@zephyr3d/scene 0.9.5 → 0.9.7

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

@@ -1 +1 @@
-{"version":3,"file":"controller.js","sources":["../../../src/animation/joint_dynamics/controller.ts"],"sourcesContent":["// High-level orchestrator - SPCRJointDynamicsController API\r\n\r\nimport {\r\n  EPSILON,\r\n  type PointR,\r\n  type PointRW,\r\n  type Constraint,\r\n  type ColliderR,\r\n  type ColliderRW,\r\n  type GrabberR,\r\n  type GrabberRW,\r\n  type AngleLimitConfig,\r\n  type FlatPlane,\r\n  type TransformAccess,\r\n  type BoneNode\r\n} from './types';\r\nimport { buildConstraints, buildSurfaceFaces, type ConstraintBuildOptions } from './constraints';\r\nimport { simulate, applyResult, applyAngleLimits, type SimulationParams } from './solver';\r\nimport type { DeepPartial, Nullable } from '@zephyr3d/base';\r\nimport { InterpolatorScalar, Vector3, Quaternion, Matrix4x4, clamp01 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene';\r\n\r\n/**\r\n * Depth-based physics parameter curves.\r\n * Each curve is evaluated with t = pointDepth / maxDepth (0 at root, 1 at tip).\r\n * This allows parameters to vary smoothly along the bone chain.\r\n *\r\n * @public\r\n */\r\nexport interface PhysicsCurves {\r\n  /** Scales point mass by depth */\r\n  massScale: InterpolatorScalar;\r\n  /** Scales gravity strength by depth */\r\n  gravityScale: InterpolatorScalar;\r\n  /** Scales wind force effect by depth (also multiplied by depth rate) */\r\n  windForceScale: InterpolatorScalar;\r\n  /** Velocity damping [0-1]. Higher = less damping. Controls how much velocity is preserved */\r\n  resistance: InterpolatorScalar;\r\n  /** Restore-to-animation stiffness [0-1]. Higher = bone stays closer to animated pose */\r\n  hardness: InterpolatorScalar;\r\n  /** Friction multiplier by depth. Scales collision friction accumulation */\r\n  friction: InterpolatorScalar;\r\n  /** Collision radius by depth, mapped from VRM SpringBone hitRadius when available */\r\n  pointRadius: InterpolatorScalar;\r\n  /** Extra slack length for horizontal/shear constraints (allows stretching) */\r\n  sliderJointLength: InterpolatorScalar;\r\n  /** Global shrink stiffness multiplier (applied to all constraint types) */\r\n  allShrinkScale: InterpolatorScalar;\r\n  /** Global stretch stiffness multiplier (applied to all constraint types) */\r\n  allStretchScale: InterpolatorScalar;\r\n  /** Structural vertical constraint shrink stiffness by depth */\r\n  structuralShrinkVertical: InterpolatorScalar;\r\n  /** Structural vertical constraint stretch stiffness by depth */\r\n  structuralStretchVertical: InterpolatorScalar;\r\n  /** Structural horizontal constraint shrink stiffness by depth */\r\n  structuralShrinkHorizontal: InterpolatorScalar;\r\n  /** Structural horizontal constraint stretch stiffness by depth */\r\n  structuralStretchHorizontal: InterpolatorScalar;\r\n  /** Shear constraint shrink stiffness by depth */\r\n  shearShrink: InterpolatorScalar;\r\n  /** Shear constraint stretch stiffness by depth */\r\n  shearStretch: InterpolatorScalar;\r\n  /** Bending vertical constraint shrink stiffness by depth */\r\n  bendingShrinkVertical: InterpolatorScalar;\r\n  /** Bending vertical constraint stretch stiffness by depth */\r\n  bendingStretchVertical: InterpolatorScalar;\r\n  /** Bending horizontal constraint shrink stiffness by depth */\r\n  bendingShrinkHorizontal: InterpolatorScalar;\r\n  /** Bending horizontal constraint stretch stiffness by depth */\r\n  bendingStretchHorizontal: InterpolatorScalar;\r\n  /** Fake wave amplitude by depth (sinusoidal pseudo-wind on leaf bones) */\r\n  fakeWavePower: InterpolatorScalar;\r\n  /** Fake wave frequency offset by depth */\r\n  fakeWaveFreq: InterpolatorScalar;\r\n}\r\n\r\n/**\r\n * Top-level configuration for the physics controller\r\n * @public\r\n **/\r\nexport interface ControllerConfig {\r\n  /** Global gravity vector */\r\n  gravity: Vector3;\r\n  /** Global wind force vector applied to all dynamic points */\r\n  windForce: Vector3;\r\n  /** Number of constraint relaxation iterations per substep. Higher = more stable but slower */\r\n  relaxation: number;\r\n  /** Number of simulation substeps per frame. Higher = more stable at cost of performance */\r\n  subSteps: number;\r\n  /** Max root bone slide distance per substep. Excess is distributed as offset. -1 = unlimited */\r\n  rootSlideLimit: number;\r\n  /** Max root bone rotation angle (degrees) per substep. Excess is distributed. -1 = unlimited */\r\n  rootRotateLimit: number;\r\n  /** Upper limit for horizontal/shear constraint shrink power. Prevents over-compression */\r\n  constraintShrinkLimit: number;\r\n  /** Global blend ratio between physics and animation [0-1]. 0 = full physics, 1 = full animation */\r\n  blendRatio: number;\r\n  /** Target frame rate for stabilization (currently unused, reserved) */\r\n  stabilizationFrameRate: number;\r\n  /** Enable sinusoidal fake wave effect on leaf bones */\r\n  isFakeWave: boolean;\r\n  /** Fake wave global speed (accumulates over time) */\r\n  fakeWaveSpeed: number;\r\n  /** Fake wave global amplitude multiplier */\r\n  fakeWavePower: number;\r\n  /** Enable triangle-based surface collision (cloth vs colliders) */\r\n  enableSurfaceCollision: boolean;\r\n  /** Enable broad-phase pruning before precise collider tests */\r\n  enableBroadPhase: boolean;\r\n  /** Preserve each joint's initial local twist (axial roll) after physics simulation */\r\n  preserveTwist: boolean;\r\n  /** Post-simulation angle limiting between parent-child bones */\r\n  angleLimitConfig: AngleLimitConfig;\r\n  /** Depth-based physics parameter curves */\r\n  curves: PhysicsCurves;\r\n  /** Which constraint types to generate and their collision flags */\r\n  constraintOptions: ConstraintBuildOptions;\r\n}\r\n\r\n/**\r\n * Partial runtime update for JointDynamics controller configuration.\r\n *\r\n * @public\r\n */\r\nexport type ControllerConfigUpdate = DeepPartial<ControllerConfig, 2>;\r\n\r\n/**\r\n * Stable runtime handle for a JointDynamics collider.\r\n * @public\r\n */\r\nexport interface JointDynamicsColliderHandle {\r\n  readonly type: 'collider';\r\n  readonly id: number;\r\n}\r\n\r\n/**\r\n * Stable runtime handle for a JointDynamics flat plane.\r\n * @public\r\n */\r\nexport interface JointDynamicsFlatPlaneHandle {\r\n  readonly type: 'flatPlane';\r\n  readonly id: number;\r\n}\r\n\r\n/**\r\n * Stable runtime handle for a JointDynamics grabber.\r\n * @public\r\n */\r\nexport interface JointDynamicsGrabberHandle {\r\n  readonly type: 'grabber';\r\n  readonly id: number;\r\n}\r\n\r\n/**\r\n * Serializable snapshot of a runtime collider.\r\n * @public\r\n */\r\nexport interface JointDynamicsColliderSnapshot {\r\n  r: ColliderR;\r\n  transform: Nullable<SceneNode>;\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Serializable snapshot of a runtime flat plane.\r\n * @public\r\n */\r\nexport interface JointDynamicsFlatPlaneSnapshot {\r\n  up: Vector3;\r\n  position: Vector3;\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Serializable snapshot of a runtime grabber.\r\n * @public\r\n */\r\nexport interface JointDynamicsGrabberSnapshot {\r\n  r: GrabberR;\r\n  transform: Nullable<SceneNode>;\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * High-level controller for joint dynamics simulation.\r\n *\r\n * This class manages the physics simulation for a hierarchy of bones, including constraints,\r\n * colliders, and grabbers. It provides an API for initializing the system with bone data and\r\n * transforms, stepping the simulation each frame, and modifying colliders and grabbers at runtime.\r\n * The controller handles the internal state and logic for blending between animation and physics,\r\n * applying forces, and enforcing constraints.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsSystemController {\r\n  private _config: ControllerConfig;\r\n  private _pointsR: PointR[] = [];\r\n  private _pointsRW: PointRW[] = [];\r\n  private _constraints: Constraint[] = [];\r\n  private _collidersR: ColliderR[] = [];\r\n  private _collidersRW: ColliderRW[] = [];\r\n  private _grabbersR: GrabberR[] = [];\r\n  private _grabbersRW: GrabberRW[] = [];\r\n  private _movableLimitTargets: Vector3[] = [];\r\n  private _flatPlanes: FlatPlane[] = [];\r\n  private _flatPlaneEnabled: boolean[] = [];\r\n  private _flatPlaneAll: FlatPlane[] = [];\r\n  private _surfaceConstraints: number[] = [];\r\n  private _positionsToTransform: Vector3[] = [];\r\n  private _fakeWaveCounter = 0;\r\n  private _previousRootPosition = Vector3.zero();\r\n  private _previousRootRotation = Quaternion.identity();\r\n  private _rootTransform: TransformAccess | null = null;\r\n  private _rootPoints: BoneNode[] = [];\r\n  private _allPoints: BoneNode[] = [];\r\n  private _parentMap = new Map<number, number>();\r\n  private _maxPointDepth = 0;\r\n  private _pointTransforms: TransformAccess[] = [];\r\n  private _colliderTransforms: TransformAccess[] = [];\r\n  private _grabberTransforms: TransformAccess[] = [];\r\n  private _colliderHandleIds: number[] = [];\r\n  private _flatPlaneHandleIds: number[] = [];\r\n  private _grabberHandleIds: number[] = [];\r\n  private _colliderHandleToIndex = new Map<number, number>();\r\n  private _flatPlaneHandleToIndex = new Map<number, number>();\r\n  private _grabberHandleToIndex = new Map<number, number>();\r\n  private _baseSystemScale = 1;\r\n  private _currentSystemScale = 1;\r\n  private _basePointParentLengths: number[] = [];\r\n  private _baseConstraintLengths: number[] = [];\r\n  private _nextColliderHandleId = 1;\r\n  private _nextFlatPlaneHandleId = 1;\r\n  private _nextGrabberHandleId = 1;\r\n  private _initialized = false;\r\n  private _isPaused = false;\r\n  private _fadeState: 'none' | 'in' | 'out' = 'none';\r\n  private _fadeTimer = 0;\r\n  private _fadeDuration = 0;\r\n\r\n  constructor(config: ControllerConfig) {\r\n    this._config = this._sanitizeControllerConfig(this._cloneControllerConfig(config));\r\n  }\r\n\r\n  /**\r\n   * Initializes the physics system.\r\n   * @param rootTransform - Root bone transform used to detect root motion.\r\n   * @param rootPoints - Root nodes of the bone hierarchy. Multiple roots are allowed.\r\n   * @param pointTransforms - Transform array for all physics points. Order must match `BoneNode.index`.\r\n   * @param colliders - Collider array (spheres/capsules).\r\n   * @param grabbers - Grabber array used for interactions such as mouse dragging.\r\n   * @param flatPlanes - Plane limiters such as the floor to prevent penetration.\r\n   */\r\n  initialize(\r\n    rootTransform: TransformAccess,\r\n    rootPoints: BoneNode[],\r\n    pointTransforms: TransformAccess[],\r\n    colliders: Array<{ r: ColliderR; transform: TransformAccess }>,\r\n    grabbers: Array<{\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }>,\r\n    flatPlanes: Array<{ up: Vector3; position: Vector3 }>\r\n  ): void {\r\n    this._rootTransform = rootTransform;\r\n    this._baseSystemScale = this._getSystemUniformScale();\r\n    this._currentSystemScale = this._baseSystemScale;\r\n    this._rootPoints = [...rootPoints];\r\n    this._pointTransforms = pointTransforms;\r\n    this._colliderTransforms = colliders.map((c) => c.transform);\r\n    this._grabberTransforms = grabbers.map((g) => g.transform);\r\n\r\n    // Build constraints\r\n    this._rebuildConstraints();\r\n    this._baseConstraintLengths = this._constraints.map((constraint) => constraint.length);\r\n\r\n    // Flatten bone hierarchy to point list, build parent map\r\n    const allPoints: BoneNode[] = [];\r\n    this._parentMap = new Map<number, number>(); // child index -> parent index\r\n    const walk = (node: BoneNode) => {\r\n      allPoints.push(node);\r\n      for (const c of node.children) {\r\n        this._parentMap.set(c.index, node.index);\r\n        walk(c);\r\n      }\r\n    };\r\n    for (const r of rootPoints) {\r\n      walk(r);\r\n    }\r\n\r\n    this._allPoints = allPoints;\r\n    this._maxPointDepth = allPoints.length > 0 ? Math.max(...allPoints.map((p) => p.depth)) : 0;\r\n\r\n    // Compute boneAxis from transforms: local-space direction to first child\r\n    // This is critical for correct bone rotation in skinned meshes\r\n    for (const p of allPoints) {\r\n      if (!p.boneAxis && p.children.length > 0) {\r\n        const childPos = pointTransforms[p.children[0].index].getWorldPosition();\r\n        const parentPos = pointTransforms[p.index].getWorldPosition();\r\n        // InverseTransformPoint: convert child world pos to parent local space\r\n        const parentRot = pointTransforms[p.index].getWorldRotation();\r\n        const parentScale = pointTransforms[p.index].getLocalScale();\r\n        const diff = Vector3.sub(childPos, parentPos);\r\n        const invRot = Quaternion.inverse(parentRot);\r\n        const localDir = invRot.transform(diff);\r\n        // Apply inverse scale\r\n        const unscaled = new Vector3(\r\n          parentScale.x !== 0 ? localDir.x / parentScale.x : 0,\r\n          parentScale.y !== 0 ? localDir.y / parentScale.y : 0,\r\n          parentScale.z !== 0 ? localDir.z / parentScale.z : 0\r\n        );\r\n        p.boneAxis = Vector3.normalize(unscaled);\r\n      }\r\n    }\r\n\r\n    // Build PointR/RW arrays\r\n    this._pointsR = allPoints.map((p) => this._createPointR(p));\r\n    this._basePointParentLengths = this._pointsR.map((point) => point.parentLength);\r\n    this._pointsRW = allPoints.map(() => this._createPointRW());\r\n    this._positionsToTransform = new Array(allPoints.length).fill(Vector3.zero());\r\n\r\n    // Initialize colliders\r\n    this._collidersR = colliders.map((c) => c.r);\r\n    this._collidersRW = colliders.map((c) => this._createColliderRW(c.transform));\r\n    this._colliderHandleIds = this._collidersR.map(() => this._nextColliderHandleId++);\r\n    this._rebuildColliderHandleMap();\r\n\r\n    // Initialize grabbers\r\n    this._grabbersR = grabbers.map((g) => g.r);\r\n    this._grabbersRW = grabbers.map((g) => ({\r\n      enabled: g.enabled ? 1 : 0,\r\n      position: g.transform.getWorldPosition()\r\n    }));\r\n    this._grabberHandleIds = this._grabbersR.map(() => this._nextGrabberHandleId++);\r\n    this._rebuildGrabberHandleMap();\r\n\r\n    // Flat planes\r\n    this._flatPlanes = flatPlanes.map((fp) => ({\r\n      normal: Vector3.normalize(fp.up),\r\n      distance: -Vector3.dot(Vector3.normalize(fp.up), fp.position)\r\n    }));\r\n    this._flatPlaneAll = [...this._flatPlanes];\r\n    this._flatPlaneEnabled = this._flatPlaneAll.map(() => true);\r\n    this._flatPlaneHandleIds = this._flatPlaneAll.map(() => this._nextFlatPlaneHandleId++);\r\n    this._rebuildFlatPlaneHandleMap();\r\n\r\n    // Capture initial state\r\n    this._previousRootPosition = rootTransform.getWorldPosition();\r\n    this._previousRootRotation = rootTransform.getWorldRotation();\r\n\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      const pos = pointTransforms[i].getWorldPosition();\r\n      this._pointsRW[i].positionCurrent = pos.clone();\r\n      this._pointsRW[i].positionPrevious = pos.clone();\r\n      this._pointsRW[i].positionCurrentTransform = pos.clone();\r\n      this._pointsRW[i].positionPreviousTransform = pos.clone();\r\n      this._pointsRW[i].positionToTransform = pos.clone();\r\n      this._pointsRW[i].directionPrevious = Vector3.axisPZ();\r\n      this._pointsRW[i].fakeWindDirection = Vector3.axisPZ();\r\n      this._pointsRW[i].grabberIndex = -1;\r\n      this._pointsRW[i].grabberDistance = 0;\r\n      this._pointsRW[i].friction = 0;\r\n    }\r\n\r\n    this._initialized = true;\r\n  }\r\n\r\n  /**\r\n   * Advances the simulation by one frame.\r\n   * Internal flow: read current transforms, run Verlet integration and constraint solving,\r\n   * then write the result back to the transforms.\r\n   * @param deltaTime - Frame delta time in seconds. Internally subdivided by `subSteps`.\r\n   */\r\n  step(deltaTime: number): void {\r\n    if (!this._initialized || !this._rootTransform) {\r\n      return;\r\n    }\r\n\r\n    // Update fade\r\n    if (this._fadeState !== 'none') {\r\n      this._fadeTimer += deltaTime;\r\n      if (this._fadeTimer >= this._fadeDuration) {\r\n        this._fadeState = 'none';\r\n        this._fadeTimer = 0;\r\n      }\r\n    }\r\n\r\n    const blendRatio = this._computeBlendRatio();\r\n    this._updateScaleDependentParameters();\r\n\r\n    // Capture current transforms\r\n    const rootPos = this._rootTransform.getWorldPosition();\r\n    const rootRot = this._rootTransform.getWorldRotation();\r\n\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      this._pointsRW[i].positionPreviousTransform = this._pointsRW[i].positionCurrentTransform.clone();\r\n      this._pointsRW[i].positionCurrentTransform = this._pointTransforms[i].getWorldPosition();\r\n    }\r\n\r\n    for (let i = 0; i < this._collidersRW.length; i++) {\r\n      const t = this._colliderTransforms[i];\r\n      this._collidersRW[i].positionPreviousTransform = this._collidersRW[i].positionCurrentTransform.clone();\r\n      this._collidersRW[i].directionPreviousTransform =\r\n        this._collidersRW[i].directionCurrentTransform.clone();\r\n      this._collidersRW[i].positionCurrentTransform = t.getWorldPosition();\r\n      this._collidersRW[i].directionCurrentTransform = t.getWorldRotation();\r\n      this._collidersRW[i].worldScale = t.getWorldScale();\r\n      this._collidersRW[i].worldToLocal = Matrix4x4.compose(\r\n        this._collidersRW[i].worldScale,\r\n        this._collidersRW[i].directionCurrentTransform,\r\n        this._collidersRW[i].positionCurrentTransform\r\n      ).inplaceInvertAffine();\r\n    }\r\n\r\n    for (let i = 0; i < this._grabbersRW.length; i++) {\r\n      this._grabbersRW[i].position = this._grabberTransforms[i].getWorldPosition();\r\n    }\r\n\r\n    // Run simulation\r\n    const params: SimulationParams = {\r\n      isPaused: this._isPaused,\r\n      stepTime: deltaTime,\r\n      subSteps: this._config.subSteps,\r\n      rootPosition: rootPos,\r\n      previousRootPosition: this._previousRootPosition,\r\n      rootSlideLimit: this._config.rootSlideLimit,\r\n      rootRotation: rootRot,\r\n      previousRootRotation: this._previousRootRotation,\r\n      rootRotateLimit: this._config.rootRotateLimit,\r\n      windForce: this._config.windForce,\r\n      enableSurfaceCollision: this._config.enableSurfaceCollision,\r\n      surfaceConstraints: this._surfaceConstraints,\r\n      relaxation: this._config.relaxation,\r\n      constraintShrinkLimit: this._config.constraintShrinkLimit,\r\n      blendRatio,\r\n      isFakeWave: this._config.isFakeWave,\r\n      fakeWaveSpeed: this._config.fakeWaveSpeed,\r\n      fakeWavePower: this._config.fakeWavePower,\r\n      fakeWaveCounter: this._fakeWaveCounter,\r\n      collisionScale: 1.0,\r\n      enableBroadPhase: this._config.enableBroadPhase\r\n    };\r\n\r\n    const result = simulate(\r\n      params,\r\n      this._pointsR,\r\n      this._pointsRW,\r\n      this._constraints,\r\n      this._collidersR,\r\n      this._collidersRW,\r\n      this._grabbersR,\r\n      this._grabbersRW,\r\n      this._movableLimitTargets,\r\n      this._flatPlanes\r\n    );\r\n\r\n    this._positionsToTransform = result.positionsToTransform;\r\n    this._fakeWaveCounter = result.fakeWaveCounter;\r\n\r\n    // Angle limits\r\n    if (this._config.angleLimitConfig.angleLimit >= 0) {\r\n      applyAngleLimits(this._pointsR, this._pointsRW, this._config.angleLimitConfig);\r\n    }\r\n\r\n    // Apply results\r\n    const transformRots = this._pointTransforms.map((t) => t.getWorldRotation());\r\n    const transformLocalRots = this._pointTransforms.map((t) => t.getLocalRotation());\r\n    const outputs = applyResult(\r\n      this._pointsR,\r\n      this._pointsRW,\r\n      this._positionsToTransform,\r\n      blendRatio,\r\n      transformRots,\r\n      transformLocalRots,\r\n      this._config.preserveTwist\r\n    );\r\n\r\n    for (let i = 0; i < outputs.length; i++) {\r\n      this._pointTransforms[i].setWorldPosition(outputs[i].position);\r\n      this._pointTransforms[i].setWorldRotation(outputs[i].rotation);\r\n    }\r\n\r\n    this._previousRootPosition = rootPos;\r\n    this._previousRootRotation = rootRot;\r\n  }\r\n\r\n  /**\r\n   * Returns the simulated results for all points as world-space positions and rotations.\r\n   * Usually this does not need to be called manually because `step()` already writes the\r\n   * output back to the transforms.\r\n   */\r\n  getResults(): Array<{ position: Vector3; rotation: Quaternion }> {\r\n    const transformRots = this._pointTransforms.map((t) => t.getWorldRotation());\r\n    const transformLocalRots = this._pointTransforms.map((t) => t.getLocalRotation());\r\n    const outputs = applyResult(\r\n      this._pointsR,\r\n      this._pointsRW,\r\n      this._positionsToTransform,\r\n      this._config.blendRatio,\r\n      transformRots,\r\n      transformLocalRots,\r\n      this._config.preserveTwist\r\n    );\r\n    return outputs.map((o) => ({ position: o.position, rotation: o.rotation }));\r\n  }\r\n\r\n  /**\r\n   * Returns a detached snapshot of the current runtime configuration.\r\n   */\r\n  getConfig(): ControllerConfig {\r\n    return this._cloneControllerConfig(this._config);\r\n  }\r\n\r\n  /**\r\n   * Returns detached collider snapshots for persistence.\r\n   */\r\n  getColliderSnapshots(): JointDynamicsColliderSnapshot[] {\r\n    return this._collidersR.map((r, index) => ({\r\n      r: { ...r },\r\n      transform: this._colliderTransforms[index]?.node ?? null,\r\n      enabled: this._collidersRW[index]?.enabled !== 0\r\n    }));\r\n  }\r\n\r\n  /**\r\n   * Returns detached flat-plane snapshots for persistence.\r\n   */\r\n  getFlatPlaneSnapshots(): JointDynamicsFlatPlaneSnapshot[] {\r\n    return this._flatPlaneAll.map((plane, index) => ({\r\n      up: plane.normal.clone(),\r\n      position: Vector3.scale(plane.normal, -plane.distance),\r\n      enabled: this._flatPlaneEnabled[index] ?? true\r\n    }));\r\n  }\r\n\r\n  /**\r\n   * Returns detached grabber snapshots for persistence.\r\n   */\r\n  getGrabberSnapshots(): JointDynamicsGrabberSnapshot[] {\r\n    return this._grabbersR.map((r, index) => ({\r\n      r: { ...r },\r\n      transform: this._grabberTransforms[index]?.node ?? null,\r\n      enabled: this._grabbersRW[index]?.enabled !== 0\r\n    }));\r\n  }\r\n\r\n  /**\r\n   * Replaces the runtime configuration.\r\n   *\r\n   * If the controller is already initialized, cached per-point parameters and generated\r\n   * constraints are refreshed immediately so editor-driven changes take effect in the next step.\r\n   *\r\n   * @param config - Complete controller configuration to apply.\r\n   */\r\n  setConfig(config: ControllerConfig): void {\r\n    this._config = this._sanitizeControllerConfig(this._cloneControllerConfig(config));\r\n    this._refreshCachedSimulationConfig();\r\n  }\r\n\r\n  /**\r\n   * Applies a partial runtime configuration update.\r\n   *\r\n   * This is intended for editor workflows that tweak one or more simulation parameters live.\r\n   * The controller updates only the affected caches: global step parameters are applied directly,\r\n   * per-point curve/gravity changes rebuild cached point coefficients, and constraint option\r\n   * changes rebuild the generated constraints.\r\n   *\r\n   * @param config - Partial configuration update.\r\n   */\r\n  updateConfig(config: ControllerConfigUpdate): void {\r\n    let refreshPoints = false;\r\n    let refreshConstraints = false;\r\n\r\n    if (config.gravity) {\r\n      this._config.gravity = config.gravity.clone();\r\n      refreshPoints = true;\r\n    }\r\n    if (config.windForce) {\r\n      this._config.windForce = config.windForce.clone();\r\n    }\r\n    if (typeof config.relaxation === 'number') {\r\n      this._config.relaxation = Math.max(0, Math.trunc(config.relaxation));\r\n    }\r\n    if (typeof config.subSteps === 'number') {\r\n      this._config.subSteps = Math.max(1, Math.trunc(config.subSteps));\r\n    }\r\n    if (typeof config.rootSlideLimit === 'number') {\r\n      this._config.rootSlideLimit = config.rootSlideLimit;\r\n    }\r\n    if (typeof config.rootRotateLimit === 'number') {\r\n      this._config.rootRotateLimit = config.rootRotateLimit;\r\n    }\r\n    if (typeof config.constraintShrinkLimit === 'number') {\r\n      this._config.constraintShrinkLimit = Math.max(0, config.constraintShrinkLimit);\r\n    }\r\n    if (typeof config.blendRatio === 'number') {\r\n      this._config.blendRatio = clamp01(config.blendRatio);\r\n    }\r\n    if (typeof config.stabilizationFrameRate === 'number') {\r\n      this._config.stabilizationFrameRate = config.stabilizationFrameRate;\r\n    }\r\n    if (typeof config.isFakeWave === 'boolean') {\r\n      this._config.isFakeWave = config.isFakeWave;\r\n    }\r\n    if (typeof config.fakeWaveSpeed === 'number') {\r\n      this._config.fakeWaveSpeed = config.fakeWaveSpeed;\r\n    }\r\n    if (typeof config.fakeWavePower === 'number') {\r\n      this._config.fakeWavePower = config.fakeWavePower;\r\n    }\r\n    if (typeof config.enableSurfaceCollision === 'boolean') {\r\n      this._config.enableSurfaceCollision = config.enableSurfaceCollision;\r\n      if (!config.constraintOptions || config.constraintOptions.enableSurfaceCollision === undefined) {\r\n        this._config.constraintOptions.enableSurfaceCollision = config.enableSurfaceCollision;\r\n        refreshConstraints = true;\r\n      }\r\n    }\r\n    if (typeof config.enableBroadPhase === 'boolean') {\r\n      this._config.enableBroadPhase = config.enableBroadPhase;\r\n    }\r\n    if (typeof config.preserveTwist === 'boolean') {\r\n      this._config.preserveTwist = config.preserveTwist;\r\n    }\r\n\r\n    if (config.angleLimitConfig) {\r\n      if (typeof config.angleLimitConfig.angleLimit === 'number') {\r\n        this._config.angleLimitConfig.angleLimit = config.angleLimitConfig.angleLimit;\r\n      }\r\n      if (typeof config.angleLimitConfig.limitFromRoot === 'boolean') {\r\n        this._config.angleLimitConfig.limitFromRoot = config.angleLimitConfig.limitFromRoot;\r\n      }\r\n    }\r\n\r\n    if (config.curves) {\r\n      const curveKeys: Array<keyof PhysicsCurves> = [\r\n        'massScale',\r\n        'gravityScale',\r\n        'windForceScale',\r\n        'resistance',\r\n        'hardness',\r\n        'friction',\r\n        'pointRadius',\r\n        'sliderJointLength',\r\n        'allShrinkScale',\r\n        'allStretchScale',\r\n        'structuralShrinkVertical',\r\n        'structuralStretchVertical',\r\n        'structuralShrinkHorizontal',\r\n        'structuralStretchHorizontal',\r\n        'shearShrink',\r\n        'shearStretch',\r\n        'bendingShrinkVertical',\r\n        'bendingStretchVertical',\r\n        'bendingShrinkHorizontal',\r\n        'bendingStretchHorizontal',\r\n        'fakeWavePower',\r\n        'fakeWaveFreq'\r\n      ];\r\n      for (const key of curveKeys) {\r\n        const curve = config.curves[key];\r\n        if (curve !== undefined) {\r\n          this._config.curves[key] = this._cloneInterpolatorScalar(curve);\r\n          refreshPoints = true;\r\n        }\r\n      }\r\n    }\r\n\r\n    if (config.constraintOptions) {\r\n      const optionKeys: Array<keyof ConstraintBuildOptions> = [\r\n        'structuralVertical',\r\n        'structuralHorizontal',\r\n        'shear',\r\n        'bendingVertical',\r\n        'bendingHorizontal',\r\n        'isLoop',\r\n        'collideStructuralVertical',\r\n        'collideStructuralHorizontal',\r\n        'collideShear',\r\n        'enableSurfaceCollision'\r\n      ];\r\n      for (const key of optionKeys) {\r\n        const value = config.constraintOptions[key];\r\n        if (value !== undefined) {\r\n          this._config.constraintOptions[key] = value;\r\n          if (key === 'enableSurfaceCollision' && config.enableSurfaceCollision === undefined) {\r\n            this._config.enableSurfaceCollision = value;\r\n          }\r\n          refreshConstraints = true;\r\n        }\r\n      }\r\n    }\r\n\r\n    if (refreshConstraints) {\r\n      this._rebuildConstraints();\r\n      this._baseConstraintLengths = this._constraints.map((constraint) => constraint.length);\r\n      this._updateScaleDependentParameters(true);\r\n    }\r\n    if (refreshPoints) {\r\n      this._refreshPointParameters();\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Compensates for teleportation by resetting the previous root transform to the current one.\r\n   * Call this after a character warp or teleport to avoid a large root-motion impulse on the\r\n   * next simulation step.\r\n   */\r\n  warp(): void {\r\n    if (!this._rootTransform) {\r\n      return;\r\n    }\r\n    this._previousRootPosition = this._rootTransform.getWorldPosition();\r\n    this._previousRootRotation = this._rootTransform.getWorldRotation();\r\n  }\r\n\r\n  /**\r\n   * Resets all physics state.\r\n   * Each simulated point is snapped back to the current transform position and grab state\r\n   * is cleared.\r\n   */\r\n  reset(): void {\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      const pos = this._pointTransforms[i].getWorldPosition();\r\n      this._pointsRW[i].positionCurrent = pos.clone();\r\n      this._pointsRW[i].positionPrevious = pos.clone();\r\n      this._pointsRW[i].grabberIndex = -1;\r\n    }\r\n    this._fakeWaveCounter = 0;\r\n  }\r\n\r\n  /**\r\n   * Releases a fixed point so it becomes dynamic, for example when cloth is detached.\r\n   * The point state is reset to avoid a sudden impulse.\r\n   * @param index - Point index.\r\n   */\r\n  releasePoint(index: number): void {\r\n    if (index < 0 || index >= this._pointsR.length) {\r\n      return;\r\n    }\r\n    (this._pointsR[index] as any).weight = 1;\r\n    const pos = this._pointTransforms[index].getWorldPosition();\r\n    this._pointsRW[index].positionCurrent = pos.clone();\r\n    this._pointsRW[index].positionPrevious = pos.clone();\r\n    this._pointsRW[index].grabberIndex = -1;\r\n  }\r\n\r\n  /**\r\n   * Fixes a dynamic point back to the animation pose, for example when an item is reattached.\r\n   * The point grab state is cleared.\r\n   * @param index - Point index.\r\n   */\r\n  fixPoint(index: number): void {\r\n    if (index < 0 || index >= this._pointsR.length) {\r\n      return;\r\n    }\r\n    (this._pointsR[index] as any).weight = 0;\r\n    this._pointsRW[index].grabberIndex = -1;\r\n  }\r\n\r\n  /**\r\n   * Returns whether a point is fixed to animation (`weight = 0`).\r\n   * @param index - Point index.\r\n   */\r\n  isPointFixed(index: number): boolean {\r\n    if (index < 0 || index >= this._pointsR.length) {\r\n      return false;\r\n    }\r\n    return this._pointsR[index].weight <= EPSILON;\r\n  }\r\n\r\n  /** Gets the total number of physics points. */\r\n  get pointCount(): number {\r\n    return this._pointsR.length;\r\n  }\r\n\r\n  /**\r\n   * Fades physics in by blending from animation pose to simulation.\r\n   * `blendRatio` moves from `1` (animation only) to `0` (physics only).\r\n   * @param seconds - Transition duration in seconds.\r\n   */\r\n  fadeIn(seconds: number): void {\r\n    this._fadeState = 'in';\r\n    this._fadeTimer = 0;\r\n    this._fadeDuration = seconds;\r\n  }\r\n\r\n  /**\r\n   * Fades physics out by blending from simulation back to animation pose.\r\n   * `blendRatio` moves from `0` (physics only) to `1` (animation only).\r\n   * @param seconds - Transition duration in seconds.\r\n   */\r\n  fadeOut(seconds: number): void {\r\n    this._fadeState = 'out';\r\n    this._fadeTimer = 0;\r\n    this._fadeDuration = seconds;\r\n  }\r\n\r\n  /**\r\n   * Sets the global wind force vector.\r\n   * The final wind contribution is still scaled per point by `windForceScale` and mass.\r\n   * @param wind - Wind vector in world space.\r\n   */\r\n  setWindForce(wind: Vector3): void {\r\n    this._config.windForce = wind.clone();\r\n  }\r\n\r\n  /**\r\n   * Enable/disable broad-phase pruning for runtime performance comparison\r\n   * @param enabled - `true` to enable broad-phase, `false` to disable.\r\n   */\r\n  setBroadPhaseEnabled(enabled: boolean): void {\r\n    this._config.enableBroadPhase = enabled;\r\n  }\r\n\r\n  /** The blend ratio for the physics simulation */\r\n  get blendRatio(): number {\r\n    return this._config.blendRatio;\r\n  }\r\n\r\n  set blendRatio(value: number) {\r\n    this._config.blendRatio = clamp01(value);\r\n  }\r\n\r\n  /**\r\n   * Pauses or resumes the physics simulation.\r\n   * While paused, the system still follows root motion but skips force integration and\r\n   * constraint solving.\r\n   * @param paused - `true` to pause, `false` to resume.\r\n   */\r\n  setPaused(paused: boolean): void {\r\n    this._isPaused = paused;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by current array index.\r\n   * Transform state is still read from the collider's TransformAccess each frame.\r\n   * Prefer setColliderEnabled(handle, enabled) for runtime-owned colliders.\r\n   *\r\n   * @param index - Collider index in the current array. Note that this may change when colliders are added or removed.\r\n   * @param enabled - `true` to enable the collider, `false` to disable it.\r\n   *\r\n   * @returns `true` if the index is valid and the collider was updated, `false` if the index is out of range.\r\n   */\r\n  setColliderEnabledAt(index: number, enabled: boolean): boolean {\r\n    if (index >= 0 && index < this._collidersRW.length) {\r\n      this._collidersRW[index].enabled = enabled ? 1 : 0;\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a runtime collider by stable handle.\r\n   *\r\n   * @param handle - Stable handle for the collider to enable or disable.\r\n   * @param enabled - `true` to enable the collider, `false` to disable it.\r\n   * @returns true if the handle is still valid.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    const index = this._getColliderIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.setColliderEnabledAt(index, enabled);\r\n  }\r\n\r\n  /**\r\n   * Add a collider at runtime.\r\n   * @param r - Read-only collider data such as shape and size.\r\n   * @param transform - TransformAccess that provides the collider's position and rotation each frame.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform: TransformAccess): JointDynamicsColliderHandle {\r\n    const id = this._nextColliderHandleId++;\r\n    this._collidersR.push(r);\r\n    this._colliderTransforms.push(transform);\r\n    this._collidersRW.push(this._createColliderRW(transform));\r\n    this._colliderHandleIds.push(id);\r\n    this._colliderHandleToIndex.set(id, this._collidersR.length - 1);\r\n    return { type: 'collider', id };\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   * @param handle - Stable handle for the collider to remove.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    const index = this._getColliderIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   * @param index - Collider index in the current array. Note that this may change when colliders are added or removed.\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    if (index < 0 || index >= this._collidersR.length) {\r\n      return false;\r\n    }\r\n    this._collidersR.splice(index, 1);\r\n    this._colliderTransforms.splice(index, 1);\r\n    this._collidersRW.splice(index, 1);\r\n    this._colliderHandleIds.splice(index, 1);\r\n    this._rebuildColliderHandleMap();\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by current array index.\r\n   * @param index - Flat plane index in the current array. Note that this may change when flat planes are added or removed.\r\n   * @param enabled - `true` to enable the flat plane, `false` to disable it.\r\n   * @returns `true` if the index is valid and the flat plane was updated, `false` if the index is out of range.\r\n   */\r\n  setFlatPlaneEnabledAt(index: number, enabled: boolean): boolean {\r\n    if (index < 0 || index >= this._flatPlaneAll.length) {\r\n      return false;\r\n    }\r\n    this._flatPlaneEnabled[index] = enabled;\r\n    this._rebuildActiveFlatPlanes();\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a runtime flat plane by stable handle.\r\n   * @param handle - Stable handle for the flat plane to enable or disable.\r\n   * @param enabled - `true` to enable the flat plane, `false` to disable it.\r\n   * @returns true if the handle is still valid.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    const index = this._getFlatPlaneIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.setFlatPlaneEnabledAt(index, enabled);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane at runtime.\r\n   * @param up - Up direction of the plane. The normal is computed as `Vector3.normalize(up)`.\r\n   * @param position - A point on the plane. The distance is computed as `-Vector3.dot(normal, position)`.\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    const id = this._nextFlatPlaneHandleId++;\r\n    const normal = Vector3.normalize(up);\r\n    this._flatPlaneAll.push({\r\n      normal,\r\n      distance: -Vector3.dot(normal, position)\r\n    });\r\n    this._flatPlaneEnabled.push(true);\r\n    this._flatPlaneHandleIds.push(id);\r\n    this._flatPlaneHandleToIndex.set(id, this._flatPlaneAll.length - 1);\r\n    this._rebuildActiveFlatPlanes();\r\n    return { type: 'flatPlane', id };\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   * @param handle - Stable handle for the flat plane to remove.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    const index = this._getFlatPlaneIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * @param index - Flat plane index in the current array. Note that this may change when flat planes are added or removed.\r\n   * @returns true if the index was valid and the flat plane was removed, false if the index was out of range.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    if (index < 0 || index >= this._flatPlaneAll.length) {\r\n      return false;\r\n    }\r\n    this._flatPlaneAll.splice(index, 1);\r\n    this._flatPlaneEnabled.splice(index, 1);\r\n    this._flatPlaneHandleIds.splice(index, 1);\r\n    this._rebuildFlatPlaneHandleMap();\r\n    this._rebuildActiveFlatPlanes();\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by current array index.\r\n   * Transform state is still read from the grabber's TransformAccess each frame.\r\n   * Prefer setGrabberEnabled(handle, enabled) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Grabber index in the current array. Note that this may change when grabbers are added or removed.\r\n   * @param enabled - `true` to enable the grabber, `false` to disable it.\r\n   * @returns `true` if the index is valid and the grabber was updated, `false` if the index is out of range.\r\n   */\r\n  setGrabberEnabledAt(index: number, enabled: boolean): boolean {\r\n    if (index >= 0 && index < this._grabbersRW.length) {\r\n      this._grabbersRW[index].enabled = enabled ? 1 : 0;\r\n      if (!enabled) {\r\n        this._releaseGrabber(index);\r\n      }\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a runtime grabber by stable handle.\r\n   * @param handle - Stable handle for the grabber to enable or disable.\r\n   * @param enabled - `true` to enable the grabber, `false` to disable it.\r\n   * @returns true if the handle is still valid.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    const index = this._getGrabberIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.setGrabberEnabledAt(index, enabled);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   * @param r - Read-only grabber data such as interaction radius.\r\n   * @param transform - TransformAccess that provides the grabber's position each frame.\r\n   * @param enabled - Whether the grabber starts enabled. The grabber can still be moved by its transform while disabled, but it won't affect any points until enabled.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform: TransformAccess, enabled = false): JointDynamicsGrabberHandle {\r\n    const id = this._nextGrabberHandleId++;\r\n    this._grabbersR.push(r);\r\n    this._grabberTransforms.push(transform);\r\n    this._grabbersRW.push({\r\n      enabled: enabled ? 1 : 0,\r\n      position: transform.getWorldPosition()\r\n    });\r\n    this._grabberHandleIds.push(id);\r\n    this._grabberHandleToIndex.set(id, this._grabbersR.length - 1);\r\n    return { type: 'grabber', id };\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   * @param handle - Stable handle for the grabber to remove.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    const index = this._getGrabberIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.removeGrabberAt(index);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Grabber index in the current array. Note that this may change when grabbers are added or removed.\r\n   * @returns true if the index was valid and the grabber was removed, false if the index was out of range.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    if (index < 0 || index >= this._grabbersR.length) {\r\n      return false;\r\n    }\r\n    this._grabbersR.splice(index, 1);\r\n    this._grabberTransforms.splice(index, 1);\r\n    this._grabbersRW.splice(index, 1);\r\n    this._grabberHandleIds.splice(index, 1);\r\n    this._rebuildGrabberHandleMap();\r\n\r\n    this._releaseGrabber(index);\r\n    for (const ptRW of this._pointsRW) {\r\n      if (ptRW.grabberIndex > index) {\r\n        ptRW.grabberIndex--;\r\n      }\r\n    }\r\n    return true;\r\n  }\r\n\r\n  /** Gets the number of runtime colliders. */\r\n  get colliderCount(): number {\r\n    return this._collidersR.length;\r\n  }\r\n\r\n  /** Gets the number of runtime flat planes. */\r\n  get flatPlaneCount(): number {\r\n    return this._flatPlaneAll.length;\r\n  }\r\n\r\n  /** Gets the number of runtime grabbers. */\r\n  get grabberCount(): number {\r\n    return this._grabbersR.length;\r\n  }\r\n\r\n  private _computeBlendRatio(): number {\r\n    if (this._fadeState === 'in') {\r\n      return 1.0 - clamp01(this._fadeTimer / this._fadeDuration);\r\n    }\r\n    if (this._fadeState === 'out') {\r\n      return clamp01(this._fadeTimer / this._fadeDuration);\r\n    }\r\n    return this._config.blendRatio;\r\n  }\r\n\r\n  private _refreshCachedSimulationConfig(): void {\r\n    this._rebuildConstraints();\r\n    this._refreshPointParameters();\r\n  }\r\n\r\n  private _getColliderIndex(handle: JointDynamicsColliderHandle): number {\r\n    if (handle.type !== 'collider') {\r\n      return -1;\r\n    }\r\n    return this._colliderHandleToIndex.get(handle.id) ?? -1;\r\n  }\r\n\r\n  private _getGrabberIndex(handle: JointDynamicsGrabberHandle): number {\r\n    if (handle.type !== 'grabber') {\r\n      return -1;\r\n    }\r\n    return this._grabberHandleToIndex.get(handle.id) ?? -1;\r\n  }\r\n\r\n  private _getFlatPlaneIndex(handle: JointDynamicsFlatPlaneHandle): number {\r\n    if (handle.type !== 'flatPlane') {\r\n      return -1;\r\n    }\r\n    return this._flatPlaneHandleToIndex.get(handle.id) ?? -1;\r\n  }\r\n\r\n  private _releaseGrabber(index: number): void {\r\n    for (const ptRW of this._pointsRW) {\r\n      if (ptRW.grabberIndex === index) {\r\n        ptRW.grabberIndex = -1;\r\n        ptRW.grabberDistance = 0;\r\n      }\r\n    }\r\n  }\r\n\r\n  private _rebuildColliderHandleMap(): void {\r\n    this._colliderHandleToIndex.clear();\r\n    for (let i = 0; i < this._colliderHandleIds.length; i++) {\r\n      this._colliderHandleToIndex.set(this._colliderHandleIds[i], i);\r\n    }\r\n  }\r\n\r\n  private _rebuildFlatPlaneHandleMap(): void {\r\n    this._flatPlaneHandleToIndex.clear();\r\n    for (let i = 0; i < this._flatPlaneHandleIds.length; i++) {\r\n      this._flatPlaneHandleToIndex.set(this._flatPlaneHandleIds[i], i);\r\n    }\r\n  }\r\n\r\n  private _rebuildActiveFlatPlanes(): void {\r\n    this._flatPlanes = [];\r\n    for (let i = 0; i < this._flatPlaneAll.length; i++) {\r\n      if (this._flatPlaneEnabled[i]) {\r\n        this._flatPlanes.push(this._flatPlaneAll[i]);\r\n      }\r\n    }\r\n  }\r\n\r\n  private _rebuildGrabberHandleMap(): void {\r\n    this._grabberHandleToIndex.clear();\r\n    for (let i = 0; i < this._grabberHandleIds.length; i++) {\r\n      this._grabberHandleToIndex.set(this._grabberHandleIds[i], i);\r\n    }\r\n  }\r\n\r\n  private _rebuildConstraints(): void {\r\n    if (this._rootPoints.length === 0) {\r\n      this._constraints = [];\r\n      this._surfaceConstraints = [];\r\n      return;\r\n    }\r\n    this._constraints = buildConstraints(this._rootPoints, this._config.constraintOptions);\r\n    this._surfaceConstraints = buildSurfaceFaces(this._rootPoints, this._config.constraintOptions.isLoop);\r\n  }\r\n\r\n  private _getSystemUniformScale(): number {\r\n    if (!this._rootTransform) {\r\n      return 1;\r\n    }\r\n    const scale = this._rootTransform.getWorldScale();\r\n    return Math.max((Math.abs(scale.x) + Math.abs(scale.y) + Math.abs(scale.z)) / 3, EPSILON);\r\n  }\r\n\r\n  private _updateScaleDependentParameters(force = false): void {\r\n    const systemScale = this._getSystemUniformScale();\r\n    const scaleChanged = Math.abs(systemScale - this._currentSystemScale) > EPSILON;\r\n    if (!force && !scaleChanged) {\r\n      return;\r\n    }\r\n    this._currentSystemScale = systemScale;\r\n    const ratio = this._baseSystemScale > EPSILON ? systemScale / this._baseSystemScale : 1;\r\n    for (let i = 0; i < this._pointsR.length; i++) {\r\n      this._pointsR[i].parentLength =\r\n        (this._basePointParentLengths[i] ?? this._pointsR[i].parentLength) * ratio;\r\n    }\r\n    for (let i = 0; i < this._constraints.length; i++) {\r\n      this._constraints[i].length = (this._baseConstraintLengths[i] ?? this._constraints[i].length) * ratio;\r\n    }\r\n    this._refreshPointParameters();\r\n    if (scaleChanged) {\r\n      for (let i = 0; i < this._pointsRW.length; i++) {\r\n        const pos = this._pointTransforms[i].getWorldPosition();\r\n        this._pointsRW[i].positionCurrent = pos.clone();\r\n        this._pointsRW[i].positionPrevious = pos.clone();\r\n        this._pointsRW[i].positionCurrentTransform = pos.clone();\r\n        this._pointsRW[i].positionPreviousTransform = pos.clone();\r\n      }\r\n      this.warp();\r\n    }\r\n  }\r\n\r\n  private _refreshPointParameters(): void {\r\n    if (!this._initialized) {\r\n      return;\r\n    }\r\n    for (let i = 0; i < this._allPoints.length; i++) {\r\n      this._applyConfigToPoint(this._pointsR[i], this._allPoints[i]);\r\n    }\r\n  }\r\n\r\n  private _createPointR(node: BoneNode): PointR {\r\n    const parentIdx = this._parentMap.get(node.index) ?? -1;\r\n    const childIdx = node.children.length > 0 ? node.children[0].index : -1;\r\n\r\n    // Capture initial local transform for rotation blending\r\n    const t = this._pointTransforms[node.index];\r\n    const initLocalPos = t.getLocalPosition();\r\n    const initLocalRot = t.getLocalRotation();\r\n    const initLocalScale = t.getLocalScale();\r\n\r\n    // BoneAxis: local-space direction to first child (computed in initialize)\r\n    const boneAxis = node.boneAxis ?? new Vector3(0, -1, 0);\r\n\r\n    // ParentLength: distance to parent\r\n    let parentLength = 0;\r\n    if (parentIdx !== -1) {\r\n      const pPos = this._pointTransforms[parentIdx].getWorldPosition();\r\n      const cPos = this._pointTransforms[node.index].getWorldPosition();\r\n      parentLength = Vector3.distance(pPos, cPos);\r\n    }\r\n\r\n    const point: PointR = {\r\n      parent: parentIdx,\r\n      child: childIdx,\r\n      applyInvertCollision: 0,\r\n      movableLimitIndex: -1,\r\n      movableLimitRadius: 0,\r\n      weight: node.isFixed ? 0 : 1,\r\n      mass: 0,\r\n      resistance: 0,\r\n      hardness: 0,\r\n      frictionScale: 0,\r\n      sliderJointLength: 0,\r\n      parentLength,\r\n      structuralShrinkVertical: 0,\r\n      structuralStretchVertical: 0,\r\n      structuralShrinkHorizontal: 0,\r\n      structuralStretchHorizontal: 0,\r\n      shearShrink: 0,\r\n      shearStretch: 0,\r\n      bendingShrinkVertical: 0,\r\n      bendingStretchVertical: 0,\r\n      bendingShrinkHorizontal: 0,\r\n      bendingStretchHorizontal: 0,\r\n      windForceScale: 0,\r\n      fakeWavePower: 0,\r\n      fakeWaveFreq: 0,\r\n      forceFadeRatio: 0,\r\n      pointRadius: 0,\r\n      gravity: Vector3.zero(),\r\n      boneAxis,\r\n      initialLocalScale: initLocalScale,\r\n      initialLocalRotation: initLocalRot,\r\n      initialLocalTwist: (() => {\r\n        const tw = new Quaternion();\r\n        initLocalRot.decomposeSwingTwist(boneAxis, undefined, tw);\r\n        return tw;\r\n      })(),\r\n      initialLocalPosition: initLocalPos\r\n    };\r\n    this._applyConfigToPoint(point, node);\r\n    return point;\r\n  }\r\n\r\n  private _applyConfigToPoint(point: PointR, node: BoneNode): void {\r\n    const rate = this._maxPointDepth > 0 ? node.depth / this._maxPointDepth : 0;\r\n    const c = this._config.curves;\r\n    const allShrinkScale = c.allShrinkScale.evaluate(rate);\r\n    const allStretchScale = c.allStretchScale.evaluate(rate);\r\n\r\n    point.mass = c.massScale.evaluate(rate);\r\n    point.resistance = clamp01(c.resistance.evaluate(rate));\r\n    point.hardness = clamp01(c.hardness.evaluate(rate));\r\n    point.frictionScale = c.friction.evaluate(rate);\r\n    point.sliderJointLength = c.sliderJointLength.evaluate(rate);\r\n    point.structuralShrinkVertical = c.structuralShrinkVertical.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.structuralStretchVertical = c.structuralStretchVertical.evaluate(rate) * allStretchScale * 0.5;\r\n    point.structuralShrinkHorizontal = c.structuralShrinkHorizontal.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.structuralStretchHorizontal = c.structuralStretchHorizontal.evaluate(rate) * allStretchScale * 0.5;\r\n    point.shearShrink = c.shearShrink.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.shearStretch = c.shearStretch.evaluate(rate) * allStretchScale * 0.5;\r\n    point.bendingShrinkVertical = c.bendingShrinkVertical.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.bendingStretchVertical = c.bendingStretchVertical.evaluate(rate) * allStretchScale * 0.5;\r\n    point.bendingShrinkHorizontal = c.bendingShrinkHorizontal.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.bendingStretchHorizontal = c.bendingStretchHorizontal.evaluate(rate) * allStretchScale * 0.5;\r\n    point.windForceScale = c.windForceScale.evaluate(rate) * rate;\r\n    point.fakeWavePower = c.fakeWavePower.evaluate(rate);\r\n    point.fakeWaveFreq = c.fakeWaveFreq.evaluate(rate);\r\n    const systemScale = this._currentSystemScale;\r\n    point.pointRadius = Math.max(0, c.pointRadius.evaluate(rate) * systemScale);\r\n    point.gravity = Vector3.scale(this._config.gravity, c.gravityScale.evaluate(rate) * systemScale);\r\n  }\r\n\r\n  private _createPointRW(): PointRW {\r\n    return {\r\n      positionToTransform: Vector3.zero(),\r\n      positionCurrentTransform: Vector3.zero(),\r\n      positionPreviousTransform: Vector3.zero(),\r\n      positionCurrent: Vector3.zero(),\r\n      positionPrevious: Vector3.zero(),\r\n      directionPrevious: Vector3.axisPZ(),\r\n      fakeWindDirection: Vector3.axisPZ(),\r\n      grabberIndex: -1,\r\n      grabberDistance: 0,\r\n      friction: 0\r\n    };\r\n  }\r\n\r\n  private _createColliderRW(transform: TransformAccess): ColliderRW {\r\n    const pos = transform.getWorldPosition();\r\n    const rot = transform.getWorldRotation();\r\n    const scale = transform.getWorldScale();\r\n    return {\r\n      positionCurrent: pos.clone(),\r\n      directionCurrent: Vector3.zero(),\r\n      boundsCenter: pos.clone(),\r\n      boundsRadius: 0,\r\n      positionCurrentTransform: pos.clone(),\r\n      positionPreviousTransform: pos.clone(),\r\n      directionCurrentTransform: rot.clone(),\r\n      directionPreviousTransform: rot.clone(),\r\n      worldToLocal: Matrix4x4.identity(),\r\n      worldScale: scale.clone(),\r\n      localBoundsMin: Vector3.zero(),\r\n      localBoundsMax: Vector3.zero(),\r\n      radius: 0,\r\n      height: 0,\r\n      enabled: 1\r\n    };\r\n  }\r\n\r\n  private _cloneControllerConfig(config: ControllerConfig): ControllerConfig {\r\n    const curves: PhysicsCurves = {\r\n      massScale: this._cloneInterpolatorScalar(config.curves.massScale),\r\n      gravityScale: this._cloneInterpolatorScalar(config.curves.gravityScale),\r\n      windForceScale: this._cloneInterpolatorScalar(config.curves.windForceScale),\r\n      resistance: this._cloneInterpolatorScalar(config.curves.resistance),\r\n      hardness: this._cloneInterpolatorScalar(config.curves.hardness),\r\n      friction: this._cloneInterpolatorScalar(config.curves.friction),\r\n      pointRadius: this._cloneInterpolatorScalar(config.curves.pointRadius),\r\n      sliderJointLength: this._cloneInterpolatorScalar(config.curves.sliderJointLength),\r\n      allShrinkScale: this._cloneInterpolatorScalar(config.curves.allShrinkScale),\r\n      allStretchScale: this._cloneInterpolatorScalar(config.curves.allStretchScale),\r\n      structuralShrinkVertical: this._cloneInterpolatorScalar(config.curves.structuralShrinkVertical),\r\n      structuralStretchVertical: this._cloneInterpolatorScalar(config.curves.structuralStretchVertical),\r\n      structuralShrinkHorizontal: this._cloneInterpolatorScalar(config.curves.structuralShrinkHorizontal),\r\n      structuralStretchHorizontal: this._cloneInterpolatorScalar(config.curves.structuralStretchHorizontal),\r\n      shearShrink: this._cloneInterpolatorScalar(config.curves.shearShrink),\r\n      shearStretch: this._cloneInterpolatorScalar(config.curves.shearStretch),\r\n      bendingShrinkVertical: this._cloneInterpolatorScalar(config.curves.bendingShrinkVertical),\r\n      bendingStretchVertical: this._cloneInterpolatorScalar(config.curves.bendingStretchVertical),\r\n      bendingShrinkHorizontal: this._cloneInterpolatorScalar(config.curves.bendingShrinkHorizontal),\r\n      bendingStretchHorizontal: this._cloneInterpolatorScalar(config.curves.bendingStretchHorizontal),\r\n      fakeWavePower: this._cloneInterpolatorScalar(config.curves.fakeWavePower),\r\n      fakeWaveFreq: this._cloneInterpolatorScalar(config.curves.fakeWaveFreq)\r\n    };\r\n    return {\r\n      gravity: config.gravity.clone(),\r\n      windForce: config.windForce.clone(),\r\n      relaxation: config.relaxation,\r\n      subSteps: config.subSteps,\r\n      rootSlideLimit: config.rootSlideLimit,\r\n      rootRotateLimit: config.rootRotateLimit,\r\n      constraintShrinkLimit: config.constraintShrinkLimit,\r\n      blendRatio: config.blendRatio,\r\n      stabilizationFrameRate: config.stabilizationFrameRate,\r\n      isFakeWave: config.isFakeWave,\r\n      fakeWaveSpeed: config.fakeWaveSpeed,\r\n      fakeWavePower: config.fakeWavePower,\r\n      enableSurfaceCollision: config.enableSurfaceCollision,\r\n      enableBroadPhase: config.enableBroadPhase,\r\n      preserveTwist: config.preserveTwist,\r\n      angleLimitConfig: {\r\n        angleLimit: config.angleLimitConfig.angleLimit,\r\n        limitFromRoot: config.angleLimitConfig.limitFromRoot\r\n      },\r\n      curves,\r\n      constraintOptions: {\r\n        structuralVertical: config.constraintOptions.structuralVertical,\r\n        structuralHorizontal: config.constraintOptions.structuralHorizontal,\r\n        shear: config.constraintOptions.shear,\r\n        bendingVertical: config.constraintOptions.bendingVertical,\r\n        bendingHorizontal: config.constraintOptions.bendingHorizontal,\r\n        isLoop: config.constraintOptions.isLoop,\r\n        collideStructuralVertical: config.constraintOptions.collideStructuralVertical,\r\n        collideStructuralHorizontal: config.constraintOptions.collideStructuralHorizontal,\r\n        collideShear: config.constraintOptions.collideShear,\r\n        enableSurfaceCollision: config.constraintOptions.enableSurfaceCollision\r\n      }\r\n    };\r\n  }\r\n\r\n  private _cloneInterpolatorScalar(curve: InterpolatorScalar): InterpolatorScalar {\r\n    return new InterpolatorScalar(\r\n      curve.mode,\r\n      new Float32Array(curve.inputs),\r\n      new Float32Array(curve.outputs)\r\n    );\r\n  }\r\n\r\n  private _sanitizeControllerConfig(config: ControllerConfig): ControllerConfig {\r\n    config.relaxation = Math.max(0, Math.trunc(config.relaxation));\r\n    config.subSteps = Math.max(1, Math.trunc(config.subSteps));\r\n    config.constraintShrinkLimit = Math.max(0, config.constraintShrinkLimit);\r\n    config.blendRatio = clamp01(config.blendRatio);\r\n    return config;\r\n  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+{"version":3,"file":"controller.js","sources":["../../../src/animation/joint_dynamics/controller.ts"],"sourcesContent":["// High-level orchestrator - SPCRJointDynamicsController API\r\n\r\nimport {\r\n  EPSILON,\r\n  type PointR,\r\n  type PointRW,\r\n  type Constraint,\r\n  type ColliderR,\r\n  type ColliderRW,\r\n  type GrabberR,\r\n  type GrabberRW,\r\n  type AngleLimitConfig,\r\n  type FlatPlane,\r\n  type TransformAccess,\r\n  type BoneNode\r\n} from './types';\r\nimport { buildConstraints, buildSurfaceFaces, type ConstraintBuildOptions } from './constraints';\r\nimport { simulate, applyResult, applyAngleLimits, extractLocalTwist, type SimulationParams } from './solver';\r\nimport type { DeepPartial, Nullable } from '@zephyr3d/base';\r\nimport { InterpolatorScalar, Vector3, Quaternion, Matrix4x4, clamp01 } from '@zephyr3d/base';\r\nimport type { SceneNode } from '../../scene';\r\n\r\n/**\r\n * Depth-based physics parameter curves.\r\n * Each curve is evaluated with t = pointDepth / maxDepth (0 at root, 1 at tip).\r\n * This allows parameters to vary smoothly along the bone chain.\r\n *\r\n * @public\r\n */\r\nexport interface PhysicsCurves {\r\n  /** Scales point mass by depth */\r\n  massScale: InterpolatorScalar;\r\n  /** Scales gravity strength by depth */\r\n  gravityScale: InterpolatorScalar;\r\n  /** Scales wind force effect by depth (also multiplied by depth rate) */\r\n  windForceScale: InterpolatorScalar;\r\n  /** Velocity damping [0-1]. Higher = less damping. Controls how much velocity is preserved */\r\n  resistance: InterpolatorScalar;\r\n  /** Restore-to-animation stiffness [0-1]. Higher = bone stays closer to animated pose */\r\n  hardness: InterpolatorScalar;\r\n  /** Friction multiplier by depth. Scales collision friction accumulation */\r\n  friction: InterpolatorScalar;\r\n  /** Collision radius by depth, mapped from VRM SpringBone hitRadius when available */\r\n  pointRadius: InterpolatorScalar;\r\n  /** Extra slack length for horizontal/shear constraints (allows stretching) */\r\n  sliderJointLength: InterpolatorScalar;\r\n  /** Global shrink stiffness multiplier (applied to all constraint types) */\r\n  allShrinkScale: InterpolatorScalar;\r\n  /** Global stretch stiffness multiplier (applied to all constraint types) */\r\n  allStretchScale: InterpolatorScalar;\r\n  /** Structural vertical constraint shrink stiffness by depth */\r\n  structuralShrinkVertical: InterpolatorScalar;\r\n  /** Structural vertical constraint stretch stiffness by depth */\r\n  structuralStretchVertical: InterpolatorScalar;\r\n  /** Structural horizontal constraint shrink stiffness by depth */\r\n  structuralShrinkHorizontal: InterpolatorScalar;\r\n  /** Structural horizontal constraint stretch stiffness by depth */\r\n  structuralStretchHorizontal: InterpolatorScalar;\r\n  /** Shear constraint shrink stiffness by depth */\r\n  shearShrink: InterpolatorScalar;\r\n  /** Shear constraint stretch stiffness by depth */\r\n  shearStretch: InterpolatorScalar;\r\n  /** Bending vertical constraint shrink stiffness by depth */\r\n  bendingShrinkVertical: InterpolatorScalar;\r\n  /** Bending vertical constraint stretch stiffness by depth */\r\n  bendingStretchVertical: InterpolatorScalar;\r\n  /** Bending horizontal constraint shrink stiffness by depth */\r\n  bendingShrinkHorizontal: InterpolatorScalar;\r\n  /** Bending horizontal constraint stretch stiffness by depth */\r\n  bendingStretchHorizontal: InterpolatorScalar;\r\n  /** Fake wave amplitude by depth (sinusoidal pseudo-wind on leaf bones) */\r\n  fakeWavePower: InterpolatorScalar;\r\n  /** Fake wave frequency offset by depth */\r\n  fakeWaveFreq: InterpolatorScalar;\r\n}\r\n\r\n/**\r\n * Top-level configuration for the physics controller\r\n * @public\r\n **/\r\nexport interface ControllerConfig {\r\n  /** Global gravity vector */\r\n  gravity: Vector3;\r\n  /** Global wind force vector applied to all dynamic points */\r\n  windForce: Vector3;\r\n  /** Number of constraint relaxation iterations per substep. Higher = more stable but slower */\r\n  relaxation: number;\r\n  /** Number of simulation substeps per frame. Higher = more stable at cost of performance */\r\n  subSteps: number;\r\n  /** Max system-local root slide distance retained after root motion. Excess is applied to physics state. -1 = unlimited */\r\n  rootSlideLimit: number;\r\n  /** Max root bone rotation angle (degrees) per substep. Excess is distributed. -1 = unlimited */\r\n  rootRotateLimit: number;\r\n  /** Upper limit for horizontal/shear constraint shrink power. Prevents over-compression */\r\n  constraintShrinkLimit: number;\r\n  /** Global blend ratio between physics and animation [0-1]. 0 = full physics, 1 = full animation */\r\n  blendRatio: number;\r\n  /** Target frame rate for stabilization (currently unused, reserved) */\r\n  stabilizationFrameRate: number;\r\n  /** Enable sinusoidal fake wave effect on leaf bones */\r\n  isFakeWave: boolean;\r\n  /** Fake wave global speed (accumulates over time) */\r\n  fakeWaveSpeed: number;\r\n  /** Fake wave global amplitude multiplier */\r\n  fakeWavePower: number;\r\n  /** Enable triangle-based surface collision (cloth vs colliders) */\r\n  enableSurfaceCollision: boolean;\r\n  /** Enable broad-phase pruning before precise collider tests */\r\n  enableBroadPhase: boolean;\r\n  /** Preserve each joint's initial local twist (axial roll) after physics simulation */\r\n  preserveTwist: boolean;\r\n  /** Post-simulation angle limiting between parent-child bones */\r\n  angleLimitConfig: AngleLimitConfig;\r\n  /** Depth-based physics parameter curves */\r\n  curves: PhysicsCurves;\r\n  /** Which constraint types to generate and their collision flags */\r\n  constraintOptions: ConstraintBuildOptions;\r\n}\r\n\r\n/**\r\n * Partial runtime update for JointDynamics controller configuration.\r\n *\r\n * @public\r\n */\r\nexport type ControllerConfigUpdate = DeepPartial<ControllerConfig, 2>;\r\n\r\n/**\r\n * Stable runtime handle for a JointDynamics collider.\r\n * @public\r\n */\r\nexport interface JointDynamicsColliderHandle {\r\n  readonly type: 'collider';\r\n  readonly id: number;\r\n}\r\n\r\n/**\r\n * Stable runtime handle for a JointDynamics flat plane.\r\n * @public\r\n */\r\nexport interface JointDynamicsFlatPlaneHandle {\r\n  readonly type: 'flatPlane';\r\n  readonly id: number;\r\n}\r\n\r\n/**\r\n * Stable runtime handle for a JointDynamics grabber.\r\n * @public\r\n */\r\nexport interface JointDynamicsGrabberHandle {\r\n  readonly type: 'grabber';\r\n  readonly id: number;\r\n}\r\n\r\n/**\r\n * Serializable snapshot of a runtime collider.\r\n * @public\r\n */\r\nexport interface JointDynamicsColliderSnapshot {\r\n  r: ColliderR;\r\n  transform: Nullable<SceneNode>;\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Serializable snapshot of a runtime flat plane.\r\n * @public\r\n */\r\nexport interface JointDynamicsFlatPlaneSnapshot {\r\n  up: Vector3;\r\n  position: Vector3;\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * Serializable snapshot of a runtime grabber.\r\n * @public\r\n */\r\nexport interface JointDynamicsGrabberSnapshot {\r\n  r: GrabberR;\r\n  transform: Nullable<SceneNode>;\r\n  enabled: boolean;\r\n}\r\n\r\n/**\r\n * High-level controller for joint dynamics simulation.\r\n *\r\n * This class manages the physics simulation for a hierarchy of bones, including constraints,\r\n * colliders, and grabbers. It provides an API for initializing the system with bone data and\r\n * transforms, stepping the simulation each frame, and modifying colliders and grabbers at runtime.\r\n * The controller handles the internal state and logic for blending between animation and physics,\r\n * applying forces, and enforcing constraints.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsSystemController {\r\n  private _config: ControllerConfig;\r\n  private _pointsR: PointR[] = [];\r\n  private _pointsRW: PointRW[] = [];\r\n  private _constraints: Constraint[] = [];\r\n  private _collidersR: ColliderR[] = [];\r\n  private _collidersRW: ColliderRW[] = [];\r\n  private _grabbersR: GrabberR[] = [];\r\n  private _grabbersRW: GrabberRW[] = [];\r\n  private _movableLimitTargets: Vector3[] = [];\r\n  private _flatPlanes: FlatPlane[] = [];\r\n  private _flatPlaneEnabled: boolean[] = [];\r\n  private _flatPlaneAll: FlatPlane[] = [];\r\n  private _surfaceConstraints: number[] = [];\r\n  private _positionsToTransform: Vector3[] = [];\r\n  private _fakeWaveCounter = 0;\r\n  private _previousRootPosition = Vector3.zero();\r\n  private _previousRootRotation = Quaternion.identity();\r\n  private _rootTransform: TransformAccess | null = null;\r\n  private _rootPoints: BoneNode[] = [];\r\n  private _allPoints: BoneNode[] = [];\r\n  private _parentMap = new Map<number, number>();\r\n  private _maxPointDepth = 0;\r\n  private _pointTransforms: TransformAccess[] = [];\r\n  private _colliderTransforms: TransformAccess[] = [];\r\n  private _grabberTransforms: TransformAccess[] = [];\r\n  private _colliderHandleIds: number[] = [];\r\n  private _flatPlaneHandleIds: number[] = [];\r\n  private _grabberHandleIds: number[] = [];\r\n  private _colliderHandleToIndex = new Map<number, number>();\r\n  private _flatPlaneHandleToIndex = new Map<number, number>();\r\n  private _grabberHandleToIndex = new Map<number, number>();\r\n  private _lastOutputLocalRotations: Quaternion[] = [];\r\n  private _baseSystemScale = 1;\r\n  private _currentSystemScale = 1;\r\n  private _basePointParentLengths: number[] = [];\r\n  private _baseConstraintLengths: number[] = [];\r\n  private _nextColliderHandleId = 1;\r\n  private _nextFlatPlaneHandleId = 1;\r\n  private _nextGrabberHandleId = 1;\r\n  private _initialized = false;\r\n  private _isPaused = false;\r\n  private _fadeState: 'none' | 'in' | 'out' = 'none';\r\n  private _fadeTimer = 0;\r\n  private _fadeDuration = 0;\r\n\r\n  constructor(config: ControllerConfig) {\r\n    this._config = this._sanitizeControllerConfig(this._cloneControllerConfig(config));\r\n  }\r\n\r\n  /**\r\n   * Initializes the physics system.\r\n   * @param rootTransform - Root bone transform used to detect root motion.\r\n   * @param rootPoints - Root nodes of the bone hierarchy. Multiple roots are allowed.\r\n   * @param pointTransforms - Transform array for all physics points. Order must match `BoneNode.index`.\r\n   * @param colliders - Collider array (spheres/capsules).\r\n   * @param grabbers - Grabber array used for interactions such as mouse dragging.\r\n   * @param flatPlanes - Plane limiters such as the floor to prevent penetration.\r\n   */\r\n  initialize(\r\n    rootTransform: TransformAccess,\r\n    rootPoints: BoneNode[],\r\n    pointTransforms: TransformAccess[],\r\n    colliders: Array<{ r: ColliderR; transform: TransformAccess }>,\r\n    grabbers: Array<{\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }>,\r\n    flatPlanes: Array<{ up: Vector3; position: Vector3 }>\r\n  ): void {\r\n    this._rootTransform = rootTransform;\r\n    this._baseSystemScale = this._getSystemUniformScale();\r\n    this._currentSystemScale = this._baseSystemScale;\r\n    this._rootPoints = [...rootPoints];\r\n    this._pointTransforms = pointTransforms;\r\n    this._colliderTransforms = colliders.map((c) => c.transform);\r\n    this._grabberTransforms = grabbers.map((g) => g.transform);\r\n\r\n    // Build constraints\r\n    this._rebuildConstraints();\r\n    this._baseConstraintLengths = this._constraints.map((constraint) => constraint.length);\r\n\r\n    // Flatten bone hierarchy to point list, build parent map\r\n    const allPoints: BoneNode[] = [];\r\n    const visitedPoints = new Set<number>();\r\n    this._parentMap = new Map<number, number>(); // child index -> parent index\r\n    const walk = (node: BoneNode) => {\r\n      if (visitedPoints.has(node.index)) {\r\n        return;\r\n      }\r\n      visitedPoints.add(node.index);\r\n      allPoints.push(node);\r\n      for (const c of node.children) {\r\n        this._parentMap.set(c.index, node.index);\r\n        walk(c);\r\n      }\r\n    };\r\n    for (const r of rootPoints) {\r\n      walk(r);\r\n    }\r\n    allPoints.sort((a, b) => a.index - b.index);\r\n\r\n    this._allPoints = allPoints;\r\n    this._maxPointDepth = allPoints.length > 0 ? Math.max(...allPoints.map((p) => p.depth)) : 0;\r\n\r\n    // Compute boneAxis from transforms: local-space direction to first child\r\n    // This is critical for correct bone rotation in skinned meshes\r\n    for (const p of allPoints) {\r\n      if (!p.boneAxis && p.children.length > 0) {\r\n        const childPos = pointTransforms[p.children[0].index].getWorldPosition();\r\n        const parentPos = pointTransforms[p.index].getWorldPosition();\r\n        // InverseTransformPoint: convert child world pos to parent local space\r\n        const parentRot = pointTransforms[p.index].getWorldRotation();\r\n        const parentScale = pointTransforms[p.index].getLocalScale();\r\n        const diff = Vector3.sub(childPos, parentPos);\r\n        const invRot = Quaternion.inverse(parentRot);\r\n        const localDir = invRot.transform(diff);\r\n        // Apply inverse scale\r\n        const unscaled = new Vector3(\r\n          parentScale.x !== 0 ? localDir.x / parentScale.x : 0,\r\n          parentScale.y !== 0 ? localDir.y / parentScale.y : 0,\r\n          parentScale.z !== 0 ? localDir.z / parentScale.z : 0\r\n        );\r\n        p.boneAxis = Vector3.normalize(unscaled);\r\n      }\r\n    }\r\n\r\n    // Build PointR/RW arrays\r\n    this._pointsR = allPoints.map((p) => this._createPointR(p));\r\n    this._basePointParentLengths = this._pointsR.map((point) => point.parentLength);\r\n    this._pointsRW = allPoints.map(() => this._createPointRW());\r\n    this._positionsToTransform = new Array(allPoints.length).fill(Vector3.zero());\r\n    this._clearOutputTransformCache();\r\n\r\n    // Initialize colliders\r\n    this._collidersR = colliders.map((c) => c.r);\r\n    this._collidersRW = colliders.map((c) => this._createColliderRW(c.transform));\r\n    this._colliderHandleIds = this._collidersR.map(() => this._nextColliderHandleId++);\r\n    this._rebuildColliderHandleMap();\r\n\r\n    // Initialize grabbers\r\n    this._grabbersR = grabbers.map((g) => g.r);\r\n    this._grabbersRW = grabbers.map((g) => ({\r\n      enabled: g.enabled ? 1 : 0,\r\n      position: g.transform.getWorldPosition()\r\n    }));\r\n    this._grabberHandleIds = this._grabbersR.map(() => this._nextGrabberHandleId++);\r\n    this._rebuildGrabberHandleMap();\r\n\r\n    // Flat planes\r\n    this._flatPlanes = flatPlanes.map((fp) => ({\r\n      normal: Vector3.normalize(fp.up),\r\n      distance: -Vector3.dot(Vector3.normalize(fp.up), fp.position)\r\n    }));\r\n    this._flatPlaneAll = [...this._flatPlanes];\r\n    this._flatPlaneEnabled = this._flatPlaneAll.map(() => true);\r\n    this._flatPlaneHandleIds = this._flatPlaneAll.map(() => this._nextFlatPlaneHandleId++);\r\n    this._rebuildFlatPlaneHandleMap();\r\n\r\n    // Capture initial state\r\n    this._previousRootPosition = rootTransform.getWorldPosition();\r\n    this._previousRootRotation = rootTransform.getWorldRotation();\r\n\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      const pos = pointTransforms[i].getWorldPosition();\r\n      this._pointsRW[i].positionCurrent = pos.clone();\r\n      this._pointsRW[i].positionPrevious = pos.clone();\r\n      this._pointsRW[i].positionCurrentTransform = pos.clone();\r\n      this._pointsRW[i].positionPreviousTransform = pos.clone();\r\n      this._pointsRW[i].positionToTransform = pos.clone();\r\n      this._pointsRW[i].directionPrevious = Vector3.axisPZ();\r\n      this._pointsRW[i].fakeWindDirection = Vector3.axisPZ();\r\n      this._pointsRW[i].grabberIndex = -1;\r\n      this._pointsRW[i].grabberDistance = 0;\r\n      this._pointsRW[i].friction = 0;\r\n    }\r\n\r\n    this._initialized = true;\r\n  }\r\n\r\n  /**\r\n   * Advances the simulation by one frame.\r\n   * Internal flow: read current transforms, run Verlet integration and constraint solving,\r\n   * then write the result back to the transforms.\r\n   * @param deltaTime - Frame delta time in seconds. Internally subdivided by `subSteps`.\r\n   */\r\n  step(deltaTime: number): void {\r\n    if (!this._initialized || !this._rootTransform) {\r\n      return;\r\n    }\r\n\r\n    // Update fade\r\n    if (this._fadeState !== 'none') {\r\n      this._fadeTimer += deltaTime;\r\n      if (this._fadeTimer >= this._fadeDuration) {\r\n        this._fadeState = 'none';\r\n        this._fadeTimer = 0;\r\n      }\r\n    }\r\n\r\n    const blendRatio = this._computeBlendRatio();\r\n    this._updateScaleDependentParameters();\r\n    const rootSlideLimit =\r\n      this._config.rootSlideLimit < 0 ? -1 : this._config.rootSlideLimit * this._currentSystemScale;\r\n\r\n    // Capture current transforms\r\n    const rootPos = this._rootTransform.getWorldPosition();\r\n    const rootRot = this._rootTransform.getWorldRotation();\r\n\r\n    const inputLocalRotations = this._getInputLocalRotations();\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      this._pointsRW[i].positionPreviousTransform = this._pointsRW[i].positionCurrentTransform.clone();\r\n      this._pointsRW[i].positionCurrentTransform = this._pointTransforms[i].getWorldPosition();\r\n    }\r\n\r\n    for (let i = 0; i < this._collidersRW.length; i++) {\r\n      const t = this._colliderTransforms[i];\r\n      this._collidersRW[i].positionPreviousTransform = this._collidersRW[i].positionCurrentTransform.clone();\r\n      this._collidersRW[i].directionPreviousTransform =\r\n        this._collidersRW[i].directionCurrentTransform.clone();\r\n      this._collidersRW[i].positionCurrentTransform = t.getWorldPosition();\r\n      this._collidersRW[i].directionCurrentTransform = t.getWorldRotation();\r\n      this._collidersRW[i].worldScale = t.getWorldScale();\r\n      this._collidersRW[i].worldToLocal = Matrix4x4.compose(\r\n        this._collidersRW[i].worldScale,\r\n        this._collidersRW[i].directionCurrentTransform,\r\n        this._collidersRW[i].positionCurrentTransform\r\n      ).inplaceInvertAffine();\r\n    }\r\n\r\n    for (let i = 0; i < this._grabbersRW.length; i++) {\r\n      this._grabbersRW[i].position = this._grabberTransforms[i].getWorldPosition();\r\n    }\r\n\r\n    // Run simulation\r\n    const params: SimulationParams = {\r\n      isPaused: this._isPaused,\r\n      stepTime: deltaTime,\r\n      subSteps: this._config.subSteps,\r\n      rootPosition: rootPos,\r\n      previousRootPosition: this._previousRootPosition,\r\n      rootSlideLimit,\r\n      rootRotation: rootRot,\r\n      previousRootRotation: this._previousRootRotation,\r\n      rootRotateLimit: this._config.rootRotateLimit,\r\n      windForce: this._config.windForce,\r\n      enableSurfaceCollision: this._config.enableSurfaceCollision,\r\n      surfaceConstraints: this._surfaceConstraints,\r\n      relaxation: this._config.relaxation,\r\n      constraintShrinkLimit: this._config.constraintShrinkLimit,\r\n      blendRatio,\r\n      isFakeWave: this._config.isFakeWave,\r\n      fakeWaveSpeed: this._config.fakeWaveSpeed,\r\n      fakeWavePower: this._config.fakeWavePower,\r\n      fakeWaveCounter: this._fakeWaveCounter,\r\n      collisionScale: 1.0,\r\n      enableBroadPhase: this._config.enableBroadPhase\r\n    };\r\n\r\n    const result = simulate(\r\n      params,\r\n      this._pointsR,\r\n      this._pointsRW,\r\n      this._constraints,\r\n      this._collidersR,\r\n      this._collidersRW,\r\n      this._grabbersR,\r\n      this._grabbersRW,\r\n      this._movableLimitTargets,\r\n      this._flatPlanes\r\n    );\r\n\r\n    this._positionsToTransform = result.positionsToTransform;\r\n    this._fakeWaveCounter = result.fakeWaveCounter;\r\n\r\n    // Angle limits\r\n    if (this._config.angleLimitConfig.angleLimit >= 0) {\r\n      applyAngleLimits(this._pointsR, this._pointsRW, this._config.angleLimitConfig);\r\n    }\r\n\r\n    // Apply results\r\n    const transformRots = this._pointTransforms.map((t) => t.getWorldRotation());\r\n    const transformLocalRots = inputLocalRotations;\r\n    const sceneParentRots = this._pointTransforms.map((t) => this._getSceneParentWorldRotation(t));\r\n    const outputs = applyResult(\r\n      this._pointsR,\r\n      this._pointsRW,\r\n      this._positionsToTransform,\r\n      blendRatio,\r\n      transformRots,\r\n      transformLocalRots,\r\n      this._config.preserveTwist,\r\n      sceneParentRots\r\n    );\r\n\r\n    for (let i = 0; i < outputs.length; i++) {\r\n      this._pointTransforms[i].setWorldPosition(outputs[i].position);\r\n      this._pointTransforms[i].setWorldRotation(outputs[i].rotation);\r\n    }\r\n    this._lastOutputLocalRotations = this._pointTransforms.map((t) => t.getLocalRotation());\r\n\r\n    this._previousRootPosition = rootPos;\r\n    this._previousRootRotation = rootRot;\r\n  }\r\n\r\n  /**\r\n   * Returns the simulated results for all points as world-space positions and rotations.\r\n   * Usually this does not need to be called manually because `step()` already writes the\r\n   * output back to the transforms.\r\n   */\r\n  getResults(): Array<{ position: Vector3; rotation: Quaternion }> {\r\n    const transformRots = this._pointTransforms.map((t) => t.getWorldRotation());\r\n    const transformLocalRots = this._getInputLocalRotations();\r\n    const sceneParentRots = this._pointTransforms.map((t) => this._getSceneParentWorldRotation(t));\r\n    const outputs = applyResult(\r\n      this._pointsR,\r\n      this._pointsRW,\r\n      this._positionsToTransform,\r\n      this._config.blendRatio,\r\n      transformRots,\r\n      transformLocalRots,\r\n      this._config.preserveTwist,\r\n      sceneParentRots\r\n    );\r\n    return outputs.map((o) => ({ position: o.position, rotation: o.rotation }));\r\n  }\r\n\r\n  /**\r\n   * Returns a detached snapshot of the current runtime configuration.\r\n   */\r\n  getConfig(): ControllerConfig {\r\n    return this._cloneControllerConfig(this._config);\r\n  }\r\n\r\n  /**\r\n   * Returns detached collider snapshots for persistence.\r\n   */\r\n  getColliderSnapshots(): JointDynamicsColliderSnapshot[] {\r\n    return this._collidersR.map((r, index) => ({\r\n      r: { ...r },\r\n      transform: this._colliderTransforms[index]?.node ?? null,\r\n      enabled: this._collidersRW[index]?.enabled !== 0\r\n    }));\r\n  }\r\n\r\n  /**\r\n   * Returns detached flat-plane snapshots for persistence.\r\n   */\r\n  getFlatPlaneSnapshots(): JointDynamicsFlatPlaneSnapshot[] {\r\n    return this._flatPlaneAll.map((plane, index) => ({\r\n      up: plane.normal.clone(),\r\n      position: Vector3.scale(plane.normal, -plane.distance),\r\n      enabled: this._flatPlaneEnabled[index] ?? true\r\n    }));\r\n  }\r\n\r\n  /**\r\n   * Returns detached grabber snapshots for persistence.\r\n   */\r\n  getGrabberSnapshots(): JointDynamicsGrabberSnapshot[] {\r\n    return this._grabbersR.map((r, index) => ({\r\n      r: { ...r },\r\n      transform: this._grabberTransforms[index]?.node ?? null,\r\n      enabled: this._grabbersRW[index]?.enabled !== 0\r\n    }));\r\n  }\r\n\r\n  /**\r\n   * Replaces the runtime configuration.\r\n   *\r\n   * If the controller is already initialized, cached per-point parameters and generated\r\n   * constraints are refreshed immediately so editor-driven changes take effect in the next step.\r\n   *\r\n   * @param config - Complete controller configuration to apply.\r\n   */\r\n  setConfig(config: ControllerConfig): void {\r\n    this._config = this._sanitizeControllerConfig(this._cloneControllerConfig(config));\r\n    this._clearOutputTransformCache();\r\n    this._refreshCachedSimulationConfig();\r\n  }\r\n\r\n  /**\r\n   * Applies a partial runtime configuration update.\r\n   *\r\n   * This is intended for editor workflows that tweak one or more simulation parameters live.\r\n   * The controller updates only the affected caches: global step parameters are applied directly,\r\n   * per-point curve/gravity changes rebuild cached point coefficients, and constraint option\r\n   * changes rebuild the generated constraints.\r\n   *\r\n   * @param config - Partial configuration update.\r\n   */\r\n  updateConfig(config: ControllerConfigUpdate): void {\r\n    let refreshPoints = false;\r\n    let refreshConstraints = false;\r\n\r\n    if (config.gravity) {\r\n      this._config.gravity = config.gravity.clone();\r\n      refreshPoints = true;\r\n    }\r\n    if (config.windForce) {\r\n      this._config.windForce = config.windForce.clone();\r\n    }\r\n    if (typeof config.relaxation === 'number') {\r\n      this._config.relaxation = Math.max(0, Math.trunc(config.relaxation));\r\n    }\r\n    if (typeof config.subSteps === 'number') {\r\n      this._config.subSteps = Math.max(1, Math.trunc(config.subSteps));\r\n    }\r\n    if (typeof config.rootSlideLimit === 'number') {\r\n      this._config.rootSlideLimit = config.rootSlideLimit;\r\n    }\r\n    if (typeof config.rootRotateLimit === 'number') {\r\n      this._config.rootRotateLimit = config.rootRotateLimit;\r\n    }\r\n    if (typeof config.constraintShrinkLimit === 'number') {\r\n      this._config.constraintShrinkLimit = Math.max(0, config.constraintShrinkLimit);\r\n    }\r\n    if (typeof config.blendRatio === 'number') {\r\n      this._config.blendRatio = clamp01(config.blendRatio);\r\n    }\r\n    if (typeof config.stabilizationFrameRate === 'number') {\r\n      this._config.stabilizationFrameRate = config.stabilizationFrameRate;\r\n    }\r\n    if (typeof config.isFakeWave === 'boolean') {\r\n      this._config.isFakeWave = config.isFakeWave;\r\n    }\r\n    if (typeof config.fakeWaveSpeed === 'number') {\r\n      this._config.fakeWaveSpeed = config.fakeWaveSpeed;\r\n    }\r\n    if (typeof config.fakeWavePower === 'number') {\r\n      this._config.fakeWavePower = config.fakeWavePower;\r\n    }\r\n    if (typeof config.enableSurfaceCollision === 'boolean') {\r\n      this._config.enableSurfaceCollision = config.enableSurfaceCollision;\r\n      if (!config.constraintOptions || config.constraintOptions.enableSurfaceCollision === undefined) {\r\n        this._config.constraintOptions.enableSurfaceCollision = config.enableSurfaceCollision;\r\n        refreshConstraints = true;\r\n      }\r\n    }\r\n    if (typeof config.enableBroadPhase === 'boolean') {\r\n      this._config.enableBroadPhase = config.enableBroadPhase;\r\n    }\r\n    if (typeof config.preserveTwist === 'boolean') {\r\n      this._config.preserveTwist = config.preserveTwist;\r\n      this._clearOutputTransformCache();\r\n    }\r\n\r\n    if (config.angleLimitConfig) {\r\n      if (typeof config.angleLimitConfig.angleLimit === 'number') {\r\n        this._config.angleLimitConfig.angleLimit = config.angleLimitConfig.angleLimit;\r\n      }\r\n      if (typeof config.angleLimitConfig.limitFromRoot === 'boolean') {\r\n        this._config.angleLimitConfig.limitFromRoot = config.angleLimitConfig.limitFromRoot;\r\n      }\r\n    }\r\n\r\n    if (config.curves) {\r\n      const curveKeys: Array<keyof PhysicsCurves> = [\r\n        'massScale',\r\n        'gravityScale',\r\n        'windForceScale',\r\n        'resistance',\r\n        'hardness',\r\n        'friction',\r\n        'pointRadius',\r\n        'sliderJointLength',\r\n        'allShrinkScale',\r\n        'allStretchScale',\r\n        'structuralShrinkVertical',\r\n        'structuralStretchVertical',\r\n        'structuralShrinkHorizontal',\r\n        'structuralStretchHorizontal',\r\n        'shearShrink',\r\n        'shearStretch',\r\n        'bendingShrinkVertical',\r\n        'bendingStretchVertical',\r\n        'bendingShrinkHorizontal',\r\n        'bendingStretchHorizontal',\r\n        'fakeWavePower',\r\n        'fakeWaveFreq'\r\n      ];\r\n      for (const key of curveKeys) {\r\n        const curve = config.curves[key];\r\n        if (curve !== undefined) {\r\n          this._config.curves[key] = this._cloneInterpolatorScalar(curve);\r\n          refreshPoints = true;\r\n        }\r\n      }\r\n    }\r\n\r\n    if (config.constraintOptions) {\r\n      const optionKeys: Array<keyof ConstraintBuildOptions> = [\r\n        'structuralVertical',\r\n        'structuralHorizontal',\r\n        'shear',\r\n        'bendingVertical',\r\n        'bendingHorizontal',\r\n        'isLoop',\r\n        'collideStructuralVertical',\r\n        'collideStructuralHorizontal',\r\n        'collideShear',\r\n        'enableSurfaceCollision'\r\n      ];\r\n      for (const key of optionKeys) {\r\n        const value = config.constraintOptions[key];\r\n        if (value !== undefined) {\r\n          this._config.constraintOptions[key] = value;\r\n          if (key === 'enableSurfaceCollision' && config.enableSurfaceCollision === undefined) {\r\n            this._config.enableSurfaceCollision = value;\r\n          }\r\n          refreshConstraints = true;\r\n        }\r\n      }\r\n    }\r\n\r\n    if (refreshConstraints) {\r\n      this._rebuildConstraints();\r\n      this._baseConstraintLengths = this._constraints.map((constraint) => constraint.length);\r\n      this._updateScaleDependentParameters(true);\r\n    }\r\n    if (refreshPoints) {\r\n      this._refreshPointParameters();\r\n    }\r\n  }\r\n\r\n  /**\r\n   * Resets all physics state after teleportation.\r\n   * @deprecated Use {@link JointDynamicsSystemController.reset}. This method is kept as a compatibility alias.\r\n   */\r\n  warp(): void {\r\n    this.reset();\r\n  }\r\n\r\n  /**\r\n   * Resets all physics state.\r\n   * Simulated points, transform history, root-motion history, grab state and wave phase are\r\n   * snapped back to the current scene transforms. Runtime configuration and fixed/released\r\n   * point weights are preserved.\r\n   */\r\n  reset(): void {\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      const pos = this._pointTransforms[i].getWorldPosition();\r\n      const ptRW = this._pointsRW[i];\r\n      ptRW.positionCurrent = pos.clone();\r\n      ptRW.positionPrevious = pos.clone();\r\n      ptRW.positionCurrentTransform = pos.clone();\r\n      ptRW.positionPreviousTransform = pos.clone();\r\n      ptRW.positionToTransform = pos.clone();\r\n      this._positionsToTransform[i] = pos.clone();\r\n      ptRW.fakeWindDirection = Vector3.axisPZ();\r\n      ptRW.grabberIndex = -1;\r\n      ptRW.grabberDistance = 0;\r\n      ptRW.friction = 0;\r\n    }\r\n    for (let i = 0; i < this._pointsRW.length; i++) {\r\n      const parent = this._pointsR[i]?.parent ?? -1;\r\n      if (parent !== -1) {\r\n        const direction = Vector3.sub(\r\n          this._pointsRW[i].positionCurrent,\r\n          this._pointsRW[parent].positionCurrent\r\n        );\r\n        this._pointsRW[i].directionPrevious = direction.magnitudeSq > EPSILON ? direction : Vector3.axisPZ();\r\n      } else {\r\n        this._pointsRW[i].directionPrevious = Vector3.axisPZ();\r\n      }\r\n    }\r\n    for (let i = 0; i < this._collidersRW.length; i++) {\r\n      const transform = this._colliderTransforms[i];\r\n      const pos = transform.getWorldPosition();\r\n      const rot = transform.getWorldRotation();\r\n      const scale = transform.getWorldScale();\r\n      const colRW = this._collidersRW[i];\r\n      colRW.positionCurrentTransform = pos.clone();\r\n      colRW.positionPreviousTransform = pos.clone();\r\n      colRW.directionCurrentTransform = rot.clone();\r\n      colRW.directionPreviousTransform = rot.clone();\r\n      colRW.worldScale = scale.clone();\r\n      colRW.worldToLocal = Matrix4x4.compose(scale, rot, pos).inplaceInvertAffine();\r\n    }\r\n    for (let i = 0; i < this._grabbersRW.length; i++) {\r\n      this._grabbersRW[i].position = this._grabberTransforms[i].getWorldPosition();\r\n    }\r\n    if (this._rootTransform) {\r\n      this._previousRootPosition = this._rootTransform.getWorldPosition();\r\n      this._previousRootRotation = this._rootTransform.getWorldRotation();\r\n    }\r\n    this._fakeWaveCounter = 0;\r\n    this._clearOutputTransformCache();\r\n  }\r\n\r\n  /**\r\n   * Releases a fixed point so it becomes dynamic, for example when cloth is detached.\r\n   * The point state is reset to avoid a sudden impulse.\r\n   * @param index - Point index.\r\n   */\r\n  releasePoint(index: number): void {\r\n    if (index < 0 || index >= this._pointsR.length) {\r\n      return;\r\n    }\r\n    (this._pointsR[index] as any).weight = 1;\r\n    const pos = this._pointTransforms[index].getWorldPosition();\r\n    this._pointsRW[index].positionCurrent = pos.clone();\r\n    this._pointsRW[index].positionPrevious = pos.clone();\r\n    this._pointsRW[index].grabberIndex = -1;\r\n  }\r\n\r\n  /**\r\n   * Fixes a dynamic point back to the animation pose, for example when an item is reattached.\r\n   * The point grab state is cleared.\r\n   * @param index - Point index.\r\n   */\r\n  fixPoint(index: number): void {\r\n    if (index < 0 || index >= this._pointsR.length) {\r\n      return;\r\n    }\r\n    (this._pointsR[index] as any).weight = 0;\r\n    this._pointsRW[index].grabberIndex = -1;\r\n  }\r\n\r\n  /**\r\n   * Returns whether a point is fixed to animation (`weight = 0`).\r\n   * @param index - Point index.\r\n   */\r\n  isPointFixed(index: number): boolean {\r\n    if (index < 0 || index >= this._pointsR.length) {\r\n      return false;\r\n    }\r\n    return this._pointsR[index].weight <= EPSILON;\r\n  }\r\n\r\n  /** Gets the total number of physics points. */\r\n  get pointCount(): number {\r\n    return this._pointsR.length;\r\n  }\r\n\r\n  /**\r\n   * Fades physics in by blending from animation pose to simulation.\r\n   * `blendRatio` moves from `1` (animation only) to `0` (physics only).\r\n   * @param seconds - Transition duration in seconds.\r\n   */\r\n  fadeIn(seconds: number): void {\r\n    this._fadeState = 'in';\r\n    this._fadeTimer = 0;\r\n    this._fadeDuration = seconds;\r\n  }\r\n\r\n  /**\r\n   * Fades physics out by blending from simulation back to animation pose.\r\n   * `blendRatio` moves from `0` (physics only) to `1` (animation only).\r\n   * @param seconds - Transition duration in seconds.\r\n   */\r\n  fadeOut(seconds: number): void {\r\n    this._fadeState = 'out';\r\n    this._fadeTimer = 0;\r\n    this._fadeDuration = seconds;\r\n  }\r\n\r\n  /**\r\n   * Sets the global wind force vector.\r\n   * The final wind contribution is still scaled per point by `windForceScale` and mass.\r\n   * @param wind - Wind vector in world space.\r\n   */\r\n  setWindForce(wind: Vector3): void {\r\n    this._config.windForce = wind.clone();\r\n  }\r\n\r\n  /**\r\n   * Enable/disable broad-phase pruning for runtime performance comparison\r\n   * @param enabled - `true` to enable broad-phase, `false` to disable.\r\n   */\r\n  setBroadPhaseEnabled(enabled: boolean): void {\r\n    this._config.enableBroadPhase = enabled;\r\n  }\r\n\r\n  /** The blend ratio for the physics simulation */\r\n  get blendRatio(): number {\r\n    return this._config.blendRatio;\r\n  }\r\n\r\n  set blendRatio(value: number) {\r\n    this._config.blendRatio = clamp01(value);\r\n  }\r\n\r\n  /**\r\n   * Pauses or resumes the physics simulation.\r\n   * While paused, the system still follows root motion but skips force integration and\r\n   * constraint solving.\r\n   * @param paused - `true` to pause, `false` to resume.\r\n   */\r\n  setPaused(paused: boolean): void {\r\n    this._isPaused = paused;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by current array index.\r\n   * Transform state is still read from the collider's TransformAccess each frame.\r\n   * Prefer setColliderEnabled(handle, enabled) for runtime-owned colliders.\r\n   *\r\n   * @param index - Collider index in the current array. Note that this may change when colliders are added or removed.\r\n   * @param enabled - `true` to enable the collider, `false` to disable it.\r\n   *\r\n   * @returns `true` if the index is valid and the collider was updated, `false` if the index is out of range.\r\n   */\r\n  setColliderEnabledAt(index: number, enabled: boolean): boolean {\r\n    if (index >= 0 && index < this._collidersRW.length) {\r\n      this._collidersRW[index].enabled = enabled ? 1 : 0;\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a runtime collider by stable handle.\r\n   *\r\n   * @param handle - Stable handle for the collider to enable or disable.\r\n   * @param enabled - `true` to enable the collider, `false` to disable it.\r\n   * @returns true if the handle is still valid.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    const index = this._getColliderIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.setColliderEnabledAt(index, enabled);\r\n  }\r\n\r\n  /**\r\n   * Add a collider at runtime.\r\n   * @param r - Read-only collider data such as shape and size.\r\n   * @param transform - TransformAccess that provides the collider's position and rotation each frame.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform: TransformAccess): JointDynamicsColliderHandle {\r\n    const id = this._nextColliderHandleId++;\r\n    this._collidersR.push(r);\r\n    this._colliderTransforms.push(transform);\r\n    this._collidersRW.push(this._createColliderRW(transform));\r\n    this._colliderHandleIds.push(id);\r\n    this._colliderHandleToIndex.set(id, this._collidersR.length - 1);\r\n    return { type: 'collider', id };\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   * @param handle - Stable handle for the collider to remove.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    const index = this._getColliderIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   * @param index - Collider index in the current array. Note that this may change when colliders are added or removed.\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    if (index < 0 || index >= this._collidersR.length) {\r\n      return false;\r\n    }\r\n    this._collidersR.splice(index, 1);\r\n    this._colliderTransforms.splice(index, 1);\r\n    this._collidersRW.splice(index, 1);\r\n    this._colliderHandleIds.splice(index, 1);\r\n    this._rebuildColliderHandleMap();\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by current array index.\r\n   * @param index - Flat plane index in the current array. Note that this may change when flat planes are added or removed.\r\n   * @param enabled - `true` to enable the flat plane, `false` to disable it.\r\n   * @returns `true` if the index is valid and the flat plane was updated, `false` if the index is out of range.\r\n   */\r\n  setFlatPlaneEnabledAt(index: number, enabled: boolean): boolean {\r\n    if (index < 0 || index >= this._flatPlaneAll.length) {\r\n      return false;\r\n    }\r\n    this._flatPlaneEnabled[index] = enabled;\r\n    this._rebuildActiveFlatPlanes();\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a runtime flat plane by stable handle.\r\n   * @param handle - Stable handle for the flat plane to enable or disable.\r\n   * @param enabled - `true` to enable the flat plane, `false` to disable it.\r\n   * @returns true if the handle is still valid.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    const index = this._getFlatPlaneIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.setFlatPlaneEnabledAt(index, enabled);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane at runtime.\r\n   * @param up - Up direction of the plane. The normal is computed as `Vector3.normalize(up)`.\r\n   * @param position - A point on the plane. The distance is computed as `-Vector3.dot(normal, position)`.\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    const id = this._nextFlatPlaneHandleId++;\r\n    const normal = Vector3.normalize(up);\r\n    this._flatPlaneAll.push({\r\n      normal,\r\n      distance: -Vector3.dot(normal, position)\r\n    });\r\n    this._flatPlaneEnabled.push(true);\r\n    this._flatPlaneHandleIds.push(id);\r\n    this._flatPlaneHandleToIndex.set(id, this._flatPlaneAll.length - 1);\r\n    this._rebuildActiveFlatPlanes();\r\n    return { type: 'flatPlane', id };\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   * @param handle - Stable handle for the flat plane to remove.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    const index = this._getFlatPlaneIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * @param index - Flat plane index in the current array. Note that this may change when flat planes are added or removed.\r\n   * @returns true if the index was valid and the flat plane was removed, false if the index was out of range.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    if (index < 0 || index >= this._flatPlaneAll.length) {\r\n      return false;\r\n    }\r\n    this._flatPlaneAll.splice(index, 1);\r\n    this._flatPlaneEnabled.splice(index, 1);\r\n    this._flatPlaneHandleIds.splice(index, 1);\r\n    this._rebuildFlatPlaneHandleMap();\r\n    this._rebuildActiveFlatPlanes();\r\n    return true;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by current array index.\r\n   * Transform state is still read from the grabber's TransformAccess each frame.\r\n   * Prefer setGrabberEnabled(handle, enabled) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Grabber index in the current array. Note that this may change when grabbers are added or removed.\r\n   * @param enabled - `true` to enable the grabber, `false` to disable it.\r\n   * @returns `true` if the index is valid and the grabber was updated, `false` if the index is out of range.\r\n   */\r\n  setGrabberEnabledAt(index: number, enabled: boolean): boolean {\r\n    if (index >= 0 && index < this._grabbersRW.length) {\r\n      this._grabbersRW[index].enabled = enabled ? 1 : 0;\r\n      if (!enabled) {\r\n        this._releaseGrabber(index);\r\n      }\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a runtime grabber by stable handle.\r\n   * @param handle - Stable handle for the grabber to enable or disable.\r\n   * @param enabled - `true` to enable the grabber, `false` to disable it.\r\n   * @returns true if the handle is still valid.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    const index = this._getGrabberIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.setGrabberEnabledAt(index, enabled);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   * @param r - Read-only grabber data such as interaction radius.\r\n   * @param transform - TransformAccess that provides the grabber's position each frame.\r\n   * @param enabled - Whether the grabber starts enabled. The grabber can still be moved by its transform while disabled, but it won't affect any points until enabled.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform: TransformAccess, enabled = false): JointDynamicsGrabberHandle {\r\n    const id = this._nextGrabberHandleId++;\r\n    this._grabbersR.push(r);\r\n    this._grabberTransforms.push(transform);\r\n    this._grabbersRW.push({\r\n      enabled: enabled ? 1 : 0,\r\n      position: transform.getWorldPosition()\r\n    });\r\n    this._grabberHandleIds.push(id);\r\n    this._grabberHandleToIndex.set(id, this._grabbersR.length - 1);\r\n    return { type: 'grabber', id };\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   * @param handle - Stable handle for the grabber to remove.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    const index = this._getGrabberIndex(handle);\r\n    if (index === -1) {\r\n      return false;\r\n    }\r\n    return this.removeGrabberAt(index);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Grabber index in the current array. Note that this may change when grabbers are added or removed.\r\n   * @returns true if the index was valid and the grabber was removed, false if the index was out of range.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    if (index < 0 || index >= this._grabbersR.length) {\r\n      return false;\r\n    }\r\n    this._grabbersR.splice(index, 1);\r\n    this._grabberTransforms.splice(index, 1);\r\n    this._grabbersRW.splice(index, 1);\r\n    this._grabberHandleIds.splice(index, 1);\r\n    this._rebuildGrabberHandleMap();\r\n\r\n    this._releaseGrabber(index);\r\n    for (const ptRW of this._pointsRW) {\r\n      if (ptRW.grabberIndex > index) {\r\n        ptRW.grabberIndex--;\r\n      }\r\n    }\r\n    return true;\r\n  }\r\n\r\n  /** Gets the number of runtime colliders. */\r\n  get colliderCount(): number {\r\n    return this._collidersR.length;\r\n  }\r\n\r\n  /** Gets the number of runtime flat planes. */\r\n  get flatPlaneCount(): number {\r\n    return this._flatPlaneAll.length;\r\n  }\r\n\r\n  /** Gets the number of runtime grabbers. */\r\n  get grabberCount(): number {\r\n    return this._grabbersR.length;\r\n  }\r\n\r\n  private _computeBlendRatio(): number {\r\n    if (this._fadeState === 'in') {\r\n      return 1.0 - clamp01(this._fadeTimer / this._fadeDuration);\r\n    }\r\n    if (this._fadeState === 'out') {\r\n      return clamp01(this._fadeTimer / this._fadeDuration);\r\n    }\r\n    return this._config.blendRatio;\r\n  }\r\n\r\n  private _refreshCachedSimulationConfig(): void {\r\n    this._rebuildConstraints();\r\n    this._refreshPointParameters();\r\n  }\r\n\r\n  private _getColliderIndex(handle: JointDynamicsColliderHandle): number {\r\n    if (handle.type !== 'collider') {\r\n      return -1;\r\n    }\r\n    return this._colliderHandleToIndex.get(handle.id) ?? -1;\r\n  }\r\n\r\n  private _getGrabberIndex(handle: JointDynamicsGrabberHandle): number {\r\n    if (handle.type !== 'grabber') {\r\n      return -1;\r\n    }\r\n    return this._grabberHandleToIndex.get(handle.id) ?? -1;\r\n  }\r\n\r\n  private _getFlatPlaneIndex(handle: JointDynamicsFlatPlaneHandle): number {\r\n    if (handle.type !== 'flatPlane') {\r\n      return -1;\r\n    }\r\n    return this._flatPlaneHandleToIndex.get(handle.id) ?? -1;\r\n  }\r\n\r\n  private _releaseGrabber(index: number): void {\r\n    for (const ptRW of this._pointsRW) {\r\n      if (ptRW.grabberIndex === index) {\r\n        ptRW.grabberIndex = -1;\r\n        ptRW.grabberDistance = 0;\r\n      }\r\n    }\r\n  }\r\n\r\n  private _rebuildColliderHandleMap(): void {\r\n    this._colliderHandleToIndex.clear();\r\n    for (let i = 0; i < this._colliderHandleIds.length; i++) {\r\n      this._colliderHandleToIndex.set(this._colliderHandleIds[i], i);\r\n    }\r\n  }\r\n\r\n  private _rebuildFlatPlaneHandleMap(): void {\r\n    this._flatPlaneHandleToIndex.clear();\r\n    for (let i = 0; i < this._flatPlaneHandleIds.length; i++) {\r\n      this._flatPlaneHandleToIndex.set(this._flatPlaneHandleIds[i], i);\r\n    }\r\n  }\r\n\r\n  private _rebuildActiveFlatPlanes(): void {\r\n    this._flatPlanes = [];\r\n    for (let i = 0; i < this._flatPlaneAll.length; i++) {\r\n      if (this._flatPlaneEnabled[i]) {\r\n        this._flatPlanes.push(this._flatPlaneAll[i]);\r\n      }\r\n    }\r\n  }\r\n\r\n  private _rebuildGrabberHandleMap(): void {\r\n    this._grabberHandleToIndex.clear();\r\n    for (let i = 0; i < this._grabberHandleIds.length; i++) {\r\n      this._grabberHandleToIndex.set(this._grabberHandleIds[i], i);\r\n    }\r\n  }\r\n\r\n  private _rebuildConstraints(): void {\r\n    if (this._rootPoints.length === 0) {\r\n      this._constraints = [];\r\n      this._surfaceConstraints = [];\r\n      return;\r\n    }\r\n    this._constraints = buildConstraints(this._rootPoints, this._config.constraintOptions);\r\n    this._surfaceConstraints = buildSurfaceFaces(this._rootPoints, this._config.constraintOptions.isLoop);\r\n  }\r\n\r\n  private _getSystemUniformScale(): number {\r\n    if (!this._rootTransform) {\r\n      return 1;\r\n    }\r\n    const scale = this._rootTransform.getWorldScale();\r\n    return Math.max((Math.abs(scale.x) + Math.abs(scale.y) + Math.abs(scale.z)) / 3, EPSILON);\r\n  }\r\n\r\n  private _getSceneParentWorldRotation(transform: TransformAccess): Quaternion | undefined {\r\n    const parent = transform.node?.parent;\r\n    if (!parent) {\r\n      return undefined;\r\n    }\r\n    const rotation = new Quaternion();\r\n    parent.worldMatrix.decompose(null, rotation, null);\r\n    return rotation;\r\n  }\r\n\r\n  private _clearOutputTransformCache(): void {\r\n    this._lastOutputLocalRotations = [];\r\n  }\r\n\r\n  private _getInputLocalRotations(): Quaternion[] {\r\n    return this._pointTransforms.map((transform, index) => {\r\n      const localRotation = transform.getLocalRotation();\r\n      const lastOutput = this._lastOutputLocalRotations[index];\r\n      if (\r\n        lastOutput &&\r\n        Quaternion.angleBetween(localRotation, lastOutput) <= EPSILON &&\r\n        this._pointsR[index]\r\n      ) {\r\n        return this._pointsR[index].initialLocalRotation.clone();\r\n      }\r\n      return localRotation;\r\n    });\r\n  }\r\n\r\n  private _updateScaleDependentParameters(force = false): void {\r\n    const systemScale = this._getSystemUniformScale();\r\n    const scaleChanged = Math.abs(systemScale - this._currentSystemScale) > EPSILON;\r\n    if (!force && !scaleChanged) {\r\n      return;\r\n    }\r\n    this._currentSystemScale = systemScale;\r\n    const ratio = this._baseSystemScale > EPSILON ? systemScale / this._baseSystemScale : 1;\r\n    for (let i = 0; i < this._pointsR.length; i++) {\r\n      this._pointsR[i].parentLength =\r\n        (this._basePointParentLengths[i] ?? this._pointsR[i].parentLength) * ratio;\r\n    }\r\n    for (let i = 0; i < this._constraints.length; i++) {\r\n      this._constraints[i].length = (this._baseConstraintLengths[i] ?? this._constraints[i].length) * ratio;\r\n    }\r\n    this._refreshPointParameters();\r\n    if (scaleChanged) {\r\n      this.reset();\r\n    }\r\n  }\r\n\r\n  private _refreshPointParameters(): void {\r\n    if (!this._initialized) {\r\n      return;\r\n    }\r\n    for (let i = 0; i < this._allPoints.length; i++) {\r\n      this._applyConfigToPoint(this._pointsR[i], this._allPoints[i]);\r\n    }\r\n  }\r\n\r\n  private _createPointR(node: BoneNode): PointR {\r\n    const parentIdx = this._parentMap.get(node.index) ?? -1;\r\n    const childIdx = node.children.length > 0 ? node.children[0].index : -1;\r\n\r\n    // Capture initial local transform for rotation blending\r\n    const t = this._pointTransforms[node.index];\r\n    const initLocalPos = t.getLocalPosition();\r\n    const initLocalRot = t.getLocalRotation();\r\n    const initLocalScale = t.getLocalScale();\r\n\r\n    // BoneAxis: local-space direction to first child (computed in initialize)\r\n    const boneAxis = node.boneAxis ?? new Vector3(0, -1, 0);\r\n\r\n    // ParentLength: distance to parent\r\n    let parentLength = 0;\r\n    if (parentIdx !== -1) {\r\n      const pPos = this._pointTransforms[parentIdx].getWorldPosition();\r\n      const cPos = this._pointTransforms[node.index].getWorldPosition();\r\n      parentLength = Vector3.distance(pPos, cPos);\r\n    }\r\n\r\n    const point: PointR = {\r\n      parent: parentIdx,\r\n      child: childIdx,\r\n      applyInvertCollision: 0,\r\n      movableLimitIndex: -1,\r\n      movableLimitRadius: 0,\r\n      weight: node.isFixed ? 0 : 1,\r\n      mass: 0,\r\n      resistance: 0,\r\n      hardness: 0,\r\n      frictionScale: 0,\r\n      sliderJointLength: 0,\r\n      parentLength,\r\n      structuralShrinkVertical: 0,\r\n      structuralStretchVertical: 0,\r\n      structuralShrinkHorizontal: 0,\r\n      structuralStretchHorizontal: 0,\r\n      shearShrink: 0,\r\n      shearStretch: 0,\r\n      bendingShrinkVertical: 0,\r\n      bendingStretchVertical: 0,\r\n      bendingShrinkHorizontal: 0,\r\n      bendingStretchHorizontal: 0,\r\n      windForceScale: 0,\r\n      fakeWavePower: 0,\r\n      fakeWaveFreq: 0,\r\n      forceFadeRatio: 0,\r\n      pointRadius: 0,\r\n      gravity: Vector3.zero(),\r\n      boneAxis,\r\n      initialLocalScale: initLocalScale,\r\n      initialLocalRotation: initLocalRot,\r\n      initialLocalTwist: extractLocalTwist(initLocalRot, boneAxis),\r\n      initialLocalPosition: initLocalPos\r\n    };\r\n    this._applyConfigToPoint(point, node);\r\n    return point;\r\n  }\r\n\r\n  private _applyConfigToPoint(point: PointR, node: BoneNode): void {\r\n    const rate = this._maxPointDepth > 0 ? node.depth / this._maxPointDepth : 0;\r\n    const c = this._config.curves;\r\n    const allShrinkScale = c.allShrinkScale.evaluate(rate);\r\n    const allStretchScale = c.allStretchScale.evaluate(rate);\r\n\r\n    point.mass = c.massScale.evaluate(rate);\r\n    point.resistance = clamp01(c.resistance.evaluate(rate));\r\n    point.hardness = clamp01(c.hardness.evaluate(rate));\r\n    point.frictionScale = c.friction.evaluate(rate);\r\n    point.sliderJointLength = c.sliderJointLength.evaluate(rate);\r\n    point.structuralShrinkVertical = c.structuralShrinkVertical.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.structuralStretchVertical = c.structuralStretchVertical.evaluate(rate) * allStretchScale * 0.5;\r\n    point.structuralShrinkHorizontal = c.structuralShrinkHorizontal.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.structuralStretchHorizontal = c.structuralStretchHorizontal.evaluate(rate) * allStretchScale * 0.5;\r\n    point.shearShrink = c.shearShrink.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.shearStretch = c.shearStretch.evaluate(rate) * allStretchScale * 0.5;\r\n    point.bendingShrinkVertical = c.bendingShrinkVertical.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.bendingStretchVertical = c.bendingStretchVertical.evaluate(rate) * allStretchScale * 0.5;\r\n    point.bendingShrinkHorizontal = c.bendingShrinkHorizontal.evaluate(rate) * allShrinkScale * 0.5;\r\n    point.bendingStretchHorizontal = c.bendingStretchHorizontal.evaluate(rate) * allStretchScale * 0.5;\r\n    point.windForceScale = c.windForceScale.evaluate(rate) * rate;\r\n    point.fakeWavePower = c.fakeWavePower.evaluate(rate);\r\n    point.fakeWaveFreq = c.fakeWaveFreq.evaluate(rate);\r\n    const systemScale = this._currentSystemScale;\r\n    point.pointRadius = Math.max(0, c.pointRadius.evaluate(rate) * systemScale);\r\n    point.gravity = Vector3.scale(this._config.gravity, c.gravityScale.evaluate(rate) * systemScale);\r\n  }\r\n\r\n  private _createPointRW(): PointRW {\r\n    return {\r\n      positionToTransform: Vector3.zero(),\r\n      positionCurrentTransform: Vector3.zero(),\r\n      positionPreviousTransform: Vector3.zero(),\r\n      positionCurrent: Vector3.zero(),\r\n      positionPrevious: Vector3.zero(),\r\n      directionPrevious: Vector3.axisPZ(),\r\n      fakeWindDirection: Vector3.axisPZ(),\r\n      grabberIndex: -1,\r\n      grabberDistance: 0,\r\n      friction: 0\r\n    };\r\n  }\r\n\r\n  private _createColliderRW(transform: TransformAccess): ColliderRW {\r\n    const pos = transform.getWorldPosition();\r\n    const rot = transform.getWorldRotation();\r\n    const scale = transform.getWorldScale();\r\n    return {\r\n      positionCurrent: pos.clone(),\r\n      directionCurrent: Vector3.zero(),\r\n      boundsCenter: pos.clone(),\r\n      boundsRadius: 0,\r\n      positionCurrentTransform: pos.clone(),\r\n      positionPreviousTransform: pos.clone(),\r\n      directionCurrentTransform: rot.clone(),\r\n      directionPreviousTransform: rot.clone(),\r\n      worldToLocal: Matrix4x4.identity(),\r\n      worldScale: scale.clone(),\r\n      localBoundsMin: Vector3.zero(),\r\n      localBoundsMax: Vector3.zero(),\r\n      radius: 0,\r\n      height: 0,\r\n      enabled: 1\r\n    };\r\n  }\r\n\r\n  private _cloneControllerConfig(config: ControllerConfig): ControllerConfig {\r\n    const curves: PhysicsCurves = {\r\n      massScale: this._cloneInterpolatorScalar(config.curves.massScale),\r\n      gravityScale: this._cloneInterpolatorScalar(config.curves.gravityScale),\r\n      windForceScale: this._cloneInterpolatorScalar(config.curves.windForceScale),\r\n      resistance: this._cloneInterpolatorScalar(config.curves.resistance),\r\n      hardness: this._cloneInterpolatorScalar(config.curves.hardness),\r\n      friction: this._cloneInterpolatorScalar(config.curves.friction),\r\n      pointRadius: this._cloneInterpolatorScalar(config.curves.pointRadius),\r\n      sliderJointLength: this._cloneInterpolatorScalar(config.curves.sliderJointLength),\r\n      allShrinkScale: this._cloneInterpolatorScalar(config.curves.allShrinkScale),\r\n      allStretchScale: this._cloneInterpolatorScalar(config.curves.allStretchScale),\r\n      structuralShrinkVertical: this._cloneInterpolatorScalar(config.curves.structuralShrinkVertical),\r\n      structuralStretchVertical: this._cloneInterpolatorScalar(config.curves.structuralStretchVertical),\r\n      structuralShrinkHorizontal: this._cloneInterpolatorScalar(config.curves.structuralShrinkHorizontal),\r\n      structuralStretchHorizontal: this._cloneInterpolatorScalar(config.curves.structuralStretchHorizontal),\r\n      shearShrink: this._cloneInterpolatorScalar(config.curves.shearShrink),\r\n      shearStretch: this._cloneInterpolatorScalar(config.curves.shearStretch),\r\n      bendingShrinkVertical: this._cloneInterpolatorScalar(config.curves.bendingShrinkVertical),\r\n      bendingStretchVertical: this._cloneInterpolatorScalar(config.curves.bendingStretchVertical),\r\n      bendingShrinkHorizontal: this._cloneInterpolatorScalar(config.curves.bendingShrinkHorizontal),\r\n      bendingStretchHorizontal: this._cloneInterpolatorScalar(config.curves.bendingStretchHorizontal),\r\n      fakeWavePower: this._cloneInterpolatorScalar(config.curves.fakeWavePower),\r\n      fakeWaveFreq: this._cloneInterpolatorScalar(config.curves.fakeWaveFreq)\r\n    };\r\n    return {\r\n      gravity: config.gravity.clone(),\r\n      windForce: config.windForce.clone(),\r\n      relaxation: config.relaxation,\r\n      subSteps: config.subSteps,\r\n      rootSlideLimit: config.rootSlideLimit,\r\n      rootRotateLimit: config.rootRotateLimit,\r\n      constraintShrinkLimit: config.constraintShrinkLimit,\r\n      blendRatio: config.blendRatio,\r\n      stabilizationFrameRate: config.stabilizationFrameRate,\r\n      isFakeWave: config.isFakeWave,\r\n      fakeWaveSpeed: config.fakeWaveSpeed,\r\n      fakeWavePower: config.fakeWavePower,\r\n      enableSurfaceCollision: config.enableSurfaceCollision,\r\n      enableBroadPhase: config.enableBroadPhase,\r\n      preserveTwist: config.preserveTwist,\r\n      angleLimitConfig: {\r\n        angleLimit: config.angleLimitConfig.angleLimit,\r\n        limitFromRoot: config.angleLimitConfig.limitFromRoot\r\n      },\r\n      curves,\r\n      constraintOptions: {\r\n        structuralVertical: config.constraintOptions.structuralVertical,\r\n        structuralHorizontal: config.constraintOptions.structuralHorizontal,\r\n        shear: config.constraintOptions.shear,\r\n        bendingVertical: config.constraintOptions.bendingVertical,\r\n        bendingHorizontal: config.constraintOptions.bendingHorizontal,\r\n        isLoop: config.constraintOptions.isLoop,\r\n        collideStructuralVertical: config.constraintOptions.collideStructuralVertical,\r\n        collideStructuralHorizontal: config.constraintOptions.collideStructuralHorizontal,\r\n        collideShear: config.constraintOptions.collideShear,\r\n        enableSurfaceCollision: config.constraintOptions.enableSurfaceCollision\r\n      }\r\n    };\r\n  }\r\n\r\n  private _cloneInterpolatorScalar(curve: InterpolatorScalar): InterpolatorScalar {\r\n    return new InterpolatorScalar(\r\n      curve.mode,\r\n      new Float32Array(curve.inputs),\r\n      new Float32Array(curve.outputs)\r\n    );\r\n  }\r\n\r\n  private _sanitizeControllerConfig(config: ControllerConfig): ControllerConfig {\r\n    config.relaxation = Math.max(0, Math.trunc(config.relaxation));\r\n    config.subSteps = Math.max(1, Math.trunc(config.subSteps));\r\n    config.constraintShrinkLimit = Math.max(0, config.constraintShrinkLimit);\r\n    config.blendRatio = clamp01(config.blendRatio);\r\n    return config;\r\n  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