reze-engine 0.33.2 → 0.35.0

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; 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
+- **In-house TS physics** — sequential-impulse rigid bodies for PMX rigs with rest-stable implicit spring-dampers, zero dependencies; structure-of-arrays solver, scene gravity and wind, 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
@@ -86,11 +86,11 @@ engine/src/
     slots.ts           per-render-class fs() shell (stencil/alpha) around the graph body
     presets/           the 9 built-in shader graphs (hair, face, eye, cloth, …)
 
-  physics/           in-house rigid-body solver (~2.5k lines)
+  physics/           in-house rigid-body solver (~4.2k lines)
     physics.ts         RezePhysics: bone↔body sync, fixed-step accumulator + interpolation
     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
+    contact.ts         narrowphase (analytical sphere/box/capsule pairs, incl. box-box) + contact pool
+    constraint.ts      6DOF spring joints   ·   world.ts  step, gravity + wind
     body.ts            SoA rigid-body store  ·  types.ts
 
   shaders/
@@ -119,6 +119,8 @@ engine.setMaterialVisible(name, material, visible) / toggleMaterialVisible / isM
 engine.setIKEnabled(enabled)                 // engine-wide OFF for hosts that pose bones themselves; ON hands per-chain state to the clip
 engine.setPhysicsEnabled(enabled)
 engine.resetPhysics()                        // re-pose bodies from animation + zero velocities (call if physics explodes)
+engine.setGravity(vec3) / getGravity()       // scene-wide; default (0, -98, 0) — MMD scale, where a character is ~18 units tall
+engine.setWind({ direction, strength, turbulence?, frequency? } | null) / getWind()   // scene-wide air; strength is in gravity's units, so 10-30 reads as a breeze through hair and skirt
 
 engine.setCameraFollow(model, bone?, offset?) / setCameraFollow(null)
 engine.setCameraTarget(vec3) / setCameraDistance(d) / setCameraAlpha(a) / setCameraBeta(b)
@@ -323,21 +325,24 @@ Validation catches material conflicts, type mismatches, cycles, and bad links wi
 
 ## Physics
 
-In-house sequential-impulse rigid-body solver for PMX rigs (sphere / box / capsule colliders, 6DOF spring joints), ~2.5k lines of TypeScript, no external dependency, at quality comparable to Bullet's defaults. A fixed-timestep accumulator runs at a constant **60 Hz** (≤6 substeps/frame) so spring impulse, damping, and integration stay deterministic; dynamic bodies are **render-interpolated** between substeps to stay smooth when the display rate ≠ 60 Hz.
+In-house sequential-impulse rigid-body solver for PMX rigs (sphere / box / capsule colliders, 6DOF spring joints), ~4.2k lines of TypeScript, no external dependency, at quality comparable to Bullet's defaults. A fixed-timestep accumulator runs at a constant **60 Hz** (≤6 substeps/frame) so spring impulse, damping, and integration stay deterministic; dynamic bodies are **render-interpolated** between substeps to stay smooth when the display rate ≠ 60 Hz.
 
 **Per substep:** `predict velocities → broad + narrowphase → solve constraints (10 iters) → split-impulse position correction → integrate`.
 
 - **Solver** — projected Gauss-Seidel, joint rows + contact rows in one loop. Joints are 6DOF spring constraints (3 linear + 3 angular) with stop-ERP limit correction. Linear rows pivot on each body's own joint-frame origin (Spring2-style, not Bullet 2.7x's shared mid-anchor), so a violated joint pulls itself back together instead of degenerating into torque and "breaking".
 - **Implicit spring-dampers** — each sprung axis solves the backward-Euler soft constraint `relVel⁺ + (k/γ)·err + s·λ = 0` (`γ = c + h·k`, `s = 1/(h·γ)`), unconditionally stable for any authored stiffness, with damping `c = 2ζ√(k·m_eff)` intrinsic to the row. Resting cloth genuinely settles: the previous clamped velocity-drive could inject energy far from equilibrium but not absorb it near it, so static dresses slowly "boiled" — measured 15× lower resting velocity after the change, with authored stiffness now delivered in full (no deadbeat clamp).
 - **Angular limits** — hybrid: small violations (< 0.5 rad, the resting-cloth regime) use per-axis Euler stop rows, which converge cleanly and keep resting cloth still; larger violations switch to a single geodesic row toward the Euler-clamped target rotation, because per-axis Euler rows chase phantom errors near the ±90° singularity and pump energy. Ranged stops are unilateral (accumulated impulse clamped to the corrective sign) so a limit pushes back into range but never brakes natural recovery; locked axes stay bilateral equality joints. Spring rows stay per-axis, with stiffness clamped to the `k·dt² ≤ ¼` stability bound.
-- **Narrowphase** — analytical sphere-sphere / -capsule / -box and capsule-capsule / -box. Capsule-capsule emits multiple contacts along near-parallel axes so cloth can't pivot around a single closest point.
-- **Speculative contacts** (`margin 0.04`) fire at near-touch with a push-only clamp — inert until real overlap, but they stop fast bodies tunneling thin surfaces in one substep.
+- **Narrowphase** — analytical sphere-sphere / -capsule / -box, capsule-capsule / -box, and box-box (SAT + face clipping, up to 4 points per manifold). MMD dress rigs are built from box panels, and box-box is the majority of collidable pairs on those models — without it cloth passes through cloth. Capsule-capsule emits multiple contacts along near-parallel axes so cloth can't pivot around a single closest point.
+- **Speculative contacts** (`margin 0.04`) fire at near-touch and cancel only the approach velocity in excess of what closes the remaining gap in one substep (`gap/dt`), so they stop fast bodies tunneling thin surfaces while staying inert until the body would actually arrive. The push-only clamp does not achieve that on its own — it forbids a pulling impulse, not a large pushing one on a body still in mid-air.
+- **Contact relaxation** — each contact row's gain is `1/max(rows on A, rows on B)` over dynamic bodies (floor 0.12). Every row drives the relative velocity at its own point to zero, so a dress panel carrying dozens at once is over-braked, differently each substep; a body on a lone contact keeps full gain and still settles exactly. A flat factor damps the well-conditioned rows too and leaves single-contact bodies creeping instead of settling.
 - **Split-impulse correction** resolves penetration by a mass-weighted translation _outside_ the velocity solver, so joint pulls can't fight separation.
 - **Kinematic advancement** — bone-driven bodies move toward the frame's bone pose incrementally per substep, with velocities derived over the fixed step, so the solver never sees more than one 60 Hz step of anchor motion regardless of render dt.
 - **Discontinuity guards** — a bone-pose jump beyond continuous motion (timeline scrub, long stall) rigidly carries each dynamic body along with its kinematic root's transform delta and zeroes momentum instead of dragging cloth across the gap; correction velocities are clamped (120 u/s linear, 30 rad/s angular), per-step travel is capped, and any body that still goes non-finite is restored to its previous substep pose.
 - Sleeping is off (cloth must always react); resting bodies bleed micro-velocity via per-PMX damping.
 
-Engine surface is just `setPhysicsEnabled` / `resetPhysics` — all tuning (mass, damping, friction, restitution, joint stiffness/limits, collision groups) lives on the PMX rig.
+- **Gravity and wind** are scene-wide and summed once per substep, so wind costs the per-body loop nothing. Wind is an acceleration rather than a drag model: PMX authors already tune per-body damping to get the hang they want, and a second hidden drag term would fight it. Gusting rides a pair of incommensurate sines — one alone is a metronome — and advances on *simulated* time, so an exported take gusts frame-for-frame as its preview did.
+
+Engine surface is `setPhysicsEnabled` / `resetPhysics` / `setGravity` / `setWind` — everything else (mass, damping, friction, restitution, joint stiffness/limits, collision groups) lives on the PMX rig.
 
 ## Rendering
 

package/dist/engine.d.ts

@@ -1,6 +1,7 @@
 import { Quat, Vec3 } from "./math";
 import { Model } from "./model";
 import { RezePhysics } from "./physics";
+import type { WindOptions } from "./physics/world";
 import { type AssetReader } from "./asset-reader";
 import { type CompileOptions, type StyleSlot } from "./graph/compile";
 import type { AlphaMode, RenderClass } from "./graph/render-class";
@@ -402,6 +403,8 @@ export declare class Engine {
     private _nextDefaultModelId;
     private ikEnabled;
     private physicsEnabled;
+    private gravity;
+    private wind;
     private useGpuMorphs;
     private cameraAnimation;
     private cameraTargetModel;
@@ -623,6 +626,25 @@ export declare class Engine {
     getIKEnabled(): boolean;
     setPhysicsEnabled(enabled: boolean): void;
     getPhysicsEnabled(): boolean;
+    /**
+     * Scene gravity, applied to every model's cloth and hair. The default is
+     * (0, -98, 0) — MMD's own scale, where a character stands about 20 units
+     * tall. Lower magnitudes float; tilting it sideways hangs everything on a
+     * slant, which is the cheap way to fake a strong draught.
+     */
+    setGravity(gravity: Vec3): void;
+    getGravity(): Vec3;
+    /**
+     * Air movement across the scene — null is still air.
+     *
+     * Applied as an acceleration alongside gravity, so `strength` is in the same
+     * units: against the default gravity of 98, a strength of 10-30 reads as a
+     * breeze through hair and a skirt without lifting them off the body. Gusting
+     * is driven by simulated time rather than wall time, so an exported take
+     * gusts exactly as the preview did.
+     */
+    setWind(wind: WindOptions | null): void;
+    getWind(): WindOptions | null;
     resetPhysics(): void;
     private forEachInstance;
     private cpuAnimMs;

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package/dist/engine.js

@@ -325,6 +325,10 @@ export class Engine {
         // IK and physics enabled at engine level (same for all models)
         this.ikEnabled = true;
         this.physicsEnabled = true;
+        // World-wide, not per-model: MMD treats gravity and wind as properties of the
+        // scene, and a model loaded later must arrive into the same air as the rest.
+        this.gravity = new Vec3(0, -98, 0);
+        this.wind = null;
         // GPU vertex-morph path. Set false BEFORE loadModel to fall back to the CPU path (A/B).
         this.useGpuMorphs = true;
         // VMD camera track (a dedicated camera VMD). When loaded + enabled it drives the shot,
@@ -2805,6 +2809,35 @@ export class Engine {
     getPhysicsEnabled() {
         return this.physicsEnabled;
     }
+    /**
+     * Scene gravity, applied to every model's cloth and hair. The default is
+     * (0, -98, 0) — MMD's own scale, where a character stands about 20 units
+     * tall. Lower magnitudes float; tilting it sideways hangs everything on a
+     * slant, which is the cheap way to fake a strong draught.
+     */
+    setGravity(gravity) {
+        this.gravity = new Vec3(gravity.x, gravity.y, gravity.z);
+        this.forEachInstance((inst) => inst.physics?.setGravity(this.gravity));
+    }
+    getGravity() {
+        return new Vec3(this.gravity.x, this.gravity.y, this.gravity.z);
+    }
+    /**
+     * Air movement across the scene — null is still air.
+     *
+     * Applied as an acceleration alongside gravity, so `strength` is in the same
+     * units: against the default gravity of 98, a strength of 10-30 reads as a
+     * breeze through hair and a skirt without lifting them off the body. Gusting
+     * is driven by simulated time rather than wall time, so an exported take
+     * gusts exactly as the preview did.
+     */
+    setWind(wind) {
+        this.wind = wind ? { ...wind, direction: new Vec3(wind.direction.x, wind.direction.y, wind.direction.z) } : null;
+        this.forEachInstance((inst) => inst.physics?.setWind(this.wind));
+    }
+    getWind() {
+        return this.wind ? { ...this.wind, direction: new Vec3(this.wind.direction.x, this.wind.direction.y, this.wind.direction.z) } : null;
+    }
     resetPhysics() {
         this.forEachInstance((inst) => {
             if (!inst.physics)
@@ -2943,6 +2976,13 @@ 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;
+        // Adopt the scene's air, or a model added mid-session would fall under
+        // different gravity from the ones already on stage.
+        if (physics) {
+            physics.setGravity(this.gravity);
+            if (this.wind)
+                physics.setWind(this.wind);
+        }
         const shadowBindGroup = this.device.createBindGroup({
             label: `${name}: shadow bind`,
             layout: this.shadowDepthPipeline.getBindGroupLayout(0),

package/dist/index.d.ts

@@ -25,4 +25,5 @@ export { VMDWriter } from "./vmd-writer";
 export { PmxLoader } from "./pmx-loader";
 export { CameraAnimation, type CameraPose } from "./camera-animation";
 export { RezePhysics } from "./physics";
+export type { WindOptions } from "./physics/world";
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/physics/contact.d.ts

@@ -26,6 +26,9 @@ export interface Contact {
     cBzN: number;
     jacInvN: number;
     bounceVel: number;
+    /** Per-contact relaxation gain, 1/max(rows on A, rows on B). See CONTACT_SOR_MIN. */
+    sorGain: number;
+    allowedApproachVel: number;
     t1x: number;
     t1y: number;
     t1z: number;

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

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