reze-engine 0.33.0 → 0.33.1

package/dist/engine.d.ts.map

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

@@ -2592,9 +2592,7 @@ export class Engine {
     }
     dispose() {
         this.stopRenderLoop();
-        this.forEachInstance((inst) => {
-            inst.model.stopAnimation();
-        });
+        this.forEachInstance((inst) => inst.model.stopAnimation());
         if (Engine.instance === this)
             Engine.instance = null;
         if (this.camera)

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

@@ -1 +1 @@
-{"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"}
+{"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,CA8CrG;AA4BD,wBAAgB,YAAY,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,WAAW,GAAG,IAAI,CAsB3E"}

package/dist/physics/contact.js

@@ -658,8 +658,14 @@ export function generateContacts(store, a, b, pool) {
         return;
     }
     if (sA === RigidbodyShape.Capsule && sB === RigidbodyShape.Sphere) {
+        // Only flip a contact this call actually produced. The detector returns
+        // without emitting whenever the shapes are out of range, and flipping then
+        // reverses the normal of whatever unrelated contact happens to sit at the
+        // end of the pool — pushing those two bodies together instead of apart.
+        const before = pool.count;
         detectSphereCapsule(store, b, a, pool);
-        flipLastNormal(pool);
+        if (pool.count > before)
+            flipLastNormal(pool);
         return;
     }
     if (sA === RigidbodyShape.Capsule && sB === RigidbodyShape.Capsule) {
@@ -671,8 +677,10 @@ export function generateContacts(store, a, b, pool) {
         return;
     }
     if (sA === RigidbodyShape.Box && sB === RigidbodyShape.Sphere) {
+        const before = pool.count;
         detectSphereBox(store, b, a, pool);
-        flipLastNormal(pool);
+        if (pool.count > before)
+            flipLastNormal(pool);
         return;
     }
     if (sA === RigidbodyShape.Capsule && sB === RigidbodyShape.Box) {
@@ -680,8 +688,10 @@ export function generateContacts(store, a, b, pool) {
         return;
     }
     if (sA === RigidbodyShape.Box && sB === RigidbodyShape.Capsule) {
+        const before = pool.count;
         detectCapsuleBox(store, b, a, pool);
-        flipLastNormal(pool);
+        if (pool.count > before)
+            flipLastNormal(pool);
         return;
     }
     // Box-box left unimplemented.

package/dist/physics/physics.d.ts

@@ -44,6 +44,26 @@ export declare class RezePhysics {
     private snapBodiesToBones;
     private computeKinematicTargets;
     private advanceKinematicToTargets;
+    /**
+     * Put kinematic bodies exactly on their targets.
+     *
+     * `keepTrajectoryVelocity` decides what the cloth is then told about how
+     * those bodies got there, and the two callers want opposite answers.
+     *
+     * After a teleport the honest answer is "nothing" — a scrub is not motion
+     * and handing the solver the implied velocity is what used to fling cloth
+     * across the discontinuity.
+     *
+     * After the substep budget is exhausted it is the opposite. The body really
+     * did travel along its animated trajectory this frame; the simulation just
+     * could not afford to walk it there in steps. Zeroing there tells every
+     * dynamic body in contact that the character stopped dead, so cloth loses
+     * its drag and is teleported by the body instead of dragged by it — it stops
+     * flowing and starts juddering. That branch only fires on a device already
+     * running under its refresh rate, which is precisely where the simulation
+     * can least afford to also look broken. The trajectory velocity is already
+     * computed every frame in kinTargetVel; it just needs to survive.
+     */
     private snapKinematicToTargets;
     private carryDynamicThroughTeleport;
     private alignPinnedBodiesToBones;

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

@@ -1 +1 @@
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+{"version":3,"file":"physics.d.ts","sourceRoot":"","sources":["../../src/physics/physics.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,SAAS,CAAA;AAC1C,OAAO,KAAK,EAAE,SAAS,EAAE,KAAK,EAAE,MAAM,SAAS,CAAA;AAE/C,OAAO,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAavC,qBAAa,WAAW;IACtB,OAAO,CAAC,WAAW,CAAa;IAChC,OAAO,CAAC,MAAM,CAAS;IACvB,OAAO,CAAC,KAAK,CAAgB;IAC7B,OAAO,CAAC,KAAK,CAAO;IACpB,OAAO,CAAC,WAAW,CAA0B;IAC7C,OAAO,CAAC,WAAW,CAAa;IAChC,OAAO,CAAC,QAAQ,CAAa;IAC7B,OAAO,CAAC,UAAU,CAAO;IACzB,OAAO,CAAC,SAAS,CAAI;IACrB,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAS;IACvC,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAI;IAChC,uEAAuE;IACvE,OAAO,CAAC,aAAa,CAAM;IAC3B,2EAA2E;IAC3E,OAAO,CAAC,QAAQ,CAAC,YAAY,CAAI;IAMjC,OAAO,CAAC,aAAa,CAAc;IACnC,OAAO,CAAC,gBAAgB,CAAc;IAQtC,OAAO,CAAC,YAAY,CAAc;IAClC,OAAO,CAAC,YAAY,CAAc;IAClC,OAAO,CAAC,YAAY,CAAc;IAClC,OAAO,CAAC,eAAe,CAAc;IAMrC,OAAO,CAAC,OAAO,CAAY;IAE3B,OAAO,CAAC,aAAa,CAAY;IAMjC,OAAO,CAAC,WAAW,CAAY;IAG/B,aAAa,SAAI;gBAEL,WAAW,EAAE,SAAS,EAAE,EAAE,MAAM,GAAE,KAAK,EAAO;IA6D1D,OAAO,CAAC,mBAAmB;IA4B3B,OAAO,CAAC,aAAa;IAKrB,UAAU,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IAG/B,UAAU,IAAI,IAAI;IAGlB,cAAc,IAAI,SAAS,EAAE;IAG7B,SAAS,IAAI,KAAK,EAAE;IAGpB,QAAQ,IAAI,cAAc;IAI1B,sBAAsB,IAAI,KAAK,CAAC;QAAE,QAAQ,EAAE,IAAI,CAAC;QAAC,QAAQ,EAAE,IAAI,CAAA;KAAE,CAAC;IAiBnE,KAAK,CAAC,iBAAiB,EAAE,IAAI,EAAE,GAAG,IAAI;IActC,IAAI,CAAC,EAAE,EAAE,MAAM,EAAE,iBAAiB,EAAE,IAAI,EAAE,EAAE,uBAAuB,EAAE,YAAY,GAAG,IAAI;IA6ExF,OAAO,CAAC,iBAAiB;IAuCzB,OAAO,CAAC,uBAAuB;IAqF/B,OAAO,CAAC,yBAAyB;IAgEjC;;;;;;;;;;;;;;;;;;;OAmBG;IACH,OAAO,CAAC,sBAAsB;IA0C9B,OAAO,CAAC,2BAA2B;IA6EnC,OAAO,CAAC,wBAAwB;IA2BhC,OAAO,CAAC,sBAAsB;IAqC9B,OAAO,CAAC,oBAAoB;CA6D7B"}

package/dist/physics/physics.js

@@ -220,10 +220,12 @@ export class RezePhysics {
         }
         if (this.timeAccum >= this.fixedTimeStep) {
             // Substep budget exhausted mid-catchup: drop the remaining time and
-            // snap kinematic bodies the rest of the way (zero velocity) so they
-            // don't start next frame lagging behind their bones.
+            // snap kinematic bodies the rest of the way so they don't start next
+            // frame lagging behind their bones. They keep the velocity their
+            // trajectory implies — the character did move, and cloth in contact
+            // needs to know that or it stops being dragged and starts juddering.
             this.timeAccum = 0;
-            this.snapKinematicToTargets(false);
+            this.snapKinematicToTargets(false, true);
         }
         // MMD mode-2 bone alignment for pinned (depth-1) bodies: position
         // re-pins to the animated bone, rotation stays simulated.
@@ -416,7 +418,27 @@ export class RezePhysics {
     // Snap kinematic bodies straight to the frame target with zero velocity.
     // Used on teleports (onlyFlagged) and when the substep budget runs out
     // mid-catchup (all).
-    snapKinematicToTargets(onlyFlagged) {
+    /**
+     * Put kinematic bodies exactly on their targets.
+     *
+     * `keepTrajectoryVelocity` decides what the cloth is then told about how
+     * those bodies got there, and the two callers want opposite answers.
+     *
+     * After a teleport the honest answer is "nothing" — a scrub is not motion
+     * and handing the solver the implied velocity is what used to fling cloth
+     * across the discontinuity.
+     *
+     * After the substep budget is exhausted it is the opposite. The body really
+     * did travel along its animated trajectory this frame; the simulation just
+     * could not afford to walk it there in steps. Zeroing there tells every
+     * dynamic body in contact that the character stopped dead, so cloth loses
+     * its drag and is teleported by the body instead of dragged by it — it stops
+     * flowing and starts juddering. That branch only fires on a device already
+     * running under its refresh rate, which is precisely where the simulation
+     * can least afford to also look broken. The trajectory velocity is already
+     * computed every frame in kinTargetVel; it just needs to survive.
+     */
+    snapKinematicToTargets(onlyFlagged, keepTrajectoryVelocity = false) {
         const N = this.store.count;
         const positions = this.store.positions;
         const orientations = this.store.orientations;
@@ -426,6 +448,8 @@ export class RezePhysics {
         const boneIdx = this.store.boneIndex;
         const tp = this.kinTargetPos;
         const to = this.kinTargetOri;
+        const tv = this.kinTargetVel;
+        const tav = this.kinTargetAngVel;
         const flags = this.teleportFlags;
         for (let i = 0; i < N; i++) {
             const t = types[i];
@@ -444,12 +468,22 @@ export class RezePhysics {
             orientations[i4 + 1] = to[i4 + 1];
             orientations[i4 + 2] = to[i4 + 2];
             orientations[i4 + 3] = to[i4 + 3];
-            lv[i3 + 0] = 0;
-            lv[i3 + 1] = 0;
-            lv[i3 + 2] = 0;
-            av[i3 + 0] = 0;
-            av[i3 + 1] = 0;
-            av[i3 + 2] = 0;
+            if (keepTrajectoryVelocity) {
+                lv[i3 + 0] = tv[i3 + 0];
+                lv[i3 + 1] = tv[i3 + 1];
+                lv[i3 + 2] = tv[i3 + 2];
+                av[i3 + 0] = tav[i3 + 0];
+                av[i3 + 1] = tav[i3 + 1];
+                av[i3 + 2] = tav[i3 + 2];
+            }
+            else {
+                lv[i3 + 0] = 0;
+                lv[i3 + 1] = 0;
+                lv[i3 + 2] = 0;
+                av[i3 + 0] = 0;
+                av[i3 + 1] = 0;
+                av[i3 + 2] = 0;
+            }
         }
     }
     // Rigidly carry each dynamic body whose kinematic root teleported along

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "reze-engine",
-  "version": "0.33.0",
+  "version": "0.33.1",
   "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

@@ -3031,9 +3031,7 @@ export class Engine {
 
   dispose() {
     this.stopRenderLoop()
-    this.forEachInstance((inst) => {
-      inst.model.stopAnimation()
-      })
+    this.forEachInstance((inst) => inst.model.stopAnimation())
     if (Engine.instance === this) Engine.instance = null
     if (this.camera) this.camera.detachControl()
 

package/src/physics/contact.ts

@@ -929,8 +929,13 @@ export function generateContacts(store: RigidBodyStore, a: number, b: number, po
     return
   }
   if (sA === RigidbodyShape.Capsule && sB === RigidbodyShape.Sphere) {
+    // Only flip a contact this call actually produced. The detector returns
+    // without emitting whenever the shapes are out of range, and flipping then
+    // reverses the normal of whatever unrelated contact happens to sit at the
+    // end of the pool — pushing those two bodies together instead of apart.
+    const before = pool.count
     detectSphereCapsule(store, b, a, pool)
-    flipLastNormal(pool)
+    if (pool.count > before) flipLastNormal(pool)
     return
   }
   if (sA === RigidbodyShape.Capsule && sB === RigidbodyShape.Capsule) {
@@ -942,8 +947,9 @@ export function generateContacts(store: RigidBodyStore, a: number, b: number, po
     return
   }
   if (sA === RigidbodyShape.Box && sB === RigidbodyShape.Sphere) {
+    const before = pool.count
     detectSphereBox(store, b, a, pool)
-    flipLastNormal(pool)
+    if (pool.count > before) flipLastNormal(pool)
     return
   }
   if (sA === RigidbodyShape.Capsule && sB === RigidbodyShape.Box) {
@@ -951,8 +957,9 @@ export function generateContacts(store: RigidBodyStore, a: number, b: number, po
     return
   }
   if (sA === RigidbodyShape.Box && sB === RigidbodyShape.Capsule) {
+    const before = pool.count
     detectCapsuleBox(store, b, a, pool)
-    flipLastNormal(pool)
+    if (pool.count > before) flipLastNormal(pool)
     return
   }
   // Box-box left unimplemented.

package/src/physics/physics.ts

@@ -266,10 +266,12 @@ export class RezePhysics {
     }
     if (this.timeAccum >= this.fixedTimeStep) {
       // Substep budget exhausted mid-catchup: drop the remaining time and
-      // snap kinematic bodies the rest of the way (zero velocity) so they
-      // don't start next frame lagging behind their bones.
+      // snap kinematic bodies the rest of the way so they don't start next
+      // frame lagging behind their bones. They keep the velocity their
+      // trajectory implies — the character did move, and cloth in contact
+      // needs to know that or it stops being dragged and starts juddering.
       this.timeAccum = 0
-      this.snapKinematicToTargets(false)
+      this.snapKinematicToTargets(false, true)
     }
 
     // MMD mode-2 bone alignment for pinned (depth-1) bodies: position
@@ -470,7 +472,27 @@ export class RezePhysics {
   // Snap kinematic bodies straight to the frame target with zero velocity.
   // Used on teleports (onlyFlagged) and when the substep budget runs out
   // mid-catchup (all).
-  private snapKinematicToTargets(onlyFlagged: boolean): void {
+  /**
+   * Put kinematic bodies exactly on their targets.
+   *
+   * `keepTrajectoryVelocity` decides what the cloth is then told about how
+   * those bodies got there, and the two callers want opposite answers.
+   *
+   * After a teleport the honest answer is "nothing" — a scrub is not motion
+   * and handing the solver the implied velocity is what used to fling cloth
+   * across the discontinuity.
+   *
+   * After the substep budget is exhausted it is the opposite. The body really
+   * did travel along its animated trajectory this frame; the simulation just
+   * could not afford to walk it there in steps. Zeroing there tells every
+   * dynamic body in contact that the character stopped dead, so cloth loses
+   * its drag and is teleported by the body instead of dragged by it — it stops
+   * flowing and starts juddering. That branch only fires on a device already
+   * running under its refresh rate, which is precisely where the simulation
+   * can least afford to also look broken. The trajectory velocity is already
+   * computed every frame in kinTargetVel; it just needs to survive.
+   */
+  private snapKinematicToTargets(onlyFlagged: boolean, keepTrajectoryVelocity = false): void {
     const N = this.store.count
     const positions = this.store.positions
     const orientations = this.store.orientations
@@ -480,6 +502,8 @@ export class RezePhysics {
     const boneIdx = this.store.boneIndex
     const tp = this.kinTargetPos
     const to = this.kinTargetOri
+    const tv = this.kinTargetVel
+    const tav = this.kinTargetAngVel
     const flags = this.teleportFlags
 
     for (let i = 0; i < N; i++) {
@@ -496,8 +520,13 @@ export class RezePhysics {
       orientations[i4 + 1] = to[i4 + 1]
       orientations[i4 + 2] = to[i4 + 2]
       orientations[i4 + 3] = to[i4 + 3]
-      lv[i3 + 0] = 0; lv[i3 + 1] = 0; lv[i3 + 2] = 0
-      av[i3 + 0] = 0; av[i3 + 1] = 0; av[i3 + 2] = 0
+      if (keepTrajectoryVelocity) {
+        lv[i3 + 0] = tv[i3 + 0]; lv[i3 + 1] = tv[i3 + 1]; lv[i3 + 2] = tv[i3 + 2]
+        av[i3 + 0] = tav[i3 + 0]; av[i3 + 1] = tav[i3 + 1]; av[i3 + 2] = tav[i3 + 2]
+      } else {
+        lv[i3 + 0] = 0; lv[i3 + 1] = 0; lv[i3 + 2] = 0
+        av[i3 + 0] = 0; av[i3 + 1] = 0; av[i3 + 2] = 0
+      }
     }
   }