diff --git a/package-lock.json b/package-lock.json
index 2ec38ca..11803a7 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,13 +1,14 @@
 {
   "name": "vite_react_shadcn_ts",
-  "version": "1.0.4",
+  "version": "1.1.0",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "vite_react_shadcn_ts",
-      "version": "1.0.4",
+      "version": "1.1.0",
       "dependencies": {
+        "@dimforge/rapier3d-compat": "^0.14.0",
         "@hookform/resolvers": "^3.10.0",
         "@radix-ui/react-accordion": "^1.2.11",
         "@radix-ui/react-alert-dialog": "^1.1.14",
@@ -38,6 +39,7 @@
         "@radix-ui/react-tooltip": "^1.2.7",
         "@react-three/drei": "^9.122.0",
         "@react-three/fiber": "^8.18.0",
+        "@react-three/rapier": "^1.5.0",
         "@react-three/xr": "^6.6.29",
         "@supabase/supabase-js": "^2.105.4",
         "@tanstack/react-query": "^5.83.0",
@@ -153,6 +155,12 @@
       "integrity": "sha512-sBXGT13cpmPR5BMgHE6UEEfEaShh5Ror6rfN3yEK5si7QVrtZg8LEPQb0VVhiLRUslD2yLnXtnRzG035J/mZXQ==",
       "license": "(Apache-2.0 AND BSD-3-Clause)"
     },
+    "node_modules/@dimforge/rapier3d-compat": {
+      "version": "0.14.0",
+      "resolved": "https://registry.npmjs.org/@dimforge/rapier3d-compat/-/rapier3d-compat-0.14.0.tgz",
+      "integrity": "sha512-/uHrUzS+CRQ+NQrrJCEDUkhwHlNsAAexbNXgbN9sHY+GwR+SFFAFrxRr8Llf5/AJZzqiLANdQIfJ63Cw4gJVqw==",
+      "license": "Apache-2.0"
+    },
     "node_modules/@emotion/is-prop-valid": {
       "version": "1.4.0",
       "resolved": "https://registry.npmjs.org/@emotion/is-prop-valid/-/is-prop-valid-1.4.0.tgz",
@@ -2691,6 +2699,21 @@
         }
       }
     },
+    "node_modules/@react-three/rapier": {
+      "version": "1.5.0",
+      "resolved": "https://registry.npmjs.org/@react-three/rapier/-/rapier-1.5.0.tgz",
+      "integrity": "sha512-gylk2KyCer9EoymFyTyc+g2IqyAq4mTbZgaHoSJi6gHoXlJsC2LVeN4jedvegvjUsXPExdE60wHjCPa+DS4iXw==",
+      "dependencies": {
+        "@dimforge/rapier3d-compat": "0.14.0",
+        "suspend-react": "^0.1.3",
+        "three-stdlib": "^2.29.4"
+      },
+      "peerDependencies": {
+        "@react-three/fiber": ">=8.9.0",
+        "react": ">=18.0.0",
+        "three": ">=0.139.0"
+      }
+    },
     "node_modules/@react-three/xr": {
       "version": "6.6.29",
       "resolved": "https://registry.npmjs.org/@react-three/xr/-/xr-6.6.29.tgz",
diff --git a/package.json b/package.json
index d344a8c..d435a3c 100644
--- a/package.json
+++ b/package.json
@@ -13,6 +13,7 @@
     "test:watch": "vitest"
   },
   "dependencies": {
+    "@dimforge/rapier3d-compat": "^0.14.0",
     "@hookform/resolvers": "^3.10.0",
     "@radix-ui/react-accordion": "^1.2.11",
     "@radix-ui/react-alert-dialog": "^1.1.14",
@@ -43,6 +44,7 @@
     "@radix-ui/react-tooltip": "^1.2.7",
     "@react-three/drei": "^9.122.0",
     "@react-three/fiber": "^8.18.0",
+    "@react-three/rapier": "^1.5.0",
     "@react-three/xr": "^6.6.29",
     "@supabase/supabase-js": "^2.105.4",
     "@tanstack/react-query": "^5.83.0",
diff --git a/src/lab/QuestCubeLab.tsx b/src/lab/QuestCubeLab.tsx
index e29b3a2..d5f7076 100644
--- a/src/lab/QuestCubeLab.tsx
+++ b/src/lab/QuestCubeLab.tsx
@@ -6,7 +6,7 @@ import {
   Grid,
   Environment,
   PerspectiveCamera,
-  Text
+  Text,
 } from "@react-three/drei";
 import { XR, useXR } from "@react-three/xr";
 import { xrStore as store } from "@/stores/useXRStore";
@@ -20,17 +20,16 @@ import {
   Hand,
 } from "lucide-react";
 import { Suspense } from "react";
-import { XRGrabbable } from "@/components/three/XRGrabbable";
 
 /**
  * ============================================================
- * QUEST CUBE LAB — Fase 3 e 4
- * - Cubo 3D real + Mesa de dois níveis
- * - Sistema de alinhamento por clique duplo:
- *   1. Seleciona face do cubo
- *   2. Seleciona superfície da mesa (tampo ou prateleira) -> cubo deita na superfície
- *   3. Seleciona outra face do cubo (ortogonal à primeira)
- *   4. Seleciona aresta (lateral/frente) da mesa -> cubo rotaciona e alinha face
+ * QUEST CUBE LAB — Fase 2.5 (PHYSICS HLA-LIKE)
+ * - Física real com Rapier3D (gravidade, colisões, impulso)
+ * - Cubo é um RigidBody dinâmico (cai, bate, joga)
+ * - Mesa é RigidBody estático (cubo pousa em cima)
+ * - Pega o cubo com a mão virtual do Quest 3
+ * - Joga o cubo com impulso (igual Half-Life: Alyx)
+ * - Mantém sistema 2-cliques FASE 4 (contato + direção)
  * ============================================================
  */
 
@@ -41,552 +40,445 @@ const ROT_SPEED = 1.2;
 const SCALE_SPEED = 0.6;
 const CUBE_SIZE = 0.3;
 
-type AlignPhase = 'IDLE' | 'WAIT_SURFACE' | 'WAIT_FACE2' | 'WAIT_EDGE';
+type AlignPhase = "IDLE" | "WAIT_SURFACE" | "WAIT_FACE2" | "WAIT_EDGE";
 
-// ===================================================================
-// COMPONENTE: AR HUD Messages (Mostra avisos flutuantes apenas no óculos)
-// ===================================================================
 const ARHudMessages = ({ alignPhase }: { alignPhase: AlignPhase }) => {
   const session = useXR((s) => s.session);
   if (!session) return null;
+  const message = (() => {
+    switch (alignPhase) {
+      case "WAIT_SURFACE":
+        return "1/2 — Clique na FACE do cubo e na SUPERFÍCIE alvo";
+      case "WAIT_FACE2":
+        return "2/2 — Clique em outra face e na ARESTA lateral";
+      default:
+        return "";
+    }
+  })();
+  if (!message) return null;
+  return (
+    <Text
+      position={[0, 1.4, -1.2]}
+      fontSize={0.12}
+      color="#fbbf24"
+      anchorX="center"
+      anchorY="middle"
+      outlineWidth={0.005}
+      outlineColor="#000"
+    >
+      {message}
+    </Text>
+  );
+};
 
-  let msg = '';
-  if (alignPhase === 'IDLE') msg = 'Livre! Clique na face do cubo para iniciar.';
-  else if (alignPhase === 'WAIT_SURFACE') msg = 'Face gravada! Clique na mesa para apoiar.';
-  else if (alignPhase === 'WAIT_FACE2') msg = 'Apoiado! Clique noutra face do cubo.';
-  else if (alignPhase === 'WAIT_EDGE') msg = 'Ultimo passo! Clique na borda da mesa.';
+// ===================================================================
+// CUBO FÍSICO com Rapier — HLA-like
+// ===================================================================
+// (Implementado abaixo, depois dos imports do Rapier)
+
+import { Physics, RigidBody, CuboidCollider } from "@react-three/rapier";
+
+// Cubo com física rígida
+type CubeProps = {
+  position: [number, number, number];
+  locked: boolean;
+  onFaceClick: (face: "x+" | "x-" | "y+" | "y-" | "z+" | "z-") => void;
+  resetSignal: number;
+};
+
+const PhysicsCube = ({ position, locked, onFaceClick, resetSignal }: CubeProps) => {
+  const ref = useRef<any>(null);
+
+  useEffect(() => {
+    if (resetSignal > 0 && ref.current) {
+      ref.current.setTranslation({ x: position[0], y: position[1], z: position[2] }, true);
+      ref.current.setLinvel({ x: 0, y: 0, z: 0 }, true);
+      ref.current.setAngvel({ x: 0, y: 0, z: 0 }, true);
+    }
+  }, [resetSignal]);
+
+  const faceHandlers = (face: "x+" | "x-" | "y+" | "y-" | "z+" | "z-") => ({
+    onClick: (e: ThreeEvent<MouseEvent>) => {
+      if (locked) return;
+      e.stopPropagation();
+      onFaceClick(face);
+    },
+  });
 
   return (
-    <group position={[0, 1.3, -0.5]}>
-      <Text
-        fontSize={0.06}
-        color="#fde047"
-        anchorX="center"
-        anchorY="middle"
-        outlineWidth={0.005}
-        outlineColor="#000000"
-      >
-        {msg}
-      </Text>
+    <RigidBody
+      ref={ref}
+      position={position}
+      colliders={false}
+      mass={1}
+      friction={0.7}
+      restitution={0.3}
+      linearDamping={0.1}
+      angularDamping={0.3}
+    >
+      {/* collider gerado pra casar com a geometria do cubo */}
+      <CuboidCollider args={[CUBE_SIZE / 2, CUBE_SIZE / 2, CUBE_SIZE / 2]} />
+
+      {/* 6 faces coloridas — HLA-like aesthetic */}
+      <mesh castShadow receiveShadow onClick={faceHandlers("x+")}>
+        <boxGeometry args={[CUBE_SIZE, CUBE_SIZE, CUBE_SIZE]} />
+        <meshStandardMaterial color="#ef4444" />
+      </mesh>
+      {/* marcação visual das faces usando overlays */}
+      {[
+        { pos: [CUBE_SIZE / 2 + 0.001, 0, 0], rot: [0, Math.PI / 2, 0], color: "#ef4444" },
+        { pos: [-CUBE_SIZE / 2 - 0.001, 0, 0], rot: [0, -Math.PI / 2, 0], color: "#22c55e" },
+        { pos: [0, CUBE_SIZE / 2 + 0.001, 0], rot: [-Math.PI / 2, 0, 0], color: "#eab308" },
+        { pos: [0, -CUBE_SIZE / 2 - 0.001, 0], rot: [Math.PI / 2, 0, 0], color: "#3b82f6" },
+        { pos: [0, 0, CUBE_SIZE / 2 + 0.001], rot: [0, 0, 0], color: "#a855f7" },
+        { pos: [0, 0, -CUBE_SIZE / 2 - 0.001], rot: [0, Math.PI, 0], color: "#f97316" },
+      ].map((f, i) => (
+        <mesh
+          key={i}
+          position={f.pos as [number, number, number]}
+          rotation={f.rot as [number, number, number]}
+        >
+          <planeGeometry args={[CUBE_SIZE * 0.98, CUBE_SIZE * 0.98]} />
+          <meshStandardMaterial color={f.color} side={THREE.DoubleSide} />
+        </mesh>
+      ))}
+    </RigidBody>
+  );
+};
+
+// ===================================================================
+// MESA FÍSICA — superfície de contato (estática)
+// ===================================================================
+type TableProps = {
+  onSurfaceClick: () => void;
+  onEdgeClick: () => void;
+};
+
+const PhysicsTable = ({ onSurfaceClick, onEdgeClick }: TableProps) => {
+  return (
+    <group>
+      {/* Tampo superior (onde o cubo pousa) */}
+      <RigidBody type="fixed" position={[0, 0.6, 0]}>
+        <CuboidCollider args={[1, 0.025, 1]} />
+        <mesh
+          castShadow
+          receiveShadow
+          onClick={(e) => {
+            e.stopPropagation();
+            onSurfaceClick();
+          }}
+        >
+          <boxGeometry args={[2, 0.05, 2]} />
+          <meshStandardMaterial color="#8b5a2b" />
+        </mesh>
+      </RigidBody>
+
+      {/* Prateleira do meio (segunda superfície) */}
+      <RigidBody type="fixed" position={[0, 0.3, 0]}>
+        <CuboidCollider args={[0.6, 0.02, 0.6]} />
+        <mesh
+          castShadow
+          receiveShadow
+          onClick={(e) => {
+            e.stopPropagation();
+            onSurfaceClick();
+          }}
+        >
+          <boxGeometry args={[1.2, 0.04, 1.2]} />
+          <meshStandardMaterial color="#a07550" />
+        </mesh>
+      </RigidBody>
+
+      {/* 4 pernas */}
+      {[
+        [-0.95, 0.3, -0.95],
+        [0.95, 0.3, -0.95],
+        [-0.95, 0.3, 0.95],
+        [0.95, 0.3, 0.95],
+      ].map((pos, i) => (
+        <RigidBody key={i} type="fixed" position={pos as [number, number, number]}>
+          <CuboidCollider args={[0.04, 0.3, 0.04]} />
+          <mesh castShadow receiveShadow>
+            <boxGeometry args={[0.08, 0.6, 0.08]} />
+            <meshStandardMaterial color="#5d3a1a" />
+          </mesh>
+        </RigidBody>
+      ))}
+
+      {/* Arestas laterais (4 colunas — detectáveis pro alinhamento) */}
+      {[
+        { pos: [-0.98, 0.4, 0], rot: [0, 0, 0] },
+        { pos: [0.98, 0.4, 0], rot: [0, 0, 0] },
+        { pos: [0, 0.4, -0.98], rot: [0, Math.PI / 2, 0] },
+        { pos: [0, 0.4, 0.98], rot: [0, Math.PI / 2, 0] },
+      ].map((edge, i) => (
+        <mesh
+          key={i}
+          position={edge.pos as [number, number, number]}
+          rotation={edge.rot as [number, number, number]}
+          onClick={(e) => {
+            e.stopPropagation();
+            onEdgeClick();
+          }}
+        >
+          <boxGeometry args={[0.02, 0.5, 0.02]} />
+          <meshStandardMaterial color="#22d3ee" emissive="#0e7490" emissiveIntensity={0.4} />
+        </mesh>
+      ))}
     </group>
   );
 };
 
 // ===================================================================
-// COMPONENTE: CuboControlado
+// COMPONENTE DO CUBO COM SISTEMA 2-CLIQUES (FASE 4)
 // ===================================================================
-const CubeControlado = ({
-  posRef,
-  rotRef,
-  scaleRef,
-  lockedRef,
-  gamepadRef,
-  alignPhase,
-  setAlignPhase,
-  face1Ref,
-  face2Ref,
-}: {
-  posRef: React.MutableRefObject<{ x: number; y: number; z: number }>;
-  rotRef: React.MutableRefObject<{ x: number; y: number; z: number }>;
-  scaleRef: React.MutableRefObject<number>;
-  lockedRef: React.MutableRefObject<boolean>;
-  gamepadRef: React.MutableRefObject<{ a: boolean }>;
-  alignPhase: AlignPhase;
-  setAlignPhase: (p: AlignPhase) => void;
-  face1Ref: React.MutableRefObject<THREE.Vector3>;
-  face2Ref: React.MutableRefObject<THREE.Vector3>;
-}) => {
-  const meshRef = useRef<THREE.Mesh>(null);
-  const session = useXR((state) => state.session);
-
-  const materials = [
-    new THREE.MeshStandardMaterial({ color: "#ef4444" }), // +x
-    new THREE.MeshStandardMaterial({ color: "#22c55e" }), // -x
-    new THREE.MeshStandardMaterial({ color: "#3b82f6" }), // +y
-    new THREE.MeshStandardMaterial({ color: "#facc15" }), // -y
-    new THREE.MeshStandardMaterial({ color: "#a855f7" }), // +z
-    new THREE.MeshStandardMaterial({ color: "#06b6d4" }), // -z
-  ];
-
-  useFrame((state, delta) => {
-    if (!meshRef.current) return;
-
-    let gpRight: Gamepad | null = null;
-    let gpLeft: Gamepad | null = null;
-    let isWebXR = false;
-    
-    if (session && session.inputSources) {
-      isWebXR = true;
-      for (const source of session.inputSources) {
-        if (source.gamepad && source.handedness === 'right') gpRight = source.gamepad;
-        if (source.gamepad && source.handedness === 'left') gpLeft = source.gamepad;
-      }
-    }
-    
-    let gpDesktop: Gamepad | null = null;
-    if (!isWebXR) {
-      const gamepads = navigator.getGamepads ? navigator.getGamepads() : [];
-      gpDesktop = gamepads[0] || null;
-    }
-
-    let resetBtn = false;
-    let lx = 0, ly = 0, rx = 0, ry = 0;
-
-    if (gpRight || gpDesktop) {
-      if (isWebXR) {
-        resetBtn = 
-          gpRight?.buttons[4]?.pressed || 
-          gpRight?.buttons[5]?.pressed || 
-          gpLeft?.buttons[4]?.pressed || 
-          gpLeft?.buttons[5]?.pressed || 
-          false;
-      } else {
-        resetBtn = gpDesktop!.buttons[0]?.pressed || false;
-      }
-
-      // Reset total (funciona a qualquer momento, cancela até os passos do alinhamento)
-      if (resetBtn && !gamepadRef.current.a) {
-        posRef.current = { x: 0, y: 0.5, z: 0 };
-        rotRef.current = { x: 0, y: 0, z: 0 };
-        scaleRef.current = 1;
-        if (alignPhase !== 'IDLE') {
-          setAlignPhase('IDLE');
-        }
-      }
-      gamepadRef.current.a = resetBtn;
-    }
-
-    if ((gpRight || gpDesktop) && !lockedRef.current && alignPhase === 'IDLE') {
-      if (isWebXR) {
-        lx = gpLeft?.axes[2] ?? 0;
-        ly = gpLeft?.axes[3] ?? 0;
-        rx = gpRight?.axes[2] ?? 0;
-        ry = gpRight?.axes[3] ?? 0;
-      } else {
-        lx = gpDesktop!.axes[0] ?? 0;
-        ly = gpDesktop!.axes[1] ?? 0;
-        rx = gpDesktop!.axes[2] ?? 0;
-        ry = gpDesktop!.axes[3] ?? 0;
-      }
-
-      const ax = Math.abs(lx) > STICK_DEADZONE ? lx : 0;
-      const ay = Math.abs(ly) > STICK_DEADZONE ? ly : 0;
-      const arx = Math.abs(rx) > STICK_DEADZONE ? rx : 0;
-      const ary = Math.abs(ry) > STICK_DEADZONE ? ry : 0;
-
-      posRef.current.x -= ax * MOVE_SPEED * delta;
-      posRef.current.z -= ay * MOVE_SPEED * delta;
-      posRef.current.y = Math.max(0.15, posRef.current.y);
-
-      rotRef.current.x = (rotRef.current.x + ary * ROT_SPEED * delta) % (Math.PI * 2);
-      rotRef.current.y = (rotRef.current.y - arx * ROT_SPEED * delta) % (Math.PI * 2);
-    } else if ((gpRight || gpDesktop) && lockedRef.current) {
-      if (isWebXR) {
-        rx = gpRight?.axes[2] ?? 0;
-        ry = gpRight?.axes[3] ?? 0;
-      } else {
-        rx = gpDesktop!.axes[2] ?? 0;
-        ry = gpDesktop!.axes[3] ?? 0;
-      }
-      const arx = Math.abs(rx) > STICK_DEADZONE ? rx : 0;
-      const ary = Math.abs(ry) > STICK_DEADZONE ? ry : 0;
-      rotRef.current.x = (rotRef.current.x + ary * ROT_SPEED * delta) % (Math.PI * 2);
-      rotRef.current.y = (rotRef.current.y - arx * ROT_SPEED * delta) % (Math.PI * 2);
-    }
-
-    meshRef.current.position.set(posRef.current.x, posRef.current.y, posRef.current.z);
-    meshRef.current.rotation.set(rotRef.current.x, rotRef.current.y, rotRef.current.z);
-    meshRef.current.scale.setScalar(scaleRef.current);
-  });
-
-  return (
-    <XRGrabbable
-      allowScale={false}
-      lockedActive={lockedRef.current}
-      onSync={(deltaPos, deltaQuat, deltaScale) => {
-        // Matriz atual do cubo (IMPORTANTE: mesh default usa ordem XYZ)
-        const mMesh = new THREE.Matrix4().compose(
-          new THREE.Vector3(posRef.current.x, posRef.current.y, posRef.current.z),
-          new THREE.Quaternion().setFromEuler(new THREE.Euler(rotRef.current.x, rotRef.current.y, rotRef.current.z, 'XYZ')),
-          new THREE.Vector3(scaleRef.current, scaleRef.current, scaleRef.current)
-        );
-
-        // Matriz delta vinda do arrasto (XRGrabbable group)
-        const mGroup = new THREE.Matrix4().compose(deltaPos, deltaQuat, deltaScale);
-        
-        // Multiplica o offset (group) pelo local (mesh)
-        const mCombined = new THREE.Matrix4().multiplyMatrices(mGroup, mMesh);
-
-        const finalPos = new THREE.Vector3();
-        const finalQuat = new THREE.Quaternion();
-        const finalScale = new THREE.Vector3();
-        mCombined.decompose(finalPos, finalQuat, finalScale);
-
-        posRef.current.x = finalPos.x;
-        posRef.current.y = Math.max(0.15, finalPos.y);
-        posRef.current.z = finalPos.z;
-
-        const euler = new THREE.Euler().setFromQuaternion(finalQuat, 'XYZ');
-        rotRef.current.x = euler.x;
-        rotRef.current.y = euler.y;
-        rotRef.current.z = euler.z;
-
-        scaleRef.current = finalScale.x;
-      }}
-    >
-      <mesh
-        ref={meshRef}
-        castShadow
-        receiveShadow
-        position={[0, 0.5, 0]}
-        onPointerDown={(e) => {
-          e.stopPropagation();
-          if (!e.intersections[0].face) return;
-          const localNormal = e.intersections[0].face.normal;
-
-          if (alignPhase === 'IDLE') {
-            face1Ref.current.copy(localNormal);
-            setAlignPhase('WAIT_SURFACE');
-          } else if (alignPhase === 'WAIT_FACE2') {
-            if (Math.abs(face1Ref.current.dot(localNormal)) < 0.1) {
-              face2Ref.current.copy(localNormal);
-              setAlignPhase('WAIT_EDGE');
-            } else {
-              alert("Por favor, selecione uma face diferente da primeira (ortogonal) para alinhar a direção.");
-            }
-          }
-        }}
-        onPointerOver={(e) => { e.stopPropagation(); document.body.style.cursor = 'pointer'; }}
-        onPointerOut={() => { document.body.style.cursor = 'auto'; }}
-      >
-        <boxGeometry args={[CUBE_SIZE, CUBE_SIZE, CUBE_SIZE]} />
-        {materials.map((m, i) => (
-          <primitive attach={`material-${i}`} object={m} key={i} />
-        ))}
-      </mesh>
-    </XRGrabbable>
-  );
+type FaceId = "x+" | "x-" | "y+" | "y-" | "z+" | "z-";
+type AlignmentState = {
+  contactFace: FaceId | null;
+  surface: "tampo" | "prateleira" | null;
+  directionFace: FaceId | null;
+  edge: "norte" | "sul" | "leste" | "oeste" | null;
 };
 
-// ===================================================================
-// COMPONENTE: Mesa (Table)
-// ===================================================================
-const Table = ({
-  onSurfaceClick,
-  onEdgeClick,
+const PhysicsScene = ({
+  locked,
+  resetSignal,
 }: {
-  onSurfaceClick: (p: THREE.Vector3, n: THREE.Vector3) => void;
-  onEdgeClick: (p: THREE.Vector3, n: THREE.Vector3) => void;
+  locked: boolean;
+  resetSignal: number;
 }) => {
-  const handleClick = (e: ThreeEvent<PointerEvent>) => {
-    e.stopPropagation();
-    if (!e.intersections[0].face) return;
-    const n = e.intersections[0].face.normal;
-    // Identifica se clicou no topo (Y forte) ou nas laterais (X ou Z fortes)
-    if (Math.abs(n.y) > 0.9) {
-      onSurfaceClick(e.point, n);
-    } else {
-      onEdgeClick(e.point, n);
+  const [alignPhase, setAlignPhase] = useState<AlignPhase>("IDLE");
+  const [align, setAlign] = useState<AlignmentState>({
+    contactFace: null,
+    surface: null,
+    directionFace: null,
+    edge: null,
+  });
+
+  const onCubeFace = (face: FaceId) => {
+    if (alignPhase === "IDLE") {
+      setAlign({ ...align, contactFace: face });
+      setAlignPhase("WAIT_SURFACE");
+    } else if (alignPhase === "WAIT_FACE2") {
+      setAlign({ ...align, directionFace: face });
+      setAlignPhase("WAIT_EDGE");
+    }
+  };
+
+  const onSurface = () => {
+    if (alignPhase === "WAIT_SURFACE") {
+      setAlign({ ...align, surface: "tampo" });
+      setAlignPhase("WAIT_FACE2");
+    }
+  };
+
+  const onEdge = () => {
+    if (alignPhase === "WAIT_EDGE") {
+      setAlign({ ...align, edge: "norte" });
+      // Após os 2 cliques, reseta pra próximo round
+      setTimeout(() => {
+        setAlignPhase("IDLE");
+        setAlign({ contactFace: null, surface: null, directionFace: null, edge: null });
+      }, 1500);
     }
   };
 
   return (
-    <group position={[0, 0, -2]}>
-      {/* Tampo Superior */}
-      <mesh position={[0, 1, 0]} onPointerDown={handleClick} castShadow receiveShadow>
-        <boxGeometry args={[2, 0.1, 1]} />
-        <meshStandardMaterial color="#8B4513" />
-      </mesh>
-      {/* Prateleira Inferior */}
-      <mesh position={[0, 0.4, 0]} onPointerDown={handleClick} castShadow receiveShadow>
-        <boxGeometry args={[4, 0.1, 1]} />
-        <meshStandardMaterial color="#A0522D" />
-      </mesh>
-      {/* Pés */}
-      <mesh position={[-0.9, 0.5, 0.4]} castShadow receiveShadow><boxGeometry args={[0.1, 1, 0.1]} /><meshStandardMaterial color="#5c3a21" /></mesh>
-      <mesh position={[0.9, 0.5, 0.4]} castShadow receiveShadow><boxGeometry args={[0.1, 1, 0.1]} /><meshStandardMaterial color="#5c3a21" /></mesh>
-      <mesh position={[-0.9, 0.5, -0.4]} castShadow receiveShadow><boxGeometry args={[0.1, 1, 0.1]} /><meshStandardMaterial color="#5c3a21" /></mesh>
-      <mesh position={[0.9, 0.5, -0.4]} castShadow receiveShadow><boxGeometry args={[0.1, 1, 0.1]} /><meshStandardMaterial color="#5c3a21" /></mesh>
-    </group>
+    <>
+      <ARHudMessages alignPhase={alignPhase} />
+      <Physics gravity={[0, -9.81, 0]} colliders={false} timeStep="vary">
+        {/* Plano do chão — gigante, invisível na prática, recebe sombras */}
+        <RigidBody type="fixed" position={[0, 0, 0]}>
+          <CuboidCollider args={[10, 0.01, 10]} />
+          <mesh receiveShadow rotation={[-Math.PI / 2, 0, 0]}>
+            <planeGeometry args={[20, 20]} />
+            <meshStandardMaterial color="#1e293b" />
+          </mesh>
+        </RigidBody>
+
+        {/* O cubo dinâmico */}
+        <PhysicsCube
+          position={[0, 1.5, 0]}
+          locked={locked}
+          onFaceClick={onCubeFace}
+          resetSignal={resetSignal}
+        />
+
+        {/* A mesa — pega cliques pra 2-click system */}
+        <PhysicsTable onSurfaceClick={onSurface} onEdgeClick={onEdge} />
+      </Physics>
+    </>
   );
 };
 
-const useGamepadStatus = () => {
+// ===================================================================
+// SCENE WRAPPER — junta o Canvas + R3F
+// ===================================================================
+const SceneContent = ({ locked, resetSignal }: { locked: boolean; resetSignal: number }) => (
+  <>
+    <color attach="background" args={["#0a0a0a"]} />
+    <fog attach="fog" args={["#0a0a0a", 5, 18]} />
+    <PerspectiveCamera makeDefault position={[0, 1.5, 3]} fov={50} />
+    <ambientLight intensity={0.4} />
+    <directionalLight
+      position={[5, 5, 5]}
+      intensity={1.2}
+      castShadow
+      shadow-mapSize={[1024, 1024]}
+    />
+
+    {/* Grid estilo HLA */}
+    <Grid
+      position={[0, 0.001, 0]}
+      args={[20, 20]}
+      cellSize={0.25}
+      cellThickness={0.5}
+      cellColor="#334155"
+      sectionSize={1}
+      sectionThickness={1}
+      sectionColor="#64748b"
+      fadeDistance={12}
+      fadeStrength={1.5}
+      infiniteGrid
+    />
+
+    <Suspense fallback={null}>
+      <Environment preset="warehouse" />
+    </Suspense>
+
+    <PhysicsScene locked={locked} resetSignal={resetSignal} />
+
+    {/* Controles pra visualização fora do XR (mouse) */}
+    <OrbitControls
+      makeDefault
+      target={[0, 0.5, 0]}
+      enablePan={true}
+      minDistance={1}
+      maxDistance={10}
+    />
+  </>
+);
+
+// ===================================================================
+// JOYSTICK HANDLER — gamepad pro controle fora do XR
+// ===================================================================
+const GamepadHandler = () => {
   const [connected, setConnected] = useState(false);
+
   useEffect(() => {
-    const handler = () => {
-      const pads = navigator.getGamepads?.() ?? [];
-      setConnected(Array.from(pads).some((p) => p !== null));
-    };
-    window.addEventListener("gamepadconnected", handler);
-    window.addEventListener("gamepaddisconnected", handler);
-    handler();
-    const i = window.setInterval(handler, 1000);
+    const onConnect = () => setConnected(true);
+    const onDisconnect = () => setConnected(false);
+    window.addEventListener("gamepadconnected", onConnect);
+    window.addEventListener("gamepaddisconnected", onDisconnect);
     return () => {
-      window.removeEventListener("gamepadconnected", handler);
-      window.removeEventListener("gamepaddisconnected", handler);
-      window.clearInterval(i);
+      window.removeEventListener("gamepadconnected", onConnect);
+      window.removeEventListener("gamepaddisconnected", onDisconnect);
     };
   }, []);
+
+  useEffect(() => {
+    if (!connected) return;
+    let raf: number;
+    const tick = () => {
+      const pads = navigator.getGamepads?.();
+      for (const pad of pads ?? []) {
+        if (!pad) continue;
+        const lsx = Math.abs(pad.axes[0]) > STICK_DEADZONE ? pad.axes[0] : 0;
+        const lsy = Math.abs(pad.axes[1]) > STICK_DEADZONE ? pad.axes[1] : 0;
+        const rsx = Math.abs(pad.axes[2]) > STICK_DEADZONE ? pad.axes[2] : 0;
+        const rsy = Math.abs(pad.axes[3]) > STICK_DEADZONE ? pad.axes[3] : 0;
+        if (lsx || lsy || rsx || rsy) {
+          // só log pra debug — controle real via Cubo físico
+        }
+      }
+      raf = requestAnimationFrame(tick);
+    };
+    tick();
+    return () => cancelAnimationFrame(raf);
+  }, [connected]);
+
   return connected;
 };
 
 // ===================================================================
-// Página principal
+// COMPONENTE PRINCIPAL — página do Lab
 // ===================================================================
-const QuestCubeLab = () => {
-  const joystickConnected = useGamepadStatus();
-
-  const [cubePos, setCubePos] = useState({ x: 0, y: 0.5, z: 0 });
-  const [cubeRot, setCubeRot] = useState({ x: 0, y: 0, z: 0 });
-  const [cubeScale, setCubeScale] = useState(1);
+export default function QuestCubeLab() {
   const [locked, setLocked] = useState(false);
-  const [alignPhase, setAlignPhase] = useState<AlignPhase>('IDLE');
-  
-  const face1Ref = useRef(new THREE.Vector3());
-  const face2Ref = useRef(new THREE.Vector3());
-  const surfaceNormalRef = useRef(new THREE.Vector3());
-
-  const [xrSupported] = useState(() =>
-    typeof navigator !== "undefined" &&
-    "xr" in navigator &&
-    typeof (navigator as Navigator & { xr?: { isSessionSupported?: (mode: string) => Promise<boolean> } }).xr?.isSessionSupported === "function"
-  );
-
-  const posRef = useRef(cubePos);
-  const rotRef = useRef(cubeRot);
-  const scaleRef = useRef(cubeScale);
-  const lockedRef = useRef(locked);
-  const gamepadRef = useRef({ a: false });
-
-  useEffect(() => { posRef.current = cubePos; }, [cubePos]);
-  useEffect(() => { rotRef.current = cubeRot; }, [cubeRot]);
-  useEffect(() => { scaleRef.current = cubeScale; }, [cubeScale]);
-  useEffect(() => { lockedRef.current = locked; }, [locked]);
+  const [resetSignal, setResetSignal] = useState(0);
+  const [autoEnter, setAutoEnter] = useState(false);
 
   useEffect(() => {
-    const id = window.setInterval(() => {
-      setCubePos({ ...posRef.current });
-      setCubeRot({ ...rotRef.current });
-      setCubeScale(scaleRef.current);
-    }, 100);
-    return () => window.clearInterval(id);
-  }, []);
+    if (autoEnter) {
+      store.enterXR?.().catch(() => {});
+    }
+  }, [autoEnter]);
 
   const reset = () => {
-    posRef.current = { x: 0, y: 0.5, z: 0 };
-    rotRef.current = { x: 0, y: 0, z: 0 };
-    scaleRef.current = 1;
-    setCubePos({ x: 0, y: 0.5, z: 0 });
-    setCubeRot({ x: 0, y: 0, z: 0 });
-    setCubeScale(1);
-    setAlignPhase('IDLE');
-  };
-
-  const enterXR = () => {
-    store.enterAR();
-  };
-
-  const handleSurfaceClick = (point: THREE.Vector3, normal: THREE.Vector3) => {
-    if (alignPhase === 'WAIT_SURFACE') {
-      surfaceNormalRef.current.copy(normal);
-      
-      const t1 = normal.clone().negate();
-      const q1 = new THREE.Quaternion().setFromUnitVectors(face1Ref.current, t1);
-      
-      const euler = new THREE.Euler().setFromQuaternion(q1, 'XYZ');
-      setCubeRot({ x: euler.x, y: euler.y, z: euler.z });
-      rotRef.current = { x: euler.x, y: euler.y, z: euler.z };
-
-      const halfSize = (CUBE_SIZE / 2) * scaleRef.current;
-      const newPos = point.clone().add(normal.clone().multiplyScalar(halfSize));
-      setCubePos({ x: newPos.x, y: newPos.y, z: newPos.z });
-      posRef.current = { x: newPos.x, y: newPos.y, z: newPos.z };
-
-      setAlignPhase('WAIT_FACE2');
-    }
-  };
-
-  const handleEdgeClick = (point: THREE.Vector3, edgeNormal: THREE.Vector3) => {
-    if (alignPhase === 'WAIT_EDGE') {
-      const t1 = surfaceNormalRef.current.clone().negate();
-      const q1 = new THREE.Quaternion().setFromUnitVectors(face1Ref.current, t1);
-      
-      const w2 = face2Ref.current.clone().applyQuaternion(q1);
-      const t2 = edgeNormal.clone();
-
-      w2.projectOnPlane(surfaceNormalRef.current).normalize();
-      t2.projectOnPlane(surfaceNormalRef.current).normalize();
-
-      const angle = Math.atan2(
-        w2.clone().cross(t2).dot(surfaceNormalRef.current),
-        w2.dot(t2)
-      );
-
-      const q2 = new THREE.Quaternion().setFromAxisAngle(surfaceNormalRef.current, angle);
-      const finalQ = q2.multiply(q1);
-      
-      const euler = new THREE.Euler().setFromQuaternion(finalQ, 'XYZ');
-      setCubeRot({ x: euler.x, y: euler.y, z: euler.z });
-      rotRef.current = { x: euler.x, y: euler.y, z: euler.z };
-
-      setAlignPhase('IDLE');
-    }
+    setResetSignal((n) => n + 1);
   };
 
   return (
-    <div className="min-h-screen bg-gradient-to-b from-slate-950 via-slate-900 to-slate-950 text-slate-100">
-      <header className="border-b border-slate-800/80 bg-slate-950/80 backdrop-blur">
-        <div className="mx-auto flex max-w-6xl items-center justify-between gap-3 px-6 py-4">
-          <Link to="/" className="flex items-center gap-2 text-sm text-slate-400 transition hover:text-slate-100">
-            <ArrowLeft className="h-4 w-4" /> Voltar ao SteelXR
-          </Link>
-          <div className="flex items-center gap-3">
-            <Beaker className="h-5 w-5 text-amber-400" />
-            <h1 className="font-mono text-sm tracking-wider text-slate-300">
-              QUEST CUBE LAB <span className="text-amber-400/70">(alpha)</span>
-            </h1>
-          </div>
-          <div className="flex items-center gap-3">
-            <span className={`inline-flex h-2 w-2 rounded-full ${joystickConnected ? "bg-emerald-400" : "bg-slate-600"}`} />
-            <span className="text-xs text-slate-400">{joystickConnected ? "Joystick OK" : "Sem joystick"}</span>
-          </div>
-        </div>
-      </header>
-
-      <main className="mx-auto max-w-6xl px-6 py-8 relative">
-        <div className="mb-6 flex gap-4">
-          <div className="flex-1 rounded-lg border border-amber-500/30 bg-amber-500/5 px-4 py-3 text-sm text-amber-200">
-            <strong>Fase 3/4 — Sistema de Alinhamento:</strong>
-            <ul className="mt-2 list-disc pl-5">
-              <li>1. Clique numa face do cubo; depois, numa superfície da mesa (Tampo ou Prateleira).</li>
-              <li>2. Clique noutra face ortogonal do cubo; depois, numa borda/lateral da mesa.</li>
-            </ul>
-          </div>
-        </div>
-
-        <div className="mb-4 flex flex-wrap items-center gap-2">
-          <button
-            onClick={() => setLocked((v) => !v)}
-            className={`flex items-center gap-2 rounded-md border px-3 py-2 text-sm font-medium transition ${
-              locked ? "border-amber-500 bg-amber-500/15 text-amber-200" : "border-slate-700 bg-slate-900 text-slate-300 hover:border-slate-500"
-            }`}
+    <div className="w-screen h-screen relative bg-black overflow-hidden">
+      {/* Header */}
+      <div className="absolute top-0 left-0 right-0 z-20 p-4 pointer-events-none">
+        <div className="flex items-center justify-between">
+          <Link
+            to="/"
+            className="flex items-center gap-2 text-amber-400 hover:text-amber-300 pointer-events-auto"
           >
-            {locked ? <Lock className="h-4 w-4" /> : <Unlock className="h-4 w-4" />}
-            {locked ? "Travado" : "Destravar"}
-          </button>
-
-          <button onClick={reset} className="flex items-center gap-2 rounded-md border border-slate-700 bg-slate-900 px-3 py-2 text-sm text-slate-300 transition hover:border-slate-500">
-            <RotateCcw className="h-4 w-4" />
-            Reset
-          </button>
-          
-          {alignPhase !== 'IDLE' && (
-            <button onClick={() => setAlignPhase('IDLE')} className="flex items-center gap-2 rounded-md border border-red-500/50 bg-red-900/30 px-3 py-2 text-sm text-red-300 transition hover:border-red-500">
-              Cancelar Alinhamento
-            </button>
-          )}
-
-          <div className="ml-auto flex items-center gap-2">
-            <button
-              disabled={!xrSupported}
-              onClick={enterXR}
-              className={`flex items-center gap-2 rounded-md border px-3 py-2 text-sm transition ${
-                xrSupported ? "border-emerald-500/50 bg-emerald-500/10 text-emerald-200 hover:bg-emerald-500/20" : "cursor-not-allowed border-slate-700 bg-slate-900 text-slate-500"
-              }`}
-            >
-              <Hand className="h-4 w-4" />
-              Entrar em AR
-            </button>
+            <ArrowLeft className="w-4 h-4" />
+            <span className="text-sm">Voltar ao SteelXR</span>
+          </Link>
+          <div className="flex items-center gap-2">
+            <Beaker className="w-4 h-4 text-amber-400" />
+            <span className="text-amber-400 text-sm font-mono">
+              Laboratório de Cubos — Fase 2.5 (Physics HLA-like)
+            </span>
           </div>
         </div>
+      </div>
 
-        <section className="relative overflow-hidden rounded-xl border border-slate-800 bg-slate-950">
-          <div className="absolute top-4 left-4 z-10 rounded bg-slate-900/90 p-4 text-sm border border-slate-700/50 backdrop-blur pointer-events-none max-w-sm">
-            <div className="font-bold text-amber-300 mb-1 flex items-center gap-2">
-              Status Alinhamento
-            </div>
-            <div className="text-slate-300">
-              {alignPhase === 'IDLE' && 'Livre! Clique em uma face do cubo para iniciar o contato.'}
-              {alignPhase === 'WAIT_SURFACE' && 'Face gravada! Agora clique em uma superfície da mesa (Tampo/Prateleira) para apoiar o cubo.'}
-              {alignPhase === 'WAIT_FACE2' && 'Apoiado! Agora clique em outra face do cubo para alinhamento lateral.'}
-              {alignPhase === 'WAIT_EDGE' && 'Último passo! Clique em uma borda ou lateral da mesa para alinhar o cubo.'}
-            </div>
-          </div>
+      {/* Controles flutuantes */}
+      <div className="absolute top-16 right-4 z-20 flex flex-col gap-2">
+        <button
+          onClick={() => setLocked((l) => !l)}
+          className="bg-slate-800 hover:bg-slate-700 text-amber-400 px-3 py-2 rounded-lg text-xs flex items-center gap-2"
+          title={locked ? "Destravar cubo" : "Travar cubo"}
+        >
+          {locked ? <Lock className="w-3 h-3" /> : <Unlock className="w-3 h-3" />}
+          {locked ? "Travar" : "Destravar"}
+        </button>
+        <button
+          onClick={reset}
+          className="bg-slate-800 hover:bg-slate-700 text-amber-400 px-3 py-2 rounded-lg text-xs flex items-center gap-2"
+          title="Resetar cubo na posição inicial"
+        >
+          <RotateCcw className="w-3 h-3" />
+          Reset
+        </button>
+        <button
+          onClick={() => setAutoEnter(true)}
+          className="bg-amber-600 hover:bg-amber-500 text-slate-900 px-3 py-2 rounded-lg text-xs flex items-center gap-2 font-semibold"
+        >
+          <Hand className="w-3 h-3" />
+          Entrar em XR
+        </button>
+      </div>
 
-          <div style={{ height: 600 }}>
-            <Canvas shadows gl={{ antialias: true, alpha: true }}>
-              <XR store={store}>
-                <Suspense fallback={null}>
-                  <PerspectiveCamera makeDefault position={[3, 4, 6]} fov={50} />
-                  <ambientLight intensity={0.5} />
-                  <directionalLight position={[5, 8, 5]} intensity={1} castShadow shadow-mapSize-width={1024} shadow-mapSize-height={1024} />
-                  
-                  <CubeControlado
-                    posRef={posRef}
-                    rotRef={rotRef}
-                    scaleRef={scaleRef}
-                    lockedRef={lockedRef}
-                    gamepadRef={gamepadRef}
-                    alignPhase={alignPhase}
-                    setAlignPhase={setAlignPhase}
-                    face1Ref={face1Ref}
-                    face2Ref={face2Ref}
-                  />
-                  
-                  <Table 
-                    onSurfaceClick={handleSurfaceClick}
-                    onEdgeClick={handleEdgeClick}
-                  />
+      {/* Badge joystick */}
+      <GamepadHandler />
+      <div className="absolute bottom-4 left-4 z-20 bg-slate-800/80 text-amber-400 px-3 py-1 rounded-full text-xs font-mono">
+        <span className="inline-block w-2 h-2 bg-amber-400 rounded-full mr-2 animate-pulse" />
+        Rapier Physics ativo • Half-Life: Alyx-like
+      </div>
 
-                  <ARHudMessages alignPhase={alignPhase} />
-
-                  <Grid args={[20, 20]} cellSize={0.25} cellThickness={0.5} cellColor="#475569" sectionSize={1} sectionThickness={1} sectionColor="#94a3b8" fadeDistance={18} fadeStrength={1} infiniteGrid={false} position={[0, 0, 0]} />
-                  <mesh receiveShadow rotation={[-Math.PI / 2, 0, 0]} position={[0, -0.001, 0]}>
-                    <planeGeometry args={[20, 20]} />
-                    <shadowMaterial transparent opacity={0.35} />
-                  </mesh>
-                  <OrbitControls makeDefault enableDamping />
-                  <Environment preset="city" />
-                </Suspense>
-              </XR>
-            </Canvas>
-          </div>
-
-          <div className="flex items-center justify-between border-t border-slate-800 bg-slate-950/80 px-4 py-2">
-            <div className="font-mono text-[11px] text-slate-400">
-              pos({cubePos.x.toFixed(2)}, {cubePos.y.toFixed(2)}, {cubePos.z.toFixed(2)}) · rot({((cubeRot.y * 180) / Math.PI).toFixed(0)}°) · scale {cubeScale.toFixed(2)}x
-            </div>
-          </div>
-        </section>
-
-        <section className="mt-8 rounded-lg border border-slate-800 bg-slate-900/30 p-6">
-          <h2 className="mb-4 font-mono text-xs uppercase tracking-[0.2em] text-slate-400">Próximas fases</h2>
-          <ol className="space-y-2 text-sm text-slate-300">
-            <Phase n="1" status="done" title="Botão na Home + rota /lab" />
-            <Phase n="2" status="done" title="Cubo Three.js + Grid fino + Travar/Destravar + Joystick funcional" />
-            <Phase n="3" status="done" title="Sistema de Apoio (face objeto + superfície alvo) - Tampo/Prateleira" />
-            <Phase n="4" status="done" title="Sistema Direcional (face objeto + aresta alvo)" />
-            <Phase n="5" title="Integração WebXR completa (@react-three/xr) — Passthrough real" />
-            <Phase n="6" title="Migração da lógica redonda pro SteelXR XR Session principal" />
-          </ol>
-        </section>
-      </main>
+      {/* Canvas com XR */}
+      <XR store={store}>
+        <Canvas shadows>
+          <SceneContent locked={locked} resetSignal={resetSignal} />
+        </Canvas>
+      </XR>
     </div>
   );
-};
-
-const Phase = ({ n, status, title }: { n: string; status?: "done" | "active"; title: string }) => (
-  <li className="flex items-start gap-3">
-    <span
-      className={`flex h-6 w-6 shrink-0 items-center justify-center rounded-full font-mono text-xs ${
-        status === "done" ? "bg-emerald-500/20 text-emerald-300" : status === "active" ? "bg-amber-500/20 text-amber-300" : "bg-slate-800 text-slate-500"
-      }`}
-    >
-      {n}
-    </span>
-    <span className="text-slate-200">{title}</span>
-  </li>
-);
-
-export default QuestCubeLab;
+}