reze-engine 0.16.1 → 0.16.2

package/dist/physics/solver.js

@@ -13,12 +13,28 @@
 import { Mat4 } from "../math";
 import { STOP_ERP } from "./constraint";
 const BOUNCE_THRESHOLD = 2.0;
+// Ceilings on limit-correction velocity. In normal operation limit errors are
+// tiny; a large error only appears after a discontinuity (teleport, stall,
+// deep penetration), and feeding err·ERP/dt to the solver unclamped then
+// injects explosion-scale impulses into the chain.
+const MAX_LINEAR_CORRECTION_VEL = 120; // units/s
+const MAX_ANGULAR_CORRECTION_VEL = 30; // rad/s
+// Bullet's limit-motor softness defaults (0.7 translational, 0.5 rotational):
+// scale each iteration's limit impulse so the stop engages progressively
+// instead of as a hard velocity snap.
+const LIMIT_SOFTNESS_LINEAR = 0.7;
+const LIMIT_SOFTNESS_ANGULAR = 0.5;
+// Angular limit violations below this switch to per-axis euler rows; above
+// it, the single geodesic row takes over (see setupConstraint).
+const GEODESIC_THRESHOLD = 0.5; // rad
 // Module-level scratch (no per-iter allocations).
 const _TA = new Float32Array(16);
 const _TB = new Float32Array(16);
 const _bodyMatA = new Float32Array(16);
 const _bodyMatB = new Float32Array(16);
 const _angDiffScratch = new Float32Array(3);
+const _quatScratchA = new Float32Array(4);
+const _quatScratchB = new Float32Array(4);
 export function solveConstraints(store, constraints, contacts, dt, iterations) {
     if (dt <= 0)
         return;
@@ -60,21 +76,23 @@ function setupConstraint(con, store, dt, invDt) {
     buildBodyMat(store, b, _bodyMatB);
     Mat4.multiplyArrays(_bodyMatA, 0, con.frameA, 0, _TA, 0);
     Mat4.multiplyArrays(_bodyMatB, 0, con.frameB, 0, _TB, 0);
-    // Mass-weighted shared anchor (Bullet 2.75 m_AnchorPos).
+    // Per-body pivots at each body's own joint-frame origin (Spring2-style).
+    // Bullet 2.7x's shared mass-weighted anchor (m_AnchorPos) degenerates when
+    // the joint is violated by a large distance: the midpoint sits far from
+    // both bodies, the lever arms grow with the separation, the Jacobian
+    // denominator blows up as err²·invInertia, and the row applies torque
+    // instead of closing velocity — the joint "breaks" and the error runs
+    // away. Per-body pivots keep the levers bounded by the frame offsets, so
+    // the row stays effective no matter how large the violation is.
     const pos = store.positions;
     const ai = a * 3;
     const bi = b * 3;
-    const weightA = imB === 0 ? 1 : imA / (imA + imB);
-    const weightB = 1 - weightA;
-    const anchorX = _TA[12] * weightA + _TB[12] * weightB;
-    const anchorY = _TA[13] * weightA + _TB[13] * weightB;
-    const anchorZ = _TA[14] * weightA + _TB[14] * weightB;
-    const rAx = anchorX - pos[ai + 0];
-    const rAy = anchorY - pos[ai + 1];
-    const rAz = anchorZ - pos[ai + 2];
-    const rBx = anchorX - pos[bi + 0];
-    const rBy = anchorY - pos[bi + 1];
-    const rBz = anchorZ - pos[bi + 2];
+    const rAx = _TA[12] - pos[ai + 0];
+    const rAy = _TA[13] - pos[ai + 1];
+    const rAz = _TA[14] - pos[ai + 2];
+    const rBx = _TB[12] - pos[bi + 0];
+    const rBy = _TB[13] - pos[bi + 1];
+    const rBz = _TB[14] - pos[bi + 2];
     const lA = con.cacheLeverA;
     const lB = con.cacheLeverB;
     lA[0] = rAx;
@@ -123,6 +141,8 @@ function setupConstraint(con, store, dt, invDt) {
         const lo = con.linearMin[i];
         const hi = con.linearMax[i];
         const curr = i === 0 ? linDiff0 : i === 1 ? linDiff1 : linDiff2;
+        // active: 1 = bilateral equality (locked axis — a joint, always on),
+        //         2 = unilateral stop (ranged axis in violation).
         let target = 0;
         let active = 0;
         if (lo <= hi) {
@@ -131,17 +151,34 @@ function setupConstraint(con, store, dt, invDt) {
                 err = curr - lo;
             else if (curr > hi)
                 err = curr - hi;
+            if (lo === hi)
+                active = 1;
+            else if (err !== 0)
+                active = 2;
             if (err !== 0) {
                 target = -err * STOP_ERP * invDt;
-                active = 1;
+                if (target > MAX_LINEAR_CORRECTION_VEL)
+                    target = MAX_LINEAR_CORRECTION_VEL;
+                else if (target < -MAX_LINEAR_CORRECTION_VEL)
+                    target = -MAX_LINEAR_CORRECTION_VEL;
             }
         }
-        if (con.springEnabled[i]) {
-            target += -con.springStiffness[i] * (curr - con.equilibriumPoint[i]) * dt;
-            active = 1;
-        }
         tgt[i] = target;
         act[i] = denom > 0 ? active : 0;
+        con.cacheLinLimitImp[i] = 0;
+        if (con.springEnabled[i] && denom > 0) {
+            // Clamp k to the deadbeat limit: an explicit spring with k·dt² > 1
+            // overshoots equilibrium every step and pumps energy — the classic
+            // pre-Spring2 Bullet 6dof instability this port inherited. (¼ margin
+            // for Gauss-Seidel coupling in chains.)
+            const k = Math.min(con.springStiffness[i], 0.25 * invDt * invDt);
+            const serr = curr - con.equilibriumPoint[i];
+            con.cacheLinSpringTarget[i] = -k * serr * dt;
+            con.cacheLinSpringActive[i] = 1;
+        }
+        else {
+            con.cacheLinSpringActive[i] = 0;
+        }
     }
     // Angular: TA^T · TB → Euler XYZ; axes from TA.col2 × TB.col0.
     const r00 = _TA[0] * _TB[0] + _TA[1] * _TB[1] + _TA[2] * _TB[2];
@@ -196,34 +233,103 @@ function setupConstraint(con, store, dt, invDt) {
     angAxes[8] = zz;
     const angDenom = iiA + iiB;
     con.cacheAngJacInv = angDenom > 0 ? 1 / angDenom : 0;
+    // Per-axis rows carry only the springs. Sign flip vs linear:
+    // d(angDiff)/dt = −(ω_B − ω_A)·ax.
     const angTgt = con.cacheAngTargetVel;
     const angAct = con.cacheAngActive;
     for (let i = 0; i < 3; i++) {
         const idx = i + 3;
-        const lo = con.angularMin[i];
-        const hi = con.angularMax[i];
-        const curr = _angDiffScratch[i];
-        let target = 0;
-        let active = 0;
-        if (lo <= hi) {
-            let err = 0;
-            if (curr < lo)
-                err = curr - lo;
-            else if (curr > hi)
-                err = curr - hi;
-            // Sign flip vs linear: d(angDiff)/dt = −(ω_B − ω_A)·ax.
-            if (err !== 0) {
-                target = err * STOP_ERP * invDt;
-                active = 1;
+        if (con.springEnabled[idx] && angDenom > 0) {
+            // Same deadbeat clamp as the linear springs.
+            const k = Math.min(con.springStiffness[idx], 0.25 * invDt * invDt);
+            const serr = _angDiffScratch[i] - con.equilibriumPoint[idx];
+            angTgt[i] = k * serr * dt;
+            angAct[i] = 1;
+        }
+        else {
+            angTgt[i] = 0;
+            angAct[i] = 0;
+        }
+    }
+    // Angular limit handling is hybrid. Small violations (the resting-cloth
+    // regime) use per-axis euler rows — they converge cleanly and keep resting
+    // cloth dead still. Large violations switch to a single geodesic row toward
+    // the euler-clamped target: per-axis euler rows (the Bullet-2.7x approach
+    // this port used) become geometrically inconsistent for large errors — near
+    // the asin singularity they chase phantom errors and pump angular velocity
+    // into the chain instead of converging.
+    con.cacheAngLimActive = 0;
+    if (angDenom > 0) {
+        const ex = _angDiffScratch[0], ey = _angDiffScratch[1], ez = _angDiffScratch[2];
+        // Free axes (min > max) follow the current angle, i.e. no correction.
+        let tx = ex, ty = ey, tz = ez;
+        if (con.angularMin[0] <= con.angularMax[0])
+            tx = ex < con.angularMin[0] ? con.angularMin[0] : ex > con.angularMax[0] ? con.angularMax[0] : ex;
+        if (con.angularMin[1] <= con.angularMax[1])
+            ty = ey < con.angularMin[1] ? con.angularMin[1] : ey > con.angularMax[1] ? con.angularMax[1] : ey;
+        if (con.angularMin[2] <= con.angularMax[2])
+            tz = ez < con.angularMin[2] ? con.angularMin[2] : ez > con.angularMax[2] ? con.angularMax[2] : ez;
+        const errX = ex - tx, errY = ey - ty, errZ = ez - tz;
+        const maxErr = Math.max(Math.abs(errX), Math.abs(errY), Math.abs(errZ));
+        if (maxErr > 0 && maxErr < GEODESIC_THRESHOLD) {
+            // Per-axis euler limit rows, folded into the per-axis row set (the
+            // spring impulse clamp must not bound a limit row — lift it).
+            for (let i = 0; i < 3; i++) {
+                const err = i === 0 ? errX : i === 1 ? errY : errZ;
+                if (err === 0)
+                    continue;
+                let target = err * STOP_ERP * invDt;
+                if (target > MAX_ANGULAR_CORRECTION_VEL)
+                    target = MAX_ANGULAR_CORRECTION_VEL;
+                else if (target < -MAX_ANGULAR_CORRECTION_VEL)
+                    target = -MAX_ANGULAR_CORRECTION_VEL;
+                angTgt[i] += target;
+                angAct[i] = 1;
             }
         }
-        if (con.springEnabled[idx]) {
-            target += con.springStiffness[idx] * (curr - con.equilibriumPoint[idx]) * dt;
-            active = 1;
+        else if (maxErr > 0) {
+            // Bilateral (equality) if any violated axis is locked — a locked axis
+            // is a joint, not a stop. Unilateral otherwise.
+            const bilateral = (tx !== ex && con.angularMin[0] === con.angularMax[0]) ||
+                (ty !== ey && con.angularMin[1] === con.angularMax[1]) ||
+                (tz !== ez && con.angularMin[2] === con.angularMax[2]);
+            // The decomposition above satisfies R_rel^T = Rx(x)·Ry(y)·Rz(z), so
+            // u = qx·qy·qz is conj(q_rel) and the error rotation (current →
+            // clamped target, expressed in TA's frame) is q_E = conj(u_t) ⊗ u.
+            eulerXYZQuatInto(ex, ey, ez, _quatScratchA);
+            eulerXYZQuatInto(tx, ty, tz, _quatScratchB);
+            const ux = _quatScratchA[0], uy = _quatScratchA[1], uz = _quatScratchA[2], uw = _quatScratchA[3];
+            const vx = _quatScratchB[0], vy = _quatScratchB[1], vz = _quatScratchB[2], vw = _quatScratchB[3];
+            // q_E = conj(v) ⊗ u
+            let qex = vw * ux - vx * uw - vy * uz + vz * uy;
+            let qey = vw * uy + vx * uz - vy * uw - vz * ux;
+            let qez = vw * uz - vx * uy + vy * ux - vz * uw;
+            let qew = vw * uw + vx * ux + vy * uy + vz * uz;
+            if (qew < 0) {
+                qex = -qex;
+                qey = -qey;
+                qez = -qez;
+                qew = -qew;
+            }
+            const sinHalf = Math.sqrt(qex * qex + qey * qey + qez * qez);
+            if (sinHalf > 1e-6) {
+                const angle = 2 * Math.atan2(sinHalf, qew);
+                const invS = 1 / sinHalf;
+                const axx = qex * invS, axy = qey * invS, axz = qez * invS;
+                // Axis lives in TA's frame; TA's basis columns map it to world.
+                const lim = con.cacheAngLimAxis;
+                lim[0] = _TA[0] * axx + _TA[4] * axy + _TA[8] * axz;
+                lim[1] = _TA[1] * axx + _TA[5] * axy + _TA[9] * axz;
+                lim[2] = _TA[2] * axx + _TA[6] * axy + _TA[10] * axz;
+                let target = angle * STOP_ERP * invDt;
+                if (target > MAX_ANGULAR_CORRECTION_VEL)
+                    target = MAX_ANGULAR_CORRECTION_VEL;
+                con.cacheAngLimTarget = target;
+                con.cacheAngLimActive = bilateral ? 1 : 2;
+            }
         }
-        angTgt[i] = target;
-        angAct[i] = angDenom > 0 ? active : 0;
     }
+    con.cacheAngLimImp = 0;
 }
 // ITER: read cache, compute relVel from current lv/av, apply impulse.
 function iterateConstraint(con, lv, av, invMass, invInertia) {
@@ -257,13 +363,39 @@ function iterateConstraint(con, lv, av, invMass, invInertia) {
     const dvx = vBx - vAx;
     const dvy = vBy - vAy;
     const dvz = vBz - vAz;
+    const sprAct = con.cacheLinSpringActive;
+    const sprTgt = con.cacheLinSpringTarget;
+    const limImp = con.cacheLinLimitImp;
     for (let i = 0; i < 3; i++) {
-        if (!act[i])
+        if (!act[i] && !sprAct[i])
             continue;
         const o = i * 3;
         const axx = axes[o + 0], axy = axes[o + 1], axz = axes[o + 2];
         const relVel = dvx * axx + dvy * axy + dvz * axz;
-        const j = (tgt[i] - relVel) * jac[i];
+        let j = 0;
+        // Limit row. Locked axes (act 1) are bilateral equality joints; ranged
+        // axes in violation (act 2) are unilateral stops — accumulated impulse
+        // clamped to the corrective sign, so the stop pushes back into range but
+        // never pulls deeper or brakes natural recovery (a bilateral stop acts
+        // as a motor and pumps energy into swinging cloth).
+        if (act[i]) {
+            const target = tgt[i];
+            let dImp = LIMIT_SOFTNESS_LINEAR * (target - relVel) * jac[i];
+            if (act[i] === 2) {
+                const old = limImp[i];
+                let next = old + dImp;
+                if (target > 0 ? next < 0 : next > 0)
+                    next = 0;
+                dImp = next - old;
+                limImp[i] = next;
+            }
+            j += dImp;
+        }
+        // Spring row: velocity-target drive; the deadbeat k-clamp at setup
+        // bounds its aggression.
+        if (sprAct[i]) {
+            j += (sprTgt[i] - relVel) * jac[i];
+        }
         if (j === 0)
             continue;
         if (imA > 0) {
@@ -299,6 +431,8 @@ function iterateConstraint(con, lv, av, invMass, invInertia) {
         const o = i * 3;
         const axx = angAxes[o + 0], axy = angAxes[o + 1], axz = angAxes[o + 2];
         const relAv = dax * axx + day * axy + daz * axz;
+        // Spring drive (deadbeat-clamped at setup) plus, for small violations,
+        // the folded per-axis limit correction.
         const j = (angTgt[i] - relAv) * angJacInv;
         if (j === 0)
             continue;
@@ -313,6 +447,38 @@ function iterateConstraint(con, lv, av, invMass, invInertia) {
             av[bi + 2] += j * iiB * axz;
         }
     }
+    // Geodesic limit row: drive (ω_B − ω_A)·axis toward the correction target.
+    // Unilateral — the accumulated impulse can only push toward the legal
+    // region (target is always ≥ 0 along the corrective axis).
+    if (con.cacheAngLimActive) {
+        const lim = con.cacheAngLimAxis;
+        const nx = lim[0], ny = lim[1], nz = lim[2];
+        // Re-read relAv — the spring rows above may have changed av.
+        const relAv = (av[bi + 0] - av[ai + 0]) * nx +
+            (av[bi + 1] - av[ai + 1]) * ny +
+            (av[bi + 2] - av[ai + 2]) * nz;
+        let j = LIMIT_SOFTNESS_ANGULAR * (con.cacheAngLimTarget - relAv) * angJacInv;
+        if (con.cacheAngLimActive === 2) {
+            const old = con.cacheAngLimImp;
+            let next = old + j;
+            if (next < 0)
+                next = 0;
+            j = next - old;
+            con.cacheAngLimImp = next;
+        }
+        if (j !== 0) {
+            if (iiA > 0) {
+                av[ai + 0] -= j * iiA * nx;
+                av[ai + 1] -= j * iiA * ny;
+                av[ai + 2] -= j * iiA * nz;
+            }
+            if (iiB > 0) {
+                av[bi + 0] += j * iiB * nx;
+                av[bi + 1] += j * iiB * ny;
+                av[bi + 2] += j * iiB * nz;
+            }
+        }
+    }
 }
 // SETUP: pre-compute Jacobians, friction basis, and the bounce reference
 // from the *initial* closing velocity (Bullet's pattern — captures restitution
@@ -537,6 +703,16 @@ function buildBodyMat(store, i, out) {
     const i3 = i * 3, i4 = i * 4;
     Mat4.fromPositionRotationInto(store.positions[i3 + 0], store.positions[i3 + 1], store.positions[i3 + 2], store.orientations[i4 + 0], store.orientations[i4 + 1], store.orientations[i4 + 2], store.orientations[i4 + 3], out);
 }
+// Quaternion of qx(x) ⊗ qy(y) ⊗ qz(z) (three.js 'XYZ' order).
+function eulerXYZQuatInto(x, y, z, out) {
+    const sx = Math.sin(x * 0.5), cx = Math.cos(x * 0.5);
+    const sy = Math.sin(y * 0.5), cy = Math.cos(y * 0.5);
+    const sz = Math.sin(z * 0.5), cz = Math.cos(z * 0.5);
+    out[0] = sx * cy * cz + cx * sy * sz;
+    out[1] = cx * sy * cz - sx * cy * sz;
+    out[2] = cx * cy * sz + sx * sy * cz;
+    out[3] = cx * cy * cz - sx * sy * sz;
+}
 // Euler XYZ from a 3×3 rotation matrix (row-major elements).
 function matrixToEulerXYZ(r00, r01, r10, r11, r20, r21, r22, out) {
     if (r20 < 1) {

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

@@ -1 +1 @@
-{"version":3,"file":"world.d.ts","sourceRoot":"","sources":["../../src/physics/world.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,MAAM,SAAS,CAAA;AAC9B,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAE5C,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,cAAc,CAAA;AAE1D,OAAO,EAAgB,KAAK,WAAW,EAAE,MAAM,WAAW,CAAA;AAO1D,qBAAa,KAAK;IAChB,QAAQ,CAAC,OAAO,EAAE,IAAI,CAAA;IACtB,gBAAgB,SAAK;gBAET,OAAO,EAAE,IAAI;IAIzB,UAAU,CAAC,CAAC,EAAE,IAAI,GAAG,IAAI;IAMzB,IAAI,CAAC,KAAK,EAAE,cAAc,EAAE,WAAW,EAAE,sBAAsB,EAAE,EAAE,QAAQ,EAAE,WAAW,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI;CA6H5G"}
+{"version":3,"file":"world.d.ts","sourceRoot":"","sources":["../../src/physics/world.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,MAAM,SAAS,CAAA;AAC9B,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAE5C,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,cAAc,CAAA;AAE1D,OAAO,EAAgB,KAAK,WAAW,EAAE,MAAM,WAAW,CAAA;AAO1D,qBAAa,KAAK;IAChB,QAAQ,CAAC,OAAO,EAAE,IAAI,CAAA;IACtB,gBAAgB,SAAK;gBAET,OAAO,EAAE,IAAI;IAIzB,UAAU,CAAC,CAAC,EAAE,IAAI,GAAG,IAAI;IAMzB,IAAI,CAAC,KAAK,EAAE,cAAc,EAAE,WAAW,EAAE,sBAAsB,EAAE,EAAE,QAAQ,EAAE,WAAW,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI;CAyI5G"}

package/dist/physics/world.js

@@ -95,13 +95,24 @@ export class World {
         }
         // 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.
+        //    in one step and trash the quaternion integration. Linear velocity
+        //    is capped at 5 units per step for the same reason: an explosion
+        //    guard far above what legit cloth motion ever reaches.
         const MAX_ANGVEL_DT = Math.PI * 0.5;
+        const MAX_LINVEL_DT = 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;
+            const vx = lv[i3 + 0], vy = lv[i3 + 1], vz = lv[i3 + 2];
+            const vmag = Math.sqrt(vx * vx + vy * vy + vz * vz);
+            if (vmag * dt > MAX_LINVEL_DT) {
+                const scale = MAX_LINVEL_DT / (vmag * dt);
+                lv[i3 + 0] = vx * scale;
+                lv[i3 + 1] = vy * scale;
+                lv[i3 + 2] = vz * scale;
+            }
             pos[i3 + 0] += lv[i3 + 0] * dt;
             pos[i3 + 1] += lv[i3 + 1] * dt;
             pos[i3 + 2] += lv[i3 + 2] * dt;

package/dist/physics-debug.d.ts

@@ -0,0 +1,30 @@
+import type { RezePhysics } from "./physics";
+export declare class PhysicsDebugRenderer {
+    private device;
+    private bindGroup;
+    private wirePipelineSphere;
+    private wirePipelineBox;
+    private wirePipelineCapsule;
+    private wireSphereBuffer;
+    private wireBoxBuffer;
+    private wireCapsuleBuffer;
+    private wireSphereCount;
+    private wireBoxCount;
+    private wireCapsuleCount;
+    private solidPipelineSphere;
+    private solidPipelineBox;
+    private solidPipelineCapsule;
+    private solidSphereBuffer;
+    private solidBoxBuffer;
+    private solidCapsuleBuffer;
+    private solidSphereCount;
+    private solidBoxCount;
+    private solidCapsuleCount;
+    private instanceBuffer;
+    private instanceData;
+    private instanceCapacity;
+    constructor(device: GPUDevice, cameraUniformBuffer: GPUBuffer, presentationFormat: GPUTextureFormat);
+    render(pass: GPURenderPassEncoder, physics: RezePhysics): void;
+    destroy(): void;
+}
+//# sourceMappingURL=physics-debug.d.ts.map

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

@@ -0,0 +1 @@
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