reze-engine 0.31.3 → 0.32.1

package/README.md

@@ -15,7 +15,7 @@ npm install reze-engine
 - **Anime-style rendering** — toon-ramp NPR over a Principled GGX BSDF, mixed per material
 - **Shader-graph materials** — every look is a Blender-style node graph compiled to WGSL; style groups bind any materials to any graph, fully customizable
 - **HDR pipeline** — bloom, Filmic tone mapping, ASC CDL colour grading, 4× MSAA, Apple-TBDR-friendly targets
-- **In-house TS physics** — sequential-impulse rigid bodies for PMX rigs with rest-stable implicit spring-dampers, zero dependencies
+- **In-house TS physics** — sequential-impulse rigid bodies for PMX rigs with rest-stable implicit spring-dampers, zero dependencies; each model simulates on its own Web Worker (plain transferables — no SharedArrayBuffer, no special headers), so physics costs the main thread ~0.1 ms and a multi-model scene pays for its slowest world, not the sum
 - **Math library** — the shared Vec3/Quat/Mat4 layer of the Reze family: euler orders, swing-twist, shortest-arc, look-rotation, zero-alloc `*Into` variants
 - **VMD animation** — MMD IK with per-chain enable read from the motion, morphs on a GPU compute path, and VMD export
 - **Clip blending & locomotion** — weighted multi-clip pose blending, crossfades, and a game-style character controller (idle/run/sprint speed blend, authored stop skids, code-driven root motion) — the [demo](https://reze.one) is WASD-playable
@@ -88,6 +88,8 @@ engine/src/
 
   physics/           in-house rigid-body solver (~2.5k lines)
     physics.ts         RezePhysics: bone↔body sync, fixed-step accumulator + interpolation
+    physics.worker.ts  worker entry — one model's world per worker, pipelined one
+    worker-physics.ts  frame deep over transferable buffers (main-thread facade)
     solver.ts          sequential-impulse PGS (joint + contact rows)
     contact.ts         narrowphase (analytical sphere/box/capsule pairs) + contact pool
     constraint.ts      6DOF spring joints   ·   world.ts  broadphase + step

package/dist/engine.d.ts

@@ -1,6 +1,7 @@
 import { Quat, Vec3 } from "./math";
 import { Model } from "./model";
 import { RezePhysics } from "./physics";
+import { WorkerPhysics } from "./physics/worker-physics";
 import { type AssetReader } from "./asset-reader";
 import { type CompileOptions, type StyleSlot } from "./graph/compile";
 import type { AlphaMode, RenderClass } from "./graph/render-class";
@@ -136,6 +137,11 @@ export interface GizmoDragEvent {
  */
 export type GizmoDragCallback = (event: GizmoDragEvent) => void;
 export type EngineOptions = {
+    /** Run each model's physics on a dedicated Web Worker (default true where
+     *  Workers exist). Pipelined one frame deep: main-thread physics cost drops
+     *  to two small copies and multi-model scenes pay for the SLOWEST model
+     *  instead of the sum. false = classic main-thread stepping. */
+    physicsWorkers?: boolean;
     world?: WorldOptions;
     sun?: SunOptions;
     camera?: CameraOptions;
@@ -175,6 +181,7 @@ export interface EngineStats {
     jitter: number;
     cpuAnimMs: number;
     cpuPhysicsMs: number;
+    cpuPhysicsWorkerMs: number;
     cpuRenderMs: number;
 }
 type DrawCallType = "opaque" | "transparent" | "ground" | "opaque-outline" | "transparent-outline";
@@ -220,7 +227,7 @@ interface ModelInstance {
     pickPerInstanceBindGroup: GPUBindGroup;
     pickDrawCalls: PickDrawCall[];
     hiddenMaterials: Set<string>;
-    physics: RezePhysics | null;
+    physics: RezePhysics | WorkerPhysics | null;
     vertexBufferNeedsUpdate: boolean;
     gpuMorph: GpuMorph | null;
     styleGroups: Map<string, GroupInstall>;
@@ -634,6 +641,9 @@ export declare class Engine {
     private forEachInstance;
     private cpuAnimMs;
     private cpuPhysicsMs;
+    /** EMA of worker-side step cost (all instances) — the off-thread physics bill. */
+    private cpuPhysicsWorkerMs;
+    private physicsWorkersEnabled;
     private cpuRenderMs;
     private frameAnimMsRaw;
     private framePhysicsMsRaw;

package/dist/engine.d.ts.map

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

@@ -6,6 +6,7 @@ import { VMDLoader } from "./vmd-loader";
 import { CameraAnimation } from "./camera-animation";
 import { PmxLoader } from "./pmx-loader";
 import { RezePhysics } from "./physics";
+import { WorkerPhysics } from "./physics/worker-physics";
 import { createFetchAssetReader, createFileMapAssetReader, deriveBasePathFromPmxPath, fileListToMap, findFirstPmxFileInList, joinAssetPath, normalizeAssetPath, } from "./asset-reader";
 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";
@@ -349,6 +350,7 @@ export class Engine {
             fps1PercentLow: 0,
             cpuAnimMs: 0,
             cpuPhysicsMs: 0,
+            cpuPhysicsWorkerMs: 0,
             cpuRenderMs: 0,
             jitter: 0,
         };
@@ -382,6 +384,9 @@ export class Engine {
         // else on the render thread. The first question of any perf report.
         this.cpuAnimMs = 0;
         this.cpuPhysicsMs = 0;
+        /** EMA of worker-side step cost (all instances) — the off-thread physics bill. */
+        this.cpuPhysicsWorkerMs = 0;
+        this.physicsWorkersEnabled = true;
         this.cpuRenderMs = 0;
         this.frameAnimMsRaw = 0;
         this.framePhysicsMsRaw = 0;
@@ -592,6 +597,7 @@ export class Engine {
             this.gizmoDrag = null;
             this.camera?.setInputLocked(false);
         };
+        this.physicsWorkersEnabled = options?.physicsWorkers ?? true;
         this.canvas = canvas;
         const d = DEFAULT_ENGINE_OPTIONS;
         this.world = {
@@ -2592,7 +2598,11 @@ export class Engine {
     }
     dispose() {
         this.stopRenderLoop();
-        this.forEachInstance((inst) => inst.model.stopAnimation());
+        this.forEachInstance((inst) => {
+            inst.model.stopAnimation();
+            if (inst.physics instanceof WorkerPhysics)
+                inst.physics.dispose();
+        });
         if (Engine.instance === this)
             Engine.instance = null;
         if (this.camera)
@@ -2661,6 +2671,8 @@ export class Engine {
         if (!inst)
             return;
         inst.model.stopAnimation();
+        if (inst.physics instanceof WorkerPhysics)
+            inst.physics.dispose();
         for (const path of inst.textureCacheKeys) {
             const tex = this.textureCache.get(path);
             if (!tex)
@@ -2831,6 +2843,7 @@ export class Engine {
     updateInstances(deltaTime) {
         let animMs = 0;
         let physicsMs = 0;
+        let workerMs = 0;
         this.forEachInstance((inst) => {
             const tAnim = performance.now();
             const verticesChanged = inst.model.update(deltaTime, this.ikEnabled);
@@ -2857,6 +2870,8 @@ export class Engine {
                 const tPhys = performance.now();
                 inst.physics.step(deltaTime, inst.model.getWorldMatrices(), inst.model.getBoneInverseBindMatrices());
                 physicsMs += performance.now() - tPhys;
+                if (inst.physics instanceof WorkerPhysics)
+                    workerMs = Math.max(workerMs, inst.physics.stepMs);
             }
             if (inst.vertexBufferNeedsUpdate)
                 this.updateVertexBuffer(inst);
@@ -2866,6 +2881,7 @@ export class Engine {
         const EMA = 0.1;
         this.cpuAnimMs += (animMs - this.cpuAnimMs) * EMA;
         this.cpuPhysicsMs += (physicsMs - this.cpuPhysicsMs) * EMA;
+        this.cpuPhysicsWorkerMs += (workerMs - this.cpuPhysicsWorkerMs) * EMA;
     }
     updateVertexBuffer(inst) {
         // GPU-morph models never CPU-upload the vertex buffer after load — the compute pass
@@ -2950,7 +2966,19 @@ export class Engine {
         });
         this.device.queue.writeBuffer(indexBuffer, 0, indices);
         const rbs = model.getRigidbodies();
-        const physics = rbs.length > 0 ? new RezePhysics(rbs, model.getJoints()) : null;
+        let physics = null;
+        if (rbs.length > 0) {
+            if (this.physicsWorkersEnabled && WorkerPhysics.supported()) {
+                try {
+                    physics = await WorkerPhysics.create(rbs, model.getJoints(), model.getBoneInverseBindMatrices());
+                }
+                catch (e) {
+                    console.warn("[reze] physics worker unavailable — falling back to main-thread physics:", e);
+                }
+            }
+            if (!physics)
+                physics = new RezePhysics(rbs, model.getJoints());
+        }
         const shadowBindGroup = this.device.createBindGroup({
             label: `${name}: shadow bind`,
             layout: this.shadowDepthPipeline.getBindGroupLayout(0),
@@ -4610,6 +4638,7 @@ export class Engine {
         this.stats.jitter = Math.round(stddev * 100) / 100;
         this.stats.cpuAnimMs = Math.round(this.cpuAnimMs * 100) / 100;
         this.stats.cpuPhysicsMs = Math.round(this.cpuPhysicsMs * 100) / 100;
+        this.stats.cpuPhysicsWorkerMs = Math.round(this.cpuPhysicsWorkerMs * 100) / 100;
         this.stats.cpuRenderMs = Math.round(this.cpuRenderMs * 100) / 100;
     }
 }

package/dist/locomotion.d.ts.map

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

@@ -6,6 +6,8 @@
 import { FPS } from "./animation";
 import { Quat, Vec3 } from "./math";
 const TWO_PI = Math.PI * 2;
+/** Seconds an interrupted stop's ghost pose takes to dissolve over resumed locomotion. */
+const GHOST_FADE = 0.25;
 function wrapAngle(a) {
     while (a > Math.PI)
         a -= TWO_PI;
@@ -281,12 +283,24 @@ export class LocomotionController {
         const maxStep = this.speedResponse * dt;
         const d = target - this.speedLevel;
         this.speedLevel += Math.abs(d) <= maxStep ? d : Math.sign(d) * maxStep;
+        // Breakout throttle: while an interrupted skid's ghost still owns part of
+        // the pose (planted feet), root motion and the gait clock scale by what's
+        // LEFT of it — she accelerates exactly as the skid dissolves, so the feet
+        // never slide (滑步) through the handoff.
+        let ghostW = 0;
+        if (this.exitGhost) {
+            this.exitGhost.elapsed += dt;
+            ghostW = Math.max(0, 1 - this.exitGhost.elapsed / GHOST_FADE);
+            if (ghostW <= 0)
+                this.exitGhost = null;
+        }
         // Root motion along the travel direction. In-place clips carry no horizontal root.
         const speed = (this.speedLevel <= 1
             ? this.runSpeed * this.speedLevel
             : this.runSpeed + (this.sprintSpeed - this.runSpeed) * (this.speedLevel - 1)) *
             align *
-            speedScale;
+            speedScale *
+            (1 - ghostW);
         this.position.x += this.dirX * speed * dt;
         this.position.z += this.dirZ * speed * dt;
         // Clocks: idle free-runs; run/sprint share one normalized gait phase so a
@@ -296,7 +310,7 @@ export class LocomotionController {
         const sprintDur = hasSprint ? this.clipDuration(this.clips.sprint) : runDur;
         this.idleTime = (this.idleTime + dt) % idleDur;
         const gaitDur = this.speedLevel <= 1 ? runDur : runDur + (sprintDur - runDur) * (this.speedLevel - 1);
-        this.gaitPhase = (this.gaitPhase + dt / gaitDur) % 1;
+        this.gaitPhase = (this.gaitPhase + (dt * (1 - ghostW)) / gaitDur) % 1;
         // Weights along the 1D speed axis.
         let wIdle, wRun, wSprint;
         if (this.speedLevel <= 1) {
@@ -315,23 +329,14 @@ export class LocomotionController {
         this.entries[1].weight = wRun;
         this.entries[2].time = this.gaitPhase * sprintDur;
         this.entries[2].weight = wSprint;
-        const GHOST_FADE = 0.25;
-        if (this.exitGhost) {
+        if (this.exitGhost !== null && ghostW > 0) {
             const g = this.exitGhost;
-            g.elapsed += dt;
-            const wGhost = Math.max(0, 1 - g.elapsed / GHOST_FADE);
-            if (wGhost <= 0) {
-                this.exitGhost = null;
-                this.entries[3].weight = 0;
-            }
-            else {
-                this.entries[0].weight *= 1 - wGhost;
-                this.entries[1].weight *= 1 - wGhost;
-                this.entries[2].weight *= 1 - wGhost;
-                this.entries[3].name = g.clip;
-                this.entries[3].time = g.clipTime + g.elapsed; // the clip's real tail keeps playing
-                this.entries[3].weight = wGhost;
-            }
+            this.entries[0].weight *= 1 - ghostW;
+            this.entries[1].weight *= 1 - ghostW;
+            this.entries[2].weight *= 1 - ghostW;
+            this.entries[3].name = g.clip;
+            this.entries[3].time = g.clipTime + g.elapsed; // the clip's real tail keeps playing
+            this.entries[3].weight = ghostW;
         }
         else {
             this.entries[3].weight = 0;

package/dist/physics/constraint.d.ts

@@ -12,38 +12,6 @@ export interface SixDofSpringConstraint {
     springStiffness: Float32Array;
     equilibriumPoint: Float32Array;
     isLoop: boolean;
-    cacheSkip: boolean;
-    cacheLeverA: Float32Array;
-    cacheLeverB: Float32Array;
-    cacheLinAxes: Float32Array;
-    cacheLinCrossA: Float32Array;
-    cacheLinCrossB: Float32Array;
-    cacheLinJacInv: Float32Array;
-    cacheLinTargetVel: Float32Array;
-    cacheLinActive: Uint8Array;
-    cacheLinLimitImp: Float32Array;
-    cacheLinSpringTarget: Float32Array;
-    cacheLinSpringMaxImp: Float32Array;
-    cacheLinSpringImp: Float32Array;
-    cacheLinSpringActive: Uint8Array;
-    cacheAngAxes: Float32Array;
-    cacheAngTargetVel: Float32Array;
-    cacheAngActive: Uint8Array;
-    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

@@ -1 +1 @@
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package/dist/physics/constraint.js

@@ -71,38 +71,6 @@ export function buildConstraints(rigidbodies, joints) {
             springStiffness,
             equilibriumPoint: new Float32Array(6),
             isLoop: false,
-            cacheSkip: false,
-            cacheLeverA: new Float32Array(3),
-            cacheLeverB: new Float32Array(3),
-            cacheLinAxes: new Float32Array(9),
-            cacheLinCrossA: new Float32Array(9),
-            cacheLinCrossB: new Float32Array(9),
-            cacheLinJacInv: new Float32Array(3),
-            cacheLinTargetVel: new Float32Array(3),
-            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: 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

package/dist/physics/physics.d.ts

@@ -7,6 +7,7 @@ export declare class RezePhysics {
     private store;
     private world;
     private constraints;
+    private solverCache;
     private contacts;
     private firstFrame;
     private timeAccum;

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

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package/dist/physics/physics.js

@@ -3,6 +3,7 @@ import { RigidbodyType, RigidbodyShape } from "./types";
 import { RigidBodyStore } from "./body";
 import { World } from "./world";
 import { buildConstraints } from "./constraint";
+import { SolverCache } from "./solver";
 import { ContactPool } from "./contact";
 const _bodyMat = new Float32Array(16);
 const _boneMat = new Float32Array(16);
@@ -58,6 +59,7 @@ export class RezePhysics {
         this.store.groundIndex = gi;
         this.world = new World(new Vec3(0, -98, 0));
         this.constraints = buildConstraints(rigidbodies, joints);
+        this.solverCache = new SolverCache(this.constraints);
         this.contacts = new ContactPool();
         this.prevPositions = new Float32Array(this.store.count * 3);
         this.prevOrientations = new Float32Array(this.store.count * 4);
@@ -211,7 +213,7 @@ export class RezePhysics {
             this.savePrevState();
             this.advanceKinematicToTargets(1 / (nSub - k));
             const tStep = performance.now();
-            this.world.step(this.store, this.constraints, this.contacts, this.fixedTimeStep);
+            this.world.step(this.store, this.constraints, this.solverCache, this.contacts, this.fixedTimeStep);
             this.stepCostEmaMs += (performance.now() - tStep - this.stepCostEmaMs) * 0.2;
             this.restoreNonFiniteBodies();
             this.timeAccum -= this.fixedTimeStep;

package/dist/physics/physics.worker.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=physics.worker.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"physics.worker.d.ts","sourceRoot":"","sources":["../../src/physics/physics.worker.ts"],"names":[],"mappings":""}

package/dist/physics/physics.worker.js

@@ -0,0 +1,52 @@
+// Physics worker: owns ONE model's RezePhysics world. The host posts the
+// frame's bone world matrices as a transferable buffer; the worker steps the
+// simulation (identical math to the main-thread path — same class, same code)
+// and returns the buffer with the dynamic bones' matrices written back, plus
+// its own step cost for the host's stats.
+//
+// The incoming buffer is COPIED into a persistent local pose (and back out)
+// rather than wrapped: transferred ArrayBuffers get a fresh identity on every
+// hop, so wrappers could never be cached against them — and two ~20KB copies
+// per frame are microseconds.
+import { RezePhysics } from "./physics";
+import { Mat4 } from "../math";
+import { RigidbodyType } from "./types";
+const ctx = self;
+let physics = null;
+let inverseBind = new Float32Array(0);
+let pose = new Float32Array(0);
+let mats = [];
+ctx.onmessage = (e) => {
+    const msg = e.data;
+    if (msg.cmd === "init") {
+        physics = new RezePhysics(msg.rigidbodies, msg.joints);
+        inverseBind = msg.inverseBind;
+        const boneCount = inverseBind.length / 16;
+        pose = new Float32Array(boneCount * 16);
+        mats = new Array(boneCount);
+        for (let i = 0; i < boneCount; i++)
+            mats[i] = new Mat4(pose.subarray(i * 16, i * 16 + 16));
+        // The host copies back only the bones physics can write — the bones of
+        // dynamic bodies. Kinematic bones must NOT round-trip: in the pipelined
+        // protocol they would drag a stale (frame-old) pose over the live one.
+        const dynamicBones = [];
+        for (const rb of msg.rigidbodies) {
+            if (rb.type === RigidbodyType.Dynamic && rb.mass > 0 && rb.boneIndex >= 0)
+                dynamicBones.push(rb.boneIndex);
+        }
+        ctx.postMessage({ cmd: "ready", dynamicBones });
+        return;
+    }
+    if (!physics)
+        return;
+    const incoming = new Float32Array(msg.bones);
+    pose.set(incoming);
+    const t0 = performance.now();
+    if (msg.cmd === "step")
+        physics.step(msg.dt, mats, inverseBind);
+    else
+        physics.reset(mats);
+    const stepMs = performance.now() - t0;
+    incoming.set(pose);
+    ctx.postMessage({ cmd: "stepped", bones: msg.bones, stepMs }, [msg.bones]);
+};

package/dist/physics/solver.d.ts

@@ -1,5 +1,13 @@
 import type { RigidBodyStore } from "./body";
 import type { SixDofSpringConstraint } from "./constraint";
 import type { ContactPool } from "./contact";
-export declare function solveConstraints(store: RigidBodyStore, constraints: SixDofSpringConstraint[], contacts: ContactPool, dt: number, iterations: number): void;
+export declare function solveConstraints(store: RigidBodyStore, constraints: SixDofSpringConstraint[], cache: SolverCache, contacts: ContactPool, dt: number, iterations: number): void;
+export declare class SolverCache {
+    readonly F: Float32Array;
+    readonly I: Int32Array;
+    /** f64 lane for the geodesic row's scalars — they were plain number fields,
+     *  and demoting them to f32 would break bit-identical results. */
+    readonly D: Float64Array;
+    constructor(constraints: SixDofSpringConstraint[]);
+}
 //# sourceMappingURL=solver.d.ts.map

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

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