reze-engine 0.50.3 → 0.50.4

package/dist/physics/autofit.d.ts

@@ -0,0 +1,147 @@
+import { type Rigidbody } from "./types";
+import type { Skinning } from "../model";
+/**
+ * Supplementary colliders fitted to the mesh a PMX rigid body fails to cover.
+ *
+ * PMX body proxies are bodies of revolution — 下半身 is a capsule lying
+ * transversely across the hips, so its cross-section is a circle. A pelvis seen
+ * from the side is not a circle, and across every rig measured the butt sits
+ * 0.18–0.71 units OUTSIDE that capsule while the front is flush or inside. That
+ * gap is where a skirt goes through a character: the cloth is resting correctly
+ * on the collider it was given, and the collider stops half a unit short of the
+ * skin.
+ *
+ * A rest offset cannot close it (see RigidBodyStore.restOffset) — it is one
+ * scalar on a radially symmetric shape, and the error is asymmetric. Measured
+ * on 托特's run cycle, the offset that clears the butt is 0.5, which is simply
+ * the size of the missing geometry, and at that value the skirt stands off the
+ * front and hips by the same 0.5.
+ *
+ * So fit the missing piece instead: take each bone-following body's own skinned
+ * vertices, find the ones that escape its shape in a concentrated lobe, and fit
+ * a capsule to that lobe. That is the fix riggers apply by hand, derived from
+ * the mesh rather than guessed.
+ *
+ * Measured on 托特's run cycle, counting butt vertices swallowed by a cloth
+ * body: 32.4 per frame with nothing, 30.9 with a 0.02 rest offset, 12.4 with
+ * this pass, 10.4 with both.
+ */
+export interface AutoFitOptions {
+    /** A vertex counts as protruding past this much (model units). Below it the
+     *  mesh is within authoring tolerance of the proxy and needs no help. */
+    minProtrusion?: number;
+    /**
+     * Ignore vertices further out than this multiple of the source shape's
+     * RADIUS (its smallest characteristic dimension).
+     *
+     * A coarse first cut at keeping hair and loose clothing out — anything
+     * standing further off the proxy than the proxy is wide is not skin. The
+     * discriminator that actually does the work is minConcentration.
+     */
+    maxProtrusionRatio?: number;
+    /** Fewer protruding vertices than this and it is a spike, not a region. */
+    minVertices?: number;
+    /**
+     * Per-axis quantile the fitted lobe's extent is clipped to, each end. A
+     * handful of stray vertices (a weight-painting slip, a seam) would otherwise
+     * stretch the capsule far past the surface everyone can see.
+     */
+    quantile?: number;
+    /** Skip the fit unless the capsule actually reaches this far past what is
+     *  already covered — otherwise it adds solver rows for nothing. */
+    minGain?: number;
+    /** How tightly the kept lobe's outward directions must agree, 0–1. A loose
+     *  sanity check; the real discriminator is minConcentration. */
+    minDirectionality?: number;
+    /** Vertices outside the dominant lobe, by this cosine, are not part of the
+     *  feature being fitted. */
+    lobeCos?: number;
+    /**
+     * How much deeper the fitted lobe must be than protrusion typically is on
+     * this body, averaged over the vertices that protrude at all.
+     *
+     * This is the guard that separates "the proxy is missing a lobe" from "the
+     * proxy is not a proxy for this mesh at all". A pelvis escapes its capsule by
+     * 0.53 at the back and 0.14 at the front, so the back lobe stands well clear
+     * of the average. Hair escapes the skull by a similar depth in every
+     * direction, so its deepest lobe is no deeper than typical and the ratio sits
+     * near 1. See the note at the meanProtrusion computation for what this
+     * deliberately refuses to fit.
+     *
+     * Without it the pass fits the hairstyle — measured on 托特, 頭 reports
+     * 3653 of 4669 vertices outside its capsule, and the fitted shape was a crate
+     * around the whole head. No threshold on depth or vertex count tells those
+     * two cases apart; concentration does.
+     */
+    minConcentration?: number;
+    /**
+     * How many capsules may be fitted to one body, each against what the previous
+     * ones already cover.
+     *
+     * One capsule inscribed in a lobe does not fill it — on 托特's butt a single
+     * fit removed 58% of the clipping and left the rest at the edges the capsule
+     * could not reach. Each further pass re-measures protrusion against the
+     * original shape UNION everything fitted so far, so it lands on whatever is
+     * still exposed instead of re-fitting the same bulge.
+     */
+    maxShapesPerBody?: number;
+    /**
+     * Quantile of the lobe's perpendicular spread used as the capsule radius.
+     *
+     * The clip-versus-float dial, and the one to reach for if a result looks
+     * wrong. Lower hugs the body: less standoff in idle, more clipping left. 1.0
+     * encloses the lobe entirely, which is what produced a visibly hovering
+     * skirt on 托特.
+     */
+    radiusQuantile?: number;
+    /**
+     * Fit only the deepest part of each lobe: points at least this fraction of
+     * the lobe's own maximum protrusion.
+     *
+     * A lobe tapers to nothing at its edges, and a capsule sized to span the
+     * whole thing has to be fat enough to reach the edges too. Fitting the deep
+     * core keeps each capsule small and lets a later pass handle the shallows
+     * with its own, which is both tighter and closer to what the surface is
+     * actually doing.
+     */
+    lobeDepthFraction?: number;
+}
+/** What the pass decided for one source body — surfaced so a rig can be
+ *  inspected rather than silently rebuilt underneath its author. */
+export interface AutoFitResult {
+    /** Index of the body in the input array that this supplements. */
+    sourceIndex: number;
+    sourceName: string;
+    /** Vertices dominated by that body's bone, and how many were outside it. */
+    vertexCount: number;
+    protrudingCount: number;
+    /** Furthest any kept vertex sat outside the source shape. */
+    maxProtrusion: number;
+    /** How far the fitted capsule reaches past what was already covered. */
+    gain: number;
+    /** Length of the kept lobe's mean outward direction, 0–1. */
+    directionality: number;
+    /** Lobe depth over the body's average protrusion. See minConcentration. */
+    concentration: number;
+    /**
+     * Furthest the capsule's newly exposed surface sits from the skin it was
+     * fitted to — the amount cloth resting on it will stand off the body at the
+     * worst point, and the number to watch if a result looks puffy. Only the part
+     * reaching outside the source shape is measured; the rest is buried.
+     */
+    overshoot: number;
+    body: Rigidbody;
+}
+/**
+ * Fit supplementary colliders for every bone-following body whose own mesh
+ * escapes it.
+ *
+ * `vertices` is the model's interleaved vertex buffer (stride 8, position
+ * first) and `skinning` its joints/weights — both in PMX bind pose, the same
+ * space as `shapePosition` / `shapeRotation`, so nothing has to be skinned.
+ *
+ * Returns one entry per body it chose to supplement; the caller appends
+ * `.body` to the rigid body list before constructing RezePhysics.
+ */
+export declare function fitSupplementaryColliders(rigidbodies: Rigidbody[], vertices: Float32Array, skinning: Skinning, options?: AutoFitOptions): AutoFitResult[];
+//# sourceMappingURL=autofit.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/physics/autofit.js

@@ -0,0 +1,501 @@
+import { Vec3, Quat, Mat4 } from "../math";
+import { RigidbodyShape, RigidbodyType } from "./types";
+const DEFAULTS = {
+    minProtrusion: 0.05,
+    maxProtrusionRatio: 1.0,
+    minVertices: 24,
+    quantile: 0.02,
+    minGain: 0.1,
+    minDirectionality: 0.5,
+    lobeCos: 0.5,
+    minConcentration: 1.3,
+    maxShapesPerBody: 3,
+    radiusQuantile: 0.5,
+    lobeDepthFraction: 0.45,
+};
+const VERTEX_STRIDE = 8;
+/**
+ * Fit supplementary colliders for every bone-following body whose own mesh
+ * escapes it.
+ *
+ * `vertices` is the model's interleaved vertex buffer (stride 8, position
+ * first) and `skinning` its joints/weights — both in PMX bind pose, the same
+ * space as `shapePosition` / `shapeRotation`, so nothing has to be skinned.
+ *
+ * Returns one entry per body it chose to supplement; the caller appends
+ * `.body` to the rigid body list before constructing RezePhysics.
+ */
+export function fitSupplementaryColliders(rigidbodies, vertices, skinning, options = {}) {
+    const opt = { ...DEFAULTS, ...options };
+    const vertexCount = vertices.length / VERTEX_STRIDE;
+    if (vertexCount === 0)
+        return [];
+    // Bucket vertices by their dominant bone once. Every body then reads only the
+    // mesh it stands in for, instead of the pass being O(bodies × vertices).
+    const byBone = new Map();
+    for (let i = 0; i < vertexCount; i++) {
+        let bestW = -1;
+        let bestB = -1;
+        for (let k = 0; k < 4; k++) {
+            const w = skinning.weights[i * 4 + k];
+            if (w > bestW) {
+                bestW = w;
+                bestB = skinning.joints[i * 4 + k];
+            }
+        }
+        if (bestB < 0)
+            continue;
+        const list = byBone.get(bestB);
+        if (list === undefined)
+            byBone.set(bestB, [i]);
+        else
+            list.push(i);
+    }
+    const out = [];
+    for (let b = 0; b < rigidbodies.length; b++) {
+        const rb = rigidbodies[b];
+        // Only bone-following proxies. A dynamic body IS the cloth — it has no
+        // skinned surface of its own to escape from.
+        if (rb.type === RigidbodyType.Dynamic && rb.mass > 0)
+            continue;
+        if (rb.boneIndex < 0)
+            continue;
+        const owned = byBone.get(rb.boneIndex);
+        if (owned === undefined || owned.length < opt.minVertices)
+            continue;
+        // Fit repeatedly, each pass measuring against what the earlier ones cover.
+        const covered = [];
+        for (let pass = 0; pass < opt.maxShapesPerBody; pass++) {
+            const fitted = fitOne(rb, b, owned, vertices, opt, covered);
+            if (fitted === null)
+                break;
+            covered.push(fitted.local);
+            out.push(fitted.result);
+        }
+    }
+    return out;
+}
+// Scratch, reused across bodies.
+const _local = [];
+function fitOne(rb, index, owned, vertices, opt, covered) {
+    const q = Quat.fromEuler(rb.shapeRotation.x, rb.shapeRotation.y, rb.shapeRotation.z);
+    const radius = shapeRadius(rb);
+    if (radius <= 0)
+        return null;
+    const maxProtrusion = radius * opt.maxProtrusionRatio;
+    // Collect protruding vertices in the SOURCE BODY's local frame. Working in
+    // that frame rather than the bone's means the fitted box inherits the
+    // proxy's own orientation, which is already aligned with the limb — no
+    // covariance fit, and no second convention to keep straight.
+    //
+    // Each one is stored with the direction it escapes in (the gradient of the
+    // signed distance), because which way the mesh escapes is what decides
+    // whether this is a feature worth fitting at all.
+    _local.length = 0;
+    let deepest = 0;
+    let seedX = 0, seedY = 1, seedZ = 0;
+    let sumProtrusion = 0;
+    for (let n = 0; n < owned.length; n++) {
+        const o = owned[n] * VERTEX_STRIDE;
+        _v.x = vertices[o] - rb.shapePosition.x;
+        _v.y = vertices[o + 1] - rb.shapePosition.y;
+        _v.z = vertices[o + 2] - rb.shapePosition.z;
+        // Into the body's local frame: rotate by the conjugate.
+        Quat.rotateVecInvInto(q, _v, _r);
+        const px = _r.x, py = _r.y, pz = _r.z;
+        const sd = coveredSignedDistance(rb, covered, px, py, pz);
+        if (sd <= opt.minProtrusion || sd > maxProtrusion)
+            continue;
+        coveredOutwardDir(rb, covered, px, py, pz, _r);
+        // Seed the lobe on the DEEPEST vertex, not the mean direction. A pelvis
+        // escapes its capsule at the back by 0.53 and at the front by 0.14, so the
+        // mean cancels below any usable threshold and the butt — the whole point —
+        // is never fitted. The deepest point is always ON the feature.
+        if (sd > deepest) {
+            deepest = sd;
+            seedX = _r.x;
+            seedY = _r.y;
+            seedZ = _r.z;
+        }
+        sumProtrusion += sd;
+        _local.push(px, py, pz, _r.x, _r.y, _r.z, sd);
+    }
+    let found = _local.length / 7;
+    if (found < opt.minVertices)
+        return null;
+    // Averaged over the PROTRUDING vertices, deliberately — the question being
+    // asked is "is the deepest lobe deeper than protrusion typically is on this
+    // body", which is exactly the test that separates a butt from a hairstyle.
+    //
+    // Averaging over all the body's vertices instead was tried and is worse: it
+    // lifts every ratio, and measured on 托特 it scored the head's hair (2.4–4.2)
+    // ABOVE the pelvis (2.85), so no threshold could separate them and the pass
+    // fitted 33 bodies including three around the hair.
+    //
+    // The known blind spot is a mesh that escapes in exactly one place at uniform
+    // depth: the lobe IS the whole protruding set, so the ratio is 1 and nothing
+    // is fitted. Real skin always has a gradient, and for a pass that adds bodies
+    // to someone else's rig, declining when the evidence is ambiguous is the
+    // right way to be wrong.
+    const meanProtrusion = sumProtrusion / found;
+    // Settle the lobe axis: take everything within lobeCos of the seed, recentre
+    // on that set's depth-weighted mean direction, repeat. Two passes is enough —
+    // the seed already sits on the feature, this only centres it.
+    let mdx = seedX, mdy = seedY, mdz = seedZ;
+    for (let pass = 0; pass < 2; pass++) {
+        let ax = 0, ay = 0, az = 0;
+        for (let i = 0; i < found; i++) {
+            const s = i * 7;
+            if (_local[s + 3] * mdx + _local[s + 4] * mdy + _local[s + 5] * mdz < opt.lobeCos)
+                continue;
+            const wgt = _local[s + 6];
+            ax += _local[s + 3] * wgt;
+            ay += _local[s + 4] * wgt;
+            az += _local[s + 5] * wgt;
+        }
+        const len = Math.sqrt(ax * ax + ay * ay + az * az);
+        if (len < 1e-9)
+            break;
+        mdx = ax / len;
+        mdy = ay / len;
+        mdz = az / len;
+    }
+    // Keep only the lobe. Fitting the whole protruding shell would wrap the limb
+    // and put box corners out in open air on the side that was already covered.
+    // Depth floor for the lobe's core, relative to the deepest point IN the lobe
+    // (not the body's overall deepest, which may sit in a different direction).
+    let lobeDeepest = 0;
+    for (let i = 0; i < found; i++) {
+        const s = i * 7;
+        if (_local[s + 3] * mdx + _local[s + 4] * mdy + _local[s + 5] * mdz < opt.lobeCos)
+            continue;
+        if (_local[s + 6] > lobeDeepest)
+            lobeDeepest = _local[s + 6];
+    }
+    const depthFloor = lobeDeepest * opt.lobeDepthFraction;
+    let w = 0;
+    let lobeSum = 0;
+    let dirX = 0, dirY = 0, dirZ = 0;
+    for (let i = 0; i < found; i++) {
+        const s = i * 7;
+        if (_local[s + 3] * mdx + _local[s + 4] * mdy + _local[s + 5] * mdz < opt.lobeCos)
+            continue;
+        if (_local[s + 6] < depthFloor)
+            continue;
+        lobeSum += _local[s + 6];
+        dirX += _local[s + 3];
+        dirY += _local[s + 4];
+        dirZ += _local[s + 5];
+        _local[w * 3 + 0] = _local[s + 0];
+        _local[w * 3 + 1] = _local[s + 1];
+        _local[w * 3 + 2] = _local[s + 2];
+        w++;
+    }
+    found = w;
+    if (found < opt.minVertices)
+        return null;
+    // Concentration: is this lobe actually a FEATURE, or is the whole mesh
+    // uniformly outside its proxy? Hair around a skull escapes by a similar depth
+    // in every direction, so its deepest lobe is no deeper than typical and the
+    // ratio sits near 1. A butt is markedly deeper than the pelvis average. This
+    // is what stops the pass from boxing a hairstyle.
+    //
+    // Only the FIRST pass is judged on it. The question it answers — is this
+    // proxy standing in for this mesh at all — is settled once per body. Later
+    // passes are filling in what the first capsule could not reach, and by then
+    // the remaining protrusion is evenly spread by construction, so re-applying
+    // the test would reject every one of them and cap coverage at a single
+    // capsule. They still have to clear minGain and the vertex count.
+    const concentration = meanProtrusion > 1e-6 ? lobeSum / found / meanProtrusion : 0;
+    if (covered.length === 0 && concentration < opt.minConcentration)
+        return null;
+    const directionality = Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ) / found;
+    if (directionality < opt.minDirectionality)
+        return null;
+    // Quantile-clipped extent per axis.
+    const lo = [0, 0, 0];
+    const hi = [0, 0, 0];
+    const axis = new Array(found);
+    for (let a = 0; a < 3; a++) {
+        for (let i = 0; i < found; i++)
+            axis[i] = _local[i * 3 + a];
+        axis.sort((x, y) => x - y);
+        const k = Math.min(found - 1, Math.floor(found * opt.quantile));
+        lo[a] = axis[k];
+        hi[a] = axis[found - 1 - k];
+    }
+    const hx = (hi[0] - lo[0]) * 0.5;
+    const hy = (hi[1] - lo[1]) * 0.5;
+    const hz = (hi[2] - lo[2]) * 0.5;
+    if (hx <= 0 || hy <= 0 || hz <= 0)
+        return null;
+    const cx = (hi[0] + lo[0]) * 0.5;
+    const cy = (hi[1] + lo[1]) * 0.5;
+    const cz = (hi[2] + lo[2]) * 0.5;
+    // Fit a CAPSULE, not a box, and keep the source body's own orientation.
+    //
+    // A box fitted to a curved lobe puts its eight corners out in open air — on
+    // 托特's butt the worst corner measured 0.81 units from the nearest skin
+    // vertex, and cloth resting on that corner would float further off the body
+    // than the clipping it was added to fix. A capsule has no corners.
+    //
+    // Reusing the source rotation verbatim is what makes this cheap AND correct.
+    // PMX capsules are Y-aligned in their own frame, and a proxy's axis already
+    // runs along its limb — 下半身 is a transverse pill across the hips, which is
+    // exactly the way a butt lobe runs. Inheriting the rotation means no
+    // covariance fit and, more to the point, no quaternion→Euler conversion whose
+    // convention could disagree with the loader's.
+    // Radius from the lobe's own perpendicular spread, at a quantile — NOT from
+    // the enclosing half-extent.
+    //
+    // This is what decides whether the result looks right. A capsule inflates
+    // equally in every direction perpendicular to its axis, so sizing the radius
+    // to ENCLOSE the lobe makes a wide shallow patch into a fat capsule: it only
+    // needed to reach the butt's depth, but it also grew to the butt's width, and
+    // the surplus is surface standing off the skin everywhere else. Measured on
+    // 托特's pelvis that was 0.68 units of standoff, which reads as a skirt
+    // hovering in idle — trading a clipping artifact for a worse one.
+    //
+    // Taking a quantile of the actual distances puts the capsule's surface
+    // through the lobe rather than around it. The deepest points end up slightly
+    // outside it, which the next pass picks up.
+    const perp = new Array(found);
+    for (let i = 0; i < found; i++) {
+        const dx = _local[i * 3] - cx;
+        const dz = _local[i * 3 + 2] - cz;
+        perp[i] = Math.sqrt(dx * dx + dz * dz);
+    }
+    perp.sort((a, b) => a - b);
+    const fitRadius = perp[Math.min(found - 1, Math.floor(found * opt.radiusQuantile))];
+    if (fitRadius <= 0)
+        return null;
+    // size.y is the FULL cylinder length between cap centres, so the capsule
+    // spans h + 2r along the axis. Solve for the lobe's own extent.
+    const cyl = Math.max(0, hy * 2 - fitRadius * 2);
+    // Gain and overshoot at the capsule's six axis extremes: how far it reaches
+    // past the shape it supplements, and how far it sits from the surface it was
+    // fitted to. Overshoot is the number to watch if a result looks puffy.
+    let gain = 0;
+    let overshoot = 0;
+    const half = cyl * 0.5;
+    const probes = [
+        [cx + fitRadius, cy, cz], [cx - fitRadius, cy, cz],
+        [cx, cy + half + fitRadius, cz], [cx, cy - half - fitRadius, cz],
+        [cx, cy, cz + fitRadius], [cx, cy, cz - fitRadius],
+    ];
+    for (const [px, py, pz] of probes) {
+        const sd = coveredSignedDistance(rb, covered, px, py, pz);
+        if (sd > gain)
+            gain = sd;
+        // Only the part of the capsule that reaches OUTSIDE the original shape is
+        // new collision surface. A probe pointing inward has no skin vertex near it
+        // by construction — the lobe is a patch on the outside — and counting it
+        // would report overshoot for geometry that is buried in the character.
+        if (sd <= 0)
+            continue;
+        let nearest = Infinity;
+        for (let i = 0; i < found; i++) {
+            const dx = _local[i * 3] - px;
+            const dy = _local[i * 3 + 1] - py;
+            const dz = _local[i * 3 + 2] - pz;
+            const d2 = dx * dx + dy * dy + dz * dz;
+            if (d2 < nearest)
+                nearest = d2;
+        }
+        const d = Math.sqrt(nearest);
+        if (d > overshoot)
+            overshoot = d;
+    }
+    if (gain < opt.minGain)
+        return null;
+    // Back out to bind-pose world. Orientation is copied verbatim from the source
+    // rather than converted — the capsule is expressed in that frame, and
+    // re-deriving Euler angles would only introduce a convention to get wrong.
+    _v.x = cx;
+    _v.y = cy;
+    _v.z = cz;
+    Quat.rotateVecInto(q, _v, _r);
+    const wx = rb.shapePosition.x + _r.x;
+    const wy = rb.shapePosition.y + _r.y;
+    const wz = rb.shapePosition.z + _r.z;
+    const result = {
+        sourceIndex: index,
+        sourceName: rb.name,
+        vertexCount: owned.length,
+        protrudingCount: found,
+        maxProtrusion: deepest,
+        gain,
+        directionality,
+        concentration,
+        overshoot,
+        body: {
+            name: `${rb.name}__fit`,
+            englishName: `${rb.englishName}__fit`,
+            boneIndex: rb.boneIndex,
+            // Same group and mask as the body it supplements: it must be visible to
+            // exactly the cloth that was already meant to collide with this limb, and
+            // invisible to whatever the rigger excluded.
+            group: rb.group,
+            collisionMask: rb.collisionMask,
+            shape: RigidbodyShape.Capsule,
+            // PMX capsule semantics: size.x is the radius, size.y the FULL cylinder
+            // length between cap centres (Bullet halves it internally), size.z unused.
+            size: new Vec3(fitRadius, cyl, fitRadius),
+            shapePosition: new Vec3(wx, wy, wz),
+            shapeRotation: new Vec3(rb.shapeRotation.x, rb.shapeRotation.y, rb.shapeRotation.z),
+            // Static: it follows its bone and never integrates. Mass 0 keeps it out
+            // of the dynamic path entirely.
+            mass: 0,
+            linearDamping: 0,
+            angularDamping: 0,
+            restitution: rb.restitution,
+            friction: rb.friction,
+            type: RigidbodyType.Static,
+            bodyOffsetMatrixInverse: Mat4.identity(),
+        },
+    };
+    return { result, local: { cx, cy, cz, radius: fitRadius, cyl } };
+}
+/** Smallest characteristic dimension — the "how wide is this proxy" scale the
+ *  protrusion cap is judged against. */
+function shapeRadius(rb) {
+    switch (rb.shape) {
+        case RigidbodyShape.Sphere:
+            return rb.size.x;
+        case RigidbodyShape.Capsule:
+            return rb.size.x;
+        case RigidbodyShape.Box:
+            return Math.min(rb.size.x, rb.size.y, rb.size.z);
+        default:
+            return 0;
+    }
+}
+/** Signed distance to a Y-axis capsule centred at (cx,cy,cz), in the same
+ *  local frame. `cyl` is the full length between cap centres. */
+function capsuleSignedDistance(c, px, py, pz) {
+    const half = c.cyl * 0.5;
+    const dy = py - c.cy;
+    const t = dy > half ? half : dy < -half ? -half : dy;
+    const ax = px - c.cx;
+    const az = pz - c.cz;
+    const by = dy - t;
+    return Math.sqrt(ax * ax + by * by + az * az) - c.radius;
+}
+/** Distance to the UNION of the source shape and everything already fitted to
+ *  it. Union is a min over signed distances, so a later pass sees only what is
+ *  still exposed. */
+function coveredSignedDistance(rb, covered, px, py, pz) {
+    let best = localSignedDistance(rb, px, py, pz);
+    for (let i = 0; i < covered.length; i++) {
+        const d = capsuleSignedDistance(covered[i], px, py, pz);
+        if (d < best)
+            best = d;
+    }
+    return best;
+}
+/** Outward direction from whichever member of the union is nearest — the
+ *  gradient of coveredSignedDistance. */
+function coveredOutwardDir(rb, covered, px, py, pz, out) {
+    let best = localSignedDistance(rb, px, py, pz);
+    let nearest = -1;
+    for (let i = 0; i < covered.length; i++) {
+        const d = capsuleSignedDistance(covered[i], px, py, pz);
+        if (d < best) {
+            best = d;
+            nearest = i;
+        }
+    }
+    if (nearest < 0) {
+        localOutwardDir(rb, px, py, pz, out);
+        return;
+    }
+    // Same construction as localOutwardDir, for the winning capsule.
+    const c = covered[nearest];
+    const half = c.cyl * 0.5;
+    const dy = py - c.cy;
+    const t = dy > half ? half : dy < -half ? -half : dy;
+    const dx = px - c.cx;
+    const dz = pz - c.cz;
+    const by = dy - t;
+    const len = Math.sqrt(dx * dx + by * by + dz * dz);
+    if (len > 1e-9) {
+        out.x = dx / len;
+        out.y = by / len;
+        out.z = dz / len;
+    }
+    else {
+        out.x = 0;
+        out.y = 1;
+        out.z = 0;
+    }
+}
+/** Direction a body-local point escapes the shape in — the gradient of the
+ *  signed distance, i.e. the unit vector from its closest surface point. */
+function localOutwardDir(rb, px, py, pz, out) {
+    let dx, dy, dz;
+    switch (rb.shape) {
+        case RigidbodyShape.Capsule: {
+            const half = rb.size.y * 0.5;
+            const t = py > half ? half : py < -half ? -half : py;
+            dx = px;
+            dy = py - t;
+            dz = pz;
+            break;
+        }
+        case RigidbodyShape.Box: {
+            dx = px - Math.max(-rb.size.x, Math.min(rb.size.x, px));
+            dy = py - Math.max(-rb.size.y, Math.min(rb.size.y, py));
+            dz = pz - Math.max(-rb.size.z, Math.min(rb.size.z, pz));
+            break;
+        }
+        default: {
+            dx = px;
+            dy = py;
+            dz = pz;
+            break;
+        }
+    }
+    const len = Math.sqrt(dx * dx + dy * dy + dz * dz);
+    if (len > 1e-9) {
+        out.x = dx / len;
+        out.y = dy / len;
+        out.z = dz / len;
+    }
+    else {
+        out.x = 0;
+        out.y = 1;
+        out.z = 0;
+    }
+}
+/** Signed distance from a body-local point to the shape's surface; > 0 outside. */
+function localSignedDistance(rb, px, py, pz) {
+    switch (rb.shape) {
+        case RigidbodyShape.Sphere:
+            return Math.sqrt(px * px + py * py + pz * pz) - rb.size.x;
+        case RigidbodyShape.Capsule: {
+            // PMX capsules are Y-aligned and size.y is the FULL cylinder length
+            // between cap centres, so the segment runs ±size.y/2.
+            const half = rb.size.y * 0.5;
+            const t = py > half ? half : py < -half ? -half : py;
+            const dy = py - t;
+            return Math.sqrt(px * px + dy * dy + pz * pz) - rb.size.x;
+        }
+        case RigidbodyShape.Box: {
+            // size is half-extents for boxes.
+            const qx = Math.abs(px) - rb.size.x;
+            const qy = Math.abs(py) - rb.size.y;
+            const qz = Math.abs(pz) - rb.size.z;
+            const ox = Math.max(qx, 0), oy = Math.max(qy, 0), oz = Math.max(qz, 0);
+            const outside = Math.sqrt(ox * ox + oy * oy + oz * oz);
+            return outside + Math.min(Math.max(qx, qy, qz), 0);
+        }
+        default:
+            return -Infinity;
+    }
+}
+// Rotation goes through Quat.rotateVecInto / rotateVecInvInto rather than
+// open-coded component formulas — this pass runs once at load, so there is
+// nothing to win by hand-rolling it and a sign error here would misplace every
+// fitted body.
+const _v = new Vec3(0, 0, 0);
+const _r = new Vec3(0, 0, 0);

package/dist/shaders/cast-api.d.ts

@@ -1,2 +1,2 @@
-export declare const CAST_API = "\nconst RZ_SUBJECTS: i32 = 4;\nconst RZ_SAMPLES: i32 = 128;\n/** The anchor ADDRESS SPACE \u2014 how many an effect may declare, not how many it\n *  did. RZ_TRAIL_SLOTS is the per-effect number and is not this one; the two\n *  being one number was the old trail bug. */\nconst RZ_MAX_ANCHORS: i32 = 8;\nconst RZ_TRAIL_SAMPLES: i32 = 128;\n\nstruct RzSubject {\n  /** On the FLOOR, under the body \u2014 where a ring or a magic circle belongs. */\n  root: vec3f,\n  /** At the hips, the middle of the body \u2014 where an aura belongs. */\n  center: vec3f,\n  /** Bounding sphere: xyz centre, w radius. Deliberately generous \u2014 cull with it. */\n  bounds: vec4f,\n  /** False past the end of the cast, and every field is then zero. */\n  valid: bool,\n}\n\nstruct RzAnchor {\n  pos: vec3f,\n  /** World units per second, from the previous frame. Direction for a trail,\n   *  magnitude for anything that should react to how hard someone is moving. */\n  vel: vec3f,\n  /** The bone's forward axis \u2014 which way a foot points, where a head looks. */\n  fwd: vec3f,\n  /** False when this rig has no such bone. Check it: the alternative is drawing\n   *  a hand effect at the world origin on every model that spells it differently. */\n  valid: bool,\n}\n\n/** Which model this is, stable across a scene \u2014 for per-subject variation. */\nfn rzSubjectId(i: i32) -> u32 {\n  if (i < 0 || i >= rzSubjectCount()) { return 0u; }\n  return u32(_rzCast[i * 3 + 1].w);\n}\n\nfn rzSubject(i: i32) -> RzSubject {\n  var s: RzSubject;\n  s.valid = i >= 0 && i < rzSubjectCount();\n  if (!s.valid) { return s; }\n  let b = i * 3;\n  s.root = _rzCast[b].xyz;\n  s.center = _rzCast[b + 1].xyz;\n  s.bounds = _rzCast[b + 2];\n  return s;\n}\n\n/**\n * Where a named bone is, this frame.\n *\n * The slot is the author's own: the Nth @anchor in their file, in the order\n * they wrote them. _rzSlot turns that into the scene's address, which is what\n * keeps two effects that both anchor to a wrist from reading each other's.\n */\nfn rzAnchor(subject: i32, slot: i32) -> RzAnchor {\n  var a: RzAnchor;\n  a.valid = false;\n  let g = _rzSlot(slot);\n  if (subject < 0 || subject >= rzSubjectCount() || g < 0 || g >= RZ_MAX_ANCHORS) { return a; }\n  let b = 12 + (g * 4 + subject) * 3;\n  a.valid = _rzCast[b].w > 0.5;\n  a.pos = _rzCast[b].xyz;\n  a.vel = _rzCast[b + 1].xyz;\n  a.fwd = _rzCast[b + 2].xyz;\n  return a;\n}\n\n/**\n * How many samples of a path are recorded \u2014 0 for an anchor that asked for no\n * trail, and for one that has not moved yet.\n *\n * Bounded by the anchor cap, NOT by how many anchors asked for a trail. Those\n * are different index spaces: storage is addressed by anchor slot, so an\n * untrailed @anchor followed by a trailed one put the trail at index 1 with a\n * bound of 1 and rzTrail returned zero \u2014 a ribbon that silently did not draw.\n */\nfn rzTrailCount(subject: i32, slot: i32) -> i32 {\n  let g = _rzSlot(slot);\n  if (subject < 0 || subject >= rzSubjectCount() || g < 0 || g >= RZ_MAX_ANCHORS) { return 0; }\n  return i32(_rzCast[12 + (g * 4 + subject) * 3 + 2].w);\n}\n\n/** Sample i of a path: xyz where it was, w how many seconds ago. i = 0 is now. */\nfn rzTrail(subject: i32, slot: i32, i: i32) -> vec4f {\n  let n = rzTrailCount(subject, slot);\n  if (i < 0 || i >= n) { return vec4f(0.0); }\n  let base = 108 + (_rzSlot(slot) * 4 + subject) * RZ_TRAIL_SAMPLES;\n  return _rzCast[base + i];\n}\n";
+export declare const CAST_API = "\nconst RZ_SUBJECTS: i32 = 4;\nconst RZ_SAMPLES: i32 = 128;\n/** The anchor ADDRESS SPACE \u2014 how many an effect may declare, not how many it\n *  did. RZ_TRAIL_SLOTS is the per-effect number and is not this one; the two\n *  being one number was the old trail bug. */\nconst RZ_MAX_ANCHORS: i32 = 16;\nconst RZ_TRAIL_SAMPLES: i32 = 128;\n\nstruct RzSubject {\n  /** On the FLOOR, under the body \u2014 where a ring or a magic circle belongs. */\n  root: vec3f,\n  /** At the hips, the middle of the body \u2014 where an aura belongs. */\n  center: vec3f,\n  /** Bounding sphere: xyz centre, w radius. Deliberately generous \u2014 cull with it. */\n  bounds: vec4f,\n  /** False past the end of the cast, and every field is then zero. */\n  valid: bool,\n}\n\nstruct RzAnchor {\n  pos: vec3f,\n  /** World units per second, from the previous frame. Direction for a trail,\n   *  magnitude for anything that should react to how hard someone is moving. */\n  vel: vec3f,\n  /** The bone's forward axis \u2014 which way a foot points, where a head looks. */\n  fwd: vec3f,\n  /** False when this rig has no such bone. Check it: the alternative is drawing\n   *  a hand effect at the world origin on every model that spells it differently. */\n  valid: bool,\n}\n\n/** Which model this is, stable across a scene \u2014 for per-subject variation. */\nfn rzSubjectId(i: i32) -> u32 {\n  if (i < 0 || i >= rzSubjectCount()) { return 0u; }\n  return u32(_rzCast[i * 3 + 1].w);\n}\n\nfn rzSubject(i: i32) -> RzSubject {\n  var s: RzSubject;\n  s.valid = i >= 0 && i < rzSubjectCount();\n  if (!s.valid) { return s; }\n  let b = i * 3;\n  s.root = _rzCast[b].xyz;\n  s.center = _rzCast[b + 1].xyz;\n  s.bounds = _rzCast[b + 2];\n  return s;\n}\n\n/**\n * Where a named bone is, this frame.\n *\n * The slot is the author's own: the Nth @anchor in their file, in the order\n * they wrote them. _rzSlot turns that into the scene's address, which is what\n * keeps two effects that both anchor to a wrist from reading each other's.\n */\nfn rzAnchor(subject: i32, slot: i32) -> RzAnchor {\n  var a: RzAnchor;\n  a.valid = false;\n  let g = _rzSlot(slot);\n  if (subject < 0 || subject >= rzSubjectCount() || g < 0 || g >= RZ_MAX_ANCHORS) { return a; }\n  let b = 12 + (g * 4 + subject) * 3;\n  a.valid = _rzCast[b].w > 0.5;\n  a.pos = _rzCast[b].xyz;\n  a.vel = _rzCast[b + 1].xyz;\n  a.fwd = _rzCast[b + 2].xyz;\n  return a;\n}\n\n/**\n * How many samples of a path are recorded \u2014 0 for an anchor that asked for no\n * trail, and for one that has not moved yet.\n *\n * Bounded by the anchor cap, NOT by how many anchors asked for a trail. Those\n * are different index spaces: storage is addressed by anchor slot, so an\n * untrailed @anchor followed by a trailed one put the trail at index 1 with a\n * bound of 1 and rzTrail returned zero \u2014 a ribbon that silently did not draw.\n */\nfn rzTrailCount(subject: i32, slot: i32) -> i32 {\n  let g = _rzSlot(slot);\n  if (subject < 0 || subject >= rzSubjectCount() || g < 0 || g >= RZ_MAX_ANCHORS) { return 0; }\n  return i32(_rzCast[12 + (g * 4 + subject) * 3 + 2].w);\n}\n\n/** Sample i of a path: xyz where it was, w how many seconds ago. i = 0 is now. */\nfn rzTrail(subject: i32, slot: i32, i: i32) -> vec4f {\n  let n = rzTrailCount(subject, slot);\n  if (i < 0 || i >= n) { return vec4f(0.0); }\n  let base = 204 + (_rzSlot(slot) * 4 + subject) * RZ_TRAIL_SAMPLES;\n  return _rzCast[base + i];\n}\n";
 //# sourceMappingURL=cast-api.d.ts.map

package/dist/shaders/cast-api.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"cast-api.d.ts","sourceRoot":"","sources":["../../src/shaders/cast-api.ts"],"names":[],"mappings":"AA+BA,eAAO,MAAM,QAAQ,k4GA2FpB,CAAA"}
+{"version":3,"file":"cast-api.d.ts","sourceRoot":"","sources":["../../src/shaders/cast-api.ts"],"names":[],"mappings":"AA+BA,eAAO,MAAM,QAAQ,m4GA2FpB,CAAA"}