reze-engine 0.16.3 → 0.17.0

package/dist/engine.d.ts

@@ -1,7 +1,7 @@
 import { Quat, Vec3 } from "./math";
 import { Model } from "./model";
 import { type AssetReader } from "./asset-reader";
-export type MaterialPreset = "default" | "face" | "hair" | "body" | "eye" | "stockings" | "metal" | "cloth_smooth" | "cloth_rough";
+export type MaterialPreset = "default" | "face" | "hair" | "body" | "eye" | "stockings" | "metal" | "cloth_smooth" | "cloth_rough" | "mmd_classic";
 export type MaterialPresetMap = Partial<Record<MaterialPreset, string[]>>;
 export type RaycastCallback = (modelName: string, material: string | null, bone: string | null, screenX: number, screenY: number) => void;
 /** Select a folder (webkitdirectory) and pass FileList or File[]; pmxFile picks which .pmx when several exist. */
@@ -139,6 +139,8 @@ export declare class Engine {
     private eyePipeline;
     private hairOverEyesPipeline;
     private stockingsPipeline;
+    private mmdClassicPipeline;
+    private defaultToonRampTexture;
     private groundShadowPipeline;
     private groundShadowBindGroupLayout;
     private outlinePipeline;

package/dist/engine.d.ts.map

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

@@ -13,6 +13,7 @@ import { METAL_SHADER_WGSL } from "./shaders/materials/metal";
 import { BODY_SHADER_WGSL } from "./shaders/materials/body";
 import { EYE_SHADER_WGSL } from "./shaders/materials/eye";
 import { STOCKINGS_SHADER_WGSL } from "./shaders/materials/stockings";
+import { MMD_CLASSIC_SHADER_WGSL } from "./shaders/materials/mmd_classic";
 import { BRDF_LUT_SIZE, BRDF_LUT_BAKE_WGSL } from "./shaders/dfg_lut";
 import { LTC_MAG_LUT_SIZE, LTC_MAG_LUT_DATA } from "./shaders/ltc_mag_lut";
 import { SHADOW_DEPTH_SHADER_WGSL } from "./shaders/passes/shadow";
@@ -24,14 +25,66 @@ import { BLOOM_BLIT_SHADER_WGSL, BLOOM_DOWNSAMPLE_SHADER_WGSL, BLOOM_UPSAMPLE_SH
 import { COMPOSITE_SHADER_WGSL } from "./shaders/passes/composite";
 import { PICK_SHADER_WGSL } from "./shaders/passes/pick";
 import { MIPMAP_BLIT_SHADER_WGSL } from "./shaders/passes/mipmap";
+// Substring hints mapping common PMX material names (JP/CN/EN) to presets,
+// tried when a material isn't in the model's explicit MaterialPresetMap.
+// Ordered: more specific families first (靴下 must hit stockings before 靴
+// hits cloth). Anything unmatched falls through to mmd_classic, which renders
+// the author-tuned PMX material data faithfully.
+const PRESET_NAME_HINTS = [
+    ["stockings", ["靴下", "ソックス", "タイツ", "ニーソ", "袜", "stocking", "socks", "tights"]],
+    [
+        "eye",
+        ["白目", "目影", "二重", "睫", "まつげ", "まゆ", "眉", "目", "瞳", "眼", "eye", "iris", "pupil", "lash", "brow"],
+    ],
+    ["face", ["顔", "颜", "脸", "かお", "face"]],
+    ["hair", ["前髪", "後髪", "髪", "髮", "头发", "頭髪", "もみあげ", "アホ毛", "ヘア", "hair", "ahoge", "bang"]],
+    ["body", ["肌", "皮肤", "skin"]],
+    ["metal", ["金属", "メタル", "metal"]],
+    [
+        "cloth_smooth",
+        [
+            "服",
+            "衣",
+            "裙",
+            "裤",
+            "スカート",
+            "ワンピ",
+            "リボン",
+            "袖",
+            "靴",
+            "鞋",
+            "帽",
+            "体",
+            "飾",
+            "饰",
+            "尾",
+            "skirt",
+            "dress",
+            "ribbon",
+            "sleeve",
+            "shoes",
+            "boot",
+            "hat",
+            "cloth",
+            "accessor",
+        ],
+    ],
+];
 function resolvePreset(materialName, map) {
-    if (!map)
-        return "default";
-    for (const [preset, names] of Object.entries(map)) {
-        if (names && names.includes(materialName))
-            return preset;
+    if (map) {
+        for (const [preset, names] of Object.entries(map)) {
+            if (names && names.includes(materialName))
+                return preset;
+        }
+    }
+    const lower = materialName.toLowerCase();
+    for (const [preset, hints] of PRESET_NAME_HINTS) {
+        for (const hint of hints) {
+            if (lower.includes(hint))
+                return preset;
+        }
     }
-    return "default";
+    return "mmd_classic";
 }
 export const DEFAULT_BLOOM_OPTIONS = {
     enabled: true,
@@ -691,6 +744,27 @@ export class Engine {
             usage: GPUTextureUsage.TEXTURE_BINDING | GPUTextureUsage.COPY_DST,
         });
         this.device.queue.writeTexture({ texture: this.fallbackMaterialTexture }, new Uint8Array([255, 255, 255, 255]), { bytesPerRow: 4 }, [1, 1]);
+        // Generic shared-toon ramp: lit white down to a soft cool shadow tone with
+        // a tight terminator around the midpoint, approximating MMD's toon ramps.
+        const TOON_H = 64;
+        const toonData = new Uint8Array(TOON_H * 4);
+        for (let y = 0; y < TOON_H; y++) {
+            const v = y / (TOON_H - 1);
+            // smoothstep terminator centered at 0.55, width ~0.1
+            const t = Math.min(1, Math.max(0, (v - 0.5) / 0.1));
+            const s = t * t * (3 - 2 * t);
+            toonData[y * 4 + 0] = Math.round(255 - s * (255 - 196));
+            toonData[y * 4 + 1] = Math.round(255 - s * (255 - 186));
+            toonData[y * 4 + 2] = Math.round(255 - s * (255 - 205));
+            toonData[y * 4 + 3] = 255;
+        }
+        this.defaultToonRampTexture = this.device.createTexture({
+            label: "default toon ramp (1x64)",
+            size: [1, TOON_H],
+            format: "rgba8unorm-srgb",
+            usage: GPUTextureUsage.TEXTURE_BINDING | GPUTextureUsage.COPY_DST,
+        });
+        this.device.queue.writeTexture({ texture: this.defaultToonRampTexture }, toonData, { bytesPerRow: 4 }, [1, TOON_H]);
         // Shared vertex buffer layouts
         const fullVertexBuffers = [
             {
@@ -797,6 +871,10 @@ export class Engine {
             label: "stockings NPR shader",
             code: STOCKINGS_SHADER_WGSL,
         });
+        const mmdClassicShaderModule = this.device.createShaderModule({
+            label: "mmd classic shader",
+            code: MMD_CLASSIC_SHADER_WGSL,
+        });
         // group 0: per-frame (camera + light + sampler + shadow) — bound once per pass
         this.mainPerFrameBindGroupLayout = this.device.createBindGroupLayout({
             label: "main per-frame bind group layout",
@@ -813,14 +891,25 @@ export class Engine {
         // group 1: per-instance (skinMats) — bound once per model
         this.mainPerInstanceBindGroupLayout = this.device.createBindGroupLayout({
             label: "main per-instance bind group layout",
-            entries: [{ binding: 0, visibility: GPUShaderStage.VERTEX, buffer: { type: "read-only-storage" } }],
+            // FRAGMENT visibility: the eye shader reads the 頭 bone's skinning
+            // matrix for its rear-view gate.
+            entries: [
+                {
+                    binding: 0,
+                    visibility: GPUShaderStage.VERTEX | GPUShaderStage.FRAGMENT,
+                    buffer: { type: "read-only-storage" },
+                },
+            ],
         });
-        // group 2: per-material (texture + material uniforms) — bound per draw call
+        // group 2: per-material (textures + material uniforms) — bound per draw call.
+        // Toon + sphere slots feed mmd_classic; other presets bind fallbacks.
         this.mainPerMaterialBindGroupLayout = this.device.createBindGroupLayout({
             label: "main per-material bind group layout",
             entries: [
                 { binding: 0, visibility: GPUShaderStage.FRAGMENT, texture: {} },
                 { binding: 1, visibility: GPUShaderStage.FRAGMENT, buffer: { type: "uniform" } },
+                { binding: 2, visibility: GPUShaderStage.FRAGMENT, texture: {} },
+                { binding: 3, visibility: GPUShaderStage.FRAGMENT, texture: {} },
             ],
         });
         const mainPipelineLayout = this.device.createPipelineLayout({
@@ -878,10 +967,17 @@ export class Engine {
                 stencilWriteMask: 0,
             },
         });
+        // Eye-over-hair (the see-through-hair effect, inverted): after hair draws
+        // normally, the eye re-draws at 75% alpha with its depth pushed
+        // EYE_SEE_THROUGH_RANGE world units toward the camera, so it only shows
+        // through occluders within that window (bangs), never through the far
+        // side of the head. Stencil == EYE_VALUE confines it to pixels where the
+        // eye's primary draw passed depth — a hand in front of the face never
+        // stamps, so it still occludes fully.
         // Hair-over-eyes: same shader with IS_OVER_EYES=true so alpha is scaled to 25% at compile time.
         // Only fragments where eye stencil == EYE_VALUE pass; depth test still culls fragments
         // that are further from camera than the eye, so hair behind the eye never shows through.
-        // depthWriteEnabled=false keeps the eye's depth authoritative for everything drawn after.
+        // depthWriteEnabled=false keeps the eye's depth authoritative for anything drawn after.
         this.hairOverEyesPipeline = this.device.createRenderPipeline({
             label: "hair over eyes pipeline",
             layout: mainPipelineLayout,
@@ -916,6 +1012,19 @@ export class Engine {
                 depthCompare: "less-equal",
             },
         });
+        this.mmdClassicPipeline = this.createRenderPipeline({
+            label: "mmd classic pipeline",
+            layout: mainPipelineLayout,
+            shaderModule: mmdClassicShaderModule,
+            vertexBuffers: fullVertexBuffers,
+            fragmentTargets: sceneTargets,
+            cullMode: "none",
+            depthStencil: {
+                format: "depth24plus-stencil8",
+                depthWriteEnabled: true,
+                depthCompare: "less-equal",
+            },
+        });
         this.clothRoughPipeline = this.createRenderPipeline({
             label: "cloth rough NPR pipeline",
             layout: mainPipelineLayout,
@@ -2523,6 +2632,8 @@ export class Engine {
             const logicalPath = joinAssetPath(inst.basePath, normalizeAssetPath(textures[texIndex].path));
             return this.createTextureFromLogicalPath(inst, logicalPath);
         };
+        // 頭 bone index for the eye shader's rear-view gate (-1 when absent).
+        const headBoneIndex = model.getSkeleton().bones.findIndex((b) => b.name === "頭");
         let currentIndexOffset = 0;
         let materialId = 0;
         for (const mat of materials) {
@@ -2537,11 +2648,25 @@ export class Engine {
             }
             const materialAlpha = mat.diffuse[3];
             const isTransparent = materialAlpha < 1.0 - 0.001;
-            const materialUniformBuffer = this.createMaterialUniformBuffer(prefix + mat.name, materialAlpha, [
-                mat.diffuse[0],
-                mat.diffuse[1],
-                mat.diffuse[2],
-            ]);
+            // Sphere map (sph=1 multiply / spa=2 add). Mode 3 (sub-texture UV) is
+            // rare and not implemented — treated as none, like a failed load.
+            let sphereMode = mat.sphereMode === 1 || mat.sphereMode === 2 ? mat.sphereMode : 0;
+            let sphereTexture = null;
+            if (sphereMode !== 0) {
+                sphereTexture = await loadTextureByIndex(mat.sphereTextureIndex);
+                if (!sphereTexture)
+                    sphereMode = 0;
+            }
+            // Toon ramp: model-local file, or the generic ramp for the shared
+            // toon01–10 set. No toon → white (no ramp modulation), MMD behavior.
+            let toonTexture = null;
+            if (mat.sharedToon) {
+                toonTexture = this.defaultToonRampTexture;
+            }
+            else if (mat.toonTextureIndex >= 0) {
+                toonTexture = await loadTextureByIndex(mat.toonTextureIndex);
+            }
+            const materialUniformBuffer = this.createMaterialUniformBuffer(prefix + mat.name, mat, sphereMode, headBoneIndex);
             inst.gpuBuffers.push(materialUniformBuffer);
             const textureView = diffuseTexture.createView();
             const bindGroup = this.device.createBindGroup({
@@ -2550,6 +2675,8 @@ export class Engine {
                 entries: [
                     { binding: 0, resource: textureView },
                     { binding: 1, resource: { buffer: materialUniformBuffer } },
+                    { binding: 2, resource: (toonTexture ?? this.fallbackMaterialTexture).createView() },
+                    { binding: 3, resource: (sphereTexture ?? this.fallbackMaterialTexture).createView() },
                 ],
             });
             const type = isTransparent ? "transparent" : "opaque";
@@ -2628,13 +2755,23 @@ export class Engine {
                 inst.shadowDrawCalls.push(d);
         }
     }
-    createMaterialUniformBuffer(label, alpha, diffuseColor) {
-        // Matches WGSL `struct MaterialUniforms { diffuseColor: vec3f, alpha: f32 }` — 16 bytes.
-        const data = new Float32Array(4);
-        data[0] = diffuseColor[0];
-        data[1] = diffuseColor[1];
-        data[2] = diffuseColor[2];
-        data[3] = alpha;
+    createMaterialUniformBuffer(label, mat, sphereMode, headBoneIndex) {
+        // Matches the WGSL MaterialUniforms struct in common.ts — 64 bytes
+        // (diffuse+alpha | ambient+shininess | specular+sphereMode | headIdx+pad).
+        const data = new Float32Array(16);
+        data[0] = mat.diffuse[0];
+        data[1] = mat.diffuse[1];
+        data[2] = mat.diffuse[2];
+        data[3] = mat.diffuse[3];
+        data[4] = mat.ambient[0];
+        data[5] = mat.ambient[1];
+        data[6] = mat.ambient[2];
+        data[7] = mat.shininess;
+        data[8] = mat.specular[0];
+        data[9] = mat.specular[1];
+        data[10] = mat.specular[2];
+        data[11] = sphereMode;
+        data[12] = headBoneIndex;
         return this.createUniformBuffer(`material uniform: ${label}`, data);
     }
     createUniformBuffer(label, data) {
@@ -3198,6 +3335,8 @@ export class Engine {
             return this.eyePipeline;
         if (preset === "stockings")
             return this.stockingsPipeline;
+        if (preset === "mmd_classic")
+            return this.mmdClassicPipeline;
         return this.modelPipeline;
     }
     /**

package/dist/model.d.ts

@@ -17,6 +17,7 @@ export interface Material {
     sphereTextureIndex: number;
     sphereMode: number;
     toonTextureIndex: number;
+    sharedToon: boolean;
     edgeFlag: number;
     edgeColor: [number, number, number, number];
     edgeSize: number;

package/dist/model.d.ts.map

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package/dist/physics/body.d.ts

@@ -6,7 +6,8 @@ export declare class RigidBodyStore {
     readonly linearVelocities: Float32Array;
     readonly angularVelocities: Float32Array;
     readonly invMass: Float32Array;
-    readonly invInertia: Float32Array;
+    readonly invInertiaLocal: Float32Array;
+    readonly invInertiaWorld: Float32Array;
     readonly linearDamping: Float32Array;
     readonly angularDamping: Float32Array;
     readonly type: Uint8Array;
@@ -25,6 +26,7 @@ export declare class RigidBodyStore {
     private boneOffsetsReady;
     private collisionPairs;
     constructor(rigidbodies: Rigidbody[]);
+    updateInvInertiaWorld(): void;
     updateAabbs(margin?: number): void;
     computeBoneOffsets(boneInverseBindMatrices: Float32Array): void;
     isBoneOffsetsReady(): boolean;

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;IAO9B,QAAQ,CAAC,eAAe,EAAE,YAAY,CAAA;IACtC,QAAQ,CAAC,eAAe,EAAE,YAAY,CAAA;IACtC,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;IAgEpC,qBAAqB,IAAI,IAAI;IAwC7B,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

@@ -17,7 +17,8 @@ export class RigidBodyStore {
         this.linearVelocities = new Float32Array(N * 3);
         this.angularVelocities = new Float32Array(N * 3);
         this.invMass = new Float32Array(N);
-        this.invInertia = new Float32Array(N);
+        this.invInertiaLocal = new Float32Array(N * 3);
+        this.invInertiaWorld = new Float32Array(N * 9);
         this.linearDamping = new Float32Array(N);
         this.angularDamping = new Float32Array(N);
         this.type = new Uint8Array(N);
@@ -47,7 +48,8 @@ export class RigidBodyStore {
             this.orientations[i4 + 3] = q.w;
             const dynamic = rb.type === RigidbodyType.Dynamic && rb.mass > 0;
             this.invMass[i] = dynamic ? 1 / rb.mass : 0;
-            this.invInertia[i] = dynamic ? computeInvInertia(rb) : 0;
+            if (dynamic)
+                computeLocalInvInertia(rb, this.invInertiaLocal, i * 3);
             this.linearDamping[i] = rb.linearDamping;
             this.angularDamping[i] = rb.angularDamping;
             this.type[i] = rb.type;
@@ -63,6 +65,52 @@ export class RigidBodyStore {
             this.size[i * 3 + 2] = rb.size.z;
         }
     }
+    // Refresh I⁻¹_world = R·diag(invInertiaLocal)·Rᵀ for every dynamic body.
+    // Called once per substep before constraint setup (orientations are
+    // constant during a solve).
+    updateInvInertiaWorld() {
+        const N = this.count;
+        const ori = this.orientations;
+        const local = this.invInertiaLocal;
+        const W = this.invInertiaWorld;
+        const invMass = this.invMass;
+        for (let i = 0; i < N; i++) {
+            if (invMass[i] <= 0)
+                continue;
+            const i3 = i * 3;
+            const i4 = i * 4;
+            const i9 = i * 9;
+            const qx = ori[i4 + 0], qy = ori[i4 + 1], qz = ori[i4 + 2], qw = ori[i4 + 3];
+            const x2 = qx + qx, y2 = qy + qy, z2 = qz + qz;
+            const xx = qx * x2, yy = qy * y2, zz = qz * z2;
+            const xy = qx * y2, xz = qx * z2, yz = qy * z2;
+            const wx = qw * x2, wy = qw * y2, wz = qw * z2;
+            // R columns (column-major rotation matrix)
+            const r00 = 1 - (yy + zz), r01 = xy - wz, r02 = xz + wy;
+            const r10 = xy + wz, r11 = 1 - (xx + zz), r12 = yz - wx;
+            const r20 = xz - wy, r21 = yz + wx, r22 = 1 - (xx + yy);
+            const d0 = local[i3 + 0], d1 = local[i3 + 1], d2 = local[i3 + 2];
+            // W = R·diag·Rᵀ (symmetric)
+            const a0 = r00 * d0, a1 = r01 * d1, a2 = r02 * d2;
+            const b0 = r10 * d0, b1 = r11 * d1, b2 = r12 * d2;
+            const c0 = r20 * d0, c1 = r21 * d1, c2 = r22 * d2;
+            const w00 = a0 * r00 + a1 * r01 + a2 * r02;
+            const w01 = a0 * r10 + a1 * r11 + a2 * r12;
+            const w02 = a0 * r20 + a1 * r21 + a2 * r22;
+            const w11 = b0 * r10 + b1 * r11 + b2 * r12;
+            const w12 = b0 * r20 + b1 * r21 + b2 * r22;
+            const w22 = c0 * r20 + c1 * r21 + c2 * r22;
+            W[i9 + 0] = w00;
+            W[i9 + 1] = w01;
+            W[i9 + 2] = w02;
+            W[i9 + 3] = w01;
+            W[i9 + 4] = w11;
+            W[i9 + 5] = w12;
+            W[i9 + 6] = w02;
+            W[i9 + 7] = w12;
+            W[i9 + 8] = w22;
+        }
+    }
     // World-space AABBs for every body. Inflated by margin so contacts stay
     // paired across small velocity jitter without recomputing per iteration.
     updateAabbs(margin = 0.5) {
@@ -195,37 +243,53 @@ export class RigidBodyStore {
 const _scratchA = new Float32Array(16);
 const _scratchB = new Float32Array(16);
 const _scratchC = new Float32Array(16);
-// Scalar isotropic inverse inertia. Returns 0 for static bodies (mass = 0).
-//   Sphere:  I = (2/5)·m·r²
-//   Box:     I = (1/3)·m·max(a,b,c)²
-//   Capsule: I = (1/12)·m·(3r² + h²)  (cylinder transverse axis)
-function computeInvInertia(rb) {
+// Diagonal local inverse inertia, matching Bullet's calculateLocalInertia
+// per shape (so behavior tracks Ammo-based MMD engines):
+//   Sphere:  I = (2/5)·m·r² on every axis
+//   Box:     Ix = m/12·(ly²+lz²), … with l = full extents (2·half)
+//   Capsule: Bullet's bounding-box approximation of the Y-axis capsule
+//            (lx = lz = 2r, ly = h + 2r)
+function computeLocalInvInertia(rb, out, o) {
     const m = rb.mass;
     if (m <= 0)
-        return 0;
-    let I;
+        return;
+    let Ix, Iy, Iz;
     switch (rb.shape) {
         case RigidbodyShape.Sphere: {
-            const r = rb.size.x;
-            I = 0.4 * m * r * r;
+            const I = 0.4 * m * rb.size.x * rb.size.x;
+            Ix = I;
+            Iy = I;
+            Iz = I;
             break;
         }
         case RigidbodyShape.Box: {
-            // Largest half-extent so the long axis isn't under-rotated.
-            const a = Math.max(rb.size.x, rb.size.y, rb.size.z);
-            I = (1 / 3) * m * a * a;
+            const lx2 = 4 * rb.size.x * rb.size.x;
+            const ly2 = 4 * rb.size.y * rb.size.y;
+            const lz2 = 4 * rb.size.z * rb.size.z;
+            Ix = (m / 12) * (ly2 + lz2);
+            Iy = (m / 12) * (lx2 + lz2);
+            Iz = (m / 12) * (lx2 + ly2);
             break;
         }
         case RigidbodyShape.Capsule: {
-            const r = rb.size.x;
-            const h = rb.size.y;
-            I = (1 / 12) * m * (3 * r * r + h * h);
+            const lx = 2 * rb.size.x;
+            const ly = rb.size.y + 2 * rb.size.x;
+            const lx2 = lx * lx;
+            const ly2 = ly * ly;
+            Ix = (m / 12) * (ly2 + lx2);
+            Iy = (m / 12) * (lx2 + lx2);
+            Iz = (m / 12) * (lx2 + ly2);
             break;
         }
-        default:
-            I = m;
+        default: {
+            Ix = m;
+            Iy = m;
+            Iz = m;
+        }
     }
-    return I > 0 ? 1 / I : 0;
+    out[o + 0] = Ix > 0 ? 1 / Ix : 0;
+    out[o + 1] = Iy > 0 ? 1 / Iy : 0;
+    out[o + 2] = Iz > 0 ? 1 / Iz : 0;
 }
 function identity16(out, offset) {
     out[offset + 0] = 1;

package/dist/physics/constraint.d.ts

@@ -11,6 +11,7 @@ export interface SixDofSpringConstraint {
     springEnabled: Uint8Array;
     springStiffness: Float32Array;
     equilibriumPoint: Float32Array;
+    isLoop: boolean;
     cacheSkip: boolean;
     cacheLeverA: Float32Array;
     cacheLeverB: Float32Array;
@@ -22,15 +23,27 @@ export interface SixDofSpringConstraint {
     cacheLinActive: Uint8Array;
     cacheLinLimitImp: Float32Array;
     cacheLinSpringTarget: Float32Array;
+    cacheLinSpringMaxImp: Float32Array;
+    cacheLinSpringImp: Float32Array;
     cacheLinSpringActive: Uint8Array;
     cacheAngAxes: Float32Array;
     cacheAngTargetVel: Float32Array;
     cacheAngActive: Uint8Array;
-    cacheAngJacInv: number;
+    cacheAngJacInv: Float32Array;
+    cacheAngSpringMaxImp: Float32Array;
+    cacheAngSpringImp: Float32Array;
+    cacheAngWA: Float32Array;
+    cacheAngWB: Float32Array;
     cacheAngLimAxis: Float32Array;
+    cacheAngLimWA: Float32Array;
+    cacheAngLimWB: Float32Array;
+    cacheAngLimJacInv: number;
     cacheAngLimTarget: number;
     cacheAngLimActive: number;
     cacheAngLimImp: number;
+    cacheAngPATarget: Float32Array;
+    cacheAngPAActive: Uint8Array;
+    cacheAngPAImp: Float32Array;
 }
 export declare const STOP_ERP = 0.45;
 export declare function buildConstraints(rigidbodies: Rigidbody[], joints: Joint[]): SixDofSpringConstraint[];

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

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