reze-engine 0.16.1 → 0.16.3

package/README.md

@@ -1,52 +1,70 @@
 # Reze Engine
 
-**Zero-runtime-dependency** WebGPU engine for real-time MMD/PMX rendering. Renderer, animation, IK, and physics all in TypeScript.
+**Zero-runtime-dependency** WebGPU engine for real-time MMD/PMX rendering — renderer, animation, IK, and physics, all in TypeScript.
 
 ![screenshot](./screenshot.png)
 
-## Install
-
 ```bash
 npm install reze-engine
 ```
 
 ## Features
 
-- **Anime/MMD-style hybrid renderer** — toon-ramp NPR diffuse mixed with PBR GGX specular (multi-scatter + LTC energy compensation)
-- **Per-material presets** — `face` / `hair` / `body` / `eye` / `stockings` / `metal` / `cloth_smooth` / `cloth_rough` / `default`, assigned by material name
-- **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 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
-- **Multi-model support**
-
-## Usage
+- Anime/MMD **hybrid renderer** — toon-ramp NPR over a Principled GGX BSDF, mixed per material
+- **9 per-material presets** assigned by material name (`face` / `hair` / `body` / `eye` / `stockings` / `metal` / `cloth_smooth` / `cloth_rough` / `default`)
+- **HDR pipeline** — bloom, Filmic tone mapping, 4× MSAA, Apple-TBDR-friendly targets
+- **In-house TS physics** — sequential-impulse rigid bodies for PMX rigs, no external dependency
+- **VMD animation** with MMD IK, morphs (GPU compute path), and VMD export
+- **Interactive editing** — GPU picking, transform gizmo, bone/material selection
+- Orbit camera with bone-follow, ground + PCF shadows, multi-model
+
+See [Physics](#physics) and [Rendering](#rendering) for the internals.
+
+## Codebase map
+
+```
+engine/src/
+  engine.ts          Engine: device/context, render loop, all passes & pipelines,
+                     per-model GPU resources, picking, gizmo   (entry point)
+  model.ts           Model: skeleton, 4-bone skinning, morphs (CPU + GPU compute),
+                     animation state, drives IK; per-frame update()
+  animation.ts       AnimationClip, VMD bezier interpolation, playback/priority
+  ik-solver.ts       MMD-style CCD IK (angle limits, solve-axis specialization)
+  camera.ts          Orbit camera (alpha/beta/radius), bone-follow, mouse/touch
+  math.ts            Vec3 / Quat / Mat4 (zero-alloc *Into variants for hot paths)
+  pmx-loader.ts      PMX parser: mesh, bones, morphs, rigid bodies, joints
+  vmd-loader.ts      VMD motion parser  ·  vmd-writer.ts  VMD export (Shift-JIS)
+  asset-reader.ts    URL + local-folder asset resolution  ·  folder-upload.ts
+  index.ts           public exports
+
+  physics/           in-house rigid-body solver (~2.5k lines)
+    physics.ts         RezePhysics: bone↔body sync, fixed-step accumulator + interpolation
+    solver.ts          sequential-impulse PGS (joint + contact rows)
+    contact.ts         narrowphase (analytical sphere/box/capsule pairs) + contact pool
+    constraint.ts      6DOF spring joints   ·   world.ts  broadphase + step
+    body.ts            SoA rigid-body store  ·  types.ts
+
+  shaders/
+    materials/       nodes.ts (Blender-node WGSL library) + common.ts (bindings, skinning VS)
+                     + one file per preset (face, hair, body, eye, stockings, …)
+    passes/          shadow, morph (GPU vertex-morph compute), bloom, composite (Filmic),
+                     outline, selection, gizmo, pick, ground, mipmap
+```
+
+## Quick start
 
 ```javascript
-import { Engine, Vec3 } from "reze-engine";
+import { Engine, Vec3 } from "reze-engine"
 
 const engine = new Engine(canvas, {
-  world: { color: new Vec3(0.4, 0.49, 0.65), strength: 1.0 },
-  sun: {
-    color: new Vec3(1, 1, 1),
-    strength: 2.0,
-    direction: new Vec3(0, -0.5, 1),
-  },
-  bloom: {
-    color: new Vec3(0.9, 0.1, 0.8),
-    intensity: 0.05,
-    threshold: 0.5,
-  }
+  world: { color: new Vec3(0.4, 0.49, 0.65), strength: 1.0 }, // environment light
+  sun: { color: new Vec3(1, 1, 1), strength: 2.0, direction: new Vec3(0, -0.5, 1) },
+  bloom: { color: new Vec3(0.9, 0.1, 0.8), intensity: 0.05, threshold: 0.5 },
   camera: { distance: 31.5, target: new Vec3(0, 11.5, 0) }, // MMD units (1 unit = 8 cm)
-});
-await engine.init();
+})
+await engine.init()
 
-const model = await engine.loadModel("hero", "/models/hero/hero.pmx");
+const model = await engine.loadModel("hero", "/models/hero/hero.pmx")
 
 // Map PMX material names to NPR presets (unlisted names fall back to `default`).
 engine.setMaterialPresets("hero", {
@@ -54,341 +72,178 @@ engine.setMaterialPresets("hero", {
   body: ["skin"],
   hair: ["hair_f"],
   eye: ["eye"],
-  cloth_smooth: ["shirt", "shorts", "dress", "shoes"],
-  cloth_rough: ["jacket", "pants"],
+  cloth_smooth: ["shirt", "dress", "shoes"],
+  cloth_rough: ["jacket"],
   stockings: ["stockings"],
-  metal: ["metal01", "earring"],
-});
+  metal: ["earring"],
+})
 
-await model.loadVmd("idle", "/animations/idle.vmd");
-model.show("idle");
-model.play();
+await model.loadVmd("idle", "/animations/idle.vmd")
+model.show("idle")
+model.play()
 
-engine.setCameraFollow(model, "センター", new Vec3(0, 3.5, 0));
-engine.addGround({ width: 160, height: 160 });
-engine.runRenderLoop();
+engine.setCameraFollow(model, "センター", new Vec3(0, 3.5, 0))
+engine.addGround({ width: 160, height: 160 })
+engine.runRenderLoop()
 ```
 
 ## API
 
-One WebGPU **Engine** per page (singleton after `init()`). Load models via URL **or** from a user-selected folder (see [Local folder uploads](#local-folder-uploads-browser)).
+One WebGPU **Engine** per page (singleton after `init()`). Models load by URL **or** from a user-selected folder ([below](#local-folder-uploads-browser)).
 
 ### Engine
 
 ```javascript
 engine.init()
-engine.loadModel(name, path)
-engine.loadModel(name, { files, pmxFile? })  // folder upload — see below
-engine.getModel(name)
-engine.getModelNames()
-engine.removeModel(name)
+engine.loadModel(name, path)                 // or ({ files, pmxFile? }) for folder upload
+engine.getModel(name) / getModelNames() / removeModel(name)
 
 engine.setMaterialPresets(name, presetMap)   // assign NPR presets by material name
-engine.setMaterialVisible(name, material, visible)
-engine.toggleMaterialVisible(name, material)
-engine.isMaterialVisible(name, material)
+engine.setMaterialVisible(name, material, visible) / toggleMaterialVisible / isMaterialVisible
 
 engine.setIKEnabled(enabled)
 engine.setPhysicsEnabled(enabled)
-engine.resetPhysics()                        // re-pose bodies from animation and zero velocities — call when physics explodes
+engine.resetPhysics()                        // re-pose bodies from animation + zero velocities (call if physics explodes)
 
-engine.setCameraFollow(model, bone?, offset?)
-engine.setCameraFollow(null)
-engine.setCameraTarget(vec3)
-engine.setCameraDistance(d)
-engine.setCameraAlpha(a)
-engine.setCameraBeta(b)
+engine.setCameraFollow(model, bone?, offset?) / setCameraFollow(null)
+engine.setCameraTarget(vec3) / setCameraDistance(d) / setCameraAlpha(a) / setCameraBeta(b)
 
+engine.setWorld({ color?, strength? }) / setSun({ color?, strength?, direction? })   // runtime lighting
 engine.addGround(options?)
-engine.runRenderLoop(callback?)
-engine.stopRenderLoop()
-engine.getStats()
+engine.runRenderLoop(callback?) / stopRenderLoop()
+engine.getStats()                            // fps + smoothness metrics (frameTimeMax, fps1PercentLow, jitter)
 engine.dispose()
 ```
 
-### Local folder uploads (browser)
-
-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.
-
-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.
-
-```javascript
-import {
-  Engine,
-  parsePmxFolderInput,
-  pmxFileAtRelativePath,
-} from "reze-engine";
-
-// In <input onChange>:
-const picked = parsePmxFolderInput(e.target.files);
-e.target.value = "";
-
-if (picked.status === "single") {
-  const model = await engine.loadModel("myModel", {
-    files: picked.files,
-    pmxFile: picked.pmxFile,
-  });
-}
-
-if (picked.status === "multiple") {
-  // Let the user choose `chosenPath` from picked.pmxRelativePaths, then:
-  const pmxFile = pmxFileAtRelativePath(picked.files, chosenPath);
-  const model = await engine.loadModel("myModel", {
-    files: picked.files,
-    pmxFile,
-  });
-}
-```
-
-VMD and other assets still load by URL when the path starts with `/` or `http(s):`; relative paths are resolved against the PMX directory inside the upload.
+**Options** — Blender-style scene config: `world` = environment lighting, `sun` = directional lamp (`direction` points from sun into the scene), `camera` = framing (`fov` in radians). Callbacks: `onRaycast`, `onGizmoDrag`. The shadow map is cast from `sun.direction` — the same vector the shader lights with — so shading and cast shadows stay coupled.
 
 ### Model
 
 ```javascript
-await model.loadVmd(name, url)
-model.loadClip(name, clip)
+await model.loadVmd(name, url) / model.loadClip(name, clip)
 model.show(name)
-model.play(name)
-model.play(name, { priority: 8 }) // higher number = higher priority (0 default/lowest)
-model.play(name, { loop: true }) // repeat until stop/pause or another play
-model.pause()
-model.stop()
-model.seek(time)
-model.getAnimationProgress()
-model.getClip(name)
-model.exportVmd(name)              // returns ArrayBuffer
-
-model.rotateBones({ 首: quat, 頭: quat }, ms?)
-model.moveBones({ センター: vec3 }, ms?)
+model.play(name, { priority?, loop? })       // priority: higher wins when clips compete (0 = default)
+model.pause() / stop() / seek(time)
+model.getAnimationProgress()                 // { current, duration (s), playing, paused, looping, … }
+model.exportVmd(name)                        // → ArrayBuffer (Shift-JIS bone/morph names)
+
+model.rotateBones({ 首: quat }, ms?) / moveBones({ センター: vec3 }, ms?)
 model.setMorphWeight(name, weight, ms?)
-model.resetAllBones()
-model.resetAllMorphs()
+model.resetAllBones() / resetAllMorphs()
 model.getBoneWorldPosition(name)
-
-// Direct bone local-transform accessors (used by interactive gizmo drag).
-// Readers return the live runtime state; snapshot with .clone() if needed.
-model.getBoneLocalRotation(boneIndex)
-model.getBoneLocalTranslation(boneIndex)
-
-// Raw absolute-local translation write. NOT the same as moveBones({ n: v }, 0)
-// — moveBones treats input as VMD-relative and converts. Use this when you
-// already have the final local translation. For rotation, rotateBones(..., 0)
-// is already an instant-write equivalent.
-model.setBoneLocalTranslation(boneIndex, vec3)
-
-// Freeze clip re-sampling so direct writes persist across frames. Auto-cleared
-// on play() / seek(). See "Interactive pose editing" below.
-model.setClipApplySuspended(suspended: boolean)
-model.isClipApplySuspended()
-```
-
-#### Animation data
-
-`AnimationClip` holds keyframes only: bone/morph tracks keyed by `frame`, and `frameCount` (last keyframe index). Time advances at fixed `FPS` (see package export `FPS`, default 30).
-
-#### VMD Export
-
-`model.exportVmd(name)` serialises a loaded clip back to the VMD binary format and returns an `ArrayBuffer`. Bone and morph names are Shift-JIS encoded for compatibility with standard MMD tools.
-
-```javascript
-const buffer = model.exportVmd("idle");
-const blob = new Blob([buffer], { type: "application/octet-stream" });
-const link = document.createElement("a");
-link.href = URL.createObjectURL(blob);
-link.download = "idle.vmd";
-link.click();
 ```
 
-#### Playback
-
-Call `model.play(name, options?)` to start or switch motion. `loop: true` makes the playhead wrap at the end of the clip until you stop, pause, or call `play` with something else. `priority` chooses which request wins when several clips compete.
+`AnimationClip` holds keyframes only (bone/morph tracks keyed by `frame`, plus `frameCount`); time advances at fixed `FPS` (exported, default 30).
 
-#### Progress
+### Local folder uploads (browser)
 
-`getAnimationProgress()` reports `current` and `duration` in seconds, plus `playing`, `paused`, `looping`, and related fields.
+Feed a `<input type="file" webkitdirectory>` `FileList` (or drag/drop) into the engine; textures resolve relative to the chosen PMX inside that tree.
 
-### Engine Options
+> **Gotcha:** copy `input.files` into an array **before** `input.value = ""` — the `FileList` is live and clearing the input empties it.
 
-Blender-style scene config — `world` = environment lighting, `sun` = the directional lamp, `camera` = view framing.
+`parsePmxFolderInput(fileList)` returns a tagged result; for `single` you get `{ files, pmxFile }` directly, for `multiple` show a picker over `pmxRelativePaths` and resolve with `pmxFileAtRelativePath(files, path)`. Then:
 
 ```javascript
-{
-  world: {
-    color: Vec3,       // World > Surface > Color (linear scene-referred)
-    strength: number,  // World > Surface > Strength
-  },
-  sun: {
-    color: Vec3,       // Light > Color
-    strength: number,  // Light > Strength (Blender units)
-    direction: Vec3,   // direction light travels (points from sun into the scene)
-  },
-  camera: {
-    distance: number,
-    target: Vec3,
-    fov: number,       // radians
-  },
-  onRaycast: (modelName, material, bone, screenX, screenY) => void,
-  onGizmoDrag: (event: GizmoDragEvent) => void,
-}
+const picked = parsePmxFolderInput(e.target.files)
+e.target.value = ""
+if (picked.status === "single") await engine.loadModel("m", { files: picked.files, pmxFile: picked.pmxFile })
 ```
 
-The shadow map is cast from `sun.direction` — same vector the shader lights with — so visible shading and cast shadows stay coupled.
-
-`engine.setWorld({ color?, strength? })` and `engine.setSun({ color?, strength?, direction? })` update lighting at runtime; changing `sun.direction` refreshes the shadow VP on the next frame.
+VMD and other assets still load by URL when the path starts with `/` or `http(s):`; relative paths resolve against the PMX directory.
 
 ### Interactive pose editing
 
-Dblclick picks a bone or material; a transform gizmo (rings + axes, local-axis aligned) drags the selection. The engine does NOT write to the skeleton on its own — it fires a callback with the computed target local transform and the host picks a write policy (runtime override, tween, clip keyframe edit).
-
-**Pick callback.** Fires on dblclick. `modelName` is `""` when the click missed the mesh. `material` and `bone` are both resolved for every hit (per-triangle dominant-joint from the GPU pick), so a single handler can serve both material-mode and bone-mode toggles:
-
-```javascript
-onRaycast: (modelName, material, bone, screenX, screenY) => { ... }
+Double-click picks a bone or material (per-triangle dominant-joint from the GPU pick, so one handler serves both modes); a local-axis transform gizmo drags it. **The engine only reports — it never writes the skeleton itself**, so the host chooses the write policy.
 
-engine.setSelectedMaterial(modelName | null, materialName | null) // orange screen-space selection outline
-engine.setSelectedBone(modelName | null, boneName | null)          // shows the rings+axes gizmo at this bone
-```
+```typescript
+engine.setSelectedBone(modelName | null, boneName | null)       // shows the gizmo
+engine.setSelectedMaterial(modelName | null, materialName | null) // selection outline
 
-**Gizmo drag callback.** The engine only reports; you apply:
+onRaycast: (modelName, material, bone, screenX, screenY) => { ... } // modelName "" = missed
 
-```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
+  boneName: string; boneIndex: number; kind: "rotate" | "translate"
+  localRotation: Quat; localTranslation: Vec3   // target absolute local transform
+  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.
-
-**Two write strategies**, depending on whether you keep a clip on disk:
+The gizmo consumes mouse input inside its bounding sphere so drags never fight camera orbit. Apply the reported transform — runtime override (below) or keyframe edit into a clip you re-`loadClip`:
 
 ```javascript
-// Runtime override (no clip editor — this is what web/page.tsx does).
 onGizmoDrag: (e) => {
   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
+    model.setClipApplySuspended(true)
     return
-  }
+  } // stop re-sampling wiping the edit
   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)
-}
-// 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)
-  // The re-sampled clip now produces the edited pose — no suspend flag needed.
+  else model.setBoneLocalTranslation(e.boneIndex, e.localTranslation)
 }
+// play()/seek() auto-clear the suspend flag (edit is lost — runtime-override semantic).
 ```
 
-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.
+Note the asymmetry: rotation goes through `rotateBones(…, 0)`, but translation uses `setBoneLocalTranslation(idx, v)` — `moveBones` converts VMD-relative→local, and the gizmo output is already local.
 
 ## Physics
 
-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.
+In-house sequential-impulse rigid-body solver for PMX rigs (sphere / box / capsule colliders, 6DOF spring joints), ~2.5k lines of TypeScript, no external dependency, at quality comparable to Bullet's defaults. A fixed-timestep accumulator runs at a constant **60 Hz** (≤6 substeps/frame) so spring impulse, damping, and integration stay deterministic; dynamic bodies are **render-interpolated** between substeps to stay smooth when the display rate ≠ 60 Hz.
 
-### Pipeline
+**Per substep:** `predict velocities → broad + narrowphase → solve constraints (10 iters) → split-impulse position correction → integrate`.
 
-Per substep:
-
-```
-predict velocities  → broadphase + narrowphase  → solve constraints (10 iters)
-                   → split-impulse position correction  → integrate transforms
-```
+- **Solver** — projected Gauss-Seidel, joint rows + contact rows in one loop. Joints are 6DOF springs (3 linear + 3 angular) with stop-ERP limit correction and per-axis stiffness×error impulse. Linear rows pivot on each body's own joint-frame origin (Spring2-style, not Bullet 2.7x's shared mid-anchor), so a violated joint pulls itself back together instead of degenerating into torque and "breaking".
+- **Angular limits** — hybrid: small violations (< 0.5 rad, the resting-cloth regime) use per-axis Euler stop rows, which converge cleanly and keep resting cloth still; larger violations switch to a single geodesic row toward the Euler-clamped target rotation, because per-axis Euler rows chase phantom errors near the ±90° singularity and pump energy. Ranged stops are unilateral (accumulated impulse clamped to the corrective sign) so a limit pushes back into range but never brakes natural recovery; locked axes stay bilateral equality joints. Spring rows stay per-axis, with stiffness clamped to the `k·dt² ≤ ¼` stability bound.
+- **Narrowphase** — analytical sphere-sphere / -capsule / -box and capsule-capsule / -box. Capsule-capsule emits multiple contacts along near-parallel axes so cloth can't pivot around a single closest point.
+- **Speculative contacts** (`margin 0.04`) fire at near-touch with a push-only clamp — inert until real overlap, but they stop fast bodies tunneling thin surfaces in one substep.
+- **Split-impulse correction** resolves penetration by a mass-weighted translation _outside_ the velocity solver, so joint pulls can't fight separation.
+- **Kinematic advancement** — bone-driven bodies move toward the frame's bone pose incrementally per substep, with velocities derived over the fixed step, so the solver never sees more than one 60 Hz step of anchor motion regardless of render dt.
+- **Discontinuity guards** — a bone-pose jump beyond continuous motion (timeline scrub, long stall) rigidly carries each dynamic body along with its kinematic root's transform delta and zeroes momentum instead of dragging cloth across the gap; correction velocities are clamped (120 u/s linear, 30 rad/s angular), per-step travel is capped, and any body that still goes non-finite is restored to its previous substep pose.
+- Sleeping is off (cloth must always react); resting bodies bleed micro-velocity via per-PMX damping.
 
-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
-
-- **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.
-
-### API
-
-```javascript
-engine.setPhysicsEnabled(enabled)
-engine.resetPhysics()  // re-snap bodies to bone poses, zero velocities
-```
-
-That's the entire engine-level surface — physics options live on the PMX rig itself (mass, damping, friction, restitution, joint stiffness / limits, collision groups).
+Engine surface is just `setPhysicsEnabled` / `resetPhysics` — all tuning (mass, damping, friction, restitution, joint stiffness/limits, collision groups) lives on the PMX rig.
 
 ## Rendering
 
-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/`.
-
-### Material pipeline
-
-Every fragment shader follows the same 7-stage layout (shared stages from `nodes.ts` / `common.ts`):
+Each surface mixes an NPR stack with a Principled-style BSDF per material, so characters keep a flat illustrated look while highlights and reflections stay grounded. Shaders live in `engine/src/shaders/materials/`; each fragment shader follows one 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
+(A) setup → (B) texture + alpha → (C) NPR stack → (D) optional bump
+→ (E) Principled BSDF → (F) NPR↔PBR mix → (G) FSOut
 ```
 
-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.
-
-**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.
-
-**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         | 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 per-model with `engine.setMaterialPresets(name, map)`. Unlisted material names fall through to `default`.
+`default` uses only A/B/E/G; NPR presets add C (and sometimes D), with F choosing how NPR-leaning the result is.
 
-### Post & output
+- **PBR core** (`eval_principled`) — GGX + Schlick Fresnel, Walter–Smith G1, Fdez-Agüera 2019 multi-scatter, Karis split-sum DFG LUT, Heitz 2016 LTC direct-spec, optional sheen.
+- **NPR toolbox** — toon ramps (constant / fwidth-AA'd), HSV warm-shadow / cool-light remaps, fresnel + layer-weight rims, value-noise bump, Voronoi metallic sparkle, BT.601-gated emission.
 
-- Directional shadow map (2048², depth32float, PCF, normal + depth bias)
-- 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")
-- Inverted-hull screen-space outline pass on opaque + transparent
+| 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, 20% PBR                       |
+| `cloth_smooth` | Toon + bevel + emission overlay (×18)                                   |
+| `cloth_rough`  | Same NPR, 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** |
 
-**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.
+**Post & output.** Directional shadow map (2048², depth32float, PCF) → HDR main pass at 4× MSAA (`rg11b10ufloat` color + `rg8unorm` aux MRT for bloom mask + alpha; fits Apple-Silicon TBDR tile memory so MSAA resolves in-tile, `rgba16float` fallback) → bloom mip pyramid → Filmic tone map (Blender 3.6 "Filmic / Medium High Contrast" LUT) → inverted-hull outline.
 
-**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.
+- **Alpha-hashed transparency** (`stockings`) — Wyman & McGuire 2017 derivative-aware stochastic discard in object space, so self-overlapping meshes resolve under MSAA with opaque depth writes and the dither doesn't swim.
+- **See-through hair over eyes** — stencil-gated extra pass: the eye stamps `EYE_VALUE`, main hair skips it, an extra pass matches it and blends hair at 25% in linear HDR so eyes stay readable.
 
-## Projects Using This Engine
+## Used by
 
-- **[Reze Studio](https://reze.studio)** - Web-native MMD animation editor
-- **[MiKaPo](https://mikapo.vercel.app)** — Real-time motion capture for MMD
-- **[Popo](https://popo.love)** — LLM-generated MMD poses
-- **[MPL](https://mmd-mpl.vercel.app)** — Motion programming language for MMD
-- **[Mixamo-MMD](https://mixamo-mmd.vercel.app)** — Retarget Mixamo FBX to VMD
+- [Reze Studio](https://reze.studio) (MMD animation editor)
+- [MiKaPo](https://mikapo.vercel.app) (motion capture)
+- [Popo](https://popo.love) (LLM-generated poses)
+- [MPL](https://mmd-mpl.vercel.app) (motion language)
+- [Mixamo-MMD](https://mixamo-mmd.vercel.app) (FBX→VMD retarget)
 
 ## Tutorial
 

package/dist/engine.d.ts.map

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package/dist/engine.js

@@ -290,10 +290,7 @@ export class Engine {
                 const deltaAngle = currentAngle - drag.initialAngle;
                 const qWorld = Quat.fromAxisAngle(drag.worldAxis, deltaAngle);
                 // L_new = P_inv · Q_world · P · L_initial
-                const lNew = drag.parentWorldRotInv
-                    .multiply(qWorld)
-                    .multiply(drag.parentWorldRot)
-                    .multiply(drag.initialLocalRot);
+                const lNew = drag.parentWorldRotInv.multiply(qWorld).multiply(drag.parentWorldRot).multiply(drag.initialLocalRot);
                 lNew.normalize();
                 nextRot = lNew;
             }
@@ -1074,7 +1071,10 @@ export class Engine {
             label: "ground shadow pipeline",
             layout: this.device.createPipelineLayout({ bindGroupLayouts: [this.groundShadowBindGroupLayout] }),
             shaderModule: groundShadowShader,
-            vertexBuffers: fullVertexBuffers,
+            // Slot 0 only — the ground has no skinning, and declaring the full
+            // 3-slot layout while renderGround binds one buffer is a WebGPU
+            // validation error that invalidates the whole command buffer.
+            vertexBuffers: [fullVertexBuffers[0]],
             fragmentTargets: sceneTargets,
             cullMode: "back",
             depthStencil: { format: "depth24plus-stencil8", depthWriteEnabled: true, depthCompare: "less-equal" },