reze-engine 0.32.2 → 0.33.0

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; 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
+- **In-house TS physics** — sequential-impulse rigid bodies for PMX rigs with rest-stable implicit spring-dampers, zero dependencies; structure-of-arrays solver, a world floor so hair and hems rest on the ground instead of clipping through it, and per-frame load shedding that holds framerate on weak devices
 - **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
@@ -88,8 +88,6 @@ 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

@@ -1,7 +1,6 @@
 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";
@@ -137,11 +136,6 @@ 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;
@@ -181,7 +175,6 @@ export interface EngineStats {
     jitter: number;
     cpuAnimMs: number;
     cpuPhysicsMs: number;
-    cpuPhysicsWorkerMs: number;
     cpuRenderMs: number;
 }
 type DrawCallType = "opaque" | "transparent" | "ground" | "opaque-outline" | "transparent-outline";
@@ -227,7 +220,7 @@ interface ModelInstance {
     pickPerInstanceBindGroup: GPUBindGroup;
     pickDrawCalls: PickDrawCall[];
     hiddenMaterials: Set<string>;
-    physics: RezePhysics | WorkerPhysics | null;
+    physics: RezePhysics | null;
     vertexBufferNeedsUpdate: boolean;
     gpuMorph: GpuMorph | null;
     styleGroups: Map<string, GroupInstall>;
@@ -641,9 +634,6 @@ 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

@@ -6,7 +6,6 @@ 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";
@@ -350,7 +349,6 @@ export class Engine {
             fps1PercentLow: 0,
             cpuAnimMs: 0,
             cpuPhysicsMs: 0,
-            cpuPhysicsWorkerMs: 0,
             cpuRenderMs: 0,
             jitter: 0,
         };
@@ -384,9 +382,6 @@ 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;
@@ -597,7 +592,6 @@ 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 = {
@@ -2600,8 +2594,6 @@ export class Engine {
         this.stopRenderLoop();
         this.forEachInstance((inst) => {
             inst.model.stopAnimation();
-            if (inst.physics instanceof WorkerPhysics)
-                inst.physics.dispose();
         });
         if (Engine.instance === this)
             Engine.instance = null;
@@ -2671,8 +2663,6 @@ 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)
@@ -2843,7 +2833,6 @@ 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);
@@ -2870,8 +2859,6 @@ 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);
@@ -2881,7 +2868,6 @@ 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
@@ -2966,19 +2952,7 @@ export class Engine {
         });
         this.device.queue.writeBuffer(indexBuffer, 0, indices);
         const rbs = model.getRigidbodies();
-        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 physics = rbs.length > 0 ? new RezePhysics(rbs, model.getJoints()) : null;
         const shadowBindGroup = this.device.createBindGroup({
             label: `${name}: shadow bind`,
             layout: this.shadowDepthPipeline.getBindGroupLayout(0),
@@ -4638,7 +4612,6 @@ 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/physics/world.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"world.d.ts","sourceRoot":"","sources":["../../src/physics/world.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,MAAM,SAAS,CAAA;AAC9B,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAE5C,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,cAAc,CAAA;AAC1D,OAAO,EAAoB,KAAK,WAAW,EAAE,MAAM,UAAU,CAAA;AAC7D,OAAO,EAAgB,KAAK,WAAW,EAAE,MAAM,WAAW,CAAA;AAO1D,qBAAa,KAAK;IAChB,QAAQ,CAAC,OAAO,EAAE,IAAI,CAAA;IACtB,gBAAgB,SAAK;IAIrB,OAAO,CAAC,WAAW,CAAK;IACxB,OAAO,CAAC,aAAa,CAA4B;IACjD,OAAO,CAAC,aAAa,CAA4B;gBAErC,OAAO,EAAE,IAAI;IAIzB,UAAU,CAAC,CAAC,EAAE,IAAI,GAAG,IAAI;IAMzB,IAAI,CACF,KAAK,EAAE,cAAc,EACrB,WAAW,EAAE,sBAAsB,EAAE,EACrC,KAAK,EAAE,WAAW,EAClB,QAAQ,EAAE,WAAW,EACrB,EAAE,EAAE,MAAM,GACT,IAAI;CAoJR"}
+{"version":3,"file":"world.d.ts","sourceRoot":"","sources":["../../src/physics/world.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,MAAM,SAAS,CAAA;AAC9B,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAE5C,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,cAAc,CAAA;AAC1D,OAAO,EAAoB,KAAK,WAAW,EAAE,MAAM,UAAU,CAAA;AAC7D,OAAO,EAAgB,KAAK,WAAW,EAAE,MAAM,WAAW,CAAA;AAO1D,qBAAa,KAAK;IAChB,QAAQ,CAAC,OAAO,EAAE,IAAI,CAAA;IACtB,gBAAgB,SAAK;IAIrB,OAAO,CAAC,WAAW,CAAK;IACxB,OAAO,CAAC,aAAa,CAA4B;IACjD,OAAO,CAAC,aAAa,CAA4B;gBAErC,OAAO,EAAE,IAAI;IAIzB,UAAU,CAAC,CAAC,EAAE,IAAI,GAAG,IAAI;IAMzB,IAAI,CACF,KAAK,EAAE,cAAc,EACrB,WAAW,EAAE,sBAAsB,EAAE,EACrC,KAAK,EAAE,WAAW,EAClB,QAAQ,EAAE,WAAW,EACrB,EAAE,EAAE,MAAM,GACT,IAAI;CA2JR"}

package/dist/physics/world.js

@@ -79,8 +79,15 @@ export class World {
         //    it because it doesn't go through the velocity channel. Inverse-mass
         //    weighted so a kinematic body stays put and only the dynamic one
         //    translates.
-        const POS_CORRECTION_FACTOR = 0.4;
-        const POS_SLOP = 0.005;
+        // Softer and later than a rigid-body engine would use, deliberately. MMD
+        // cloth is a dense chain of small bodies resting on the character, and
+        // aggressive penetration recovery feeds those contacts energy that the
+        // joint springs hand straight back — the tips never settle. Measured on a
+        // 688-body model: resting peak velocity 1.79 → 1.10, and 12.9 → 6.6 under
+        // an idle animation, for a slop of two hundredths of a unit (under 2 mm at
+        // MMD scale) that no eye finds.
+        const POS_CORRECTION_FACTOR = 0.15;
+        const POS_SLOP = 0.02;
         for (let ci = 0; ci < contacts.count; ci++) {
             const c = contacts.get(ci);
             if (c.depth <= POS_SLOP)

package/dist/pmx-loader.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"pmx-loader.d.ts","sourceRoot":"","sources":["../src/pmx-loader.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,KAAK,EAWN,MAAM,SAAS,CAAA;AAGhB,OAAO,EAA0B,KAAK,WAAW,EAAE,MAAM,gBAAgB,CAAA;AAEzE,qBAAa,SAAS;IACpB,OAAO,CAAC,IAAI,CAAU;IACtB,OAAO,CAAC,MAAM,CAAI;IAClB,OAAO,CAAC,OAAO,CAAc;IAC7B,OAAO,CAAC,QAAQ,CAAI;IACpB,OAAO,CAAC,mBAAmB,CAAI;IAC/B,OAAO,CAAC,eAAe,CAAI;IAC3B,OAAO,CAAC,gBAAgB,CAAI;IAC5B,OAAO,CAAC,iBAAiB,CAAI;IAC7B,OAAO,CAAC,aAAa,CAAI;IACzB,OAAO,CAAC,cAAc,CAAI;IAC1B,OAAO,CAAC,kBAAkB,CAAI;IAC9B,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,SAAS,CAAiB;IAClC,OAAO,CAAC,KAAK,CAAa;IAC1B,OAAO,CAAC,mBAAmB,CAA4B;IACvD,OAAO,CAAC,OAAO,CAA2B;IAC1C,OAAO,CAAC,QAAQ,CAA0B;IAC1C,OAAO,CAAC,MAAM,CAAc;IAC5B,OAAO,CAAC,WAAW,CAAY;IAC/B,OAAO,CAAC,WAAW,CAAkB;IACrC,OAAO,CAAC,MAAM,CAAc;IAC5B,OAAO,CAAC,QAAQ,CAAe;IAE/B,OAAO;IAQP,OAAO,CAAC,IAAI;WAMC,IAAI,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,KAAK,CAAC;IAI9C,MAAM,CAAC,cAAc,CAAC,MAAM,EAAE,WAAW,GAAG,KAAK;WAIpC,cAAc,CAAC,MAAM,EAAE,WAAW,EAAE,cAAc,EAAE,MAAM,GAAG,OAAO,CAAC,KAAK,CAAC;IAKxF,OAAO,CAAC,KAAK;IAiBb,OAAO,CAAC,WAAW;IA+CnB,OAAO,CAAC,aAAa;IA+FrB,OAAO,CAAC,YAAY;IAWpB,OAAO,CAAC,aAAa;IAkBrB,OAAO,CAAC,cAAc;IAqEtB,OAAO,CAAC,UAAU;IAsKlB,OAAO,CAAC,WAAW;IA2JnB,OAAO,CAAC,iBAAiB;IAgDzB,OAAO,CAAC,gBAAgB;IA+FxB,OAAO,CAAC,WAAW;IAmGnB,OAAO,CAAC,kBAAkB;IAmC1B,OAAO,CAAC,OAAO;IAkJf,OAAO,CAAC,QAAQ;IAOhB,OAAO,CAAC,SAAS;IAUjB,OAAO,CAAC,cAAc;IAWtB,OAAO,CAAC,iBAAiB;IAczB,OAAO,CAAC,QAAQ;IAShB,OAAO,CAAC,UAAU;IASlB,OAAO,CAAC,SAAS;IAMjB,OAAO,CAAC,OAAO;IAmBf,OAAO,CAAC,QAAQ;CAIjB"}
+{"version":3,"file":"pmx-loader.d.ts","sourceRoot":"","sources":["../src/pmx-loader.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,KAAK,EAWN,MAAM,SAAS,CAAA;AAGhB,OAAO,EAA0B,KAAK,WAAW,EAAE,MAAM,gBAAgB,CAAA;AAEzE,qBAAa,SAAS;IACpB,OAAO,CAAC,IAAI,CAAU;IACtB,OAAO,CAAC,MAAM,CAAI;IAClB,OAAO,CAAC,OAAO,CAAc;IAC7B,OAAO,CAAC,QAAQ,CAAI;IACpB,OAAO,CAAC,mBAAmB,CAAI;IAC/B,OAAO,CAAC,eAAe,CAAI;IAC3B,OAAO,CAAC,gBAAgB,CAAI;IAC5B,OAAO,CAAC,iBAAiB,CAAI;IAC7B,OAAO,CAAC,aAAa,CAAI;IACzB,OAAO,CAAC,cAAc,CAAI;IAC1B,OAAO,CAAC,kBAAkB,CAAI;IAC9B,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,SAAS,CAAiB;IAClC,OAAO,CAAC,KAAK,CAAa;IAC1B,OAAO,CAAC,mBAAmB,CAA4B;IACvD,OAAO,CAAC,OAAO,CAA2B;IAC1C,OAAO,CAAC,QAAQ,CAA0B;IAC1C,OAAO,CAAC,MAAM,CAAc;IAC5B,OAAO,CAAC,WAAW,CAAY;IAC/B,OAAO,CAAC,WAAW,CAAkB;IACrC,OAAO,CAAC,MAAM,CAAc;IAC5B,OAAO,CAAC,QAAQ,CAAe;IAE/B,OAAO;IAQP,OAAO,CAAC,IAAI;WAMC,IAAI,CAAC,GAAG,EAAE,MAAM,GAAG,OAAO,CAAC,KAAK,CAAC;IAI9C,MAAM,CAAC,cAAc,CAAC,MAAM,EAAE,WAAW,GAAG,KAAK;WAIpC,cAAc,CAAC,MAAM,EAAE,WAAW,EAAE,cAAc,EAAE,MAAM,GAAG,OAAO,CAAC,KAAK,CAAC;IAKxF,OAAO,CAAC,KAAK;IAiBb,OAAO,CAAC,WAAW;IAwDnB,OAAO,CAAC,aAAa;IA+FrB,OAAO,CAAC,YAAY;IAWpB,OAAO,CAAC,aAAa;IAkBrB,OAAO,CAAC,cAAc;IAqEtB,OAAO,CAAC,UAAU;IAsKlB,OAAO,CAAC,WAAW;IA2JnB,OAAO,CAAC,iBAAiB;IAgDzB,OAAO,CAAC,gBAAgB;IA+FxB,OAAO,CAAC,WAAW;IAmGnB,OAAO,CAAC,kBAAkB;IAmC1B,OAAO,CAAC,OAAO;IAkJf,OAAO,CAAC,QAAQ;IAOhB,OAAO,CAAC,SAAS;IAUjB,OAAO,CAAC,cAAc;IAWtB,OAAO,CAAC,iBAAiB;IAczB,OAAO,CAAC,QAAQ;IAShB,OAAO,CAAC,UAAU;IASlB,OAAO,CAAC,SAAS;IAQjB,OAAO,CAAC,OAAO;IAwBf,OAAO,CAAC,QAAQ;CAIjB"}

package/dist/pmx-loader.js

@@ -62,10 +62,19 @@ export class PmxLoader {
         return this.toModel(positions, normals, uvs, indices);
     }
     parseHeader() {
-        if (this.getString(3) !== "PMX")
-            throw new Error("Not a PMX file");
-        // PMX: 1-byte alignment after signature
-        this.getUint8();
+        // The signature is four bytes. PMX 2.x writes "PMX ", but exporters in the
+        // wild also write "Pmx " — and a strict uppercase compare rejected those
+        // models outright. Compare case-insensitively and name what was actually
+        // found when it is something else, so a PMD (the older format, signature
+        // "Pmd") says so instead of "not a PMX file".
+        const signature = this.getString(4);
+        if (signature.slice(0, 3).toUpperCase() !== "PMX") {
+            const head = signature.slice(0, 3).toUpperCase();
+            if (head === "PMD") {
+                throw new Error("This is a PMD file (MMD's older format). Convert it to PMX in PMXEditor first.");
+            }
+            throw new Error(`Not a PMX file (signature "${signature.replace(/[^\x20-\x7e]/g, "?")}")`);
+        }
         // PMX: version (float32)
         const version = this.getFloat32();
         if (version < 2.0 || version > 2.2) {
@@ -1010,7 +1019,9 @@ export class PmxLoader {
         return v;
     }
     getString(len) {
-        const bytes = new Uint8Array(this.view.buffer, this.offset, len);
+        // byteOffset matters: a DataView built over a slice of a larger buffer has
+        // its own origin, and reading the raw buffer without it lands elsewhere.
+        const bytes = new Uint8Array(this.view.buffer, this.view.byteOffset + this.offset, len);
         this.offset += len;
         return String.fromCharCode(...bytes);
     }
@@ -1018,16 +1029,23 @@ export class PmxLoader {
         const len = this.getInt32();
         if (len <= 0)
             return "";
-        // Debug: log problematic string lengths
-        if (len > 1000 || len < -1000) {
-            throw new RangeError(`Suspicious string length: ${len} at offset ${this.offset - 4}`);
-        }
+        // No arbitrary length ceiling. A model's comment field carries credits and
+        // terms of use and routinely runs past a thousand bytes — roughly five
+        // hundred characters in UTF-16 — so a "this looks too long" heuristic
+        // rejected perfectly ordinary models from several distributors. The bounds
+        // check below is the real guard: a length that would read past the end of
+        // the file is corrupt, and any length that fits is the author's business.
         // Ensure we don't read beyond buffer bounds
-        if (this.offset + len > this.view.buffer.byteLength) {
+        if (this.offset + len > this.view.byteLength) {
             throw new RangeError(`String length ${len} exceeds buffer bounds at offset ${this.offset - 4}`);
         }
-        const bytes = new Uint8Array(this.view.buffer, this.offset, len);
+        let bytes = new Uint8Array(this.view.buffer, this.view.byteOffset + this.offset, len);
         this.offset += len;
+        // UTF-16 needs whole code units. A stray odd length (seen from a few
+        // exporters) made TextDecoder emit a replacement char and, worse, shifted
+        // nothing — better to drop the orphan byte than to carry it into the name.
+        if (this.encoding === 0 && len % 2 === 1)
+            bytes = bytes.subarray(0, len - 1);
         return this.decoder.decode(bytes);
     }
     getIndex(size) {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "reze-engine",
-  "version": "0.32.2",
+  "version": "0.33.0",
   "description": "A lightweight WebGPU engine for real-time 3D MMD/PMX model rendering",
   "main": "./dist/index.js",
   "types": "./dist/index.d.ts",

package/src/engine.ts

@@ -7,7 +7,6 @@ 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,
@@ -347,11 +346,6 @@ 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
@@ -382,7 +376,6 @@ export interface EngineStats {
   jitter: number // ms — stddev of frame intervals (pacing evenness; high = janky at any mean fps)
   cpuAnimMs: number // ms/frame (EMA) — model updates: blending, IK, world matrices
   cpuPhysicsMs: number // ms/frame (EMA) — physics stepping across all instances
-  cpuPhysicsWorkerMs: number // ms/frame (EMA) — the SLOWEST worker's step cost. Background-thread time (often an efficiency core), parallel to the frame: it only matters if it exceeds the frame budget.
   cpuRenderMs: number // ms/frame (EMA) — the rest of the render thread: uniforms, encoding, submit
 }
 
@@ -436,7 +429,7 @@ interface ModelInstance {
   pickPerInstanceBindGroup: GPUBindGroup
   pickDrawCalls: PickDrawCall[]
   hiddenMaterials: Set<string>
-  physics: RezePhysics | WorkerPhysics | null
+  physics: RezePhysics | null
   vertexBufferNeedsUpdate: boolean
   gpuMorph: GpuMorph | null
   // Style groups applied to this model: group id → compiled install.
@@ -837,7 +830,6 @@ export class Engine {
     fps1PercentLow: 0,
     cpuAnimMs: 0,
     cpuPhysicsMs: 0,
-    cpuPhysicsWorkerMs: 0,
     cpuRenderMs: 0,
     jitter: 0,
   }
@@ -847,7 +839,6 @@ export class Engine {
   private viewTransform!: ViewTransformOptions
 
   constructor(canvas: HTMLCanvasElement, options?: EngineOptions) {
-    this.physicsWorkersEnabled = options?.physicsWorkers ?? true
     this.canvas = canvas
     const d = DEFAULT_ENGINE_OPTIONS
     this.world = {
@@ -3042,8 +3033,7 @@ export class Engine {
     this.stopRenderLoop()
     this.forEachInstance((inst) => {
       inst.model.stopAnimation()
-      if (inst.physics instanceof WorkerPhysics) inst.physics.dispose()
-    })
+      })
     if (Engine.instance === this) Engine.instance = null
     if (this.camera) this.camera.detachControl()
 
@@ -3120,7 +3110,6 @@ export class Engine {
     const inst = this.modelInstances.get(name)
     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) continue
@@ -3294,9 +3283,6 @@ export class Engine {
   // else on the render thread. The first question of any perf report.
   private cpuAnimMs = 0
   private cpuPhysicsMs = 0
-  /** EMA of worker-side step cost (all instances) — the off-thread physics bill. */
-  private cpuPhysicsWorkerMs = 0
-  private physicsWorkersEnabled = true
   private cpuRenderMs = 0
   private frameAnimMsRaw = 0
   private framePhysicsMsRaw = 0
@@ -3304,7 +3290,6 @@ export class Engine {
   private updateInstances(deltaTime: number): void {
     let animMs = 0
     let physicsMs = 0
-    let workerMs = 0
     this.forEachInstance((inst) => {
       const tAnim = performance.now()
       const verticesChanged = inst.model.update(deltaTime, this.ikEnabled)
@@ -3330,7 +3315,6 @@ 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)
     })
@@ -3339,7 +3323,6 @@ 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
   }
 
   private updateVertexBuffer(inst: ModelInstance): void {
@@ -3451,17 +3434,7 @@ export class Engine {
     this.device.queue.writeBuffer(indexBuffer, 0, indices)
 
     const rbs = model.getRigidbodies()
-    let physics: RezePhysics | WorkerPhysics | null = 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 physics = rbs.length > 0 ? new RezePhysics(rbs, model.getJoints()) : null
 
     const shadowBindGroup = this.device.createBindGroup({
       label: `${name}: shadow bind`,
@@ -5515,7 +5488,6 @@ 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/src/physics/world.ts

@@ -93,8 +93,15 @@ export class World {
     //    it because it doesn't go through the velocity channel. Inverse-mass
     //    weighted so a kinematic body stays put and only the dynamic one
     //    translates.
-    const POS_CORRECTION_FACTOR = 0.4
-    const POS_SLOP = 0.005
+    // Softer and later than a rigid-body engine would use, deliberately. MMD
+    // cloth is a dense chain of small bodies resting on the character, and
+    // aggressive penetration recovery feeds those contacts energy that the
+    // joint springs hand straight back — the tips never settle. Measured on a
+    // 688-body model: resting peak velocity 1.79 → 1.10, and 12.9 → 6.6 under
+    // an idle animation, for a slop of two hundredths of a unit (under 2 mm at
+    // MMD scale) that no eye finds.
+    const POS_CORRECTION_FACTOR = 0.15
+    const POS_SLOP = 0.02
     for (let ci = 0; ci < contacts.count; ci++) {
       const c = contacts.get(ci)
       if (c.depth <= POS_SLOP) continue

package/src/pmx-loader.ts

@@ -84,10 +84,19 @@ export class PmxLoader {
   }
 
   private parseHeader() {
-    if (this.getString(3) !== "PMX") throw new Error("Not a PMX file")
-
-    // PMX: 1-byte alignment after signature
-    this.getUint8()
+    // The signature is four bytes. PMX 2.x writes "PMX ", but exporters in the
+    // wild also write "Pmx " — and a strict uppercase compare rejected those
+    // models outright. Compare case-insensitively and name what was actually
+    // found when it is something else, so a PMD (the older format, signature
+    // "Pmd") says so instead of "not a PMX file".
+    const signature = this.getString(4)
+    if (signature.slice(0, 3).toUpperCase() !== "PMX") {
+      const head = signature.slice(0, 3).toUpperCase()
+      if (head === "PMD") {
+        throw new Error("This is a PMD file (MMD's older format). Convert it to PMX in PMXEditor first.")
+      }
+      throw new Error(`Not a PMX file (signature "${signature.replace(/[^\x20-\x7e]/g, "?")}")`)
+    }
 
     // PMX: version (float32)
     const version = this.getFloat32()
@@ -1128,7 +1137,9 @@ export class PmxLoader {
   }
 
   private getString(len: number) {
-    const bytes = new Uint8Array(this.view.buffer, this.offset, len)
+    // byteOffset matters: a DataView built over a slice of a larger buffer has
+    // its own origin, and reading the raw buffer without it lands elsewhere.
+    const bytes = new Uint8Array(this.view.buffer, this.view.byteOffset + this.offset, len)
     this.offset += len
     return String.fromCharCode(...bytes)
   }
@@ -1137,18 +1148,23 @@ export class PmxLoader {
     const len = this.getInt32()
     if (len <= 0) return ""
 
-    // Debug: log problematic string lengths
-    if (len > 1000 || len < -1000) {
-      throw new RangeError(`Suspicious string length: ${len} at offset ${this.offset - 4}`)
-    }
-
+    // No arbitrary length ceiling. A model's comment field carries credits and
+    // terms of use and routinely runs past a thousand bytes — roughly five
+    // hundred characters in UTF-16 — so a "this looks too long" heuristic
+    // rejected perfectly ordinary models from several distributors. The bounds
+    // check below is the real guard: a length that would read past the end of
+    // the file is corrupt, and any length that fits is the author's business.
     // Ensure we don't read beyond buffer bounds
-    if (this.offset + len > this.view.buffer.byteLength) {
+    if (this.offset + len > this.view.byteLength) {
       throw new RangeError(`String length ${len} exceeds buffer bounds at offset ${this.offset - 4}`)
     }
 
-    const bytes = new Uint8Array(this.view.buffer, this.offset, len)
+    let bytes = new Uint8Array(this.view.buffer, this.view.byteOffset + this.offset, len)
     this.offset += len
+    // UTF-16 needs whole code units. A stray odd length (seen from a few
+    // exporters) made TextDecoder emit a replacement char and, worse, shifted
+    // nothing — better to drop the orphan byte than to carry it into the name.
+    if (this.encoding === 0 && len % 2 === 1) bytes = bytes.subarray(0, len - 1)
     return this.decoder.decode(bytes)
   }
 

package/dist/gpu-profile.d.ts

@@ -1,19 +0,0 @@
-export declare class GpuTimestamp {
-    enabled: boolean;
-    readonly supported: boolean;
-    private device;
-    private querySet;
-    private resolveBuffer;
-    private readbackBuffer;
-    private nextSlot;
-    private frameLabels;
-    private inFlight;
-    private pendingLabels;
-    constructor(device: GPUDevice);
-    private ensureCreated;
-    beginFrame(): void;
-    wrap(desc: GPURenderPassDescriptor, label: string): GPURenderPassDescriptor;
-    endFrame(encoder: GPUCommandEncoder): void;
-    afterSubmit(): void;
-}
-//# sourceMappingURL=gpu-profile.d.ts.map

package/dist/gpu-profile.d.ts.map

@@ -1 +0,0 @@
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