@zephyr3d/scene 0.9.5 → 0.9.7

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

@@ -1 +1 @@
-{"version":3,"file":"solver.js","sources":["../../../src/animation/joint_dynamics/solver.ts"],"sourcesContent":["// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nimport {\r\n  Quaternion,\r\n  Vector3,\r\n  Matrix4x4,\r\n  degree2radian,\r\n  radian2degree,\r\n  clamp01,\r\n  smoothStep\r\n} from '@zephyr3d/base';\r\nimport {\r\n  EPSILON,\r\n  ConstraintType,\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} from './types';\r\nimport {\r\n  pushoutFromSphere,\r\n  pushoutFromCapsule,\r\n  pushInFromSphere,\r\n  pushInFromCapsule,\r\n  collisionDetection,\r\n  checkSurfaceCollision,\r\n  type CollisionResult,\r\n  type SurfaceCheckResult\r\n} from './collision';\r\n\r\nconst AXIS_Y = new Vector3(0, 1, 0);\r\nconst VEC3_ONE = new Vector3(1, 1, 1);\r\nconst _computeCapsuleAxis = new Vector3();\r\nconst _computeCapsuleHalfDir = new Vector3();\r\nconst _applySystemTransformOffset = new Vector3();\r\nconst _applySystemTransformRotated = new Vector3();\r\nconst _broadPhaseSegmentDir = new Vector3();\r\nconst _broadPhaseToCenter = new Vector3();\r\nconst _broadPhaseClosestPoint = new Vector3();\r\nconst _broadPhaseDelta = new Vector3();\r\n\r\n/**\r\n * Parameters for a single simulation step.\r\n *\r\n * @public\r\n */\r\nexport interface SimulationParams {\r\n  /** If true, skip force integration (only apply root motion and output positions) */\r\n  isPaused: boolean;\r\n  /** Frame delta time in seconds (will be subdivided by subSteps) */\r\n  stepTime: number;\r\n  /** Number of substeps per frame. Higher = more stable simulation */\r\n  subSteps: number;\r\n  /** Current root bone world position */\r\n  rootPosition: Vector3;\r\n  /** Previous frame's root bone world position (for root motion limiting) */\r\n  previousRootPosition: Vector3;\r\n  /** Max root slide distance per substep. -1 = no limit */\r\n  rootSlideLimit: number;\r\n  /** Current root bone world rotation */\r\n  rootRotation: Quaternion;\r\n  /** Previous frame's root bone world rotation */\r\n  previousRootRotation: Quaternion;\r\n  /** Max root rotation angle (degrees) per substep. -1 = no limit */\r\n  rootRotateLimit: number;\r\n  /** Global wind force vector */\r\n  windForce: Vector3;\r\n  /** Enable triangle-based surface collision */\r\n  enableSurfaceCollision: boolean;\r\n  /** Triangle indices for surface collision (6 per quad: 2 triangles, 3 indices each) */\r\n  surfaceConstraints: number[];\r\n  /** Number of constraint relaxation iterations per substep */\r\n  relaxation: number;\r\n  /** Upper limit for horizontal/shear shrink power */\r\n  constraintShrinkLimit: number;\r\n  /** Blend ratio between physics and animation [0-1]. 0 = full physics */\r\n  blendRatio: number;\r\n  /** Enable sinusoidal fake wave on leaf bones */\r\n  isFakeWave: boolean;\r\n  /** Fake wave speed (frequency accumulation rate) */\r\n  fakeWaveSpeed: number;\r\n  /** Fake wave global amplitude */\r\n  fakeWavePower: number;\r\n  /** Current fake wave phase counter (accumulated across frames) */\r\n  fakeWaveCounter: number;\r\n  /** Global scale multiplier for all collider radii */\r\n  collisionScale: number;\r\n  /** Enable broad-phase pruning before precise collision checks */\r\n  enableBroadPhase: boolean;\r\n}\r\n\r\n/**\r\n * Run the full simulation step. Mutates `pointsRW` and `collidersRW` in place.\r\n * Returns `{ positionsToTransform, fakeWaveCounter }`.\r\n *\r\n * @public\r\n */\r\nexport function simulate(\r\n  params: SimulationParams,\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  constraints: readonly Constraint[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  grabbersR: readonly GrabberR[],\r\n  grabbersRW: readonly GrabberRW[],\r\n  movableLimitTargets: readonly Vector3[],\r\n  flatPlanes: readonly FlatPlane[]\r\n): { positionsToTransform: Vector3[]; fakeWaveCounter: number } {\r\n  const pointCount = pointsR.length;\r\n  const positionsToTransform: Vector3[] = new Array(pointCount);\r\n\r\n  let subSteps = params.subSteps;\r\n  if (params.isPaused) {\r\n    subSteps = 1;\r\n  }\r\n\r\n  let fakeWaveFreq = params.fakeWaveCounter;\r\n\r\n  // Root slide offset\r\n  let rootSlideOffset = Vector3.zero();\r\n  const rootDeltaSlide = Vector3.sub(params.rootPosition, params.previousRootPosition);\r\n  const rootDeltaSlideLen = rootDeltaSlide.magnitude;\r\n  if (params.rootSlideLimit >= 0 && rootDeltaSlideLen > params.rootSlideLimit) {\r\n    rootSlideOffset = Vector3.scale(\r\n      rootDeltaSlide,\r\n      (1.0 - params.rootSlideLimit / rootDeltaSlideLen) / subSteps\r\n    );\r\n  }\r\n\r\n  // Root rotation offset\r\n  let rootRotationOffset = Quaternion.identity();\r\n  const rootDeltaRot = Quaternion.multiply(\r\n    params.rootRotation,\r\n    Quaternion.inverse(params.previousRootRotation)\r\n  );\r\n  let rotateAngle = Math.acos(Math.max(-1, Math.min(1, rootDeltaRot.w))) * 2.0 * (180 / Math.PI);\r\n  if (rotateAngle > 180) {\r\n    rotateAngle -= 360;\r\n  }\r\n\r\n  if (params.rootRotateLimit >= 0 && Math.abs(rotateAngle) > params.rootRotateLimit) {\r\n    // Extract the rotation axis from the delta quaternion\r\n    const sinHalf = Math.sqrt(Math.max(0, 1 - rootDeltaRot.w * rootDeltaRot.w));\r\n    let rotateAxis: Vector3;\r\n    if (sinHalf > 0.0001) {\r\n      rotateAxis = new Vector3(rootDeltaRot.x / sinHalf, rootDeltaRot.y / sinHalf, rootDeltaRot.z / sinHalf);\r\n    } else {\r\n      rotateAxis = Vector3.axisPY();\r\n    }\r\n    let angle = rotateAngle > 0 ? rotateAngle - params.rootRotateLimit : rotateAngle + params.rootRotateLimit;\r\n    angle /= subSteps;\r\n    rootRotationOffset = Quaternion.fromAxisAngle(rotateAxis, degree2radian(angle));\r\n  }\r\n\r\n  if (params.isPaused) {\r\n    rootSlideOffset = rootDeltaSlide;\r\n    rootRotationOffset = rootDeltaRot;\r\n  }\r\n\r\n  const stepTime = params.stepTime / subSteps;\r\n\r\n  for (let iSubStep = 1; iSubStep <= subSteps; iSubStep++) {\r\n    const stepDelta = iSubStep / subSteps;\r\n    const stepTime_x2_half = stepTime * stepTime * 0.5;\r\n\r\n    colliderUpdate(collidersR, collidersRW, stepDelta);\r\n    pointUpdatePass1(\r\n      pointsR,\r\n      pointsRW,\r\n      stepDelta,\r\n      stepTime_x2_half,\r\n      rootSlideOffset,\r\n      rootRotationOffset,\r\n      params.rootPosition,\r\n      params.windForce,\r\n      params.isPaused,\r\n      grabbersR,\r\n      grabbersRW,\r\n      movableLimitTargets,\r\n      flatPlanes,\r\n      collidersR,\r\n      collidersRW\r\n    );\r\n\r\n    if (!params.isPaused) {\r\n      fakeWaveFreq += params.fakeWaveSpeed * stepTime;\r\n\r\n      if (params.enableSurfaceCollision) {\r\n        surfaceCollision(pointsRW, collidersR, collidersRW, params.surfaceConstraints);\r\n      }\r\n\r\n      // Push fixed points out of colliders before constraint solving.\r\n      // Fixed points follow animation and cannot be moved by the solver, but if\r\n      // their animated position is inside a collider, the distance constraint will\r\n      // pull free children inward through the surface �?causing the characteristic\r\n      // \"hair flipping outward\" artifact at the back of the head.\r\n      // By temporarily clamping fixed-point positionCurrent to the collider surface\r\n      // before each substep's constraint pass, we ensure constraints operate from\r\n      // a geometrically valid anchor.  The original animated position is restored\r\n      // at the start of the next substep via positionCurrentTransform.\r\n      fixedPointColliderPushout(pointsR, pointsRW, collidersR, collidersRW);\r\n\r\n      for (let iRelax = params.relaxation - 1; iRelax >= 0; --iRelax) {\r\n        constraintUpdate(\r\n          pointsR,\r\n          pointsRW,\r\n          constraints,\r\n          collidersR,\r\n          collidersRW,\r\n          params.constraintShrinkLimit,\r\n          params.enableBroadPhase\r\n        );\r\n      }\r\n\r\n      // After all constraint/collision iterations are done, cancel any residual\r\n      // normal velocity that would push points back into colliders next frame.\r\n      // We compare the final positionCurrent (guaranteed outside all colliders)\r\n      // against positionPrevious (the Verlet integration start point) and zero\r\n      // out the component pointing into each collider.\r\n      postCollisionVelocityFix(pointsR, pointsRW, collidersR, collidersRW);\r\n    }\r\n\r\n    pointUpdatePass2(\r\n      pointsR,\r\n      pointsRW,\r\n      positionsToTransform,\r\n      stepDelta,\r\n      fakeWaveFreq,\r\n      params.blendRatio,\r\n      params.isFakeWave,\r\n      params.fakeWavePower\r\n    );\r\n  }\r\n\r\n  return { positionsToTransform, fakeWaveCounter: fakeWaveFreq };\r\n}\r\n\r\nfunction computeCapsule(\r\n  pos: Vector3,\r\n  rot: Quaternion,\r\n  height: number,\r\n  head: Vector3,\r\n  direction: Vector3\r\n): void {\r\n  rot.transform(Vector3.scale(AXIS_Y, height, _computeCapsuleAxis), direction);\r\n  Vector3.scale(direction, 0.5, _computeCapsuleHalfDir);\r\n  Vector3.sub(pos, _computeCapsuleHalfDir, head);\r\n}\r\n\r\nfunction colliderUpdate(collidersR: readonly ColliderR[], collidersRW: ColliderRW[], stepDelta: number) {\r\n  const curPos = new Vector3();\r\n  const curDir = new Quaternion();\r\n  const corner = new Vector3();\r\n  const center = new Vector3();\r\n  const tailCorner = new Vector3();\r\n  const tailCenter = new Vector3();\r\n  for (let i = 0; i < collidersR.length; i++) {\r\n    const colR = collidersR[i];\r\n    const colRW = collidersRW[i];\r\n    // Scale radius by the uniform world scale of the collider node.\r\n    // Use the average of x/y/z components to handle non-uniform scale gracefully.\r\n    const ws = colRW.worldScale;\r\n    const worldScaleUniform = (ws.x + ws.y + ws.z) / 3;\r\n    colRW.radius = colR.radius * worldScaleUniform;\r\n    colRW.height = colR.height * worldScaleUniform;\r\n\r\n    Vector3.lerp(colRW.positionPreviousTransform, colRW.positionCurrentTransform, stepDelta, curPos);\r\n    Quaternion.slerp(colRW.directionPreviousTransform, colRW.directionCurrentTransform, stepDelta, curDir);\r\n\r\n    computeCapsule(curPos, curDir, colRW.height, colRW.positionCurrent, colRW.directionCurrent);\r\n    if (colRW.height > EPSILON) {\r\n      Vector3.scale(colRW.directionCurrent, 0.5, _computeCapsuleHalfDir);\r\n      Vector3.add(colRW.positionCurrent, _computeCapsuleHalfDir, colRW.boundsCenter);\r\n      colRW.boundsRadius =\r\n        Math.sqrt(colRW.directionCurrent.magnitudeSq) * 0.5 +\r\n        Math.max(colRW.radius, colRW.radius * colR.radiusTailScale);\r\n    } else {\r\n      colRW.boundsCenter.set(colRW.positionCurrent);\r\n      colRW.boundsRadius = colRW.radius;\r\n    }\r\n\r\n    // Update local bounds\r\n    Vector3.scale(VEC3_ONE, colR.radius, corner);\r\n    colRW.worldToLocal.transformPointAffine(colRW.positionCurrent, center);\r\n    Vector3.sub(center, corner, colRW.localBoundsMin);\r\n    Vector3.add(center, corner, colRW.localBoundsMax);\r\n\r\n    if (colRW.height > EPSILON) {\r\n      Vector3.scale(VEC3_ONE, colR.radius * colR.radiusTailScale, tailCorner);\r\n      Vector3.add(colRW.positionCurrent, colRW.directionCurrent, tailCenter);\r\n      colRW.worldToLocal.transformPointAffine(tailCenter, tailCenter);\r\n      colRW.localBoundsMin.setXYZ(\r\n        Math.min(colRW.localBoundsMin.x, tailCenter.x - tailCorner.x),\r\n        Math.min(colRW.localBoundsMin.y, tailCenter.y - tailCorner.y),\r\n        Math.min(colRW.localBoundsMin.z, tailCenter.z - tailCorner.z)\r\n      );\r\n      colRW.localBoundsMax.setXYZ(\r\n        Math.max(colRW.localBoundsMax.x, tailCenter.x + tailCorner.x),\r\n        Math.max(colRW.localBoundsMax.y, tailCenter.y + tailCorner.y),\r\n        Math.max(colRW.localBoundsMax.z, tailCenter.z + tailCorner.z)\r\n      );\r\n    }\r\n  }\r\n}\r\n\r\nfunction applySystemTransform(\r\n  point: Vector3,\r\n  pivot: Vector3,\r\n  slideOffset: Vector3,\r\n  rotOffset: Quaternion,\r\n  result?: Vector3\r\n): Vector3 {\r\n  const rotated = rotOffset.transform(\r\n    Vector3.sub(point, pivot, _applySystemTransformOffset),\r\n    result || _applySystemTransformRotated\r\n  );\r\n  Vector3.add(rotated, pivot, rotated);\r\n  return Vector3.add(rotated, slideOffset, rotated);\r\n}\r\n\r\nfunction pointMayCollideBroadPhase(point: Vector3, colRW: ColliderRW, padding = 0): boolean {\r\n  const radius = colRW.boundsRadius + padding;\r\n  const delta = Vector3.sub(point, colRW.boundsCenter, _broadPhaseDelta);\r\n  return delta.magnitudeSq <= radius * radius;\r\n}\r\n\r\nfunction segmentMayCollideBroadPhase(point1: Vector3, point2: Vector3, colRW: ColliderRW): boolean {\r\n  const segmentDir = Vector3.sub(point2, point1, _broadPhaseSegmentDir);\r\n  const lenSq = segmentDir.magnitudeSq;\r\n  if (lenSq <= EPSILON) {\r\n    return pointMayCollideBroadPhase(point1, colRW);\r\n  }\r\n  const toCenter = Vector3.sub(colRW.boundsCenter, point1, _broadPhaseToCenter);\r\n  const t = clamp01(Vector3.dot(toCenter, segmentDir) / lenSq);\r\n  const closestPoint = Vector3.scale(segmentDir, t, _broadPhaseClosestPoint);\r\n  Vector3.add(point1, closestPoint, closestPoint);\r\n  const delta = Vector3.sub(colRW.boundsCenter, closestPoint, _broadPhaseDelta);\r\n  return delta.magnitudeSq <= colRW.boundsRadius * colRW.boundsRadius;\r\n}\r\n\r\n// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nfunction pointUpdatePass1(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  stepDelta: number,\r\n  stepTime_x2_half: number,\r\n  rootSlideOffset: Vector3,\r\n  rootRotationOffset: Quaternion,\r\n  rootPosition: Vector3,\r\n  windForce: Vector3,\r\n  isPaused: boolean,\r\n  grabbersR: readonly GrabberR[],\r\n  grabbersRW: readonly GrabberRW[],\r\n  movableLimitTargets: readonly Vector3[],\r\n  flatPlanes: readonly FlatPlane[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n) {\r\n  const currentTransformPos = new Vector3();\r\n  const moveDir = new Vector3();\r\n  const extForce = new Vector3();\r\n  const displacement = new Vector3();\r\n  const restore = new Vector3();\r\n  const tempVec0 = new Vector3();\r\n  const tempVec1 = new Vector3();\r\n  const planeOffset = new Vector3();\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n\r\n    Vector3.lerp(\r\n      ptRW.positionPreviousTransform,\r\n      ptRW.positionCurrentTransform,\r\n      stepDelta,\r\n      currentTransformPos\r\n    );\r\n\r\n    if (ptR.weight <= EPSILON) {\r\n      ptRW.positionPrevious.set(ptRW.positionCurrent);\r\n      ptRW.positionCurrent.set(currentTransformPos);\r\n    } else {\r\n      applySystemTransform(\r\n        ptRW.positionPrevious,\r\n        rootPosition,\r\n        rootSlideOffset,\r\n        rootRotationOffset,\r\n        ptRW.positionPrevious\r\n      );\r\n      applySystemTransform(\r\n        ptRW.positionCurrent,\r\n        rootPosition,\r\n        rootSlideOffset,\r\n        rootRotationOffset,\r\n        ptRW.positionCurrent\r\n      );\r\n\r\n      displacement.setXYZ(0, 0, 0);\r\n      if (!isPaused) {\r\n        Vector3.sub(ptRW.positionCurrent, ptRW.positionPrevious, moveDir);\r\n        Vector3.scale(windForce, ptR.windForceScale / ptR.mass, extForce);\r\n        Vector3.add(ptR.gravity, extForce, extForce);\r\n        Vector3.scale(extForce, stepTime_x2_half, extForce);\r\n\r\n        // Clamp the per-step force displacement to half the bone's rest length.\r\n        // Without this, large gravity values (e.g. -50 in world space) produce a\r\n        // per-step displacement comparable to the bone spacing, which exceeds what\r\n        // the constraint relaxation can correct in one pass and causes surface jitter.\r\n        if (ptR.parentLength > EPSILON) {\r\n          const maxForceDisp = ptR.parentLength * 0.5;\r\n          const forceDispSq = extForce.magnitudeSq;\r\n          if (forceDispSq > maxForceDisp * maxForceDisp) {\r\n            Vector3.scale(extForce, maxForceDisp / Math.sqrt(forceDispSq), extForce);\r\n          }\r\n        }\r\n\r\n        // Apply resistance (damping) only to the velocity term, not to external forces.\r\n        // Applying resistance to gravity would incorrectly attenuate acceleration each frame,\r\n        // causing energy errors and instability under high gravity.\r\n        Vector3.scale(moveDir, ptR.resistance, moveDir);\r\n        Vector3.scale(moveDir, 1.0 - clamp01(ptRW.friction * ptR.frictionScale), moveDir);\r\n\r\n        // Clamp per-step velocity to a multiple of bone rest length.\r\n        // During fast root rotations the Verlet velocity can become very large,\r\n        // overwhelming the constraint solver and causing the hair to lose shape.\r\n        // Limiting velocity keeps the simulation stable regardless of how fast\r\n        // the root moves, while still allowing natural large-amplitude swings.\r\n        if (ptR.parentLength > EPSILON) {\r\n          const maxVelDisp = ptR.parentLength * 2.0;\r\n          const velDispSq = moveDir.magnitudeSq;\r\n          if (velDispSq > maxVelDisp * maxVelDisp) {\r\n            Vector3.scale(moveDir, maxVelDisp / Math.sqrt(velDispSq), moveDir);\r\n          }\r\n        }\r\n\r\n        Vector3.add(moveDir, extForce, displacement);\r\n      }\r\n\r\n      ptRW.positionPrevious.set(ptRW.positionCurrent);\r\n      Vector3.add(ptRW.positionCurrent, displacement, ptRW.positionCurrent);\r\n      ptRW.friction = 0;\r\n\r\n      if (!isPaused) {\r\n        // Hardness restore\r\n        if (ptR.hardness > 0) {\r\n          Vector3.sub(currentTransformPos, ptRW.positionCurrent, restore);\r\n          Vector3.scale(restore, ptR.hardness, restore);\r\n          Vector3.add(ptRW.positionCurrent, restore, ptRW.positionCurrent);\r\n        }\r\n        // Force fade ratio\r\n        if (ptR.forceFadeRatio > 0) {\r\n          Vector3.lerp(ptRW.positionCurrent, currentTransformPos, ptR.forceFadeRatio, ptRW.positionCurrent);\r\n        }\r\n        // Push out of colliders immediately after hardness/fade pulls the point\r\n        // toward the animated position (which may be inside a collider).\r\n        // This prevents the hardness↔collision tug-of-war that causes jitter.\r\n        for (let ci = 0; ci < collidersR.length; ci++) {\r\n          const colRci = collidersR[ci];\r\n          const colRWci = collidersRW[ci];\r\n          if (colRWci.enabled === 0 || colRci.isInverseCollider) {\r\n            continue;\r\n          }\r\n          const hRes =\r\n            colRci.height <= EPSILON\r\n              ? pushoutFromSphere(\r\n                  colRWci.positionCurrent,\r\n                  colRWci.radius,\r\n                  ptR.pointRadius,\r\n                  ptRW.positionCurrent\r\n                )\r\n              : pushoutFromCapsule(colRci, colRWci, ptRW.positionCurrent, ptR);\r\n          if (hRes.hit) {\r\n            ptRW.positionCurrent.set(hRes.point);\r\n          }\r\n        }\r\n        // Grabber\r\n        if (ptRW.grabberIndex !== -1) {\r\n          const grR = grabbersR[ptRW.grabberIndex];\r\n          const grRW = grabbersRW[ptRW.grabberIndex];\r\n          if (grRW.enabled === 0) {\r\n            ptRW.grabberIndex = -1;\r\n          } else {\r\n            Vector3.sub(ptRW.positionCurrent, grRW.position, tempVec0);\r\n            Vector3.normalize(tempVec0, tempVec0);\r\n            Vector3.scale(tempVec0, ptRW.grabberDistance, tempVec1);\r\n            Vector3.add(grRW.position, tempVec1, tempVec1);\r\n            Vector3.sub(tempVec1, ptRW.positionCurrent, tempVec0);\r\n            Vector3.scale(tempVec0, grR.force, tempVec0);\r\n            Vector3.add(ptRW.positionCurrent, tempVec0, ptRW.positionCurrent);\r\n          }\r\n        } else {\r\n          let nearIndex = -1;\r\n          let sqrNearRange = 1000 * 1000;\r\n          for (let ig = 0; ig < grabbersR.length; ig++) {\r\n            const grRW = grabbersRW[ig];\r\n            if (grRW.enabled !== 0) {\r\n              const sqrLen = Vector3.sub(grRW.position, ptRW.positionCurrent, tempVec0).magnitudeSq;\r\n              if (sqrLen < grabbersR[ig].radius * grabbersR[ig].radius && sqrLen < sqrNearRange) {\r\n                sqrNearRange = sqrLen;\r\n                nearIndex = ig;\r\n              }\r\n            }\r\n          }\r\n          if (nearIndex !== -1) {\r\n            ptRW.grabberIndex = nearIndex;\r\n            ptRW.grabberDistance = Math.sqrt(sqrNearRange) / 2.0;\r\n          }\r\n        }\r\n        // Movable limit\r\n        if (ptR.movableLimitIndex !== -1) {\r\n          const target = movableLimitTargets[ptR.movableLimitIndex];\r\n          const move = Vector3.sub(ptRW.positionCurrent, target, tempVec0);\r\n          const moveLen = move.magnitude;\r\n          if (moveLen > ptR.movableLimitRadius) {\r\n            Vector3.scale(move, ptR.movableLimitRadius / moveLen, move);\r\n            Vector3.add(target, move, ptRW.positionCurrent);\r\n          }\r\n        }\r\n      }\r\n\r\n      // Flat plane collision\r\n      for (let i = 0; i < flatPlanes.length; i++) {\r\n        const fp = flatPlanes[i];\r\n        const dist = Vector3.dot(fp.normal, ptRW.positionCurrent) + fp.distance;\r\n        if (dist < 0) {\r\n          Vector3.scale(fp.normal, dist, planeOffset);\r\n          Vector3.sub(ptRW.positionCurrent, planeOffset, ptRW.positionCurrent);\r\n          ptRW.friction = 0.3;\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\n// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nfunction surfaceCollision(\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  surfaceConstraints: readonly number[]\r\n) {\r\n  const surfaceResult: SurfaceCheckResult = {\r\n    hit: false,\r\n    intersectionPoint: new Vector3(),\r\n    pushOut: new Vector3(),\r\n    pointOnCollider: new Vector3(),\r\n    radius: 0\r\n  };\r\n  const triCenter = new Vector3();\r\n  const pushDir = new Vector3();\r\n  const centerToPt = new Vector3();\r\n  const intersectToPt = new Vector3();\r\n  const pushVec = new Vector3();\r\n  for (let index = 0; index < surfaceConstraints.length; index += 6) {\r\n    for (let i = 0; i < collidersR.length; i++) {\r\n      const colR = collidersR[i];\r\n      const colRW = collidersRW[i];\r\n      if (colRW.enabled === 0) {\r\n        continue;\r\n      }\r\n\r\n      const colliderPos = colRW.positionCurrent;\r\n\r\n      for (let j = 0; j < 6; j += 3) {\r\n        const idxA = surfaceConstraints[index + j + 0];\r\n        const idxB = surfaceConstraints[index + j + 1];\r\n        const idxC = surfaceConstraints[index + j + 2];\r\n\r\n        const rwA = pointsRW[idxA];\r\n        const rwB = pointsRW[idxB];\r\n        const rwC = pointsRW[idxC];\r\n\r\n        const result = checkSurfaceCollision(\r\n          rwA.positionCurrent,\r\n          rwB.positionCurrent,\r\n          rwC.positionCurrent,\r\n          colliderPos,\r\n          colR,\r\n          colRW,\r\n          surfaceResult\r\n        );\r\n\r\n        if (result.hit) {\r\n          triCenter.setXYZ(\r\n            (rwA.positionCurrent.x + rwB.positionCurrent.x + rwC.positionCurrent.x) / 3,\r\n            (rwA.positionCurrent.y + rwB.positionCurrent.y + rwC.positionCurrent.y) / 3,\r\n            (rwA.positionCurrent.z + rwB.positionCurrent.z + rwC.positionCurrent.z) / 3\r\n          );\r\n          const pushMag = result.pushOut.magnitude;\r\n          if (pushMag < EPSILON) {\r\n            continue;\r\n          }\r\n          Vector3.scale(result.pushOut, 1 / pushMag, pushDir);\r\n\r\n          for (let k = 0; k < 3; k++) {\r\n            const idxR = surfaceConstraints[index + j + k];\r\n            const rwPt = pointsRW[idxR];\r\n            Vector3.sub(rwPt.positionCurrent, triCenter, centerToPt);\r\n            Vector3.sub(rwPt.positionCurrent, result.intersectionPoint, intersectToPt);\r\n            const intersectLen = intersectToPt.magnitude;\r\n            let rate = intersectLen > EPSILON ? centerToPt.magnitude / intersectLen : 0;\r\n            rate = clamp01(Math.abs(rate));\r\n            Vector3.scale(pushDir, (result.radius - pushMag) * rate, pushVec);\r\n            Vector3.add(rwPt.positionCurrent, pushVec, rwPt.positionCurrent);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\nconst _postFixNormal = new Vector3();\r\nconst _fixedPushResult: CollisionResult = { hit: false, point: new Vector3() };\r\n\r\n/**\r\n * Before constraint solving each substep, push fixed points (weight=0) out of\r\n * any colliders they animate into.  Fixed points normally follow animation\r\n * exactly, but when their animated position lies inside a collider the distance\r\n * constraint pulls free children inward through the surface, producing the\r\n * classic \"hair flipping outward\" artifact.\r\n *\r\n * We clamp positionCurrent to the collider surface so that constraints operate\r\n * from a geometrically valid anchor.  The temporary change is overwritten at the\r\n * start of the next substep when positionCurrent is refreshed from the animation\r\n * transform, so the skeleton itself is never permanently altered.\r\n */\r\nfunction fixedPointColliderPushout(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n): void {\r\n  for (let pi = 0; pi < pointsR.length; pi++) {\r\n    if (pointsR[pi].weight > EPSILON) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[pi];\r\n    const ptR = pointsR[pi];\r\n    for (let ci = 0; ci < collidersR.length; ci++) {\r\n      const colR = collidersR[ci];\r\n      const colRW = collidersRW[ci];\r\n      if (colRW.enabled === 0 || colR.isInverseCollider) {\r\n        continue;\r\n      }\r\n      const res =\r\n        colR.height <= EPSILON\r\n          ? pushoutFromSphere(\r\n              colRW.positionCurrent,\r\n              colRW.radius,\r\n              ptR.pointRadius,\r\n              ptRW.positionCurrent,\r\n              _fixedPushResult\r\n            )\r\n          : pushoutFromCapsule(colR, colRW, ptRW.positionCurrent, ptR, _fixedPushResult);\r\n      if (res.hit) {\r\n        ptRW.positionCurrent.set(res.point);\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\n/**\r\n * Called once per substep after ALL constraint + collision relaxation iterations finish.\r\n * For each dynamic point that is actually touching a collider surface (within radius),\r\n * cancel the normal-direction component of the Verlet velocity from positionPrevious.\r\n * Points far from all colliders are untouched, preserving wind-driven velocity.\r\n */\r\nfunction postCollisionVelocityFix(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n): void {\r\n  for (let pi = 0; pi < pointsR.length; pi++) {\r\n    const ptR = pointsR[pi];\r\n    if (ptR.weight <= EPSILON) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[pi];\r\n\r\n    for (let ci = 0; ci < collidersR.length; ci++) {\r\n      const colR = collidersR[ci];\r\n      const colRW = collidersRW[ci];\r\n      if (colRW.enabled === 0 || colR.isInverseCollider) {\r\n        continue;\r\n      }\r\n\r\n      let nx = 0,\r\n        ny = 0,\r\n        nz = 0;\r\n      if (colR.height <= EPSILON) {\r\n        nx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n        ny = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n        nz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n      } else {\r\n        const capsuleVec = colRW.directionCurrent;\r\n        const capsuleVecLenSq = capsuleVec.magnitudeSq;\r\n        if (capsuleVecLenSq > EPSILON) {\r\n          const tx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n          const ty = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n          const tz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n          const t = Math.max(\r\n            0,\r\n            Math.min(1, (tx * capsuleVec.x + ty * capsuleVec.y + tz * capsuleVec.z) / capsuleVecLenSq)\r\n          );\r\n          nx = ptRW.positionCurrent.x - (colRW.positionCurrent.x + capsuleVec.x * t);\r\n          ny = ptRW.positionCurrent.y - (colRW.positionCurrent.y + capsuleVec.y * t);\r\n          nz = ptRW.positionCurrent.z - (colRW.positionCurrent.z + capsuleVec.z * t);\r\n        } else {\r\n          nx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n          ny = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n          nz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n        }\r\n      }\r\n\r\n      const nLen = Math.sqrt(nx * nx + ny * ny + nz * nz);\r\n      if (nLen < EPSILON) {\r\n        continue;\r\n      }\r\n\r\n      const surfaceDist = nLen - colRW.radius - ptR.pointRadius;\r\n      if (surfaceDist > colRW.radius * 0.05) {\r\n        continue;\r\n      }\r\n\r\n      _postFixNormal.setXYZ(nx / nLen, ny / nLen, nz / nLen);\r\n      const vx = ptRW.positionCurrent.x - ptRW.positionPrevious.x;\r\n      const vy = ptRW.positionCurrent.y - ptRW.positionPrevious.y;\r\n      const vz = ptRW.positionCurrent.z - ptRW.positionPrevious.z;\r\n      const vDotN = vx * _postFixNormal.x + vy * _postFixNormal.y + vz * _postFixNormal.z;\r\n      if (vDotN < 0) {\r\n        ptRW.positionPrevious.x += _postFixNormal.x * vDotN;\r\n        ptRW.positionPrevious.y += _postFixNormal.y * vDotN;\r\n        ptRW.positionPrevious.z += _postFixNormal.z * vDotN;\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\nfunction constraintUpdate(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  constraints: readonly Constraint[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  constraintShrinkLimit: number,\r\n  enableBroadPhase: boolean\r\n) {\r\n  const direction = new Vector3();\r\n  const dirN = new Vector3();\r\n  const disp = new Vector3();\r\n  const scaledDisp = new Vector3();\r\n  const pointResultA: CollisionResult = { hit: false, point: new Vector3() };\r\n  const pointResultB: CollisionResult = { hit: false, point: new Vector3() };\r\n  const lineResult = {\r\n    hit: false,\r\n    pointOnLine: new Vector3(),\r\n    pointOnCollider: new Vector3(),\r\n    radius: 0\r\n  };\r\n  const pushout = new Vector3();\r\n  const segment = new Vector3();\r\n  const pointToA = new Vector3();\r\n  const pointToB = new Vector3();\r\n  const pushN = new Vector3();\r\n  const pushVec = new Vector3();\r\n  for (let index = 0; index < constraints.length; index++) {\r\n    const c = constraints[index];\r\n    const ptRA = pointsR[c.indexA];\r\n    const ptRB = pointsR[c.indexB];\r\n    const weightA = ptRA.weight;\r\n    const weightB = ptRB.weight;\r\n    if (weightA <= EPSILON && weightB <= EPSILON) {\r\n      continue;\r\n    }\r\n\r\n    const rwA = pointsRW[c.indexA];\r\n    const rwB = pointsRW[c.indexB];\r\n\r\n    Vector3.sub(rwB.positionCurrent, rwA.positionCurrent, direction);\r\n    const distance = direction.magnitude;\r\n\r\n    let shrinkLen = c.length;\r\n    let stretchLen = shrinkLen;\r\n    if (\r\n      c.type === ConstraintType.Structural_Horizontal ||\r\n      c.type === ConstraintType.Bending_Horizontal ||\r\n      c.type === ConstraintType.Shear\r\n    ) {\r\n      stretchLen += ptRA.sliderJointLength + ptRB.sliderJointLength;\r\n    }\r\n\r\n    let force = 0;\r\n    if (distance <= shrinkLen) {\r\n      force = distance - shrinkLen;\r\n    } else if (distance >= stretchLen) {\r\n      force = distance - stretchLen;\r\n    }\r\n\r\n    const isShrink = force >= 0;\r\n    let power = 0;\r\n    switch (c.type) {\r\n      case ConstraintType.Structural_Vertical:\r\n        power = isShrink\r\n          ? ptRA.structuralShrinkVertical + ptRB.structuralShrinkVertical\r\n          : ptRA.structuralStretchVertical + ptRB.structuralStretchVertical;\r\n        break;\r\n      case ConstraintType.Structural_Horizontal:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.structuralShrinkHorizontal + ptRB.structuralShrinkHorizontal)\r\n          : ptRA.structuralStretchHorizontal + ptRB.structuralStretchHorizontal;\r\n        break;\r\n      case ConstraintType.Shear:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.shearShrink + ptRB.shearShrink)\r\n          : ptRA.shearStretch + ptRB.shearStretch;\r\n        break;\r\n      case ConstraintType.Bending_Vertical:\r\n        power = isShrink\r\n          ? ptRA.bendingShrinkVertical + ptRB.bendingShrinkVertical\r\n          : ptRA.bendingStretchVertical + ptRB.bendingStretchVertical;\r\n        break;\r\n      case ConstraintType.Bending_Horizontal:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.bendingShrinkHorizontal + ptRB.bendingShrinkHorizontal)\r\n          : ptRA.bendingStretchHorizontal + ptRB.bendingStretchHorizontal;\r\n        break;\r\n    }\r\n\r\n    if (power > 0) {\r\n      if (distance > EPSILON) {\r\n        Vector3.scale(direction, 1 / distance, dirN);\r\n      } else {\r\n        dirN.setXYZ(0, 0, 0);\r\n      }\r\n      Vector3.scale(dirN, force * power, disp);\r\n      const wAB = weightA + weightB;\r\n      Vector3.scale(disp, weightA / wAB, scaledDisp);\r\n      Vector3.add(rwA.positionCurrent, scaledDisp, rwA.positionCurrent);\r\n      Vector3.scale(disp, weightB / wAB, scaledDisp);\r\n      Vector3.sub(rwB.positionCurrent, scaledDisp, rwB.positionCurrent);\r\n    }\r\n\r\n    // Per-constraint collision\r\n    if (c.isCollision !== 0) {\r\n      let friction = 0;\r\n      for (let i = 0; i < collidersR.length; i++) {\r\n        const colRW = collidersRW[i];\r\n        if (colRW.enabled === 0) {\r\n          continue;\r\n        }\r\n        const colR = collidersR[i];\r\n        const canPointA =\r\n          !enableBroadPhase ||\r\n          colR.isInverseCollider ||\r\n          pointMayCollideBroadPhase(rwA.positionCurrent, colRW, ptRA.pointRadius);\r\n        const canPointB =\r\n          !enableBroadPhase ||\r\n          colR.isInverseCollider ||\r\n          pointMayCollideBroadPhase(rwB.positionCurrent, colRW, ptRB.pointRadius);\r\n        const canLine =\r\n          !colR.isInverseCollider &&\r\n          (!enableBroadPhase || segmentMayCollideBroadPhase(rwA.positionCurrent, rwB.positionCurrent, colRW));\r\n\r\n        if (!canPointA && !canPointB && !canLine) {\r\n          continue;\r\n        }\r\n\r\n        if (colR.height > EPSILON) {\r\n          if (colR.isInverseCollider) {\r\n            if (ptRA.applyInvertCollision === 1 && canPointA) {\r\n              const res = pushInFromCapsule(colR, colRW, rwA.positionCurrent, pointResultA);\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (ptRB.applyInvertCollision === 1 && canPointB) {\r\n              const res = pushInFromCapsule(colR, colRW, rwB.positionCurrent, pointResultB);\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          } else {\r\n            if (canPointA) {\r\n              const res = pushoutFromCapsule(colR, colRW, rwA.positionCurrent, ptRA, pointResultA);\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (canPointB) {\r\n              const res = pushoutFromCapsule(colR, colRW, rwB.positionCurrent, ptRB, pointResultB);\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          }\r\n        } else {\r\n          if (colR.isInverseCollider) {\r\n            if (ptRA.applyInvertCollision === 1 && canPointA) {\r\n              const res = pushInFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                rwA.positionCurrent,\r\n                pointResultA\r\n              );\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (ptRB.applyInvertCollision === 1 && canPointB) {\r\n              const res = pushInFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                rwB.positionCurrent,\r\n                pointResultB\r\n              );\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          } else {\r\n            if (canPointA) {\r\n              const res = pushoutFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                ptRA.pointRadius,\r\n                rwA.positionCurrent,\r\n                pointResultA\r\n              );\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (canPointB) {\r\n              const res = pushoutFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                ptRB.pointRadius,\r\n                rwB.positionCurrent,\r\n                pointResultB\r\n              );\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          }\r\n        }\r\n\r\n        // Line segment collision\r\n        if (!colR.isInverseCollider && canLine) {\r\n          const lineRes = collisionDetection(\r\n            colR,\r\n            colRW,\r\n            rwA.positionCurrent,\r\n            rwB.positionCurrent,\r\n            lineResult\r\n          );\r\n          if (lineRes.hit) {\r\n            Vector3.sub(lineRes.pointOnLine, lineRes.pointOnCollider, pushout);\r\n            const pushDist = pushout.magnitude;\r\n            if (pushDist > EPSILON) {\r\n              const ptDist = Vector3.sub(rwB.positionCurrent, rwA.positionCurrent, segment).magnitude * 0.5;\r\n              const rateP1 =\r\n                ptDist > EPSILON\r\n                  ? clamp01(\r\n                      Vector3.sub(lineRes.pointOnLine, rwA.positionCurrent, pointToA).magnitude / ptDist\r\n                    )\r\n                  : 0;\r\n              const rateP2 =\r\n                ptDist > EPSILON\r\n                  ? clamp01(\r\n                      Vector3.sub(lineRes.pointOnLine, rwB.positionCurrent, pointToB).magnitude / ptDist\r\n                    )\r\n                  : 0;\r\n              Vector3.scale(pushout, 1 / pushDist, pushN);\r\n              Vector3.scale(pushN, Math.max(lineRes.radius - pushDist, 0), pushVec);\r\n              if (weightA > EPSILON) {\r\n                Vector3.scale(pushVec, rateP2, scaledDisp);\r\n                Vector3.add(rwA.positionCurrent, scaledDisp, rwA.positionCurrent);\r\n              }\r\n              if (weightB > EPSILON) {\r\n                Vector3.scale(pushVec, rateP1, scaledDisp);\r\n                Vector3.add(rwB.positionCurrent, scaledDisp, rwB.positionCurrent);\r\n              }\r\n\r\n              const dotUp = Vector3.dot(AXIS_Y, Vector3.normalize(pushout, pushN));\r\n              friction = Math.max(friction, colR.friction * clamp01(dotUp));\r\n            }\r\n          }\r\n        }\r\n      }\r\n      rwA.friction = Math.max(friction, rwA.friction);\r\n      rwB.friction = Math.max(friction, rwB.friction);\r\n    }\r\n  }\r\n}\r\n\r\nfunction pointUpdatePass2(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  positionsToTransform: Vector3[],\r\n  stepDelta: number,\r\n  fakeWaveFreq: number,\r\n  blendRatio: number,\r\n  isFakeWave: boolean,\r\n  fakeWavePower: number\r\n) {\r\n  let freq = fakeWaveFreq;\r\n  const curTransformPos = new Vector3();\r\n  const fakeWindOffset = new Vector3();\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n\r\n    Vector3.lerp(ptRW.positionPreviousTransform, ptRW.positionCurrentTransform, stepDelta, curTransformPos);\r\n    const blend = smoothStep(0, 1, Math.max(ptR.forceFadeRatio, blendRatio));\r\n    Vector3.lerp(ptRW.positionCurrent, curTransformPos, blend, ptRW.positionToTransform);\r\n\r\n    if (isFakeWave && ptR.child === -1 && ptR.parent !== -1) {\r\n      const A = pointsRW[ptR.parent].positionToTransform;\r\n      const B = ptRW.positionToTransform;\r\n      const mAxis = Matrix4x4.lookAt(A, B, AXIS_Y);\r\n      // Column 1 = up axis of the look-at matrix\r\n      const col1 = mAxis.getCol(1).xyz();\r\n      Vector3.lerp(ptRW.fakeWindDirection, col1, 0.5, ptRW.fakeWindDirection);\r\n\r\n      freq += ptR.fakeWaveFreq;\r\n      const power = Math.sin(freq) * fakeWavePower * ptR.fakeWavePower;\r\n      Vector3.scale(ptRW.fakeWindDirection, power, fakeWindOffset);\r\n      Vector3.add(ptRW.positionToTransform, fakeWindOffset, ptRW.positionToTransform);\r\n    }\r\n\r\n    positionsToTransform[index] = ptRW.positionToTransform.clone();\r\n  }\r\n}\r\n\r\n/**\r\n * Output of applying the simulated result back to transforms.\r\n *\r\n * @public\r\n */\r\nexport interface ApplyResultOutput {\r\n  position: Vector3;\r\n  rotation: Quaternion;\r\n  localRotation: Quaternion;\r\n}\r\n\r\n/**\r\n * Computes transform outputs from the simulated point positions.\r\n *\r\n * @public\r\n */\r\nexport function applyResult(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  positionsToTransform: readonly Vector3[],\r\n  blendRatio: number,\r\n  // Current transform rotations (world and local) read from engine\r\n  transformRotations: readonly Quaternion[],\r\n  transformLocalRotations: readonly Quaternion[],\r\n  preserveTwist: boolean\r\n): ApplyResultOutput[] {\r\n  const results: ApplyResultOutput[] = new Array(pointsR.length);\r\n\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n    let worldRot = transformRotations[index];\r\n    let localRot = transformLocalRotations[index];\r\n\r\n    if (ptR.weight >= EPSILON) {\r\n      // Dynamic point\r\n      if (ptR.parent !== -1) {\r\n        const direction = Vector3.sub(ptRW.positionToTransform, positionsToTransform[ptR.parent]);\r\n        const realLen = direction.magnitude;\r\n        if (realLen > EPSILON) {\r\n          ptRW.directionPrevious = direction;\r\n        } else {\r\n          ptRW.positionToTransform = Vector3.add(positionsToTransform[ptR.parent], ptRW.directionPrevious);\r\n        }\r\n      }\r\n      const pos = ptRW.positionToTransform;\r\n      // SetRotation with blendRatio=0 for dynamic points\r\n      // Step 1: Reset localRotation to initialLocalRotation (blendRatio = 0 means fully initial)\r\n      localRot = ptR.initialLocalRotation.clone();\r\n\r\n      // Step 2: Recompute worldRot from the new localRot\r\n      // In C#, setting localRotation immediately updates the world rotation.\r\n      // worldRot = parentWorldRot * localRot\r\n      // We approximate: the parent's current world rotation is in transformRotations[ptR.parent]\r\n      if (ptR.parent !== -1) {\r\n        // Use the parent's OUTPUT rotation (already computed if parent index < current index)\r\n        const parentRot = results[ptR.parent] ? results[ptR.parent].rotation : transformRotations[ptR.parent];\r\n        worldRot = Quaternion.multiply(parentRot, localRot);\r\n      } else {\r\n        worldRot = localRot.clone();\r\n      }\r\n\r\n      // Step 3: Aim toward child (simple shortest-arc, no twist correction here)\r\n      if (ptR.child !== -1) {\r\n        const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);\r\n        if (childDir.magnitudeSq > EPSILON) {\r\n          const aimVec = worldRot.transform(ptR.boneAxis);\r\n          const aimRot = Quaternion.unitVectorToUnitVector(aimVec, childDir);\r\n          Quaternion.multiply(aimRot, worldRot, worldRot);\r\n        }\r\n      }\r\n      results[index] = {\r\n        position: pos,\r\n        rotation: worldRot,\r\n        localRotation: localRot\r\n      };\r\n    } else {\r\n      const childBlend =\r\n        ptR.child !== -1 ? Math.max(pointsR[ptR.child].forceFadeRatio, blendRatio) : blendRatio;\r\n\r\n      // Fixed joints are fully driven by the scene graph (animation + parent transforms).\r\n      // Use the engine's current world rotation directly as the baseline �?do NOT\r\n      // reconstruct it from localRot, because localRot was read from the transform that\r\n      // was written back last frame (after aim correction), so it carries stale physics\r\n      // noise that would accumulate each frame and cause periodic spin artifacts.\r\n      // transformRotations[index] is read before applyResult runs, so it still holds\r\n      // the correct animated world rotation for this frame.\r\n      worldRot = transformRotations[index];\r\n\r\n      // Aim toward simulated child position, blended back toward the animated direction.\r\n      if (ptR.child !== -1) {\r\n        const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);\r\n        if (childDir.magnitudeSq > EPSILON) 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curTwist = new Quaternion();\r\n      effectiveLocal.decomposeSwingTwist(ptR.boneAxis, undefined, curTwist);\r\n      const swingTF = Quaternion.multiply(effectiveLocal, Quaternion.inverse(curTwist));\r\n      const correctedLocal = Quaternion.multiply(swingTF, ptR.initialLocalTwist);\r\n      Quaternion.multiply(parentWorldRot, correctedLocal, result.rotation);\r\n    }\r\n  }\r\n\r\n  return results;\r\n}\r\n\r\n/**\r\n * Applies post-simulation angle limits to the point state.\r\n *\r\n * @public\r\n */\r\nexport function applyAngleLimits(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  config: AngleLimitConfig\r\n): void {\r\n  if (config.angleLimit < 0) {\r\n    return;\r\n  }\r\n\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    if (ptR.parent === -1) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[index];\r\n\r\n    const ptRp = pointsR[ptR.parent];\r\n    const ptRWp = pointsRW[ptR.parent];\r\n\r\n    const superParentPos = ptRp.parent !== -1 ? pointsRW[ptRp.parent].positionCurrent : ptRWp.positionCurrent;\r\n\r\n    const boneDir = Vector3.sub(ptRW.positionCurrent, ptRWp.positionCurrent);\r\n    let parentBoneDir = Vector3.sub(ptRWp.positionCurrent, superParentPos);\r\n\r\n    if (parentBoneDir.magnitude === 0 || config.limitFromRoot) {\r\n      parentBoneDir = Vector3.sub(ptRW.positionCurrentTransform, ptRWp.positionCurrentTransform);\r\n    }\r\n\r\n    const angle = Vector3.angleBetween(parentBoneDir, boneDir);\r\n    const remaining = radian2degree(angle) - config.angleLimit;\r\n\r\n    if (remaining > 0) {\r\n      const axis = Vector3.cross(parentBoneDir, boneDir);\r\n      const rotated = Quaternion.fromAxisAngle(axis, degree2radian(-remaining)).transform(boneDir);\r\n      ptRW.positionCurrent = Vector3.add(ptRWp.positionCurrent, rotated);\r\n    }\r\n  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+{"version":3,"file":"solver.js","sources":["../../../src/animation/joint_dynamics/solver.ts"],"sourcesContent":["// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nimport {\r\n  Quaternion,\r\n  Vector3,\r\n  Matrix4x4,\r\n  degree2radian,\r\n  radian2degree,\r\n  clamp01,\r\n  smoothStep\r\n} from '@zephyr3d/base';\r\nimport {\r\n  EPSILON,\r\n  ConstraintType,\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} from './types';\r\nimport {\r\n  pushoutFromSphere,\r\n  pushoutFromCapsule,\r\n  pushInFromSphere,\r\n  pushInFromCapsule,\r\n  collisionDetection,\r\n  checkSurfaceCollision,\r\n  type CollisionResult,\r\n  type SurfaceCheckResult\r\n} from './collision';\r\n\r\nconst AXIS_Y = new Vector3(0, 1, 0);\r\nconst VEC3_ONE = new Vector3(1, 1, 1);\r\nconst _computeCapsuleAxis = new Vector3();\r\nconst _computeCapsuleHalfDir = new Vector3();\r\nconst _applySystemTransformOffset = new Vector3();\r\nconst _applySystemTransformRotated = new Vector3();\r\nconst _broadPhaseSegmentDir = new Vector3();\r\nconst _broadPhaseToCenter = new Vector3();\r\nconst _broadPhaseClosestPoint = new Vector3();\r\nconst _broadPhaseDelta = new Vector3();\r\n\r\n/**\r\n * Parameters for a single simulation step.\r\n *\r\n * @public\r\n */\r\nexport interface SimulationParams {\r\n  /** If true, skip force integration (only apply root motion and output positions) */\r\n  isPaused: boolean;\r\n  /** Frame delta time in seconds (will be subdivided by subSteps) */\r\n  stepTime: number;\r\n  /** Number of substeps per frame. Higher = more stable simulation */\r\n  subSteps: number;\r\n  /** Current root bone world position */\r\n  rootPosition: Vector3;\r\n  /** Previous frame's root bone world position (for root motion limiting) */\r\n  previousRootPosition: Vector3;\r\n  /** Max world-space root slide distance retained after root motion. -1 = no limit */\r\n  rootSlideLimit: number;\r\n  /** Current root bone world rotation */\r\n  rootRotation: Quaternion;\r\n  /** Previous frame's root bone world rotation */\r\n  previousRootRotation: Quaternion;\r\n  /** Max root rotation angle (degrees) per substep. -1 = no limit */\r\n  rootRotateLimit: number;\r\n  /** Global wind force vector */\r\n  windForce: Vector3;\r\n  /** Enable triangle-based surface collision */\r\n  enableSurfaceCollision: boolean;\r\n  /** Triangle indices for surface collision (6 per quad: 2 triangles, 3 indices each) */\r\n  surfaceConstraints: number[];\r\n  /** Number of constraint relaxation iterations per substep */\r\n  relaxation: number;\r\n  /** Upper limit for horizontal/shear shrink power */\r\n  constraintShrinkLimit: number;\r\n  /** Blend ratio between physics and animation [0-1]. 0 = full physics */\r\n  blendRatio: number;\r\n  /** Enable sinusoidal fake wave on leaf bones */\r\n  isFakeWave: boolean;\r\n  /** Fake wave speed (frequency accumulation rate) */\r\n  fakeWaveSpeed: number;\r\n  /** Fake wave global amplitude */\r\n  fakeWavePower: number;\r\n  /** Current fake wave phase counter (accumulated across frames) */\r\n  fakeWaveCounter: number;\r\n  /** Global scale multiplier for all collider radii */\r\n  collisionScale: number;\r\n  /** Enable broad-phase pruning before precise collision checks */\r\n  enableBroadPhase: boolean;\r\n}\r\n\r\n/**\r\n * Run the full simulation step. Mutates `pointsRW` and `collidersRW` in place.\r\n * Returns `{ positionsToTransform, fakeWaveCounter }`.\r\n *\r\n * @public\r\n */\r\nexport function simulate(\r\n  params: SimulationParams,\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  constraints: readonly Constraint[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  grabbersR: readonly GrabberR[],\r\n  grabbersRW: readonly GrabberRW[],\r\n  movableLimitTargets: readonly Vector3[],\r\n  flatPlanes: readonly FlatPlane[]\r\n): { positionsToTransform: Vector3[]; fakeWaveCounter: number } {\r\n  const pointCount = pointsR.length;\r\n  const positionsToTransform: Vector3[] = new Array(pointCount);\r\n\r\n  let subSteps = params.subSteps;\r\n  if (params.isPaused) {\r\n    subSteps = 1;\r\n  }\r\n\r\n  let fakeWaveFreq = params.fakeWaveCounter;\r\n\r\n  // Root slide offset\r\n  let rootSlideOffset = Vector3.zero();\r\n  const rootDeltaSlide = Vector3.sub(params.rootPosition, params.previousRootPosition);\r\n  const rootDeltaSlideLen = rootDeltaSlide.magnitude;\r\n  if (params.rootSlideLimit >= 0 && rootDeltaSlideLen > params.rootSlideLimit) {\r\n    rootSlideOffset = Vector3.scale(\r\n      rootDeltaSlide,\r\n      (1.0 - params.rootSlideLimit / rootDeltaSlideLen) / subSteps\r\n    );\r\n  }\r\n\r\n  // Root rotation offset\r\n  let rootRotationOffset = Quaternion.identity();\r\n  const rootDeltaRot = Quaternion.multiply(\r\n    params.rootRotation,\r\n    Quaternion.inverse(params.previousRootRotation)\r\n  );\r\n  let rotateAngle = Math.acos(Math.max(-1, Math.min(1, rootDeltaRot.w))) * 2.0 * (180 / Math.PI);\r\n  if (rotateAngle > 180) {\r\n    rotateAngle -= 360;\r\n  }\r\n\r\n  if (params.rootRotateLimit >= 0 && Math.abs(rotateAngle) > params.rootRotateLimit) {\r\n    // Extract the rotation axis from the delta quaternion\r\n    const sinHalf = Math.sqrt(Math.max(0, 1 - rootDeltaRot.w * rootDeltaRot.w));\r\n    let rotateAxis: Vector3;\r\n    if (sinHalf > 0.0001) {\r\n      rotateAxis = new Vector3(rootDeltaRot.x / sinHalf, rootDeltaRot.y / sinHalf, rootDeltaRot.z / sinHalf);\r\n    } else {\r\n      rotateAxis = Vector3.axisPY();\r\n    }\r\n    let angle = rotateAngle > 0 ? rotateAngle - params.rootRotateLimit : rotateAngle + params.rootRotateLimit;\r\n    angle /= subSteps;\r\n    rootRotationOffset = Quaternion.fromAxisAngle(rotateAxis, degree2radian(angle));\r\n  }\r\n\r\n  if (params.isPaused) {\r\n    rootSlideOffset = rootDeltaSlide;\r\n    rootRotationOffset = rootDeltaRot;\r\n  }\r\n\r\n  const stepTime = params.stepTime / subSteps;\r\n\r\n  for (let iSubStep = 1; iSubStep <= subSteps; iSubStep++) {\r\n    const stepDelta = iSubStep / subSteps;\r\n    const stepTime_x2_half = stepTime * stepTime * 0.5;\r\n\r\n    colliderUpdate(collidersR, collidersRW, stepDelta);\r\n    pointUpdatePass1(\r\n      pointsR,\r\n      pointsRW,\r\n      stepDelta,\r\n      stepTime_x2_half,\r\n      rootSlideOffset,\r\n      rootRotationOffset,\r\n      params.rootPosition,\r\n      params.windForce,\r\n      params.isPaused,\r\n      grabbersR,\r\n      grabbersRW,\r\n      movableLimitTargets,\r\n      flatPlanes,\r\n      collidersR,\r\n      collidersRW\r\n    );\r\n\r\n    if (!params.isPaused) {\r\n      fakeWaveFreq += params.fakeWaveSpeed * stepTime;\r\n\r\n      if (params.enableSurfaceCollision) {\r\n        surfaceCollision(pointsRW, collidersR, collidersRW, params.surfaceConstraints);\r\n      }\r\n\r\n      // Push fixed points out of colliders before constraint solving.\r\n      // Fixed points follow animation and cannot be moved by the solver, but if\r\n      // their animated position is inside a collider, the distance constraint will\r\n      // pull free children inward through the surface �?causing the characteristic\r\n      // \"hair flipping outward\" artifact at the back of the head.\r\n      // By temporarily clamping fixed-point positionCurrent to the collider surface\r\n      // before each substep's constraint pass, we ensure constraints operate from\r\n      // a geometrically valid anchor.  The original animated position is restored\r\n      // at the start of the next substep via positionCurrentTransform.\r\n      fixedPointColliderPushout(pointsR, pointsRW, collidersR, collidersRW);\r\n\r\n      for (let iRelax = params.relaxation - 1; iRelax >= 0; --iRelax) {\r\n        constraintUpdate(\r\n          pointsR,\r\n          pointsRW,\r\n          constraints,\r\n          collidersR,\r\n          collidersRW,\r\n          params.constraintShrinkLimit,\r\n          params.enableBroadPhase\r\n        );\r\n      }\r\n\r\n      // After all constraint/collision iterations are done, cancel any residual\r\n      // normal velocity that would push points back into colliders next frame.\r\n      // We compare the final positionCurrent (guaranteed outside all colliders)\r\n      // against positionPrevious (the Verlet integration start point) and zero\r\n      // out the component pointing into each collider.\r\n      postCollisionVelocityFix(pointsR, pointsRW, collidersR, collidersRW);\r\n    }\r\n\r\n    pointUpdatePass2(\r\n      pointsR,\r\n      pointsRW,\r\n      positionsToTransform,\r\n      stepDelta,\r\n      fakeWaveFreq,\r\n      params.blendRatio,\r\n      params.isFakeWave,\r\n      params.fakeWavePower\r\n    );\r\n  }\r\n\r\n  return { positionsToTransform, fakeWaveCounter: fakeWaveFreq };\r\n}\r\n\r\nfunction computeCapsule(\r\n  pos: Vector3,\r\n  rot: Quaternion,\r\n  height: number,\r\n  head: Vector3,\r\n  direction: Vector3\r\n): void {\r\n  rot.transform(Vector3.scale(AXIS_Y, height, _computeCapsuleAxis), direction);\r\n  Vector3.scale(direction, 0.5, _computeCapsuleHalfDir);\r\n  Vector3.sub(pos, _computeCapsuleHalfDir, head);\r\n}\r\n\r\nfunction colliderUpdate(collidersR: readonly ColliderR[], collidersRW: ColliderRW[], stepDelta: number) {\r\n  const curPos = new Vector3();\r\n  const curDir = new Quaternion();\r\n  const corner = new Vector3();\r\n  const center = new Vector3();\r\n  const tailCorner = new Vector3();\r\n  const tailCenter = new Vector3();\r\n  for (let i = 0; i < collidersR.length; i++) {\r\n    const colR = collidersR[i];\r\n    const colRW = collidersRW[i];\r\n    // Scale radius by the uniform world scale of the collider node.\r\n    // Use the average of x/y/z components to handle non-uniform scale gracefully.\r\n    const ws = colRW.worldScale;\r\n    const worldScaleUniform = (ws.x + ws.y + ws.z) / 3;\r\n    colRW.radius = colR.radius * worldScaleUniform;\r\n    colRW.height = colR.height * worldScaleUniform;\r\n\r\n    Vector3.lerp(colRW.positionPreviousTransform, colRW.positionCurrentTransform, stepDelta, curPos);\r\n    Quaternion.slerp(colRW.directionPreviousTransform, colRW.directionCurrentTransform, stepDelta, curDir);\r\n\r\n    computeCapsule(curPos, curDir, colRW.height, colRW.positionCurrent, colRW.directionCurrent);\r\n    if (colRW.height > EPSILON) {\r\n      Vector3.scale(colRW.directionCurrent, 0.5, _computeCapsuleHalfDir);\r\n      Vector3.add(colRW.positionCurrent, _computeCapsuleHalfDir, colRW.boundsCenter);\r\n      colRW.boundsRadius =\r\n        Math.sqrt(colRW.directionCurrent.magnitudeSq) * 0.5 +\r\n        Math.max(colRW.radius, colRW.radius * colR.radiusTailScale);\r\n    } else {\r\n      colRW.boundsCenter.set(colRW.positionCurrent);\r\n      colRW.boundsRadius = colRW.radius;\r\n    }\r\n\r\n    // Update local bounds\r\n    Vector3.scale(VEC3_ONE, colR.radius, corner);\r\n    colRW.worldToLocal.transformPointAffine(colRW.positionCurrent, center);\r\n    Vector3.sub(center, corner, colRW.localBoundsMin);\r\n    Vector3.add(center, corner, colRW.localBoundsMax);\r\n\r\n    if (colRW.height > EPSILON) {\r\n      Vector3.scale(VEC3_ONE, colR.radius * colR.radiusTailScale, tailCorner);\r\n      Vector3.add(colRW.positionCurrent, colRW.directionCurrent, tailCenter);\r\n      colRW.worldToLocal.transformPointAffine(tailCenter, tailCenter);\r\n      colRW.localBoundsMin.setXYZ(\r\n        Math.min(colRW.localBoundsMin.x, tailCenter.x - tailCorner.x),\r\n        Math.min(colRW.localBoundsMin.y, tailCenter.y - tailCorner.y),\r\n        Math.min(colRW.localBoundsMin.z, tailCenter.z - tailCorner.z)\r\n      );\r\n      colRW.localBoundsMax.setXYZ(\r\n        Math.max(colRW.localBoundsMax.x, tailCenter.x + tailCorner.x),\r\n        Math.max(colRW.localBoundsMax.y, tailCenter.y + tailCorner.y),\r\n        Math.max(colRW.localBoundsMax.z, tailCenter.z + tailCorner.z)\r\n      );\r\n    }\r\n  }\r\n}\r\n\r\nfunction applySystemTransform(\r\n  point: Vector3,\r\n  pivot: Vector3,\r\n  slideOffset: Vector3,\r\n  rotOffset: Quaternion,\r\n  result?: Vector3\r\n): Vector3 {\r\n  const rotated = rotOffset.transform(\r\n    Vector3.sub(point, pivot, _applySystemTransformOffset),\r\n    result || _applySystemTransformRotated\r\n  );\r\n  Vector3.add(rotated, pivot, rotated);\r\n  return Vector3.add(rotated, slideOffset, rotated);\r\n}\r\n\r\nfunction pointMayCollideBroadPhase(point: Vector3, colRW: ColliderRW, padding = 0): boolean {\r\n  const radius = colRW.boundsRadius + padding;\r\n  const delta = Vector3.sub(point, colRW.boundsCenter, _broadPhaseDelta);\r\n  return delta.magnitudeSq <= radius * radius;\r\n}\r\n\r\nfunction segmentMayCollideBroadPhase(point1: Vector3, point2: Vector3, colRW: ColliderRW): boolean {\r\n  const segmentDir = Vector3.sub(point2, point1, _broadPhaseSegmentDir);\r\n  const lenSq = segmentDir.magnitudeSq;\r\n  if (lenSq <= EPSILON) {\r\n    return pointMayCollideBroadPhase(point1, colRW);\r\n  }\r\n  const toCenter = Vector3.sub(colRW.boundsCenter, point1, _broadPhaseToCenter);\r\n  const t = clamp01(Vector3.dot(toCenter, segmentDir) / lenSq);\r\n  const closestPoint = Vector3.scale(segmentDir, t, _broadPhaseClosestPoint);\r\n  Vector3.add(point1, closestPoint, closestPoint);\r\n  const delta = Vector3.sub(colRW.boundsCenter, closestPoint, _broadPhaseDelta);\r\n  return delta.magnitudeSq <= colRW.boundsRadius * colRW.boundsRadius;\r\n}\r\n\r\n// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nfunction pointUpdatePass1(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  stepDelta: number,\r\n  stepTime_x2_half: number,\r\n  rootSlideOffset: Vector3,\r\n  rootRotationOffset: Quaternion,\r\n  rootPosition: Vector3,\r\n  windForce: Vector3,\r\n  isPaused: boolean,\r\n  grabbersR: readonly GrabberR[],\r\n  grabbersRW: readonly GrabberRW[],\r\n  movableLimitTargets: readonly Vector3[],\r\n  flatPlanes: readonly FlatPlane[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n) {\r\n  const currentTransformPos = new Vector3();\r\n  const moveDir = new Vector3();\r\n  const extForce = new Vector3();\r\n  const displacement = new Vector3();\r\n  const restore = new Vector3();\r\n  const tempVec0 = new Vector3();\r\n  const tempVec1 = new Vector3();\r\n  const planeOffset = new Vector3();\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n\r\n    Vector3.lerp(\r\n      ptRW.positionPreviousTransform,\r\n      ptRW.positionCurrentTransform,\r\n      stepDelta,\r\n      currentTransformPos\r\n    );\r\n\r\n    if (ptR.weight <= EPSILON) {\r\n      ptRW.positionPrevious.set(ptRW.positionCurrent);\r\n      ptRW.positionCurrent.set(currentTransformPos);\r\n    } else {\r\n      applySystemTransform(\r\n        ptRW.positionPrevious,\r\n        rootPosition,\r\n        rootSlideOffset,\r\n        rootRotationOffset,\r\n        ptRW.positionPrevious\r\n      );\r\n      applySystemTransform(\r\n        ptRW.positionCurrent,\r\n        rootPosition,\r\n        rootSlideOffset,\r\n        rootRotationOffset,\r\n        ptRW.positionCurrent\r\n      );\r\n\r\n      displacement.setXYZ(0, 0, 0);\r\n      if (!isPaused) {\r\n        Vector3.sub(ptRW.positionCurrent, ptRW.positionPrevious, moveDir);\r\n        Vector3.scale(windForce, ptR.windForceScale / ptR.mass, extForce);\r\n        Vector3.add(ptR.gravity, extForce, extForce);\r\n        Vector3.scale(extForce, stepTime_x2_half, extForce);\r\n\r\n        // Clamp the per-step force displacement to half the bone's rest length.\r\n        // Without this, large gravity values (e.g. -50 in world space) produce a\r\n        // per-step displacement comparable to the bone spacing, which exceeds what\r\n        // the constraint relaxation can correct in one pass and causes surface jitter.\r\n        if (ptR.parentLength > EPSILON) {\r\n          const maxForceDisp = ptR.parentLength * 0.5;\r\n          const forceDispSq = extForce.magnitudeSq;\r\n          if (forceDispSq > maxForceDisp * maxForceDisp) {\r\n            Vector3.scale(extForce, maxForceDisp / Math.sqrt(forceDispSq), extForce);\r\n          }\r\n        }\r\n\r\n        // Apply resistance (damping) only to the velocity term, not to external forces.\r\n        // Applying resistance to gravity would incorrectly attenuate acceleration each frame,\r\n        // causing energy errors and instability under high gravity.\r\n        Vector3.scale(moveDir, ptR.resistance, moveDir);\r\n        Vector3.scale(moveDir, 1.0 - clamp01(ptRW.friction * ptR.frictionScale), moveDir);\r\n\r\n        // Clamp per-step velocity to a multiple of bone rest length.\r\n        // During fast root rotations the Verlet velocity can become very large,\r\n        // overwhelming the constraint solver and causing the hair to lose shape.\r\n        // Limiting velocity keeps the simulation stable regardless of how fast\r\n        // the root moves, while still allowing natural large-amplitude swings.\r\n        if (ptR.parentLength > EPSILON) {\r\n          const maxVelDisp = ptR.parentLength * 2.0;\r\n          const velDispSq = moveDir.magnitudeSq;\r\n          if (velDispSq > maxVelDisp * maxVelDisp) {\r\n            Vector3.scale(moveDir, maxVelDisp / Math.sqrt(velDispSq), moveDir);\r\n          }\r\n        }\r\n\r\n        Vector3.add(moveDir, extForce, displacement);\r\n      }\r\n\r\n      ptRW.positionPrevious.set(ptRW.positionCurrent);\r\n      Vector3.add(ptRW.positionCurrent, displacement, ptRW.positionCurrent);\r\n      ptRW.friction = 0;\r\n\r\n      if (!isPaused) {\r\n        // Hardness restore\r\n        if (ptR.hardness > 0) {\r\n          Vector3.sub(currentTransformPos, ptRW.positionCurrent, restore);\r\n          Vector3.scale(restore, ptR.hardness, restore);\r\n          Vector3.add(ptRW.positionCurrent, restore, ptRW.positionCurrent);\r\n        }\r\n        // Force fade ratio\r\n        if (ptR.forceFadeRatio > 0) {\r\n          Vector3.lerp(ptRW.positionCurrent, currentTransformPos, ptR.forceFadeRatio, ptRW.positionCurrent);\r\n        }\r\n        // Push out of colliders immediately after hardness/fade pulls the point\r\n        // toward the animated position (which may be inside a collider).\r\n        // This prevents the hardness↔collision tug-of-war that causes jitter.\r\n        for (let ci = 0; ci < collidersR.length; ci++) {\r\n          const colRci = collidersR[ci];\r\n          const colRWci = collidersRW[ci];\r\n          if (colRWci.enabled === 0 || colRci.isInverseCollider) {\r\n            continue;\r\n          }\r\n          const hRes =\r\n            colRci.height <= EPSILON\r\n              ? pushoutFromSphere(\r\n                  colRWci.positionCurrent,\r\n                  colRWci.radius,\r\n                  ptR.pointRadius,\r\n                  ptRW.positionCurrent\r\n                )\r\n              : pushoutFromCapsule(colRci, colRWci, ptRW.positionCurrent, ptR);\r\n          if (hRes.hit) {\r\n            ptRW.positionCurrent.set(hRes.point);\r\n          }\r\n        }\r\n        // Grabber\r\n        if (ptRW.grabberIndex !== -1) {\r\n          const grR = grabbersR[ptRW.grabberIndex];\r\n          const grRW = grabbersRW[ptRW.grabberIndex];\r\n          if (grRW.enabled === 0) {\r\n            ptRW.grabberIndex = -1;\r\n          } else {\r\n            Vector3.sub(ptRW.positionCurrent, grRW.position, tempVec0);\r\n            Vector3.normalize(tempVec0, tempVec0);\r\n            Vector3.scale(tempVec0, ptRW.grabberDistance, tempVec1);\r\n            Vector3.add(grRW.position, tempVec1, tempVec1);\r\n            Vector3.sub(tempVec1, ptRW.positionCurrent, tempVec0);\r\n            Vector3.scale(tempVec0, grR.force, tempVec0);\r\n            Vector3.add(ptRW.positionCurrent, tempVec0, ptRW.positionCurrent);\r\n          }\r\n        } else {\r\n          let nearIndex = -1;\r\n          let sqrNearRange = 1000 * 1000;\r\n          for (let ig = 0; ig < grabbersR.length; ig++) {\r\n            const grRW = grabbersRW[ig];\r\n            if (grRW.enabled !== 0) {\r\n              const sqrLen = Vector3.sub(grRW.position, ptRW.positionCurrent, tempVec0).magnitudeSq;\r\n              if (sqrLen < grabbersR[ig].radius * grabbersR[ig].radius && sqrLen < sqrNearRange) {\r\n                sqrNearRange = sqrLen;\r\n                nearIndex = ig;\r\n              }\r\n            }\r\n          }\r\n          if (nearIndex !== -1) {\r\n            ptRW.grabberIndex = nearIndex;\r\n            ptRW.grabberDistance = Math.sqrt(sqrNearRange) / 2.0;\r\n          }\r\n        }\r\n        // Movable limit\r\n        if (ptR.movableLimitIndex !== -1) {\r\n          const target = movableLimitTargets[ptR.movableLimitIndex];\r\n          const move = Vector3.sub(ptRW.positionCurrent, target, tempVec0);\r\n          const moveLen = move.magnitude;\r\n          if (moveLen > ptR.movableLimitRadius) {\r\n            Vector3.scale(move, ptR.movableLimitRadius / moveLen, move);\r\n            Vector3.add(target, move, ptRW.positionCurrent);\r\n          }\r\n        }\r\n      }\r\n\r\n      // Flat plane collision\r\n      for (let i = 0; i < flatPlanes.length; i++) {\r\n        const fp = flatPlanes[i];\r\n        const dist = Vector3.dot(fp.normal, ptRW.positionCurrent) + fp.distance;\r\n        if (dist < 0) {\r\n          Vector3.scale(fp.normal, dist, planeOffset);\r\n          Vector3.sub(ptRW.positionCurrent, planeOffset, ptRW.positionCurrent);\r\n          ptRW.friction = 0.3;\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\n// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nfunction surfaceCollision(\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  surfaceConstraints: readonly number[]\r\n) {\r\n  const surfaceResult: SurfaceCheckResult = {\r\n    hit: false,\r\n    intersectionPoint: new Vector3(),\r\n    pushOut: new Vector3(),\r\n    pointOnCollider: new Vector3(),\r\n    radius: 0\r\n  };\r\n  const triCenter = new Vector3();\r\n  const pushDir = new Vector3();\r\n  const centerToPt = new Vector3();\r\n  const intersectToPt = new Vector3();\r\n  const pushVec = new Vector3();\r\n  for (let index = 0; index < surfaceConstraints.length; index += 6) {\r\n    for (let i = 0; i < collidersR.length; i++) {\r\n      const colR = collidersR[i];\r\n      const colRW = collidersRW[i];\r\n      if (colRW.enabled === 0) {\r\n        continue;\r\n      }\r\n\r\n      const colliderPos = colRW.positionCurrent;\r\n\r\n      for (let j = 0; j < 6; j += 3) {\r\n        const idxA = surfaceConstraints[index + j + 0];\r\n        const idxB = surfaceConstraints[index + j + 1];\r\n        const idxC = surfaceConstraints[index + j + 2];\r\n\r\n        const rwA = pointsRW[idxA];\r\n        const rwB = pointsRW[idxB];\r\n        const rwC = pointsRW[idxC];\r\n\r\n        const result = checkSurfaceCollision(\r\n          rwA.positionCurrent,\r\n          rwB.positionCurrent,\r\n          rwC.positionCurrent,\r\n          colliderPos,\r\n          colR,\r\n          colRW,\r\n          surfaceResult\r\n        );\r\n\r\n        if (result.hit) {\r\n          triCenter.setXYZ(\r\n            (rwA.positionCurrent.x + rwB.positionCurrent.x + rwC.positionCurrent.x) / 3,\r\n            (rwA.positionCurrent.y + rwB.positionCurrent.y + rwC.positionCurrent.y) / 3,\r\n            (rwA.positionCurrent.z + rwB.positionCurrent.z + rwC.positionCurrent.z) / 3\r\n          );\r\n          const pushMag = result.pushOut.magnitude;\r\n          if (pushMag < EPSILON) {\r\n            continue;\r\n          }\r\n          Vector3.scale(result.pushOut, 1 / pushMag, pushDir);\r\n\r\n          for (let k = 0; k < 3; k++) {\r\n            const idxR = surfaceConstraints[index + j + k];\r\n            const rwPt = pointsRW[idxR];\r\n            Vector3.sub(rwPt.positionCurrent, triCenter, centerToPt);\r\n            Vector3.sub(rwPt.positionCurrent, result.intersectionPoint, intersectToPt);\r\n            const intersectLen = intersectToPt.magnitude;\r\n            let rate = intersectLen > EPSILON ? centerToPt.magnitude / intersectLen : 0;\r\n            rate = clamp01(Math.abs(rate));\r\n            Vector3.scale(pushDir, (result.radius - pushMag) * rate, pushVec);\r\n            Vector3.add(rwPt.positionCurrent, pushVec, rwPt.positionCurrent);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\nconst _postFixNormal = new Vector3();\r\nconst _fixedPushResult: CollisionResult = { hit: false, point: new Vector3() };\r\n\r\n/**\r\n * Before constraint solving each substep, push fixed points (weight=0) out of\r\n * any colliders they animate into.  Fixed points normally follow animation\r\n * exactly, but when their animated position lies inside a collider the distance\r\n * constraint pulls free children inward through the surface, producing the\r\n * classic \"hair flipping outward\" artifact.\r\n *\r\n * We clamp positionCurrent to the collider surface so that constraints operate\r\n * from a geometrically valid anchor.  The temporary change is overwritten at the\r\n * start of the next substep when positionCurrent is refreshed from the animation\r\n * transform, so the skeleton itself is never permanently altered.\r\n */\r\nfunction fixedPointColliderPushout(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n): void {\r\n  for (let pi = 0; pi < pointsR.length; pi++) {\r\n    if (pointsR[pi].weight > EPSILON) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[pi];\r\n    const ptR = pointsR[pi];\r\n    for (let ci = 0; ci < collidersR.length; ci++) {\r\n      const colR = collidersR[ci];\r\n      const colRW = collidersRW[ci];\r\n      if (colRW.enabled === 0 || colR.isInverseCollider) {\r\n        continue;\r\n      }\r\n      const res =\r\n        colR.height <= EPSILON\r\n          ? pushoutFromSphere(\r\n              colRW.positionCurrent,\r\n              colRW.radius,\r\n              ptR.pointRadius,\r\n              ptRW.positionCurrent,\r\n              _fixedPushResult\r\n            )\r\n          : pushoutFromCapsule(colR, colRW, ptRW.positionCurrent, ptR, _fixedPushResult);\r\n      if (res.hit) {\r\n        ptRW.positionCurrent.set(res.point);\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\n/**\r\n * Called once per substep after ALL constraint + collision relaxation iterations finish.\r\n * For each dynamic point that is actually touching a collider surface (within radius),\r\n * cancel the normal-direction component of the Verlet velocity from positionPrevious.\r\n * Points far from all colliders are untouched, preserving wind-driven velocity.\r\n */\r\nfunction postCollisionVelocityFix(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n): void {\r\n  for (let pi = 0; pi < pointsR.length; pi++) {\r\n    const ptR = pointsR[pi];\r\n    if (ptR.weight <= EPSILON) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[pi];\r\n\r\n    for (let ci = 0; ci < collidersR.length; ci++) {\r\n      const colR = collidersR[ci];\r\n      const colRW = collidersRW[ci];\r\n      if (colRW.enabled === 0 || colR.isInverseCollider) {\r\n        continue;\r\n      }\r\n\r\n      let nx = 0,\r\n        ny = 0,\r\n        nz = 0;\r\n      if (colR.height <= EPSILON) {\r\n        nx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n        ny = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n        nz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n      } else {\r\n        const capsuleVec = colRW.directionCurrent;\r\n        const capsuleVecLenSq = capsuleVec.magnitudeSq;\r\n        if (capsuleVecLenSq > EPSILON) {\r\n          const tx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n          const ty = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n          const tz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n          const t = Math.max(\r\n            0,\r\n            Math.min(1, (tx * capsuleVec.x + ty * capsuleVec.y + tz * capsuleVec.z) / capsuleVecLenSq)\r\n          );\r\n          nx = ptRW.positionCurrent.x - (colRW.positionCurrent.x + capsuleVec.x * t);\r\n          ny = ptRW.positionCurrent.y - (colRW.positionCurrent.y + capsuleVec.y * t);\r\n          nz = ptRW.positionCurrent.z - (colRW.positionCurrent.z + capsuleVec.z * t);\r\n        } else {\r\n          nx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n          ny = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n          nz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n        }\r\n      }\r\n\r\n      const nLen = Math.sqrt(nx * nx + ny * ny + nz * nz);\r\n      if (nLen < EPSILON) {\r\n        continue;\r\n      }\r\n\r\n      const surfaceDist = nLen - colRW.radius - ptR.pointRadius;\r\n      if (surfaceDist > colRW.radius * 0.05) {\r\n        continue;\r\n      }\r\n\r\n      _postFixNormal.setXYZ(nx / nLen, ny / nLen, nz / nLen);\r\n      const vx = ptRW.positionCurrent.x - ptRW.positionPrevious.x;\r\n      const vy = ptRW.positionCurrent.y - ptRW.positionPrevious.y;\r\n      const vz = ptRW.positionCurrent.z - ptRW.positionPrevious.z;\r\n      const vDotN = vx * _postFixNormal.x + vy * _postFixNormal.y + vz * _postFixNormal.z;\r\n      if (vDotN < 0) {\r\n        ptRW.positionPrevious.x += _postFixNormal.x * vDotN;\r\n        ptRW.positionPrevious.y += _postFixNormal.y * vDotN;\r\n        ptRW.positionPrevious.z += _postFixNormal.z * vDotN;\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\nfunction constraintUpdate(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  constraints: readonly Constraint[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  constraintShrinkLimit: number,\r\n  enableBroadPhase: boolean\r\n) {\r\n  const direction = new Vector3();\r\n  const dirN = new Vector3();\r\n  const disp = new Vector3();\r\n  const scaledDisp = new Vector3();\r\n  const pointResultA: CollisionResult = { hit: false, point: new Vector3() };\r\n  const pointResultB: CollisionResult = { hit: false, point: new Vector3() };\r\n  const lineResult = {\r\n    hit: false,\r\n    pointOnLine: new Vector3(),\r\n    pointOnCollider: new Vector3(),\r\n    radius: 0\r\n  };\r\n  const pushout = new Vector3();\r\n  const segment = new Vector3();\r\n  const pointToA = new Vector3();\r\n  const pointToB = new Vector3();\r\n  const pushN = new Vector3();\r\n  const pushVec = new Vector3();\r\n  for (let index = 0; index < constraints.length; index++) {\r\n    const c = constraints[index];\r\n    const ptRA = pointsR[c.indexA];\r\n    const ptRB = pointsR[c.indexB];\r\n    const weightA = ptRA.weight;\r\n    const weightB = ptRB.weight;\r\n    if (weightA <= EPSILON && weightB <= EPSILON) {\r\n      continue;\r\n    }\r\n\r\n    const rwA = pointsRW[c.indexA];\r\n    const rwB = pointsRW[c.indexB];\r\n\r\n    Vector3.sub(rwB.positionCurrent, rwA.positionCurrent, direction);\r\n    const distance = direction.magnitude;\r\n\r\n    let shrinkLen = c.length;\r\n    let stretchLen = shrinkLen;\r\n    if (\r\n      c.type === ConstraintType.Structural_Horizontal ||\r\n      c.type === ConstraintType.Bending_Horizontal ||\r\n      c.type === ConstraintType.Shear\r\n    ) {\r\n      stretchLen += ptRA.sliderJointLength + ptRB.sliderJointLength;\r\n    }\r\n\r\n    let force = 0;\r\n    if (distance <= shrinkLen) {\r\n      force = distance - shrinkLen;\r\n    } else if (distance >= stretchLen) {\r\n      force = distance - stretchLen;\r\n    }\r\n\r\n    const isShrink = force >= 0;\r\n    let power = 0;\r\n    switch (c.type) {\r\n      case ConstraintType.Structural_Vertical:\r\n        power = isShrink\r\n          ? ptRA.structuralShrinkVertical + ptRB.structuralShrinkVertical\r\n          : ptRA.structuralStretchVertical + ptRB.structuralStretchVertical;\r\n        break;\r\n      case ConstraintType.Structural_Horizontal:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.structuralShrinkHorizontal + ptRB.structuralShrinkHorizontal)\r\n          : ptRA.structuralStretchHorizontal + ptRB.structuralStretchHorizontal;\r\n        break;\r\n      case ConstraintType.Shear:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.shearShrink + ptRB.shearShrink)\r\n          : ptRA.shearStretch + ptRB.shearStretch;\r\n        break;\r\n      case ConstraintType.Bending_Vertical:\r\n        power = isShrink\r\n          ? ptRA.bendingShrinkVertical + ptRB.bendingShrinkVertical\r\n          : ptRA.bendingStretchVertical + ptRB.bendingStretchVertical;\r\n        break;\r\n      case ConstraintType.Bending_Horizontal:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.bendingShrinkHorizontal + ptRB.bendingShrinkHorizontal)\r\n          : ptRA.bendingStretchHorizontal + ptRB.bendingStretchHorizontal;\r\n        break;\r\n    }\r\n\r\n    if (power > 0) {\r\n      if (distance > EPSILON) {\r\n        Vector3.scale(direction, 1 / distance, dirN);\r\n      } else {\r\n        dirN.setXYZ(0, 0, 0);\r\n      }\r\n      Vector3.scale(dirN, force * power, disp);\r\n      const wAB = weightA + weightB;\r\n      Vector3.scale(disp, weightA / wAB, scaledDisp);\r\n      Vector3.add(rwA.positionCurrent, scaledDisp, rwA.positionCurrent);\r\n      Vector3.scale(disp, weightB / wAB, scaledDisp);\r\n      Vector3.sub(rwB.positionCurrent, scaledDisp, rwB.positionCurrent);\r\n    }\r\n\r\n    // Per-constraint collision\r\n    if (c.isCollision !== 0) {\r\n      let friction = 0;\r\n      for (let i = 0; i < collidersR.length; i++) {\r\n        const colRW = collidersRW[i];\r\n        if (colRW.enabled === 0) {\r\n          continue;\r\n        }\r\n        const colR = collidersR[i];\r\n        const canPointA =\r\n          !enableBroadPhase ||\r\n          colR.isInverseCollider ||\r\n          pointMayCollideBroadPhase(rwA.positionCurrent, colRW, ptRA.pointRadius);\r\n        const canPointB =\r\n          !enableBroadPhase ||\r\n          colR.isInverseCollider ||\r\n          pointMayCollideBroadPhase(rwB.positionCurrent, colRW, ptRB.pointRadius);\r\n        const canLine =\r\n          !colR.isInverseCollider &&\r\n          (!enableBroadPhase || segmentMayCollideBroadPhase(rwA.positionCurrent, rwB.positionCurrent, colRW));\r\n\r\n        if (!canPointA && !canPointB && !canLine) {\r\n          continue;\r\n        }\r\n\r\n        if (colR.height > EPSILON) {\r\n          if (colR.isInverseCollider) {\r\n            if (ptRA.applyInvertCollision === 1 && canPointA) {\r\n              const res = pushInFromCapsule(colR, colRW, rwA.positionCurrent, pointResultA);\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (ptRB.applyInvertCollision === 1 && canPointB) {\r\n              const res = pushInFromCapsule(colR, colRW, rwB.positionCurrent, pointResultB);\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          } else {\r\n            if (canPointA) {\r\n              const res = pushoutFromCapsule(colR, colRW, rwA.positionCurrent, ptRA, pointResultA);\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (canPointB) {\r\n              const res = pushoutFromCapsule(colR, colRW, rwB.positionCurrent, ptRB, pointResultB);\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          }\r\n        } else {\r\n          if (colR.isInverseCollider) {\r\n            if (ptRA.applyInvertCollision === 1 && canPointA) {\r\n              const res = pushInFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                rwA.positionCurrent,\r\n                pointResultA\r\n              );\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (ptRB.applyInvertCollision === 1 && canPointB) {\r\n              const res = pushInFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                rwB.positionCurrent,\r\n                pointResultB\r\n              );\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          } else {\r\n            if (canPointA) {\r\n              const res = pushoutFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                ptRA.pointRadius,\r\n                rwA.positionCurrent,\r\n                pointResultA\r\n              );\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (canPointB) {\r\n              const res = pushoutFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                ptRB.pointRadius,\r\n                rwB.positionCurrent,\r\n                pointResultB\r\n              );\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          }\r\n        }\r\n\r\n        // Line segment collision\r\n        if (!colR.isInverseCollider && canLine) {\r\n          const lineRes = collisionDetection(\r\n            colR,\r\n            colRW,\r\n            rwA.positionCurrent,\r\n            rwB.positionCurrent,\r\n            lineResult\r\n          );\r\n          if (lineRes.hit) {\r\n            Vector3.sub(lineRes.pointOnLine, lineRes.pointOnCollider, pushout);\r\n            const pushDist = pushout.magnitude;\r\n            if (pushDist > EPSILON) {\r\n              const ptDist = Vector3.sub(rwB.positionCurrent, rwA.positionCurrent, segment).magnitude * 0.5;\r\n              const rateP1 =\r\n                ptDist > EPSILON\r\n                  ? clamp01(\r\n                      Vector3.sub(lineRes.pointOnLine, rwA.positionCurrent, pointToA).magnitude / ptDist\r\n                    )\r\n                  : 0;\r\n              const rateP2 =\r\n                ptDist > EPSILON\r\n                  ? clamp01(\r\n                      Vector3.sub(lineRes.pointOnLine, rwB.positionCurrent, pointToB).magnitude / ptDist\r\n                    )\r\n                  : 0;\r\n              Vector3.scale(pushout, 1 / pushDist, pushN);\r\n              Vector3.scale(pushN, Math.max(lineRes.radius - pushDist, 0), pushVec);\r\n              if (weightA > EPSILON) {\r\n                Vector3.scale(pushVec, rateP2, scaledDisp);\r\n                Vector3.add(rwA.positionCurrent, scaledDisp, rwA.positionCurrent);\r\n              }\r\n              if (weightB > EPSILON) {\r\n                Vector3.scale(pushVec, rateP1, scaledDisp);\r\n                Vector3.add(rwB.positionCurrent, scaledDisp, rwB.positionCurrent);\r\n              }\r\n\r\n              const dotUp = Vector3.dot(AXIS_Y, Vector3.normalize(pushout, pushN));\r\n              friction = Math.max(friction, colR.friction * clamp01(dotUp));\r\n            }\r\n          }\r\n        }\r\n      }\r\n      rwA.friction = Math.max(friction, rwA.friction);\r\n      rwB.friction = Math.max(friction, rwB.friction);\r\n    }\r\n  }\r\n}\r\n\r\nfunction pointUpdatePass2(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  positionsToTransform: Vector3[],\r\n  stepDelta: number,\r\n  fakeWaveFreq: number,\r\n  blendRatio: number,\r\n  isFakeWave: boolean,\r\n  fakeWavePower: number\r\n) {\r\n  let freq = fakeWaveFreq;\r\n  const curTransformPos = new Vector3();\r\n  const fakeWindOffset = new Vector3();\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n\r\n    Vector3.lerp(ptRW.positionPreviousTransform, ptRW.positionCurrentTransform, stepDelta, curTransformPos);\r\n    const blend = smoothStep(0, 1, Math.max(ptR.forceFadeRatio, blendRatio));\r\n    Vector3.lerp(ptRW.positionCurrent, curTransformPos, blend, ptRW.positionToTransform);\r\n\r\n    if (isFakeWave && ptR.child === -1 && ptR.parent !== -1) {\r\n      const A = pointsRW[ptR.parent].positionToTransform;\r\n      const B = ptRW.positionToTransform;\r\n      const mAxis = Matrix4x4.lookAt(A, B, AXIS_Y);\r\n      // Column 1 = up axis of the look-at matrix\r\n      const col1 = mAxis.getCol(1).xyz();\r\n      Vector3.lerp(ptRW.fakeWindDirection, col1, 0.5, ptRW.fakeWindDirection);\r\n\r\n      freq += ptR.fakeWaveFreq;\r\n      const power = Math.sin(freq) * fakeWavePower * ptR.fakeWavePower;\r\n      Vector3.scale(ptRW.fakeWindDirection, power, fakeWindOffset);\r\n      Vector3.add(ptRW.positionToTransform, fakeWindOffset, ptRW.positionToTransform);\r\n    }\r\n\r\n    positionsToTransform[index] = ptRW.positionToTransform.clone();\r\n  }\r\n}\r\n\r\n/**\r\n * Output of applying the simulated result back to transforms.\r\n *\r\n * @public\r\n */\r\nexport interface ApplyResultOutput {\r\n  position: Vector3;\r\n  rotation: Quaternion;\r\n  localRotation: Quaternion;\r\n}\r\n\r\n/**\r\n * Extracts the right-side local twist from a rotation around the supplied local axis.\r\n *\r\n * The result is the T in Q = S * T, where S aims the local axis and T only rolls\r\n * around that same local axis. Replacing this twist preserves the aimed bone\r\n * direction because right-side twist does not move the local axis before S.\r\n *\r\n * @internal\r\n */\r\nexport function extractLocalTwist(rotation: Quaternion, axis: Vector3, result?: Quaternion): Quaternion {\r\n  result = result ?? new Quaternion();\r\n  if (axis.magnitudeSq <= EPSILON * EPSILON) {\r\n    return result.identity();\r\n  }\r\n  const twistAxis = Vector3.normalize(axis);\r\n  const aimedAxis = rotation.transform(twistAxis);\r\n  if (aimedAxis.magnitudeSq <= EPSILON * EPSILON) {\r\n    return result.identity();\r\n  }\r\n  const swing = Quaternion.unitVectorToUnitVector(twistAxis, Vector3.normalize(aimedAxis));\r\n  const twist = Quaternion.multiply(Quaternion.inverse(swing), rotation, result);\r\n  twist.decomposeSwingTwist(twistAxis, undefined, result);\r\n  return result;\r\n}\r\n\r\nfunction replaceLocalTwistFromReference(\r\n  rotation: Quaternion,\r\n  ptR: PointR,\r\n  targetAxis: Vector3,\r\n  result?: Quaternion\r\n): Quaternion {\r\n  result = result ?? new Quaternion();\r\n  if (ptR.boneAxis.magnitudeSq <= EPSILON * EPSILON || targetAxis.magnitudeSq <= EPSILON * EPSILON) {\r\n    result.set(rotation);\r\n    return result;\r\n  }\r\n  const twistAxis = Vector3.normalize(ptR.boneAxis);\r\n  const targetDir = Vector3.normalize(targetAxis);\r\n  const initialNoTwist = Quaternion.multiply(\r\n    ptR.initialLocalRotation,\r\n    Quaternion.inverse(ptR.initialLocalTwist)\r\n  );\r\n  const initialAxis = initialNoTwist.transform(twistAxis);\r\n  if (initialAxis.magnitudeSq <= EPSILON * EPSILON) {\r\n    result.set(rotation);\r\n    return result;\r\n  }\r\n  const swingDelta = Quaternion.unitVectorToUnitVector(Vector3.normalize(initialAxis), targetDir);\r\n  const noTwist = Quaternion.multiply(swingDelta, initialNoTwist);\r\n  return Quaternion.multiply(noTwist, ptR.initialLocalTwist, result);\r\n}\r\n\r\nfunction getSceneParentWorldRotation(\r\n  index: number,\r\n  transformRotations: readonly Quaternion[],\r\n  transformLocalRotations: readonly Quaternion[],\r\n  sceneParentRotations?: readonly (Quaternion | undefined)[]\r\n): Quaternion {\r\n  if (sceneParentRotations?.[index]) {\r\n    return sceneParentRotations[index];\r\n  }\r\n  return Quaternion.multiply(transformRotations[index], Quaternion.inverse(transformLocalRotations[index]));\r\n}\r\n\r\nfunction getPointParentWorldRotation(\r\n  index: number,\r\n  ptR: PointR,\r\n  results: readonly ApplyResultOutput[],\r\n  transformRotations: readonly Quaternion[],\r\n  transformLocalRotations: readonly Quaternion[],\r\n  sceneParentRotations?: readonly (Quaternion | undefined)[]\r\n): Quaternion {\r\n  return ptR.parent !== -1\r\n    ? (results[ptR.parent]?.rotation ?? transformRotations[ptR.parent])\r\n    : getSceneParentWorldRotation(index, transformRotations, transformLocalRotations, sceneParentRotations);\r\n}\r\n\r\n/**\r\n * Computes transform outputs from the simulated point positions.\r\n *\r\n * @public\r\n */\r\nexport function applyResult(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  positionsToTransform: readonly Vector3[],\r\n  blendRatio: number,\r\n  // Current transform rotations (world and local) read from engine\r\n  transformRotations: readonly Quaternion[],\r\n  transformLocalRotations: readonly Quaternion[],\r\n  preserveTwist: boolean,\r\n  sceneParentRotations?: readonly (Quaternion | undefined)[]\r\n): ApplyResultOutput[] {\r\n  const results: ApplyResultOutput[] = new Array(pointsR.length);\r\n\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n    let worldRot = transformRotations[index];\r\n    let localRot = transformLocalRotations[index];\r\n\r\n    if (ptR.weight >= EPSILON) {\r\n      // Dynamic point\r\n      if (ptR.parent !== -1) {\r\n        const direction = Vector3.sub(ptRW.positionToTransform, positionsToTransform[ptR.parent]);\r\n        const realLen = direction.magnitude;\r\n        if (realLen > EPSILON) {\r\n          ptRW.directionPrevious = direction;\r\n        } else {\r\n          ptRW.positionToTransform = Vector3.add(positionsToTransform[ptR.parent], ptRW.directionPrevious);\r\n        }\r\n      }\r\n      const pos = ptRW.positionToTransform;\r\n      // SetRotation with blendRatio=0 for dynamic points\r\n      // Step 1: Reset localRotation to initialLocalRotation (blendRatio = 0 means fully initial)\r\n      localRot = ptR.initialLocalRotation.clone();\r\n\r\n      // Step 2: Recompute worldRot from the new localRot\r\n      // In C#, setting localRotation immediately updates the world rotation.\r\n      // worldRot = parentWorldRot * localRot\r\n      // We approximate: the parent's current world rotation is in transformRotations[ptR.parent]\r\n      const parentRot = getPointParentWorldRotation(\r\n        index,\r\n        ptR,\r\n        results,\r\n        transformRotations,\r\n        transformLocalRotations,\r\n        sceneParentRotations\r\n      );\r\n      worldRot = Quaternion.multiply(parentRot, localRot);\r\n\r\n      // Step 3: Aim toward child (simple shortest-arc, no twist correction here)\r\n      if (ptR.child !== -1) {\r\n        const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);\r\n        if (childDir.magnitudeSq > EPSILON) {\r\n          const aimVec = Vector3.normalize(worldRot.transform(ptR.boneAxis));\r\n          const targetDir = Vector3.normalize(childDir);\r\n          const aimRot = Quaternion.unitVectorToUnitVector(aimVec, targetDir);\r\n          Quaternion.multiply(aimRot, worldRot, worldRot);\r\n        }\r\n      }\r\n      results[index] = {\r\n        position: pos,\r\n        rotation: worldRot,\r\n        localRotation: localRot\r\n      };\r\n    } else {\r\n      const childBlend =\r\n        ptR.child !== -1 ? Math.max(pointsR[ptR.child].forceFadeRatio, blendRatio) : blendRatio;\r\n\r\n      // Use the caller-provided local rotation as the fixed-joint baseline.\r\n      // The controller sanitizes this value when the transform still contains\r\n      // the previous physics output instead of a fresh animation pose.\r\n      const parentRot = getPointParentWorldRotation(\r\n        index,\r\n        ptR,\r\n        results,\r\n        transformRotations,\r\n        transformLocalRotations,\r\n        sceneParentRotations\r\n      );\r\n      localRot = transformLocalRotations[index].clone();\r\n      worldRot = Quaternion.multiply(parentRot, localRot);\r\n\r\n      // Aim toward simulated child position, blended back toward the animated direction.\r\n      if (ptR.child !== -1) {\r\n        const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);\r\n        if (childDir.magnitudeSq > EPSILON) {\r\n          const aimVec = Vector3.normalize(worldRot.transform(ptR.boneAxis));\r\n          const targetDir = Vector3.normalize(childDir);\r\n          const aimRot = Quaternion.unitVectorToUnitVector(aimVec, targetDir);\r\n          worldRot = Quaternion.slerp(Quaternion.multiply(aimRot, worldRot), worldRot, childBlend);\r\n        }\r\n      }\r\n      results[index] = {\r\n        position: ptRW.positionCurrentTransform,\r\n        rotation: worldRot,\r\n        localRotation: localRot\r\n      };\r\n    }\r\n  }\r\n\r\n  // Post-process: twist correction pass (parent �?child order).\r\n  if (preserveTwist) {\r\n    for (let index = 0; index < pointsR.length; index++) {\r\n      const ptR = pointsR[index];\r\n      if (ptR.child === -1) {\r\n        continue;\r\n      }\r\n      const result = results[index];\r\n      const parentWorldRot = getPointParentWorldRotation(\r\n        index,\r\n        ptR,\r\n        results,\r\n        transformRotations,\r\n        transformLocalRotations,\r\n        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package/dist/animation/joint_dynamics_modifier.js

@@ -1,29 +1,29 @@
 import { SkeletonModifier } from './skeleton_modifier.js';
 
-/**
- * Post-processor wrapper for joint dynamics systems.
- *
- * Integrates joint-based physics simulation into the skeleton post-processing pipeline.
- * The joint dynamics system is updated each frame and results are blended with the base animation.
- *
- * @public
+/**
+ * Post-processor wrapper for joint dynamics systems.
+ *
+ * Integrates joint-based physics simulation into the skeleton post-processing pipeline.
+ * The joint dynamics system is updated each frame and results are blended with the base animation.
+ *
+ * @public
  */ class JointDynamicsModifier extends SkeletonModifier {
     _jointDynamicsSystem;
-    /**
-   * Create a joint dynamics post-processor.
-   *
-   * @param jointDynamicsSystem - The joint dynamics system to integrate
+    /**
+   * Create a joint dynamics post-processor.
+   *
+   * @param jointDynamicsSystem - The joint dynamics system to integrate
    */ constructor(jointDynamicsSystem){
         super();
         this._jointDynamicsSystem = jointDynamicsSystem;
     }
-    /**
-   * Get the joint dynamics system.
+    /**
+   * Get the joint dynamics system.
    */ get jointDynamicsSystem() {
         return this._jointDynamicsSystem;
     }
-    /**
-   * Apply spring physics to skeleton joints.
+    /**
+   * Apply spring physics to skeleton joints.
    */ apply(_skeleton, deltaTime) {
         if (!this._enabled || this.weight <= 0) {
             return;
@@ -31,15 +31,16 @@ import { SkeletonModifier } from './skeleton_modifier.js';
         // Update spring physics simulation
         this._jointDynamicsSystem.update(deltaTime);
     }
-    /**
-   * Reset the spring system to initial state.
+    /**
+   * Reset the spring system to initial state.
    */ reset() {
         this._jointDynamicsSystem.resetChains();
         this._jointDynamicsSystem.controller.reset();
-        this._jointDynamicsSystem.controller.warp();
     }
-    warp() {
-        this._jointDynamicsSystem.controller.warp();
+    /**
+   * @deprecated Use {@link JointDynamicsModifier.reset}. Kept as a compatibility alias for teleport handling.
+   */ warp() {
+        this._jointDynamicsSystem.controller.reset();
     }
     _getWeight() {
         return 1 - this._jointDynamicsSystem.controller.blendRatio;

package/dist/animation/joint_dynamics_modifier.js.map

@@ -1 +1 @@
-{"version":3,"file":"joint_dynamics_modifier.js","sources":["../../src/animation/joint_dynamics_modifier.ts"],"sourcesContent":["import { SkeletonModifier } from './skeleton_modifier';\r\nimport type { SkeletonRig } from './skeleton';\r\nimport type { JointDynamicsSystem } from './joint_dynamics/joint_dynamics_system';\r\n\r\n/**\r\n * Post-processor wrapper for joint dynamics systems.\r\n *\r\n * Integrates joint-based physics simulation into the skeleton post-processing pipeline.\r\n * The joint dynamics system is updated each frame and results are blended with the base animation.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsModifier extends SkeletonModifier {\r\n  private _jointDynamicsSystem: JointDynamicsSystem;\r\n\r\n  /**\r\n   * Create a joint dynamics post-processor.\r\n   *\r\n   * @param jointDynamicsSystem - The joint dynamics system to integrate\r\n   */\r\n  constructor(jointDynamicsSystem: JointDynamicsSystem) {\r\n    super();\r\n    this._jointDynamicsSystem = jointDynamicsSystem;\r\n  }\r\n\r\n  /**\r\n   * Get the joint dynamics system.\r\n   */\r\n  get jointDynamicsSystem(): JointDynamicsSystem {\r\n    return this._jointDynamicsSystem;\r\n  }\r\n\r\n  /**\r\n   * Apply spring physics to skeleton joints.\r\n   */\r\n  apply(_skeleton: SkeletonRig, deltaTime: number): void {\r\n    if (!this._enabled || this.weight <= 0) {\r\n      return;\r\n    }\r\n\r\n    // Update spring physics simulation\r\n    this._jointDynamicsSystem.update(deltaTime);\r\n  }\r\n\r\n  /**\r\n   * Reset the spring system to initial state.\r\n   */\r\n  reset(): void {\r\n    this._jointDynamicsSystem.resetChains();\r\n    this._jointDynamicsSystem.controller.reset();\r\n    this._jointDynamicsSystem.controller.warp();\r\n  }\r\n\r\n  warp(): void {\r\n    this._jointDynamicsSystem.controller.warp();\r\n  }\r\n\r\n  protected _getWeight(): number {\r\n    return 1 - this._jointDynamicsSystem.controller.blendRatio;\r\n  }\r\n\r\n  protected _setWeight(value: number): void {\r\n    this._jointDynamicsSystem.controller.blendRatio = 1 - Math.max(0, Math.min(1, value));\r\n  }\r\n}\r\n"],"names":["JointDynamicsModifier","SkeletonModifier","_jointDynamicsSystem","jointDynamicsSystem","apply","_skeleton","deltaTime","_enabled","weight","update","reset","resetChains","controller","warp","_getWeight","blendRatio","_setWeight","value","Math","max","min"],"mappings":";;AAIA;;;;;;;IAQO,MAAMA,qBAA8BC,SAAAA,gBAAAA,CAAAA;IACjCC,oBAA0C;AAElD;;;;MAKA,WAAA,CAAYC,mBAAwC,CAAE;QACpD,KAAK,EAAA;QACL,IAAI,CAACD,oBAAoB,GAAGC,mBAAAA;AAC9B;AAEA;;AAEC,MACD,IAAIA,mBAA2C,GAAA;QAC7C,OAAO,IAAI,CAACD,oBAAoB;AAClC;AAEA;;AAEC,MACDE,KAAMC,CAAAA,SAAsB,EAAEC,SAAiB,EAAQ;QACrD,IAAI,CAAC,IAAI,CAACC,QAAQ,IAAI,IAAI,CAACC,MAAM,IAAI,CAAG,EAAA;AACtC,YAAA;AACF;;AAGA,QAAA,IAAI,CAACN,oBAAoB,CAACO,MAAM,CAACH,SAAAA,CAAAA;AACnC;AAEA;;AAEC,MACDI,KAAc,GAAA;QACZ,IAAI,CAACR,oBAAoB,CAACS,WAAW,EAAA;AACrC,QAAA,IAAI,CAACT,oBAAoB,CAACU,UAAU,CAACF,KAAK,EAAA;AAC1C,QAAA,IAAI,CAACR,oBAAoB,CAACU,UAAU,CAACC,IAAI,EAAA;AAC3C;IAEAA,IAAa,GAAA;AACX,QAAA,IAAI,CAACX,oBAAoB,CAACU,UAAU,CAACC,IAAI,EAAA;AAC3C;IAEUC,UAAqB,GAAA;AAC7B,QAAA,OAAO,IAAI,IAAI,CAACZ,oBAAoB,CAACU,UAAU,CAACG,UAAU;AAC5D;AAEUC,IAAAA,UAAAA,CAAWC,KAAa,EAAQ;AACxC,QAAA,IAAI,CAACf,oBAAoB,CAACU,UAAU,CAACG,UAAU,GAAG,CAAIG,GAAAA,IAAAA,CAAKC,GAAG,CAAC,CAAA,EAAGD,IAAKE,CAAAA,GAAG,CAAC,CAAGH,EAAAA,KAAAA,CAAAA,CAAAA;AAChF;AACF;;;;"}
+{"version":3,"file":"joint_dynamics_modifier.js","sources":["../../src/animation/joint_dynamics_modifier.ts"],"sourcesContent":["import { SkeletonModifier } from './skeleton_modifier';\nimport type { SkeletonRig } from './skeleton';\nimport type { JointDynamicsSystem } from './joint_dynamics/joint_dynamics_system';\n\n/**\n * Post-processor wrapper for joint dynamics systems.\n *\n * Integrates joint-based physics simulation into the skeleton post-processing pipeline.\n * The joint dynamics system is updated each frame and results are blended with the base animation.\n *\n * @public\n */\nexport class JointDynamicsModifier extends SkeletonModifier {\n  private _jointDynamicsSystem: JointDynamicsSystem;\n\n  /**\n   * Create a joint dynamics post-processor.\n   *\n   * @param jointDynamicsSystem - The joint dynamics system to integrate\n   */\n  constructor(jointDynamicsSystem: JointDynamicsSystem) {\n    super();\n    this._jointDynamicsSystem = jointDynamicsSystem;\n  }\n\n  /**\n   * Get the joint dynamics system.\n   */\n  get jointDynamicsSystem(): JointDynamicsSystem {\n    return this._jointDynamicsSystem;\n  }\n\n  /**\n   * Apply spring physics to skeleton joints.\n   */\n  apply(_skeleton: SkeletonRig, deltaTime: number): void {\n    if (!this._enabled || this.weight <= 0) {\n      return;\n    }\n\n    // Update spring physics simulation\n    this._jointDynamicsSystem.update(deltaTime);\n  }\n\n  /**\n   * Reset the spring system to initial state.\n   */\n  reset(): void {\n    this._jointDynamicsSystem.resetChains();\n    this._jointDynamicsSystem.controller.reset();\n  }\n\n  /**\n   * @deprecated Use {@link JointDynamicsModifier.reset}. Kept as a compatibility alias for teleport handling.\n   */\n  warp(): void {\n    this._jointDynamicsSystem.controller.reset();\n  }\n\n  protected _getWeight(): number {\n    return 1 - this._jointDynamicsSystem.controller.blendRatio;\n  }\n\n  protected _setWeight(value: number): void {\n    this._jointDynamicsSystem.controller.blendRatio = 1 - Math.max(0, Math.min(1, value));\n  }\n}\n"],"names":["JointDynamicsModifier","SkeletonModifier","_jointDynamicsSystem","jointDynamicsSystem","apply","_skeleton","deltaTime","_enabled","weight","update","reset","resetChains","controller","warp","_getWeight","blendRatio","_setWeight","value","Math","max","min"],"mappings":";;AAIA;;;;;;;IAQO,MAAMA,qBAA8BC,SAAAA,gBAAAA,CAAAA;IACjCC,oBAA0C;AAElD;;;;MAKA,WAAA,CAAYC,mBAAwC,CAAE;QACpD,KAAK,EAAA;QACL,IAAI,CAACD,oBAAoB,GAAGC,mBAAAA;AAC9B;AAEA;;AAEC,MACD,IAAIA,mBAA2C,GAAA;QAC7C,OAAO,IAAI,CAACD,oBAAoB;AAClC;AAEA;;AAEC,MACDE,KAAMC,CAAAA,SAAsB,EAAEC,SAAiB,EAAQ;QACrD,IAAI,CAAC,IAAI,CAACC,QAAQ,IAAI,IAAI,CAACC,MAAM,IAAI,CAAG,EAAA;AACtC,YAAA;AACF;;AAGA,QAAA,IAAI,CAACN,oBAAoB,CAACO,MAAM,CAACH,SAAAA,CAAAA;AACnC;AAEA;;AAEC,MACDI,KAAc,GAAA;QACZ,IAAI,CAACR,oBAAoB,CAACS,WAAW,EAAA;AACrC,QAAA,IAAI,CAACT,oBAAoB,CAACU,UAAU,CAACF,KAAK,EAAA;AAC5C;AAEA;;AAEC,MACDG,IAAa,GAAA;AACX,QAAA,IAAI,CAACX,oBAAoB,CAACU,UAAU,CAACF,KAAK,EAAA;AAC5C;IAEUI,UAAqB,GAAA;AAC7B,QAAA,OAAO,IAAI,IAAI,CAACZ,oBAAoB,CAACU,UAAU,CAACG,UAAU;AAC5D;AAEUC,IAAAA,UAAAA,CAAWC,KAAa,EAAQ;AACxC,QAAA,IAAI,CAACf,oBAAoB,CAACU,UAAU,CAACG,UAAU,GAAG,CAAIG,GAAAA,IAAAA,CAAKC,GAAG,CAAC,CAAA,EAAGD,IAAKE,CAAAA,GAAG,CAAC,CAAGH,EAAAA,KAAAA,CAAAA,CAAAA;AAChF;AACF;;;;"}

package/dist/animation/skeleton.js

@@ -96,15 +96,11 @@ const tmpV3 = new Vector3();
         this._playing = false;
         this._modifiers = [];
         this.computeBindPose();
-        if (skeletonRoot) {
-            this._humanoidJointMapping = Skeleton.tryExtractHumanoidJoints(skeletonRoot);
-            this._humanoidRootRotation = Quaternion.identity();
-        } else {
-            this._humanoidJointMapping = null;
-            this._humanoidRootRotation = Quaternion.identity();
-        }
-        if (this._humanoidJointMapping) {
-            let p = this._humanoidJointMapping.body["Hips"];
+        this._humanoidJointMapping = options?.humanoidJointMapping !== undefined ? options.humanoidJointMapping : skeletonRoot ? Skeleton.tryExtractHumanoidJoints(skeletonRoot) : null;
+        this._humanoidRootRotation = Quaternion.identity();
+        const hips = this._humanoidJointMapping?.body["Hips"];
+        if (hips) {
+            let p = hips;
             while(this._joints.includes(p.parent)){
                 Quaternion.multiply(p.parent.rotation, this._humanoidRootRotation, this._humanoidRootRotation);
                 p = p.parent;
@@ -321,7 +317,8 @@ function sideJointPatterns(side, patterns) {
             // pose visible by replacing the rig pose only when explicitly supplied.
             this._rig = new SkeletonRig(rig.joints, bindPose, {
                 rootJoint: rig.rootJoint,
-                rootBindPose: rig.rootBindPose
+                rootBindPose: rig.rootBindPose,
+                humanoidJointMapping: rig.humanoidJointMapping
             });
         }
         this.updateJointMatrices();