diff --git a/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothGuess.cs b/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothGuess.cs
index da73be448..13e0deab6 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothGuess.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothGuess.cs
@@ -138,7 +138,7 @@ namespace UniVRM10.Cloth.Viewer
                             var warp = childchild.gameObject.AddComponent<ClothWarpRoot>();
                             //     Name = name,
                             //     CollisionMask = mask,
-                            warp.BaseSettings.radius = 0.02f;
+                            warp.BaseSettings.Radius = 0.02f;
                             //     Connection = type
                             transforms.Add(warp);
                             break;
@@ -179,7 +179,7 @@ namespace UniVRM10.Cloth.Viewer
                         if (warp != null)
                         {
                             // CollisionMask = mask,
-                            warp.BaseSettings.radius = 0.02f;
+                            warp.BaseSettings.Radius = 0.02f;
                             // Connection = type
                             transforms.Add(warp);
                         }
diff --git a/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothViewer.unity b/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothViewer.unity
index 75d5db057..d6abc2f6b 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothViewer.unity
+++ b/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothViewer.unity
@@ -402,7 +402,7 @@ MonoBehaviour:
   onValueChanged:
     m_PersistentCalls:
       m_Calls: []
-  m_IsOn: 0
+  m_IsOn: 1
 --- !u!1 &153452228
 GameObject:
   m_ObjectHideFlags: 0
@@ -686,6 +686,92 @@ CanvasRenderer:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 168425994}
   m_CullTransparentMesh: 0
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+  m_PrefabInstance: {fileID: 0}
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+  - component: {fileID: 172483634}
+  m_Layer: 5
+  m_Name: AddClothToHips
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!224 &172483633
+RectTransform:
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+  m_LocalScale: {x: 1, y: 1, z: 1}
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+  m_AnchoredPosition: {x: 0, y: 0}
+  m_SizeDelta: {x: 162, y: 20}
+  m_Pivot: {x: 0.5, y: 0.5}
+--- !u!114 &172483634
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+    m_SelectedColor: {r: 0.9607843, g: 0.9607843, b: 0.9607843, a: 1}
+    m_DisabledColor: {r: 0.78431374, g: 0.78431374, b: 0.78431374, a: 0.5019608}
+    m_ColorMultiplier: 1
+    m_FadeDuration: 0.1
+  m_SpriteState:
+    m_HighlightedSprite: {fileID: 0}
+    m_PressedSprite: {fileID: 0}
+    m_SelectedSprite: {fileID: 0}
+    m_DisabledSprite: {fileID: 0}
+  m_AnimationTriggers:
+    m_NormalTrigger: Normal
+    m_HighlightedTrigger: Highlighted
+    m_PressedTrigger: Pressed
+    m_SelectedTrigger: Highlighted
+    m_DisabledTrigger: Disabled
+  m_Interactable: 1
+  m_TargetGraphic: {fileID: 1472853924}
+  toggleTransition: 1
+  graphic: {fileID: 1236232219}
+  m_Group: {fileID: 0}
+  onValueChanged:
+    m_PersistentCalls:
+      m_Calls: []
+  m_IsOn: 1
 --- !u!1 &175751362
 GameObject:
   m_ObjectHideFlags: 0
@@ -1407,6 +1493,7 @@ RectTransform:
   - {fileID: 1767706907}
   - {fileID: 947409974}
   - {fileID: 135168672}
+  - {fileID: 172483633}
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   - {fileID: 1194499280}
   - {fileID: 153452229}
@@ -5027,6 +5114,81 @@ CanvasRenderer:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1215781541}
   m_CullTransparentMesh: 0
+--- !u!1 &1236232217
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
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+  - component: {fileID: 1236232220}
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+  m_Layer: 5
+  m_Name: Checkmark
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!224 &1236232218
+RectTransform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1236232217}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 1472853923}
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+  m_AnchorMax: {x: 0.5, y: 0.5}
+  m_AnchoredPosition: {x: 0, y: 0}
+  m_SizeDelta: {x: 20, y: 20}
+  m_Pivot: {x: 0.5, y: 0.5}
+--- !u!114 &1236232219
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1236232217}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Material: {fileID: 0}
+  m_Color: {r: 1, g: 1, b: 1, a: 1}
+  m_RaycastTarget: 1
+  m_RaycastPadding: {x: 0, y: 0, z: 0, w: 0}
+  m_Maskable: 1
+  m_OnCullStateChanged:
+    m_PersistentCalls:
+      m_Calls: []
+  m_Sprite: {fileID: 10901, guid: 0000000000000000f000000000000000, type: 0}
+  m_Type: 0
+  m_PreserveAspect: 0
+  m_FillCenter: 1
+  m_FillMethod: 4
+  m_FillAmount: 1
+  m_FillClockwise: 1
+  m_FillOrigin: 0
+  m_UseSpriteMesh: 0
+  m_PixelsPerUnitMultiplier: 1
+--- !u!222 &1236232220
+CanvasRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1236232217}
+  m_CullTransparentMesh: 0
 --- !u!1 &1242458542
 GameObject:
   m_ObjectHideFlags: 0
@@ -6228,6 +6390,82 @@ MonoBehaviour:
     m_PersistentCalls:
       m_Calls: []
   m_IsOn: 0
+--- !u!1 &1472853922
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
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+  - component: {fileID: 1472853925}
+  - component: {fileID: 1472853924}
+  m_Layer: 5
+  m_Name: Background
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!224 &1472853923
+RectTransform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1472853922}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children:
+  - {fileID: 1236232218}
+  m_Father: {fileID: 172483633}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+  m_AnchorMin: {x: 0, y: 1}
+  m_AnchorMax: {x: 0, y: 1}
+  m_AnchoredPosition: {x: 10, y: -10}
+  m_SizeDelta: {x: 20, y: 20}
+  m_Pivot: {x: 0.5, y: 0.5}
+--- !u!114 &1472853924
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1472853922}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Material: {fileID: 0}
+  m_Color: {r: 1, g: 1, b: 1, a: 1}
+  m_RaycastTarget: 1
+  m_RaycastPadding: {x: 0, y: 0, z: 0, w: 0}
+  m_Maskable: 1
+  m_OnCullStateChanged:
+    m_PersistentCalls:
+      m_Calls: []
+  m_Sprite: {fileID: 10905, guid: 0000000000000000f000000000000000, type: 0}
+  m_Type: 1
+  m_PreserveAspect: 0
+  m_FillCenter: 1
+  m_FillMethod: 4
+  m_FillAmount: 1
+  m_FillClockwise: 1
+  m_FillOrigin: 0
+  m_UseSpriteMesh: 0
+  m_PixelsPerUnitMultiplier: 1
+--- !u!222 &1472853925
+CanvasRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1472853922}
+  m_CullTransparentMesh: 0
 --- !u!1 &1476033060
 GameObject:
   m_ObjectHideFlags: 0
@@ -6774,6 +7012,85 @@ CanvasRenderer:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1684483641}
   m_CullTransparentMesh: 0
+--- !u!1 &1724807118
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1724807119}
+  - component: {fileID: 1724807121}
+  - component: {fileID: 1724807120}
+  m_Layer: 5
+  m_Name: Label
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!224 &1724807119
+RectTransform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1724807118}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 172483633}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+  m_AnchorMin: {x: 0, y: 0}
+  m_AnchorMax: {x: 1, y: 1}
+  m_AnchoredPosition: {x: 9, y: -0.5}
+  m_SizeDelta: {x: -28, y: -3}
+  m_Pivot: {x: 0.5, y: 0.5}
+--- !u!114 &1724807120
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1724807118}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 5f7201a12d95ffc409449d95f23cf332, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Material: {fileID: 0}
+  m_Color: {r: 0.19607843, g: 0.19607843, b: 0.19607843, a: 1}
+  m_RaycastTarget: 1
+  m_RaycastPadding: {x: 0, y: 0, z: 0, w: 0}
+  m_Maskable: 1
+  m_OnCullStateChanged:
+    m_PersistentCalls:
+      m_Calls: []
+  m_FontData:
+    m_Font: {fileID: 10102, guid: 0000000000000000e000000000000000, type: 0}
+    m_FontSize: 14
+    m_FontStyle: 0
+    m_BestFit: 0
+    m_MinSize: 10
+    m_MaxSize: 40
+    m_Alignment: 0
+    m_AlignByGeometry: 0
+    m_RichText: 1
+    m_HorizontalOverflow: 0
+    m_VerticalOverflow: 0
+    m_LineSpacing: 1
+  m_Text: Add cloth to Hips
+--- !u!222 &1724807121
+CanvasRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1724807118}
+  m_CullTransparentMesh: 0
 --- !u!1 &1761414315
 GameObject:
   m_ObjectHideFlags: 0
@@ -7224,6 +7541,7 @@ MonoBehaviour:
   m_openModel: {fileID: 2009818433}
   m_showBoxMan: {fileID: 1767706908}
   m_useJob: {fileID: 135168673}
+  m_addClothToHips: {fileID: 172483634}
   m_reconstructSprngBone: {fileID: 2144476968}
   m_resetSpringBone: {fileID: 1194499281}
   m_pauseSpringBone: {fileID: 153452230}
diff --git a/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothViewerUI.cs b/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothViewerUI.cs
index 5473dc515..a25670807 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothViewerUI.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothViewer/ClothViewerUI.cs
@@ -21,6 +21,7 @@ namespace UniVRM10.Cloth.Viewer
 
         [Header("Cloth")]
         [SerializeField] Toggle m_useJob = default;
+        [SerializeField] Toggle m_addClothToHips = default;
         [SerializeField] Button m_reconstructSprngBone = default;
         [SerializeField] Button m_resetSpringBone = default;
         [SerializeField] Toggle m_pauseSpringBone = default;
@@ -61,6 +62,7 @@ namespace UniVRM10.Cloth.Viewer
             m_showBoxMan = map.Get<Toggle>("ShowBoxMan");
 
             m_useJob = map.Get<Toggle>("UseJob");
+            m_addClothToHips = map.Get<Toggle>("AddClothToHips");
             m_reconstructSprngBone = map.Get<Button>("ReconstcutSpringBone");
             m_resetSpringBone = map.Get<Button>("ResetSpringBone");
             m_pauseSpringBone = map.Get<Toggle>("PauseSpringBone");
@@ -402,18 +404,20 @@ namespace UniVRM10.Cloth.Viewer
                 else
                 {
                     ClothWarpRuntimeProvider.FromVrm10(vrm,
-                        go => go.AddComponent<ClothWarpRoot>(),
-                        o => GameObject.DestroyImmediate(o));
+                        go => go.AddComponent<ClothWarpRoot>());
                 }
 
-                if (animator.GetBoneTransform(HumanBodyBones.Hips) is var hips)
+                if (m_addClothToHips.isOn)
                 {
-                    var cloth = hips.GetComponent<ClothGrid>();
-                    if (cloth == null)
+                    if (animator.GetBoneTransform(HumanBodyBones.Hips) is var hips)
                     {
-                        cloth = hips.gameObject.AddComponent<ClothGrid>();
-                        cloth.Reset();
-                        cloth.LoopIsClosed = true;
+                        var cloth = hips.GetComponent<ClothGrid>();
+                        if (cloth == null)
+                        {
+                            cloth = hips.gameObject.AddComponent<ClothGrid>();
+                            cloth.Reset();
+                            cloth.LoopIsClosed = true;
+                        }
                     }
                 }
             }
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/ClothWarp.Editor.asmdef b/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/ClothWarp.Editor.asmdef
index c602ccca8..bf9afac99 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/ClothWarp.Editor.asmdef
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/ClothWarp.Editor.asmdef
@@ -4,7 +4,9 @@
     "references": [
         "GUID:308b348fb80d89d42a9620951b0f60db",
         "GUID:e47c917724578cc43b5506c17a27e9a0",
-        "GUID:3e5d614bc16b50d41bd94c8d7444ca46"
+        "GUID:3e5d614bc16b50d41bd94c8d7444ca46",
+        "GUID:8d76e605759c3f64a957d63ef96ada7c",
+        "GUID:5f875fdc81c40184c8333b9d63c6ddd5"
     ],
     "includePlatforms": [],
     "excludePlatforms": [],
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/WarpRootEditor.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/ClothWarpRootEditor.cs
similarity index 53%
rename from Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/WarpRootEditor.cs
rename to Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/ClothWarpRootEditor.cs
index 44f81cae6..d432342aa 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/WarpRootEditor.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/ClothWarpRootEditor.cs
@@ -1,20 +1,21 @@
 using System;
-using System.Collections.Generic;
-using System.Linq;
 using UnityEditor;
 using UnityEditor.UIElements;
 using UnityEngine;
 using UnityEngine.UIElements;
-using UniVRM10;
+using UniGLTF;
+using System.Linq;
+
 
 namespace UniVRM10.ClothWarp.Components
 {
     [CustomEditor(typeof(ClothWarpRoot))]
-    class WarpRootEditor : Editor
+    class ClothWarpRootEditor : Editor
     {
         private ClothWarpRoot m_target;
         private Vrm10Instance m_vrm;
         private MultiColumnTreeView m_treeview;
+        VisualElement m_body;
 
         void OnEnable()
         {
@@ -27,37 +28,20 @@ namespace UniVRM10.ClothWarp.Components
             m_vrm = m_target.GetComponentInParent<Vrm10Instance>();
         }
 
-        // public override void OnInspectorGUI()
-        // {
-        //     var n = EditorUtility.GetDirtyCount(m_target.GetInstanceID());
-        //     base.OnInspectorGUI();
-        //     if (n != EditorUtility.GetDirtyCount(m_target.GetInstanceID()))
-        //     {
-        //         if (m_vrm != null)
-        //         {
-        //             if (Application.isPlaying)
-        //             {
-        //                 m_vrm.Runtime.SpringBone.SetJointLevel(m_target.transform, m_target.BaseSettings);
-        //                 foreach (var p in m_target.Particles)
-        //                 {
-        //                     m_vrm.Runtime.SpringBone.SetJointLevel(p.Transform, p.GetSettings(m_target.BaseSettings));
-        //                 }
-        //             }
-        //         }
-        //     }
-        // }
-
-        void BindColumn<T>(string title, int width, Func<T> makeVisualELmeent, Func<int, bool> enableFunc, string subpath) where T : BindableElement
+        void BindColumn<T>(MultiColumnTreeView tree, string title, 
+            int width, Func<T> makeVisualELment, 
+            Func<int, bool> enableFunc, string subpath) where T : BindableElement
         {
             m_treeview.columns.Add(new Column
             {
                 title = title,
                 width = width,
-                makeCell = makeVisualELmeent,
-                bindCell = (v, i) =>
+                makeCell = makeVisualELment,
+                bindCell = (v, index) =>
                 {
                     if (v is T prop)
                     {
+                        var i = tree.GetIdForIndex(index);
                         var sb = new System.Text.StringBuilder();
                         sb.Append("m_particles.Array.data[");
                         sb.Append(i);
@@ -85,8 +69,24 @@ namespace UniVRM10.ClothWarp.Components
                 s.SetEnabled(false);
                 root.Add(s);
             }
-            root.Add(new PropertyField { bindingPath = nameof(ClothWarpRoot.BaseSettings) });
-            root.Add(new PropertyField { bindingPath = nameof(ClothWarpRoot.Center) });
+
+            root.Add(new IMGUIContainer(() =>
+            {
+                foreach (var v in m_target.Validations)
+                {
+                    v.DrawGUI();
+                }
+            }));
+
+            m_body = new VisualElement();
+            root.Add(m_body);
+            m_body.style.display = m_target.Validations.All(x => x.ErrorLevel < ErrorLevels.Warning)
+                ? DisplayStyle.Flex
+                : DisplayStyle.None
+                ;
+
+            m_body.Add(new PropertyField { bindingPath = nameof(ClothWarpRoot.BaseSettings) });
+            m_body.Add(new PropertyField { bindingPath = nameof(ClothWarpRoot.Center) });
 
             // root.Add(new PropertyField { bindingPath = "m_particles" });
             {
@@ -96,35 +96,43 @@ namespace UniVRM10.ClothWarp.Components
                 };
 
                 m_treeview = new MultiColumnTreeView();
-                BindColumn("Transform", 120, () => new ObjectField(), (_) => false, "Transform");
-                BindColumn("Mode", 40, () => new EnumField(), (_) => true, "Mode");
-                BindColumn("stiffnessForce", 40, () => new FloatField(), isCustom, "Settings.stiffnessForce");
-                BindColumn("gravityPower", 40, () => new FloatField(), isCustom, "Settings.gravityPower");
-                BindColumn("gravityDir", 120, () => new Vector3Field(), isCustom, "Settings.gravityDir");
-                BindColumn("dragForce", 40, () => new FloatField(), isCustom, "Settings.dragForce");
-                BindColumn("radius", 40, () => new FloatField(), isCustom, "Settings.radius");
+                BindColumn(m_treeview, "Transform", 120, () => new ObjectField(), (_) => false, "Transform");
+                BindColumn(m_treeview, "Mode", 40, () => new EnumField(), (_) => true, "Mode");
+                BindColumn(m_treeview, "Stiffness", 40, () => new FloatField(), isCustom, "Settings.Stiffness");
+                BindColumn(m_treeview, "Gravity", 120, () => new Vector3Field(), isCustom, "Settings.Gravity");
+                BindColumn(m_treeview, "Deceleration", 40, () => new FloatField(), isCustom, "Settings.Deceleration");
+                BindColumn(m_treeview, "Radius", 40, () => new FloatField(), isCustom, "Settings.Radius");
 
                 m_treeview.autoExpand = true;
                 m_treeview.SetRootItems(m_target.m_rootitems);
-                root.Add(m_treeview);
+                m_body.Add(m_treeview);
             }
 
-            root.Add(new PropertyField { bindingPath = nameof(ClothWarpRoot.ColliderGroups) });
+            m_body.Add(new PropertyField { bindingPath = nameof(ClothWarpRoot.ColliderGroups) });
 
             return root;
         }
 
         private void OnValueChanged(SerializedObject so)
         {
-            Debug.Log("Name changed: " + so.targetObject.name);
-            // var nameProperty = so.FindProperty("m_Name");
+            if (m_vrm != null)
+            {
+                if (Application.isPlaying)
+                {
+                    m_vrm.Runtime.SpringBone.SetJointLevel(m_target.transform, m_target.BaseSettings.ToBlittableJointMutable());
+                    foreach (var p in m_target.Particles)
+                    {
+                        m_vrm.Runtime.SpringBone.SetJointLevel(p.Transform, p.Settings.ToBlittableJointMutable());
+                    }
+                }
+            }
 
-            // if (nameProperty.stringValue.Contains(" "))
-            //     _textField.style.backgroundColor = Color.red;
-            // else
-            //     _textField.style.backgroundColor = StyleKeyword.Null;
             m_treeview.RefreshItems();
-            // m_treeview.SetRootItems(m_target.m_rootitems);
+
+            m_body.style.display = m_target.Validations.All(x => x.ErrorLevel < ErrorLevels.Warning)
+                ? DisplayStyle.Flex
+                : DisplayStyle.None
+                ;
             Repaint();
         }
 
@@ -147,7 +155,7 @@ namespace UniVRM10.ClothWarp.Components
                 p = m_target.GetParticleFromTransform(p.Transform);
                 var t = p.Transform;
                 Handles.color = Color.green;
-                Handles.SphereHandleCap(t.GetInstanceID(), t.position, t.rotation, p.Settings.radius * 2, EventType.Repaint);
+                Handles.SphereHandleCap(t.GetInstanceID(), t.position, t.rotation, p.Settings.Radius * 2, EventType.Repaint);
             }
         }
     }
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/WarpRootEditor.cs.meta b/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/ClothWarpRootEditor.cs.meta
similarity index 100%
rename from Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/WarpRootEditor.cs.meta
rename to Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/ClothWarpRootEditor.cs.meta
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/RotateParticleRuntimeProviderEditor.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/RotateParticleRuntimeProviderEditor.cs
index f1c12601a..29271b877 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/RotateParticleRuntimeProviderEditor.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Editor/RotateParticleRuntimeProviderEditor.cs
@@ -1,7 +1,6 @@
-using System.Linq;
+using UnityEngine.UIElements;
 using UnityEditor;
-using UnityEngine;
-using UniVRM10;
+using UnityEditor.UIElements;
 
 
 namespace UniVRM10.ClothWarp.Components
@@ -9,60 +8,109 @@ namespace UniVRM10.ClothWarp.Components
     [CustomEditor(typeof(ClothWarpRuntimeProvider))]
     public class RotateParticleRuntimeProviderEditor : Editor
     {
-        const string FROM_VRM10_MENU = "Replace VRM10 Springs to ClothWarp Warps";
+        ClothWarpRuntimeProvider _target;
+        Vrm10Instance _vrm;
 
-        [MenuItem(FROM_VRM10_MENU, true)]
-        public static bool IsFromVrm10()
+        void OnEnable()
         {
-            var go = Selection.activeGameObject;
-            if (go == null)
+            _target = (ClothWarpRuntimeProvider)target;
+            if (_target != null)
             {
-                return false;
+                _vrm = _target.GetComponent<Vrm10Instance>();
             }
-            return go.GetComponent<Vrm10Instance>() != null;
         }
 
-        public override void OnInspectorGUI()
+        public override VisualElement CreateInspectorGUI()
         {
-            var provider = target as ClothWarpRuntimeProvider;
-            if (provider == null)
+            var root = new VisualElement();
+            root.Bind(serializedObject);
             {
-                return;
+                var s = new PropertyField { bindingPath = "m_Script" };
+                s.SetEnabled(false);
+                root.Add(s);
             }
-            var instance = provider.GetComponent<Vrm10Instance>();
-            using (new EditorGUI.DisabledScope(instance == null))
+            root.Add(new PropertyField { bindingPath = nameof(_target.UseJob) });
+            root.Add(new PropertyField { bindingPath = nameof(_target.Warps) });
+            root.Add(new PropertyField { bindingPath = nameof(_target.Cloths) });
+
             {
-                if (GUILayout.Button("Replace VRM10 Springs to ClothWarp Warps"))
+                var setup = new Foldout { text = "Setup" };
+
+                var from_vrm10 = new Button { text = "Load VRM10 Springs to ClothWarp Warps" };
+                setup.Add(from_vrm10);
+                from_vrm10.RegisterCallback<ClickEvent>(e =>
                 {
                     Undo.IncrementCurrentGroup();
-                    Undo.SetCurrentGroupName(FROM_VRM10_MENU);
+                    Undo.SetCurrentGroupName("Load Vrm-1.0 Springs to ClothWarp Warps");
                     var undo = Undo.GetCurrentGroup();
 
-                    Undo.RegisterCompleteObjectUndo(instance, "RegisterCompleteObjectUndo");
-                    ClothWarpRuntimeProvider.FromVrm10(instance, Undo.AddComponent<ClothWarpRoot>, Undo.DestroyObjectImmediate);
-                    Undo.RegisterFullObjectHierarchyUndo(instance.gameObject, "RegisterFullObjectHierarchyUndo");
+                    // attach ClothWarp from VRM10Instance.Springs
+                    ClothWarpRuntimeProvider.FromVrm10(_vrm, Undo.AddComponent<ClothWarpRoot>);
+                    Undo.RegisterFullObjectHierarchyUndo(_vrm.gameObject, "RegisterFullObjectHierarchyUndo");
 
-                    Undo.RegisterCompleteObjectUndo(provider, "RegisterCompleteObjectUndo");
-                    provider.Reset();
+                    // update ClothWarpRuntimeProvider
+                    Undo.RegisterCompleteObjectUndo(_target, "RegisterCompleteObjectUndo");
+                    _target.Reset();
 
                     Undo.CollapseUndoOperations(undo);
-                }
-            }
+                });
 
-            using (new EditorGUI.DisabledScope(instance == null || !Application.isPlaying))
-            {
-                if (GUILayout.Button("RestoreInitialTransform"))
+                var clear_vrm10_springs = new Button { text = "Clear Vrm-1.0 springs" };
+                setup.Add(clear_vrm10_springs);
+                clear_vrm10_springs.RegisterCallback<ClickEvent>(e =>
                 {
-                    instance.Runtime.SpringBone.RestoreInitialTransform();
-                }
+                    Undo.IncrementCurrentGroup();
+                    Undo.SetCurrentGroupName("Clear VRM10 Srpings");
+                    var undo = Undo.GetCurrentGroup();
+
+                    Undo.RegisterCompleteObjectUndo(_vrm, "RegisterCompleteObjectUndo");
+                    foreach (var spring in _vrm.SpringBone.Springs)
+                    {
+                        if (spring != null)
+                        {
+                            foreach (var joint in spring.Joints)
+                            {
+                                if (joint != null)
+                                {
+                                    Undo.DestroyObjectImmediate(joint);
+                                }
+                            }
+                        }
+                        spring.Joints.Clear();
+                    }
+                    _vrm.SpringBone.Springs.Clear();
+                    Undo.RegisterFullObjectHierarchyUndo(_vrm.gameObject, "RegisterFullObjectHierarchyUndo");
+
+                    Undo.CollapseUndoOperations(undo);
+                });
+
+                var reload = new Button { text = "Reload" };
+                setup.Add(reload);
+                reload.RegisterCallback<ClickEvent>(e =>
+                {
+                    _target.Reset();
+                });
+
+                root.Add(setup);
             }
 
-            if (GUILayout.Button("Reset"))
             {
-                provider.Reset();
+                // runtime: reset button
+                var runtime = new Foldout { text = "Runtime" };
+                root.Add(runtime);
+
+                var button = new Button
+                {
+                    text = "RestoreInitialTransform",
+                };
+                runtime.Add(button);
+                button.RegisterCallback<ClickEvent>((e) =>
+                {
+                    _vrm.Runtime.SpringBone.RestoreInitialTransform();
+                });
             }
 
-            base.OnInspectorGUI();
+            return root;
         }
     }
 }
\ No newline at end of file
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/README.md b/Assets/VRM10_Samples/ClothSample/ClothWarp/README.md
index 19d7c44b8..a53a157a5 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/README.md
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/README.md
@@ -23,7 +23,7 @@ Base 設定を変更する場合は変える方を列挙設定できる。
 Custom と Disable を選択できる。
 
 - ゆれものの根元にアタッチする
-- [ ] 子孫に HumanoidBone がある場合にアタッチ不可
+- [x] 子孫に HumanoidBone がある場合にアタッチ不可
 - [ ] 枝分かれ
 - [ ] WarpRoot らからデフォルト以外の Warp を選び出す
 - [ ] Center
@@ -126,4 +126,4 @@ WarpRoot2 o=o=o
 
 ### Optimize
 
-- [ ] 衝突グループ(現状総当たり)
+- [x] 衝突グループ
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothRectList.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothRectList.cs
index d5b0570ec..e81d3d5c0 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothRectList.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothRectList.cs
@@ -10,8 +10,8 @@ namespace UniVRM10.ClothWarp
     class ClothRectList
     {
         readonly List<Transform> _particles;
-
-        public List<(SpringConstraint, ClothRect)> List = new();
+        public readonly ClothGrid[] ClothGrids;
+        public List<(int, SpringConstraint, ClothRect)> List = new();
         public readonly bool[] ClothUsedParticles;
 
         public ClothRectList(List<Transform> particles, Vrm10Instance vrm)
@@ -19,15 +19,16 @@ namespace UniVRM10.ClothWarp
             _particles = particles;
             ClothUsedParticles = new bool[_particles.Count];
 
-            var cloths = vrm.GetComponentsInChildren<ClothGrid>();
-            foreach (var cloth in cloths)
+            ClothGrids = vrm.GetComponentsInChildren<ClothGrid>();
+            for (int i = 0; i < ClothGrids.Length; ++i)
             {
-                AddCloth(cloth, vrm);
+                AddCloth(i, vrm);
             }
         }
 
-        void AddCloth(ClothGrid cloth, Vrm10Instance vrm)
+        void AddCloth(int clothGridIndex, Vrm10Instance vrm)
         {
+            var cloth = ClothGrids[clothGridIndex];
             for (int i = 1; i < cloth.Warps.Count; ++i)
             {
                 var s0 = cloth.Warps[i - 1];
@@ -53,6 +54,7 @@ namespace UniVRM10.ClothWarp
                         (c, d) = (d, c);
                     }
                     List.Add((
+                        clothGridIndex,
                         new SpringConstraint(
                             _particles.IndexOf(a),
                             _particles.IndexOf(b),
@@ -91,6 +93,7 @@ namespace UniVRM10.ClothWarp
                         (c, d) = (d, c);
                     }
                     List.Add((
+                        clothGridIndex,
                         new SpringConstraint(
                             _particles.IndexOf(a),
                             _particles.IndexOf(b),
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothWarp.asmdef b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothWarp.asmdef
index 91cf19c6a..6801da68a 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothWarp.asmdef
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothWarp.asmdef
@@ -5,7 +5,8 @@
         "GUID:3e5d614bc16b50d41bd94c8d7444ca46",
         "GUID:e47c917724578cc43b5506c17a27e9a0",
         "GUID:8d76e605759c3f64a957d63ef96ada7c",
-        "GUID:1cd941934d098654fa21a13f28346412"
+        "GUID:1cd941934d098654fa21a13f28346412",
+        "GUID:5f875fdc81c40184c8333b9d63c6ddd5"
     ],
     "includePlatforms": [],
     "excludePlatforms": [],
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothWarpRuntime.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothWarpRuntime.cs
index 63888a4d6..883af31c2 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothWarpRuntime.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ClothWarpRuntime.cs
@@ -11,6 +11,9 @@ using UnityEngine;
 
 namespace UniVRM10.ClothWarp
 {
+    /// <summary>
+    /// プロトタイプ。非 job
+    /// </summary>
     public class ClothWarpRuntime : IVrm10SpringBoneRuntime
     {
         Vrm10Instance _vrm;
@@ -58,7 +61,7 @@ namespace UniVRM10.ClothWarp
             return Color.gray;
         }
 
-        public async Task InitializeAsync(Vrm10Instance vrm, IAwaitCaller awaitCaller)
+        public Task InitializeAsync(Vrm10Instance vrm, IAwaitCaller awaitCaller)
         {
             _building = true;
             _vrm = vrm;
@@ -102,7 +105,7 @@ namespace UniVRM10.ClothWarp
             _clothRectCollisions = new();
             for (int i = 0; i < _clothRects.List.Count; ++i)
             {
-                var (s, r) = _clothRects.List[i];
+                var (grid, s, r) = _clothRects.List[i];
                 _clothRectCollisions.Add(new());
                 var c = _clothRectCollisions.Last();
                 c.InitializeColliderSide(_newPos, _colliderGroups, r);
@@ -112,6 +115,8 @@ namespace UniVRM10.ClothWarp
 
             _initialized = true;
             _building = false;
+
+            return Task.CompletedTask;
         }
 
         /// <summary>
@@ -167,7 +172,7 @@ namespace UniVRM10.ClothWarp
                 // verlet 積分
                 var time = new FrameTime(deltaTime);
                 _list.BeginFrame(Env, time, _restPositions);
-                foreach (var (spring, collision) in _clothRects.List)
+                foreach (var (gridIndex, spring, collision) in _clothRects.List)
                 {
                     // cloth constraint
                     spring.Resolve(time, _clothFactor, _list._particles);
@@ -189,7 +194,7 @@ namespace UniVRM10.ClothWarp
 
                     for (int j = 0; j < _clothRects.List.Count; ++j)
                     {
-                        var (spring, rect) = _clothRects.List[j];
+                        var (gridIndex, spring, rect) = _clothRects.List[j];
                         var collision = _clothRectCollisions[j];
                         // using var prof = new ProfileSample("Collision: Cloth");
                         // 頂点 abcd は同じ CollisionMask
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Components/ClothWarpRoot.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Components/ClothWarpRoot.cs
index fa3b708c0..003531651 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Components/ClothWarpRoot.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Components/ClothWarpRoot.cs
@@ -1,10 +1,9 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
-using UniGLTF.SpringBoneJobs.Blittables;
+using UniGLTF;
 using UnityEngine;
 using UnityEngine.UIElements;
-using UniVRM10;
 
 
 namespace UniVRM10.ClothWarp.Components
@@ -17,18 +16,6 @@ namespace UniVRM10.ClothWarp.Components
     /// </summary>
     public class ClothWarpRoot : MonoBehaviour
     {
-        public static BlittableJointMutable DefaultSetting()
-        {
-            return new BlittableJointMutable
-            {
-                stiffnessForce = 1.0f,
-                gravityPower = 0,
-                gravityDir = new Vector3(0, -1.0f, 0),
-                dragForce = 0.4f,
-                radius = 0.02f,
-            };
-        }
-
         public enum ParticleMode
         {
             /// <summary>
@@ -53,28 +40,28 @@ namespace UniVRM10.ClothWarp.Components
         {
             public Transform Transform;
             public ParticleMode Mode;
-            public BlittableJointMutable Settings;
+            public Jobs.ParticleSettings Settings;
 
-            public Particle(Transform t, ParticleMode mode, BlittableJointMutable settings)
+            public Particle(Transform t, ParticleMode mode, Jobs.ParticleSettings settings)
             {
                 Transform = t;
                 Mode = mode;
                 Settings = settings;
             }
 
-            public Particle(Transform t, BlittableJointMutable settings)
+            public Particle(Transform t, Jobs.ParticleSettings settings)
             : this(t, ParticleMode.Custom, settings)
             {
             }
 
             public Particle(Transform t)
-            : this(t, ParticleMode.Base, DefaultSetting())
+            : this(t, ParticleMode.Base, Jobs.ParticleSettings.Default)
             {
             }
         }
 
         [SerializeField]
-        public BlittableJointMutable BaseSettings = DefaultSetting();
+        public Jobs.ParticleSettings BaseSettings = Jobs.ParticleSettings.Default;
 
         /// <summary>
         /// null のときは world root ではなく model root で処理
@@ -98,9 +85,59 @@ namespace UniVRM10.ClothWarp.Components
         // 逆引き
         Dictionary<Transform, int> m_map = new();
 
+        public readonly List<Validation> Validations = new();
+
+        bool HasHumanoidBonesInChildren(Animator animator, out Transform t)
+        {
+            foreach (HumanBodyBones bone in Enum.GetValues(typeof(HumanBodyBones)))
+            {
+                if (bone == HumanBodyBones.LastBone)
+                {
+                    continue;
+                }
+                var b = animator.GetBoneTransform(bone);
+                if (b != null)
+                {
+                    for (var parent = b.parent; parent != null; parent = parent.parent)
+                    {
+                        if (parent == transform)
+                        {
+                            t = transform;
+                            return true;
+                        }
+                    }
+                }
+            }
+            t = default;
+            return false;
+        }
+
         void OnValidate()
         {
-            m_particles = GetComponentsInChildren<Transform>().Skip(1).Select(x => new Particle(x)).ToList();
+            Validations.Clear();
+            if (GetComponentInParent<Animator>() is var animator)
+            {
+                if (HasHumanoidBonesInChildren(animator, out var t))
+                {
+                    Validations.Add(Validation.Error(
+                        "アタッチできません。子孫にHumanoidBoneがあります",
+                        ValidationContext.Create(t)
+                        ));
+                }
+            }
+
+            var backup = m_particles.ToDictionary(x => x.Transform, x => x);
+            m_particles = GetComponentsInChildren<Transform>().Skip(1).Select(x =>
+            {
+                foreach (var particle in m_particles)
+                {
+                    if (particle.Transform == x)
+                    {
+                        return particle;
+                    }
+                }
+                return new Particle(x);
+            }).ToList();
             m_map.Clear();
             for (int i = 0; i < m_particles.Count; ++i)
             {
@@ -164,7 +201,7 @@ namespace UniVRM10.ClothWarp.Components
             }
         }
 
-        public void SetSettings(Transform t, BlittableJointMutable settings)
+        public void SetSettings(Transform t, Jobs.ParticleSettings settings)
         {
             if (t == null) return;
             for (int i = 0; i < m_particles.Count; ++i)
@@ -182,7 +219,7 @@ namespace UniVRM10.ClothWarp.Components
 
         public void OnDrawGizmosSelected()
         {
-            Gizmos.DrawSphere(transform.position, BaseSettings.radius);
+            Gizmos.DrawSphere(transform.position, BaseSettings.Radius);
 
             foreach (var p in Particles)
             {
@@ -190,7 +227,7 @@ namespace UniVRM10.ClothWarp.Components
                 {
                     continue;
                 }
-                Gizmos.DrawWireSphere(p.Transform.position, p.Settings.radius);
+                Gizmos.DrawWireSphere(p.Transform.position, p.Settings.Radius);
 
                 if (TryGetClosestParent(p.Transform, out var parent))
                 {
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Components/ClothWarpRuntimeProvider.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Components/ClothWarpRuntimeProvider.cs
index 9bfa68d8b..965722b55 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Components/ClothWarpRuntimeProvider.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Components/ClothWarpRuntimeProvider.cs
@@ -2,7 +2,7 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
-using UniVRM10;
+
 
 namespace UniVRM10.ClothWarp.Components
 {
@@ -17,7 +17,7 @@ namespace UniVRM10.ClothWarp.Components
         public List<ClothGrid> Cloths = new();
 
         [SerializeField]
-        public bool UseJob;
+        public bool UseJob = true;
 
         IVrm10SpringBoneRuntime m_runtime;
         public IVrm10SpringBoneRuntime CreateSpringBoneRuntime()
@@ -45,8 +45,7 @@ namespace UniVRM10.ClothWarp.Components
         }
 
         public static void FromVrm10(Vrm10Instance instance,
-            Func<GameObject, ClothWarpRoot> addWarp,
-            Action<UnityEngine.Object> deleteObject)
+            Func<GameObject, ClothWarpRoot> addWarp)
         {
             foreach (var spring in instance.SpringBone.Springs)
             {
@@ -64,29 +63,30 @@ namespace UniVRM10.ClothWarp.Components
                 var warp = root_joint.GetComponent<ClothWarpRoot>();
                 if (warp == null)
                 {
-                    // var warp = Undo.AddComponent<Warp>(root_joint);
                     warp = addWarp(root_joint);
                     var joints = spring.Joints.Where(x => x != null).ToArray();
                     for (int i = 0; i < joints.Length; ++i)
                     {
                         var joint = joints[i];
-                        var settings = new UniGLTF.SpringBoneJobs.Blittables.BlittableJointMutable
+
+                        // mod ?
+                        var stiffness = Mathf.Min(0.08f, joint.m_stiffnessForce * 0.1f);
+
+                        var settings = new Jobs.ParticleSettings
                         {
-                            dragForce = joint.m_dragForce,
-                            gravityDir = joint.m_gravityDir,
-                            gravityPower = joint.m_gravityPower,
-                            // mod
-                            stiffnessForce = joint.m_stiffnessForce * 6,
+                            Deceleration = joint.m_dragForce,
+                            Gravity = joint.m_gravityDir * joint.m_gravityPower,
+                            Stiffness = stiffness,
                         };
                         if (i == 0)
                         {
-                            settings.radius = joints[0].m_jointRadius;
+                            settings.Radius = joints[0].m_jointRadius;
                             warp.BaseSettings = settings;
                         }
                         else
                         {
                             // breaking change from vrm-1.0
-                            settings.radius = joints[i - 1].m_jointRadius;
+                            settings.Radius = joints[i - 1].m_jointRadius;
                             var useInheritSettings = warp.BaseSettings.Equals(settings);
                             if (useInheritSettings)
                             {
@@ -97,14 +97,10 @@ namespace UniVRM10.ClothWarp.Components
                                 warp.SetSettings(joint.transform, settings);
                             }
                         }
-                        // Undo.DestroyObjectImmediate(joint);
-                        deleteObject(joint);
                     }
-                    spring.Joints.Clear();
                     warp.ColliderGroups = spring.ColliderGroups.ToList();
                 }
             }
-            instance.SpringBone.Springs.Clear();
         }
     }
 }
\ No newline at end of file
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/ClothWarpJobRuntime.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/ClothWarpJobRuntime.cs
index b05e25ce3..e4461c273 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/ClothWarpJobRuntime.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/ClothWarpJobRuntime.cs
@@ -7,11 +7,13 @@ using Unity.Collections;
 using Unity.Jobs;
 using UnityEngine;
 using UnityEngine.Jobs;
-using UniVRM10;
 
 
 namespace UniVRM10.ClothWarp.Jobs
 {
+    /// <summary>
+    /// Job 版
+    /// </summary>
     public class ClothWarpJobRuntime : IVrm10SpringBoneRuntime
     {
         Vrm10Instance _vrm;
@@ -19,12 +21,25 @@ namespace UniVRM10.ClothWarp.Jobs
         bool _building = false;
 
         //
-        // collider
+        // colliderTransform
         //
         List<Transform> _colliderTransforms;
         TransformAccessArray _colliderTransformAccessArray;
         NativeArray<Matrix4x4> _currentColliders;
-        NativeArray<BlittableCollider> _colliders;
+
+        //
+        // collider
+        //
+        List<VRM10SpringBoneCollider> _colliders;
+        NativeArray<BlittableCollider> _colliderInfo;
+
+        //
+        // colliderGroup
+        //
+        List<VRM10SpringBoneColliderGroup> _colliderGroups;
+        NativeArray<int> _colliderRef;
+        NativeArray<ArrayRange> _colliderGroup;
+        NativeArray<int> _colliderGroupRef;
 
         //
         // particle
@@ -38,10 +53,10 @@ namespace UniVRM10.ClothWarp.Jobs
         NativeArray<Vector3> _nextPositions;
         NativeArray<Quaternion> _nextRotations;
 
-        NativeArray<Vector3> _strandCollision;
-        NativeArray<int> _clothCollisionCount;
-        NativeArray<Vector3> _clothCollisionDelta;
-        NativeArray<Vector3> _forces;
+        NativeArray<Vector3> _warpCollision;
+        NativeArray<int> _rectCollisionCount;
+        NativeArray<Vector3> _rectCollisionDelta;
+        NativeArray<Vector3> _impulsiveForces;
 
         //
         // warp
@@ -49,16 +64,26 @@ namespace UniVRM10.ClothWarp.Jobs
         NativeArray<WarpInfo> _warps;
 
         //
-        // cloth
+        // cloth rect
         //
         NativeArray<bool> _clothUsedParticles;
-        NativeArray<(SpringConstraint, SphereTriangle.ClothRect)> _clothRects;
+        NativeArray<(int ClothGridIndex, SpringConstraint SpringConstraint, SphereTriangle.ClothRect Rect)> _clothRects;
+        NativeArray<(Vector3, Vector3, Vector3, Vector3)> _clothRectResults;
+
+        //
+        // cloth grid
+        //
+        NativeArray<ClothInfo> _cloths;
 
         public void Dispose()
         {
             if (_colliderTransformAccessArray.isCreated) _colliderTransformAccessArray.Dispose();
             if (_currentColliders.IsCreated) _currentColliders.Dispose();
 
+            if (_colliderRef.IsCreated) _colliderRef.Dispose();
+            if (_colliderGroup.IsCreated) _colliderGroup.Dispose();
+            if (_colliderGroupRef.IsCreated) _colliderGroupRef.Dispose();
+
             if (_warps.IsCreated) _warps.Dispose();
             if (_transformAccessArray.isCreated) _transformAccessArray.Dispose();
             if (_inputData.IsCreated) _inputData.Dispose();
@@ -67,15 +92,17 @@ namespace UniVRM10.ClothWarp.Jobs
             if (_prevPositions.IsCreated) _prevPositions.Dispose();
             if (_nextPositions.IsCreated) _nextPositions.Dispose();
             if (_nextRotations.IsCreated) _nextRotations.Dispose();
-            if (_strandCollision.IsCreated) _strandCollision.Dispose();
-            if (_clothCollisionCount.IsCreated) _clothCollisionCount.Dispose();
-            if (_clothCollisionDelta.IsCreated) _clothCollisionDelta.Dispose();
-            if (_forces.IsCreated) _forces.Dispose();
+            if (_warpCollision.IsCreated) _warpCollision.Dispose();
+            if (_rectCollisionCount.IsCreated) _rectCollisionCount.Dispose();
+            if (_rectCollisionDelta.IsCreated) _rectCollisionDelta.Dispose();
+            if (_impulsiveForces.IsCreated) _impulsiveForces.Dispose();
 
             if (_warps.IsCreated) _warps.Dispose();
+            if (_cloths.IsCreated) _cloths.Dispose();
 
             if (_clothUsedParticles.IsCreated) _clothUsedParticles.Dispose();
             if (_clothRects.IsCreated) _clothRects.Dispose();
+            if (_clothRectResults.IsCreated) _clothRectResults.Dispose();
         }
 
         (int index, bool isNew) GetTransformIndex(Transform t,
@@ -97,6 +124,33 @@ namespace UniVRM10.ClothWarp.Jobs
             return (i, true);
         }
 
+        Transform GetParent(Transform t, Transform root)
+        {
+            for (var parent = t.parent; parent != null; parent = parent.parent)
+            {
+                if (_transforms.Contains(parent))
+                {
+                    return parent;
+                }
+                if (parent == root)
+                {
+                    break;
+                }
+            }
+            throw new Exception();
+        }
+
+        int GetOrAddColliderTransform(Transform t)
+        {
+            var index = _colliderTransforms.IndexOf(t);
+            if (index == -1)
+            {
+                index = _colliderTransforms.Count;
+                _colliderTransforms.Add(t);
+            }
+            return index;
+        }
+
         public async Task InitializeAsync(Vrm10Instance vrm, IAwaitCaller awaitCaller)
         {
             _vrm = vrm;
@@ -111,30 +165,67 @@ namespace UniVRM10.ClothWarp.Jobs
             //
             // colliders
             //
+            _colliders = new();
+            _colliderGroups = new();
             _colliderTransforms = new();
-            List<BlittableCollider> colliders = new();
-            foreach (var collider in vrm.GetComponentsInChildren<VRM10SpringBoneCollider>())
+            List<BlittableCollider> colliderInfo = new();
+            List<int> colliderRef = new();
+            List<ArrayRange> colliderGroups = new();
+            foreach (var colliderGroup in vrm.GetComponentsInChildren<VRM10SpringBoneColliderGroup>())
             {
-                colliders.Add(new BlittableCollider
+                if (colliderGroup == null)
                 {
-                    offset = collider.Offset,
-                    radius = collider.Radius,
-                    tailOrNormal = collider.TailOrNormal,
-                    colliderType = TranslateColliderType(collider.ColliderType)
+                    continue;
+                }
+
+                var startColliderRef = colliderRef.Count;
+                foreach (var collider in colliderGroup.Colliders)
+                {
+                    if (collider == null)
+                    {
+                        continue;
+                    }
+                    if (_colliders.Contains(collider))
+                    {
+                        continue;
+                    }
+
+                    var colliderTransformIndex = GetOrAddColliderTransform(collider.transform);
+
+                    colliderRef.Add(colliderInfo.Count);
+                    colliderInfo.Add(new BlittableCollider
+                    {
+                        offset = collider.Offset,
+                        radius = collider.Radius,
+                        tailOrNormal = collider.TailOrNormal,
+                        colliderType = TranslateColliderType(collider.ColliderType),
+                        transformIndex = colliderTransformIndex,
+                    });
+                    _colliders.Add(collider);
+                }
+
+                _colliderGroups.Add(colliderGroup);
+                colliderGroups.Add(new ArrayRange
+                {
+                    Start = startColliderRef,
+                    End = colliderRef.Count,
                 });
-                _colliderTransforms.Add(collider.transform);
             }
             _colliderTransformAccessArray = new(_colliderTransforms.ToArray(), 128);
-            _colliders = new(colliders.ToArray(), Allocator.Persistent);
             _currentColliders = new(_colliderTransforms.Count, Allocator.Persistent);
+            _colliderInfo = new(colliderInfo.ToArray(), Allocator.Persistent);
+
+            _colliderRef = new(colliderRef.ToArray(), Allocator.Persistent);
+            _colliderGroup = new(colliderGroups.ToArray(), Allocator.Persistent);
 
             //
-            // warps
+            // warps => particles
             //
             _transforms = new();
             List<TransformInfo> info = new();
             List<Vector3> positions = new();
             List<WarpInfo> warps = new();
+            List<int> colliderGroupRef = new();
             var warpSrcs = vrm.GetComponentsInChildren<Components.ClothWarpRoot>();
             for (int warpIndex = 0; warpIndex < warpSrcs.Length; ++warpIndex)
             {
@@ -145,14 +236,16 @@ namespace UniVRM10.ClothWarp.Jobs
                 {
                     GetTransformIndex(warp.Center, new TransformInfo
                     {
-                        TransformType = TransformType.Center
+                        TransformType = TransformType.Center,
+                        WarpIndex = warpIndex,
                     }, info, positions);
                     start += 1;
                 }
 
                 var warpRootParentTransformIndex = GetTransformIndex(warp.transform.parent, new TransformInfo
                 {
-                    TransformType = TransformType.WarpRootParent
+                    TransformType = TransformType.WarpRootParent,
+                    WarpIndex = warpIndex,
                 }, info, positions);
                 Debug.Assert(warpRootParentTransformIndex.index != -1);
                 if (warpRootParentTransformIndex.isNew)
@@ -166,31 +259,81 @@ namespace UniVRM10.ClothWarp.Jobs
                     ParentIndex = warpRootParentTransformIndex.index,
                     InitLocalPosition = vrm.DefaultTransformStates[warp.transform].LocalPosition,
                     InitLocalRotation = vrm.DefaultTransformStates[warp.transform].LocalRotation,
+                    Settings = warp.BaseSettings,
+                    WarpIndex = warpIndex,
                 }, info, positions);
                 Debug.Assert(warpRootTransformIndex.index != -1);
-                Debug.Assert(warpRootTransformIndex.isNew);
-
-                var parentIndex = warpRootTransformIndex.index;
-                foreach (var particle in warp.Particles)
+                var colliderGroupRefStart = colliderGroupRef.Count;
+                if (warpRootTransformIndex.isNew)
                 {
-                    if (particle.Transform != null && particle.Mode != Components.ClothWarpRoot.ParticleMode.Disabled)
+                    // var parentIndex = warpRootTransformIndex.index;
+
+                    Func<int, int> GetFirstSiblingIndex = (parent) =>
                     {
-                        var outputParticleTransformIndex = GetTransformIndex((Transform)particle.Transform, new TransformInfo
+                        for (int i = 0; i < info.Count; ++i)
                         {
-                            TransformType = TransformType.Particle,
-                            ParentIndex = parentIndex,
-                            InitLocalPosition = vrm.DefaultTransformStates[(Transform)particle.Transform].LocalPosition,
-                            InitLocalRotation = vrm.DefaultTransformStates[(Transform)particle.Transform].LocalRotation,
-                            Settings = particle.Settings,
-                        }, info, positions);
-                        parentIndex = outputParticleTransformIndex.index;
+                            if (info[i].ParentIndex == parent)
+                            {
+                                return i;
+                            }
+                        }
+                        throw new Exception();
+                    };
+
+                    HashSet<int> parentIndexSet = new();
+                    foreach (var particle in warp.Particles)
+                    {
+                        if (particle.Transform != null && particle.Mode != Components.ClothWarpRoot.ParticleMode.Disabled)
+                        {
+                            var parentIndex = _transforms.IndexOf(GetParent(particle.Transform, warp.transform));
+                            BranchInfo? branch = default;
+                            if (parentIndexSet.Contains(parentIndex))
+                            {
+                                branch = new BranchInfo
+                                {
+                                    FirstSiblingIndex = GetFirstSiblingIndex(parentIndex),
+                                };
+                            }
+                            else
+                            {
+                                parentIndexSet.Add(parentIndex);
+                            }
+
+                            var outputParticleTransformIndex = GetTransformIndex(particle.Transform, new TransformInfo
+                            {
+                                TransformType = TransformType.Particle,
+                                ParentIndex = parentIndex,
+                                InitLocalPosition = vrm.DefaultTransformStates[particle.Transform].LocalPosition,
+                                InitLocalRotation = vrm.DefaultTransformStates[particle.Transform].LocalRotation,
+                                Settings = particle.Settings,
+                                WarpIndex = warpIndex,
+                                Branch = branch,
+                            }, info, positions);
+                            // parentIndex = outputParticleTransformIndex.index;
+                        }
+                    }
+
+                    foreach (var group in warp.ColliderGroups)
+                    {
+                        if (group != null)
+                        {
+                            colliderGroupRef.Add(_colliderGroups.IndexOf(group));
+                        }
                     }
                 }
 
                 warps.Add(new WarpInfo
                 {
-                    StartIndex = start,
-                    EndIndex = _transforms.Count,
+                    PrticleRange = new ArrayRange
+                    {
+                        Start = start,
+                        End = _transforms.Count,
+                    },
+                    ColliderGroupRefRange = new ArrayRange
+                    {
+                        Start = colliderGroupRefStart,
+                        End = colliderGroupRef.Count,
+                    },
                 });
 
                 await awaitCaller.NextFrame();
@@ -204,18 +347,48 @@ namespace UniVRM10.ClothWarp.Jobs
             _nextPositions = new(pos.Length, Allocator.Persistent);
             _nextRotations = new(pos.Length, Allocator.Persistent);
             _info = new(info.ToArray(), Allocator.Persistent);
-            _strandCollision = new(pos.Length, Allocator.Persistent);
-            _clothCollisionCount = new(pos.Length, Allocator.Persistent);
-            _clothCollisionDelta = new(pos.Length, Allocator.Persistent);
-            _forces = new(pos.Length, Allocator.Persistent);
+            _warpCollision = new(pos.Length, Allocator.Persistent);
+            _rectCollisionCount = new(pos.Length, Allocator.Persistent);
+            _rectCollisionDelta = new(pos.Length, Allocator.Persistent);
+            _impulsiveForces = new(pos.Length, Allocator.Persistent);
 
             //
             // cloths
             //
             var clothRects = new ClothRectList(_transforms, vrm);
             _clothRects = new(clothRects.List.ToArray(), Allocator.Persistent);
+            _clothRectResults = new(clothRects.List.Count, Allocator.Persistent);
             _clothUsedParticles = new(clothRects.ClothUsedParticles, Allocator.Persistent);
             _building = false;
+
+            List<ClothInfo> cloths = new();
+            foreach (var grid in clothRects.ClothGrids)
+            {
+                var colliderGroupRefStart = colliderGroupRef.Count;
+                HashSet<VRM10SpringBoneColliderGroup> groups = new();
+                foreach (var warp in grid.Warps)
+                {
+                    foreach (var group in warp.ColliderGroups)
+                    {
+                        if (group != null && !groups.Contains(group))
+                        {
+                            groups.Add(group);
+                            colliderGroupRef.Add(_colliderGroups.IndexOf(group));
+                        }
+                    }
+                }
+                cloths.Add(new ClothInfo
+                {
+                    ColliderGroupRefRange = new ArrayRange
+                    {
+                        Start = colliderGroupRefStart,
+                        End = colliderGroupRef.Count,
+                    },
+                });
+            }
+            _cloths = new(cloths.ToArray(), Allocator.Persistent);
+
+            _colliderGroupRef = new(colliderGroupRef.ToArray(), Allocator.Persistent);
         }
 
         private static BlittableColliderType TranslateColliderType(VRM10SpringBoneColliderTypes colliderType)
@@ -259,10 +432,10 @@ namespace UniVRM10.ClothWarp.Jobs
                 Info = _info,
                 InputData = _inputData,
                 CurrentPositions = _currentPositions,
-                Forces = _forces,
+                ImpulsiveForces = _impulsiveForces,
 
-                CollisionCount = _clothCollisionCount,
-                CollisionDelta = _clothCollisionDelta,
+                CollisionCount = _rectCollisionCount,
+                CollisionDelta = _rectCollisionDelta,
             }.Schedule(_transformAccessArray, handle);
 
             // spring(cloth weft)
@@ -271,8 +444,8 @@ namespace UniVRM10.ClothWarp.Jobs
                 ClothRects = _clothRects,
                 CurrentPositions = _currentPositions,
 
-                Force = _forces,
-            }.Schedule(_clothRects.Length, 128, handle);
+                ImpulsiveForces = _impulsiveForces,
+            }.Schedule(_clothRects.Length, 1, handle);
 
             // verlet
             handle = new VerletJob
@@ -282,58 +455,86 @@ namespace UniVRM10.ClothWarp.Jobs
                 CurrentTransforms = _inputData,
                 PrevPositions = _prevPositions,
                 CurrentPositions = _currentPositions,
-                Forces = _forces,
+                ImpulsiveForces = _impulsiveForces,
 
                 NextPositions = _nextPositions,
                 NextRotations = _nextRotations,
-            }.Schedule(_info.Length, 128, handle);
+            }.Schedule(_info.Length, 1, handle);
 
             // 親子の長さで拘束
             handle = new ParentLengthConstraintJob
             {
                 Warps = _warps,
                 Info = _info,
+                Data = _inputData,
                 NextPositions = _nextPositions,
-            }.Schedule(_warps.Length, 16, handle);
+            }.Schedule(_warps.Length, 1, handle);
 
             // collision
             {
-                var handle0 = new StrandCollisionJob
+                var handle0 = new WarpCollisionJob
                 {
-                    Colliders = _colliders,
+                    Colliders = _colliderInfo,
                     CurrentColliders = _currentColliders,
 
                     Info = _info,
                     NextPositions = _nextPositions,
                     ClothUsedParticles = _clothUsedParticles,
-                    StrandCollision = _strandCollision,
-                }.Schedule(_info.Length, 128, handle);
+                    StrandCollision = _warpCollision,
 
-                var handle1 = new ClothCollisionJob
+                    Warps = _warps,
+                    ColliderGroupRef = _colliderGroupRef,
+                    ColliderGroup = _colliderGroup,
+                    ColliderRef = _colliderRef,
+                }.Schedule(_info.Length, 1, handle);
+
+                var handle1 = new RectCollisionJob
                 {
-                    Colliders = _colliders,
+                    ClothRects = _clothRects,
+                    ClothRectResults = _clothRectResults,
+
+                    Colliders = _colliderInfo,
                     CurrentColliders = _currentColliders,
 
                     Info = _info,
                     NextPositions = _nextPositions,
-                    CollisionCount = _clothCollisionCount,
-                    CollisionDelta = _clothCollisionDelta,
 
+                    Cloths = _cloths,
+                    ColliderGroupRef = _colliderGroupRef,
+                    ColliderGroup = _colliderGroup,
+                    ColliderRef = _colliderRef,
+                }.Schedule(_clothRects.Length, 1, handle);
+
+                handle1 = new RectCollisionReduceJob
+                {
                     ClothRects = _clothRects,
-                }.Schedule(_clothRects.Length, 128, handle);
+                    ClothRectResults = _clothRectResults,
+                    NextPositions = _nextPositions,
+
+                    RectCollisionCount = _rectCollisionCount,
+                    RectCollisionDelta = _rectCollisionDelta,
+                }.Schedule(handle1);
 
                 handle = JobHandle.CombineDependencies(handle0, handle1);
 
                 handle = new CollisionApplyJob
                 {
                     ClothUsedParticles = _clothUsedParticles,
-                    StrandCollision = _strandCollision,
-                    ClothCollisionCount = _clothCollisionCount,
-                    ClothCollisionDelta = _clothCollisionDelta,
+                    StrandCollision = _warpCollision,
+                    RectCollisionCount = _rectCollisionCount,
+                    RectCollisionDelta = _rectCollisionDelta,
                     NextPosition = _nextPositions,
-                }.Schedule(_info.Length, 128, handle);
+                }.Schedule(_info.Length, 1, handle);
             }
 
+            // 親子の長さで拘束. TODO: ApplyRotationJob と合体
+            handle = new ParentLengthConstraintJob
+            {
+                Warps = _warps,
+                Info = _info,
+                Data = _inputData,
+                NextPositions = _nextPositions,
+            }.Schedule(_warps.Length, 1, handle);
             // NextPositions から NextRotations を作る
             handle = new ApplyRotationJob
             {
@@ -342,7 +543,7 @@ namespace UniVRM10.ClothWarp.Jobs
                 CurrentTransforms = _inputData,
                 NextPositions = _nextPositions,
                 NextRotations = _nextRotations,
-            }.Schedule(_warps.Length, 16, handle);
+            }.Schedule(_warps.Length, 1, handle);
 
             // output
             handle = new OutputTransformJob
@@ -362,7 +563,7 @@ namespace UniVRM10.ClothWarp.Jobs
         {
             foreach (var warp in _warps)
             {
-                for (int i = warp.StartIndex; i < warp.EndIndex; ++i)
+                for (int i = warp.PrticleRange.Start; i < warp.PrticleRange.End; ++i)
                 {
                     var p = _info[i];
                     var t = _transforms[i];
@@ -392,11 +593,11 @@ namespace UniVRM10.ClothWarp.Jobs
                         break;
                     case TransformType.ClothWarp:
                         Gizmos.color = Color.white;
-                        Gizmos.DrawSphere(v, info.Settings.radius);
+                        Gizmos.DrawSphere(v, info.Settings.Radius);
                         break;
                     case TransformType.Particle:
                         Gizmos.color = Color.cyan;
-                        Gizmos.DrawWireSphere(v, info.Settings.radius);
+                        Gizmos.DrawWireSphere(v, info.Settings.Radius);
                         break;
                 }
             }
@@ -408,7 +609,7 @@ namespace UniVRM10.ClothWarp.Jobs
             if (i != -1)
             {
                 var info = _info[i];
-                info.Settings = jointSettings;
+                info.Settings.FromBlittableJointMutable(jointSettings);
                 _info[i] = info;
             }
         }
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Collision.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Collision.cs
deleted file mode 100644
index 1f572cd4f..000000000
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Collision.cs
+++ /dev/null
@@ -1,319 +0,0 @@
-using System;
-using System.Collections.Generic;
-using SphereTriangle;
-using UniGLTF.SpringBoneJobs.Blittables;
-using Unity.Collections;
-using Unity.Jobs;
-using UnityEngine;
-using UnityEngine.Jobs;
-
-
-namespace UniVRM10.ClothWarp.Jobs
-{
-    public struct InputColliderJob : IJobParallelForTransform
-    {
-        [WriteOnly] public NativeArray<Matrix4x4> CurrentCollider;
-
-        public void Execute(int colliderIndex, TransformAccess transform)
-        {
-            CurrentCollider[colliderIndex] = transform.localToWorldMatrix;
-        }
-    }
-
-    public struct StrandCollisionJob : IJobParallelFor
-    {
-        // collider
-        [ReadOnly] public NativeArray<BlittableCollider> Colliders;
-        [ReadOnly] public NativeArray<Matrix4x4> CurrentColliders;
-
-        // particle
-        [ReadOnly] public NativeArray<TransformInfo> Info;
-        [ReadOnly] public NativeArray<Vector3> NextPositions;
-        [ReadOnly] public NativeArray<bool> ClothUsedParticles;
-        [WriteOnly] public NativeArray<Vector3> StrandCollision;
-
-        public void Execute(int particleIndex)
-        {
-            if (!ClothUsedParticles[particleIndex])
-            {
-                var info = Info[particleIndex];
-                var pos = NextPositions[particleIndex];
-                for (int colliderIndex = 0; colliderIndex < Colliders.Length; ++colliderIndex)
-                {
-                    var c = Colliders[colliderIndex];
-                    var m = CurrentColliders[colliderIndex];
-
-                    if (c.colliderType == BlittableColliderType.Capsule)
-                    {
-                        if (TryCollideCapsuleAndSphere(m.MultiplyPoint(c.offset), m.MultiplyPoint(c.tailOrNormal), c.radius,
-                            pos, info.Settings.radius, out var l))
-                        {
-                            pos += l.GetDelta(c.radius);
-                        }
-                    }
-                    else
-                    {
-                        if (TryCollideSphereAndSphere(m.MultiplyPoint(c.offset), c.radius,
-                            pos, info.Settings.radius, out var l))
-                        {
-                            pos += l.GetDelta(c.radius);
-                        }
-                    }
-                    StrandCollision[particleIndex] = pos;
-                }
-            }
-        }
-
-        /// <summary>
-        /// collide sphere a and sphere b.
-        /// move sphere b to resolved if collide.
-        /// </summary>
-        /// <param name="from"></param>
-        /// <param name="ra"></param>
-        /// <param name="to"></param>
-        /// <param name="ba"></param>
-        /// <param name="resolved"></param>
-        /// <returns></returns>
-        static bool TryCollideSphereAndSphere(
-            in Vector3 from, float ra,
-            in Vector3 to, float rb,
-            out LineSegment resolved
-            )
-        {
-            var d = Vector3.Distance(from, to);
-            if (d > (ra + rb))
-            {
-                resolved = default;
-                return false;
-            }
-            Vector3 normal = (to - from).normalized;
-            resolved = new(from, from + normal * (d - rb));
-            return true;
-        }
-
-        /// <summary>
-        /// collide capsule and sphere b.
-        /// move sphere b to resolved if collide.
-        /// </summary>
-        /// <param name="capsuleHead"></param>
-        /// <param name="capsuleTail"></param>
-        /// <param name="capsuleRadius"></param>
-        /// <param name="b"></param>
-        /// <param name="rb"></param>
-        static bool TryCollideCapsuleAndSphere(
-            in Vector3 capsuleHead,
-            in Vector3 capsuleTail,
-            float capsuleRadius,
-            in Vector3 b,
-            float rb,
-            out LineSegment resolved
-            )
-        {
-            var P = (capsuleTail - capsuleHead).normalized;
-            var Q = b - capsuleHead;
-            var dot = Vector3.Dot(P, Q);
-            if (dot <= 0)
-            {
-                // head側半球の球判定
-                return TryCollideSphereAndSphere(capsuleHead, capsuleRadius, b, rb, out resolved);
-            }
-
-            var t = dot / P.magnitude;
-            if (t >= 1.0f)
-            {
-                // tail側半球の球判定
-                return TryCollideSphereAndSphere(capsuleTail, capsuleRadius, b, rb, out resolved);
-            }
-
-            // head-tail上の m_transform.position との最近点
-            var p = capsuleHead + P * t;
-            return TryCollideSphereAndSphere(p, capsuleRadius, b, rb, out resolved);
-        }
-    }
-
-    public struct ClothCollisionJob : IJobParallelFor
-    {
-        // collider
-        [ReadOnly] public NativeArray<BlittableCollider> Colliders;
-        [ReadOnly] public NativeArray<Matrix4x4> CurrentColliders;
-
-        // particle
-        [ReadOnly] public NativeArray<TransformInfo> Info;
-        [ReadOnly] public NativeArray<Vector3> NextPositions;
-        [NativeDisableParallelForRestriction] public NativeArray<int> CollisionCount;
-        [NativeDisableParallelForRestriction] public NativeArray<Vector3> CollisionDelta;
-
-        // cloth
-        [ReadOnly] public NativeArray<(SpringConstraint, ClothRect)> ClothRects;
-
-        private void CollisionMove(int particleIndex, Vector3 delta)
-        {
-            CollisionCount[particleIndex] += 1;
-            CollisionDelta[particleIndex] += delta;
-        }
-
-        public void Execute(int rectIndex)
-        {
-            var (spring, rect) = ClothRects[rectIndex];
-
-            // using (new ProfileSample("Rect: Prepare"))
-            // _s0.BeginFrame();
-            // _s1.BeginFrame();
-
-            var a = NextPositions[rect._a];
-            var b = NextPositions[rect._b];
-            var c = NextPositions[rect._c];
-            var d = NextPositions[rect._d];
-            var aabb = GetBoundsFrom4(a, b, c, d);
-
-            // d x-x c
-            //   |/
-            // a x
-            var _triangle1 = new Triangle(c, d, a);
-            //     x c
-            //    /|
-            // a x-x b
-            var _triangle0 = new Triangle(a, b, c);
-
-            for (int colliderIndex = 0; colliderIndex < Colliders.Length; ++colliderIndex)
-            {
-                var collider = Colliders[colliderIndex];
-                var collider_matrix = CurrentColliders[colliderIndex];
-                if (!aabb.Intersects(GetBounds(collider, collider_matrix)))
-                {
-                    continue;
-                }
-
-                // 面の片側だけにヒットさせる
-                // 行き過ぎて戻るときに素通りする
-                // var p = _triangle0.Plane.ClosestPointOnPlane(col_pos);
-                // var dot = Vector3.Dot(_triangle0.Plane.normal, col_pos - p);
-                // if (_initialColliderNormalSide[collider] * dot < 0)
-                // {
-                //     // 片側
-                //     continue;
-                // }
-
-                if (TryCollide(collider, collider_matrix, _triangle0, out var l0))
-                {
-                    CollisionMove(rect._a, l0.GetDelta(collider.radius));
-                    CollisionMove(rect._b, l0.GetDelta(collider.radius));
-                    CollisionMove(rect._c, l0.GetDelta(collider.radius));
-                }
-                if (TryCollide(collider, collider_matrix, _triangle1, out var l1))
-                {
-                    CollisionMove(rect._c, l1.GetDelta(collider.radius));
-                    CollisionMove(rect._d, l1.GetDelta(collider.radius));
-                    CollisionMove(rect._a, l1.GetDelta(collider.radius));
-                }
-            }
-        }
-
-        static bool TryCollide(BlittableCollider collider, in Matrix4x4 colliderMatrix, in Triangle t, out LineSegment l)
-        {
-            var col_pos = colliderMatrix.MultiplyPoint(collider.offset);
-            if (collider.colliderType == BlittableColliderType.Capsule)
-            {
-                // capsule
-                var tail_pos = colliderMatrix.MultiplyPoint(collider.tailOrNormal);
-                var result = TriangleCapsuleCollisionSolver.Collide(t, new LineSegment(col_pos, tail_pos), collider.radius);
-                var type = result.TryGetClosest(out l);
-                return type.HasValue;
-            }
-            else
-            {
-                // sphere
-                return TryCollideSphere(t, col_pos, collider.radius, out l);
-            }
-        }
-
-        /// <summary>
-        /// 
-        /// </summary>
-        /// <param name="triangle"></param>
-        /// <param name="collider"></param>
-        /// <param name="radius"></param>
-        /// <returns>collider => 衝突点 への線分を返す</returns>
-        static bool TryCollideSphere(in Triangle triangle, in Vector3 collider, float radius, out LineSegment l)
-        {
-            var p = triangle.Plane.ClosestPointOnPlane(collider);
-            var distance = Vector3.Distance(p, collider);
-            if (distance > radius)
-            {
-                l = default;
-                return false;
-            }
-
-            if (triangle.IsSameSide(p))
-            {
-                l = new LineSegment(collider, p);
-                return true;
-            }
-
-            var (closestPoint, d) = triangle.GetClosest(collider);
-            if (d > radius)
-            {
-                l = default;
-                return false;
-            }
-            l = new LineSegment(collider, closestPoint);
-            return true;
-        }
-
-        public static Bounds GetBoundsFrom4(in Vector3 a, in Vector3 b, in Vector3 c, in Vector3 d)
-        {
-            var aabb = new Bounds(a, Vector3.zero);
-            aabb.Encapsulate(b);
-            aabb.Encapsulate(c);
-            aabb.Encapsulate(d);
-            return aabb;
-        }
-
-        public static Bounds GetBounds(BlittableCollider collider, Matrix4x4 m)
-        {
-            switch (collider.colliderType)
-            {
-                case BlittableColliderType.Capsule:
-                    {
-                        var h = m.MultiplyPoint(collider.offset);
-                        var t = m.MultiplyPoint(collider.tailOrNormal);
-                        var d = h - t;
-                        var aabb = new Bounds((h + t) * 0.5f, new Vector3(Mathf.Abs(d.x), Mathf.Abs(d.y), Mathf.Abs(d.z)));
-                        aabb.Expand(collider.radius * 2);
-                        return aabb;
-                    }
-
-                case BlittableColliderType.Sphere:
-                    return new Bounds(m.MultiplyPoint(collider.offset), new Vector3(collider.radius, collider.radius, collider.radius));
-
-                default:
-                    throw new NotImplementedException();
-            }
-        }
-
-    }
-
-    public struct CollisionApplyJob : IJobParallelFor
-    {
-        [ReadOnly] public NativeArray<bool> ClothUsedParticles;
-        [ReadOnly] public NativeArray<Vector3> StrandCollision;
-        [ReadOnly] public NativeArray<int> ClothCollisionCount;
-        [ReadOnly] public NativeArray<Vector3> ClothCollisionDelta;
-        [NativeDisableParallelForRestriction] public NativeArray<Vector3> NextPosition;
-
-        public void Execute(int particleIndex)
-        {
-            if (ClothUsedParticles[particleIndex])
-            {
-                if (ClothCollisionCount[particleIndex] > 0)
-                {
-                    NextPosition[particleIndex] += (ClothCollisionDelta[particleIndex] / ClothCollisionCount[particleIndex]);
-                }
-            }
-            else
-            {
-                NextPosition[particleIndex] = StrandCollision[particleIndex];
-            }
-        }
-    }
-}
\ No newline at end of file
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/CollisionJobs.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/CollisionJobs.cs
new file mode 100644
index 000000000..92e488dee
--- /dev/null
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/CollisionJobs.cs
@@ -0,0 +1,51 @@
+using Unity.Collections;
+using Unity.Jobs;
+using UnityEngine;
+using UnityEngine.Jobs;
+
+
+namespace UniVRM10.ClothWarp.Jobs
+{
+    public struct ClothInfo
+    {
+        public ArrayRange ColliderGroupRefRange;
+    }
+
+    public struct InputColliderJob : IJobParallelForTransform
+    {
+        [WriteOnly] public NativeArray<Matrix4x4> CurrentCollider;
+
+        public void Execute(int colliderIndex, TransformAccess transform)
+        {
+            CurrentCollider[colliderIndex] = transform.localToWorldMatrix;
+        }
+    }
+
+    public struct CollisionApplyJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<bool> ClothUsedParticles;
+        [ReadOnly] public NativeArray<Vector3> StrandCollision;
+
+        [ReadOnly] public NativeArray<int> RectCollisionCount;
+        [ReadOnly] public NativeArray<Vector3> RectCollisionDelta;
+        public NativeArray<Vector3> NextPosition;
+
+        public void Execute(int particleIndex)
+        {
+            if (ClothUsedParticles[particleIndex])
+            {
+                var count = RectCollisionCount[particleIndex];
+                if (count > 0)
+                {
+                    // 一つの頂点が最大で近接する4つの rect で当たり判定をされる
+                    // 衝突結果を足して割る
+                    NextPosition[particleIndex] += RectCollisionDelta[particleIndex] / count;
+                }
+            }
+            else
+            {
+                NextPosition[particleIndex] = StrandCollision[particleIndex];
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Collision.cs.meta b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/CollisionJobs.cs.meta
similarity index 100%
rename from Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Collision.cs.meta
rename to Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/CollisionJobs.cs.meta
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Constraint.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Constraint.cs
index f6704d852..38b222743 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Constraint.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Constraint.cs
@@ -12,16 +12,31 @@ namespace UniVRM10.ClothWarp.Jobs
     {
         [ReadOnly] public NativeArray<WarpInfo> Warps;
         [ReadOnly] public NativeArray<TransformInfo> Info;
+        [ReadOnly] public NativeArray<TransformData> Data;
         [NativeDisableParallelForRestriction] public NativeArray<Vector3> NextPositions;
         public void Execute(int warpIndex)
         {
             var warp = Warps[warpIndex];
-            for (int particleIndex = warp.StartIndex; particleIndex < warp.EndIndex - 1; ++particleIndex)
+            for (int particleIndex = warp.PrticleRange.Start; particleIndex < warp.PrticleRange.End - 1; ++particleIndex)
             {
-                // 位置を長さで拘束
-                NextPositions[particleIndex + 1] = NextPositions[particleIndex] +
-                    (NextPositions[particleIndex + 1] - NextPositions[particleIndex]).normalized
-                    * Info[particleIndex + 1].InitLocalPosition.magnitude;
+                var particle = Info[particleIndex + 1];
+                if (particle.Branch.HasValue)
+                {
+                    var branch = particle.Branch.Value;
+                    // １番目の兄弟の情報を使う
+                    // 枝分かれ。特別処理
+                    var firstSibling = Info[branch.FirstSiblingIndex];
+                    var firstPosition = NextPositions[branch.FirstSiblingIndex];
+                    var local_d = particle.InitLocalPosition - firstSibling.InitLocalPosition;
+                    NextPositions[particleIndex + 1] = firstPosition + Data[particle.ParentIndex].Rotation * local_d;
+                }
+                else
+                {
+                    // 位置を長さで拘束
+                    NextPositions[particleIndex + 1] = NextPositions[particleIndex] +
+                        (NextPositions[particleIndex + 1] - NextPositions[particleIndex]).normalized
+                        * Info[particleIndex + 1].InitLocalPosition.magnitude;
+                }
             }
         }
     }
@@ -29,21 +44,20 @@ namespace UniVRM10.ClothWarp.Jobs
     public struct WeftConstraintJob : IJobParallelFor
     {
         public float Hookean;
-        FrameInfo Frame;
-        [ReadOnly] public NativeArray<(SpringConstraint, ClothRect)> ClothRects;
+        [ReadOnly] public NativeArray<(int, SpringConstraint, ClothRect)> ClothRects;
         [ReadOnly] public NativeArray<Vector3> CurrentPositions;
-        [NativeDisableParallelForRestriction] public NativeArray<Vector3> Force;
+        [NativeDisableParallelForRestriction] public NativeArray<Vector3> ImpulsiveForces;
 
         public void Execute(int rectIndex)
         {
-            var (spring, rect) = ClothRects[rectIndex];
+            var (clothGridIndex, spring, rect) = ClothRects[rectIndex];
             var p0 = CurrentPositions[spring._p0];
             var p1 = CurrentPositions[spring._p1];
             var d = Vector3.Distance(p0, p1);
             var f = (d - spring._rest) * Hookean;
-            var dx = (p1 - p0).normalized * f / Frame.SqDeltaTime;
-            Force[spring._p0] += dx;
-            Force[spring._p1] -= dx;
+            var dx = (p1 - p0).normalized * f;
+            ImpulsiveForces[spring._p0] += dx;
+            ImpulsiveForces[spring._p1] -= dx;
         }
     }
 
@@ -60,7 +74,7 @@ namespace UniVRM10.ClothWarp.Jobs
         public void Execute(int warpIndex)
         {
             var warp = Warps[warpIndex];
-            for (int particleIndex = warp.StartIndex; particleIndex < warp.EndIndex - 1; ++particleIndex)
+            for (int particleIndex = warp.PrticleRange.Start; particleIndex < warp.PrticleRange.End - 1; ++particleIndex)
             {
                 //回転を適用
                 var p = Info[particleIndex];
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Particle.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Particle.cs
index c85550f8a..2df9886ab 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Particle.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Particle.cs
@@ -1,66 +1,52 @@
+using System;
 using UniGLTF.SpringBoneJobs.Blittables;
 using Unity.Collections;
 using Unity.Jobs;
 using UnityEngine;
-using UnityEngine.Jobs;
 
 
 namespace UniVRM10.ClothWarp.Jobs
 {
-    public struct TransformInfo
+    /// <summary>
+    /// UniGLTF.SpringBoneJobs.Blittables.BlittableJointMutable と同じ。
+    /// Range が違う。
+    /// </summary>
+    [Serializable]
+    public struct ParticleSettings
     {
-        public TransformType TransformType;
-        public int ParentIndex;
-        public Quaternion InitLocalRotation;
-        public Vector3 InitLocalPosition;
-        public BlittableJointMutable Settings;
-    }
+        [Range(0, 1)]
+        public float Stiffness;
+        [Range(0, 1)]
+        public float Deceleration;
+        public Vector3 Gravity;
+        public float Radius;
 
-    public struct TransformData
-    {
-        public Matrix4x4 ToWorld;
-        public Vector3 Position => ToWorld.GetPosition();
-        public Quaternion Rotation => ToWorld.rotation;
-        public Matrix4x4 ToLocal;
-
-        public TransformData(TransformAccess t)
+        public static readonly ParticleSettings Default = new ParticleSettings
         {
-            ToWorld = t.localToWorldMatrix;
-            ToLocal = t.worldToLocalMatrix;
+            Stiffness = 0.08f,
+            Gravity = new Vector3(0, -1.0f, 0),
+            Deceleration = 0.4f,
+            Radius = 0.02f,
+        };
+
+        public void FromBlittableJointMutable(BlittableJointMutable src)
+        {
+            Stiffness = src.stiffnessForce;
+            Gravity = src.gravityDir * src.gravityPower;
+            Deceleration = src.dragForce;
+            Radius = src.radius;
         }
-        public TransformData(Transform t)
+
+        public BlittableJointMutable ToBlittableJointMutable()
         {
-            ToWorld = t.localToWorldMatrix;
-            ToLocal = t.worldToLocalMatrix;
-        }
-    }
-
-    // [Input]
-    public struct InputTransformJob : IJobParallelForTransform
-    {
-        [ReadOnly] public NativeArray<TransformInfo> Info;
-        [WriteOnly] public NativeArray<TransformData> InputData;
-        [WriteOnly] public NativeArray<Vector3> CurrentPositions;
-
-        [WriteOnly] public NativeArray<int> CollisionCount;
-        [WriteOnly] public NativeArray<Vector3> CollisionDelta;
-        [WriteOnly] public NativeArray<Vector3> Forces;
-
-        public void Execute(int particleIndex, TransformAccess transform)
-        {
-            InputData[particleIndex] = new TransformData(transform);
-
-            var particle = Info[particleIndex];
-            if (particle.TransformType.PositionInput())
+            return new BlittableJointMutable
             {
-                // only warp root position update
-                CurrentPositions[particleIndex] = transform.position;
-            }
-
-            // clear cloth
-            CollisionCount[particleIndex] = 0;
-            CollisionDelta[particleIndex] = Vector3.zero;
-            Forces[particleIndex] = Vector3.zero;
+                stiffnessForce = Stiffness,
+                gravityPower = 1.0f,
+                gravityDir = Gravity,
+                dragForce = Deceleration,
+                radius = Radius,
+            };
         }
     }
 
@@ -69,7 +55,7 @@ namespace UniVRM10.ClothWarp.Jobs
         public FrameInfo Frame;
         [ReadOnly] public NativeArray<TransformInfo> Info;
         [ReadOnly] public NativeArray<TransformData> CurrentTransforms;
-        [ReadOnly] public NativeArray<Vector3> Forces;
+        [ReadOnly] public NativeArray<Vector3> ImpulsiveForces;
         [ReadOnly] public NativeArray<Vector3> CurrentPositions;
         [ReadOnly] public NativeArray<Vector3> PrevPositions;
         [WriteOnly] public NativeArray<Vector3> NextPositions;
@@ -80,18 +66,19 @@ namespace UniVRM10.ClothWarp.Jobs
             var particle = Info[particleIndex];
             if (particle.TransformType.Movable())
             {
-                var parentIndex = particle.ParentIndex;
-                // var parentPosition = CurrentPositions[parentIndex];
-                var parent = Info[parentIndex];
+                var parent = Info[particle.ParentIndex];
                 var parentParentRotation = CurrentTransforms[parent.ParentIndex].Rotation;
 
-                var external = (particle.Settings.gravityDir * particle.Settings.gravityPower + Frame.Force) * Frame.DeltaTime;
+                var local_rest = parentParentRotation * parent.InitLocalRotation * particle.InitLocalPosition;
+                var world_rest = CurrentPositions[particle.ParentIndex] + local_rest;
+                var resilience_force = world_rest - CurrentPositions[particleIndex];
+                var velocity = (CurrentPositions[particleIndex] - PrevPositions[particleIndex]) * (1.0f - particle.Settings.Deceleration);
 
                 var newPosition = CurrentPositions[particleIndex]
-                     + (CurrentPositions[particleIndex] - PrevPositions[particleIndex]) * (1.0f - particle.Settings.dragForce)
-                     + parentParentRotation * parent.InitLocalRotation * particle.InitLocalPosition *
-                           particle.Settings.stiffnessForce * Frame.DeltaTime // 親の回転による子ボーンの移動目標
-                     + external
+                     + velocity
+                     + ImpulsiveForces[particleIndex]
+                     + resilience_force * particle.Settings.Stiffness
+                     + (particle.Settings.Gravity + Frame.Force) * Frame.SqDeltaTime
                      ;
 
                 NextPositions[particleIndex] = newPosition;
@@ -105,19 +92,4 @@ namespace UniVRM10.ClothWarp.Jobs
             NextRotations[particleIndex] = CurrentTransforms[particleIndex].Rotation;
         }
     }
-
-    // [Output]
-    public struct OutputTransformJob : IJobParallelForTransform
-    {
-        [ReadOnly] public NativeArray<TransformInfo> Info;
-        [ReadOnly] public NativeArray<Quaternion> NextRotations;
-        public void Execute(int particleIndex, TransformAccess transform)
-        {
-            var info = Info[particleIndex];
-            if (info.TransformType.Writable())
-            {
-                transform.rotation = NextRotations[particleIndex];
-            }
-        }
-    }
 }
\ No newline at end of file
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/RectCollisionJob.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/RectCollisionJob.cs
new file mode 100644
index 000000000..84bb020a6
--- /dev/null
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/RectCollisionJob.cs
@@ -0,0 +1,242 @@
+using System;
+using SphereTriangle;
+using UniGLTF.SpringBoneJobs.Blittables;
+using Unity.Collections;
+using Unity.Jobs;
+using UnityEngine;
+
+
+namespace UniVRM10.ClothWarp.Jobs
+{
+    public struct RectCollisionJob : IJobParallelFor
+    {
+        // cloth
+        [ReadOnly] public NativeArray<(int, SpringConstraint, ClothRect)> ClothRects;
+        [WriteOnly] public NativeArray<(Vector3, Vector3, Vector3, Vector3)> ClothRectResults;
+
+        // collider
+        [ReadOnly] public NativeArray<BlittableCollider> Colliders;
+        [ReadOnly] public NativeArray<Matrix4x4> CurrentColliders;
+
+        // particle
+        [ReadOnly] public NativeArray<TransformInfo> Info;
+        [ReadOnly] public NativeArray<Vector3> NextPositions;
+
+        // collider group
+        [ReadOnly] public NativeArray<ClothInfo> Cloths;
+        [ReadOnly] public NativeArray<int> ColliderGroupRef;
+        [ReadOnly] public NativeArray<ArrayRange> ColliderGroup;
+        [ReadOnly] public NativeArray<int> ColliderRef;
+
+        public void Execute(int rectIndex)
+        {
+            var (clothGridIndex, spring, rect) = ClothRects[rectIndex];
+
+            var a = NextPositions[rect._a];
+            var b = NextPositions[rect._b];
+            var c = NextPositions[rect._c];
+            var d = NextPositions[rect._d];
+            var aabb = GetBoundsFrom4(a, b, c, d);
+
+            // d x-x c
+            //   |/
+            // a x
+            var _triangle1 = new Triangle(c, d, a);
+            //     x c
+            //    /|
+            // a x-x b
+            var _triangle0 = new Triangle(a, b, c);
+
+            var cloth = Cloths[clothGridIndex];
+
+            for (int groupRefIndex = cloth.ColliderGroupRefRange.Start; groupRefIndex < cloth.ColliderGroupRefRange.End; ++groupRefIndex)
+            {
+                var groupIndex = ColliderGroupRef[groupRefIndex];
+
+                var group = ColliderGroup[groupIndex];
+                for (int colliderRefIndex = group.Start; colliderRefIndex < group.End; ++colliderRefIndex)
+                {
+                    var colliderIndex = ColliderRef[colliderRefIndex];
+                    var collider = Colliders[colliderIndex];
+                    var collider_matrix = CurrentColliders[collider.transformIndex];
+                    if (!aabb.Intersects(GetBounds(collider, collider_matrix)))
+                    {
+                        continue;
+                    }
+
+                    // 面の片側だけにヒットさせる
+                    // 行き過ぎて戻るときに素通りする
+                    // var p = _triangle0.Plane.ClosestPointOnPlane(col_pos);
+                    // var dot = Vector3.Dot(_triangle0.Plane.normal, col_pos - p);
+                    // if (_initialColliderNormalSide[collider] * dot < 0)
+                    // {
+                    //     // 片側
+                    //     continue;
+                    // }
+
+                    var abc = TryCollide(collider, collider_matrix, _triangle0, out var l0);
+                    var cda = TryCollide(collider, collider_matrix, _triangle1, out var l1);
+                    if (!Info[rect._c].TransformType.Movable())
+                    {
+                        // cloth の上端。cd が固定
+                        if (abc)
+                        {
+                            a += l0.GetDelta(collider.radius);
+                            b += l0.GetDelta(collider.radius);
+                        }
+                        else if (cda)
+                        {
+                            a += l1.GetDelta(collider.radius);
+                            b += l1.GetDelta(collider.radius);
+                        }
+                    }
+                    else
+                    {
+                        if (abc && cda)
+                        {
+                            a += l0.GetDelta(collider.radius);
+                            b += l0.GetDelta(collider.radius);
+                            c += l1.GetDelta(collider.radius);
+                            d += l1.GetDelta(collider.radius);
+                        }
+                        else if (abc)
+                        {
+                            a += l0.GetDelta(collider.radius);
+                            b += l0.GetDelta(collider.radius);
+                            c += l0.GetDelta(collider.radius);
+                        }
+                        else if (cda)
+                        {
+                            c += l1.GetDelta(collider.radius);
+                            d += l1.GetDelta(collider.radius);
+                            a += l1.GetDelta(collider.radius);
+                        }
+                    }
+                }
+            }
+
+            ClothRectResults[rectIndex] = (a, b, c, d);
+        }
+
+        static bool TryCollide(BlittableCollider collider, in Matrix4x4 colliderMatrix, in Triangle t, out LineSegment l)
+        {
+            var col_pos = colliderMatrix.MultiplyPoint(collider.offset);
+            if (collider.colliderType == BlittableColliderType.Capsule)
+            {
+                // capsule
+                var tail_pos = colliderMatrix.MultiplyPoint(collider.tailOrNormal);
+                var result = TriangleCapsuleCollisionSolver.Collide(t, new LineSegment(col_pos, tail_pos), collider.radius);
+                var type = result.TryGetClosest(out l);
+                return type.HasValue;
+            }
+            else
+            {
+                // sphere
+                return TryCollideSphere(t, col_pos, collider.radius, out l);
+            }
+        }
+
+        /// <summary>
+        /// 
+        /// </summary>
+        /// <param name="triangle"></param>
+        /// <param name="collider"></param>
+        /// <param name="radius"></param>
+        /// <returns>collider => 衝突点 への線分を返す</returns>
+        static bool TryCollideSphere(in Triangle triangle, in Vector3 collider, float radius, out LineSegment l)
+        {
+            var p = triangle.Plane.ClosestPointOnPlane(collider);
+            var distance = Vector3.Distance(p, collider);
+            if (distance > radius)
+            {
+                l = default;
+                return false;
+            }
+
+            if (triangle.IsSameSide(p))
+            {
+                l = new LineSegment(collider, p);
+                return true;
+            }
+
+            var (closestPoint, d) = triangle.GetClosest(collider);
+            if (d > radius)
+            {
+                l = default;
+                return false;
+            }
+            l = new LineSegment(collider, closestPoint);
+            return true;
+        }
+
+        public static Bounds GetBoundsFrom4(in Vector3 a, in Vector3 b, in Vector3 c, in Vector3 d)
+        {
+            var aabb = new Bounds(a, Vector3.zero);
+            aabb.Encapsulate(b);
+            aabb.Encapsulate(c);
+            aabb.Encapsulate(d);
+            return aabb;
+        }
+
+        public static Bounds GetBounds(BlittableCollider collider, Matrix4x4 m)
+        {
+            switch (collider.colliderType)
+            {
+                case BlittableColliderType.Capsule:
+                    {
+                        var h = m.MultiplyPoint(collider.offset);
+                        var t = m.MultiplyPoint(collider.tailOrNormal);
+                        var d = h - t;
+                        var aabb = new Bounds((h + t) * 0.5f, new Vector3(Mathf.Abs(d.x), Mathf.Abs(d.y), Mathf.Abs(d.z)));
+                        aabb.Expand(collider.radius * 2);
+                        return aabb;
+                    }
+
+                case BlittableColliderType.Sphere:
+                    return new Bounds(m.MultiplyPoint(collider.offset), new Vector3(collider.radius, collider.radius, collider.radius));
+
+                default:
+                    throw new NotImplementedException();
+            }
+        }
+    }
+
+    public struct RectCollisionReduceJob : IJob
+    {
+        [ReadOnly] public NativeArray<(int, SpringConstraint, ClothRect)> ClothRects;
+        [ReadOnly] public NativeArray<(Vector3, Vector3, Vector3, Vector3)> ClothRectResults;
+        [ReadOnly] public NativeArray<Vector3> NextPositions;
+
+        public NativeArray<int> RectCollisionCount;
+        public NativeArray<Vector3> RectCollisionDelta;
+        public void Execute()
+        {
+            for (int rectIndex = 0; rectIndex < ClothRects.Length; ++rectIndex)
+            {
+                var (clothGridIndex, spring, rect) = ClothRects[rectIndex];
+                var (a, b, c, d) = ClothRectResults[rectIndex];
+
+                if (a != NextPositions[rect._a])
+                {
+                    RectCollisionDelta[rect._a] += a - NextPositions[rect._a];
+                    RectCollisionCount[rect._a] += 1;
+                }
+                if (b != NextPositions[rect._b])
+                {
+                    RectCollisionDelta[rect._b] += b - NextPositions[rect._b];
+                    RectCollisionCount[rect._b] += 1;
+                }
+                if (c != NextPositions[rect._c])
+                {
+                    RectCollisionDelta[rect._c] += c - NextPositions[rect._c];
+                    RectCollisionCount[rect._c] += 1;
+                }
+                if (d != NextPositions[rect._d])
+                {
+                    RectCollisionDelta[rect._d] += d - NextPositions[rect._d];
+                    RectCollisionCount[rect._d] += 1;
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/RectCollisionJob.cs.meta b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/RectCollisionJob.cs.meta
new file mode 100644
index 000000000..05a6d562a
--- /dev/null
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/RectCollisionJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 127d372d227187449960f33a08791017
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/TransformInputOutput.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/TransformInputOutput.cs
new file mode 100644
index 000000000..25f1fbb33
--- /dev/null
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/TransformInputOutput.cs
@@ -0,0 +1,86 @@
+using Unity.Collections;
+using UnityEngine;
+using UnityEngine.Jobs;
+
+
+namespace UniVRM10.ClothWarp.Jobs
+{
+    public struct BranchInfo
+    {
+        public int FirstSiblingIndex;
+    }
+
+    public struct TransformInfo
+    {
+        public TransformType TransformType;
+        public int ParentIndex;
+        public Quaternion InitLocalRotation;
+        public Vector3 InitLocalPosition;
+        public ParticleSettings Settings;
+        public int WarpIndex;
+        public BranchInfo? Branch;
+    }
+
+    public struct TransformData
+    {
+        public Matrix4x4 ToWorld;
+        public Vector3 Position => ToWorld.GetPosition();
+        public Quaternion Rotation => ToWorld.rotation;
+        public Matrix4x4 ToLocal;
+
+        public TransformData(TransformAccess t)
+        {
+            ToWorld = t.localToWorldMatrix;
+            ToLocal = t.worldToLocalMatrix;
+        }
+        public TransformData(Transform t)
+        {
+            ToWorld = t.localToWorldMatrix;
+            ToLocal = t.worldToLocalMatrix;
+        }
+    }
+
+    // [Input]
+    public struct InputTransformJob : IJobParallelForTransform
+    {
+        [ReadOnly] public NativeArray<TransformInfo> Info;
+        [WriteOnly] public NativeArray<TransformData> InputData;
+        [WriteOnly] public NativeArray<Vector3> CurrentPositions;
+
+        [WriteOnly] public NativeArray<int> CollisionCount;
+        [WriteOnly] public NativeArray<Vector3> CollisionDelta;
+        [WriteOnly] public NativeArray<Vector3> ImpulsiveForces;
+
+        public void Execute(int particleIndex, TransformAccess transform)
+        {
+            InputData[particleIndex] = new TransformData(transform);
+
+            var particle = Info[particleIndex];
+            if (particle.TransformType.PositionInput())
+            {
+                // only warp root position update
+                CurrentPositions[particleIndex] = transform.position;
+            }
+
+            // clear cloth
+            CollisionCount[particleIndex] = 0;
+            CollisionDelta[particleIndex] = Vector3.zero;
+            ImpulsiveForces[particleIndex] = Vector3.zero;
+        }
+    }
+
+    // [Output]
+    public struct OutputTransformJob : IJobParallelForTransform
+    {
+        [ReadOnly] public NativeArray<TransformInfo> Info;
+        [ReadOnly] public NativeArray<Quaternion> NextRotations;
+        public void Execute(int particleIndex, TransformAccess transform)
+        {
+            var info = Info[particleIndex];
+            if (info.TransformType.Writable())
+            {
+                transform.rotation = NextRotations[particleIndex];
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/TransformInputOutput.cs.meta b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/TransformInputOutput.cs.meta
new file mode 100644
index 000000000..0ff1ff308
--- /dev/null
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/TransformInputOutput.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5f3379ab5e1202d43a95e72ece6bda3a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Warp.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Warp.cs
index 53a2e5128..6abe990b0 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Warp.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/Warp.cs
@@ -1,8 +1,14 @@
 namespace UniVRM10.ClothWarp.Jobs
 {
+    public struct ArrayRange
+    {
+        public int Start;
+        public int End;
+    }
+
     public struct WarpInfo
     {
-        public int StartIndex;
-        public int EndIndex;
+        public ArrayRange PrticleRange;
+        public ArrayRange ColliderGroupRefRange;
     }
 }
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/WarpCollisionJob.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/WarpCollisionJob.cs
new file mode 100644
index 000000000..55deac7ad
--- /dev/null
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/WarpCollisionJob.cs
@@ -0,0 +1,73 @@
+using SphereTriangle;
+using UniGLTF.SpringBoneJobs.Blittables;
+using Unity.Collections;
+using Unity.Jobs;
+using UnityEngine;
+
+
+namespace UniVRM10.ClothWarp.Jobs
+{
+    public struct WarpCollisionJob : IJobParallelFor
+    {
+        // collider
+        [ReadOnly] public NativeArray<BlittableCollider> Colliders;
+        [ReadOnly] public NativeArray<Matrix4x4> CurrentColliders;
+
+        // particle
+        [ReadOnly] public NativeArray<TransformInfo> Info;
+        [ReadOnly] public NativeArray<Vector3> NextPositions;
+        [ReadOnly] public NativeArray<bool> ClothUsedParticles;
+        [WriteOnly] public NativeArray<Vector3> StrandCollision;
+
+        // collider group
+        [ReadOnly] public NativeArray<WarpInfo> Warps;
+        [ReadOnly] public NativeArray<int> ColliderGroupRef;
+        [ReadOnly] public NativeArray<ArrayRange> ColliderGroup;
+        [ReadOnly] public NativeArray<int> ColliderRef;
+
+        public void Execute(int particleIndex)
+        {
+            if (
+                // cloth でない
+                !ClothUsedParticles[particleIndex]
+                // 枝のjointでない
+                && !Info[particleIndex].Branch.HasValue
+            )
+            {
+                var info = Info[particleIndex];
+                var pos = NextPositions[particleIndex];
+                var warp = Warps[info.WarpIndex];
+
+                for (int groupRefIndex = warp.ColliderGroupRefRange.Start; groupRefIndex < warp.ColliderGroupRefRange.End; ++groupRefIndex)
+                {
+                    var groupIndex = ColliderGroupRef[groupRefIndex];
+                    var group = ColliderGroup[groupIndex];
+                    for (int colliderRefIndex = group.Start; colliderRefIndex < group.End; ++colliderRefIndex)
+                    {
+                        var colliderIndex = ColliderRef[colliderRefIndex];
+                        var c = Colliders[colliderIndex];
+                        var m = CurrentColliders[c.transformIndex];
+
+                        if (c.colliderType == BlittableColliderType.Capsule)
+                        {
+                            if (SphereSphereCollision.TryCollideCapsuleAndSphere(m.MultiplyPoint(c.offset), m.MultiplyPoint(c.tailOrNormal), c.radius,
+                                pos, info.Settings.Radius, out var l))
+                            {
+                                pos += l.GetDelta(c.radius);
+                            }
+                        }
+                        else
+                        {
+                            if (SphereSphereCollision.TryCollideSphereAndSphere(m.MultiplyPoint(c.offset), c.radius,
+                                pos, info.Settings.Radius, out var l))
+                            {
+                                pos += l.GetDelta(c.radius);
+                            }
+                        }
+                    }
+                }
+                StrandCollision[particleIndex] = pos;
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/WarpCollisionJob.cs.meta b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/WarpCollisionJob.cs.meta
new file mode 100644
index 000000000..c9e81c334
--- /dev/null
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/Jobs/WarpCollisionJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 80e53200fa3841748ad1d1416efdd53b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ParticleList.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ParticleList.cs
index bfafc842f..c2ea5a964 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ParticleList.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/ParticleList.cs
@@ -23,7 +23,7 @@ namespace UniVRM10.ClothWarp
             foreach (var particle in warp.Particles)
             {
                 var child_index = _MakeAParticle(joint, env, particle.Transform,
-                    particle.Settings.radius, 1);
+                    particle.Settings.Radius, 1);
                 var child = _particles[child_index];
                 strand.Particles.Add(child);
                 joint.Children.Add(child);
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/ClothRectCollision.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/ClothRectCollision.cs
index 69611295d..174de6e1e 100644
--- a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/ClothRectCollision.cs
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/ClothRectCollision.cs
@@ -230,19 +230,19 @@ namespace SphereTriangle
             return true;
         }
 
-//         public void DrawGizmos()
-//         {
-//             var r = Vector3.Distance(_triangle0.b, _triangle0.c) * 0.1f;
-//             _DrawGizmos(_triangle0, _s0, _trinagle0Collision, r);
-//             _DrawGizmos(_triangle1, _s1, _triangle1Collision, r);
+        //         public void DrawGizmos()
+        //         {
+        //             var r = Vector3.Distance(_triangle0.b, _triangle0.c) * 0.1f;
+        //             _DrawGizmos(_triangle0, _s0, _trinagle0Collision, r);
+        //             _DrawGizmos(_triangle1, _s1, _triangle1Collision, r);
 
-// #if AABB_DEBUG
-//             Gizmos.matrix = Matrix4x4.identity;
-//             Gizmos.color = Color.cyan;
-//             var aabb = GetBoundsFrom4(_triangle0.a, _triangle0.b, _triangle1.a, _triangle1.b);
-//             Gizmos.DrawWireCube(aabb.center, aabb.size);
-// #endif
-//         }
+        // #if AABB_DEBUG
+        //             Gizmos.matrix = Matrix4x4.identity;
+        //             Gizmos.color = Color.cyan;
+        //             var aabb = GetBoundsFrom4(_triangle0.a, _triangle0.b, _triangle1.a, _triangle1.b);
+        //             Gizmos.DrawWireCube(aabb.center, aabb.size);
+        // #endif
+        //         }
 
         // void _DrawGizmos(in Triangle t, TriangleCapsuleCollisionSolver solver, float collision, float radius)
         // {
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/SphereCapsuleCollision.cs b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/SphereCapsuleCollision.cs
new file mode 100644
index 000000000..864f48f89
--- /dev/null
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/SphereCapsuleCollision.cs
@@ -0,0 +1,74 @@
+using UnityEngine;
+
+
+namespace SphereTriangle
+{
+    public static class SphereSphereCollision
+    {
+        /// <summary>
+        /// collide sphere a and sphere b.
+        /// move sphere b to resolved if collide.
+        /// </summary>
+        /// <param name="from"></param>
+        /// <param name="ra"></param>
+        /// <param name="to"></param>
+        /// <param name="ba"></param>
+        /// <param name="resolved"></param>
+        /// <returns></returns>
+        public static bool TryCollideSphereAndSphere(
+            in Vector3 from, float ra,
+            in Vector3 to, float rb,
+            out LineSegment resolved
+            )
+        {
+            var d = Vector3.Distance(from, to);
+            if (d > (ra + rb))
+            {
+                resolved = default;
+                return false;
+            }
+            Vector3 normal = (to - from).normalized;
+            resolved = new(from, from + normal * (d - rb));
+            return true;
+        }
+
+        /// <summary>
+        /// collide capsule and sphere b.
+        /// move sphere b to resolved if collide.
+        /// </summary>
+        /// <param name="capsuleHead"></param>
+        /// <param name="capsuleTail"></param>
+        /// <param name="capsuleRadius"></param>
+        /// <param name="b"></param>
+        /// <param name="rb"></param>
+        public static bool TryCollideCapsuleAndSphere(
+            in Vector3 capsuleHead,
+            in Vector3 capsuleTail,
+            float capsuleRadius,
+            in Vector3 b,
+            float rb,
+            out LineSegment resolved
+            )
+        {
+            var P = (capsuleTail - capsuleHead);
+            var Q = b - capsuleHead;
+            var dot = Vector3.Dot(P.normalized, Q);
+            if (dot <= 0)
+            {
+                // head側半球の球判定
+                return TryCollideSphereAndSphere(capsuleHead, capsuleRadius, b, rb, out resolved);
+            }
+
+            var t = dot / P.magnitude;
+            if (t >= 1.0f)
+            {
+                // tail側半球の球判定
+                return TryCollideSphereAndSphere(capsuleTail, capsuleRadius, b, rb, out resolved);
+            }
+
+            // head-tail上の m_transform.position との最近点
+            var p = capsuleHead + P * t;
+            return TryCollideSphereAndSphere(p, capsuleRadius, b, rb, out resolved);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/SphereCapsuleCollision.cs.meta b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/SphereCapsuleCollision.cs.meta
new file mode 100644
index 000000000..84898a359
--- /dev/null
+++ b/Assets/VRM10_Samples/ClothSample/ClothWarp/Runtime/SphereTriangle/SphereCapsuleCollision.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 990d1e921d604e348ab7fd04216b01d2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: