@adatechnology/game-crowd 0.3.0 → 0.4.1

package/dist/physics-worker.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/physics/offload/frame.ts","../src/grid.ts","../src/identity.ts","../src/types.ts","../src/physics/contact.ts","../src/physics/pressure.ts","../src/physics/offload/kernel.ts","../src/physics/offload/worker-host.ts","../src/physics/offload/worker-entry.ts"],"sourcesContent":["/**\n * The frame the physics step is handed to a worker in: one buffer holding every array the contact and the pressure read (the inputs), the deltas and fields they give back\n * (the outputs) and the grid occupancy. One layout for the shared buffer and for the transferred one, so the two paths run the same step over the same bytes.\n */\n\nconst F32_INPUTS = ['x', 'z', 'y', 'vx', 'vz', 'pushX', 'pushZ', 'mass', 'build', 'aimX', 'aimZ', 'driveFactor', 'fieldPrev'] as const\nconst U8_INPUTS = ['band', 'balance', 'state', 'type'] as const\nconst F32_OUTPUTS = ['deltaX', 'deltaZ', 'deltaPushX', 'deltaPushZ', 'deltaVx', 'deltaVz', 'field', 'shove', 'doorLoad'] as const\n\n/** Header slots (Float64): the step's inputs, then its results. */\nexport const HEADER = { n: 0, h: 1, playerOn: 2, playerX: 3, playerZ: 4, contacts: 5, maxOverlap: 6, overlapSum: 7, playerLoad: 8, drivers: 9, fieldMax: 10, size: 16 } as const\n\nexport type FrameShape = { readonly capacity: number; readonly cells: number }\n\nexport type PhysicsFrame = {\n  readonly header: Float64Array\n  readonly f32: { readonly [K in (typeof F32_INPUTS)[number] | (typeof F32_OUTPUTS)[number]]: Float32Array }\n  readonly u8: { readonly [K in (typeof U8_INPUTS)[number]]: Uint8Array }\n  readonly identity: Uint32Array\n  readonly doorCell: Int32Array\n  readonly occ: Uint8Array\n}\n\nconst align8 = (bytes: number): number => Math.ceil(bytes / 8) * 8\n\n/** Bytes of a frame; the arrays follow the header in the order of the lists above. */\nexport const frameBytes = ({ capacity, cells }: FrameShape): number => HEADER.size * 8 + (F32_INPUTS.length + F32_OUTPUTS.length + 2) * align8(capacity * 4) + U8_INPUTS.length * align8(capacity) + align8(cells)\n\nexport function createFrame(buffer: ArrayBufferLike, shape: FrameShape): PhysicsFrame {\n  const { capacity, cells } = shape\n  let offset = 0\n  const take = <T>(make: (buffer: ArrayBufferLike, offset: number, length: number) => T, bytesPerElement: number, length: number): T => {\n    const view = make(buffer, offset, length)\n    offset += align8(length * bytesPerElement)\n    return view\n  }\n  const f64 = (b: ArrayBufferLike, o: number, l: number): Float64Array => new Float64Array(b, o, l)\n  const f32 = (b: ArrayBufferLike, o: number, l: number): Float32Array => new Float32Array(b, o, l)\n  const u8 = (b: ArrayBufferLike, o: number, l: number): Uint8Array => new Uint8Array(b, o, l)\n  const header = take(f64, 8, HEADER.size)\n  const floats = {} as Record<string, Float32Array>\n  for (const key of [...F32_INPUTS, ...F32_OUTPUTS]) floats[key] = take(f32, 4, capacity)\n  const identity = take((b, o, l) => new Uint32Array(b, o, l), 4, capacity)\n  const doorCell = take((b, o, l) => new Int32Array(b, o, l), 4, capacity)\n  const bytes = {} as Record<string, Uint8Array>\n  for (const key of U8_INPUTS) bytes[key] = take(u8, 1, capacity)\n  const occ = take(u8, 1, cells)\n  return { header, f32: floats as PhysicsFrame['f32'], u8: bytes as PhysicsFrame['u8'], identity, doorCell, occ }\n}\n\n/** The inputs of the step, by the name the store gives them. */\nexport const INPUT_KEYS = { f32: F32_INPUTS, u8: U8_INPUTS } as const\n","/** Occupancy codes of a grid cell (G 62162: 0 free, 1 solid, 2 low wall that can be climbed, 3 open door, 4 glass; 5 closed door, G 63816). */\nexport const CELL = { FREE: 0, SOLID: 1, LOW_WALL: 2, OPEN_DOOR: 3, GLASS: 4, CLOSED_DOOR: 5 } as const\n\nexport type NavGridOptions = {\n  /** Side of the square world in metres, centred on the origin (default 768, the game's world). */\n  readonly size?: number\n  /** Cell side in metres (default 0.5). */\n  readonly cell?: number\n  /** Fill a solid border of `borderWidth` m and `borderHeight` m around the world, as the game does (default true). */\n  readonly border?: boolean\n}\n\n/**\n * The navigation and collision grid of the game (G 62158-62170): a square world of cells with an occupancy code and a height. Agents, the player,\n * the flow field and line of sight all read it. Buildings write it with `fillRect`.\n */\nexport type NavGrid = {\n  readonly size: number\n  readonly half: number\n  readonly cell: number\n  /** Cells per side. */\n  readonly n: number\n  readonly occ: Uint8Array\n  readonly occH: Float32Array\n  cellOf(x: number, z: number): number\n  /** Solid for a body at height `y` (default 0.5): outside the world, or an occupied cell that is not an open door and is taller than `y`. */\n  solidAt(x: number, z: number, y?: number): boolean\n  /** The occupancy code at (x, z), -1 outside. */\n  cellKind(x: number, z: number): number\n  fillRect(x0: number, z0: number, x1: number, z1: number, kind: number, height: number): void\n  /** Blocked for a walking agent: outside, or anything but free and open door (G 66826 `zBlocked`). */\n  blocked(x: number, z: number): boolean\n  /** Nothing solid and taller than 1.5 m between the two points, sampled every 0.5 m (G 66828 `losClear`). */\n  losClear(x0: number, z0: number, x1: number, z1: number): boolean\n}\n\n/** The cell index of a world position for a square grid of `n` cells of `cell` metres centred on the origin, -1 outside. */\nexport const createCellOf =\n  (half: number, cell: number, n: number) =>\n  (x: number, z: number): number => {\n    const gx = Math.floor((x + half) / cell)\n    const gz = Math.floor((z + half) / cell)\n    return gx < 0 || gz < 0 || gx >= n || gz >= n ? -1 : gz * n + gx\n  }\n\nconst BORDER_WIDTH = 1\nconst BORDER_HEIGHT = 50\nconst LOS_STEP = 0.5\nconst LOS_HEIGHT = 1.5\n\nexport function createNavGrid(options: NavGridOptions = {}): NavGrid {\n  const size = options.size ?? 768\n  const half = size / 2\n  const cell = options.cell ?? 0.5\n  const n = size / cell\n  const occ = new Uint8Array(n * n)\n  const occH = new Float32Array(n * n)\n  const cellOf = createCellOf(half, cell, n)\n  const solidAt = (x: number, z: number, y = 0.5): boolean => {\n    const c = cellOf(x, z)\n    return c < 0 || (occ[c] !== 0 && occ[c] !== 3 && occH[c]! > y)\n  }\n  const fillRect = (x0: number, z0: number, x1: number, z1: number, kind: number, h: number): void => {\n    const a = Math.floor((x0 + half) / cell)\n    const b = Math.ceil((x1 + half) / cell)\n    const c = Math.floor((z0 + half) / cell)\n    const d = Math.ceil((z1 + half) / cell)\n    for (let gz = Math.max(0, c); gz < Math.min(n, d); gz++)\n      for (let gx = Math.max(0, a); gx < Math.min(n, b); gx++) {\n        const i = gz * n + gx\n        occ[i] = kind\n        occH[i] = h\n      }\n  }\n  if (options.border ?? true) {\n    fillRect(-half, -half, half, -half + BORDER_WIDTH, 1, BORDER_HEIGHT)\n    fillRect(-half, half - BORDER_WIDTH, half, half, 1, BORDER_HEIGHT)\n    fillRect(-half, -half, -half + BORDER_WIDTH, half, 1, BORDER_HEIGHT)\n    fillRect(half - BORDER_WIDTH, -half, half, half, 1, BORDER_HEIGHT)\n  }\n  return {\n    size,\n    half,\n    cell,\n    n,\n    occ,\n    occH,\n    cellOf,\n    solidAt,\n    cellKind: (x, z) => {\n      const c = cellOf(x, z)\n      return c < 0 ? -1 : occ[c]!\n    },\n    fillRect,\n    blocked(x, z) {\n      const c = cellOf(x, z)\n      return c < 0 || (occ[c] !== 0 && occ[c] !== 3)\n    },\n    losClear(x0, z0, x1, z1) {\n      const d = Math.hypot(x1 - x0, z1 - z0)\n      const steps = Math.ceil(d / LOS_STEP)\n      for (let k = 1; k < steps; k++) {\n        const t = k / steps\n        const c = cellOf(x0 + (x1 - x0) * t, z0 + (z1 - z0) * t)\n        if (c < 0 || (occ[c] === 1 && occH[c]! > LOS_HEIGHT)) return false\n      }\n      return true\n    },\n  }\n}\n","/** murmur3 fmix32: a full avalanche of the 32 bits. */\nexport const mix32 = (value: number): number => {\n  let hash = value >>> 0\n  hash ^= hash >>> 16\n  hash = Math.imul(hash, 0x85ebca6b)\n  hash ^= hash >>> 13\n  hash = Math.imul(hash, 0xc2b2ae35)\n  hash ^= hash >>> 16\n  return hash >>> 0\n}\n\n/**\n * 0..1 from an identity, a step and a salt: the counter-based draw every physics feature uses (never the shared `random` stream, whose order is the game's).\n * The salt goes in before the step so two different `(step, salt)` pairs never share an input.\n */\nexport const unit = (identity: number, step: number, salt: number): number => (mix32((mix32(identity ^ salt) + Math.imul(step + 1, 0x9e3779b9)) >>> 0) >>> 0) / 4294967296\n\n/** The identity of the `serial`-th agent born into a crowd seeded with `seed`. */\nexport const identityOf = (seed: number, serial: number): number => mix32(seed ^ mix32(serial))\n\n/** One salt per use, so draws of the same agent at the same step stay independent. */\nexport const SALT = {\n  FALL: 0x0f411,\n  TRIP: 0x07219,\n  LIMB: 0x1b100,\n  REGION: 0x2e610,\n  JAW: 0x3a7b0,\n  CORPSE: 0x4c0de,\n  SPIN: 0x5917a,\n  SPEED: 0x6511d,\n  REACTION: 0x7201c,\n  STABILITY: 0x8b21e,\n  TRIP_FACTOR: 0x93b5d,\n  DRIVE: 0xa00d3,\n  CADENCE: 0xb1c4e,\n  AGGRESSION: 0xc2a97,\n  IDLE: 0xd3e08,\n  GAIT: 0xe4f19,\n} as const\n","/** What an agent is doing (G 66724 and 67180-67183): the store keeps the number. */\nexport const STATE = {\n  WANDER: 0,\n  CHASE: 1,\n  GRAB: 2,\n  STUNNED: 3,\n  CALLING: 4,\n  AIRBORNE: 5,\n  DORMANT: 6,\n  SWELLING: 7,\n  SWING: 8,\n  EATING: 9,\n  PILE_STEP: 10,\n  SEEKING_SOUND: 12,\n} as const\n\n/** Balance of an agent (physics): a state machine of its own, apart from `STATE`, so the game's behaviour machine stays as it is. */\nexport const BALANCE = { STANDING: 0, STAGGERING: 1, FALLEN: 2, GETTING_UP: 3, THROWN: 4 } as const\n\n/** Why an agent went down (index `cause - 1` in `stats.physics.falls`). */\nexport const FALL_CAUSE = { NONE: 0, PRESSURE: 1, SHOVE: 2, TRIP: 3, LANDING: 4, COLLAPSE: 5, BLAST: 6 } as const\n\n/** Body regions of a hit (G 67012): 0 head, 1 torso, 2 left arm, 3 right arm, 4 left leg, 5 right leg. */\nexport type Region = 0 | 1 | 2 | 3 | 4 | 5\n\n/**\n * Missing parts as bits (G 67010-67045): 1 skull, 2 left arm off, 4 right arm off, 8 left leg off, 16 right leg off, 32 left arm broken, 64 right arm broken,\n * 128 left leg broken, 256 right leg broken, 512 jaw.\n */\nexport const MISSING = { SKULL: 1, ARM_L: 2, ARM_R: 4, LEG_L: 8, LEG_R: 16, ARM_L_BROKEN: 32, ARM_R_BROKEN: 64, LEG_L_BROKEN: 128, LEG_R_BROKEN: 256, JAW: 512 } as const\n\n/**\n * The type traits: the special moves of a type, read in the game's order. A type without a trait does not have the move. Every number is the game's\n * (`jogo.js` G 67180-67430, the Bestiário table 3.1 and 12.7).\n */\nexport type CrowdTraits = {\n  /** Jumps a low obstacle in the way while chasing (car, yard wall) up to `maxHeight` m (runner, leaper). */\n  readonly vaultsLow?: { readonly maxHeight: number; readonly minRise: number; readonly clearance: number; readonly speedFactor: number }\n  /** Pounce from `min` to `max` m in line of sight: cooldown, flight time, speed cap, the vertical speeds and the knock-down on landing (leaper). */\n  readonly pounce?: { readonly min: number; readonly max: number; readonly cooldown: number; readonly time: number; readonly speedCap: number; readonly lift: number; readonly liftHigh: number; readonly highAbove: number; readonly landRange: number; readonly knock: number }\n  /** A heavy swing: chance per attack, wind-up, reach and knock-down (brute). */\n  readonly heavySwing?: { readonly chance: number; readonly windUp: number; readonly range: number; readonly knock: number }\n  /** Multiplies the damage on doors (brute 3). */\n  readonly doorDamage?: number\n  /** Seconds stunned by a heavy hit (default `numbers.hitStun`; brute 0.25). */\n  readonly hitStun?: number\n  /** Only hears: goes to the source of a sound and hits whatever it meets on the way, other agents too (blind). */\n  readonly soundSeeker?: { readonly arrive: number; readonly loseChase: number; readonly hitRadius2: number }\n  /** Calls the crowd: wind-up, radius, cooldown, the boost it gives the target, and running from the fight afterwards (screamer). */\n  readonly caller?: { readonly range: number; readonly windUp: number; readonly radius: number; readonly cooldown: number; readonly boost: number; readonly fleeAbove: number; readonly fleeRange: number }\n  /** Sets the target on fire on a hit (charred). */\n  readonly burns?: { readonly seconds: number }\n  /** Loses a share of its health the first time it enters water (charred 0.7). */\n  readonly waterWeak?: { readonly keep: number; readonly cloud: number }\n  /** Waits under water and pulls the target down (drowned). */\n  readonly submerged?: { readonly depth: number; readonly wake: number; readonly swim: number; readonly surface: number }\n  /** Plays dead and wakes close or behind the target, then sprints for a while (stalker). */\n  readonly ambush?: { readonly chance: number; readonly wake: number; readonly wakeBehind: number; readonly behindCos: number; readonly sprint: number; readonly sprintSeconds: number; readonly slow: number }\n  /** Swells and bursts close to the target: blinds and marks it with a scent (bloater). */\n  readonly burst?: { readonly range: number; readonly swell: number; readonly radius: number; readonly blind: number; readonly scent: number; readonly noiseNear: number; readonly noise: number; readonly cloudColor: number; readonly bloodColor: number; readonly bloodDry: number }\n  /** Eats corpses: search radius, reach, seconds, how many, what it gains (devourer). */\n  readonly eatsCorpses?: { readonly max: number; readonly search: number; readonly reach: number; readonly seconds: number; readonly grabRange: number; readonly health: number; readonly grow: number; readonly rest: number; readonly retry: number; readonly defend: number; readonly approach: number }\n  /** Follows the target's blood trail and leads agents of the type `leads` along (sniffer). */\n  readonly tracker?: { readonly range: number; readonly leads: string; readonly max: number; readonly leadRadius: number }\n  /** Never older than this age index (runner: recent at most). */\n  readonly maxAge?: number\n  /** The groan sound id (runner `runner_groan`; default `groan`). */\n  readonly voice?: string\n  /** How much it adds to the target's panic (runner 2.5). */\n  readonly panicWeight?: number\n  /** Pulls the target into water when it grabs there (drowned). */\n  readonly drownGrab?: boolean\n  /** Body colour and skin override at birth (charred, drowned). */\n  readonly color?: number\n  readonly skin?: number\n}\n\n/** One type of agent (a zombie type, a cow, a civilian). The undead pack (`undeadCrowdTypes`) gives the 13 types of the game. */\nexport type CrowdType = {\n  readonly id: string\n  /** Weight in the draw of an agent without a forced type (0: never drawn). */\n  readonly weight: number\n  readonly health: number\n  readonly speed: { readonly wander: number; readonly chase: number }\n  readonly damage: number\n  /** Chance per attack to grab (and bite). */\n  readonly bite: number\n  readonly multipliers: { readonly head: number; readonly torso: number; readonly arms: number; readonly legs: number }\n  /** Metres. */\n  readonly perception: { readonly sight: number; readonly hearing: number; readonly smell: number }\n  readonly crawls?: boolean\n  /** Height multiplier (brute 1.42). */\n  readonly scale?: number\n  /** Build multiplier (bloater 1.35; a scaled type without one is 1.3). */\n  readonly build?: number\n  /** Body variants of the type for the renderer (walker 4, runner 3, crawler and brute 2, others 1). */\n  readonly variants?: number\n  readonly eye?: number\n  readonly traits?: CrowdTraits\n  /** How the body takes a push (physics only; a type without it uses the defaults). */\n  readonly balance?: CrowdBalanceTraits\n}\n\nexport type CrowdBalanceTraits = {\n  /** Multiplies the critical pressure (default 1). */\n  readonly stability?: number\n  /** Chance of tripping when entering a cell with a body (default 0.04). */\n  readonly trip?: number\n  /** Force of its will against what is in front, in N (default 250). */\n  readonly driveForce?: number\n  /** False: already on the ground (a crawler). */\n  readonly canFall?: boolean\n}\n\n/** A blast as the crowd reads it. */\nexport type CrowdBlast = {\n  readonly point: readonly [number, number, number]\n  /** J. */\n  readonly energy: number\n  /** m, how far it hurts. */\n  readonly radius: number\n  /** m, everything inside dies. */\n  readonly lethalRadius?: number\n  readonly source?: string\n  /** Id of the chain this blast belongs to (game-destruction `chain`), for the counters. */\n  readonly chain?: string\n}\n\n/** The age of a body (G IDADES): its share, and what it does to speed, health, limbs and senses. */\nexport type CrowdAge = { readonly id: string; readonly p: number; readonly speed: number; readonly health: number; readonly limb: number; readonly sight: number; readonly hearing: number; readonly blood: number; readonly bloodColor: number; readonly dryColor: number }\n/** What a body wears (G ROUPAS): its share, the vest against pistol and rifle classes, a helmet, a limb factor and the colour. */\nexport type CrowdOutfit = { readonly id: string; readonly p: number; readonly vest?: { readonly pistol: number; readonly rifle: number }; readonly helmet?: boolean; readonly limb?: number; readonly color: number | null }\n\n/** Everything the crowd draws a body from. */\nexport type CrowdPack = {\n  readonly types: readonly CrowdType[]\n  readonly ages: readonly CrowdAge[]\n  readonly outfits: readonly CrowdOutfit[]\n  /** Hit points of the segments, only for dismembering (G `SEG`). */\n  readonly segments: { readonly head: number; readonly arm: number; readonly leg: number }\n  /** Clothes colours of the outfits without one (G `CIVIL_COR`). */\n  readonly palette: readonly number[]\n}\n\n/** The calibre of a projectile hit: its class (pistol or rifle, for vests and helmets), the skull distance (1: any) and an id. */\nexport type CrowdCaliber = { readonly id: string; readonly class: 'pistol' | 'rifle'; readonly skull: number }\nexport type CrowdHit = { readonly region: Region; readonly amount: number; readonly distance: number; readonly cut?: number; readonly caliber?: CrowdCaliber | null }\nexport type CrowdDamageResult = { readonly died: boolean; readonly headshot?: boolean }\n\n/**\n * Who the crowd hunts. `game-player`'s `Player` is one as it is; a game with its own player writes a small object with the same names.\n * Reads: `state`. Writes: the verbs, and `state.burnTimer`, `state.blind`, `state.scentTimer`, `state.screamBoost`.\n */\nexport interface CrowdTarget {\n  readonly state: {\n    x: number\n    z: number\n    y: number\n    floor: number\n    alive: boolean\n    turned: boolean\n    crouch: boolean\n    bleeding: number\n    scentTimer: number\n    screamBoost: number\n    grabbedBy: number\n    blind: number\n    burnTimer: number\n    /** The body's yaw; the view looks the other way (`yaw - π`). */\n    yaw: number\n  }\n  grab(by: number, noJaw?: boolean, drown?: boolean): void\n  hurt(amount: number, by?: number): void\n  knock(seconds: number): void\n  release(): void\n}\n\nexport type CrowdSoundId = 'groan' | 'runner_groan' | 'scream_hoarse' | 'step' | 'impact' | 'flesh' | 'wood' | (string & {})\nexport type CrowdEffectId = 'spark' | 'blood' | 'limb' | 'cloud' | 'dust' | (string & {})\nexport type CrowdMessageId = 'called' | 'burst_hit' | 'swing_knock' | 'pounce_knock' | 'migration' | 'door_broken' | (string & {})\n\nexport type CrowdEventMap = {\n  sound: { sound: CrowdSoundId; volume: number; position: [number, number, number]; distance: number }\n  effect: { effect: CrowdEffectId; point: [number, number, number]; agent?: number; region?: number; severed?: boolean; radius?: number; color?: number; amount?: number; died?: boolean; age?: number }\n  message: { id: CrowdMessageId; seconds: number; type?: string }\n  spawn: { agent: number; type: string }\n  alert: { agent: number }\n  kill: { agent: number; type: string; headshot: boolean; x: number; z: number }\n  remove: { agent: number; moved: number }\n  scream: { agent: number; x: number; z: number }\n  fall: { agent: number; cause: number; x: number; z: number; identity: number }\n  blasted: { point: [number, number, number]; radius: number; reached: number; killed: number; thrown: number; fallen: number; chain?: string }\n}\nexport type CrowdEventName = keyof CrowdEventMap\n\n/** A body on the ground (G 67062 `CP`). */\nexport type Corpse = {\n  readonly x: number\n  readonly z: number\n  readonly yaw: number\n  readonly height: number\n  readonly build: number\n  readonly missing: number\n  readonly color: number\n  /** Body variant of the renderer, -1 for a body that was not an agent (a civilian). */\n  readonly variant: number\n  readonly skin: number\n  readonly seed: number\n  readonly named: number\n}\n","import type { NavGrid } from '../grid'\nimport { SALT, unit } from '../identity'\nimport type { CrowdStore } from '../store'\nimport { BALANCE, STATE } from '../types'\nimport type { CrowdContactOptions } from './options'\n\n/** A fallen body weighs as three standing ones against a push (it is on the ground, spread out). */\nconst GROUND_MASS_FACTOR = 3\nconst PAIR_MARGIN = 0.15\nconst MAX_LEVEL_GAP = 0.15\nconst PAIRS_PER_AGENT = 12\nconst MIN_DISTANCE = 1e-6\n\nexport type ContactParams = Required<CrowdContactOptions> & { readonly h: number }\nexport type ContactResult = { contacts: number; maxOverlap: number; overlapSum: number }\n\nexport type ContactWorkspace = {\n  readonly head: Int32Array\n  readonly next: Int32Array\n  readonly touched: Int32Array\n  touchedCount: number\n  readonly pairI: Int32Array\n  readonly pairJ: Int32Array\n  pairCount: number\n  readonly deltaX: Float32Array\n  readonly deltaZ: Float32Array\n  readonly count: Uint8Array\n  readonly pushBeforeX: Float32Array\n  readonly pushBeforeZ: Float32Array\n  /** |Δpush| the contact gave to each agent in the last step. */\n  readonly shove: Float32Array\n  /** 1 for the agents that take part in the contact this step (`takesPartInContact`), read once. */\n  readonly takesPart: Uint8Array\n  /** The radius and the effective mass of each agent this step, in doubles: the balance does not change inside the contact step. */\n  readonly radiusOf: Float64Array\n  readonly massOf: Float64Array\n  /** Per pair, valid for the positions of the current iteration: the reach, the distance, and the normal (only meaningful when the distance is under the reach) from `j` to `i`. */\n  readonly pairReach: Float64Array\n  readonly pairDistance: Float64Array\n  readonly pairNormalX: Float64Array\n  readonly pairNormalZ: Float64Array\n}\n\n/** The arrays the contact and the pressure read and write: the step needs no more of the store, so it can run over a copy of them (a worker). */\nexport type PhysicsStore = Pick<CrowdStore, 'x' | 'z' | 'y' | 'vx' | 'vz' | 'pushX' | 'pushZ' | 'mass' | 'build' | 'balance' | 'state' | 'band' | 'identity' | 'aimX' | 'aimZ' | 'field' | 'fieldPrev' | 'type' | 'driveFactor'>\nexport type PhysicsGrid = Pick<NavGrid, 'size' | 'half' | 'occ' | 'cellOf'>\n\nexport type ContactView = { n: number; readonly store: PhysicsStore; readonly grid: PhysicsGrid; readonly workspace: ContactWorkspace }\n\nexport const createContactWorkspace = (capacity: number, grid: PhysicsGrid): ContactWorkspace => ({\n  head: new Int32Array(Math.floor(grid.size) ** 2).fill(-1),\n  next: new Int32Array(capacity),\n  touched: new Int32Array(capacity),\n  touchedCount: 0,\n  pairI: new Int32Array(capacity * PAIRS_PER_AGENT),\n  pairJ: new Int32Array(capacity * PAIRS_PER_AGENT),\n  pairCount: 0,\n  deltaX: new Float32Array(capacity),\n  deltaZ: new Float32Array(capacity),\n  count: new Uint8Array(capacity),\n  pushBeforeX: new Float32Array(capacity),\n  pushBeforeZ: new Float32Array(capacity),\n  shove: new Float32Array(capacity),\n  takesPart: new Uint8Array(capacity),\n  radiusOf: new Float64Array(capacity),\n  massOf: new Float64Array(capacity),\n  pairReach: new Float64Array(capacity * PAIRS_PER_AGENT),\n  pairDistance: new Float64Array(capacity * PAIRS_PER_AGENT),\n  pairNormalX: new Float64Array(capacity * PAIRS_PER_AGENT),\n  pairNormalZ: new Float64Array(capacity * PAIRS_PER_AGENT),\n})\n\nexport const createContactView = (store: PhysicsStore, grid: PhysicsGrid): ContactView => ({ n: 0, store, grid, workspace: createContactWorkspace(store.x.length, grid) })\n\n/** In the contact: near the viewer, not a pile step, not asleep, not in the air as a thrown body. */\nexport const takesPartInContact = (store: PhysicsStore, i: number): boolean => store.band[i] === 0 && store.balance[i] !== BALANCE.THROWN && store.state[i] !== STATE.PILE_STEP && store.state[i] !== STATE.DORMANT\n\nconst isOnGround = (store: PhysicsStore, i: number): boolean => store.balance[i] === BALANCE.FALLEN || store.balance[i] === BALANCE.GETTING_UP\n\nconst effectiveMass = (store: PhysicsStore, i: number): number => store.mass[i]! * (isOnGround(store, i) ? GROUND_MASS_FACTOR : 1)\n\nconst bodyRadius = (store: PhysicsStore, i: number, radius: number): number => radius * store.build[i]!\n\n/** What each agent is for this step: in the contact or not, its radius and its effective mass. */\nfunction readBodies(view: ContactView, radius: number): void {\n  const { store, workspace } = view\n  const { takesPart, radiusOf, massOf } = workspace\n  for (let i = 0; i < view.n; i++) {\n    const takes = takesPartInContact(store, i)\n    takesPart[i] = takes ? 1 : 0\n    radiusOf[i] = bodyRadius(store, i, radius)\n    massOf[i] = effectiveMass(store, i)\n  }\n}\n\n/** The agents of band R0 into the 1 m hash, clearing only the cells the last step used. */\nexport function rebuildHash(view: ContactView): void {\n  const { store, grid, workspace } = view\n  const side = Math.floor(grid.size)\n  for (let k = 0; k < workspace.touchedCount; k++) workspace.head[workspace.touched[k]!] = -1\n  workspace.touchedCount = 0\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.takesPart[i]) continue\n    const hx = Math.floor(store.x[i]! + grid.half)\n    const hz = Math.floor(store.z[i]! + grid.half)\n    if (hx < 0 || hz < 0 || hx >= side || hz >= side) continue\n    const cell = hz * side + hx\n    if (workspace.head[cell] === -1) workspace.touched[workspace.touchedCount++] = cell\n    workspace.next[i] = workspace.head[cell]!\n    workspace.head[cell] = i\n  }\n}\n\n/** The cells scanned from a cell for pairs: itself (the agents after the first) and four neighbours, so that every pair of cells is looked at once, from one side. */\nconst FORWARD_CELLS = [1, 0, -1, 1, 0, 1, 1, 1] as const\n\nfunction addPairsOfCell(view: ContactView, i: number, cell: number, sameCell: boolean): void {\n  const { store, workspace } = view\n  const { head, next, radiusOf, pairI, pairJ } = workspace\n  const { x, z, y } = store\n  const xi = x[i]!\n  const zi = z[i]!\n  const yi = y[i]!\n  const reachBase = radiusOf[i]! + PAIR_MARGIN\n  for (let j = head[cell]!; j !== -1; j = next[j]!) {\n    if ((sameCell && j <= i) || Math.abs(yi - y[j]!) > MAX_LEVEL_GAP) continue\n    const reach = reachBase + radiusOf[j]!\n    const ex = x[j]! - xi\n    const ez = z[j]! - zi\n    if (ex * ex + ez * ez >= reach * reach || workspace.pairCount >= pairI.length) continue\n    pairI[workspace.pairCount] = i\n    pairJ[workspace.pairCount++] = j\n  }\n}\n\n/** The pairs `(i, j)` near enough to touch before the step ends, in the order of the agent that found them. The solver is symmetric in the two of a pair, so which one comes first does not matter. */\nfunction collectPairs(view: ContactView): void {\n  const { store, grid, workspace } = view\n  const side = Math.floor(grid.size)\n  workspace.pairCount = 0\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.takesPart[i]) continue\n    const hx = Math.floor(store.x[i]! + grid.half)\n    const hz = Math.floor(store.z[i]! + grid.half)\n    if (hx < 0 || hz < 0 || hx >= side || hz >= side) continue\n    addPairsOfCell(view, i, hz * side + hx, true)\n    for (let k = 0; k < FORWARD_CELLS.length; k += 2) {\n      const qx = hx + FORWARD_CELLS[k]!\n      const qz = hz + FORWARD_CELLS[k + 1]!\n      if (qx >= 0 && qz >= 0 && qx < side && qz < side) addPairsOfCell(view, i, qz * side + qx, false)\n    }\n  }\n}\n\n/** The distance, reach and normal (from `j` to `i`) of every pair at the current positions; a pair on the same spot gets a direction from the two identities. */\nfunction measurePairs(view: ContactView): void {\n  const { store, workspace } = view\n  const { pairI, pairJ, radiusOf, pairReach, pairDistance, pairNormalX, pairNormalZ } = workspace\n  const { x, z, identity } = store\n  for (let p = 0; p < workspace.pairCount; p++) {\n    const i = pairI[p]!\n    const j = pairJ[p]!\n    const reach = radiusOf[i]! + radiusOf[j]!\n    const ex = x[i]! - x[j]!\n    const ez = z[i]! - z[j]!\n    const distance = Math.sqrt(ex * ex + ez * ez)\n    pairReach[p] = reach\n    pairDistance[p] = distance\n    if (distance >= reach) continue\n    if (distance > MIN_DISTANCE) {\n      pairNormalX[p] = ex / distance\n      pairNormalZ[p] = ez / distance\n      continue\n    }\n    const angle = 2 * Math.PI * unit(identity[i]! ^ identity[j]!, 0, SALT.SPIN)\n    pairNormalX[p] = Math.cos(angle)\n    pairNormalZ[p] = Math.sin(angle)\n  }\n}\n\n/** One inelastic impulse along the normal: the closing speed of the two bodies goes to zero, never below (restitution 0). */\nfunction solveImpulse(store: PhysicsStore, workspace: ContactWorkspace, p: number): void {\n  if (workspace.pairDistance[p]! >= workspace.pairReach[p]!) return\n  const i = workspace.pairI[p]!\n  const j = workspace.pairJ[p]!\n  const nx = workspace.pairNormalX[p]!\n  const nz = workspace.pairNormalZ[p]!\n  const { vx, vz, pushX, pushZ } = store\n  const closing = (vx[i]! + pushX[i]! - vx[j]! - pushX[j]!) * nx + (vz[i]! + pushZ[i]! - vz[j]! - pushZ[j]!) * nz\n  if (closing >= 0) return\n  const massI = workspace.massOf[i]!\n  const massJ = workspace.massOf[j]!\n  const impulse = (-closing * massI * massJ) / (massI + massJ)\n  pushX[i]! += (impulse * nx) / massI\n  pushZ[i]! += (impulse * nz) / massI\n  pushX[j]! -= (impulse * nx) / massJ\n  pushZ[j]! -= (impulse * nz) / massJ\n}\n\nfunction accumulateCorrection(workspace: ContactWorkspace, p: number, relaxation: number): void {\n  const distance = workspace.pairDistance[p]!\n  const reach = workspace.pairReach[p]!\n  if (distance >= reach) return\n  const i = workspace.pairI[p]!\n  const j = workspace.pairJ[p]!\n  const massI = workspace.massOf[i]!\n  const massJ = workspace.massOf[j]!\n  const move = relaxation * (reach - distance)\n  const nx = workspace.pairNormalX[p]!\n  const nz = workspace.pairNormalZ[p]!\n  workspace.deltaX[i]! += move * nx * (massJ / (massI + massJ))\n  workspace.deltaZ[i]! += move * nz * (massJ / (massI + massJ))\n  workspace.deltaX[j]! -= move * nx * (massI / (massI + massJ))\n  workspace.deltaZ[j]! -= move * nz * (massI / (massI + massJ))\n  workspace.count[i]!++\n  workspace.count[j]!++\n}\n\nconst isOpen = (grid: PhysicsGrid, x: number, z: number): boolean => {\n  const cell = grid.cellOf(x, z)\n  return cell >= 0 && (grid.occ[cell] === 0 || grid.occ[cell] === 3)\n}\n\n/** The mean of the corrections an agent got, capped, along each axis only if the grid lets it through. */\nfunction applyCorrection(view: ContactView, agent: number, params: ContactParams): void {\n  const { store, grid, workspace } = view\n  const count = workspace.count[agent]!\n  if (!count) return\n  workspace.count[agent] = 0\n  const cap = params.maxCorrection\n  const dx = Math.max(-cap, Math.min(cap, workspace.deltaX[agent]! / count))\n  const dz = Math.max(-cap, Math.min(cap, workspace.deltaZ[agent]! / count))\n  if (isOpen(grid, store.x[agent]! + dx, store.z[agent]!)) store.x[agent]! += dx\n  if (isOpen(grid, store.x[agent]!, store.z[agent]! + dz)) store.z[agent]! += dz\n}\n\nfunction resetCorrection(workspace: ContactWorkspace, agent: number): void {\n  workspace.deltaX[agent] = 0\n  workspace.deltaZ[agent] = 0\n  workspace.count[agent] = 0\n}\n\nfunction correctPositions(view: ContactView, params: ContactParams): void {\n  const { workspace } = view\n  for (let p = 0; p < workspace.pairCount; p++) {\n    resetCorrection(workspace, workspace.pairI[p]!)\n    resetCorrection(workspace, workspace.pairJ[p]!)\n  }\n  for (let p = 0; p < workspace.pairCount; p++) accumulateCorrection(workspace, p, params.relaxation)\n  for (let p = 0; p < workspace.pairCount; p++) {\n    applyCorrection(view, workspace.pairI[p]!, params)\n    applyCorrection(view, workspace.pairJ[p]!, params)\n  }\n}\n\nfunction measureOverlaps(view: ContactView, out: ContactResult): void {\n  const { store, workspace } = view\n  for (let p = 0; p < workspace.pairCount; p++) {\n    const i = workspace.pairI[p]!\n    const j = workspace.pairJ[p]!\n    // two bodies lying on the ground are meant to lie on one another: that is the mound, not a failure of the contact\n    if (isOnGround(store, i) && isOnGround(store, j)) continue\n    const reach = workspace.radiusOf[i]! + workspace.radiusOf[j]!\n    const overlap = reach - Math.hypot(store.x[i]! - store.x[j]!, store.z[i]! - store.z[j]!)\n    if (overlap <= 0) continue\n    out.contacts++\n    out.overlapSum += overlap\n    if (overlap > out.maxOverlap) out.maxOverlap = overlap\n  }\n}\n\n/** The damping and the ceiling of the push, for every agent: a body out of band R0 keeps no push for long. */\nfunction dampPush(view: ContactView, params: ContactParams): void {\n  const { store, workspace } = view\n  const lambda = Math.exp(-params.friction * params.h)\n  for (let i = 0; i < view.n; i++) {\n    workspace.shove[i] = Math.hypot(store.pushX[i]! - workspace.pushBeforeX[i]!, store.pushZ[i]! - workspace.pushBeforeZ[i]!)\n    store.pushX[i]! *= lambda\n    store.pushZ[i]! *= lambda\n    const speed = Math.hypot(store.pushX[i]!, store.pushZ[i]!)\n    if (speed <= params.maxPush) continue\n    store.pushX[i]! *= params.maxPush / speed\n    store.pushZ[i]! *= params.maxPush / speed\n  }\n}\n\n/** The 1 m hash of the agents in band R0 at their positions of now, for whoever looks at the neighbours (the landing of a thrown body) while the pairs are solved elsewhere. */\nexport function prepareHash(view: ContactView, radius: number): void {\n  readBodies(view, radius)\n  rebuildHash(view)\n}\n\n/**\n * One fixed step of contact in band R0 (`design-chain-horde.md` §4.3): `iterations` rounds of a symmetric Gauss-Seidel impulse (the pairs forward, then backward, so\n * a low index has no advantage) and a Jacobi position correction (the mean of what each agent was asked to move), then the damping of the push.\n * It resolves overlap and shock only: pressure is the field of `pressure.ts`. An inelastic impulse never adds energy, and the correction never touches the velocity.\n */\nexport function contactStep(view: ContactView, params: ContactParams, out: ContactResult): void {\n  const { store, workspace } = view\n  out.contacts = 0\n  out.maxOverlap = 0\n  out.overlapSum = 0\n  for (let i = 0; i < view.n; i++) {\n    workspace.pushBeforeX[i] = store.pushX[i]!\n    workspace.pushBeforeZ[i] = store.pushZ[i]!\n  }\n  readBodies(view, params.radius)\n  rebuildHash(view)\n  collectPairs(view)\n  for (let iteration = 0; iteration < params.iterations; iteration++) {\n    measurePairs(view)\n    for (let p = 0; p < workspace.pairCount; p++) solveImpulse(store, workspace, p)\n    for (let p = workspace.pairCount - 1; p >= 0; p--) solveImpulse(store, workspace, p)\n    correctPositions(view, params)\n  }\n  measureOverlaps(view, out)\n  dampPush(view, params)\n}\n","import { BALANCE } from '../types'\nimport { takesPartInContact } from './contact'\nimport type { ContactView, PhysicsStore } from './contact'\nimport type { CrowdPressureOptions } from './options'\n\n/** Two bodies count as touching up to this far past the sum of their radii. */\nconst TOUCH_SLACK = 0.08\n/** How far past its own radius an agent feels a wall in front of it. */\nconst WALL_PROBE = 0.12\n/** The agents that stand in front of the target and pass the field on to it (a little past the attack range). */\nconst PLAYER_REACH = 1.3\nconst PLAYER_RADIUS_SQUARED = PLAYER_REACH * PLAYER_REACH\n\nexport type PressureParams = Required<CrowdPressureOptions> & { readonly h: number; readonly radius: number }\n\nexport type PressureWorkspace = {\n  readonly weightSum: Float32Array\n  /** 1 when something stands in front of the agent that it presses on (a wall, a body, even one pressing back). */\n  readonly pressing: Uint8Array\n  readonly wallKind: Uint8Array\n  readonly wallDoor: Int32Array\n  readonly playerWeight: Float32Array\n  readonly cutExcess: Float32Array\n  readonly cutX: Float32Array\n  readonly cutZ: Float32Array\n  readonly pairWeightForward: Float32Array\n  readonly pairWeightBackward: Float32Array\n  /** 1 for the agents that press on what is in front of them (`isPressing`), read once per step. */\n  readonly canPress: Uint8Array\n}\n\nexport type PressureContext = {\n  /** Newtons of will of each type, by type index. */\n  readonly driveForceOfType: Float32Array\n  /** The door index of a grid cell, -1 for none. */\n  readonly doorAt: (cell: number) => number\n  /** N·s each door got from the field this step, added to. */\n  readonly doorLoad: Float32Array\n  /** The agent the horde presses on (position only); undefined: nothing to press on. */\n  readonly player?: { readonly x: number; readonly z: number } | undefined\n  /** When given, the load a door gets from each agent is recorded here (by agent, with the door \"index\" `doorAt` answered) instead of added to `doorLoad`: the caller adds it, in agent order. */\n  readonly doorOut?: { readonly cell: Int32Array; readonly load: Float32Array } | undefined\n}\n\nexport type PressureResult = { playerLoad: number; drivers: number }\n\nexport const createPressureWorkspace = (capacity: number, pairCapacity: number): PressureWorkspace => ({\n  weightSum: new Float32Array(capacity),\n  pressing: new Uint8Array(capacity),\n  wallKind: new Uint8Array(capacity),\n  wallDoor: new Int32Array(capacity),\n  playerWeight: new Float32Array(capacity),\n  cutExcess: new Float32Array(capacity),\n  cutX: new Float32Array(capacity),\n  cutZ: new Float32Array(capacity),\n  pairWeightForward: new Float32Array(pairCapacity),\n  pairWeightBackward: new Float32Array(pairCapacity),\n  canPress: new Uint8Array(capacity),\n})\n\nconst isPressing = (store: PhysicsStore, i: number): boolean => takesPartInContact(store, i) && (store.balance[i] === BALANCE.STANDING || store.balance[i] === BALANCE.STAGGERING)\n\n/** `isPressing` of every agent into `canPress`: the state does not change inside the pressure step. */\nfunction readPressing(view: ContactView, workspace: PressureWorkspace): void {\n  for (let i = 0; i < view.n; i++) workspace.canPress[i] = isPressing(view.store, i) ? 1 : 0\n}\n\nconst frontWeight = (alignment: number, cone: number): number => (alignment > cone ? (alignment - cone) / (1 - cone) : 0)\n\nconst hasAim = (store: PhysicsStore, i: number): boolean => store.aimX[i] !== 0 || store.aimZ[i] !== 0\n\n/** The will of `i` against its front neighbour `j`: the part of its speed along the contact that the neighbour does not have is cut. */\nfunction noteCut(store: PhysicsStore, workspace: PressureWorkspace, i: number, j: number, nx: number, nz: number): void {\n  const excess = (store.vx[i]! - store.vx[j]!) * nx + (store.vz[i]! - store.vz[j]!) * nz\n  if (excess <= workspace.cutExcess[i]!) return\n  workspace.cutExcess[i] = excess\n  workspace.cutX[i] = nx\n  workspace.cutZ[i] = nz\n}\n\n/** Pass A: the weight of each front contact between agents, per direction, and the cut of the will against it. */\nfunction weighPairs(view: ContactView, workspace: PressureWorkspace, params: PressureParams): void {\n  const { store } = view\n  for (let p = 0; p < view.workspace.pairCount; p++) {\n    workspace.pairWeightForward[p] = 0\n    workspace.pairWeightBackward[p] = 0\n    const i = view.workspace.pairI[p]!\n    const j = view.workspace.pairJ[p]!\n    if (!workspace.canPress[i] || !workspace.canPress[j]) continue\n    const ex = store.x[j]! - store.x[i]!\n    const ez = store.z[j]! - store.z[i]!\n    const distance = Math.sqrt(ex * ex + ez * ez)\n    if (distance < 1e-6 || distance > (store.build[i]! + store.build[j]!) * params.radius + TOUCH_SLACK) continue\n    const nx = ex / distance\n    const nz = ez / distance\n    const forward = frontWeight(store.aimX[i]! * nx + store.aimZ[i]! * nz, params.frontCone)\n    const backward = frontWeight(-(store.aimX[j]! * nx + store.aimZ[j]! * nz), params.frontCone)\n    if (forward > 0) {\n      workspace.pressing[i] = 1\n      noteCut(store, workspace, i, j, nx, nz)\n    }\n    if (backward > 0) {\n      workspace.pressing[j] = 1\n      noteCut(store, workspace, j, i, -nx, -nz)\n    }\n    // two agents pressing on each other (head on) feel their own drive and no more: passing the field both ways would feed it back on itself without a limit\n    if (forward > 0 && backward > 0) continue\n    workspace.pairWeightForward[p] = forward\n    workspace.pairWeightBackward[p] = backward\n    workspace.weightSum[i]! += forward\n    workspace.weightSum[j]! += backward\n  }\n}\n\n/** Pass B: a blocked grid cell in the direction of the will is a wall of weight 1 (a closed door too, and the door takes the load). */\nfunction weighWalls(view: ContactView, workspace: PressureWorkspace, params: PressureParams, doorAt: PressureContext['doorAt']): void {\n  const { store, grid } = view\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.canPress[i] || !hasAim(store, i)) continue\n    const reach = store.build[i]! * params.radius + WALL_PROBE\n    const cell = grid.cellOf(store.x[i]! + store.aimX[i]! * reach, store.z[i]! + store.aimZ[i]! * reach)\n    if (cell >= 0 && (grid.occ[cell] === 0 || grid.occ[cell] === 3)) continue\n    workspace.wallKind[i] = 1\n    workspace.wallDoor[i] = cell >= 0 && grid.occ[cell] === 5 ? doorAt(cell) : -1\n    workspace.pressing[i] = 1\n    workspace.weightSum[i]! += 1\n  }\n}\n\n/** The agents at the target pass the field on to it: one that wants to go there by its cone weight, one that stopped to attack with weight 1. */\nfunction weighPlayer(view: ContactView, workspace: PressureWorkspace, params: PressureParams, player: { readonly x: number; readonly z: number }): void {\n  const { store } = view\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.canPress[i]) continue\n    const ex = player.x - store.x[i]!\n    const ez = player.z - store.z[i]!\n    const squared = ex * ex + ez * ez\n    if (squared > PLAYER_RADIUS_SQUARED || squared < 1e-6) continue\n    const distance = Math.sqrt(squared)\n    const weight = hasAim(store, i) ? frontWeight((store.aimX[i]! * ex + store.aimZ[i]! * ez) / distance, params.frontCone) : 1\n    workspace.playerWeight[i] = weight\n    if (weight > 0) workspace.pressing[i] = 1\n    workspace.weightSum[i]! += weight\n  }\n}\n\nfunction clearWorkspace(view: ContactView, workspace: PressureWorkspace): void {\n  const { store } = view\n  for (let i = 0; i < view.n; i++) {\n    workspace.weightSum[i] = 0\n    workspace.pressing[i] = 0\n    workspace.wallKind[i] = 0\n    workspace.playerWeight[i] = 0\n    workspace.cutExcess[i] = 0\n    store.field[i] = 0\n  }\n}\n\n/** What agent `i` adds to the field by itself: its drive, when it wants to go and has something in front. */\nfunction ownDrive(store: PhysicsStore, context: PressureContext, workspace: PressureWorkspace, i: number): number {\n  if (!hasAim(store, i) || !workspace.pressing[i]) return 0\n  return context.driveForceOfType[store.type[i]!]! * store.driveFactor[i]!\n}\n\n/** Pass C: each agent's field is its own drive plus what the agents behind it passed on, read from the previous step. */\nfunction spreadField(view: ContactView, workspace: PressureWorkspace, params: PressureParams, context: PressureContext, out: PressureResult): void {\n  const { store } = view\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.canPress[i]) continue\n    store.field[i] = ownDrive(store, context, workspace, i)\n    if (store.field[i]! > 0) out.drivers++\n  }\n  for (let p = 0; p < view.workspace.pairCount; p++) {\n    const i = view.workspace.pairI[p]!\n    const j = view.workspace.pairJ[p]!\n    const forward = workspace.pairWeightForward[p]!\n    const backward = workspace.pairWeightBackward[p]!\n    if (forward > 0) store.field[j]! += (params.transmission * store.fieldPrev[i]! * forward * forward) / workspace.weightSum[i]!\n    if (backward > 0) store.field[i]! += (params.transmission * store.fieldPrev[j]! * backward * backward) / workspace.weightSum[j]!\n  }\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.canPress[i]) continue\n    const passed = (params.transmission * store.fieldPrev[i]!) / (workspace.weightSum[i]! || 1)\n    if (workspace.wallKind[i] && workspace.wallDoor[i]! >= 0) {\n      if (context.doorOut) {\n        context.doorOut.cell[i] = workspace.wallDoor[i]!\n        context.doorOut.load[i] = passed * params.h\n      } else context.doorLoad[workspace.wallDoor[i]!]! += passed * params.h\n    }\n    if (workspace.playerWeight[i]! > 0) out.playerLoad += passed * workspace.playerWeight[i]! * workspace.playerWeight[i]!\n    if (store.field[i]! > params.cap) store.field[i] = params.cap\n  }\n}\n\nfunction applyCuts(view: ContactView, workspace: PressureWorkspace): void {\n  const { store } = view\n  for (let i = 0; i < view.n; i++) {\n    const excess = workspace.cutExcess[i]!\n    if (excess <= 0) continue\n    store.vx[i]! -= excess * workspace.cutX[i]!\n    store.vz[i]! -= excess * workspace.cutZ[i]!\n  }\n}\n\n/**\n * One fixed step of the pressure field (`design-chain-horde.md` §4.5): the field moves one hop per step, each agent reading only the previous step of the others, so the\n * result does not depend on the order of the indices. A column of N pushing agents gives its front `D·(1 − τᴺ)/(1 − τ)`; a hexagonal block against a flat wall loses 29% per hop.\n */\nexport function pressureStep(view: ContactView, workspace: PressureWorkspace, params: PressureParams, context: PressureContext, out: PressureResult): void {\n  out.playerLoad = 0\n  out.drivers = 0\n  clearWorkspace(view, workspace)\n  readPressing(view, workspace)\n  weighPairs(view, workspace, params)\n  weighWalls(view, workspace, params, context.doorAt)\n  if (context.player) weighPlayer(view, workspace, params, context.player)\n  spreadField(view, workspace, params, context, out)\n  applyCuts(view, workspace)\n  for (let i = 0; i < view.n; i++) view.store.fieldPrev[i] = view.store.field[i]!\n}\n\n","import { createCellOf } from '../../grid'\nimport { contactStep, createContactWorkspace } from '../contact'\nimport type { ContactParams, ContactResult, ContactView, PhysicsGrid, PhysicsStore } from '../contact'\nimport type { CrowdContactOptions, CrowdPressureOptions } from '../options'\nimport { createPressureWorkspace, pressureStep } from '../pressure'\nimport type { PressureResult, PressureWorkspace } from '../pressure'\nimport { HEADER } from './frame'\nimport type { PhysicsFrame } from './frame'\n\nconst PAIRS_PER_AGENT = 12\n\n/** What the kernel needs once, to be built (it travels to the worker as a message). */\nexport type KernelSetup = {\n  readonly capacity: number\n  readonly gridSize: number\n  readonly gridCell: number\n  readonly contact: Required<CrowdContactOptions>\n  readonly pressure: Required<CrowdPressureOptions> | null\n  readonly driveForceOfType: readonly number[]\n}\n\nexport type PhysicsKernel = {\n  /** The contact and the pressure over the arrays of the frame, the deltas and the fields written back into it. The same call runs on the main thread and in a worker. */\n  run(frame: PhysicsFrame): void\n}\n\nconst STORE_KEYS = ['x', 'z', 'y', 'vx', 'vz', 'pushX', 'pushZ', 'mass', 'build', 'aimX', 'aimZ', 'driveFactor', 'fieldPrev'] as const\n\n/** The step as a pure function of one frame: no read of anything outside it, so a worker that gets the same bytes writes the same bytes. */\nexport function createKernel(setup: KernelSetup): PhysicsKernel {\n  const { capacity } = setup\n  const side = Math.floor(setup.gridSize / setup.gridCell)\n  const half = setup.gridSize / 2\n  const before = { x: new Float32Array(capacity), z: new Float32Array(capacity), pushX: new Float32Array(capacity), pushZ: new Float32Array(capacity), vx: new Float32Array(capacity), vz: new Float32Array(capacity) }\n  const driveForceOfType = Float32Array.from(setup.driveForceOfType)\n  const contactResult: ContactResult = { contacts: 0, maxOverlap: 0, overlapSum: 0 }\n  const pressureResult: PressureResult = { playerLoad: 0, drivers: 0 }\n  const workspace: PressureWorkspace | null = setup.pressure ? createPressureWorkspace(capacity, capacity * PAIRS_PER_AGENT) : null\n  const cellOf = createCellOf(half, setup.gridCell, side)\n  const doorLoadUnused = new Float32Array(0)\n  // one store and one grid for the life of the kernel (the contact workspace is big): a new frame only points their arrays at its own bytes\n  const store: Record<string, unknown> = {}\n  const grid: { size: number; half: number; occ: Uint8Array<ArrayBufferLike>; cellOf: typeof cellOf } = { size: setup.gridSize, half, occ: new Uint8Array(0), cellOf }\n  const view: ContactView = { n: 0, store: store as PhysicsStore, grid: grid as unknown as PhysicsGrid, workspace: createContactWorkspace(capacity, grid as unknown as PhysicsGrid) }\n\n  const bind = (frame: PhysicsFrame): ContactView => {\n    Object.assign(store, frame.u8, { identity: frame.identity, field: frame.f32.field })\n    for (const key of STORE_KEYS) store[key] = frame.f32[key]\n    grid.occ = frame.occ\n    return view\n  }\n\n  const run = (frame: PhysicsFrame): void => {\n    const { header } = frame\n    const n = header[HEADER.n]!\n    const contact = bind(frame)\n    contact.n = n\n    for (let i = 0; i < n; i++) {\n      before.x[i] = frame.f32.x[i]!\n      before.z[i] = frame.f32.z[i]!\n      before.pushX[i] = frame.f32.pushX[i]!\n      before.pushZ[i] = frame.f32.pushZ[i]!\n      before.vx[i] = frame.f32.vx[i]!\n      before.vz[i] = frame.f32.vz[i]!\n    }\n    const h = header[HEADER.h]!\n    const params: ContactParams = { ...setup.contact, h }\n    contactStep(contact, params, contactResult)\n    header[HEADER.contacts] = contactResult.contacts\n    header[HEADER.maxOverlap] = contactResult.maxOverlap\n    header[HEADER.overlapSum] = contactResult.overlapSum\n    frame.doorCell.fill(-1, 0, n)\n    frame.f32.doorLoad.fill(0, 0, n)\n    if (workspace && setup.pressure) {\n      const player = header[HEADER.playerOn] ? { x: header[HEADER.playerX]!, z: header[HEADER.playerZ]! } : undefined\n      const doorOut = { cell: frame.doorCell, load: frame.f32.doorLoad }\n      pressureStep(contact, workspace, { ...setup.pressure, h, radius: setup.contact.radius }, { driveForceOfType, doorAt: (cell) => cell, doorLoad: doorLoadUnused, player, doorOut }, pressureResult)\n      let top = 0\n      for (let i = 0; i < n; i++) top = Math.max(top, frame.f32.field[i]!)\n      header[HEADER.fieldMax] = top\n    } else header[HEADER.fieldMax] = 0\n    header[HEADER.playerLoad] = pressureResult.playerLoad\n    header[HEADER.drivers] = pressureResult.drivers\n    const { f32 } = frame\n    for (let i = 0; i < n; i++) {\n      f32.deltaX[i] = f32.x[i]! - before.x[i]!\n      f32.deltaZ[i] = f32.z[i]! - before.z[i]!\n      f32.deltaPushX[i] = f32.pushX[i]! - before.pushX[i]!\n      f32.deltaPushZ[i] = f32.pushZ[i]! - before.pushZ[i]!\n      f32.deltaVx[i] = f32.vx[i]! - before.vx[i]!\n      f32.deltaVz[i] = f32.vz[i]! - before.vz[i]!\n      f32.shove[i] = contact.workspace.shove[i]!\n    }\n  }\n\n  return { run }\n}\n","import { createFrame } from './frame'\nimport type { FrameShape } from './frame'\nimport { createKernel } from './kernel'\nimport type { KernelSetup } from './kernel'\n\n/** The slot of the control word the two threads share. */\nexport const CONTROL = { IDLE: 0, SUBMITTED: 1, DONE: 2, STOP: 3 } as const\n\nexport type InitMessage = { readonly type: 'init'; readonly setup: KernelSetup; readonly shape: FrameShape; readonly frames?: readonly SharedArrayBuffer[]; readonly control?: SharedArrayBuffer }\nexport type FrameMessage = { readonly type: 'frame'; readonly buffer: ArrayBuffer }\nexport type DoneMessage = { readonly type: 'done'; readonly buffer: ArrayBuffer }\n\n/** What a worker thread has to offer: browsers and node give it different shapes, so the host adapts them. */\nexport type WorkerPort = {\n  postMessage(message: unknown, transfer?: ArrayBuffer[]): void\n  onMessage(listener: (data: unknown) => void): void\n}\n\n/**\n * The worker side: builds the kernel on `init`, then either loops on the shared control word (shared transport) or answers each transferred frame.\n * A host that loads the worker its own way (a bundler, node `worker_threads`) calls this with its port.\n */\nexport function attachPhysicsWorker(port: WorkerPort): void {\n  let kernel: ReturnType<typeof createKernel> | null = null\n  let shape: FrameShape | null = null\n  port.onMessage((data) => {\n    const message = data as InitMessage | FrameMessage\n    if (message.type === 'init') {\n      kernel = createKernel(message.setup)\n      shape = message.shape\n      if (message.frames && message.control) runShared(kernel, message.frames.map((buffer) => createFrame(buffer, message.shape)), new Int32Array(message.control))\n      return\n    }\n    if (!kernel || !shape) return\n    const frame = createFrame(message.buffer, shape)\n    kernel.run(frame)\n    port.postMessage({ type: 'done', buffer: message.buffer } satisfies DoneMessage, [message.buffer])\n  })\n}\n\n/** The frames in order, each one when the main thread says it is submitted: the main thread takes them back in the same order. */\nfunction runShared(kernel: ReturnType<typeof createKernel>, frames: readonly ReturnType<typeof createFrame>[], control: Int32Array): void {\n  for (let turn = 0; ; turn++) {\n    const slot = turn % frames.length\n    for (;;) {\n      const state = Atomics.load(control, slot)\n      if (state === CONTROL.STOP) return\n      if (state === CONTROL.SUBMITTED) break\n      Atomics.wait(control, slot, state)\n    }\n    kernel.run(frames[slot]!)\n    Atomics.store(control, slot, CONTROL.DONE)\n    Atomics.notify(control, slot)\n  }\n}\n","import { attachPhysicsWorker } from './worker-host'\n\ntype WorkerScope = { postMessage(message: unknown, transfer?: ArrayBuffer[]): void; addEventListener(type: 'message', listener: (event: { data: unknown }) => void): void }\n\n// the file a browser `Worker` loads (`dist/physics-worker.js`); outside a worker scope it does nothing\nconst scope = globalThis as unknown as Partial<WorkerScope> & { WorkerGlobalScope?: unknown }\nif (typeof scope.WorkerGlobalScope !== 'undefined' && scope.postMessage && scope.addEventListener) {\n  const self = scope as WorkerScope\n  attachPhysicsWorker({ postMessage: (message, transfer) => self.postMessage(message, transfer), onMessage: (listener) => self.addEventListener('message', (event) => listener(event.data)) 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+{"version":3,"sources":["../src/physics/offload/frame.ts","../src/grid.ts","../src/identity.ts","../src/types.ts","../src/physics/contact.ts","../src/physics/pressure.ts","../src/physics/offload/kernel.ts","../src/physics/offload/worker-host.ts","../src/physics/offload/worker-entry.ts"],"sourcesContent":["/**\n * The frame the physics step is handed to a worker in: one buffer holding every array the contact and the pressure read (the inputs), the deltas and fields they give back\n * (the outputs) and the grid occupancy. One layout for the shared buffer and for the transferred one, so the two paths run the same step over the same bytes.\n */\n\nconst F32_INPUTS = ['x', 'z', 'y', 'vx', 'vz', 'pushX', 'pushZ', 'mass', 'build', 'aimX', 'aimZ', 'driveFactor', 'fieldPrev'] as const\nconst U8_INPUTS = ['band', 'balance', 'state', 'type'] as const\nconst F32_OUTPUTS = ['deltaX', 'deltaZ', 'deltaPushX', 'deltaPushZ', 'deltaVx', 'deltaVz', 'field', 'shove', 'doorLoad'] as const\n\n/** Header slots (Float64): the step's inputs, then its results. */\nexport const HEADER = { n: 0, h: 1, playerOn: 2, playerX: 3, playerZ: 4, contacts: 5, maxOverlap: 6, overlapSum: 7, playerLoad: 8, drivers: 9, fieldMax: 10, size: 16 } as const\n\nexport type FrameShape = { readonly capacity: number; readonly cells: number }\n\nexport type PhysicsFrame = {\n  readonly header: Float64Array\n  readonly f32: { readonly [K in (typeof F32_INPUTS)[number] | (typeof F32_OUTPUTS)[number]]: Float32Array }\n  readonly u8: { readonly [K in (typeof U8_INPUTS)[number]]: Uint8Array }\n  readonly identity: Uint32Array\n  readonly doorCell: Int32Array\n  readonly occ: Uint8Array\n}\n\nconst align8 = (bytes: number): number => Math.ceil(bytes / 8) * 8\n\n/** Bytes of a frame; the arrays follow the header in the order of the lists above. */\nexport const frameBytes = ({ capacity, cells }: FrameShape): number => HEADER.size * 8 + (F32_INPUTS.length + F32_OUTPUTS.length + 2) * align8(capacity * 4) + U8_INPUTS.length * align8(capacity) + align8(cells)\n\nexport function createFrame(buffer: ArrayBufferLike, shape: FrameShape): PhysicsFrame {\n  const { capacity, cells } = shape\n  let offset = 0\n  const take = <T>(make: (buffer: ArrayBufferLike, offset: number, length: number) => T, bytesPerElement: number, length: number): T => {\n    const view = make(buffer, offset, length)\n    offset += align8(length * bytesPerElement)\n    return view\n  }\n  const f64 = (b: ArrayBufferLike, o: number, l: number): Float64Array => new Float64Array(b, o, l)\n  const f32 = (b: ArrayBufferLike, o: number, l: number): Float32Array => new Float32Array(b, o, l)\n  const u8 = (b: ArrayBufferLike, o: number, l: number): Uint8Array => new Uint8Array(b, o, l)\n  const header = take(f64, 8, HEADER.size)\n  const floats = {} as Record<string, Float32Array>\n  for (const key of [...F32_INPUTS, ...F32_OUTPUTS]) floats[key] = take(f32, 4, capacity)\n  const identity = take((b, o, l) => new Uint32Array(b, o, l), 4, capacity)\n  const doorCell = take((b, o, l) => new Int32Array(b, o, l), 4, capacity)\n  const bytes = {} as Record<string, Uint8Array>\n  for (const key of U8_INPUTS) bytes[key] = take(u8, 1, capacity)\n  const occ = take(u8, 1, cells)\n  return { header, f32: floats as PhysicsFrame['f32'], u8: bytes as PhysicsFrame['u8'], identity, doorCell, occ }\n}\n\n/** The inputs of the step, by the name the store gives them. */\nexport const INPUT_KEYS = { f32: F32_INPUTS, u8: U8_INPUTS } as const\n","/** Occupancy codes of a grid cell (G 62162: 0 free, 1 solid, 2 low wall that can be climbed, 3 open door, 4 glass; 5 closed door, G 63816). */\nexport const CELL = { FREE: 0, SOLID: 1, LOW_WALL: 2, OPEN_DOOR: 3, GLASS: 4, CLOSED_DOOR: 5 } as const\n\nexport type NavGridOptions = {\n  /** Side of the square world in metres, centred on the origin (default 768, the game's world). */\n  readonly size?: number\n  /** Cell side in metres (default 0.5). */\n  readonly cell?: number\n  /** Fill a solid border of `borderWidth` m and `borderHeight` m around the world, as the game does (default true). */\n  readonly border?: boolean\n}\n\n/**\n * The navigation and collision grid of the game (G 62158-62170): a square world of cells with an occupancy code and a height. Agents, the player,\n * the flow field and line of sight all read it. Buildings write it with `fillRect`.\n */\nexport type NavGrid = {\n  readonly size: number\n  readonly half: number\n  readonly cell: number\n  /** Cells per side. */\n  readonly n: number\n  readonly occ: Uint8Array\n  readonly occH: Float32Array\n  cellOf(x: number, z: number): number\n  /** Solid for a body at height `y` (default 0.5): outside the world, or an occupied cell that is not an open door and is taller than `y`. */\n  solidAt(x: number, z: number, y?: number): boolean\n  /** The occupancy code at (x, z), -1 outside. */\n  cellKind(x: number, z: number): number\n  fillRect(x0: number, z0: number, x1: number, z1: number, kind: number, height: number): void\n  /** Blocked for a walking agent: outside, or anything but free and open door (G 66826 `zBlocked`). */\n  blocked(x: number, z: number): boolean\n  /** Nothing solid and taller than 1.5 m between the two points, sampled every 0.5 m (G 66828 `losClear`). */\n  losClear(x0: number, z0: number, x1: number, z1: number): boolean\n}\n\n/** The cell index of a world position for a square grid of `n` cells of `cell` metres centred on the origin, -1 outside. */\nexport const createCellOf =\n  (half: number, cell: number, n: number) =>\n  (x: number, z: number): number => {\n    const gx = Math.floor((x + half) / cell)\n    const gz = Math.floor((z + half) / cell)\n    return gx < 0 || gz < 0 || gx >= n || gz >= n ? -1 : gz * n + gx\n  }\n\nconst BORDER_WIDTH = 1\nconst BORDER_HEIGHT = 50\nconst LOS_STEP = 0.5\nconst LOS_HEIGHT = 1.5\n\nexport function createNavGrid(options: NavGridOptions = {}): NavGrid {\n  const size = options.size ?? 768\n  const half = size / 2\n  const cell = options.cell ?? 0.5\n  const n = size / cell\n  const occ = new Uint8Array(n * n)\n  const occH = new Float32Array(n * n)\n  const cellOf = createCellOf(half, cell, n)\n  const solidAt = (x: number, z: number, y = 0.5): boolean => {\n    const c = cellOf(x, z)\n    return c < 0 || (occ[c] !== 0 && occ[c] !== 3 && occH[c]! > y)\n  }\n  const fillRect = (x0: number, z0: number, x1: number, z1: number, kind: number, h: number): void => {\n    const a = Math.floor((x0 + half) / cell)\n    const b = Math.ceil((x1 + half) / cell)\n    const c = Math.floor((z0 + half) / cell)\n    const d = Math.ceil((z1 + half) / cell)\n    for (let gz = Math.max(0, c); gz < Math.min(n, d); gz++)\n      for (let gx = Math.max(0, a); gx < Math.min(n, b); gx++) {\n        const i = gz * n + gx\n        occ[i] = kind\n        occH[i] = h\n      }\n  }\n  if (options.border ?? true) {\n    fillRect(-half, -half, half, -half + BORDER_WIDTH, 1, BORDER_HEIGHT)\n    fillRect(-half, half - BORDER_WIDTH, half, half, 1, BORDER_HEIGHT)\n    fillRect(-half, -half, -half + BORDER_WIDTH, half, 1, BORDER_HEIGHT)\n    fillRect(half - BORDER_WIDTH, -half, half, half, 1, BORDER_HEIGHT)\n  }\n  return {\n    size,\n    half,\n    cell,\n    n,\n    occ,\n    occH,\n    cellOf,\n    solidAt,\n    cellKind: (x, z) => {\n      const c = cellOf(x, z)\n      return c < 0 ? -1 : occ[c]!\n    },\n    fillRect,\n    blocked(x, z) {\n      const c = cellOf(x, z)\n      return c < 0 || (occ[c] !== 0 && occ[c] !== 3)\n    },\n    losClear(x0, z0, x1, z1) {\n      const d = Math.hypot(x1 - x0, z1 - z0)\n      const steps = Math.ceil(d / LOS_STEP)\n      for (let k = 1; k < steps; k++) {\n        const t = k / steps\n        const c = cellOf(x0 + (x1 - x0) * t, z0 + (z1 - z0) * t)\n        if (c < 0 || (occ[c] === 1 && occH[c]! > LOS_HEIGHT)) return false\n      }\n      return true\n    },\n  }\n}\n","/** murmur3 fmix32: a full avalanche of the 32 bits. */\nexport const mix32 = (value: number): number => {\n  let hash = value >>> 0\n  hash ^= hash >>> 16\n  hash = Math.imul(hash, 0x85ebca6b)\n  hash ^= hash >>> 13\n  hash = Math.imul(hash, 0xc2b2ae35)\n  hash ^= hash >>> 16\n  return hash >>> 0\n}\n\n/**\n * 0..1 from an identity, a step and a salt: the counter-based draw every physics feature uses (never the shared `random` stream, whose order is the game's).\n * The salt goes in before the step so two different `(step, salt)` pairs never share an input.\n */\nexport const unit = (identity: number, step: number, salt: number): number => (mix32((mix32(identity ^ salt) + Math.imul(step + 1, 0x9e3779b9)) >>> 0) >>> 0) / 4294967296\n\n/** The identity of the `serial`-th agent born into a crowd seeded with `seed`. */\nexport const identityOf = (seed: number, serial: number): number => mix32(seed ^ mix32(serial))\n\n/** One salt per use, so draws of the same agent at the same step stay independent. */\nexport const SALT = {\n  FALL: 0x0f411,\n  TRIP: 0x07219,\n  LIMB: 0x1b100,\n  REGION: 0x2e610,\n  JAW: 0x3a7b0,\n  CORPSE: 0x4c0de,\n  SPIN: 0x5917a,\n  SPEED: 0x6511d,\n  REACTION: 0x7201c,\n  STABILITY: 0x8b21e,\n  TRIP_FACTOR: 0x93b5d,\n  DRIVE: 0xa00d3,\n  CADENCE: 0xb1c4e,\n  AGGRESSION: 0xc2a97,\n  IDLE: 0xd3e08,\n  GAIT: 0xe4f19,\n} as const\n","/** What an agent is doing (G 66724 and 67180-67183): the store keeps the number. */\nexport const STATE = {\n  WANDER: 0,\n  CHASE: 1,\n  GRAB: 2,\n  STUNNED: 3,\n  CALLING: 4,\n  AIRBORNE: 5,\n  DORMANT: 6,\n  SWELLING: 7,\n  SWING: 8,\n  EATING: 9,\n  PILE_STEP: 10,\n  SEEKING_SOUND: 12,\n} as const\n\n/** Balance of an agent (physics): a state machine of its own, apart from `STATE`, so the game's behaviour machine stays as it is. */\nexport const BALANCE = { STANDING: 0, STAGGERING: 1, FALLEN: 2, GETTING_UP: 3, THROWN: 4 } as const\n\n/** Why an agent went down (index `cause - 1` in `stats.physics.falls`). */\nexport const FALL_CAUSE = { NONE: 0, PRESSURE: 1, SHOVE: 2, TRIP: 3, LANDING: 4, COLLAPSE: 5, BLAST: 6 } as const\n\n/** Body regions of a hit (G 67012): 0 head, 1 torso, 2 left arm, 3 right arm, 4 left leg, 5 right leg. */\nexport type Region = 0 | 1 | 2 | 3 | 4 | 5\n\n/**\n * Missing parts as bits (G 67010-67045): 1 skull, 2 left arm off, 4 right arm off, 8 left leg off, 16 right leg off, 32 left arm broken, 64 right arm broken,\n * 128 left leg broken, 256 right leg broken, 512 jaw.\n */\nexport const MISSING = { SKULL: 1, ARM_L: 2, ARM_R: 4, LEG_L: 8, LEG_R: 16, ARM_L_BROKEN: 32, ARM_R_BROKEN: 64, LEG_L_BROKEN: 128, LEG_R_BROKEN: 256, JAW: 512 } as const\n\n/**\n * The type traits: the special moves of a type, read in the game's order. A type without a trait does not have the move. Every number is the game's\n * (`jogo.js` G 67180-67430, the Bestiário table 3.1 and 12.7).\n */\nexport type CrowdTraits = {\n  /** Jumps a low obstacle in the way while chasing (car, yard wall) up to `maxHeight` m (runner, leaper). */\n  readonly vaultsLow?: { readonly maxHeight: number; readonly minRise: number; readonly clearance: number; readonly speedFactor: number }\n  /** Pounce from `min` to `max` m in line of sight: cooldown, flight time, speed cap, the vertical speeds and the knock-down on landing (leaper). */\n  readonly pounce?: { readonly min: number; readonly max: number; readonly cooldown: number; readonly time: number; readonly speedCap: number; readonly lift: number; readonly liftHigh: number; readonly highAbove: number; readonly landRange: number; readonly knock: number }\n  /** A heavy swing: chance per attack, wind-up, reach and knock-down (brute). */\n  readonly heavySwing?: { readonly chance: number; readonly windUp: number; readonly range: number; readonly knock: number }\n  /** Multiplies the damage on doors (brute 3). */\n  readonly doorDamage?: number\n  /** Seconds stunned by a heavy hit (default `numbers.hitStun`; brute 0.25). */\n  readonly hitStun?: number\n  /** Only hears: goes to the source of a sound and hits whatever it meets on the way, other agents too (blind). */\n  readonly soundSeeker?: { readonly arrive: number; readonly loseChase: number; readonly hitRadius2: number }\n  /** Calls the crowd: wind-up, radius, cooldown, the boost it gives the target, and running from the fight afterwards (screamer). */\n  readonly caller?: { readonly range: number; readonly windUp: number; readonly radius: number; readonly cooldown: number; readonly boost: number; readonly fleeAbove: number; readonly fleeRange: number }\n  /** Sets the target on fire on a hit (charred). */\n  readonly burns?: { readonly seconds: number }\n  /** Loses a share of its health the first time it enters water (charred 0.7). */\n  readonly waterWeak?: { readonly keep: number; readonly cloud: number }\n  /** Waits under water and pulls the target down (drowned). */\n  readonly submerged?: { readonly depth: number; readonly wake: number; readonly swim: number; readonly surface: number }\n  /** Plays dead and wakes close or behind the target, then sprints for a while (stalker). */\n  readonly ambush?: { readonly chance: number; readonly wake: number; readonly wakeBehind: number; readonly behindCos: number; readonly sprint: number; readonly sprintSeconds: number; readonly slow: number }\n  /** Swells and bursts close to the target: blinds and marks it with a scent (bloater). */\n  readonly burst?: { readonly range: number; readonly swell: number; readonly radius: number; readonly blind: number; readonly scent: number; readonly noiseNear: number; readonly noise: number; readonly cloudColor: number; readonly bloodColor: number; readonly bloodDry: number }\n  /** Eats corpses: search radius, reach, seconds, how many, what it gains (devourer). */\n  readonly eatsCorpses?: { readonly max: number; readonly search: number; readonly reach: number; readonly seconds: number; readonly grabRange: number; readonly health: number; readonly grow: number; readonly rest: number; readonly retry: number; readonly defend: number; readonly approach: number }\n  /** Follows the target's blood trail and leads agents of the type `leads` along (sniffer). */\n  readonly tracker?: { readonly range: number; readonly leads: string; readonly max: number; readonly leadRadius: number }\n  /** Never older than this age index (runner: recent at most). */\n  readonly maxAge?: number\n  /** The groan sound id (runner `runner_groan`; default `groan`). */\n  readonly voice?: string\n  /** How much it adds to the target's panic (runner 2.5). */\n  readonly panicWeight?: number\n  /** Pulls the target into water when it grabs there (drowned). */\n  readonly drownGrab?: boolean\n  /** Body colour and skin override at birth (charred, drowned). */\n  readonly color?: number\n  readonly skin?: number\n}\n\n/** One type of agent (a zombie type, a cow, a civilian). The undead pack (`undeadCrowdTypes`) gives the 13 types of the game. */\nexport type CrowdType = {\n  readonly id: string\n  /** Weight in the draw of an agent without a forced type (0: never drawn). */\n  readonly weight: number\n  readonly health: number\n  readonly speed: { readonly wander: number; readonly chase: number }\n  readonly damage: number\n  /** Chance per attack to grab (and bite). */\n  readonly bite: number\n  readonly multipliers: { readonly head: number; readonly torso: number; readonly arms: number; readonly legs: number }\n  /** Metres. */\n  readonly perception: { readonly sight: number; readonly hearing: number; readonly smell: number }\n  readonly crawls?: boolean\n  /** Height multiplier (brute 1.42). */\n  readonly scale?: number\n  /** Build multiplier (bloater 1.35; a scaled type without one is 1.3). */\n  readonly build?: number\n  /** Body variants of the type for the renderer (walker 4, runner 3, crawler and brute 2, others 1). */\n  readonly variants?: number\n  readonly eye?: number\n  readonly traits?: CrowdTraits\n  /** How the body takes a push (physics only; a type without it uses the defaults). */\n  readonly balance?: CrowdBalanceTraits\n}\n\nexport type CrowdBalanceTraits = {\n  /** Multiplies the critical pressure (default 1). */\n  readonly stability?: number\n  /** Chance of tripping when entering a cell with a body (default 0.04). */\n  readonly trip?: number\n  /** Force of its will against what is in front, in N (default 250). */\n  readonly driveForce?: number\n  /** False: already on the ground (a crawler). */\n  readonly canFall?: boolean\n}\n\n/** A blast as the crowd reads it. */\nexport type CrowdBlast = {\n  readonly point: readonly [number, number, number]\n  /** J. */\n  readonly energy: number\n  /** m, how far it hurts. */\n  readonly radius: number\n  /** m, everything inside dies. */\n  readonly lethalRadius?: number\n  readonly source?: string\n  /** Id of the chain this blast belongs to (game-destruction `chain`), for the counters. */\n  readonly chain?: string\n  /**\n   * The share (0..1) of the blast that gets to a point through the cover in the way (the host's `blastReach`): the shove and the damage of an agent behind a wall\n   * are cut by it. Without it the whole blast reaches every agent.\n   */\n  readonly reach?: (target: readonly [number, number, number]) => number\n}\n\n/** The age of a body (G IDADES): its share, and what it does to speed, health, limbs and senses. */\nexport type CrowdAge = { readonly id: string; readonly p: number; readonly speed: number; readonly health: number; readonly limb: number; readonly sight: number; readonly hearing: number; readonly blood: number; readonly bloodColor: number; readonly dryColor: number }\n/** What a body wears (G ROUPAS): its share, the vest against pistol and rifle classes, a helmet, a limb factor and the colour. */\nexport type CrowdOutfit = { readonly id: string; readonly p: number; readonly vest?: { readonly pistol: number; readonly rifle: number }; readonly helmet?: boolean; readonly limb?: number; readonly color: number | null }\n\n/** Everything the crowd draws a body from. */\nexport type CrowdPack = {\n  readonly types: readonly CrowdType[]\n  readonly ages: readonly CrowdAge[]\n  readonly outfits: readonly CrowdOutfit[]\n  /** Hit points of the segments, only for dismembering (G `SEG`). */\n  readonly segments: { readonly head: number; readonly arm: number; readonly leg: number }\n  /** Clothes colours of the outfits without one (G `CIVIL_COR`). */\n  readonly palette: readonly number[]\n}\n\n/** The calibre of a projectile hit: its class (pistol or rifle, for vests and helmets), the skull distance (1: any) and an id. */\nexport type CrowdCaliber = { readonly id: string; readonly class: 'pistol' | 'rifle'; readonly skull: number }\nexport type CrowdHit = { readonly region: Region; readonly amount: number; readonly distance: number; readonly cut?: number; readonly caliber?: CrowdCaliber | null }\nexport type CrowdDamageResult = { readonly died: boolean; readonly headshot?: boolean }\n\n/**\n * Who the crowd hunts. `game-player`'s `Player` is one as it is; a game with its own player writes a small object with the same names.\n * Reads: `state`. Writes: the verbs, and `state.burnTimer`, `state.blind`, `state.scentTimer`, `state.screamBoost`.\n */\nexport interface CrowdTarget {\n  readonly state: {\n    x: number\n    z: number\n    y: number\n    floor: number\n    alive: boolean\n    turned: boolean\n    crouch: boolean\n    bleeding: number\n    scentTimer: number\n    screamBoost: number\n    grabbedBy: number\n    blind: number\n    burnTimer: number\n    /** The body's yaw; the view looks the other way (`yaw - π`). */\n    yaw: number\n  }\n  grab(by: number, noJaw?: boolean, drown?: boolean): void\n  hurt(amount: number, by?: number): void\n  knock(seconds: number): void\n  release(): void\n}\n\nexport type CrowdSoundId = 'groan' | 'runner_groan' | 'scream_hoarse' | 'step' | 'impact' | 'flesh' | 'wood' | (string & {})\nexport type CrowdEffectId = 'spark' | 'blood' | 'limb' | 'cloud' | 'dust' | (string & {})\nexport type CrowdMessageId = 'called' | 'burst_hit' | 'swing_knock' | 'pounce_knock' | 'migration' | 'door_broken' | (string & {})\n\nexport type CrowdEventMap = {\n  sound: { sound: CrowdSoundId; volume: number; position: [number, number, number]; distance: number }\n  effect: { effect: CrowdEffectId; point: [number, number, number]; agent?: number; region?: number; severed?: boolean; radius?: number; color?: number; amount?: number; died?: boolean; age?: number }\n  message: { id: CrowdMessageId; seconds: number; type?: string }\n  spawn: { agent: number; type: string }\n  alert: { agent: number }\n  kill: { agent: number; type: string; headshot: boolean; x: number; z: number }\n  remove: { agent: number; moved: number }\n  scream: { agent: number; x: number; z: number }\n  fall: { agent: number; cause: number; x: number; z: number; identity: number }\n  blasted: { point: [number, number, number]; radius: number; reached: number; killed: number; thrown: number; fallen: number; chain?: string }\n}\nexport type CrowdEventName = keyof CrowdEventMap\n\n/** A body on the ground (G 67062 `CP`). */\nexport type Corpse = {\n  readonly x: number\n  readonly z: number\n  readonly yaw: number\n  readonly height: number\n  readonly build: number\n  readonly missing: number\n  readonly color: number\n  /** Body variant of the renderer, -1 for a body that was not an agent (a civilian). */\n  readonly variant: number\n  readonly skin: number\n  readonly seed: number\n  readonly named: number\n}\n","import type { NavGrid } from '../grid'\nimport { SALT, unit } from '../identity'\nimport type { CrowdStore } from '../store'\nimport { BALANCE, STATE } from '../types'\nimport type { CrowdContactOptions } from './options'\n\n/** A fallen body weighs as three standing ones against a push (it is on the ground, spread out). */\nconst GROUND_MASS_FACTOR = 3\nconst PAIR_MARGIN = 0.15\nconst MAX_LEVEL_GAP = 0.15\nconst PAIRS_PER_AGENT = 12\nconst MIN_DISTANCE = 1e-6\n\nexport type ContactParams = Required<CrowdContactOptions> & { readonly h: number }\nexport type ContactResult = { contacts: number; maxOverlap: number; overlapSum: number }\n\nexport type ContactWorkspace = {\n  readonly head: Int32Array\n  readonly next: Int32Array\n  readonly touched: Int32Array\n  touchedCount: number\n  readonly pairI: Int32Array\n  readonly pairJ: Int32Array\n  pairCount: number\n  readonly deltaX: Float32Array\n  readonly deltaZ: Float32Array\n  readonly count: Uint8Array\n  readonly pushBeforeX: Float32Array\n  readonly pushBeforeZ: Float32Array\n  /** |Δpush| the contact gave to each agent in the last step. */\n  readonly shove: Float32Array\n  /** 1 for the agents that take part in the contact this step (`takesPartInContact`), read once. */\n  readonly takesPart: Uint8Array\n  /** The radius and the effective mass of each agent this step, in doubles: the balance does not change inside the contact step. */\n  readonly radiusOf: Float64Array\n  readonly massOf: Float64Array\n  /** Per pair, valid for the positions of the current iteration: the reach, the distance, and the normal (only meaningful when the distance is under the reach) from `j` to `i`. */\n  readonly pairReach: Float64Array\n  readonly pairDistance: Float64Array\n  readonly pairNormalX: Float64Array\n  readonly pairNormalZ: Float64Array\n}\n\n/** The arrays the contact and the pressure read and write: the step needs no more of the store, so it can run over a copy of them (a worker). */\nexport type PhysicsStore = Pick<CrowdStore, 'x' | 'z' | 'y' | 'vx' | 'vz' | 'pushX' | 'pushZ' | 'mass' | 'build' | 'balance' | 'state' | 'band' | 'identity' | 'aimX' | 'aimZ' | 'field' | 'fieldPrev' | 'type' | 'driveFactor'>\nexport type PhysicsGrid = Pick<NavGrid, 'size' | 'half' | 'occ' | 'cellOf'>\n\nexport type ContactView = { n: number; readonly store: PhysicsStore; readonly grid: PhysicsGrid; readonly workspace: ContactWorkspace }\n\nexport const createContactWorkspace = (capacity: number, grid: PhysicsGrid): ContactWorkspace => ({\n  head: new Int32Array(Math.floor(grid.size) ** 2).fill(-1),\n  next: new Int32Array(capacity),\n  touched: new Int32Array(capacity),\n  touchedCount: 0,\n  pairI: new Int32Array(capacity * PAIRS_PER_AGENT),\n  pairJ: new Int32Array(capacity * PAIRS_PER_AGENT),\n  pairCount: 0,\n  deltaX: new Float32Array(capacity),\n  deltaZ: new Float32Array(capacity),\n  count: new Uint8Array(capacity),\n  pushBeforeX: new Float32Array(capacity),\n  pushBeforeZ: new Float32Array(capacity),\n  shove: new Float32Array(capacity),\n  takesPart: new Uint8Array(capacity),\n  radiusOf: new Float64Array(capacity),\n  massOf: new Float64Array(capacity),\n  pairReach: new Float64Array(capacity * PAIRS_PER_AGENT),\n  pairDistance: new Float64Array(capacity * PAIRS_PER_AGENT),\n  pairNormalX: new Float64Array(capacity * PAIRS_PER_AGENT),\n  pairNormalZ: new Float64Array(capacity * PAIRS_PER_AGENT),\n})\n\nexport const createContactView = (store: PhysicsStore, grid: PhysicsGrid): ContactView => ({ n: 0, store, grid, workspace: createContactWorkspace(store.x.length, grid) })\n\n/** In the contact: near the viewer, not a pile step, not asleep, not in the air as a thrown body. */\nexport const takesPartInContact = (store: PhysicsStore, i: number): boolean => store.band[i] === 0 && store.balance[i] !== BALANCE.THROWN && store.state[i] !== STATE.PILE_STEP && store.state[i] !== STATE.DORMANT\n\nconst isOnGround = (store: PhysicsStore, i: number): boolean => store.balance[i] === BALANCE.FALLEN || store.balance[i] === BALANCE.GETTING_UP\n\nconst effectiveMass = (store: PhysicsStore, i: number): number => store.mass[i]! * (isOnGround(store, i) ? GROUND_MASS_FACTOR : 1)\n\nconst bodyRadius = (store: PhysicsStore, i: number, radius: number): number => radius * store.build[i]!\n\n/** What each agent is for this step: in the contact or not, its radius and its effective mass. */\nfunction readBodies(view: ContactView, radius: number): void {\n  const { store, workspace } = view\n  const { takesPart, radiusOf, massOf } = workspace\n  for (let i = 0; i < view.n; i++) {\n    const takes = takesPartInContact(store, i)\n    takesPart[i] = takes ? 1 : 0\n    radiusOf[i] = bodyRadius(store, i, radius)\n    massOf[i] = effectiveMass(store, i)\n  }\n}\n\n/** The agents of band R0 into the 1 m hash, clearing only the cells the last step used. */\nexport function rebuildHash(view: ContactView): void {\n  const { store, grid, workspace } = view\n  const side = Math.floor(grid.size)\n  for (let k = 0; k < workspace.touchedCount; k++) workspace.head[workspace.touched[k]!] = -1\n  workspace.touchedCount = 0\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.takesPart[i]) continue\n    const hx = Math.floor(store.x[i]! + grid.half)\n    const hz = Math.floor(store.z[i]! + grid.half)\n    if (hx < 0 || hz < 0 || hx >= side || hz >= side) continue\n    const cell = hz * side + hx\n    if (workspace.head[cell] === -1) workspace.touched[workspace.touchedCount++] = cell\n    workspace.next[i] = workspace.head[cell]!\n    workspace.head[cell] = i\n  }\n}\n\n/** The cells scanned from a cell for pairs: itself (the agents after the first) and four neighbours, so that every pair of cells is looked at once, from one side. */\nconst FORWARD_CELLS = [1, 0, -1, 1, 0, 1, 1, 1] as const\n\nfunction addPairsOfCell(view: ContactView, i: number, cell: number, sameCell: boolean): void {\n  const { store, workspace } = view\n  const { head, next, radiusOf, pairI, pairJ } = workspace\n  const { x, z, y } = store\n  const xi = x[i]!\n  const zi = z[i]!\n  const yi = y[i]!\n  const reachBase = radiusOf[i]! + PAIR_MARGIN\n  for (let j = head[cell]!; j !== -1; j = next[j]!) {\n    if ((sameCell && j <= i) || Math.abs(yi - y[j]!) > MAX_LEVEL_GAP) continue\n    const reach = reachBase + radiusOf[j]!\n    const ex = x[j]! - xi\n    const ez = z[j]! - zi\n    if (ex * ex + ez * ez >= reach * reach || workspace.pairCount >= pairI.length) continue\n    pairI[workspace.pairCount] = i\n    pairJ[workspace.pairCount++] = j\n  }\n}\n\n/** The pairs `(i, j)` near enough to touch before the step ends, in the order of the agent that found them. The solver is symmetric in the two of a pair, so which one comes first does not matter. */\nfunction collectPairs(view: ContactView): void {\n  const { store, grid, workspace } = view\n  const side = Math.floor(grid.size)\n  workspace.pairCount = 0\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.takesPart[i]) continue\n    const hx = Math.floor(store.x[i]! + grid.half)\n    const hz = Math.floor(store.z[i]! + grid.half)\n    if (hx < 0 || hz < 0 || hx >= side || hz >= side) continue\n    addPairsOfCell(view, i, hz * side + hx, true)\n    for (let k = 0; k < FORWARD_CELLS.length; k += 2) {\n      const qx = hx + FORWARD_CELLS[k]!\n      const qz = hz + FORWARD_CELLS[k + 1]!\n      if (qx >= 0 && qz >= 0 && qx < side && qz < side) addPairsOfCell(view, i, qz * side + qx, false)\n    }\n  }\n}\n\n/** The distance, reach and normal (from `j` to `i`) of every pair at the current positions; a pair on the same spot gets a direction from the two identities. */\nfunction measurePairs(view: ContactView): void {\n  const { store, workspace } = view\n  const { pairI, pairJ, radiusOf, pairReach, pairDistance, pairNormalX, pairNormalZ } = workspace\n  const { x, z, identity } = store\n  for (let p = 0; p < workspace.pairCount; p++) {\n    const i = pairI[p]!\n    const j = pairJ[p]!\n    const reach = radiusOf[i]! + radiusOf[j]!\n    const ex = x[i]! - x[j]!\n    const ez = z[i]! - z[j]!\n    const distance = Math.sqrt(ex * ex + ez * ez)\n    pairReach[p] = reach\n    pairDistance[p] = distance\n    if (distance >= reach) continue\n    if (distance > MIN_DISTANCE) {\n      pairNormalX[p] = ex / distance\n      pairNormalZ[p] = ez / distance\n      continue\n    }\n    const angle = 2 * Math.PI * unit(identity[i]! ^ identity[j]!, 0, SALT.SPIN)\n    pairNormalX[p] = Math.cos(angle)\n    pairNormalZ[p] = Math.sin(angle)\n  }\n}\n\n/** One inelastic impulse along the normal: the closing speed of the two bodies goes to zero, never below (restitution 0). */\nfunction solveImpulse(store: PhysicsStore, workspace: ContactWorkspace, p: number): void {\n  if (workspace.pairDistance[p]! >= workspace.pairReach[p]!) return\n  const i = workspace.pairI[p]!\n  const j = workspace.pairJ[p]!\n  const nx = workspace.pairNormalX[p]!\n  const nz = workspace.pairNormalZ[p]!\n  const { vx, vz, pushX, pushZ } = store\n  const closing = (vx[i]! + pushX[i]! - vx[j]! - pushX[j]!) * nx + (vz[i]! + pushZ[i]! - vz[j]! - pushZ[j]!) * nz\n  if (closing >= 0) return\n  const massI = workspace.massOf[i]!\n  const massJ = workspace.massOf[j]!\n  const impulse = (-closing * massI * massJ) / (massI + massJ)\n  pushX[i]! += (impulse * nx) / massI\n  pushZ[i]! += (impulse * nz) / massI\n  pushX[j]! -= (impulse * nx) / massJ\n  pushZ[j]! -= (impulse * nz) / massJ\n}\n\nfunction accumulateCorrection(workspace: ContactWorkspace, p: number, relaxation: number): void {\n  const distance = workspace.pairDistance[p]!\n  const reach = workspace.pairReach[p]!\n  if (distance >= reach) return\n  const i = workspace.pairI[p]!\n  const j = workspace.pairJ[p]!\n  const massI = workspace.massOf[i]!\n  const massJ = workspace.massOf[j]!\n  const move = relaxation * (reach - distance)\n  const nx = workspace.pairNormalX[p]!\n  const nz = workspace.pairNormalZ[p]!\n  workspace.deltaX[i]! += move * nx * (massJ / (massI + massJ))\n  workspace.deltaZ[i]! += move * nz * (massJ / (massI + massJ))\n  workspace.deltaX[j]! -= move * nx * (massI / (massI + massJ))\n  workspace.deltaZ[j]! -= move * nz * (massI / (massI + massJ))\n  workspace.count[i]!++\n  workspace.count[j]!++\n}\n\nconst isOpen = (grid: PhysicsGrid, x: number, z: number): boolean => {\n  const cell = grid.cellOf(x, z)\n  return cell >= 0 && (grid.occ[cell] === 0 || grid.occ[cell] === 3)\n}\n\n/** The mean of the corrections an agent got, capped, along each axis only if the grid lets it through. */\nfunction applyCorrection(view: ContactView, agent: number, params: ContactParams): void {\n  const { store, grid, workspace } = view\n  const count = workspace.count[agent]!\n  if (!count) return\n  workspace.count[agent] = 0\n  const cap = params.maxCorrection\n  const dx = Math.max(-cap, Math.min(cap, workspace.deltaX[agent]! / count))\n  const dz = Math.max(-cap, Math.min(cap, workspace.deltaZ[agent]! / count))\n  if (isOpen(grid, store.x[agent]! + dx, store.z[agent]!)) store.x[agent]! += dx\n  if (isOpen(grid, store.x[agent]!, store.z[agent]! + dz)) store.z[agent]! += dz\n}\n\nfunction resetCorrection(workspace: ContactWorkspace, agent: number): void {\n  workspace.deltaX[agent] = 0\n  workspace.deltaZ[agent] = 0\n  workspace.count[agent] = 0\n}\n\nfunction correctPositions(view: ContactView, params: ContactParams): void {\n  const { workspace } = view\n  for (let p = 0; p < workspace.pairCount; p++) {\n    resetCorrection(workspace, workspace.pairI[p]!)\n    resetCorrection(workspace, workspace.pairJ[p]!)\n  }\n  for (let p = 0; p < workspace.pairCount; p++) accumulateCorrection(workspace, p, params.relaxation)\n  for (let p = 0; p < workspace.pairCount; p++) {\n    applyCorrection(view, workspace.pairI[p]!, params)\n    applyCorrection(view, workspace.pairJ[p]!, params)\n  }\n}\n\nfunction measureOverlaps(view: ContactView, out: ContactResult): void {\n  const { store, workspace } = view\n  for (let p = 0; p < workspace.pairCount; p++) {\n    const i = workspace.pairI[p]!\n    const j = workspace.pairJ[p]!\n    // two bodies lying on the ground are meant to lie on one another: that is the mound, not a failure of the contact\n    if (isOnGround(store, i) && isOnGround(store, j)) continue\n    const reach = workspace.radiusOf[i]! + workspace.radiusOf[j]!\n    const overlap = reach - Math.hypot(store.x[i]! - store.x[j]!, store.z[i]! - store.z[j]!)\n    if (overlap <= 0) continue\n    out.contacts++\n    out.overlapSum += overlap\n    if (overlap > out.maxOverlap) out.maxOverlap = overlap\n  }\n}\n\n/** The damping and the ceiling of the push, for every agent: a body out of band R0 keeps no push for long. */\nfunction dampPush(view: ContactView, params: ContactParams): void {\n  const { store, workspace } = view\n  const lambda = Math.exp(-params.friction * params.h)\n  for (let i = 0; i < view.n; i++) {\n    workspace.shove[i] = Math.hypot(store.pushX[i]! - workspace.pushBeforeX[i]!, store.pushZ[i]! - workspace.pushBeforeZ[i]!)\n    store.pushX[i]! *= lambda\n    store.pushZ[i]! *= lambda\n    const speed = Math.hypot(store.pushX[i]!, store.pushZ[i]!)\n    if (speed <= params.maxPush) continue\n    store.pushX[i]! *= params.maxPush / speed\n    store.pushZ[i]! *= params.maxPush / speed\n  }\n}\n\n/** The 1 m hash of the agents in band R0 at their positions of now, for whoever looks at the neighbours (the landing of a thrown body) while the pairs are solved elsewhere. */\nexport function prepareHash(view: ContactView, radius: number): void {\n  readBodies(view, radius)\n  rebuildHash(view)\n}\n\n/**\n * One fixed step of contact in band R0 (`design-chain-horde.md` §4.3): `iterations` rounds of a symmetric Gauss-Seidel impulse (the pairs forward, then backward, so\n * a low index has no advantage) and a Jacobi position correction (the mean of what each agent was asked to move), then the damping of the push.\n * It resolves overlap and shock only: pressure is the field of `pressure.ts`. An inelastic impulse never adds energy, and the correction never touches the velocity.\n */\nexport function contactStep(view: ContactView, params: ContactParams, out: ContactResult): void {\n  const { store, workspace } = view\n  out.contacts = 0\n  out.maxOverlap = 0\n  out.overlapSum = 0\n  for (let i = 0; i < view.n; i++) {\n    workspace.pushBeforeX[i] = store.pushX[i]!\n    workspace.pushBeforeZ[i] = store.pushZ[i]!\n  }\n  readBodies(view, params.radius)\n  rebuildHash(view)\n  collectPairs(view)\n  for (let iteration = 0; iteration < params.iterations; iteration++) {\n    measurePairs(view)\n    for (let p = 0; p < workspace.pairCount; p++) solveImpulse(store, workspace, p)\n    for (let p = workspace.pairCount - 1; p >= 0; p--) solveImpulse(store, workspace, p)\n    correctPositions(view, params)\n  }\n  measureOverlaps(view, out)\n  dampPush(view, params)\n}\n","import { BALANCE } from '../types'\nimport { takesPartInContact } from './contact'\nimport type { ContactView, PhysicsStore } from './contact'\nimport type { CrowdPressureOptions } from './options'\n\n/** Two bodies count as touching up to this far past the sum of their radii. */\nconst TOUCH_SLACK = 0.08\n/** How far past its own radius an agent feels a wall in front of it. */\nconst WALL_PROBE = 0.12\n/** The agents that stand in front of the target and pass the field on to it (a little past the attack range). */\nconst PLAYER_REACH = 1.3\nconst PLAYER_RADIUS_SQUARED = PLAYER_REACH * PLAYER_REACH\n\nexport type PressureParams = Required<CrowdPressureOptions> & { readonly h: number; readonly radius: number }\n\nexport type PressureWorkspace = {\n  readonly weightSum: Float32Array\n  /** 1 when something stands in front of the agent that it presses on (a wall, a body, even one pressing back). */\n  readonly pressing: Uint8Array\n  readonly wallKind: Uint8Array\n  readonly wallDoor: Int32Array\n  readonly playerWeight: Float32Array\n  readonly cutExcess: Float32Array\n  readonly cutX: Float32Array\n  readonly cutZ: Float32Array\n  readonly pairWeightForward: Float32Array\n  readonly pairWeightBackward: Float32Array\n  /** 1 for the agents that press on what is in front of them (`isPressing`), read once per step. */\n  readonly canPress: Uint8Array\n}\n\nexport type PressureContext = {\n  /** Newtons of will of each type, by type index. */\n  readonly driveForceOfType: Float32Array\n  /** The door index of a grid cell, -1 for none. */\n  readonly doorAt: (cell: number) => number\n  /** N·s each door got from the field this step, added to. */\n  readonly doorLoad: Float32Array\n  /** The agent the horde presses on (position only); undefined: nothing to press on. */\n  readonly player?: { readonly x: number; readonly z: number } | undefined\n  /** When given, the load a door gets from each agent is recorded here (by agent, with the door \"index\" `doorAt` answered) instead of added to `doorLoad`: the caller adds it, in agent order. */\n  readonly doorOut?: { readonly cell: Int32Array; readonly load: Float32Array } | undefined\n}\n\nexport type PressureResult = { playerLoad: number; drivers: number }\n\nexport const createPressureWorkspace = (capacity: number, pairCapacity: number): PressureWorkspace => ({\n  weightSum: new Float32Array(capacity),\n  pressing: new Uint8Array(capacity),\n  wallKind: new Uint8Array(capacity),\n  wallDoor: new Int32Array(capacity),\n  playerWeight: new Float32Array(capacity),\n  cutExcess: new Float32Array(capacity),\n  cutX: new Float32Array(capacity),\n  cutZ: new Float32Array(capacity),\n  pairWeightForward: new Float32Array(pairCapacity),\n  pairWeightBackward: new Float32Array(pairCapacity),\n  canPress: new Uint8Array(capacity),\n})\n\nconst isPressing = (store: PhysicsStore, i: number): boolean => takesPartInContact(store, i) && (store.balance[i] === BALANCE.STANDING || store.balance[i] === BALANCE.STAGGERING)\n\n/** `isPressing` of every agent into `canPress`: the state does not change inside the pressure step. */\nfunction readPressing(view: ContactView, workspace: PressureWorkspace): void {\n  for (let i = 0; i < view.n; i++) workspace.canPress[i] = isPressing(view.store, i) ? 1 : 0\n}\n\nconst frontWeight = (alignment: number, cone: number): number => (alignment > cone ? (alignment - cone) / (1 - cone) : 0)\n\nconst hasAim = (store: PhysicsStore, i: number): boolean => store.aimX[i] !== 0 || store.aimZ[i] !== 0\n\n/** The will of `i` against its front neighbour `j`: the part of its speed along the contact that the neighbour does not have is cut. */\nfunction noteCut(store: PhysicsStore, workspace: PressureWorkspace, i: number, j: number, nx: number, nz: number): void {\n  const excess = (store.vx[i]! - store.vx[j]!) * nx + (store.vz[i]! - store.vz[j]!) * nz\n  if (excess <= workspace.cutExcess[i]!) return\n  workspace.cutExcess[i] = excess\n  workspace.cutX[i] = nx\n  workspace.cutZ[i] = nz\n}\n\n/** Pass A: the weight of each front contact between agents, per direction, and the cut of the will against it. */\nfunction weighPairs(view: ContactView, workspace: PressureWorkspace, params: PressureParams): void {\n  const { store } = view\n  for (let p = 0; p < view.workspace.pairCount; p++) {\n    workspace.pairWeightForward[p] = 0\n    workspace.pairWeightBackward[p] = 0\n    const i = view.workspace.pairI[p]!\n    const j = view.workspace.pairJ[p]!\n    if (!workspace.canPress[i] || !workspace.canPress[j]) continue\n    const ex = store.x[j]! - store.x[i]!\n    const ez = store.z[j]! - store.z[i]!\n    const distance = Math.sqrt(ex * ex + ez * ez)\n    if (distance < 1e-6 || distance > (store.build[i]! + store.build[j]!) * params.radius + TOUCH_SLACK) continue\n    const nx = ex / distance\n    const nz = ez / distance\n    const forward = frontWeight(store.aimX[i]! * nx + store.aimZ[i]! * nz, params.frontCone)\n    const backward = frontWeight(-(store.aimX[j]! * nx + store.aimZ[j]! * nz), params.frontCone)\n    if (forward > 0) {\n      workspace.pressing[i] = 1\n      noteCut(store, workspace, i, j, nx, nz)\n    }\n    if (backward > 0) {\n      workspace.pressing[j] = 1\n      noteCut(store, workspace, j, i, -nx, -nz)\n    }\n    // two agents pressing on each other (head on) feel their own drive and no more: passing the field both ways would feed it back on itself without a limit\n    if (forward > 0 && backward > 0) continue\n    workspace.pairWeightForward[p] = forward\n    workspace.pairWeightBackward[p] = backward\n    workspace.weightSum[i]! += forward\n    workspace.weightSum[j]! += backward\n  }\n}\n\n/** Pass B: a blocked grid cell in the direction of the will is a wall of weight 1 (a closed door too, and the door takes the load). */\nfunction weighWalls(view: ContactView, workspace: PressureWorkspace, params: PressureParams, doorAt: PressureContext['doorAt']): void {\n  const { store, grid } = view\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.canPress[i] || !hasAim(store, i)) continue\n    const reach = store.build[i]! * params.radius + WALL_PROBE\n    const cell = grid.cellOf(store.x[i]! + store.aimX[i]! * reach, store.z[i]! + store.aimZ[i]! * reach)\n    if (cell >= 0 && (grid.occ[cell] === 0 || grid.occ[cell] === 3)) continue\n    workspace.wallKind[i] = 1\n    workspace.wallDoor[i] = cell >= 0 && grid.occ[cell] === 5 ? doorAt(cell) : -1\n    workspace.pressing[i] = 1\n    workspace.weightSum[i]! += 1\n  }\n}\n\n/** The agents at the target pass the field on to it: one that wants to go there by its cone weight, one that stopped to attack with weight 1. */\nfunction weighPlayer(view: ContactView, workspace: PressureWorkspace, params: PressureParams, player: { readonly x: number; readonly z: number }): void {\n  const { store } = view\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.canPress[i]) continue\n    const ex = player.x - store.x[i]!\n    const ez = player.z - store.z[i]!\n    const squared = ex * ex + ez * ez\n    if (squared > PLAYER_RADIUS_SQUARED || squared < 1e-6) continue\n    const distance = Math.sqrt(squared)\n    const weight = hasAim(store, i) ? frontWeight((store.aimX[i]! * ex + store.aimZ[i]! * ez) / distance, params.frontCone) : 1\n    workspace.playerWeight[i] = weight\n    if (weight > 0) workspace.pressing[i] = 1\n    workspace.weightSum[i]! += weight\n  }\n}\n\nfunction clearWorkspace(view: ContactView, workspace: PressureWorkspace): void {\n  const { store } = view\n  for (let i = 0; i < view.n; i++) {\n    workspace.weightSum[i] = 0\n    workspace.pressing[i] = 0\n    workspace.wallKind[i] = 0\n    workspace.playerWeight[i] = 0\n    workspace.cutExcess[i] = 0\n    store.field[i] = 0\n  }\n}\n\n/** What agent `i` adds to the field by itself: its drive, when it wants to go and has something in front. */\nfunction ownDrive(store: PhysicsStore, context: PressureContext, workspace: PressureWorkspace, i: number): number {\n  if (!hasAim(store, i) || !workspace.pressing[i]) return 0\n  return context.driveForceOfType[store.type[i]!]! * store.driveFactor[i]!\n}\n\n/** Pass C: each agent's field is its own drive plus what the agents behind it passed on, read from the previous step. */\nfunction spreadField(view: ContactView, workspace: PressureWorkspace, params: PressureParams, context: PressureContext, out: PressureResult): void {\n  const { store } = view\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.canPress[i]) continue\n    store.field[i] = ownDrive(store, context, workspace, i)\n    if (store.field[i]! > 0) out.drivers++\n  }\n  for (let p = 0; p < view.workspace.pairCount; p++) {\n    const i = view.workspace.pairI[p]!\n    const j = view.workspace.pairJ[p]!\n    const forward = workspace.pairWeightForward[p]!\n    const backward = workspace.pairWeightBackward[p]!\n    if (forward > 0) store.field[j]! += (params.transmission * store.fieldPrev[i]! * forward * forward) / workspace.weightSum[i]!\n    if (backward > 0) store.field[i]! += (params.transmission * store.fieldPrev[j]! * backward * backward) / workspace.weightSum[j]!\n  }\n  for (let i = 0; i < view.n; i++) {\n    if (!workspace.canPress[i]) continue\n    const passed = (params.transmission * store.fieldPrev[i]!) / (workspace.weightSum[i]! || 1)\n    if (workspace.wallKind[i] && workspace.wallDoor[i]! >= 0) {\n      if (context.doorOut) {\n        context.doorOut.cell[i] = workspace.wallDoor[i]!\n        context.doorOut.load[i] = passed * params.h\n      } else context.doorLoad[workspace.wallDoor[i]!]! += passed * params.h\n    }\n    if (workspace.playerWeight[i]! > 0) out.playerLoad += passed * workspace.playerWeight[i]! * workspace.playerWeight[i]!\n    if (store.field[i]! > params.cap) store.field[i] = params.cap\n  }\n}\n\nfunction applyCuts(view: ContactView, workspace: PressureWorkspace): void {\n  const { store } = view\n  for (let i = 0; i < view.n; i++) {\n    const excess = workspace.cutExcess[i]!\n    if (excess <= 0) continue\n    store.vx[i]! -= excess * workspace.cutX[i]!\n    store.vz[i]! -= excess * workspace.cutZ[i]!\n  }\n}\n\n/**\n * One fixed step of the pressure field (`design-chain-horde.md` §4.5): the field moves one hop per step, each agent reading only the previous step of the others, so the\n * result does not depend on the order of the indices. A column of N pushing agents gives its front `D·(1 − τᴺ)/(1 − τ)`; a hexagonal block against a flat wall loses 29% per hop.\n */\nexport function pressureStep(view: ContactView, workspace: PressureWorkspace, params: PressureParams, context: PressureContext, out: PressureResult): void {\n  out.playerLoad = 0\n  out.drivers = 0\n  clearWorkspace(view, workspace)\n  readPressing(view, workspace)\n  weighPairs(view, workspace, params)\n  weighWalls(view, workspace, params, context.doorAt)\n  if (context.player) weighPlayer(view, workspace, params, context.player)\n  spreadField(view, workspace, params, context, out)\n  applyCuts(view, workspace)\n  for (let i = 0; i < view.n; i++) view.store.fieldPrev[i] = view.store.field[i]!\n}\n\n","import { createCellOf } from '../../grid'\nimport { contactStep, createContactWorkspace } from '../contact'\nimport type { ContactParams, ContactResult, ContactView, PhysicsGrid, PhysicsStore } from '../contact'\nimport type { CrowdContactOptions, CrowdPressureOptions } from '../options'\nimport { createPressureWorkspace, pressureStep } from '../pressure'\nimport type { PressureResult, PressureWorkspace } from '../pressure'\nimport { HEADER } from './frame'\nimport type { PhysicsFrame } from './frame'\n\nconst PAIRS_PER_AGENT = 12\n\n/** What the kernel needs once, to be built (it travels to the worker as a message). */\nexport type KernelSetup = {\n  readonly capacity: number\n  readonly gridSize: number\n  readonly gridCell: number\n  readonly contact: Required<CrowdContactOptions>\n  readonly pressure: Required<CrowdPressureOptions> | null\n  readonly driveForceOfType: readonly number[]\n}\n\nexport type PhysicsKernel = {\n  /** The contact and the pressure over the arrays of the frame, the deltas and the fields written back into it. The same call runs on the main thread and in a worker. */\n  run(frame: PhysicsFrame): void\n}\n\nconst STORE_KEYS = ['x', 'z', 'y', 'vx', 'vz', 'pushX', 'pushZ', 'mass', 'build', 'aimX', 'aimZ', 'driveFactor', 'fieldPrev'] as const\n\n/** The step as a pure function of one frame: no read of anything outside it, so a worker that gets the same bytes writes the same bytes. */\nexport function createKernel(setup: KernelSetup): PhysicsKernel {\n  const { capacity } = setup\n  const side = Math.floor(setup.gridSize / setup.gridCell)\n  const half = setup.gridSize / 2\n  const before = { x: new Float32Array(capacity), z: new Float32Array(capacity), pushX: new Float32Array(capacity), pushZ: new Float32Array(capacity), vx: new Float32Array(capacity), vz: new Float32Array(capacity) }\n  const driveForceOfType = Float32Array.from(setup.driveForceOfType)\n  const contactResult: ContactResult = { contacts: 0, maxOverlap: 0, overlapSum: 0 }\n  const pressureResult: PressureResult = { playerLoad: 0, drivers: 0 }\n  const workspace: PressureWorkspace | null = setup.pressure ? createPressureWorkspace(capacity, capacity * PAIRS_PER_AGENT) : null\n  const cellOf = createCellOf(half, setup.gridCell, side)\n  const doorLoadUnused = new Float32Array(0)\n  // one store and one grid for the life of the kernel (the contact workspace is big): a new frame only points their arrays at its own bytes\n  const store: Record<string, unknown> = {}\n  const grid: { size: number; half: number; occ: Uint8Array<ArrayBufferLike>; cellOf: typeof cellOf } = { size: setup.gridSize, half, occ: new Uint8Array(0), cellOf }\n  const view: ContactView = { n: 0, store: store as PhysicsStore, grid: grid as unknown as PhysicsGrid, workspace: createContactWorkspace(capacity, grid as unknown as PhysicsGrid) }\n\n  const bind = (frame: PhysicsFrame): ContactView => {\n    Object.assign(store, frame.u8, { identity: frame.identity, field: frame.f32.field })\n    for (const key of STORE_KEYS) store[key] = frame.f32[key]\n    grid.occ = frame.occ\n    return view\n  }\n\n  const run = (frame: PhysicsFrame): void => {\n    const { header } = frame\n    const n = header[HEADER.n]!\n    const contact = bind(frame)\n    contact.n = n\n    for (let i = 0; i < n; i++) {\n      before.x[i] = frame.f32.x[i]!\n      before.z[i] = frame.f32.z[i]!\n      before.pushX[i] = frame.f32.pushX[i]!\n      before.pushZ[i] = frame.f32.pushZ[i]!\n      before.vx[i] = frame.f32.vx[i]!\n      before.vz[i] = frame.f32.vz[i]!\n    }\n    const h = header[HEADER.h]!\n    const params: ContactParams = { ...setup.contact, h }\n    contactStep(contact, params, contactResult)\n    header[HEADER.contacts] = contactResult.contacts\n    header[HEADER.maxOverlap] = contactResult.maxOverlap\n    header[HEADER.overlapSum] = contactResult.overlapSum\n    frame.doorCell.fill(-1, 0, n)\n    frame.f32.doorLoad.fill(0, 0, n)\n    if (workspace && setup.pressure) {\n      const player = header[HEADER.playerOn] ? { x: header[HEADER.playerX]!, z: header[HEADER.playerZ]! } : undefined\n      const doorOut = { cell: frame.doorCell, load: frame.f32.doorLoad }\n      pressureStep(contact, workspace, { ...setup.pressure, h, radius: setup.contact.radius }, { driveForceOfType, doorAt: (cell) => cell, doorLoad: doorLoadUnused, player, doorOut }, pressureResult)\n      let top = 0\n      for (let i = 0; i < n; i++) top = Math.max(top, frame.f32.field[i]!)\n      header[HEADER.fieldMax] = top\n    } else header[HEADER.fieldMax] = 0\n    header[HEADER.playerLoad] = pressureResult.playerLoad\n    header[HEADER.drivers] = pressureResult.drivers\n    const { f32 } = frame\n    for (let i = 0; i < n; i++) {\n      f32.deltaX[i] = f32.x[i]! - before.x[i]!\n      f32.deltaZ[i] = f32.z[i]! - before.z[i]!\n      f32.deltaPushX[i] = f32.pushX[i]! - before.pushX[i]!\n      f32.deltaPushZ[i] = f32.pushZ[i]! - before.pushZ[i]!\n      f32.deltaVx[i] = f32.vx[i]! - before.vx[i]!\n      f32.deltaVz[i] = f32.vz[i]! - before.vz[i]!\n      f32.shove[i] = contact.workspace.shove[i]!\n    }\n  }\n\n  return { run }\n}\n","import { createFrame } from './frame'\nimport type { FrameShape } from './frame'\nimport { createKernel } from './kernel'\nimport type { KernelSetup } from './kernel'\n\n/** The slot of the control word the two threads share. */\nexport const CONTROL = { IDLE: 0, SUBMITTED: 1, DONE: 2, STOP: 3 } as const\n\nexport type InitMessage = { readonly type: 'init'; readonly setup: KernelSetup; readonly shape: FrameShape; readonly frames?: readonly SharedArrayBuffer[]; readonly control?: SharedArrayBuffer }\nexport type FrameMessage = { readonly type: 'frame'; readonly buffer: ArrayBuffer }\nexport type DoneMessage = { readonly type: 'done'; readonly buffer: ArrayBuffer }\n\n/** What a worker thread has to offer: browsers and node give it different shapes, so the host adapts them. */\nexport type WorkerPort = {\n  postMessage(message: unknown, transfer?: ArrayBuffer[]): void\n  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type: 'done', buffer: message.buffer } satisfies DoneMessage, [message.buffer])\n  })\n}\n\n/** The frames in order, each one when the main thread says it is submitted: the main thread takes them back in the same order. */\nfunction runShared(kernel: ReturnType<typeof createKernel>, frames: readonly ReturnType<typeof createFrame>[], control: Int32Array): void {\n  for (let turn = 0; ; turn++) {\n    const slot = turn % frames.length\n    for (;;) {\n      const state = Atomics.load(control, slot)\n      if (state === CONTROL.STOP) return\n      if (state === CONTROL.SUBMITTED) break\n      Atomics.wait(control, slot, state)\n    }\n    kernel.run(frames[slot]!)\n    Atomics.store(control, slot, CONTROL.DONE)\n    Atomics.notify(control, slot)\n  }\n}\n","import { attachPhysicsWorker } from './worker-host'\n\ntype WorkerScope = { postMessage(message: unknown, transfer?: ArrayBuffer[]): void; addEventListener(type: 'message', listener: (event: { data: unknown }) => void): void }\n\n// 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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@adatechnology/game-crowd",
-  "version": "0.3.0",
+  "version": "0.4.1",
   "license": "MIT",
   "description": "Any crowd as a struct of arrays, pure and seeded: relevance bands, perception by sight, hearing and smell, a sliced flow field, separation, attack slots, chain alerts, doors, piles against walls, abilities as type traits, corpses, population and migration; civilians, herds and flocks; a bridge to game-infection. A literal port of the team game horde. Knows nothing about any game.",
   "keywords": [
@@ -39,8 +39,8 @@
     "dist"
   ],
   "dependencies": {
-    "@adatechnology/game-characters": "^0.2.8",
-    "@adatechnology/game-contracts": "^0.22.0"
+    "@adatechnology/game-characters": "^0.2.10",
+    "@adatechnology/game-contracts": "^0.24.0"
   },
   "devDependencies": {
     "@types/node": "^22.10.7",