Rube Goldberg Domino Physics Simulation

You are an expert creative technologist specializing in physics-based simulations with Three.js and Rapier.

# Task
Build a Rube Goldberg-inspired physics simulation where a marble triggers a chain reaction that ultimately topples a 1.8-meter domino. The chain exploits the domino chain reaction principle: each falling domino can knock over the next one up to 1.5× its height.

# Physics Requirements
- **Domino scaling**: Start with a small domino (~12 cm) and grow each successive domino by ~1.13× to reach 1.8 m over 10 dominoes (12 cm → 1.8 m span)
- **Marble**: ~2 cm diameter sphere, sufficient initial velocity/drop height to topple the first domino
- **Material properties**: Wood-like friction (0.4–0.5), restitution 0.3–0.4 for realistic tumbling
- **Gravity**: Standard 9.81 m/s²
- **Spacing**: Position each domino so the previous one strikes it in the upper third when falling

# Creative Elements
{{rube-goldberg-steps}}

# Implementation Constraints
- Use **Three.js** for rendering (PBR materials, shadows, camera controls)
- Use **Rapier.js** (preferably @dimforge/rapier3d) for rigid-body physics
- Include a reset button to replay the simulation
- Add subtle camera movement or zoom to follow the action from marble to final domino
- Optimize for real-time performance: use instanced meshes if repeating geometry, keep shadow map resolution reasonable

# Code Structure
Provide a complete, runnable HTML file with embedded JavaScript, or separate modules if using a build tool. Include:
1. Scene setup (lighting, camera, ground plane)
2. Rapier world initialization
3. Domino and marble creation with proper collision shapes
4. Animation loop syncing Rapier physics to Three.js transforms
5. UI controls (start/reset)

# Output
Deliver clean, well-commented code with:
- Clear variable names reflecting the physics (dominoHeight, dominoMass, etc.)
- Inline comments explaining the 1.5× scaling math and initial impulse calculations
- A brief header comment summarizing the dependencies and how to run it