reze-engine 0.14.0 → 0.15.1

package/README.md

@@ -1,6 +1,6 @@
 # Reze Engine
 
-A minimal-dependency WebGPU engine for real-time MMD/PMX rendering. Only external dependency is Ammo.js for physics.
+**Zero-runtime-dependency** WebGPU engine for real-time MMD/PMX rendering. Renderer, animation, IK, and physics all in TypeScript.
 
 ![screenshot](./screenshot.png)
 
@@ -17,8 +17,9 @@ npm install reze-engine
 - **HDR pipeline** with bloom mip pyramid, Filmic tone mapping, 4× MSAA, tile-memory-friendly on Apple Silicon
 - **Alpha-hashed transparency** (Wyman & McGuire 2017) for self-overlapping transparent meshes like stockings
 - **Screen-space outlines** on opaque + transparent materials
-- **See-through hair over eyes** — stencil-gated MMD post-alpha-eye so eyes read at 50% through hair silhouettes
-- **VMD animation** with IK solver and Bullet physics
+- **See-through hair over eyes** — stencil-gated MMD post-alpha-eye so eyes read at 75% through hair silhouettes
+- **In-house TS physics** — sequential-impulse 6DOF spring solver, sphere/box/capsule contacts, split-impulse position correction, fixed-step substepping
+- **VMD animation** with IK solver
 - **Orbit camera** with bone-follow mode
 - **GPU picking** (double-click/tap)
 - **Ground plane** with PCF shadow mapping
@@ -109,7 +110,7 @@ engine.dispose()
 
 Use a hidden `<input type="file" webkitdirectory multiple>` (or drag/drop) and pass the resulting `FileList` or `File[]` into the engine. Textures resolve relative to the chosen PMX file inside that tree.
 
-**Important:** read `input.files` into a normal array **before** setting `input.value = ""`. The browser’s `FileList` is _live_ — clearing the input empties it.
+**Important:** read `input.files` into a normal array **before** setting `input.value = ""`. The browser's `FileList` is _live_ — clearing the input empties it.
 
 1. **`parsePmxFolderInput(fileList)`** — returns a tagged result (`empty` | `not_directory` | `no_pmx` | `single` | `multiple`). For `single`, you already have `files` and `pmxFile`. For `multiple`, show a picker (dropdown) of `pmxRelativePaths`, then resolve with **`pmxFileAtRelativePath(files, path)`**.
 2. **`engine.loadModel(name, { files, pmxFile })`** — `pmxFile` selects which `.pmx` when the folder contains several.
@@ -231,9 +232,6 @@ Blender-style scene config — `world` = environment lighting, `sun` = the direc
   },
   onRaycast: (modelName, material, bone, screenX, screenY) => void,
   onGizmoDrag: (event: GizmoDragEvent) => void,
-  physicsOptions: {
-    constraintSolverKeywords: string[],
-  },
 }
 ```
 
@@ -258,14 +256,14 @@ engine.setSelectedBone(modelName | null, boneName | null)          // shows the
 
 ```typescript
 type GizmoDragEvent = {
-  modelName: string;
-  boneName: string;
-  boneIndex: number;
-  kind: "rotate" | "translate";
-  localRotation: Quat; // target absolute local rotation
-  localTranslation: Vec3; // target absolute local translation
-  phase?: "start" | "end"; // undefined during drag moves
-};
+  modelName: string
+  boneName: string
+  boneIndex: number
+  kind: "rotate" | "translate"
+  localRotation: Quat       // target absolute local rotation
+  localTranslation: Vec3    // target absolute local translation
+  phase?: "start" | "end"   // undefined during drag moves
+}
 ```
 
 Fires once with `phase: "start"` on mousedown, on every mousemove (no phase), once with `phase: "end"` on mouseup. While drag is active the engine consumes any mouse input inside the gizmo's bounding sphere so camera orbit never conflicts with a drag — mousedown outside the sphere routes to camera as normal.
@@ -275,139 +273,114 @@ Fires once with `phase: "start"` on mousedown, on every mousemove (no phase), on
 ```javascript
 // Runtime override (no clip editor — this is what web/page.tsx does).
 onGizmoDrag: (e) => {
-  const model = engine.getModel(e.modelName);
-  if (!model) return;
+  const model = engine.getModel(e.modelName)
+  if (!model) return
   if (e.phase === "start") {
-    model.pause();
-    model.setClipApplySuspended(true); // stop clip re-sampling from wiping the edit
-    return;
+    model.pause()
+    model.setClipApplySuspended(true) // stop clip re-sampling from wiping the edit
+    return
   }
-  if (e.phase === "end") return;
+  if (e.phase === "end") return
   if (e.kind === "rotate")
-    model.rotateBones({ [e.boneName]: e.localRotation }, 0); // 0 = instant write
-  else model.setBoneLocalTranslation(e.boneIndex, e.localTranslation);
-};
+    model.rotateBones({ [e.boneName]: e.localRotation }, 0) // 0 = instant write
+  else
+    model.setBoneLocalTranslation(e.boneIndex, e.localTranslation)
+}
 // Pressing play/seek auto-clears the suspend flag → animation resumes, edit is lost
 // (expected runtime-override semantic).
 
 // Keyframe edit (animation editor — studio-style).
 onGizmoDrag: (e) => {
-  if (e.phase === "start") {
-    beginUndoGroup();
-    return;
-  }
-  if (e.phase === "end") {
-    commitUndoGroup();
-    return;
-  }
-  const kf = findOrCreateKeyframe(clip, e.boneName, currentFrame);
-  kf.rotation = e.localRotation;
-  kf.translation = e.localTranslation;
-  model.loadClip(clipName, clip);
-  model.seek(currentTime);
+  if (e.phase === "start") { beginUndoGroup(); return }
+  if (e.phase === "end")   { commitUndoGroup(); return }
+  const kf = findOrCreateKeyframe(clip, e.boneName, currentFrame)
+  kf.rotation = e.localRotation
+  kf.translation = e.localTranslation
+  model.loadClip(clipName, clip)
+  model.seek(currentTime)
   // The re-sampled clip now produces the edited pose — no suspend flag needed.
-};
+}
 ```
 
 Note the asymmetry: rotation uses `rotateBones({ name, q }, 0)` (the tween-based API reduces to an instant write when duration is 0) while translation uses `setBoneLocalTranslation(idx, v)` — `moveBones` can't be used because it converts VMD-relative input to local, and the gizmo's output is already local.
 
-`constraintSolverKeywords` — joints whose name contains any keyword use the Bullet 2.75 constraint solver; all others keep the stable Ammo 2.82+ default. See [babylon-mmd: Fix Constraint Behavior](https://noname0310.github.io/babylon-mmd/docs/reference/runtime/apply-physics-to-mmd-models/#fix-constraint-behavior) for details.
-
-## Rendering
+## Physics
 
-Each surface combines an NPR stack with a Principled-style BSDF, mixed per material — so anime characters keep their flat illustrated look while highlights and reflections stay grounded. Every per-material shader is ~40–120 lines of distinctive code standing on a small set of shared WGSL primitives (`engine/src/shaders/materials/`).
+In-house sequential-impulse rigid-body solver, no external physics dependency. Targets PMX rigs (sphere / box / capsule colliders, 6DOF spring joints) at quality comparable to Bullet's defaults in ~1.5k lines of TypeScript.
 
-### Anatomy of a material shader
+### Pipeline
 
-Every material's fragment shader is the same 7-stage pipeline. The order is fixed; the content is per-material:
+Per substep:
 
 ```
-(A) Fragment setup      → n, v, l, sun, amb, shadow    ← shared
-(B) Texture + alpha     → tex_rgb, discard             ← shared shape
-(C) NPR stack           → toon + rim + warm + …        ← UNIQUE per material
-(D) Optional bump       → noise → bump_lh              ← 3 presets
-(E) Principled BSDF     → eval_principled(...)         ← shared helper
-(F) NPR ↔ PBR mix       → mix(npr, principled, fac)    ← per-material fac
-(G) FSOut               → color + bloom mask           ← shared
+predict velocities  → broadphase + narrowphase  → solve constraints (10 iters)
+                   → split-impulse position correction  → integrate transforms
 ```
 
-The simplest material (`default`) uses only A/B/E/G — no NPR stack at all:
+A fixed-timestep accumulator runs the substep at a constant **60 Hz** regardless of render rate, with up to 6 substeps per render frame. Constant `dt` keeps spring impulse, damping, and integration deterministic — without it, coupled cloth chains never reach steady state.
 
-```wgsl
-let color = eval_principled(
-  PrincipledIn(albedo, 0.0, 0.5, 0.5, 1e30, 0.0, 0.0), // metallic, spec, rough, clamp, sheen, sheen_tint
-  n, l, v, sun, amb, shadow
-);
-```
+### Implementation notes
 
-NPR presets add stage C (and sometimes D) on top, and stage F chooses how NPR-leaning the surface is.
+- **Solver** — projected Gauss-Seidel sequential impulse, 10 iterations, joint rows + contact rows in the same loop. Joint constraints are 6DOF springs (3 linear, 3 angular) with stop-ERP for limit correction and a per-axis spring impulse driven by stiffness × position error.
+- **Narrowphase** — analytical per pair: sphere-sphere, sphere-capsule, sphere-box, capsule-capsule, capsule-box. Capsule-capsule emits multiple contact points along nearly-parallel axes for rotational stability (otherwise a single closest-point contact lets cloth pivot freely around the line through that point).
+- **Speculative contacts** — `CONTACT_MARGIN = 0.04` fires contacts at near-touch with signed depth. The push-only impulse clamp keeps them inert until actual overlap, but they prevent fast bodies from crossing a thin surface in a single substep.
+- **Split-impulse position correction** — penetration is resolved by a direct mass-weighted translation along the contact normal *outside* the velocity solver, so joint pulls in the SI loop can't fight the contact's separation.
+- **Kinematic velocity propagation** — bone-driven kinematic bodies have their linear + angular velocities derived from the bone-pose delta each render frame, so joints attached to a fast limb feel the actual motion instead of a position teleport.
+- **Body sleeping** is disabled (cloth must always respond to bone motion); resting bodies rely on per-PMX damping to bleed off micro-velocity.
 
-### Shared WGSL foundations
+### API
 
-- **`nodes.ts`** — WGSL mirrors of the Blender shader nodes the presets use: `hue_sat`, `bright_contrast`, `ramp_constant/linear/cardinal`, `mix_overlay/lighten/linear_light`, `fresnel`, `layer_weight_fresnel/facing`, `tex_noise`, `tex_voronoi`, `mapping_point`, `bump_lh`, `normal_map`. Plus a combined DFG + LTC LUT, `eval_principled(PrincipledIn, N, L, V, sun, amb, shadow)`, and `principled_sheen`.
-- **`common.ts`** — Uniform structs, bind-group layout (same for every material pipeline), PCF shadow sampler, skinning vertex shader, shared `FSOut`.
-- **Per-material files** — constants + NPR stack + optional bump + `eval_principled` call + final mix.
+```javascript
+engine.setPhysicsEnabled(enabled)
+engine.resetPhysics()  // re-snap bodies to bone poses, zero velocities
+```
 
-### PBR specular core
+That's the entire engine-level surface — physics options live on the PMX rig itself (mass, damping, friction, restitution, joint stiffness / limits, collision groups).
 
-Inside `eval_principled`:
+## Rendering
 
-- GGX microfacet specular with Schlick Fresnel and Walter–Smith G1
-- **Multi-scatter compensation** (Fdez-Agüera 2019) — restores energy at high roughness so metals don't darken
-- **Split-sum DFG LUT** (Karis 2013) — drives indirect specular
-- **LTC direct-spec scale** (Heitz 2016) — keeps analytic-light specular in the same energy budget as image-based lighting
-- **Sheen coarse curve** gated by the `sheen` field on `PrincipledIn`
+Each surface combines an NPR stack with a Principled-style BSDF, mixed per material — anime characters keep their flat illustrated look while highlights and reflections stay grounded. Per-material shaders live in `engine/src/shaders/materials/`.
 
-### NPR toolbox
+### Material pipeline
 
-Every preset's stage C is built from these primitives:
+Every fragment shader follows the same 7-stage layout (shared stages from `nodes.ts` / `common.ts`):
+
+```
+(A) Fragment setup → (B) Texture + alpha → (C) NPR stack → (D) Optional bump
+→ (E) Principled BSDF → (F) NPR ↔ PBR mix → (G) FSOut
+```
 
-- **Toon ramps** — quantised NdotL through constant or `ramp_constant_edge_aa` (fwidth-based step anti-alias) for cel-shaded shadow terminators
-- **HSV remaps** — separate hue/sat/value tints for shadow vs lit zones, layered with mix-overlay against the lit texture for warm-shadow / cool-light shifts
-- **Fresnel rim & layer-weight wrap** — `fresnel × layer_weight_facing` (or two stacked fresnels) feeds a MixShader against an emissive backdrop for anime back-light
-- **Procedural micro-detail** — 3-octave value noise (PCG hash, fully unrolled) drives bump-from-height for skin and fabric; 3D Voronoi in reflection-coord space drives metallic sparkle
-- **Selective emission** — BT.601-luminance-gated boosts (eye iris, face highlights, stockings pattern) that survive into bloom
+The `default` preset uses only A/B/E/G; NPR presets layer C (and sometimes D) on top, with stage F choosing how NPR-leaning the final result is.
 
-### Per-material NPR stacks
+**PBR core** (`eval_principled`) — GGX microfacet with Schlick Fresnel, Walter–Smith G1, Fdez-Agüera 2019 multi-scatter compensation, Karis 2013 split-sum DFG LUT, Heitz 2016 LTC direct-spec scaling, optional sheen.
 
-Each PMX material is assigned to one of these shaders. The NPR stack column is what's actually in stage C of that file; the Principled column is what gets passed to `eval_principled`.
+**NPR toolbox** — toon ramps (constant or fwidth-AA'd), HSV warm-shadow / cool-light remaps, fresnel + layer-weight rims, value-noise bump, 3D Voronoi metallic sparkle, BT.601-luminance-gated emission.
 
-| Preset         | NPR stack (stage C)                                         | Principled (stage E)                                          |
-| -------------- | ----------------------------------------------------------- | ------------------------------------------------------------- |
-| `default`      | —                                                           | metallic=0, spec=0.5, rough=0.5                               |
-| `eye`          | — (emission = albedo × 1.5 added post-eval)                 | same as default                                               |
-| `face`         | toon + warm rim + dual-fresnel rim + BT.601 bright-tex gate | spec=0.5, rough=0.3, noise bump, spec clamp=10                |
-| `body`         | toon + warm rim + fresnel rim + facing rim                  | spec=0.5, rough=0.3, noise bump, spec clamp=10                |
-| `hair`         | toon + fresnel rim + bevel (n.y) + bright-tex gate          | spec=1.0, rough=0.3, mixed at 20% PBR                         |
-| `cloth_smooth` | toon + bevel + mix-overlay emission (×18)                   | spec=0.8, rough=0.5                                           |
-| `cloth_rough`  | same NPR as `cloth_smooth`                                  | spec=0.8, rough=0.82, live noise bump, spec clamp=10          |
-| `metal`        | toon + mix-overlay emission (×8)                            | metallic=1, voronoi-driven base (reflection-coord), rough=0.3 |
-| `stockings`    | gradient × facing mask + HSV-boosted emission (×5)          | metallic=0.1, spec=1, rough=0.5, **sheen=0.7**, hashed alpha  |
+| Preset         | Notes                                                                           |
+| -------------- | ------------------------------------------------------------------------------- |
+| `default`      | Plain Principled, metallic=0, rough=0.5                                         |
+| `eye`          | Plain + post-eval emission ×1.5                                                 |
+| `face`         | Toon + warm rim + dual-fresnel rim + bright-tex gate, noise bump                |
+| `body`         | Toon + warm rim + fresnel + facing rim, noise bump                              |
+| `hair`         | Toon + fresnel + bevel + bright-tex gate, mixed at 20% PBR                      |
+| `cloth_smooth` | Toon + bevel + emission overlay (×18)                                           |
+| `cloth_rough`  | Same NPR as cloth_smooth, live noise bump, rough=0.82                           |
+| `metal`        | Toon + emission overlay (×8), voronoi base, metallic=1                          |
+| `stockings`    | Gradient × facing mask + HSV emission (×5), sheen=0.7, **alpha-hashed**         |
 
-Assign presets per-model with `engine.setMaterialPresets(name, map)` (see the [Usage](#usage) example). Material names not listed fall through to `default`.
+Assign per-model with `engine.setMaterialPresets(name, map)`. Unlisted material names fall through to `default`.
 
-### Shadows, post, output
+### Post & output
 
 - Directional shadow map (2048², depth32float, PCF, normal + depth bias)
-- HDR main pass with 4× MSAA. Color is `rg11b10ufloat` paired with an `rg8unorm` aux MRT carrying bloom mask (`.r`) and accumulated alpha (`.g`). The combined footprint fits Apple Silicon TBDR tile memory, so the 4× MSAA buffer resolves in-tile rather than spilling to system memory every frame. Falls back to `rgba16float` when the device does not expose `rg11b10ufloat-renderable`.
-- Bloom via threshold + downsample/upsample mip pyramid, gated by the aux bloom-mask channel
+- HDR main pass at 4× MSAA, `rg11b10ufloat` color + `rg8unorm` aux MRT (bloom mask + accumulated alpha) — fits Apple Silicon TBDR tile memory so MSAA resolves in-tile. Falls back to `rgba16float` when `rg11b10ufloat-renderable` isn't available.
+- Bloom: threshold + downsample/upsample mip pyramid, gated by aux bloom mask
 - Filmic tone mapping (LUT extracted from Blender 3.6 OCIO "Filmic / Medium High Contrast")
-- Screen-space outline pass (inverted-hull) on opaque and transparent materials
-
-### Alpha-hashed transparency
-
-`stockings` uses the Wyman & McGuire 2017 derivative-aware stochastic discard so self-overlapping transparent meshes (e.g. the front and back of a stocking wrapped around a leg) resolve cleanly under MSAA with opaque-style depth writes. The hash is derived from world-space position, so the dither pattern does not swim when the camera moves.
-
-### See-through hair over eyes (MMD post-alpha-eye)
-
-The classic MMD effect where hair strands covering the eye are rendered at 50% so the iris stays readable — implemented as a single extra pass driven by the stencil buffer, not a two-texture composite.
+- Inverted-hull screen-space outline pass on opaque + transparent
 
-- **Eye pipeline** stamps `stencil = EYE_VALUE` on every fragment it writes, with `cullMode: "front"` and a small negative `depthBias` so only the back half of the eye mesh renders (the MMD trick that keeps eyes from leaking through the back of the head).
-- **Main hair pipeline** stencil-tests `not-equal EYE_VALUE` and skips those fragments.
-- **Hair-over-eyes pipeline** re-issues the hair draws with `IS_OVER_EYES = true`, stencil-tests `equal EYE_VALUE`, disables depth writes, and alpha blends at 50% — eye-stamped pixels end up `0.5·hair + 0.5·eye` in linear HDR before tonemap.
-- **Outline pipeline** stencil-tests `not-equal EYE_VALUE` so edge color does not overwrite the see-through region.
+**Alpha-hashed transparency** (`stockings` only) — Wyman & McGuire 2017 derivative-aware stochastic discard with world-space hash, so self-overlapping transparent meshes resolve under MSAA with opaque-style depth writes and the dither doesn't swim with the camera.
 
-Draw order within a model: non-eye/non-hair opaque → eye (stamp) → hair (skip stamp) → outlines (skip stamp) → hair-over-eyes (match stamp).
+**See-through hair over eyes** (MMD post-alpha-eye) — single stencil-gated extra pass: eye stamps `EYE_VALUE`, main hair skips it, an extra hair-over-eyes pass matches it and alpha-blends at 25% in linear HDR before tonemap. Outline pass also skips the stamp so the iris stays readable.
 
 ## Projects Using This Engine
 

package/dist/engine.d.ts

@@ -1,6 +1,5 @@
 import { Quat, Vec3 } from "./math";
 import { Model } from "./model";
-import { type PhysicsOptions } from "./physics";
 import { type AssetReader } from "./asset-reader";
 export type MaterialPreset = "default" | "face" | "hair" | "body" | "eye" | "stockings" | "metal" | "cloth_smooth" | "cloth_rough";
 export type MaterialPresetMap = Partial<Record<MaterialPreset, string[]>>;
@@ -87,7 +86,6 @@ export type EngineOptions = {
     onRaycast?: RaycastCallback;
     /** See {@link GizmoDragCallback}. */
     onGizmoDrag?: GizmoDragCallback;
-    physicsOptions?: PhysicsOptions;
 };
 export declare const DEFAULT_ENGINE_OPTIONS: {
     world: {
@@ -105,9 +103,6 @@ export declare const DEFAULT_ENGINE_OPTIONS: {
         fov: number;
     };
     onRaycast: undefined;
-    physicsOptions: {
-        constraintSolverKeywords: string[];
-    };
 };
 export interface EngineStats {
     fps: number;
@@ -243,7 +238,6 @@ export declare class Engine {
     private groundDrawCall;
     private onRaycast?;
     private onGizmoDrag?;
-    private physicsOptions;
     private lastTouchTime;
     private readonly DOUBLE_TAP_DELAY;
     private pickPipeline;
@@ -428,7 +422,7 @@ export declare class Engine {
     /**
      * Second hair pass for the see-through-hair effect. Re-draws every hair opaque
      * draw using `hairOverEyesPipeline` — which stencil-matches `EYE_VALUE` and runs
-     * the hair shader with `IS_OVER_EYES=true` so alpha is halved. depthWriteEnabled
+     * the hair shader with `IS_OVER_EYES=true` so alpha is scaled to 25%. depthWriteEnabled
      * is off, so the eye's depth stays authoritative for anything drawn after.
      */
     private drawHairOverEyes;

package/dist/engine.d.ts.map

@@ -1 +1 @@
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package/dist/engine.js

@@ -1,7 +1,7 @@
 import { Camera } from "./camera";
 import { Mat4, Quat, Vec3 } from "./math";
 import { PmxLoader } from "./pmx-loader";
-import { Physics } from "./physics";
+import { RezePhysics } from "./physics";
 import { createFetchAssetReader, createFileMapAssetReader, deriveBasePathFromPmxPath, fileListToMap, findFirstPmxFileInList, joinAssetPath, normalizeAssetPath, } from "./asset-reader";
 import { DEFAULT_SHADER_WGSL } from "./shaders/materials/default";
 import { FACE_SHADER_WGSL } from "./shaders/materials/face";
@@ -53,7 +53,6 @@ export const DEFAULT_ENGINE_OPTIONS = {
     sun: { color: new Vec3(1.0, 1.0, 1.0), strength: 2.0, direction: new Vec3(-0.0873, -0.3844, 0.919) },
     camera: { distance: 26.6, target: new Vec3(0, 12.5, 0), fov: Math.PI / 4 },
     onRaycast: undefined,
-    physicsOptions: { constraintSolverKeywords: ["胸"] },
 };
 export class Engine {
     static getInstance() {
@@ -106,7 +105,6 @@ export class Engine {
         this.hasGround = false;
         this.shadowLightVPMatrix = new Float32Array(16);
         this.groundDrawCall = null;
-        this.physicsOptions = DEFAULT_ENGINE_OPTIONS.physicsOptions;
         this.lastTouchTime = 0;
         this.DOUBLE_TAP_DELAY = 300;
         this.pendingPick = null;
@@ -351,7 +349,6 @@ export class Engine {
         };
         this.onRaycast = options?.onRaycast;
         this.onGizmoDrag = options?.onGizmoDrag;
-        this.physicsOptions = options?.physicsOptions ?? d.physicsOptions;
         this.bloomSettings = Engine.mergeBloomDefaults(options?.bloom);
         this.viewTransform = Engine.mergeViewTransformDefaults(options?.view);
     }
@@ -797,7 +794,7 @@ export class Engine {
                 stencilWriteMask: 0,
             },
         });
-        // Hair-over-eyes: same shader with IS_OVER_EYES=true so alpha is halved at compile time.
+        // Hair-over-eyes: same shader with IS_OVER_EYES=true so alpha is scaled to 25% at compile time.
         // Only fragments where eye stencil == EYE_VALUE pass; depth test still culls fragments
         // that are further from camera than the eye, so hair behind the eye never shows through.
         // depthWriteEnabled=false keeps the eye's depth authoritative for everything drawn after.
@@ -2114,7 +2111,7 @@ export class Engine {
         });
         this.device.queue.writeBuffer(indexBuffer, 0, indices);
         const rbs = model.getRigidbodies();
-        const physics = rbs.length > 0 ? new Physics(rbs, model.getJoints(), this.physicsOptions) : null;
+        const physics = rbs.length > 0 ? new RezePhysics(rbs, model.getJoints()) : null;
         const shadowBindGroup = this.device.createBindGroup({
             label: `${name}: shadow bind`,
             layout: this.shadowDepthPipeline.getBindGroupLayout(0),
@@ -3033,7 +3030,7 @@ export class Engine {
     /**
      * Second hair pass for the see-through-hair effect. Re-draws every hair opaque
      * draw using `hairOverEyesPipeline` — which stencil-matches `EYE_VALUE` and runs
-     * the hair shader with `IS_OVER_EYES=true` so alpha is halved. depthWriteEnabled
+     * the hair shader with `IS_OVER_EYES=true` so alpha is scaled to 25%. depthWriteEnabled
      * is off, so the eye's depth stays authoritative for anything drawn after.
      */
     drawHairOverEyes(pass, inst) {

package/dist/gpu-profile.d.ts

@@ -0,0 +1,19 @@
+export declare class GpuTimestamp {
+    enabled: boolean;
+    readonly supported: boolean;
+    private device;
+    private querySet;
+    private resolveBuffer;
+    private readbackBuffer;
+    private nextSlot;
+    private frameLabels;
+    private inFlight;
+    private pendingLabels;
+    constructor(device: GPUDevice);
+    private ensureCreated;
+    beginFrame(): void;
+    wrap(desc: GPURenderPassDescriptor, label: string): GPURenderPassDescriptor;
+    endFrame(encoder: GPUCommandEncoder): void;
+    afterSubmit(): void;
+}
+//# sourceMappingURL=gpu-profile.d.ts.map

package/dist/gpu-profile.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"gpu-profile.d.ts","sourceRoot":"","sources":["../src/gpu-profile.ts"],"names":[],"mappings":"AAoBA,qBAAa,YAAY;IACvB,OAAO,UAAQ;IACf,QAAQ,CAAC,SAAS,EAAE,OAAO,CAAA;IAC3B,OAAO,CAAC,MAAM,CAAW;IACzB,OAAO,CAAC,QAAQ,CAA2B;IAC3C,OAAO,CAAC,aAAa,CAAyB;IAC9C,OAAO,CAAC,cAAc,CAAyB;IAC/C,OAAO,CAAC,QAAQ,CAAI;IACpB,OAAO,CAAC,WAAW,CAAe;IAClC,OAAO,CAAC,QAAQ,CAAQ;IAKxB,OAAO,CAAC,aAAa,CAAwB;gBAEjC,MAAM,EAAE,SAAS;IAK7B,OAAO,CAAC,aAAa;IAiBrB,UAAU,IAAI,IAAI;IAWlB,IAAI,CAAC,IAAI,EAAE,uBAAuB,EAAE,KAAK,EAAE,MAAM,GAAG,uBAAuB;IAqB3E,QAAQ,CAAC,OAAO,EAAE,iBAAiB,GAAG,IAAI;IAW1C,WAAW,IAAI,IAAI;CAwBpB"}

package/dist/gpu-profile.js

@@ -0,0 +1,120 @@
+// WebGPU timestamp-query profiling. Records pass durations into the same
+// profiler module as CPU phases (so the snapshot table mixes both with a
+// "gpu." prefix). Read-only — no effect on rendering output.
+//
+// Pattern (per spec):
+//   1. Each render pass declares timestampWrites { begin, end } slot indices.
+//   2. After all passes, encoder.resolveQuerySet writes uint64 ns timestamps
+//      into a QUERY_RESOLVE buffer.
+//   3. We copy the resolve buffer into a MAP_READ readback buffer.
+//   4. Submit. After the GPU finishes, mapAsync resolves; we read durations
+//      and record them.
+//
+// One readback buffer with an in-flight gate: if mapAsync hasn't resolved
+// from a previous frame, we skip the copy this frame (no contention, just
+// one frame of dropped sampling).
+import { profiler } from "./physics/profile";
+const MAX_PASSES_PER_FRAME = 64;
+export class GpuTimestamp {
+    constructor(device) {
+        this.enabled = false;
+        this.querySet = null;
+        this.resolveBuffer = null;
+        this.readbackBuffer = null;
+        this.nextSlot = 0;
+        this.frameLabels = [];
+        this.inFlight = false;
+        // Set inside endFrame() when a copy was queued this frame; consumed by
+        // afterSubmit() to kick mapAsync. mapAsync must run AFTER queue.submit —
+        // calling it before submit puts the buffer into "mapping pending" state,
+        // which makes the copy in the encoder illegal.
+        this.pendingLabels = null;
+        this.device = device;
+        this.supported = device.features.has("timestamp-query");
+    }
+    ensureCreated() {
+        if (this.querySet || !this.supported)
+            return;
+        const slots = MAX_PASSES_PER_FRAME * 2;
+        this.querySet = this.device.createQuerySet({ type: "timestamp", count: slots });
+        this.resolveBuffer = this.device.createBuffer({
+            label: "gpu-timestamp-resolve",
+            size: slots * 8,
+            usage: GPUBufferUsage.QUERY_RESOLVE | GPUBufferUsage.COPY_SRC,
+        });
+        this.readbackBuffer = this.device.createBuffer({
+            label: "gpu-timestamp-readback",
+            size: slots * 8,
+            usage: GPUBufferUsage.MAP_READ | GPUBufferUsage.COPY_DST,
+        });
+    }
+    // Called once at the top of each render() before any pass wrap.
+    beginFrame() {
+        if (!this.enabled || !this.supported)
+            return;
+        this.ensureCreated();
+        this.nextSlot = 0;
+        this.frameLabels = [];
+    }
+    // Wrap a render-pass descriptor with timestampWrites for `label`. If
+    // profiling is off / unsupported / out of slots, returns desc unchanged.
+    // The same label called multiple times (e.g. each bloom mip) is fine —
+    // the profiler accumulates by label.
+    wrap(desc, label) {
+        if (!this.enabled || !this.querySet)
+            return desc;
+        if (this.nextSlot + 2 > MAX_PASSES_PER_FRAME * 2)
+            return desc;
+        const begin = this.nextSlot;
+        const end = this.nextSlot + 1;
+        this.nextSlot += 2;
+        this.frameLabels.push(label);
+        return {
+            ...desc,
+            timestampWrites: {
+                querySet: this.querySet,
+                beginningOfPassWriteIndex: begin,
+                endOfPassWriteIndex: end,
+            },
+        };
+    }
+    // Call on the encoder after all passes, BEFORE encoder.finish(). Adds
+    // resolveQuerySet + copyBufferToBuffer commands. mapAsync is deferred to
+    // afterSubmit() — calling it before submit transitions the readback buffer
+    // into "mapping pending" state, which makes the queued copy illegal.
+    endFrame(encoder) {
+        if (!this.enabled || !this.querySet || this.frameLabels.length === 0)
+            return;
+        const count = this.frameLabels.length * 2;
+        encoder.resolveQuerySet(this.querySet, 0, count, this.resolveBuffer, 0);
+        if (this.inFlight)
+            return;
+        encoder.copyBufferToBuffer(this.resolveBuffer, 0, this.readbackBuffer, 0, count * 8);
+        this.pendingLabels = this.frameLabels.slice();
+    }
+    // Call AFTER device.queue.submit(). Kicks mapAsync if a copy was queued
+    // this frame; the .then() reads durations and unmaps.
+    afterSubmit() {
+        const labels = this.pendingLabels;
+        if (!labels)
+            return;
+        this.pendingLabels = null;
+        this.inFlight = true;
+        const readback = this.readbackBuffer;
+        void readback.mapAsync(GPUMapMode.READ).then(() => {
+            const arr = new BigInt64Array(readback.getMappedRange());
+            for (let i = 0; i < labels.length; i++) {
+                const start = arr[i * 2];
+                const end = arr[i * 2 + 1];
+                // Per spec, timestamps are nanoseconds.
+                const ms = Number(end - start) / 1e6;
+                if (ms >= 0 && ms < 1000)
+                    profiler.record("gpu." + labels[i], ms);
+            }
+            readback.unmap();
+            this.inFlight = false;
+        }, () => {
+            this.inFlight = false;
+        });
+    }
+}

package/dist/index.d.ts

@@ -4,5 +4,5 @@ export { Model } from "./model";
 export { Vec3, Quat, Mat4 } from "./math";
 export type { AnimationClip, AnimationPlayOptions, AnimationProgress, BoneKeyframe, MorphKeyframe, BoneInterpolation, ControlPoint, } from "./animation";
 export { FPS } from "./animation";
-export { Physics, type PhysicsOptions } from "./physics";
+export { RezePhysics } from "./physics";
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/index.js

@@ -3,4 +3,4 @@ export { parsePmxFolderInput, pmxFileAtRelativePath } from "./folder-upload";
 export { Model } from "./model";
 export { Vec3, Quat, Mat4 } from "./math";
 export { FPS } from "./animation";
-export { Physics } from "./physics";
+export { RezePhysics } from "./physics";