reze-engine 0.9.1 → 0.9.2

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Files changed (14) hide show
  1. package/README.md +18 -15
  2. package/dist/engine.d.ts +16 -3
  3. package/dist/engine.d.ts.map +1 -1
  4. package/dist/engine.js +4 -9
  5. package/dist/index.d.ts +1 -0
  6. package/dist/index.d.ts.map +1 -1
  7. package/dist/index.js +1 -0
  8. package/dist/physics.d.ts +5 -3
  9. package/dist/physics.d.ts.map +1 -1
  10. package/dist/physics.js +9 -62
  11. package/package.json +1 -1
  12. package/src/engine.ts +8 -14
  13. package/src/index.ts +1 -0
  14. package/src/physics.ts +16 -76
package/README.md CHANGED
@@ -1,6 +1,6 @@
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  # Reze Engine
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- A lightweight WebGPU engine for real-time 3D MMD/PMX model rendering, built with TypeScript.
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+ A minimal-dependency WebGPU engine for real-time MMD/PMX rendering. Only external dependency is Ammo.js for physics.
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  ## Install
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@@ -10,13 +10,12 @@ npm install reze-engine
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  ## Features
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- - Blinn-Phong lighting, alpha blending, rim lighting, outlines, MSAA 4x
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- - VMD animation (multiple named, non-interruptible), IK solver, Ammo/Bullet physics
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- - GPU picking (double-click/tap returns model + material name)
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- - Souls-style follow cam (orbit center bound to model bone)
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- - Optimized bind groups (per-frame / per-instance / per-material)
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- - Ground shadow mapping with PCF
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- - Multi-model (per-model materials, IK, physics)
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+ - Blinn-Phong shading, alpha blending, rim lighting, outlines, MSAA 4x
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+ - VMD animation with IK solver and Bullet physics
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+ - Orbit camera with bone-follow mode
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+ - GPU picking (double-click/tap)
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+ - Ground plane with PCF shadow mapping
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+ - Multi-model support
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  ## Quick Start
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@@ -25,7 +24,7 @@ import { Engine, Vec3 } from "reze-engine"
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  const engine = new Engine(canvas, {
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  ambientColor: new Vec3(0.88, 0.92, 0.99),
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- cameraDistance: 31.5,
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+ cameraDistance: 31.5, // MMD units (1 unit = 8 cm)
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  })
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  await engine.init()
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@@ -56,8 +55,7 @@ engine.runRenderLoop()
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  | `engine.toggleMaterialVisible(model, mat)` | Toggle material visibility |
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  | `engine.setIKEnabled(enabled)` | Enable/disable IK globally |
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  | `engine.setPhysicsEnabled(enabled)` | Enable/disable physics globally |
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- | `engine.resetPhysics()` | Reset physics to current pose |
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- | `engine.setCameraFollow(model, bone?, offset?)` | Follow cam bound to bone |
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+ | `engine.setCameraFollow(model, bone?, offset?)` | Orbit center tracks a bone |
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  | `engine.setCameraTarget(vec3)` | Static camera target |
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  | `engine.setCameraDistance(d)` | Set orbit radius |
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  | `engine.setCameraAlpha(a)` | Set horizontal orbit angle |
@@ -99,15 +97,20 @@ engine.runRenderLoop()
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  cameraTarget: Vec3,
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  cameraFov: number,
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  onRaycast: (modelName, material, screenX, screenY) => void,
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+ physicsOptions: {
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+ constraintSolverKeywords: string[],
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+ },
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  }
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  ```
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+ `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.
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+
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  ## Projects Using This Engine
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- - **[MiKaPo](https://mikapo.vercel.app)** - Real-time motion capture for MMD
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- - **[Popo](https://popo.love)** - LLM-generated MMD poses
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- - **[MPL](https://mmd-mpl.vercel.app)** - Motion programming language for MMD
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- - **[Mixamo-MMD](https://mixamo-mmd.vercel.app)** - Retarget Mixamo FBX to VMD
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+ - **[MiKaPo](https://mikapo.vercel.app)** — Real-time motion capture for MMD
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+ - **[Popo](https://popo.love)** — LLM-generated MMD poses
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+ - **[MPL](https://mmd-mpl.vercel.app)** — Motion programming language for MMD
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+ - **[Mixamo-MMD](https://mixamo-mmd.vercel.app)** — Retarget Mixamo FBX to VMD
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  ## Tutorial
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package/dist/engine.d.ts CHANGED
@@ -1,5 +1,6 @@
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  import { Vec3 } from "./math";
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  import { Model } from "./model";
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+ import { type PhysicsOptions } from "./physics";
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  export type RaycastCallback = (modelName: string, material: string | null, screenX: number, screenY: number) => void;
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  export type EngineOptions = {
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  ambientColor?: Vec3;
@@ -10,9 +11,21 @@ export type EngineOptions = {
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  cameraTarget?: Vec3;
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  cameraFov?: number;
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  onRaycast?: RaycastCallback;
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+ physicsOptions?: PhysicsOptions;
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+ };
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+ export declare const DEFAULT_ENGINE_OPTIONS: {
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+ ambientColor: Vec3;
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+ directionalLightIntensity: number;
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+ minSpecularIntensity: number;
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+ rimLightIntensity: number;
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+ cameraDistance: number;
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+ cameraTarget: Vec3;
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+ cameraFov: number;
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+ onRaycast: undefined;
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+ physicsOptions: {
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+ constraintSolverKeywords: string[];
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+ };
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  };
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- export type RequiredEngineOptions = Required<Omit<EngineOptions, "onRaycast">> & Pick<EngineOptions, "onRaycast">;
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- export declare const DEFAULT_ENGINE_OPTIONS: RequiredEngineOptions;
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  export interface EngineStats {
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  fps: number;
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  frameTime: number;
@@ -69,6 +82,7 @@ export declare class Engine {
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  private shadowVPLightY;
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  private shadowVPLightZ;
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  private onRaycast?;
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+ private physicsOptions;
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  private lastTouchTime;
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  private readonly DOUBLE_TAP_DELAY;
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  private pickPipeline;
@@ -148,7 +162,6 @@ export declare class Engine {
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  getIKEnabled(): boolean;
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  setPhysicsEnabled(enabled: boolean): void;
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  getPhysicsEnabled(): boolean;
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- resetPhysics(): void;
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  private forEachInstance;
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  private updateInstances;
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  private updateVertexBuffer;
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1
+ 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package/dist/engine.js CHANGED
@@ -11,6 +11,7 @@ export const DEFAULT_ENGINE_OPTIONS = {
11
11
  cameraTarget: new Vec3(0, 12.5, 0),
12
12
  cameraFov: Math.PI / 4,
13
13
  onRaycast: undefined,
14
+ physicsOptions: { constraintSolverKeywords: ["胸"] },
14
15
  };
15
16
  export class Engine {
16
17
  static getInstance() {
@@ -30,6 +31,7 @@ export class Engine {
30
31
  this.shadowVPLightX = Number.NaN;
31
32
  this.shadowVPLightY = Number.NaN;
32
33
  this.shadowVPLightZ = Number.NaN;
34
+ this.physicsOptions = DEFAULT_ENGINE_OPTIONS.physicsOptions;
33
35
  this.lastTouchTime = 0;
34
36
  this.DOUBLE_TAP_DELAY = 300;
35
37
  this.pendingPick = null;
@@ -96,6 +98,7 @@ export class Engine {
96
98
  this.cameraTarget = options.cameraTarget ?? DEFAULT_ENGINE_OPTIONS.cameraTarget;
97
99
  this.cameraFov = options.cameraFov ?? DEFAULT_ENGINE_OPTIONS.cameraFov;
98
100
  this.onRaycast = options.onRaycast;
101
+ this.physicsOptions = options.physicsOptions ?? DEFAULT_ENGINE_OPTIONS.physicsOptions;
99
102
  }
100
103
  }
101
104
  // Step 1: Get WebGPU device and context
@@ -999,14 +1002,6 @@ export class Engine {
999
1002
  getPhysicsEnabled() {
1000
1003
  return this.physicsEnabled;
1001
1004
  }
1002
- resetPhysics() {
1003
- this.forEachInstance((inst) => {
1004
- if (!inst.physics)
1005
- return;
1006
- inst.model.computeWorldMatrices();
1007
- inst.physics.reset(inst.model.getWorldMatrices(), inst.model.getBoneInverseBindMatrices());
1008
- });
1009
- }
1010
1005
  forEachInstance(fn) {
1011
1006
  for (const inst of this.modelInstances.values())
1012
1007
  fn(inst);
@@ -1069,7 +1064,7 @@ export class Engine {
1069
1064
  });
1070
1065
  this.device.queue.writeBuffer(indexBuffer, 0, indices);
1071
1066
  const rbs = model.getRigidbodies();
1072
- const physics = rbs.length > 0 ? new Physics(rbs, model.getJoints()) : null;
1067
+ const physics = rbs.length > 0 ? new Physics(rbs, model.getJoints(), this.physicsOptions) : null;
1073
1068
  const shadowBindGroup = this.device.createBindGroup({
1074
1069
  label: `${name}: shadow bind`,
1075
1070
  layout: this.shadowDepthPipeline.getBindGroupLayout(0),
package/dist/index.d.ts CHANGED
@@ -2,4 +2,5 @@ export { Engine, type EngineStats } from "./engine";
2
2
  export { Model } from "./model";
3
3
  export { Vec3, Quat, Mat4 } from "./math";
4
4
  export { AnimationState, type AnimationClip, type BoneKeyframe, type MorphKeyframe, } from "./animation";
5
+ export { Physics, type PhysicsOptions } from "./physics";
5
6
  //# sourceMappingURL=index.d.ts.map
package/dist/index.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"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 CHANGED
@@ -2,3 +2,4 @@ export { Engine } from "./engine";
2
2
  export { Model } from "./model";
3
3
  export { Vec3, Quat, Mat4 } from "./math";
4
4
  export { AnimationState, } from "./animation";
5
+ export { Physics } from "./physics";
package/dist/physics.d.ts CHANGED
@@ -43,10 +43,14 @@ export interface Joint {
43
43
  springPosition: Vec3;
44
44
  springRotation: Vec3;
45
45
  }
46
+ export interface PhysicsOptions {
47
+ constraintSolverKeywords?: string[];
48
+ }
46
49
  export declare class Physics {
47
50
  private rigidbodies;
48
51
  private joints;
49
52
  private gravity;
53
+ private constraintSolverPattern;
50
54
  private ammoInitialized;
51
55
  private ammoPromise;
52
56
  private ammo;
@@ -56,9 +60,8 @@ export declare class Physics {
56
60
  private rigidbodiesInitialized;
57
61
  private jointsCreated;
58
62
  private firstFrame;
59
- private forceDisableOffsetForConstraintFrame;
60
63
  private zeroVector;
61
- constructor(rigidbodies: Rigidbody[], joints?: Joint[]);
64
+ constructor(rigidbodies: Rigidbody[], joints?: Joint[], options?: PhysicsOptions);
62
65
  private initAmmo;
63
66
  setGravity(gravity: Vec3): void;
64
67
  getGravity(): Vec3;
@@ -72,7 +75,6 @@ export declare class Physics {
72
75
  private createAmmoRigidbodies;
73
76
  private createAmmoJoints;
74
77
  private normalizeAngle;
75
- reset(boneWorldMatrices: Mat4[], boneInverseBindMatrices: Float32Array): void;
76
78
  step(dt: number, boneWorldMatrices: Mat4[], boneInverseBindMatrices: Float32Array): void;
77
79
  private computeBodyOffsets;
78
80
  private positionBodiesFromBones;
package/dist/physics.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"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 CHANGED
@@ -13,8 +13,9 @@ export var RigidbodyType;
13
13
  RigidbodyType[RigidbodyType["Kinematic"] = 2] = "Kinematic";
14
14
  })(RigidbodyType || (RigidbodyType = {}));
15
15
  export class Physics {
16
- constructor(rigidbodies, joints = []) {
16
+ constructor(rigidbodies, joints = [], options) {
17
17
  this.gravity = new Vec3(0, -98, 0); // Gravity acceleration (cm/s²), MMD-style default
18
+ this.constraintSolverPattern = null;
18
19
  this.ammoInitialized = false;
19
20
  this.ammoPromise = null;
20
21
  this.ammo = null;
@@ -27,11 +28,14 @@ export class Physics {
27
28
  this.rigidbodiesInitialized = false; // bodyOffsetMatrixInverse computed and bodies positioned
28
29
  this.jointsCreated = false; // Joints delayed until after rigidbodies are positioned
29
30
  this.firstFrame = true; // Needed to reposition bodies before creating joints
30
- this.forceDisableOffsetForConstraintFrame = true; // MMD compatibility (Bullet 2.75 behavior)
31
31
  // eslint-disable-next-line @typescript-eslint/no-explicit-any
32
32
  this.zeroVector = null; // Cached zero vector for velocity clearing
33
33
  this.rigidbodies = rigidbodies;
34
34
  this.joints = joints;
35
+ const keywords = options?.constraintSolverKeywords ?? [];
36
+ if (keywords.length > 0) {
37
+ this.constraintSolverPattern = new RegExp(keywords.map(k => k.replace(/[.*+?^${}()|[\]\\]/g, "\\$&")).join("|"), "i");
38
+ }
35
39
  this.initAmmo();
36
40
  }
37
41
  async initAmmo() {
@@ -246,8 +250,9 @@ export class Physics {
246
250
  frameInB.setRotation(quatB);
247
251
  const useLinearReferenceFrameA = true;
248
252
  const constraint = new Ammo.btGeneric6DofSpringConstraint(bodyA, bodyB, frameInA, frameInB, useLinearReferenceFrameA);
249
- // Disable offset for constraint frame for MMD compatibility (Bullet 2.75 behavior)
250
- if (this.forceDisableOffsetForConstraintFrame) {
253
+ // Per-joint Bullet 2.75 constraint solver: disable m_useOffsetForConstraintFrame for
254
+ // joints whose name matches constraintSolverKeywords.
255
+ if (this.constraintSolverPattern && this.constraintSolverPattern.test(joint.name)) {
251
256
  let jointPtr;
252
257
  if (typeof Ammo.getPointer === "function") {
253
258
  jointPtr = Ammo.getPointer(constraint);
@@ -258,7 +263,6 @@ export class Physics {
258
263
  }
259
264
  if (jointPtr !== undefined && Ammo.HEAP8) {
260
265
  const heap8 = Ammo.HEAP8;
261
- // jointPtr + 1300 = m_useLinearReferenceFrameA, jointPtr + 1301 = m_useOffsetForConstraintFrame
262
266
  if (heap8[jointPtr + 1300] === (useLinearReferenceFrameA ? 1 : 0) && heap8[jointPtr + 1301] === 1) {
263
267
  heap8[jointPtr + 1301] = 0;
264
268
  }
@@ -329,63 +333,6 @@ export class Physics {
329
333
  }
330
334
  return angle;
331
335
  }
332
- // Reset physics state (reposition bodies, clear velocities)
333
- // Following babylon-mmd pattern: initialize all rigid body positions from current bone poses
334
- // Call this when starting a new animation to prevent physics instability from sudden pose changes
335
- reset(boneWorldMatrices, boneInverseBindMatrices) {
336
- if (!this.ammoInitialized || !this.ammo || !this.dynamicsWorld) {
337
- return;
338
- }
339
- const boneCount = boneWorldMatrices.length;
340
- const Ammo = this.ammo;
341
- // Ensure body offsets are computed
342
- if (!this.rigidbodiesInitialized) {
343
- this.computeBodyOffsets(boneInverseBindMatrices, boneCount);
344
- this.rigidbodiesInitialized = true;
345
- }
346
- // Reposition ALL rigid bodies from current bone poses (like babylon-mmd initialize)
347
- // This ensures all bodies are correctly positioned before physics starts
348
- for (let i = 0; i < this.rigidbodies.length; i++) {
349
- const rb = this.rigidbodies[i];
350
- const ammoBody = this.ammoRigidbodies[i];
351
- if (!ammoBody || rb.boneIndex < 0 || rb.boneIndex >= boneCount)
352
- continue;
353
- const boneIdx = rb.boneIndex;
354
- // Get bone world matrix
355
- const boneWorldMat = boneWorldMatrices[boneIdx];
356
- // Compute body world matrix: bodyWorld = boneWorld × bodyOffsetMatrix
357
- // (like babylon-mmd: bodyWorldMatrix = bodyOffsetMatrix.multiplyToRef(bodyWorldMatrix))
358
- const bodyOffsetMatrix = rb.bodyOffsetMatrix || rb.bodyOffsetMatrixInverse.inverse();
359
- const bodyWorldMatrix = boneWorldMat.multiply(bodyOffsetMatrix);
360
- const worldPos = bodyWorldMatrix.getPosition();
361
- const worldRot = bodyWorldMatrix.toQuat();
362
- // Set transform matrix
363
- const transform = new Ammo.btTransform();
364
- const pos = new Ammo.btVector3(worldPos.x, worldPos.y, worldPos.z);
365
- const quat = new Ammo.btQuaternion(worldRot.x, worldRot.y, worldRot.z, worldRot.w);
366
- transform.setOrigin(pos);
367
- transform.setRotation(quat);
368
- ammoBody.setWorldTransform(transform);
369
- ammoBody.getMotionState().setWorldTransform(transform);
370
- // Clear velocities for all rigidbodies
371
- if (!this.zeroVector) {
372
- this.zeroVector = new Ammo.btVector3(0, 0, 0);
373
- }
374
- ammoBody.setLinearVelocity(this.zeroVector);
375
- ammoBody.setAngularVelocity(this.zeroVector);
376
- // Explicitly activate dynamic rigidbodies after reset (wake them up)
377
- // This is critical for dress pieces and other dynamic bodies to prevent teleporting
378
- if (rb.type === RigidbodyType.Dynamic) {
379
- ammoBody.activate(true); // Wake up the body
380
- }
381
- Ammo.destroy(pos);
382
- Ammo.destroy(quat);
383
- }
384
- // Step simulation once to stabilize (like babylon-mmd)
385
- if (this.dynamicsWorld.stepSimulation) {
386
- this.dynamicsWorld.stepSimulation(0, 0, 0);
387
- }
388
- }
389
336
  // Syncs bones to rigidbodies, simulates dynamics, solves constraints
390
337
  // Modifies boneWorldMatrices in-place for dynamic rigidbodies that drive bones
391
338
  step(dt, boneWorldMatrices, boneInverseBindMatrices) {
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "reze-engine",
3
- "version": "0.9.1",
3
+ "version": "0.9.2",
4
4
  "description": "A lightweight WebGPU engine for real-time 3D MMD/PMX model rendering",
5
5
  "main": "./dist/index.js",
6
6
  "types": "./dist/index.d.ts",
package/src/engine.ts CHANGED
@@ -2,7 +2,7 @@ import { Camera } from "./camera"
2
2
  import { Mat4, Vec3 } from "./math"
3
3
  import { Model } from "./model"
4
4
  import { PmxLoader } from "./pmx-loader"
5
- import { Physics } from "./physics"
5
+ import { Physics, type PhysicsOptions } from "./physics"
6
6
 
7
7
  export type RaycastCallback = (modelName: string, material: string | null, screenX: number, screenY: number) => void
8
8
 
@@ -15,11 +15,10 @@ export type EngineOptions = {
15
15
  cameraTarget?: Vec3
16
16
  cameraFov?: number
17
17
  onRaycast?: RaycastCallback
18
+ physicsOptions?: PhysicsOptions
18
19
  }
19
20
 
20
- export type RequiredEngineOptions = Required<Omit<EngineOptions, "onRaycast">> & Pick<EngineOptions, "onRaycast">
21
-
22
- export const DEFAULT_ENGINE_OPTIONS: RequiredEngineOptions = {
21
+ export const DEFAULT_ENGINE_OPTIONS = {
23
22
  ambientColor: new Vec3(0.88, 0.88, 0.88),
24
23
  directionalLightIntensity: 0.24,
25
24
  minSpecularIntensity: 0.3,
@@ -28,6 +27,7 @@ export const DEFAULT_ENGINE_OPTIONS: RequiredEngineOptions = {
28
27
  cameraTarget: new Vec3(0, 12.5, 0),
29
28
  cameraFov: Math.PI / 4,
30
29
  onRaycast: undefined,
30
+ physicsOptions: { constraintSolverKeywords: ["胸"] },
31
31
  }
32
32
 
33
33
  export interface EngineStats {
@@ -141,6 +141,7 @@ export class Engine {
141
141
  private shadowVPLightZ = Number.NaN
142
142
 
143
143
  private onRaycast?: RaycastCallback
144
+ private physicsOptions: PhysicsOptions = DEFAULT_ENGINE_OPTIONS.physicsOptions
144
145
  private lastTouchTime = 0
145
146
  private readonly DOUBLE_TAP_DELAY = 300
146
147
  // GPU picking
@@ -183,7 +184,7 @@ export class Engine {
183
184
  constructor(canvas: HTMLCanvasElement, options?: EngineOptions) {
184
185
  this.canvas = canvas
185
186
  if (options) {
186
- this.ambientColor = options.ambientColor ?? DEFAULT_ENGINE_OPTIONS.ambientColor!
187
+ this.ambientColor = options.ambientColor ?? DEFAULT_ENGINE_OPTIONS.ambientColor
187
188
  this.directionalLightIntensity =
188
189
  options.directionalLightIntensity ?? DEFAULT_ENGINE_OPTIONS.directionalLightIntensity
189
190
  this.minSpecularIntensity = options.minSpecularIntensity ?? DEFAULT_ENGINE_OPTIONS.minSpecularIntensity
@@ -192,6 +193,7 @@ export class Engine {
192
193
  this.cameraTarget = options.cameraTarget ?? DEFAULT_ENGINE_OPTIONS.cameraTarget
193
194
  this.cameraFov = options.cameraFov ?? DEFAULT_ENGINE_OPTIONS.cameraFov
194
195
  this.onRaycast = options.onRaycast
196
+ this.physicsOptions = options.physicsOptions ?? DEFAULT_ENGINE_OPTIONS.physicsOptions
195
197
  }
196
198
  }
197
199
 
@@ -1188,14 +1190,6 @@ export class Engine {
1188
1190
  return this.physicsEnabled
1189
1191
  }
1190
1192
 
1191
- public resetPhysics(): void {
1192
- this.forEachInstance((inst) => {
1193
- if (!inst.physics) return
1194
- inst.model.computeWorldMatrices()
1195
- inst.physics.reset(inst.model.getWorldMatrices(), inst.model.getBoneInverseBindMatrices())
1196
- })
1197
- }
1198
-
1199
1193
  private forEachInstance(fn: (inst: ModelInstance) => void): void {
1200
1194
  for (const inst of this.modelInstances.values()) fn(inst)
1201
1195
  }
@@ -1278,7 +1272,7 @@ export class Engine {
1278
1272
  this.device.queue.writeBuffer(indexBuffer, 0, indices)
1279
1273
 
1280
1274
  const rbs = model.getRigidbodies()
1281
- const physics = rbs.length > 0 ? new Physics(rbs, model.getJoints()) : null
1275
+ const physics = rbs.length > 0 ? new Physics(rbs, model.getJoints(), this.physicsOptions) : null
1282
1276
 
1283
1277
  const shadowBindGroup = this.device.createBindGroup({
1284
1278
  label: `${name}: shadow bind`,
package/src/index.ts CHANGED
@@ -7,3 +7,4 @@ export {
7
7
  type BoneKeyframe,
8
8
  type MorphKeyframe,
9
9
  } from "./animation"
10
+ export { Physics, type PhysicsOptions } from "./physics"
package/src/physics.ts CHANGED
@@ -50,10 +50,18 @@ export interface Joint {
50
50
  springRotation: Vec3 // Spring stiffness values
51
51
  }
52
52
 
53
+ export interface PhysicsOptions {
54
+ // Joint name keywords for per-joint Bullet 2.75 constraint solver behavior.
55
+ // Joints whose name contains any keyword get m_useOffsetForConstraintFrame
56
+ // disabled (matching Bullet 2.75). All others keep the stable Ammo 2.82+ default.
57
+ constraintSolverKeywords?: string[]
58
+ }
59
+
53
60
  export class Physics {
54
61
  private rigidbodies: Rigidbody[]
55
62
  private joints: Joint[]
56
63
  private gravity: Vec3 = new Vec3(0, -98, 0) // Gravity acceleration (cm/s²), MMD-style default
64
+ private constraintSolverPattern: RegExp | null = null
57
65
  private ammoInitialized = false
58
66
  private ammoPromise: Promise<AmmoInstance> | null = null
59
67
  private ammo: AmmoInstance | null = null
@@ -66,13 +74,16 @@ export class Physics {
66
74
  private rigidbodiesInitialized = false // bodyOffsetMatrixInverse computed and bodies positioned
67
75
  private jointsCreated = false // Joints delayed until after rigidbodies are positioned
68
76
  private firstFrame = true // Needed to reposition bodies before creating joints
69
- private forceDisableOffsetForConstraintFrame = true // MMD compatibility (Bullet 2.75 behavior)
70
77
  // eslint-disable-next-line @typescript-eslint/no-explicit-any
71
78
  private zeroVector: any = null // Cached zero vector for velocity clearing
72
79
 
73
- constructor(rigidbodies: Rigidbody[], joints: Joint[] = []) {
80
+ constructor(rigidbodies: Rigidbody[], joints: Joint[] = [], options?: PhysicsOptions) {
74
81
  this.rigidbodies = rigidbodies
75
82
  this.joints = joints
83
+ const keywords = options?.constraintSolverKeywords ?? []
84
+ if (keywords.length > 0) {
85
+ this.constraintSolverPattern = new RegExp(keywords.map(k => k.replace(/[.*+?^${}()|[\]\\]/g, "\\$&")).join("|"), "i")
86
+ }
76
87
  this.initAmmo()
77
88
  }
78
89
 
@@ -361,8 +372,9 @@ export class Physics {
361
372
  useLinearReferenceFrameA
362
373
  )
363
374
 
364
- // Disable offset for constraint frame for MMD compatibility (Bullet 2.75 behavior)
365
- if (this.forceDisableOffsetForConstraintFrame) {
375
+ // Per-joint Bullet 2.75 constraint solver: disable m_useOffsetForConstraintFrame for
376
+ // joints whose name matches constraintSolverKeywords.
377
+ if (this.constraintSolverPattern && this.constraintSolverPattern.test(joint.name)) {
366
378
  let jointPtr: number | undefined
367
379
  if (typeof Ammo.getPointer === "function") {
368
380
  jointPtr = Ammo.getPointer(constraint)
@@ -373,7 +385,6 @@ export class Physics {
373
385
 
374
386
  if (jointPtr !== undefined && Ammo.HEAP8) {
375
387
  const heap8 = Ammo.HEAP8 as Uint8Array
376
- // jointPtr + 1300 = m_useLinearReferenceFrameA, jointPtr + 1301 = m_useOffsetForConstraintFrame
377
388
  if (heap8[jointPtr + 1300] === (useLinearReferenceFrameA ? 1 : 0) && heap8[jointPtr + 1301] === 1) {
378
389
  heap8[jointPtr + 1301] = 0
379
390
  }
@@ -457,77 +468,6 @@ export class Physics {
457
468
  return angle
458
469
  }
459
470
 
460
- // Reset physics state (reposition bodies, clear velocities)
461
- // Following babylon-mmd pattern: initialize all rigid body positions from current bone poses
462
- // Call this when starting a new animation to prevent physics instability from sudden pose changes
463
- reset(boneWorldMatrices: Mat4[], boneInverseBindMatrices: Float32Array): void {
464
- if (!this.ammoInitialized || !this.ammo || !this.dynamicsWorld) {
465
- return
466
- }
467
-
468
- const boneCount = boneWorldMatrices.length
469
- const Ammo = this.ammo
470
-
471
- // Ensure body offsets are computed
472
- if (!this.rigidbodiesInitialized) {
473
- this.computeBodyOffsets(boneInverseBindMatrices, boneCount)
474
- this.rigidbodiesInitialized = true
475
- }
476
-
477
- // Reposition ALL rigid bodies from current bone poses (like babylon-mmd initialize)
478
- // This ensures all bodies are correctly positioned before physics starts
479
- for (let i = 0; i < this.rigidbodies.length; i++) {
480
- const rb = this.rigidbodies[i]
481
- const ammoBody = this.ammoRigidbodies[i]
482
- if (!ammoBody || rb.boneIndex < 0 || rb.boneIndex >= boneCount) continue
483
-
484
- const boneIdx = rb.boneIndex
485
-
486
- // Get bone world matrix
487
- const boneWorldMat = boneWorldMatrices[boneIdx]
488
-
489
- // Compute body world matrix: bodyWorld = boneWorld × bodyOffsetMatrix
490
- // (like babylon-mmd: bodyWorldMatrix = bodyOffsetMatrix.multiplyToRef(bodyWorldMatrix))
491
- const bodyOffsetMatrix = rb.bodyOffsetMatrix || rb.bodyOffsetMatrixInverse.inverse()
492
- const bodyWorldMatrix = boneWorldMat.multiply(bodyOffsetMatrix)
493
-
494
- const worldPos = bodyWorldMatrix.getPosition()
495
- const worldRot = bodyWorldMatrix.toQuat()
496
-
497
- // Set transform matrix
498
- const transform = new Ammo.btTransform()
499
- const pos = new Ammo.btVector3(worldPos.x, worldPos.y, worldPos.z)
500
- const quat = new Ammo.btQuaternion(worldRot.x, worldRot.y, worldRot.z, worldRot.w)
501
-
502
- transform.setOrigin(pos)
503
- transform.setRotation(quat)
504
-
505
- ammoBody.setWorldTransform(transform)
506
- ammoBody.getMotionState().setWorldTransform(transform)
507
-
508
- // Clear velocities for all rigidbodies
509
- if (!this.zeroVector) {
510
- this.zeroVector = new Ammo.btVector3(0, 0, 0)
511
- }
512
- ammoBody.setLinearVelocity(this.zeroVector)
513
- ammoBody.setAngularVelocity(this.zeroVector)
514
-
515
- // Explicitly activate dynamic rigidbodies after reset (wake them up)
516
- // This is critical for dress pieces and other dynamic bodies to prevent teleporting
517
- if (rb.type === RigidbodyType.Dynamic) {
518
- ammoBody.activate(true) // Wake up the body
519
- }
520
-
521
- Ammo.destroy(pos)
522
- Ammo.destroy(quat)
523
- }
524
-
525
- // Step simulation once to stabilize (like babylon-mmd)
526
- if (this.dynamicsWorld.stepSimulation) {
527
- this.dynamicsWorld.stepSimulation(0, 0, 0)
528
- }
529
- }
530
-
531
471
  // Syncs bones to rigidbodies, simulates dynamics, solves constraints
532
472
  // Modifies boneWorldMatrices in-place for dynamic rigidbodies that drive bones
533
473
  step(dt: number, boneWorldMatrices: Mat4[], boneInverseBindMatrices: Float32Array): void {