reze-engine 0.50.3 → 0.50.5

package/dist/model.d.ts

@@ -198,6 +198,15 @@ export declare class Model {
     private rootIsIdentity;
     private skinMatricesArray?;
     private deformOrder;
+    /** 1 where the simulation overwrites the bone's world matrix. See setPhysicsDrivenBones. */
+    private physicsDriven;
+    /** Bones to recompute after a step, in deform order — null when no rig needs it. */
+    private physicsAppendOrder;
+    /** Simulated bones something inherits from; their local rotation is recovered. */
+    private physicsAppendSources;
+    /** Recovered post-step local rotations, kept OUT of localRotations on purpose. */
+    private appendRotOverride;
+    private appendRotOverrideSet;
     private bindWorldPos;
     private tweenState;
     private tweenTimeMs;
@@ -511,7 +520,46 @@ export declare class Model {
     private solveIKChains;
     private ikComputedSet;
     private computeSingleBoneWorldMatrix;
-    computeWorldMatrices(): void;
+    /**
+     * Which bones the physics simulation overwrites, and what that costs the
+     * append (付与) pass — the 胸 problem.
+     *
+     * PMX lets a bone inherit a fraction of another bone's rotation (付与親 /
+     * append parent). The pipeline computes that inheritance inside
+     * computeWorldMatrices, which runs BEFORE physics — and it reads the
+     * parent's LOCAL rotation, which physics never writes: the simulation
+     * publishes world matrices only. So when a rig hangs a bone off a simulated
+     * one, the inheritance saw the animated pose and nothing else, and the
+     * dependent bone sat still no matter how much the parent swung. Rigs that
+     * drive a chest this way — a simulated bone with the visible bones
+     * appending from it — produced no motion at all.
+     *
+     * The engine calls this once, after building the simulation, and it
+     * precomputes the whole answer: WHICH bones need revisiting after a step,
+     * in deform order. Everything downstream is a walk over that list.
+     */
+    setPhysicsDrivenBones(boneIndices: number[]): void;
+    /** The simulated bones that visible bones INHERIT from — the chest rig, in
+     *  one list. Empty unless setPhysicsDrivenBones found such a relationship. */
+    getAppendSourceBones(): number[];
+    /**
+     * Re-run the append pass against the simulation's result. Call after a step.
+     *
+     * Two halves. First the simulated bones an append parent list names get their
+     * post-step LOCAL rotation recovered — physics published only world matrices,
+     * and the append math speaks local. The recovery is the ordinary change of
+     * basis: local = parentWorld⁻¹ · world, read back as a quaternion off the
+     * relative basis, which is exact for the rigid transforms these are.
+     *
+     * Then the dependent bones recompute, in deform order, reading that recovered
+     * rotation instead of the animated one. The recovered value lives in its OWN
+     * array rather than in localRotations, deliberately: localRotations is what
+     * next frame's pose blends against and what the simulation reads to build
+     * kinematic targets, and writing a simulation result back into it would make
+     * the animation chase its own tail.
+     */
+    applyPhysicsAppend(): void;
+    computeWorldMatrices(subset?: Int32Array): void;
 }
 export {};
 //# sourceMappingURL=model.d.ts.map

package/dist/model.d.ts.map

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package/dist/model.js

@@ -13,6 +13,10 @@ const _animSlerp = new Quat(0, 0, 0, 1);
 const _animInterpT = new Vec3(0, 0, 0);
 const _convOut = new Vec3(0, 0, 0);
 const _convMat = new Float32Array(16);
+// Scratch for the post-physics append recovery — see applyPhysicsAppend.
+const _appendBasisX = new Vec3(0, 0, 0);
+const _appendBasisY = new Vec3(0, 0, 0);
+const _appendBasisZ = new Vec3(0, 0, 0);
 // Blend-path scratch: per-entry sample target and the crossfade's two fixed entries.
 const _blendQ = new Quat(0, 0, 0, 1);
 const _blendT = new Vec3(0, 0, 0);
@@ -118,6 +122,15 @@ export class Model {
         this.rootMatrixValues = new Float32Array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);
         this.rootMatrixDirty = false;
         this.rootIsIdentity = true;
+        /** 1 where the simulation overwrites the bone's world matrix. See setPhysicsDrivenBones. */
+        this.physicsDriven = null;
+        /** Bones to recompute after a step, in deform order — null when no rig needs it. */
+        this.physicsAppendOrder = null;
+        /** Simulated bones something inherits from; their local rotation is recovered. */
+        this.physicsAppendSources = null;
+        /** Recovered post-step local rotations, kept OUT of localRotations on purpose. */
+        this.appendRotOverride = null;
+        this.appendRotOverrideSet = null;
         this.tweenTimeMs = 0; // Time tracking for tweens (milliseconds)
         // Animation: state and multiple slots (idle, walk, attack, etc.); commit/rollback for action-game style
         this.animationState = new AnimationState();
@@ -2175,7 +2188,139 @@ export class Model {
             worldMat.values.set(localMVals);
         }
     }
-    computeWorldMatrices() {
+    /**
+     * Which bones the physics simulation overwrites, and what that costs the
+     * append (付与) pass — the 胸 problem.
+     *
+     * PMX lets a bone inherit a fraction of another bone's rotation (付与親 /
+     * append parent). The pipeline computes that inheritance inside
+     * computeWorldMatrices, which runs BEFORE physics — and it reads the
+     * parent's LOCAL rotation, which physics never writes: the simulation
+     * publishes world matrices only. So when a rig hangs a bone off a simulated
+     * one, the inheritance saw the animated pose and nothing else, and the
+     * dependent bone sat still no matter how much the parent swung. Rigs that
+     * drive a chest this way — a simulated bone with the visible bones
+     * appending from it — produced no motion at all.
+     *
+     * The engine calls this once, after building the simulation, and it
+     * precomputes the whole answer: WHICH bones need revisiting after a step,
+     * in deform order. Everything downstream is a walk over that list.
+     */
+    setPhysicsDrivenBones(boneIndices) {
+        const bones = this.skeleton.bones;
+        const n = bones.length;
+        this.physicsDriven = new Uint8Array(n);
+        for (const b of boneIndices)
+            if (b >= 0 && b < n)
+                this.physicsDriven[b] = 1;
+        // Bones to recompute after a step: anything that INHERITS from a simulated
+        // bone, everything under it, and anything inheriting from those in turn.
+        // Simulated bones themselves are deliberately excluded — their world matrix
+        // IS the simulation's output, and recomputing it from a local pose the
+        // simulation never wrote would throw the step away.
+        const affected = new Uint8Array(n);
+        let changed = true;
+        while (changed) {
+            changed = false;
+            for (let k = 0; k < n; k++) {
+                const i = this.deformOrder[k];
+                if (affected[i] || this.physicsDriven[i])
+                    continue;
+                const b = bones[i];
+                const ap = b.appendParentIndex;
+                const inheritsAffected = (b.appendRotate || b.appendMove) && ap !== undefined && ap >= 0 && ap < n && (this.physicsDriven[ap] || affected[ap]);
+                const parentAffected = b.parentIndex >= 0 && affected[b.parentIndex];
+                if (inheritsAffected || parentAffected) {
+                    affected[i] = 1;
+                    changed = true;
+                }
+            }
+        }
+        const order = [];
+        for (let k = 0; k < n; k++) {
+            const i = this.deformOrder[k];
+            if (affected[i])
+                order.push(i);
+        }
+        this.physicsAppendOrder = order.length > 0 ? Int32Array.from(order) : null;
+        // The simulated bones something actually inherits from — the only ones
+        // whose post-step local rotation has to be recovered below.
+        const sources = new Set();
+        for (const i of order) {
+            const ap = bones[i].appendParentIndex;
+            if (ap !== undefined && ap >= 0 && ap < n && this.physicsDriven[ap])
+                sources.add(ap);
+        }
+        this.physicsAppendSources = sources.size > 0 ? Int32Array.from(sources) : null;
+        if (this.appendRotOverride === null && this.physicsAppendOrder) {
+            this.appendRotOverride = Array.from({ length: n }, () => Quat.identity());
+            this.appendRotOverrideSet = new Uint8Array(n);
+        }
+    }
+    /** The simulated bones that visible bones INHERIT from — the chest rig, in
+     *  one list. Empty unless setPhysicsDrivenBones found such a relationship. */
+    getAppendSourceBones() {
+        return this.physicsAppendSources ? Array.from(this.physicsAppendSources) : [];
+    }
+    /**
+     * Re-run the append pass against the simulation's result. Call after a step.
+     *
+     * Two halves. First the simulated bones an append parent list names get their
+     * post-step LOCAL rotation recovered — physics published only world matrices,
+     * and the append math speaks local. The recovery is the ordinary change of
+     * basis: local = parentWorld⁻¹ · world, read back as a quaternion off the
+     * relative basis, which is exact for the rigid transforms these are.
+     *
+     * Then the dependent bones recompute, in deform order, reading that recovered
+     * rotation instead of the animated one. The recovered value lives in its OWN
+     * array rather than in localRotations, deliberately: localRotations is what
+     * next frame's pose blends against and what the simulation reads to build
+     * kinematic targets, and writing a simulation result back into it would make
+     * the animation chase its own tail.
+     */
+    applyPhysicsAppend() {
+        const order = this.physicsAppendOrder;
+        const sources = this.physicsAppendSources;
+        if (!order || !sources || !this.appendRotOverride || !this.appendRotOverrideSet)
+            return;
+        const bones = this.skeleton.bones;
+        const worldMats = this.runtimeSkeleton.worldMatrices;
+        this.appendRotOverrideSet.fill(0);
+        for (let s = 0; s < sources.length; s++) {
+            const i = sources[s];
+            const w = worldMats[i].values;
+            const p = bones[i].parentIndex;
+            // Columns of the bone's own basis, expressed in its parent's frame. With
+            // no parent the world basis already IS the local one.
+            let bx0 = w[0], bx1 = w[1], bx2 = w[2];
+            let by0 = w[4], by1 = w[5], by2 = w[6];
+            let bz0 = w[8], bz1 = w[9], bz2 = w[10];
+            if (p >= 0) {
+                const pm = worldMats[p].values;
+                // parentᵀ · child, the rotation half of parentWorld⁻¹ · world: the
+                // parent basis is orthonormal, so its inverse is its transpose.
+                const r0 = bx0, r1 = bx1, r2 = bx2;
+                bx0 = pm[0] * r0 + pm[1] * r1 + pm[2] * r2;
+                bx1 = pm[4] * r0 + pm[5] * r1 + pm[6] * r2;
+                bx2 = pm[8] * r0 + pm[9] * r1 + pm[10] * r2;
+                const g0 = by0, g1 = by1, g2 = by2;
+                by0 = pm[0] * g0 + pm[1] * g1 + pm[2] * g2;
+                by1 = pm[4] * g0 + pm[5] * g1 + pm[6] * g2;
+                by2 = pm[8] * g0 + pm[9] * g1 + pm[10] * g2;
+                const b0 = bz0, b1 = bz1, b2 = bz2;
+                bz0 = pm[0] * b0 + pm[1] * b1 + pm[2] * b2;
+                bz1 = pm[4] * b0 + pm[5] * b1 + pm[6] * b2;
+                bz2 = pm[8] * b0 + pm[9] * b1 + pm[10] * b2;
+            }
+            _appendBasisX.setXYZ(bx0, bx1, bx2);
+            _appendBasisY.setXYZ(by0, by1, by2);
+            _appendBasisZ.setXYZ(bz0, bz1, bz2);
+            Quat.fromBasisInto(_appendBasisX, _appendBasisY, _appendBasisZ, this.appendRotOverride[i]);
+            this.appendRotOverrideSet[i] = 1;
+        }
+        this.computeWorldMatrices(order);
+    }
+    computeWorldMatrices(subset) {
         const bones = this.skeleton.bones;
         const localRot = this.runtimeSkeleton.localRotations;
         const localTrans = this.runtimeSkeleton.localTranslations;
@@ -2186,8 +2331,15 @@ export class Model {
         // Flat traversal in precomputed order: every bone's parent is already done, so no
         // per-bone visited check, no recursion, and no per-call allocation. Same per-bone
         // math as before. Scratch slots are safe to reuse since there's no reentrancy now.
-        const order = this.deformOrder;
-        for (let k = 0; k < boneCount; k++) {
+        //
+        // A SUBSET is the post-physics pass (applyPhysicsAppend): the same walk over
+        // the bones that inherit from a simulated one, in the same relative order,
+        // leaving every other bone — the simulated ones above all — untouched.
+        const order = subset ?? this.deformOrder;
+        const count = subset ? subset.length : boneCount;
+        const override = this.appendRotOverride;
+        const overrideSet = this.appendRotOverrideSet;
+        for (let k = 0; k < count; k++) {
             const i = order[k];
             const b = bones[i];
             const boneRot = localRot[i];
@@ -2200,7 +2352,11 @@ export class Model {
                 const hasRatio = Math.abs(ratio) > 1e-6;
                 if (hasRatio) {
                     if (b.appendRotate) {
-                        const appendRot = localRot[appendParentIdx];
+                        // The simulated parent's RECOVERED rotation when there is one — the
+                        // whole point of the post-physics pass. localRotations still holds
+                        // the animated pose for that bone, which is exactly what must not
+                        // be inherited here.
+                        const appendRot = override && overrideSet && overrideSet[appendParentIdx] ? override[appendParentIdx] : localRot[appendParentIdx];
                         let ax = appendRot.x, ay = appendRot.y, az = appendRot.z;
                         const aw = appendRot.w;
                         const absRatio = ratio < 0 ? -ratio : ratio;

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

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