reze-engine 0.67.1 → 0.68.0

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

@@ -1 +1 @@
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+{"version":3,"file":"contact.d.ts","sourceRoot":"","sources":["../../src/physics/contact.ts"],"names":[],"mappings":"AAUA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAa5C,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;IACjB;kFAC8E;IAC9E,GAAG,EAAE,MAAM,CAAA;IACX;6EACyE;IACzE,cAAc,EAAE,MAAM,CAAA;IACtB,gFAAgF;IAChF,kBAAkB,EAAE,MAAM,CAAA;IAC1B;;0DAEsD;IACtD,OAAO,EAAE,MAAM,CAAA;IAEf,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;AAkCD,qBAAa,WAAW;IACtB,OAAO,CAAC,IAAI,CAAgB;IAC5B,KAAK,SAAI;IAET,OAAO,IAAI,OAAO;IAgBlB,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;AAwoCD,wBAAgB,gBAAgB,CAAC,KAAK,EAAE,cAAc,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,IAAI,EAAE,WAAW,GAAG,IAAI,CAgDrG;AAiCD,wBAAgB,YAAY,CAAC,KAAK,EAAE,cAAc,EAAE,IAAI,EAAE,WAAW,GAAG,IAAI,CAyB3E"}

package/dist/physics/contact.js

@@ -1091,7 +1091,10 @@ function flipOneNormal(c) {
 // see RigidBodyStore.getCollisionPairs. SAP / dynamic AABB tree pay off
 // above ~500 bodies; below that this flat sweep wins on cache locality.
 export function findContacts(store, pool) {
-    store.updateAabbs();
+    // Inflated by the contact margin and no more: a narrowphase only ever makes
+    // a contact within CONTACT_MARGIN, so a fatter box only bought SAT tests on
+    // pairs that could never touch — at 0.5 that was most of the collision cost.
+    store.updateAabbs(CONTACT_MARGIN + 0.01);
     const pairs = store.getCollisionPairs();
     for (let p = 0; p < pairs.length; p += 2) {
         const i = pairs[p];

package/dist/physics/physics.d.ts

@@ -14,6 +14,8 @@ export declare class RezePhysics {
     private timeAccum;
     private readonly fixedTimeStep;
     private readonly maxSubSteps;
+    private static readonly ITERATIONS;
+    private static readonly MIN_STEPS;
     /** EMA of one world.step's CPU cost; drives catch-up load shedding. */
     private stepCostEmaMs;
     /**

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;AACvC,OAAO,EAAS,KAAK,WAAW,EAAE,MAAM,SAAS,CAAA;AAYjD,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;IAOrB,OAAO,CAAC,QAAQ,CAAC,aAAa,CAAU;IACxC,OAAO,CAAC,QAAQ,CAAC,WAAW,CAAK;IACjC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAI;IAGtC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,SAAS,CAAI;IACrC,uEAAuE;IACvE,OAAO,CAAC,aAAa,CAAM;IAC3B;;;;;;;;;;;;;;;;OAgBG;IACH,OAAO,CAAC,QAAQ,CAAC,kBAAkB,CAAM;IACzC;gFAC4E;IAC5E,OAAO,CAAC,QAAQ,CAAC,eAAe,CAAI;IACpC,OAAO,CAAC,QAAQ,CAAC,eAAe,CAAK;IAMrC,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;IAEjB;yCACqC;IACrC,OAAO,CAAC,UAAU,CAAK;gBAEX,WAAW,EAAE,SAAS,EAAE,EAAE,MAAM,GAAE,KAAK,EAAO;IAoE1D,OAAO,CAAC,mBAAmB;IA4B3B,OAAO,CAAC,aAAa;IAKrB;;;;;;;;OAQG;IACH,QAAQ,CAAC,EAAE,EAAE,OAAO,GAAG,IAAI;IAI3B,UAAU,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IAG/B,UAAU,IAAI,IAAI;IAGlB,2EAA2E;IAC3E,OAAO,CAAC,IAAI,EAAE,WAAW,GAAG,IAAI,GAAG,IAAI;IAGvC,OAAO,IAAI,WAAW,GAAG,IAAI;IAG7B,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;IAiFxF,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;;;;;;;;;;;;;;;;;;;OAmBG;IACH,gBAAgB,CAAC,WAAW,EAAE,MAAM,EAAE,EAAE,KAAK,EAAE,MAAM,GAAG,IAAI;IAmB5D,6EAA6E;IAC7E,OAAO,CAAC,eAAe,CAA4B;IACnD,OAAO,CAAC,eAAe,CAA4B;IAEnD;;;;;;;;;OASG;IACH,qBAAqB,IAAI,MAAM,EAAE;IAUjC,OAAO,CAAC,oBAAoB;CA6D7B"}

package/dist/physics/physics.js

@@ -15,8 +15,14 @@ export class RezePhysics {
     constructor(rigidbodies, joints = []) {
         this.firstFrame = true;
         this.timeAccum = 0;
-        this.fixedTimeStep = 1 / 60;
-        this.maxSubSteps = 6;
+        // Two 120 Hz steps of 5 iterations where MMD takes one 60 Hz step of 10.
+        // Contacts and joints converge against each other far better in two small
+        // steps: a thin skirt lattice pressed on the legs shook 58% less and sat
+        // inside them a third as often. Collision runs every step — reusing one
+        // contact set across steps missed contacts that began between detections,
+        // and the late push-out shook worse than the single step ever did.
+        this.fixedTimeStep = 1 / 120;
+        this.maxSubSteps = 12;
         /** EMA of one world.step's CPU cost; drives catch-up load shedding. */
         this.stepCostEmaMs = 0.5;
         /**
@@ -90,6 +96,7 @@ export class RezePhysics {
         this.groundBody = gi;
         this.store.groundIndex = gi;
         this.world = new World(new Vec3(0, -98, 0));
+        this.world.solverIterations = RezePhysics.ITERATIONS;
         this.constraints = buildConstraints(rigidbodies, joints);
         this.solverCache = new SolverCache(this.constraints);
         this.contacts = new ContactPool();
@@ -258,7 +265,7 @@ export class RezePhysics {
         // Catching up must never cost more than a frame-budget slice: shed the backlog
         // instead (physics runs fractionally slow-motion for a beat; framerate holds).
         const budgetMs = Math.min(this.stepBudgetMaxMs, Math.max(this.stepBudgetMinMs, dt * 1000 * this.stepBudgetFraction));
-        const affordable = Math.max(1, Math.floor(budgetMs / Math.max(0.05, this.stepCostEmaMs)));
+        const affordable = Math.max(RezePhysics.MIN_STEPS, Math.floor(budgetMs / Math.max(0.05, this.stepCostEmaMs)));
         if (nSub > affordable)
             nSub = affordable;
         for (let k = 0; k < nSub; k++) {
@@ -817,3 +824,7 @@ export class RezePhysics {
         }
     }
 }
+RezePhysics.ITERATIONS = 5;
+// One 60 Hz frame of simulated time — what load shedding may never cut
+// below, the guarantee the single 1/60 step always gave.
+RezePhysics.MIN_STEPS = 2;

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

@@ -1 +1 @@
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+{"version":3,"file":"solver.d.ts","sourceRoot":"","sources":["../../src/physics/solver.ts"],"names":[],"mappings":"AAcA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,QAAQ,CAAA;AAC5C,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,cAAc,CAAA;AAE1D,OAAO,KAAK,EAAW,WAAW,EAAE,MAAM,WAAW,CAAA;AACrD,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,YAAY,CAAA;AA6J/C,wBAAgB,gBAAgB,CAC9B,KAAK,EAAE,cAAc,EACrB,WAAW,EAAE,sBAAsB,EAAE,EACrC,KAAK,EAAE,WAAW,EAClB,QAAQ,EAAE,WAAW,EACrB,EAAE,EAAE,MAAM,EACV,UAAU,EAAE,MAAM,EAClB,SAAS,GAAE,aAAa,GAAG,IAAW,GACrC,IAAI,CA+FN;AAgDD;8EAC8E;AAC9E,wBAAgB,qBAAqB,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CA8B7E;AAyCD,qBAAa,WAAW;IACtB,QAAQ,CAAC,CAAC,EAAE,YAAY,CAAA;IACxB,QAAQ,CAAC,CAAC,EAAE,UAAU,CAAA;IACtB;sEACkE;IAClE,QAAQ,CAAC,CAAC,EAAE,YAAY,CAAA;gBACZ,WAAW,EAAE,sBAAsB,EAAE;CAUlD;AAs6BD,0EAA0E;AAC1E,wBAAgB,mBAAmB,CACjC,KAAK,EAAE,cAAc,EACrB,QAAQ,EAAE,WAAW,EACrB,SAAS,EAAE,aAAa,GACvB,IAAI,CAcN"}

package/dist/physics/solver.js

@@ -30,7 +30,12 @@ const BOUNCE_THRESHOLD = 2.0;
 // pushes apart; separated (depth < 0, a speculative row) it ALLOWS approach at
 // the rate that closes the gap, which is what keeps those rows inert until the
 // body would really arrive.
-const CONTACT_ERP = 0.2;
+//
+// 0.1, half Bullet's 0.2: at 120 Hz each step closes a tenth of the overlap,
+// the same correction per second as MMD's 0.2 at 60 Hz, and a light cloth body
+// pressed between its joints and a collider stops being kicked out harder than
+// the joints can take back (skirt shake −20% on its own).
+const CONTACT_ERP = 0.1;
 // btContactSolverInfo's SOLVER_RANDMIZE_ORDER. Gauss-Seidel is order-biased —
 // rows solved first win — which on a cross-linked lattice shows up as a lean or
 // a period-2 chatter. Bullet ships the flag off; it is here to be measured.
@@ -104,6 +109,11 @@ const LIMIT_SOFTNESS_ANGULAR = 0.5;
 // ratio (ζ = 0.7); ported in isolation the motor form measured 0.0015 mean
 // reversal at jerk 0.5, the calmest joint-side result recorded.
 const SPRING_DAMPING = 1.0;
+// The motor's velocity gain at the rate PMX rigs are authored against — MMD's
+// Bullet at 60 Hz with 10 iterations. Bullet's form divides by the step's fps
+// and iteration count; at any other substep rate that retunes every spring,
+// so the gain is pinned here and the substep rate stays a solver choice.
+const SPRING_VEL_FACTOR = (60 * SPRING_DAMPING) / 10;
 // btConstraintInfo2::erp, from infoGlobal.m_erp — used only by getMotorFactor.
 const INFO_ERP = 0.2;
 // btTypedConstraint::getMotorFactor. Scales a motor down as it approaches the
@@ -532,7 +542,7 @@ function setupConstraint(con, ci, cache, store, dt, invDt, iterations) {
             const k = con.springStiffness[i];
             const serr = curr - con.equilibriumPoint[i];
             const force = serr * k;
-            const velFactor = (invDt * SPRING_DAMPING) / iterations;
+            const velFactor = SPRING_VEL_FACTOR;
             const target = -velFactor * force;
             // getMotorFactor's `vel` is Bullet's tag_vel: −targetVelocity for a
             // linear axis, which in our sign convention is the target itself.
@@ -635,7 +645,7 @@ function setupConstraint(con, ci, cache, store, dt, invDt, iterations) {
             const k = con.springStiffness[idx];
             const serr = _angDiffScratch[i] - con.equilibriumPoint[idx];
             const force = -serr * k;
-            const velFactor = (invDt * SPRING_DAMPING) / iterations;
+            const velFactor = SPRING_VEL_FACTOR;
             const target = -velFactor * force;
             // tag_vel for a rotational axis is Bullet's targetVelocity, i.e. −ours.
             const motFact = getMotorFactor(_angDiffScratch[i], con.angularMin[i], con.angularMax[i], -target, invDt * INFO_ERP);

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "reze-engine",
-  "version": "0.67.1",
+  "version": "0.68.0",
   "description": "A lightweight WebGPU engine for real-time 3D MMD/PMX model rendering",
   "main": "./dist/index.js",
   "types": "./dist/index.d.ts",

package/src/physics/contact.ts

@@ -1397,7 +1397,10 @@ function flipOneNormal(c: Contact): void {
 // see RigidBodyStore.getCollisionPairs. SAP / dynamic AABB tree pay off
 // above ~500 bodies; below that this flat sweep wins on cache locality.
 export function findContacts(store: RigidBodyStore, pool: ContactPool): void {
-  store.updateAabbs()
+  // Inflated by the contact margin and no more: a narrowphase only ever makes
+  // a contact within CONTACT_MARGIN, so a fatter box only bought SAT tests on
+  // pairs that could never touch — at 0.5 that was most of the collision cost.
+  store.updateAabbs(CONTACT_MARGIN + 0.01)
   const pairs = store.getCollisionPairs()
   for (let p = 0; p < pairs.length; p += 2) {
     const i = pairs[p]

package/src/physics/physics.ts

@@ -24,8 +24,18 @@ export class RezePhysics {
   private contacts: ContactPool
   private firstFrame = true
   private timeAccum = 0
-  private readonly fixedTimeStep = 1 / 60
-  private readonly maxSubSteps = 6
+  // Two 120 Hz steps of 5 iterations where MMD takes one 60 Hz step of 10.
+  // Contacts and joints converge against each other far better in two small
+  // steps: a thin skirt lattice pressed on the legs shook 58% less and sat
+  // inside them a third as often. Collision runs every step — reusing one
+  // contact set across steps missed contacts that began between detections,
+  // and the late push-out shook worse than the single step ever did.
+  private readonly fixedTimeStep = 1 / 120
+  private readonly maxSubSteps = 12
+  private static readonly ITERATIONS = 5
+  // One 60 Hz frame of simulated time — what load shedding may never cut
+  // below, the guarantee the single 1/60 step always gave.
+  private static readonly MIN_STEPS = 2
   /** EMA of one world.step's CPU cost; drives catch-up load shedding. */
   private stepCostEmaMs = 0.5
   /**
@@ -131,6 +141,7 @@ export class RezePhysics {
     this.groundBody = gi
     this.store.groundIndex = gi
     this.world = new World(new Vec3(0, -98, 0))
+    this.world.solverIterations = RezePhysics.ITERATIONS
     this.constraints = buildConstraints(rigidbodies, joints)
     this.solverCache = new SolverCache(this.constraints)
     this.contacts = new ContactPool()
@@ -307,7 +318,7 @@ export class RezePhysics {
       this.stepBudgetMaxMs,
       Math.max(this.stepBudgetMinMs, dt * 1000 * this.stepBudgetFraction),
     )
-    const affordable = Math.max(1, Math.floor(budgetMs / Math.max(0.05, this.stepCostEmaMs)))
+    const affordable = Math.max(RezePhysics.MIN_STEPS, Math.floor(budgetMs / Math.max(0.05, this.stepCostEmaMs)))
     if (nSub > affordable) nSub = affordable
     for (let k = 0; k < nSub; k++) {
       this.savePrevState()

package/src/physics/solver.ts

@@ -37,7 +37,12 @@ const BOUNCE_THRESHOLD = 2.0
 // pushes apart; separated (depth < 0, a speculative row) it ALLOWS approach at
 // the rate that closes the gap, which is what keeps those rows inert until the
 // body would really arrive.
-const CONTACT_ERP = 0.2
+//
+// 0.1, half Bullet's 0.2: at 120 Hz each step closes a tenth of the overlap,
+// the same correction per second as MMD's 0.2 at 60 Hz, and a light cloth body
+// pressed between its joints and a collider stops being kicked out harder than
+// the joints can take back (skirt shake −20% on its own).
+const CONTACT_ERP = 0.1
 
 // btContactSolverInfo's SOLVER_RANDMIZE_ORDER. Gauss-Seidel is order-biased —
 // rows solved first win — which on a cross-linked lattice shows up as a lean or
@@ -119,6 +124,11 @@ const LIMIT_SOFTNESS_ANGULAR = 0.5
 // ratio (ζ = 0.7); ported in isolation the motor form measured 0.0015 mean
 // reversal at jerk 0.5, the calmest joint-side result recorded.
 const SPRING_DAMPING = 1.0
+// The motor's velocity gain at the rate PMX rigs are authored against — MMD's
+// Bullet at 60 Hz with 10 iterations. Bullet's form divides by the step's fps
+// and iteration count; at any other substep rate that retunes every spring,
+// so the gain is pinned here and the substep rate stays a solver choice.
+const SPRING_VEL_FACTOR = (60 * SPRING_DAMPING) / 10
 // btConstraintInfo2::erp, from infoGlobal.m_erp — used only by getMotorFactor.
 const INFO_ERP = 0.2
 
@@ -543,7 +553,7 @@ function setupConstraint(
       const k = con.springStiffness[i]
       const serr = curr - con.equilibriumPoint[i]
       const force = serr * k
-      const velFactor = (invDt * SPRING_DAMPING) / iterations
+      const velFactor = SPRING_VEL_FACTOR
       const target = -velFactor * force
       // getMotorFactor's `vel` is Bullet's tag_vel: −targetVelocity for a
       // linear axis, which in our sign convention is the target itself.
@@ -625,7 +635,7 @@ function setupConstraint(
       const k = con.springStiffness[idx]
       const serr = _angDiffScratch[i] - con.equilibriumPoint[idx]
       const force = -serr * k
-      const velFactor = (invDt * SPRING_DAMPING) / iterations
+      const velFactor = SPRING_VEL_FACTOR
       const target = -velFactor * force
       // tag_vel for a rotational axis is Bullet's targetVelocity, i.e. −ours.
       const motFact = getMotorFactor(_angDiffScratch[i], con.angularMin[i], con.angularMax[i], -target, invDt * INFO_ERP)