reze-engine 0.32.0 → 0.32.2

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/locomotion.d.ts

@@ -90,6 +90,10 @@ export interface LocomotionOptions {
     turnTimeScale?: number;
     /** Playback rate for stop clips (default 1.25) — same reasoning. */
     stopTimeScale?: number;
+    /** Seconds a heading must be held before a release earns an authored stop
+     *  (default 0.5). Below it, weaving direction changes blend to idle instead
+     *  of skidding metres along the last-held heading. */
+    stopCommitTime?: number;
     /** Tank-mode steering rate, radians/second (default 2.5 ≈ 143°/s). */
     steerRate?: number;
     /** Backpedal speed as a fraction of run speed in tank mode (default 0.5). */
@@ -123,11 +127,15 @@ export declare class LocomotionController {
     private readonly turnClipMinAngle;
     private readonly turnTimeScale;
     private readonly stopTimeScale;
+    private readonly stopCommitTime;
     private turning;
     private runTurning;
     /** An interrupted authored clip fading out OVER resumed locomotion, so breaking
      *  out of a stop is instantly responsive without a pose pop. */
     private exitGhost;
+    private headingHold;
+    private headingDirX;
+    private headingDirY;
     private stopping;
     private readonly turnEntries;
     private readonly yawOffset;

package/dist/locomotion.d.ts.map

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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;
@@ -21,6 +23,9 @@ export class LocomotionController {
         /** An interrupted authored clip fading out OVER resumed locomotion, so breaking
          *  out of a stop is instantly responsive without a pose pop. */
         this.exitGhost = null;
+        this.headingHold = 0;
+        this.headingDirX = 0;
+        this.headingDirY = 0;
         this.stopping = null;
         this.inputX = 0;
         this.inputY = 0;
@@ -57,6 +62,7 @@ export class LocomotionController {
         this.turnClipMinAngle = options?.turnClipMinAngle ?? (100 * Math.PI) / 180;
         this.turnTimeScale = options?.turnTimeScale ?? 1.4;
         this.stopTimeScale = options?.stopTimeScale ?? 1.25;
+        this.stopCommitTime = options?.stopCommitTime ?? 0.5;
         this.turnEntries = [
             { name: clips.idle, time: 0, weight: 0 },
             { name: clips.idle, time: 0, weight: 1 },
@@ -174,12 +180,30 @@ export class LocomotionController {
             const m = Math.hypot(this.inputX, this.inputY);
             moving = m > 0.05;
             this.recentSpeed = Math.max(this.speedLevel, this.recentSpeed - dt * 1.5);
+            // How long the CURRENT heading has been held. An authored skid is the
+            // ending of a committed run; weaving through directions (D, then S+D,
+            // then S) rebuilds throttle in each new heading but earns no such
+            // ending — playing one there slides her metres along whichever way she
+            // happened to face last, which reads as drift.
+            if (moving) {
+                const dx = this.inputX / m;
+                const dy = this.inputY / m;
+                this.headingHold =
+                    this.headingDirX * dx + this.headingDirY * dy > 0.94 ? this.headingHold + dt : 0;
+                this.headingDirX = dx;
+                this.headingDirY = dy;
+            }
             // Release at speed: play the authored stop instead of blending to idle.
             const stops = this.clips.stop;
             // Gate on the peak-hold speed: the release decay (throttle/analog) drains the
             // instantaneous level below any threshold before `moving` goes false. The
             // small floor on the actual level keeps standstill taps from faking a skid.
-            if (!moving && stops && stops.length > 0 && this.recentSpeed >= 0.7 && this.speedLevel >= 0.35) {
+            if (!moving &&
+                stops &&
+                stops.length > 0 &&
+                this.recentSpeed >= 0.7 &&
+                this.speedLevel >= 0.35 &&
+                this.headingHold >= this.stopCommitTime) {
                 const gear = this.recentSpeed > 1.4 ? "sprint" : "run";
                 const foot = this.gaitPhase < 0.5 ? "L" : "R";
                 // Gear must match exactly: supplying stops for only one gear means the
@@ -205,6 +229,13 @@ export class LocomotionController {
                         dirX: this.dirX,
                         dirZ: this.dirZ,
                         startLevel: Math.min(this.recentSpeed, 2),
+                        // How much of the authored skid this stop has earned. Each profile
+                        // was captured at ITS gear's full speed (run = level 1, sprint =
+                        // level 2), so compare like with like. Entering slower — or moments
+                        // after a direction change, when the peak-hold still remembers the
+                        // PREVIOUS heading's sprint — must not replay the full slide.
+                        // Floored so a stop always still reads as a stop.
+                        scale: Math.max(0.3, Math.min(1, this.speedLevel / (best.gear === "sprint" ? 2 : 1))),
                         fromIdleW: Math.max(0, 1 - this.speedLevel),
                         fromClip,
                         fromTime: this.gaitPhase * this.clipDuration(fromClip),
@@ -281,12 +312,24 @@ 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 +339,7 @@ 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 +358,14 @@ 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;
@@ -507,7 +541,7 @@ export class LocomotionController {
         }
         t.time += dt * this.stopTimeScale;
         const clipT = Math.min(t.time, entry.exitTime);
-        const fwd = LocomotionController.profileAt(entry.forward, clipT / entry.exitTime);
+        const fwd = LocomotionController.profileAt(entry.forward, clipT / entry.exitTime) * t.scale;
         this.position.x = t.startX + t.dirX * fwd;
         this.position.z = t.startZ + t.dirZ * fwd;
         this.speedLevel = t.startLevel * Math.max(0, 1 - t.time / entry.exitTime);

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "reze-engine",
-  "version": "0.32.0",
+  "version": "0.32.2",
   "description": "A lightweight WebGPU engine for real-time 3D MMD/PMX model rendering",
   "main": "./dist/index.js",
   "types": "./dist/index.d.ts",

package/src/locomotion.ts

@@ -102,6 +102,10 @@ export interface LocomotionOptions {
   turnTimeScale?: number
   /** Playback rate for stop clips (default 1.25) — same reasoning. */
   stopTimeScale?: number
+  /** Seconds a heading must be held before a release earns an authored stop
+   *  (default 0.5). Below it, weaving direction changes blend to idle instead
+   *  of skidding metres along the last-held heading. */
+  stopCommitTime?: number
   /** Tank-mode steering rate, radians/second (default 2.5 ≈ 143°/s). */
   steerRate?: number
   /** Backpedal speed as a fraction of run speed in tank mode (default 0.5). */
@@ -126,6 +130,9 @@ export interface LocomotionPose {
 
 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: number): number {
   while (a > Math.PI) a -= TWO_PI
   while (a < -Math.PI) a += TWO_PI
@@ -145,6 +152,7 @@ export class LocomotionController {
   private readonly turnClipMinAngle: number
   private readonly turnTimeScale: number
   private readonly stopTimeScale: number
+  private readonly stopCommitTime: number
   private turning: { entry: TurnClipEntry; time: number } | null = null
   private runTurning: {
     entry: RunTurnClipEntry
@@ -157,6 +165,9 @@ export class LocomotionController {
   /** An interrupted authored clip fading out OVER resumed locomotion, so breaking
    *  out of a stop is instantly responsive without a pose pop. */
   private exitGhost: { clip: string; clipTime: number; elapsed: number } | null = null
+  private headingHold = 0
+  private headingDirX = 0
+  private headingDirY = 0
   private stopping: {
     entry: StopClipEntry
     time: number
@@ -165,6 +176,8 @@ export class LocomotionController {
     dirX: number
     dirZ: number
     startLevel: number
+    /** Fraction of the authored deceleration distance this stop travels. */
+    scale: number
     /** Idle's share of the blend at release (level < 1 shows part idle) — the
      *  crossfade source keeps this exact mix or the first stop frame snaps. */
     fromIdleW: number
@@ -223,6 +236,7 @@ export class LocomotionController {
     this.turnClipMinAngle = options?.turnClipMinAngle ?? (100 * Math.PI) / 180
     this.turnTimeScale = options?.turnTimeScale ?? 1.4
     this.stopTimeScale = options?.stopTimeScale ?? 1.25
+    this.stopCommitTime = options?.stopCommitTime ?? 0.5
     this.turnEntries = [
       { name: clips.idle, time: 0, weight: 0 },
       { name: clips.idle, time: 0, weight: 1 },
@@ -350,12 +364,32 @@ export class LocomotionController {
       const m = Math.hypot(this.inputX, this.inputY)
       moving = m > 0.05
       this.recentSpeed = Math.max(this.speedLevel, this.recentSpeed - dt * 1.5)
+      // How long the CURRENT heading has been held. An authored skid is the
+      // ending of a committed run; weaving through directions (D, then S+D,
+      // then S) rebuilds throttle in each new heading but earns no such
+      // ending — playing one there slides her metres along whichever way she
+      // happened to face last, which reads as drift.
+      if (moving) {
+        const dx = this.inputX / m
+        const dy = this.inputY / m
+        this.headingHold =
+          this.headingDirX * dx + this.headingDirY * dy > 0.94 ? this.headingHold + dt : 0
+        this.headingDirX = dx
+        this.headingDirY = dy
+      }
       // Release at speed: play the authored stop instead of blending to idle.
       const stops = this.clips.stop
       // Gate on the peak-hold speed: the release decay (throttle/analog) drains the
       // instantaneous level below any threshold before `moving` goes false. The
       // small floor on the actual level keeps standstill taps from faking a skid.
-      if (!moving && stops && stops.length > 0 && this.recentSpeed >= 0.7 && this.speedLevel >= 0.35) {
+      if (
+        !moving &&
+        stops &&
+        stops.length > 0 &&
+        this.recentSpeed >= 0.7 &&
+        this.speedLevel >= 0.35 &&
+        this.headingHold >= this.stopCommitTime
+      ) {
         const gear = this.recentSpeed > 1.4 ? "sprint" : "run"
         const foot = this.gaitPhase < 0.5 ? "L" : "R"
         // Gear must match exactly: supplying stops for only one gear means the
@@ -380,6 +414,13 @@ export class LocomotionController {
             dirX: this.dirX,
             dirZ: this.dirZ,
             startLevel: Math.min(this.recentSpeed, 2),
+            // How much of the authored skid this stop has earned. Each profile
+            // was captured at ITS gear's full speed (run = level 1, sprint =
+            // level 2), so compare like with like. Entering slower — or moments
+            // after a direction change, when the peak-hold still remembers the
+            // PREVIOUS heading's sprint — must not replay the full slide.
+            // Floored so a stop always still reads as a stop.
+            scale: Math.max(0.3, Math.min(1, this.speedLevel / (best.gear === "sprint" ? 2 : 1))),
             fromIdleW: Math.max(0, 1 - this.speedLevel),
             fromClip,
             fromTime: this.gaitPhase * this.clipDuration(fromClip),
@@ -457,13 +498,25 @@ export class LocomotionController {
     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
 
@@ -474,7 +527,7 @@ 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: number, wRun: number, wSprint: number
@@ -494,22 +547,14 @@ 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
     }
@@ -700,7 +745,7 @@ export class LocomotionController {
 
     t.time += dt * this.stopTimeScale
     const clipT = Math.min(t.time, entry.exitTime)
-    const fwd = LocomotionController.profileAt(entry.forward, clipT / entry.exitTime)
+    const fwd = LocomotionController.profileAt(entry.forward, clipT / entry.exitTime) * t.scale
     this.position.x = t.startX + t.dirX * fwd
     this.position.z = t.startZ + t.dirZ * fwd