reze-engine 0.16.3 → 0.17.0

package/dist/physics/constraint.js

@@ -1,4 +1,5 @@
 import { Mat4 } from "../math";
+import { RigidbodyType } from "./types";
 // 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
@@ -69,6 +70,7 @@ export function buildConstraints(rigidbodies, joints) {
             springEnabled,
             springStiffness,
             equilibriumPoint: new Float32Array(6),
+            isLoop: false,
             cacheSkip: false,
             cacheLeverA: new Float32Array(3),
             cacheLeverB: new Float32Array(3),
@@ -80,17 +82,57 @@ export function buildConstraints(rigidbodies, joints) {
             cacheLinActive: new Uint8Array(3),
             cacheLinLimitImp: new Float32Array(3),
             cacheLinSpringTarget: new Float32Array(3),
+            cacheLinSpringMaxImp: new Float32Array(3),
+            cacheLinSpringImp: new Float32Array(3),
             cacheLinSpringActive: new Uint8Array(3),
             cacheAngAxes: new Float32Array(9),
             cacheAngTargetVel: new Float32Array(3),
             cacheAngActive: new Uint8Array(3),
-            cacheAngJacInv: 0,
+            cacheAngJacInv: new Float32Array(3),
+            cacheAngSpringMaxImp: new Float32Array(3),
+            cacheAngSpringImp: new Float32Array(3),
+            cacheAngWA: new Float32Array(9),
+            cacheAngWB: new Float32Array(9),
             cacheAngLimAxis: new Float32Array(3),
+            cacheAngLimWA: new Float32Array(3),
+            cacheAngLimWB: new Float32Array(3),
+            cacheAngLimJacInv: 0,
             cacheAngLimTarget: 0,
             cacheAngLimActive: 0,
             cacheAngLimImp: 0,
+            cacheAngPATarget: new Float32Array(3),
+            cacheAngPAActive: new Uint8Array(3),
+            cacheAngPAImp: new Float32Array(3),
         });
     }
+    // Mark loop-closing joints via union-find over the joint graph. All
+    // bone-follow bodies count as one "world" component (they're each anchored
+    // to the skeleton), so a joint bridging two separately anchored subtrees
+    // also closes a kinematic cycle. One edge per cycle gets softened, which
+    // releases the over-determination regardless of which edge it is.
+    const parent = new Int32Array(rigidbodies.length + 1);
+    for (let i = 0; i < parent.length; i++)
+        parent[i] = i;
+    const find = (x) => {
+        while (parent[x] !== x) {
+            parent[x] = parent[parent[x]];
+            x = parent[x];
+        }
+        return x;
+    };
+    const world = rigidbodies.length;
+    for (let i = 0; i < rigidbodies.length; i++) {
+        if (rigidbodies[i].type !== RigidbodyType.Dynamic)
+            parent[find(i)] = find(world);
+    }
+    for (const con of out) {
+        const ra = find(con.bodyA);
+        const rb = find(con.bodyB);
+        if (ra === rb)
+            con.isLoop = true;
+        else
+            parent[ra] = rb;
+    }
     return out;
 }
 // frame = bodyWorldBind^-1 · jointWorld. False if bodyWorldBind is singular.

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

@@ -1 +1 @@
-{"version":3,"file":"solver.d.ts","sourceRoot":"","sources":["../../src/physics/solver.ts"],"names":[],"mappings":"AAcA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAC5C,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,cAAc,CAAA;AAE1D,OAAO,KAAK,EAAW,WAAW,EAAE,MAAM,WAAW,CAAA;AA6BrD,wBAAgB,gBAAgB,CAC9B,KAAK,EAAE,cAAc,EACrB,WAAW,EAAE,sBAAsB,EAAE,EACrC,QAAQ,EAAE,WAAW,EACrB,EAAE,EAAE,MAAM,EACV,UAAU,EAAE,MAAM,GACjB,IAAI,CAyBN"}
+{"version":3,"file":"solver.d.ts","sourceRoot":"","sources":["../../src/physics/solver.ts"],"names":[],"mappings":"AAcA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAC5C,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,cAAc,CAAA;AAE1D,OAAO,KAAK,EAAW,WAAW,EAAE,MAAM,WAAW,CAAA;AAyDrD,wBAAgB,gBAAgB,CAC9B,KAAK,EAAE,cAAc,EACrB,WAAW,EAAE,sBAAsB,EAAE,EACrC,QAAQ,EAAE,WAAW,EACrB,EAAE,EAAE,MAAM,EACV,UAAU,EAAE,MAAM,GACjB,IAAI,CA4BN"}