reze-engine 0.14.0 → 0.15.0

package/src/physics/types.ts

@@ -0,0 +1,50 @@
+import { Vec3, Mat4 } from "../math"
+
+export enum RigidbodyShape {
+  Sphere = 0,
+  Box = 1,
+  Capsule = 2,
+}
+
+export enum RigidbodyType {
+  Static = 0,
+  Dynamic = 1,
+  Kinematic = 2,
+}
+
+export interface Rigidbody {
+  name: string
+  englishName: string
+  boneIndex: number
+  group: number
+  collisionMask: number
+  shape: RigidbodyShape
+  size: Vec3
+  shapePosition: Vec3 // Bind pose world space position from PMX
+  shapeRotation: Vec3 // Bind pose world space rotation (Euler angles) from PMX
+  mass: number
+  linearDamping: number
+  angularDamping: number
+  restitution: number
+  friction: number
+  type: RigidbodyType
+  bodyOffsetMatrixInverse: Mat4 // Inverse of body offset matrix, used to sync rigidbody to bone
+  bodyOffsetMatrix?: Mat4 // Cached non-inverse for performance (computed once during initialization)
+}
+
+export interface Joint {
+  name: string
+  englishName: string
+  type: number
+  rigidbodyIndexA: number
+  rigidbodyIndexB: number
+  position: Vec3
+  rotation: Vec3 // Euler angles in radians
+  positionMin: Vec3
+  positionMax: Vec3
+  rotationMin: Vec3 // Euler angles in radians
+  rotationMax: Vec3 // Euler angles in radians
+  springPosition: Vec3
+  springRotation: Vec3 // Spring stiffness values
+}
+

package/src/physics/world.ts

@@ -0,0 +1,152 @@
+import { Vec3 } from "../math"
+import type { RigidBodyStore } from "./body"
+import { RigidbodyType } from "./types"
+import type { SixDofSpringConstraint } from "./constraint"
+import { solveConstraints } from "./solver"
+import { findContacts, type ContactPool } from "./contact"
+
+// World step: predict velocities → collide → solve → position correction →
+// integrate. Static and kinematic bodies are skipped during predict and
+// integrate; the parent class syncs them from bones around the step. The
+// solver pass runs on all bodies — kinematic ones have invMass = 0 and
+// act as anchors.
+export class World {
+  readonly gravity: Vec3
+  solverIterations = 10
+
+  constructor(gravity: Vec3) {
+    this.gravity = new Vec3(gravity.x, gravity.y, gravity.z)
+  }
+
+  setGravity(g: Vec3): void {
+    this.gravity.x = g.x
+    this.gravity.y = g.y
+    this.gravity.z = g.z
+  }
+
+  step(store: RigidBodyStore, constraints: SixDofSpringConstraint[], contacts: ContactPool, dt: number): void {
+    if (dt <= 0) return
+
+    const N = store.count
+    const types = store.type
+    const lv = store.linearVelocities
+    const av = store.angularVelocities
+    const pos = store.positions
+    const ori = store.orientations
+    const ldamp = store.linearDamping
+    const adamp = store.angularDamping
+    const invMass = store.invMass
+
+    const gx = this.gravity.x
+    const gy = this.gravity.y
+    const gz = this.gravity.z
+
+    // 1. Predict — gravity + damping. The pow form (vs the linear
+    //    1−damping·dt approximation) stays stable at high PMX damping
+    //    values like 0.99.
+    for (let i = 0; i < N; i++) {
+      if (types[i] !== RigidbodyType.Dynamic || invMass[i] <= 0) continue
+      const i3 = i * 3
+      lv[i3 + 0] += gx * dt
+      lv[i3 + 1] += gy * dt
+      lv[i3 + 2] += gz * dt
+      const ld = Math.pow(Math.max(0, 1 - ldamp[i]), dt)
+      const ad = Math.pow(Math.max(0, 1 - adamp[i]), dt)
+      lv[i3 + 0] *= ld; lv[i3 + 1] *= ld; lv[i3 + 2] *= ld
+      av[i3 + 0] *= ad; av[i3 + 1] *= ad; av[i3 + 2] *= ad
+    }
+
+    // 2. Collide.
+    contacts.reset()
+    findContacts(store, contacts)
+
+    // 3. Solve joint + contact constraints (velocity-only).
+    if (constraints.length > 0 || contacts.count > 0) {
+      solveConstraints(store, constraints, contacts, dt, this.solverIterations)
+    }
+
+    // 4. Position correction (split impulse). Direct translation along the
+    //    contact normal — joint constraints in the same SI loop can't undo
+    //    it because it doesn't go through the velocity channel. Inverse-mass
+    //    weighted so a kinematic body stays put and only the dynamic one
+    //    translates.
+    const POS_CORRECTION_FACTOR = 0.4
+    const POS_SLOP = 0.005
+    for (let ci = 0; ci < contacts.count; ci++) {
+      const c = contacts.get(ci)
+      if (c.depth <= POS_SLOP) continue
+      const imA = invMass[c.bodyA]
+      const imB = invMass[c.bodyB]
+      const total = imA + imB
+      if (total <= 0) continue
+      const correction = (c.depth - POS_SLOP) * POS_CORRECTION_FACTOR
+      const dx = correction * c.nx
+      const dy = correction * c.ny
+      const dz = correction * c.nz
+      const ai = c.bodyA * 3
+      const bi = c.bodyB * 3
+      if (imA > 0) {
+        const fA = imA / total
+        pos[ai + 0] -= dx * fA
+        pos[ai + 1] -= dy * fA
+        pos[ai + 2] -= dz * fA
+      }
+      if (imB > 0) {
+        const fB = imB / total
+        pos[bi + 0] += dx * fB
+        pos[bi + 1] += dy * fB
+        pos[bi + 2] += dz * fB
+      }
+    }
+
+    // 5. Integrate. Cap angular velocity at π/2 per step — a high-impulse
+    //    contact spike on a low-inertia body would otherwise spin past π
+    //    in one step and trash the quaternion integration.
+    const MAX_ANGVEL_DT = Math.PI * 0.5
+    for (let i = 0; i < N; i++) {
+      if (types[i] !== RigidbodyType.Dynamic || invMass[i] <= 0) continue
+      const i3 = i * 3
+      const i4 = i * 4
+
+      pos[i3 + 0] += lv[i3 + 0] * dt
+      pos[i3 + 1] += lv[i3 + 1] * dt
+      pos[i3 + 2] += lv[i3 + 2] * dt
+
+      let wx = av[i3 + 0]
+      let wy = av[i3 + 1]
+      let wz = av[i3 + 2]
+      const wmag = Math.sqrt(wx * wx + wy * wy + wz * wz)
+      if (wmag * dt > MAX_ANGVEL_DT) {
+        const scale = MAX_ANGVEL_DT / (wmag * dt)
+        wx *= scale; wy *= scale; wz *= scale
+        av[i3 + 0] = wx; av[i3 + 1] = wy; av[i3 + 2] = wz
+      }
+      if (wx !== 0 || wy !== 0 || wz !== 0) {
+        const qx = ori[i4 + 0]
+        const qy = ori[i4 + 1]
+        const qz = ori[i4 + 2]
+        const qw = ori[i4 + 3]
+
+        const dx = qw * wx + wy * qz - wz * qy
+        const dy = qw * wy + wz * qx - wx * qz
+        const dz = qw * wz + wx * qy - wy * qx
+        const dw = -(wx * qx + wy * qy + wz * qz)
+
+        const half = 0.5 * dt
+        const nx = qx + dx * half
+        const ny = qy + dy * half
+        const nz = qz + dz * half
+        const nw = qw + dw * half
+
+        const len2 = nx * nx + ny * ny + nz * nz + nw * nw
+        if (len2 > 0) {
+          const inv = 1 / Math.sqrt(len2)
+          ori[i4 + 0] = nx * inv
+          ori[i4 + 1] = ny * inv
+          ori[i4 + 2] = nz * inv
+          ori[i4 + 3] = nw * inv
+        }
+      }
+    }
+  }
+}

package/src/shaders/materials/hair.ts

@@ -11,7 +11,7 @@ ${COMMON_MATERIAL_PRELUDE_WGSL}
 
 // Pipeline-override: the engine compiles two variants — the normal opaque hair pipeline
 // (IS_OVER_EYES=false) and a second pipeline that re-draws hair fragments stencil-matched
-// against the eye stamp with 50% alpha so eyes read through the hair silhouette. Resolved
+// against the eye stamp with 25% alpha so eyes read through the hair silhouette. Resolved
 // at pipeline-compile time; the dead branch is dropped by the shader compiler.
 override IS_OVER_EYES: bool = false;
 
@@ -71,7 +71,7 @@ const HAIR_MIX_NPR: f32 = 0.2;
   let final_color = mix(npr_stack, principled, HAIR_MIX_NPR);
 
   var outAlpha = alpha;
-  if (IS_OVER_EYES) { outAlpha = alpha * 0.5; }
+  if (IS_OVER_EYES) { outAlpha = alpha * 0.25; }
 
   var out: FSOut;
   out.color = vec4f(final_color, outAlpha);

package/dist/ammo-loader.d.ts

@@ -1,3 +0,0 @@
-import type { AmmoInstance } from "@fred3d/ammo";
-export declare function loadAmmo(): Promise<AmmoInstance>;
-//# sourceMappingURL=ammo-loader.d.ts.map

package/dist/ammo-loader.d.ts.map

@@ -1 +0,0 @@
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package/dist/ammo-loader.js

@@ -1,26 +0,0 @@
-let ammoInstance = null;
-let ammoPromise = null;
-export async function loadAmmo() {
-    // Return cached instance if available
-    if (ammoInstance) {
-        return ammoInstance;
-    }
-    // Return existing promise if already loading
-    if (ammoPromise) {
-        return ammoPromise;
-    }
-    // Start loading Ammo
-    ammoPromise = (async () => {
-        try {
-            const { Ammo } = await import("@fred3d/ammo");
-            ammoInstance = await Ammo();
-            return ammoInstance;
-        }
-        catch (error) {
-            console.error("[Ammo] Failed to load:", error);
-            ammoPromise = null; // Reset promise so it can be retried
-            throw error;
-        }
-    })();
-    return ammoPromise;
-}

package/dist/physics.d.ts

@@ -1,86 +0,0 @@
-import { Quat, Vec3, Mat4 } from "./math";
-export declare enum RigidbodyShape {
-    Sphere = 0,
-    Box = 1,
-    Capsule = 2
-}
-export declare enum RigidbodyType {
-    Static = 0,
-    Dynamic = 1,
-    Kinematic = 2
-}
-export interface Rigidbody {
-    name: string;
-    englishName: string;
-    boneIndex: number;
-    group: number;
-    collisionMask: number;
-    shape: RigidbodyShape;
-    size: Vec3;
-    shapePosition: Vec3;
-    shapeRotation: Vec3;
-    mass: number;
-    linearDamping: number;
-    angularDamping: number;
-    restitution: number;
-    friction: number;
-    type: RigidbodyType;
-    bodyOffsetMatrixInverse: Mat4;
-    bodyOffsetMatrix?: Mat4;
-}
-export interface Joint {
-    name: string;
-    englishName: string;
-    type: number;
-    rigidbodyIndexA: number;
-    rigidbodyIndexB: number;
-    position: Vec3;
-    rotation: Vec3;
-    positionMin: Vec3;
-    positionMax: Vec3;
-    rotationMin: Vec3;
-    rotationMax: Vec3;
-    springPosition: Vec3;
-    springRotation: Vec3;
-}
-export interface PhysicsOptions {
-    constraintSolverKeywords?: string[];
-}
-export declare class Physics {
-    private rigidbodies;
-    private joints;
-    private gravity;
-    private constraintSolverPattern;
-    private ammoInitialized;
-    private ammoPromise;
-    private ammo;
-    private dynamicsWorld;
-    private ammoRigidbodies;
-    private ammoConstraints;
-    private rigidbodiesInitialized;
-    private jointsCreated;
-    private firstFrame;
-    private zeroVector;
-    constructor(rigidbodies: Rigidbody[], joints?: Joint[], options?: PhysicsOptions);
-    private initAmmo;
-    setGravity(gravity: Vec3): void;
-    getGravity(): Vec3;
-    getRigidbodies(): Rigidbody[];
-    getJoints(): Joint[];
-    getRigidbodyTransforms(): Array<{
-        position: Vec3;
-        rotation: Quat;
-    }>;
-    private createAmmoWorld;
-    private createAmmoRigidbodies;
-    private createAmmoJoints;
-    private normalizeAngle;
-    reset(boneWorldMatrices: Mat4[]): void;
-    step(dt: number, boneWorldMatrices: Mat4[], boneInverseBindMatrices: Float32Array): void;
-    private computeBodyOffsets;
-    private positionBodiesFromBones;
-    private syncFromBones;
-    private stepAmmoPhysics;
-    private applyAmmoRigidbodiesToBones;
-}
-//# sourceMappingURL=physics.d.ts.map

package/dist/physics.d.ts.map

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