reze-engine 0.16.2 → 0.16.3

package/dist/engine.d.ts.map

@@ -1 +1 @@
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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" },

package/dist/model.d.ts

@@ -127,6 +127,7 @@ export declare class Model {
     private morphing;
     private rigidbodies;
     private joints;
+    private loadWarnings;
     private runtimeSkeleton;
     private runtimeMorph;
     private morphsDirty;
@@ -148,7 +149,7 @@ export declare class Model {
     private assetBasePath;
     /** Called by Engine when registering the model; enables loadVmd to resolve relative paths for folder uploads. */
     setAssetContext(reader: AssetReader, basePath: string): void;
-    constructor(vertexData: Float32Array<ArrayBuffer>, indexData: Uint32Array<ArrayBuffer>, textures: Texture[], materials: Material[], skeleton: Skeleton, skinning: Skinning, morphing: Morphing, rigidbodies?: Rigidbody[], joints?: Joint[]);
+    constructor(vertexData: Float32Array<ArrayBuffer>, indexData: Uint32Array<ArrayBuffer>, textures: Texture[], materials: Material[], skeleton: Skeleton, skinning: Skinning, morphing: Morphing, rigidbodies?: Rigidbody[], joints?: Joint[], loadWarnings?: string[]);
     private initializeRuntimeSkeleton;
     private initializeIKRuntime;
     private buildDeformOrder;
@@ -168,6 +169,8 @@ export declare class Model {
     isClipApplySuspended(): boolean;
     getBoneWorldPosition(boneName: string): Vec3 | null;
     getSkinning(): Skinning;
+    hasPhysicsData(): boolean;
+    getLoadWarnings(): readonly string[];
     getRigidbodies(): Rigidbody[];
     getJoints(): Joint[];
     getMorphing(): Morphing;

package/dist/model.d.ts.map

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

@@ -42,7 +42,7 @@ export class Model {
         this.assetReader = reader;
         this.assetBasePath = basePath;
     }
-    constructor(vertexData, indexData, textures, materials, skeleton, skinning, morphing, rigidbodies = [], joints = []) {
+    constructor(vertexData, indexData, textures, materials, skeleton, skinning, morphing, rigidbodies = [], joints = [], loadWarnings = []) {
         this._name = "";
         this.morphPrevMinVert = -1; // vertices touched by last applyMorphs (reset to base this pass)
         this.morphPrevMaxVert = -1;
@@ -58,6 +58,8 @@ export class Model {
         // Physics data from PMX
         this.rigidbodies = [];
         this.joints = [];
+        // Non-fatal problems collected while parsing the PMX (see PmxLoader.warn).
+        this.loadWarnings = [];
         this.morphsDirty = false; // Flag indicating if morphs need to be applied
         // Root transform — model's placement in world space, independent of bones.
         // Folded into skin matrices (see getSkinMatrices) so every pass (main VS,
@@ -96,6 +98,7 @@ export class Model {
         this.morphing = morphing;
         this.rigidbodies = rigidbodies;
         this.joints = joints;
+        this.loadWarnings = loadWarnings;
         if (this.skeleton.bones.length == 0) {
             throw new Error("Model has no bones");
         }
@@ -375,6 +378,16 @@ export class Model {
     getSkinning() {
         return this.skinning;
     }
+    // True when the PMX carried a usable rigidbody section. False means the
+    // model renders but has no physics — surface this in the UI instead of
+    // letting it read as "physics silently broken".
+    hasPhysicsData() {
+        return this.rigidbodies.length > 0;
+    }
+    // Non-fatal PMX parse problems (truncated sections, suspicious counts…).
+    getLoadWarnings() {
+        return this.loadWarnings;
+    }
     getRigidbodies() {
         return this.rigidbodies;
     }

package/dist/physics/body.d.ts

@@ -10,6 +10,7 @@ export declare class RigidBodyStore {
     readonly linearDamping: Float32Array;
     readonly angularDamping: Float32Array;
     readonly type: Uint8Array;
+    readonly aligned: Uint8Array;
     readonly boneIndex: Int32Array;
     readonly friction: Float32Array;
     readonly restitution: Float32Array;

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;IAGzB,QAAQ,CAAC,OAAO,EAAE,UAAU,CAAA;IAC5B,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;IA8DpC,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

@@ -21,6 +21,7 @@ export class RigidBodyStore {
         this.linearDamping = new Float32Array(N);
         this.angularDamping = new Float32Array(N);
         this.type = new Uint8Array(N);
+        this.aligned = new Uint8Array(N);
         this.boneIndex = new Int32Array(N);
         this.bodyOffsetMatrix = new Float32Array(N * 16);
         this.bodyOffsetInverse = new Float32Array(N * 16);
@@ -50,6 +51,7 @@ export class RigidBodyStore {
             this.linearDamping[i] = rb.linearDamping;
             this.angularDamping[i] = rb.angularDamping;
             this.type[i] = rb.type;
+            this.aligned[i] = rb.aligned ? 1 : 0;
             this.boneIndex[i] = rb.boneIndex;
             this.friction[i] = rb.friction;
             this.restitution[i] = rb.restitution;

package/dist/physics/constraint.d.ts

@@ -32,6 +32,6 @@ export interface SixDofSpringConstraint {
     cacheAngLimActive: number;
     cacheAngLimImp: number;
 }
-export declare const STOP_ERP = 0.475;
+export declare const STOP_ERP = 0.45;
 export declare function buildConstraints(rigidbodies: Rigidbody[], joints: Joint[]): SixDofSpringConstraint[];
 //# sourceMappingURL=constraint.d.ts.map

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;IAK5B,iBAAiB,EAAE,YAAY,CAAA;IAC/B,cAAc,EAAE,UAAU,CAAA;IAC1B,gBAAgB,EAAE,YAAY,CAAA;IAG9B,oBAAoB,EAAE,YAAY,CAAA;IAClC,oBAAoB,EAAE,UAAU,CAAA;IAChC,YAAY,EAAE,YAAY,CAAA;IAC1B,iBAAiB,EAAE,YAAY,CAAA;IAC/B,cAAc,EAAE,UAAU,CAAA;IAC1B,cAAc,EAAE,MAAM,CAAA;IAKtB,eAAe,EAAE,YAAY,CAAA;IAC7B,iBAAiB,EAAE,MAAM,CAAA;IACzB,iBAAiB,EAAE,MAAM,CAAA;IACzB,cAAc,EAAE,MAAM,CAAA;CACvB;AAOD,eAAO,MAAM,QAAQ,OAAO,CAAA;AAM5B,wBAAgB,gBAAgB,CAC9B,WAAW,EAAE,SAAS,EAAE,EACxB,MAAM,EAAE,KAAK,EAAE,GACd,sBAAsB,EAAE,CAyF1B"}

package/dist/physics/constraint.js

@@ -1,5 +1,10 @@
 import { Mat4 } from "../math";
-export const STOP_ERP = 0.475;
+// Stop-limit ERP. PMX rigs are tuned against MMD's stiff limit response;
+// lowering this makes cloth resting against its limits sink visibly deeper
+// (equilibrium penetration scales with 1/ERP). Rest chatter at this
+// stiffness was fixed at the source (spring double-drive, unilateral
+// stops) — don't lower ERP to paper over jitter.
+export const STOP_ERP = 0.45;
 // Build per-joint constraints from PMX data:
 //   frameA = (bodyA_worldBind)^-1 · jointWorldBind
 //   frameB = (bodyB_worldBind)^-1 · jointWorldBind

package/dist/physics/physics.d.ts

@@ -20,6 +20,8 @@ export declare class RezePhysics {
     private kinTargetAngVel;
     private kinRoot;
     private teleportFlags;
+    private alignPinned;
+    teleportCount: number;
     constructor(rigidbodies: Rigidbody[], joints?: Joint[]);
     private buildKinematicRoots;
     private savePrevState;
@@ -39,6 +41,7 @@ export declare class RezePhysics {
     private advanceKinematicToTargets;
     private snapKinematicToTargets;
     private carryDynamicThroughTeleport;
+    private alignPinnedBodiesToBones;
     private restoreNonFiniteBodies;
     private applyDynamicsToBones;
 }

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;IACzB,OAAO,CAAC,SAAS,CAAI;IACrB,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAS;IACvC,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAI;IAMhC,OAAO,CAAC,aAAa,CAAc;IACnC,OAAO,CAAC,gBAAgB,CAAc;IAQtC,OAAO,CAAC,YAAY,CAAc;IAClC,OAAO,CAAC,YAAY,CAAc;IAClC,OAAO,CAAC,YAAY,CAAc;IAClC,OAAO,CAAC,eAAe,CAAc;IAMrC,OAAO,CAAC,OAAO,CAAY;IAE3B,OAAO,CAAC,aAAa,CAAY;gBAErB,WAAW,EAAE,SAAS,EAAE,EAAE,MAAM,GAAE,KAAK,EAAO;IAmB1D,OAAO,CAAC,mBAAmB;IA4B3B,OAAO,CAAC,aAAa;IAKrB,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;IAOtC,IAAI,CAAC,EAAE,EAAE,MAAM,EAAE,iBAAiB,EAAE,IAAI,EAAE,EAAE,uBAAuB,EAAE,YAAY,GAAG,IAAI;IA4DxF,OAAO,CAAC,iBAAiB;IAuCzB,OAAO,CAAC,uBAAuB;IAqF/B,OAAO,CAAC,yBAAyB;IAgEjC,OAAO,CAAC,sBAAsB;IAmC9B,OAAO,CAAC,2BAA2B;IA8EnC,OAAO,CAAC,sBAAsB;IAqC9B,OAAO,CAAC,oBAAoB;CAoD7B"}
+{"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;IAMhC,OAAO,CAAC,aAAa,CAAc;IACnC,OAAO,CAAC,gBAAgB,CAAc;IAQtC,OAAO,CAAC,YAAY,CAAc;IAClC,OAAO,CAAC,YAAY,CAAc;IAClC,OAAO,CAAC,YAAY,CAAc;IAClC,OAAO,CAAC,eAAe,CAAc;IAMrC,OAAO,CAAC,OAAO,CAAY;IAE3B,OAAO,CAAC,aAAa,CAAY;IAMjC,OAAO,CAAC,WAAW,CAAY;IAG/B,aAAa,SAAI;gBAEL,WAAW,EAAE,SAAS,EAAE,EAAE,MAAM,GAAE,KAAK,EAAO;IA8B1D,OAAO,CAAC,mBAAmB;IA4B3B,OAAO,CAAC,aAAa;IAKrB,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;IActC,IAAI,CAAC,EAAE,EAAE,MAAM,EAAE,iBAAiB,EAAE,IAAI,EAAE,EAAE,uBAAuB,EAAE,YAAY,GAAG,IAAI;IAiExF,OAAO,CAAC,iBAAiB;IAuCzB,OAAO,CAAC,uBAAuB;IAqF/B,OAAO,CAAC,yBAAyB;IAgEjC,OAAO,CAAC,sBAAsB;IAmC9B,OAAO,CAAC,2BAA2B;IA6EnC,OAAO,CAAC,wBAAwB;IA2BhC,OAAO,CAAC,sBAAsB;IAqC9B,OAAO,CAAC,oBAAoB;CA6D7B"}

package/dist/physics/physics.js

@@ -16,6 +16,9 @@ export class RezePhysics {
         this.timeAccum = 0;
         this.fixedTimeStep = 1 / 60;
         this.maxSubSteps = 6;
+        // Debug counter: frames on which a teleport (scrub/jump discontinuity)
+        // was detected and settled.
+        this.teleportCount = 0;
         this.rigidbodies = rigidbodies;
         this.joints = joints;
         this.store = new RigidBodyStore(rigidbodies);
@@ -30,6 +33,18 @@ export class RezePhysics {
         this.kinTargetAngVel = new Float32Array(this.store.count * 3);
         this.kinRoot = this.buildKinematicRoots();
         this.teleportFlags = new Uint8Array(this.store.count);
+        this.alignPinned = new Uint8Array(this.store.count);
+        const types = this.store.type;
+        for (const c of this.constraints) {
+            const tA = types[c.bodyA];
+            const tB = types[c.bodyB];
+            const aFollows = tA === RigidbodyType.Static || tA === RigidbodyType.Kinematic;
+            const bFollows = tB === RigidbodyType.Static || tB === RigidbodyType.Kinematic;
+            if (aFollows && this.store.aligned[c.bodyB])
+                this.alignPinned[c.bodyB] = 1;
+            if (bFollows && this.store.aligned[c.bodyA])
+                this.alignPinned[c.bodyA] = 1;
+        }
     }
     // BFS over the joint graph from every kinematic body, assigning each
     // reachable dynamic body the kinematic body it (transitively) hangs off.
@@ -101,6 +116,13 @@ export class RezePhysics {
             return;
         this.snapBodiesToBones(boneWorldMatrices);
         this.savePrevState(); // prev == curr after a snap, so no interpolation jump
+        // Reseed kinematic targets from the snapped pose — otherwise the next
+        // step derives the target-trajectory velocity against the pre-reset
+        // targets and feeds one frame of enormous anchor velocity to the solver.
+        this.kinTargetPos.set(this.store.positions);
+        this.kinTargetOri.set(this.store.orientations);
+        this.kinTargetVel.fill(0);
+        this.kinTargetAngVel.fill(0);
         this.timeAccum = 0;
     }
     step(dt, boneWorldMatrices, boneInverseBindMatrices) {
@@ -124,6 +146,7 @@ export class RezePhysics {
         // raw derived velocity is what used to explode the solver. Chains under
         // unaffected roots keep their momentum untouched.
         if (this.computeKinematicTargets(boneWorldMatrices, dt)) {
+            this.teleportCount++;
             this.carryDynamicThroughTeleport();
             this.snapKinematicToTargets(true);
             this.savePrevState(); // prev == curr so interpolation doesn't streak
@@ -155,6 +178,9 @@ export class RezePhysics {
             this.timeAccum = 0;
             this.snapKinematicToTargets(false);
         }
+        // MMD mode-2 bone alignment for pinned (depth-1) bodies: position
+        // re-pins to the animated bone, rotation stays simulated.
+        this.alignPinnedBodiesToBones(boneWorldMatrices);
         // Fraction into the next (not-yet-taken) step; always in [0, 1).
         const alpha = this.fixedTimeStep > 0 ? this.timeAccum / this.fixedTimeStep : 0;
         this.applyDynamicsToBones(boneWorldMatrices, alpha);
@@ -452,6 +478,32 @@ export class RezePhysics {
             av[i3 + 2] = 0;
         }
     }
+    // Overwrite pinned mode-2 bodies' positions with boneWorld × bodyOffset
+    // from the animated bone pose, keeping simulated orientation and
+    // velocities. prevPositions follows so interpolation doesn't streak.
+    alignPinnedBodiesToBones(boneWorldMatrices) {
+        const N = this.store.count;
+        const pinned = this.alignPinned;
+        const boneIdx = this.store.boneIndex;
+        const offsets = this.store.bodyOffsetMatrix;
+        const positions = this.store.positions;
+        const prevPos = this.prevPositions;
+        for (let i = 0; i < N; i++) {
+            if (!pinned[i])
+                continue;
+            const b = boneIdx[i];
+            if (b < 0 || b >= boneWorldMatrices.length)
+                continue;
+            Mat4.multiplyArrays(boneWorldMatrices[b].values, 0, offsets, i * 16, _bodyMat, 0);
+            const i3 = i * 3;
+            positions[i3 + 0] = _bodyMat[12];
+            positions[i3 + 1] = _bodyMat[13];
+            positions[i3 + 2] = _bodyMat[14];
+            prevPos[i3 + 0] = _bodyMat[12];
+            prevPos[i3 + 1] = _bodyMat[13];
+            prevPos[i3 + 2] = _bodyMat[14];
+        }
+    }
     // Backstop: if a dynamic body's state went non-finite despite the velocity
     // caps, restore its previous-substep pose with zero velocity instead of
     // letting NaNs spread through constraints and contacts. Runs after every
@@ -550,7 +602,23 @@ export class RezePhysics {
             Mat4.multiplyArrays(_bodyMat, 0, inv, i * 16, _boneMat, 0);
             // Sanity gate against NaN / extreme values — silently drop the update.
             if (Number.isFinite(_boneMat[0]) && Math.abs(_boneMat[0]) < 1e6) {
-                boneWorldMatrices[b].values.set(_boneMat);
+                const v = boneWorldMatrices[b].values;
+                if (this.alignPinned[i]) {
+                    // Pinned mode-2: the bone keeps its animated position, physics
+                    // drives rotation only.
+                    v[0] = _boneMat[0];
+                    v[1] = _boneMat[1];
+                    v[2] = _boneMat[2];
+                    v[4] = _boneMat[4];
+                    v[5] = _boneMat[5];
+                    v[6] = _boneMat[6];
+                    v[8] = _boneMat[8];
+                    v[9] = _boneMat[9];
+                    v[10] = _boneMat[10];
+                }
+                else {
+                    v.set(_boneMat);
+                }
             }
         }
     }

package/dist/physics/solver.js

@@ -166,12 +166,15 @@ function setupConstraint(con, store, dt, invDt) {
         tgt[i] = target;
         act[i] = denom > 0 ? active : 0;
         con.cacheLinLimitImp[i] = 0;
-        if (con.springEnabled[i] && denom > 0) {
+        // A spring on a locked axis is redundant — the bilateral limit row
+        // already welds the DOF, and driving it twice overshoots every
+        // iteration (PMX rigs routinely put k=100000 springs on locked axes,
+        // which turned welded weight-bodies into energy pumps).
+        if (con.springEnabled[i] && denom > 0 && lo !== hi) {
             // 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);
+            // pre-Spring2 Bullet 6dof instability this port inherited.
+            const k = Math.min(con.springStiffness[i], invDt * invDt);
             const serr = curr - con.equilibriumPoint[i];
             con.cacheLinSpringTarget[i] = -k * serr * dt;
             con.cacheLinSpringActive[i] = 1;
@@ -239,9 +242,11 @@ function setupConstraint(con, store, dt, invDt) {
     const angAct = con.cacheAngActive;
     for (let i = 0; i < 3; i++) {
         const idx = i + 3;
-        if (con.springEnabled[idx] && angDenom > 0) {
+        // Springs on locked axes are skipped — the limit row welds those, and
+        // double-driving a DOF overshoots every iteration (see the linear loop).
+        if (con.springEnabled[idx] && angDenom > 0 && con.angularMin[i] !== con.angularMax[i]) {
             // Same deadbeat clamp as the linear springs.
-            const k = Math.min(con.springStiffness[idx], 0.25 * invDt * invDt);
+            const k = Math.min(con.springStiffness[idx], invDt * invDt);
             const serr = _angDiffScratch[i] - con.equilibriumPoint[idx];
             angTgt[i] = k * serr * dt;
             angAct[i] = 1;
@@ -392,9 +397,12 @@ function iterateConstraint(con, lv, av, invMass, invInertia) {
             j += dImp;
         }
         // Spring row: velocity-target drive; the deadbeat k-clamp at setup
-        // bounds its aggression.
+        // bounds its aggression. relVel is refreshed with the limit impulse
+        // applied just above (j·denom = j / jac) — driving the spring off the
+        // stale value double-corrects the DOF and overshoots every iteration.
         if (sprAct[i]) {
-            j += (sprTgt[i] - relVel) * jac[i];
+            const relVelNow = j !== 0 ? relVel + j / jac[i] : relVel;
+            j += (sprTgt[i] - relVelNow) * jac[i];
         }
         if (j === 0)
             continue;

package/dist/physics/types.d.ts

@@ -5,7 +5,7 @@ export declare enum RigidbodyShape {
     Capsule = 2
 }
 export declare enum RigidbodyType {
-    Static = 0,
+    Static = 0,// follows bone (anchor)
     Dynamic = 1,
     Kinematic = 2
 }
@@ -25,6 +25,7 @@ export interface Rigidbody {
     restitution: number;
     friction: number;
     type: RigidbodyType;
+    aligned?: boolean;
     bodyOffsetMatrixInverse: Mat4;
     bodyOffsetMatrix?: Mat4;
 }

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

@@ -1 +1 @@
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+{"version":3,"file":"types.d.ts","sourceRoot":"","sources":["../../src/physics/types.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,SAAS,CAAA;AAEpC,oBAAY,cAAc;IACxB,MAAM,IAAI;IACV,GAAG,IAAI;IACP,OAAO,IAAI;CACZ;AAOD,oBAAY,aAAa;IACvB,MAAM,IAAI,CAAE,wBAAwB;IACpC,OAAO,IAAI;IACX,SAAS,IAAI;CACd;AAED,MAAM,WAAW,SAAS;IACxB,IAAI,EAAE,MAAM,CAAA;IACZ,WAAW,EAAE,MAAM,CAAA;IACnB,SAAS,EAAE,MAAM,CAAA;IACjB,KAAK,EAAE,MAAM,CAAA;IACb,aAAa,EAAE,MAAM,CAAA;IACrB,KAAK,EAAE,cAAc,CAAA;IACrB,IAAI,EAAE,IAAI,CAAA;IACV,aAAa,EAAE,IAAI,CAAA;IACnB,aAAa,EAAE,IAAI,CAAA;IACnB,IAAI,EAAE,MAAM,CAAA;IACZ,aAAa,EAAE,MAAM,CAAA;IACrB,cAAc,EAAE,MAAM,CAAA;IACtB,WAAW,EAAE,MAAM,CAAA;IACnB,QAAQ,EAAE,MAAM,CAAA;IAChB,IAAI,EAAE,aAAa,CAAA;IAGnB,OAAO,CAAC,EAAE,OAAO,CAAA;IACjB,uBAAuB,EAAE,IAAI,CAAA;IAC7B,gBAAgB,CAAC,EAAE,IAAI,CAAA;CACxB;AAED,MAAM,WAAW,KAAK;IACpB,IAAI,EAAE,MAAM,CAAA;IACZ,WAAW,EAAE,MAAM,CAAA;IACnB,IAAI,EAAE,MAAM,CAAA;IACZ,eAAe,EAAE,MAAM,CAAA;IACvB,eAAe,EAAE,MAAM,CAAA;IACvB,QAAQ,EAAE,IAAI,CAAA;IACd,QAAQ,EAAE,IAAI,CAAA;IACd,WAAW,EAAE,IAAI,CAAA;IACjB,WAAW,EAAE,IAAI,CAAA;IACjB,WAAW,EAAE,IAAI,CAAA;IACjB,WAAW,EAAE,IAAI,CAAA;IACjB,cAAc,EAAE,IAAI,CAAA;IACpB,cAAc,EAAE,IAAI,CAAA;CACrB"}

package/dist/physics/types.js

@@ -4,6 +4,11 @@ export var RigidbodyShape;
     RigidbodyShape[RigidbodyShape["Box"] = 1] = "Box";
     RigidbodyShape[RigidbodyShape["Capsule"] = 2] = "Capsule";
 })(RigidbodyShape || (RigidbodyShape = {}));
+// PMX physics mode: 0 = follow bone, 1 = physics, 2 = physics + bone-position
+// alignment. Mode 2 is DYNAMIC — the loader maps it to Dynamic with
+// `aligned: true` (bone gets rotation only, body position re-pins to the
+// animated bone each frame). Mapping the raw byte 1:1 onto this enum froze
+// mode-2 bodies (most modern cloth rigs, and every 胸_回転 breast body).
 export var RigidbodyType;
 (function (RigidbodyType) {
     RigidbodyType[RigidbodyType["Static"] = 0] = "Static";

package/dist/physics/world.d.ts

@@ -5,6 +5,9 @@ import { type ContactPool } from "./contact";
 export declare class World {
     readonly gravity: Vec3;
     solverIterations: number;
+    private dampCacheDt;
+    private linDampFactor;
+    private angDampFactor;
     constructor(gravity: Vec3);
     setGravity(g: Vec3): void;
     step(store: RigidBodyStore, constraints: SixDofSpringConstraint[], contacts: ContactPool, dt: number): void;

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;CAyI5G"}
+{"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;IAIrB,OAAO,CAAC,WAAW,CAAK;IACxB,OAAO,CAAC,aAAa,CAA4B;IACjD,OAAO,CAAC,aAAa,CAA4B;gBAErC,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;CAoJ5G"}

package/dist/physics/world.js

@@ -10,6 +10,11 @@ import { findContacts } from "./contact";
 export class World {
     constructor(gravity) {
         this.solverIterations = 10;
+        // Per-body damping factors pow(1−damping, dt), cached because damping and
+        // the fixed dt never change — two Math.pow per body per substep otherwise.
+        this.dampCacheDt = -1;
+        this.linDampFactor = null;
+        this.angDampFactor = null;
         this.gravity = new Vec3(gravity.x, gravity.y, gravity.z);
     }
     setGravity(g) {
@@ -34,7 +39,18 @@ export class World {
         const gz = this.gravity.z;
         // 1. Predict — gravity + damping. The pow form (vs the linear
         //    1−damping·dt approximation) stays stable at high PMX damping
-        //    values like 0.99.
+        //    values like 0.99. Factors are cached (damping and dt are constant).
+        if (this.dampCacheDt !== dt || !this.linDampFactor || this.linDampFactor.length !== N) {
+            this.dampCacheDt = dt;
+            this.linDampFactor = new Float32Array(N);
+            this.angDampFactor = new Float32Array(N);
+            for (let i = 0; i < N; i++) {
+                this.linDampFactor[i] = Math.pow(Math.max(0, 1 - ldamp[i]), dt);
+                this.angDampFactor[i] = Math.pow(Math.max(0, 1 - adamp[i]), dt);
+            }
+        }
+        const linDamp = this.linDampFactor;
+        const angDamp = this.angDampFactor;
         for (let i = 0; i < N; i++) {
             if (types[i] !== RigidbodyType.Dynamic || invMass[i] <= 0)
                 continue;
@@ -42,8 +58,8 @@ export class World {
             lv[i3 + 0] += gx * dt;
             lv[i3 + 1] += gy * dt;
             lv[i3 + 2] += gz * dt;
-            const ld = Math.pow(Math.max(0, 1 - ldamp[i]), dt);
-            const ad = Math.pow(Math.max(0, 1 - adamp[i]), dt);
+            const ld = linDamp[i];
+            const ad = angDamp[i];
             lv[i3 + 0] *= ld;
             lv[i3 + 1] *= ld;
             lv[i3 + 2] *= ld;

package/dist/pmx-loader.d.ts

@@ -22,7 +22,9 @@ export declare class PmxLoader {
     private vertexCount;
     private rigidbodies;
     private joints;
+    private warnings;
     private constructor();
+    private warn;
     static load(url: string): Promise<Model>;
     static loadFromBuffer(buffer: ArrayBuffer): Model;
     static loadFromReader(reader: AssetReader, pmxLogicalPath: string): Promise<Model>;

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

@@ -1 +1 @@
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+{"version":3,"file":"pmx-loader.d.ts","sourceRoot":"","sources":["../src/pmx-loader.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,KAAK,EAWN,MAAM,SAAS,CAAA;AAGhB,OAAO,EAA0B,KAAK,WAAW,EAAE,MAAM,gBAAgB,CAAA;AAEzE,qBAAa,SAAS;IACpB,OAAO,CAAC,IAAI,CAAU;IACtB,OAAO,CAAC,MAAM,CAAI;IAClB,OAAO,CAAC,OAAO,CAAc;IAC7B,OAAO,CAAC,QAAQ,CAAI;IACpB,OAAO,CAAC,mBAAmB,CAAI;IAC/B,OAAO,CAAC,eAAe,CAAI;IAC3B,OAAO,CAAC,gBAAgB,CAAI;IAC5B,OAAO,CAAC,iBAAiB,CAAI;IAC7B,OAAO,CAAC,aAAa,CAAI;IACzB,OAAO,CAAC,cAAc,CAAI;IAC1B,OAAO,CAAC,kBAAkB,CAAI;IAC9B,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,SAAS,CAAiB;IAClC,OAAO,CAAC,KAAK,CAAa;IAC1B,OAAO,CAAC,mBAAmB,CAA4B;IACvD,OAAO,CAAC,OAAO,CAA2B;IAC1C,OAAO,CAAC,QAAQ,CAA0B;IAC1C,OAAO,CAAC,MAAM,CAAc;IAC5B,OAAO,CAAC,WAAW,CAAY;IAC/B,OAAO,CAAC,WAAW,CAAkB;IACrC,OAAO,CAAC,MAAM,CAAc;IAC5B,OAAO,CAAC,QAAQ,CAAe;IAE/B,OAAO;IAQP,OAAO,CAAC,IAAI;WAMC,IAAI,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,KAAK,CAAC;IAI9C,MAAM,CAAC,cAAc,CAAC,MAAM,EAAE,WAAW,GAAG,KAAK;WAIpC,cAAc,CAAC,MAAM,EAAE,WAAW,EAAE,cAAc,EAAE,MAAM,GAAG,OAAO,CAAC,KAAK,CAAC;IAKxF,OAAO,CAAC,KAAK;IAiBb,OAAO,CAAC,WAAW;IA+CnB,OAAO,CAAC,aAAa;IA+FrB,OAAO,CAAC,YAAY;IAWpB,OAAO,CAAC,aAAa;IAkBrB,OAAO,CAAC,cAAc;IAoEtB,OAAO,CAAC,UAAU;IAsKlB,OAAO,CAAC,WAAW;IA2JnB,OAAO,CAAC,iBAAiB;IAgDzB,OAAO,CAAC,gBAAgB;IA+FxB,OAAO,CAAC,WAAW;IAmGnB,OAAO,CAAC,kBAAkB;IAmC1B,OAAO,CAAC,OAAO;IAkJf,OAAO,CAAC,QAAQ;IAOhB,OAAO,CAAC,SAAS;IAUjB,OAAO,CAAC,cAAc;IAWtB,OAAO,CAAC,iBAAiB;IAczB,OAAO,CAAC,QAAQ;IAShB,OAAO,CAAC,UAAU;IASlB,OAAO,CAAC,SAAS;IAMjB,OAAO,CAAC,OAAO;IAmBf,OAAO,CAAC,QAAQ;CAIjB"}