reze-engine 0.31.2 → 0.31.3

package/dist/physics/body.d.ts

@@ -25,6 +25,9 @@ export declare class RigidBodyStore {
     readonly bodyOffsetInverse: Float32Array;
     private boneOffsetsReady;
     private collisionPairs;
+    /** Index of the built-in floor body (see RezePhysics constructor), -1 if none.
+     *  Excluded from the pair list; findContacts gives it a dedicated plane pass. */
+    groundIndex: number;
     constructor(rigidbodies: Rigidbody[]);
     updateInvInertiaWorld(): void;
     updateAabbs(margin?: number): void;

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;IAEjD;qFACiF;IACjF,WAAW,SAAK;gBAEJ,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

@@ -10,6 +10,9 @@ export class RigidBodyStore {
         // once collapses 60k pair tests/step (349 bodies) down to a few thousand.
         // Built lazily on first access.
         this.collisionPairs = null;
+        /** Index of the built-in floor body (see RezePhysics constructor), -1 if none.
+         *  Excluded from the pair list; findContacts gives it a dedicated plane pass. */
+        this.groundIndex = -1;
         const N = rigidbodies.length;
         this.count = N;
         this.positions = new Float32Array(N * 3);

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

@@ -1 +1 @@
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+{"version":3,"file":"contact.d.ts","sourceRoot":"","sources":["../../src/physics/contact.ts"],"names":[],"mappings":"AASA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAO5C,eAAO,MAAM,cAAc,OAAO,CAAA;AAElC,MAAM,WAAW,OAAO;IACtB,KAAK,EAAE,MAAM,CAAA;IACb,KAAK,EAAE,MAAM,CAAA;IAEb,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IAEX,EAAE,EAAE,MAAM,CAAA;IACV,EAAE,EAAE,MAAM,CAAA;IACV,EAAE,EAAE,MAAM,CAAA;IACV,KAAK,EAAE,MAAM,CAAA;IACb,QAAQ,EAAE,MAAM,CAAA;IAChB,WAAW,EAAE,MAAM,CAAA;IAEnB,oBAAoB,EAAE,MAAM,CAAA;IAC5B,uBAAuB,EAAE,MAAM,CAAA;IAC/B,uBAAuB,EAAE,MAAM,CAAA;IAI/B,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;IACxC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;IACxC,OAAO,EAAE,MAAM,CAAA;IACf,SAAS,EAAE,MAAM,CAAA;IAEjB,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;IACrC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;IAC3C,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;IAC3C,QAAQ,EAAE,MAAM,CAAA;IAEhB,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;IACrC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;IAC3C,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;IAC3C,QAAQ,EAAE,MAAM,CAAA;CACjB;AA8BD,qBAAa,WAAW;IACtB,OAAO,CAAC,IAAI,CAAgB;IAC5B,KAAK,SAAI;IAET,OAAO,IAAI,OAAO;IAelB,KAAK,IAAI,IAAI;IAGb,GAAG,CAAC,CAAC,EAAE,MAAM,GAAG,OAAO;CAGxB;AASD,wBAAgB,WAAW,CAAC,KAAK,EAAE,cAAc,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,OAAO,CAahF;AAkxBD,wBAAgB,gBAAgB,CAAC,KAAK,EAAE,cAAc,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,WAAW,GAAG,IAAI,CAuCrG;AA4BD,wBAAgB,YAAY,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,WAAW,GAAG,IAAI,CAsB3E"}

package/dist/physics/contact.js

@@ -720,4 +720,88 @@ export function findContacts(store, pool) {
             continue;
         generateContacts(store, i, j, pool);
     }
+    // Built-in floor: a plane pass against every dynamic body. Cheaper and more
+    // complete than routing the huge ground box through the pair machinery —
+    // one y-test per body, and box hems collide too (there is no generic
+    // box-box narrowphase to lean on).
+    const g = store.groundIndex;
+    if (g >= 0) {
+        const minA = store.aabbMin;
+        for (let i = 0; i < store.count; i++) {
+            if (store.invMass[i] <= 0)
+                continue;
+            if (minA[i * 3 + 1] > CONTACT_MARGIN)
+                continue;
+            detectFloor(store, i, g, pool);
+        }
+    }
+}
+// The floor's top face is the model-space plane y = 0; its body (`g`) exists so
+// contact rows have a static B side. Normal convention matches the detectors:
+// A→B, so pointing DOWN into the floor; depth > 0 = penetrating.
+function detectFloor(store, a, g, pool) {
+    const ai = a * 3;
+    const pos = store.positions;
+    const gx = pos[g * 3 + 0];
+    const gy = pos[g * 3 + 1];
+    const gz = pos[g * 3 + 2];
+    const emit = (px, py, pz, depth) => {
+        const c = pool.acquire();
+        c.bodyA = a;
+        c.bodyB = g;
+        c.nx = 0;
+        c.ny = -1;
+        c.nz = 0;
+        c.depth = depth;
+        c.rAx = px - pos[ai + 0];
+        c.rAy = py - pos[ai + 1];
+        c.rAz = pz - pos[ai + 2];
+        c.rBx = px - gx;
+        c.rBy = py - gy;
+        c.rBz = pz - gz;
+        combineMaterials(store, a, g, c);
+    };
+    const cx = pos[ai + 0];
+    const cy = pos[ai + 1];
+    const cz = pos[ai + 2];
+    switch (store.shape[a]) {
+        case RigidbodyShape.Sphere: {
+            const r = store.size[ai + 0];
+            const low = cy - r;
+            if (low <= CONTACT_MARGIN)
+                emit(cx, low, cz, -low);
+            break;
+        }
+        case RigidbodyShape.Capsule: {
+            const r = store.size[ai + 0];
+            const h = store.size[ai + 1] * 0.5;
+            const ax = _capPoint;
+            capsuleAxis(store, a, ax);
+            for (const sgn of [-1, 1]) {
+                const ex = cx + ax[0] * h * sgn;
+                const ey = cy + ax[1] * h * sgn;
+                const ez = cz + ax[2] * h * sgn;
+                const low = ey - r;
+                if (low <= CONTACT_MARGIN)
+                    emit(ex, low, ez, -low);
+            }
+            break;
+        }
+        case RigidbodyShape.Box: {
+            const hx = store.size[ai + 0];
+            const hy = store.size[ai + 1];
+            const hz = store.size[ai + 2];
+            const out = _capPointB;
+            for (let k = 0; k < 8; k++) {
+                const lx = k & 1 ? hx : -hx;
+                const ly = k & 2 ? hy : -hy;
+                const lz = k & 4 ? hz : -hz;
+                bodyLocalToWorldDir(store, a, lx, ly, lz, out);
+                const wy = cy + out[1];
+                if (wy <= CONTACT_MARGIN)
+                    emit(cx + out[0], wy, cz + out[2], -wy);
+            }
+            break;
+        }
+    }
 }

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

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package/dist/physics/physics.js

@@ -1,5 +1,5 @@
 import { Vec3, Quat, Mat4 } from "../math";
-import { RigidbodyType } from "./types";
+import { RigidbodyType, RigidbodyShape } from "./types";
 import { RigidBodyStore } from "./body";
 import { World } from "./world";
 import { buildConstraints } from "./constraint";
@@ -25,7 +25,37 @@ export class RezePhysics {
         this.teleportCount = 0;
         this.rigidbodies = rigidbodies;
         this.joints = joints;
-        this.store = new RigidBodyStore(rigidbodies);
+        // The floor is part of every world: a huge static box whose top face is
+        // model-space y = 0, so hair and hems rest on the ground instead of
+        // clipping through when a pose reaches it. Boneless (every bone-sync loop
+        // skips boneIndex < 0); collides with EVERY dynamic body regardless of
+        // group masks via findContacts' dedicated plane pass (spheres, capsules
+        // and boxes — box hems included).
+        const ground = {
+            name: "__ground__",
+            englishName: "__ground__",
+            boneIndex: -1,
+            group: 0,
+            collisionMask: 0xffff,
+            shape: RigidbodyShape.Box,
+            size: new Vec3(500, 1, 500),
+            shapePosition: new Vec3(0, -1, 0),
+            shapeRotation: new Vec3(0, 0, 0),
+            mass: 0,
+            linearDamping: 0,
+            angularDamping: 0,
+            restitution: 0,
+            friction: 0.6,
+            type: RigidbodyType.Static,
+            bodyOffsetMatrixInverse: Mat4.identity(),
+        };
+        this.store = new RigidBodyStore([...rigidbodies, ground]);
+        const gi = this.store.count - 1;
+        // Mask 0 keeps the floor OUT of the generic pair list — findContacts runs a
+        // dedicated plane pass against every dynamic body (all shapes, boxes too).
+        this.store.collisionGroup[gi] = 0;
+        this.store.willCollideMask[gi] = 0;
+        this.store.groundIndex = gi;
         this.world = new World(new Vec3(0, -98, 0));
         this.constraints = buildConstraints(rigidbodies, joints);
         this.contacts = new ContactPool();

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "reze-engine",
-  "version": "0.31.2",
+  "version": "0.31.3",
   "description": "A lightweight WebGPU engine for real-time 3D MMD/PMX model rendering",
   "main": "./dist/index.js",
   "types": "./dist/index.d.ts",

package/src/physics/body.ts

@@ -53,6 +53,10 @@ export class RigidBodyStore {
   // Built lazily on first access.
   private collisionPairs: Uint16Array | null = null
 
+  /** Index of the built-in floor body (see RezePhysics constructor), -1 if none.
+   *  Excluded from the pair list; findContacts gives it a dedicated plane pass. */
+  groundIndex = -1
+
   constructor(rigidbodies: Rigidbody[]) {
     const N = rigidbodies.length
     this.count = N

package/src/physics/contact.ts

@@ -993,4 +993,84 @@ export function findContacts(store: RigidBodyStore, pool: ContactPool): void {
     if (!aabbOverlap(store, i, j)) continue
     generateContacts(store, i, j, pool)
   }
+  // Built-in floor: a plane pass against every dynamic body. Cheaper and more
+  // complete than routing the huge ground box through the pair machinery —
+  // one y-test per body, and box hems collide too (there is no generic
+  // box-box narrowphase to lean on).
+  const g = store.groundIndex
+  if (g >= 0) {
+    const minA = store.aabbMin
+    for (let i = 0; i < store.count; i++) {
+      if (store.invMass[i] <= 0) continue
+      if (minA[i * 3 + 1] > CONTACT_MARGIN) continue
+      detectFloor(store, i, g, pool)
+    }
+  }
+}
+
+// The floor's top face is the model-space plane y = 0; its body (`g`) exists so
+// contact rows have a static B side. Normal convention matches the detectors:
+// A→B, so pointing DOWN into the floor; depth > 0 = penetrating.
+function detectFloor(store: RigidBodyStore, a: number, g: number, pool: ContactPool): void {
+  const ai = a * 3
+  const pos = store.positions
+  const gx = pos[g * 3 + 0]
+  const gy = pos[g * 3 + 1]
+  const gz = pos[g * 3 + 2]
+  const emit = (px: number, py: number, pz: number, depth: number) => {
+    const c = pool.acquire()
+    c.bodyA = a
+    c.bodyB = g
+    c.nx = 0
+    c.ny = -1
+    c.nz = 0
+    c.depth = depth
+    c.rAx = px - pos[ai + 0]
+    c.rAy = py - pos[ai + 1]
+    c.rAz = pz - pos[ai + 2]
+    c.rBx = px - gx
+    c.rBy = py - gy
+    c.rBz = pz - gz
+    combineMaterials(store, a, g, c)
+  }
+  const cx = pos[ai + 0]
+  const cy = pos[ai + 1]
+  const cz = pos[ai + 2]
+  switch (store.shape[a]) {
+    case RigidbodyShape.Sphere: {
+      const r = store.size[ai + 0]
+      const low = cy - r
+      if (low <= CONTACT_MARGIN) emit(cx, low, cz, -low)
+      break
+    }
+    case RigidbodyShape.Capsule: {
+      const r = store.size[ai + 0]
+      const h = store.size[ai + 1] * 0.5
+      const ax = _capPoint
+      capsuleAxis(store, a, ax)
+      for (const sgn of [-1, 1]) {
+        const ex = cx + ax[0] * h * sgn
+        const ey = cy + ax[1] * h * sgn
+        const ez = cz + ax[2] * h * sgn
+        const low = ey - r
+        if (low <= CONTACT_MARGIN) emit(ex, low, ez, -low)
+      }
+      break
+    }
+    case RigidbodyShape.Box: {
+      const hx = store.size[ai + 0]
+      const hy = store.size[ai + 1]
+      const hz = store.size[ai + 2]
+      const out = _capPointB
+      for (let k = 0; k < 8; k++) {
+        const lx = k & 1 ? hx : -hx
+        const ly = k & 2 ? hy : -hy
+        const lz = k & 4 ? hz : -hz
+        bodyLocalToWorldDir(store, a, lx, ly, lz, out)
+        const wy = cy + out[1]
+        if (wy <= CONTACT_MARGIN) emit(cx + out[0], wy, cz + out[2], -wy)
+      }
+      break
+    }
+  }
 }

package/src/physics/physics.ts

@@ -1,6 +1,6 @@
 import { Vec3, Quat, Mat4 } from "../math"
 import type { Rigidbody, Joint } from "./types"
-import { RigidbodyType } from "./types"
+import { RigidbodyType, RigidbodyShape } from "./types"
 import { RigidBodyStore } from "./body"
 import { World } from "./world"
 import { buildConstraints, type SixDofSpringConstraint } from "./constraint"
@@ -67,7 +67,37 @@ export class RezePhysics {
   constructor(rigidbodies: Rigidbody[], joints: Joint[] = []) {
     this.rigidbodies = rigidbodies
     this.joints = joints
-    this.store = new RigidBodyStore(rigidbodies)
+    // The floor is part of every world: a huge static box whose top face is
+    // model-space y = 0, so hair and hems rest on the ground instead of
+    // clipping through when a pose reaches it. Boneless (every bone-sync loop
+    // skips boneIndex < 0); collides with EVERY dynamic body regardless of
+    // group masks via findContacts' dedicated plane pass (spheres, capsules
+    // and boxes — box hems included).
+    const ground: Rigidbody = {
+      name: "__ground__",
+      englishName: "__ground__",
+      boneIndex: -1,
+      group: 0,
+      collisionMask: 0xffff,
+      shape: RigidbodyShape.Box,
+      size: new Vec3(500, 1, 500),
+      shapePosition: new Vec3(0, -1, 0),
+      shapeRotation: new Vec3(0, 0, 0),
+      mass: 0,
+      linearDamping: 0,
+      angularDamping: 0,
+      restitution: 0,
+      friction: 0.6,
+      type: RigidbodyType.Static,
+      bodyOffsetMatrixInverse: Mat4.identity(),
+    }
+    this.store = new RigidBodyStore([...rigidbodies, ground])
+    const gi = this.store.count - 1
+    // Mask 0 keeps the floor OUT of the generic pair list — findContacts runs a
+    // dedicated plane pass against every dynamic body (all shapes, boxes too).
+    this.store.collisionGroup[gi] = 0
+    this.store.willCollideMask[gi] = 0
+    this.store.groundIndex = gi
     this.world = new World(new Vec3(0, -98, 0))
     this.constraints = buildConstraints(rigidbodies, joints)
     this.contacts = new ContactPool()