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+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="utf-8">
+<meta name="viewport" content="width=device-width,initial-scale=1">
+<title>Active Ragdoll — Euphoria-style</title>
+<style>
+  html,body{margin:0;height:100%;overflow:hidden;background:#0e1116;font-family:system-ui,'Segoe UI',Roboto,sans-serif}
+  canvas{display:block}
+  #ui{position:fixed;top:14px;left:14px;z-index:10;background:rgba(15,18,24,.74);backdrop-filter:blur(8px);
+      border:1px solid rgba(255,255,255,.08);border-radius:14px;padding:14px 16px;color:#e8ecf2;
+      box-shadow:0 8px 30px rgba(0,0,0,.45);max-width:300px;user-select:none}
+  #ui h1{font-size:15px;margin:0 0 2px;font-weight:650;letter-spacing:.2px}
+  #ui .sub{font-size:11px;color:#9aa6b5;margin-bottom:10px}
+  #state{display:inline-block;font-size:11px;font-weight:700;letter-spacing:.6px;padding:3px 11px;border-radius:99px;
+         background:#173527;color:#7ce0a3;border:1px solid rgba(124,224,163,.3);margin-bottom:10px;transition:all .25s}
+  .row{display:flex;flex-wrap:wrap;gap:6px}
+  button{cursor:pointer;border:1px solid rgba(255,255,255,.12);background:#232a35;color:#e8ecf2;border-radius:9px;
+         padding:7px 11px;font-size:12px;font-weight:550;transition:background .15s,transform .05s}
+  button:hover{background:#2e3848}button:active{transform:scale(.95)}
+  button.tog.on{background:#3b82f6;border-color:#60a5fa}
+  #hint{position:fixed;bottom:12px;left:50%;transform:translateX(-50%);z-index:10;color:#aab6c6;font-size:12px;
+        background:rgba(15,18,24,.6);border:1px solid rgba(255,255,255,.07);padding:7px 14px;border-radius:99px;white-space:nowrap}
+  #hint b{color:#dfe7f1}
+</style>
+</head>
+<body>
+<div id="ui">
+  <h1>Active Ragdoll</h1>
+  <div class="sub">Self-balancing muscles · Euphoria-style behaviors</div>
+  <div><span id="state">BALANCING</span></div>
+  <div class="row">
+    <button id="bShove">Shove</button>
+    <button id="bBall">Cannonball</button>
+    <button id="bKO">Knockout</button>
+    <button id="bSlow" class="tog">Slow-mo</button>
+    <button id="bReset">Reset</button>
+  </div>
+</div>
+<div id="hint"><b>Drag body</b> to grab &nbsp;·&nbsp; <b>drag space</b> to orbit &nbsp;·&nbsp; <b>scroll</b> zoom &nbsp;·&nbsp; <b>click</b> throws a ball</div>
+<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
+<script>
+'use strict';
+/* ================= Renderer / scene ================= */
+const renderer=new THREE.WebGLRenderer({antialias:true});
+renderer.setPixelRatio(Math.min(devicePixelRatio,2));
+renderer.setSize(innerWidth,innerHeight);
+renderer.shadowMap.enabled=true;renderer.shadowMap.type=THREE.PCFSoftShadowMap;
+renderer.outputEncoding=THREE.sRGBEncoding;
+renderer.toneMapping=THREE.ACESFilmicToneMapping;renderer.toneMappingExposure=1.06;
+document.body.appendChild(renderer.domElement);
+
+const scene=new THREE.Scene();
+scene.fog=new THREE.Fog(0x9fb2c2,16,70);
+{ // vertical sky gradient
+  const c=document.createElement('canvas');c.width=1;c.height=256;const g=c.getContext('2d');
+  const gr=g.createLinearGradient(0,0,0,256);
+  gr.addColorStop(0,'#3e6da8');gr.addColorStop(.5,'#8aa6c0');gr.addColorStop(1,'#c8cdce');
+  g.fillStyle=gr;g.fillRect(0,0,1,256);
+  const t=new THREE.CanvasTexture(c);t.encoding=THREE.sRGBEncoding;scene.background=t;
+}
+const hemi=new THREE.HemisphereLight(0xbdd3ea,0x4d463b,0.9);scene.add(hemi);
+const sun=new THREE.DirectionalLight(0xfff0d8,1.5);
+sun.position.set(6,9,4);sun.castShadow=true;
+sun.shadow.mapSize.set(2048,2048);
+sun.shadow.camera.near=1;sun.shadow.camera.far=30;
+sun.shadow.camera.left=-7;sun.shadow.camera.right=7;sun.shadow.camera.top=7;sun.shadow.camera.bottom=-7;
+sun.shadow.bias=-0.0006;sun.shadow.radius=4;
+scene.add(sun);
+const fill=new THREE.DirectionalLight(0xc9d8ff,0.28);fill.position.set(-5,4,-6);scene.add(fill);
+
+function groundTexture(){
+  const c=document.createElement('canvas');c.width=c.height=512;const g=c.getContext('2d');
+  g.fillStyle='#7d8186';g.fillRect(0,0,512,512);
+  for(let i=0;i<9000;i++){
+    const v=20+Math.random()*45|0;
+    g.fillStyle=`rgba(${v},${v},${v+4},${0.05+Math.random()*0.12})`;
+    g.fillRect(Math.random()*512,Math.random()*512,1.6,1.6);
+  }
+  g.strokeStyle='rgba(255,255,255,0.055)';g.lineWidth=2;g.strokeRect(1,1,510,510);
+  const t=new THREE.CanvasTexture(c);t.wrapS=t.wrapT=THREE.RepeatWrapping;
+  t.repeat.set(28,28);t.anisotropy=8;t.encoding=THREE.sRGBEncoding;return t;
+}
+const ground=new THREE.Mesh(
+  new THREE.PlaneGeometry(220,220),
+  new THREE.MeshStandardMaterial({map:groundTexture(),roughness:0.95,metalness:0})
+);
+ground.rotation.x=-Math.PI/2;ground.receiveShadow=true;scene.add(ground);
+
+/* ================= Camera (custom orbit) ================= */
+const camera=new THREE.PerspectiveCamera(50,innerWidth/innerHeight,0.1,200);
+const orbit={yaw:0.65,pitch:0.18,dist:4.6,target:new THREE.Vector3(0,1.0,0)};
+function updateCamera(){
+  orbit.pitch=Math.max(-0.08,Math.min(1.32,orbit.pitch));
+  orbit.dist=Math.max(2,Math.min(13,orbit.dist));
+  const cp=Math.cos(orbit.pitch);
+  camera.position.set(
+    orbit.target.x+Math.sin(orbit.yaw)*cp*orbit.dist,
+    orbit.target.y+Math.sin(orbit.pitch)*orbit.dist,
+    orbit.target.z+Math.cos(orbit.yaw)*cp*orbit.dist);
+  camera.lookAt(orbit.target);
+}
+updateCamera();
+addEventListener('resize',()=>{
+  camera.aspect=innerWidth/innerHeight;camera.updateProjectionMatrix();
+  renderer.setSize(innerWidth,innerHeight);
+});
+/* ================= Physics: verlet particles + PBD constraints ================= */
+const GRAVITY=-9.81, AIR=0.998, PHYS_DT=1/60, SUBSTEPS=2, ITER=9;
+const parts=[], P={};
+function addPart(name,x,y,z,m,r){
+  P[name]=parts.length;
+  parts.push({name,pos:new THREE.Vector3(x,y,z),prev:new THREE.Vector3(x,y,z),
+              force:new THREE.Vector3(),m,w:1/m,r});
+}
+const cons=[], bonded=new Set();
+function pk(i,j){return i<j? i+'_'+j : j+'_'+i;}
+// type: 'eq' exact distance, 'max' rope, 'min' spacer
+function link(a,b,stiff=1,type='eq',rest=null){
+  const i=P[a],j=P[b];
+  const d=(rest!==null)?rest:parts[i].pos.distanceTo(parts[j].pos);
+  cons.push({i,j,rest:d,stiff,type});
+  if(type==='eq')bonded.add(pk(i,j));
+}
+const _d=new THREE.Vector3(), _v=new THREE.Vector3(), _t=new THREE.Vector3(), _t2=new THREE.Vector3();
+function projectCon(c){
+  const a=parts[c.i],b=parts[c.j];
+  _d.subVectors(b.pos,a.pos);const L=_d.length();if(L<1e-9)return;
+  if(c.type==='max'&&L<=c.rest)return;
+  if(c.type==='min'&&L>=c.rest)return;
+  const diff=(L-c.rest)/L, wsum=a.w+b.w;if(!wsum)return;
+  const s=c.stiff;
+  a.pos.addScaledVector(_d, diff*s*a.w/wsum);
+  b.pos.addScaledVector(_d,-diff*s*b.w/wsum);
+}
+function integrate(h){
+  for(const p of parts){
+    _v.subVectors(p.pos,p.prev).multiplyScalar(AIR);
+    p.prev.copy(p.pos);
+    p.pos.add(_v);
+    p.pos.y+=GRAVITY*h*h;
+    p.pos.addScaledVector(p.force,p.w*h*h);
+  }
+}
+function collideGround(){
+  for(const p of parts){
+    if(p.pos.y<p.r){
+      const vy=p.pos.y-p.prev.y;
+      p.pos.y=p.r;
+      p.prev.y=p.r+vy*0.25;                 // restitution
+      p.prev.x+=(p.pos.x-p.prev.x)*0.6;     // friction
+      p.prev.z+=(p.pos.z-p.prev.z)*0.6;
+    }
+  }
+}
+function collideSelf(){
+  for(let i=0;i<parts.length;i++)for(let j=i+1;j<parts.length;j++){
+    if(bonded.has(i+'_'+j))continue;
+    const a=parts[i],b=parts[j],rr=a.r+b.r;
+    _d.subVectors(b.pos,a.pos);const L2=_d.lengthSq();
+    if(L2>rr*rr||L2<1e-10)continue;
+    const L=Math.sqrt(L2),diff=(L-rr)/L,w=a.w+b.w;
+    a.pos.addScaledVector(_d, diff*0.7*a.w/w);
+    b.pos.addScaledVector(_d,-diff*0.7*b.w/w);
+  }
+}
+// instantaneous velocity change (m/s) on a particle
+function addImpulse(p,dv){p.prev.addScaledVector(dv,-PHYS_DT/SUBSTEPS);}
+
+/* ---- projectiles ---- */
+const balls=[];
+const ballGeo=new THREE.SphereGeometry(1,20,14);
+const ballMat=new THREE.MeshStandardMaterial({color:0x49525f,roughness:0.3,metalness:0.8});
+function spawnBall(pos,vel,r,m){
+  const mesh=new THREE.Mesh(ballGeo,ballMat);
+  mesh.castShadow=true;mesh.scale.setScalar(r);scene.add(mesh);
+  balls.push({pos:pos.clone(),vel:vel.clone(),r,m,life:7,mesh});
+}
+function stepBalls(h){
+  for(let k=balls.length-1;k>=0;k--){
+    const b=balls[k];b.life-=h;
+    b.vel.y+=GRAVITY*h;
+    b.pos.addScaledVector(b.vel,h);
+    if(b.pos.y<b.r){b.pos.y=b.r;b.vel.y*=-0.45;b.vel.x*=0.86;b.vel.z*=0.86;}
+    for(const p of parts){
+      _d.subVectors(p.pos,b.pos);const rr=p.r+b.r;
+      if(_d.lengthSq()<rr*rr){
+        const n=_d.normalize();
+        const vn=b.vel.dot(n);
+        if(vn>0){
+          const share=2*b.m/(b.m+p.m);
+          _t.copy(n).multiplyScalar(vn*share*0.9);
+          addImpulse(p,_t);
+          b.vel.addScaledVector(n,-vn*1.4);
+        }
+        b.pos.copy(p.pos).addScaledVector(n,-rr);
+      }
+    }
+    b.mesh.position.copy(b.pos);
+    if(b.life<=0){scene.remove(b.mesh);balls.splice(k,1);}
+  }
+}
+function stepPhysics(){
+  const h=PHYS_DT/SUBSTEPS;
+  for(let s=0;s<SUBSTEPS;s++){
+    integrate(h);
+    for(let it=0;it<ITER;it++){
+      for(const c of cons)projectCon(c);
+      collideSelf();
+      collideGround();
+      if(grab.active){const p=parts[grab.pi];p.pos.lerp(grab.target,0.35);}
+    }
+    stepBalls(h);
+  }
+  for(const p of parts)p.force.set(0,0,0);
+}
+/* ================= Skeleton ================= */
+//            name        x       y      z     mass  radius
+addPart('pelvis',     0.000, 0.950, 0.000, 12.0, 0.125);
+addPart('chest',      0.000, 1.240, 0.000, 13.0, 0.140);
+addPart('neck',       0.000, 1.440, 0.000,  2.0, 0.055);
+addPart('head',       0.000, 1.610, 0.000,  5.0, 0.105);
+addPart('shoulderL', -0.210, 1.380, 0.000,  2.5, 0.060);
+addPart('shoulderR',  0.210, 1.380, 0.000,  2.5, 0.060);
+addPart('elbowL',    -0.250, 1.120, 0.015,  1.6, 0.050);
+addPart('elbowR',     0.250, 1.120, 0.015,  1.6, 0.050);
+addPart('handL',     -0.270, 0.875, 0.030,  1.2, 0.047);
+addPart('handR',      0.270, 0.875, 0.030,  1.2, 0.047);
+addPart('hipL',      -0.115, 0.910, 0.000,  5.0, 0.075);
+addPart('hipR',       0.115, 0.910, 0.000,  5.0, 0.075);
+addPart('kneeL',     -0.125, 0.490, 0.030,  3.5, 0.058);
+addPart('kneeR',      0.125, 0.490, 0.030,  3.5, 0.058);
+addPart('footL',     -0.130, 0.050,-0.030,  1.8, 0.050);
+addPart('footR',      0.130, 0.050,-0.030,  1.8, 0.050);
+addPart('toeL',      -0.130, 0.042, 0.135,  0.6, 0.042);
+addPart('toeR',       0.130, 0.042, 0.135,  0.6, 0.042);
+
+// spine
+link('pelvis','chest');link('chest','neck');link('neck','head');
+link('pelvis','neck',0.9);
+// shoulder girdle
+link('shoulderL','shoulderR');link('chest','shoulderL');link('chest','shoulderR');
+link('neck','shoulderL',0.9);link('neck','shoulderR',0.9);
+link('pelvis','shoulderL',0.55);link('pelvis','shoulderR',0.55);
+// pelvis girdle
+link('pelvis','hipL');link('pelvis','hipR');link('hipL','hipR');
+link('chest','hipL',0.8);link('chest','hipR',0.8);
+// arms
+link('shoulderL','elbowL');link('elbowL','handL');
+link('shoulderR','elbowR');link('elbowR','handR');
+// legs
+link('hipL','kneeL');link('kneeL','footL');link('footL','toeL');link('kneeL','toeL',0.7);
+link('hipR','kneeR');link('kneeR','footR');link('footR','toeR');link('kneeR','toeR',0.7);
+// joint limits (soft)
+link('shoulderL','handL',0.8,'min',0.18);link('shoulderR','handR',0.8,'min',0.18);
+link('hipL','footL',0.8,'min',0.32);link('hipR','footR',0.8,'min',0.32);
+link('head','chest',0.5,'max',0.39);link('head','chest',0.5,'min',0.31);
+link('kneeL','kneeR',0.6,'min',0.09);link('footL','footR',0.6,'min',0.08);
+link('head','pelvis',0.6,'min',0.46);
+
+/* ================= Visual body ================= */
+const matSuit =new THREE.MeshStandardMaterial({color:0x4b5563,roughness:0.74,metalness:0.05});
+const matSuit2=new THREE.MeshStandardMaterial({color:0x39414d,roughness:0.8 ,metalness:0.05});
+const matSkin =new THREE.MeshStandardMaterial({color:0xc99c7d,roughness:0.55,metalness:0});
+const matShoe =new THREE.MeshStandardMaterial({color:0x22262d,roughness:0.42,metalness:0.1});
+const rig=new THREE.Group();scene.add(rig);
+const limbs=[], pickMeshes=[];
+const UP=new THREE.Vector3(0,1,0);
+function makeLimb(a,b,ra,rb,mat){
+  const grp=new THREE.Group();
+  const cyl=new THREE.Mesh(new THREE.CylinderGeometry(rb,ra,1,16,1,true),mat);
+  cyl.castShadow=true;grp.add(cyl);
+  const capA=new THREE.Mesh(new THREE.SphereGeometry(ra,16,12),mat);capA.castShadow=true;grp.add(capA);
+  const capB=new THREE.Mesh(new THREE.SphereGeometry(rb,16,12),mat);capB.castShadow=true;grp.add(capB);
+  rig.add(grp);
+  const L={grp,cyl,capA,capB,ia:P[a],ib:P[b]};
+  limbs.push(L);
+  for(const m of [cyl,capA,capB]){m.userData.pick=[P[a],P[b]];pickMeshes.push(m);}
+  return L;
+}
+makeLimb('pelvis','chest',0.135,0.150,matSuit);      // torso
+makeLimb('chest','neck',0.10,0.055,matSuit);         // upper chest taper
+makeLimb('neck','head',0.05,0.05,matSkin);           // neck
+makeLimb('shoulderL','shoulderR',0.055,0.055,matSuit);
+makeLimb('hipL','hipR',0.07,0.07,matSuit2);
+makeLimb('shoulderL','elbowL',0.055,0.045,matSuit);
+makeLimb('shoulderR','elbowR',0.055,0.045,matSuit);
+makeLimb('elbowL','handL',0.042,0.034,matSuit);
+makeLimb('elbowR','handR',0.042,0.034,matSuit);
+makeLimb('hipL','kneeL',0.075,0.055,matSuit2);
+makeLimb('hipR','kneeR',0.075,0.055,matSuit2);
+makeLimb('kneeL','footL',0.052,0.04,matSuit2);
+makeLimb('kneeR','footR',0.052,0.04,matSuit2);
+makeLimb('footL','toeL',0.05,0.044,matShoe);
+makeLimb('footR','toeR',0.05,0.044,matShoe);
+// head (slightly egg-shaped)
+const headMesh=new THREE.Mesh(new THREE.SphereGeometry(0.105,24,18),matSkin);
+headMesh.castShadow=true;headMesh.scale.set(0.92,1.12,0.98);
+headMesh.userData.pick=[P.head];rig.add(headMesh);pickMeshes.push(headMesh);
+// hands
+const handMeshes=['handL','handR'].map(n=>{
+  const m=new THREE.Mesh(new THREE.SphereGeometry(0.05,14,10),matSkin);
+  m.castShadow=true;m.scale.set(0.8,1.15,1.0);
+  m.userData.pick=[P[n]];rig.add(m);pickMeshes.push(m);return m;
+});
+const _q=new THREE.Quaternion();
+function syncVisuals(){
+  for(const L of limbs){
+    const a=parts[L.ia].pos,b=parts[L.ib].pos;
+    const len=a.distanceTo(b);
+    L.grp.position.copy(a).add(b).multiplyScalar(0.5);
+    if(len>1e-6){
+      _d.subVectors(b,a).multiplyScalar(1/len);
+      _q.setFromUnitVectors(UP,_d);L.grp.quaternion.copy(_q);
+    }
+    L.cyl.scale.set(1,Math.max(len,1e-4),1);
+    L.capA.position.y=-len/2;L.capB.position.y=len/2;
+  }
+  headMesh.position.copy(parts[P.head].pos);
+  headMesh.quaternion.copy(limbs[2].grp.quaternion); // follow neck
+  handMeshes[0].position.copy(parts[P.handL].pos);
+  handMeshes[1].position.copy(parts[P.handR].pos);
+}
+// remember rest pose (offsets are relative to pelvis at origin, y absolute)
+const POSE={};for(const p of parts)POSE[p.name]=p.pos.clone();
+/* ================= Brain: euphoria-style active controller ================= */
+// PD gains per body group: [kp, kd] (scaled by mass and muscle strength)
+const GAIN={pelvis:[72,9],chest:[72,9],neck:[55,7],head:[48,7],shoulder:[48,7],
+            elbow:[30,5],hand:[24,4],hip:[72,9],knee:[62,8],foot:[85,10],toe:[65,8]};
+// gravity compensation per group (1 = fully supported by muscles)
+const GCOMP={pelvis:0.92,chest:0.92,neck:0.9,head:0.9,shoulder:0.85,
+             elbow:0.7,hand:0.6,hip:0.9,knee:0.55,foot:0,toe:0};
+function groupOf(n){return n.replace(/[LR]$/,'');}
+
+const brain={
+  state:'balance', t:0, koT:0, strength:1,
+  root:new THREE.Vector3(0,0,0),
+  com:new THREE.Vector3(), comPrev:new THREE.Vector3(), comVel:new THREE.Vector3(),
+  step:null, lastFoot:'R', cool:0,
+  targets:{}, totalM:0
+};
+for(const p of parts){brain.targets[p.name]=new THREE.Vector3();brain.totalM+=p.m;}
+
+const _right=new THREE.Vector3(), _fwd=new THREE.Vector3(), _off=new THREE.Vector3(),
+      _feet=new THREE.Vector3(), _fall=new THREE.Vector3();
+let simTime=0;
+
+function setState(s){if(brain.state!==s){brain.state=s;brain.t=0;}}
+
+function brainUpdate(dt){
+  simTime+=dt;brain.t+=dt;brain.cool=Math.max(0,brain.cool-dt);
+  const B=brain, T=B.targets;
+  // --- body frame ---
+  _right.subVectors(parts[P.hipR].pos,parts[P.hipL].pos);_right.y=0;
+  if(_right.lengthSq()<1e-6)_right.set(1,0,0);else _right.normalize();
+  _fwd.set(-_right.z,0,_right.x);
+  // --- center of mass & support ---
+  B.com.set(0,0,0);
+  for(const p of parts)B.com.addScaledVector(p.pos,p.m/B.totalM);
+  B.comVel.subVectors(B.com,B.comPrev).multiplyScalar(1/dt);B.comPrev.copy(B.com);
+  _feet.addVectors(parts[P.footL].pos,parts[P.footR].pos).multiplyScalar(0.5);
+  _off.subVectors(B.com,_feet);_off.y=0;
+  _off.addScaledVector(_t.copy(B.comVel).setY(0),0.16); // velocity lead
+  const offLen=_off.length();
+  _t2.subVectors(parts[P.neck].pos,parts[P.pelvis].pos).normalize();
+  const upr=_t2.y;
+  const comSpeed=B.comVel.length();
+
+  // --- state transitions ---
+  if(B.state==='balance'){
+    B.strength+= (1-B.strength)*Math.min(1,dt*5);
+    if(upr<0.55||offLen>0.34)setState('falling');
+  }else if(B.state==='falling'){
+    B.strength=0.3;
+    if(B.com.y<0.55&&comSpeed<1.8)setState('down');
+    else if(upr>0.78&&offLen<0.12&&B.com.y>0.85)setState('balance');
+  }else if(B.state==='down'){
+    B.strength=0.06;
+    if(B.t>1.25)setState('getup');
+    if(upr>0.78&&B.com.y>0.85)setState('balance');
+  }else if(B.state==='getup'){
+    B.strength=1.25;
+    if(upr>0.82&&B.com.y>0.88&&offLen<0.2)setState('balance');
+    if(B.t>3)setState('down');
+  }else if(B.state==='ko'){
+    B.strength=0.015;B.koT-=dt;
+    if(B.koT<=0)setState('down');
+  }
+  const S=B.strength;
+
+  // --- root target (where the body wants its pelvis, in XZ) ---
+  if(B.state==='balance'||B.state==='falling'){
+    _t.copy(_feet);_t.y=0;
+    B.root.lerp(_t,1-Math.exp(-dt*6));
+  }else{
+    B.root.set(B.com.x,0,B.com.z);
+  }
+  // --- default targets: rest pose mapped into current body frame ---
+  for(const p of parts){
+    const o=POSE[p.name];
+    T[p.name].copy(B.root)
+      .addScaledVector(_right,o.x)
+      .addScaledVector(_fwd,o.z)
+      .setY(o.y);
+  }
+  // subtle idle life
+  const br=Math.sin(simTime*1.7)*0.006, sw=Math.sin(simTime*0.9)*0.012;
+  T.chest.y+=br;T.head.y+=br*1.4;
+  T.head.addScaledVector(_fwd,sw);T.chest.addScaledVector(_fwd,sw*0.5);
+
+  // --- balance behaviors ---
+  if(B.state==='balance'){
+    // counter-lean torso against the offset
+    T.chest.addScaledVector(_off,-0.55);T.head.addScaledVector(_off,-0.8);
+    T.pelvis.addScaledVector(_off,-0.25);
+    // arms swing out when unstable
+    const inst=Math.min(1,offLen*5);
+    if(inst>0.15){
+      const wave=Math.sin(simTime*11)*0.16*inst;
+      T.handL.addScaledVector(_right,-(0.12+0.26*inst)).addScaledVector(_fwd,wave).y+=0.30*inst;
+      T.handR.addScaledVector(_right, (0.12+0.26*inst)).addScaledVector(_fwd,-wave).y+=0.30*inst;
+      T.elbowL.addScaledVector(_right,-0.16*inst).y+=0.14*inst;
+      T.elbowR.addScaledVector(_right, 0.16*inst).y+=0.14*inst;
+    }
+    // protective stepping
+    if(!B.step&&B.cool<=0&&offLen>0.12){
+      const dir=_t.copy(_off).normalize();
+      const foot=(B.lastFoot==='R')?'L':'R';
+      const to=new THREE.Vector3(B.com.x,0,B.com.z).addScaledVector(dir,0.24)
+        .addScaledVector(_right,foot==='L'?-0.10:0.10);
+      B.step={foot,from:parts[P['foot'+foot]].pos.clone(),to,t:0,dur:0.22};
+      B.lastFoot=foot;
+    }
+  }
+  if(B.step){
+    const st=B.step;st.t+=dt;
+    const f=Math.min(1,st.t/st.dur), lift=Math.sin(f*Math.PI)*0.14;
+    const ft=T['foot'+st.foot];
+    ft.lerpVectors(st.from,st.to,f);ft.y=0.05+lift;
+    T['toe'+st.foot].copy(ft).addScaledVector(_fwd,0.15);T['toe'+st.foot].y=ft.y-0.005;
+    if(f>=1){B.step=null;B.cool=0.07;}
+  }
+  // --- falling: brace with arms, tuck head ---
+  if(B.state==='falling'){
+    _fall.copy(B.comVel);_fall.y=0;
+    if(_fall.lengthSq()<0.01)_fall.copy(_off);
+    if(_fall.lengthSq()>1e-6)_fall.normalize();
+    T.handL.copy(parts[P.shoulderL].pos).addScaledVector(_fall,0.42).y=Math.max(0.15,parts[P.shoulderL].pos.y-0.25);
+    T.handR.copy(parts[P.shoulderR].pos).addScaledVector(_fall,0.42).y=Math.max(0.15,parts[P.shoulderR].pos.y-0.25);
+    T.elbowL.copy(parts[P.shoulderL].pos).addScaledVector(_fall,0.2);
+    T.elbowR.copy(parts[P.shoulderR].pos).addScaledVector(_fall,0.2);
+    T.head.copy(parts[P.neck].pos).addScaledVector(_fall,-0.12).y+=0.12; // chin tuck
+    T.kneeL.y+=0.15;T.kneeR.y+=0.15; // soften legs
+  }
+  // --- muscles: PD force toward targets ---
+  const getup=B.state==='getup';
+  const ramp=getup?Math.min(1,B.t/0.45):1;
+  for(const p of parts){
+    const g=GAIN[groupOf(p.name)];
+    _t.subVectors(T[p.name],p.pos);
+    const errLen=_t.length();
+    if(errLen>0.6)_t.multiplyScalar(0.6/errLen);
+    _v.subVectors(p.pos,p.prev).multiplyScalar(1/dt);
+    const kp=g[0]*p.m*S*ramp, kd=g[1]*p.m*Math.min(1,S*1.5);
+    p.force.addScaledVector(_t,kp).addScaledVector(_v,-kd);
+    // gravity compensation so the pose doesn't sag
+    p.force.y+=-GRAVITY*p.m*GCOMP[groupOf(p.name)]*Math.min(1,S)*ramp;
+    // get-up assist: extra lift + horizontal damping
+    if(getup&&(p.name==='pelvis'||p.name==='chest')){
+      p.force.y+=-GRAVITY*p.m*0.5*ramp;
+      p.prev.x+=(p.pos.x-p.prev.x)*0.04;p.prev.z+=(p.pos.z-p.prev.z)*0.04;
+    }
+    const fmax=p.m*260;
+    if(p.force.lengthSq()>fmax*fmax)p.force.setLength(fmax);
+  }
+}
+/* ================= Input: grab / orbit / throw ================= */
+const grab={active:false,pi:0,dist:0,target:new THREE.Vector3()};
+const ray=new THREE.Raycaster(), ndc=new THREE.Vector2();
+let dragMode=null, lastX=0, lastY=0, movedPx=0;
+function setNDC(e){ndc.set((e.clientX/innerWidth)*2-1,-(e.clientY/innerHeight)*2+1);}
+renderer.domElement.addEventListener('pointerdown',e=>{
+  e.preventDefault();renderer.domElement.setPointerCapture(e.pointerId);
+  lastX=e.clientX;lastY=e.clientY;movedPx=0;
+  setNDC(e);ray.setFromCamera(ndc,camera);
+  const hits=ray.intersectObjects(pickMeshes,false);
+  if(hits.length&&e.button===0){
+    const h=hits[0],pk2=h.object.userData.pick;
+    let best=pk2[0];
+    if(pk2.length>1&&h.point.distanceToSquared(parts[pk2[1]].pos)<h.point.distanceToSquared(parts[pk2[0]].pos))best=pk2[1];
+    grab.active=true;grab.pi=best;grab.dist=h.distance;grab.target.copy(h.point);
+    dragMode='grab';
+  }else dragMode='orbit';
+});
+renderer.domElement.addEventListener('pointermove',e=>{
+  const dx=e.clientX-lastX,dy=e.clientY-lastY;
+  lastX=e.clientX;lastY=e.clientY;movedPx+=Math.abs(dx)+Math.abs(dy);
+  if(dragMode==='orbit'){orbit.yaw-=dx*0.005;orbit.pitch+=dy*0.005;updateCamera();}
+  else if(dragMode==='grab'){
+    setNDC(e);ray.setFromCamera(ndc,camera);
+    grab.target.copy(ray.ray.origin).addScaledVector(ray.ray.direction,grab.dist);
+    grab.target.y=Math.max(0.06,grab.target.y);
+  }
+});
+renderer.domElement.addEventListener('pointerup',e=>{
+  if(dragMode==='orbit'&&movedPx<6&&e.button===0){ // click on empty space → throw ball
+    setNDC(e);ray.setFromCamera(ndc,camera);
+    spawnBall(_t.copy(ray.ray.origin).addScaledVector(ray.ray.direction,0.4),
+              _t2.copy(ray.ray.direction).multiplyScalar(15),0.09,3.5);
+  }
+  grab.active=false;dragMode=null;
+});
+renderer.domElement.addEventListener('wheel',e=>{
+  e.preventDefault();orbit.dist*=(e.deltaY>0?1.1:0.9);updateCamera();
+},{passive:false});
+addEventListener('contextmenu',e=>e.preventDefault());
+
+/* ================= UI ================= */
+const stateEl=document.getElementById('state');
+const STATE_STYLE={
+  balance:['BALANCING','#173527','#7ce0a3'],falling:['STUMBLING','#3a2c14','#f0b46a'],
+  down:['DOWN','#2b2f36','#aab6c6'],getup:['GETTING UP','#15283f','#7db8f5'],ko:['KNOCKED OUT','#3a1717','#f08a8a']
+};
+function syncBadge(){
+  const s=STATE_STYLE[brain.state];
+  if(stateEl.textContent!==s[0]){
+    stateEl.textContent=s[0];stateEl.style.background=s[1];stateEl.style.color=s[2];
+    stateEl.style.borderColor=s[2]+'44';
+  }
+}
+document.getElementById('bShove').onclick=()=>{
+  const a=Math.random()*Math.PI*2;
+  _t.set(Math.cos(a)*4.2,1.2,Math.sin(a)*4.2);
+  addImpulse(parts[P.chest],_t);
+  addImpulse(parts[P.pelvis],_t2.copy(_t).multiplyScalar(0.55));
+};
+document.getElementById('bBall').onclick=()=>{
+  const a=Math.random()*Math.PI*2;
+  const from=_t.set(Math.cos(a)*5,1.5+Math.random(),Math.sin(a)*5);
+  const vel=_t2.copy(parts[P.chest].pos).sub(from).normalize().multiplyScalar(16);
+  spawnBall(from,vel,0.14,6);
+};
+document.getElementById('bKO').onclick=()=>{brain.koT=3.5;setState('ko');};
+let slow=false;
+document.getElementById('bSlow').onclick=function(){slow=!slow;this.classList.toggle('on',slow);};
+document.getElementById('bReset').onclick=()=>{
+  for(const p of parts){p.pos.copy(POSE[p.name]);p.prev.copy(POSE[p.name]);p.force.set(0,0,0);}
+  for(const b of balls)scene.remove(b.mesh);
+  balls.length=0;brain.root.set(0,0,0);brain.comPrev.set(0,1,0);
+  brain.step=null;setState('balance');brain.strength=1;
+};
+
+/* ================= Main loop ================= */
+const clock=new THREE.Clock();
+let acc=0;
+function animate(){
+  requestAnimationFrame(animate);
+  let dt=Math.min(clock.getDelta(),0.05);
+  if(slow)dt*=0.28;
+  acc+=dt;let n=0;
+  while(acc>=PHYS_DT&&n<4){
+    brainUpdate(PHYS_DT);
+    stepPhysics();
+    acc-=PHYS_DT;n++;
+  }
+  // camera gently follows the character
+  _t.copy(brain.com);_t.y=Math.max(0.5,Math.min(1.1,brain.com.y));
+  orbit.target.lerp(_t,1-Math.exp(-dt*3));updateCamera();
+  syncVisuals();syncBadge();
+  renderer.render(scene,camera);
+}
+brain.comPrev.set(0,1,0);
+animate();
+
+
+
+
+</script>
+</body>
+</html>
diff --git a/test_vers/active_ragdoll_weapons.html b/test_vers/active_ragdoll_weapons.html
new file mode 100644
index 0000000..4c6ebd6
--- /dev/null
+++ b/test_vers/active_ragdoll_weapons.html
@@ -0,0 +1,911 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="utf-8">
+<meta name="viewport" content="width=device-width,initial-scale=1">
+<title>Active Ragdoll — Weapons</title>
+<style>
+  html,body{margin:0;height:100%;overflow:hidden;background:#0e1116;font-family:system-ui,'Segoe UI',Roboto,sans-serif}
+  canvas{display:block;cursor:crosshair}
+  #ui{position:fixed;top:14px;left:14px;z-index:10;background:rgba(15,18,24,.85);backdrop-filter:blur(8px);
+      border:1px solid rgba(255,255,255,.08);border-radius:14px;padding:14px 16px;color:#e8ecf2;
+      box-shadow:0 8px 30px rgba(0,0,0,.45);max-width:296px;user-select:none}
+  #ui h1{font-size:15px;margin:0 0 2px;font-weight:650;letter-spacing:.2px}
+  #ui .sub{font-size:11px;color:#9aa6b5;margin-bottom:8px}
+  #state{display:inline-block;font-size:11px;font-weight:700;letter-spacing:.6px;padding:3px 11px;border-radius:99px;
+         background:#173527;color:#7ce0a3;border:1px solid rgba(124,224,163,.3);margin-bottom:8px;transition:all .25s}
+  .lbl{font-size:10px;color:#6b7a8d;text-transform:uppercase;letter-spacing:.8px;margin:8px 0 4px;font-weight:600}
+  .row{display:flex;flex-wrap:wrap;gap:5px;margin-bottom:3px}
+  button{cursor:pointer;border:1px solid rgba(255,255,255,.12);background:#232a35;color:#e8ecf2;border-radius:9px;
+         padding:6px 10px;font-size:12px;font-weight:550;transition:background .15s,transform .05s;white-space:nowrap}
+  button:hover{background:#2e3848}button:active{transform:scale(.95)}
+  button.tog.on{background:#3b82f6;border-color:#60a5fa}
+  button.danger{border-color:rgba(239,68,68,.35);color:#fca5a5}button.danger:hover{background:#3b1a1a}
+  button.he{border-color:rgba(251,146,60,.45);color:#fdba74}button.he:hover{background:#3b2010}
+  button.ap{border-color:rgba(167,243,208,.35);color:#86efac}button.ap:hover{background:#0d2b1a}
+  button.sel{outline:2px solid #60a5fa;outline-offset:1px}
+  #ammo-row{display:flex;align-items:center;gap:6px;margin-top:6px;flex-wrap:wrap}
+  .ammo-btn{font-size:11px;padding:4px 9px}
+  .ammo-btn.active-ammo{background:#1e3a22;border-color:#4ade80;color:#86efac}
+  #cam-badge{display:inline-block;font-size:10px;font-weight:700;padding:2px 9px;border-radius:99px;margin-left:6px;
+             background:#1a1f2b;border:1px solid rgba(255,255,255,.15);color:#94a3b8;vertical-align:middle}
+  #hint{position:fixed;bottom:12px;left:50%;transform:translateX(-50%);z-index:10;color:#aab6c6;font-size:12px;
+        background:rgba(15,18,24,.65);border:1px solid rgba(255,255,255,.07);padding:6px 14px;
+        border-radius:99px;white-space:nowrap;pointer-events:none}
+  #hint b{color:#dfe7f1}
+  #flash{position:fixed;top:0;left:0;width:100%;height:100%;pointer-events:none;z-index:5;opacity:0;
+         background:radial-gradient(ellipse at center,rgba(255,160,60,.3) 0%,transparent 70%);transition:opacity .06s}
+</style>
+</head>
+<body>
+<div id="ui">
+  <h1>Active Ragdoll <span id="cam-badge">ORBIT</span></h1>
+  <div class="sub">Weapons Edition · Self-balancing muscles</div>
+  <div><span id="state">BALANCING</span></div>
+
+  <div class="lbl">Ragdoll</div>
+  <div class="row">
+    <button id="bShove">Shove</button>
+    <button id="bKO">Knockout</button>
+    <button id="bSlow" class="tog">Slow-mo</button>
+    <button id="bReset">Reset</button>
+  </div>
+
+  <div class="lbl">Camera <span style="color:#6b7a8d;font-weight:400">(or press V)</span></div>
+  <div class="row">
+    <button id="camOrbit"  class="sel" onclick="setCamMode('orbit')">🌐 Orbit</button>
+    <button id="camFollow"            onclick="setCamMode('follow')">🎯 Follow</button>
+    <button id="camFP"                onclick="setCamMode('fp')">👁 First-Person</button>
+  </div>
+
+  <div class="lbl">Weapon</div>
+  <div class="row">
+    <button id="wBall"   class="sel" onclick="selectWeapon('ball')">⚾ Ball</button>
+    <button id="wGun"              onclick="selectWeapon('gun')">🔫 Pistol</button>
+    <button id="wCannon"           onclick="selectWeapon('cannon')">💣 Cannon</button>
+    <button id="wC4"               onclick="selectWeapon('c4')">🧱 C4</button>
+  </div>
+
+  <div id="ammo-row" style="display:none">
+    <span style="font-size:11px;color:#9aa6b5">Ammo:</span>
+    <button class="ammo-btn active-ammo" id="amNormal" onclick="selectAmmo('normal')">Normal</button>
+    <button class="ammo-btn he"          id="amHE"     onclick="selectAmmo('HE')">HE</button>
+    <button class="ammo-btn ap"          id="amAP"     onclick="selectAmmo('AP')">AP</button>
+  </div>
+
+  <div class="lbl" style="margin-top:8px">C4</div>
+  <div class="row">
+    <button class="danger" id="bDetonate">💥 Detonate</button>
+    <button class="danger" id="bClearC4">Clear C4</button>
+  </div>
+</div>
+
+<div id="hint"><b>LMB</b> fire/place &nbsp;·&nbsp; <b>RMB drag</b> grab ragdoll &nbsp;·&nbsp; <b>LMB drag</b> orbit &nbsp;·&nbsp; <b>V</b> cam &nbsp;·&nbsp; <b>scroll</b> zoom</div>
+<div id="flash"></div>
+
+<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
+<script>
+'use strict';
+
+/* ===================== RENDERER ===================== */
+const renderer = new THREE.WebGLRenderer({antialias:true,powerPreference:'high-performance'});
+renderer.setPixelRatio(Math.min(devicePixelRatio,2));
+renderer.setSize(innerWidth,innerHeight);
+renderer.shadowMap.enabled = true;
+renderer.shadowMap.type = THREE.PCFSoftShadowMap;
+renderer.outputEncoding = THREE.sRGBEncoding;
+renderer.toneMapping = THREE.ACESFilmicToneMapping;
+renderer.toneMappingExposure = 1.06;
+document.body.appendChild(renderer.domElement);
+
+/* ===================== SCENE ===================== */
+const scene = new THREE.Scene();
+scene.fog = new THREE.Fog(0x9fb2c2,18,72);
+{
+  const c=document.createElement('canvas'); c.width=1; c.height=256;
+  const g=c.getContext('2d');
+  const gr=g.createLinearGradient(0,0,0,256);
+  gr.addColorStop(0,'#3e6da8'); gr.addColorStop(.5,'#8aa6c0'); gr.addColorStop(1,'#c8cdce');
+  g.fillStyle=gr; g.fillRect(0,0,1,256);
+  const t=new THREE.CanvasTexture(c); t.encoding=THREE.sRGBEncoding; scene.background=t;
+}
+scene.add(new THREE.HemisphereLight(0xbdd3ea,0x4d463b,0.9));
+const sun = new THREE.DirectionalLight(0xfff0d8,1.5);
+sun.position.set(6,9,4); sun.castShadow=true;
+sun.shadow.mapSize.set(1024,1024); // reduced for perf
+sun.shadow.camera.near=1; sun.shadow.camera.far=30;
+sun.shadow.camera.left=-8; sun.shadow.camera.right=8;
+sun.shadow.camera.top=8; sun.shadow.camera.bottom=-8;
+sun.shadow.bias=-0.001; sun.shadow.radius=3;
+scene.add(sun);
+const fill = new THREE.DirectionalLight(0xc9d8ff,0.28);
+fill.position.set(-5,4,-6); scene.add(fill);
+
+const flashPt = new THREE.PointLight(0xff8822,0,20,2); scene.add(flashPt);
+
+/* ground */
+function makeGroundTex(){
+  const c=document.createElement('canvas'); c.width=c.height=512;
+  const g=c.getContext('2d');
+  g.fillStyle='#7d8186'; g.fillRect(0,0,512,512);
+  for(let i=0;i<6000;i++){
+    const v=20+Math.random()*45|0;
+    g.fillStyle=`rgba(${v},${v},${v+4},${.05+Math.random()*.12})`;
+    g.fillRect(Math.random()*512,Math.random()*512,1.6,1.6);
+  }
+  const t=new THREE.CanvasTexture(c);
+  t.wrapS=t.wrapT=THREE.RepeatWrapping; t.repeat.set(24,24);
+  t.anisotropy=4; t.encoding=THREE.sRGBEncoding; return t;
+}
+const ground = new THREE.Mesh(
+  new THREE.PlaneGeometry(220,220),
+  new THREE.MeshStandardMaterial({map:makeGroundTex(),roughness:.95,metalness:0})
+);
+ground.rotation.x=-Math.PI/2; ground.receiveShadow=true; scene.add(ground);
+
+/* ===================== CAMERA ===================== */
+const camera = new THREE.PerspectiveCamera(60,innerWidth/innerHeight,0.05,200);
+
+// Camera modes: 'orbit' | 'follow' | 'fp'
+// orbit  = standard orbit around body, lerped follow
+// follow = hard-locks orbit target to COM, player can still orbit around it
+// fp     = first-person from head position, looking forward
+let camMode='orbit';
+const orbit = {yaw:.65, pitch:.18, dist:4.6, target:new THREE.Vector3(0,1,0)};
+// fp look angles (separate from orbit)
+const fp = {yaw:.65, pitch:0};
+
+function updateCamera(){
+  orbit.pitch = Math.max(-1.48, Math.min(1.48, orbit.pitch));
+  orbit.dist  = Math.max(1.0, Math.min(20, orbit.dist));
+
+  if(camMode==='fp'){
+    // position at head, look in fp direction
+    const head=parts[P.head];
+    fp.pitch = Math.max(-1.4, Math.min(1.4, fp.pitch));
+    const cp=Math.cos(fp.pitch);
+    camera.position.copy(head.pos);
+    camera.position.y += 0.06;
+    const lookAt=new THREE.Vector3(
+      head.pos.x + Math.sin(fp.yaw)*cp*10,
+      head.pos.y + 0.06 + Math.sin(fp.pitch)*10,
+      head.pos.z + Math.cos(fp.yaw)*cp*10
+    );
+    camera.lookAt(lookAt);
+  } else {
+    const cp=Math.cos(orbit.pitch);
+    camera.position.set(
+      orbit.target.x + Math.sin(orbit.yaw)*cp*orbit.dist,
+      orbit.target.y + Math.sin(orbit.pitch)*orbit.dist,
+      orbit.target.z + Math.cos(orbit.yaw)*cp*orbit.dist
+    );
+    camera.lookAt(orbit.target);
+  }
+}
+updateCamera();
+addEventListener('resize',()=>{
+  camera.aspect=innerWidth/innerHeight;
+  camera.updateProjectionMatrix();
+  renderer.setSize(innerWidth,innerHeight);
+});
+
+const camBadge=document.getElementById('cam-badge');
+const CAM_LABELS={'orbit':'ORBIT','follow':'FOLLOW','fp':'1ST PERSON'};
+function setCamMode(m){
+  camMode=m;
+  camBadge.textContent=CAM_LABELS[m];
+  ['Orbit','Follow','FP'].forEach(id=>{
+    document.getElementById('cam'+id).classList.toggle('sel',id.toLowerCase()===m||(id==='FP'&&m==='fp'));
+  });
+  // when switching to follow, snap immediately
+  if(m==='follow'||m==='fp'){
+    orbit.target.copy(brain.com);
+  }
+}
+// Cycle cam with V key
+addEventListener('keydown',e=>{
+  if(e.key==='v'||e.key==='V'){
+    const modes=['orbit','follow','fp'];
+    setCamMode(modes[(modes.indexOf(camMode)+1)%3]);
+  }
+});
+
+/* ===================== PHYSICS ===================== */
+const GRAVITY=-9.81, AIR=0.998, PHYS_DT=1/60, SUBSTEPS=2, ITER=8;
+const parts=[], P={};
+function addPart(name,x,y,z,m,r){
+  P[name]=parts.length;
+  parts.push({name,
+    pos:new THREE.Vector3(x,y,z),
+    prev:new THREE.Vector3(x,y,z),
+    force:new THREE.Vector3(),m,w:1/m,r});
+}
+const cons=[], bonded=new Set();
+function pk(i,j){return i<j?i+'_'+j:j+'_'+i;}
+function link(a,b,stiff=1,type='eq',rest=null){
+  const i=P[a],j=P[b];
+  const d=rest!==null?rest:parts[i].pos.distanceTo(parts[j].pos);
+  cons.push({i,j,rest:d,stiff,type});
+  if(type==='eq') bonded.add(pk(i,j));
+}
+// Reusable scratch vectors — never allocate in hot loops
+const _d=new THREE.Vector3(),_v=new THREE.Vector3(),
+      _t=new THREE.Vector3(),_t2=new THREE.Vector3(),
+      _tmp=new THREE.Vector3();
+
+function projectCon(c){
+  const a=parts[c.i],b=parts[c.j];
+  _d.subVectors(b.pos,a.pos); const L=_d.length(); if(L<1e-9)return;
+  if(c.type==='max'&&L<=c.rest)return;
+  if(c.type==='min'&&L>=c.rest)return;
+  const diff=(L-c.rest)/L, ws=a.w+b.w; if(!ws)return;
+  const s=c.stiff;
+  a.pos.addScaledVector(_d, diff*s*a.w/ws);
+  b.pos.addScaledVector(_d,-diff*s*b.w/ws);
+}
+function integrate(h){
+  for(const p of parts){
+    _v.subVectors(p.pos,p.prev).multiplyScalar(AIR);
+    p.prev.copy(p.pos); p.pos.add(_v);
+    p.pos.y+=GRAVITY*h*h;
+    p.pos.addScaledVector(p.force,p.w*h*h);
+  }
+}
+function collideGround(){
+  for(const p of parts){
+    if(p.pos.y<p.r){
+      const vy=p.pos.y-p.prev.y;
+      p.pos.y=p.r; p.prev.y=p.r+vy*0.25;
+      p.prev.x+=(p.pos.x-p.prev.x)*0.6;
+      p.prev.z+=(p.pos.z-p.prev.z)*0.6;
+    }
+  }
+}
+function collideSelf(){
+  for(let i=0;i<parts.length;i++) for(let j=i+1;j<parts.length;j++){
+    if(bonded.has(i+'_'+j)) continue;
+    const a=parts[i],b=parts[j],rr=a.r+b.r;
+    _d.subVectors(b.pos,a.pos); const L2=_d.lengthSq();
+    if(L2>rr*rr||L2<1e-10) continue;
+    const L=Math.sqrt(L2),diff=(L-rr)/L,w=a.w+b.w;
+    a.pos.addScaledVector(_d, diff*0.7*a.w/w);
+    b.pos.addScaledVector(_d,-diff*0.7*b.w/w);
+  }
+}
+function addImpulse(p,dv){ p.prev.addScaledVector(dv,-PHYS_DT/SUBSTEPS); }
+
+/* ===================== PARTICLES ===================== */
+const sparks=[];
+// Shared geometry/material pool for performance
+const _sparkGeo=new THREE.SphereGeometry(.025,4,3);
+const _smokeGeo=new THREE.SphereGeometry(.1,5,4);
+const _smokeMat=new THREE.MeshBasicMaterial({color:0x555566,transparent:true,opacity:.4});
+
+function spawnSparks(pos,count,color,speed,life){
+  for(let i=0;i<count;i++){
+    const dir=new THREE.Vector3(Math.random()-.5,Math.random()*.8+.2,Math.random()-.5).normalize();
+    const m=new THREE.Mesh(_sparkGeo, new THREE.MeshBasicMaterial({color}));
+    m.position.copy(pos); scene.add(m);
+    sparks.push({mesh:m,vel:dir.multiplyScalar(speed*(.4+Math.random()*.8)),life,maxLife:life,grav:true});
+  }
+}
+function spawnSmoke(pos,count){
+  for(let i=0;i<count;i++){
+    const off=new THREE.Vector3(Math.random()-.5,Math.random()*.3,Math.random()-.5).multiplyScalar(.3);
+    const m=new THREE.Mesh(_smokeGeo,_smokeMat.clone());
+    m.position.copy(pos).add(off); scene.add(m);
+    sparks.push({mesh:m,vel:new THREE.Vector3((Math.random()-.5)*.5,.4+Math.random()*.5,(Math.random()-.5)*.5),
+                 life:1.2+Math.random(),maxLife:1.6,grav:false,smoke:true});
+  }
+}
+function stepSparks(dt){
+  for(let i=sparks.length-1;i>=0;i--){
+    const s=sparks[i]; s.life-=dt;
+    if(s.life<=0){scene.remove(s.mesh);sparks.splice(i,1);continue;}
+    s.mesh.position.addScaledVector(s.vel,dt);
+    if(s.grav) s.vel.y+=GRAVITY*dt*.3;
+    const f=s.life/s.maxLife;
+    if(s.smoke){s.mesh.material.opacity=.35*f;s.mesh.scale.setScalar(1+.5*(1-f));}
+    else        s.mesh.material.color.setHSL(.07*f,1,.5);
+  }
+}
+
+/* flash overlay */
+const flashEl=document.getElementById('flash');
+let flashT=0;
+function triggerFlash(i){ flashT=.18*i; flashEl.style.opacity=String(Math.min(.85,.45*i)); setTimeout(()=>flashEl.style.opacity='0',80); }
+function stepFlash(dt){ flashT=Math.max(0,flashT-dt); flashPt.intensity=flashT*16; }
+
+/* ===================== EXPLOSIONS ===================== */
+function explodeAt(pos, radius, force){
+  for(const p of parts){
+    _tmp.subVectors(p.pos,pos);
+    const dist=_tmp.length();
+    if(dist<radius){
+      const fall=1-dist/radius;
+      _tmp.normalize().multiplyScalar(force*fall*fall);
+      _tmp.y+=force*fall*.5;
+      addImpulse(p,_tmp);
+    }
+  }
+  setState('ko'); brain.koT=Math.max(brain.koT,4.5);
+}
+
+/* ===================== C4 ===================== */
+const c4List=[];
+const c4Geo=new THREE.BoxGeometry(.22,.08,.14);
+const c4Mat=new THREE.MeshStandardMaterial({color:0xd4c98a,roughness:.85});
+function placeC4(pos){
+  const mesh=new THREE.Mesh(c4Geo,c4Mat);
+  mesh.position.copy(pos); mesh.position.y=.041;
+  mesh.rotation.y=Math.random()*Math.PI;
+  mesh.castShadow=true; scene.add(mesh);
+  const led=new THREE.Mesh(new THREE.SphereGeometry(.018,6,6),new THREE.MeshBasicMaterial({color:0xff2222}));
+  led.position.set(.08,.055,0); mesh.add(led);
+  c4List.push({mesh,pos:mesh.position.clone(),ledMesh:led,blink:0,armed:true});
+}
+function detonateC4(){
+  let any=false;
+  for(const c of c4List){
+    if(!c.armed)continue; any=true;
+    flashPt.position.copy(c.pos).setY(.5);
+    triggerFlash(2.8); explodeAt(c.pos,4.2,68);
+    spawnSparks(c.pos.clone().setY(.1),35,0xff6600,5,1);
+    spawnSmoke(c.pos.clone().setY(.1),14);
+    scene.remove(c.mesh);
+  }
+  c4List.length=0;
+  if(any) snapCameraToBody();
+}
+function stepC4(dt){
+  for(const c of c4List){
+    c.blink+=dt;
+    c.ledMesh.material.color.setHex(c.blink%0.6<0.1?0xff0000:0x440000);
+  }
+}
+function snapCameraToBody(){
+  orbit.target.copy(brain.com);
+  orbit.dist=Math.max(orbit.dist,6);
+}
+
+/* ===================== PROJECTILES ===================== */
+const balls=[];
+const ballGeo=new THREE.SphereGeometry(1,14,10);
+const BMATS={
+  normal: new THREE.MeshStandardMaterial({color:0xd04020,roughness:.55,metalness:.1}),
+  gun:    new THREE.MeshStandardMaterial({color:0xd4aa44,roughness:.15,metalness:.95}),
+  HE:     new THREE.MeshStandardMaterial({color:0xcc3311,roughness:.4,metalness:.5,emissive:0x441100}),
+  AP:     new THREE.MeshStandardMaterial({color:0x44aa66,roughness:.25,metalness:.9,emissive:0x001a0a}),
+  cannon: new THREE.MeshStandardMaterial({color:0x445566,roughness:.3,metalness:.8}),
+};
+
+function spawnBall(pos,vel,r,m,type='normal'){
+  const mesh=new THREE.Mesh(ballGeo,BMATS[type]||BMATS.normal);
+  mesh.castShadow=true; mesh.scale.setScalar(r); scene.add(mesh);
+  balls.push({pos:pos.clone(),vel:vel.clone(),r,m,life:12,mesh,type,hit:false});
+}
+
+function onBallHitPart(ball, part){
+  _d.subVectors(part.pos,ball.pos).normalize();
+  const vn=ball.vel.dot(_d);
+  if(vn<=0) return false;
+  if(ball.type==='gun'){
+    addImpulse(part, _tmp.copy(_d).multiplyScalar(vn*ball.m*3));
+    ball.vel.multiplyScalar(.3);
+    return false;
+  } else if(ball.type==='HE'){
+    return true;
+  } else if(ball.type==='AP'){
+    addImpulse(part, _tmp.copy(_d).multiplyScalar(vn*ball.m*4));
+    spawnSparks(ball.pos.clone(),8,0x88ffaa,3,.35);
+    ball.vel.multiplyScalar(.45);
+    return false;
+  } else {
+    const share=2*ball.m/(ball.m+part.m);
+    addImpulse(part, _tmp.copy(_d).multiplyScalar(vn*share*.9));
+    ball.vel.addScaledVector(_d,-vn*1.4);
+    ball.pos.copy(part.pos).addScaledVector(_d,-(part.r+ball.r));
+    return false;
+  }
+}
+
+function stepBalls(h){
+  for(let k=balls.length-1;k>=0;k--){
+    const b=balls[k]; b.life-=h;
+    b.vel.y+=GRAVITY*h;
+    b.pos.addScaledVector(b.vel,h);
+    if(b.pos.y<b.r){
+      b.pos.y=b.r;
+      if(b.type==='HE'){ doExplodeBall(k); continue; }
+      b.vel.y*=-.45; b.vel.x*=.86; b.vel.z*=.86;
+    }
+    let remove=false;
+    for(const p of parts){
+      _d.subVectors(p.pos,b.pos);
+      if(_d.lengthSq()<(p.r+b.r)*(p.r+b.r)){
+        remove=onBallHitPart(b,p);
+        if(remove) break;
+      }
+    }
+    if(remove){ doExplodeBall(k); continue; }
+    b.mesh.position.copy(b.pos);
+    if(b.life<=0){ scene.remove(b.mesh); balls.splice(k,1); }
+  }
+}
+function doExplodeBall(k){
+  const b=balls[k];
+  flashPt.position.copy(b.pos);
+  triggerFlash(1.8); explodeAt(b.pos,2.6,52);
+  spawnSparks(b.pos.clone(),22,0xff5500,5,.7);
+  spawnSmoke(b.pos.clone(),8);
+  snapCameraToBody();
+  scene.remove(b.mesh); balls.splice(k,1);
+}
+
+function stepPhysics(){
+  const h=PHYS_DT/SUBSTEPS;
+  for(let s=0;s<SUBSTEPS;s++){
+    integrate(h);
+    for(let it=0;it<ITER;it++){
+      for(const c of cons) projectCon(c);
+      collideSelf(); collideGround();
+      if(grab.active){ parts[grab.pi].pos.lerp(grab.target,.35); }
+    }
+    stepBalls(h);
+  }
+  for(const p of parts) p.force.set(0,0,0);
+}
+
+/* ===================== SKELETON ===================== */
+addPart('pelvis',     0,    .95,  0,   12,  .125);
+addPart('chest',      0,   1.24,  0,   13,  .14);
+addPart('neck',       0,   1.44,  0,    2,  .055);
+addPart('head',       0,   1.61,  0,    5,  .105);
+addPart('shoulderL', -.21, 1.38,  0,  2.5,  .06);
+addPart('shoulderR',  .21, 1.38,  0,  2.5,  .06);
+addPart('elbowL',   -.25,  1.12, .015,1.6,  .05);
+addPart('elbowR',    .25,  1.12, .015,1.6,  .05);
+addPart('handL',    -.27,  .875, .03, 1.2,  .047);
+addPart('handR',     .27,  .875, .03, 1.2,  .047);
+addPart('hipL',     -.115, .91,   0,   5,  .075);
+addPart('hipR',      .115, .91,   0,   5,  .075);
+addPart('kneeL',    -.125, .49,  .03, 3.5,  .058);
+addPart('kneeR',     .125, .49,  .03, 3.5,  .058);
+addPart('footL',    -.13,  .05, -.03, 1.8,  .05);
+addPart('footR',     .13,  .05, -.03, 1.8,  .05);
+addPart('toeL',     -.13,  .042, .135, .6,  .042);
+addPart('toeR',      .13,  .042, .135, .6,  .042);
+
+link('pelvis','chest'); link('chest','neck'); link('neck','head'); link('pelvis','neck',.9);
+link('shoulderL','shoulderR'); link('chest','shoulderL'); link('chest','shoulderR');
+link('neck','shoulderL',.9); link('neck','shoulderR',.9);
+link('pelvis','shoulderL',.55); link('pelvis','shoulderR',.55);
+link('pelvis','hipL'); link('pelvis','hipR'); link('hipL','hipR');
+link('chest','hipL',.8); link('chest','hipR',.8);
+link('shoulderL','elbowL'); link('elbowL','handL');
+link('shoulderR','elbowR'); link('elbowR','handR');
+link('hipL','kneeL'); link('kneeL','footL'); link('footL','toeL'); link('kneeL','toeL',.7);
+link('hipR','kneeR'); link('kneeR','footR'); link('footR','toeR'); link('kneeR','toeR',.7);
+link('shoulderL','handL',.8,'min',.18); link('shoulderR','handR',.8,'min',.18);
+link('hipL','footL',.8,'min',.32); link('hipR','footR',.8,'min',.32);
+link('head','chest',.5,'max',.39); link('head','chest',.5,'min',.31);
+link('kneeL','kneeR',.6,'min',.09); link('footL','footR',.6,'min',.08);
+link('head','pelvis',.6,'min',.46);
+
+/* ===================== VISUALS ===================== */
+const matSuit  = new THREE.MeshStandardMaterial({color:0x4b5563,roughness:.74,metalness:.05});
+const matSuit2 = new THREE.MeshStandardMaterial({color:0x39414d,roughness:.8,metalness:.05});
+const matSkin  = new THREE.MeshStandardMaterial({color:0xc99c7d,roughness:.55,metalness:0});
+const matShoe  = new THREE.MeshStandardMaterial({color:0x22262d,roughness:.42,metalness:.1});
+const rig=new THREE.Group(); scene.add(rig);
+const limbs=[], pickMeshes=[];
+const UP=new THREE.Vector3(0,1,0);
+function makeLimb(a,b,ra,rb,mat){
+  const grp=new THREE.Group();
+  const cyl=new THREE.Mesh(new THREE.CylinderGeometry(rb,ra,1,12,1,true),mat);
+  cyl.castShadow=true; grp.add(cyl);
+  const capA=new THREE.Mesh(new THREE.SphereGeometry(ra,12,8),mat);
+  capA.castShadow=true; grp.add(capA);
+  const capB=new THREE.Mesh(new THREE.SphereGeometry(rb,12,8),mat);
+  capB.castShadow=true; grp.add(capB);
+  rig.add(grp);
+  const L={grp,cyl,capA,capB,ia:P[a],ib:P[b]};
+  limbs.push(L);
+  for(const m of [cyl,capA,capB]){ m.userData.pick=[P[a],P[b]]; pickMeshes.push(m); }
+  return L;
+}
+makeLimb('pelvis','chest',.135,.15,matSuit);
+makeLimb('chest','neck',.1,.055,matSuit);
+makeLimb('neck','head',.05,.05,matSkin);
+makeLimb('shoulderL','shoulderR',.055,.055,matSuit);
+makeLimb('hipL','hipR',.07,.07,matSuit2);
+makeLimb('shoulderL','elbowL',.055,.045,matSuit);
+makeLimb('shoulderR','elbowR',.055,.045,matSuit);
+makeLimb('elbowL','handL',.042,.034,matSuit);
+makeLimb('elbowR','handR',.042,.034,matSuit);
+makeLimb('hipL','kneeL',.075,.055,matSuit2);
+makeLimb('hipR','kneeR',.075,.055,matSuit2);
+makeLimb('kneeL','footL',.052,.04,matSuit2);
+makeLimb('kneeR','footR',.052,.04,matSuit2);
+makeLimb('footL','toeL',.05,.044,matShoe);
+makeLimb('footR','toeR',.05,.044,matShoe);
+const headMesh=new THREE.Mesh(new THREE.SphereGeometry(.105,18,14),matSkin);
+headMesh.castShadow=true; headMesh.scale.set(.92,1.12,.98);
+headMesh.userData.pick=[P.head]; rig.add(headMesh); pickMeshes.push(headMesh);
+const handMeshes=['handL','handR'].map(n=>{
+  const m=new THREE.Mesh(new THREE.SphereGeometry(.05,10,8),matSkin);
+  m.castShadow=true; m.scale.set(.8,1.15,1);
+  m.userData.pick=[P[n]]; rig.add(m); pickMeshes.push(m); return m;
+});
+const _q=new THREE.Quaternion();
+function syncVisuals(){
+  for(const L of limbs){
+    const a=parts[L.ia].pos, b=parts[L.ib].pos;
+    const len=a.distanceTo(b);
+    L.grp.position.copy(a).add(b).multiplyScalar(.5);
+    if(len>1e-6){
+      _d.subVectors(b,a).multiplyScalar(1/len);
+      _q.setFromUnitVectors(UP,_d); L.grp.quaternion.copy(_q);
+    }
+    L.cyl.scale.set(1,Math.max(len,1e-4),1);
+    L.capA.position.y=-len/2; L.capB.position.y=len/2;
+  }
+  headMesh.position.copy(parts[P.head].pos);
+  headMesh.quaternion.copy(limbs[2].grp.quaternion);
+  handMeshes[0].position.copy(parts[P.handL].pos);
+  handMeshes[1].position.copy(parts[P.handR].pos);
+}
+
+const POSE={};
+for(const p of parts) POSE[p.name]=p.pos.clone();
+
+/* ===================== BRAIN ===================== */
+const GAIN={pelvis:[72,9],chest:[72,9],neck:[55,7],head:[48,7],shoulder:[48,7],
+            elbow:[30,5],hand:[24,4],hip:[72,9],knee:[62,8],foot:[85,10],toe:[65,8]};
+const GCOMP={pelvis:.92,chest:.92,neck:.9,head:.9,shoulder:.85,
+             elbow:.7,hand:.6,hip:.9,knee:.55,foot:0,toe:0};
+function groupOf(n){return n.replace(/[LR]$/,'');}
+
+const brain={
+  state:'balance',t:0,koT:0,strength:1,
+  root:new THREE.Vector3(),
+  com:new THREE.Vector3(),comPrev:new THREE.Vector3(0,1,0),comVel:new THREE.Vector3(),
+  step:null,lastFoot:'R',cool:0,targets:{},totalM:0
+};
+for(const p of parts){ brain.targets[p.name]=new THREE.Vector3(); brain.totalM+=p.m; }
+const _right=new THREE.Vector3(),_fwd=new THREE.Vector3(),
+      _off=new THREE.Vector3(),_feet=new THREE.Vector3(),_fall=new THREE.Vector3();
+let simTime=0;
+function setState(s){ if(brain.state!==s){brain.state=s;brain.t=0;} }
+
+function brainUpdate(dt){
+  simTime+=dt; brain.t+=dt; brain.cool=Math.max(0,brain.cool-dt);
+  const B=brain, T=B.targets;
+  _right.subVectors(parts[P.hipR].pos,parts[P.hipL].pos); _right.y=0;
+  if(_right.lengthSq()<1e-6) _right.set(1,0,0); else _right.normalize();
+  _fwd.set(-_right.z,0,_right.x);
+  B.com.set(0,0,0);
+  for(const p of parts) B.com.addScaledVector(p.pos,p.m/B.totalM);
+  B.comVel.subVectors(B.com,B.comPrev).multiplyScalar(1/dt); B.comPrev.copy(B.com);
+  _feet.addVectors(parts[P.footL].pos,parts[P.footR].pos).multiplyScalar(.5);
+  _off.subVectors(B.com,_feet); _off.y=0;
+  _off.addScaledVector(_t.copy(B.comVel).setY(0),.16);
+  const offLen=_off.length();
+  _t2.subVectors(parts[P.neck].pos,parts[P.pelvis].pos).normalize();
+  const upr=_t2.y, comSpeed=B.comVel.length();
+
+  if(B.state==='balance'){
+    B.strength+=(1-B.strength)*Math.min(1,dt*5);
+    if(upr<.55||offLen>.34) setState('falling');
+  } else if(B.state==='falling'){
+    B.strength=.3;
+    if(B.com.y<.55&&comSpeed<1.8) setState('down');
+    else if(upr>.78&&offLen<.12&&B.com.y>.85) setState('balance');
+  } else if(B.state==='down'){
+    B.strength=.06;
+    if(B.t>1.25) setState('getup');
+    if(upr>.78&&B.com.y>.85) setState('balance');
+  } else if(B.state==='getup'){
+    B.strength=1.25;
+    if(upr>.82&&B.com.y>.88&&offLen<.2) setState('balance');
+    if(B.t>3) setState('down');
+  } else if(B.state==='ko'){
+    B.strength=.015; B.koT-=dt;
+    if(B.koT<=0) setState('down');
+  }
+  const S=B.strength;
+
+  if(B.state==='balance'||B.state==='falling'){
+    _t.copy(_feet); _t.y=0; B.root.lerp(_t,1-Math.exp(-dt*6));
+  } else { B.root.set(B.com.x,0,B.com.z); }
+
+  for(const p of parts){
+    const o=POSE[p.name];
+    T[p.name].copy(B.root).addScaledVector(_right,o.x).addScaledVector(_fwd,o.z).setY(o.y);
+  }
+  const br=Math.sin(simTime*1.7)*.006, sw=Math.sin(simTime*.9)*.012;
+  T.chest.y+=br; T.head.y+=br*1.4;
+  T.head.addScaledVector(_fwd,sw); T.chest.addScaledVector(_fwd,sw*.5);
+
+  if(B.state==='balance'){
+    T.chest.addScaledVector(_off,-.55); T.head.addScaledVector(_off,-.8); T.pelvis.addScaledVector(_off,-.25);
+    const inst=Math.min(1,offLen*5);
+    if(inst>.15){
+      const wave=Math.sin(simTime*11)*.16*inst;
+      T.handL.addScaledVector(_right,-(0.12+.26*inst)).addScaledVector(_fwd,wave).y+=.30*inst;
+      T.handR.addScaledVector(_right, (0.12+.26*inst)).addScaledVector(_fwd,-wave).y+=.30*inst;
+      T.elbowL.addScaledVector(_right,-.16*inst).y+=.14*inst;
+      T.elbowR.addScaledVector(_right, .16*inst).y+=.14*inst;
+    }
+    if(!B.step&&B.cool<=0&&offLen>.12){
+      const dir=_t.copy(_off).normalize();
+      const foot=(B.lastFoot==='R')?'L':'R';
+      const to=new THREE.Vector3(B.com.x,0,B.com.z)
+        .addScaledVector(dir,.24).addScaledVector(_right,foot==='L'?-.10:.10);
+      B.step={foot,from:parts[P['foot'+foot]].pos.clone(),to,t:0,dur:.22};
+      B.lastFoot=foot;
+    }
+  }
+  if(B.step){
+    const st=B.step; st.t+=dt;
+    const f=Math.min(1,st.t/st.dur), lift=Math.sin(f*Math.PI)*.14;
+    const ft=T['foot'+st.foot];
+    ft.lerpVectors(st.from,st.to,f); ft.y=.05+lift;
+    T['toe'+st.foot].copy(ft).addScaledVector(_fwd,.15); T['toe'+st.foot].y=ft.y-.005;
+    if(f>=1){B.step=null;B.cool=.07;}
+  }
+  if(B.state==='falling'){
+    _fall.copy(B.comVel); _fall.y=0;
+    if(_fall.lengthSq()<.01) _fall.copy(_off);
+    if(_fall.lengthSq()>1e-6) _fall.normalize();
+    T.handL.copy(parts[P.shoulderL].pos).addScaledVector(_fall,.42).y=Math.max(.15,parts[P.shoulderL].pos.y-.25);
+    T.handR.copy(parts[P.shoulderR].pos).addScaledVector(_fall,.42).y=Math.max(.15,parts[P.shoulderR].pos.y-.25);
+    T.elbowL.copy(parts[P.shoulderL].pos).addScaledVector(_fall,.2);
+    T.elbowR.copy(parts[P.shoulderR].pos).addScaledVector(_fall,.2);
+    T.head.copy(parts[P.neck].pos).addScaledVector(_fall,-.12).y+=.12;
+    T.kneeL.y+=.15; T.kneeR.y+=.15;
+  }
+  const getup=B.state==='getup', ramp=getup?Math.min(1,B.t/.45):1;
+  for(const p of parts){
+    const g=GAIN[groupOf(p.name)];
+    _t.subVectors(T[p.name],p.pos);
+    const errLen=_t.length();
+    if(errLen>.6) _t.multiplyScalar(.6/errLen);
+    _v.subVectors(p.pos,p.prev).multiplyScalar(1/dt);
+    const kp=g[0]*p.m*S*ramp, kd=g[1]*p.m*Math.min(1,S*1.5);
+    p.force.addScaledVector(_t,kp).addScaledVector(_v,-kd);
+    p.force.y+=-GRAVITY*p.m*GCOMP[groupOf(p.name)]*Math.min(1,S)*ramp;
+    if(getup&&(p.name==='pelvis'||p.name==='chest')){
+      p.force.y+=-GRAVITY*p.m*.5*ramp;
+      p.prev.x+=(p.pos.x-p.prev.x)*.04;
+      p.prev.z+=(p.pos.z-p.prev.z)*.04;
+    }
+    const fmax=p.m*260;
+    if(p.force.lengthSq()>fmax*fmax) p.force.setLength(fmax);
+  }
+}
+
+/* ===================== WEAPON STATE ===================== */
+let currentWeapon='ball';
+let currentAmmo='normal';
+let isFiring=false;
+let gunFireCooldown=0;
+
+function selectWeapon(w){
+  currentWeapon=w;
+  ['Ball','Gun','Cannon','C4'].forEach(id=>{
+    const btn=document.getElementById('w'+id);
+    if(btn) btn.classList.toggle('sel', id.toLowerCase()===w);
+  });
+  document.getElementById('ammo-row').style.display=(w==='cannon')?'flex':'none';
+}
+function selectAmmo(a){
+  currentAmmo=a;
+  ['Normal','HE','AP'].forEach(id=>{
+    document.getElementById('am'+id).classList.toggle('active-ammo',id.toLowerCase()===a);
+  });
+}
+
+// Pre-allocated ray/ndc to avoid per-click allocation
+const _fireRay=new THREE.Raycaster();
+const _fireNDC=new THREE.Vector2();
+
+function fireWeapon(nx, ny){
+  _fireNDC.set(nx,ny);
+  _fireRay.setFromCamera(_fireNDC,camera);
+  const origin=_fireRay.ray.origin.clone().addScaledVector(_fireRay.ray.direction,.5);
+  const dir=_fireRay.ray.direction.clone();
+
+  if(currentWeapon==='ball'){
+    spawnBall(origin, dir.multiplyScalar(15), .09, 3.5, 'normal');
+  } else if(currentWeapon==='gun'){
+    spawnBall(origin, dir.multiplyScalar(55), .04, 2, 'gun');
+    flashPt.position.copy(origin); flashPt.intensity=8;
+    setTimeout(()=>flashPt.intensity=0,35);
+    spawnSparks(origin.clone(),6,0xffdd66,4,.2);
+  } else if(currentWeapon==='cannon'){
+    let speed,radius,mass,type,flashMult;
+    if(currentAmmo==='HE'){      speed=26;radius=.17;mass=12;type='HE';flashMult=1.2;}
+    else if(currentAmmo==='AP'){ speed=40;radius=.10;mass=9; type='AP';flashMult=.8;}
+    else{                         speed=22;radius=.15;mass=10;type='cannon';flashMult=1;}
+    const spawnPt=_fireRay.ray.origin.clone().addScaledVector(dir,.8);
+    spawnBall(spawnPt, dir.multiplyScalar(speed), radius, mass, type);
+    triggerFlash(flashMult);
+    spawnSparks(spawnPt.clone(),10,0xffaa22,3,.25);
+  } else if(currentWeapon==='c4'){
+    // ground intersection
+    const dy=_fireRay.ray.direction.y;
+    if(dy<-0.01){
+      const t2=_fireRay.ray.origin.y/(-dy);
+      if(t2>0){
+        const gp=_fireRay.ray.origin.clone().addScaledVector(_fireRay.ray.direction,t2);
+        placeC4(gp);
+      }
+    }
+  }
+}
+
+/* ===================== INPUT ===================== */
+const grab={active:false,pi:0,dist:0,target:new THREE.Vector3()};
+const _grabRay=new THREE.Raycaster();
+const _grabNDC=new THREE.Vector2();
+let dragMode=null, lastX=0, lastY=0, movedPx=0;
+
+function setGrabNDC(e){ _grabNDC.set((e.clientX/innerWidth)*2-1,-(e.clientY/innerHeight)*2+1); }
+// Live ndc for held-fire (updated every mousemove)
+const _liveNDC={x:0,y:0};
+
+renderer.domElement.addEventListener('pointerdown',e=>{
+  e.preventDefault();
+  renderer.domElement.setPointerCapture(e.pointerId);
+  lastX=e.clientX; lastY=e.clientY; movedPx=0;
+  _liveNDC.x=(e.clientX/innerWidth)*2-1;
+  _liveNDC.y=-(e.clientY/innerHeight)*2+1;
+
+  if(e.button===2){
+    // RIGHT CLICK — grab ragdoll only
+    setGrabNDC(e); _grabRay.setFromCamera(_grabNDC,camera);
+    const hits=_grabRay.intersectObjects(pickMeshes,false);
+    if(hits.length){
+      const h=hits[0], pk2=h.object.userData.pick;
+      let best=pk2[0];
+      if(pk2.length>1&&h.point.distanceToSquared(parts[pk2[1]].pos)<h.point.distanceToSquared(parts[pk2[0]].pos))
+        best=pk2[1];
+      grab.active=true; grab.pi=best; grab.dist=h.distance; grab.target.copy(h.point);
+      dragMode='grab';
+    } else {
+      dragMode='orbit';
+    }
+  } else if(e.button===0){
+    // LEFT CLICK — ONLY fire or orbit. Never grabs body.
+    dragMode='mayfire'; // will become 'orbit' if dragged, or fire on up
+    if(currentWeapon==='gun'||currentWeapon==='cannon'){
+      isFiring=true;
+      gunFireCooldown=0;
+      fireWeapon(_liveNDC.x,_liveNDC.y);
+    }
+  }
+});
+
+renderer.domElement.addEventListener('pointermove',e=>{
+  const dx=e.clientX-lastX, dy=e.clientY-lastY;
+  lastX=e.clientX; lastY=e.clientY;
+  movedPx+=Math.abs(dx)+Math.abs(dy);
+  _liveNDC.x=(e.clientX/innerWidth)*2-1;
+  _liveNDC.y=-(e.clientY/innerHeight)*2+1;
+
+  if(dragMode==='orbit'||dragMode==='mayfire'&&movedPx>5){
+    dragMode='orbit'; isFiring=false;
+    if(camMode==='fp'){
+      fp.yaw-=dx*.004; fp.pitch+=dy*.004;
+    } else {
+      orbit.yaw-=dx*.005; orbit.pitch+=dy*.005;
+    }
+    updateCamera();
+  } else if(dragMode==='grab'){
+    setGrabNDC(e); _grabRay.setFromCamera(_grabNDC,camera);
+    grab.target.copy(_grabRay.ray.origin).addScaledVector(_grabRay.ray.direction,grab.dist);
+    grab.target.y=Math.max(.06,grab.target.y);
+  }
+});
+
+renderer.domElement.addEventListener('pointerup',e=>{
+  if(dragMode==='mayfire'&&movedPx<6&&e.button===0){
+    // clean click — fire once (gun/cannon already fired on down)
+    if(currentWeapon!=='gun'&&currentWeapon!=='cannon'){
+      fireWeapon(_liveNDC.x,_liveNDC.y);
+    }
+  }
+  grab.active=false; dragMode=null; isFiring=false;
+});
+
+renderer.domElement.addEventListener('wheel',e=>{
+  e.preventDefault(); orbit.dist*=(e.deltaY>0?1.1:.9); updateCamera();
+},{passive:false});
+
+addEventListener('contextmenu',e=>e.preventDefault());
+
+/* ===================== UI ===================== */
+const stateEl=document.getElementById('state');
+const STATE_STYLE={
+  balance:['BALANCING','#173527','#7ce0a3'],
+  falling:['STUMBLING','#3a2c14','#f0b46a'],
+  down:['DOWN','#2b2f36','#aab6c6'],
+  getup:['GETTING UP','#15283f','#7db8f5'],
+  ko:['KNOCKED OUT','#3a1717','#f08a8a']
+};
+function syncBadge(){
+  const s=STATE_STYLE[brain.state];
+  if(stateEl.textContent!==s[0]){
+    stateEl.textContent=s[0]; stateEl.style.background=s[1];
+    stateEl.style.color=s[2]; stateEl.style.borderColor=s[2]+'44';
+  }
+}
+
+document.getElementById('bShove').onclick=()=>{
+  const a=Math.random()*Math.PI*2;
+  _t.set(Math.cos(a)*4.2,1.2,Math.sin(a)*4.2);
+  addImpulse(parts[P.chest],_t);
+  addImpulse(parts[P.pelvis],_t2.copy(_t).multiplyScalar(.55));
+};
+document.getElementById('bKO').onclick=()=>{ brain.koT=3.5; setState('ko'); };
+let slow=false;
+document.getElementById('bSlow').onclick=function(){ slow=!slow; this.classList.toggle('on',slow); };
+document.getElementById('bReset').onclick=()=>{
+  for(const p of parts){ p.pos.copy(POSE[p.name]); p.prev.copy(POSE[p.name]); p.force.set(0,0,0); }
+  for(const b of balls) scene.remove(b.mesh); balls.length=0;
+  for(const c of c4List) scene.remove(c.mesh); c4List.length=0;
+  for(const s of sparks) scene.remove(s.mesh); sparks.length=0;
+  brain.root.set(0,0,0); brain.comPrev.set(0,1,0);
+  brain.step=null; setState('balance'); brain.strength=1;
+  orbit.target.set(0,1,0); orbit.dist=4.6; updateCamera();
+};
+document.getElementById('bDetonate').onclick=detonateC4;
+document.getElementById('bClearC4').onclick=()=>{
+  for(const c of c4List) scene.remove(c.mesh); c4List.length=0;
+};
+
+/* ===================== MAIN LOOP ===================== */
+const clock=new THREE.Clock();
+let acc=0;
+function animate(){
+  requestAnimationFrame(animate);
+  let dt=Math.min(clock.getDelta(),.05);
+  if(slow) dt*=.28;
+
+  // held-fire
+  if(isFiring&&(currentWeapon==='gun'||currentWeapon==='cannon')){
+    gunFireCooldown-=dt;
+    if(gunFireCooldown<=0){
+      gunFireCooldown=currentWeapon==='gun'?.08:.4;
+      fireWeapon(_liveNDC.x,_liveNDC.y);
+    }
+  }
+
+  acc+=dt; let n=0;
+  while(acc>=PHYS_DT&&n<4){
+    brainUpdate(PHYS_DT); stepPhysics(); acc-=PHYS_DT; n++;
+  }
+  stepSparks(dt); stepC4(dt); stepFlash(dt);
+
+  // Camera update
+  if(camMode==='follow'){
+    // hard-follow: target snaps directly to COM every frame, no lerp
+    orbit.target.copy(brain.com);
+    updateCamera();
+  } else if(camMode==='fp'){
+    updateCamera(); // fp reads head pos directly
+  } else {
+    // orbit: smooth follow
+    _t.copy(brain.com); _t.y=Math.max(.4,Math.min(1.6,brain.com.y));
+    orbit.target.lerp(_t,1-Math.exp(-dt*4));
+    updateCamera();
+  }
+
+  syncVisuals(); syncBadge();
+  renderer.render(scene,camera);
+}
+animate();
+</script>
+</body>
+</html>
