reze-engine 0.9.0 → 0.9.2

package/README.md

@@ -1,44 +1,117 @@
 # Reze Engine
 
-A lightweight engine built with WebGPU and TypeScript for real-time 3D anime character MMD model rendering.
+A minimal-dependency WebGPU engine for real-time MMD/PMX rendering. Only external dependency is Ammo.js for physics.
+
+## Install
+
+```bash
+npm install reze-engine
+```
 
 ## Features
 
-- Blinn-Phong lighting, alpha blending, rim lighting, outlines, MSAA 4x
-- Post alpha eye rendering (see-through eyes)
-- Bone and morph API, VMD animation (multiple named, non-interruptible), IK solver, Ammo/Bullet physics
-- Multi-model (per-model materials, IK, physics)
+- Blinn-Phong shading, alpha blending, rim lighting, outlines, MSAA 4x
+- VMD animation with IK solver and Bullet physics
+- Orbit camera with bone-follow mode
+- GPU picking (double-click/tap)
+- Ground plane with PCF shadow mapping
+- Multi-model support
 
-## Usage
+## Quick Start
 
 ```javascript
-import { Engine, Model } from "reze-engine"
+import { Engine, Vec3 } from "reze-engine"
 
-const engine = new Engine(canvas, {})
+const engine = new Engine(canvas, {
+  ambientColor: new Vec3(0.88, 0.92, 0.99),
+  cameraDistance: 31.5, // MMD units (1 unit = 8 cm)
+})
 await engine.init()
-const model = await engine.loadModel("/models/reze/reze.pmx")
-await model.loadAnimation("default", "/animations/dance.vmd")
-model.show("default")
+
+const model = await engine.loadModel("hero", "/models/hero/hero.pmx")
+await model.loadAnimation("idle", "/animations/idle.vmd")
+model.show("idle")
 model.play()
-engine.runRenderLoop(() => {})
+
+engine.setCameraFollow(model, "センター", new Vec3(0, 3.5, 0))
+engine.addGround({ width: 160, height: 160 })
+engine.runRenderLoop()
 ```
 
-## API (summary)
+## API
+
+### Engine
+
+| Method | Description |
+|--------|-------------|
+| `new Engine(canvas, options?)` | Create engine with optional config |
+| `engine.init()` | Initialize WebGPU device and context |
+| `engine.loadModel(path)` | Load PMX model (auto-named) |
+| `engine.loadModel(name, path)` | Load PMX model with name |
+| `engine.getModel(name)` | Get model by name |
+| `engine.getModelNames()` | List all model names |
+| `engine.removeModel(name)` | Remove model |
+| `engine.setMaterialVisible(model, mat, visible)` | Show/hide material |
+| `engine.toggleMaterialVisible(model, mat)` | Toggle material visibility |
+| `engine.setIKEnabled(enabled)` | Enable/disable IK globally |
+| `engine.setPhysicsEnabled(enabled)` | Enable/disable physics globally |
+| `engine.setCameraFollow(model, bone?, offset?)` | Orbit center tracks a bone |
+| `engine.setCameraTarget(vec3)` | Static camera target |
+| `engine.setCameraDistance(d)` | Set orbit radius |
+| `engine.setCameraAlpha(a)` | Set horizontal orbit angle |
+| `engine.setCameraBeta(b)` | Set vertical orbit angle |
+| `engine.addGround(options?)` | Add ground plane with shadows |
+| `engine.runRenderLoop(callback?)` | Start render loop |
+| `engine.stopRenderLoop()` | Stop render loop |
+| `engine.getStats()` | Returns `{ fps, frameTime }` |
+| `engine.dispose()` | Clean up all resources |
 
-- **Multi-model:** `engine.loadModel(path)` / `engine.loadModel(name, path)`, `engine.addModel(model, pmxPath, name?)`, `getModel(name)`, `getModelNames()`, `removeModel(name)`, `setMaterialVisible(modelName, materialName, visible)`, `setIKEnabled(enabled)`, `setPhysicsEnabled(enabled)`, `getIKEnabled()`, `getPhysicsEnabled()`, `resetPhysics()`, `markVertexBufferDirty(modelName?)`
-- **Animation:** `model.loadAnimation(name, vmdUrl)`; `model.show(name)`; `model.play()` / `model.play(name)`; `model.pause()`; `model.stop()`; `model.seek(t)`; `model.getAnimationProgress()`. Animations are non-interruptible (next is queued).
-- **Bones / morphs:** `model.rotateBones()`, `model.moveBones()`, `model.setMorphWeight()`, `model.resetAllBones()`, `model.resetAllMorphs()`
-- **Engine:** `runRenderLoop()`, `addGround({ mode: "reflection" | "shadow", ... })`, `onRaycast: (modelName, material, screenX, screenY) => {}`
+### Model
+
+| Method | Description |
+|--------|-------------|
+| `model.loadAnimation(name, url)` | Load VMD animation |
+| `model.show(name)` | Set pose at time 0 |
+| `model.play(name?)` | Play animation (queued if busy) |
+| `model.pause()` | Pause playback |
+| `model.stop()` | Stop playback |
+| `model.seek(time)` | Seek to time |
+| `model.getAnimationProgress()` | `{ current, duration, percentage, animationName }` |
+| `model.getAnimationState()` | Access animation controller |
+| `model.rotateBones(rotations, ms?)` | Tween bone rotations |
+| `model.moveBones(translations, ms?)` | Tween bone translations |
+| `model.setMorphWeight(name, weight, ms?)` | Tween morph weight |
+| `model.resetAllBones()` | Reset to bind pose |
+| `model.resetAllMorphs()` | Reset all morph weights |
+| `model.getBoneWorldPosition(name)` | World position of bone |
+
+### Engine Options
+
+```javascript
+{
+  ambientColor: Vec3,
+  directionalLightIntensity: number,
+  minSpecularIntensity: number,
+  rimLightIntensity: number,
+  cameraDistance: number,
+  cameraTarget: Vec3,
+  cameraFov: number,
+  onRaycast: (modelName, material, screenX, screenY) => void,
+  physicsOptions: {
+    constraintSolverKeywords: string[],
+  },
+}
+```
+
+`constraintSolverKeywords` — joints whose name contains any keyword use the Bullet 2.75 constraint solver; all others keep the stable Ammo 2.82+ default. See [babylon-mmd: Fix Constraint Behavior](https://noname0310.github.io/babylon-mmd/docs/reference/runtime/apply-physics-to-mmd-models/#fix-constraint-behavior) for details.
 
 ## Projects Using This Engine
 
-- **[MiKaPo](https://mikapo.vercel.app)** - Online real-time motion capture for MMD using webcam and MediaPipe
-- **[Popo](https://popo.love)** - Fine-tuned LLM that generates MMD poses from natural language descriptions
-- **[MPL](https://mmd-mpl.vercel.app)** - Semantic motion programming language for scripting MMD animations with intuitive syntax
-- **[Mixamo-MMD](https://mixamo-mmd.vercel.app)** - Retarget Mixamo FBX animation to VMD in one click
+- **[MiKaPo](https://mikapo.vercel.app)** — Real-time motion capture for MMD
+- **[Popo](https://popo.love)** — LLM-generated MMD poses
+- **[MPL](https://mmd-mpl.vercel.app)** — Motion programming language for MMD
+- **[Mixamo-MMD](https://mixamo-mmd.vercel.app)** — Retarget Mixamo FBX to VMD
 
 ## Tutorial
 
-Learn WebGPU from scratch by building an anime character renderer in incremental steps. The tutorial covers the complete rendering pipeline from a simple triangle to fully textured, skeletal-animated characters.
-
 [How to Render an Anime Character with WebGPU](https://reze.one/tutorial)

package/dist/camera.d.ts

@@ -31,6 +31,8 @@ export declare class Camera {
     getViewMatrix(): Mat4;
     private getCameraVectors;
     private panCamera;
+    /** Far plane grows with zoom-out so big floors / distant geometry stay visible */
+    private updateFarFromRadius;
     getProjectionMatrix(): Mat4;
     attachControl(canvas: HTMLCanvasElement): void;
     detachControl(): void;

package/dist/camera.d.ts.map

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package/dist/camera.js

@@ -1,10 +1,12 @@
 import { Mat4, Vec3 } from "./math";
-const FAR = 2000;
+/** Far cap / zoom limit; large enough for wide shots without clipping distant ground */
+const FAR_CAP = 8000;
+const FAR_MIN = 200;
 export class Camera {
     constructor(alpha, beta, radius, target, fov = Math.PI / 4) {
         this.aspect = 1;
         this.near = 0.05;
-        this.far = FAR;
+        this.far = FAR_CAP;
         // Input state
         this.canvas = null;
         this.isDragging = false;
@@ -22,7 +24,7 @@ export class Camera {
         this.wheelPrecision = 0.01;
         this.pinchPrecision = 0.05;
         this.minZ = 0.05;
-        this.maxZ = FAR;
+        this.maxZ = FAR_CAP;
         this.lowerBetaLimit = 0.001;
         this.upperBetaLimit = Math.PI - 0.001;
         this.alpha = alpha;
@@ -30,6 +32,7 @@ export class Camera {
         this.radius = radius;
         this.target = target;
         this.fov = fov;
+        this.updateFarFromRadius();
         // Bind event handlers
         this.onMouseDown = this.onMouseDown.bind(this);
         this.onMouseMove = this.onMouseMove.bind(this);
@@ -103,7 +106,13 @@ export class Camera {
         // Update target position smoothly
         this.target = this.target.add(panRight).add(panUp);
     }
+    /** Far plane grows with zoom-out so big floors / distant geometry stay visible */
+    updateFarFromRadius() {
+        const margin = 600;
+        this.far = Math.min(FAR_CAP, Math.max(FAR_MIN, this.radius * 12 + margin));
+    }
     getProjectionMatrix() {
+        this.updateFarFromRadius();
         return Mat4.perspective(this.fov, this.aspect, this.near, this.far);
     }
     attachControl(canvas) {
@@ -168,8 +177,7 @@ export class Camera {
         this.radius += e.deltaY * this.wheelPrecision;
         // Clamp radius to reasonable bounds
         this.radius = Math.max(this.minZ, Math.min(this.maxZ, this.radius));
-        // Expand far plane to keep scene visible when zooming out
-        this.far = Math.max(FAR, this.radius * 4);
+        this.updateFarFromRadius();
     }
     onContextMenu(e) {
         e.preventDefault();
@@ -235,8 +243,7 @@ export class Camera {
                 this.radius += delta * this.pinchPrecision;
                 // Clamp radius to reasonable bounds
                 this.radius = Math.max(this.minZ, Math.min(this.maxZ, this.radius));
-                // Expand far plane for pinch zoom as well
-                this.far = Math.max(FAR, this.radius * 4);
+                this.updateFarFromRadius();
             }
             if (isPanGesture) {
                 // Primary gesture is pan (two-finger drag)

package/dist/engine.d.ts

@@ -1,5 +1,6 @@
 import { Vec3 } from "./math";
 import { Model } from "./model";
+import { type PhysicsOptions } from "./physics";
 export type RaycastCallback = (modelName: string, material: string | null, screenX: number, screenY: number) => void;
 export type EngineOptions = {
     ambientColor?: Vec3;
@@ -10,9 +11,21 @@ export type EngineOptions = {
     cameraTarget?: Vec3;
     cameraFov?: number;
     onRaycast?: RaycastCallback;
+    physicsOptions?: PhysicsOptions;
+};
+export declare const DEFAULT_ENGINE_OPTIONS: {
+    ambientColor: Vec3;
+    directionalLightIntensity: number;
+    minSpecularIntensity: number;
+    rimLightIntensity: number;
+    cameraDistance: number;
+    cameraTarget: Vec3;
+    cameraFov: number;
+    onRaycast: undefined;
+    physicsOptions: {
+        constraintSolverKeywords: string[];
+    };
 };
-export type RequiredEngineOptions = Required<Omit<EngineOptions, "onRaycast">> & Pick<EngineOptions, "onRaycast">;
-export declare const DEFAULT_ENGINE_OPTIONS: RequiredEngineOptions;
 export interface EngineStats {
     fps: number;
     frameTime: number;
@@ -69,6 +82,7 @@ export declare class Engine {
     private shadowVPLightY;
     private shadowVPLightZ;
     private onRaycast?;
+    private physicsOptions;
     private lastTouchTime;
     private readonly DOUBLE_TAP_DELAY;
     private pickPipeline;
@@ -148,7 +162,6 @@ export declare class Engine {
     getIKEnabled(): boolean;
     setPhysicsEnabled(enabled: boolean): void;
     getPhysicsEnabled(): boolean;
-    resetPhysics(): void;
     private forEachInstance;
     private updateInstances;
     private updateVertexBuffer;

package/dist/engine.d.ts.map

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

@@ -11,6 +11,7 @@ export const DEFAULT_ENGINE_OPTIONS = {
     cameraTarget: new Vec3(0, 12.5, 0),
     cameraFov: Math.PI / 4,
     onRaycast: undefined,
+    physicsOptions: { constraintSolverKeywords: ["胸"] },
 };
 export class Engine {
     static getInstance() {
@@ -30,6 +31,7 @@ export class Engine {
         this.shadowVPLightX = Number.NaN;
         this.shadowVPLightY = Number.NaN;
         this.shadowVPLightZ = Number.NaN;
+        this.physicsOptions = DEFAULT_ENGINE_OPTIONS.physicsOptions;
         this.lastTouchTime = 0;
         this.DOUBLE_TAP_DELAY = 300;
         this.pendingPick = null;
@@ -96,6 +98,7 @@ export class Engine {
             this.cameraTarget = options.cameraTarget ?? DEFAULT_ENGINE_OPTIONS.cameraTarget;
             this.cameraFov = options.cameraFov ?? DEFAULT_ENGINE_OPTIONS.cameraFov;
             this.onRaycast = options.onRaycast;
+            this.physicsOptions = options.physicsOptions ?? DEFAULT_ENGINE_OPTIONS.physicsOptions;
         }
     }
     // Step 1: Get WebGPU device and context
@@ -570,9 +573,11 @@ export class Engine {
           }
           let worldPos = skinnedPos.xyz;
           let worldNormal = normalize(skinnedNrm);
-          
-          let scaleFactor = 0.01;
-          let expandedPos = worldPos + worldNormal * material.edgeSize * scaleFactor;
+          // Screen-stable edgeline: extrusion ∝ camera distance (same idea as MMD viewers / babylon-mmd-style scaling)
+          let camDist = max(length(camera.viewPos - worldPos), 0.25);
+          let refDist = 30.0;
+          let edgeScale = 0.03;
+          let expandedPos = worldPos + worldNormal * material.edgeSize * edgeScale * (camDist / refDist);
           output.position = camera.projection * camera.view * vec4f(expandedPos, 1.0);
           return output;
         }
@@ -591,7 +596,8 @@ export class Engine {
             cullMode: "back",
             depthStencil: {
                 format: "depth24plus-stencil8",
-                depthWriteEnabled: true,
+                // Don’t write outline into depth buffer — stops z-fighting / black cracks vs body (MMD-style; body depth stays authoritative)
+                depthWriteEnabled: false,
                 depthCompare: "less-equal",
             },
         });
@@ -996,14 +1002,6 @@ export class Engine {
     getPhysicsEnabled() {
         return this.physicsEnabled;
     }
-    resetPhysics() {
-        this.forEachInstance((inst) => {
-            if (!inst.physics)
-                return;
-            inst.model.computeWorldMatrices();
-            inst.physics.reset(inst.model.getWorldMatrices(), inst.model.getBoneInverseBindMatrices());
-        });
-    }
     forEachInstance(fn) {
         for (const inst of this.modelInstances.values())
             fn(inst);
@@ -1066,7 +1064,7 @@ export class Engine {
         });
         this.device.queue.writeBuffer(indexBuffer, 0, indices);
         const rbs = model.getRigidbodies();
-        const physics = rbs.length > 0 ? new Physics(rbs, model.getJoints()) : null;
+        const physics = rbs.length > 0 ? new Physics(rbs, model.getJoints(), this.physicsOptions) : null;
         const shadowBindGroup = this.device.createBindGroup({
             label: `${name}: shadow bind`,
             layout: this.shadowDepthPipeline.getBindGroupLayout(0),

package/dist/index.d.ts

@@ -2,4 +2,5 @@ export { Engine, type EngineStats } from "./engine";
 export { Model } from "./model";
 export { Vec3, Quat, Mat4 } from "./math";
 export { AnimationState, type AnimationClip, type BoneKeyframe, type MorphKeyframe, } from "./animation";
+export { Physics, type PhysicsOptions } from "./physics";
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,MAAM,EAAE,KAAK,WAAW,EAAE,MAAM,UAAU,CAAA;AACnD,OAAO,EAAE,KAAK,EAAE,MAAM,SAAS,CAAA;AAC/B,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,QAAQ,CAAA;AACzC,OAAO,EACL,cAAc,EACd,KAAK,aAAa,EAClB,KAAK,YAAY,EACjB,KAAK,aAAa,GACnB,MAAM,aAAa,CAAA;AACpB,OAAO,EAAE,OAAO,EAAE,KAAK,cAAc,EAAE,MAAM,WAAW,CAAA"}

package/dist/index.js

@@ -2,3 +2,4 @@ export { Engine } from "./engine";
 export { Model } from "./model";
 export { Vec3, Quat, Mat4 } from "./math";
 export { AnimationState, } from "./animation";
+export { Physics } from "./physics";

package/dist/physics.d.ts

@@ -43,10 +43,14 @@ export interface Joint {
     springPosition: Vec3;
     springRotation: Vec3;
 }
+export interface PhysicsOptions {
+    constraintSolverKeywords?: string[];
+}
 export declare class Physics {
     private rigidbodies;
     private joints;
     private gravity;
+    private constraintSolverPattern;
     private ammoInitialized;
     private ammoPromise;
     private ammo;
@@ -56,9 +60,8 @@ export declare class Physics {
     private rigidbodiesInitialized;
     private jointsCreated;
     private firstFrame;
-    private forceDisableOffsetForConstraintFrame;
     private zeroVector;
-    constructor(rigidbodies: Rigidbody[], joints?: Joint[]);
+    constructor(rigidbodies: Rigidbody[], joints?: Joint[], options?: PhysicsOptions);
     private initAmmo;
     setGravity(gravity: Vec3): void;
     getGravity(): Vec3;
@@ -72,7 +75,6 @@ export declare class Physics {
     private createAmmoRigidbodies;
     private createAmmoJoints;
     private normalizeAngle;
-    reset(boneWorldMatrices: Mat4[], boneInverseBindMatrices: Float32Array): void;
     step(dt: number, boneWorldMatrices: Mat4[], boneInverseBindMatrices: Float32Array): void;
     private computeBodyOffsets;
     private positionBodiesFromBones;

package/dist/physics.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"physics.d.ts","sourceRoot":"","sources":["../src/physics.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,QAAQ,CAAA;AAIzC,oBAAY,cAAc;IACxB,MAAM,IAAI;IACV,GAAG,IAAI;IACP,OAAO,IAAI;CACZ;AAED,oBAAY,aAAa;IACvB,MAAM,IAAI;IACV,OAAO,IAAI;IACX,SAAS,IAAI;CACd;AAED,MAAM,WAAW,SAAS;IACxB,IAAI,EAAE,MAAM,CAAA;IACZ,WAAW,EAAE,MAAM,CAAA;IACnB,SAAS,EAAE,MAAM,CAAA;IACjB,KAAK,EAAE,MAAM,CAAA;IACb,aAAa,EAAE,MAAM,CAAA;IACrB,KAAK,EAAE,cAAc,CAAA;IACrB,IAAI,EAAE,IAAI,CAAA;IACV,aAAa,EAAE,IAAI,CAAA;IACnB,aAAa,EAAE,IAAI,CAAA;IACnB,IAAI,EAAE,MAAM,CAAA;IACZ,aAAa,EAAE,MAAM,CAAA;IACrB,cAAc,EAAE,MAAM,CAAA;IACtB,WAAW,EAAE,MAAM,CAAA;IACnB,QAAQ,EAAE,MAAM,CAAA;IAChB,IAAI,EAAE,aAAa,CAAA;IACnB,uBAAuB,EAAE,IAAI,CAAA;IAC7B,gBAAgB,CAAC,EAAE,IAAI,CAAA;CACxB;AAED,MAAM,WAAW,KAAK;IACpB,IAAI,EAAE,MAAM,CAAA;IACZ,WAAW,EAAE,MAAM,CAAA;IACnB,IAAI,EAAE,MAAM,CAAA;IACZ,eAAe,EAAE,MAAM,CAAA;IACvB,eAAe,EAAE,MAAM,CAAA;IACvB,QAAQ,EAAE,IAAI,CAAA;IACd,QAAQ,EAAE,IAAI,CAAA;IACd,WAAW,EAAE,IAAI,CAAA;IACjB,WAAW,EAAE,IAAI,CAAA;IACjB,WAAW,EAAE,IAAI,CAAA;IACjB,WAAW,EAAE,IAAI,CAAA;IACjB,cAAc,EAAE,IAAI,CAAA;IACpB,cAAc,EAAE,IAAI,CAAA;CACrB;AAED,MAAM,WAAW,cAAc;IAI7B,wBAAwB,CAAC,EAAE,MAAM,EAAE,CAAA;CACpC;AAED,qBAAa,OAAO;IAClB,OAAO,CAAC,WAAW,CAAa;IAChC,OAAO,CAAC,MAAM,CAAS;IACvB,OAAO,CAAC,OAAO,CAA4B;IAC3C,OAAO,CAAC,uBAAuB,CAAsB;IACrD,OAAO,CAAC,eAAe,CAAQ;IAC/B,OAAO,CAAC,WAAW,CAAqC;IACxD,OAAO,CAAC,IAAI,CAA4B;IAExC,OAAO,CAAC,aAAa,CAAY;IAEjC,OAAO,CAAC,eAAe,CAAY;IAEnC,OAAO,CAAC,eAAe,CAAY;IACnC,OAAO,CAAC,sBAAsB,CAAQ;IACtC,OAAO,CAAC,aAAa,CAAQ;IAC7B,OAAO,CAAC,UAAU,CAAO;IAEzB,OAAO,CAAC,UAAU,CAAY;gBAElB,WAAW,EAAE,SAAS,EAAE,EAAE,MAAM,GAAE,KAAK,EAAO,EAAE,OAAO,CAAC,EAAE,cAAc;YAUtE,QAAQ;IAatB,UAAU,CAAC,OAAO,EAAE,IAAI,GAAG,IAAI;IAU/B,UAAU,IAAI,IAAI;IAIlB,cAAc,IAAI,SAAS,EAAE;IAI7B,SAAS,IAAI,KAAK,EAAE;IAIpB,sBAAsB,IAAI,KAAK,CAAC;QAAE,QAAQ,EAAE,IAAI,CAAC;QAAC,QAAQ,EAAE,IAAI,CAAA;KAAE,CAAC;IA6CnE,OAAO,CAAC,eAAe;IAwBvB,OAAO,CAAC,qBAAqB;IA+F7B,OAAO,CAAC,gBAAgB;IA0KxB,OAAO,CAAC,cAAc;IActB,IAAI,CAAC,EAAE,EAAE,MAAM,EAAE,iBAAiB,EAAE,IAAI,EAAE,EAAE,uBAAuB,EAAE,YAAY,GAAG,IAAI;IAsCxF,OAAO,CAAC,kBAAkB;IA2B1B,OAAO,CAAC,uBAAuB;IAgD/B,OAAO,CAAC,aAAa;IAkDrB,OAAO,CAAC,eAAe;IAUvB,OAAO,CAAC,2BAA2B;CAoCpC"}

package/dist/physics.js

@@ -13,8 +13,9 @@ export var RigidbodyType;
     RigidbodyType[RigidbodyType["Kinematic"] = 2] = "Kinematic";
 })(RigidbodyType || (RigidbodyType = {}));
 export class Physics {
-    constructor(rigidbodies, joints = []) {
+    constructor(rigidbodies, joints = [], options) {
         this.gravity = new Vec3(0, -98, 0); // Gravity acceleration (cm/s²), MMD-style default
+        this.constraintSolverPattern = null;
         this.ammoInitialized = false;
         this.ammoPromise = null;
         this.ammo = null;
@@ -27,11 +28,14 @@ export class Physics {
         this.rigidbodiesInitialized = false; // bodyOffsetMatrixInverse computed and bodies positioned
         this.jointsCreated = false; // Joints delayed until after rigidbodies are positioned
         this.firstFrame = true; // Needed to reposition bodies before creating joints
-        this.forceDisableOffsetForConstraintFrame = true; // MMD compatibility (Bullet 2.75 behavior)
         // eslint-disable-next-line @typescript-eslint/no-explicit-any
         this.zeroVector = null; // Cached zero vector for velocity clearing
         this.rigidbodies = rigidbodies;
         this.joints = joints;
+        const keywords = options?.constraintSolverKeywords ?? [];
+        if (keywords.length > 0) {
+            this.constraintSolverPattern = new RegExp(keywords.map(k => k.replace(/[.*+?^${}()|[\]\\]/g, "\\$&")).join("|"), "i");
+        }
         this.initAmmo();
     }
     async initAmmo() {
@@ -246,8 +250,9 @@ export class Physics {
             frameInB.setRotation(quatB);
             const useLinearReferenceFrameA = true;
             const constraint = new Ammo.btGeneric6DofSpringConstraint(bodyA, bodyB, frameInA, frameInB, useLinearReferenceFrameA);
-            // Disable offset for constraint frame for MMD compatibility (Bullet 2.75 behavior)
-            if (this.forceDisableOffsetForConstraintFrame) {
+            // Per-joint Bullet 2.75 constraint solver: disable m_useOffsetForConstraintFrame for
+            // joints whose name matches constraintSolverKeywords.
+            if (this.constraintSolverPattern && this.constraintSolverPattern.test(joint.name)) {
                 let jointPtr;
                 if (typeof Ammo.getPointer === "function") {
                     jointPtr = Ammo.getPointer(constraint);
@@ -258,7 +263,6 @@ export class Physics {
                 }
                 if (jointPtr !== undefined && Ammo.HEAP8) {
                     const heap8 = Ammo.HEAP8;
-                    // jointPtr + 1300 = m_useLinearReferenceFrameA, jointPtr + 1301 = m_useOffsetForConstraintFrame
                     if (heap8[jointPtr + 1300] === (useLinearReferenceFrameA ? 1 : 0) && heap8[jointPtr + 1301] === 1) {
                         heap8[jointPtr + 1301] = 0;
                     }
@@ -329,63 +333,6 @@ export class Physics {
         }
         return angle;
     }
-    // Reset physics state (reposition bodies, clear velocities)
-    // Following babylon-mmd pattern: initialize all rigid body positions from current bone poses
-    // Call this when starting a new animation to prevent physics instability from sudden pose changes
-    reset(boneWorldMatrices, boneInverseBindMatrices) {
-        if (!this.ammoInitialized || !this.ammo || !this.dynamicsWorld) {
-            return;
-        }
-        const boneCount = boneWorldMatrices.length;
-        const Ammo = this.ammo;
-        // Ensure body offsets are computed
-        if (!this.rigidbodiesInitialized) {
-            this.computeBodyOffsets(boneInverseBindMatrices, boneCount);
-            this.rigidbodiesInitialized = true;
-        }
-        // Reposition ALL rigid bodies from current bone poses (like babylon-mmd initialize)
-        // This ensures all bodies are correctly positioned before physics starts
-        for (let i = 0; i < this.rigidbodies.length; i++) {
-            const rb = this.rigidbodies[i];
-            const ammoBody = this.ammoRigidbodies[i];
-            if (!ammoBody || rb.boneIndex < 0 || rb.boneIndex >= boneCount)
-                continue;
-            const boneIdx = rb.boneIndex;
-            // Get bone world matrix
-            const boneWorldMat = boneWorldMatrices[boneIdx];
-            // Compute body world matrix: bodyWorld = boneWorld × bodyOffsetMatrix
-            // (like babylon-mmd: bodyWorldMatrix = bodyOffsetMatrix.multiplyToRef(bodyWorldMatrix))
-            const bodyOffsetMatrix = rb.bodyOffsetMatrix || rb.bodyOffsetMatrixInverse.inverse();
-            const bodyWorldMatrix = boneWorldMat.multiply(bodyOffsetMatrix);
-            const worldPos = bodyWorldMatrix.getPosition();
-            const worldRot = bodyWorldMatrix.toQuat();
-            // Set transform matrix
-            const transform = new Ammo.btTransform();
-            const pos = new Ammo.btVector3(worldPos.x, worldPos.y, worldPos.z);
-            const quat = new Ammo.btQuaternion(worldRot.x, worldRot.y, worldRot.z, worldRot.w);
-            transform.setOrigin(pos);
-            transform.setRotation(quat);
-            ammoBody.setWorldTransform(transform);
-            ammoBody.getMotionState().setWorldTransform(transform);
-            // Clear velocities for all rigidbodies
-            if (!this.zeroVector) {
-                this.zeroVector = new Ammo.btVector3(0, 0, 0);
-            }
-            ammoBody.setLinearVelocity(this.zeroVector);
-            ammoBody.setAngularVelocity(this.zeroVector);
-            // Explicitly activate dynamic rigidbodies after reset (wake them up)
-            // This is critical for dress pieces and other dynamic bodies to prevent teleporting
-            if (rb.type === RigidbodyType.Dynamic) {
-                ammoBody.activate(true); // Wake up the body
-            }
-            Ammo.destroy(pos);
-            Ammo.destroy(quat);
-        }
-        // Step simulation once to stabilize (like babylon-mmd)
-        if (this.dynamicsWorld.stepSimulation) {
-            this.dynamicsWorld.stepSimulation(0, 0, 0);
-        }
-    }
     // Syncs bones to rigidbodies, simulates dynamics, solves constraints
     // Modifies boneWorldMatrices in-place for dynamic rigidbodies that drive bones
     step(dt, boneWorldMatrices, boneInverseBindMatrices) {

package/dist/pmx-loader.js

@@ -217,8 +217,8 @@ export class PmxLoader {
                     this.getFloat32(),
                     this.getFloat32(),
                 ];
-                // edgeSize float
-                const edgeSize = this.getFloat32() * 2; // double the size for better visibility
+                // edgeSize float (outline width in PMX units; engine scales by camera distance for stable screen thickness)
+                const edgeSize = this.getFloat32();
                 const textureIndex = this.getNonVertexIndex(this.textureIndexSize);
                 const sphereTextureIndex = this.getNonVertexIndex(this.textureIndexSize);
                 const sphereTextureMode = this.getUint8();

package/package.json

@@ -1,7 +1,7 @@
 {
     "name": "reze-engine",
-    "version": "0.9.0",
-    "description": "A WebGPU game engine for MMD/PMX models",
+    "version": "0.9.2",
+    "description": "A lightweight WebGPU engine for real-time 3D MMD/PMX model rendering",
     "main": "./dist/index.js",
     "types": "./dist/index.d.ts",
     "type": "module",

package/src/camera.ts

@@ -1,6 +1,8 @@
 import { Mat4, Vec3 } from "./math"
 
-const FAR = 2000
+/** Far cap / zoom limit; large enough for wide shots without clipping distant ground */
+const FAR_CAP = 8000
+const FAR_MIN = 200
 
 export class Camera {
   alpha: number
@@ -10,7 +12,7 @@ export class Camera {
   fov: number
   aspect: number = 1
   near: number = 0.05
-  far: number = FAR
+  far: number = FAR_CAP
 
   // Input state
   private canvas: HTMLCanvasElement | null = null
@@ -30,7 +32,7 @@ export class Camera {
   wheelPrecision: number = 0.01
   pinchPrecision: number = 0.05
   minZ: number = 0.05
-  maxZ: number = FAR
+  maxZ: number = FAR_CAP
   lowerBetaLimit: number = 0.001
   upperBetaLimit: number = Math.PI - 0.001
 
@@ -40,6 +42,7 @@ export class Camera {
     this.radius = radius
     this.target = target
     this.fov = fov
+    this.updateFarFromRadius()
 
     // Bind event handlers
     this.onMouseDown = this.onMouseDown.bind(this)
@@ -127,7 +130,14 @@ export class Camera {
     this.target = this.target.add(panRight).add(panUp)
   }
 
+  /** Far plane grows with zoom-out so big floors / distant geometry stay visible */
+  private updateFarFromRadius(): void {
+    const margin = 600
+    this.far = Math.min(FAR_CAP, Math.max(FAR_MIN, this.radius * 12 + margin))
+  }
+
   getProjectionMatrix(): Mat4 {
+    this.updateFarFromRadius()
     return Mat4.perspective(this.fov, this.aspect, this.near, this.far)
   }
 
@@ -206,8 +216,7 @@ export class Camera {
 
     // Clamp radius to reasonable bounds
     this.radius = Math.max(this.minZ, Math.min(this.maxZ, this.radius))
-    // Expand far plane to keep scene visible when zooming out
-    this.far = Math.max(FAR, this.radius * 4)
+    this.updateFarFromRadius()
   }
 
   private onContextMenu(e: Event) {
@@ -285,8 +294,7 @@ export class Camera {
 
         // Clamp radius to reasonable bounds
         this.radius = Math.max(this.minZ, Math.min(this.maxZ, this.radius))
-        // Expand far plane for pinch zoom as well
-        this.far = Math.max(FAR, this.radius * 4)
+        this.updateFarFromRadius()
       }
 
       if (isPanGesture) {

package/src/engine.ts

@@ -2,7 +2,7 @@ import { Camera } from "./camera"
 import { Mat4, Vec3 } from "./math"
 import { Model } from "./model"
 import { PmxLoader } from "./pmx-loader"
-import { Physics } from "./physics"
+import { Physics, type PhysicsOptions } from "./physics"
 
 export type RaycastCallback = (modelName: string, material: string | null, screenX: number, screenY: number) => void
 
@@ -15,11 +15,10 @@ export type EngineOptions = {
   cameraTarget?: Vec3
   cameraFov?: number
   onRaycast?: RaycastCallback
+  physicsOptions?: PhysicsOptions
 }
 
-export type RequiredEngineOptions = Required<Omit<EngineOptions, "onRaycast">> & Pick<EngineOptions, "onRaycast">
-
-export const DEFAULT_ENGINE_OPTIONS: RequiredEngineOptions = {
+export const DEFAULT_ENGINE_OPTIONS = {
   ambientColor: new Vec3(0.88, 0.88, 0.88),
   directionalLightIntensity: 0.24,
   minSpecularIntensity: 0.3,
@@ -28,6 +27,7 @@ export const DEFAULT_ENGINE_OPTIONS: RequiredEngineOptions = {
   cameraTarget: new Vec3(0, 12.5, 0),
   cameraFov: Math.PI / 4,
   onRaycast: undefined,
+  physicsOptions: { constraintSolverKeywords: ["胸"] },
 }
 
 export interface EngineStats {
@@ -141,6 +141,7 @@ export class Engine {
   private shadowVPLightZ = Number.NaN
 
   private onRaycast?: RaycastCallback
+  private physicsOptions: PhysicsOptions = DEFAULT_ENGINE_OPTIONS.physicsOptions
   private lastTouchTime = 0
   private readonly DOUBLE_TAP_DELAY = 300
   // GPU picking
@@ -183,7 +184,7 @@ export class Engine {
   constructor(canvas: HTMLCanvasElement, options?: EngineOptions) {
     this.canvas = canvas
     if (options) {
-      this.ambientColor = options.ambientColor ?? DEFAULT_ENGINE_OPTIONS.ambientColor!
+      this.ambientColor = options.ambientColor ?? DEFAULT_ENGINE_OPTIONS.ambientColor
       this.directionalLightIntensity =
         options.directionalLightIntensity ?? DEFAULT_ENGINE_OPTIONS.directionalLightIntensity
       this.minSpecularIntensity = options.minSpecularIntensity ?? DEFAULT_ENGINE_OPTIONS.minSpecularIntensity
@@ -192,6 +193,7 @@ export class Engine {
       this.cameraTarget = options.cameraTarget ?? DEFAULT_ENGINE_OPTIONS.cameraTarget
       this.cameraFov = options.cameraFov ?? DEFAULT_ENGINE_OPTIONS.cameraFov
       this.onRaycast = options.onRaycast
+      this.physicsOptions = options.physicsOptions ?? DEFAULT_ENGINE_OPTIONS.physicsOptions
     }
   }
 
@@ -696,9 +698,11 @@ export class Engine {
           }
           let worldPos = skinnedPos.xyz;
           let worldNormal = normalize(skinnedNrm);
-          
-          let scaleFactor = 0.01;
-          let expandedPos = worldPos + worldNormal * material.edgeSize * scaleFactor;
+          // Screen-stable edgeline: extrusion ∝ camera distance (same idea as MMD viewers / babylon-mmd-style scaling)
+          let camDist = max(length(camera.viewPos - worldPos), 0.25);
+          let refDist = 30.0;
+          let edgeScale = 0.03;
+          let expandedPos = worldPos + worldNormal * material.edgeSize * edgeScale * (camDist / refDist);
           output.position = camera.projection * camera.view * vec4f(expandedPos, 1.0);
           return output;
         }
@@ -718,7 +722,8 @@ export class Engine {
       cullMode: "back",
       depthStencil: {
         format: "depth24plus-stencil8",
-        depthWriteEnabled: true,
+        // Don’t write outline into depth buffer — stops z-fighting / black cracks vs body (MMD-style; body depth stays authoritative)
+        depthWriteEnabled: false,
         depthCompare: "less-equal",
       },
     })
@@ -1185,14 +1190,6 @@ export class Engine {
     return this.physicsEnabled
   }
 
-  public resetPhysics(): void {
-    this.forEachInstance((inst) => {
-      if (!inst.physics) return
-      inst.model.computeWorldMatrices()
-      inst.physics.reset(inst.model.getWorldMatrices(), inst.model.getBoneInverseBindMatrices())
-    })
-  }
-
   private forEachInstance(fn: (inst: ModelInstance) => void): void {
     for (const inst of this.modelInstances.values()) fn(inst)
   }
@@ -1275,7 +1272,7 @@ export class Engine {
     this.device.queue.writeBuffer(indexBuffer, 0, indices)
 
     const rbs = model.getRigidbodies()
-    const physics = rbs.length > 0 ? new Physics(rbs, model.getJoints()) : null
+    const physics = rbs.length > 0 ? new Physics(rbs, model.getJoints(), this.physicsOptions) : null
 
     const shadowBindGroup = this.device.createBindGroup({
       label: `${name}: shadow bind`,

package/src/index.ts

@@ -7,3 +7,4 @@ export {
   type BoneKeyframe,
   type MorphKeyframe,
 } from "./animation"
+export { Physics, type PhysicsOptions } from "./physics"

package/src/physics.ts

@@ -50,10 +50,18 @@ export interface Joint {
   springRotation: Vec3 // Spring stiffness values
 }
 
+export interface PhysicsOptions {
+  // Joint name keywords for per-joint Bullet 2.75 constraint solver behavior.
+  // Joints whose name contains any keyword get m_useOffsetForConstraintFrame
+  // disabled (matching Bullet 2.75). All others keep the stable Ammo 2.82+ default.
+  constraintSolverKeywords?: string[]
+}
+
 export class Physics {
   private rigidbodies: Rigidbody[]
   private joints: Joint[]
   private gravity: Vec3 = new Vec3(0, -98, 0) // Gravity acceleration (cm/s²), MMD-style default
+  private constraintSolverPattern: RegExp | null = null
   private ammoInitialized = false
   private ammoPromise: Promise<AmmoInstance> | null = null
   private ammo: AmmoInstance | null = null
@@ -66,13 +74,16 @@ export class Physics {
   private rigidbodiesInitialized = false // bodyOffsetMatrixInverse computed and bodies positioned
   private jointsCreated = false // Joints delayed until after rigidbodies are positioned
   private firstFrame = true // Needed to reposition bodies before creating joints
-  private forceDisableOffsetForConstraintFrame = true // MMD compatibility (Bullet 2.75 behavior)
   // eslint-disable-next-line @typescript-eslint/no-explicit-any
   private zeroVector: any = null // Cached zero vector for velocity clearing
 
-  constructor(rigidbodies: Rigidbody[], joints: Joint[] = []) {
+  constructor(rigidbodies: Rigidbody[], joints: Joint[] = [], options?: PhysicsOptions) {
     this.rigidbodies = rigidbodies
     this.joints = joints
+    const keywords = options?.constraintSolverKeywords ?? []
+    if (keywords.length > 0) {
+      this.constraintSolverPattern = new RegExp(keywords.map(k => k.replace(/[.*+?^${}()|[\]\\]/g, "\\$&")).join("|"), "i")
+    }
     this.initAmmo()
   }
 
@@ -361,8 +372,9 @@ export class Physics {
         useLinearReferenceFrameA
       )
 
-      // Disable offset for constraint frame for MMD compatibility (Bullet 2.75 behavior)
-      if (this.forceDisableOffsetForConstraintFrame) {
+      // Per-joint Bullet 2.75 constraint solver: disable m_useOffsetForConstraintFrame for
+      // joints whose name matches constraintSolverKeywords.
+      if (this.constraintSolverPattern && this.constraintSolverPattern.test(joint.name)) {
         let jointPtr: number | undefined
         if (typeof Ammo.getPointer === "function") {
           jointPtr = Ammo.getPointer(constraint)
@@ -373,7 +385,6 @@ export class Physics {
 
         if (jointPtr !== undefined && Ammo.HEAP8) {
           const heap8 = Ammo.HEAP8 as Uint8Array
-          // jointPtr + 1300 = m_useLinearReferenceFrameA, jointPtr + 1301 = m_useOffsetForConstraintFrame
           if (heap8[jointPtr + 1300] === (useLinearReferenceFrameA ? 1 : 0) && heap8[jointPtr + 1301] === 1) {
             heap8[jointPtr + 1301] = 0
           }
@@ -457,77 +468,6 @@ export class Physics {
     return angle
   }
 
-  // Reset physics state (reposition bodies, clear velocities)
-  // Following babylon-mmd pattern: initialize all rigid body positions from current bone poses
-  // Call this when starting a new animation to prevent physics instability from sudden pose changes
-  reset(boneWorldMatrices: Mat4[], boneInverseBindMatrices: Float32Array): void {
-    if (!this.ammoInitialized || !this.ammo || !this.dynamicsWorld) {
-      return
-    }
-
-    const boneCount = boneWorldMatrices.length
-    const Ammo = this.ammo
-
-    // Ensure body offsets are computed
-    if (!this.rigidbodiesInitialized) {
-      this.computeBodyOffsets(boneInverseBindMatrices, boneCount)
-      this.rigidbodiesInitialized = true
-    }
-
-    // Reposition ALL rigid bodies from current bone poses (like babylon-mmd initialize)
-    // This ensures all bodies are correctly positioned before physics starts
-    for (let i = 0; i < this.rigidbodies.length; i++) {
-      const rb = this.rigidbodies[i]
-      const ammoBody = this.ammoRigidbodies[i]
-      if (!ammoBody || rb.boneIndex < 0 || rb.boneIndex >= boneCount) continue
-
-      const boneIdx = rb.boneIndex
-
-      // Get bone world matrix
-      const boneWorldMat = boneWorldMatrices[boneIdx]
-
-      // Compute body world matrix: bodyWorld = boneWorld × bodyOffsetMatrix
-      // (like babylon-mmd: bodyWorldMatrix = bodyOffsetMatrix.multiplyToRef(bodyWorldMatrix))
-      const bodyOffsetMatrix = rb.bodyOffsetMatrix || rb.bodyOffsetMatrixInverse.inverse()
-      const bodyWorldMatrix = boneWorldMat.multiply(bodyOffsetMatrix)
-
-      const worldPos = bodyWorldMatrix.getPosition()
-      const worldRot = bodyWorldMatrix.toQuat()
-
-      // Set transform matrix
-      const transform = new Ammo.btTransform()
-      const pos = new Ammo.btVector3(worldPos.x, worldPos.y, worldPos.z)
-      const quat = new Ammo.btQuaternion(worldRot.x, worldRot.y, worldRot.z, worldRot.w)
-
-      transform.setOrigin(pos)
-      transform.setRotation(quat)
-
-      ammoBody.setWorldTransform(transform)
-      ammoBody.getMotionState().setWorldTransform(transform)
-
-      // Clear velocities for all rigidbodies
-      if (!this.zeroVector) {
-        this.zeroVector = new Ammo.btVector3(0, 0, 0)
-      }
-      ammoBody.setLinearVelocity(this.zeroVector)
-      ammoBody.setAngularVelocity(this.zeroVector)
-
-      // Explicitly activate dynamic rigidbodies after reset (wake them up)
-      // This is critical for dress pieces and other dynamic bodies to prevent teleporting
-      if (rb.type === RigidbodyType.Dynamic) {
-        ammoBody.activate(true) // Wake up the body
-      }
-
-      Ammo.destroy(pos)
-      Ammo.destroy(quat)
-    }
-
-    // Step simulation once to stabilize (like babylon-mmd)
-    if (this.dynamicsWorld.stepSimulation) {
-      this.dynamicsWorld.stepSimulation(0, 0, 0)
-    }
-  }
-
   // Syncs bones to rigidbodies, simulates dynamics, solves constraints
   // Modifies boneWorldMatrices in-place for dynamic rigidbodies that drive bones
   step(dt: number, boneWorldMatrices: Mat4[], boneInverseBindMatrices: Float32Array): void {

package/src/pmx-loader.ts

@@ -261,8 +261,8 @@ export class PmxLoader {
           this.getFloat32(),
           this.getFloat32(),
         ]
-        // edgeSize float
-        const edgeSize = this.getFloat32()*2 // double the size for better visibility
+        // edgeSize float (outline width in PMX units; engine scales by camera distance for stable screen thickness)
+        const edgeSize = this.getFloat32()
 
         const textureIndex = this.getNonVertexIndex(this.textureIndexSize)
         const sphereTextureIndex = this.getNonVertexIndex(this.textureIndexSize)