reze-engine 0.15.0 → 0.15.1

package/README.md

@@ -1,6 +1,6 @@
 # Reze Engine
 
-**Zero-runtime-dependency** WebGPU engine for real-time MMD/PMX rendering. Pure TypeScript — renderer, animation, IK, physics, all hand-written. The only `dependencies` entry is `@webgpu/types` and that's types-only; no JS at runtime.
+**Zero-runtime-dependency** WebGPU engine for real-time MMD/PMX rendering. Renderer, animation, IK, and physics all in TypeScript.
 
 ![screenshot](./screenshot.png)
 
@@ -306,7 +306,7 @@ Note the asymmetry: rotation uses `rotateBones({ name, q }, 0)` (the tween-based
 
 ## Physics
 
-Hand-written 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 but in ~1.5k lines of TypeScript.
+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.
 
 ### Pipeline
 
@@ -317,7 +317,7 @@ predict velocities  → broadphase + narrowphase  → solve constraints (10 iter
                    → split-impulse position correction  → integrate transforms
 ```
 
-A fixed-timestep accumulator runs the substep at a constant **75 Hz** regardless of render rate, with up to 10 substeps per render frame. Constant `dt` keeps spring impulse, damping, and integration deterministic — without it, coupled cloth chains never reach steady state.
+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.
 
 ### Implementation notes
 

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/physics/body.d.ts

@@ -22,9 +22,11 @@ export declare class RigidBodyStore {
     readonly bodyOffsetMatrix: Float32Array;
     readonly bodyOffsetInverse: Float32Array;
     private boneOffsetsReady;
+    private collisionPairs;
     constructor(rigidbodies: Rigidbody[]);
     updateAabbs(margin?: number): void;
     computeBoneOffsets(boneInverseBindMatrices: Float32Array): void;
     isBoneOffsetsReady(): boolean;
+    getCollisionPairs(): Uint16Array;
 }
 //# sourceMappingURL=body.d.ts.map

package/dist/physics/body.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"body.d.ts","sourceRoot":"","sources":["../../src/physics/body.ts"],"names":[],"mappings":"AACA,OAAO,EAAiC,KAAK,SAAS,EAAE,MAAM,SAAS,CAAA;AAIvE,qBAAa,cAAc;IACzB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAA;IAEtB,QAAQ,CAAC,SAAS,EAAE,YAAY,CAAA;IAChC,QAAQ,CAAC,YAAY,EAAE,YAAY,CAAA;IACnC,QAAQ,CAAC,gBAAgB,EAAE,YAAY,CAAA;IACvC,QAAQ,CAAC,iBAAiB,EAAE,YAAY,CAAA;IAExC,QAAQ,CAAC,OAAO,EAAE,YAAY,CAAA;IAI9B,QAAQ,CAAC,UAAU,EAAE,YAAY,CAAA;IACjC,QAAQ,CAAC,aAAa,EAAE,YAAY,CAAA;IACpC,QAAQ,CAAC,cAAc,EAAE,YAAY,CAAA;IACrC,QAAQ,CAAC,IAAI,EAAE,UAAU,CAAA;IACzB,QAAQ,CAAC,SAAS,EAAE,UAAU,CAAA;IAC9B,QAAQ,CAAC,QAAQ,EAAE,YAAY,CAAA;IAC/B,QAAQ,CAAC,WAAW,EAAE,YAAY,CAAA;IAIlC,QAAQ,CAAC,cAAc,EAAE,WAAW,CAAA;IACpC,QAAQ,CAAC,eAAe,EAAE,WAAW,CAAA;IAErC,QAAQ,CAAC,KAAK,EAAE,UAAU,CAAA;IAC1B,QAAQ,CAAC,IAAI,EAAE,YAAY,CAAA;IAE3B,QAAQ,CAAC,OAAO,EAAE,YAAY,CAAA;IAC9B,QAAQ,CAAC,OAAO,EAAE,YAAY,CAAA;IAI9B,QAAQ,CAAC,gBAAgB,EAAE,YAAY,CAAA;IACvC,QAAQ,CAAC,iBAAiB,EAAE,YAAY,CAAA;IACxC,OAAO,CAAC,gBAAgB,CAAQ;IAMhC,OAAO,CAAC,cAAc,CAA2B;gBAErC,WAAW,EAAE,SAAS,EAAE;IA4DpC,WAAW,CAAC,MAAM,SAAM,GAAG,IAAI;IA2F/B,kBAAkB,CAAC,uBAAuB,EAAE,YAAY,GAAG,IAAI;IAqD/D,kBAAkB,IAAI,OAAO;IAM7B,iBAAiB,IAAI,WAAW;CAoBjC"}

package/dist/physics/body.js

@@ -5,6 +5,11 @@ import { RigidbodyType, RigidbodyShape } from "./types";
 export class RigidBodyStore {
     constructor(rigidbodies) {
         this.boneOffsetsReady = false;
+        // Flat list of (i, j) pairs that survive the static-static + group/mask
+        // filter. None of those inputs change after construction, so building this
+        // once collapses 60k pair tests/step (349 bodies) down to a few thousand.
+        // Built lazily on first access.
+        this.collisionPairs = null;
         const N = rigidbodies.length;
         this.count = N;
         this.positions = new Float32Array(N * 3);
@@ -159,6 +164,31 @@ export class RigidBodyStore {
     isBoneOffsetsReady() {
         return this.boneOffsetsReady;
     }
+    // Pair-filter inputs (invMass, group, mask) are immutable post-construction,
+    // so build the candidate-pair list once and reuse every step.
+    getCollisionPairs() {
+        if (this.collisionPairs !== null)
+            return this.collisionPairs;
+        const N = this.count;
+        const invMass = this.invMass;
+        const group = this.collisionGroup;
+        const mask = this.willCollideMask;
+        const buf = [];
+        for (let i = 0; i < N; i++) {
+            const gi = group[i];
+            const mi = mask[i];
+            const dynA = invMass[i] > 0;
+            for (let j = i + 1; j < N; j++) {
+                if (!dynA && invMass[j] === 0)
+                    continue;
+                if ((mi & group[j]) === 0 || (mask[j] & gi) === 0)
+                    continue;
+                buf.push(i, j);
+            }
+        }
+        this.collisionPairs = new Uint16Array(buf);
+        return this.collisionPairs;
+    }
 }
 const _scratchA = new Float32Array(16);
 const _scratchB = new Float32Array(16);

package/dist/physics/constraint.d.ts

@@ -11,6 +11,19 @@ export interface SixDofSpringConstraint {
     springEnabled: Uint8Array;
     springStiffness: Float32Array;
     equilibriumPoint: Float32Array;
+    cacheSkip: boolean;
+    cacheLeverA: Float32Array;
+    cacheLeverB: Float32Array;
+    cacheLinAxes: Float32Array;
+    cacheLinCrossA: Float32Array;
+    cacheLinCrossB: Float32Array;
+    cacheLinJacInv: Float32Array;
+    cacheLinTargetVel: Float32Array;
+    cacheLinActive: Uint8Array;
+    cacheAngAxes: Float32Array;
+    cacheAngTargetVel: Float32Array;
+    cacheAngActive: Uint8Array;
+    cacheAngJacInv: number;
 }
 export declare const STOP_ERP = 0.475;
 export declare function buildConstraints(rigidbodies: Rigidbody[], joints: Joint[]): SixDofSpringConstraint[];

package/dist/physics/constraint.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"constraint.d.ts","sourceRoot":"","sources":["../../src/physics/constraint.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,KAAK,EAAE,SAAS,EAAE,MAAM,SAAS,CAAA;AAW/C,MAAM,WAAW,sBAAsB;IACrC,KAAK,EAAE,MAAM,CAAA;IACb,KAAK,EAAE,MAAM,CAAA;IAEb,MAAM,EAAE,YAAY,CAAA;IACpB,MAAM,EAAE,YAAY,CAAA;IAGpB,SAAS,EAAE,YAAY,CAAA;IACvB,SAAS,EAAE,YAAY,CAAA;IACvB,UAAU,EAAE,YAAY,CAAA;IACxB,UAAU,EAAE,YAAY,CAAA;IAExB,aAAa,EAAE,UAAU,CAAA;IACzB,eAAe,EAAE,YAAY,CAAA;IAC7B,gBAAgB,EAAE,YAAY,CAAA;IAK9B,SAAS,EAAE,OAAO,CAAA;IAClB,WAAW,EAAE,YAAY,CAAA;IACzB,WAAW,EAAE,YAAY,CAAA;IACzB,YAAY,EAAE,YAAY,CAAA;IAC1B,cAAc,EAAE,YAAY,CAAA;IAC5B,cAAc,EAAE,YAAY,CAAA;IAC5B,cAAc,EAAE,YAAY,CAAA;IAC5B,iBAAiB,EAAE,YAAY,CAAA;IAC/B,cAAc,EAAE,UAAU,CAAA;IAC1B,YAAY,EAAE,YAAY,CAAA;IAC1B,iBAAiB,EAAE,YAAY,CAAA;IAC/B,cAAc,EAAE,UAAU,CAAA;IAC1B,cAAc,EAAE,MAAM,CAAA;CACvB;AAED,eAAO,MAAM,QAAQ,QAAQ,CAAA;AAM7B,wBAAgB,gBAAgB,CAC9B,WAAW,EAAE,SAAS,EAAE,EACxB,MAAM,EAAE,KAAK,EAAE,GACd,sBAAsB,EAAE,CAkF1B"}

package/dist/physics/constraint.js

@@ -64,6 +64,19 @@ export function buildConstraints(rigidbodies, joints) {
             springEnabled,
             springStiffness,
             equilibriumPoint: new Float32Array(6),
+            cacheSkip: false,
+            cacheLeverA: new Float32Array(3),
+            cacheLeverB: new Float32Array(3),
+            cacheLinAxes: new Float32Array(9),
+            cacheLinCrossA: new Float32Array(9),
+            cacheLinCrossB: new Float32Array(9),
+            cacheLinJacInv: new Float32Array(3),
+            cacheLinTargetVel: new Float32Array(3),
+            cacheLinActive: new Uint8Array(3),
+            cacheAngAxes: new Float32Array(9),
+            cacheAngTargetVel: new Float32Array(3),
+            cacheAngActive: new Uint8Array(3),
+            cacheAngJacInv: 0,
         });
     }
     return out;

package/dist/physics/contact.d.ts

@@ -18,6 +18,34 @@ export interface Contact {
     appliedNormalImpulse: number;
     appliedFrictionImpulse1: number;
     appliedFrictionImpulse2: number;
+    cAxN: number;
+    cAyN: number;
+    cAzN: number;
+    cBxN: number;
+    cByN: number;
+    cBzN: number;
+    jacInvN: number;
+    bounceVel: number;
+    t1x: number;
+    t1y: number;
+    t1z: number;
+    cAxT1: number;
+    cAyT1: number;
+    cAzT1: number;
+    cBxT1: number;
+    cByT1: number;
+    cBzT1: number;
+    jacInvT1: number;
+    t2x: number;
+    t2y: number;
+    t2z: number;
+    cAxT2: number;
+    cAyT2: number;
+    cAzT2: number;
+    cBxT2: number;
+    cByT2: number;
+    cBzT2: number;
+    jacInvT2: number;
 }
 export declare class ContactPool {
     private pool;

package/dist/physics/contact.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"contact.d.ts","sourceRoot":"","sources":["../../src/physics/contact.ts"],"names":[],"mappings":"AASA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAO5C,eAAO,MAAM,cAAc,OAAO,CAAA;AAElC,MAAM,WAAW,OAAO;IACtB,KAAK,EAAE,MAAM,CAAA;IACb,KAAK,EAAE,MAAM,CAAA;IAEb,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IAEX,EAAE,EAAE,MAAM,CAAA;IACV,EAAE,EAAE,MAAM,CAAA;IACV,EAAE,EAAE,MAAM,CAAA;IACV,KAAK,EAAE,MAAM,CAAA;IACb,QAAQ,EAAE,MAAM,CAAA;IAChB,WAAW,EAAE,MAAM,CAAA;IAEnB,oBAAoB,EAAE,MAAM,CAAA;IAC5B,uBAAuB,EAAE,MAAM,CAAA;IAC/B,uBAAuB,EAAE,MAAM,CAAA;IAI/B,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;IACxC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;IACxC,OAAO,EAAE,MAAM,CAAA;IACf,SAAS,EAAE,MAAM,CAAA;IAEjB,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;IACrC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;IAC3C,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;IAC3C,QAAQ,EAAE,MAAM,CAAA;IAEhB,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;IACrC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;IAC3C,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;IAC3C,QAAQ,EAAE,MAAM,CAAA;CACjB;AA8BD,qBAAa,WAAW;IACtB,OAAO,CAAC,IAAI,CAAgB;IAC5B,KAAK,SAAI;IAET,OAAO,IAAI,OAAO;IAelB,KAAK,IAAI,IAAI;IAGb,GAAG,CAAC,CAAC,EAAE,MAAM,GAAG,OAAO;CAGxB;AASD,wBAAgB,WAAW,CAAC,KAAK,EAAE,cAAc,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,OAAO,CAahF;AAkxBD,wBAAgB,gBAAgB,CAAC,KAAK,EAAE,cAAc,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,WAAW,GAAG,IAAI,CAuCrG;AA4BD,wBAAgB,YAAY,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,WAAW,GAAG,IAAI,CAS3E"}

package/dist/physics/contact.js

@@ -14,23 +14,28 @@ import { RigidbodyShape } from "./types";
 export const CONTACT_MARGIN = 0.04;
 function makeContact() {
     return {
-        bodyA: 0,
-        bodyB: 0,
-        rAx: 0,
-        rAy: 0,
-        rAz: 0,
-        rBx: 0,
-        rBy: 0,
-        rBz: 0,
-        nx: 0,
-        ny: 0,
-        nz: 0,
+        bodyA: 0, bodyB: 0,
+        rAx: 0, rAy: 0, rAz: 0,
+        rBx: 0, rBy: 0, rBz: 0,
+        nx: 0, ny: 0, nz: 0,
         depth: 0,
         friction: 0,
         restitution: 0,
         appliedNormalImpulse: 0,
         appliedFrictionImpulse1: 0,
         appliedFrictionImpulse2: 0,
+        cAxN: 0, cAyN: 0, cAzN: 0,
+        cBxN: 0, cByN: 0, cBzN: 0,
+        jacInvN: 0,
+        bounceVel: 0,
+        t1x: 0, t1y: 0, t1z: 0,
+        cAxT1: 0, cAyT1: 0, cAzT1: 0,
+        cBxT1: 0, cByT1: 0, cBzT1: 0,
+        jacInvT1: 0,
+        t2x: 0, t2y: 0, t2z: 0,
+        cAxT2: 0, cAyT2: 0, cAzT2: 0,
+        cBxT2: 0, cByT2: 0, cBzT2: 0,
+        jacInvT2: 0,
     };
 }
 // Pool of reusable Contact objects.
@@ -701,28 +706,18 @@ function flipLastNormal(pool) {
     c.ny = -c.ny;
     c.nz = -c.nz;
 }
-// O(N²) AABB pair test. For 30–100 PMX bodies that's <5000 checks per
-// step; SAP / dynamic AABB tree pay off above ~500 bodies. The pair filter
-// uses the AND form `(maskA & groupB) && (maskB & groupA)` — both sides
-// must agree, which is what PMX rigs are tuned against.
+// Iterate the prebuilt candidate-pair list and AABB-test each pair. The
+// static-static and group/mask filters were applied once at construction —
+// see RigidBodyStore.getCollisionPairs. SAP / dynamic AABB tree pay off
+// above ~500 bodies; below that this flat sweep wins on cache locality.
 export function findContacts(store, pool) {
     store.updateAabbs();
-    const N = store.count;
-    const invMass = store.invMass;
-    const group = store.collisionGroup;
-    const mask = store.willCollideMask;
-    for (let i = 0; i < N; i++) {
-        const gi = group[i];
-        const mi = mask[i];
-        const dynA = invMass[i] > 0;
-        for (let j = i + 1; j < N; j++) {
-            if (!dynA && invMass[j] === 0)
-                continue; // both static — no resolution
-            if ((mi & group[j]) === 0 || (mask[j] & gi) === 0)
-                continue;
-            if (!aabbOverlap(store, i, j))
-                continue;
-            generateContacts(store, i, j, pool);
-        }
+    const pairs = store.getCollisionPairs();
+    for (let p = 0; p < pairs.length; p += 2) {
+        const i = pairs[p];
+        const j = pairs[p + 1];
+        if (!aabbOverlap(store, i, j))
+            continue;
+        generateContacts(store, i, j, pool);
     }
 }

package/dist/physics/physics.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"physics.d.ts","sourceRoot":"","sources":["../../src/physics/physics.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,SAAS,CAAA;AAC1C,OAAO,KAAK,EAAE,SAAS,EAAE,KAAK,EAAE,MAAM,SAAS,CAAA;AAE/C,OAAO,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAYvC,qBAAa,WAAW;IACtB,OAAO,CAAC,WAAW,CAAa;IAChC,OAAO,CAAC,MAAM,CAAS;IACvB,OAAO,CAAC,KAAK,CAAgB;IAC7B,OAAO,CAAC,KAAK,CAAO;IACpB,OAAO,CAAC,WAAW,CAA0B;IAC7C,OAAO,CAAC,QAAQ,CAAa;IAC7B,OAAO,CAAC,UAAU,CAAO;IAGzB,OAAO,CAAC,SAAS,CAAI;IACrB,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAS;IACvC,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAK;gBAErB,WAAW,EAAE,SAAS,EAAE,EAAE,MAAM,GAAE,KAAK,EAAO;IAS1D,UAAU,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IAG/B,UAAU,IAAI,IAAI;IAGlB,cAAc,IAAI,SAAS,EAAE;IAG7B,SAAS,IAAI,KAAK,EAAE;IAGpB,QAAQ,IAAI,cAAc;IAI1B,sBAAsB,IAAI,KAAK,CAAC;QAAE,QAAQ,EAAE,IAAI,CAAC;QAAC,QAAQ,EAAE,IAAI,CAAA;KAAE,CAAC;IAiBnE,KAAK,CAAC,iBAAiB,EAAE,IAAI,EAAE,GAAG,IAAI;IAKtC,IAAI,CAAC,EAAE,EAAE,MAAM,EAAE,iBAAiB,EAAE,IAAI,EAAE,EAAE,uBAAuB,EAAE,YAAY,GAAG,IAAI;IA6BxF,OAAO,CAAC,iBAAiB;IAuCzB,OAAO,CAAC,aAAa;IA6ErB,OAAO,CAAC,oBAAoB;CAiC7B"}
+{"version":3,"file":"physics.d.ts","sourceRoot":"","sources":["../../src/physics/physics.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,SAAS,CAAA;AAC1C,OAAO,KAAK,EAAE,SAAS,EAAE,KAAK,EAAE,MAAM,SAAS,CAAA;AAE/C,OAAO,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAYvC,qBAAa,WAAW;IACtB,OAAO,CAAC,WAAW,CAAa;IAChC,OAAO,CAAC,MAAM,CAAS;IACvB,OAAO,CAAC,KAAK,CAAgB;IAC7B,OAAO,CAAC,KAAK,CAAO;IACpB,OAAO,CAAC,WAAW,CAA0B;IAC7C,OAAO,CAAC,QAAQ,CAAa;IAC7B,OAAO,CAAC,UAAU,CAAO;IACzB,OAAO,CAAC,SAAS,CAAI;IACrB,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAS;IACvC,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAI;gBAEpB,WAAW,EAAE,SAAS,EAAE,EAAE,MAAM,GAAE,KAAK,EAAO;IAS1D,UAAU,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IAG/B,UAAU,IAAI,IAAI;IAGlB,cAAc,IAAI,SAAS,EAAE;IAG7B,SAAS,IAAI,KAAK,EAAE;IAGpB,QAAQ,IAAI,cAAc;IAI1B,sBAAsB,IAAI,KAAK,CAAC;QAAE,QAAQ,EAAE,IAAI,CAAC;QAAC,QAAQ,EAAE,IAAI,CAAA;KAAE,CAAC;IAiBnE,KAAK,CAAC,iBAAiB,EAAE,IAAI,EAAE,GAAG,IAAI;IAKtC,IAAI,CAAC,EAAE,EAAE,MAAM,EAAE,iBAAiB,EAAE,IAAI,EAAE,EAAE,uBAAuB,EAAE,YAAY,GAAG,IAAI;IA6BxF,OAAO,CAAC,iBAAiB;IAuCzB,OAAO,CAAC,aAAa;IA6ErB,OAAO,CAAC,oBAAoB;CAiC7B"}

package/dist/physics/physics.js

@@ -13,11 +13,9 @@ const _scratchQuat = new Quat(0, 0, 0, 1);
 export class RezePhysics {
     constructor(rigidbodies, joints = []) {
         this.firstFrame = true;
-        // Fixed-timestep accumulator: physics runs at 75 Hz regardless of render
-        // rate, so spring impulse, damping, and integration are deterministic.
         this.timeAccum = 0;
-        this.fixedTimeStep = 1 / 75;
-        this.maxSubSteps = 10;
+        this.fixedTimeStep = 1 / 60;
+        this.maxSubSteps = 6;
         this.rigidbodies = rigidbodies;
         this.joints = joints;
         this.store = new RigidBodyStore(rigidbodies);

package/dist/physics/profile.d.ts

@@ -0,0 +1,18 @@
+declare class PhysicsProfiler {
+    enabled: boolean;
+    private sums;
+    private counts;
+    begin(): number;
+    end(label: string, t0: number): void;
+    record(label: string, ms: number): void;
+    snapshot(): Record<string, {
+        avgMs: number;
+        calls: number;
+        totalMs: number;
+    }>;
+    reset(): void;
+}
+export declare const profiler: PhysicsProfiler;
+export type ProfileSnapshot = ReturnType<PhysicsProfiler["snapshot"]>;
+export {};
+//# sourceMappingURL=profile.d.ts.map

package/dist/physics/profile.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"profile.d.ts","sourceRoot":"","sources":["../../src/physics/profile.ts"],"names":[],"mappings":"AAIA,cAAM,eAAe;IACnB,OAAO,UAAQ;IACf,OAAO,CAAC,IAAI,CAA8C;IAC1D,OAAO,CAAC,MAAM,CAA8C;IAE5D,KAAK,IAAI,MAAM;IAIf,GAAG,CAAC,KAAK,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI;IASpC,MAAM,CAAC,KAAK,EAAE,MAAM,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI;IAQvC,QAAQ,IAAI,MAAM,CAAC,MAAM,EAAE;QAAE,KAAK,EAAE,MAAM,CAAC;QAAC,KAAK,EAAE,MAAM,CAAC;QAAC,OAAO,EAAE,MAAM,CAAA;KAAE,CAAC;IAU7E,KAAK,IAAI,IAAI;CAId;AAED,eAAO,MAAM,QAAQ,iBAAwB,CAAA;AAC7C,MAAM,MAAM,eAAe,GAAG,UAAU,CAAC,eAAe,CAAC,UAAU,CAAC,CAAC,CAAA"}

package/dist/physics/profile.js

@@ -0,0 +1,44 @@
+// Per-phase wall-clock accumulator. Off by default — when `enabled` is false,
+// begin()/end() short-circuit so production has zero overhead. Toggle via
+// `RezePhysics.setProfileEnabled(true)` and read with `getProfile()`.
+class PhysicsProfiler {
+    constructor() {
+        this.enabled = false;
+        this.sums = Object.create(null);
+        this.counts = Object.create(null);
+    }
+    begin() {
+        return this.enabled ? performance.now() : 0;
+    }
+    end(label, t0) {
+        if (!this.enabled)
+            return;
+        const dt = performance.now() - t0;
+        this.sums[label] = (this.sums[label] ?? 0) + dt;
+        this.counts[label] = (this.counts[label] ?? 0) + 1;
+    }
+    // Direct accumulator for durations not measured via begin()/end() — used by
+    // GPU timestamp readback, which arrives async after the frame has ended.
+    record(label, ms) {
+        if (!this.enabled)
+            return;
+        this.sums[label] = (this.sums[label] ?? 0) + ms;
+        this.counts[label] = (this.counts[label] ?? 0) + 1;
+    }
+    // Snapshot since last reset(). avgMs is per call; totalMs is the cumulative
+    // window cost — divide by elapsed wall time to get a "% of frame budget".
+    snapshot() {
+        const out = {};
+        for (const k in this.sums) {
+            const total = this.sums[k];
+            const calls = this.counts[k];
+            out[k] = { avgMs: calls > 0 ? total / calls : 0, calls, totalMs: total };
+        }
+        return out;
+    }
+    reset() {
+        this.sums = Object.create(null);
+        this.counts = Object.create(null);
+    }
+}
+export const profiler = new PhysicsProfiler();

package/dist/physics/solver.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"solver.d.ts","sourceRoot":"","sources":["../../src/physics/solver.ts"],"names":[],"mappings":"AAcA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAC5C,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,cAAc,CAAA;AAE1D,OAAO,KAAK,EAAW,WAAW,EAAE,MAAM,WAAW,CAAA;AAWrD,wBAAgB,gBAAgB,CAC9B,KAAK,EAAE,cAAc,EACrB,WAAW,EAAE,sBAAsB,EAAE,EACrC,QAAQ,EAAE,WAAW,EACrB,EAAE,EAAE,MAAM,EACV,UAAU,EAAE,MAAM,GACjB,IAAI,CAyBN"}