lecodes-sdk 0.20.2 → 1.1.0

package/src/gl/Gearbox.ts

@@ -1,212 +0,0 @@
-// The gearbox of a `Vehicle`, as an aspect on the same node. It is deliberately NOT in the engine:
-// picking a gear is policy, not physics — two RPM thresholds and a latency timer — and every game
-// wants its own. The engine keeps only the physical half (the clutch's stiffness and the coupled
-// engine/wheel solve), and is told one ratio and one clutch scalar per frame.
-//
-//   car.aspect(Gearbox, { ratios: [2.66, 1.78, 1.3, 1.0, 0.74], reverse: -2.9 })
-//
-// A `Vehicle` with no `Gearbox` attaches this one with its defaults, so a car that never mentions
-// gears still drives.
-//
-// Custom behaviour is a subclass overriding ONE method:
-//
-//   class SportBox extends Gearbox {
-//     select(v: Vehicle): number { return v.rpm > 6200 ? this.gear + 1 : this.gear }
-//   }
-//
-// The clutch is two things multiplied. The SHIFT envelope (`shiftTime`/`clutchTime`) stays with the
-// base class on purpose: a forgotten ramp breaks a car silently — no drive at all, or a slammed
-// clutch. The TAKE-UP (`takeUp`) is the left-foot half, and is overridable for a car that launches
-// unusually — a torque converter, a rally launch control.
-
-import { Aspect } from "../core/Aspect"
-import type { FieldMeta } from "../core/fields"
-import type { Node } from "./Node"
-import type { Vehicle } from "./Vehicle"
-
-// How far above idle counts as "revs to spare". A simulated engine cannot fall below its idle — the
-// physics clamps it — so being AT idle is the observable form of "the wheels are dragging me under".
-// This is the tolerance for reading that clamp, not a tuning knob.
-const IDLE_MARGIN = 1.05
-
-// The car this gearbox belongs to. Read through the aspect accessor rather than node.get(Vehicle),
-// so this file needs Vehicle only as a TYPE and the two do not import each other at runtime.
-const carOf = (n: Node): Vehicle | null => (n as unknown as { vehicle?: Vehicle }).vehicle ?? null
-
-export class Gearbox extends Aspect<"gearbox", Node> {
-  static readonly aspect = "gearbox"
-
-  /** Forward gear ratios, first gear first. Engine RPM = wheel speed × ratio × the differential. */
-  ratios: number[] = [ 2.66, 1.78, 1.3, 1.0, 0.74 ]
-  /** Reverse ratio — negative, because a ratio's SIGN is what reverse means to the engine. */
-  reverse = -2.9
-  /** Shift up when the engine passes this fraction of its redline. */
-  shiftUp = 0.67
-  /** Shift down when it falls below this fraction. */
-  shiftDown = 0.33
-  /** How long a shift takes, in seconds — the clutch is out for this long. */
-  shiftTime = 0.2
-  /** How long the clutch takes to re-engage afterwards. */
-  clutchTime = 0.3
-  /** How long to wait after a shift before another is allowed — without it a car sitting on a
-   *  threshold hunts between two gears. */
-  latency = 0.5
-
-  /** How far the clutch bites the instant drive is asked for from rest, 0..1. It only has to COUPLE
-   *  the shafts — how much torque that passes is the engine's business, so a feathered throttle
-   *  still pulls away gently at the same bite point. */
-  bite = 0.4
-
-  static fields: FieldMeta<Gearbox> = {
-    reverse: { max: -0.1, step: 0.1 },
-    shiftUp: { min: 0.1, max: 1, step: 0.01 },
-    shiftDown: { min: 0, max: 0.9, step: 0.01 },
-    shiftTime: { min: 0, max: 3, step: 0.05 },
-    clutchTime: { min: 0, max: 3, step: 0.05 },
-    latency: { min: 0, max: 3, step: 0.05 },
-    bite: { min: 0, max: 1, step: 0.05 },
-    ratios: { hidden: true },
-  }
-
-  /** Current gear: −1 reverse, 0 neutral, 1… forward. Read it for a HUD. */
-  gear = 0
-  /** True while a shift is in progress — the clutch is out and the engine is not driving the wheels. */
-  get shifting(): boolean { return this._shiftLeft > 0 }
-
-  private _shiftLeft = 0      // seconds of clutch-out left
-  private _engageLeft = 0     // seconds of clutch re-engagement left
-  private _waitLeft = 0       // anti-hunting
-  private _take = 0           // how far the CAR's own state wants the clutch in, latched per frame
-
-  /** EARLY phase: the pair has to be latched before this frame's step consumes it. */
-  updateBefore(dt: number): void {
-    const v = carOf(this.node)
-    if (!v || !v.id) return
-
-    this._waitLeft = Math.max(0, this._waitLeft - dt)
-
-    if (this._shiftLeft > 0) {
-      // Mid-shift: clutch fully out, and the moment it ends the re-engagement ramp starts.
-      this._shiftLeft = Math.max(0, this._shiftLeft - dt)
-      if (this._shiftLeft === 0) this._engageLeft = this.clutchTime
-    } else {
-      const want = this.select(v)
-      if (want !== this.gear) this.shift(want)
-      else this._engageLeft = Math.max(0, this._engageLeft - dt)
-    }
-
-    // The pedal only moves while no shift is in flight. During one the revs say nothing about
-    // whether the wheels can sustain them: an engine still spinning down from the last gear reads as
-    // "revs to spare" and would drop the clutch straight back in — enough to shove a stopped car
-    // several km/h with no throttle at all. Freezing it is what a driver does anyway; the foot is
-    // already down, and the envelope owns the clutch until the gear is in.
-    if (this._shiftLeft === 0 && this._engageLeft === 0) {
-      this._take = Math.max(0, Math.min(1, this.takeUp(v, dt)))
-    }
-
-    v._setTransmission(this.ratio, this.clutch)
-  }
-
-  /**
-   * The driver's left foot: where the clutch pedal is, ignoring shifts. Returns the new engagement.
-   *
-   * A driver does not compute anything. They watch the tacho: **revs sinking to idle means the
-   * wheels are about to drag the engine under, and that is when you push the clutch in.** That
-   * single test replaces every ratio and threshold — the crossover it finds is the exact speed where
-   * engine braking stops and the engine would start PUSHING instead, and it finds it per gear
-   * without being told the gear.
-   *
-   * The pedal comes back UP only for the throttle. Healthy revs are not on their own a reason to
-   * engage: a car standing still shows healthy revs too — the wheels simply are not turning to say
-   * otherwise — and a clutch dropped on that evidence lurches the car off with no throttle at all.
-   *
-   * Three things fall out of it for free:
-   *
-   * - **A braked car stops.** The engine cannot stall, so a clutch left in at 0 km/h feeds idle
-   *   torque to the wheels forever and the car creeps against its own brakes. Here the revs pin at
-   *   idle, so the pedal goes down and the brakes have nothing to fight.
-   * - **Reverse is not a special case.** No ratio takes part, so it needs no separate number — which
-   *   is exactly why a fixed road-speed threshold got reverse wrong.
-   * - **Hill starts judder instead of stalling.** Let the pedal out, the load pulls the revs down,
-   *   the rule pushes it straight back in, and the clutch sits slipping at the bite point until the
-   *   car moves. So the test deliberately ignores the throttle — gating it on "no throttle" would
-   *   stall the car under load. Throttle only holds the floor at `bite`.
-   *
-   * The cost is honest and small: once the pedal is down the revs sit at idle and cannot rise on
-   * their own, so **coasting downhill gives no engine braking until you touch the throttle** — which
-   * is precisely what a car with the clutch in does. Slipping it permanently to keep listening would
-   * bring the creep straight back.
-   */
-  protected takeUp(v: Vehicle, dt: number): number {
-    if (this.gear === 0) return 0
-    const idle = v.engine.idleRpm ?? 1000
-    const step = dt / Math.max(this.clutchTime, dt)
-    const asked = v.throttle !== 0
-    let take = this._take
-    if (v.rpm <= idle * IDLE_MARGIN) take -= step   // being dragged under: pedal goes down
-    else if (asked) take += step                    // revs to spare AND somewhere to go: let it up
-    // Asking for drive also holds the pedal at the bite point however far down the rule wants it;
-    // that is what makes a launch — and a hill start — slip instead of collapsing to nothing.
-    return asked ? Math.max(take, this.bite) : take
-  }
-
-  /**
-   * Which gear the car should be in. The default is an ordinary automatic: pull away from neutral in
-   * the direction of the throttle, shift up past `shiftUp` of the redline and down below `shiftDown`,
-   * and refuse to shift again for `latency` seconds. Override this and nothing else.
-   */
-  select(v: Vehicle): number {
-    const throttle = v.throttle
-    // Neutral, or asked to go the other way: engage once the car has (nearly) stopped.
-    if (this.gear === 0 || throttle * this.gear < 0) {
-      if (Math.abs(v.speed) > 1 && this.gear !== 0) return this.gear
-      return throttle > 0 ? 1 : throttle < 0 ? -1 : this.gear
-    }
-    if (this.gear < 0 || this._waitLeft > 0 || this.shifting) return this.gear
-    const rpm = v.rpm
-    const max = v.engine.maxRpm ?? 6000
-    // Upshifting needs COUPLED revs. With the clutch out the engine is free, so a blip at a
-    // standstill reads as 6000 rpm and the box would climb to top gear without the car moving —
-    // then launch in it. Downshifting stays open either way: it can only take you to a lower gear,
-    // which is where a car with dying revs belongs.
-    if (rpm > max * this.shiftUp && this.clutch >= 1 && this.gear < this.ratios.length) return this.gear + 1
-    if (rpm < max * this.shiftDown && this.gear > 1) return this.gear - 1
-    return this.gear
-  }
-
-  /** Change gear now, with the clutch envelope. Safe to call from `select()` or from game code
-   *  (a sequential manual is `if (Input.key('KeyE')) car.gearbox.shift(car.gearbox.gear + 1)`). */
-  shift(gear: number): void {
-    const clamped = Math.max(-1, Math.min(this.ratios.length, Math.round(gear)))
-    if (clamped === this.gear) return
-    // The envelope is for swapping one ENGAGED gear for another. If nothing is coupled there is
-    // nothing to disengage, so it is skipped: neutral at either end, and equally a car sitting still
-    // with the pedal already down — picking reverse there should pull away the moment it is asked
-    // to, not sit out a shift it never had to make.
-    const swapping = this.gear !== 0 && clamped !== 0 && this._take > 0
-    this.gear = clamped
-    this._shiftLeft = swapping ? this.shiftTime : 0
-    this._engageLeft = swapping ? this.clutchTime : 0
-    this._waitLeft = this.latency + this._shiftLeft
-  }
-
-  /** The ratio the engine should be running: 0 in neutral, negative in reverse. */
-  get ratio(): number {
-    if (this.gear === 0) return 0
-    if (this.gear < 0) return this.reverse
-    return this.ratios[this.gear - 1] ?? 1
-  }
-
-  /**
-   * The clutch scalar 0..1 the engine is given: the SHIFT envelope (out during a shift, ramping back
-   * over `clutchTime`) times the driver's pedal (`takeUp`). Two independent reasons for the clutch
-   * to be out, so they multiply: mid-shift is out however healthy the revs are, and an engine being
-   * dragged to idle is out whatever gear it just picked.
-   */
-  get clutch(): number {
-    if (this._shiftLeft > 0) return 0
-    const envelope =
-      this._engageLeft > 0 && this.clutchTime > 0 ? 1 - this._engageLeft / this.clutchTime : 1
-    return envelope * this._take
-  }
-}

package/src/gl/IK.ts

@@ -1,193 +0,0 @@
-// IK — precise character actions as late-phase aspects on BONES (docs/animation-plan.md §2.5).
-// They run after the animation wrote the pose (base anim or Animator) and before the skin is
-// flushed, so their bone writes land in the skin. Attach to the END bone of the chain; the chain is
-// walked up through parents — one instance per end effector, any Node hierarchy works.
-//
-//   const foot = hero.bone('LeftFoot')!
-//   foot.aspect(IK.TwoBone, { target: footTarget, pole: kneeHint })     // upLeg → leg → foot
-//   foot.ik.weight = grounded ? 1 : 0                                    // blend in/out
-//   hero.bone('Head')!.aspect(IK.LookAt, { target: camera, limit: 70 })  // head tracks the camera
-//
-// Pure SDK/JS: a handful of world-matrix reads + two quaternion writes per solve. A native solver can
-// slot in later behind the same API.
-
-import { Aspect } from "../core/Aspect"
-import { Vec3, type Vec3Like } from "../math/vec"
-import { Quat } from "../math/quat"
-import type { Node } from "./Node"
-
-type Target = Node | Vec3Like
-
-const targetPos = (t: Target | undefined): Vec3 | null => {
-  if (t === undefined || t === null) return null
-  const n = t as Node
-  if (typeof (n as { worldPosition?: unknown }).worldPosition === "object" && typeof n.id === "number") return n.worldPosition
-  return new Vec3(t as Vec3Like)
-}
-
-/** World rotation of a node (parent chain composed natively). */
-const worldRot = (n: Node): Quat => n.worldMatrix.rotation
-
-/** Write a WORLD rotation to a node by converting through the parent's world rotation. */
-const setWorldRot = (n: Node, q: Quat): void => {
-  const p = n.parent
-  n.quaternion = p ? worldRot(p).invert().mul(q).normalize() : q.normalize()
-}
-
-const clampAngle = (q: Quat, maxRad: number): Quat => {
-  // angle of a unit quaternion = 2·acos(|w|)
-  const w = Math.min(1, Math.abs(q.w))
-  const ang = 2 * Math.acos(w)
-  if (ang <= maxRad || ang < 1e-6) return q
-  const s = Math.sqrt(1 - w * w)
-  const axis = new Vec3(q.x / s, q.y / s, q.z / s)
-  return Quat.fromAxisAngle(axis, q.w < 0 ? -maxRad : maxRad)
-}
-
-/** Two-bone analytic IK (limbs). Attach to the END bone: `foot.aspect(IK.TwoBone, { target })`
- *  solves upper (grandparent) + mid (parent) so the end reaches `target`; `pole` steers the bend
- *  (knee/elbow) — a Node or world point. */
-class TwoBone extends Aspect<"ik", Node> {
-  static readonly aspect = "ik"
-
-  /** Where the end bone should be (Node or world position). */
-  target?: Target
-  /** Bend hint — the mid joint is pulled toward it (Node or world position). */
-  pole?: Target
-  /** World rotation the END bone takes after the solve — a Node (its world rotation) or a Quat.
-   *  Unset = the end bone keeps its animated local rotation (a hand on a grip, a foot on a slope
-   *  want it set). Blended by `weight · rotationWeight`. */
-  rotation?: Node | Quat
-  /** 0–1 contribution of `rotation` (on top of `weight`). */
-  rotationWeight = 1
-  /** 0–1 contribution (blend in/out, e.g. foot planting only while grounded). */
-  weight = 1
-  /** Solve every frame (default). Set false to drive `solve()` yourself. */
-  enabled = true
-
-  update(): void {
-    if (this.enabled) this.solve()
-  }
-
-  /** One solve at the current pose. Safe to call manually (e.g. from a later-ordered aspect). */
-  solve(): void {
-    const t = targetPos(this.target)
-    if (!t || this.weight <= 0) return
-    const end = this.node
-    const mid = end.parent
-    const root = mid?.parent
-    if (!mid || !root) return
-
-    const w = Math.min(1, this.weight)
-    const midLocal0 = mid.quaternion
-    const rootLocal0 = root.quaternion
-
-    const a = root.worldPosition, b = mid.worldPosition, c = end.worldPosition
-    const l1 = a.distanceTo(b), l2 = b.distanceTo(c)
-    if (l1 < 1e-6 || l2 < 1e-6) return
-    const eps = 1e-4
-    const toT = t.sub(a)
-    const d = Math.min(Math.max(toT.length(), eps), l1 + l2 - eps)
-
-    // 1. bend the mid joint to the angle the target distance demands (law of cosines)
-    const ba = a.sub(b), bc = c.sub(b)
-    const cur = ba.angle(bc)
-    const want = Math.acos(Math.min(1, Math.max(-1, (l1 * l1 + l2 * l2 - d * d) / (2 * l1 * l2))))
-    // a positive rotation about ba × bc moves `bc` AWAY from `ba`, i.e. opens the joint — so rotating the
-    // mid bone by (want − cur) about it opens/closes exactly as needed. (bc × ba has the opposite sense:
-    // with it every already-bent limb — which is every animated limb — bends the wrong way; the straight
-    // case below picks its axis as ba × ref, the same sense as ba × bc for a limb barely bent toward ref.)
-    let axis = ba.cross(bc)
-    if (axis.lengthSq() < 1e-10) {
-      // straight limb: bend toward the pole (or any perpendicular)
-      const p = targetPos(this.pole)
-      const ref = p ? p.sub(b) : new Vec3(0, 0, 1)
-      axis = ba.cross(ref)
-      if (axis.lengthSq() < 1e-10) axis = ba.cross(new Vec3(0, 1, 0))
-      if (axis.lengthSq() < 1e-10) axis = ba.cross(new Vec3(1, 0, 0))
-    }
-    axis = axis.normalize()
-    // rotating mid by (want - cur) about `axis` opens/closes the angle between ba and bc
-    const midWorld = worldRot(mid)
-    setWorldRot(mid, Quat.fromAxisAngle(axis, want - cur).mul(midWorld))
-
-    // 2. swing the root so the end lands on the target direction
-    const c2 = end.worldPosition
-    const rootWorld = worldRot(root)
-    setWorldRot(root, Quat.fromTo(c2.sub(a), toT).mul(rootWorld))
-
-    // 3. pole: spin the root about the root→target axis so the mid joint lies toward the pole
-    const p = targetPos(this.pole)
-    if (p) {
-      const dir = toT.normalize()
-      const b2 = mid.worldPosition
-      const midProj = b2.sub(a).sub(dir.scale(b2.sub(a).dot(dir)))
-      const poleProj = p.sub(a).sub(dir.scale(p.sub(a).dot(dir)))
-      if (midProj.lengthSq() > 1e-10 && poleProj.lengthSq() > 1e-10) {
-        setWorldRot(root, Quat.fromTo(midProj, poleProj).mul(worldRot(root)))
-      }
-    }
-
-    // 4. weight: blend from the animated pose to the solved one
-    if (w < 1) {
-      root.quaternion = rootLocal0.slerp(root.quaternion, w)
-      mid.quaternion = midLocal0.slerp(mid.quaternion, w)
-    }
-
-    // 5. end-bone rotation: take the target's world rotation (a hand stays on its grip, a foot
-    // flat on the slope) — the solve above only placed the end's ORIGIN
-    const r = this.rotation
-    if (r !== undefined && r !== null) {
-      const rw = w * Math.min(1, Math.max(0, this.rotationWeight))
-      if (rw > 0) {
-        const want = (r as Node).id !== undefined && typeof (r as Node).worldMatrix === "object" ? worldRot(r as Node) : (r as Quat)
-        const endLocal0 = end.quaternion
-        setWorldRot(end, want)
-        if (rw < 1) end.quaternion = endLocal0.slerp(end.quaternion, rw)
-      }
-    }
-  }
-}
-
-/** Aim a bone at a target (head / eyes / turret). Attach to the bone itself:
- *  `head.aspect(IK.LookAt, { target: camera, limit: 70 })`. `axis` is the bone's LOCAL forward
- *  (the direction that should point at the target) — rigs differ; default −Z, Mixamo heads look
- *  along +Z of the head bone in most exports, so pass `axis: [0, 0, 1]` there if it faces backwards. */
-class LookAt extends Aspect<"lookAt", Node> {
-  static readonly aspect = "lookAt"
-
-  target?: Target
-  /** The bone's local axis that should point at the target. */
-  axis: Vec3Like = [ 0, 0, -1 ]
-  /** Max deflection from the animated direction, in degrees (default 80). */
-  limit = 80
-  /** 0–1 contribution. */
-  weight = 1
-  enabled = true
-
-  update(): void {
-    if (this.enabled) this.solve()
-  }
-
-  solve(): void {
-    const t = targetPos(this.target)
-    if (!t || this.weight <= 0) return
-    const bone = this.node
-    const w = Math.min(1, this.weight)
-    const local0 = bone.quaternion
-    const from = bone.worldPosition
-    const dir = t.sub(from)
-    if (dir.lengthSq() < 1e-10) return
-    const rot = worldRot(bone)
-    const current = new Vec3(this.axis).rotate(rot)
-    let delta = Quat.fromTo(current, dir)
-    delta = clampAngle(delta, (this.limit * Math.PI) / 180)
-    setWorldRot(bone, delta.mul(rot))
-    if (w < 1) bone.quaternion = local0.slerp(bone.quaternion, w)
-  }
-}
-
-/** Inverse kinematics aspects — attach to bones (see file header). */
-export const IK = { TwoBone, LookAt }
-export type IKTwoBone = TwoBone
-export type IKLookAt = LookAt

package/src/gl/Ragdoll.ts

@@ -1,270 +0,0 @@
-// A ragdoll: the model's skeleton handed to physics. One rigid body per listed bone — a capsule from
-// the bone's origin to the next joint down the chain — joined to its parent part by a swing-twist
-// constraint (a cone + a twist range, or a one-way hinge for knees and elbows). Built once at
-// attach from the pose the model is in (that pose is the joints' neutral for the limits), and
-// switched on and off at will:
-//
-//   const rag = hero.aspect(Ragdoll).get(Ragdoll)!            // 'humanoid': the parts by bone name
-//   rag.activate({ velocity: capsule.controller.velocity })   // drops from its CURRENT pose, keeps its speed
-//   …
-//   rag.deactivate()                                           // the animator owns the bones again
-//
-// While active the engine writes the bodies' poses onto the bones every frame AFTER the animator, so
-// the listed bones hide whatever plays underneath; bones NOT listed (fingers, toes, the rest of a
-// spine chain between two parts) keep their animated local pose under the ragdolled parents, and
-// anything mounted on a bone (a weapon in the hand) rides along. Raycasts hit the parts and report
-// the bone node, so a shot knows which limb it struck — `impulse(bone, …)` pushes that part.
-//
-// The character CONTROLLER is yours to switch off (`node.removeAspect(CharacterController)`): a
-// capsule left standing would keep the fallen body from settling. `root` (the hips) tells you where
-// the body ended up when it is time to get back up.
-//
-// A fallen body is scenery, not an obstacle: by default (`collide: 'static'`) only the static world
-// and other ragdolls stop it — dynamic bodies, character controllers and vehicles pass through, so it
-// never shoves or blocks anything and the solver never pairs it with them — and once every part has
-// come to rest (`freeze`, or `freezeAfter` seconds at the latest) the parts turn static where they
-// lie: the pose holds, nothing can wake them, the solver skips them. Raycasts hit it either way, and
-// a frozen `'all'` body is an obstacle you can stand on.
-
-import { Aspect } from "../core/Aspect"
-import type { FieldMeta } from "../core/fields"
-import { cx, cy, cz, type Vec3Like } from "../math/vec"
-import { Node } from "./Node"
-import { DEFAULT_FRICTION } from "./Physics"
-
-export interface RagdollHinge {
-  /** The hinge axis in the MODEL's space (its rest pose: +Z forward, +Y up, +X the model's left in
-   *  glTF). Perpendicular to the bone; the engine drops any component along it. */
-  axis: Vec3Like
-  /** The bend range about `axis` in degrees, relative to the pose the ragdoll was built in — a knee
-   *  is `{ axis: [1, 0, 0], min: 0, max: 140 }`: it folds one way only. */
-  min: number
-  max: number
-}
-
-export interface RagdollPart {
-  /** The bone the body sits on — its origin is the joint. */
-  bone: string
-  /** The bone the capsule points at (the next joint down). Omitted = a leaf: `length` along the line
-   *  from the parent part's origin (a head, a hand, a foot without toes). */
-  to?: string
-  /** The bone of the part this one hangs from (default: the previous part in the list). The root
-   *  has none. */
-  parent?: string
-  /** Capsule radius in metres (default 0.05). */
-  radius?: number
-  /** Length in metres: a leaf's, or an override of the distance to `to`. */
-  length?: number
-  /** This part's share of the ragdoll's `mass` (relative weight, default 1). */
-  mass?: number
-  /** Cone half-angle in degrees the part may swing off its parent (default 30). Ignored with `hinge`. */
-  swing?: number
-  /** Twist half-angle in degrees about its own axis (default 20). */
-  twist?: number
-  /** A one-way joint instead of the cone. */
-  hinge?: RagdollHinge
-}
-
-const VERSION = 2
-const HEADER = 12
-const STRIDE = 12
-
-// Bone names per humanoid role, tried in order: Mixamo / MotusMan / Unity-style first, then UE-style.
-// `node.bone()` already matches the part after a `:` / `|` prefix (`mixamorig:Hips`).
-const HUMANOID: Record<string, string[]> = {
-  hips: [ "Hips", "pelvis", "Pelvis", "hip" ],
-  spine: [ "Spine", "spine_01", "spine", "Spine1" ],
-  neck: [ "Neck", "neck_01", "neck" ],
-  head: [ "Head", "head" ],
-  upperArmL: [ "LeftArm", "upperarm_l", "LeftUpperArm", "UpperArm_L", "L_UpperArm" ],
-  foreArmL: [ "LeftForeArm", "lowerarm_l", "LeftLowerArm", "LowerArm_L", "L_Forearm" ],
-  handL: [ "LeftHand", "hand_l", "Hand_L", "L_Hand" ],
-  upLegL: [ "LeftUpLeg", "thigh_l", "LeftUpperLeg", "UpperLeg_L", "L_Thigh" ],
-  legL: [ "LeftLeg", "calf_l", "LeftLowerLeg", "LowerLeg_L", "L_Calf" ],
-  footL: [ "LeftFoot", "foot_l", "Foot_L", "L_Foot" ],
-  toeL: [ "LeftToeBase", "ball_l", "LeftToe", "Toe_L", "L_Toe" ],
-  upperArmR: [ "RightArm", "upperarm_r", "RightUpperArm", "UpperArm_R", "R_UpperArm" ],
-  foreArmR: [ "RightForeArm", "lowerarm_r", "RightLowerArm", "LowerArm_R", "R_Forearm" ],
-  handR: [ "RightHand", "hand_r", "Hand_R", "R_Hand" ],
-  upLegR: [ "RightUpLeg", "thigh_r", "RightUpperLeg", "UpperLeg_R", "R_Thigh" ],
-  legR: [ "RightLeg", "calf_r", "RightLowerLeg", "LowerLeg_R", "R_Calf" ],
-  footR: [ "RightFoot", "foot_r", "Foot_R", "R_Foot" ],
-  toeR: [ "RightToeBase", "ball_r", "RightToe", "Toe_R", "R_Toe" ],
-}
-
-/** The standard humanoid layout (hips, one spine capsule up to the neck, head, two-segment arms and
- *  legs, hands and feet where the rig has them): sizes for a ~1.8 m human, mass shares from body
- *  segment tables, knees and elbows as hinges that fold the natural way for a model standing in a
- *  T- or A-pose facing +Z. */
-const humanoidParts = (find: (role: string) => string | null): RagdollPart[] => {
-  const hips = find("hips"), spine = find("spine"), neck = find("neck"), head = find("head")
-  if (!hips) throw new Error("Ragdoll 'humanoid': no hips bone (Hips / pelvis) on this model — list the parts by name")
-  const parts: RagdollPart[] = []
-  parts.push({ bone: hips, to: spine ?? undefined, length: spine ? 0 : 0.2, radius: 0.12, mass: 15 })
-  const torso = spine ?? hips
-  if (spine) parts.push({ bone: spine, to: neck ?? head ?? undefined, length: neck || head ? 0 : 0.4, parent: hips, radius: 0.11, mass: 25, swing: 25, twist: 25 })
-  if (head) parts.push({ bone: head, parent: torso, radius: 0.1, length: 0.2, mass: 6, swing: 35, twist: 45 })
-  for (const side of [ "L", "R" ] as const) {
-    const upper = find(`upperArm${side}`), fore = find(`foreArm${side}`), hand = find(`hand${side}`)
-    if (upper) parts.push({ bone: upper, to: fore ?? undefined, length: fore ? 0 : 0.3, parent: torso, radius: 0.05, mass: 3, swing: 80, twist: 45 })
-    // the elbow: a T-pose arm along ±X folds its hand forward (+Z) — a negative turn about +Y on the
-    // left, a positive one on the right
-    if (upper && fore) parts.push({ bone: fore, to: hand ?? undefined, length: hand ? 0 : 0.28, parent: upper, radius: 0.04, mass: 2, twist: 30, hinge: { axis: [ 0, 1, 0 ], min: side === "L" ? -140 : 0, max: side === "L" ? 0 : 140 } })
-    if (upper && fore && hand) parts.push({ bone: hand, parent: fore, radius: 0.035, length: 0.16, mass: 1, swing: 30, twist: 20 })
-    const up = find(`upLeg${side}`), leg = find(`leg${side}`), foot = find(`foot${side}`), toe = find(`toe${side}`)
-    if (up) parts.push({ bone: up, to: leg ?? undefined, length: leg ? 0 : 0.45, parent: hips, radius: 0.08, mass: 10, swing: 60, twist: 30 })
-    // the knee: the shin (pointing down) swings its foot backward (−Z) for a positive turn about +X
-    if (up && leg) parts.push({ bone: leg, to: foot ?? undefined, length: foot ? 0 : 0.42, parent: up, radius: 0.06, mass: 5, twist: 10, hinge: { axis: [ 1, 0, 0 ], min: 0, max: 140 } })
-    if (up && leg && foot) parts.push({ bone: foot, to: toe ?? undefined, length: toe ? 0 : 0.2, parent: leg, radius: 0.04, mass: 2, swing: 30, twist: 15 })
-  }
-  return parts
-}
-
-export class Ragdoll extends Aspect<"ragdoll", Node> {
-  static readonly aspect = "ragdoll"
-
-  /** The parts: `'humanoid'` (default) finds the standard bones by name; a list places bodies on any
-   *  bones — parents before children. */
-  parts: RagdollPart[] | "humanoid" = "humanoid"
-  /** Total mass in kg (default 70), split between the parts by their `mass` shares. */
-  mass = 70
-  /** Friction of every part (default 0.6 — the physics default). */
-  friction = DEFAULT_FRICTION
-  /** Linear / angular damping of every part; 0 = Jolt's own 0.05. More angular damping settles a
-   *  flailing body sooner. */
-  linearDamping = 0
-  angularDamping = 0
-  /** What the parts collide with. `'static'` (default): the static geometry and other such ragdolls
-   *  only — dynamic bodies, character controllers and vehicles pass through a fallen body, which then
-   *  never shoves or blocks anything and costs nothing when they meet. `'all'`: a regular dynamic
-   *  body that bumps into everything (and gets kicked awake by everything). */
-  collide: "static" | "all" = "static"
-  /** Once every part has come to rest the parts turn static where they lie (default true): the pose
-   *  holds, nothing can wake a settled body and it costs the solver nothing — `deactivate()` /
-   *  `activate()` still work (activate makes it dynamic again). */
-  freeze = true
-  /** Seconds after `activate()` at which the body freezes whatever it is doing — a twitch on a slope
-   *  or a pile never sleeps on its own. 0 (default) = no cap. */
-  freezeAfter = 0
-
-  static fields: FieldMeta<Ragdoll> = {
-    mass: { min: 1, step: 5 },
-    friction: { min: 0, max: 2, step: 0.05 },
-    linearDamping: { label: "Linear damping", min: 0, max: 5, step: 0.05 },
-    angularDamping: { label: "Angular damping", min: 0, max: 5, step: 0.05 },
-    collide: { options: [ "static", "all" ] },
-    freezeAfter: { label: "Freeze after (s)", min: 0, max: 60, step: 0.5 },
-    parts: { hidden: true },
-  }
-
-  private _id = 0
-  private _active = false
-  private _bones: { name: string; node: Node }[] = []
-
-  onAttach(): void {
-    if (!_creator.physicsHasSupport || !_creator.physicsHasSupport()) return
-    if (!_creator.ragdollCreate) {
-      console.warn("Ragdoll needs a newer host (no ragdollCreate) — the body will not fall")
-      return
-    }
-    const find = (role: string): string | null => {
-      for (const name of HUMANOID[role] ?? []) if (this.node.bone(name)) return name
-      return null
-    }
-    const parts = this.parts === "humanoid" ? humanoidParts(find) : this.parts
-    if (parts.length === 0) throw new Error("Ragdoll: no parts")
-
-    const n = parts.length
-    const bones = new Uint32Array(n * 2)
-    const s = new Float32Array(HEADER + n * STRIDE)
-    s[0] = VERSION; s[1] = n; s[2] = STRIDE; s[3] = this.friction; s[4] = this.linearDamping; s[5] = this.angularDamping
-    s[6] = this.collide === "all" ? 0 : 1; s[7] = this.freeze ? 1 : 0; s[8] = Math.max(0, this.freezeAfter)
-    let shares = 0
-    for (const p of parts) shares += p.mass ?? 1
-    this._bones = []
-    for (let i = 0; i < n; i++) {
-      const p = parts[i]!
-      const bone = this.node.bone(p.bone)
-      if (!bone) throw new Error(`Ragdoll: no bone '${p.bone}' on '${this.node.name}'`)
-      const to = p.to ? this.node.bone(p.to) : null
-      if (p.to && !to) throw new Error(`Ragdoll: no bone '${p.to}' (the 'to' of '${p.bone}') on '${this.node.name}'`)
-      let parent = -1
-      if (i > 0) {
-        parent = p.parent ? parts.findIndex((q, j) => j < i && q.bone === p.parent) : i - 1
-        if (parent < 0) throw new Error(`Ragdoll: the parent '${p.parent}' of '${p.bone}' must be listed before it`)
-      }
-      bones[i * 2] = bone.id
-      bones[i * 2 + 1] = to ? to.id : 0
-      const o = HEADER + i * STRIDE
-      s[o] = parent
-      s[o + 1] = p.radius ?? 0.05
-      s[o + 2] = p.length ?? 0
-      s[o + 3] = this.mass * (p.mass ?? 1) / shares
-      s[o + 4] = p.swing ?? 30
-      s[o + 5] = p.twist ?? 20
-      if (p.hinge) {
-        s[o + 6] = 1
-        s[o + 7] = cx(p.hinge.axis); s[o + 8] = cy(p.hinge.axis); s[o + 9] = cz(p.hinge.axis)
-        s[o + 10] = p.hinge.min; s[o + 11] = p.hinge.max
-      }
-      this._bones.push({ name: p.bone, node: bone })
-    }
-    this._id = _creator.ragdollCreate(this.node.id, bones, s)
-    if (!this._id) console.warn(`Ragdoll: the host refused the parts on '${this.node.name}'`)
-  }
-
-  onDetach(): void {
-    if (this._id) {
-      if (this._active) _creator.ragdollDeactivate!(this._id)
-      _creator.ragdollDestroy!(this._id)
-      this._id = 0
-    }
-    this._active = false
-    this._bones = []
-  }
-
-  /** Hand the bones to physics from the pose they are in right now. `velocity` (world m/s) is given
-   *  to every part — pass the character's, so a running body keeps travelling. */
-  activate(opts: { velocity?: Vec3Like } = {}): boolean {
-    if (!this._id) return false
-    const v = opts.velocity ?? [ 0, 0, 0 ]
-    this._active = _creator.ragdollActivate!(this._id, cx(v), cy(v), cz(v))
-    return this._active
-  }
-
-  /** Take the bones back: the animator's pose shows again from the next frame. */
-  deactivate(): void {
-    if (!this._id || !this._active) return
-    _creator.ragdollDeactivate!(this._id)
-    this._active = false
-  }
-
-  /** Physics owns the bones right now. */
-  get active(): boolean { return this._active }
-
-  /** Active and every part asleep (or frozen) — the body has come to rest. */
-  get settled(): boolean {
-    return this._active && !!this._id && !_creator.ragdollActive!(this._id)
-  }
-
-  /** The root part's bone (the hips): where the body is. */
-  get root(): Node | null { return this._bones[0]?.node ?? null }
-
-  /** The bones that carry a part, in order. */
-  get bones(): string[] { return this._bones.map((b) => b.name) }
-
-  /** The rigid-body id of a part (0 if none) — for the plain body calls. */
-  bodyOf(bone: string): number {
-    const i = this._bones.findIndex((b) => b.name === bone)
-    return i < 0 || !this._id ? 0 : _creator.ragdollBodyId!(this._id, i)
-  }
-
-  /** Push one part: an impulse in N·s, at a world point (a hit) or through its centre. Wakes the body. */
-  impulse(bone: string, v: Vec3Like, at?: Vec3Like): boolean {
-    const id = this.bodyOf(bone)
-    if (!id) return false
-    if (at && _creator.physicsApplyImpulseAt) _creator.physicsApplyImpulseAt(id, cx(v), cy(v), cz(v), cx(at), cy(at), cz(at))
-    else _creator.physicsApplyImpulse(id, cx(v), cy(v), cz(v))
-    return true
-  }
-}