transformPointAffine","set","setWorldRotation","multiply","inverse","setLocalPosition","setLocalRotation","setLocalScale","JointDynamicsSystem","_controller","config","colliders","grabbers","flatPlanes","rootPoints","boneNodes","pointTransforms","index","chain","chainConfig","chains","chainNodes","collectChainNodes","start","end","i","length","node","boneNode","children","isFixed","depth","push","systemRoot","defaultConfig","getDefaultControllerConfig","controllerConfig","angleLimitConfig","curves","constraintOptions","JointDynamicsSystemController","initialize","controller","addCollider","r","transform","addSphereCollider","radius","friction","inversed","forceType","ColliderForce","Off","height","isInverseCollider","radiusTailScale","addCapsuleCollider","setColliderEnabled","handle","enabled","removeCollider","removeColliderAt","addFlatPlane","up","setFlatPlaneEnabled","removeFlatPlane","removeFlatPlaneAt","addGrabber","setGrabberEnabled","removeGrabber","removeGrabberAt","isParentOf","Error","nodes","current","unshift","update","deltaTime","dt","Math","min","step","gravity","relaxation","subSteps","enableSurfaceCollision","windForce","zero","rootSlideLimit","rootRotateLimit","constraintShrinkLimit","blendRatio","stabilizationFrameRate","isFakeWave","fakeWaveSpeed","fakeWavePower","angleLimit","limitFromRoot","enableBroadPhase","preserveTwist","gravityScale","InterpolatorScalar","constant","windForceScale","massScale","resistance","hardness","pointRadius","sliderJointLength","allShrinkScale","allStretchScale","structuralShrinkVertical","structuralStretchVertical","structuralShrinkHorizontal","structuralStretchHorizontal","shearShrink","shearStretch","bendingShrinkVertical","bendingStretchVertical","bendingShrinkHorizontal","bendingStretchHorizontal","fakeWaveFreq","structuralVertical","structuralHorizontal","shear","bendingVertical","bendingHorizontal","isLoop","collideStructuralVertical","collideStructuralHorizontal","collideShear"],"mappings":";;;;;AAaA,MAAMA,QAAQ,IAAIC,UAAAA,EAAAA;AAElB,MAAMC,UAAAA,GAAaC,qBAAsB,CAAA,IAAIC,SAAU,CAAA,IAAA,CAAA,CAAA;AAEvD;;;;;;;IAQO,SAASD,qBAAAA,CAAsBE,GAAc,EAAA;IAClD,OAAO;AACLC,QAAAA,gBAAAA,CAAAA,GAAAA;AACE,YAAA,OAAOD,IAAIC,gBAAgB,EAAA;AAC7B,SAAA;AACAC,QAAAA,gBAAAA,CAAAA,GAAAA;AACE,YAAA,MAAMC,IAAI,IAAIP,UAAAA,EAAAA;AACdI,YAAAA,GAAAA,CAAII,WAAW,CAACC,SAAS,CAAC,MAAMF,CAAG,EAAA,IAAA,CAAA;YACnC,OAAOA,CAAAA;AACT,SAAA;AACAG,QAAAA,aAAAA,CAAAA,GAAAA;AACE,YAAA,MAAMC,IAAI,IAAIC,OAAAA,EAAAA;AACdR,YAAAA,GAAAA,CAAII,WAAW,CAACC,SAAS,CAACE,GAAG,IAAM,EAAA,IAAA,CAAA;YACnC,OAAOA,CAAAA;AACT,SAAA;AACAE,QAAAA,gBAAAA,CAAAA,GAAAA;YACE,OAAOT,GAAAA,CAAIU,QAAQ,CAACC,KAAK,EAAA;AAC3B,SAAA;AACAC,QAAAA,gBAAAA,CAAAA,GAAAA;YACE,OAAOZ,GAAAA,CAAIa,QAAQ,CAACF,KAAK,EAAA;AAC3B,SAAA;AACAG,QAAAA,aAAAA,CAAAA,GAAAA;YACE,OAAOd,GAAAA,CAAIe,KAAK,CAACJ,KAAK,EAAA;AACxB,SAAA;AACAK,QAAAA,gBAAAA,CAAAA,CAAiBC,CAAU,EAAA;YACzB,IAAIjB,GAAAA,CAAIkB,MAAM,EAAE;gBACdlB,GAAIU,CAAAA,QAAQ,GAAGV,GAAIkB,CAAAA,MAAM,CAACC,cAAc,CAACC,oBAAoB,CAACH,CAAAA,CAAAA;aACzD,MAAA;gBACLjB,GAAIU,CAAAA,QAAQ,CAACW,GAAG,CAACJ,CAAAA,CAAAA;AACnB;AACF,SAAA;AACAK,QAAAA,gBAAAA,CAAAA,CAAiBnB,CAAa,EAAA;;YAE5B,IAAIH,GAAAA,CAAIkB,MAAM,EAAE;AACdlB,gBAAAA,GAAAA,CAAIkB,MAAM,CAACd,WAAW,CAACC,SAAS,CAAC,MAAMV,KAAO,EAAA,IAAA,CAAA;gBAC9CC,UAAW2B,CAAAA,QAAQ,CAAC3B,UAAW4B,CAAAA,OAAO,CAAC7B,KAAQQ,CAAAA,EAAAA,CAAAA,EAAGH,IAAIa,QAAQ,CAAA;aACzD,MAAA;gBACLb,GAAIa,CAAAA,QAAQ,CAACQ,GAAG,CAAClB,CAAAA,CAAAA;AACnB;AACF,SAAA;AACAsB,QAAAA,gBAAAA,CAAAA,CAAiBR,CAAU,EAAA;YACzBjB,GAAIU,CAAAA,QAAQ,CAACW,GAAG,CAACJ,CAAAA,CAAAA;AACnB,SAAA;AACAS,QAAAA,gBAAAA,CAAAA,CAAiBvB,CAAa,EAAA;YAC5BH,GAAIa,CAAAA,QAAQ,CAACQ,GAAG,CAAClB,CAAAA,CAAAA;AACnB,SAAA;AACAwB,QAAAA,aAAAA,CAAAA,CAAcpB,CAAU,EAAA;YACtBP,GAAIe,CAAAA,KAAK,CAACM,GAAG,CAACd,CAAAA,CAAAA;AAChB;AACF,KAAA;AACF;AA6BA;;;;;;;;AAQC,IACM,MAAMqB,mBAAAA,CAAAA;IACHC,WAA2C;AACnD;;;;;;;MAQA,WAAA,CACEC,MAAgC,EAChCC,SAA4D,GAAA,EAAE,EAC9DC,QAAAA,GAIM,EAAE,EACRC,UAAmD,GAAA,EAAE,CACrD;AACA,QAAA,MAAMC,aAAyB,EAAE;AACjC,QAAA,MAAMC,YAAwB,EAAE;AAChC,QAAA,MAAMC,kBAAqC,EAAE;AAC7C,QAAA,IAAIC,KAAQ,GAAA,CAAA;AACZ,QAAA,KAAK,MAAMC,KAASR,IAAAA,MAAAA,CAAOS,WAAW,CAACC,MAAM,CAAE;YAC7C,MAAMC,UAAAA,GAAa,IAAI,CAACC,iBAAiB,CAACJ,KAAMK,CAAAA,KAAK,EAAEL,KAAAA,CAAMM,GAAG,CAAA;AAChE,YAAA,IAAK,IAAIC,CAAI,GAAA,CAAA,EAAGA,IAAIJ,UAAWK,CAAAA,MAAM,EAAED,CAAK,EAAA,CAAA;gBAC1C,MAAME,IAAAA,GAAON,UAAU,CAACI,CAAE,CAAA;AAC1B,gBAAA,MAAMG,QAAW,GAAA;oBACfX,KAAOA,EAAAA,KAAAA,EAAAA;AACP3B,oBAAAA,QAAAA,EAAUqC,KAAK9C,gBAAgB,EAAA;AAC/BgD,oBAAAA,QAAAA,EAAU,EAAE;AACZC,oBAAAA,OAAAA,EAASL,CAAM,KAAA,CAAA;oBACfM,KAAON,EAAAA;AACT,iBAAA;AACAV,gBAAAA,SAAAA,CAAUiB,IAAI,CAACJ,QAAAA,CAAAA;gBACfZ,eAAgBgB,CAAAA,IAAI,CAACtD,qBAAsBiD,CAAAA,IAAAA,CAAAA,CAAAA;AAC3C,gBAAA,IAAIF,IAAI,CAAG,EAAA;oBACTV,SAAS,CAACA,UAAUW,MAAM,GAAG,EAAE,CAACG,QAAQ,CAACG,IAAI,CAACJ,QAAAA,CAAAA;AAChD;AACA,gBAAA,IAAIH,MAAM,CAAG,EAAA;AACXX,oBAAAA,UAAAA,CAAWkB,IAAI,CAACJ,QAAAA,CAAAA;AAClB;AACF;AACF;AACA,QAAA,MAAMK,UAAavD,GAAAA,qBAAAA,CAAsBgC,MAAOS,CAAAA,WAAW,CAACc,UAAU,CAAA;QACtE,MAAMC,aAAAA,GAAgB,IAAI,CAACC,0BAA0B,EAAA;AACrD,QAAA,MAAMC,gBAAqC,GAAA;AACzC,YAAA,GAAGF,aAAa;AAChB,YAAA,GAAGxB,QAAQ0B,gBAAgB;YAC3BC,gBAAkB,EAAA;AAAE,gBAAA,GAAGH,cAAcG,gBAAgB;gBAAE,GAAG3B,MAAAA,EAAQ0B,kBAAkBC;AAAiB,aAAA;YACrGC,MAAQ,EAAA;AAAE,gBAAA,GAAGJ,cAAcI,MAAM;gBAAE,GAAG5B,MAAAA,EAAQ0B,kBAAkBE;AAAO,aAAA;YACvEC,iBAAmB,EAAA;AACjB,gBAAA,GAAGL,cAAcK,iBAAiB;gBAClC,GAAG7B,MAAAA,EAAQ0B,kBAAkBG;AAC/B;AACF,SAAA;AACA,QAAA,IAAI,CAAC9B,WAAW,GAAG,IAAI+B,6BAA8BJ,CAAAA,gBAAAA,CAAAA;QACrD,IAAI,CAAC3B,WAAW,CAACgC,UAAU,CAACR,UAAYnB,EAAAA,UAAAA,EAAYE,eAAiBL,EAAAA,SAAAA,EAAWC,QAAUC,EAAAA,UAAAA,CAAAA;AAC5F;AAEA;;;;;;AAMC,MACD,IAAI6B,UAA4C,GAAA;QAC9C,OAAO,IAAI,CAACjC,WAAW;AACzB;AAEA;;;;;;;;;AASC,MACDkC,WAAYC,CAAAA,CAAY,EAAEC,SAAqB,EAA+B;QAC5E,OAAO,IAAI,CAACpC,WAAW,CAACkC,WAAW,CAACC,CAAAA,EAAGC,SAAYnE,GAAAA,qBAAAA,CAAsBmE,SAAapE,CAAAA,GAAAA,UAAAA,CAAAA;AACxF;AAEA;;;;;;;;;;;MAYAqE,iBAAAA,CACEC,MAAc,EACdF,SAAqB,EACrBG,QAAiB,EACjBC,QAAkB,EACW;QAC7B,OAAO,IAAI,CAACN,WAAW,CACrB;AACEO,YAAAA,SAAAA,EAAWC,cAAcC,GAAG;AAC5BJ,YAAAA,QAAAA,EAAUA,QAAY,IAAA,CAAA;YACtBK,MAAQ,EAAA,CAAA;AACRC,YAAAA,iBAAAA,EAAmBL,QAAY,IAAA,KAAA;AAC/BF,YAAAA,MAAAA;YACAQ,eAAiB,EAAA;SAEnBV,EAAAA,SAAAA,CAAAA;AAEJ;AAEA;;;;;;;;;;;;;;AAcC,MACDW,kBACET,CAAAA,MAAc,EACdM,MAAc,EACdR,SAAqB,EACrBU,eAAwB,EACxBP,QAAiB,EACjBC,QAAkB,EACW;QAC7B,OAAO,IAAI,CAACN,WAAW,CACrB;AACEO,YAAAA,SAAAA,EAAWC,cAAcC,GAAG;AAC5BJ,YAAAA,QAAAA,EAAUA,QAAY,IAAA,CAAA;AACtBK,YAAAA,MAAAA;AACAC,YAAAA,iBAAAA,EAAmBL,QAAY,IAAA,KAAA;AAC/BF,YAAAA,MAAAA;AACAQ,YAAAA,eAAAA,EAAiBA,eAAmB,IAAA;SAEtCV,EAAAA,SAAAA,CAAAA;AAEJ;AAEA;;;;;;;;AAQC,MACDY,kBAAmBC,CAAAA,MAAmC,EAAEC,OAAgB,EAAW;AACjF,QAAA,OAAO,IAAI,CAAClD,WAAW,CAACgD,kBAAkB,CAACC,MAAQC,EAAAA,OAAAA,CAAAA;AACrD;AAEA;;;;;MAMAC,cAAAA,CAAeF,MAAmC,EAAW;AAC3D,QAAA,OAAO,IAAI,CAACjD,WAAW,CAACmD,cAAc,CAACF,MAAAA,CAAAA;AACzC;AAEA;;;;;;;MAQAG,gBAAAA,CAAiB5C,KAAa,EAAW;AACvC,QAAA,OAAO,IAAI,CAACR,WAAW,CAACoD,gBAAgB,CAAC5C,KAAAA,CAAAA;AAC3C;AAEA;;;;;;;;;AASC,MACD6C,YAAaC,CAAAA,EAAW,EAAEzE,QAAiB,EAAgC;AACzE,QAAA,OAAO,IAAI,CAACmB,WAAW,CAACqD,YAAY,CAACC,EAAIzE,EAAAA,QAAAA,CAAAA;AAC3C;AAEA;;;;;;;;AAQC,MACD0E,mBAAoBN,CAAAA,MAAoC,EAAEC,OAAgB,EAAW;AACnF,QAAA,OAAO,IAAI,CAAClD,WAAW,CAACuD,mBAAmB,CAACN,MAAQC,EAAAA,OAAAA,CAAAA;AACtD;AAEA;;;;;MAMAM,eAAAA,CAAgBP,MAAoC,EAAW;AAC7D,QAAA,OAAO,IAAI,CAACjD,WAAW,CAACwD,eAAe,CAACP,MAAAA,CAAAA;AAC1C;AAEA;;;;;;MAOAQ,iBAAAA,CAAkBjD,KAAa,EAAW;AACxC,QAAA,OAAO,IAAI,CAACR,WAAW,CAACyD,iBAAiB,CAACjD,KAAAA,CAAAA;AAC5C;AAEA;;;;;;;;;AASC,MACDkD,UAAWvB,CAAAA,CAAW,EAAEC,SAAqB,EAA8B;QACzE,OAAO,IAAI,CAACpC,WAAW,CAAC0D,UAAU,CAACvB,CAAGC,EAAAA,SAAAA,GAAYnE,qBAAsBmE,CAAAA,SAAAA,CAAAA,GAAapE,UAAY,EAAA,KAAA,CAAA;AACnG;AAEA;;;;;;;;AAQC,MACD2F,iBAAkBV,CAAAA,MAAkC,EAAEC,OAAgB,EAAW;AAC/E,QAAA,OAAO,IAAI,CAAClD,WAAW,CAAC2D,iBAAiB,CAACV,MAAQC,EAAAA,OAAAA,CAAAA;AACpD;AAEA;;;;;MAMAU,aAAAA,CAAcX,MAAkC,EAAW;AACzD,QAAA,OAAO,IAAI,CAACjD,WAAW,CAAC4D,aAAa,CAACX,MAAAA,CAAAA;AACxC;AAEA;;;;;;;MAQAY,eAAAA,CAAgBrD,KAAa,EAAW;AACtC,QAAA,OAAO,IAAI,CAACR,WAAW,CAAC6D,eAAe,CAACrD,KAAAA,CAAAA;AAC1C;IAEQK,iBAAkBC,CAAAA,KAAgB,EAAEC,GAAc,EAAe;AACvE,QAAA,IAAI,CAACD,KAAAA,CAAMgD,UAAU,CAAC/C,GAAM,CAAA,EAAA;AAC1B,YAAA,MAAM,IAAIgD,KAAM,CAAA,4DAAA,CAAA;AAClB;AACA,QAAA,MAAMC,QAAqB,EAAE;AAC7B,QAAA,IAAIC,OAAqBlD,GAAAA,GAAAA;QACzB,OAAS;AACPiD,YAAAA,KAAAA,CAAME,OAAO,CAACD,OAAAA,CAAAA;AACd,YAAA,IAAIA,YAAYnD,KAAO,EAAA;AACrB,gBAAA;AACF;AACAmD,YAAAA,OAAAA,GAAUA,QAAQ5E,MAAM;AAC1B;QACA,OAAO2E,KAAAA;AACT;AACA;;;;MAKAG,MAAAA,CAAOC,SAAiB,EAAQ;;AAE9B,QAAA,MAAMC,KAAKC,IAAKC,CAAAA,GAAG,CAACH,SAAAA,EAAW;;AAE/B,QAAA,IAAI,CAACpE,WAAW,CAACwE,IAAI,CAACH,EAAAA,CAAAA;AACxB;qBAEA,0BAAuD,GAAA;QACrD,OAAO;AACLI,YAAAA,OAAAA,EAAS,IAAI9F,OAAAA,CAAQ,CAAG,EAAA,IAAM,EAAA,CAAA,CAAA;YAC9B+F,UAAY,EAAA,CAAA;YACZC,QAAU,EAAA,CAAA;YACVC,sBAAwB,EAAA,KAAA;AACxBC,YAAAA,SAAAA,EAAWlG,QAAQmG,IAAI,EAAA;AACvBC,YAAAA,cAAAA,EAAgB,EAAC;AACjBC,YAAAA,eAAAA,EAAiB,EAAC;YAClBC,qBAAuB,EAAA,CAAA;YACvBC,UAAY,EAAA,CAAA;YACZC,sBAAwB,EAAA,EAAA;YACxBC,UAAY,EAAA,KAAA;YACZC,aAAe,EAAA,CAAA;YACfC,aAAe,EAAA,CAAA;YACf1D,gBAAkB,EAAA;AAAE2D,gBAAAA,UAAAA,EAAY,EAAC;gBAAGC,aAAe,EAAA;AAAM,aAAA;YACzDC,gBAAkB,EAAA,KAAA;YAClBC,aAAe,EAAA,KAAA;YACf7D,MAAQ,EAAA;gBACN8D,YAAcC,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC1CC,cAAgBF,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC5CE,SAAWH,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBACvCG,UAAYJ,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,IAAA,CAAA;gBACxCI,QAAUL,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,KAAA,CAAA;gBACtCtD,QAAUqD,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACtCK,WAAaN,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,IAAA,CAAA;gBACzCM,iBAAmBP,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC/CO,cAAgBR,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC5CQ,eAAiBT,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC7CS,wBAA0BV,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBACtDU,yBAA2BX,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBACvDW,0BAA4BZ,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACxDY,2BAA6Bb,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACzDa,WAAad,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACzCc,YAAcf,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBAC1Ce,qBAAuBhB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACnDgB,sBAAwBjB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACpDiB,uBAAyBlB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACrDkB,wBAA0BnB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACtDP,aAAeM,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC3CmB,YAAcpB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA;AAC5C,aAAA;YACA/D,iBAAmB,EAAA;gBACjBmF,kBAAoB,EAAA,KAAA;gBACpBC,oBAAsB,EAAA,KAAA;gBACtBC,KAAO,EAAA,KAAA;gBACPC,eAAiB,EAAA,KAAA;gBACjBC,iBAAmB,EAAA,KAAA;gBACnBC,MAAQ,EAAA,KAAA;gBACRC,yBAA2B,EAAA,KAAA;gBAC3BC,2BAA6B,EAAA,KAAA;gBAC7BC,YAAc,EAAA,KAAA;gBACd7C,sBAAwB,EAAA;AAC1B;AACF,SAAA;AACF;AACF;;;;"}
+{"version":3,"file":"joint_dynamics_system.js","sources":["../../../src/animation/joint_dynamics/joint_dynamics_system.ts"],"sourcesContent":["import type { DeepPartial } from '@zephyr3d/base';\r\nimport { InterpolatorScalar, Vector3 } from '@zephyr3d/base';\r\nimport { Quaternion } from '@zephyr3d/base';\r\nimport { SceneNode } from '../../scene/scene_node';\r\nimport type {\r\n  ControllerConfig,\r\n  JointDynamicsColliderSnapshot,\r\n  JointDynamicsColliderHandle,\r\n  JointDynamicsFlatPlaneSnapshot,\r\n  JointDynamicsFlatPlaneHandle,\r\n  JointDynamicsGrabberSnapshot,\r\n  JointDynamicsGrabberHandle\r\n} from './controller';\r\nimport { JointDynamicsSystemController } from './controller';\r\nimport { ColliderForce, type BoneNode, type ColliderR, type GrabberR, type TransformAccess } from './types';\r\nimport type { SkeletonBindPose } from '../skeleton';\r\n\r\nconst _quat = new Quaternion();\r\n\r\nconst _defaultTA = createTransformAccess(new SceneNode(null), false);\r\n\r\n/**\r\n * Create a transform adapter that lets the joint dynamics solver read from and write to a SceneNode.\r\n *\r\n * @param obj - Scene node to expose through the TransformAccess interface.\r\n * @returns A TransformAccess wrapper backed by the supplied scene node.\r\n *\r\n * @public\r\n */\r\nexport function createTransformAccess(obj: SceneNode, exposeNode = true): TransformAccess {\r\n  return {\r\n    ...(exposeNode ? { node: obj } : {}),\r\n    getWorldPosition(): Vector3 {\r\n      return obj.getWorldPosition();\r\n    },\r\n    getWorldRotation(): Quaternion {\r\n      const q = new Quaternion();\r\n      obj.worldMatrix.decompose(null, q, null);\r\n      return q;\r\n    },\r\n    getWorldScale(): Vector3 {\r\n      const s = new Vector3();\r\n      obj.worldMatrix.decompose(s, null, null);\r\n      return s;\r\n    },\r\n    getLocalPosition(): Vector3 {\r\n      return obj.position.clone();\r\n    },\r\n    getLocalRotation(): Quaternion {\r\n      return obj.rotation.clone();\r\n    },\r\n    getLocalScale(): Vector3 {\r\n      return obj.scale.clone();\r\n    },\r\n    setWorldPosition(p: Vector3): void {\r\n      if (obj.parent) {\r\n        obj.position = obj.parent.invWorldMatrix.transformPointAffine(p);\r\n      } else {\r\n        obj.position.set(p);\r\n      }\r\n    },\r\n    setWorldRotation(q: Quaternion): void {\r\n      // Convert world rotation to local: localRot = inverse(parentWorldRot) * worldRot\r\n      if (obj.parent) {\r\n        obj.parent.worldMatrix.decompose(null, _quat, null);\r\n        Quaternion.multiply(Quaternion.inverse(_quat), q, obj.rotation);\r\n      } else {\r\n        obj.rotation.set(q);\r\n      }\r\n    },\r\n    setLocalPosition(p: Vector3): void {\r\n      obj.position.set(p);\r\n    },\r\n    setLocalRotation(q: Quaternion): void {\r\n      obj.rotation.set(q);\r\n    },\r\n    setLocalScale(s: Vector3): void {\r\n      obj.scale.set(s);\r\n    }\r\n  };\r\n}\r\n\r\n/**\r\n * Describes the bone chains simulated by a JointDynamicsSystem.\r\n *\r\n * Each chain is defined by an inclusive start and end node. The end node must be\r\n * a descendant of the start node.\r\n *\r\n * @public\r\n */\r\nexport type JointChainConfig = {\r\n  /** Root transform used for root motion compensation. */\r\n  systemRoot: SceneNode;\r\n  /** Bone chains to simulate. */\r\n  chains: { start: SceneNode; end: SceneNode }[];\r\n};\r\n\r\n/**\r\n * Configuration used to construct a JointDynamicsSystem.\r\n *\r\n * @public\r\n */\r\nexport type JointDynamicSystemConfig = {\r\n  /** Bone chain topology and root transform. */\r\n  chainConfig: JointChainConfig;\r\n  /** Optional controller configuration overrides. */\r\n  controllerConfig?: DeepPartial<ControllerConfig, 2>;\r\n};\r\n\r\n/**\r\n * Physics system for spring-like joint dynamics on scene node bone chains.\r\n *\r\n * The system builds particles and constraints from one or more bone chains,\r\n * advances them with Verlet integration, solves constraints and collisions, and\r\n * writes the resulting positions and rotations back to the scene graph.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsSystem {\r\n  private _controller: JointDynamicsSystemController;\r\n  private _chainConfig: JointChainConfig;\r\n  private _bindPose: WeakMap<SceneNode, SkeletonBindPose>;\r\n  /**\r\n   * Create a joint dynamics system for one or more bone chains.\r\n   *\r\n   * @param config - Bone chain topology and controller configuration.\r\n   * @param colliders - Optional colliders to register during initialization.\r\n   * @param grabbers - Optional grabbers to register during initialization.\r\n   * @param flatPlanes - Optional world-space planes that dynamic points cannot cross.\r\n   */\r\n  constructor(\r\n    config: JointDynamicSystemConfig,\r\n    colliders: { r: ColliderR; transform: TransformAccess }[] = [],\r\n    grabbers: {\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }[] = [],\r\n    flatPlanes: { up: Vector3; position: Vector3 }[] = []\r\n  ) {\r\n    this._chainConfig = {\r\n      systemRoot: config.chainConfig.systemRoot,\r\n      chains: config.chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n    this._bindPose = new WeakMap();\r\n    const rootPoints: BoneNode[] = [];\r\n    const boneNodes: BoneNode[] = [];\r\n    const pointTransforms: TransformAccess[] = [];\r\n    let index = 0;\r\n    for (const chain of config.chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      for (let i = 0; i < chainNodes.length; i++) {\r\n        const node = chainNodes[i];\r\n        this._bindPose.set(node, {\r\n          position: node.position.clone(),\r\n          rotation: node.rotation.clone(),\r\n          scale: node.scale.clone()\r\n        });\r\n        const boneNode = {\r\n          index: index++,\r\n          position: node.getWorldPosition(),\r\n          children: [],\r\n          isFixed: i === 0, // Fix the first bone in the chain\r\n          depth: i\r\n        };\r\n        boneNodes.push(boneNode);\r\n        pointTransforms.push(createTransformAccess(node));\r\n        if (i > 0) {\r\n          boneNodes[boneNodes.length - 2].children.push(boneNode);\r\n        }\r\n        if (i === 0) {\r\n          rootPoints.push(boneNode);\r\n        }\r\n      }\r\n    }\r\n    const systemRoot = createTransformAccess(config.chainConfig.systemRoot);\r\n    const defaultConfig = this.getDefaultControllerConfig();\r\n    const controllerConfig: ControllerConfig = {\r\n      ...defaultConfig,\r\n      ...config?.controllerConfig,\r\n      angleLimitConfig: { ...defaultConfig.angleLimitConfig, ...config?.controllerConfig?.angleLimitConfig },\r\n      curves: { ...defaultConfig.curves, ...config?.controllerConfig?.curves },\r\n      constraintOptions: {\r\n        ...defaultConfig.constraintOptions,\r\n        ...config?.controllerConfig?.constraintOptions\r\n      }\r\n    };\r\n    this._controller = new JointDynamicsSystemController(controllerConfig);\r\n    this._controller.initialize(systemRoot, rootPoints, pointTransforms, colliders, grabbers, flatPlanes);\r\n  }\r\n\r\n  /**\r\n   * Get the low-level controller that owns simulation state and advanced runtime controls.\r\n   *\r\n   * Most callers should prefer the convenience methods on JointDynamicsSystem.\r\n   *\r\n   * @returns The underlying joint dynamics controller.\r\n   */\r\n  get controller(): JointDynamicsSystemController {\r\n    return this._controller;\r\n  }\r\n\r\n  /**\r\n   * Get the node chain topology used to construct this system.\r\n   */\r\n  get chainConfig(): JointChainConfig {\r\n    return {\r\n      systemRoot: this._chainConfig.systemRoot,\r\n      chains: this._chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n  }\r\n\r\n  /**\r\n   * Returns detached collider snapshots for serialization.\r\n   */\r\n  getColliderSnapshots(): JointDynamicsColliderSnapshot[] {\r\n    return this._controller.getColliderSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached flat-plane snapshots for serialization.\r\n   */\r\n  getFlatPlaneSnapshots(): JointDynamicsFlatPlaneSnapshot[] {\r\n    return this._controller.getFlatPlaneSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached grabber snapshots for serialization.\r\n   */\r\n  getGrabberSnapshots(): JointDynamicsGrabberSnapshot[] {\r\n    return this._controller.getGrabberSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Reset chain nodes to bind pose\r\n   */\r\n  resetChains() {\r\n    for (const chain of this._chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      for (const node of chainNodes) {\r\n        const bindPose = this._bindPose.get(node);\r\n        if (bindPose) {\r\n          node.position = bindPose.position;\r\n          node.rotation = bindPose.rotation;\r\n          node.scale = bindPose.scale;\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Add a fully configured collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simula ; ion step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param r - Read-only collider parameters.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform?: SceneNode): JointDynamicsColliderHandle {\r\n    return this._controller.addCollider(r, transform ? createTransformAccess(transform) : _defaultTA);\r\n  }\r\n\r\n  /**\r\n   * Add a spherical collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param radius - Sphere radius in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the sphere instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addSphereCollider(\r\n    radius: number,\r\n    transform?: SceneNode,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height: 0,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Add a capsule collider at runtime.\r\n   *\r\n   * The capsule is aligned to the collider transform's local Y axis. Its head radius is\r\n   * `radius`, its tail radius is `radius * radiusTailScale`, and `height` defines the\r\n   * distance between the capsule ends before transform scaling.\r\n   *\r\n   * @param radius - Capsule head radius in world units before transform scaling.\r\n   * @param height - Capsule length in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param radiusTailScale - Tail radius multiplier relative to the head radius. Defaults to 1.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the capsule instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCapsuleCollider(\r\n    radius: number,\r\n    height: number,\r\n    transform?: SceneNode,\r\n    radiusTailScale?: number,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: radiusTailScale ?? 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by stable handle.\r\n   *\r\n   * Disabled colliders remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @param enabled - Whether the collider should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    return this._controller.setColliderEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    return this._controller.removeCollider(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   *\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   *\r\n   * @param index - Current collider array index.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    return this._controller.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane collider at runtime.\r\n   *\r\n   * Flat planes are infinite world-space planes. The normal points toward the allowed side,\r\n   * and dynamic points are pushed back when they move behind the plane.\r\n   *\r\n   * @param up - Plane normal in world space.\r\n   * @param position - A point on the plane in world space.\r\n   * @returns A stable handle that remains valid until this flat plane is removed.\r\n   */\r\n  addFlatPlane(up: Vector3, position: Vector3): JointDynamicsFlatPlaneHandle {\r\n    return this._controller.addFlatPlane(up, position);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by stable handle.\r\n   *\r\n   * Disabled flat planes remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @param enabled - Whether the flat plane should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    return this._controller.setFlatPlaneEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    return this._controller.removeFlatPlane(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * Prefer removeFlatPlane(handle) for runtime-owned flat planes.\r\n   *\r\n   * @param index - Current flat plane array index.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    return this._controller.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   *\r\n   * The grabber transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the grabber is created at the identity transform.\r\n   *\r\n   * @param r - Read-only grabber parameters.\r\n   * @param transform - Optional scene node that drives the grabber transform.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform?: SceneNode): JointDynamicsGrabberHandle {\r\n    return this._controller.addGrabber(r, transform ? createTransformAccess(transform) : _defaultTA, false);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by stable handle.\r\n   *\r\n   * Disabling a grabber also releases any points currently held by it.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @param enabled - Whether the grabber should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    return this._controller.setGrabberEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    return this._controller.removeGrabber(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   *\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Current grabber array index.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    return this._controller.removeGrabberAt(index);\r\n  }\r\n\r\n  private collectChainNodes(start: SceneNode, end: SceneNode): SceneNode[] {\r\n    if (!start.isParentOf(end)) {\r\n      throw new Error('Invalid chain: end node must be a descendant of start node');\r\n    }\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode = end;\r\n    for (;;) {\r\n      nodes.unshift(current);\r\n      if (current === start) {\r\n        break;\r\n      }\r\n      current = current.parent!;\r\n    }\r\n    return nodes;\r\n  }\r\n  /**\r\n   * Advance the physics simulation and write the resulting transforms back to the chain nodes.\r\n   *\r\n   * @param deltaTime - Frame time step in seconds. Values larger than 0.033 are clamped for stability.\r\n   */\r\n  update(deltaTime: number): void {\r\n    // Clamp deltaTime to prevent instability\r\n    const dt = Math.min(deltaTime, 0.033); // Max 30 FPS\r\n    // simulation\r\n    this._controller.step(dt);\r\n  }\r\n  /** @internal */\r\n  private getDefaultControllerConfig(): ControllerConfig {\r\n    return {\r\n      gravity: new Vector3(0, -9.8, 0),\r\n      relaxation: 3,\r\n      subSteps: 3,\r\n      enableSurfaceCollision: false,\r\n      windForce: Vector3.zero(),\r\n      rootSlideLimit: -1,\r\n      rootRotateLimit: -1,\r\n      constraintShrinkLimit: 1,\r\n      blendRatio: 0,\r\n      stabilizationFrameRate: 60,\r\n      isFakeWave: false,\r\n      fakeWaveSpeed: 0,\r\n      fakeWavePower: 0,\r\n      angleLimitConfig: { angleLimit: -1, limitFromRoot: false },\r\n      enableBroadPhase: false,\r\n      preserveTwist: false,\r\n      curves: {\r\n        gravityScale: InterpolatorScalar.constant(1),\r\n        windForceScale: InterpolatorScalar.constant(1),\r\n        massScale: InterpolatorScalar.constant(1),\r\n        resistance: InterpolatorScalar.constant(0.95),\r\n        hardness: InterpolatorScalar.constant(0.001),\r\n        friction: InterpolatorScalar.constant(0.5),\r\n        pointRadius: InterpolatorScalar.constant(0.05),\r\n        sliderJointLength: InterpolatorScalar.constant(0),\r\n        allShrinkScale: InterpolatorScalar.constant(1),\r\n        allStretchScale: InterpolatorScalar.constant(1),\r\n        structuralShrinkVertical: InterpolatorScalar.constant(1),\r\n        structuralStretchVertical: InterpolatorScalar.constant(1),\r\n        structuralShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        structuralStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        shearShrink: InterpolatorScalar.constant(0.5),\r\n        shearStretch: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkVertical: InterpolatorScalar.constant(0.5),\r\n        bendingStretchVertical: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        bendingStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        fakeWavePower: InterpolatorScalar.constant(0),\r\n        fakeWaveFreq: InterpolatorScalar.constant(0)\r\n      },\r\n      constraintOptions: {\r\n        structuralVertical: false,\r\n        structuralHorizontal: false,\r\n        shear: false,\r\n        bendingVertical: false,\r\n        bendingHorizontal: false,\r\n        isLoop: false,\r\n        collideStructuralVertical: false,\r\n        collideStructuralHorizontal: false,\r\n        collideShear: false,\r\n        enableSurfaceCollision: false\r\n      }\r\n    };\r\n  }\r\n}\r\n"],"names":["_quat","Quaternion","_defaultTA","createTransformAccess","SceneNode","obj","exposeNode","node","getWorldPosition","getWorldRotation","q","worldMatrix","decompose","getWorldScale","s","Vector3","getLocalPosition","position","clone","getLocalRotation","rotation","getLocalScale","scale","setWorldPosition","p","parent","invWorldMatrix","transformPointAffine","set","setWorldRotation","multiply","inverse","setLocalPosition","setLocalRotation","setLocalScale","JointDynamicsSystem","_controller","_chainConfig","_bindPose","config","colliders","grabbers","flatPlanes","systemRoot","chainConfig","chains","map","chain","start","end","WeakMap","rootPoints","boneNodes","pointTransforms","index","chainNodes","collectChainNodes","i","length","boneNode","children","isFixed","depth","push","defaultConfig","getDefaultControllerConfig","controllerConfig","angleLimitConfig","curves","constraintOptions","JointDynamicsSystemController","initialize","controller","getColliderSnapshots","getFlatPlaneSnapshots","getGrabberSnapshots","resetChains","bindPose","get","addCollider","r","transform","addSphereCollider","radius","friction","inversed","forceType","ColliderForce","Off","height","isInverseCollider","radiusTailScale","addCapsuleCollider","setColliderEnabled","handle","enabled","removeCollider","removeColliderAt","addFlatPlane","up","setFlatPlaneEnabled","removeFlatPlane","removeFlatPlaneAt","addGrabber","setGrabberEnabled","removeGrabber","removeGrabberAt","isParentOf","Error","nodes","current","unshift","update","deltaTime","dt","Math","min","step","gravity","relaxation","subSteps","enableSurfaceCollision","windForce","zero","rootSlideLimit","rootRotateLimit","constraintShrinkLimit","blendRatio","stabilizationFrameRate","isFakeWave","fakeWaveSpeed","fakeWavePower","angleLimit","limitFromRoot","enableBroadPhase","preserveTwist","gravityScale","InterpolatorScalar","constant","windForceScale","massScale","resistance","hardness","pointRadius","sliderJointLength","allShrinkScale","allStretchScale","structuralShrinkVertical","structuralStretchVertical","structuralShrinkHorizontal","structuralStretchHorizontal","shearShrink","shearStretch","bendingShrinkVertical","bendingStretchVertical","bendingShrinkHorizontal","bendingStretchHorizontal","fakeWaveFreq","structuralVertical","structuralHorizontal","shear","bendingVertical","bendingHorizontal","isLoop","collideStructuralVertical","collideStructuralHorizontal","collideShear"],"mappings":";;;;;AAiBA,MAAMA,QAAQ,IAAIC,UAAAA,EAAAA;AAElB,MAAMC,UAAaC,GAAAA,qBAAAA,CAAsB,IAAIC,SAAAA,CAAU,IAAO,CAAA,EAAA,KAAA,CAAA;AAE9D;;;;;;;AAOC,IACM,SAASD,qBAAAA,CAAsBE,GAAc,EAAEC,aAAa,IAAI,EAAA;IACrE,OAAO;AACL,QAAA,GAAIA,UAAa,GAAA;YAAEC,IAAMF,EAAAA;AAAI,SAAA,GAAI,EAAE;AACnCG,QAAAA,gBAAAA,CAAAA,GAAAA;AACE,YAAA,OAAOH,IAAIG,gBAAgB,EAAA;AAC7B,SAAA;AACAC,QAAAA,gBAAAA,CAAAA,GAAAA;AACE,YAAA,MAAMC,IAAI,IAAIT,UAAAA,EAAAA;AACdI,YAAAA,GAAAA,CAAIM,WAAW,CAACC,SAAS,CAAC,MAAMF,CAAG,EAAA,IAAA,CAAA;YACnC,OAAOA,CAAAA;AACT,SAAA;AACAG,QAAAA,aAAAA,CAAAA,GAAAA;AACE,YAAA,MAAMC,IAAI,IAAIC,OAAAA,EAAAA;AACdV,YAAAA,GAAAA,CAAIM,WAAW,CAACC,SAAS,CAACE,GAAG,IAAM,EAAA,IAAA,CAAA;YACnC,OAAOA,CAAAA;AACT,SAAA;AACAE,QAAAA,gBAAAA,CAAAA,GAAAA;YACE,OAAOX,GAAAA,CAAIY,QAAQ,CAACC,KAAK,EAAA;AAC3B,SAAA;AACAC,QAAAA,gBAAAA,CAAAA,GAAAA;YACE,OAAOd,GAAAA,CAAIe,QAAQ,CAACF,KAAK,EAAA;AAC3B,SAAA;AACAG,QAAAA,aAAAA,CAAAA,GAAAA;YACE,OAAOhB,GAAAA,CAAIiB,KAAK,CAACJ,KAAK,EAAA;AACxB,SAAA;AACAK,QAAAA,gBAAAA,CAAAA,CAAiBC,CAAU,EAAA;YACzB,IAAInB,GAAAA,CAAIoB,MAAM,EAAE;gBACdpB,GAAIY,CAAAA,QAAQ,GAAGZ,GAAIoB,CAAAA,MAAM,CAACC,cAAc,CAACC,oBAAoB,CAACH,CAAAA,CAAAA;aACzD,MAAA;gBACLnB,GAAIY,CAAAA,QAAQ,CAACW,GAAG,CAACJ,CAAAA,CAAAA;AACnB;AACF,SAAA;AACAK,QAAAA,gBAAAA,CAAAA,CAAiBnB,CAAa,EAAA;;YAE5B,IAAIL,GAAAA,CAAIoB,MAAM,EAAE;AACdpB,gBAAAA,GAAAA,CAAIoB,MAAM,CAACd,WAAW,CAACC,SAAS,CAAC,MAAMZ,KAAO,EAAA,IAAA,CAAA;gBAC9CC,UAAW6B,CAAAA,QAAQ,CAAC7B,UAAW8B,CAAAA,OAAO,CAAC/B,KAAQU,CAAAA,EAAAA,CAAAA,EAAGL,IAAIe,QAAQ,CAAA;aACzD,MAAA;gBACLf,GAAIe,CAAAA,QAAQ,CAACQ,GAAG,CAAClB,CAAAA,CAAAA;AACnB;AACF,SAAA;AACAsB,QAAAA,gBAAAA,CAAAA,CAAiBR,CAAU,EAAA;YACzBnB,GAAIY,CAAAA,QAAQ,CAACW,GAAG,CAACJ,CAAAA,CAAAA;AACnB,SAAA;AACAS,QAAAA,gBAAAA,CAAAA,CAAiBvB,CAAa,EAAA;YAC5BL,GAAIe,CAAAA,QAAQ,CAACQ,GAAG,CAAClB,CAAAA,CAAAA;AACnB,SAAA;AACAwB,QAAAA,aAAAA,CAAAA,CAAcpB,CAAU,EAAA;YACtBT,GAAIiB,CAAAA,KAAK,CAACM,GAAG,CAACd,CAAAA,CAAAA;AAChB;AACF,KAAA;AACF;AA6BA;;;;;;;;AAQC,IACM,MAAMqB,mBAAAA,CAAAA;IACHC,WAA2C;IAC3CC,YAA+B;IAC/BC,SAAgD;AACxD;;;;;;;MAQA,WAAA,CACEC,MAAgC,EAChCC,SAA4D,GAAA,EAAE,EAC9DC,QAAAA,GAIM,EAAE,EACRC,UAAmD,GAAA,EAAE,CACrD;QACA,IAAI,CAACL,YAAY,GAAG;YAClBM,UAAYJ,EAAAA,MAAAA,CAAOK,WAAW,CAACD,UAAU;YACzCE,MAAQN,EAAAA,MAAAA,CAAOK,WAAW,CAACC,MAAM,CAACC,GAAG,CAAC,CAACC,KAAAA,IAAW;AAAEC,oBAAAA,KAAAA,EAAOD,MAAMC,KAAK;AAAEC,oBAAAA,GAAAA,EAAKF,MAAME;iBAAI,CAAA;AACzF,SAAA;QACA,IAAI,CAACX,SAAS,GAAG,IAAIY,OAAAA,EAAAA;AACrB,QAAA,MAAMC,aAAyB,EAAE;AACjC,QAAA,MAAMC,YAAwB,EAAE;AAChC,QAAA,MAAMC,kBAAqC,EAAE;AAC7C,QAAA,IAAIC,KAAQ,GAAA,CAAA;AACZ,QAAA,KAAK,MAAMP,KAASR,IAAAA,MAAAA,CAAOK,WAAW,CAACC,MAAM,CAAE;YAC7C,MAAMU,UAAAA,GAAa,IAAI,CAACC,iBAAiB,CAACT,KAAMC,CAAAA,KAAK,EAAED,KAAAA,CAAME,GAAG,CAAA;AAChE,YAAA,IAAK,IAAIQ,CAAI,GAAA,CAAA,EAAGA,IAAIF,UAAWG,CAAAA,MAAM,EAAED,CAAK,EAAA,CAAA;gBAC1C,MAAMlD,IAAAA,GAAOgD,UAAU,CAACE,CAAE,CAAA;AAC1B,gBAAA,IAAI,CAACnB,SAAS,CAACV,GAAG,CAACrB,IAAM,EAAA;oBACvBU,QAAUV,EAAAA,IAAAA,CAAKU,QAAQ,CAACC,KAAK,EAAA;oBAC7BE,QAAUb,EAAAA,IAAAA,CAAKa,QAAQ,CAACF,KAAK,EAAA;oBAC7BI,KAAOf,EAAAA,IAAAA,CAAKe,KAAK,CAACJ,KAAK;AACzB,iBAAA,CAAA;AACA,gBAAA,MAAMyC,QAAW,GAAA;oBACfL,KAAOA,EAAAA,KAAAA,EAAAA;AACPrC,oBAAAA,QAAAA,EAAUV,KAAKC,gBAAgB,EAAA;AAC/BoD,oBAAAA,QAAAA,EAAU,EAAE;AACZC,oBAAAA,OAAAA,EAASJ,CAAM,KAAA,CAAA;oBACfK,KAAOL,EAAAA;AACT,iBAAA;AACAL,gBAAAA,SAAAA,CAAUW,IAAI,CAACJ,QAAAA,CAAAA;gBACfN,eAAgBU,CAAAA,IAAI,CAAC5D,qBAAsBI,CAAAA,IAAAA,CAAAA,CAAAA;AAC3C,gBAAA,IAAIkD,IAAI,CAAG,EAAA;oBACTL,SAAS,CAACA,UAAUM,MAAM,GAAG,EAAE,CAACE,QAAQ,CAACG,IAAI,CAACJ,QAAAA,CAAAA;AAChD;AACA,gBAAA,IAAIF,MAAM,CAAG,EAAA;AACXN,oBAAAA,UAAAA,CAAWY,IAAI,CAACJ,QAAAA,CAAAA;AAClB;AACF;AACF;AACA,QAAA,MAAMhB,UAAaxC,GAAAA,qBAAAA,CAAsBoC,MAAOK,CAAAA,WAAW,CAACD,UAAU,CAAA;QACtE,MAAMqB,aAAAA,GAAgB,IAAI,CAACC,0BAA0B,EAAA;AACrD,QAAA,MAAMC,gBAAqC,GAAA;AACzC,YAAA,GAAGF,aAAa;AAChB,YAAA,GAAGzB,QAAQ2B,gBAAgB;YAC3BC,gBAAkB,EAAA;AAAE,gBAAA,GAAGH,cAAcG,gBAAgB;gBAAE,GAAG5B,MAAAA,EAAQ2B,kBAAkBC;AAAiB,aAAA;YACrGC,MAAQ,EAAA;AAAE,gBAAA,GAAGJ,cAAcI,MAAM;gBAAE,GAAG7B,MAAAA,EAAQ2B,kBAAkBE;AAAO,aAAA;YACvEC,iBAAmB,EAAA;AACjB,gBAAA,GAAGL,cAAcK,iBAAiB;gBAClC,GAAG9B,MAAAA,EAAQ2B,kBAAkBG;AAC/B;AACF,SAAA;AACA,QAAA,IAAI,CAACjC,WAAW,GAAG,IAAIkC,6BAA8BJ,CAAAA,gBAAAA,CAAAA;QACrD,IAAI,CAAC9B,WAAW,CAACmC,UAAU,CAAC5B,UAAYQ,EAAAA,UAAAA,EAAYE,eAAiBb,EAAAA,SAAAA,EAAWC,QAAUC,EAAAA,UAAAA,CAAAA;AAC5F;AAEA;;;;;;AAMC,MACD,IAAI8B,UAA4C,GAAA;QAC9C,OAAO,IAAI,CAACpC,WAAW;AACzB;AAEA;;AAEC,MACD,IAAIQ,WAAgC,GAAA;QAClC,OAAO;AACLD,YAAAA,UAAAA,EAAY,IAAI,CAACN,YAAY,CAACM,UAAU;YACxCE,MAAQ,EAAA,IAAI,CAACR,YAAY,CAACQ,MAAM,CAACC,GAAG,CAAC,CAACC,KAAAA,IAAW;AAAEC,oBAAAA,KAAAA,EAAOD,MAAMC,KAAK;AAAEC,oBAAAA,GAAAA,EAAKF,MAAME;iBAAI,CAAA;AACxF,SAAA;AACF;AAEA;;AAEC,MACDwB,oBAAwD,GAAA;AACtD,QAAA,OAAO,IAAI,CAACrC,WAAW,CAACqC,oBAAoB,EAAA;AAC9C;AAEA;;AAEC,MACDC,qBAA0D,GAAA;AACxD,QAAA,OAAO,IAAI,CAACtC,WAAW,CAACsC,qBAAqB,EAAA;AAC/C;AAEA;;AAEC,MACDC,mBAAsD,GAAA;AACpD,QAAA,OAAO,IAAI,CAACvC,WAAW,CAACuC,mBAAmB,EAAA;AAC7C;AAEA;;AAEC,MACDC,WAAc,GAAA;AACZ,QAAA,KAAK,MAAM7B,KAAS,IAAA,IAAI,CAACV,YAAY,CAACQ,MAAM,CAAE;YAC5C,MAAMU,UAAAA,GAAa,IAAI,CAACC,iBAAiB,CAACT,KAAMC,CAAAA,KAAK,EAAED,KAAAA,CAAME,GAAG,CAAA;YAChE,KAAK,MAAM1C,QAAQgD,UAAY,CAAA;AAC7B,gBAAA,MAAMsB,WAAW,IAAI,CAACvC,SAAS,CAACwC,GAAG,CAACvE,IAAAA,CAAAA;AACpC,gBAAA,IAAIsE,QAAU,EAAA;oBACZtE,IAAKU,CAAAA,QAAQ,GAAG4D,QAAAA,CAAS5D,QAAQ;oBACjCV,IAAKa,CAAAA,QAAQ,GAAGyD,QAAAA,CAASzD,QAAQ;oBACjCb,IAAKe,CAAAA,KAAK,GAAGuD,QAAAA,CAASvD,KAAK;AAC7B;AACF;AACF;AACF;AACA;;;;;;;;;AASC,MACDyD,WAAYC,CAAAA,CAAY,EAAEC,SAAqB,EAA+B;QAC5E,OAAO,IAAI,CAAC7C,WAAW,CAAC2C,WAAW,CAACC,CAAAA,EAAGC,SAAY9E,GAAAA,qBAAAA,CAAsB8E,SAAa/E,CAAAA,GAAAA,UAAAA,CAAAA;AACxF;AAEA;;;;;;;;;;;MAYAgF,iBAAAA,CACEC,MAAc,EACdF,SAAqB,EACrBG,QAAiB,EACjBC,QAAkB,EACW;QAC7B,OAAO,IAAI,CAACN,WAAW,CACrB;AACEO,YAAAA,SAAAA,EAAWC,cAAcC,GAAG;AAC5BJ,YAAAA,QAAAA,EAAUA,QAAY,IAAA,CAAA;YACtBK,MAAQ,EAAA,CAAA;AACRC,YAAAA,iBAAAA,EAAmBL,QAAY,IAAA,KAAA;AAC/BF,YAAAA,MAAAA;YACAQ,eAAiB,EAAA;SAEnBV,EAAAA,SAAAA,CAAAA;AAEJ;AAEA;;;;;;;;;;;;;;AAcC,MACDW,kBACET,CAAAA,MAAc,EACdM,MAAc,EACdR,SAAqB,EACrBU,eAAwB,EACxBP,QAAiB,EACjBC,QAAkB,EACW;QAC7B,OAAO,IAAI,CAACN,WAAW,CACrB;AACEO,YAAAA,SAAAA,EAAWC,cAAcC,GAAG;AAC5BJ,YAAAA,QAAAA,EAAUA,QAAY,IAAA,CAAA;AACtBK,YAAAA,MAAAA;AACAC,YAAAA,iBAAAA,EAAmBL,QAAY,IAAA,KAAA;AAC/BF,YAAAA,MAAAA;AACAQ,YAAAA,eAAAA,EAAiBA,eAAmB,IAAA;SAEtCV,EAAAA,SAAAA,CAAAA;AAEJ;AAEA;;;;;;;;AAQC,MACDY,kBAAmBC,CAAAA,MAAmC,EAAEC,OAAgB,EAAW;AACjF,QAAA,OAAO,IAAI,CAAC3D,WAAW,CAACyD,kBAAkB,CAACC,MAAQC,EAAAA,OAAAA,CAAAA;AACrD;AAEA;;;;;MAMAC,cAAAA,CAAeF,MAAmC,EAAW;AAC3D,QAAA,OAAO,IAAI,CAAC1D,WAAW,CAAC4D,cAAc,CAACF,MAAAA,CAAAA;AACzC;AAEA;;;;;;;MAQAG,gBAAAA,CAAiB3C,KAAa,EAAW;AACvC,QAAA,OAAO,IAAI,CAAClB,WAAW,CAAC6D,gBAAgB,CAAC3C,KAAAA,CAAAA;AAC3C;AAEA;;;;;;;;;AASC,MACD4C,YAAaC,CAAAA,EAAW,EAAElF,QAAiB,EAAgC;AACzE,QAAA,OAAO,IAAI,CAACmB,WAAW,CAAC8D,YAAY,CAACC,EAAIlF,EAAAA,QAAAA,CAAAA;AAC3C;AAEA;;;;;;;;AAQC,MACDmF,mBAAoBN,CAAAA,MAAoC,EAAEC,OAAgB,EAAW;AACnF,QAAA,OAAO,IAAI,CAAC3D,WAAW,CAACgE,mBAAmB,CAACN,MAAQC,EAAAA,OAAAA,CAAAA;AACtD;AAEA;;;;;MAMAM,eAAAA,CAAgBP,MAAoC,EAAW;AAC7D,QAAA,OAAO,IAAI,CAAC1D,WAAW,CAACiE,eAAe,CAACP,MAAAA,CAAAA;AAC1C;AAEA;;;;;;MAOAQ,iBAAAA,CAAkBhD,KAAa,EAAW;AACxC,QAAA,OAAO,IAAI,CAAClB,WAAW,CAACkE,iBAAiB,CAAChD,KAAAA,CAAAA;AAC5C;AAEA;;;;;;;;;AASC,MACDiD,UAAWvB,CAAAA,CAAW,EAAEC,SAAqB,EAA8B;QACzE,OAAO,IAAI,CAAC7C,WAAW,CAACmE,UAAU,CAACvB,CAAGC,EAAAA,SAAAA,GAAY9E,qBAAsB8E,CAAAA,SAAAA,CAAAA,GAAa/E,UAAY,EAAA,KAAA,CAAA;AACnG;AAEA;;;;;;;;AAQC,MACDsG,iBAAkBV,CAAAA,MAAkC,EAAEC,OAAgB,EAAW;AAC/E,QAAA,OAAO,IAAI,CAAC3D,WAAW,CAACoE,iBAAiB,CAACV,MAAQC,EAAAA,OAAAA,CAAAA;AACpD;AAEA;;;;;MAMAU,aAAAA,CAAcX,MAAkC,EAAW;AACzD,QAAA,OAAO,IAAI,CAAC1D,WAAW,CAACqE,aAAa,CAACX,MAAAA,CAAAA;AACxC;AAEA;;;;;;;MAQAY,eAAAA,CAAgBpD,KAAa,EAAW;AACtC,QAAA,OAAO,IAAI,CAAClB,WAAW,CAACsE,eAAe,CAACpD,KAAAA,CAAAA;AAC1C;IAEQE,iBAAkBR,CAAAA,KAAgB,EAAEC,GAAc,EAAe;AACvE,QAAA,IAAI,CAACD,KAAAA,CAAM2D,UAAU,CAAC1D,GAAM,CAAA,EAAA;AAC1B,YAAA,MAAM,IAAI2D,KAAM,CAAA,4DAAA,CAAA;AAClB;AACA,QAAA,MAAMC,QAAqB,EAAE;AAC7B,QAAA,IAAIC,OAAqB7D,GAAAA,GAAAA;QACzB,OAAS;AACP4D,YAAAA,KAAAA,CAAME,OAAO,CAACD,OAAAA,CAAAA;AACd,YAAA,IAAIA,YAAY9D,KAAO,EAAA;AACrB,gBAAA;AACF;AACA8D,YAAAA,OAAAA,GAAUA,QAAQrF,MAAM;AAC1B;QACA,OAAOoF,KAAAA;AACT;AACA;;;;MAKAG,MAAAA,CAAOC,SAAiB,EAAQ;;AAE9B,QAAA,MAAMC,KAAKC,IAAKC,CAAAA,GAAG,CAACH,SAAAA,EAAW;;AAE/B,QAAA,IAAI,CAAC7E,WAAW,CAACiF,IAAI,CAACH,EAAAA,CAAAA;AACxB;qBAEA,0BAAuD,GAAA;QACrD,OAAO;AACLI,YAAAA,OAAAA,EAAS,IAAIvG,OAAAA,CAAQ,CAAG,EAAA,IAAM,EAAA,CAAA,CAAA;YAC9BwG,UAAY,EAAA,CAAA;YACZC,QAAU,EAAA,CAAA;YACVC,sBAAwB,EAAA,KAAA;AACxBC,YAAAA,SAAAA,EAAW3G,QAAQ4G,IAAI,EAAA;AACvBC,YAAAA,cAAAA,EAAgB,EAAC;AACjBC,YAAAA,eAAAA,EAAiB,EAAC;YAClBC,qBAAuB,EAAA,CAAA;YACvBC,UAAY,EAAA,CAAA;YACZC,sBAAwB,EAAA,EAAA;YACxBC,UAAY,EAAA,KAAA;YACZC,aAAe,EAAA,CAAA;YACfC,aAAe,EAAA,CAAA;YACfhE,gBAAkB,EAAA;AAAEiE,gBAAAA,UAAAA,EAAY,EAAC;gBAAGC,aAAe,EAAA;AAAM,aAAA;YACzDC,gBAAkB,EAAA,KAAA;YAClBC,aAAe,EAAA,KAAA;YACfnE,MAAQ,EAAA;gBACNoE,YAAcC,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC1CC,cAAgBF,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC5CE,SAAWH,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBACvCG,UAAYJ,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,IAAA,CAAA;gBACxCI,QAAUL,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,KAAA,CAAA;gBACtCtD,QAAUqD,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACtCK,WAAaN,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,IAAA,CAAA;gBACzCM,iBAAmBP,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC/CO,cAAgBR,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC5CQ,eAAiBT,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC7CS,wBAA0BV,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBACtDU,yBAA2BX,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBACvDW,0BAA4BZ,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACxDY,2BAA6Bb,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACzDa,WAAad,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACzCc,YAAcf,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBAC1Ce,qBAAuBhB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACnDgB,sBAAwBjB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACpDiB,uBAAyBlB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACrDkB,wBAA0BnB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,GAAA,CAAA;gBACtDP,aAAeM,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;gBAC3CmB,YAAcpB,EAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA;AAC5C,aAAA;YACArE,iBAAmB,EAAA;gBACjByF,kBAAoB,EAAA,KAAA;gBACpBC,oBAAsB,EAAA,KAAA;gBACtBC,KAAO,EAAA,KAAA;gBACPC,eAAiB,EAAA,KAAA;gBACjBC,iBAAmB,EAAA,KAAA;gBACnBC,MAAQ,EAAA,KAAA;gBACRC,yBAA2B,EAAA,KAAA;gBAC3BC,2BAA6B,EAAA,KAAA;gBAC7BC,YAAc,EAAA,KAAA;gBACd7C,sBAAwB,EAAA;AAC1B;AACF,SAAA;AACF;AACF;;;;"}

package/dist/animation/joint_dynamics/solver.js

@@ -115,10 +115,11 @@ function colliderUpdate(collidersR, collidersRW, stepDelta) {
         const ws = colRW.worldScale;
         const worldScaleUniform = (ws.x + ws.y + ws.z) / 3;
         colRW.radius = colR.radius * worldScaleUniform;
+        colRW.height = colR.height * worldScaleUniform;
         Vector3.lerp(colRW.positionPreviousTransform, colRW.positionCurrentTransform, stepDelta, curPos);
         Quaternion.slerp(colRW.directionPreviousTransform, colRW.directionCurrentTransform, stepDelta, curDir);
-        computeCapsule(curPos, curDir, colR.height, colRW.positionCurrent, colRW.directionCurrent);
-        if (colR.height > EPSILON) {
+        computeCapsule(curPos, curDir, colRW.height, colRW.positionCurrent, colRW.directionCurrent);
+        if (colRW.height > EPSILON) {
             Vector3.scale(colRW.directionCurrent, 0.5, _computeCapsuleHalfDir);
             Vector3.add(colRW.positionCurrent, _computeCapsuleHalfDir, colRW.boundsCenter);
             colRW.boundsRadius = Math.sqrt(colRW.directionCurrent.magnitudeSq) * 0.5 + Math.max(colRW.radius, colRW.radius * colR.radiusTailScale);
@@ -131,7 +132,7 @@ function colliderUpdate(collidersR, collidersRW, stepDelta) {
         colRW.worldToLocal.transformPointAffine(colRW.positionCurrent, center);
         Vector3.sub(center, corner, colRW.localBoundsMin);
         Vector3.add(center, corner, colRW.localBoundsMax);
-        if (colR.height > EPSILON) {
+        if (colRW.height > EPSILON) {
             Vector3.scale(VEC3_ONE, colR.radius * colR.radiusTailScale, tailCorner);
             Vector3.add(colRW.positionCurrent, colRW.directionCurrent, tailCenter);
             colRW.worldToLocal.transformPointAffine(tailCenter, tailCenter);