@zephyr3d/scene 0.9.6 → 0.9.8

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

@@ -1 +1 @@
-{"version":3,"file":"joint_dynamics_system.js","sources":["../../../src/animation/joint_dynamics/joint_dynamics_system.ts"],"sourcesContent":["import type { DeepPartial } from '@zephyr3d/base';\r\nimport { InterpolatorScalar, Vector3 } from '@zephyr3d/base';\r\nimport { Quaternion } from '@zephyr3d/base';\r\nimport { SceneNode } from '../../scene/scene_node';\r\nimport type {\r\n  ControllerConfig,\r\n  JointDynamicsColliderSnapshot,\r\n  JointDynamicsColliderHandle,\r\n  JointDynamicsFlatPlaneSnapshot,\r\n  JointDynamicsFlatPlaneHandle,\r\n  JointDynamicsGrabberSnapshot,\r\n  JointDynamicsGrabberHandle\r\n} from './controller';\r\nimport { JointDynamicsSystemController } from './controller';\r\nimport { ColliderForce, type BoneNode, type ColliderR, type GrabberR, type TransformAccess } from './types';\r\nimport type { SkeletonBindPose } from '../skeleton';\r\n\r\nconst _quat = new Quaternion();\r\n\r\nconst _defaultTA = createTransformAccess(new SceneNode(null), false);\r\n\r\n/**\r\n * Create a transform adapter that lets the joint dynamics solver read from and write to a SceneNode.\r\n *\r\n * @param obj - Scene node to expose through the TransformAccess interface.\r\n * @returns A TransformAccess wrapper backed by the supplied scene node.\r\n *\r\n * @public\r\n */\r\nexport function createTransformAccess(obj: SceneNode, exposeNode = true): TransformAccess {\r\n  return {\r\n    ...(exposeNode ? { node: obj } : {}),\r\n    getWorldPosition(): Vector3 {\r\n      return obj.getWorldPosition();\r\n    },\r\n    getWorldRotation(): Quaternion {\r\n      const q = new Quaternion();\r\n      obj.worldMatrix.decompose(null, q, null);\r\n      return q;\r\n    },\r\n    getWorldScale(): Vector3 {\r\n      const s = new Vector3();\r\n      obj.worldMatrix.decompose(s, null, null);\r\n      return s;\r\n    },\r\n    getLocalPosition(): Vector3 {\r\n      return obj.position.clone();\r\n    },\r\n    getLocalRotation(): Quaternion {\r\n      return obj.rotation.clone();\r\n    },\r\n    getLocalScale(): Vector3 {\r\n      return obj.scale.clone();\r\n    },\r\n    setWorldPosition(p: Vector3): void {\r\n      if (obj.parent) {\r\n        obj.position = obj.parent.invWorldMatrix.transformPointAffine(p);\r\n      } else {\r\n        obj.position.set(p);\r\n      }\r\n    },\r\n    setWorldRotation(q: Quaternion): void {\r\n      // Convert world rotation to local: localRot = inverse(parentWorldRot) * worldRot\r\n      if (obj.parent) {\r\n        obj.parent.worldMatrix.decompose(null, _quat, null);\r\n        Quaternion.multiply(Quaternion.inverse(_quat), q, obj.rotation);\r\n      } else {\r\n        obj.rotation.set(q);\r\n      }\r\n    },\r\n    setLocalPosition(p: Vector3): void {\r\n      obj.position.set(p);\r\n    },\r\n    setLocalRotation(q: Quaternion): void {\r\n      obj.rotation.set(q);\r\n    },\r\n    setLocalScale(s: Vector3): void {\r\n      obj.scale.set(s);\r\n    }\r\n  };\r\n}\r\n\r\n/**\r\n * Describes the bone chains simulated by a JointDynamicsSystem.\r\n *\r\n * Each chain is defined by an inclusive start and end node. The end node must be\r\n * a descendant of the start node.\r\n *\r\n * @public\r\n */\r\nexport type JointChainConfig = {\r\n  /** Root transform used for root motion compensation. */\r\n  systemRoot: SceneNode;\r\n  /** Bone chains to simulate. */\r\n  chains: { start: SceneNode; end: SceneNode }[];\r\n};\r\n\r\n/**\r\n * Configuration used to construct a JointDynamicsSystem.\r\n *\r\n * @public\r\n */\r\nexport type JointDynamicSystemConfig = {\r\n  /** Bone chain topology and root transform. */\r\n  chainConfig: JointChainConfig;\r\n  /** Optional controller configuration overrides. */\r\n  controllerConfig?: DeepPartial<ControllerConfig, 2>;\r\n};\r\n\r\n/**\r\n * Physics system for spring-like joint dynamics on scene node bone chains.\r\n *\r\n * The system builds particles and constraints from one or more bone chains,\r\n * advances them with Verlet integration, solves constraints and collisions, and\r\n * writes the resulting positions and rotations back to the scene graph.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsSystem {\r\n  private _controller: JointDynamicsSystemController;\r\n  private _chainConfig: JointChainConfig;\r\n  private _bindPose: WeakMap<SceneNode, SkeletonBindPose>;\r\n  /**\r\n   * Create a joint dynamics system for one or more bone chains.\r\n   *\r\n   * @param config - Bone chain topology and controller configuration.\r\n   * @param colliders - Optional colliders to register during initialization.\r\n   * @param grabbers - Optional grabbers to register during initialization.\r\n   * @param flatPlanes - Optional world-space planes that dynamic points cannot cross.\r\n   */\r\n  constructor(\r\n    config: JointDynamicSystemConfig,\r\n    colliders: { r: ColliderR; transform: TransformAccess }[] = [],\r\n    grabbers: {\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }[] = [],\r\n    flatPlanes: { up: Vector3; position: Vector3 }[] = []\r\n  ) {\r\n    this._chainConfig = {\r\n      systemRoot: config.chainConfig.systemRoot,\r\n      chains: config.chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n    this._bindPose = new WeakMap();\r\n    const rootPoints: BoneNode[] = [];\r\n    const boneNodes: BoneNode[] = [];\r\n    const pointTransforms: TransformAccess[] = [];\r\n    let index = 0;\r\n    for (const chain of config.chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      for (let i = 0; i < chainNodes.length; i++) {\r\n        const node = chainNodes[i];\r\n        this._bindPose.set(node, {\r\n          position: node.position.clone(),\r\n          rotation: node.rotation.clone(),\r\n          scale: node.scale.clone()\r\n        });\r\n        const boneNode = {\r\n          index: index++,\r\n          position: node.getWorldPosition(),\r\n          children: [],\r\n          isFixed: i === 0, // Fix the first bone in the chain\r\n          depth: i\r\n        };\r\n        boneNodes.push(boneNode);\r\n        pointTransforms.push(createTransformAccess(node));\r\n        if (i > 0) {\r\n          boneNodes[boneNodes.length - 2].children.push(boneNode);\r\n        }\r\n        if (i === 0) {\r\n          rootPoints.push(boneNode);\r\n        }\r\n      }\r\n    }\r\n    const systemRoot = createTransformAccess(config.chainConfig.systemRoot);\r\n    const defaultConfig = this.getDefaultControllerConfig();\r\n    const controllerConfig: ControllerConfig = {\r\n      ...defaultConfig,\r\n      ...config?.controllerConfig,\r\n      angleLimitConfig: { ...defaultConfig.angleLimitConfig, ...config?.controllerConfig?.angleLimitConfig },\r\n      curves: { ...defaultConfig.curves, ...config?.controllerConfig?.curves },\r\n      constraintOptions: {\r\n        ...defaultConfig.constraintOptions,\r\n        ...config?.controllerConfig?.constraintOptions\r\n      }\r\n    };\r\n    this._controller = new JointDynamicsSystemController(controllerConfig);\r\n    this._controller.initialize(systemRoot, rootPoints, pointTransforms, colliders, grabbers, flatPlanes);\r\n  }\r\n\r\n  /**\r\n   * Get the low-level controller that owns simulation state and advanced runtime controls.\r\n   *\r\n   * Most callers should prefer the convenience methods on JointDynamicsSystem.\r\n   *\r\n   * @returns The underlying joint dynamics controller.\r\n   */\r\n  get controller(): JointDynamicsSystemController {\r\n    return this._controller;\r\n  }\r\n\r\n  /**\r\n   * Get the node chain topology used to construct this system.\r\n   */\r\n  get chainConfig(): JointChainConfig {\r\n    return {\r\n      systemRoot: this._chainConfig.systemRoot,\r\n      chains: this._chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n  }\r\n\r\n  /**\r\n   * Returns detached collider snapshots for serialization.\r\n   */\r\n  getColliderSnapshots(): JointDynamicsColliderSnapshot[] {\r\n    return this._controller.getColliderSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached flat-plane snapshots for serialization.\r\n   */\r\n  getFlatPlaneSnapshots(): JointDynamicsFlatPlaneSnapshot[] {\r\n    return this._controller.getFlatPlaneSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached grabber snapshots for serialization.\r\n   */\r\n  getGrabberSnapshots(): JointDynamicsGrabberSnapshot[] {\r\n    return this._controller.getGrabberSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Reset chain nodes to bind pose\r\n   */\r\n  resetChains() {\r\n    for (const chain of this._chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      for (const node of chainNodes) {\r\n        const bindPose = this._bindPose.get(node);\r\n        if (bindPose) {\r\n          node.position = bindPose.position;\r\n          node.rotation = bindPose.rotation;\r\n          node.scale = bindPose.scale;\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Add a fully configured collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simula ; ion step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param r - Read-only collider parameters.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform?: SceneNode): JointDynamicsColliderHandle {\r\n    return this._controller.addCollider(r, transform ? createTransformAccess(transform) : _defaultTA);\r\n  }\r\n\r\n  /**\r\n   * Add a spherical collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param radius - Sphere radius in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the sphere instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addSphereCollider(\r\n    radius: number,\r\n    transform?: SceneNode,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height: 0,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Add a capsule collider at runtime.\r\n   *\r\n   * The capsule is aligned to the collider transform's local Y axis. Its head radius is\r\n   * `radius`, its tail radius is `radius * radiusTailScale`, and `height` defines the\r\n   * distance between the capsule ends before transform scaling.\r\n   *\r\n   * @param radius - Capsule head radius in world units before transform scaling.\r\n   * @param height - Capsule length in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param radiusTailScale - Tail radius multiplier relative to the head radius. Defaults to 1.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the capsule instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCapsuleCollider(\r\n    radius: number,\r\n    height: number,\r\n    transform?: SceneNode,\r\n    radiusTailScale?: number,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: radiusTailScale ?? 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by stable handle.\r\n   *\r\n   * Disabled colliders remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @param enabled - Whether the collider should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    return this._controller.setColliderEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    return this._controller.removeCollider(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   *\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   *\r\n   * @param index - Current collider array index.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    return this._controller.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane collider at runtime.\r\n   *\r\n   * Flat planes are infinite world-space planes. The normal points toward the allowed side,\r\n   * and dynamic points are pushed back when they move behind the plane.\r\n   *\r\n   * @param up - Plane normal in world space.\r\n   * @param position - A point on the plane in world space.\r\n   * @returns A stable handle that remains valid until this flat plane is removed.\r\n   */\r\n  addFlatPlane(up: Vector3, position: Vector3): JointDynamicsFlatPlaneHandle {\r\n    return this._controller.addFlatPlane(up, position);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by stable handle.\r\n   *\r\n   * Disabled flat planes remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @param enabled - Whether the flat plane should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    return this._controller.setFlatPlaneEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    return this._controller.removeFlatPlane(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * Prefer removeFlatPlane(handle) for runtime-owned flat planes.\r\n   *\r\n   * @param index - Current flat plane array index.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    return this._controller.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   *\r\n   * The grabber transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the grabber is created at the identity transform.\r\n   *\r\n   * @param r - Read-only grabber parameters.\r\n   * @param transform - Optional scene node that drives the grabber transform.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform?: SceneNode): JointDynamicsGrabberHandle {\r\n    return this._controller.addGrabber(r, transform ? createTransformAccess(transform) : _defaultTA, false);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by stable handle.\r\n   *\r\n   * Disabling a grabber also releases any points currently held by it.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @param enabled - Whether the grabber should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    return this._controller.setGrabberEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    return this._controller.removeGrabber(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   *\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Current grabber array index.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    return this._controller.removeGrabberAt(index);\r\n  }\r\n\r\n  private collectChainNodes(start: SceneNode, end: SceneNode): SceneNode[] {\r\n    if (!start.isParentOf(end)) {\r\n      throw new Error('Invalid chain: end node must be a descendant of start node');\r\n    }\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode = end;\r\n    for (;;) {\r\n      nodes.unshift(current);\r\n      if (current === start) {\r\n        break;\r\n      }\r\n      current = current.parent!;\r\n    }\r\n    return nodes;\r\n  }\r\n  /**\r\n   * Advance the physics simulation and write the resulting transforms back to the chain nodes.\r\n   *\r\n   * @param deltaTime - Frame time step in seconds. Values larger than 0.033 are clamped for stability.\r\n   */\r\n  update(deltaTime: number): void {\r\n    // Clamp deltaTime to prevent instability\r\n    const dt = Math.min(deltaTime, 0.033); // Max 30 FPS\r\n    // simulation\r\n    this._controller.step(dt);\r\n  }\r\n  /** @internal */\r\n  private getDefaultControllerConfig(): ControllerConfig {\r\n    return {\r\n      gravity: new Vector3(0, -9.8, 0),\r\n      relaxation: 3,\r\n      subSteps: 3,\r\n      enableSurfaceCollision: false,\r\n      windForce: Vector3.zero(),\r\n      rootSlideLimit: -1,\r\n      rootRotateLimit: -1,\r\n      constraintShrinkLimit: 1,\r\n      blendRatio: 0,\r\n      stabilizationFrameRate: 60,\r\n      isFakeWave: false,\r\n      fakeWaveSpeed: 0,\r\n      fakeWavePower: 0,\r\n      angleLimitConfig: { angleLimit: -1, limitFromRoot: false },\r\n      enableBroadPhase: false,\r\n      preserveTwist: false,\r\n      curves: {\r\n        gravityScale: InterpolatorScalar.constant(1),\r\n        windForceScale: InterpolatorScalar.constant(1),\r\n        massScale: InterpolatorScalar.constant(1),\r\n        resistance: InterpolatorScalar.constant(0.95),\r\n        hardness: InterpolatorScalar.constant(0.001),\r\n        friction: InterpolatorScalar.constant(0.5),\r\n        pointRadius: InterpolatorScalar.constant(0.05),\r\n        sliderJointLength: InterpolatorScalar.constant(0),\r\n        allShrinkScale: InterpolatorScalar.constant(1),\r\n        allStretchScale: InterpolatorScalar.constant(1),\r\n        structuralShrinkVertical: InterpolatorScalar.constant(1),\r\n        structuralStretchVertical: InterpolatorScalar.constant(1),\r\n        structuralShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        structuralStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        shearShrink: InterpolatorScalar.constant(0.5),\r\n        shearStretch: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkVertical: InterpolatorScalar.constant(0.5),\r\n        bendingStretchVertical: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        bendingStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        fakeWavePower: InterpolatorScalar.constant(0),\r\n        fakeWaveFreq: InterpolatorScalar.constant(0)\r\n      },\r\n      constraintOptions: {\r\n        structuralVertical: false,\r\n        structuralHorizontal: false,\r\n        shear: false,\r\n        bendingVertical: false,\r\n        bendingHorizontal: false,\r\n        isLoop: false,\r\n        collideStructuralVertical: false,\r\n        collideStructuralHorizontal: false,\r\n        collideShear: false,\r\n        enableSurfaceCollision: false\r\n      }\r\n    };\r\n  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+{"version":3,"file":"joint_dynamics_system.js","sources":["../../../src/animation/joint_dynamics/joint_dynamics_system.ts"],"sourcesContent":["import type { DeepPartial } from '@zephyr3d/base';\r\nimport { InterpolatorScalar, Vector3 } from '@zephyr3d/base';\r\nimport { Quaternion } from '@zephyr3d/base';\r\nimport { SceneNode } from '../../scene/scene_node';\r\nimport type {\r\n  ControllerConfig,\r\n  JointDynamicsColliderSnapshot,\r\n  JointDynamicsColliderHandle,\r\n  JointDynamicsFlatPlaneSnapshot,\r\n  JointDynamicsFlatPlaneHandle,\r\n  JointDynamicsGrabberSnapshot,\r\n  JointDynamicsGrabberHandle\r\n} from './controller';\r\nimport { JointDynamicsSystemController } from './controller';\r\nimport { ColliderForce, type BoneNode, type ColliderR, type GrabberR, type TransformAccess } from './types';\r\nimport type { SkeletonBindPose } from '../skeleton';\r\n\r\nconst _quat = new Quaternion();\r\n\r\nconst _defaultTA = createTransformAccess(new SceneNode(null), false);\r\n\r\n/**\r\n * Create a transform adapter that lets the joint dynamics solver read from and write to a SceneNode.\r\n *\r\n * @param obj - Scene node to expose through the TransformAccess interface.\r\n * @returns A TransformAccess wrapper backed by the supplied scene node.\r\n *\r\n * @public\r\n */\r\nexport function createTransformAccess(obj: SceneNode, exposeNode = true): TransformAccess {\r\n  return {\r\n    ...(exposeNode ? { node: obj } : {}),\r\n    getWorldPosition(): Vector3 {\r\n      return obj.getWorldPosition();\r\n    },\r\n    getWorldRotation(): Quaternion {\r\n      const q = new Quaternion();\r\n      obj.worldMatrix.decompose(null, q, null);\r\n      return q;\r\n    },\r\n    getWorldScale(): Vector3 {\r\n      const s = new Vector3();\r\n      obj.worldMatrix.decompose(s, null, null);\r\n      return s;\r\n    },\r\n    getLocalPosition(): Vector3 {\r\n      return obj.position.clone();\r\n    },\r\n    getLocalRotation(): Quaternion {\r\n      return obj.rotation.clone();\r\n    },\r\n    getLocalScale(): Vector3 {\r\n      return obj.scale.clone();\r\n    },\r\n    setWorldPosition(p: Vector3): void {\r\n      if (obj.parent) {\r\n        obj.position = obj.parent.invWorldMatrix.transformPointAffine(p);\r\n      } else {\r\n        obj.position.set(p);\r\n      }\r\n    },\r\n    setWorldRotation(q: Quaternion): void {\r\n      // Convert world rotation to local: localRot = inverse(parentWorldRot) * worldRot\r\n      if (obj.parent) {\r\n        obj.parent.worldMatrix.decompose(null, _quat, null);\r\n        Quaternion.multiply(Quaternion.inverse(_quat), q, obj.rotation);\r\n      } else {\r\n        obj.rotation.set(q);\r\n      }\r\n    },\r\n    setLocalPosition(p: Vector3): void {\r\n      obj.position.set(p);\r\n    },\r\n    setLocalRotation(q: Quaternion): void {\r\n      obj.rotation.set(q);\r\n    },\r\n    setLocalScale(s: Vector3): void {\r\n      obj.scale.set(s);\r\n    }\r\n  };\r\n}\r\n\r\n/**\r\n * Describes the bone chains simulated by a JointDynamicsSystem.\r\n *\r\n * Each chain is defined by an inclusive start and end node. The end node must be\r\n * a descendant of the start node.\r\n *\r\n * @public\r\n */\r\nexport type JointChainConfig = {\r\n  /** Root transform used for root motion compensation. */\r\n  systemRoot: SceneNode;\r\n  /** Bone chains to simulate. */\r\n  chains: { start: SceneNode; end: SceneNode }[];\r\n};\r\n\r\n/**\r\n * Configuration used to construct a JointDynamicsSystem.\r\n *\r\n * @public\r\n */\r\nexport type JointDynamicSystemConfig = {\r\n  /** Bone chain topology and root transform. */\r\n  chainConfig: JointChainConfig;\r\n  /** Optional controller configuration overrides. */\r\n  controllerConfig?: DeepPartial<ControllerConfig, 2>;\r\n};\r\n\r\n/**\r\n * Physics system for spring-like joint dynamics on scene node bone chains.\r\n *\r\n * The system builds particles and constraints from one or more bone chains,\r\n * advances them with Verlet integration, solves constraints and collisions, and\r\n * writes the resulting positions and rotations back to the scene graph.\r\n *\r\n * @public\r\n */\r\nexport class JointDynamicsSystem {\r\n  private _controller: JointDynamicsSystemController;\r\n  private _chainConfig: JointChainConfig;\r\n  private _bindPose: WeakMap<SceneNode, SkeletonBindPose>;\r\n  /**\r\n   * Create a joint dynamics system for one or more bone chains.\r\n   *\r\n   * @param config - Bone chain topology and controller configuration.\r\n   * @param colliders - Optional colliders to register during initialization.\r\n   * @param grabbers - Optional grabbers to register during initialization.\r\n   * @param flatPlanes - Optional world-space planes that dynamic points cannot cross.\r\n   */\r\n  constructor(\r\n    config: JointDynamicSystemConfig,\r\n    colliders: { r: ColliderR; transform: TransformAccess }[] = [],\r\n    grabbers: {\r\n      r: GrabberR;\r\n      transform: TransformAccess;\r\n      enabled: boolean;\r\n    }[] = [],\r\n    flatPlanes: { up: Vector3; position: Vector3 }[] = []\r\n  ) {\r\n    this._chainConfig = {\r\n      systemRoot: config.chainConfig.systemRoot,\r\n      chains: config.chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n    this._bindPose = new WeakMap();\r\n    const rootPoints: BoneNode[] = [];\r\n    const boneNodes: BoneNode[] = [];\r\n    const boneToNode = new Map<BoneNode, SceneNode>();\r\n    const pointTransforms: TransformAccess[] = [];\r\n    const nodeToBone = new Map<SceneNode, BoneNode>();\r\n    const nodeToDepth = new Map<SceneNode, number>();\r\n    for (const chain of config.chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      let previous: BoneNode | null = null;\r\n      for (let i = 0; i < chainNodes.length; i++) {\r\n        const node = chainNodes[i];\r\n        let boneNode = nodeToBone.get(node);\r\n        if (!boneNode) {\r\n          this._bindPose.set(node, {\r\n            position: node.position.clone(),\r\n            rotation: node.rotation.clone(),\r\n            scale: node.scale.clone()\r\n          });\r\n          boneNode = {\r\n            index: boneNodes.length,\r\n            position: node.getWorldPosition(),\r\n            children: [],\r\n            isFixed: i === 0,\r\n            depth: i\r\n          };\r\n          nodeToBone.set(node, boneNode);\r\n          nodeToDepth.set(node, i);\r\n          boneNodes.push(boneNode);\r\n          boneToNode.set(boneNode, node);\r\n        } else {\r\n          const depth = nodeToDepth.get(node) ?? boneNode.depth;\r\n          if (i < depth) {\r\n            boneNode.depth = i;\r\n            nodeToDepth.set(node, i);\r\n          }\r\n          boneNode.isFixed = boneNode.isFixed || i === 0;\r\n        }\r\n        if (previous && !previous.children.includes(boneNode)) {\r\n          previous.children.push(boneNode);\r\n          const rootIndex = rootPoints.indexOf(boneNode);\r\n          if (rootIndex !== -1) {\r\n            rootPoints.splice(rootIndex, 1);\r\n          }\r\n        } else if (!previous && !rootPoints.includes(boneNode)) {\r\n          rootPoints.push(boneNode);\r\n        }\r\n        previous = boneNode;\r\n      }\r\n    }\r\n    const orderedBoneNodes: BoneNode[] = [];\r\n    const visitedBoneNodes = new Set<BoneNode>();\r\n    const orderBoneNode = (boneNode: BoneNode) => {\r\n      if (visitedBoneNodes.has(boneNode)) {\r\n        return;\r\n      }\r\n      visitedBoneNodes.add(boneNode);\r\n      boneNode.index = orderedBoneNodes.length;\r\n      orderedBoneNodes.push(boneNode);\r\n      for (const child of boneNode.children) {\r\n        orderBoneNode(child);\r\n      }\r\n    };\r\n    for (const root of rootPoints) {\r\n      orderBoneNode(root);\r\n    }\r\n    boneNodes.length = 0;\r\n    boneNodes.push(...orderedBoneNodes);\r\n    pointTransforms.push(...boneNodes.map((boneNode) => createTransformAccess(boneToNode.get(boneNode)!)));\r\n    const systemRoot = createTransformAccess(config.chainConfig.systemRoot);\r\n    const defaultConfig = this.getDefaultControllerConfig();\r\n    const controllerConfig: ControllerConfig = {\r\n      ...defaultConfig,\r\n      ...config?.controllerConfig,\r\n      angleLimitConfig: { ...defaultConfig.angleLimitConfig, ...config?.controllerConfig?.angleLimitConfig },\r\n      curves: { ...defaultConfig.curves, ...config?.controllerConfig?.curves },\r\n      constraintOptions: {\r\n        ...defaultConfig.constraintOptions,\r\n        ...config?.controllerConfig?.constraintOptions\r\n      }\r\n    };\r\n    this._controller = new JointDynamicsSystemController(controllerConfig);\r\n    this._controller.initialize(systemRoot, rootPoints, pointTransforms, colliders, grabbers, flatPlanes);\r\n  }\r\n\r\n  /**\r\n   * Get the low-level controller that owns simulation state and advanced runtime controls.\r\n   *\r\n   * Most callers should prefer the convenience methods on JointDynamicsSystem.\r\n   *\r\n   * @returns The underlying joint dynamics controller.\r\n   */\r\n  get controller(): JointDynamicsSystemController {\r\n    return this._controller;\r\n  }\r\n\r\n  /**\r\n   * Get the node chain topology used to construct this system.\r\n   */\r\n  get chainConfig(): JointChainConfig {\r\n    return {\r\n      systemRoot: this._chainConfig.systemRoot,\r\n      chains: this._chainConfig.chains.map((chain) => ({ start: chain.start, end: chain.end }))\r\n    };\r\n  }\r\n\r\n  /**\r\n   * Returns detached collider snapshots for serialization.\r\n   */\r\n  getColliderSnapshots(): JointDynamicsColliderSnapshot[] {\r\n    return this._controller.getColliderSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached flat-plane snapshots for serialization.\r\n   */\r\n  getFlatPlaneSnapshots(): JointDynamicsFlatPlaneSnapshot[] {\r\n    return this._controller.getFlatPlaneSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Returns detached grabber snapshots for serialization.\r\n   */\r\n  getGrabberSnapshots(): JointDynamicsGrabberSnapshot[] {\r\n    return this._controller.getGrabberSnapshots();\r\n  }\r\n\r\n  /**\r\n   * Reset chain nodes to bind pose\r\n   */\r\n  resetChains() {\r\n    for (const chain of this._chainConfig.chains) {\r\n      const chainNodes = this.collectChainNodes(chain.start, chain.end);\r\n      for (const node of chainNodes) {\r\n        const bindPose = this._bindPose.get(node);\r\n        if (bindPose) {\r\n          node.position = bindPose.position;\r\n          node.rotation = bindPose.rotation;\r\n          node.scale = bindPose.scale;\r\n        }\r\n      }\r\n    }\r\n  }\r\n  /**\r\n   * Add a fully configured collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simula ; ion step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param r - Read-only collider parameters.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCollider(r: ColliderR, transform?: SceneNode): JointDynamicsColliderHandle {\r\n    return this._controller.addCollider(r, transform ? createTransformAccess(transform) : _defaultTA);\r\n  }\r\n\r\n  /**\r\n   * Add a spherical collider at runtime.\r\n   *\r\n   * The collider transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the collider is created at the identity transform.\r\n   *\r\n   * @param radius - Sphere radius in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the sphere instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addSphereCollider(\r\n    radius: number,\r\n    transform?: SceneNode,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height: 0,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Add a capsule collider at runtime.\r\n   *\r\n   * The capsule is aligned to the collider transform's local Y axis. Its head radius is\r\n   * `radius`, its tail radius is `radius * radiusTailScale`, and `height` defines the\r\n   * distance between the capsule ends before transform scaling.\r\n   *\r\n   * @param radius - Capsule head radius in world units before transform scaling.\r\n   * @param height - Capsule length in world units before transform scaling.\r\n   * @param transform - Optional scene node that drives the collider transform.\r\n   * @param radiusTailScale - Tail radius multiplier relative to the head radius. Defaults to 1.\r\n   * @param friction - Contact friction coefficient applied by this collider. Defaults to 0.\r\n   * @param inversed - If true, points are constrained inside the capsule instead of pushed out.\r\n   * @returns A stable handle that remains valid until this collider is removed.\r\n   */\r\n  addCapsuleCollider(\r\n    radius: number,\r\n    height: number,\r\n    transform?: SceneNode,\r\n    radiusTailScale?: number,\r\n    friction?: number,\r\n    inversed?: boolean\r\n  ): JointDynamicsColliderHandle {\r\n    return this.addCollider(\r\n      {\r\n        forceType: ColliderForce.Off,\r\n        friction: friction ?? 0,\r\n        height,\r\n        isInverseCollider: inversed ?? false,\r\n        radius,\r\n        radiusTailScale: radiusTailScale ?? 1\r\n      },\r\n      transform\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a collider by stable handle.\r\n   *\r\n   * Disabled colliders remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @param enabled - Whether the collider should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setColliderEnabled(handle: JointDynamicsColliderHandle, enabled: boolean): boolean {\r\n    return this._controller.setColliderEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by stable handle.\r\n   *\r\n   * @param handle - Collider handle returned by addCollider, addSphereCollider, or addCapsuleCollider.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeCollider(handle: JointDynamicsColliderHandle): boolean {\r\n    return this._controller.removeCollider(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a collider by current array index.\r\n   *\r\n   * Prefer removeCollider(handle) for runtime-owned colliders.\r\n   *\r\n   * @param index - Current collider array index.\r\n   * @returns true if the collider existed and was removed.\r\n   */\r\n  removeColliderAt(index: number): boolean {\r\n    return this._controller.removeColliderAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a flat plane collider at runtime.\r\n   *\r\n   * Flat planes are infinite world-space planes. The normal points toward the allowed side,\r\n   * and dynamic points are pushed back when they move behind the plane.\r\n   *\r\n   * @param up - Plane normal in world space.\r\n   * @param position - A point on the plane in world space.\r\n   * @returns A stable handle that remains valid until this flat plane is removed.\r\n   */\r\n  addFlatPlane(up: Vector3, position: Vector3): JointDynamicsFlatPlaneHandle {\r\n    return this._controller.addFlatPlane(up, position);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a flat plane by stable handle.\r\n   *\r\n   * Disabled flat planes remain registered but are ignored by simulation until re-enabled.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @param enabled - Whether the flat plane should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setFlatPlaneEnabled(handle: JointDynamicsFlatPlaneHandle, enabled: boolean): boolean {\r\n    return this._controller.setFlatPlaneEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by stable handle.\r\n   *\r\n   * @param handle - Flat plane handle returned by addFlatPlane.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlane(handle: JointDynamicsFlatPlaneHandle): boolean {\r\n    return this._controller.removeFlatPlane(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a flat plane by current array index.\r\n   * Prefer removeFlatPlane(handle) for runtime-owned flat planes.\r\n   *\r\n   * @param index - Current flat plane array index.\r\n   * @returns true if the flat plane existed and was removed.\r\n   */\r\n  removeFlatPlaneAt(index: number): boolean {\r\n    return this._controller.removeFlatPlaneAt(index);\r\n  }\r\n\r\n  /**\r\n   * Add a grabber at runtime.\r\n   *\r\n   * The grabber transform is read from the supplied scene node every simulation step.\r\n   * If no transform is supplied, the grabber is created at the identity transform.\r\n   *\r\n   * @param r - Read-only grabber parameters.\r\n   * @param transform - Optional scene node that drives the grabber transform.\r\n   * @returns A stable handle that remains valid until this grabber is removed.\r\n   */\r\n  addGrabber(r: GrabberR, transform?: SceneNode): JointDynamicsGrabberHandle {\r\n    return this._controller.addGrabber(r, transform ? createTransformAccess(transform) : _defaultTA, false);\r\n  }\r\n\r\n  /**\r\n   * Enable or disable a grabber by stable handle.\r\n   *\r\n   * Disabling a grabber also releases any points currently held by it.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @param enabled - Whether the grabber should participate in simulation.\r\n   * @returns true if the handle is valid and the enabled state was updated.\r\n   */\r\n  setGrabberEnabled(handle: JointDynamicsGrabberHandle, enabled: boolean): boolean {\r\n    return this._controller.setGrabberEnabled(handle, enabled);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by stable handle.\r\n   *\r\n   * @param handle - Grabber handle returned by addGrabber.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabber(handle: JointDynamicsGrabberHandle): boolean {\r\n    return this._controller.removeGrabber(handle);\r\n  }\r\n\r\n  /**\r\n   * Remove a grabber by current array index.\r\n   *\r\n   * Prefer removeGrabber(handle) for runtime-owned grabbers.\r\n   *\r\n   * @param index - Current grabber array index.\r\n   * @returns true if the grabber existed and was removed.\r\n   */\r\n  removeGrabberAt(index: number): boolean {\r\n    return this._controller.removeGrabberAt(index);\r\n  }\r\n\r\n  private collectChainNodes(start: SceneNode, end: SceneNode): SceneNode[] {\r\n    if (!start.isParentOf(end)) {\r\n      throw new Error('Invalid chain: end node must be a descendant of start node');\r\n    }\r\n    const nodes: SceneNode[] = [];\r\n    let current: SceneNode = end;\r\n    for (;;) {\r\n      nodes.unshift(current);\r\n      if (current === start) {\r\n        break;\r\n      }\r\n      current = current.parent!;\r\n    }\r\n    return nodes;\r\n  }\r\n  /**\r\n   * Advance the physics simulation and write the resulting transforms back to the chain nodes.\r\n   *\r\n   * @param deltaTime - Frame time step in seconds. Values larger than 0.033 are clamped for stability.\r\n   */\r\n  update(deltaTime: number): void {\r\n    // Clamp deltaTime to prevent instability\r\n    const dt = Math.min(deltaTime, 0.033); // Max 30 FPS\r\n    // simulation\r\n    this._controller.step(dt);\r\n  }\r\n  /** @internal */\r\n  private getDefaultControllerConfig(): ControllerConfig {\r\n    return {\r\n      gravity: new Vector3(0, -9.8, 0),\r\n      relaxation: 3,\r\n      subSteps: 3,\r\n      enableSurfaceCollision: false,\r\n      windForce: Vector3.zero(),\r\n      rootSlideLimit: -1,\r\n      rootRotateLimit: -1,\r\n      constraintShrinkLimit: 1,\r\n      blendRatio: 0,\r\n      stabilizationFrameRate: 60,\r\n      isFakeWave: false,\r\n      fakeWaveSpeed: 0,\r\n      fakeWavePower: 0,\r\n      angleLimitConfig: { angleLimit: -1, limitFromRoot: false },\r\n      enableBroadPhase: false,\r\n      preserveTwist: true,\r\n      curves: {\r\n        gravityScale: InterpolatorScalar.constant(1),\r\n        windForceScale: InterpolatorScalar.constant(1),\r\n        massScale: InterpolatorScalar.constant(1),\r\n        resistance: InterpolatorScalar.constant(0.95),\r\n        hardness: InterpolatorScalar.constant(0.001),\r\n        friction: InterpolatorScalar.constant(0.5),\r\n        pointRadius: InterpolatorScalar.constant(0.05),\r\n        sliderJointLength: InterpolatorScalar.constant(0),\r\n        allShrinkScale: InterpolatorScalar.constant(1),\r\n        allStretchScale: InterpolatorScalar.constant(1),\r\n        structuralShrinkVertical: InterpolatorScalar.constant(1),\r\n        structuralStretchVertical: InterpolatorScalar.constant(1),\r\n        structuralShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        structuralStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        shearShrink: InterpolatorScalar.constant(0.5),\r\n        shearStretch: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkVertical: InterpolatorScalar.constant(0.5),\r\n        bendingStretchVertical: InterpolatorScalar.constant(0.5),\r\n        bendingShrinkHorizontal: InterpolatorScalar.constant(0.5),\r\n        bendingStretchHorizontal: InterpolatorScalar.constant(0.5),\r\n        fakeWavePower: InterpolatorScalar.constant(0),\r\n        fakeWaveFreq: InterpolatorScalar.constant(0)\r\n      },\r\n      constraintOptions: {\r\n        structuralVertical: false,\r\n        structuralHorizontal: false,\r\n        shear: false,\r\n        bendingVertical: false,\r\n        bendingHorizontal: false,\r\n        isLoop: false,\r\n        collideStructuralVertical: false,\r\n        collideStructuralHorizontal: false,\r\n        collideShear: false,\r\n        enableSurfaceCollision: false\r\n      }\r\n    };\r\n  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package/dist/animation/joint_dynamics/solver.js

@@ -672,12 +672,62 @@ function pointUpdatePass2(pointsR, pointsRW, positionsToTransform, stepDelta, fa
         positionsToTransform[index] = ptRW.positionToTransform.clone();
     }
 }
+/**
+ * Extracts the right-side local twist from a rotation around the supplied local axis.
+ *
+ * The result is the T in Q = S * T, where S aims the local axis and T only rolls
+ * around that same local axis. Replacing this twist preserves the aimed bone
+ * direction because right-side twist does not move the local axis before S.
+ *
+ * @internal
+ */ function extractLocalTwist(rotation, axis, result) {
+    result = result ?? new Quaternion();
+    if (axis.magnitudeSq <= EPSILON * EPSILON) {
+        return result.identity();
+    }
+    const twistAxis = Vector3.normalize(axis);
+    const aimedAxis = rotation.transform(twistAxis);
+    if (aimedAxis.magnitudeSq <= EPSILON * EPSILON) {
+        return result.identity();
+    }
+    const swing = Quaternion.unitVectorToUnitVector(twistAxis, Vector3.normalize(aimedAxis));
+    const twist = Quaternion.multiply(Quaternion.inverse(swing), rotation, result);
+    twist.decomposeSwingTwist(twistAxis, undefined, result);
+    return result;
+}
+function replaceLocalTwistFromReference(rotation, ptR, targetAxis, result) {
+    result = result ?? new Quaternion();
+    if (ptR.boneAxis.magnitudeSq <= EPSILON * EPSILON || targetAxis.magnitudeSq <= EPSILON * EPSILON) {
+        result.set(rotation);
+        return result;
+    }
+    const twistAxis = Vector3.normalize(ptR.boneAxis);
+    const targetDir = Vector3.normalize(targetAxis);
+    const initialNoTwist = Quaternion.multiply(ptR.initialLocalRotation, Quaternion.inverse(ptR.initialLocalTwist));
+    const initialAxis = initialNoTwist.transform(twistAxis);
+    if (initialAxis.magnitudeSq <= EPSILON * EPSILON) {
+        result.set(rotation);
+        return result;
+    }
+    const swingDelta = Quaternion.unitVectorToUnitVector(Vector3.normalize(initialAxis), targetDir);
+    const noTwist = Quaternion.multiply(swingDelta, initialNoTwist);
+    return Quaternion.multiply(noTwist, ptR.initialLocalTwist, result);
+}
+function getSceneParentWorldRotation(index, transformRotations, transformLocalRotations, sceneParentRotations) {
+    if (sceneParentRotations?.[index]) {
+        return sceneParentRotations[index];
+    }
+    return Quaternion.multiply(transformRotations[index], Quaternion.inverse(transformLocalRotations[index]));
+}
+function getPointParentWorldRotation(index, ptR, results, transformRotations, transformLocalRotations, sceneParentRotations) {
+    return ptR.parent !== -1 ? results[ptR.parent]?.rotation ?? transformRotations[ptR.parent] : getSceneParentWorldRotation(index, transformRotations, transformLocalRotations, sceneParentRotations);
+}
 /**
  * Computes transform outputs from the simulated point positions.
  *
  * @public
  */ function applyResult(pointsR, pointsRW, positionsToTransform, blendRatio, // Current transform rotations (world and local) read from engine
-transformRotations, transformLocalRotations, preserveTwist) {
+transformRotations, transformLocalRotations, preserveTwist, sceneParentRotations) {
     const results = new Array(pointsR.length);
     for(let index = 0; index < pointsR.length; index++){
         const ptR = pointsR[index];
@@ -703,19 +753,15 @@ transformRotations, transformLocalRotations, preserveTwist) {
             // In C#, setting localRotation immediately updates the world rotation.
             // worldRot = parentWorldRot * localRot
             // We approximate: the parent's current world rotation is in transformRotations[ptR.parent]
-            if (ptR.parent !== -1) {
-                // Use the parent's OUTPUT rotation (already computed if parent index < current index)
-                const parentRot = results[ptR.parent] ? results[ptR.parent].rotation : transformRotations[ptR.parent];
-                worldRot = Quaternion.multiply(parentRot, localRot);
-            } else {
-                worldRot = localRot.clone();
-            }
+            const parentRot = getPointParentWorldRotation(index, ptR, results, transformRotations, transformLocalRotations, sceneParentRotations);
+            worldRot = Quaternion.multiply(parentRot, localRot);
             // Step 3: Aim toward child (simple shortest-arc, no twist correction here)
             if (ptR.child !== -1) {
                 const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);
                 if (childDir.magnitudeSq > EPSILON) {
-                    const aimVec = worldRot.transform(ptR.boneAxis);
-                    const aimRot = Quaternion.unitVectorToUnitVector(aimVec, childDir);
+                    const aimVec = Vector3.normalize(worldRot.transform(ptR.boneAxis));
+                    const targetDir = Vector3.normalize(childDir);
+                    const aimRot = Quaternion.unitVectorToUnitVector(aimVec, targetDir);
                     Quaternion.multiply(aimRot, worldRot, worldRot);
                 }
             }
@@ -726,20 +772,19 @@ transformRotations, transformLocalRotations, preserveTwist) {
             };
         } else {
             const childBlend = ptR.child !== -1 ? Math.max(pointsR[ptR.child].forceFadeRatio, blendRatio) : blendRatio;
-            // Fixed joints are fully driven by the scene graph (animation + parent transforms).
-            // Use the engine's current world rotation directly as the baseline �?do NOT
-            // reconstruct it from localRot, because localRot was read from the transform that
-            // was written back last frame (after aim correction), so it carries stale physics
-            // noise that would accumulate each frame and cause periodic spin artifacts.
-            // transformRotations[index] is read before applyResult runs, so it still holds
-            // the correct animated world rotation for this frame.
-            worldRot = transformRotations[index];
+            // Use the caller-provided local rotation as the fixed-joint baseline.
+            // The controller sanitizes this value when the transform still contains
+            // the previous physics output instead of a fresh animation pose.
+            const parentRot = getPointParentWorldRotation(index, ptR, results, transformRotations, transformLocalRotations, sceneParentRotations);
+            localRot = transformLocalRotations[index].clone();
+            worldRot = Quaternion.multiply(parentRot, localRot);
             // Aim toward simulated child position, blended back toward the animated direction.
             if (ptR.child !== -1) {
                 const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);
                 if (childDir.magnitudeSq > EPSILON) {
-                    const aimVec = worldRot.transform(ptR.boneAxis);
-                    const aimRot = Quaternion.unitVectorToUnitVector(aimVec, childDir);
+                    const aimVec = Vector3.normalize(worldRot.transform(ptR.boneAxis));
+                    const targetDir = Vector3.normalize(childDir);
+                    const aimRot = Quaternion.unitVectorToUnitVector(aimVec, targetDir);
                     worldRot = Quaternion.slerp(Quaternion.multiply(aimRot, worldRot), worldRot, childBlend);
                 }
             }
@@ -754,16 +799,15 @@ transformRotations, transformLocalRotations, preserveTwist) {
     if (preserveTwist) {
         for(let index = 0; index < pointsR.length; index++){
             const ptR = pointsR[index];
-            if (ptR.weight < EPSILON || ptR.child === -1) {
+            if (ptR.child === -1) {
                 continue;
             }
             const result = results[index];
-            const parentWorldRot = ptR.parent !== -1 ? results[ptR.parent].rotation : Quaternion.identity();
+            const parentWorldRot = getPointParentWorldRotation(index, ptR, results, transformRotations, transformLocalRotations, sceneParentRotations);
             const effectiveLocal = Quaternion.multiply(Quaternion.inverse(parentWorldRot), result.rotation);
-            const curTwist = new Quaternion();
-            effectiveLocal.decomposeSwingTwist(ptR.boneAxis, undefined, curTwist);
-            const swingTF = Quaternion.multiply(effectiveLocal, Quaternion.inverse(curTwist));
-            const correctedLocal = Quaternion.multiply(swingTF, ptR.initialLocalTwist);
+            const targetLocalAxis = effectiveLocal.transform(ptR.boneAxis);
+            const correctedLocal = replaceLocalTwistFromReference(effectiveLocal, ptR, targetLocalAxis);
+            result.localRotation = correctedLocal;
             Quaternion.multiply(parentWorldRot, correctedLocal, result.rotation);
         }
     }
@@ -801,5 +845,5 @@ transformRotations, transformLocalRotations, preserveTwist) {
     }
 }
 
-export { applyAngleLimits, applyResult, simulate };
+export { applyAngleLimits, applyResult, extractLocalTwist, simulate };
 //# sourceMappingURL=solver.js.map