@zephyr3d/scene 0.9.5 → 0.9.7

package/dist/animation/joint_dynamics/convex_collider.js

@@ -0,0 +1,320 @@
+import { Matrix4x4, Vector3 } from '@zephyr3d/base';
+import { getVertexFormatComponentCount } from '@zephyr3d/device';
+import '../../scene/scene.js';
+import '../../values.js';
+import '../../render/render_queue.js';
+import '../../render/primitive.js';
+import '../../material/shader/helper.js';
+import '../../material/lambert.js';
+import '../../material/blinn.js';
+import '../../material/unlit.js';
+import '../../material/particle.js';
+import '../../material/subsurfaceprofile.js';
+import '../../material/meshmaterial.js';
+import '../../material/grassmaterial.js';
+import '../../material/terrain-cm.js';
+import '../../material/pbrmr.js';
+import '../../material/pbrsg.js';
+import '../../material/mtoon.js';
+import '../../material/pbrblueprint.js';
+import '../../material/sprite.js';
+import '../../material/sprite_std.js';
+import '../../utility/blueprint/material/texture.js';
+import '../../render/rendergraph/forward_plus_builder.js';
+import '../../render/lightpass.js';
+import '../../render/sky.js';
+import '../../render/clipmap.js';
+import '../../shaders/atmosphere.js';
+import { getSceneMeshAssetBinding } from '../../scene/scene_node.js';
+import '../../shadow/shadowmapper.js';
+import '../../scene/mesh.js';
+import '../../scene/basesprite.js';
+import '../../scene/meshdrawable.js';
+import '../../material/msdf_text.js';
+import '../../scene/water.js';
+import '../../scene/particlesys.js';
+import '../../scene/batchgroup.js';
+import '../../scene/terrain-cm/terrain-cm.js';
+import '../../scene/terrain-cm/grass.js';
+import '../../scene/raycast_visitor.js';
+import { ColliderForce } from './types.js';
+
+const EPS = 1e-6;
+/**
+ * Generate convex JointDynamics colliders from skinned mesh bone weights.
+ *
+ * @public
+ */ function generateJointDynamicsConvexCollidersFromSkinWeights(meshes, skinBinding, bones, options = {}) {
+    const sources = collectSourcePrimitives(meshes);
+    const results = [];
+    for (const bone of bones){
+        const jointIndex = skinBinding.joints.indexOf(bone);
+        if (jointIndex < 0) {
+            continue;
+        }
+        const points = collectBonePoints(sources, skinBinding, jointIndex, options);
+        if (points.length < (options.minVertexCount ?? 8)) {
+            continue;
+        }
+        const hull = buildConvexHull(points, options.maxHullVertices ?? 48, options.margin ?? 0);
+        if (!hull || hull.vertices.length < 4 || hull.planes.length < 4) {
+            continue;
+        }
+        results.push({
+            bone,
+            vertexCount: points.length,
+            hullVertexCount: hull.vertices.length,
+            collider: {
+                radius: 0,
+                radiusTailScale: 1,
+                height: 0,
+                friction: options.friction ?? 0,
+                isInverseCollider: options.inversed ?? false,
+                forceType: ColliderForce.Off,
+                convex: hull
+            }
+        });
+    }
+    return results;
+}
+function collectSourcePrimitives(meshes) {
+    const result = [];
+    const seen = new Set();
+    for (const mesh of meshes){
+        const binding = getSceneMeshAssetBinding(mesh);
+        const subMesh = binding?.subMesh;
+        const primitive = subMesh?.primitive ?? null;
+        if (primitive && !seen.has(primitive)) {
+            seen.add(primitive);
+            result.push({
+                primitive,
+                subMesh
+            });
+        }
+    }
+    return result;
+}
+function collectBonePoints(sources, skinBinding, jointIndex, options) {
+    const points = [];
+    const weightThreshold = options.weightThreshold ?? 0.45;
+    const dominantBoneOnly = options.dominantBoneOnly ?? true;
+    const inverseBind = skinBinding.inverseBindMatrices[jointIndex] ?? Matrix4x4.identity();
+    for (const source of sources){
+        const primitive = source.primitive;
+        const positionInfo = primitive.vertices.position;
+        const blendIndexInfo = primitive.vertices.blendIndices;
+        const blendWeightInfo = primitive.vertices.blendWeights;
+        if (!positionInfo || !blendIndexInfo || !blendWeightInfo) {
+            continue;
+        }
+        const positions = positionInfo.data;
+        const blendIndices = blendIndexInfo.data;
+        const blendWeights = blendWeightInfo.data;
+        const posStride = getVertexFormatComponentCount(positionInfo.format);
+        const idxStride = getVertexFormatComponentCount(blendIndexInfo.format);
+        const weightStride = getVertexFormatComponentCount(blendWeightInfo.format);
+        const vertexCount = Math.floor(positions.length / posStride);
+        for(let i = 0; i < vertexCount; i++){
+            let weight = 0;
+            let maxWeight = -1;
+            let maxJoint = -1;
+            const influenceCount = Math.min(4, idxStride, weightStride);
+            for(let k = 0; k < influenceCount; k++){
+                const idx = Number(blendIndices[i * idxStride + k]) | 0;
+                const w = Number(blendWeights[i * weightStride + k]) || 0;
+                if (idx === jointIndex) {
+                    weight = Math.max(weight, w);
+                }
+                if (w > maxWeight) {
+                    maxWeight = w;
+                    maxJoint = idx;
+                }
+            }
+            if (weight < weightThreshold || dominantBoneOnly && maxJoint !== jointIndex) {
+                continue;
+            }
+            const p = new Vector3(Number(positions[i * posStride]) || 0, Number(positions[i * posStride + 1]) || 0, Number(positions[i * posStride + 2]) || 0);
+            points.push(inverseBind.transformPointAffine(p, p));
+        }
+    }
+    return uniquePoints(points);
+}
+function uniquePoints(points) {
+    const result = [];
+    const keys = new Set();
+    for (const point of points){
+        const key = `${Math.round(point.x * 100000)}:${Math.round(point.y * 100000)}:${Math.round(point.z * 100000)}`;
+        if (!keys.has(key)) {
+            keys.add(key);
+            result.push(point);
+        }
+    }
+    return result;
+}
+function buildConvexHull(points, maxHullVertices, margin) {
+    const sampled = sampleSupportPoints(points, Math.max(8, maxHullVertices));
+    if (sampled.length < 4) {
+        return null;
+    }
+    const faces = bruteForceHullFaces(sampled);
+    if (faces.length < 4) {
+        return null;
+    }
+    const planes = mergePlanes(faces);
+    if (margin > 0) {
+        for (const plane of planes){
+            plane.distance -= margin;
+        }
+    }
+    return {
+        vertices: sampled.map((point)=>point.clone()),
+        planes,
+        edges: extractHullEdges(sampled, planes)
+    };
+}
+function sampleSupportPoints(points, maxCount) {
+    if (points.length <= maxCount) {
+        return [
+            ...points
+        ];
+    }
+    const dirs = buildSampleDirections(maxCount);
+    const selected = [];
+    const indices = new Set();
+    for (const dir of dirs){
+        let bestIndex = -1;
+        let bestDot = -Infinity;
+        for(let i = 0; i < points.length; i++){
+            const d = Vector3.dot(points[i], dir);
+            if (d > bestDot) {
+                bestDot = d;
+                bestIndex = i;
+            }
+        }
+        if (bestIndex >= 0 && !indices.has(bestIndex)) {
+            indices.add(bestIndex);
+            selected.push(points[bestIndex]);
+            if (selected.length >= maxCount) {
+                break;
+            }
+        }
+    }
+    return selected.length >= 4 ? selected : [
+        ...points.slice(0, maxCount)
+    ];
+}
+function buildSampleDirections(maxCount) {
+    const dirs = [
+        new Vector3(1, 0, 0),
+        new Vector3(-1, 0, 0),
+        new Vector3(0, 1, 0),
+        new Vector3(0, -1, 0),
+        new Vector3(0, 0, 1),
+        new Vector3(0, 0, -1)
+    ];
+    const rings = Math.max(4, Math.ceil(Math.sqrt(maxCount)));
+    for(let y = 0; y < rings && dirs.length < maxCount; y++){
+        const v = rings === 1 ? 0 : -1 + 2 * y / (rings - 1);
+        const r = Math.sqrt(Math.max(0, 1 - v * v));
+        for(let x = 0; x < rings * 2 && dirs.length < maxCount; x++){
+            const a = x / (rings * 2) * Math.PI * 2;
+            dirs.push(new Vector3(Math.cos(a) * r, v, Math.sin(a) * r));
+        }
+    }
+    return dirs;
+}
+function bruteForceHullFaces(points) {
+    const center = new Vector3();
+    for (const point of points){
+        Vector3.add(center, point, center);
+    }
+    Vector3.scale(center, 1 / points.length, center);
+    const faces = [];
+    const faceKeys = new Set();
+    for(let i = 0; i < points.length - 2; i++){
+        for(let j = i + 1; j < points.length - 1; j++){
+            for(let k = j + 1; k < points.length; k++){
+                const ab = Vector3.sub(points[j], points[i]);
+                const ac = Vector3.sub(points[k], points[i]);
+                const normal = Vector3.cross(ab, ac);
+                const len = normal.magnitude;
+                if (len <= EPS) {
+                    continue;
+                }
+                Vector3.scale(normal, 1 / len, normal);
+                let distance = -Vector3.dot(normal, points[i]);
+                if (Vector3.dot(normal, center) + distance > 0) {
+                    Vector3.scale(normal, -1, normal);
+                    distance = -Vector3.dot(normal, points[i]);
+                }
+                let valid = true;
+                for(let p = 0; p < points.length; p++){
+                    if (p === i || p === j || p === k) {
+                        continue;
+                    }
+                    if (Vector3.dot(normal, points[p]) + distance > 1e-5) {
+                        valid = false;
+                        break;
+                    }
+                }
+                if (!valid) {
+                    continue;
+                }
+                const key = planeKey(normal, distance);
+                if (faceKeys.has(key)) {
+                    continue;
+                }
+                faceKeys.add(key);
+                faces.push({
+                    a: i,
+                    b: j,
+                    c: k,
+                    normal: normal.clone(),
+                    distance
+                });
+            }
+        }
+    }
+    return faces;
+}
+function mergePlanes(faces) {
+    const planes = [];
+    for (const face of faces){
+        if (planes.some((plane)=>Math.abs(Vector3.dot(plane.normal, face.normal) - 1) < 1e-4 && Math.abs(plane.distance - face.distance) < 1e-4)) {
+            continue;
+        }
+        planes.push({
+            normal: face.normal.clone(),
+            distance: face.distance
+        });
+    }
+    return planes;
+}
+function extractHullEdges(vertices, planes) {
+    const result = [];
+    const keys = new Set();
+    for(let i = 0; i < vertices.length - 1; i++){
+        for(let j = i + 1; j < vertices.length; j++){
+            const sharedPlaneCount = planes.reduce((count, plane)=>{
+                const di = Math.abs(Vector3.dot(plane.normal, vertices[i]) + plane.distance);
+                const dj = Math.abs(Vector3.dot(plane.normal, vertices[j]) + plane.distance);
+                return count + (di < 1e-4 && dj < 1e-4 ? 1 : 0);
+            }, 0);
+            if (sharedPlaneCount < 2) {
+                continue;
+            }
+            const key = `${i}:${j}`;
+            if (!keys.has(key)) {
+                keys.add(key);
+                result.push(i, j);
+            }
+        }
+    }
+    return result;
+}
+function planeKey(normal, distance) {
+    return `${Math.round(normal.x * 10000)}:${Math.round(normal.y * 10000)}:${Math.round(normal.z * 10000)}:${Math.round(distance * 10000)}`;
+}
+
+export { generateJointDynamicsConvexCollidersFromSkinWeights };
+//# sourceMappingURL=convex_collider.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"convex_collider.js","sources":["../../../src/animation/joint_dynamics/convex_collider.ts"],"sourcesContent":["import { Matrix4x4, Vector3 } from '@zephyr3d/base';\nimport { getVertexFormatComponentCount } from '@zephyr3d/device';\nimport type { Mesh, SceneNode } from '../../scene';\nimport { getSceneMeshAssetBinding } from '../../scene';\nimport type { AssetPrimitiveInfo, AssetSubMeshData } from '../../asset';\nimport type { SkinBinding } from '../skeleton';\nimport { ColliderForce, type ColliderR, type ConvexColliderPlane } from './types';\n\n/** @public */\nexport type JointDynamicsConvexColliderGenerationOptions = {\n  weightThreshold?: number;\n  dominantBoneOnly?: boolean;\n  maxHullVertices?: number;\n  margin?: number;\n  minVertexCount?: number;\n  friction?: number;\n  inversed?: boolean;\n};\n\n/** @public */\nexport type JointDynamicsConvexColliderGenerationResult = {\n  bone: SceneNode;\n  collider: ColliderR;\n  vertexCount: number;\n  hullVertexCount: number;\n};\n\ntype SourcePrimitive = {\n  primitive: AssetPrimitiveInfo;\n  subMesh?: AssetSubMeshData;\n};\n\ntype Face = {\n  a: number;\n  b: number;\n  c: number;\n  normal: Vector3;\n  distance: number;\n};\n\nconst EPS = 1e-6;\n\n/**\n * Generate convex JointDynamics colliders from skinned mesh bone weights.\n *\n * @public\n */\nexport function generateJointDynamicsConvexCollidersFromSkinWeights(\n  meshes: readonly Mesh[],\n  skinBinding: SkinBinding,\n  bones: readonly SceneNode[],\n  options: JointDynamicsConvexColliderGenerationOptions = {}\n): JointDynamicsConvexColliderGenerationResult[] {\n  const sources = collectSourcePrimitives(meshes);\n  const results: JointDynamicsConvexColliderGenerationResult[] = [];\n  for (const bone of bones) {\n    const jointIndex = skinBinding.joints.indexOf(bone);\n    if (jointIndex < 0) {\n      continue;\n    }\n    const points = collectBonePoints(sources, skinBinding, jointIndex, options);\n    if (points.length < (options.minVertexCount ?? 8)) {\n      continue;\n    }\n    const hull = buildConvexHull(points, options.maxHullVertices ?? 48, options.margin ?? 0);\n    if (!hull || hull.vertices.length < 4 || hull.planes.length < 4) {\n      continue;\n    }\n    results.push({\n      bone,\n      vertexCount: points.length,\n      hullVertexCount: hull.vertices.length,\n      collider: {\n        radius: 0,\n        radiusTailScale: 1,\n        height: 0,\n        friction: options.friction ?? 0,\n        isInverseCollider: options.inversed ?? false,\n        forceType: ColliderForce.Off,\n        convex: hull\n      }\n    });\n  }\n  return results;\n}\n\nfunction collectSourcePrimitives(meshes: readonly Mesh[]): SourcePrimitive[] {\n  const result: SourcePrimitive[] = [];\n  const seen = new Set<AssetPrimitiveInfo>();\n  for (const mesh of meshes) {\n    const binding = getSceneMeshAssetBinding(mesh);\n    const subMesh = binding?.subMesh as AssetSubMeshData | undefined;\n    const primitive = subMesh?.primitive ?? null;\n    if (primitive && !seen.has(primitive)) {\n      seen.add(primitive);\n      result.push({ primitive, subMesh });\n    }\n  }\n  return result;\n}\n\nfunction collectBonePoints(\n  sources: readonly SourcePrimitive[],\n  skinBinding: SkinBinding,\n  jointIndex: number,\n  options: JointDynamicsConvexColliderGenerationOptions\n): Vector3[] {\n  const points: Vector3[] = [];\n  const weightThreshold = options.weightThreshold ?? 0.45;\n  const dominantBoneOnly = options.dominantBoneOnly ?? true;\n  const inverseBind = skinBinding.inverseBindMatrices[jointIndex] ?? Matrix4x4.identity();\n  for (const source of sources) {\n    const primitive = source.primitive;\n    const positionInfo = primitive.vertices.position;\n    const blendIndexInfo = primitive.vertices.blendIndices;\n    const blendWeightInfo = primitive.vertices.blendWeights;\n    if (!positionInfo || !blendIndexInfo || !blendWeightInfo) {\n      continue;\n    }\n    const positions = positionInfo.data;\n    const blendIndices = blendIndexInfo.data;\n    const blendWeights = blendWeightInfo.data;\n    const posStride = getVertexFormatComponentCount(positionInfo.format);\n    const idxStride = getVertexFormatComponentCount(blendIndexInfo.format);\n    const weightStride = getVertexFormatComponentCount(blendWeightInfo.format);\n    const vertexCount = Math.floor(positions.length / posStride);\n    for (let i = 0; i < vertexCount; i++) {\n      let weight = 0;\n      let maxWeight = -1;\n      let maxJoint = -1;\n      const influenceCount = Math.min(4, idxStride, weightStride);\n      for (let k = 0; k < influenceCount; k++) {\n        const idx = Number(blendIndices[i * idxStride + k]) | 0;\n        const w = Number(blendWeights[i * weightStride + k]) || 0;\n        if (idx === jointIndex) {\n          weight = Math.max(weight, w);\n        }\n        if (w > maxWeight) {\n          maxWeight = w;\n          maxJoint = idx;\n        }\n      }\n      if (weight < weightThreshold || (dominantBoneOnly && maxJoint !== jointIndex)) {\n        continue;\n      }\n      const p = new Vector3(\n        Number(positions[i * posStride]) || 0,\n        Number(positions[i * posStride + 1]) || 0,\n        Number(positions[i * posStride + 2]) || 0\n      );\n      points.push(inverseBind.transformPointAffine(p, p));\n    }\n  }\n  return uniquePoints(points);\n}\n\nfunction uniquePoints(points: readonly Vector3[]): Vector3[] {\n  const result: Vector3[] = [];\n  const keys = new Set<string>();\n  for (const point of points) {\n    const key = `${Math.round(point.x * 100000)}:${Math.round(point.y * 100000)}:${Math.round(point.z * 100000)}`;\n    if (!keys.has(key)) {\n      keys.add(key);\n      result.push(point);\n    }\n  }\n  return result;\n}\n\nfunction buildConvexHull(points: readonly Vector3[], maxHullVertices: number, margin: number) {\n  const sampled = sampleSupportPoints(points, Math.max(8, maxHullVertices));\n  if (sampled.length < 4) {\n    return null;\n  }\n  const faces = bruteForceHullFaces(sampled);\n  if (faces.length < 4) {\n    return null;\n  }\n  const planes = mergePlanes(faces);\n  if (margin > 0) {\n    for (const plane of planes) {\n      plane.distance -= margin;\n    }\n  }\n  return {\n    vertices: sampled.map((point) => point.clone()),\n    planes,\n    edges: extractHullEdges(sampled, planes)\n  };\n}\n\nfunction sampleSupportPoints(points: readonly Vector3[], maxCount: number): Vector3[] {\n  if (points.length <= maxCount) {\n    return [...points];\n  }\n  const dirs = buildSampleDirections(maxCount);\n  const selected: Vector3[] = [];\n  const indices = new Set<number>();\n  for (const dir of dirs) {\n    let bestIndex = -1;\n    let bestDot = -Infinity;\n    for (let i = 0; i < points.length; i++) {\n      const d = Vector3.dot(points[i], dir);\n      if (d > bestDot) {\n        bestDot = d;\n        bestIndex = i;\n      }\n    }\n    if (bestIndex >= 0 && !indices.has(bestIndex)) {\n      indices.add(bestIndex);\n      selected.push(points[bestIndex]);\n      if (selected.length >= maxCount) {\n        break;\n      }\n    }\n  }\n  return selected.length >= 4 ? selected : [...points.slice(0, maxCount)];\n}\n\nfunction buildSampleDirections(maxCount: number): Vector3[] {\n  const dirs = [\n    new Vector3(1, 0, 0),\n    new Vector3(-1, 0, 0),\n    new Vector3(0, 1, 0),\n    new Vector3(0, -1, 0),\n    new Vector3(0, 0, 1),\n    new Vector3(0, 0, -1)\n  ];\n  const rings = Math.max(4, Math.ceil(Math.sqrt(maxCount)));\n  for (let y = 0; y < rings && dirs.length < maxCount; y++) {\n    const v = rings === 1 ? 0 : -1 + (2 * y) / (rings - 1);\n    const r = Math.sqrt(Math.max(0, 1 - v * v));\n    for (let x = 0; x < rings * 2 && dirs.length < maxCount; x++) {\n      const a = (x / (rings * 2)) * Math.PI * 2;\n      dirs.push(new Vector3(Math.cos(a) * r, v, Math.sin(a) * r));\n    }\n  }\n  return dirs;\n}\n\nfunction bruteForceHullFaces(points: readonly Vector3[]): Face[] {\n  const center = new Vector3();\n  for (const point of points) {\n    Vector3.add(center, point, center);\n  }\n  Vector3.scale(center, 1 / points.length, center);\n  const faces: Face[] = [];\n  const faceKeys = new Set<string>();\n  for (let i = 0; i < points.length - 2; i++) {\n    for (let j = i + 1; j < points.length - 1; j++) {\n      for (let k = j + 1; k < points.length; k++) {\n        const ab = Vector3.sub(points[j], points[i]);\n        const ac = Vector3.sub(points[k], points[i]);\n        const normal = Vector3.cross(ab, ac);\n        const len = normal.magnitude;\n        if (len <= EPS) {\n          continue;\n        }\n        Vector3.scale(normal, 1 / len, normal);\n        let distance = -Vector3.dot(normal, points[i]);\n        if (Vector3.dot(normal, center) + distance > 0) {\n          Vector3.scale(normal, -1, normal);\n          distance = -Vector3.dot(normal, points[i]);\n        }\n        let valid = true;\n        for (let p = 0; p < points.length; p++) {\n          if (p === i || p === j || p === k) {\n            continue;\n          }\n          if (Vector3.dot(normal, points[p]) + distance > 1e-5) {\n            valid = false;\n            break;\n          }\n        }\n        if (!valid) {\n          continue;\n        }\n        const key = planeKey(normal, distance);\n        if (faceKeys.has(key)) {\n          continue;\n        }\n        faceKeys.add(key);\n        faces.push({ a: i, b: j, c: k, normal: normal.clone(), distance });\n      }\n    }\n  }\n  return faces;\n}\n\nfunction mergePlanes(faces: readonly Face[]): ConvexColliderPlane[] {\n  const planes: ConvexColliderPlane[] = [];\n  for (const face of faces) {\n    if (\n      planes.some(\n        (plane) =>\n          Math.abs(Vector3.dot(plane.normal, face.normal) - 1) < 1e-4 &&\n          Math.abs(plane.distance - face.distance) < 1e-4\n      )\n    ) {\n      continue;\n    }\n    planes.push({ normal: face.normal.clone(), distance: face.distance });\n  }\n  return planes;\n}\n\nfunction extractHullEdges(\n  vertices: readonly Vector3[],\n  planes: readonly ConvexColliderPlane[]\n): number[] {\n  const result: number[] = [];\n  const keys = new Set<string>();\n  for (let i = 0; i < vertices.length - 1; i++) {\n    for (let j = i + 1; j < vertices.length; j++) {\n      const sharedPlaneCount = planes.reduce((count, plane) => {\n        const di = Math.abs(Vector3.dot(plane.normal, vertices[i]) + plane.distance);\n        const dj = Math.abs(Vector3.dot(plane.normal, vertices[j]) + plane.distance);\n        return count + (di < 1e-4 && dj < 1e-4 ? 1 : 0);\n      }, 0);\n      if (sharedPlaneCount < 2) {\n        continue;\n      }\n      const key = `${i}:${j}`;\n      if (!keys.has(key)) {\n        keys.add(key);\n        result.push(i, j);\n      }\n    }\n  }\n  return result;\n}\n\nfunction planeKey(normal: Vector3, distance: number): string {\n  return `${Math.round(normal.x * 10000)}:${Math.round(normal.y * 10000)}:${Math.round(normal.z * 10000)}:${Math.round(distance * 10000)}`;\n}\n"],"names":["EPS","generateJointDynamicsConvexCollidersFromSkinWeights","meshes","skinBinding","bones","options","sources","collectSourcePrimitives","results","bone","jointIndex","joints","indexOf","points","collectBonePoints","length","minVertexCount","hull","buildConvexHull","maxHullVertices","margin","vertices","planes","push","vertexCount","hullVertexCount","collider","radius","radiusTailScale","height","friction","isInverseCollider","inversed","forceType","ColliderForce","Off","convex","result","seen","Set","mesh","binding","getSceneMeshAssetBinding","subMesh","primitive","has","add","weightThreshold","dominantBoneOnly","inverseBind","inverseBindMatrices","Matrix4x4","identity","source","positionInfo","position","blendIndexInfo","blendIndices","blendWeightInfo","blendWeights","positions","data","posStride","getVertexFormatComponentCount","format","idxStride","weightStride","Math","floor","i","weight","maxWeight","maxJoint","influenceCount","min","k","idx","Number","w","max","p","Vector3","transformPointAffine","uniquePoints","keys","point","key","round","x","y","z","sampled","sampleSupportPoints","faces","bruteForceHullFaces","mergePlanes","plane","distance","map","clone","edges","extractHullEdges","maxCount","dirs","buildSampleDirections","selected","indices","dir","bestIndex","bestDot","Infinity","d","dot","slice","rings","ceil","sqrt","v","r","a","PI","cos","sin","center","scale","faceKeys","j","ab","sub","ac","normal","cross","len","magnitude","valid","planeKey","b","c","face","some","abs","sharedPlaneCount","reduce","count","di","dj"],"mappings":";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;AAwCA,MAAMA,GAAM,GAAA,IAAA;AAEZ;;;;IAKO,SAASC,mDAAAA,CACdC,MAAuB,EACvBC,WAAwB,EACxBC,KAA2B,EAC3BC,OAAwD,GAAA,EAAE,EAAA;AAE1D,IAAA,MAAMC,UAAUC,uBAAwBL,CAAAA,MAAAA,CAAAA;AACxC,IAAA,MAAMM,UAAyD,EAAE;IACjE,KAAK,MAAMC,QAAQL,KAAO,CAAA;AACxB,QAAA,MAAMM,UAAaP,GAAAA,WAAAA,CAAYQ,MAAM,CAACC,OAAO,CAACH,IAAAA,CAAAA;AAC9C,QAAA,IAAIC,aAAa,CAAG,EAAA;AAClB,YAAA;AACF;AACA,QAAA,MAAMG,MAASC,GAAAA,iBAAAA,CAAkBR,OAASH,EAAAA,WAAAA,EAAaO,UAAYL,EAAAA,OAAAA,CAAAA;QACnE,IAAIQ,MAAAA,CAAOE,MAAM,IAAIV,QAAQW,cAAc,IAAI,CAAA,CAAI,EAAA;AACjD,YAAA;AACF;QACA,MAAMC,IAAAA,GAAOC,gBAAgBL,MAAQR,EAAAA,OAAAA,CAAQc,eAAe,IAAI,EAAA,EAAId,OAAQe,CAAAA,MAAM,IAAI,CAAA,CAAA;AACtF,QAAA,IAAI,CAACH,IAAAA,IAAQA,IAAKI,CAAAA,QAAQ,CAACN,MAAM,GAAG,CAAA,IAAKE,IAAKK,CAAAA,MAAM,CAACP,MAAM,GAAG,CAAG,EAAA;AAC/D,YAAA;AACF;AACAP,QAAAA,OAAAA,CAAQe,IAAI,CAAC;AACXd,YAAAA,IAAAA;AACAe,YAAAA,WAAAA,EAAaX,OAAOE,MAAM;YAC1BU,eAAiBR,EAAAA,IAAAA,CAAKI,QAAQ,CAACN,MAAM;YACrCW,QAAU,EAAA;gBACRC,MAAQ,EAAA,CAAA;gBACRC,eAAiB,EAAA,CAAA;gBACjBC,MAAQ,EAAA,CAAA;gBACRC,QAAUzB,EAAAA,OAAAA,CAAQyB,QAAQ,IAAI,CAAA;gBAC9BC,iBAAmB1B,EAAAA,OAAAA,CAAQ2B,QAAQ,IAAI,KAAA;AACvCC,gBAAAA,SAAAA,EAAWC,cAAcC,GAAG;gBAC5BC,MAAQnB,EAAAA;AACV;AACF,SAAA,CAAA;AACF;IACA,OAAOT,OAAAA;AACT;AAEA,SAASD,wBAAwBL,MAAuB,EAAA;AACtD,IAAA,MAAMmC,SAA4B,EAAE;AACpC,IAAA,MAAMC,OAAO,IAAIC,GAAAA,EAAAA;IACjB,KAAK,MAAMC,QAAQtC,MAAQ,CAAA;AACzB,QAAA,MAAMuC,UAAUC,wBAAyBF,CAAAA,IAAAA,CAAAA;AACzC,QAAA,MAAMG,UAAUF,OAASE,EAAAA,OAAAA;QACzB,MAAMC,SAAAA,GAAYD,SAASC,SAAa,IAAA,IAAA;AACxC,QAAA,IAAIA,SAAa,IAAA,CAACN,IAAKO,CAAAA,GAAG,CAACD,SAAY,CAAA,EAAA;AACrCN,YAAAA,IAAAA,CAAKQ,GAAG,CAACF,SAAAA,CAAAA;AACTP,YAAAA,MAAAA,CAAOd,IAAI,CAAC;AAAEqB,gBAAAA,SAAAA;AAAWD,gBAAAA;AAAQ,aAAA,CAAA;AACnC;AACF;IACA,OAAON,MAAAA;AACT;AAEA,SAASvB,kBACPR,OAAmC,EACnCH,WAAwB,EACxBO,UAAkB,EAClBL,OAAqD,EAAA;AAErD,IAAA,MAAMQ,SAAoB,EAAE;IAC5B,MAAMkC,eAAAA,GAAkB1C,OAAQ0C,CAAAA,eAAe,IAAI,IAAA;IACnD,MAAMC,gBAAAA,GAAmB3C,OAAQ2C,CAAAA,gBAAgB,IAAI,IAAA;AACrD,IAAA,MAAMC,cAAc9C,WAAY+C,CAAAA,mBAAmB,CAACxC,UAAW,CAAA,IAAIyC,UAAUC,QAAQ,EAAA;IACrF,KAAK,MAAMC,UAAU/C,OAAS,CAAA;QAC5B,MAAMsC,SAAAA,GAAYS,OAAOT,SAAS;AAClC,QAAA,MAAMU,YAAeV,GAAAA,SAAAA,CAAUvB,QAAQ,CAACkC,QAAQ;AAChD,QAAA,MAAMC,cAAiBZ,GAAAA,SAAAA,CAAUvB,QAAQ,CAACoC,YAAY;AACtD,QAAA,MAAMC,eAAkBd,GAAAA,SAAAA,CAAUvB,QAAQ,CAACsC,YAAY;AACvD,QAAA,IAAI,CAACL,YAAAA,IAAgB,CAACE,cAAAA,IAAkB,CAACE,eAAiB,EAAA;AACxD,YAAA;AACF;QACA,MAAME,SAAAA,GAAYN,aAAaO,IAAI;QACnC,MAAMJ,YAAAA,GAAeD,eAAeK,IAAI;QACxC,MAAMF,YAAAA,GAAeD,gBAAgBG,IAAI;QACzC,MAAMC,SAAAA,GAAYC,6BAA8BT,CAAAA,YAAAA,CAAaU,MAAM,CAAA;QACnE,MAAMC,SAAAA,GAAYF,6BAA8BP,CAAAA,cAAAA,CAAeQ,MAAM,CAAA;QACrE,MAAME,YAAAA,GAAeH,6BAA8BL,CAAAA,eAAAA,CAAgBM,MAAM,CAAA;AACzE,QAAA,MAAMxC,cAAc2C,IAAKC,CAAAA,KAAK,CAACR,SAAAA,CAAU7C,MAAM,GAAG+C,SAAAA,CAAAA;AAClD,QAAA,IAAK,IAAIO,CAAAA,GAAI,CAAGA,EAAAA,CAAAA,GAAI7C,aAAa6C,CAAK,EAAA,CAAA;AACpC,YAAA,IAAIC,MAAS,GAAA,CAAA;AACb,YAAA,IAAIC,YAAY,EAAC;AACjB,YAAA,IAAIC,WAAW,EAAC;AAChB,YAAA,MAAMC,cAAiBN,GAAAA,IAAAA,CAAKO,GAAG,CAAC,GAAGT,SAAWC,EAAAA,YAAAA,CAAAA;AAC9C,YAAA,IAAK,IAAIS,CAAAA,GAAI,CAAGA,EAAAA,CAAAA,GAAIF,gBAAgBE,CAAK,EAAA,CAAA;AACvC,gBAAA,MAAMC,MAAMC,MAAOpB,CAAAA,YAAY,CAACY,CAAIJ,GAAAA,SAAAA,GAAYU,EAAE,CAAI,GAAA,CAAA;AACtD,gBAAA,MAAMG,IAAID,MAAOlB,CAAAA,YAAY,CAACU,CAAIH,GAAAA,YAAAA,GAAeS,EAAE,CAAK,IAAA,CAAA;AACxD,gBAAA,IAAIC,QAAQlE,UAAY,EAAA;oBACtB4D,MAASH,GAAAA,IAAAA,CAAKY,GAAG,CAACT,MAAQQ,EAAAA,CAAAA,CAAAA;AAC5B;AACA,gBAAA,IAAIA,IAAIP,SAAW,EAAA;oBACjBA,SAAYO,GAAAA,CAAAA;oBACZN,QAAWI,GAAAA,GAAAA;AACb;AACF;AACA,YAAA,IAAIN,MAASvB,GAAAA,eAAAA,IAAoBC,gBAAoBwB,IAAAA,QAAAA,KAAa9D,UAAa,EAAA;AAC7E,gBAAA;AACF;YACA,MAAMsE,CAAAA,GAAI,IAAIC,OAAAA,CACZJ,MAAOjB,CAAAA,SAAS,CAACS,CAAIP,GAAAA,SAAAA,CAAU,CAAK,IAAA,CAAA,EACpCe,MAAOjB,CAAAA,SAAS,CAACS,CAAIP,GAAAA,SAAAA,GAAY,CAAE,CAAA,CAAA,IAAK,CACxCe,EAAAA,MAAAA,CAAOjB,SAAS,CAACS,CAAAA,GAAIP,SAAY,GAAA,CAAA,CAAE,CAAK,IAAA,CAAA,CAAA;AAE1CjD,YAAAA,MAAAA,CAAOU,IAAI,CAAC0B,WAAYiC,CAAAA,oBAAoB,CAACF,CAAGA,EAAAA,CAAAA,CAAAA,CAAAA;AAClD;AACF;AACA,IAAA,OAAOG,YAAatE,CAAAA,MAAAA,CAAAA;AACtB;AAEA,SAASsE,aAAatE,MAA0B,EAAA;AAC9C,IAAA,MAAMwB,SAAoB,EAAE;AAC5B,IAAA,MAAM+C,OAAO,IAAI7C,GAAAA,EAAAA;IACjB,KAAK,MAAM8C,SAASxE,MAAQ,CAAA;QAC1B,MAAMyE,GAAAA,GAAM,CAAGnB,EAAAA,IAAAA,CAAKoB,KAAK,CAACF,KAAMG,CAAAA,CAAC,GAAG,MAAA,CAAA,CAAQ,CAAC,EAAErB,IAAKoB,CAAAA,KAAK,CAACF,KAAMI,CAAAA,CAAC,GAAG,MAAA,CAAA,CAAQ,CAAC,EAAEtB,IAAKoB,CAAAA,KAAK,CAACF,KAAAA,CAAMK,CAAC,GAAG,MAAS,CAAA,CAAA,CAAA;AAC7G,QAAA,IAAI,CAACN,IAAAA,CAAKvC,GAAG,CAACyC,GAAM,CAAA,EAAA;AAClBF,YAAAA,IAAAA,CAAKtC,GAAG,CAACwC,GAAAA,CAAAA;AACTjD,YAAAA,MAAAA,CAAOd,IAAI,CAAC8D,KAAAA,CAAAA;AACd;AACF;IACA,OAAOhD,MAAAA;AACT;AAEA,SAASnB,eAAgBL,CAAAA,MAA0B,EAAEM,eAAuB,EAAEC,MAAc,EAAA;AAC1F,IAAA,MAAMuE,UAAUC,mBAAoB/E,CAAAA,MAAAA,EAAQsD,IAAKY,CAAAA,GAAG,CAAC,CAAG5D,EAAAA,eAAAA,CAAAA,CAAAA;IACxD,IAAIwE,OAAAA,CAAQ5E,MAAM,GAAG,CAAG,EAAA;QACtB,OAAO,IAAA;AACT;AACA,IAAA,MAAM8E,QAAQC,mBAAoBH,CAAAA,OAAAA,CAAAA;IAClC,IAAIE,KAAAA,CAAM9E,MAAM,GAAG,CAAG,EAAA;QACpB,OAAO,IAAA;AACT;AACA,IAAA,MAAMO,SAASyE,WAAYF,CAAAA,KAAAA,CAAAA;AAC3B,IAAA,IAAIzE,SAAS,CAAG,EAAA;QACd,KAAK,MAAM4E,SAAS1E,MAAQ,CAAA;AAC1B0E,YAAAA,KAAAA,CAAMC,QAAQ,IAAI7E,MAAAA;AACpB;AACF;IACA,OAAO;AACLC,QAAAA,QAAAA,EAAUsE,QAAQO,GAAG,CAAC,CAACb,KAAAA,GAAUA,MAAMc,KAAK,EAAA,CAAA;AAC5C7E,QAAAA,MAAAA;AACA8E,QAAAA,KAAAA,EAAOC,iBAAiBV,OAASrE,EAAAA,MAAAA;AACnC,KAAA;AACF;AAEA,SAASsE,mBAAAA,CAAoB/E,MAA0B,EAAEyF,QAAgB,EAAA;IACvE,IAAIzF,MAAAA,CAAOE,MAAM,IAAIuF,QAAU,EAAA;QAC7B,OAAO;AAAIzF,YAAAA,GAAAA;AAAO,SAAA;AACpB;AACA,IAAA,MAAM0F,OAAOC,qBAAsBF,CAAAA,QAAAA,CAAAA;AACnC,IAAA,MAAMG,WAAsB,EAAE;AAC9B,IAAA,MAAMC,UAAU,IAAInE,GAAAA,EAAAA;IACpB,KAAK,MAAMoE,OAAOJ,IAAM,CAAA;AACtB,QAAA,IAAIK,YAAY,EAAC;AACjB,QAAA,IAAIC,UAAU,CAACC,QAAAA;AACf,QAAA,IAAK,IAAIzC,CAAI,GAAA,CAAA,EAAGA,IAAIxD,MAAOE,CAAAA,MAAM,EAAEsD,CAAK,EAAA,CAAA;AACtC,YAAA,MAAM0C,IAAI9B,OAAQ+B,CAAAA,GAAG,CAACnG,MAAM,CAACwD,EAAE,EAAEsC,GAAAA,CAAAA;AACjC,YAAA,IAAII,IAAIF,OAAS,EAAA;gBACfA,OAAUE,GAAAA,CAAAA;gBACVH,SAAYvC,GAAAA,CAAAA;AACd;AACF;AACA,QAAA,IAAIuC,aAAa,CAAK,IAAA,CAACF,OAAQ7D,CAAAA,GAAG,CAAC+D,SAAY,CAAA,EAAA;AAC7CF,YAAAA,OAAAA,CAAQ5D,GAAG,CAAC8D,SAAAA,CAAAA;AACZH,YAAAA,QAAAA,CAASlF,IAAI,CAACV,MAAM,CAAC+F,SAAU,CAAA,CAAA;YAC/B,IAAIH,QAAAA,CAAS1F,MAAM,IAAIuF,QAAU,EAAA;AAC/B,gBAAA;AACF;AACF;AACF;AACA,IAAA,OAAOG,QAAS1F,CAAAA,MAAM,IAAI,CAAA,GAAI0F,QAAW,GAAA;WAAI5F,MAAOoG,CAAAA,KAAK,CAAC,CAAGX,EAAAA,QAAAA;AAAU,KAAA;AACzE;AAEA,SAASE,sBAAsBF,QAAgB,EAAA;AAC7C,IAAA,MAAMC,IAAO,GAAA;QACX,IAAItB,OAAAA,CAAQ,GAAG,CAAG,EAAA,CAAA,CAAA;QAClB,IAAIA,OAAAA,CAAQ,EAAC,EAAG,CAAG,EAAA,CAAA,CAAA;QACnB,IAAIA,OAAAA,CAAQ,GAAG,CAAG,EAAA,CAAA,CAAA;QAClB,IAAIA,OAAAA,CAAQ,CAAG,EAAA,EAAI,EAAA,CAAA,CAAA;QACnB,IAAIA,OAAAA,CAAQ,GAAG,CAAG,EAAA,CAAA,CAAA;QAClB,IAAIA,OAAAA,CAAQ,CAAG,EAAA,CAAA,EAAG,EAAC;AACpB,KAAA;IACD,MAAMiC,KAAAA,GAAQ/C,IAAKY,CAAAA,GAAG,CAAC,CAAA,EAAGZ,KAAKgD,IAAI,CAAChD,IAAKiD,CAAAA,IAAI,CAACd,QAAAA,CAAAA,CAAAA,CAAAA;IAC9C,IAAK,IAAIb,IAAI,CAAGA,EAAAA,CAAAA,GAAIyB,SAASX,IAAKxF,CAAAA,MAAM,GAAGuF,QAAAA,EAAUb,CAAK,EAAA,CAAA;QACxD,MAAM4B,CAAAA,GAAIH,KAAU,KAAA,CAAA,GAAI,CAAI,GAAA,EAAK,GAAC,CAAIzB,GAAAA,CAAAA,IAAMyB,KAAAA,GAAQ,CAAA,CAAA;QACpD,MAAMI,CAAAA,GAAInD,KAAKiD,IAAI,CAACjD,KAAKY,GAAG,CAAC,CAAG,EAAA,CAAA,GAAIsC,CAAIA,GAAAA,CAAAA,CAAAA,CAAAA;QACxC,IAAK,IAAI7B,CAAI,GAAA,CAAA,EAAGA,CAAI0B,GAAAA,KAAAA,GAAQ,KAAKX,IAAKxF,CAAAA,MAAM,GAAGuF,QAAAA,EAAUd,CAAK,EAAA,CAAA;YAC5D,MAAM+B,CAAAA,GAAI,CAAML,IAAAA,QAAQ,CAAA,CAAA,GAAM/C,IAAKqD,CAAAA,EAAE,GAAG,CAAA;AACxCjB,YAAAA,IAAAA,CAAKhF,IAAI,CAAC,IAAI0D,OAAAA,CAAQd,IAAKsD,CAAAA,GAAG,CAACF,CAAAA,CAAAA,GAAKD,CAAGD,EAAAA,CAAAA,EAAGlD,IAAKuD,CAAAA,GAAG,CAACH,CAAKD,CAAAA,GAAAA,CAAAA,CAAAA,CAAAA;AAC1D;AACF;IACA,OAAOf,IAAAA;AACT;AAEA,SAAST,oBAAoBjF,MAA0B,EAAA;AACrD,IAAA,MAAM8G,SAAS,IAAI1C,OAAAA,EAAAA;IACnB,KAAK,MAAMI,SAASxE,MAAQ,CAAA;QAC1BoE,OAAQnC,CAAAA,GAAG,CAAC6E,MAAAA,EAAQtC,KAAOsC,EAAAA,MAAAA,CAAAA;AAC7B;AACA1C,IAAAA,OAAAA,CAAQ2C,KAAK,CAACD,MAAAA,EAAQ,CAAI9G,GAAAA,MAAAA,CAAOE,MAAM,EAAE4G,MAAAA,CAAAA;AACzC,IAAA,MAAM9B,QAAgB,EAAE;AACxB,IAAA,MAAMgC,WAAW,IAAItF,GAAAA,EAAAA;IACrB,IAAK,IAAI8B,IAAI,CAAGA,EAAAA,CAAAA,GAAIxD,OAAOE,MAAM,GAAG,GAAGsD,CAAK,EAAA,CAAA;QAC1C,IAAK,IAAIyD,IAAIzD,CAAI,GAAA,CAAA,EAAGyD,IAAIjH,MAAOE,CAAAA,MAAM,GAAG,CAAA,EAAG+G,CAAK,EAAA,CAAA;YAC9C,IAAK,IAAInD,IAAImD,CAAI,GAAA,CAAA,EAAGnD,IAAI9D,MAAOE,CAAAA,MAAM,EAAE4D,CAAK,EAAA,CAAA;gBAC1C,MAAMoD,EAAAA,GAAK9C,OAAQ+C,CAAAA,GAAG,CAACnH,MAAM,CAACiH,CAAE,CAAA,EAAEjH,MAAM,CAACwD,CAAE,CAAA,CAAA;gBAC3C,MAAM4D,EAAAA,GAAKhD,OAAQ+C,CAAAA,GAAG,CAACnH,MAAM,CAAC8D,CAAE,CAAA,EAAE9D,MAAM,CAACwD,CAAE,CAAA,CAAA;AAC3C,gBAAA,MAAM6D,MAASjD,GAAAA,OAAAA,CAAQkD,KAAK,CAACJ,EAAIE,EAAAA,EAAAA,CAAAA;gBACjC,MAAMG,GAAAA,GAAMF,OAAOG,SAAS;AAC5B,gBAAA,IAAID,OAAOpI,GAAK,EAAA;AACd,oBAAA;AACF;AACAiF,gBAAAA,OAAAA,CAAQ2C,KAAK,CAACM,MAAQ,EAAA,CAAA,GAAIE,GAAKF,EAAAA,MAAAA,CAAAA;gBAC/B,IAAIjC,QAAAA,GAAW,CAAChB,OAAQ+B,CAAAA,GAAG,CAACkB,MAAQrH,EAAAA,MAAM,CAACwD,CAAE,CAAA,CAAA;AAC7C,gBAAA,IAAIY,QAAQ+B,GAAG,CAACkB,MAAQP,EAAAA,MAAAA,CAAAA,GAAU1B,WAAW,CAAG,EAAA;AAC9ChB,oBAAAA,OAAAA,CAAQ2C,KAAK,CAACM,MAAQ,EAAA,EAAIA,EAAAA,MAAAA,CAAAA;AAC1BjC,oBAAAA,QAAAA,GAAW,CAAChB,OAAQ+B,CAAAA,GAAG,CAACkB,MAAQrH,EAAAA,MAAM,CAACwD,CAAE,CAAA,CAAA;AAC3C;AACA,gBAAA,IAAIiE,KAAQ,GAAA,IAAA;AACZ,gBAAA,IAAK,IAAItD,CAAI,GAAA,CAAA,EAAGA,IAAInE,MAAOE,CAAAA,MAAM,EAAEiE,CAAK,EAAA,CAAA;AACtC,oBAAA,IAAIA,CAAMX,KAAAA,CAAAA,IAAKW,CAAM8C,KAAAA,CAAAA,IAAK9C,MAAML,CAAG,EAAA;AACjC,wBAAA;AACF;oBACA,IAAIM,OAAAA,CAAQ+B,GAAG,CAACkB,MAAAA,EAAQrH,MAAM,CAACmE,CAAAA,CAAE,CAAIiB,GAAAA,QAAAA,GAAW,IAAM,EAAA;wBACpDqC,KAAQ,GAAA,KAAA;AACR,wBAAA;AACF;AACF;AACA,gBAAA,IAAI,CAACA,KAAO,EAAA;AACV,oBAAA;AACF;gBACA,MAAMhD,GAAAA,GAAMiD,SAASL,MAAQjC,EAAAA,QAAAA,CAAAA;gBAC7B,IAAI4B,QAAAA,CAAShF,GAAG,CAACyC,GAAM,CAAA,EAAA;AACrB,oBAAA;AACF;AACAuC,gBAAAA,QAAAA,CAAS/E,GAAG,CAACwC,GAAAA,CAAAA;AACbO,gBAAAA,KAAAA,CAAMtE,IAAI,CAAC;oBAAEgG,CAAGlD,EAAAA,CAAAA;oBAAGmE,CAAGV,EAAAA,CAAAA;oBAAGW,CAAG9D,EAAAA,CAAAA;AAAGuD,oBAAAA,MAAAA,EAAQA,OAAO/B,KAAK,EAAA;AAAIF,oBAAAA;AAAS,iBAAA,CAAA;AAClE;AACF;AACF;IACA,OAAOJ,KAAAA;AACT;AAEA,SAASE,YAAYF,KAAsB,EAAA;AACzC,IAAA,MAAMvE,SAAgC,EAAE;IACxC,KAAK,MAAMoH,QAAQ7C,KAAO,CAAA;AACxB,QAAA,IACEvE,MAAOqH,CAAAA,IAAI,CACT,CAAC3C,KACC7B,GAAAA,IAAAA,CAAKyE,GAAG,CAAC3D,OAAQ+B,CAAAA,GAAG,CAAChB,KAAAA,CAAMkC,MAAM,EAAEQ,IAAKR,CAAAA,MAAM,CAAI,GAAA,CAAA,CAAA,GAAK,IACvD/D,IAAAA,IAAAA,CAAKyE,GAAG,CAAC5C,KAAMC,CAAAA,QAAQ,GAAGyC,IAAAA,CAAKzC,QAAQ,CAAA,GAAI,IAE/C,CAAA,EAAA;AACA,YAAA;AACF;AACA3E,QAAAA,MAAAA,CAAOC,IAAI,CAAC;YAAE2G,MAAQQ,EAAAA,IAAAA,CAAKR,MAAM,CAAC/B,KAAK,EAAA;AAAIF,YAAAA,QAAAA,EAAUyC,KAAKzC;AAAS,SAAA,CAAA;AACrE;IACA,OAAO3E,MAAAA;AACT;AAEA,SAAS+E,gBAAAA,CACPhF,QAA4B,EAC5BC,MAAsC,EAAA;AAEtC,IAAA,MAAMe,SAAmB,EAAE;AAC3B,IAAA,MAAM+C,OAAO,IAAI7C,GAAAA,EAAAA;IACjB,IAAK,IAAI8B,IAAI,CAAGA,EAAAA,CAAAA,GAAIhD,SAASN,MAAM,GAAG,GAAGsD,CAAK,EAAA,CAAA;QAC5C,IAAK,IAAIyD,IAAIzD,CAAI,GAAA,CAAA,EAAGyD,IAAIzG,QAASN,CAAAA,MAAM,EAAE+G,CAAK,EAAA,CAAA;AAC5C,YAAA,MAAMe,gBAAmBvH,GAAAA,MAAAA,CAAOwH,MAAM,CAAC,CAACC,KAAO/C,EAAAA,KAAAA,GAAAA;AAC7C,gBAAA,MAAMgD,EAAK7E,GAAAA,IAAAA,CAAKyE,GAAG,CAAC3D,QAAQ+B,GAAG,CAAChB,KAAMkC,CAAAA,MAAM,EAAE7G,QAAQ,CAACgD,CAAE,CAAA,CAAA,GAAI2B,MAAMC,QAAQ,CAAA;AAC3E,gBAAA,MAAMgD,EAAK9E,GAAAA,IAAAA,CAAKyE,GAAG,CAAC3D,QAAQ+B,GAAG,CAAChB,KAAMkC,CAAAA,MAAM,EAAE7G,QAAQ,CAACyG,CAAE,CAAA,CAAA,GAAI9B,MAAMC,QAAQ,CAAA;AAC3E,gBAAA,OAAO8C,SAASC,EAAAA,GAAK,QAAQC,EAAK,GAAA,IAAA,GAAO,IAAI,CAAA,CAAA;aAC5C,EAAA,CAAA,CAAA;AACH,YAAA,IAAIJ,mBAAmB,CAAG,EAAA;AACxB,gBAAA;AACF;AACA,YAAA,MAAMvD,GAAM,GAAA,CAAA,EAAGjB,CAAE,CAAA,CAAC,EAAEyD,CAAG,CAAA,CAAA;AACvB,YAAA,IAAI,CAAC1C,IAAAA,CAAKvC,GAAG,CAACyC,GAAM,CAAA,EAAA;AAClBF,gBAAAA,IAAAA,CAAKtC,GAAG,CAACwC,GAAAA,CAAAA;gBACTjD,MAAOd,CAAAA,IAAI,CAAC8C,CAAGyD,EAAAA,CAAAA,CAAAA;AACjB;AACF;AACF;IACA,OAAOzF,MAAAA;AACT;AAEA,SAASkG,QAAAA,CAASL,MAAe,EAAEjC,QAAgB,EAAA;AACjD,IAAA,OAAO,CAAG9B,EAAAA,IAAAA,CAAKoB,KAAK,CAAC2C,OAAO1C,CAAC,GAAG,KAAO,CAAA,CAAA,CAAC,EAAErB,IAAAA,CAAKoB,KAAK,CAAC2C,OAAOzC,CAAC,GAAG,KAAO,CAAA,CAAA,CAAC,EAAEtB,IAAAA,CAAKoB,KAAK,CAAC2C,OAAOxC,CAAC,GAAG,KAAO,CAAA,CAAA,CAAC,EAAEvB,IAAAA,CAAKoB,KAAK,CAACU,WAAW,KAAQ,CAAA,CAAA,CAAA;AAC1I;;;;"}

package/dist/animation/joint_dynamics/joint_dynamics_system.js

@@ -96,34 +96,72 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
         this._bindPose = new WeakMap();
         const rootPoints = [];
         const boneNodes = [];
+        const boneToNode = new Map();
         const pointTransforms = [];
-        let index = 0;
+        const nodeToBone = new Map();
+        const nodeToDepth = new Map();
         for (const chain of config.chainConfig.chains){
             const chainNodes = this.collectChainNodes(chain.start, chain.end);
+            let previous = null;
             for(let i = 0; i < chainNodes.length; i++){
                 const node = chainNodes[i];
-                this._bindPose.set(node, {
-                    position: node.position.clone(),
-                    rotation: node.rotation.clone(),
-                    scale: node.scale.clone()
-                });
-                const boneNode = {
-                    index: index++,
-                    position: node.getWorldPosition(),
-                    children: [],
-                    isFixed: i === 0,
-                    depth: i
-                };
-                boneNodes.push(boneNode);
-                pointTransforms.push(createTransformAccess(node));
-                if (i > 0) {
-                    boneNodes[boneNodes.length - 2].children.push(boneNode);
+                let boneNode = nodeToBone.get(node);
+                if (!boneNode) {
+                    this._bindPose.set(node, {
+                        position: node.position.clone(),
+                        rotation: node.rotation.clone(),
+                        scale: node.scale.clone()
+                    });
+                    boneNode = {
+                        index: boneNodes.length,
+                        position: node.getWorldPosition(),
+                        children: [],
+                        isFixed: i === 0,
+                        depth: i
+                    };
+                    nodeToBone.set(node, boneNode);
+                    nodeToDepth.set(node, i);
+                    boneNodes.push(boneNode);
+                    boneToNode.set(boneNode, node);
+                } else {
+                    const depth = nodeToDepth.get(node) ?? boneNode.depth;
+                    if (i < depth) {
+                        boneNode.depth = i;
+                        nodeToDepth.set(node, i);
+                    }
+                    boneNode.isFixed = boneNode.isFixed || i === 0;
                 }
-                if (i === 0) {
+                if (previous && !previous.children.includes(boneNode)) {
+                    previous.children.push(boneNode);
+                    const rootIndex = rootPoints.indexOf(boneNode);
+                    if (rootIndex !== -1) {
+                        rootPoints.splice(rootIndex, 1);
+                    }
+                } else if (!previous && !rootPoints.includes(boneNode)) {
                     rootPoints.push(boneNode);
                 }
+                previous = boneNode;
             }
         }
+        const orderedBoneNodes = [];
+        const visitedBoneNodes = new Set();
+        const orderBoneNode = (boneNode)=>{
+            if (visitedBoneNodes.has(boneNode)) {
+                return;
+            }
+            visitedBoneNodes.add(boneNode);
+            boneNode.index = orderedBoneNodes.length;
+            orderedBoneNodes.push(boneNode);
+            for (const child of boneNode.children){
+                orderBoneNode(child);
+            }
+        };
+        for (const root of rootPoints){
+            orderBoneNode(root);
+        }
+        boneNodes.length = 0;
+        boneNodes.push(...orderedBoneNodes);
+        pointTransforms.push(...boneNodes.map((boneNode)=>createTransformAccess(boneToNode.get(boneNode))));
         const systemRoot = createTransformAccess(config.chainConfig.systemRoot);
         const defaultConfig = this.getDefaultControllerConfig();
         const controllerConfig = {
@@ -407,7 +445,7 @@ const _defaultTA = createTransformAccess(new SceneNode(null), false);
                 limitFromRoot: false
             },
             enableBroadPhase: false,
-            preserveTwist: false,
+            preserveTwist: true,
             curves: {
                 gravityScale: InterpolatorScalar.constant(1),
                 windForceScale: InterpolatorScalar.constant(1),