reze-engine 0.3.6 → 0.3.7

package/dist/model.js

@@ -1,5 +1,7 @@
-import { Mat4, Quat, Vec3, easeInOut } from "./math";
+import { Mat4, Quat, Vec3, easeInOut, bezierInterpolate } from "./math";
+import { Physics } from "./physics";
 import { IKSolverSystem } from "./ik-solver";
+import { VMDLoader } from "./vmd-loader";
 const VERTEX_STRIDE = 8;
 export class Model {
     constructor(vertexData, indexData, textures, materials, skeleton, skinning, morphing, rigidbodies = [], joints = []) {
@@ -8,9 +10,21 @@ export class Model {
         // Physics data from PMX
         this.rigidbodies = [];
         this.joints = [];
+        this.morphsDirty = false; // Flag indicating if morphs need to be applied
         // Cached identity matrices to avoid allocations in computeWorldMatrices
         this.cachedIdentityMat1 = Mat4.identity();
         this.cachedIdentityMat2 = Mat4.identity();
+        this.tweenTimeMs = 0; // Time tracking for tweens (milliseconds)
+        // Animation runtime
+        this.animationData = null;
+        this.boneTracks = new Map();
+        this.morphTracks = new Map();
+        this.animationDuration = 0;
+        this.isPlaying = false;
+        this.isPaused = false;
+        this.animationTime = 0; // Current time in animation (seconds)
+        // Physics runtime
+        this.physics = null;
         // Store base vertex data (original positions before morphing)
         this.baseVertexData = new Float32Array(vertexData);
         this.vertexData = vertexData;
@@ -27,11 +41,17 @@ export class Model {
             throw new Error("Model has no bones");
         }
         this.initializeRuntimeSkeleton();
-        this.initializeRotTweenBuffers();
-        this.initializeTransTweenBuffers();
         this.initializeRuntimeMorph();
-        this.initializeMorphTweenBuffers();
+        this.initializeTweenBuffers();
         this.applyMorphs(); // Apply initial morphs (all weights are 0, so no change)
+        // Initialize physics if rigidbodies exist
+        if (rigidbodies.length > 0) {
+            this.physics = new Physics(rigidbodies, joints);
+            console.log(`[Model] Physics initialized with ${rigidbodies.length} rigidbodies`);
+        }
+        else {
+            console.log("[Model] No rigidbodies found, physics disabled");
+        }
     }
     initializeRuntimeSkeleton() {
         const boneCount = this.skeleton.bones.length;
@@ -88,22 +108,28 @@ export class Model {
         this.runtimeSkeleton.ikChainInfo = ikChainInfo;
         this.runtimeSkeleton.ikSolvers = ikSolvers;
     }
-    initializeRotTweenBuffers() {
-        this.rotTweenState = this.createTweenState(this.skeleton.bones.length, 4, 4);
-    }
-    initializeTransTweenBuffers() {
-        this.transTweenState = this.createTweenState(this.skeleton.bones.length, 3, 3);
-    }
-    initializeMorphTweenBuffers() {
-        this.morphTweenState = this.createTweenState(this.morphing.morphs.length, 1, 1);
-    }
-    createTweenState(count, startSize, targetSize) {
-        return {
-            active: new Uint8Array(count),
-            startQuat: new Float32Array(count * startSize),
-            targetQuat: new Float32Array(count * targetSize),
-            startTimeMs: new Float32Array(count),
-            durationMs: new Float32Array(count),
+    initializeTweenBuffers() {
+        const boneCount = this.skeleton.bones.length;
+        const morphCount = this.morphing.morphs.length;
+        this.tweenState = {
+            // Bone rotation tweens
+            rotActive: new Uint8Array(boneCount),
+            rotStartQuat: new Float32Array(boneCount * 4),
+            rotTargetQuat: new Float32Array(boneCount * 4),
+            rotStartTimeMs: new Float32Array(boneCount),
+            rotDurationMs: new Float32Array(boneCount),
+            // Bone translation tweens
+            transActive: new Uint8Array(boneCount),
+            transStartVec: new Float32Array(boneCount * 3),
+            transTargetVec: new Float32Array(boneCount * 3),
+            transStartTimeMs: new Float32Array(boneCount),
+            transDurationMs: new Float32Array(boneCount),
+            // Morph weight tweens
+            morphActive: new Uint8Array(morphCount),
+            morphStartWeight: new Float32Array(morphCount),
+            morphTargetWeight: new Float32Array(morphCount),
+            morphStartTimeMs: new Float32Array(morphCount),
+            morphDurationMs: new Float32Array(morphCount),
         };
     }
     initializeRuntimeMorph() {
@@ -116,71 +142,80 @@ export class Model {
             weights: new Float32Array(morphCount),
         };
     }
-    updateRotationTweens() {
-        const state = this.rotTweenState;
-        const now = performance.now();
+    // Tween update - processes all tweens together with a single time reference
+    // This avoids conflicts and ensures consistent timing across all tween types
+    // Returns true if morph weights changed (needed for vertex buffer updates)
+    updateTweens() {
+        const state = this.tweenState;
+        const now = this.tweenTimeMs; // Single time reference for all tweens
+        let morphChanged = false;
+        // Update bone rotation tweens
         const rotations = this.runtimeSkeleton.localRotations;
         const boneCount = this.skeleton.bones.length;
         for (let i = 0; i < boneCount; i++) {
-            if (state.active[i] !== 1)
+            if (state.rotActive[i] !== 1)
                 continue;
-            const startMs = state.startTimeMs[i];
-            const durMs = Math.max(1, state.durationMs[i]);
+            const startMs = state.rotStartTimeMs[i];
+            const durMs = Math.max(1, state.rotDurationMs[i]);
             const t = Math.max(0, Math.min(1, (now - startMs) / durMs));
             const e = easeInOut(t);
             const qi = i * 4;
-            const startQuat = new Quat(state.startQuat[qi], state.startQuat[qi + 1], state.startQuat[qi + 2], state.startQuat[qi + 3]);
-            const targetQuat = new Quat(state.targetQuat[qi], state.targetQuat[qi + 1], state.targetQuat[qi + 2], state.targetQuat[qi + 3]);
+            const startQuat = new Quat(state.rotStartQuat[qi], state.rotStartQuat[qi + 1], state.rotStartQuat[qi + 2], state.rotStartQuat[qi + 3]);
+            const targetQuat = new Quat(state.rotTargetQuat[qi], state.rotTargetQuat[qi + 1], state.rotTargetQuat[qi + 2], state.rotTargetQuat[qi + 3]);
             const result = Quat.slerp(startQuat, targetQuat, e);
             rotations[qi] = result.x;
             rotations[qi + 1] = result.y;
             rotations[qi + 2] = result.z;
             rotations[qi + 3] = result.w;
-            if (t >= 1)
-                state.active[i] = 0;
+            if (t >= 1) {
+                state.rotActive[i] = 0;
+            }
         }
-    }
-    updateTranslationTweens() {
-        const state = this.transTweenState;
-        const now = performance.now();
+        // Update bone translation tweens
         const translations = this.runtimeSkeleton.localTranslations;
-        const boneCount = this.skeleton.bones.length;
         for (let i = 0; i < boneCount; i++) {
-            if (state.active[i] !== 1)
+            if (state.transActive[i] !== 1)
                 continue;
-            const startMs = state.startTimeMs[i];
-            const durMs = Math.max(1, state.durationMs[i]);
+            const startMs = state.transStartTimeMs[i];
+            const durMs = Math.max(1, state.transDurationMs[i]);
             const t = Math.max(0, Math.min(1, (now - startMs) / durMs));
             const e = easeInOut(t);
             const ti = i * 3;
-            translations[ti] = state.startVec[ti] + (state.targetVec[ti] - state.startVec[ti]) * e;
-            translations[ti + 1] = state.startVec[ti + 1] + (state.targetVec[ti + 1] - state.startVec[ti + 1]) * e;
-            translations[ti + 2] = state.startVec[ti + 2] + (state.targetVec[ti + 2] - state.startVec[ti + 2]) * e;
-            if (t >= 1)
-                state.active[i] = 0;
+            translations[ti] = state.transStartVec[ti] + (state.transTargetVec[ti] - state.transStartVec[ti]) * e;
+            translations[ti + 1] =
+                state.transStartVec[ti + 1] + (state.transTargetVec[ti + 1] - state.transStartVec[ti + 1]) * e;
+            translations[ti + 2] =
+                state.transStartVec[ti + 2] + (state.transTargetVec[ti + 2] - state.transStartVec[ti + 2]) * e;
+            if (t >= 1) {
+                state.transActive[i] = 0;
+            }
         }
-    }
-    updateMorphWeightTweens() {
-        const state = this.morphTweenState;
-        const now = performance.now();
+        // Update morph weight tweens
         const weights = this.runtimeMorph.weights;
         const morphCount = this.morphing.morphs.length;
-        let hasActiveTweens = false;
         for (let i = 0; i < morphCount; i++) {
-            if (state.active[i] !== 1)
+            if (state.morphActive[i] !== 1)
                 continue;
-            hasActiveTweens = true;
-            const startMs = state.startTimeMs[i];
-            const durMs = Math.max(1, state.durationMs[i]);
+            const startMs = state.morphStartTimeMs[i];
+            const durMs = Math.max(1, state.morphDurationMs[i]);
             const t = Math.max(0, Math.min(1, (now - startMs) / durMs));
             const e = easeInOut(t);
-            weights[i] = state.startWeight[i] + (state.targetWeight[i] - state.startWeight[i]) * e;
+            const oldWeight = weights[i];
+            weights[i] = state.morphStartWeight[i] + (state.morphTargetWeight[i] - state.morphStartWeight[i]) * e;
+            // Check if weight actually changed (accounting for floating point precision)
+            if (Math.abs(weights[i] - oldWeight) > 1e-6) {
+                morphChanged = true;
+            }
             if (t >= 1) {
-                weights[i] = state.targetWeight[i];
-                state.active[i] = 0;
+                weights[i] = state.morphTargetWeight[i];
+                state.morphActive[i] = 0;
+                // Check if final weight is different from old weight
+                if (Math.abs(weights[i] - oldWeight) > 1e-6) {
+                    morphChanged = true;
+                }
             }
         }
-        return hasActiveTweens;
+        return morphChanged;
     }
     getVertices() {
         return this.vertexData;
@@ -214,9 +249,9 @@ export class Model {
     }
     // ------- Bone helpers (public API) -------
     rotateBones(names, quats, durationMs) {
-        const state = this.rotTweenState;
+        const state = this.tweenState;
         const normalized = quats.map((q) => q.normalize());
-        const now = performance.now();
+        const now = this.tweenTimeMs;
         const dur = durationMs && durationMs > 0 ? durationMs : 0;
         for (let i = 0; i < names.length; i++) {
             const name = names[i];
@@ -231,44 +266,44 @@ export class Model {
                 rotations[qi + 1] = ty;
                 rotations[qi + 2] = tz;
                 rotations[qi + 3] = tw;
-                state.active[idx] = 0;
+                state.rotActive[idx] = 0;
                 continue;
             }
             let sx = rotations[qi];
             let sy = rotations[qi + 1];
             let sz = rotations[qi + 2];
             let sw = rotations[qi + 3];
-            if (state.active[idx] === 1) {
-                const startMs = state.startTimeMs[idx];
-                const prevDur = Math.max(1, state.durationMs[idx]);
+            if (state.rotActive[idx] === 1) {
+                const startMs = state.rotStartTimeMs[idx];
+                const prevDur = Math.max(1, state.rotDurationMs[idx]);
                 const t = Math.max(0, Math.min(1, (now - startMs) / prevDur));
                 const e = easeInOut(t);
-                const startQuat = new Quat(state.startQuat[qi], state.startQuat[qi + 1], state.startQuat[qi + 2], state.startQuat[qi + 3]);
-                const targetQuat = new Quat(state.targetQuat[qi], state.targetQuat[qi + 1], state.targetQuat[qi + 2], state.targetQuat[qi + 3]);
+                const startQuat = new Quat(state.rotStartQuat[qi], state.rotStartQuat[qi + 1], state.rotStartQuat[qi + 2], state.rotStartQuat[qi + 3]);
+                const targetQuat = new Quat(state.rotTargetQuat[qi], state.rotTargetQuat[qi + 1], state.rotTargetQuat[qi + 2], state.rotTargetQuat[qi + 3]);
                 const result = Quat.slerp(startQuat, targetQuat, e);
                 sx = result.x;
                 sy = result.y;
                 sz = result.z;
                 sw = result.w;
             }
-            state.startQuat[qi] = sx;
-            state.startQuat[qi + 1] = sy;
-            state.startQuat[qi + 2] = sz;
-            state.startQuat[qi + 3] = sw;
-            state.targetQuat[qi] = tx;
-            state.targetQuat[qi + 1] = ty;
-            state.targetQuat[qi + 2] = tz;
-            state.targetQuat[qi + 3] = tw;
-            state.startTimeMs[idx] = now;
-            state.durationMs[idx] = dur;
-            state.active[idx] = 1;
+            state.rotStartQuat[qi] = sx;
+            state.rotStartQuat[qi + 1] = sy;
+            state.rotStartQuat[qi + 2] = sz;
+            state.rotStartQuat[qi + 3] = sw;
+            state.rotTargetQuat[qi] = tx;
+            state.rotTargetQuat[qi + 1] = ty;
+            state.rotTargetQuat[qi + 2] = tz;
+            state.rotTargetQuat[qi + 3] = tw;
+            state.rotStartTimeMs[idx] = now;
+            state.rotDurationMs[idx] = dur;
+            state.rotActive[idx] = 1;
         }
     }
     // Move bones using VMD-style relative translations (relative to bind pose world position)
     // This is the default behavior for VMD animations
     moveBones(names, relativeTranslations, durationMs) {
-        const state = this.transTweenState;
-        const now = performance.now();
+        const state = this.tweenState;
+        const now = this.tweenTimeMs;
         const dur = durationMs && durationMs > 0 ? durationMs : 0;
         const localRot = this.runtimeSkeleton.localRotations;
         // Compute bind pose world positions for all bones
@@ -323,30 +358,30 @@ export class Model {
                 translations[ti] = tx;
                 translations[ti + 1] = ty;
                 translations[ti + 2] = tz;
-                state.active[idx] = 0;
+                state.transActive[idx] = 0;
                 continue;
             }
             let sx = translations[ti];
             let sy = translations[ti + 1];
             let sz = translations[ti + 2];
-            if (state.active[idx] === 1) {
-                const startMs = state.startTimeMs[idx];
-                const prevDur = Math.max(1, state.durationMs[idx]);
+            if (state.transActive[idx] === 1) {
+                const startMs = state.transStartTimeMs[idx];
+                const prevDur = Math.max(1, state.transDurationMs[idx]);
                 const t = Math.max(0, Math.min(1, (now - startMs) / prevDur));
                 const e = easeInOut(t);
-                sx = state.startVec[ti] + (state.targetVec[ti] - state.startVec[ti]) * e;
-                sy = state.startVec[ti + 1] + (state.targetVec[ti + 1] - state.startVec[ti + 1]) * e;
-                sz = state.startVec[ti + 2] + (state.targetVec[ti + 2] - state.startVec[ti + 2]) * e;
+                sx = state.transStartVec[ti] + (state.transTargetVec[ti] - state.transStartVec[ti]) * e;
+                sy = state.transStartVec[ti + 1] + (state.transTargetVec[ti + 1] - state.transStartVec[ti + 1]) * e;
+                sz = state.transStartVec[ti + 2] + (state.transTargetVec[ti + 2] - state.transStartVec[ti + 2]) * e;
             }
-            state.startVec[ti] = sx;
-            state.startVec[ti + 1] = sy;
-            state.startVec[ti + 2] = sz;
-            state.targetVec[ti] = tx;
-            state.targetVec[ti + 1] = ty;
-            state.targetVec[ti + 2] = tz;
-            state.startTimeMs[idx] = now;
-            state.durationMs[idx] = dur;
-            state.active[idx] = 1;
+            state.transStartVec[ti] = sx;
+            state.transStartVec[ti + 1] = sy;
+            state.transStartVec[ti + 2] = sz;
+            state.transTargetVec[ti] = tx;
+            state.transTargetVec[ti + 1] = ty;
+            state.transTargetVec[ti + 2] = tz;
+            state.transStartTimeMs[idx] = now;
+            state.transDurationMs[idx] = dur;
+            state.transActive[idx] = 1;
         }
     }
     getBoneWorldMatrices() {
@@ -355,6 +390,25 @@ export class Model {
     getBoneInverseBindMatrices() {
         return this.skeleton.inverseBindMatrices;
     }
+    getSkinMatrices() {
+        const boneCount = this.skeleton.bones.length;
+        const worldMats = this.runtimeSkeleton.worldMatrices;
+        const invBindMats = this.skeleton.inverseBindMatrices;
+        // Initialize cached array if needed or if bone count changed
+        if (!this.cachedSkinMatrices || this.cachedSkinMatrices.length !== boneCount * 16) {
+            this.cachedSkinMatrices = new Float32Array(boneCount * 16);
+        }
+        const skinMatrices = this.cachedSkinMatrices;
+        // Compute skin matrices: skinMatrix = worldMatrix × inverseBindMatrix
+        // Use Mat4.multiplyArrays to avoid creating Mat4 objects
+        for (let i = 0; i < boneCount; i++) {
+            const worldOffset = i * 16;
+            const invBindOffset = i * 16;
+            const skinOffset = i * 16;
+            Mat4.multiplyArrays(worldMats, worldOffset, invBindMats, invBindOffset, skinMatrices, skinOffset);
+        }
+        return skinMatrices;
+    }
     setMorphWeight(name, weight, durationMs) {
         const idx = this.runtimeMorph.nameIndex[name] ?? -1;
         if (idx < 0 || idx >= this.runtimeMorph.weights.length)
@@ -364,27 +418,27 @@ export class Model {
         if (dur === 0) {
             // Instant change
             this.runtimeMorph.weights[idx] = clampedWeight;
-            this.morphTweenState.active[idx] = 0;
+            this.tweenState.morphActive[idx] = 0;
             this.applyMorphs();
             return;
         }
         // Animated change
-        const state = this.morphTweenState;
-        const now = performance.now();
+        const state = this.tweenState;
+        const now = this.tweenTimeMs;
         // If already tweening, start from current interpolated value
         let startWeight = this.runtimeMorph.weights[idx];
-        if (state.active[idx] === 1) {
-            const startMs = state.startTimeMs[idx];
-            const prevDur = Math.max(1, state.durationMs[idx]);
+        if (state.morphActive[idx] === 1) {
+            const startMs = state.morphStartTimeMs[idx];
+            const prevDur = Math.max(1, state.morphDurationMs[idx]);
             const t = Math.max(0, Math.min(1, (now - startMs) / prevDur));
             const e = easeInOut(t);
-            startWeight = state.startWeight[idx] + (state.targetWeight[idx] - state.startWeight[idx]) * e;
+            startWeight = state.morphStartWeight[idx] + (state.morphTargetWeight[idx] - state.morphStartWeight[idx]) * e;
         }
-        state.startWeight[idx] = startWeight;
-        state.targetWeight[idx] = clampedWeight;
-        state.startTimeMs[idx] = now;
-        state.durationMs[idx] = dur;
-        state.active[idx] = 1;
+        state.morphStartWeight[idx] = startWeight;
+        state.morphTargetWeight[idx] = clampedWeight;
+        state.morphStartTimeMs[idx] = now;
+        state.morphDurationMs[idx] = dur;
+        state.morphActive[idx] = 1;
         // Immediately apply morphs with current weight
         this.runtimeMorph.weights[idx] = startWeight;
         this.applyMorphs();
@@ -446,20 +500,270 @@ export class Model {
             }
         }
     }
-    evaluatePose() {
-        this.updateRotationTweens();
-        this.updateTranslationTweens();
-        const hasActiveMorphTweens = this.updateMorphWeightTweens();
-        if (hasActiveMorphTweens) {
+    /**
+     * Load VMD animation file
+     */
+    async loadVmd(vmdUrl) {
+        this.animationData = await VMDLoader.load(vmdUrl);
+        this.processFrames();
+        // Apply initial pose at time 0
+        this.animationTime = 0;
+        this.getPoseAtTime(0);
+        // Apply morphs if animation changed them
+        if (this.morphsDirty) {
+            this.applyMorphs();
+            this.morphsDirty = false;
+        }
+        // Compute world matrices after applying initial pose
+        this.computeWorldMatrices();
+    }
+    /**
+     * Process frames into tracks
+     */
+    processFrames() {
+        if (!this.animationData)
+            return;
+        // Helper to group frames by name and sort by time
+        const groupFrames = (items) => {
+            const tracks = new Map();
+            for (const { item, name, time } of items) {
+                if (!tracks.has(name))
+                    tracks.set(name, []);
+                tracks.get(name).push({ item, time });
+            }
+            for (const keyFrames of tracks.values()) {
+                keyFrames.sort((a, b) => a.time - b.time);
+            }
+            return tracks;
+        };
+        // Collect all bone and morph frames
+        const boneItems = [];
+        const morphItems = [];
+        for (const keyFrame of this.animationData) {
+            for (const boneFrame of keyFrame.boneFrames) {
+                boneItems.push({ item: boneFrame, name: boneFrame.boneName, time: keyFrame.time });
+            }
+            for (const morphFrame of keyFrame.morphFrames) {
+                morphItems.push({ item: morphFrame, name: morphFrame.morphName, time: keyFrame.time });
+            }
+        }
+        // Transform to expected format
+        this.boneTracks = new Map();
+        for (const [name, frames] of groupFrames(boneItems).entries()) {
+            this.boneTracks.set(name, frames.map((f) => ({ boneFrame: f.item, time: f.time })));
+        }
+        this.morphTracks = new Map();
+        for (const [name, frames] of groupFrames(morphItems).entries()) {
+            this.morphTracks.set(name, frames.map((f) => ({ morphFrame: f.item, time: f.time })));
+        }
+        // Calculate duration from all tracks
+        const allTracks = [...this.boneTracks.values(), ...this.morphTracks.values()];
+        this.animationDuration = allTracks.reduce((max, keyFrames) => {
+            const lastTime = keyFrames[keyFrames.length - 1]?.time ?? 0;
+            return Math.max(max, lastTime);
+        }, 0);
+    }
+    /**
+     * Start or resume playback
+     */
+    playAnimation() {
+        if (!this.animationData) {
+            console.warn("[Model] Cannot play animation: no animation data loaded");
+            return;
+        }
+        this.isPaused = false;
+        this.isPlaying = true;
+        // Apply initial pose at current animation time
+        this.getPoseAtTime(this.animationTime);
+        // Apply morphs if animation changed them
+        if (this.morphsDirty) {
+            this.applyMorphs();
+            this.morphsDirty = false;
+        }
+        // Compute world matrices after applying pose
+        this.computeWorldMatrices();
+        // Reset physics when starting animation (prevents instability from sudden pose changes)
+        if (this.physics) {
+            this.physics.reset(this.runtimeSkeleton.worldMatrices, this.skeleton.inverseBindMatrices);
+        }
+    }
+    /**
+     * Pause playback
+     */
+    pauseAnimation() {
+        if (!this.isPlaying || this.isPaused)
+            return;
+        this.isPaused = true;
+    }
+    /**
+     * Stop playback and reset to beginning
+     */
+    stopAnimation() {
+        this.isPlaying = false;
+        this.isPaused = false;
+        this.animationTime = 0;
+        // Reset physics state when stopping animation (prevents instability from sudden pose changes)
+        if (this.physics) {
+            this.computeWorldMatrices();
+            this.physics.reset(this.runtimeSkeleton.worldMatrices, this.skeleton.inverseBindMatrices);
+        }
+    }
+    /**
+     * Seek to specific time
+     * Immediately applies pose at the seeked time
+     */
+    seekAnimation(time) {
+        if (!this.animationData)
+            return;
+        const clampedTime = Math.max(0, Math.min(time, this.animationDuration));
+        this.animationTime = clampedTime;
+        // Immediately apply pose at seeked time
+        this.getPoseAtTime(clampedTime);
+        // Apply morphs if animation changed them
+        if (this.morphsDirty) {
+            this.applyMorphs();
+            this.morphsDirty = false;
+        }
+        // Compute world matrices after applying pose
+        this.computeWorldMatrices();
+    }
+    /**
+     * Get current animation progress
+     */
+    getAnimationProgress() {
+        const duration = this.animationDuration;
+        const percentage = duration > 0 ? (this.animationTime / duration) * 100 : 0;
+        return {
+            current: this.animationTime,
+            duration,
+            percentage,
+        };
+    }
+    /**
+     * Get pose at specific time (internal helper)
+     */
+    getPoseAtTime(time) {
+        if (!this.animationData)
+            return;
+        // Helper for binary search upper bound
+        const upperBound = (time, keyFrames) => {
+            let left = 0, right = keyFrames.length;
+            while (left < right) {
+                const mid = Math.floor((left + right) / 2);
+                if (keyFrames[mid].time <= time)
+                    left = mid + 1;
+                else
+                    right = mid;
+            }
+            return left;
+        };
+        // Process bone tracks
+        for (const [boneName, keyFrames] of this.boneTracks.entries()) {
+            if (keyFrames.length === 0)
+                continue;
+            const clampedTime = Math.max(keyFrames[0].time, Math.min(keyFrames[keyFrames.length - 1].time, time));
+            const idx = upperBound(clampedTime, keyFrames) - 1;
+            if (idx < 0)
+                continue;
+            const frameA = keyFrames[idx].boneFrame;
+            const frameB = keyFrames[idx + 1]?.boneFrame;
+            const boneIdx = this.runtimeSkeleton.nameIndex[boneName];
+            if (boneIdx === undefined)
+                continue;
+            if (!frameB) {
+                this.runtimeSkeleton.localRotations[boneIdx * 4] = frameA.rotation.x;
+                this.runtimeSkeleton.localRotations[boneIdx * 4 + 1] = frameA.rotation.y;
+                this.runtimeSkeleton.localRotations[boneIdx * 4 + 2] = frameA.rotation.z;
+                this.runtimeSkeleton.localRotations[boneIdx * 4 + 3] = frameA.rotation.w;
+                this.runtimeSkeleton.localTranslations[boneIdx * 3] = frameA.translation.x;
+                this.runtimeSkeleton.localTranslations[boneIdx * 3 + 1] = frameA.translation.y;
+                this.runtimeSkeleton.localTranslations[boneIdx * 3 + 2] = frameA.translation.z;
+            }
+            else {
+                const timeA = keyFrames[idx].time;
+                const timeB = keyFrames[idx + 1].time;
+                const gradient = (clampedTime - timeA) / (timeB - timeA);
+                const interp = frameB.interpolation;
+                // Interpolate rotation using SLERP with bezier
+                const rotT = bezierInterpolate(interp[0] / 127, interp[1] / 127, interp[2] / 127, interp[3] / 127, gradient);
+                const rotation = Quat.slerp(frameA.rotation, frameB.rotation, rotT);
+                // Interpolate translation using bezier for each component
+                const getWeight = (offset) => bezierInterpolate(interp[offset] / 127, interp[offset + 8] / 127, interp[offset + 4] / 127, interp[offset + 12] / 127, gradient);
+                const lerp = (a, b, w) => a + (b - a) * w;
+                const translation = new Vec3(lerp(frameA.translation.x, frameB.translation.x, getWeight(0)), lerp(frameA.translation.y, frameB.translation.y, getWeight(16)), lerp(frameA.translation.z, frameB.translation.z, getWeight(32)));
+                this.runtimeSkeleton.localRotations[boneIdx * 4] = rotation.x;
+                this.runtimeSkeleton.localRotations[boneIdx * 4 + 1] = rotation.y;
+                this.runtimeSkeleton.localRotations[boneIdx * 4 + 2] = rotation.z;
+                this.runtimeSkeleton.localRotations[boneIdx * 4 + 3] = rotation.w;
+                this.runtimeSkeleton.localTranslations[boneIdx * 3] = translation.x;
+                this.runtimeSkeleton.localTranslations[boneIdx * 3 + 1] = translation.y;
+                this.runtimeSkeleton.localTranslations[boneIdx * 3 + 2] = translation.z;
+            }
+        }
+        // Process morph tracks
+        for (const [morphName, keyFrames] of this.morphTracks.entries()) {
+            if (keyFrames.length === 0)
+                continue;
+            const clampedTime = Math.max(keyFrames[0].time, Math.min(keyFrames[keyFrames.length - 1].time, time));
+            const idx = upperBound(clampedTime, keyFrames) - 1;
+            if (idx < 0)
+                continue;
+            const frameA = keyFrames[idx].morphFrame;
+            const frameB = keyFrames[idx + 1]?.morphFrame;
+            const morphIdx = this.runtimeMorph.nameIndex[morphName];
+            if (morphIdx === undefined)
+                continue;
+            const weight = frameB
+                ? frameA.weight +
+                    (frameB.weight - frameA.weight) *
+                        ((clampedTime - keyFrames[idx].time) / (keyFrames[idx + 1].time - keyFrames[idx].time))
+                : frameA.weight;
+            this.runtimeMorph.weights[morphIdx] = weight;
+            this.morphsDirty = true; // Mark as dirty when animation sets morph weights
+        }
+    }
+    /**
+     * Updates the model pose by recomputing all matrices.
+     * If animation is playing, applies animation pose first.
+     * deltaTime: Time elapsed since last update in seconds
+     * Returns true if vertices were modified (morphs changed)
+     */
+    update(deltaTime) {
+        // Update tween time (in milliseconds)
+        this.tweenTimeMs += deltaTime * 1000;
+        // Update all active tweens (rotations, translations, morphs)
+        const tweensChangedMorphs = this.updateTweens();
+        // Apply animation if playing or paused (always apply pose if animation data exists and we have a time set)
+        if (this.animationData) {
+            if (this.isPlaying && !this.isPaused) {
+                this.animationTime += deltaTime;
+                if (this.animationTime >= this.animationDuration) {
+                    this.animationTime = this.animationDuration;
+                    this.pauseAnimation(); // Auto-pause at end
+                }
+                this.getPoseAtTime(this.animationTime);
+            }
+            else if (this.isPaused || (!this.isPlaying && this.animationTime >= 0)) {
+                // Apply pose at paused time or if we have a seeked time but not playing
+                this.getPoseAtTime(this.animationTime);
+            }
+        }
+        // Apply morphs if tweens changed morphs or animation changed morphs
+        const verticesChanged = this.morphsDirty || tweensChangedMorphs;
+        if (this.morphsDirty || tweensChangedMorphs) {
             this.applyMorphs();
+            this.morphsDirty = false;
         }
-        // Compute initial world matrices (needed for IK solving to read bone positions)
+        // Compute world matrices (needed for IK solving to read bone positions)
         this.computeWorldMatrices();
         // Solve IK chains (modifies localRotations with final IK rotations)
         this.solveIKChains();
         // Recompute world matrices with final IK rotations applied to localRotations
         this.computeWorldMatrices();
-        return hasActiveMorphTweens;
+        if (this.physics) {
+            this.physics.step(deltaTime, this.runtimeSkeleton.worldMatrices, this.skeleton.inverseBindMatrices);
+        }
+        return verticesChanged;
     }
     solveIKChains() {
         const ikSolvers = this.runtimeSkeleton.ikSolvers;